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VIBRATION ANALYSIS OF MACHINE FOUNDATION ON PILES
QMS DOCUMENT NUMBER PEC-EN-VSS-C-12627
INTRODUCTION
This Mathcad sheet is developed using general guidelines for dynamic analysis
given in various codes, technical research papers and standard books, which are given in
the reference section. This Mathcad sheet gives frequency of various modes of vibration
and amplitudes of vibrations on the block foundation supported on piles. It is intended to
help engineers in Petrofac to calculate the frequency and dynamic amplitude of vibration
on the block foundation supported by piles.
REFERENCES
Foundation Vibrations by George Gazetas, page 553-593
Suresh C. Arya, Michael W. O'Neil & George Pincus, Design of Structures and
Foundations for Vibrating Machines, Gulf Publishing Company, Houston, 1984
Indrajit Chowdhury, Shambhu P. Dasgupta, Dynamics of Structure and foundation - A
unified approach, Taylor and Francis, London, 2009
ACI Committee 351, Foundations for Dynamic Equipment(ACI 351.3R), American
Concrete Institute, Michigan, 2004
ASSUMPTIONS
This Mathcad sheet should be handled by an engineer having competancy in the field of
structural dynamics and also should have basic knowledge of Mathcad software.
This Mathcad sheet is valid for Block Type Foundations resting on Piles. No other cases
are covered in the sheet.
All foundation parts (refer input section) should be of same thickness.
Total number of piles used in the sheet should be sufficient enough in numbers so as to
pass all load combination as per the project requirement.
This sheet cannot be used for static checks for all load combinations a separate
caculation has to be submitted including punching shear check and check for maximum
load on a pile (should be less than the 50% of allowable working load ).
A weighted average shear wave velocity is being used in the pile stiffness calculation.
Static checks are performed for the following criteria only:
- Machine to foundation weight ratio
- Eccentricity check
- Foundation width check
- Pile length for long pile
- Thickness of foundation for rigid block behaviour
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After dynamic analysis and its checks, static checks for all load cominations has to be
performed and should be included in the design calculation. User can perform static
check in Mat3D software. Pseudo dynamic forces has to be calculated using
transmisibility factors calcuated in this sheet and these pseudo dynamic forces should
be included in the load combinations for static checks.
Reinforcement in block and pile has to be decided by the user as per the project
requirements.
First Input to tabular entry is at the first row of the table, which is '0' in the Mathcad.
Hence unless otherwise it is given, first entry start at row number '0'.
INPUTS
User inputs are required under the section "Input Parameters"
Input in the tables has to follow the required input at each input sections. Note that
entry to the table does not recognize any units therefore user should give input in the
required units in table.
RESULTS
Dynamic behaviour of the system under the forced vibration of machine are given under
the section "Summary of Results" and are compared against the project/vendor
requirements of frequency and amplitudes of vibrations.
Maximum steady state amplitudes and velocity are calculted at the user defined two
points and are given under the section "Summary of Results".
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1.0 INPUT PARAMETERS
Units to the tabular kN := 1000N
entries
RPM :=
Hz
60
MPa :=
m := 10
mm
g := 9.81
1 kg = 1 10
g := 9.81
-6
m
s
-3s
sec
kNm := 1000N m
kN
RPM :=
2 rad
60 sec
Coordinate System to be used in the
Mathcad sheet
Note : Vertical coordinate axis 'z'=0 at the bottom of block foundation, i.e. at foundation level
1.1 Machine Parameters
Number of machine Parts, masses and CG
Number of machine parts
Mass of each part (kg)
nm := 2
Mass (kg)
mc :=
0
0
3.915104
5.115104
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Coordinates of CG of machine parts in
the same order (in m)
DOCUMENT TITLE:
x-CG(m)
y-CG(m)
z-CG(m)
cgm :=
2.613
3.816
-5.647
2.964
10.808
-6.337
2
Unbalanced forces, moments, point of action and phases
Number of unbalanced load points
Operating frequencies of unbalanced points
(in rpm)
Unbalanced forces (kN) in X, Y and Z dir
of the operating frequency given above in
the same order.
nmu := 4
m :=
0
0
1.047103
1.047103
7.607103
7.607103
Fx (kN)
Fy(kN)
Fz(kN)
UF :=
2.1
0.206
2.1
1.3
0.131
1.3
0.3
0.033
0.3
0.8
0.076
0.8
Note that for Z-coordinate input - Positive vertical coordinate axis is downward below the bottom of block foundation
and its Z=0 is at the bottom of foundation, i.e. at foundation level.
Unbalanced moments (kN-m) about
X, Y and Z dir of the operating
frequency given above in the same
order.
Mx (kN-m)
My(kN-m)
Mz(kN-m)
UM :=
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Coordinates x,y,z (in m) of Unbalanced
loads of the operating frequency given
above in the same order.
x(m)
y(m)
z(m)
Ucg :=
3.25
10.533
-5.9
3.25
5.649
-5.9
2.03
5.649
-5.9
2.03
3.523
-5.9
qx(rad)
Phase (in Radian) of Unbalanced loads
of the operating frequency given above
in the same order.
