Module 03: Modal Analysis

ANSYS Mechanical Linear and Nonlinear Dynamics

Release 17.0

1 © 2016 ANSYS, Inc. September 29, 2016

 Module 03 Topics
A. Definition and purpose
B. Theory and terminology
C. Eigenfrequencies and mode shapes
D. Participation factors and effective
mass
E. Mode extraction methods—
undamped
F. Contact
G. Analysis settings
H. Damped Modal analysis
I. Mode extraction methods—
damped

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 A. What is Modal Analysis?
• The modal analysis technique is used to determine the vibration
characteristics (i.e., natural frequencies and mode shapes) of linear
elastic structures.
• The most fundamental of all dynamic analysis types.
• Allows the design to avoid resonant vibrations or to vibrate at a specified
frequency.
• Gives engineers an idea of how the design will respond to different types
of dynamic loads.
• Helps in calculating solution controls for other dynamic analyses.

3 © 2016 ANSYS, Inc. September 29, 2016

 ... What is Modal Analysis?
Assumptions and restrictions
• The structure is linear (i.e. [M] and [K] matrices are constant).
• No loads (forces, displacements, pressures, or temperatures) are
allowed; i.e., free vibration.

Recommendation: Because a structure’s 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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 B. Theory and Terminology
The linear equation of motion for free, un-damped vibration is

M u K u  0

Assume harmonic motion:
u   i sin i t   i 
u  i2  i sin i t   i 
ሷ In the governing equation gives an eigenvalue
Substituting {𝒖} and {𝒖}
equation:
 K    M     0
i
2
i

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 ... Theory and Terminology
 K    M     0
i
2
i

This equality is satisfied if

1. i = 0
 (trivial, implies no vibration)
2. or if 𝒅𝒆𝒕 𝑲 − 𝟐𝒊 𝑴 = 𝟎
• This is an eigenvalue problem which may be solved for up to n roots
(12, 22, ….., n2).
• These roots are the eigenvalues of the equation
• For each root (eigenvalue), there is a corresponding eigenvector
(1, 2,…., n)

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 C. Eigenfrequencies and mode shapes
In Modal Analysis:
• The eigenvalues the square of the natural circular frequency of the
structure i
• The eigenvectors  the corresponding mode shapes i
• Mode shapes can be normalized either to the mass matrix
 Ti M   i 1
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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 ... Eigenfrequencies and mode shapes
• The square roots of the eigenvalues
mode 1
are i, the structure’s natural
← {}1
circular frequencies (rad/s).
f1 = 109 Hz

• Natural frequencies fi can then

calculated as fi = i/2p (cycles/s). mode 2
– It is the natural frequencies, fi in ← {}2
Hz, that are input by the user f2 = 202 Hz
and output by Workbench.
• The eigenvectors {}i represent the
mode shapes, i.e. the shape mode 3
assumed by the structure when ← {}3
vibrating at frequency fi. f3 = 249 Hz

8 © 2016 ANSYS, Inc. September 29, 2016

 D. Participation Factor, Effective Mass
• The participation factors are calculated by
 i   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.
• Measures the amount of mass moving in each direction for each mode.
• A high value in a direction indicates that the mode will be excited by forces
in that direction.
• The “Ratio” is simply another list of participation factors, normalized to the
largest.
The concept of participation factors will be important in later chapters.

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 ... Participation Factor, Effective Mass
• The participation factors are calculated by
 i   Ti M D

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 ... Participation Factor, Effective Mass
• The effective mass is calculated by

 i2
M eff ,i    i2 , if  i M  i  1
T

 Ti M  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.

11 © 2016 ANSYS, Inc. September 29, 2016

 ... Participation Factor, Effective Mass
• The effective mass is calculated by
 i2
M eff ,i    i2 , if  i M  i  1
T

 Ti M  i

12 © 2016 ANSYS, Inc. September 29, 2016

 E. Mode Extraction Methods—Undamped

In most cases, the Program Controlled

option selects the optimal solver
automatically.
Procedure Usages Applications
Block Lanczos Symmetric • Many modes (about 40+) of large models.
(Direct) • Recommended when poorly shaped solid and shell elements exist.
• Shells or a combination of shells and solids.
PCG Lanczos Symmetric • Few modes (up to about 100) of very large models (500,000+ degrees of freedom).
(Iterative) (but not applicable for • Well-shaped 3-D solid elements.
buckling)
Unsymmetric Unsymmetric matrices • Uses the full [K] and [M] matrices.
• When K and M are unsymmetric (i.e., acoustic fluid-structure interaction problems).

