Vibroacoustic Fluid-Structure Interaction with FEM

1. Continuum Mechanics
2. Fluid-Structure Coupling
2. FEM for free vibrations (symmetry considerations)
3. FEM for forced vibrations (modal superposition)
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1. Continuum Mechanics
Elasticity
materials return to their rest shape after
stresses are removed.
Plasticity
Describes materials
that permanently
deform after a
sufficient applied
stress.

Solid mechanics

Continuum
mechanics

Rheology

The study of materials

with both solid and
Non-Newtonian fluids
fluid characteristics.
do not undergo strain
rates proportional to
the applied shear
stress.

Fluid mechanics

Newtonian fluids undergo strain rates

proportional to the applied shear stress.
http://en.wikipedia.org/wiki/Continuum_mechanics

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Solid and Structural Mechanics

+A, I
Rods, Beams
Material Tensor
E, , ..

Plates, Shells

+d

Dimensional Reduction

Structures

Solids
Homogenisation

Material Science

http://www.maschinenbau.fh-pforzheim.de/werkstoffkunde/bilder

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J. Rsler
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FE Models
Structure (2D+1D)

Solid (3-D)

Beam elements
Shell elements

B. Bchner, R.Mllenhoff,
Master Project, HAW
T. Rudolph, Course
Project, HAW

Volume elements
Full stress and strain tensors

Line, Area elements

Reduced stress and strain tensors

+ Acoustic Fluid (3-D):

Y. Qiao, Master Thesis,

HAW

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Dynamic equilibrium of solid

Statical Equilibrium:
x yx zx
+
+
+ fx = 0
x
y
z
xy y zy
+
+
+ fy = 0
x
y
z
xz yz z
+
+
+ fz = 0
x
y
z

= 0
u
ii

f x = u x

components:

ii

f y = u y
ii

f z = u z

ii

ij , j u i = 0
t

Boundary:

n = t
The boundary force resultants must be in equilibrium with the external load vector (or the
reaction forces) at every point of the boundary.

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Stress tensor in ideal acoustic fluid

Inviscid fluids are shear-free, so stress tensor reduces to compression forces

x xy xz

y
yz
xy
xz yz z

0
P 0
0 P 0

0 P
0

Structural resultant at FSI coupling surface cannot contain shear components.

t = Pn
t ext = {t1 , t2 , tn } = {0,0, P} = Pn s
In local coor.

Since there are no contact tangential contact forces kinematic compatibility

holds in normal direction only.

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2. FSI coupling in Linear Acoustics

Condition 1: Normal Equilibrium (kinetic coupling)

Pn

Pressure = normal projection of stress tensor

Condition 2: Normal Compatibility (kinematic coupling)

vF n

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vS n

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Kinematic Coupling in terms of pressure

Us n = U f n

nf

Replacing fluid displacement by pressure, using the Euler equation,

ns

= P
0 U
f

0 U s n = P n =
n

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Equations of vibroacoustic solid-fluid interaction

The equations for a vibrating solid-fluid continuum consist of:

dynamic equilibrium equations for solid
acoustic equation for fluid (wave equation)

equilibrium condition at solid-fluid interface

continuity condition at solid-fluid interface (where fluid displacements
are replaced by pressure using Eulers equation)

Figure: Solid-fluid continuum

nf

ns

Figure: normals at interface

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3. FE equations for free vibrations

Multiply component-wise with
test displacement -W

Multiply with test pressure -Q

and integrate by parts
Apply first coupling condition

Apply second coupling condition

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Details of integration (rectangular domain)

n = {0,1}

n = {1,0}

n = {1,0}

x
n = {0, 1}

a b

, Wi dA = ( x , x + xy , y ) Wx + ( yx , x + y , y ) Wy dxdy

ij j

0 0
b

= xyWx + yWy

dx + xWx + yxWy
y =0

dy
x =0

a b

xWx , x + xyWx , y + yxWy , x + yWy , y dxdy

0 0

= ij n jWi ds ij , j Wi dA

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Symmetry considerations
Coupled equations (weak form)

FE-partition of structure and fluid

Observation: the coupling matrices of the finite element model are obtained from element integrals of
the product fluid shape function * solid shape function. Since these products are commutative, the
governing equations can be scaled ( = multiplied by a constant factor) in such a way that the overall
coupled system of equations is symmetric.

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Coupled FE equations for free vibrations

Coupled differential equations (weak form)

Introduce
structural material law (stress
kinematic equations (strain

strain),
displacements)

finite element partition of structure and fluid, finite element shape functions

K s
0

A U M s
+ T

K f P A

ii

0 U
ii = 0

M f
P

Coupled system of FE equations

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Coupling Matrix

K s
0

A U M s
+ T

K f P A

ii

0 U
ii = 0

M f
P

Coupling matrix contains kinematic relations (MPC) between structural and fluid
nodes on the coupling surfaces

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FE models for FSI

The mesh size in fluid and solid/structure can differ
The boundaries do not need to have exactly the same contours (search algorithm for
non-matching boundaries)
The node numbers in fluid and solid must be different

Parameters for the coupling procedure: ACMODL parameter in the bulk data section.
Recommended coupling procedure (BW=default)

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Eigenvalue Problem for undamped vibrations

K s

A
Ms
2
T

K f
A

0 u
= 0

M f p

Wandinger [94]: If the stiffness matrices are p.d. then the Eigenvalues are real and
positive.
2

The undamped structure-fluid system has real (coupled) eigenfrequencies.