qy(rad)
qz(rad)
Uph :=
1.571
1.571
1.571
1.571
1.2 Foundation/pile cap (fp) and Pedestal (pp) Paramaters
Number of foundation pad parts(pile cap)
(Minimum is 1)
nf := 1
Length, Width and Height of Foundation Slab(pile cap)
(Note - thickness of all foundation pad parts must be same)
B(x axis),m I
L(y axis),m
H(z axis),m I
x-CG,m
y-CG,m
z-CG,m
fp :=
0
0
1
6
2
13.078
3
1.2
4
3
5
6.539
1
2
3
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Number of pedstals parts
np := 2
Length, Width and Height of Pedestals
B(x axis),m I
L(y axis),m
H(z axis),m I
x-CG,m
y-CG,m
z-CG,m
pp :=
4.6
6.26
3.1
3.63
-2.7
3.62
4.1
3.684
2.93
10.528
-3.042
2
3
4
Length (larger dimension) of pile cap/foundation
(along Y-axis)
Lf := 13.078m
Unit weight of foundation concrete
f := 25
kN
m
Foundation dimensions
Minimum width factor - to be multiplied in vertical
distance from machine shaft level to bottom of
foundation
Fwidth := 1.0
1.3 Pile Parameters
Diameter of Pile
Dpile := 750mm
Number of piles in the group
Npile := 18
Length of pile
Lp := 25m
Dynamic modulus of elasticity of pile
E p := 4700 32
N
2
mm
Unit weight of pile concrete
pile := 25
Refer Cl.4.4.1.2, ACI
351-3R & Cl. 8.5, ACI 318
kN
m
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Coordinates of center of piles in m
xy :=
0
Note - choose same coordinate
system
0.9
0.9
0.9
3.155
0.9
5.41
0.9
7.668
0.9
9.923
0.9
12.178
0.9
3.155
5.41
7.668
10
9.923
11
12.178
12
5.1
0.9
13
5.1
3.155
14
5.1
5.41
15
5.1
7.668
16
5.1
9.923
17
5.1
12.178
18
Source pile number (source pile should not be
in the center or at the periphery and has an
interaction factor with itself of 1)
spn := 8
1.4 Soil parameters
Soil properties along pile length
Weighted shear wave velocity along the pile length
vs := 338
m
s
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Weight Density of Soil
s := 19
Poisson's ratio of Soil
kN
m
:= 0.38
Soil properties around pile cap at bottom of piles
Shear wave velocity of the soil surrounding the pile cap
vst := 230
Unit weight of the soil surrounding the pile cap
st := 18
m
s
kN
m
Poisson's ratio of the soil surrounding the pile cap (nf)
st := 0.38
Shear wave velocity of soil below lower end of pile
vsb := 655
Soil hysteretic damping ratio
h := 0.02
m
s
1.5 Frequency and Amplitude Criteria
Frequency band to be avoided to avoid Resonance
Lower limit of frequency band
Lfb := 0.707
Upper limit of frequency band
Hfb := 1.404
Allowable amplitudes
Zero to peak amplitude of vibration
A ztp := 4.8m
Allowable velocity of vibration
V allow := 1.8
mm
sec
Two point of interest for amplitude and velocity
Maximum height of foundation+pedestal from
bottom of foundation
Coordinates (x, y, z) of two points of interest
for amplitude and velocity checking
Hmax := 4.535m
IP :=
-4.535
7.2
43.075
...
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2. CALCULATION Of FOUNDATION PROPERTIES AND PILE STIFFNESS
Providing units to tabular
entry (input)
fp := fp m
pp := pp m
cgm := cgm m
m := m RPM
UF := UF kN
Ucg := Ucg m
Uph := Uph rad
mc := mc kg
UM := UM kNm
xy := xy m
2.1 Properties Calculations
nf - 1
( fpi , 0 fpi , 1)
Equivalent width of
base of foundation
B f :=
Mass of each foundation pads
f := 0 .. nf - 1
Total mass of foundation Pads
Mf :=
i =0
Bf = 6 m
Lf
fdnf := ( fpf , 0 fpf , 1 fpf , 2)
fdnf
Mf = 2.4 10 kg
Mass of each pedestal parts
p := if [np = 0 , 0 , ( 0 .. np - 1) ]
Mass of Pedestals
pedp := if np = 0 , 0 , ( ppp , 0 ppp , 1 ppp , 2)
Mp := if np = 0 , 0 ,
Mass of machine parts
m := 0 .. nm - 1
pedp
p
Mm :=
mcm
Mm = 9.03 10 kg
Total mass of system
Coordinates of CG of complete system
k := 1 .. 3
nf - 1
CGk :=
Mt := Mf + Mp + Mm
Mt = 6.898 10 kg
k = 1 for x-axis
np - 1
( fdni fpi , k+ 2) + if np = 0 , 0 ,
i =0
k = 2 for y-axis k = 3 for z-axis
nm - 1
( pedi ppi , k+2) +
i =0
( mci cgmi , k- 1)
i =0
Mt
xc := CG1
xc = 2.993 m
yc := CG2
yc = 6.578 m
zc := CG3
zc = -2.475 m
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Coordinates of
centre of pile group
Pile Numbers 'i'
Pile coordinates
i := 1 .. Npile
xi := xyi - 1 , 0
yi := xyi - 1 , 1
xi
i
xb :=
Npile
xb = 3 m
yi
yb :=
Depth of pile cap
Npile
yb = 6.539 m
D := fp0 , 2
Total Area moment of inertia about X, Y axis passing through the "foundation base centroid"
nf - 1
Ix :=
i =0
nf - 1
Iy :=
i =0
1 ( fp ) ( fp ) 3 + ( fp ) fp ( y - fp ) 2
i ,0
i ,1
i ,0
i ,1 b
i ,4
12
Ix = 1.118 10 m
1 ( fp ) 3 ( fp ) + ( fp ) fp ( x - fp ) 2
i ,0
i ,1
i ,0
i ,1 b
i ,3
12
Iy = 235.404m
Mass Moment of Inertia of (foundation + pedestals + machine parts) about X, Y & Z axes passing through the
C.G. of machine-foundation system.
