Z Eigen Value Calculation in Ansys

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15.16. Eigenvalue and Eigenvector Extraction
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The eigenvalue and eigenvector problem needs to be solved for mode-frequency and buckling analyses. It has
the form of:
(15180)
where:
[K] = structure stiffness matrix
{
i
} = eigenvector
i
= eigenvalue
[M] = structure mass matrix
For prestressed modal analyses, the [K] matrix includes the stress stiffness matrix [S]. For eigenvalue buckling
analyses, the [M] matrix is replaced with the stress stiffness matrix [S]. The discussions given in the rest of this
section assume a modal analysis (ANTYPE,MODAL) except as noted, but also generally applies to eigenvalue
buckling analyses.
The eigenvalue and eigenvector extraction procedures available include the reduced, subspace, Block Lanczos,
PCG Lanczos, unsymmetric, damped, and QR damped methods (MODOPT and BUCOPT commands)
outlined in Table 15.1: "Procedures Used for Eigenvalue and Eigenvector Extraction". The PCG Lanczos method
uses Lanczos iterations, but employs the PCG solver. Each method is discussed subsequently. Shifting,
applicable to all methods, is discussed at the end of this section.
Table 15.1 Procedures Used for Eigenvalue and Eigenvector Extraction
Procedure Input Usages Applicable
Matrices++
Reduction Extraction
Technique
Reduced MODOPT,
REDUC
Any (but not
recommended for
buckling)
K, M Guyan HBI
Subspace MODOPT, SUBSP Symmetric K, M None Subspace which
internally uses
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3/18/12 15.16. Eigenale and Eigeneco Eacion
Jacobi
Block Lanczos MODOPT, LANB Symmetric K, M None Lanczos which
internally uses QL
algorithm
PCG Lanczos MODOPT,
LANPCG
Symmetric (but not
applicable for
buckling)
K, M None Lanczos which
internally uses QL
algorithm
Unsymmetric MODOPT,
UNSYM
Unsymmetric
matrices
K*, M* None Lanczos which
internally uses QR
algorithm
Damped MODOPT, DAMP Symmetric or
unsymmetric
damped systems
K*, C*, M* None Lanczos which
internally uses QR
algorithm
QR Damped MODOPT,
QRDAMP
Symmetric or
unsymmetric
damped systems
K*, C*, M* Modal QR algorithm for
reduced modal
damping matrix
++ K = stiffness matrix, C = damping matrix, M = mass or stress stiffening matrix, * = can be unsymmetric
The PCG Lanczos method is the same as the Block Lanczos method, except it uses the iterative solver instead of
the sparse direct equation solver to solve.
15.16.1. Reduced Method
For the reduced procedure (accessed with MODOPT,REDUC), the system of equations is first condensed
down to those DOFs associated with the master DOFs by Guyan reduction. This condensation procedure is
discussed in Substructuring Analysis ((Equation 1798) and (Equation 17110)). The set of n master DOFs
characterize the natural frequencies of interest in the system. The selection of the master DOFs is discussed in
more detail in Automatic Master DOF Selection of this manual and in Modal Analysis of the Structural Analsis
Guide. This technique preserves the potential energy of the system but modifies, to some extent, the kinetic
energy. The kinetic energy of the low frequency modes is less sensitive to the condensation than the kinetic
energy of the high frequency modes. The number of master DOFs selected should usually be at least equal to
twice the number of frequencies of interest. This reduced form may be expressed as:
(15181)
where:
= reduced stiffness matrix (known)
= eigenvector (unknown)
i
= eigenvalue (unknown)
= reduced mass matrix (known)
Next, the actual eigenvalue extraction is performed. The extraction technique employed is the HBI
(Householder-Bisection-Inverse iteration) extraction technique and consists of the following five steps:
15.16.1.1. Transformation of the Generalized Eigenproblem to a Standard Eigenproblem
(Equation 15181) must be transformed to the desired form which is the standard eigenproblem (with [A] being
symmetric):
(15182)
This is accomplished by the following steps:
Premultiply both sides of (Equation 15181) by :
(15183)
Decompose into [L][L]
T
by Cholesky decomposition, where [L] is a lower triangular matrix. Combining
with (Equation 15183),
(15184)
It is convenient to define:
(15185)
Combining (Equation 15184) and (Equation 15185)), and reducing yields:
(15186)
or
(15187)
where:
Note that the symmetry of [A] has been preserved by this procedure.
