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Modal Analysis
A. Define modal analysis and its purpose.
Training Manual
B. Discuss associated concepts, terminology, and mode extraction methods. C. C Learn how to do a modal analysis in Workbench. Workbench D. Work on one or two modal analysis exercises.
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Training Manual
mode shapes
in what shape the structure would tend to vibrate at each frequency
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Training Manual
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 in calculating solution controls (time steps, etc.) for other p g ( p , ) 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.
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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.
Training Manual
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Theory
Training Manual
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).
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Theory
Development
Start with the linear general equation of motion:
Training Manual
{ }i i { }i i2 { }i
Theory
Development
Substitute and simplify
Training Manual
det [K ] i2 [M ] = {0}
This is an eigenvalue problem which may be solved for up to n eigenvalues, eigenvalues i2, and n eigenvectors {}i, where n is the number of eigenvectors, DOF.
ANSYS, Inc. Proprietary 2009 ANSYS, Inc. All rights reserved.
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Theory
Training Manual
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.
{ } [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.
ANSYS, Inc. Proprietary 2009 ANSYS, Inc. All rights reserved.
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Theory
Training Manual
The eigenvectors {}i represent the mode shapes, i th shape d h i.e. the h assumed by the structure when vibrating at frequency fi.
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Theory
Equation Solvers
The equation
det [K ] [M ] = {0}
2 i
Training Manual
In most cases the Program Controlled option selects the optimal cases, solver automatically.
ANSYS, Inc. Proprietary 2009 ANSYS, Inc. All rights reserved.
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Theory
Training Manual
i = { }T [M ]{D} i
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. Th Ratio i simply another list of participation factors, normalized to the The R ti is i l th li t f ti i ti f t li d t th largest.
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Theory
Training Manual
A high value in a direction indicates that the mode will be excited by forces in that direction.
mode 1 mode 3 mode 5
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Theory
Training Manual
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 but will depend on the number of modes extracted. structure, 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.
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Theory
Prestress Effects
Training Manual
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.
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Theory
Prestress Effects
A linear static analysis is initially performed:
Training Manual
[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:
Note that the prestress only affects the stiffness of the system.
i e the static prestress will not be added to the modal stress i.e.
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Contact Regions
Training Manual
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
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Unconstrained Systems
Training Manual
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.
Note that a well-connected system can have at most six rigid-body modes.
Obt i i Obtaining more than six rigid-body modes may indicate that assemblies th i i id b d d i di t th t bli are not well connected.
ANSYS, Inc. Proprietary 2009 ANSYS, Inc. All rights reserved.
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Training Manual
Symmetry BCs will only produce symmetrically shaped modes, so some modes can be missed.
It may be necessary to apply several different symmetry conditions to find all 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)...
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Training Manual
etc
Anti-Symmetry BC
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Procedure: Modal
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Modal
Procedure
Drop a Modal (ANSYS) system into the project schematic.
Training Manual
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Modal
Procedure
Create new geometry, or link to existing geometry.
Training Manual
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Modal
Preprocessing
Verify materials, connections, and mesh settings.
This was covered in Workbench Mechanical Intro.
Training Manual
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Modal
Preprocessing
Add supports to the model.
Displacement constrains must have a magnitude of zero.
Training Manual
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Modal
Solution Settings
Choose the number of modes to extract.
Training Manual
If needed, upper and lower bounds on frequency may be specified to extract the modes within a specified range.
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Modal
Solution Settings
Training Manual
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.
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Modal
Postprocessing
Total-deformation results may be quickly inserted by highlighting multiple rows in the tabular view or histogram view. view
Training Manual
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Modal
Postprocessing
Training Manual
If stress/strain were requested, these results may also be access from the Solution Toolbar.
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Prestressed Modal
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
Training Manual
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Prestressed Modal
Procedure
Training Manual
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Prestressed Modal
Procedure
Drop a Modal (ANSYS) system onto the Solution cell of the Modal system.
Training Manual
Note the circular-ended connector, indicating a data transfer from the Static to the Modal analysis.
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Prestressed Modal
Procedure
Create new geometry, or link to existing geometry. Edit the Model cell to bring up the Mechanical M h i l application. li ti
Training Manual
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Prestressed Modal
Preprocessing
Training Manual
In the Static Structural system, insert the loads and supports that will cause the prestressed-state to occur.
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Prestressed Modal
Postprocessing
Training Manual
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Prestressed Modal
Preprocessing
Workbench will automatically setup the data transfer between the systems.
Training Manual
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Prestressed Modal
Postprocessing
Training Manual
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Prestressed Modal
Postprocessing
e.g. the first mode in this example increased from 108.3 Hz to 274.6 Hz
Not Prestressed Prestressed
Training Manual
Note that the prestressed state increased the frequencies of this structure.
A prestress may not always increase the natural frequencies; a compressive load will decrease the frequencies.
In fact, a sufficiently-high compressive load will result in a natural frequency of fact zero, effectively replicating the results of a buckling analysis.
ANSYS, Inc. Proprietary 2009 ANSYS, Inc. All rights reserved.
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Training Manual
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).
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