AWB120 Dynamics 03 Harmonic

Chapter 3: Harmonic Response
Workbench Mechanical Dynamics
ANSYS, Inc. Proprietary 2009 ANSYS, Inc. All rights reserved.
3-1
July 2009 Inventory #002666
Harmonic Analysis
Harmonic Analysis
A. Define harmonic analysis and its purpose.
Training Manual
B. Learn basic terminology and concepts underlying harmonic analysis. C. C Learn how to do a harmonic analysis in Workbench. Workbench D. Work on a harmonic analysis exercise.
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Harmonic Analysis
A. Definition & Purpose
Training Manual
What is harmonic analysis? A technique to determine the steady state response of a structure to sinusoidal (harmonic) loads of known frequency. Input:
Harmonic loads (forces, pressures, and imposed displacements) of known magnitude and frequency. May be multiple loads all at the same frequency. Forces and displacements can be in-phase or out-of phase. Body loads can only be specified with a phase angle of zero.
Output:
Harmonic displacements at each DOF, usually out of phase with the applied loads. Oth derived quantities, such as stresses and strains. Other d i d titi h t d t i
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Harmonic Analysis
Definition & Purpose
Training Manual
Harmonic analysis is used in the design of: Supports, fixtures, and components of rotating equipment such as compressors, engines, pumps, and turbomachinery. Structures subjected to vortex shedding (swirling motion of fluids) such as turbine blades, airplane wings, bridges, and towers.
Why should you do a harmonic analysis? To make sure that a given design can withstand sinusoidal loads at different frequencies (e.g, an engine running at different speeds). To detect resonant response and avoid it if necessary (by using dampers, dampers for example) example).
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Harmonic Analysis
B. Terminology & Concepts

Topics covered: Assumptions and Restrictions Equation of motion Nature of harmonic loads Complex displacements Solution methods
Training Manual
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Theory
Assumptions & Restrictions
Training Manual
The entire structure has constant or frequency-dependent stiffness, damping, and mass effects. All loads and displacements vary sinusoidally at the same known frequency (although not necessarily in phase). Acceleration, bearing, and moment loads are assumed to be real (inphase) only.
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Theory
Development
Start with the linear general equation of motion:
Training Manual
& & [M ]{u&}+ [C ]{u}+ [K ]{u} = {F }

Assume [F] and {u} are harmonic with frequency :
{F } = {Fmax ei }eit {u} = {umax ei }eit = {Fmax (cos + i sin )}e i t = {umax (cos + i sin )}ei t = ({F1}+ i{F2 })e i t = ({u 1}+ i{u 2 })e i t
Note: The symbols an differentiate the input from the output:
= input (a.k.a. imposed) circular frequency = output (a.k.a. natural) circular frequency (a k a
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Theory
Development
Take two time derivatives:
Training Manual
{u} = & {u} = & {u&} =

Substitute and simplify:
i 2
({u 1}+ i{u2 })eit ({u 1}+ i{u2 })eit ({u 1}+ i{u2 })eit
& & [M ]{u&}+ [C ]{u}+ [K ]{u} = {F } 2 [M ]({u 1}+ i{u2 })ei t = + i[C ]({u 1}+ i{u2 })ei t = + [K ]({u 1}+ i{u2 })ei t = ({F 1}+ i{F2 })ei t ( 2 [M ] + i[C ] + [K ])({u 1}+ i{u2 }) = ({F 1}+ i{F2 })
This can then be solved using one of two methods.
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Theory
Development
Training Manual
The full method solves the system of simultaneous equations directly using a static solver designed for complex arithmetic:
c denotes a complex matrix or vector
{uc } { 6444 [7]4444 64748 647}48 4K c 8 4Fc 4 2 [M ] + i[C ] + [K ] ({u 1}+ i{u 2 }) = ({F 1}+ i{F2 })
[K c ]{uc } = {Fc }
The mode-superposition method expresses the displacements as a p p p p linear combination of mode shapes (see Theory Reference for details).
( [M ] + i[C ] + [K ])({u }+ i{u }) = ({F }+ i{F })

2 1 2 1 2
(
+ i 2 j j + 2 y jc = f jc j
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Theory
Solution Methods
FULL
Exact solution.
Training Manual
MSUP
Approximate solution; accuracy depends in part on whether an adequate number of modes h d have b been extracted to represent d the harmonic response. Generally faster than FULL. y Does not support nonzero imposed harmonic displacements. S l ti points may b either equally Solution i t be ith ll distributed across the frequency domain or clustered about the natural frequencies of the structure.
y Generally slower than MSUP. Supports all types of loads and boundary conditions. S l ti points must b equally di t ib t d Solution i t t be ll distributed across the frequency domain.
Solves the full system of simultaneous Solves an uncoupled system of equations equations using the Sparse matrix solver for by performing a linear combination of complex arithmetic. orthogonal vectors (mode shapes).
Prestressing is not available in either method in ANSYS Workbench 12.0.

