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ANSYS Mechanical
Dynamics
Introduction
ANSYS Mechanical
Dynamics
This course is intended for users already familiar with the procedures
for performing a linear static analysis in Workbench Mechanical
environment.
Prerequisite is ANSYS Workbench Mechanical Introduction
Copies of the workshop files are available (upon request) from the
instructor.
Courtesy: NASA
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Dynamics
Types of Dynamic Analysis Training Manual
Topics discussed:
Modeling considerations
Damping
M u C u K u F
M structural mass matrix u nodal accelerati on vector
C structural damping matrix u nodal velocity vector
K structural stiffness matrix u nodal displaceme nt vector
F applied load vector
Finertial Fdamping
Fstiffness
F applied
M u C u K u F
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Basic Concepts & Terminology
Equation of Motion Training Manual
M u C u K u F
Different analysis types solve different forms of this equation.
Modal
F(t) set to zero; [C] usually ignored.
Harmonic Response
F(t) and u(t) assumed to be sinusoidal.
Response Spectrum
Input is a known spectrum of response magnitudes at varying frequencies in
known directions.
Random Vibration
Input is a probabilistic spectrum of input magnitudes at varying frequencies in
known directions.
Transient
The complete, general form of the equation is solved.
M u C u
K u u F
nonlinear
Nonlinearities, such as large deflections, nonlinear contact, material
nonlinearities, etc, are allowed only in a full transient dynamic
analysis with large deflection turned ON.
M u Cu K u F
Mass properties [M]
e.g. density, point mass
required for all dynamic analysis types
specify mass density when using metric units, and
specify weight density when using British units
Note that Mechanical has display (interactive) units and solution units.
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Basic Concepts & Terminology
D. Damping Training Manual
Damping is an energy-dissipation
mechanism that causes vibrations
to diminish over time and eventually
stop.
e.g. vibrational energy that is
converted to heat or sound
The amount of damping may
depend on the material, the velocity
of motion, and/or the frequency of
vibration.
c
cc
k
cc 2m 2 km 2mn
m
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Basic Concepts & Terminology
Damping Training Manual
k
n d
m 1 2
n
The addition of viscous or solid
damping slightly alters the natural
frequency of a system.
d 1 2 n
Coulomb damping has no effect on
frequency.
Fd cu
Fd cu icnu
The value of c in
Fd cu icnu
can be input directly as element damping
(Details section of Spring connection).
The value of in
Fd ku iknu
can be input directly as global
damping value (Details section of
Analysis Settings) or as material-
dependent damping value
(Material Damping Factor material
property).
Fd 2iku
The value of in
Fd 2iku
can be input directly as global
damping value (Details section
of Analysis Settings) or as
material-dependent damping
value (Constant Damping
Coefficient material property).
2 / n
Pick the most dominant response frequency to calculate .
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Basic Concepts & Terminology
Coulomb or dry-friction damping Training Manual
1 for y 0
sgn( y ) 1 for y 0
0 for y 0
Not considered in a linear dynamic analysis. Generally requires a
nonlinear transient solution.
High-frequency
response
Primary
Frequency
undamped
Spectral Amplification
Measure Damping ratio Loss Factor Log Decrement Quality Factor
Damping Factor
Damping Ratio h/2 D/2p 1/(2Q) D/(4pU) 1/2A
Modal Analysis
ANSYS Mechanical
Dynamics
mode 2
{f}2
f2 = 202 Hz
mode 3
{f}3
f3 = 249 Hz
There is no damping.
Damped eigensolvers (MODOPT,DAMP or MODOPT,QRDAMP) may be
accessed using Commands Objects, but will not be covered here.
M u C u K u F
Assume free vibrations, and ignore damping:
0 0
M u C u K u F
M u K u 0
Assume harmonic motion:
u f i sin i t i
u i f i cosi t i
u i2 f i sin i t i
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Theory
Development Training Manual
M u K u 0
i2 M f i sin i t i K f i sin i t i 0
i2 M K fi 0
det K i2 M 0
This is an eigenvalue problem which may be solved for up to n
eigenvalues, i2, and n eigenvectors, fi, where n is the number of
DOF.
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Theory
Extraction & Normalization Training Manual
det K M 0
i
2
f M fi 1
T
i
The equation
i
2
det K M 0
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.
i f Ti M D
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 Ratio is simply another list of participation factors, normalized to the largest.
