Vibration and Modal

Analysis Basics
Joseph Matalevich

USPAS Course:
SRF Technology: Practices and Hands-On Measurements

January 2015

J. Matalevich
Vibration and Modal Analysis Basics

J. Matalevich USPAS SRF Course Jan. 2015 2

Vibration and Modal Analysis Basics

April 1940

November 1940

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Vibration and Modal Analysis Basics
Objectives
• Why study vibrations?
– So my machine doesn’t get screwed up
• What is modal analysis?
 Analytical Modal Analysis (Calculations)
 Experimental Modal Analysis (Measurements)
• How are real structures analyzed?
4

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Vibration and Modal Analysis Basics
What is vibration?
• Stored energy within a structure is Max Potential Energy Max Kinetic Energy
transformed between potential
(elastic deformation) and kinetic
(moving mass) energy. The
oscillatory motion is vibration.

• The stored energy results in

standing waves (modes) at
inherent natural frequencies.

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 Types of Vibrations

Vibrations

Free (natural) Forced

f(t)= 𝐹0 cosωft

Undamped Damped Undamped Damped

Undamped Damped
• Idealized • Real Structures
• No friction • Energy is dissipated
• No energy dissipation • Viscous Damping (linear models)
• Perpetual Motion – Damping Force proportional to velocity

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 SDOF System Model
Single Degree of Freedom (SDOF) Mechanical System Model

Newton

Equation of Motion

Acceleration Velocity Displacement

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 SDOF System Model
 Undamped Free Vibrations 𝑐=0 𝑓 𝑡 =0

𝑑2𝑥
𝑚 2 = −k𝑥
𝑑𝑡

 Solution
𝑣0
𝑥 𝑡 = 𝑥0 cos 𝜔𝑡 + sin 𝜔𝑡
𝜔
𝑥 𝑡 = 𝐴 cos 𝜔𝑡 − 𝜙

𝑣0 2 𝑣0
𝐴=
2
𝑥0 + 𝜙 = tan−1
𝜔𝑥0 𝜔𝑥0

𝑘 𝑟𝑎𝑑
𝜔= Angular Natural Frequency 𝑠𝑒𝑐
𝑚 The initial conditions (displacement, velocity) do not
affect the natural frequency. (Just the amplitude)
𝜔
𝑓= Linear Natural Frequency ℎ𝑒𝑟𝑡𝑧
2𝜋
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 SDOF System Model
𝑓 𝑡 =0
 Damped Free Vibrations
𝑑2𝑥 𝑑𝑥
𝑚 2 +𝑐 + 𝑘𝑥 = 0
𝑑𝑡 𝑑𝑡
Linear, 2nd order differential equation
 homogeneous

 General Solution
x (t) = 𝐴 e𝑟1𝑡 + 𝐵 e𝑟2𝑡  A & B from initial conditions

−𝑐 𝑐 2 𝑘
r1, r2 = ± −𝑚
2𝑚 2𝑚
 3 Distinct Solution Sets
𝑐 𝑐 Correspond to the Damping Ratio
𝜁= = Damping Ratio 1. Underdamped 𝜁<1
2𝑚𝜔 𝑐𝑐𝑟𝑖𝑡𝑖𝑐𝑎𝑙
2. Overdamped 𝜁>1
3. Critically Damped 𝜁 = 1
r1, r2 = -ζ𝜔 ± 𝜔 𝜁 2 − 1

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 SDOF System Model
𝑓 𝑡 =0
 Damped Free Vibrations
 Underdamped 𝜁<1

𝑣0+𝜁𝜔𝑥0
 𝑥 𝑡 = 𝑒 − 𝜁𝜔𝑡 2 sin 𝜔𝑡 1 − 𝜁 2 + 𝑥 cos 𝜔𝑡 1 − 𝜁2
0
𝜔 1−𝜁

Damped Natural Frequency

𝜔𝑑 = 𝜔 1 − 𝜁 2

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 SDOF System Model
 Damped Free Vibrations
 Critically Damped 𝜁 = 1 𝑥 𝑡 = 𝑣0 + 𝜔𝑥0 𝑡𝑒 − 𝜔𝑡 + 𝑥0𝑒 − 𝜔𝑡

−𝜁+ 𝜁 2 −1 𝜔𝑡 −𝜁− 𝜁 2 −1 𝜔𝑡
 Overdamped 𝜁>1 𝑥 𝑡 = 𝐴𝑒 + 𝐵𝑒
𝑣0 + 𝜁 + 𝜁 2 − 1 𝜔𝑥0 −𝑣0 − 𝜁− 𝜁 2 −1 𝜔𝑥0
𝐴= B=
2𝜔 𝜁 2 − 1 2𝜔 𝜁 2 −1