3-10
Theory
Nature of Harmonic Loads

Multiple loads and boundary conditions may be input, each with different amplitude and phase angles (interpreted as lag angle). angle)
Training Manual
xi = X i sin (t + i )
where X = amplitude
= freqency = phase angle
All loads and displacements, both displacements input and output, are assumed to occur at the same frequency. Calculated displacements will be complex if
damping is specified or applied load is complex.
3-11
Remarks & Comments
Resonance
When the imposed frequency approaches a natural frequency in the direction of excitation, a phenomenon known as resonance occurs.
This can be seen in the figures on the right for a 1-DOF system subjected to a harmonic force for various amounts of damping.
Training Manual
The following will be observed:

an increase in damping decreases the amplitude of the response for all imposed frequencies, a small change in damping has a large effect on the response near resonance, and the phase angle always passes p g y p through 90 at resonance for any amount of damping.
3-12
Remarks & Comments
Contact Regions
Training Manual
Contact regions are available in harmonic 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
Mode Superposition
Training Manual
The Mode Superposition method will automatically perform a modal analysis first
The number of modes necessary for an accurate solution will be estimated if a frequency range is not supplied.
the default range is from zero to twice the ending frequency
The harmonic analysis portion is very quick and efficient, hence, the Mode Superposition method is usually much faster overall than the Full method
Since a free vibration analysis is performed Mechanical knows what performed, the natural frequencies of the structure are and can cluster the harmonic results near them (see next slide)
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Remarks & Comments
Solution Methods - Mode Superposition
Training Manual
Cluster option captures the peak response better than evenly-spaced intervals.
Evenly spaced frequency points
Clustered frequency points
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Procedure: Harmonic Response
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Harmonic Analysis
C. Procedure
Four main steps: Build the model Choose analysis type and options Apply harmonic loads and solve Review results
Training Manual
3-17
Harmonic Analysis Procedure
Build the Model Model

Nonlinearities are not allowed. See also Modeling Considerations in Module 1.
Training Manual
3-18
Choose Analysis Type & Options

Build the model Choose analysis type and options Enter Solution and choose harmonic analysis. Main analysis option is solution method - discussed next. Specify damping - discussed next.
Training Manual
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Choose Analysis Type & Options

Analysis options Solution method - full or mode superposition. For large models (>1 million DOF), set Store Results at All Frequencies to No.
Training Manual
Damping Choose from beta damping and p g damping ratio (constant damping ratio is most commonly used).
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Apply Harmonic Loads and Solve

Build the model Choose analysis type and options
Training Manual
Apply harmonic loads and solve Structural loads and supports may also be used in harmonic analyses with the following exceptions:
Loads Not Supported:
Gravity Loads Thermal Loads Rotational Velocity Pretension Bolt Load Compression Only Support (if present, it behaves similar to a Frictionless Support)
Remember that all structural loads will vary sinusoidally at the same excitation frequency
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A list of supported loads are shown below:
Training Manual
Not all available loads support phase input. Accelerations, Bearing Load, and Moment Load will have a phase angle of 0.
If other loads are present, shift the phase angle of other loads, such that the Acceleration, Bearing, and Moment Loads will remain at a phase angle of 0.
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Apply Harmonic Loads and Solve Specifying harmonic loads requires:

Amplitude and phase angle Frequency
Training Manual
Loads are applied all at once in the first solution interval (stepped). Amplitude and phase angle
The load value (magnitude) represents p the amplitude Fmax. Phase angle is the phase shift between two or more harmonic loads. Not required if only one load is present. Non-zero valid for force, N lid f f displacement, and pressure harmonic loads.
Imagina ary
F2max
Real
F1max
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Apply Harmonic Loads and Solve Amplitude and phase angle (continued)
Training Manual
Mechanical allows direct input of amplitude and phase angle into the Details window.
Imagina ary
F2max
Real
F1max
3-24