nf - 1
Jx :=
i =0
1 ( fdn ) ( fp ) 2 + ( fp ) 2 + fdn ( y - fp ) 2 + ( z - fp ) 2 ...
i i ,1
i , 2
i c
i ,4
i , 5
c
12
np - 1
+ if np = 0 , 0 ,
nm - 1
1 ( ped ) ( pp ) 2 + ( pp ) 2 + ped ( y - pp ) 2 + ( z - pp ) 2 ...
i
i ,1
i ,2
i c
i ,4
i
,
5
12
=0
mci ( y - cgmi , 1) 2 + ( z - cgmi , 2) 2
c
i =0
nf - 1
Jy :=
i =0
1 ( fdn ) ( fp ) 2 + ( fp ) 2 + fdn ( x - fp ) 2 + ( z - fp ) 2 ...
i i ,0
i , 2
i c
i ,3
i , 5
c
12
np - 1
+ if np = 0 , 0 ,
nm - 1
Jx = 1.204 10 m kg
i =0
1 ( ped ) ( pp ) 2 + ( pp ) 2 + ped ( x - pp ) 2 + ( z - pp ) 2 ...
i
i ,0
i ,2
i c
i ,3
i
,
5
12
=0
mci ( x - cgmi , 0) 2 + ( z - cgmi , 2) 2
c
Jy = 3.677 10 m kg
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Distance of C.G. of foundation part (XFB, YFB, ZFB) , pedestal part (XPB, YPB, ZPB) and machine part
(XMB, YMB, ZMB) from "Centre of pile group"
XFBf := fpf , 3 - xb
YFB f := fpf , 4 - yb
XPBp := if np = 0 , 0 , ppp , 3 - xb
XMB m := cgmm , 0 - xb
ZFBf := fpf , 5
YPBp := if np = 0 , 0 , ppp , 4 - yb
YMBm := cgmm , 1 - yb
ZPBp := if ( np = 0 , 0 , ppp , 5)
ZMB m := cgmm , 2
Distance of C.G. of foundation part (XFC, YFC, ZFC) , pedestal part (XPC, YPC, ZPC) and machine part
(XMC, YMC, ZMC) from "CG of system"
XFCf := fpf , 3 - xc
YFCf := fpf , 4 - yc
XPCp := if np = 0 , 0 , ppp , 3 - xc
YPCp := if np = 0 , 0 , ppp , 4 - yc
XMCm := cgmm , 0 - xc
ZFCf := fpf , 5 - zc
ZPCp := if np = 0 , 0 , ppp , 5 - zc
YMCm := cgmm , 1 - yc
ZMCm := cgmm , 2 - zc
Distance of center of unbalanced forces (XUC, YUC, ZUC) from "CG of system"
u := 0 .. nmu - 1
XUCu := Ucgu , 0 - xc
YUCu := Ucgu , 1 - yc
ZUCu := Ucgu , 2 - zc
Dynamic shear modulus of soil
s
2
Gs :=
v
g s
Dynamic Elastic modulus
E s := 2 ( 1 + ) Gs
Gs = 2.213 10 Pa
5 kN
2
E s = 6.107 10
Radius of pile
Slenderness of pile
Compression wave velocity in pile
r0 :=
Lp
r0
Dpile
2
= 66.667
vp :=
Ep g
pile
vp = 3.23 10
3m
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ratio shear wave of soil/P-wave in concrete
Slenderness ratio
DOCUMENT TITLE:
vs
rv :=
vp
rv = 0.105
Lp
rL :=
r0
rL = 66.667
Critical length of pile
Ep
lc := 2 Dpile
Es
Primary operating frequency
f pri := min m
Secondary operating frequency
f sec := max m
0.25
( )
( )
lc = 3.853 m
f pri = 109.642
f sec = 796.603
1
s
Operating frequencies of machine
Height of soil column above bed-rock
HS := 30m
Lysmer apparaent wave velocity
V La :=
Soil Resonant frequency
Natural shear frequency of soil deposit
Cross-sectional area of pile
Moment of inertia of pile
Dimensionless factor
f res :=
3.4
v
( 1 - ) s
VLa
f res = 4.917
4 HS
f s := 0.25
A p := r0
vs
f s = 2.817
HS
2
a0 :=
1
s
A p = 0.442 m
4
Ip :=
Dpile
64
Ip = 0.016 m
1
s
( 2 fpri) r0
vs
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2.2 Gazetas stiffness and damping coefficients (gz) - Refer Foundation Vibrations by
Gazetas
Lp
Dpile
Static axial stiffness:
Dynamic stiffness coefficient:
2
3
K zstat := 1.9 E s Dpile
Lp
kz := if
Dpile
Dynamic axial stiffness:
Lp
< 15 , 1 , if
Dpile
K zstat = 9.014 10
50 , 1 +
a0 ,
61
kN
a0 Lp
- 15 + 1
35 Dpile
K z := kz Kzstat
K z = 1.314 10
71
0.21
Dynamic Horizontal stiffness
in X-direction:
Ep
K x := Dpile Es
Es
Dynamic Horizontal stiffness
in Y-direction:
K y := Kx
Dynamic Rocking stiffness
about X-axis:
Ep
K := 0.15 Dpile Es
Es
Dynamic Rocking stiffness
about Y-axis:
K := K
Dynamic Coupling stiffness
Ep
K x := -0.22 Dpile Es
Es
K x = 1.012 10
61
kN
kN
0.75
K = 6.55 10 m kN
K = 6.55 10 m kN
0.5
K x = -4.986 10 kN
DAMPING
Ep Lp
-
Es Dpile
rd := 1 - e
Dimensionless factor
Axial radiation damping coefficient:
Cz1 := a0
1
5
-2
rd = 0.038
vs Dpile Lp rd
g
1.5 f res - f pri
Cz1
0.5 fres
Cz := if fpri > 1.5f res , Cz1 , if fpri f res , 0 ,
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Cz = 1.564 10
3 s
kN
0.17
