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Modal Analysis
DYNAMICS 8.1
Modal Analysis
A. Define modal analysis and its purpose. B. Discuss associated concepts, terminology, and mode extraction C. Learn how to do a modal analysis in ANSYS. D. Work on one or two modal analysis exercises.
Tra inin g Ma nua methods. l
Module 2
DYNAMICS 8.1
Modal Analysis
A technique used to determine a structures vibration characteristics: Natural frequencies Mode shapes Mode participation factors (how much a given mode participates in a given direction) Most fundamental of all the dynamic analysis types.
DYNAMICS 8.1
Modal Analysis
Allows the design to avoid resonant vibrations or to vibrate at a frequency (speakers, for example).
Gives engineers an idea of how the design will respond to different types of dynamic loads. Helps in calculating solution controls (time steps, etc.) for other dynamic analyses. Recommendation: Because a structures vibration characteristics determine how it responds to any type of dynamic load, always perform a modal analysis first before trying any other dynamic analysis.
DYNAMICS 8.1
Modal Analysis
[ M ]{ u} + [ C]{ u} + [ K ]{ u} = { F( t )}
u = U sin(t )
The roots 0 M u = 0 i2, the eigenvalues, where i ranges from 1 K of this equation are to number of DOF. Corresponding vectors are {u}i, the eigenvectors.
([ ]
[ ] ){ } { }
DYNAMICS 8.1
Modal Analysis
Tra inin g Ma The square roots of the eigenvalues are i , the structures natural circular nua frequencies (radians/sec). Natural frequencies fi are then calculated as fi l= i
/2 (cycles/sec). It is the natural frequencies fi that are input by the user and output by ANSYS.
The eigenvectors {u}i represent the mode shapes - the shape assumed by the structure when vibrating at frequency fi.
DYNAMICS 8.1
Modal Analysis
Mode Extraction is the term used to describe the calculation of eigenvalues and eigenvectors.
Mode Expansion has a dual meaning. For the reduced method, mode expansion means calculating the full mode shapes from the reduced mode shapes. For all other methods, mode expansion simply means writing mode shapes to the results file.
DYNAMICS 8.1
Several mode extraction methods are available in ANSYS: Block Lanczos (default) Subspace PowerDynamics Reduced Unsymmetric Damped (full) QR Damped
Which method you choose depends primarily on the model size (relative to your computer resources) and the particular application.
DYNAMICS 8.1
The Block Lanczos method is recommended for most applications. Efficient extraction of large number of modes (40+) in most models Typically used in complex models with mixture of solids/shells/beams etc. Efficient extraction of modes in a frequency range Handles rigid-body modes well
DYNAMICS 8.1
When extracting a small number of modes (<40) in similar size models, subspace method can be more suitable. Requires relatively less memory but large diskspace May have convergence problems when rigid body modes are present. Not recommended when constraint equations are present. Generally superseded by Block Lanczos
DYNAMICS 8.1
For large (100K+ DOF) models and a small number of modes 20), use the PowerDynamics method. It can be significantly faster than Block Lanczos or Subspace, but: Requires large amount of memory. May not converge with poorly shaped elements or an ill-conditioned matrix. May miss modes (No Sturm sequence check) Recommended only as a last resort for large models.
DYNAMICS 8.1
For models in which lumping mass does not create a local oscillation, typically beams and spars, use the Reduced method. Memory and disk requirements are low.
In general fastest eigen solver Employs matrix reduction, a technique to reduce the size of [K] and [M] by selecting a subset of DOF called master DOF. Reduction of [K] is exact but [M] loses some accuracy Accuracy of [M] depends on number and location of master DOF. Generally not recommended due to
Expertise required in picking master DOF Efficient alternatives such as Block Lanczos reduced cost of hardware
DYNAMICS 8.1
The unsymmetric method is used for acoustics (with structural other such applications with unsymmetric [K] and [M]. Calculates complex eigenvalues and eigenvectors:
Real part is the natural frequency. Imaginary part indicates stability - negative means stable, positive means unstable.
DYNAMICS 8.1
Damping is normally ignored in a modal analysis, but if its effects are significant, the Damped method is used. Typical application is rotor dynamics, where gyroscopic damping effects are important. Two ANSYS elements, BEAM4 and PIPE16, allow gyroscopic effects to be specified in the form of real constant SPIN (rotational speed, radians/time). Calculates complex eigenvalues and eigenvectors: Imaginary part is the natural frequency. Real part indicates stability - negative means stable, positive means unstable.
DYNAMICS 8.1
A second mode extraction method that considers damping effects is R Damped method. Faster and more stable than the existing Damped Solver Works with poorly conditioned models All forms of damping allowed including damper elements Combines the best features of the real eigensolution method (Block Lanczos) and the Complex Hessenberg method (QR Algorithm) Outputs complex eigenvalues ( frequency and stability) and damping ratio of each mode Supports the use of a material dependent damping ratio [MP,DMPR] in a subsequent mode superposition harmonic analysis
DYNAMICS 8.1
MODOPT,QRDAMP,NMODE
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DYNAMICS 8.1
Remarks
Powerdynamics
PCG solver
Reduced
Frontal Solver
Recommended for most applications; Most stable; Stable but slow; Requires large disk space; Has difficulty with constraint equations / rigid body modes Same as subspace but with PCG solver; Can handle very large models; Lumped mass only; May miss modes; Modes cannot be used in subsequent spectrum and PSD analyses In general fastest; Accuracy depends on Master DOF selection; Limitations similar to Subspace; Not recommended due to expertise required in selecting Master DOF.
