AWB130 Dynamics 02 Modal - ANSYS

Customer Training Material
L t Lecture 2 Modal Analysis y
ANSYS Mechanical Linear and Nonlinear Dynamics

ANSYS, Inc. Proprietary 2011 ANSYS, Inc. All rights reserved.
L02-1
Release 13.0 March 2011
Modal Analysis
Topics covered: A. Define modal analysis and its purpose.
B. Discuss associated concepts, terminology, and mode extraction methods. methods C. Learn how to do a modal analysis in Workbench. D. Work on one or two modal analysis exercises.
L02-2
Description & Purpose
A modal analysis is a technique used to determine the vibration characteristics of structures:

natural frequencies
at what frequencies the structure would tend to naturally vibrate
mode shapes
in what shape the structure would tend to vibrate at each frequency
mode participation factors

the amount of mass that participates in a given direction for each mode
Most M tf fundamental d t l of f all ll the th dynamic d i analysis l i types. t
L02-3
Description & Purpose
Benefits of modal analysis Allows the design to avoid resonant vibrations or to vibrate at a specified frequency (speaker box, for example). Gives engineers an idea of how the design will respond to different types of dynamic loads. Helps p in calculating g solution controls (time ( steps, p , etc.) ) for other dynamic analyses.
Recommendation: Because a structures vibration characteristics determine how it responds to any type of dynamic load, it is generally recommended to perform a modal analysis first before trying any other dynamic analysis.
L02-4
Terminology
A mode refers to the pair of one natural frequency and corresponding mode shape.
A structure can have any number of modes, up to the number of DOF in the model.
mode 1 { } 1 f1 = 109 Hz
mode 2 { } 2 f2 = 202 Hz
mode 3 { } 3 f3 = 249 Hz
L02-5
Assumptions & Restrictions

The structure is linear (i.e. constant stiffness and mass). There is no damping.
Damped eigensolvers (MODOPT,DAMP or MODOPT,QRDAMP) may be accessed using Commands Objects, but will not be covered here.
The structure has no time varying forces, displacements, pressures, or temperatures applied (free vibration).
L02-6
Development
Start with the linear general equation of motion:
&&}+ [C ]{u &}+ [K ]{u} = {F } [M ]{u

Assume free vibrations, and ignore damping:
0 0 } } &&}+ [C ]{u &}+ [K ]{u} = {F } [M ]{u &&}+ [K ]{u} = {0} [M ]{u
Assume harmonic motion:
{u} = &} = {u &&} = {u

{ }i i { }i i2 { }i
sin (i t + i ) cos(i t + i ) sin (i t + i )

L02-7
Development
Substitute and simplify
&&}+ [K ]{u} = {0} [M ]{u i2 [M ]{ }i sin (i t + i ) + [K ]{ }i sin (i t + i ) = {0} ( i2 [M ] + [K ]){ }i = {0}

This equality is satisfied if {}i = 0 (trivial, implies no vibration) or if
det [K ] i2 [M ] = {0}
This is an eigenvalue problem which may be solved for up to n eigenvalues i2, and n eigenvectors, eigenvalues, eigenvectors {}i, where n is the number of DOF.
L02-8
Extraction & Normalization

Note that the equation
det [K ] [M ] = {0}
2 i
has one more unknown than equations; therefore, an additional equation is needed to find a solution. solution
The addition equation is provided by mode shape normalization.
Mode shapes can be normalized either to the mass matrix
{ } [M ]{ }i = 1
T i
or to unity, where the largest component of the vector {}i is set to 1. Workbench displays results normalized to the mass matrix. Because of this normalization, only the shape of the DOF solution has real meaning.
L02-9
Eigenvalues & Eigenvectors

The square roots of the eigenvalues are i, the structures natural circular frequencies (rad/s).
mode 1 { } 1 f1 = 109 Hz
Natural frequencies fi can then calculated as fi = i/2 (cycles/s). (cycles/s)

