Harmonic Response: ANSYS Mechanical Dynamics

Chapter 3:
Harmonic Response
ANSYS Mechanical
Dynamics
ANSYS, Inc. Proprietary

2009 ANSYS, Inc. All rights reserved.
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Harmonic Analysis
Harmonic Analysis
Training Manual
A. Define harmonic analysis and its purpose.

B. Learn basic terminology and concepts underlying harmonic
analysis.
C. Learn how to do a harmonic analysis in Workbench.
D. Work on a harmonic analysis exercise.

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Harmonic Analysis
A. Definition & Purpose
Training Manual
What is harmonic analysis?

A technique to determine the steady state response of a structure to
sinusoidal (harmonic) loads of known frequency.
Input:
Harmonic loads (forces, pressures, and imposed displacements) of
known magnitude and frequency.
May be multiple loads all at the same frequency. Forces and
displacements can be in-phase or out-of phase. Body loads can only be
specified with a phase angle of zero.
Output:
Harmonic displacements at each DOF, usually out of phase with the
applied loads.
Other derived quantities, such as stresses and strains.

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Harmonic Analysis
Definition & Purpose
Training Manual
Harmonic analysis is used in the design of:

Supports, fixtures, and components of rotating equipment such as
compressors, engines, pumps, and turbomachinery.
Structures subjected to vortex shedding (swirling motion of fluids)
such as turbine blades, airplane wings, bridges, and towers.
Why should you do a harmonic analysis?

To make sure that a given design can withstand sinusoidal loads at
different frequencies (e.g, an engine running at different speeds).
To detect resonant response and avoid it if necessary (by using
dampers, for example).

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Harmonic Analysis
B. Terminology & Concepts
Training Manual
Topics covered:
Assumptions and Restrictions
Equation of motion
Nature of harmonic loads
Complex displacements
Solution methods

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Theory
Assumptions & Restrictions
Training Manual
The entire structure has constant or frequency-dependent stiffness,

damping, and mass effects.
All loads and displacements vary sinusoidally at the same known
frequency (although not necessarily in phase).
Acceleration, bearing, and moment loads are assumed to be real (inphase) only.

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Theory
Development
Training Manual
Start with the linear general equation of motion:
M u C u K u F
Assume [F] and {u} are harmonic with frequency :
F Fmax ei eit
u umax ei eit
Fmax cos i sin e i t
umax cos i sin e i t
F1 i F2 e i t
u 1 i u2 e i t
Note: The symbols an differentiate the input from the output:
= input (a.k.a. imposed) circular frequency
= output (a.k.a. natural) circular frequency
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Theory
Development
Training Manual
Take two time derivatives:
u
u
u
i
2
u 1 i u2 eit
u 1 i u2 eit
u 1 i u2 eit
Substitute and simplify:
M u C u K u F
2 M u 1 i u2 ei t
i C u 1 i u2 ei t
K u 1 i u2 ei t F 1 i F2 e i t
2 M i C K u 1 iu2 F 1 i F2
This can then be solved using one of two methods.
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Theory
Development
Training Manual
The full method solves the system of simultaneous equations directly

using a static solver designed for complex arithmetic:
c denotes a complex matrix or vector
K c uc
Fc
2 M i C K u 1 i u2 F 1 i F2
K c uc Fc
The mode-superposition method expresses the displacements as a

linear combination of mode shapes (see Theory Reference for
details).
M i C K u iu F i F
2

i 2 j j 2j y jc f jc
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Theory
Solution Methods
Training Manual
FULL
MSUP
Exact solution.
Approximate solution; accuracy depends in

part on whether an adequate number of
modes have been extracted to represent
the harmonic response.
Generally slower than MSUP.
Generally faster than FULL.
Supports all types of loads and boundary

conditions.
Does not support nonzero imposed

harmonic displacements.
Solution points must be equally distributed

across the frequency domain.
Solution points may be either equally

distributed across the frequency domain or
clustered about the natural frequencies of
the structure.
Solves the full system of simultaneous

Solves an uncoupled system of equations
equations using the Sparse matrix solver for
by performing a linear combination of
complex arithmetic.
orthogonal vectors (mode shapes).
Prestressing is not available in either method in ANSYS Workbench 12.0.

