Mech-RBD 13.0 L04

L4-1
ANSYS, Inc. Proprietary

2010 ANSYS, Inc. All rights reserved.
Release 13.0
December 2010
Introduction to ANSYS
Rigid Body Dynamics
Customer Training Material
Lecture 4
Transient Structural
Analysis
(Rigid/Flexible Multibody
Dynamics )
Introduction to ANSYS Rigid Body Dynamics
L4-2
Release 13.0
December 2010
Topics Covered
A. Introduction to Transient Structural Analyses
B. Time Stepping
C. Including Nonlinearities
D. Part Specification and Meshing
E. Contact; Joints; and Springs
F. Initial Conditions
G. Loads; Supports; and Joint Conditions
H. Damping
I. Transient Structural Analysis Settings
J. Reviewing Results
L4-3
Release 13.0
December 2010
Introduction
Transient Structural analysis provides users with the ability to
determine the dynamic response of the system under any type of
time-varying loads.
Unlike Rigid Dynamics analyses, bodies can be either rigid or flexible.
For flexible bodies, nonlinear materials can be included, and stresses and
strains can be output.
To perform Flexible
Dynamic Analyses, an
ANSYS Structural,
ANSYS Mechanical, or
ANSYS Multiphysics
license is required
Assembly shown here is from an Autodesk Inventor sample model
L4-4
Release 13.0
December 2010
Introduction
In a Transient Structural analysis, Workbench Simulation solves the
general equation of motion:
Some points of interest:
Applied loads and joint conditions may be a function of time.
As seen above, inertial and damping effects are now included. Hence, the
user should include density and damping in the model.
Nonlinear effects, such as geometric, material, and/or contact nonlinearities,
are included by updating the stiffness matrix.
Transient Structural analyses are needed to evaluate the response of
deformable bodies when inertial effects become significant.
If inertial and damping effects can be ignored, consider performing a linear or
nonlinear static analysis instead
If the loading is purely sinusoidal and the response is linear, a harmonic
response analysis is more efficient
If the bodies can be assumed to be rigid and the kinematics of the system is
of interest, rigid dynamic analysis is more cost-effective
In all other cases, Transient Structural analyses should be used, as it is the
most general type of dynamic analysis
| |{ } | |{ } ( ) | |{ } ( ) { } t F x x K x C x M = + +

