Structural Sound and Vibrations

Structural Sound and Vibrations
Vocabulary:
discrete system: mass is concentrated in isolated points
flexible solid: mass is distributed continuously
structure: solid satisfies certain geometrical assumptions (e.g. thin-walled). Beams,
plates, shells.
structural vibrations: free and forced vibrations of (bounded) structures.
structural sound: waves propagating through (unbounded) structures.
HAW/M+P, Ihlenburg, CompA
Vibrations: Flexible Bodies
1. Longitudinal Waves in Bars
x,U
E,A,
A bar is vibrating in its axial direction. The axial displacements are denoted U(x,t).
Consider an arbitrary section of length dx
dx
F = A
F+ = A +
dx
dx
m = dx
..
..
Fm = m U = AU dx
du
= E , =
dx
2U 2U
=
2
x
E t 2
Speed of Sound and Wave Length
2U 2U
=
x 2 E t 2
u( x) +
u ( x) = 0
U ( x, t ) = u ( x) e-it
U ( x, t ) = C1ei( kL x t ) + C2 e-i( kL x +t )
u ( x ) = C1eikL x + C2 e-ikL x
The infinite bar admits longitudinal waves, traveling right and left, with the
speed of sound,
cL =
L =
cL 2
=
f
corresponding to the longitudinal wave number k L =

. Waves in an infinite
cL
bar can propagate at all frequencies.
Longitudinal Modes
If the bar is of finite length, the displacement must satisfy boundary

conditions, e.g. (0) = (l) = 0 for the free bar.
u(0) = u(l ) = 0
Free vibrations in finite bars are possible only at certain discrete eigenfrequencies.
The corresponding shapes of vibration are called eigenmodes.
n
n =
l
, n = 0,1, 2,
un ( x) = cos
n
x
l
2. Bending Waves in Beams
E,I,
W ( x, t )
Replace in beam equation EIw(x)=q(x) the static load by the inertia force
Aw
4W ( x, t )
2W ( x, t )
EI
+ A
=0
4
2
x
t
W ( x, t ) = w ( x ) eit
d 4w
2 A
+
w=0
4
dx
EI
W ei(t kx )
kB = 4
A
EI
5
Speed of Sound and Wave Length
cB =
kB
EI
B = 2 4
EI 1
A
Remark: the speed of sound depends on the driving frequency. Such waves are
called dispersive.
Bending Modes (Standing Waves)

Beams of finite length admit free vibrations only at certain frequencies, depending on the beam
length and the boundary conditions at the ends.
Free vibrations can be interpreted also as standing waves, which result from the interference of
traveling waves and their reflections.
nl
n = n2
3
4
EI
A
Nodes of eigenmode
The eigenfrequencies and modes can be analytically computed for various boundary
conditions; see table in the appendix.
3. Bending Waves in Plates

h
x
z,W
= 0,
DW + hW
W ( x, y, t ) = w( x, y )eit
DW W = 0
4
Eh3
D=
12 (1 2 )
=
4
h
D
Bending waves can propagate through infinite plates at arbitrary frequencies. The speed
of sound and the wavelength are
cB =
D 1
B = 2 4
h
Standing Waves (Bending Modes)

h
b
a
Plates with finite dimensions can vibrate freely at their eigenfrequencies.
Each eigenfrequency corresponds to a standing wave (bending mode).
The eigenfrequencies and modes are known analytically only for some special
cases. For instance, the eigenfrequencies of a rectangular plate with simply
supported edges are
mn
2
2
D
m
n
2
= +
a b h
m, n = 1, 2,
where m,n indicate the number of sine-half-waves in the mode shape.