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Theory
Nature of Harmonic Loads
Training Manual
Multiple loads and boundary

conditions may be input, each with
different amplitude and phase
angles (interpreted as lag angle).
xi X i sin t i
where X amplitude
freqency
phase angle
All loads and displacements, both

input and output, are assumed to
occur at the same frequency.
Calculated displacements will be
complex if
damping is specified or
applied load is complex.
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Remarks & Comments
Resonance
Training Manual
When the imposed frequency

approaches a natural frequency in
the direction of excitation, a
phenomenon known as resonance
occurs.
This can be seen in the figures on
the right for a 1-DOF system
subjected to a harmonic force for
various amounts of damping.
The following will be observed:

an increase in damping decreases
the amplitude of the response for all
imposed frequencies,
a small change in damping has a
large effect on the response near
resonance, and
the phase angle always passes
through 90 at resonance for any
amount of damping.
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Remarks & Comments
Contact Regions
Training Manual
Contact regions are available in harmonic analysis; however, since

this is a purely linear analysis, contact behavior will differ for the
nonlinear contact types, as shown below:
Linear Dynamic Analysis
Contact Type
Static Analysis
Bonded
Initially Touching
Inside Pinball Region
Outside Pinball
Region
Bonded
Bonded
Bonded
Free
No Separation
No Separation
No Separation
No Separation
Free
Rough
Rough
Bonded
Free
Free
Frictionless
Frictionless
No Separation
Free
Free
Frictional
Frictional
Free
Free
= 0, No Separation
> 0, Bonded
Contact behavior will reduce to its linear counterparts.

It is generally recommended, however, not to use a nonlinear contact
type in a linear-dynamic analysis
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Remarks & Comments
Mode Superposition
Training Manual
The Mode Superposition method will automatically perform a modal

analysis first
The number of modes necessary for an accurate solution will be
estimated if a frequency range is not supplied.
the default range is from zero to twice the ending frequency
The harmonic analysis portion is very quick and efficient, hence, the
Mode Superposition method is usually much faster overall than the Full
method
Since a free vibration analysis is performed, Mechanical knows what

the natural frequencies of the structure are and can cluster the
harmonic results near them (see next slide)

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Remarks & Comments
Solution Methods - Mode Superposition
Training Manual
Cluster option captures the peak response better than evenly-spaced

intervals.
Evenly spaced
frequency points
Clustered frequency
points

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Procedure:
Harmonic Response

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Harmonic Analysis
C. Procedure
Training Manual
Four main steps:

Build the model
Choose analysis type and options
Apply harmonic loads and solve
Review results

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Harmonic Analysis Procedure
Build the Model
Training Manual
Model
Nonlinearities are not allowed.
See also Modeling Considerations in Module 1.

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Choose Analysis Type & Options
Training Manual
Build the model

Enter Solution and choose
harmonic analysis.
Main analysis option is solution
method - discussed next.
Specify damping - discussed
next.

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Choose Analysis Type & Options

Analysis options
Solution method - full or mode
superposition.
For large models (>1 million
DOF), set Store Results at All
Frequencies to No.

Training Manual
Damping
Choose from beta damping and
damping ratio (constant
damping ratio is most
commonly used).
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Apply Harmonic Loads and Solve
Training Manual
Build the model


Structural loads and supports may also be used in harmonic
analyses with the following exceptions:
Loads Not Supported:
Gravity Loads
Thermal Loads
Rotational Velocity
Pretension Bolt Load
Compression Only Support (if present, it behaves similar to a Frictionless
Support)
Remember that all structural loads will vary sinusoidally at the same
excitation frequency

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Training Manual
A list of supported loads are shown below:
Not all available loads support phase input. Accelerations, Bearing Load,
and Moment Load will have a phase angle of 0.
If other loads are present, shift the phase angle of other loads, such that the
Acceleration, Bearing, and Moment Loads will remain at a phase angle of 0.

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Training Manual
Specifying harmonic loads requires:

Amplitude and phase angle
Frequency
Amplitude and phase angle

The load value (magnitude) represents
the amplitude Fmax.
Phase angle is the phase shift
between two or more harmonic loads.
Not required if only one load is present.
Non-zero valid for force,
displacement, and pressure harmonic
loads.