It is the natural frequencies, fi in Hz, that are input by the user and output by Workbench.
mode 2 { } 2 f2 = 202 Hz
The eigenvectors {}i represent the mode d shapes, h i the i.e. th shape h assumed by the structure when vibrating at frequency fi.
mode 3 { } 3 f3 = 249 Hz
L02-10
Equation Solvers
The equation
det [K ] [M ] = {0}
2 i
can be solved using one of two solvers available in Workbench Mechanical:

Direct (Block Lanczos)
To find many modes (about 40+) of large models. Performs well when the model consists of shells or a combination of shells and solids. Uses the Lanczos algorithm where the Lanczos recursion is performed with a block of vectors. Uses the sparse matrix solver.
Iterative (PCG Lanczos)

To find few modes (up to about 100) of very large models (500,000+ DOFs). Performs well when the lowest modes are sought for models that are d i t d by dominated b well-shaped ll h d 3-D 3 D solid lid elements. l t Uses the Lanczos algorithm, combined with the PCG iterative solver.
In most cases cases, the Program Controlled option selects the optimal solver automatically.
L02-11
Participation Factors (Solution Information)

The participation factors are calculated by
{D} i = { }T i [M ]
where {D} is an assumed unit displacement spectrum in each of the global Cartesian directions and rotation about each of these axes.
This measures the amount of mass moving in each direction for each mode. The Th Ratio R ti i is simply i l another th list li t of f participation ti i ti factors, f t normalized li d to t the th largest.
The concept of participation factors will be important in later chapters.
L02-12
Participation Factors (Solution Information)
A high value in a direction indicates that the mode will be excited by forces in that direction.
mode 1 mode 3 mode 5
L02-13
Effective Mass (Solution Information)

Also printed out is the effective mass.
M eff ,i =
{ } [M ]{ }i
T i
i2
2 i
, if { } [M ]{ }i = 1
T i
Ideally, the sum of the effective masses in each direction should equal total mass of structure structure, but will depend on the number of modes extracted. extracted The ratio of effective mass to total mass can be useful for determining whether or not a sufficient number of modes have been extracted.
L02-14
Contact Regions
Contact regions are available in modal 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 Bonded No Separation Rough Frictionless Frictional Static Analysis Bonded No Separation Rough Frictionless Frictional Initially Touching Bonded No Separation Bonded No Separation = 0, No Separation > 0, Bonded Inside Pinball Region Bonded No Separation Free Free Free Outside Pinball Region g Free Free Free Free Free
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
L02-15
Unconstrained Systems
An unconstrained system is one that has no constraints or supports and can move as a rigid body in at least one direction.
Rigid-body motion can be considered to be a mode of oscillation with zero frequency. In practice, these modes may not have a frequency of exactly zero.
rigid-body or zero zero modes
Note that a well-connected system can have at most six rigid-body modes.
Obt Obtaining i i more than th six i rigid-body i id b d modes d may indicate i di t that th t assemblies bli are not well connected.
L02-16
M d l Modal Prestress Effects

L02-17
Prestress Effects
A prestressed modal analysis can be used to calculate the frequencies and mode shapes of a prestressed structure, such as a spinning turbine blade.
The prestress influences the stiffness of the structure through the stressstiffening matrix contribution.
L02-18
Prestress Effects
A linear static analysis is initially performed:
In free vibration with prestress analyses, two solutions are required.
[K ]{u} = {F } [ ]
Based on the stress state [] from the static analysis, a stress stiffness matrix [S] is calculated (see Theory Reference for details):
[ ] [S ]
The free vibration with pre-stress analysis is then solved, including the [S] term:
([K + S ] [M ]){ } = {0}

2 i i
Note that the prestress only affects the stiffness of the system.
i.e. i e the static prestress will not be added to the modal stress
L02-19
Prestress Effects
Mechanical employs the new MAPDL linear perturbation technique for all prestressed eigenvalue analysis Linear perturbation supports
Large deflection, nonlinear pre-stress Prestressed modal from any y restart p point Handling true contact status from the static analysis Cyclic symmetry [KiT]
Any time point from a static or transient structural analysis can be perturbed. p
Uses global tangent stiffness matrix [KiT] from the time point. Restart files must be available.
ti
L02-20
Prestress Effects
Tangent Stiffness matrix
[KiT]
K iT = K iMat + K iContact + K iLoadStiffness + K iSpinSoftening + K iStressStiffness