cf. Gross, Hauger, Schnell, TM4 5. Auflage S. 247
4. Modal analysis with FEM

The FEM is a discretisation method. FE models of structural vibrations are linear matrixvector equations, similar to the vibrations of discrete systems.
E,A,, l
Example:
le
le
Ale
Ale 2
EA
c=
le
Ale 2
EA
c=
le
K 2 M u = 0
10
Analytical and Computational (FEM) Models of Structural Vibrations
2U 2U
=0
2
2
x
E t
Bar:
Beam:
4W ( x, t )
2W ( x, t )
EI
+ A
=0
4
2
x
t
DW + h W = 0
Plate:
Work of stresses on strains (strain energy) =

potential energy
Work of inertia forces on displacements =

kinetic energy
FE models of free structural vibrations
K 2 M u = 0
Stiffness matrix
Mass matrix
11
Example: simply supported beam
Exact
FEM
12
Example ctd.
Clamped/ clamped
13
Example ctd. (Longitudinal vibrations)

Longitudinal stiffness of beams >> bending stiffness
n
n =
l
large eigenfrequencies
n = 0,1, 2,3,...
14
5. Forced vibrations (Frequency Response Analysis)

In principle, any construction from flexible material represents a distributed-mass system
that will vibrate under dynamic loads. The loads can be:
- harmonic or periodic,
- transient,
- stochastic
Only harmonic loads are considered in this course.
15
5.1. Analytical Solution
W ( x, t )
W ( x, t )
+
= F ( x, t )
A
x 4
t 2
4
EI
F ( x, t )
1. Separation ansatz:
W ( x, t ) = w( x)eit , F ( x, t ) = f ( x)eit
2. Decomposition of load
f ( x ) = f k wk ( x )
k =1
into the eigenfunctions

3.
w ( x ) = yk wk ( x )
Decomposition of unknown displacement
k =1
4.
Solution of modal equations
yk =
fk
A (1 + i ) k2 2
16
Example: Local Stiffness (1/4)
F ( x, t ) = ( x0 ) cos t
Modal Basis
x = x0
wk ( x ) =
=
1. Fourier decomposition of force:

l
f k = f ( x ) wk ( x ) dx =
0
2
x
sin k 0
l
l
2. Solution of modal equations:
x
2
sin k 0
l
l
yk ( ) =
4
EI k
2
A (1 + i )

A
l
2
sin k x
l
2
x
sin k
l
l
Normed by:
l
2
w
k
( x ) dx = 1
0
3. Modal Superposition:
w ( x ) = yk wk ( x )
k =1
17
Local Stiffness (2/4)
w ( x ) = yk wk ( x )
k =1
yk ( ) wk ( x ) =
where
4. Local Stiffness:
sin k
x0
sin k
2
l
l
4
Al
EI k
2
1
+
i
)
(
A
l
x = x0
w ( x0 , ) = yk ( ) wk ( x0 ) =
k =1
5. Verification: Static Stiffness:
sin 2 k
x0
2
l
4
m k =1
EI k
2
(1 + i )
A
l
= 0, = 0
18
x0 = l 2
m
1
1
1
+
+
+
4
4
4
2
EI
EI 3
EI 5
2
2
2
1
+
i
1
+
i
1
+
i
(
)
(
)
(
)
A l
A l
A l
= 0, = 0
x
1
Al 1
1 1
4 EI
+ 4+ 4+
+

4
4
2 1 3 5
Al
Mechanical Eng. Table:
x=1:2:1000;0.5*pi^4/sum(1./x.^4)
48.0000
19
Local Stiffness of Beam @ le/2, material damping 0.02
1/ w( )
10
10
10
EigenMode 7
10
EigenMode 5
Static
stiffness
f ( ) 1
-1
10
EigenMode 3
-2
10
-3 EigenMode 1
10
10
20
30
40
50
20
5.2. Frequency response with FEM
FEM
Continuous Structure
Computational model:
Discrete System
K + iC 2M u ( ) = f ( )
Solution:
- direct or
- modal reduction
21
Example: Plate Vibrations, Direct solution
Size of system matrix = # of unsupported DOF ( = 6*(# of free Nodes) for shell models)
PARAMETERS FOR SPARSE DECOMPOSITION OF DATA BLOCK
MATRIX SIZE =
36966 ROWS
SCRATCH ( TYPE=RDP ) FOLLOW