Ep
- 1
Dx := if fpri > f s , 0.80 h + 1.10 f pri Dpile
vs
, 0.80 h
Horizontal damping coefficient:
Es
Cx := 2
Kx D x
2 fpri
Cy := Cx
C := 2
Damping in the Rocking Y mode
Coupling damping coefficient:
Cy = 1.54 10
Ep
D := if f pri > fs , 0.35 h + 0.35 fpri Dpile
Es
Rocking damping coefficient:
Cx = 1.54 10
0.20
3 s
m
3 s
vs
- 1
kN
, 0.25 h
K D
2 f pri
C = 357.715 m s kN
C := C
0.18
Ep
- 1
Dx := if fpri > f s , 0.80 h + 0.85 f pri Dpile
vs
, 0.50 h
Es
Cx :=
2 Kx Dx
2 fpri
Cx = -613.637 s kN
2.3 Definition of pile group and Pile Interaction Factors
Origin coordinate
kN
xo := xc
yo := yc
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Plan coordinates of center of piles
6
5
X-axis
4
xi
3
2
1
0
10
15
yi
Y-axis
( ( xo - xi) ) 2 + ( yo - yi) 2
Distance from base centroid
si :=
Primary angular speed
:= 2 fpri
Angle of Departure for load in Y direction
yi := atan
Angle of Departure for load in X direction
xi := atan
xo - xi
yo - yi
yo - yi
xo - xi
Interaction factor for Vertical vibration
Ratio of shear modulus of soil
along length to bottom of pile
Distance between source pile to other piles
Rg := 1
spi :=
( xi - xspn) 2 + ( yi - yspn) 2
spspn := 1m
Lp
spi
ln
Interaction factors for vertical group stiffness
of piles by Poulos (1969)
vi := 0.5
Lp Dpile
Rg
m m
ln
Ref. eq. 4.28, ACI
351.3R-04
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vi if vi
vi :=
1-
Ref. eq. 4.31, ACI
351.3R-04
otherwise
27 vi
vspn := 1
Npile
z :=
vi
z = 6.046
i =1
- h si
Interaction factor for Horizontal vibration for
Departure angle q = 0 degree.
si
2 r0
- 0.5
0i := 0.5
VLa
- i si
VLa
- h si
Interaction factor for Horizontal vibration for
Departure angle q = 90 degree.
Generalised Interaction factor for
Horizontal vibration in X direction for any
Departure angle q
si
2 r0
- 0.5
90i := 1.06
vs
- i si
vs
x := 0i cos( xi ) + 90i sin( xi )
i
2
Npile
x = 5.852
i
i =1
Generalised Interaction factor for
Horizontal vibration in Y direction for any
Departure angle q
y := 0i cos( yi ) + 90i sin( yi )
i
2
Npile
y = 3.955
i
i =1
Pile Cap stiffness in vertical sirection
Hence vertical group stifness
st 2
v 2.7 D
g st
K zcap :=
K Gz :=
Kz Npile
z
K zcap = 3.145 10
+ Kzcap
K Gz = 3.944 10
Total weight of the fdn+machine
Relative stiffness of pile
W c := Mt g
K R :=
51
71
kN
kN
W c = 6.767 10 kN
Ep Ip
2 Gs ( 1 + ) Lp
K R = 1.731 10
)
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1 = Flexible pile
2= Rigid pile
pile_typ := if KR < 10.0 , 1 , 2
pile_typ = 1
2.4 Pile Group Stiffnesses
Horizontal stiffness due to pile cap
S u1 := -2.3333 st + 2.1833 st + 3.6
S u1 = 4.093
st 2
v S D
g st u1
K xcap :=
Horizontal Group stiffness in X direction
K Gx :=
Npile Kx
x
K Gx = 3.588 10
i =1
Horizontal Group stiffness in Y direction
K Gy :=
Npile Ky
+ Kxcap
Npile
51
kN
+ Kxcap
Npile
K xcap = 4.767 10
K Gy = 5.081 10
61
kN
61
kN
i =1
Group stiffness for Pitching about X (Refer Eq. 5-20, page 86, Design of Str. and Fdn. for Vibrating Machines
by Arya, O'Neill and Pincus)
Npile
K G :=
K + K ( yi - y ) 2 + K ( z
c
y
c
z
) 2 - 2 zc Kx
K G = 3.679 10 m kN
i =1
Group stiffness for Rocking about Y (Refer Eq. 5-20, page 86, Design of Str. and Fdn. for Vibrating Machines
by Arya, O'Neill and Pincus)
Npile
K G :=
K + K ( xi - x ) 2 + K ( z
c
x
c
z
) 2 - 2 zc Kx
K G = 8.633 10 m kN
i =1
Damping ratio for vibrartion in vertical
direction
Damping ratio for vibrartion in
Horizontal X direction
Damping ratio for vibrartion in
Horizontal Y direction
Npile Cz
, 0.25
Wc
2 KGz g
DGz = 0.085
Npile Cx
, 0.20
Wc
2 KGx g
DGx = 0.2
DGz := min
DGx := min
Npile Cy
, 0.20
Wc
2 KGy g
DGy := min
DGy = 0.2
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Group damping for Pitching about X (Refer Eq. 5-23, page 86, Design of Str. and Fdn. for Vibrating