15.16.1.2. Reduce A] to Tridiagonal Form
This step is performed by Householder's method through a series of similarity transformations yielding
(15188)
where:
[B] = tridiagonalized form of [A]
[T] = matrix constructed to tridiagonalize [A], solved for iteratively (Bathe(2))
The eigenproblem is reduced to:
(15189)
Note that the eigenvalues () have not changed through these transformations, but the eigenvectors are related
by:
(15190)
15.16.1.3. Eigenvalue Calculation
Use Sturm sequence checks with the bisection method to determine the eigenvalues.
15.16.1.4. Eigenvector Calculation
The eigenvectors are evaluated using inverse iteration with shifting. The eigenvectors associated with multiple
eigenvalues are evaluated using initial vector deflation by Gram-Schmidt orthogonalization in the inverse iteration
procedure.
15.16.1.5. Eigenvector Transformation
After the eigenvectors
i
are evaluated, mode shapes are recovered through (Equation 15190).
In the expansion pass, the eigenvectors are expanded from the master DOFs to the total DOFs.
15.16.2. Subspace Method
The subspace iteration method (accessed with MODOPT,SUBSP or BUCOPT,SUBSP) is described in detail
by Bathe(2). Enhancements as suggested by Wilson and Itoh(166) are also included as outlined subsequently.
The basic algorithm consists of the following steps:
1. Define the initial shift s:
In a modal analysis (ANTYPE,MODAL), s = FREQB on the MODOPT command (defaults to
-42).
In a buckling analysis (ANTYPE,BUCKLE), s = SHIFT on the BUCOPT command (defaults to
0.0).
2. Initialize the starting vectors [X
0
] (described below).
3. Triangularize the shifted matrix
(15191)
where:
[K] = assembled stiffness matrix
[M] = assembled mass (or stress stiffness) matrix
A Sturm sequence check (described below) is performed if this is a shift point other than the initial shift
and it is requested (Strmck = ALL (default) or PART on the SUBOPT command).
4. For each subspace iteration n (1 to N
M
), do steps 5 to 14:
where:
N
M
= maximum number of subspace iterations (input as NUMSSI on the SUBOPT command)
5. Form [F] = [M][X
n-1
] and scale [F] by {
n-1
}
where:
{
n-1
} = previously estimated eigenvalues
6. Solve for :
(15192)
These equations are solved using the frontal direct equation solver (EQSLV,FRONT).
7. Scale the vectors by {(
n-1
- s) /
n-1
}
8. M-orthogonalize the vectors to the previously converged vectors (Gram-Schmidt orthogonalization).
9. Define the subspace matrices and :
(15193)
(15194)
10. Adjust for the shift,
11. Compute the eigenvalues and vectors of the subspace using a generalized Jacobi iteration:
(15195)
where:
[Q] = subspace eigenvectors
{
n
} = updated eigenvalues
12. Update the approximation to the eigenvectors:
(15196)
13. If any negative or redundant modes are found, remove them and create a new random vector.
14. Check for convergence (described below):
All requested modes converged? If yes, go to step 15.
If a new shift is required (described below), go to step 3
Go to the next iteration, step 4
15. Perform a final Sturm sequence check if requested (Strmck = ALL (default) on the SUBOPT command).
Steps 5 thru 12 are only done on the unconverged vectors: once an eigenvalue has converged, the associated
eigenvector is no longer iterated on. The Gram-Schmidt procedure (step 8) ensures that the unconverged
eigenvectors remain orthogonal to the converged vectors not being iterated on. The remainder of this section
details some of the steps involved.
15.16.2.1. Convergence
The convergence check (step 14a) requires that all of the requested eigenvalues satisfy the convergence ratio:
(15197)
where:
(
i
)
n
= value of ith eigenvalue as computed in iteration n
(
i
)
n-1
= value of ith eigenvalue as computed in iteration n-1
tol = tolerance value, set to 1.0E-5
15.16.2.2. Starting Vectors
The number of starting (iteration) vectors used is determined from:
(15198)
where:
p = requested number of modes to extract (NMODE on the MODOPT or BUCOPT commands)
d = number of extra iteration vectors to use (NPAD on the SUBOPT command, defaults to 4)
The q starting vectors [X
0
] (step 2) are initialized as follows. For each predefined rigid-body motion (Dof on the
RIGID command), define a rigid-body vector:
1. If a translational rigid-body motion, set the DOF slot in {X
0
} to 1.0 ({X
0
} is a column of [X
0
]).
