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Chapter 2: Modal Analysis

ANSYS Mechanical Dynamics

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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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Description & Purpose

Training Manual

A modal analysis is a technique used to determine the vibration characteristics of structures:


natural frequencies
at what frequencies the structure would tend to naturally vibrate

mode shapes
in what shape the structure would tend to vibrate at each frequency

mode participation factors


the amount of mass that participates in a given direction for each mode

M tf d Most fundamental of all the dynamic analysis types. t l f ll th d i l i t

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Description & Purpose

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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Description & Purpose

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

mode 1 {}1 f1 = 109 Hz

mode 2 {}2 f2 = 202 Hz

mode 3 {}3 f3 = 249 Hz

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Theory

Assumptions & Restrictions


The structure is linear (i.e. constant stiffness and mass). There is no damping.

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

& & [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} = & {u} = & {u&} =


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{ }i i { }i i2 { }i

sin (i t + i ) cos(i t + i ) sin (i t + i )


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Theory

Development
Substitute and simplify

Training Manual

& [M ]{u&}+ [K ]{u} = {0} i2 [M ]{ }i sin (i t + i ) + [K ]{ }i sin (i t + i ) = {0} ( i2 [M ] + [K ]){ }i = {0}


This equality is satisfied if {}i = 0 (trivial, implies no vibration) or if

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.
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Theory

Extraction & Normalization


Note that the equation

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.

Mode shapes can be normalized either to the mass matrix

{ } [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.
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Theory

Eigenvalues & Eigenvectors


The square roots of the eigenvalues are i, the structures natural circular frequencies (rad/s).

Training Manual

mode 1 {}1 f1 = 109 Hz

Natural frequencies fi can then calculated as fi = i/2 (cycles/s) (cycles/s).


It is the natural frequencies, fi in Hz, that are input by the user and output by Workbench.

mode 2 {}2 f2 = 202 Hz

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.

mode 3 {}3 f3 = 249 Hz

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Theory

Equation Solvers
The equation

det [K ] [M ] = {0}
2 i

Training Manual

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.

Iterative (PCG Lanczos)


To find few modes (up to about 100) of very large models (500,000+ DOFs). Performs well when the lowest modes are sought for models that are dominated b d i t d by well-shaped 3-D solid elements. ll h d 3 D lid l t Uses the Lanczos algorithm, combined with the PCG iterative solver.

In most cases the Program Controlled option selects the optimal cases, solver automatically.
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Theory

Participation Factors (Solution Information)


The participation factors are calculated by

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.

The concept of participation factors will be important in later chapters.

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Theory

Participation Factors (Solution Information)

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

Effective Mass (Solution Information)


Also printed out is the effective mass.

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

In free vibration with prestress analyses, two solutions are required.

[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:

([K + S ] [M ]){ } = {0}


2 i 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 i.e.

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Remarks & Comments

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

Contact behavior will reduce to its linear counterparts.


It is generally recommended, however, not to use a nonlinear contact type in a linear-dynamic analysis
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Remarks & Comments

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.

rigid-body or zero modes 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.
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Remarks & Comments

Symmetry Boundary Conditions

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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Remarks & Comments

Symmetry Boundary Conditions


Symm-Asym BC

Training Manual

Full Model Symmetry BC

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

Edit the Model cell to bring up the Mechanical application.

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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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Procedure: Prestressed Modal

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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

Drop a Static Structural (ANSYS) system into the project schematic.

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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

Review the static results before proceeding.

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Prestressed Modal

Preprocessing
Workbench will automatically setup the data transfer between the systems.

Training Manual

To verify the data transfer, one can ensure that


Future Analysis is set to Prestressed analysis in the Static Structural system Pre-Stress Environment is set to Static Structural in the Modal system s stem

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Prestressed Modal

Postprocessing

Training Manual

The modal results may be reviewed as described in the previous section.

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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.
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D. Workshop - Modal Analysis


This workshop consists of two problems: 1. Modal analysis of a plate with a hole

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).

2. Pre stressed 2 Pre-stressed Modal analysis of a model airplane wing


This is left as an exercise to you. (WS2B: Modal Analysis - Model Airplane Wing).

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