Supernode Symmetric • Many modes (up to 10,000).

(but not applicable to • Used for 2-D plane or shell/beam structures (100 modes or more) and for 3-D solid
buckling) structures (250 modes or more).

13 © 2016 ANSYS, Inc. September 29, 2016

 F. Contact in Modal Analysis
• 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 Static Analysis Inside Pinball
Initially Touching Outside Pinball Region
Region
Bonded Bonded Bonded Bonded Free
No Separation No Separation No Separation No Separation Free
Rough Rough Bonded Free Free
Frictionless Frictionless No Separation Free Free
μ = 0, No Separation
Frictional Frictional Free Free
μ > 0, Bonded

• Contact behavior will reduce to its linear counterparts.

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 G. Analysis Settings
• Number of modes
– You need to specify the number of frequencies of interest. The default is to
extract the first 6 natural frequencies.
– The number of frequencies can be specified in two ways:
1. The first N frequencies (N > 0), or
2. The first N frequencies in a selected range of frequencies.
1 2

15 © 2016 ANSYS, Inc. September 29, 2016

 ... Analysis Settings
• Solver Controls
– Two settings are available in this
control – Damped and Solver Type.
– Choices for Damped are No (the
default) and Yes
– Depending on the selection made for
Damped, different solver options are
provided accordingly.

16 © 2016 ANSYS, Inc. September 29, 2016

 ... Analysis Settings
• Output Controls
– By default only mode shapes are calculated.
– Stress and Strain results can be requested to be calculated.
– “stress” results only show the relative distribution of stress in the structure
and are not real stress values. You can also choose whether or not to have
these results stored for faster result calculations in linked systems.

17 © 2016 ANSYS, Inc. September 29, 2016

 H. Damped Modal Analysis
• The linear equation of motion for free, damped vibration is
M u C u K u  0
• The eigenvalues are complex
• The imaginary part of the eigenvalue is the natural frequency
• The real part of eigenvalue is a measure of stability: positive = unstable,
negative = stable
Undamped Damped 𝒅 = 𝒏 𝟏 − ξ𝟐

18 © 2016 ANSYS, Inc. September 29, 2016

 ... Damped Modal Analysis
• The complete expression for the structural damping matrix, [C], is

Mass
 damping
 
N ma
C    M     M i  
i
m

i 1
Structural damping
  
 K     K j 
N mb
m
j
j 1

19 © 2016 ANSYS, Inc. September 29, 2016

 … Structural Damping Matrix [C]
The value of  and  can be input using the following:
[1] Material-dependent damping value
(Mass-Matrix Damping Multiplier, and k-Matrix Damping Multiplier)

  i
C     M i     jm K j 
N ma N mb
m
Equivalent damping i  
2i
i
i 1 j 1 2

Define in
Engineering Data

20 © 2016 ANSYS, Inc. September 29, 2016

 … Structural Damping Matrix [C]
[2] Directly as global damping value
(Details section of Analysis Settings)
  i
C    M    K  Equivalent damping i  
2i 2



21 © 2016 ANSYS, Inc. September 29, 2016

 I. Mode Extraction Methods—Damped

In most cases, the Program Controlled

option selects the optimal solver
automatically.

Procedure Usages Applications

Full Symmetric or • To find all modes of small to medium models (less than 10,000 degrees of freedom).
Damped unsymmetric damped • Uses full matrices ([K], [M], and the damping matrix [C])
systems
Reduced Symmetric or • Approximately represent the first few complex damped eigenvalues by modal
Damped unsymmetric damped transformation using a small number of eigenvectors of the undamped system. After
systems the undamped mode shapes are evaluated by using the real eigensolution (Block
Lanczos method), the equations of motion are transformed to these modal
coordinates.

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 Workshop 03.1: Plate with Hole

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 Workshop 03.2: Airplane Wing

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 Workshop 03.3: Valve Body

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 Module 03: Modal Analysis
END

26 © 2016 ANSYS, Inc. September 29, 2016