Machines by Arya, O'Neill and Pincus)
Npile
CG :=
C + C ( yi - y ) 2 + C ( z
z
o
y
c
) 2 - 2 zc Cx
CG = 6.487 10 m s kN
i =1
Damping ratio
DG := min
CG
2 KG Jx
, 0.10
DG = 0.049
Group damping for Rocking about Y (Refer Eq. 5-23, page 86, Design of Str. and Fdn. for Vibrating
Machines by Arya, O'Neill and Pincus)
Npile
CG :=
C + C ( xi - x ) 2 + C ( z
z
o
x
c
) 2 - 2 (
zc Cx
CG = 3.137 10 m s kN
i =1
Damping ratio
DG := min
CG
2 KG Jy
, 0.10
DG = 0.088
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3. STATIC CHECKS
3.1 Weight Ratio Check
Weight of foundation
W fp := Mf + Mp g
Weight of machine
W mc := Mm g
Weight ratio
Check of weight ratio
WR :=
W fp
WR = 6.639
W mc
Weight_Ratio_check :=
"OK" if WR > 3
"Weight ratio check failed" otherwise
Note : For reciprocating machine WR>5
Weight_Ratio_check = "OK"
3.2 Eccentricity check
xb - xc
100
Bf
eccentricity along width (%)
ex :=
eccentricity along length (%)
ey :=
eccentricity check
Eccentricity_check :=
yb - yc
Lf
ex = 0.114
100
ey = 0.301
"OK" if ex ey < 5
"Eccentricity Check Failed" otherwise
Eccentricity_check = "OK"
3.3 Foundation Width check
Provided width of foundation
Required width of foundation
Bf = 6 m
:= 0 .. nmu - 1
Shaft_height := Ucg , 2
B f_req := Fwidth max ( Shaft_height)
Width check
Width_check :=
B f_req = 5.9 m
"OK" if Bf Bf_req
"Width check Failed" otherwise
Width_check = "OK"
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3.4 Check for long pile
Pile_length :=
"OK" if rL 30
"Increase the length or reduce dia of pile" otherwise
Pile_length = "OK"
3.5 Thickness Check
Provided thickness
of foundation
pppp := ppp , 2
Thicknessp := fp0 , 2 + min( ppp)
Thicknessp = 4.2 m
Minimum required
thickness
Lf
Thicknessr :=
+ 0.6m
30
Thicknessr = 1.036 m
Thickness check
Thickness_check :=
"OK" if Thicknessp Thicknessr
"Thickness check Failed" otherwise
Thickness_check = "OK"
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DOCUMENT TITLE:
4.0 DYNAMIC ANALYSIS TO CALCULATE FOUNDATION FREQUENCIES AND
AMPLITUDES OF VIBRATION
4.1 Spring Stiffness for Various Modes of Vibration
kz := K Gz
kx := K Gx
kz = 3.9E+007
kN
m
krx := KG
kx = 3.6E+006
ky := K Gy
kN
m
ky = 5.1E+006
kN
m
kry := KG
krx = 3.7E+009m kN
kry = 8.6E+008
kN m
rad
4.2 Damping for various modes of vibration
Cz := 2 DGz kz Mt
Cz = 2.8E+004
kN
m
sec
Cx := 2 DGx kx Mt
Cx = 2.0E+004
kN
m
sec
Cy := 2 DGy ky Mt
Cy = 2.4E+004
kN
m
sec
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Crx := 2 DG krx Jy
Crx = 3.6E+005
Cry := 2 DG kry Jx
kN m
Cry = 5.7E+005
rad
sec
kN m
rad
sec
4.3 Mass, Damping and Stiffness Matrix
Mt
0
kg
MX :=
Jy
0
2
kg m
Mt
MZ :=
kg
MZ = 6.898 10
6.898 105
MX =
CZ :=
CX :=
Cz
N
m
sec
CZ = 2.814 10
K Z :=
N sec
2
Cry + Cx zc
N m
rad
sec
C x zc
N sec
1.99 10
-4.926 10
CX =
7
8
-4.926 10 6.897 10
N
m
10
MY =
CY :=
C x zc
N
m
sec
6.898 105
6
3.677 10
0
kx zc
kx
N
N
K X :=
2
kx zc kry + kx zc
N
N m
rad
kz
K Z = 3.944 10
Cx
Mt
0
kg
MY :=
Jx
0
2
kg m
3.588 109 -8.883 109
KX =
9
11
-8.883 10 8.853 10
Cy
N
sec
C y zc
N sec
7
1.204 10
0
C y zc
N sec
2
Crx + Cy zc
Nm
rad
sec
7
2.368 10 -5.862 10
CY =
7
8
-5.862 10 5.036 10
ky zc
ky
N
N
K Y :=
2
ky zc krx + ky zc
N
Nm
rad
5.081 109 -1.258 1010
KY =
10
12
3.71 10
-1.258 10
Page 22 of 35
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4.4 Dynamic Analaysis
2
Natural frequencies by solving K - M=0 we get the frequencies of the foundation as given below,
Vertical Mode of Vibration
z :=
K Z rad
MZ sec
z = 2.283 10 RPM
) ) rad
sec
xz =
) ) rad
sec
yz =
genvals KX , MX
genvals K Y , MY
X - Z plane rocking
xz := sort
Y - Z plane rocking
yz := sort
679.971
RPM
3
4.687 10
816.048
RPM
3
5.301 10
Frequency Check
Transmissibility factors of forces
Vertical Mode of Vibration
Vraible for unbalanced force frq.