NUMBER OF NONZEROES =
386249 TERMS
u ( ) = K + iC M f ( )
2
Extract from solver protocol:

12:40:24
12:40:24
12:40:24
12:40:24
12:40:25
12:40:25
12:40:25
12:40:25
12:40:25
12:40:25
12:40:25
Analysis started.
Geometry access/verification to CAD part initiated (if needed).
Geometry access/verification to CAD part successfully completed (if needed).
Finite element model generation started.
Finite element model generated 12000 degrees of freedom.
Finite element model generation successfully completed.
Application of Loads and Boundary Conditions to the finite element model started.
Application of Loads and Boundary Conditions successfully completed.
Solution of the system equations for frequency response started.
Solution of the system equations for frequency response successfully completed.
Frequency response analysis completed.
22
Numerical Results
LF:
Eigenmode @ 50Hz
Eigenmode @ 74Hz
Harmonic force
Forced Vibration @74Hz

MF: Forced Vibration @200Hz
Forced Vibration @500Hz
HF: Forced Vibration @1kHz
2000 1200 2mm,
Forced Vibration @5kHz
=0.1 (0.2 HF)

MAT1
2.1+11
.3
8000.
23
Example ctd./ Modal Reduction (S111)

Find: Solution of
K iC 2 M u ( ) = f ( )
in a frequency band:
max
min
1. Modal Analysis: Solve eigenvalue problem
K i2M x i = 0
1
n 1.5max
u = y1x1 + y2x 2 + yn x n = Xy
X T K + iC 2M Xy = X T f
f
K

3. Solution and Back-Transform: y = K 1 f ,
u = Xy
24
Modal Reduction (Details)
X T K + iC 2M Xy = X T f
Recall:
X T KX = 2 , X T M X = I nn ,
X T CX :
diagonal: modal damping, Rayleigh damping, material damping
fully populated: local damping (G on MAT1, PBUSH, )
25
Example: Plate Vibrations
1 K + iC 2 M u ( ) = f ( )
2 K i2M x i = 0
X T K iC 2M Xy = X T f
y = K f , u = Xy
Extract from solver protocol:

09:58:52
09:58:52
09:58:52
09:58:52
09:58:52
09:58:53
09:58:57
09:58:57
09:58:57
09:58:57
Finite element model generation started.

Finite element model generated 7349 degrees of freedom.
Finite element model generation successfully completed.
Application of Loads and Boundary Conditions started.
Application of Loads and Boundary Conditions successfully completed.
Solution of the system equations for normal modes started.
Solution of the system equations for normal modes successfully completed.
Solution of the system equations for frequency response started.
Solution of the system equations for frequency response successfully completed.
Frequency response analysis completed.
26
Appendix: Longituninal vibrations of bars
c=
Quelle: Inman S. 322
27
Bending vibrations of beams (1/2)
Quelle: Inman S. 335
n = n2
EI
A
s. Folgeseite
28
Bending vibrations of beams (2/2)
The table entries are obtained from the general ansatz
w( x ) = A1 sin x + A2 cos x + A3 sinh x + A4 cosh x

and the boundary conditions of the particular load case.
29
Eigenmodes of beams
n = n2
clamped/ clamped
clamped (cantilever)
nL
nL
4.7300
1.875
7.8532
4.6941
7.8547
10.996
10.995
14.1372
EI
A
n 5:
2n + 1
2
n 5:
2n 1
2
30
Appendix: Modal Effective Mass

The modal effective mass (MEM) of a vibration mode
is defined as
mij =
( xi Mrj )
xi
with respect to a rigid body mode
rj
xi Mxi
It can be seen from the definition that the MEM are non-negative and their unit is kg (assuming
that the modes are non-dimensional). Essentially the MEM represent mass-weighted scalar
products of vibration modes and rigid body modes,
Lij = xi Mr j ,
i = 1, , N , j = 1, , 6.
where N is the number of vibration modes. The rigid body modes consist of uniform unit
translations/ rotations in the direction of/ around each coordinate axis. The scalar product is taken
only over the free nodes of the FE model.
Example: Vertical rigid-body mode of simply supported beam.