The concept of participation factors will be important in later chapters.
A high value in a direction indicates that the mode will be excited by forces in
that direction.
mode 1 mode 3 mode 5
i2
M eff ,i , if f M f i 1
2 T
f M f i
T
i
i i
Ideally, the sum of the effective masses in each direction should equal total
mass of structure, but will depend on the number of modes 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.
K u F s
Based on the stress state [s] from the static analysis, a stress stiffness
matrix [S] is calculated (see Theory Reference for details):
s S
The free vibration with pre-stress analysis is then solved, including the [S]
term:
K S M f 0
i
2
i
Note that the prestress only affects the stiffness of the system.
i.e. the static prestress will not be added to the modal stress
rigid-body
or
zero modes
The full model below results in the frequencies listed in the tabular view.
A quarter-symmetry model will require three sets of symmetry boundary
conditions to find all modes (see next slide)...
Symm-Asym BC
Full Model
Symmetry BC
etc
Anti-Symmetry BC
Modal
Create new geometry, or link to Edit the Model cell to bring up the
existing geometry. Mechanical application.
If stress/strain were requested, these results may also be access from the
Solution Toolbar.
Prestressed Modal
In the Static Structural system, insert the loads and supports that will cause
the prestressed-state to occur.
Workbench will automatically setup To verify the data transfer, one can
the data transfer between the ensure that
systems. Future Analysis is set to
Prestressed analysis in the Static
Structural system
Pre-Stress Environment is set to
Static Structural in the Modal
system
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
Harmonic Response
ANSYS Mechanical
Dynamics
Topics covered:
Assumptions and Restrictions
Equation of motion
Nature of harmonic loads
Complex displacements
Solution methods
M u C u K u F
Assume [F] and {u} are harmonic with frequency W:
u u 1 iu2 eiWt
u iW u 1 iu2 eiWt
u W2 u 1 iu2 eiWt
Substitute and simplify:
M u C u K u F
W 2 M u 1 iu2 eiW t
iWC u 1 iu2 eiW t
K u 1 iu2 eiW t F 1 iF2 eiW t
W 2 M iWC K u 1 iu2 F 1 iF2
This can then be solved using one of two methods.
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Theory
Development Training Manual
Kc
uc
Fc
W2 M iWC K u 1 iu2 F 1 iF2
K c uc Fc
The mode-superposition method expresses the displacements as a
linear combination of mode shapes (see Theory Reference for details).
W M iWC K u iu F iF
2
1 2 1 2
W 2
i 2w j W j w 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.
Supports all types of loads and boundary Does not support nonzero imposed
conditions. harmonic displacements.
Solution points must be equally distributed Solution points may be either equally
across the frequency domain. distributed across the frequency domain or
clustered about the natural frequencies of
the structure.
xi X i sin wt i
where X amplitude
w freqency
phase angle
All loads and displacements, both
input and output, are assumed to
occur at the same frequency.
Evenly spaced
frequency points
Clustered frequency
points
Harmonic Response
Model
Nonlinearities are not allowed.
Analysis options
Solution method - full or mode Damping
superposition. Choose from beta damping and
For large models (>1 million damping ratio (constant
DOF), set Store Results at All damping ratio is most
Frequencies to No. commonly used).
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.
Imaginary
F2max
Amplitude and phase angle
The load value (magnitude) represents
F1max
the amplitude Fmax. Real
Imaginary
F2max
F1max
Real
Response Spectrum
ANSYS Mechanical
Dynamics
Topics covered:
Definition and purpose
Overview of Workbench capabilities
Procedure
A response-spectrum analysis
calculates the maximum response
of a structure to a transient loading.
If there is more than one load, each will have its own spectrum.
M K 0
i
2
i
i M D
T
i
1 1 {}1 S1 1 A1 {R}1
2 2 {}2 S2 2 A2 {R}2
3 3 {}3 S3 3 A3 {R}3
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Theory
Spectrum Values Training Manual
1 1 {}1 S1 1 A1 {R}1
2 2 {}2 S2 2 A2 {R}2
3 3 {}3 S3 3 A3 {R}3
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Theory
Mode Coefficients Training Manual
1 1 {}1 S1 1 A1 {R}1
2 2 {}2 S2 2 A2 {R}2
3 3 {}3 S3 3 A3 {R}3
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Theory
Response Training Manual
1 1 {}1 S1 1 A1 {R}1
2 2 {}2 S2 2 A2 {R}2
3 3 {}3 S3 3 A3 {R}3
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Theory
Mode Combination Training Manual
1
N N 2
R e ij Ri Rj
i 1 j 1
where R is the total modal response and RiRj is the entrywise product
(a.k.a. Hadamard or Schur product) of modes i and j.
The modal correlation coefficients, eij, are uniquely defined,
depending on the method chosen for evaluating the correlation
coefficient.
The methods for mode combination are SRSS, CQC, and ROSE.
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Theory
Mode Combination Training Manual
e ij 1.0 for i j
e ij 0.0 for i j
for a structures with coupled modes, this assumption overestimates the
responses overall
The CQC and the ROSE methods providing a means of evaluating
modal correlation for the response spectrum analysis.
accounting for mode coupling makes the response estimate from these
methods more realistic and closer to the exact time history solution
1 1 1
R Ri2
N N N 2 N N 2
R ke ij Ri Rj R e ij Ri Rj
2
i 1
i 1 j 1 i 1 j 1
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Procedure:
Response Spectrum
Create new geometry, or link to Edit the Model cell to bring up the
existing geometry. Mechanical application.
Random Vibration
ANSYS Mechanical
Dynamics
Topics covered:
Definition and purpose
Overview of Workbench capabilities
Procedure
Image from Random Vibrations Theory and Practice by Wirsching, Paez and Ortiz.
3s
Gaussian
(normal)
Distribution
Input:
Natural frequencies and mode shapes from a modal analysis
Single or multiple PSD excitations applied to ground nodes
Output:
1s results can be contoured like any other analysis.
Response PSD at one DOF (one point in one direction)
Random Vibration
Drop a Random Vibration system onto the Solution cell of the Modal
system.
Create new geometry, or link to Edit the Model cell to bring up the
existing geometry. Mechanical application.
Response PSD can be plotted at one DOF (one point in one direction,
either absolute or relative to base excitation).
Transient
ANSYS Mechanical
Dynamics
To perform Flexible
Dynamic Analyses, an
ANSYS Structural,
ANSYS Mechanical, or
ANSYS Multiphysics
license is required
Background Information:
A. Introduction to Transient Structural Analyses
B. Preliminary Linear Dynamic Studies
C. Background Information on Nonlinear Analyses
Procedural Information:
D. Demo Impact Problem
E. Part Specification and Meshing
F. Nonlinear Materials
G. Contact; Joints; and Springs
H. Initial Conditions
I. Loads; Supports; and Joint Conditions
J. Damping
K. Transient Structural Analysis Settings
L. Reviewing Results
M x C x K xx F t
Some points of interest:
Applied loads and joint conditions may be a function of time and space.
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.
A general suggestion for selection of the initial time step is to use the
following equation:
1
tinitial
20 f response
where fresponse is the frequency of the highest mode of interest
Points of Consideration:
The automatic time-stepping algorithm will increase or decrease the
size of the time step during the course of the analysis based on the
calculated response frequency.
Automatic time-stepping algorithm still relies on reasonable values of
initial, minimum, and maximum time steps
If the minimum time step is being used, that may indicate that the initial
time step size was too large. The user can plot the time step size by
selecting Solution Output: Time Increment from the Details view of the
Solution Information branch
When performing a modal analysis to determine an appropriate
response frequency value, it is not sufficient to request a certain
number of modes, then to use the maximum frequency. It is a good
idea to examine the various mode shapes to determine which
frequency may be the highest mode of interest contributing to the
response of the structure.
x
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Including Nonlinearities Training Manual
to ensure convergence
1
x1 x
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Including Nonlinearities Training Manual
As shown from the previous slides, the time step size will also have
an influence on nonlinear analyses:
The time step size should be small enough to allow the Newton-Raphson
method to obtain force equilibrium (convergence)
The user may also need to specify the initial, minimum, and maximum
timesteps based on nonlinear considerations
Transient
Play Animation
In contact, parts are prevented from penetrating into each other. The
different type of contact describe behavior in the separation and
sliding directions:
x1initial
v initial
t1
If the time interval t1 is small enough, the effect on the actual ending
time should be negligible.
Striker
Tool
Wheel
Intro (Flywheel)
ANSYS Mechanical
Dynamics
Drop a Modal system onto the Results cell of the Static Structural system.
In this system, the prestressed modes will be found.
Drop a Harmonic Response system onto the Model cell of the Static
Structural System.
In this system, a harmonic load will be applied to the static flywheel.
Two coordinate systems will be added to align with the center of the shaft.
The origin of the first coordinate system can easily be located along the shaft
axis by selecting two keypoints.
Using the cylindrical coordinate system again, insert radial and tangential
components of stress.
Drag and drop the Frictionless Support and Remote Displacement from the
Static Structural branch into the Harmonic Response Branch.
Insert a Deformation
Frequency Response
result on the outer surface
of the flywheel.
set the Spatial Resolution
to Use Maximum
set the Orientation to Z
Axis
Modal Analysis
(Plate with a Hole)
ANSYS Mechanical
Dynamics
Fixed Center
Return to the Project, and Edit the Model cell to open the Mechanical
application.
set the plate thickness to 0.1 in
set the plate material assignment to Aluminum Alloy
After the modal solution is completed, review the modal shapes for each
frequency.
Click on the Modal Solution Branch in the Tree. Then LMB on the top of the
Frequency Column in the Tabular Data region, and >RMB>Create Mode
Shape Results
This will automatically insert Total Deformation objects in the Tree for all modes
solved.
To get an overall view of the Modal results step thru (LMB) the Total
Deformation result objects for each mode.
You can also Animate (Play & Stop) the mode from the Timeline window.
Note: Make a note of your highest natural Frequency mode:
Max Indicated Freq = _________________Hz.
Remember:
Displacements reported with mode shapes are relative and do not reflect the
actual max magnitudes of the displacements.
The actual magnitudes will depend on the energy input to the system (depends on forcing
function).
Sometimes it is challenging to visualize the true mode shape from a simple
contour plot.
Try the Vector Display instead.
Adjust the Vector Scale slider as desired.
You can also animate the vector plot too. Vector
Plot
Arrows may
be more
intuitive in
some cases.
Contour
Plot.
Difficult to
determine
deformation
directions
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Workshop 2B:
Modal Analysis
(Model Airplane Wing)
ANSYS Mechanical
Dynamics
Fixed End
Return to the Project, and Edit the Model cell to open the Mechanical
application.
set the wing material assignment to Titanium Alloy
Depth
Picking
After the modal solution is completed wed like to review the modal
shapes for each frequency.
Click on the Modal Solution Branch in the Tree. Then LMB on the top
of the Frequency Column in the Tabular Data region, and
>RMB>Create Mode Shape Results
This will automatically insert Total Deformation objects in the Tree for
all modes solved.
13
To get an overall view of the Modal results step thru (LMB) the Total
Deformation result objects for each mode.
Remember to Animate (Play & Stop) the mode from the Timeline
window.
You can typically rotate the model during animation too.
Note: Make a note of your highest natural Frequency mode:
Max Indicated Freq = _________________Hz.
Experiment with the Vector Graphics and (vector) scale slider.
Animation and rotation can also be performed on Vector plots.
Harmonic Response
(Fixed-Fixed Beam)
ANSYS Mechanical
Dynamics
Constrain (Fix)
Both Ends
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Workshop 3 Project Schematic Training Manual
Contours at a specific
Frequency
Response Spectrum
(Suspension Bridge)
ANSYS Mechanical
Dynamics
Finally, insert Standard Earth Gravity from the Inertial loads toolbar
button.
Change the Max Modes to Find to 10, then run the Modal solution.
verify in Solution Information that a significant portion of the total mass
has been accounted for
Open the supplied seismic data from the Savannah River Earthquake,
copy the spectrum data, and paste it into the Tabular Data.
Random Vibration
(Girder Assembly)
ANSYS Mechanical
Dynamics
Acceleration
documented in a written
specification relating to the system A1
or component.
The data points can be entered for A4
each Freq & Amplitude, or a function
can be entered.
F1 F2 F3 F4
Frequency
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Workshop 5A Project Schematic Training Manual
A2 A3
Acceleration
A1
A4
F1 F2 F3 F4
Frequency
Enter the following tabular data for the PSD Acceleration load
Frequency [Hz] Acceleration [(in/s^2)^2/Hz]
5 150
20 200
30 200
45 100
Transient
(Caster Wheel Test)
ANSYS Mechanical
Dynamics
a Face
a Face