Vertical Transmissibility
:= 0 .. nmu - 1
TRz :=
2
2
2
m
m
1
+
2
Gz
z
z
m
1 + 2 DGz
TRZ := max TRz
Horizontal X Transmissibility
TRx :=
TRZ = 1.264
2
2
2
m
m
1+ 2 DGx
xz0
xz0
m
1 + 2 DGx
xz
0
TRX := max TRx
TRX = 0.781
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TRy :=
Horizontal Y Transmissibility
2
2
2
m
m
1+ 2 DGy
yz0
yz0
m
1 + 2 DGy
yz
0
TRY := max TRy
TRY = 1.362
Expression for Vibration amplitudes of the system in various modes of vibration
UF :=
UF
N
UM :=
UM
Nm
XUC :=
XUC
m
m
m :=
rad
z
z :=
rad
sec
sec
Vertical Mode of Vibration
YUC :=
i =0
ZUC :=
ZUC
m
UFi , 2 sin m t + Uphi , 2
i
nmu- 1
A z ( t) :=
YUC
m
2
2
m
mi
i
KZ 1 + 2D
z Gz z
X - Z translation-rocking Mode of Vibration
Mode shape and frequencies matrix from solving K - 2M=0 X - Z translation-rocking Mode of Vibration
Eigen solution
1 := genvecs MX , KX
:= sort
genvals K X , MX
))
sign ( 10 , 0) sign( 10 , 1)
sign ( 11 , 0) sign( 11 , 1)
:=
1 :=
0 if 0 , 0 = 1 , 0
1 if 0 , 1 = 1 , 1
2 := 1 - 1
0
1
:= 1
1
2
:= 1
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1 -0.055
1
0.01
71.206
490.807
rad
sec
Calculation of proportional damping
0 T
0
CX 1
D1 :=
T
0 M 0 2 0
X
Damping ratio for first mode ( 1) and
second mode ( 2) of vibration
D1 = 0.193
1 T
1
CX 1
D2 :=
T
1 M 1 2 1
X
r1u :=
:=
Normalized mode shapes
r2u :=
N1 :=
0 T
MX 0
1
N2 :=
0 , 0 := N1
0
m
u
1 T
MX 1
1 , 0 := N1
1
D2 = 0.193
m
u
1
-3
1.204 10
N1 =
-5
1.234 10
1
-5
-2.849 10
N2 =
-4
5.214 10
0 , 1 := N2
0
1 , 1 := N2
1
Displacement vector in the decoupled coordinates are given as-
Translation-X due to Hor. forces in
X-direction
Translation-X due to moment generated
by Hor. forces Fx about Y-axis
1x ( t) :=
2x ( t) :=
) )
))
nmu- 1 0 , 1 UFi , 0 sin m t + Uphi , 0 ZUCi
i
i =0
Translation-X due to moment generated
by Vertical forces Fz about Y-axis
nmu-1 0 , 0 UFi , 0 sin m i t + Uphi , 0
2
2
2
i=0
0 1 - ( r1i ) + ( 2 D1 r1i )
3x ( t) :=
2
2
0 1 - ( r1i ) + 2 D1 r1i
))
nmu- 1 0 , 1 UFi , 2 sin m t + Uphi , 2 XUCi
i
i =0
2
2
0 1 - ( r1i ) + 2 D1 r1i
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Translation-X due to unbalanced
moment about Y-axis
4x ( t) :=
))
nmu- 1 0 , 1 UMi , 1 sin m t + Uphi , 1
i
2
2
0 1 - ( r1i ) + 2 D1 r1i
i =0
Total translation-x displacement vector
x ( t) := 1x ( t) + 2x ( t) + 3x ( t) + 4x ( t)
Rocking angle- due to Hor. forces in
X-direction
1 ( t) :=
Rocking angle- due to moment
generated by Hor. forces Fx about
Y-axis
2 ( t) :=
3 ( t) :=
4 ( t) :=
) )
))
nmu- 1 1 , 1 UFi , 0 sin m t + Uphi , 0 ZUCi
i
))
nmu- 1 1 , 1 UFi , 2 sin m t + Uphi , 2 XUCi
i
2
2
1 1 - ( r2i ) + 2 D2 r2i
))
nmu- 1 1 , 1 UMi , 1 sin m t + Uphi , 1
i
2
2
1 1 - ( r1i ) + 2 D2 r2i
i =0
Total Rocking angle-
displacement vector
( t) := 1 ( t) + 2 ( t) + 3 ( t) + 4 ( t)
X -displacment at center
A x ( t) := 0 , 0 x ( t) + 0 , 1 ( t)
q - rotation
A ( t) := 1 , 0 x ( t) + 1 , 1 ( t)
rad
Y - Z translation-pitching Mode of Vibration
Mode shape and frequencies matrix from solving K - 2M=0 X - Z translation-pitching Mode of Vibration
Eigen solution
1 := genvecs MY , K Y
:= sort
2
2
1 1 - ( r2i ) + 2 D2 r2i
i =0
Rocking angle- due to
unbalanced moment about Y-axis
nmu- 1 1 , 0 UFi , 0 sin m i t + Uphi , 0
2
2
2
i=0
1 1 - ( r2i ) + ( 2 D2 r2i )
i =0
Rocking angle- due to moment
generated by Vertical forces Fz
about Y-axis
))
genvals K Y , MY
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sign ( 10 , 0) sign( 10 , 1)
sign ( 11 , 0) sign( 11 , 1)
:=
1 :=
0 if 0 , 0 = 1 , 0
1 if 0 , 1 = 1 , 1
2 := 1 - 1
0
1
:= 1
1
2
:= 1
-0.061
3.473 10
-3
Calculation of proportional damping
Damping ratio for first ( 1) and
second ( 2) mode
0 T
0
C Y 1
D1 :=
T
2 0
0
0
1 T
C Y 1 1
D2 :=
T