2. If a rotational rigid-body motion, set the DOF slot in {X
0
} corresponding to a unit rotation about the
global origin corresponding to the Dof label.
The rigid-body vectors are M-orthogonalized (Gram-Schmidt orthogonalization). The remainder of the vectors
are initialized to random vectors.
15.16.2.3. Sturm Sequence Check
The Sturm sequence check computes the number of negative pivots encountered during the triangularization of
the shifted matrix [K*]. This number will match the number of converged eigenvalues unless some eigenvalues
have been missed. In that case, more iteration vectors must be used (NPAD on the SUBOPT command) or the
initial shift (see step 1) was past the first mode. For the final Sturm sequence check, the shift used is defined as:
(15199)
where:
p
= eigenvalue of the last requested mode
p+1
= eigenvalue of the next computed mode
15.16.2.4. Shifting Strategy
In order to improve the rate of convergence during the iteration process, a shifting strategy is adopted as follows
(step 14b):
1. If the current converged mode(s) is zero(s) and the next mode i+1 is nonzero, shift to just below the
nonzero mode:
(15200)
2. If the number of iterations since the last shift exceeds N
S
, then shift to just below the next unconverged
mode i+1:
(15201)
where:
N
S
= minimum number of subspace iterations completed before a shift is performed (input as NSHIFT on the SUBOPT
command)
If the mode is part of a cluster, then the next lowest unique mode is used to define the shift. If this is the
first shift, then use:
(15202)
The more shifts that are allowed (smaller value of N
S
), the faster the convergence, but the more matrix
triangularizations that must be performed.
15.16.2.5. Sliding Window
To improve the efficiency of the iterations, a subset q
w
of the q iteration vectors may be used in the iteration
process for the subspace working size, (q
w
is defined with SUBSIZ on the SUBOPT command (q
w
defaults to
q)). Steps 2 through 14 are performed using these working vectors. When a vector converges, it is removed
from the iteration process and it is replaced by a new random vector until all p requested vectors have been
found.
15.16.3. Block Lanczos
The Block Lanczos eigenvalue extraction method (accessed with MODOPT,LANB or BUCOPT,LANB) is
available for large symmetric eigenvalue problems. Typically, this solver is applicable to the type of problems
solved using the subspace eigenvalue method, however, at a faster convergence rate.
A block shifted Lanczos algorithm, as found in Grimes et al.(195) is the theoretical basis of the eigensolver. The
method used by the modal analysis employs an automated shift strategy, combined with Sturm sequence checks,
to extract the number of eigenvalues requested. The Sturm sequence check also ensures that the requested
number of eigenfrequencies beyond the user supplied shift frequency (FREQB on the MODOPT command) is
found without missing any modes.
The Block Lanczos algorithm is a variation of the classical Lanczos algorithm, where the Lanczos recursions are
performed using a block of vectors, as opposed to a single vector. Additional theoretical details on the classical
Lanczos method can be found in Rajakumar and Rogers(196).
Use of the Block Lanczos method for solving larger models (500,000 DOF, for example) with many constraint
equations (CE) can require a significant amount of computer memory. The alternative method of PCG Lanczos,
which internally uses the PCG solver, could result in savings in memory and computing time.
15.16.4. PCG Lanczos
The theoretical basis of this eigensolver is found in Grimes et al.(195), which is the same basis for the Block
Lanczos eigenvalue extraction method. However, the implementaion differs somewhat from the Block Lanczos
eigensolver, in that the PCG Lanczos eigensolver:
does not change shift values during the eigenvalue analysis.
does not perform a Sturm sequence check by default.
is only available for modal analyses and is not applicable to buckling analyses.
15.16.5. Unsymmetric Method
The unsymmetric eigensolver (accessed with MODOPT,UNSYM) is applicable whenever the system matrices
are unsymmetric. For example, an acoustic fluid-structure interaction problem using FLUID30 elements results in
unsymmetric matrices. Also, certain problems involving the input matrix element MATRIX27 and/or
COMBI214 element, such as in rotor dynamics can give rise to unsymmetric system matrices. A generalized
eigenvalue problem given by the following equation
(15203)
can be setup and solved using the mode-frequency analysis (ANTYPE,MODAL). The matrices [K] and [M]
are the system stiffness and mass matrices, respectively. Either or both [K] and [M] can be unsymmetric. {
i
} is
the eigenvector.