Material Stiffness [KiMat]
ti
For nonlinear materials, only the linear portion is used For hyperelastic materials, the tangent material properties at the point of restart are used
Stress Stiffening [KiStressStiffness] / Spin softening [KiSpinSoftening]

Effects included automatically in large deflection analyses
Contact stiffness [KiContact]

Contact behavior can be changed prior to the modal analysis (more on this later)
L02-21
M d l Modal Procedure

L02-22
Procedure
Drop a Modal (ANSYS) system into the project schematic.
L02-23
Procedure
Create new geometry, or link to existing geometry.
Edit the Model cell to bring up the Mechanical application.
L02-24
Preprocessing
Verify materials, connections, and mesh settings.
This was covered in Workbench Mechanical Intro.
L02-25
Preprocessing
Optional: Specify Cyclic Region
Matched mesh will be created at the low-high regions
Select Harmonic Indices of interest in Analysis Settings
L02-26
Preprocessing
Add supports to the model.
Displacement constrains must have a magnitude of zero.
L02-27
Solution Settings
Choose the number of modes to extract.
If needed, upper and lower bounds on frequency may be specified to extract the modes within a specified range.
L02-28
Solution Settings
Stress and strain results may be turned on under Output Controls. If the Program-Controlled solver selection is not appropriate, the solver type can be changed to either Direct or Iterative.
L02-29
Postprocessing
Total-deformation results may be quickly inserted by highlighting multiple rows in the tabular view or histogram view. view
L02-30
Postprocessing
If stress/strain were requested, these results may also be access from the Solution Toolbar.
L02-31
Postprocessing
If cyclic symmetry was activated, results will be automatically expanded.
Cyclic Expansion
Harmonic Index Control
Modes listed by Harmonic Indices
Interactive Frequency-Spectrum Display

L02-32
M d l Modal Prestressed Procedure

L02-33
Procedure
The procedure to do a prestressed modal analysis is essentially the same as a regular modal analysis, except that you first need to prestress the structure by doing a static analysis. The static analysis results in a stressed structure, which is used as the initial condition for the modal analysis. l i
L02-34
Procedure
Drop a Static Structural (ANSYS) system into the project schematic.
L02-35
Procedure
Drop a Modal (ANSYS) system onto the Solution cell of the Modal system.
Note the circular-ended connector, indicating a data transfer from the Static to the Modal analysis.
L02-36
Procedure
Create new geometry, or link to existing geometry.
Edit the Model cell to bring up the Mechanical application.
L02-37
Static: Preprocessing
In the Static Structural system, insert the loads and supports that will cause the prestressed-state to occur.
L02-38
Preprocessing
Optional: Specify Cyclic Region
Matched mesh will be created at the low-high regions
Select Harmonic Indices of interest in Analysis Settings
L02-39
Static: Analysis Settings
Setup restart controls of parent static structural analysis according to requirements.

Default is to retain a restart point for the last substep of the last load step. Recall: any substep can be perturbed, providing there is a restart point.
L02-40
Static: Postprocessing
Review the static results before proceeding.
L02-41
Analysis Settings: Prestress Environment

In the modal analysis, user can specify which restart point from the static analysis will be used as the prestress environment. This can be specified by either (1) End of load step (2) Time
L02-42
Analysis Settings: Contact Status