Frequency of harmonic load:
Specified in cycles per second (Hertz) by a frequency range and number of substeps within that range. For example, a range of 0-50 Hz with 10 solution intervals gives ith l ti i t l i solutions at frequencies of 5, 10, 15, , 45, and 50 Hz. Same range with 1 substep gives one g pg solution at 50 Hz.
Training Manual
3-25
Review Results
Build the model Choose analysis type and options Apply harmonic loads and solve
Training Manual
Review results Three steps:

Pl t displacement vs. frequency at specific points in the structure. Plot di l t f t ifi i t i th t t Identify critical frequencies and corresponding phase angles. Review displacements and stresses over entire structure at the critical frequencies and phase angles.
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Review Results
Displacement vs. frequency plots Pick nodes that might deform the most, then choose the DOF direction. Then graph the desired frequency response.
Training Manual
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Review Results
Training Manual
Identify critical frequencies and phase angles Bode plot shows frequency at which highest amplitude occurs. The amplitude and phase angle at which the peak amplitude occurs are shown in the Worksheet tab.
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Review Results
Training Manual
Next step is to review displacements and stresses over the entire model at that frequency and phase angle. The frequency and p q y phase angle must be manually entered into the g y Details window.
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Review Results
Training Manual
A harmonic analysis produces a real and imaginary solution as separate sets of results. Plot deformed shape stress contours and other desired results at shape, contours, a specified frequency and phase angle.
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Workshop
Harmonic Analysis
Training Manual
In this workshop, you will examine the harmonic response of a fixed-fixed beam to harmonic forces caused by rotating machinery mounted on the beam. See your Dynamics Workshop supplement for details
WS3: Harmonic Analysis - Fixed-Fixed Beam
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AWB120 Dynamics 03 Harmonic

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Chapter 3: Harmonic Response

Workbench Mechanical Dynamics

ANSYS, Inc. Proprietary 2009 ANSYS, Inc. All rights reserved.

July 2009 Inventory #002666

ANSYS, Inc. Proprietary 2009 ANSYS, Inc. All rights reserved.

July 2009 Inventory #002666

A. Definition & Purpose

ANSYS, Inc. Proprietary 2009 ANSYS, Inc. All rights reserved.

July 2009 Inventory #002666

Definition & Purpose

ANSYS, Inc. Proprietary 2009 ANSYS, Inc. All rights reserved.

July 2009 Inventory #002666

B. Terminology & Concepts

ANSYS, Inc. Proprietary 2009 ANSYS, Inc. All rights reserved.

July 2009 Inventory #002666

Assumptions & Restrictions

ANSYS, Inc. Proprietary 2009 ANSYS, Inc. All rights reserved.

July 2009 Inventory #002666

& & [M ]{u&}+ [C ]{u}+ [K ]{u} = {F }

ANSYS, Inc. Proprietary 2009 ANSYS, Inc. All rights reserved.

July 2009 Inventory #002666

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

July 2009 Inventory #002666

( [M ] + i[C ] + [K ])({u }+ i{u }) = ({F }+ i{F })

Prestressing is not available in either method in ANSYS Workbench 12.0.

July 2009 Inventory #002666

Nature of Harmonic Loads

= freqency = phase angle

July 2009 Inventory #002666

Remarks & Comments

The following will be observed:

July 2009 Inventory #002666

Remarks & Comments

Contact behavior will reduce to its linear counterparts.

July 2009 Inventory #002666

Remarks & Comments

ANSYS, Inc. Proprietary 2009 ANSYS, Inc. All rights reserved.

July 2009 Inventory #002666

Remarks & Comments

Solution Methods - Mode Superposition

Evenly spaced frequency points

Clustered frequency points

ANSYS, Inc. Proprietary 2009 ANSYS, Inc. All rights reserved.

July 2009 Inventory #002666

Procedure: Harmonic Response

ANSYS, Inc. Proprietary 2009 ANSYS, Inc. All rights reserved.

July 2009 Inventory #002666

ANSYS, Inc. Proprietary 2009 ANSYS, Inc. All rights reserved.

July 2009 Inventory #002666

Harmonic Analysis Procedure

Build the Model Model

ANSYS, Inc. Proprietary 2009 ANSYS, Inc. All rights reserved.

July 2009 Inventory #002666

Harmonic Analysis Procedure

Choose Analysis Type & Options

ANSYS, Inc. Proprietary 2009 ANSYS, Inc. All rights reserved.

July 2009 Inventory #002666

Harmonic Analysis Procedure

Choose Analysis Type & Options

ANSYS, Inc. Proprietary 2009 ANSYS, Inc. All rights reserved.

July 2009 Inventory #002666

Harmonic Analysis Procedure

Apply Harmonic Loads and Solve