Modal Analysis and Controls Laboratory

Mechanical Engineering Department

Modal Analysis
Applications

University of
Massachusetts
Lowell
Presentation Topics

Spring 2002

Structural Dynamic
Modeling Tools
MACL Research Overview
Correlation Applications
System Modeling Research
System Modeling Applications
Force Estimation Applications
Reverse Modeling
Technique - DO IT
DO IT Equations
Recent Work
MACL Lab Resources

EMC
Chile
NRO
Dryer

Dr. Peter Avitabile

New Research Concepts

Dr. Peter Avitabile

[email protected]

Sunday, February 23, 2003

Structural Dynamic Modeling Techniques

Could you explain

and how is it
used for solving
dynamic problems?

modal analysis

Illustration by Mike Avitabile

Overview of Structural Dynamic Modeling Techniques

Illustration by Mike Avitabile

Illustration by Mike Avitabile

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

Modal Analysis and Structural Dynamics

DISK DRIVE
INDUCED VIBRATIONS
RESPONSE
OUTPUT TIME RESPONSE

INPUT TIME FORCE

FFT

INPUT FORCE
BOARD
RESPONSE

CABINET

INPUT POWER SPECTRUM

IFT

INPUT
FORCE

FAN INDUCED
VIBRATIONS

Modal Analysis is the study of the dynamic character of a

system which is defined independently from the loads applied
to the system and the response of the system.
Structural dynamics is the study of how structures respond
when subjected to applied loads. Many times, in one form or
another, the modal characteristics of the structure is used to
determine the response of the system.
Overview of Structural Dynamic Modeling Techniques

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

How Do Structures Respond Dynamically ?

The raw time response of a structure may seem
complicated but it is really nothing more than the
linear combination of the effects of all the modes
that are excited by the specific input

high speed video

showing drop load

response due to a vertical bump

superimposed on a random excitation

Overview of Structural Dynamic Modeling Techniques

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

Response of a Simple Plate

Simple time-frequency response relationship
RESPONSE

increasing rate of oscillation

FORCE

time

frequency

Overview of Structural Dynamic Modeling Techniques

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

Response of a Simple Plate

Measure many points on the

plate simultaneously to view
the actual response
Different deformation
patterns can be seen as the
excitation sweeps from low
frequency to high frequency

Overview of Structural Dynamic Modeling Techniques

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

Response of a Simple Plate

Sine Dwell to Obtain Mode Shape Characteristics

MODE3

MODE 1

MODE 2

Overview of Structural Dynamic Modeling Techniques

MODE 4

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

Analytical Modal Analysis

Equation of motion

[M n ]{&x& n } + [C n ]{x& n } + [K n ]{x n } = {Fn ( t )}

Eigensolution

Overview of Structural Dynamic Modeling Techniques

[[K n ] [M n ]]{x n } = {0}

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

Finite Element Models

Advantages

Disadvantages

Models used for design

Modeling assumptions
Joint design difficult to model
Component interactions are

development
No prototypes are
necessary

Overview of Structural Dynamic Modeling Techniques

difficult to predict
Damping generally ignored

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

Finite Element Models

Analytical models are developed
to describe the system mass and
stiffness characteristics of a
component or system
The model is decomposed to
express the part in terms of its
modal characteristics - its
frequency, damping and shapes
The dynamic characteristics help
to better understand how the
structure will behave and how to
adjust or improve the component
or system design
Overview of Structural Dynamic Modeling Techniques

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

Experimental Modal Analysis

[Y]

MEASURED RESPONSE

[F]
APPLIED FORCE

fref1

fref2

[H]
FREQUENCY RESPONSE FUNCTIONS

Advantages

Disadvantages

Modal characteristics

Requires hardware
Actual boundary conditions

are defined from actual

measurements
Damping can be
evaluated
Overview of Structural Dynamic Modeling Techniques

may be difficult to simulate

Different hardware
prototypes may vary
10

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

Experimental Modal Analysis

Measured frequency response
functions from a modal test can
also be used to describe the
structures dynamic properties its frequency, damping and shapes
40

MODE # 1
MODE # 2
MODE # 3

DOF # 1

DOF #2

DOF # 3

COHERENCE

dB Mag
FRF
INPUT POWER SPECTRUM

-60
0Hz

800Hz

AUTORANGING

AVERAGING

h 13
1

2
1

3
2

h 23
3

h 33

h 31

h 33

h 32

Overview of Structural Dynamic Modeling Techniques

11

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

Experimental Data Reduction

Measured frequency response
functions from a modal test or
operating data can be used to
develop a model of the dynamic
characteristics of the system

Overview of Structural Dynamic Modeling Techniques

12

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

What Are Measurements Called FRFs ?