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Imaginary
Loads are applied all at once in the first

solution interval (stepped).
F2max
Real
F1max
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Training Manual
Amplitude and phase angle (continued)
Imaginary
Mechanical allows direct input of amplitude and phase angle into the
Details window.
F2max
Real

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F1max
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Training Manual
Frequency of harmonic load:

Specified in cycles per second
(Hertz) by a frequency range and
number of substeps within that
range.
For example, a range of 0-50 Hz
with 10 solution intervals gives
solutions at frequencies of 5, 10,
15, , 45, and 50 Hz. Same
range with 1 substep gives one
solution at 50 Hz.

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Review Results
Training Manual
Build the model

Review results
Three steps:
Plot displacement vs. frequency at specific points in the structure.
Identify critical frequencies and corresponding phase angles.
Review displacements and stresses over entire structure at the
critical frequencies and phase angles.

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Review Results
Training Manual
Displacement vs. frequency plots

Pick nodes that might deform the
most, then choose the DOF
direction.
Then graph the desired frequency
response.

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Review Results
Training Manual
Identify critical frequencies and phase angles

Bode plot shows frequency at which highest amplitude occurs.
The amplitude and phase angle at which the peak amplitude occurs
are shown in the Worksheet tab.

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Review Results
Training Manual
Next step is to review displacements and stresses over the entire

model at that frequency and phase angle.
The frequency and phase angle must be manually entered into the
Details window.

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Review Results
Training Manual
A harmonic analysis produces a real and imaginary solution as

separate sets of results.
Plot deformed shape, stress contours, and other desired results at
a specified frequency and phase angle.

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Workshop
Harmonic Analysis
Training Manual
In this workshop, you will examine the harmonic response of a

fixed-fixed beam to harmonic forces caused by rotating
machinery mounted on the beam.
See your Dynamics Workshop supplement for details
WS3: Harmonic Analysis - Fixed-Fixed Beam

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Harmonic Response: ANSYS Mechanical Dynamics

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Chapter 3:

ANSYS, Inc. Proprietary

A. Define harmonic analysis and its purpose.

ANSYS, Inc. Proprietary

A. Definition & Purpose

What is harmonic analysis?

ANSYS, Inc. Proprietary

Definition & Purpose

Harmonic analysis is used in the design of:

Why should you do a harmonic analysis?

ANSYS, Inc. Proprietary

B. Terminology & Concepts

ANSYS, Inc. Proprietary

Assumptions & Restrictions

The entire structure has constant or frequency-dependent stiffness,

ANSYS, Inc. Proprietary

Start with the linear general equation of motion:

Take two time derivatives:

Substitute and simplify:

The full method solves the system of simultaneous equations directly

The mode-superposition method expresses the displacements as a

Approximate solution; accuracy depends in

Generally slower than MSUP.

Generally faster than FULL.

Supports all types of loads and boundary

Does not support nonzero imposed

Solution points must be equally distributed

Solution points may be either equally

Solves the full system of simultaneous

Prestressing is not available in either method in ANSYS Workbench 12.0.

Nature of Harmonic Loads

Multiple loads and boundary

All loads and displacements, both

Remarks & Comments

When the imposed frequency

The following will be observed:

Remarks & Comments

Contact regions are available in harmonic analysis; however, since

Inside Pinball Region

Contact behavior will reduce to its linear counterparts.

Remarks & Comments

The Mode Superposition method will automatically perform a modal

Since a free vibration analysis is performed, Mechanical knows what

ANSYS, Inc. Proprietary

Remarks & Comments

Solution Methods - Mode Superposition

Cluster option captures the peak response better than evenly-spaced

ANSYS, Inc. Proprietary

ANSYS, Inc. Proprietary

Four main steps:

ANSYS, Inc. Proprietary

Harmonic Analysis Procedure

Build the Model

ANSYS, Inc. Proprietary

Harmonic Analysis Procedure

Choose Analysis Type & Options

Build the model

ANSYS, Inc. Proprietary

Harmonic Analysis Procedure

Choose Analysis Type & Options

ANSYS, Inc. Proprietary

Harmonic Analysis Procedure

Apply Harmonic Loads and Solve