Alternatively, the system can be rewritten in the symmetric form

leading to a quadratic eigenproblem (QEP).

Nastran Sol106 (Complex Modes)

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4. FE equations of the forced vibrations

Coupled FE model of the forced response

K s
0

A U Cs
+

K f P 0

0 U M s
i + T

C f A
P

ii

0 U F0e-it
ii =

M f 0
P

Trick (Everstine et al.):

derive structural equation in time
.

substitute V = U

K s
0

0 V Cs
+ T

K f P A

A V M s
i +

C f 0
P

ii

0 V F1e-it
ii =

M f 0
P

Coupled symmetric system

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Time-harmonic solution
time domain

K s
0

0 V Cs
+ T

K f P A

A V M s
i +

C f 0
P

ii

0 V F1e-it
ii =

M f 0
P

V = ve-it , P = pe-it ,
K s

0

0
Cs
i T

K f
A

A
Ms
2

C f
0

0 v f
=

M f p 0

frequency domain

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Solution procedures

K s

0

0
Cs
i T

K f
A

Ms
A
2

C f
0

0 v f
=

M f p 0

direct: SOL108
modal: SOL111
Modal reduction can be performed with uncoupled real-valued modes!
Solve:

[K s M s ] xs = 0
K f M f x f = 0

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{
{

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js

= 2js , x js

jf

= 2jf , x jf

}
}

j =1,, m
j =1,, n

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Modal Superposition

K s
0

A U Cs
+

K f P 0

0 U M s
i + T

C f A
P

v sys , p f y f
Ts K s s

Ts Cs s
0
i T T
Tf K f f
f A s

ii

0 U F0e-it
ii =

M f 0
P

Solution of eigenvalue problems

Modal superposition
separately for structure and fluid

Ts A f

s M s s
2

Tf C f f
0

v Ts f
0

=
Tf M f f p 0

! Modal reduction in coupled system using uncoupled modes !

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Fluid-Struktur Interaktion: Modale Kopplung

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Nastran Solution Deck for FSI simulation (modal)

SOL 111
CEND
TITLE
= BOX coupled
LABEL
= Pressure at "Ear Positions"
ECHO
= NONE
$ Messpunkte Fluid
SET 123=10224,10235,10243,10251
Data output to punch file box.pch
DISP(SORT1,PUNCH) = 123
$
Separate Eigenvalue Analysis
METHOD(FLUID)
= 50
for Fluid, Structure
METHOD(STRUCTURE) = 51
FREQ = 20
Forcing Frequencies
DLOAD = 1
Dynamic Load
BEGIN BULK
EIGRL,50,,100.
EIGRL,51,,100.
FREQ1,20,26.0,1.0,75
RLOAD1, 1, 101, 0.0, 0.0, 1111
DAREA, 101, 1, 1, 1.0
TABLED1
1111
+
0.
1. 10000.
1.
ENDT
$
INCLUDE 'box_fluid.nas'
Grid and element data for fluid, structure
INCLUDE 'box.nas'
$
PARAM
G
0.06
Damping loss factors for fluid, structure
PARAM
GFL
0.06
PARAM, GRDPNT,
0
PARAM, AUTOSPC, YES
PARAM, PRGPST,
NO
PARAM, SNORM,
45.
ENDDATA

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.log file (extract)

15:46:35 Application of Loads and Boundary Conditions to the finite element model
started.
15:46:35 Application of Loads and Boundary Conditions to the finite element model
successfully completed.
15:46:35 Solution of the system equations for normal modes started.
15:46:39 Solution of the system equations for normal modes successfully completed.
15:46:39 Solution of the system equations for normal modes started.
15:46:39 Solution of the system equations for normal modes successfully completed.
15:46:39 Solution of the system equations for frequency response started.
15:46:40 Solution of the system equations for frequency response successfully
completed.
15:46:40 Frequency response analysis completed.

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5. Levels of Structure-Fluid coupling*

No Coupling
Structural Velocities
Radiated Power

Equivalent

Normal velocities =
boundary conditions
for fluid ( FEM, BEM)
Weak Coupling
Acoustic Transfer
Vectors (computed,
measured; direct or
reciprocal approach)

Coupled
FEM/BEM,
FEM/FEM,

Strong Coupling

* after Claus Pedersen

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Equivalent Radiated Power (ERP)

If p and v are known on the surface of a radiating panel (e.g., from a coupled
computation) then one can compute the power radiated from the panel as the sum
of all elements.
In FE-practice, one often computes the so-called equivalent radiated power,
assuming that each finite element emits a plane wave. Then the pressure can be
replaced by normal velocity, allowing to estimate the radiated power from the
uncoupled (structural) simulation.

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Equivalent Radiated Power (Marburg et al.*)

*S. Marburg, B. Nolte (eds.), Compuational Acoustics of Noise Propagation in Fluids, Springer Verlag 2008,
pp. 429--431

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Sound power vs. ERP on surface of diesel engine

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Vibroacoustic evaluation of passenger car cabin

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