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Abstract
Beams, made of brittle materials like concrete or cement, show increasing crack development during their
service life due to mechanical and environmental loadings. This local damage can be translated into a
reduction of the local bending stiffness. Stiffness modifications, while assuming constant mass distribution,
can be observed by monitoring the vibrational behavior of the beam. In this paper the modal parameters of
an undamaged beam are monitored and compared with the vibration behavior of the beam subjected to
controlled damaging. Selected stiffness parameters in the finite element model are adjusted in such a way
that the computed modal quantities match the measured quantities. FEMtools has been used to establish a
damage distribution in beams associated with increasing stress patterns. State of the art scanning laser modal
equipment has been used for this purpose. It has been found that modal updating is indeed a possible tool to
reconstruct the damage patterns.
715
716 P ROCEEDINGS OF ISMA2002 - VOLUME II
By using the relative normalized sensitivities the changes. A detailed description of the use of
updating procedure will minimize the relative logarithmic barrier functions for optimization
differences instead of the absolute differences purposes is given in [15].
between the experimental en calculated responses.
The presented updating procedure will identify the
longitudinal Young’s modulus from the modal 3 Sensitivity analysis
curvatures and the resonance frequency of the first
vibration mode of a beam. If n modal curvatures are Before the objective function (5) can be
used to update the Young’s moduli of a beam evaluated, the elements of the sensitivity matrix (2)
divided into k zones with uniform material have to be calculated. The absolute sensitivity
properties, then the sensitivity coefficients can be coefficient of the frequencies and modal
assembled into a (n+1)×k sensitivity matrix: displacements can be obtained with the formulas of
Fox and Kapoor [16]. When only variation of
∂w
"
1 E1 ∂w"1 E 2 ∂w"1 E k stiffness parameter are taken into account, and mass
∂E
1 w"1 ∂E 2 w"1 ∂E k w1"
normalized mode shapes are being used, these
[S ](n+1)×k = ∂w
1 2 3 subd o m ain 24 25
1 2 3 49 51
70
0
Longitudinal E Modulus (GPa)
60
20
10
5 Results 0
1 6 11 16 21 26 31 36 41 46 51
FE-Model Node
Starting Values Correct Properties Identified Properties
profile, and compares it with the correct longitudinal and a phosphate acid based solution of metal oxides.
stiffness distribution. After hardening the IPC’s material properties are
similar to those of traditional cement materials. One
80 of the major benefits of IPC compared to other
70 cementious materials is the non-alkaline
Longitudinal E Modulus (GPa)
50
40
parameters, the IPC beam was damaged. Figure 6
30
depicts the 3-point bending setup used to induce a
20
controllable amount of damage in the beam. A
10
maximal force P of 120 N was applied to the center
0
of the beam. During damaging the IPC beam was
Start Step-1 Step-2 Step-3
Iteration Step
Step-4 Step-5
supported in the vicinity of the modal lines of the
Figure 5: Convergence of the Young’s modulus first vibration mode. After damaging the modal
of the 13th subdomain, the FE-beam parameter of the beam were extracted once again.
with linearly varying stiffness.
P
Both examples showed that the FEM-updating
routine is able to find the correct longitudinal 5 mm
stiffness distribution from the resonance
120 m m
frequency and modal curvatures of the first mode
of a vibrating beam with free-free boundary
conditions and this in a stable way.
Figure 6: The 3-point bending setup to induce a
controllable amount of damage in the
5.3 Experimental results IPC beam.
In the second stage the presented FEM-model Experimental modal displacement data is
updating method was tested on experimental data, corrupted with noise, and the influence of the noise
measured on a vibrating glass fiber reinforced IPC becomes worse when the mode shape derivatives are
beam. IPC: Inorganic Phosphate Cement [18] is a computed. Therefore, the modal curvatures
two-component system of a calcium silicate powder computed from the raw experimental mode shape
720 P ROCEEDINGS OF ISMA2002 - VOLUME II
were useless. In order to obtain useful modal straight beam samples and is caused by a the
curvatures, the experimental mode shape was curve smoothing of the modal displacement data. The use
fitted by means of a 10th order Lagrange polynomial. of these positive modal curvatures had a very
During the curve fit, the rigid body movements were negative effect on the stability of the FEM updating
also eliminated by putting the shear force and procedure. Therefore, the modal curvatures of the
bending moment at the end of the beam to zero. A ends of the beams were replaced by the theoretically
more detailed description of the used smoothing predicted modal curvatures of a uniform beam. On
technique is given in [19]. Figure 7 shows the raw the left side of the beams, five modal curvatures
and curve fitted mode shape in the center of the were adapted, on the right side only three curvatures
undamaged IPC beam, it is obvious that a direct had to be changed. Finally the curves denoted as
application of equation (11) on the raw mode shape “Adapted Modal Curvatures” on figures 8 and 9
data will result in very noise corrupted modal were obtained, and used in the FEM-updating
curvatures. routine.