1 M 1 2 1
Y
r1u :=
m
u
r2u :=
m
u
:=
Normalized vectors
0 T
N2 :=
0 , 0 := N1
0
N1 :=
1
1 T
1
MY
1 , 0 := N1
1
-3
1.204 10
N1 =
-6
4.181 10
0
MY
-5
-1.747 10
N2 =
-4
2.881 10
0 , 1 := N2
0
1 , 1 := N2
1
Displacement vector in the decoupled coordinates are given as
Translation-Y due to Hor. forces
in Y-direction
1y ( t) :=
) )
nmu-1 0 , 0 UFi , 1 sin m i t + Uphi , 1
2
2
2
i=0
0 1 - ( r1i ) + ( 2 D1 r1i )
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Translation-Y due to moment
generated by Hor. forces Fy
about X-axis
Translation-Y due to moment
generated by Vertical forces Fz
about X-axis
Translation-Y due to unbalanced
moment about X-axis
DOCUMENT TITLE:
2y ( t) :=
3y ( t) :=
))
))
nmu- 1 0 , 1 UFi , 2 sin m t + Uphi , 2 YUCi
i
2
2
0 1 - ( r1i ) + 2 D1 r1i
i =0
4y ( t) :=
2
2
0 1 - ( r1i ) + 2 D1 r1i
i =0
))
nmu- 1 0 , 0 UMi , 0 sin m t + Uphi , 1
i
i =0
Total translation-x displacement
vector
nmu- 1 0 , 1 UFi , 1 sin m t + Uphi , 1 ZUCi
i
2
2
0 1 - ( r1i ) + 2 D1 r1i
y ( t) := 1y ( t) + 2y ( t) + 3y ( t) + 4y ( t)
Rotation in pitching in Y-Z plane
Pitching angle - due to Hor.
forces in Y-direction
Pitching angle - due to
moment generated by Hor.
forces Fy about X-axis
1 ( t) :=
2 ( t) :=
Pitching angle - due to
unbalanced moment about X-axis
3 ( t) :=
Y -displacment at center (m)
- rotation (rad)
))
2
2
1 1 - ( r2i ) + 2 D2 r2i
))
2
2
1 1 - ( r2i ) + 2 D2 r2i
))
nmu- 1 1 , 1 UMi , 0 sin m t + Uphi , 1
i
i =0
Total Pitching angle -
displacement vector
) )
nmu- 1 1 , 1 UFi , 2 sin m t + Uphi , 2 YUCi
i
i =0
4 ( t) :=
nmu- 1 1 , 1 UFi , 1 sin m t + Uphi , 0 ZUCi
i
i =0
Pitching angle - due to moment
generated by Vertical forces Fz
about X-axis
nmu- 1 1 , 0 UFi , 1 sin m i t + Uphi , 1
2
2
2
i=0
1 1 - ( r2i ) + ( 2 D2 r2i )
2
2
1 1 - ( r1i ) + 2 D2 r2i
( t) := 1 ( t) + 2 ( t) + 3 ( t) + 4 ( t)
A y ( t) := 0 , 0 y ( t) + 0 , 1 ( t)
A ( t) := 1 , 0 y ( t) + 1 , 1 ( t)
Page 28 of 35
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5.0 VIBRATION AMPLITUDE AND VELOCITY
n := 200
i := 0 .. nrp - 1
ii :=
0.2
ii
n
ii := 0 .. n
xc
xc :=
m
rad
z := z
sec
nrp := 2
yc :=
xdi := xc - IPi , 0
yc
zc :=
zc
m
ydi := yc - IP i , 1
rad
m := m
sec
zdi := zc - IPi , 2
5.1 Vibration Amplitude
Amplitude in X-direction at 1st and 2nd point of interest
AX ( i , t) := Ax ( t) + IPi , 2 - zc A ( t)
AX1 ( t) := A x ( t) + IP 0 , 2 - zc A ( t) m
AX2 ( t) := A x ( t) + IP 1 , 2 - zc A ( t) m
AX 1 := max ( max ( AX1( ) ) , min( AX1( ) ) )
AX 2 := max ( max ( AX2( ) ) , min( AX2( ) ) )
AX 1 = 0.645 m
AX 2 = 0.645 m
Amplitude in Y-direction at 1st and 2nd point of interest
AY ( i , t) := A y ( t) + IP i , 2 - zc A ( t)
AY1 ( t) := A y ( t) + IP 0 , 2 - zc A ( t) m
AY2 ( t) := A y ( t) + IP 1 , 2 - zc A ( t) m
AY1 := max ( max ( AY1 ( ) ) , min( AY1 ( ) ) )
AY2 := max ( max ( AY2 ( ) ) , min( AY2 ( ) ) )
AY1 = 0.085 m
AY2 = 0.085 m
Amplitude in Z-direction at 1st and 2nd point of interest
AZ ( i , t) := Az ( t) + IPi , 0 - xc A ( t) + IP i , 1 - yc A ( t)
AZ1 ( t) := Az ( t) + IP0 , 0 - xc A ( t) + IP0 , 1 - yc A ( t) m
AZ2 ( t) := Az ( t) + IP1 , 0 - xc A ( t) + IP1 , 1 - yc A ( t) m
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AZ1 := max ( max ( AZ1 ( ) ) , min( AZ1 ( ) ) )
AZ1 = 0.155 m
AZ2 := max ( max ( AZ2 ( ) ) , min( AZ2 ( ) ) )
AZ2 = 0.265 m
RMS amplitude 1st and 2nd point of interest
2
A ( i , t) :=
AX ( i , t) + AY ( i , t) + AZ( i , t)
2
A1 ( t) :=
AX ( 0 , t) + AY ( 0 , t) + AZ ( 0 , t) m
A2 ( t) :=
AX ( 1 , t) + AY ( 1 , t) + AZ ( 1 , t) m
A 1 := max ( max ( A1 ( ) ) , min( A1 ( ) ) )
A 1 = 0.654 m
A 2 := max ( max ( A2 ( ) ) , min( A2 ( ) ) )
Amplitude_check :=
A 2 = 0.664 m
"OK" if A 1 A 2 < Aztp