A simple inputoutput problem
8
5
2
8

3
0
-3
8
-7

Magnitude

Real

MODE # 1
MODE # 2
MODE # 3

DOF # 1

DOF #2

DOF # 3

1.0000

Phase

-1.0000

Imaginary

Overview of Structural Dynamic Modeling Techniques

13

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

Digital Signal Processing Flow Diagram

ANALOG SIGNALS
OUTPUT

INPUT

ANTIALIASING FILTERS

Actual time signals

Analog anti-alias filter

AUTORANGE ANALYZER
ADC DIGITIZES SIGNALS

OUTPUT

INPUT

APPLY WINDOWS

INPUT

OUTPUT

COMPUTE FFT
LINEAR SPECTRA
LINEAR
OUTPUT
SPECTRUM

LINEAR
INPUT
SPECTRUM

Digitized time signals

Windowed time signals
Compute FFT of signal

AVERAGING OF SAMPLES

COMPUTATION OF AVERAGED
INPUT/OUTPUT/CROSS POWER SPECTRA

INPUT
POWER
SPECTRUM

OUTPUT
POWER
SPECTRUM

CROSS
POWER
SPECTRUM

COMPUTATION OF FRF AND COHERENCE

FREQUENCY RESPONSE FUNCTION

Average auto/cross spectra

Compute FRF and Coherence

COHERENCE FUNCTION

Overview of Structural Dynamic Modeling Techniques

14

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

Experimental Mode Shapes From FRFs

MODE 2

2
1

MODE 1
5

2
4
1
3
6

Overview of Structural Dynamic Modeling Techniques

15

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

Experimental Mode Shapes From FRFs

a ij1

a ij2
a ij3

HOW MANY POINTS ???

RESIDUAL
EFFECTS

RESIDUAL
EFFECTS

The task for the modal

test engineer is to
determine the parameters
that make up the pieces
of the frequency response
function
Mathematical routines
help to determine the
basic parameters that
make up the FRF

HOW MANY MODES ???

Overview of Structural Dynamic Modeling Techniques

16

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

Flow Diagram for Response

Why and How Do Structures Vibrate?

INPUT TIME FORCE

f(t)

y(t)

FFT

IFT

INPUT SPECTRUM

f(j )

Overview of Structural Dynamic Modeling Techniques

OUTPUT SPECTRUM

h(j )

17

y(j )

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

What is Operating Data ?

If an excitation is applied close to a mode, then
that mode is excited - if not, then the response
is the linear combination of all the modes excited

Overview of Structural Dynamic Modeling Techniques

18

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

What is Operating Data ?

The modes of the structure act like filters
which amplify and attenuate input excitations
on a frequency basis
OUTPUT SPECTRUM

y(j )

f(j )
INPUT SPECTRUM

Overview of Structural Dynamic Modeling Techniques

19

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

What is Operating Data ?

The raw time response of the structure may seem
complicated but it is really nothing more than the
linear combination of the effects of all the modes
that are excited by the specific input

response due to a vertical bump

superimposed on a random excitation

Overview of Structural Dynamic Modeling Techniques

20

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

What Good is Modal Analysis ?

EXPERIMENTAL
MODAL
TESTING

FINITE
ELEMENT
MODELING

MODAL
PARAMETER
ESTIMATION

PERFORM
EIGEN
SOLUTION

RIB
STIFFNER

MASS

DEVELOP
MODAL
MODEL

Repeat
until
desired
characteristics
are
obtained

SPRING
STRUCTURAL
CHANGES
REQUIRED
Yes

No
DONE

DASHPOT

USE SDM
TO EVALUATE
STRUCTURAL
CHANGES

STRUCTURAL
DYNAMIC
MODIFICATIONS

Overview of Structural Dynamic Modeling Techniques

21

The dynamic
model can be
used for studies
to determine the
effect of
structural
changes of the
mass, damping
and stiffness

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

What Good is Modal Analysis ?