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 SDOF System Model
 Damped Forced Vibrations

𝑑2𝑥 𝑑𝑥
𝑚 2 +𝑐 + 𝑘𝑥 = 𝐹0 sin 𝜔𝑓 𝑡
𝑑𝑡 𝑑𝑡

 Solution consists of a complementary (transient) and a particular

(steady state) solution
 Complementary F0=0; homogeneous DE 𝐹0
𝐷=
2 2
𝑥 𝑡 = 𝑥𝑐 𝑡 + 𝑥𝑝 𝑡 𝑘 − 𝑚𝜔𝑓 2 + 𝜔𝑓

𝑥𝑝 𝑡 = 𝐷 sin 𝜔𝑡 − 𝜙 𝑐𝜔𝑓
𝜙= tan−1
𝑘 − 𝑚𝜔𝑓 2

𝐷 1
𝛽𝑑 = =
Damped Magnification Factor 𝐹0
𝜔𝑓 2 2 𝜔𝑓 2
𝑘 1− 𝜔 + 2𝜁 𝜔

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 SDOF System Model
 Forced Response of a SDOF System
 How much energy is leaving before next force input?

RESONANCE Energy is readily absorbed by a

system near its natural frequency
Transmissibility

𝐹𝑡𝑟𝑎𝑛𝑠𝑚𝑖𝑡𝑡𝑒𝑑 𝜔𝑓 2
𝑇𝑅 = = 𝛽𝑑 1 + 2𝜁
𝐹𝑎𝑝𝑝𝑙𝑖𝑒𝑑 𝜔

𝜷𝒅
Amplification Ratio

𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡𝑡𝑟𝑎𝑛𝑠𝑚𝑖𝑡𝑡𝑒𝑑
𝐴𝑅 = = TR
𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡𝑎𝑝𝑝𝑙𝑖𝑒𝑑

𝝎𝒇
Frequency Ratio
𝝎

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 MDOF System
Multiple Degree of Freedom (MDOF) Mechanical System Model

• Equation of Motion for 2 DOF system

 Model Complex Systems

 Approximate Continuous Real Systems

• Matrix Formulation
𝑀 𝑥 + 𝐶 𝑥 + 𝐾 𝑥 = 𝐹
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 MDOF System
𝑀 𝑥 + 𝐶 𝑥 + 𝐾 𝑥 = 𝐹
 An eigensolution yields eigenvalues (frequency) and
eigenvectors (mode shapes) for each mode of the system.

 Modal Transformation Equation is used to uncouple the

𝑥 = 𝑈 𝑝
set of highly coupled equations

𝑀 𝑝 + 𝐶 𝑝 + 𝐾 𝑝 = 𝑈 𝑇 𝐹
𝑀 𝑥 + 𝐶 𝑥 + 𝐾 𝑥 = 𝐹

Independent SDOF Systems

+ + +

1. Natural Frequency
2. Damping
3. Mode Shape

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 Vibration and Fourier Analogy
What is modal analysis?
• The process of characterizing the dynamic response of a
system in terms of its modes of vibration.
• Any periodic function can be represented
as a series of sinusoidal functions.
• Each individual sinusoid is define by its
amplitude, frequency and phase.
𝑁

𝐴𝑛 sin 2𝜋𝑓𝑛 𝑡 + 𝜙𝑛
𝑛=1

• Vibration of a real structure can be represented

as a series of modal contributions.
• Each mode is defined by its natural frequency,
damping, and mode shape.

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 Analytical Modal Analysis
 Modal Analysis is the process of characterizing the dynamic
response of a system in terms of its modes of vibration.

 Analytical Modal Analysis depends on the generation of the

equations of motion of a system through a finite element model.

 3D model typically generated with CAD tool

 Import & mesh with FEA tool

 Requires good material property info

 Application of accurate boundary

conditions is vitally important for
reasonable results

1000’s of simultaneous equations are common for FEA modal models

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 Analytical Modal Analysis
 Output is an ordered list of frequencies and the corresponding mode shapes

5 Hz 12 Hz

32 Hz 44 Hz

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 Analytical Modal Analysis

100 Hz & 142 Hz

275 Hz & 572 Hz

 Note,
 The individual mode animations do NOT reflect an expected deflection shape

 The modes are a function of the inherent mass and stiffness of the structure (no loads are applied)

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 Experimental Modal Analysis
 Modal Analysis is the process of characterizing the dynamic
response of a system in terms of its modes of vibration.