The user also has some control over the contact status. Available options are: (1) Use True Status
Use the status at the restart point. For frictional contact with mu>0, set sliding elements to sticking. Use bonded contact for all contact pairs that are closed.
(2) Force Sticking
(3) Force Bonded
L02-43
Postprocessing
The modal results may be reviewed as described in the previous section.
L02-44
Postprocessing
Note that the prestressed state increased the frequencies of this structure.
e.g. the first mode in this example increased from 108.3 Hz to 274.6 Hz
Not Prestressed Prestressed
A prestress may not always increase the natural frequencies; a compressive load will decrease the frequencies.
In fact, fact a sufficiently-high compressive load will result in a natural frequency of zero, effectively replicating the results of a buckling analysis.
L02-45
D. Workshop - Modal Analysis

This workshop consists of two problems: 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. (WS2A: Modal Analysis - Plate with a Hole).
2 Pre-stressed 2. Pre stressed Modal analysis of a model airplane wing

This is left as an exercise to you. (WS2B: Modal Analysis - Model Airplane Wing).
L02-46

AWB130 Dynamics 02 Modal - ANSYS

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Customer Training Material

L t Lecture 2 Modal Analysis y

ANSYS Mechanical Linear and Nonlinear Dynamics

Release 13.0 March 2011

ANSYS Mechanical Linear and Nonlinear Dynamics

Customer Training Material

ANSYS, Inc. Proprietary 2011 ANSYS, Inc. All rights reserved.

Release 13.0 March 2011

ANSYS Mechanical Linear and Nonlinear Dynamics

Description & Purpose

Customer Training Material

A modal analysis is a technique used to determine the vibration characteristics of structures:

mode participation factors

Most M tf fundamental d t l of f all ll the th dynamic d i analysis l i types. t

ANSYS, Inc. Proprietary 2011 ANSYS, Inc. All rights reserved.

Release 13.0 March 2011

ANSYS Mechanical Linear and Nonlinear Dynamics

Description & Purpose

Customer Training Material

ANSYS, Inc. Proprietary 2011 ANSYS, Inc. All rights reserved.

Release 13.0 March 2011

ANSYS Mechanical Linear and Nonlinear Dynamics

Customer Training Material

ANSYS, Inc. Proprietary 2011 ANSYS, Inc. All rights reserved.

Release 13.0 March 2011

ANSYS Mechanical Linear and Nonlinear Dynamics

Assumptions & Restrictions

Customer Training Material

ANSYS, Inc. Proprietary 2011 ANSYS, Inc. All rights reserved.

Release 13.0 March 2011

ANSYS Mechanical Linear and Nonlinear Dynamics

Customer Training Material

&&}+ [C ]{u &}+ [K ]{u} = {F } [M ]{u

Assume harmonic motion:

{u} = &} = {u &&} = {u

sin (i t + i ) cos(i t + i ) sin (i t + i )

ANSYS Mechanical Linear and Nonlinear Dynamics

Customer Training Material

&&}+ [K ]{u} = {0} [M ]{u i2 [M ]{ }i sin (i t + i ) + [K ]{ }i sin (i t + i ) = {0} ( i2 [M ] + [K ]){ }i = {0}

Release 13.0 March 2011

ANSYS Mechanical Linear and Nonlinear Dynamics

Extraction & Normalization

Customer Training Material

Mode shapes can be normalized either to the mass matrix

Release 13.0 March 2011

ANSYS Mechanical Linear and Nonlinear Dynamics

Eigenvalues & Eigenvectors

Customer Training Material

Natural frequencies fi can then calculated as fi = i/2 (cycles/s). (cycles/s)

ANSYS, Inc. Proprietary 2011 ANSYS, Inc. All rights reserved.

Release 13.0 March 2011

ANSYS Mechanical Linear and Nonlinear Dynamics

Customer Training Material

can be solved using one of two solvers available in Workbench Mechanical:

Iterative (PCG Lanczos)

Release 13.0 March 2011

ANSYS Mechanical Linear and Nonlinear Dynamics

Participation Factors (Solution Information)

Customer Training Material

The concept of participation factors will be important in later chapters.

ANSYS, Inc. Proprietary 2011 ANSYS, Inc. All rights reserved.

Release 13.0 March 2011

ANSYS Mechanical Linear and Nonlinear Dynamics

Participation Factors (Solution Information)