Simulation, Prediction, Correlation, to name a few
FREQUENCY
RESPONSE
MEASUREMENTS

FINITE
ELEMENT
MODEL

CORRECTIONS

PARAMETER
ESTIMATION

EIGENVALUE
SOLVER

MODAL
PARAMETERS

MODEL
VALIDATION

MODAL
PARAMETERS

SYNTHESIS
OF A
DYNAMIC MODAL MODEL

MASS, DAMPING,
STIFFNESS CHANGES

FORCED
RESPONSE
SIMULATION

STRUCTURAL
DYNAMICS
MODIFICATION

MODIFIED
MODAL
DATA

Overview of Structural Dynamic Modeling Techniques

REAL WORLD
FORCES

STRUCTURAL
RESPONSE

22

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

Correlation and Updating Models

RVAC

Analytical and
experimental models
are correlated and
adjusted to
provide
better
component
and system
models

FINITE ELEMENT MODEL

FINITE ELEMENT

CoMAC
VECTOR CORRELATION

) [U n ] , [ ]
+
g
[Tu ] = [Un ] [Ua ]

[M] , [K]

VECTOR CORRELATION

FINITE ELEMENT

MODE
SWITCHING

0.8

0.6

0.6
0.4

0.3

0.2

0.2

FINITE ELEMENT

EXPERIMENTAL

EXPERIMENTAL MODAL MODEL

[En ] = [T u ] [E a ]

0.5
0.4

CORTHOG
Experimental Analytical

DOF CORRELATION

1.2

0.7

DOF CORRELATION

0.9
0.8

EXPERIMENTAL
DOF CORRELATION

MAC AND
ORTHOGONALITY

FRAC

MAC

0.1

GUYAN

MAC

FEM 5
FEM 4

0.6

POC

VECTOR CORRELATION

FEM 3

0.2

1
0.8

0.4

1.2

1.2

OR

FEM 2

0
EXP1 EXP 2

FEM 1
EXP 3 EXP 4

EXP 5

0.8

0.8

0.6

0.6

0.4

0.4

0.2

0.2

IRS

EXPERIMENTAL

SEREP

Overview of Structural Dynamic Modeling Techniques

23

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

Correlation and Updating Models

FINITE ELEMENT

CoMAC
MAC

MODE
SWITCHING

MODAL
ASSURANCE
CRITERIA
MATRIX

OR

COORDINATE
MODAL
ASSURANCE
CRITERIA

CORTHOG
COORDINATE
ORTHOGONALITY
CRITERIA

OR

1
FEM 5

0.8

FEM 4

0.6
0.4

VECTOR CORRELATION

FEM 3

0.2

Experimental

FEM 2

Analytical

PSEUDO
ORTHOGONALITY
CRITERIA
MATRIX

EXP1

FEM 1
EXP 2

EXP 3

EXP 4

EXP 5

DOF CORRELATION

POC
EXPERIMENTAL

FINITE ELEMENT

EXPERIMENTAL

Vector tools

RVAC
RESPONSE
VECTOR
ASSURANCE
CRITERIA

FRAC

FREQUENCY
RESPONSE
ASSURANCE
CRITERIA

Degree of freedom tools

FINITE ELEMENT

EXPERIMENTAL
DOF CORRELATION

Frequency tools
VECTOR CORRELATION

Overview of Structural Dynamic Modeling Techniques

24

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

Correlation and Updating Models

ANALYTICAL MODEL

MODEL
IMPROVEMENT
REGIONS

MODEL
IMPROVEMENT
REGIONS

Models can be adjusted to better reflect actual measured

system characteristics
Joint stiffness can be more accurately identified
Simplistic modeling assumptions can be modified to reflect
the actual system

Overview of Structural Dynamic Modeling Techniques

25

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

System Models
System models are developed
from component models which
can be obtained from physical
models, reduced models, modal
models or measurement models
All of these methods may be
used to develop a system model