 Experimental Modal Analysis depends on parameter estimation

techniques to extract modal information from experimental data.

Frequency Response Function (FRF)

 Ratio of the output response of a structure to the applied force
 The applied force and structure response are measured simultaneously
 Time domain data is transformed to frequency domain (FFT)

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 Experimental Modal Analysis
 Components used to take measurements Accelerometer - a(t)
 Want to accurately measure force and response simultaneously

Shaker - F(t) Hammer - F(t)

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 Experimental Modal Analysis
 FRFs are used to generate modal data
 Consider Simple 3DOF beam model
 3 possible locations for force application
 3 locations for response measurement
 9 possible FRFs; organized in matrix form
 Notation convention
 hrow,column houtput,input

Drive Point FRF Cross FRF

-Excitation and measurement at same location -Excitation and measurement at different location

Images from Peter Avitabile [2]

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 Experimental Modal Analysis
 Due to the Fast Fourier Transformation the FRFs are complex valued quantities
 Magnitude & Phase or Real & Imaginary

 FRFs matrix used to determine

1. Natural Frequency
2. Damping
3. Mode Shape

1st Mode
Magnitude Real

2nd Mode
Phase Imaginary
Images from Peter Avitabile [2]

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 Experimental Modal Analysis
 FRFs
 Reference points cannot be located at the node of a mode.

Imaginary
Images from Peter Avitabile [2]

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 Experimental Modal Analysis
FRFs
 Roving Impact  Roving Response
• Force input is moved • Force input is stationary
• Transducer stationary • Transducer is moved

Images from Peter Avitabile [2]

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 Experimental Modal Analysis
 Practical Considerations
 Theoretically no difference between shaker test and impact (hammer) test
 Ideal
• No interaction between applied force and the structure
• Massless transducer
 Reality
• Collecting data on the structure plus all the measurement apparatus
• Structure supports
• Mass of transducers
• Stiffening effects of shaker attachment
 Impact tests
• Typically faster, lower cost, and easier to implement
• Hammer tip hardness must be matched to the frequency range of modes desired
• S/N ratio may be poor
• Windowing required (less accuracy in predicting damping)
 Shaker tests
• Better precision, enables frequency sweep (targeted investigations)
• Setup is timely and can be difficult

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 Experimental Modal Analysis
 Actual FRF DAQ
measurements
Remove high frequency signals

More bits, better resolution

FFT process requires the sampled data

consist of a complete representation of Minimize leakage
the data for all time or contain a periodic
repetition of the measured data. When
this is not satisfied (leakage) a serious FFT
distortion of the data in the frequency
domain is the result.

Averaging & Math

Coherence function is used as a data
quality assessment tool. It identifies how
much of the output signal is related to
the input signal. FRF & Coherence
Images from Peter Avitabile [2]

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 Experimental Modal Analysis
 Actual FRF measurements
Modal Parameter estimation (Curve Fitting)
 FRF Broken down into multiple SDOF systems
 Determine frequency, damping, and mode shape

 Multiple techniques & automated algorithms are

utilized to extract data.

 Insufficient input power at

higher frequencies
 Coherence good at low
frequencies, poor at high
frequencies.

Images from Peter Avitabile [2]

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 Experimental Modal Analysis
OK, I’ve got my frequencies and mode shapes. Now what?

 Visualization of mode shapes is invaluable in the design (& redesign) process.

 Evaluate the most cost effective design modifications.
 Identifies areas of weakness in a system or structure.
 Predict system response to proposed loads or operating conditions.
 Update / correlate FEA models.

Images from Peter Avitabile [2]

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 Vibration and Modal Analysis Basics
OK, fix your beams, buildings, & bridges. Why do I care?

 SRF cavities have mechanical modes too !

 Example: JLAB 12GeV cavities tuning sensitivity = 300 Hz / micron
 Low frequency oscillations cause cavity target frequency to vary
(1497.000… MHz)
 Accelerating gradient per supplied RF power degraded

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 References
1. Michael R. Lindeburg
“Mechanical Engineering Reference Manual”, Professional Publications, Inc., 2013
ISBN: 978-1-59126-414-9

2. Peter Avitabile
“Experimental Modal Analysis”, Modal Analysis and Controls Laboratory University of
Massachusetts Lowell

3. J.L. Meriam and L.G. Kraige

“Dynamics", John Wiley and Sons, Inc., 1986

4. Jimin He and Zhi-Fang Fu

“Modal Analysis", Butterworth Heinemann, 2004
ISBN: 0 7506 5079 6

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