DYNAMICS 8.1
C. Procedure
Four main steps in a modal analysis:
Modal Analysis
Build the model Choose analysis type and options Apply boundary conditions and solve Review results
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Remember density! Linear elements and materials only. Nonlinearities are ignored. See also Modeling Considerations in Module 1.
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Enter Solution and choose modal analysis. Mode extraction options* Mode expansion options* Other options*
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*Discussed next
Method: Block Lanczos recommended for most applications. Number of modes: Must be specified (except Reduced method). Frequency range: Defaults to entire range, but can be limited to a desired range (FREQB to FREQE). Specification of a frequency range requires additional factorizations and it is typically faster to simply request a number of modes which will overlap the desired range. Normalization: Discussed next.
DYNAMICS 8.1
defaults to 1e8
Only the shape of the DOF solution has real meaning. It is therefore customary to normalize them for numerical efficiency or user convenience. Modes are normalized either to the mass matrix or to a unit matrix (unity). Normalization to mass matrix is the default, and is required for a spectrum analysis or if a subsequent mode superposition analysis is planned. Choose normalization to unity when you want to easily compare relative values of displacements throughout the structure. Modes normalized to unity cannot be used in subsequent mode superposition analyses (transient, harmonic, spectrum or random vibration)
DYNAMICS 8.1
You need to expand mode shapes if you want to do any of the Have element stresses calculated. Do a subsequent spectrum or mode superposition analysis.
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Recommendation: Always expand as many modes as the number extracted. The cost of this is minimal.
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Other analysis options: Lumped mass matrix Mainly used for slender beams and thin shells, or for wave propagation problems. Automatically chosen for PowerDynamics method. Pre-stress effects
DYNAMICS 8.1
Displacement constraints: Discussed next. External loads: Ignored since free vibrations are assumed. However, ANSYS creates a load vector which you can use in a subsequent mode superposition analysis. Solve: Discussed next.
DYNAMICS 8.1
DYNAMICS 8.1
Be careful with symmetry Symmetry BCs will only produce symmetrically shaped modes, so some modes can be missed.
Full Model
Symmetry BC
Anti-Symmetry BC
DYNAMICS 8.1
by the anti-symmetry case because ROTX is non-zero along the symmetry boundaries.
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Typically one load step. Multiple load steps can be used to study the effect of different displacement constraints (symmetry BC in one load step and anti-symmetry BC in another, for example).
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Review Results
Build the model Choose analysis type and options Apply boundary conditions and solve
Review results using POST1, the general postprocessor List natural frequencies View mode shapes Review participation factors Review modal stresses
DYNAMICS 8.1
Review Results
Listing natural frequencies:
Choose Read Results > By Pick in the General Postproc menu. Notice that each mode is stored in a separate substep.
DYNAMICS 8.1
Review Results
Viewing mode shapes:
First read in results for the desired mode using First Set, Next Set, or By Load Step. Then plot the deformed shape: General Postproc > Plot Results > Deformed Shape Notice that the graphics legend shows mode number (SUB = ) and the frequency (FREQ = ).
DYNAMICS 8.1
Review Results
Viewing mode shapes (continued):
You can also animate the mode shape: Utility Menu > PlotCtrls > Animate Mode Shape...
DYNAMICS 8.1
Review Results
Participation Factors:
High value in a direction indicates that the mode will be excited by forces in that direction Values are relative based on a unit displacement spectrum The final participation factor value (ROTZ) can be retrieved into a parameter using *GET command. A spectrum analysis with a specified direction (SED,0,1,0) could be used to obtain other values Also printed out (to the output file) is the effective mass. Ideally the sum of the effective masses in each direction should equal total mass of structure Effective Mass = (participation factor)2
DYNAMICS 8.1
Review Results
Modal stresses:
Stress values have no real meaning, however these can be used to highlight hot spots If mode shapes are normalized to unity, you can compare stresses at different points for a given mode shape
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Review Results
Tra inin g Ma nua l
DYNAMICS 8.1
Procedure
Modal Analysis
Build the model Choose analysis type and options Apply boundary conditions and solve Review results
DYNAMICS 8.1
1. Modal analysis of a plate with a hole A step-by-step description of how to do the analysis. You may choose to run this problem yourself, or your instructor may show it as a demonstration. Follow the instructions in your Dynamics Workshop supplement ( WS2: Modal Analysis - Plate with a Hole, Page WS-17 ). 2. Modal analysis of a model airplane wing This is left as an exercise to you. Follow the instructions in your Dynamics Workshop supplement ( WS3: Modal Analysis - Model Airplane Wing, Page WS-23 ).
DYNAMICS 8.1