The method employed to solve the unsymmetric eigenvalue problem is a subspace approach based on a method
designated as Frequency Derivative Method. The FD method uses an orthogonal set of Krylov sequence of
vectors:
(15204)
To obtain the expression for the sequence of vectors, the generalized eigenvalue (Equation 15203) is
differentiated with respect to
i
to get:
(15205)
Substituting (Equation 15205) into (Equation 15203) and rearranging after applying a shift s, the starting
expression for generating the sequence of vectors is given by:
(15206)
(15207)
where:
s = an initial shift
The general expression used for generating the sequence of vectors is given by:
(15208)
This matrix equation is solved by a sparse matrix solver (EQSLV, SPARSE). However, an explicit specification
of the equation solver (EQSLV command) is not needed.
A subspace transformation of (Equation 15203) is performed using the sequence of orthogonal vectors which
leads to the reduced eigenproblem:
(15209)
where:
[K*] = [Q
T
] [K] [Q]
[M*] = [Q
T
] [M] [Q]
The eigenvalues of the reduced eigenproblem ((Equation 15209)) are extracted using a direct eigenvalue
solution procedure. The eigenvalues
i
are the approximate eigenvalues of the original eigenproblem and they
converge to
i
with increasing subspace size m. The converged eigenvectors are then computed using the
subspace transformation equation:
(15210)
For the unsymmetric modal analysis, the real part (
i
) of the complex frequency is used to compute the element
kinetic energy.
This method does not perform a Sturm Sequence check for possible missing modes. At the lower end of the
spectrum close to the shift (input as FREQB on MODOPT command), the frequencies usually converge without
missing modes.
15.16.6. Damped Method
The damped eigensolver (accessed with MODOPT,DAMP) is applicable only when the system damping matrix
needs to be included in (Equation 15180), where the eigenproblem becomes a quadratic eigenvalue problem
given by:
(15211)
where:
= (defined below)
[C] = damping matrix
Matrices may be symmetric or unsymmetric.
The method employed to solve the damped eigenvalue problem is the Lanczos algorithm (Rajakumar and
Ali(142)). Starting from four random vectors {v
1
}, {w
1
}, {p
1
}, and {q
1
}, the system matrices [K], [M], and
[C] are transformed into a subspace tridiagonal matrix [B] of size q n), through the Lanczos generalized
biorthogonal transformation. Eigenvalues of the [B] matrix,
i
, are computed as an approximation of the original
system eigenvalues . The QR algorithm (Wilkinson(18)) is used to extract the eigenvalues of the [B] matrix. As
the subspace size q is increased, the eigenvalues
i
will converge to closely approximate the eigenvalues of the
original problem. The transformed problem is given by:
(15212)
The eigenvalues and eigenvectors of (Equation 15211) and (Equation 15212) are related by:
(15213)
(15214)
where:
[V] = [v
1
, v
2
, v
3
, . . . v
n
] matrix of Krylov vectors (size n x q).
This method does not perform a Sturm Sequence check for possible missing modes. At the lower end of the
spectrum close to the shift (input as FREQB on the MODOPT command), the frequencies usually converge
without missing modes.
For the damped modal analysis, the imaginary part (
i
) of the complex frequency is used to compute the element
kinetic energy.
15.16.7. QR Damped Method
The QR damped method (accessed with MODOPT,QRDAMP) is a procedure for determining the complex
eigenvalues and corresponding eigenvectors of damped linear systems. This solver allows for nonsymmetric [K]
and [C] matrices. The solver is computationally efficient compared to damp eigensolver (MODOPT,DAMP).
This method employs the modal orthogonal coordinate transformation of system matrices to reduce the
eigenproblem into the modal subspace. QR algorithm is then used to calculate eigenvalues of the resulting
quadratic eigenvalue problem in the modal subspace.
The equations of elastic structural systems without external excitation can be written in the following form:
(15215)
(See (Equation 175) for definitions).