L4-5
Release 13.0
December 2010
Introduction
Transient Structural analysis encompasses static structural analysis
and rigid dynamic analysis, and it allows for all types of Connections,
Loads, and Supports.
However, one of the important considerations of performing
Transient Structural analysis is the time step size:
The time step should be small enough to correctly describe the time-
varying loads
The time step size controls the accuracy of capturing the dynamic
response. Hence, running a preliminary modal analysis is suggested in
Section E of Appendix-1.
The time step size also controls the accuracy and convergence behavior
of nonlinear systems. Background information on the Newton-Raphson
method is presented in Section F of Appendix-1.
L4-6
Release 13.0
December 2010
B. Time step sizes
While Transient Structural analyses use automatic time-stepping,
proper selection of the initial, minimum, and maximum time steps is
important to represent the dynamic response accurately:
Unlike rigid dynamic analyses which use explicit time integration,
Transient Structural analyses use implicit time integration. Hence, the
time steps are usually larger for Transient Structural analyses
The dynamic response can be thought of as various modeshapes of the
structure being excited by a loading. The initial time step should be
based on the modes (or frequency content) of the system.
It is recommended to use automatic time-stepping (default):
The maximum time step can be chosen based on accuracy concerns. This
value can be defined as the same or slightly larger than the initial time step
The minimum time step can be input to prevent Workbench Simulation from
solving indefinitely. This minimum time step can be input as 1/100 or 1/1000 of
the initial time step
L4-7
Release 13.0
December 2010
C. Including Nonlinearities
There are several sources of nonlinear behavior, and a Transient
Structural analysis may often include nonlinearities:
Geometric nonlinearities: If a structure
experiences large deformations, its
changing geometric configuration can
cause nonlinear behavior.
Material nonlinearities: A nonlinear stress-strain
relationship, such as metal plasticity shown on
the right, is another source of nonlinearities.
Contact: Include effects of contact is a type
of changing status nonlinearity, where an
abrupt change in stiffness may occur when
bodies come in or out of contact with each other.
L4-8
Release 13.0
December 2010
D. Part Specification
In a Transient Structural analysis, parts may be rigid or flexible:
Under the Geometry branch, the Stiffness Behavior can be toggled
from Flexible to Rigid on a per-part basis
Rigid and flexible parts can co-exist in the same model
Consideration for flexible parts are the same as in static analyses:
Specify appropriate material properties, such as density, Youngs
Modulus, and Poissons ratio
Nonlinear materials, such as plasticity or hyperelasticity, can also be
included
For rigid parts, the following apply:
Density is the only material property needed to
calculate mass properties. All other material
specifications will be ignored.
An Inertial Coordinate System will automatically
be defined at the centroid of the part
L4-9
Release 13.0
December 2010
Part Specification
For flexible bodies, the mesh density is based on the following:
The mesh should be fine enough to capture the mode shapes of the
structure (dynamic response)
If stresses and strains are of interest, the mesh should be fine enough to
capture these gradients accurately
For rigid bodies, no mesh is produced
Rigid bodies are rigid, so no
stresses, strains, or relative
deformation is calculated.
Hence, no mesh is required
Internally, rigid bodies are
represented as point masses
located at the center of its
Inertial Coordinate System
On the figure on the right, one can
see flexible bodies (meshed) and
rigid bodies (not meshed) in the
same model.
L4-10
Release 13.0
December 2010
E. Contact; Joints; Springs
Contact, joints, or springs can be defined under the Connections
branch in Transient Structural analyses
Contact is only defined between 2D or 3D flexible bodies. Contact is
used when parts can come in and out of contact or if frictional effects are
important.
Nonlinear contact (rough, frictionless, frictional) is only available for faces of
3D bodies or edges of 2D bodies
Joints can be defined between two bodies or from one body to ground.
Joints are meant to model mechanisms where the part(s) are always
touching but relative motion is possible.
Joints are defined only on faces of 3D bodies
Springs are defined for 3D rigid or flexible bodies. Springs provide
longitudinal stiffness and damping for the scoped region(s), meant to
represent stiffness/damping effects of parts not explicitly modeled.
Springs can be defined on vertices, edges, or faces of 3D bodies
Defined springs cannot have zero length
L4-11
Release 13.0
December 2010
Contact
In contact, parts are prevented from penetrating into each other. The
different type of contact describe behavior in the separation and
sliding directions:
Normal Direction Tangential Direction
Contact Type Separate Slide
Bonded no no
No Separation no yes
Rough yes no
Frictionless yes yes
Frictional yes
yes (when F
t
N)
L4-12
Release 13.0
December 2010
Contact
Different contact formulations allow for establishing the mathematical
relationship between contacting solid bodies:
For bonded and no separation contact, the contacting areas are known
beforehand based on the geometry and pinball region
The recommended contact formulation to use is either Pure Penalty (default)
or MPC
For rough, frictionless, and frictional contact,
the actual contacting areas are not known
a priori, so an iterative approach is required
The recommended contact formulation to use
is Augmented Lagrange
L4-13
Release 13.0
December 2010
Joints
Joints can be defined between bodies or from a body to ground:
Joints define the allowed motion (kinematic constraint) on surface(s)
Various types of joints can be defined for flexible or rigid bodies:
Fixed, Revolute, Cylindrical, Translational, Slot, Universal, Spherical, Planar, or