"Amplitude is HIGH" otherwise
Amplitude_check = "OK"
5.2 Vibration Velocity
Velocity in X-direction at 1st and 2nd point of interest
VX ( i , t) :=
VX1 ( t) :=
d
dt
VX2 ( t) :=
d
dt
d
dt
( Ax (t) +
IPi , 2 - zc A ( t)
( Ax (t) +
IP0 , 2 - zc A ( t)
( Ax (t) +
IP1 , 2 - zc A ( t)
0.2
ii
n
VX11ii := VX1
0.2
ii
n
VX22ii := VX2
VX 1 := max ( max ( VX11) , min( VX11) )
m
sec
VX 1 = 0.076
1
mm
s
VX 2 := max ( max ( VX22) , min( VX22) )
m
sec
VX 2 = 0.076
1
mm
s
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Velocity in Y-direction at 1st and 2nd point of interest
d
A y ( t) + IP i , 2 - zc A ( t)
dt
VY ( i , t) :=
VY1 ( t) :=
d
Ay ( t) + IP0 , 2 - zc A ( t)
dt
VY2 ( t) :=
d
Ay ( t) + IP0 , 2 - zc A ( t)
dt
(
(
0.2
ii
n
0.2
ii
n
VY11ii := VY1
VY22ii := VY2
m
VY1 := max ( max ( VY11) , min( VY11) )
sec
1
VY1 = 0.01 mm
s
m
VY2 := max ( max ( VY22) , min( VY22) )
sec
1
VY2 = 0.01 mm
s
Velocity in Z-direction at 1st and 2nd point of interest
VZ ( i , t) :=
VZ1 ( t) :=
VZ2 ( t) :=
d
dt
( Az (t) +
IP 0 , 0 - xc A ( t) + IP 0 , 1 - yc A ( t)
d
A z ( t) + IP 1 , 0 - xc A ( t) + IP 1 , 1 - yc A ( t)
dt
dt
( Az(t) +
IPi , 0 - xc A ( t) + IP i , 1 - yc A ( t)
0.2
ii
n
VZ11ii := VZ1
0.2
ii
n
VZ22ii := VZ2
m
VZ1 := max ( max ( VZ11) , min( VZ11) )
sec
1
VZ1 = 0.025 mm
s
m
VZ2 := max ( max ( VZ22) , min( VZ22) )
sec
1
VZ2 = 0.052 mm
s
RMS velocity at 1st and 2nd point of interest
V ( i , t) :=
VX ( i , t) + VY ( i , t) + VZ( i , t)
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V1 ( t) :=
VX ( 0 , t) + VY ( 0 , t) + VZ ( 0 , t)
V2 ( t) :=
VX ( 1 , t) + VY ( 1 , t) + VZ ( 1 , t)
0.2
ii
n
V11ii := V1
Velocity_check :=
0.2
ii
n
V22ii := V2
V 1 := max ( max ( V11) , min( V11) )
m
sec
V 1 = 0.077
1
mm
s
V 2 := max ( max ( V22) , min( V22) )
m
sec
V 2 = 0.084
1
mm
s
"OK" if V1 V2 < V allow
"Velocity is HIGH" otherwise
Velocity_check = "OK"
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DOCUMENT TITLE:
6.0 SUMMARY OF RESULTS AND CONCLUSION OF DYNAMIC ANALYSIS
6.1 Frequency Check
Operating frequency and recommended frequency band to be avoided
Lower limit of frequency band
740.229
740.229
m Lfb =
3 rpm
5.378 10
5.378 103
Operating Frequency
1.047 103
1.047 103
m =
rpm
7.607 103
3
7.607 10
Upper limit of frequency band
1.47 103
1.47 103
m Hfb =
rpm
1.068 104
4
1.068 10
Vertical mode of vibration
3
z = 2.283 10 rpm
frequency_check_vertical = "OK"
Coupled slidingX-rocking mode of vibration
679.971
xz =
rpm
3
4.687 10
frequency_check_slidingX = "OK"
frequency_check_rocking = "OK"
Coupled slidingY-pitching mode of vibration
816.048
yz =
rpm
3
5.301 10
frequency_check_slidingY = "Inside frequency band"
frequency_check_pitching = "OK"
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6.2 Amplitude Check
Zero to peak amplitude of vibration
A ztp = 4.8 m
Maximum amplitude of vibration
(Zero to peak)
max A1 , A 2 = 0.664 m
Amplitude_check = "OK"
VIBRATION AMPLITUDE AT POINTS OF INTEREST
Amplitude (micron-m)
0.8
0.6
A1 ( t) 10
A2 ( t) 10
6
6
0.4
0.2
0.2
0.4
0.6
0.8
t
Time (sec)
Allowable velocity of vibration
Maximum velocity of vibration
V allow = 1.8
mm
sec
mm
max V1 , V 2 = 0.084
sec
Velocity_check = "OK"
6.3 Conclusion
The dynamic analysis of machine foundation on piles for the "..................................." presented in
this program have been done following all relevant Codes, Project specifications and Standards. As
per the requirement of equipment vendor, natural frequencies are kept away from machine
frequency by ............%. Amplitudes and velocity of vibration are well within stipulated limit. Hence,
the design is considered OKAY from dynamic behaviour point of view.
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