It has been recognized that performing computations in the modal subspace is more efficient than in the full eigen
space. The stiffness matrix [K] can be symmetrized by rearranging the unsymmetric contributions; that is, the
original stiffness matrix [K] can be divided into symmetric and unsymmetric parts. By dropping the damping
matrix [C] and the unsymmetric contributions of [K], the symmetric Block Lanczos eigenvalue problem is first
solved to find real eigenvalues and the coresponding eigenvectors. In the present implementation, the
unsymmetric element stiffness matrix is zeroed out for Block Lanczos eigenvalue extraction. Following is the
coordinate transformation (see (Equation 1595)) used to transform the full eigen problem into modal subspace:
(15216)
where:
[] = eigenvector matrix normalized with respect to the mass matrix [M]
{y} = vector of modal coordinates
By using (Equation 15216) in (Equation 15215), we can write the differential equations of motion in the modal
subspace as follows:
(15217)
where:
[
2
] = a diagonal matrix containing the first n eigen frequencies
i
For classically damped systems, the modal damping matrix []
T
[C][] is a diagonal matrix with the diagonal
terms being 2
i
i
, where
i
is the damping ratio of the i-th mode. For non-classically damped systems, the modal
damping matrix is either symmetric or unsymmetric. Unsymmetric stiffness contributions of the original stiffness
are projected onto the modal subspace to compute the reduced unsymmetric modal stiffness matrix []
T
[K
unsym
] [].
Introducing the 2n-dimensional state variable vector approach, (Equation 15217) can be written in reduced
form as follows:
(15218)
where:
The 2n eigenvalues of (Equation 15218) are calculated using the QR algorithm (Press et al.(254)). The inverse
iteration method (Wilkinson and Reinsch(357)) is used to calculate the complex modal subspace eigenvectors.
The full complex eigenvectors, {}, of original system is recovered using the following equation:
(15219)
15.16.8. Shifting
In some cases it is desirable to shift the values of eigenvalues either up or down. These fall in two categories:
1. Shifting down, so that the solution of problems with rigid body modes does not require working with a
singular matrix.
2. Shifting up, so that the bottom range of eigenvalues will not be computed, because they had effectively
been converted to negative eigenvalues. This will, in general, result in better accuracy for the higher
modes. The shift introduced is:
(15220)
where:
= desired eigenvalue
o
= eigenvalue shift
i
= eigenvalue that is extracted
o
, the eigenvalue shift is computed as:
(15221)
(Equation 15220) is combined with (Equation 15180) to give:
(15222)
Rearranging,
(15223)
or
(15224)
where:
[K]' = [K] -
o
[M]
It may be seen that if [K] is singular, as in the case of rigid body motion, [K]' will not be singular if [M] is positive
definite (which it normally is) and if
o
is input as a negative number. A default shift of
o
= -1.0 is used for a
modal analysis.
Once
i
is computed, is computed from (Equation 15220) and reported. Large shifts with the subspace
iteration method are not recommended as they introduce some degradation of the convergence and this may
affect accuracy of the final results.
15.16.9. Repeated Eigenvalues
Repeated roots or eigenvalues are possible to compute. This occurs, for example, for a thin, axisymmetric pole.
Two independent sets of orthogonal motions are possible.
In these cases, the eigenvectors are not unique, as there are an infinite number of correct solutions. However, in
the special case of two or more identical but disconnected structures run as one analysis, eigenvectors may
include components from more than one structure. To reduce confusion in such cases, it is recommended to run
a separate analysis for each structure.
15.16.10. Complex Eigensolutions
For problems involving spinning structures with gyroscopic effects, and/or damped structural eigenfrequencies,
the eigensolutions obtained with the Damped Method and QR Damped Method are complex. The eigenvalues
are given by:
(15225)
where:
= complex eigenvalue
i
= real part of the eigenvalue
i
= imaginary part of the eigenvalue (damped circular frequency)
j =
The dynamic response of the system is given by:
(15226)
where:
t = time
The ith eigenvalue is stable if
i
is negative and unstable if
i
is positive.
Modal damping ratio
The modal damping ratio is given by:
(15227)
where:
i
= modal damping ratio of the ith eigenvalue
It is the ratio of the actual damping to the critical damping.
Logarithmic decrement
The logarithmic decrement represents the logarithm of the ratio of two consecutive peaks in the dynamic
response ((Equation 15226)). It can be expressed as:
(15228)
where:
i
= logarithmic decrement of the ith eigenvalue
T
i
= damped period of the ith eigenvalue defined by:
(15229)

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3/18/12 15.16.

Eigenale and Eigeneco Eacion

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