The Shock and Vibration Digest

http://svd.sagepub.com Dynamic Structural Modification

Yitshak M. Ram The Shock and Vibration Digest 2000; 32; 11 DOI: 10.1177/058310240003200102 The online version of this article can be found at: http://svd.sagepub.com/cgi/content/abstract/32/1/11

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Dynamic Structural
Yitshak M. Ram

Modification

ABSTRACT—This paper describes two methods for determining the damped natural frequencies of a viscously damped vibrating system, which is changed by structural modification. One method involves transfer functions, the other eigenvalues and mode shapes. The transfer function method is particularly suitable for problems associated with compound systems, where modal test is conducted on the subsystems. The modal data method is applicable for a wide variety of applications in which the structural modification is embedded within the system.

where (2) in

h,(s) is a (1) gives

vector

independent

of time.

Substituting

Hence, by Cramers rule (e.g.,

see

Noble [9]),

Introduction
wealth of literature dealing with alternative approaches problem of predicting the natural frequencies of a modified system using data available from vibration measurements conducted on the unmodified system and the analytical model of the modification (see Baldwin and Hutton [1] for a comprehensive survey). There are two main methods, however, for determining the natural frequencies of the modified system. One method involves transfer functions (e.g., [2-5]). The other method involves natural frequencies and mode shapes (e.g., [6-8]). In this paper, we develop equations that determine the damped natural frequencies of a modified viscously damped system and demonstrate their use by means of numerical examples. An important feature of the presentation is that the viscously damped case is analyzed throughout, and the case in which the mass, stiffness, and damping matrices cannot be diagonalized simultaneously is considered. The results are demonstrated by examples, which can be easily followed and reproduced.
a

There is

to the

where K, C, and M are the matrices obtained by deleting the ith rows and the jth columns of K, C, and M, respectively, and Hil(s) is the jth element of the vector h,(s). It thus follows from (2) that

The function His) is called the receptance transfer function between the force applied to the ith DOF and the resulting displacement of the jth DOF, or in short the receptance between i and j. Note that if M, C, and K are symmetric, then the matrices obtained by deleting the jth rows and the ith columns of the mass, damping, and stiffness matrices are the same as those obtained by deleting - the ith rows and the jth columns of these matrices. It thus follows from (4) that for symmetric systems, the reciproc-

ity property

Poles, Zeros, and Transfer Functions

n-degree-of-freedom (DOF) viscously damped system, which is excited by the force fi east applied to the ith DOF:
an
=

Consider

holds. Of particular interest is the case of the point receptance H;;, where the applied force and the resulting displacement are collocated at the ith DOF. In this case, the matrices M, C, and K are the mass, damping, and stiffness matrices, respectively, associated with the same vibratory system, subject to the constraint xi(t) = 0. We now consider the relations between force, velocity, and acceleration. Differentiating (5) with respect to t, and noting that Hits) is independent of the time, gives

where e, is the ith unit vector, and dots denote derivatives with respect to time. Then, the steady-state motion of the system has the form

Equation (7) provides the relation between the velocity x l and the applied force f The function slg, is called the mobility transfer function between the force applied to the ith DOF and the velocity response at the jth DOF. In a similar manner, differentiating (7) with respect to time yields the
relation between force and acceleration,

Yitshak M. Ram, Mechanical Engineering University, Baton Rouge, LA 70803, USA.

Department, Louisiana
11

State

The function

s2Hf, is

the inertance between i and j.

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12

Alternatively, the receptance may be expressed in terms poles and zeros of the system. The poles of the system are the roots of the characteristic polynomial
of the

They are the eigenvalues problem of dimension 2n,

where

of the

generalized eigenvalue

and

Figure

1.

The

Subsystems

and Their Connectors

Note that

by (11) and (12),

determining the poles of a modified vibrating system based

data (1) available from modal tests conducted on the unmodified system and (2) the characterization of the modification.
on

and hence (9) and (10) share common eigenvalues, provided that M is invertible. It is therefore said that equations (10) through (12) represent the first-order realization of the

Evaluating the Damped Natural Frequencies Using Transfer Functions

natural frequencies of a be determined knowing compound vibrating system may the point receptance transfer functions of its components at the interface points and the mechanical element joining the two components. More particularly, consider the two subsystems A and B shown in Figure 1. Suppose that system A and system B have p and q = n - p DOF, respectively. The DOF are numbered in such a way that xi, x2, ..., xp describe the dynamics of the elements of system A, and xp + I Xp +2 ..., Xn represent the motion in system B, as shown in Figure 1. Since, apart from this convention the DOF can be numbered arbitrarily, we may assume without loss of generality that system A is connected to system B via a connector attaching the pth DOF on system A to the (p + 1 )-the DOF on system B (see Figure 1). Three types of connectors will be considered, namely, a spring, a dashpot, and a mass. In this analysis, we will assume that the two subsystems vibrate in-line and that the connectors are colinear with the displacements of the pth and the (p + 1 )-ith DOF. We will comment later in the paper on how the results may be used for systems vibrating in plane or in space. The damped natural frequencies of the global system will be expressed in terms of the point receptance transfer functions of the two subsystems at the interface points, prior to the modification. For convenience, we will denote the point receptance at the interface of system A by HA. Similarly, HB denotes the point receptance at the interface on system B before the modification. Equation (17) shows that the receptance is a rational function in s. We therefore define the numerator and denominator polynomials NA(s) and D,(s) of HA(s) as
We
now

quadratic problem (9).