The scalar product indicates how close a vibrational mode is to a rigid body mode. If the scalar
product is one the modes are exactly aligned, if it is zero they are orthogonal.
31
Origin of Method, References

Modal effective masses are frequently calculated in spacecraft design. Spacecraft structures
undergo large accelerated motions during launch and landing, and hence it is of critical interest to
establish which deformational modes are likely to be excited by rigid body motions.
In practice, the MEM are also used to determine whether a mode is global or local.
The following simple tests illustrate the method. The results will show that a small MEM does not
necessarily indicate local modes.
Wijker, Jacob Job, Spacecraft structures, Springer Verlag Berlin, 2008 (Chapter 16: Modal effective mass)
A. Paolozzi and I. Peroni, A PROCEDURE FOR THE DETERMINATION OF EFFECTIVE MASS SENSITIVITIES IN
A GENERAL TRIDIMENSIONAL STRUCTURE, Computers & Structures Vol. 62, No. 6. pp. 1013-1024. 1997
RK, Using Modal Effective Mass to Determine Modes for Frequency Response Analysis,
http://feadomain.com/e107_plugins/content/content.php?content.76 (28.01.2010)
Tom Irvine, EFFECTIVE MODAL MASS & MODAL PARTICIPATION FACTORS,

http://www.vibrationdata.com/tutorials2/ModalMass.pdf (28.01.2010)
32
Test 1: Simply Supported beam

FE model: four elements, rectangular cross-section, both ends simply supported. Mass:
m = 800* 20* 40*8e 9 = 5.12e 3 t
y
0.02m 0.04m
l = 0.8m, =8000kgm 3
Result: Nine modes. Computation with lumped masses
1,2 (y and z)
5,6 (y and z)
rotational dof are condensed out, 3 trans dof per node.
3,4 (y and z)
7-9: Longitudianal and

torsional modes.
33
Rigid body mass matrix
3
m = 3.84e 3 t
4
EFFECTIVE MASS MATRIX

***
***
*
3.840000E-03 7.595561E-12 -3.844592E-12 0.000000E+00 -6.286070E-09 -2.332034E-09 *
*
7.595561E-12 3.840000E-03 1.766097E-15 0.000000E+00 -8.835683E-13 1.536000E+00 *
* -3.844592E-12 1.766097E-15 3.840000E-03 0.000000E+00 -1.536000E+00 -8.579544E-13 *
*
0.000000E+00 0.000000E+00 0.000000E+00 0.000000E+00 0.000000E+00 0.000000E+00 *
* -6.286070E-09 -8.835683E-13 -1.536000E+00 0.000000E+00 7.168000E+02 4.088132E-10 *
* -2.332034E-09 1.536000E+00 -8.579544E-13 0.000000E+00 4.088132E-10 7.168000E+02 *
***
***
A-SET RIGID BODY MASS MATRIX
***
*
*
*
*
*
*
***
3.840000E-03
0.000000E+00
0.000000E+00
0.000000E+00
0.000000E+00
0.000000E+00
0.000000E+00 0.000000E+00
3.840000E-03 0.000000E+00
0.000000E+00 3.840000E-03
0.000000E+00 0.000000E+00
0.000000E+00 -1.536000E+00
1.536000E+00 0.000000E+00
0.000000E+00 0.000000E+00
0.000000E+00 0.000000E+00
0.000000E+00 -1.536000E+00
0.000000E+00 0.000000E+00
0.000000E+00 7.168000E+02
0.000000E+00 0.000000E+00
***
0.000000E+00 *
1.536000E+00 *
0.000000E+00 *
0.000000E+00 *
0.000000E+00 *
7.168000E+02 *
***
Observation:
rigid body translations in y, z direction are coupled with rotations.
effective mass identical with rigid body mass
four elements each interior node gets of total mass, free boundary nodes get 1/8.
Since boundary nodes are fixed only of total mass is included in rigid body mass matrix.
34
Effective modal mass fraction
MODAL EFFECTIVE MASS FRACTION