General Joints
Definition and configuration of joints was covered in an earlier section
Unlike rigid dynamic analysis, the actual not relative degrees of
freedom are specified
The animation on the right shows
an assembly using cylindrical and
revolute joints
L4-14
Release 13.0
December 2010
Joints
In Transient Structural analyses, the user has an additional option of
specifying the behavior of the joint:
Rigid (default) behavior means that the scoped surface(s) will not
deform but be treated as rigid surface(s). This means that a scoped
cylindrical surface will remain cylindrical throughout the analysis.
Deformable behavior means that while the
joint constraint is satisfied, the scoped
surface(s) are free to deform. This means that
a scoped cylindrical surface may not remain
cylindrical throughout the analysis.
L4-15
Release 13.0
December 2010
Springs
Springs can be defined between bodies or from body to ground:
Springs define the stiffness and/or damping of surface(s)
Refer to Section I for additional details on damping
Springs can be defined for rigid or flexible bodies
These are longitudinal springs, so the stiffness or damping is related to
the change in length of the spring
The spring must not have zero length
Springs can be defined on vertices, edges, or surfaces
L4-16
Release 13.0
December 2010
F. Initial Conditions
Initial displacement = 0, initial velocity 0
Ramp a very small displacement value over a small time interval to produce the
desired initial velocity. Deactivate it for Step 2.
Initial displacement 0, initial velocity 0
Ramp the desired initial displacement over a time interval to produce the
desired initial velocity. Deactivate it for Step 2.
Initial displacement 0, initial velocity = 0
Step apply the desired initial displacement over a time interval to ensure that
initial velocity is zero. Deactivate it for Step 2, if necessary.
L4-17
Release 13.0
December 2010
G. Loads; Supports; Conditions
For rigid bodies, just as in a rigid dynamic analysis, only inertial
loads and joint conditions are supported.
Rigid bodies do not deform, so structural & thermal loads do not apply
For deformable bodies, any type of load can be used:
Inertial and structural loads
PSD Base Excitation load is only applicable to Random Vibration Analysis, so
that is not an applicable structural loading
Structural supports
Joint (for defined joints) and thermal conditions
L4-18
Release 13.0
December 2010
Time-Varying Loads
Structural loads and joint conditions can be input as time-dependent
load histories
When adding a Load or Joint Condition, the
magnitude can be defined as a constant,
tabular value, or function.
The values can be entered directly in the
Workbench Simulation GUI or entered in
the Engineering Data page
L4-19
Release 13.0
December 2010
H. Damping
As noted in Section A, the equations solved for in Transient
Structural analyses also include a damping term
There are three different types of damping available:
Material damping
This is damping specified per material
Element damping
A Spring connection can include a dampening effect on scoped entities
Global damping
Damping that affects the entire model
The effect of damping is cumulative. Hence, if 2% material damping
and 3% system damping is defined, that part will have 5% damping.
L4-20
Release 13.0
December 2010
I. Analysis Settings
Besides damping, there are various other
options the user can set under the Analysis
Settings branch.
It is important that the user specify the
solution times in the Step Controls section
The Number of Steps controls how the load
history is divided. One can impose initial
conditions with multiple load steps use Time
Integration to toggle whether inertial effects
are active for that step
The Step End Time is the actual simulation
ending time for the Current Step Number
The initial, minimum, and maximum timesteps
should be defined as noted in previous
Sections.
L4-21
Release 13.0
December 2010
Analysis Settings
The Solver Controls section allows the user
to choose the equation solver, use of weak
springs, and use of large deflection effects
Transient Structural analyses may typically
involve large deformations, so Large
Deflection: On should be used (default
behavior). Also, in the case of large deflection,
one would usually turn on weak springs.
Output Controls allows users to control how
frequently data is saved to the ANSYS result
file. For multiple step analyses, one can save
results only for the end of the step. Also, one
can also save results at intervals that are as
evenly-spaced as possible (depending on
automatic time-stepping)
L4-22
Release 13.0
December 2010
J. Reviewing Results
After completion of the solution, reviewing Transient Structural
analysis results typically involves the following output:
Contour plots and animations
Probe plots and charts
Generating contour plots and animations are similar to other
structural analyses
Note that the displaced position of rigid
bodies will be shown in the contour result,
but the rigid bodies will not show any
contour result for deformation, stress, or
strain since they are rigid entities
Typically, animations are generated using
the actual result sets, not distributed sets
L4-23
Release 13.0
December 2010
Reviewing Results
Probes are useful in generating time-history charts
to understand the transient response of the system.
Some useful probe results are as follows:
Deformation, stresses, strains, velocities, accelerations
Force and moment reactions
Joint, spring, and bolt pretension results
Chart objects, based on probes, can also be added
to include in reports or as independent figures

Mech-RBD 13.0 L04

Hochgeladen von

Dokumentinformationen

Originaltitel

Copyright

Verfügbare Formate

Dieses Dokument teilen

Dokument teilen oder einbetten

Freigabeoptionen

Stufen Sie dieses Dokument als nützlich ein?

Sind diese Inhalte unangemessen?

Copyright:

Verfügbare Formate

Mech-RBD 13.0 L04

Hochgeladen von

Copyright:

Verfügbare Formate

L4-1

ANSYS, Inc. Proprietary

Das könnte Ihnen auch gefallen