We denote the roots of

show how the

damped

Z2n - 2. They are the zeros of the receptance With the above definitions, we may write (4) in the (4). following form:

by

zj, zz,

...,

where

on

is

constant.

Upon substitution of s

0 in (4) and

(15), and assuming that the system has mode, we obtain

no

rigid-body

which leads to the expression of the poles and the zeros

receptance in terms of
-

The poles of the system characterize its dynamic response. They directly relate to the damped natural frequencies and to the rate at which the modes of motion decay. In the following sections, we will address the problem of and similarly, Downloaded from http://svd.sagepub.com at University of Liverpool on March 6, 2007
2000 SAGE Publications. All rights reserved. Not for commercial use or unauthorized distribution.

13

Figure

2.

Two

Subsystems Connected by

Spring

Figure
Connection via
a

3.

The

Subsystems

and Their Connector

Spring

Suppose that system A is connected to system B via a spring and that the global system vibrates under the influence of an external force fp. Then, the free body diagram shown in Figure 2 implies that
and
Because system A is identical to system

B,

we

have

Upon eliminating xp

from (20) and (21),

we

obtain

The numerator polynomial of HA = HB is determined by the characteristic polynomial of the subsystem obtained by imposing the constraint x2 = 0 in system A, or equivalently x3 = 0 in system B. This constrained system, shown in Figure 4,

gives
The receptance of the thus

compound system from p

to p + 1

is
The

pole equation can, therefore,

be determined

by (25),

The

of the compound system are the poles of receptance (23). To obtain a simple expression for determining the damped natural frequencies, we invoke (18),(19) and

poles

which

yields the following poles for the compound system:

get

The
are

damped natural frequencies of the compound system thus the roots of the pole equation

Example

Consider the system shown in of system A is governed by

Figure 3.

The free motion

Note that the global damped system resonates under the influence of the harmonic force

and the motion of system B is determined

by

The characteristic

equation

for

system A is

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We remark that in the above example, HA(s) and His) have been found using the mass, stiffness, and damping matrices of the subsystems. In structural dynamics applications, they can be measured by modal tests conducted on the subsystems (e.g., see Ewins [10]). The coefficients of HA(s) and H,(s) can then be found using the rational function approximation method described by Hildebrand [11]. There is thus no need to know the complete mathematical

14

The

roots

of the above

equation

determine the

poles

of the

compound system,

Figure

4.

The Constrained

Subsystem

Connection via

Mass

Figure

5.

Two

Subsystems Connected by

Dashpot

model of the unmodified system. The only required data are the two receptances HA(s), HB(s) and the connecting spring k.
-

now that system A is rigidly connected to sysB via a mass and that the compound system vibrates under the influence of an external force fp as shown in Figure 6a. We may consider the rigid attachment of the mass m to its right and left neighboring masses as attachments through springs of infinite stiffness, k ~ 00, as shown in Figure 6b. The receptance transfer function of two subsystems A and C connected by a rigid link is determined by substituting

Suppose

tem

Connection via

Dashpot
By
Newtons second law,

Suppose now that system A is connected to system B via dashpot and that the global system vibrates under the influence of an external force f p. Then, the free body diagram shown in Figure 5 implies that
a

and hence the receptance of the and

mass

is

Therefore, by (37), the receptance of system A together

Upon eliminating x P from

the above

equations,

we

find

with the attached

mass

is

The thus

mobility

from p

to

1 of the

compound system is

This system is then attached to system B by the right spring of infinite rigidity. Therefore, invoking (37) again, we find

Using (18)

and (19), the

a

system, connected by

pole equation of dashpot, is found:

compound
which after

simplification gives

Example 2
Consider the systems A and B of Example 1 again, but suppose now that the connector is a dashpot of constant c = 5. Then, with the same NA, DA, NB, and DB found in Example 1, we obtain using (36)

for two

Substituting (18) and (19) in (42) yields the pole equation subsystems, rigidly connected by a mass m,

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15

M, C, and K
means

erally

cannot be diagonalized simultaneously by of congruence transformation; that is, there is genno nonsingular matrix Q that makes the three products

diagonal.
involves both are

The first-order realization (10) to (12), however, two symmetric matrices, A and B. Although generally indefinite, they can be diagonalized simultaneously whenever the eigenvalues ~,,, J..2 J..2n are distinct. Moreover, in this case, the eigenvectors v~, v2, V 2n can be scaled such that

only

...,

...,

and

Figure

6.