Overview of Structural Dynamic Modeling Techniques

26

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

System Models
Modal Models

Reduced Models

FULL SPACE PHYSICAL MODEL

FULL SPACE PHYSICAL MODEL

MODAL SPACE MODEL

CONNECTION

MODAL TIE MATRIX

MODAL SPACE MODEL

FULL SPACE PHYSICAL MODEL

FULL SPACE PHYSICAL MODEL

Modal/Physical Models

Impedance Models

FULL SPACE PHYSICAL MODEL

FULL SPACE PHYSICAL MODEL

TIE MATRIX

CONNECTION
FULL SPACE PHYSICAL MODEL

MODAL SPACE MODEL

FULL SPACE PHYSICAL MODEL

Overview of Structural Dynamic Modeling Techniques

27

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

Hybrid/Impedance Modeling
In addition to more conventional
system modeling approaches,
measured frequency response
functions can also be used to
assemble systems and provide more
realistic boundary conditions

MACHINE

CHUCK
CONNECTION IMPEDANCE
MEASURED AT MACHINE

CONNECTION IMPEDANCE
SYNTHESIZED FROM
FEM OF WORKPIECE

HYBRID MODELING
calc3_xyz

REFERENCE IMPEDANCE
SYNTHESIZED FROM
FEM OF WORKPIECE

UNIV:1974:+Z

10

10

120
-10

-10

HYBRID

-20

dB

-30

-20

-30

-40

100

-40

FEM

-50

(s2)/(kg)
-60

-50

-60

dB
-70

-70
5

100

200

255.75

Hz

Dof 15286 REFERENCE

Dof 15286 CALCULATED
(m/s2)/N

0
0

1000

2000

2550

Hz

Overview of Structural Dynamic Modeling Techniques

28

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

Dynamic Force Estimation

Using both measured operating data and frequency response
function, estimates of the dynamic forces driving the system can
be estimated
OPERATIONAL
DISPLACEMENTS

[Y]

Estimated force vs reference @dof7 part4

10-1

Reference

-2

10

Estimated

-3

10

-4

10

Lbf^2
-5

10

-6

10

Estimated force vs reference @dof17 part4

10 -1

Reference

-7

10

10

10

10

-2

50

100

150
Hz

200

250

Estimated

300

-3

-4

Lbf^2

10

10

[H]

10

-5

-6

-7

50

100

150
Hz

200

250

300

[F]
FREQUENCY RESPONSE
FUNCTIONS

Overview of Structural Dynamic Modeling Techniques

29

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

System Response
System response can be computed
for both linear and non-linear
systems by various methods.

INPUT TIME FORCE

OUTPUT TIME RESPONSE

f(t)

y(t)

FFT

IFT

INPUT SPECTRUM

FREQUENCY RESPONSE FUNCTION

OUTPUT SPECTRUM

f(j )

h(j )

y(j )

Overview of Structural Dynamic Modeling Techniques

30

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

System Disassembly and Cascaded Targets

With a specified performance level, modification or
adjustment of the system matrices is required

CAB IMPEDANCES

COMBINED
STRUCTURE
RESPONSE

AMI

FRAME IMPEDANCES

SSO/MSSO

These modified systems are then used

for system disassembly to determine
component required characteristics
Overview of Structural Dynamic Modeling Techniques

31

PHANTOM

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

System Disassembly and Cascaded Targets

Components may or may not
have elemental topology

The problem
is difficult
Overview of Structural Dynamic Modeling Techniques

32

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

Recent Work - Telescopes

45m in Nobeyama, Japan & both Gemini 8m in Chile/Hawaii

Overview of Structural Dynamic Modeling Techniques

33

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

Recent Work - Computers and Peripherals

Operating and modal
data collected for
massive storage
devices - 40 terabyte
Robust design options

Overview of Structural Dynamic Modeling Techniques

34

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

Future Work & Job Opportunities

As equipment is designed to be lighter, quieter, more efficient,
easier to manufacture, etc., there will always be structural
dynamic issues to address.
This is true in all industries and sectors - aerospace, automotive,
commercial products, sporting goods equipment are just a short
list of applications where structural dynamics plays a critical
role in the design and analysis of equipment

Overview of Structural Dynamic Modeling Techniques

35

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory

Modal Analysis & Controls Laboratory

Could you explain

and how is it
used for solving
dynamic problems?

modal analysis

Illustration by Mike Avitabile

Overview of Structural Dynamic Modeling Techniques

Illustration by Mike Avitabile

36

Illustration by Mike Avitabile

Dr. Peter Avitabile

Modal Analysis & Controls Laboratory