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Abstract
In structural design of mechanical systems dynamic analysis is carried out in time domain or in frequency domain which implies
solving the equation of motion several times. Usually the systems depend on a set of parameters which influence their responses.
Thus the design process includes numerical simulations using a full-scale finite element (FE) model for each set of parameters
which is computationally demanding and time consuming. In this contribution the response in the frequency domain due to different
load configurations is investigated by using a mixed approach of two related methods for parametric model order reduction (MOR)
based on interpolation in matrix manifolds of the reduced order models (ROMs) and by using a global basis over the parametric
space. Furthermore an approach based on interpolation of the reduced solution is presented. These approaches of MOR permit
the computational efficient evaluation of different load configurations and avoid the generation of a new FE model for each case.
A numerical example illustrates the capability of those methods. The respective results using parametric MOR approaches are
compared with the solution obtained by using the corresponding full-scale FE model and the direct application of the Krylov
subspace method (KSM).
c 2017 The Authors. Published by Elsevier Ltd.
Peer-review under responsibility of the organizing committee of EURODYN 2017.
Keywords:
Parametric model order reduction, Interpolation in matrix manifolds, Frequency response, Krylov subspace, Interpolation
1. Introduction
The equation of motion resulting from a finite element discretization of a mechanical system is given by
Mu(t) + Du(t) + Ku(t) = f (t) (1)
Applying a Fourier transformation to eq.1, with u() = F u(t) and f() = F f (t) leads to
( j 2 M + i j D + K)u( j ) = f( j ) j = 1, 2, 3...n (2)
which is the equation of motion in the frequency domain, where M, D, K RNN are the mass, damping and stiffness
matrix respectively, f RN1 is the load vector (force vector) and u RN1 is the displacement vector. A reduced-
order model (ROM) which would lead to a lower computational time is achieved by using a suitable MOR technique.
The main idea of MOR techniques is to find a vector space spanned by the columns of V CNnr , with nr N, which
maps a reduced set of degrees of freedom (dofs) ur Cnr 1 into the original set of degrees of freedom u, such that
u u = Vur (3)
( j 2 Mr + i j Dr + Kr )ur ( j ) = fr ( j ) (4)
Mr = VH MV Dr = VH DV Kr = VH KV
(5)
fr = VH f
For the construction of that matrix V different approaches have been proposed in the field of structural mechanics,
Real Modal Analysis, Guyan-Irons Reduction, Improved Reduction System, Dynamic Reduction, Craig-Bampton
Method, Krylov subspace method, Derivative-based Galerkin Projection. A review of those MOR techniques is
presented in [1].
When eq. 2 depends on a set of parameters k R1k it is possible to have a ROM for each set of parameters,
but the question arises how to use those ROMs in order to determinate the solution in a new set k+1 . Interpolation
on Matrix Manifolds is a promising approach because it works only at the level of ROMs. In this contribution those
methods are applied to a system with different load configurations. The results are compared with results from a ROM
using a truncate global basis Vg and the one from interpolation in of the reduced solutions. In the next section the
theoretical background for each approach is summarized. In section 3 a numerical example illustrates the capabilities
of the pMOR mentioned above and a conclusion is given in section 4.
The two main approaches for the pMOR based on interpolation in Matrix manifolds are reviewed in this subsec-
tion, i.e. the method developed by Lohmann [2] (Method A) and the method developed by Farhat [4] (Method B).
The general procedure to use method A and B was introduced by Geuss et. al [3]. Here the general procedure is
summarized for the particular problem which is addressed in this work.
Sample the parametric space. A coarse grid is defined in the parametric space of interest, i.e. n parametric
configurations are choosen.
Reduction of the local system. n ROMs are computed using any MOR technique and a data base is build with
Mri , Dri , Kri , Fri , Vi , for i = 1...n . In this contribution the KSM is used to reduced the systems at the samples
points.
Adjustment of the Matrix V. The ROMs should be expressed in common subspace V x , i.e. all the local systems
share the same generalize coordinates x. It is achieved using a transformation matrix Qi , such that
V x x = Vi Q i x (6)
The definition of matrix V x and Q i according to method A and B are given in table 1.
Choice of the interpolation manifold. Method A uses the original matrix manifold for the interpolation while
method B uses the tangent manifold as interpolation space. The projection to the tangent space to the manifold
is given by the logarithm mapping and to return back to the original manifold the exponential mapping is used.
The logarithm mapping of a matrix Mi with respect to M x is given by [5]
Mlog,i (M x , Mi ) = UV T (7)
Raul Rodrguez et al. / Procedia Engineering 00 (2017) 000000 3
Qi = (VTx Vi )1 Qi = Ui VTi
where
UWT = svd(VTi V x , 0 econ0 )
To apply this approach the second step of the procedure mentioned above needs to be extended, i.e. the solution ui
of ROM i for i = 1..n p is computed and saved in a data base along with Vi . Then the interpolation is carried out just in
the few rows, nout N, , of V and in the set of reduced solutions.