Subsystems

Connected

by

Mass

where

Example 3
A
mass m

(p

l)-th

= 5 is rigidly attached between the pth and the DOF of the subsystems of Example 1. Applica-

tion of (43), with the

same numerator

polynomials
this case,

as

in

Example 1, gives

the

and denominator pole equation for and I is the identity matrix of dimension 2n. Suppose that the system (1) is modified such that the characteristic equation associated with a modified system is

The

poles

of the

global system

are

thus

Then, the first-order realization of (51) is given by

where A and B
and

are

given by (11)

(12),

and

Modeling of vibratory systems in plane or space motion leads to the mathematical description (1). Hence, their modifications may be handled in a similar manner to that described above. It is necessary however to ensure that the measured transfer functions at the points of interface are colinear with the coupling element throughout the entire motion. If the relative orientation of the subsystems is not constant, then the equations of motion are time dependent and a different, more complex analysis is required.

It thus follows from (52) and the biorthogonal properties (47) and (48) that the pole equation for the modified system is

Analysis Using
The

Modal Data

quadratic eigenvalue problem

This equation determines the poles of the modified system in terms of the modal data A and U, and the characterization of the modification AM, AC, and AK. In MATLAB, for example, the solution to the pole equation (55) can be found by the software function

associated with the free motion of system (1) has 2n eigenvalues X,, ~,2, ,zn and 2n eigenvectors V, V2 v2/ which nontrivially solve (45). In general, the three matrices
...,

...,

It should be noted that although U is generally a matrix with complex elements, UT in the above equations is the transpose of U and not the conjugate transpose UH.

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16

Example 4

Example pole equation (55). Here,

now

We

solve

again,
have

but this time

using

the

we

Application of the pole equation (55) leads to the same poles of the modified system as obtained in Example 1. One may wonder why only two receptance transfer functions, HA and H~, are needed to determine the poles of the modified system in Example 1, whereas a complete modal matrix is required to solve the same problem in Example 4. Closer inspection reveals that with AA given by (58), only the second and third rows of U play a role in the matrix product U~AAU. These rows precisely determine

HA

and

HB and vice
Remarks
natural

versa.

Concluding
The

damped
can

system

be

frequencies of a modified vibratory predicted using receptances measured by

vibration tests conducted on the unmodified system. We have presented equations that determine the damped natural frequencies of the modified system in terms of the point receptances at the interface points with the basic coupling devices: a spring, dashpot, and mass. The more general case in which the coupler itself is a vibrating system, which includes a combination of these basic elements, can be handled in a similar manner. It may require, however, analysis on a case-by-case basis, which may be tedious. Alternatively, the modification may be expressed in terms of the incremental mass, damping, and stiffness matrices AM, AC, and AK. The relevant rows of the modal matrix may be calculated from the measured point receptances. Then, a simple equation, which can be solved by a standard eigenvalue routine, may be invoked to determine the damped natural frequencies of the modified system. The additional effort needed to build the part of the modal matrix from the measured receptances provides the benefit of solving the modification problem by a unified approach, which requires no special analysis. In a sense, it demonstrates the general feature of the matrix approach, where many, apparently different, problems are transformed into one canonic form and solved via a common routine. and

References
J. F., and Hutton, S. G., 1985, "Natural Modes of Modified Structures," AIAA Journal, Vol. 23, 1737-1743. [2] Gladwell, G.M.L., and Bishop, R.E.D., 1960, "Interior Receptances of Beams," Journal of Mechanical Engineering Science, Vol. 2, 1-13. [3] Carfagni, M., 1991, "Sub-Structuring as a Modal Analysis Design Tool," International Journal of Analytical and Experimental Modal Analysis, Vol. 6, 251-270. [4] Simpson, A., 1974, "Scanning Krons Determinant," Quarterly Journal of Mechanics and Applied Mathematics, Vol. 27, 27-43. [5] Tsuei, Y. G., Yee, E.K.L., and Lin, A.C.Y., 1991, "Physical Interpre-

[1] Baldwin,

The matrix U that simultaneously diagonalized A and B such that (47) and (48) hold is given by (49), where

tation and Application of Modal Force Technique," International Journal of Analytical and Experimental Modal Analysis, Vol. 6, 237250. [6] Elliott, K. B., and Mitchell, L. D., 1985, "Realistic Structural Modification : Theoretical Development," in 3rd International Modal Analysis Conference, 471-467. [7] Ram, Y. M., Braun, S. G., and Blech, J., 1988, "Structural Modification in Truncated Systems by the Rayleigh-Ritz Method," Journal of Sound and Vibration, Vol. 125, 203-209.

and

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17

[8] Zhang, Q., Wang, W., Allemang, R. J., and Brown, D. L., 1988,
"Prediction of Mass Modification for Desired Natural Frequencies," in 6th International Modal Analysis Conference, 1026-1032. [9] Noble, B., 1969, Applied Linear Algebra, Prentice Hall, Englewood Cliffs, NJ.

[10] Ewins, D. J., 1986, Modal Testing: Theory and Practice, John Wiley & Sons, New York. [11] Hildebrand, F. B., 1974, Introduction to Numerical Analysis, 2nd ed., McGraw-Hill, New York.

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