(FOR TRANSLATIONAL DEGREES OF FREEDOM)
MODE
NO.
1
2
3
4
5
6
7
8
9
FREQUENCY
T1
FRACTION
7.077026E+01
1.411843E+02
2.802581E+02
5.541207E+02
5.913062E+02
1.148360E+03
3.045298E+03
5.626977E+03
7.352000E+03
9.314766E-31
1.945421E-32
1.935277E-25
1.947883E-22
1.512678E-22
8.641317E-22
9.714045E-01
3.037006E-15
2.859547E-02
T2
SUM
FRACTION
9.314766E-31
9.509307E-31
1.935287E-25
1.949818E-22
3.462496E-22
1.210381E-21
9.714045E-01
9.714045E-01
1.000000E+00
9.714045E-01
1.114075E-34
8.024709E-29
3.381378E-25
2.859548E-02
8.764064E-24
5.222461E-18
1.207543E-17
2.592362E-18
T3
SUM
9.714045E-01
9.714045E-01
9.714045E-01
9.714045E-01
1.000000E+00
1.000000E+00
1.000000E+00
1.000000E+00
1.000000E+00
FRACTION
2.673639E-32
9.714045E-01
6.461121E-29
2.764477E-25
5.836389E-26
2.859548E-02
1.346433E-18
3.084168E-18
6.609832E-19
SUM
2.673639E-32
9.714045E-01
9.714045E-01
9.714045E-01
9.714045E-01
1.000000E+00
1.000000E+00
1.000000E+00
1.000000E+00
Observation:
MEM is zero for symmetric mode shapes 3,4.
97%
0%
3%
35
Test 2: Cantilever beam

Same Beam model, four elements, left end clamped.
Result: 12 modes. Computation with lumped masses
rotational dof are condensed out, 3 trans dof per node.
1,2 (y and z)
3,4 (y and z)
22%
68%
Mode shapes and modal effective mass fraction..
36
5,7 (y and z)
6,8(y and z)
3%
7%
MODAL EFFECTIVE MASS FRACTION
(FOR TRANSLATIONAL DEGREES OF FREEDOM)
MODE
NO.
1
2
3
4
5
6
7
8
9
10
11
12
FREQUENCY
T1
FRACTION
2.452855E+01
4.900471E+01
1.438673E+02
2.856255E+02
3.793786E+02
6.570369E+02
7.441080E+02
1.266119E+03
1.552479E+03
4.421087E+03
6.616625E+03
7.804841E+03
8.438346E-39
4.317162E-40
8.686789E-41
1.992160E-33
6.398226E-32
8.113327E-30
6.852732E-30
5.962455E-27
9.026479E-01
7.999389E-02
1.594510E-02
1.413076E-03
T2
SUM
FRACTION
8.438346E-39
8.870062E-39
8.956930E-39
1.992169E-33
6.597443E-32
8.179302E-30
1.503203E-29
5.977486E-27
9.026479E-01
9.826418E-01
9.985870E-01
1.000000E+00
6.846376E-01
9.489781E-32
2.171252E-01
1.382351E-31
7.258439E-02
2.565278E-02
7.966597E-28
1.014358E-26
2.163141E-29
3.634619E-29
2.315860E-28
8.412071E-27
T3
SUM
6.846376E-01
6.846376E-01
9.017628E-01
9.017628E-01
9.743472E-01
1.000000E+00
1.000000E+00
1.000000E+00
1.000000E+00
1.000000E+00
1.000000E+00
1.000000E+00
FRACTION
1.080871E-31
6.851764E-01
1.157240E-34
2.179096E-01
6.754913E-29
1.016997E-26
7.224850E-02
2.466557E-02
2.481903E-28
2.992522E-28
8.756785E-28
4.169802E-27
SUM
1.080871E-31
6.851764E-01
6.851764E-01
9.030859E-01
9.030859E-01
9.030859E-01
9.753344E-01
1.000000E+00
1.000000E+00
1.000000E+00
1.000000E+00
1.000000E+00
37
Rigid body mass matrix (clamped beam)
7
m
8
A-SET RIGID BODY MASS MATRIX