For this approach step two of subsection 2.1 is stopped after computing Vi , then the union or direct sum of the
basis [6] is computed,
np
[
Vbig = Vi (9)
i=1
3. Numerical example
The capabilities of the method described above are tested for a solar panel modeled with ANSYS
R , see fig. 1. It
is a 4 m 12 m structure, built out of beam and shell elements. The beam188 element was used for the frame, with
a youngs modulus of 2 1011 mN2 , a Poissons ratio of 0.3 and mass density of 7850 mkg3 . For the panel the shell181
element was used, with an elastic modulus of 0.7 1011 mN2 , a Poissons ratio of 0.3 and a mass density of 2500 mkg3 .
This structure would be loaded with a single load of 100 N in vertical direction (direction of the global coordinate
system) with different positions along z direction (from z = 0 to z = 12m), see fig. 1. In total, the solar panel contains
4 Raul Rodrguez et al. / Procedia Engineering 00 (2017) 000000
Fig. 1. ANSYS
R
model for solar panel.
Frequency response
10 0
DM
KSM-direct
interp-ROMs
interp-Ur
10 -2 ROM-Vglobal
Amplitude [m]
10 -4
10 -6
10 -8
0 20 40 60 80 100 120 140 160 180 200
Frequency [Hz]
9582 dofs, 3 nodes are fixed, i.e. 18 dofs, and it has 33 coupling dofs, thus the equation system to be solved contains
9531 unknowns (displacements and rotations).
For a first investigation n = 21, (0, 0.6 ,1.2,...,12), and the frequency band is defined from 0Hz to 200Hz. The
reduction of the configurations is achieved using KSM. The coarse mesh for the interpolation contains 20 frequency
points uniformly distributed between 5Hz and 200Hz. The amplitude of the response for the three approaches used in
this contribution are depicted in fig. 2 along with the direct method and the direct reduction using KSM. The relative
error is depicted in fig. 3. The interp-ROMs uses Method B for the computation of V x and Qi but interpolates the
matrix entries in the original manifold according to Method A.
It is clear from the plot of the relative error that the ROM-Vglobal performs better than the other two approaches
and also better that the KSM-direct. The computation time are given in table 2.
A second investigation is carried out with the same parametric data as the first but with 40 frequency points in the
coarse mesh for the application of the KSM. It is done in order to investigate how the method performs with respect
to the exact solution.
10 0
Relative error
10 -5
10 -10 KSM-direct
interp-ROMs
interp-Ur
ROM-Vglobal
10 -15
0 20 40 60 80 100 120 140 160 180 200
Frequency [Hz]
Frequency Response
10 -2
DM
KSM-direct
interp-ROMs
interp-Ur
10 -4 ROM-Vglobal
Amplitude [m]
10 -6
10 -8
10 -10
0 20 40 60 80 100 120 140 160 180 200
Frequency [Hz]
10 0
Relative Error
10 -5
10 -10 KSM-direct
interp-ROMs
interp-Ur
ROM-Vglobal
10 -15
0 20 40 60 80 100 120 140 160 180 200
Frequency [Hz]
4. Conclusion
For analysis of structures with different load configurations the reduction using the global basis seems to be a
promising approach. For the test case in this contribution it the best approach considering computational time (a
6 Raul Rodrguez et al. / Procedia Engineering 00 (2017) 000000
factor of two digits in computational time could be saved depending on the number of simulations to be carried out)
and accuracy of the results. Also the approach based on interpolation of the reduced solutions is an alternative to
tackle this kind of problems.
References
[1] R. Rodrguez Sanchez, M. Buchschmid, G. Muller, Model Order Reduction in Structural Dynamics, ECCOMAS 2015.
[2] H. Panzer, J. Rudy Eid, B. Lohmann, Parametric Model Order Reduction by Matrix Interpolation, Automatisierungstechnik, 58(2010) 475484.
[3] M. Guess, H. Panzer, B. Lohmann, On Parametric Model Order Reduction by Matrix Interpolation, 2013 European Control Conference,
58(2013) 34333438.
[4] D. Amsallem, C. Farhat, An online method for interpolating linear parametric reduced-order models, SIAM,33 (2011), 21692198.
[5] E. Begelfor, M. Werman, Affine invariance revised, Journal of Mathematical Sciences 153.6 (2008): 727-762.
[6] P. Benner, S. Gugercin, K. Willcox, A survey of Projection-Based Model Reduction Methods for Parametric Dynamical Systems, SIAM, 57
(2015), 483-531.