0.004
0.61
0.59 0.002
0.57
0.000
Modal Curvature
0.55
0.53 -0.002
0.51
-0.004
0.49
0.47 -0.006
0.45
0.08 0.09 0.10 0.11 0.12 0.13 -0.008
DOF Location (m) 1 6 11 16 21 26 31 36 41 46 51
FE-Model Node
Smoothed Mode Shape Experimental Mode Shape
Experimental Uniform FEM Beam Adapted Modal Curvature
-0.002
curvatures of the uniform beam.
-0.003
-0.004
0.006
-0.005
-0.006
0.004
-0.007 0.002
Modal Curvature
-0.008
0.000
1 6 11 16 21 26 31 36 41 46 51
FE-Model Node
-0.002
Experimental Uniform FEM Beam Addapted Modal Curvature
-0.004
Figure 11 gives the longitudinal stiffness The increase of stiffness for the damaged beam
distributions obtained with the FEM updating at the position of the right nodal line is also found
routine for IPC beam in both undamaged and by the single point identification method, together
damaged condition. It can be seen that there is a with the decrease of stiffness in the undamaged zone
small difference in stiffness between the left and at the ends of the beams in the vicinity of the nodal
right side of the undamaged beam, in the zone lines. This indicates that both the increase at the
between the nodal lines of the first vibration mode. right nodal line, and the decrease of the stiffness at
After damaging, a clear decrease of the stiffness is the beam’s ends are caused by the curve fitting
noticed in the zone between the nodal lines. The algorithm used to smoothen the experimental modal
identification routine also indicates a decrease in displacements, and are not inherent to the FEM-
stiffness at the ends of the beams, and a small updating routine.
increase of stiffness at the nodal line position on the The negative Young’s moduli obtained at the
right side of the beam. These two phenomena can ends of the beams are a result of the positive values
be explained by comparing the results of the FEM of the modal curvatures of the curve fitted
updating routine with the results of the single point experiment data. Since these values were replace by
identification method. the theoretical modal curvatures of a homogeneous
beam in the FEM-updating routine, the negative E
20 moduli are not found by the updating procedure.
18
16
Longitudinal E Modulus (GPa)
20
14
18
Longitudinal E Modulus (GPa)
12
16
10 14
8 12
6 10
4 8
6
2
4
0
1 6 11 16 21 26 31 36 41 46 51 2
FE-Model Node 0
FEM Model Updating - Undamaged FEM Model Updating - Damaged Nodal Lines 1 6 11 16 21 26 31 36 41 46 51
FE-Model Node
Figure 11: The longitudinal stiffness distribution of FEM Model Updating One Point Identification Nodal Lines
the damaged and undamaged beam, as Figure 13: Comparison between the results
obtained with the FEM updating obtained with the FEM-updating routine
routine. and the single point identification of the
damaged beam.
Figures 12 and 13 compare the results obtained
with the FEM updating routine and the single point
identification method. A good agreement between
the results of two methods is found in the domain
6 Conclusions
between the nodal lines. A FEM-updating procedure to identify the
longitudinal stiffness profile of a beam specimen
20
18
from the modal curvatures and resonance frequency
of one single vibration mode was presented. The
Longitudinal E Modulus (GPa)
16
10
generated and experimentally measured data, and
8 proved to behave stable in both cases. The
6 experimental data was obtained on an IPC beam in
4
2
both undamaged and damaged condition. The
0 application of the FEM-updating procedure resulted
1 6 11 16 21 26 31 36 41 46 51
FE-Model Node
in realistic stiffness distribution for both undamaged
FEM Model Updating One Point Identification Nodal Lines and damaged beam. The obtained results could be
reproduced by means of an analytical single point
Figure 12: Comparison between the results
identification method.
obtained with the FEM-updating routine
and the single point identification of the
undamaged beam.
722 P ROCEEDINGS OF ISMA2002 - VOLUME II