***
*
*
*
*
*
*
***
4.480000E-03
0.000000E+00
0.000000E+00
0.000000E+00
0.000000E+00
0.000000E+00
0.000000E+00 0.000000E+00
4.480000E-03 0.000000E+00
0.000000E+00 4.480000E-03
0.000000E+00 0.000000E+00
0.000000E+00 -2.048000E+00
2.048000E+00 0.000000E+00
0.000000E+00 0.000000E+00
0.000000E+00 0.000000E+00
0.000000E+00 -2.048000E+00
0.000000E+00 0.000000E+00
0.000000E+00 1.126400E+03
0.000000E+00 0.000000E+00
***
0.000000E+00 *
2.048000E+00 *
0.000000E+00 *
0.000000E+00 *
0.000000E+00 *
1.126400E+03 *
***
38
Conclusions
The MEM
indicate the dominant direction of global modes.
allow to separate lateral bending modes from axial modes.
can be zero for global modes of symmetric models.
39

Structural Sound and Vibrations

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Structural Sound and Vibrations

HAW/M+P, Ihlenburg, CompA

Vibrations: Flexible Bodies

1. Longitudinal Waves in Bars

HAW/M+P, Ihlenburg, CompA

Vibrations: Flexible Bodies

Speed of Sound and Wave Length

corresponding to the longitudinal wave number k L =

HAW/M+P, Ihlenburg, CompA

Vibrations: Flexible Bodies

If the bar is of finite length, the displacement must satisfy boundary

HAW/M+P, Ihlenburg, CompA

Vibrations: Flexible Bodies

2. Bending Waves in Beams

HAW/M+P, Ihlenburg, CompA

Vibrations: Flexible Bodies

Speed of Sound and Wave Length

HAW/M+P, Ihlenburg, CompA

Vibrations: Flexible Bodies

Bending Modes (Standing Waves)

HAW/M+P, Ihlenburg, CompA

Vibrations: Flexible Bodies

3. Bending Waves in Plates

HAW/M+P, Ihlenburg, CompA

Standing Waves (Bending Modes)

where m,n indicate the number of sine-half-waves in the mode shape.

HAW/M+P, Ihlenburg, CompA

Vibrations: Flexible Bodies

4. Modal analysis with FEM

Vibrations: Flexible Bodies

Analytical and Computational (FEM) Models of Structural Vibrations

Work of stresses on strains (strain energy) =

Work of inertia forces on displacements =

FE models of free structural vibrations

HAW/M+P, Ihlenburg, CompA

Vibrations: Flexible Bodies

Example: simply supported beam

HAW/M+P, Ihlenburg, CompA

Vibrations: Flexible Bodies

HAW/M+P, Ihlenburg, CompA

Vibrations: Flexible Bodies

Example ctd. (Longitudinal vibrations)

HAW/M+P, Ihlenburg, CompA

Vibrations: Flexible Bodies

5. Forced vibrations (Frequency Response Analysis)

HAW/M+P, Ihlenburg, CompA

Vibrations: Flexible Bodies

5.1. Analytical Solution

into the eigenfunctions

Decomposition of unknown displacement

Solution of modal equations

HAW/M+P, Ihlenburg, CompA

Vibrations: Flexible Bodies

Example: Local Stiffness (1/4)

1. Fourier decomposition of force:

2. Solution of modal equations:

HAW/M+P, Ihlenburg, CompA

Vibrations: Flexible Bodies

Local Stiffness (2/4)

5. Verification: Static Stiffness:

HAW/M+P, Ihlenburg, CompA

Vibrations: Flexible Bodies

Local Stiffness (3/4)

Mechanical Eng. Table: