Excitation Techniques

Excitation Techniques
Dos and Donts

Peter Avitabile
Marco Peres
UMASS Lowell
The Modal Shop
Excitation Dos and Donts
Dr. Peter Avitabile

Structural Dynamics & Acoustic Systems Lab
Excitation Considerations
Objectives of this lecture:
Overview impact testing considerations part 1
Overview shaker testing considerations part 2
Identify some typical concerns

Provide some examples
IMAC 27 presentation covered shaker excitation techniques
IMAC 29 presentation covered shaker testing considerations
Dr. Peter Avitabile

MODAL SPACE In Our Own Little World
Could you explain
and how is it
used for solving
dynamic problems?
modal analysis
Illustration by Mike Avitabile
http://sdasl.uml.edu/umlspace/mspace.html
Series of articles on various
aspects of modal analysis
currently in its 15th continuous
year of publication
Dr. Peter Avitabile

Measurement Definitions - Refresher

ANALOG SIGNALS
Actual time signals
OUTPUT
INPUT
ANTIALIASING FILTERS
Analog anti-alias filter
AUTORANGE ANALYZER
ADC DIGITIZES SIGNALS
OUTPUT
INPUT
Digitized time signals
APPLY WINDOWS
OUTPUT
INPUT
Windowed time signals
COMPUTE FFT
LINEAR SPECTRA
LINEAR
INPUT
SPECTRUM
LINEAR
OUTPUT
SPECTRUM
Compute FFT of signal
AVERAGING OF SAMPLES
COMPUTATION OF AVERAGED
INPUT/OUTPUT/CROSS POWER SPECTRA
INPUT
POWER
SPECTRUM
CROSS
POWER
SPECTRUM
OUTPUT
POWER
SPECTRUM
Average auto/cross spectra
COMPUTATION OF FRF AND COHERENCE
Compute FRF and Coherence

FREQUENCY RESPONSE FUNCTION
COHERENCE FUNCTION
Dr. Peter Avitabile

Measurements - Linear Spectra - Refresher

x(t)
INPUT
Sx(f)
h(t)
y(t)
TIME
SYSTEM
OUTPUT
FFT & IFT
H(f)
Sy(f)
FREQUENCY
x(t)
- time domain input to the system
y(t)
- time domain output to the system
Sx(f)
- linear Fourier spectrum of x(t)
Sy(f)
- linear Fourier spectrum of y(t)
H(f)
- system transfer function
h(t)
- system impulse response
Dr. Peter Avitabile

Measurements - Power Spectra - Refresher

Rxx(t)
INPUT
Gxx(f)
Ryx(t)
Ryy(t)
TIME
SYSTEM
OUTPUT
FFT & IFT
Gxy(f)
Gyy(f)
FREQUENCY
Rxx(t) - autocorrelation of the input signal x(t)

Ryy(t) - autocorrelation of the output signal y(t)
Ryx(t) - cross correlation of y(t) and x(t)
Gxx(f) - autopower spectrum of x(t)
G xx ( f ) Sx ( f ) S*x ( f )
Gyy(f) - autopower spectrum of y(t)
G yy ( f ) Sy ( f ) S*y ( f )
Gyx(f) - cross power spectrum of y(t) and x(t)
G yx ( f ) Sy ( f ) S*x ( f )
Dr. Peter Avitabile

Measurements - Derived Relationships - Refresher

Sy HSx
H1 formulation
- susceptible to noise on the input
- underestimates the actual H of the system
Sy S*x G yx
H
*
Sx Sx G xx
Sy S*x HSx S*x
H2 formulation
- susceptible to noise on the output
- overestimates the actual H of the system
Sy S*y G yy
H
*
Sx Sy G xy
Sy S*y HSx S*y
COHERENCE
2
xy
(Sy S*x )(Sx S*y )
(Sx S*x )(Sy S*y )
G yx / G xx
G yy / G xy
Other
formulations
for H exist
H1
H2
Dr. Peter Avitabile

Typical Measurements - Refresher

Measurements - Auto Power Spectrum
x(t)
Measurements - Cross Power Spectrum
y(t)
AVERAGED INPUT
AVERAGED OUTPUT
POWER SPECTRUM
POWER SPECTRUM
G yy (f)
G xx (f)
OUTPUT RESPONSE
INPUT FORCE
G xx(f)
G yy (f)
AVERAGED INPUT
AVERAGED OUTPUT
POWER SPECTRUM
POWER SPECTRUM
AVERAGED CROSS
POWER SPECTRUM
G yx (f)
Measurement Definitions
12
Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
13
Measurements - Frequency Response Function
Dr. Peter Avitabile

Measurements - FRF & Coherence

Coherence
1
Real
AVERAGED INPUT
AVERAGED CROSS
AVERAGED OUTPUT
POWER SPECTRUM
POWER SPECTRUM
POWER SPECTRUM
G xx(f)
G yx(f)
0
0Hz
G yy(f)
AVG: 5
200Hz
COHERENCE
Freq Resp
40
dB Mag
-60
0Hz
AVG: 5
200Hz

H(f)
14
Dr. Peter Avitabile

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Dr. Peter Avitabile

Dr. Peter Avitabile

IMAC 30 - Jacksonville, FL - 2012
Dr. Peter Avitabile

10
Dr. Peter Avitabile

Impact Excitation
Overview impact excitation techniques
Review hammer/tip characteristics
Review special DSP considerations
Identify areas of concern and things to consider
11
Dr. Peter Avitabile

Impact Excitation
An impulsive excitation which is very short in the time window
usually lasting less than 5% of the sample interval.
ADVANTAGES
- easy setup
- fast measurement time
- minimum of equipment
- low cost
CONSIDERATIONS
- poor rms to peak levels
- poor for nonlinear structures
- force/response windows needed
- pretrigger delay needed
- double impacts may occur
- high potential for signal overload and underload of ADC
12
Dr. Peter Avitabile

Practical Modal Impact Test Checklist

General
Range settings for channels
Frequency range bandwidth BW
Hammer
Pre-trigger settings
Hammer tip selection
Windows
Response
Windows
FRF / Coherence
Measurement considerations
13
Dr. Peter Avitabile

Impact Excitation - Hammer Tip Selection

The force spectrum can be customized to some extent
through the use of hammer tips with various hardnesses.
A hard tip has a very short pulse and will excite a wide
frequency range. A soft tip has a long pulse and will excite
a narrow frequency range.
However, the hammer tip alone does not totally determine
the frequency range excited. The local flexibility of the
structure must also be considered.
14
Dr. Peter Avitabile

Impact Excitation - Hammer Tip Selection

HARD PLASTIC TIP
METAL TIP
Real
Real
-976.5625us
TIME PULSE
-976.5625us
123.9624ms
TIME PULSE
123.9624ms
dB Mag
dB Mag
0Hz
FREQUENCY SPECTRUM
0Hz
6.4kHz
FREQUENCY SPECTRUM
6.4kHz
RUBBER TIP
SOFT PLASTIC TIP

Real
Real
-976.5625us
TIME PULSE
-976.5625us
123.9624ms
TIME PULSE
123.9624ms
dB Mag
dB Mag
0Hz
FREQUENCY SPECTRUM
6.4kHz
15
0Hz
FREQUENCY SPECTRUM
6.4kHz
Dr. Peter Avitabile

Impact Test Pretrigger Delay Sometimes Confusing

If the leading portion of the time pulse is not captured then
there will be a distortion of the measured input spectrum
t=0
NO PRETRIGGER USED
t=0
PRETRIGGER SPECIFIED
16
Dr. Peter Avitabile

Impact Test Double Impact

Double impacts can occur due to a sloppy hammer swing or
many times due to the responsive nature of many
structures. They should be avoided wherever possible.
DOUBLE IMPACT
DOUBLE IMPACT
Real
Real
-976.5625us
TIME PULSE
-976.5625us
998.53516ms
TIME PULSE
998.53516ms
dB Mag
dB Mag
0Hz
FREQUENCY SPECTRUM
0Hz
800Hz
17
FREQUENCY SPECTRUM
Dr. Peter Avitabile

800Hz
Impact Excitation - Windows May Be Necessary

If response does not die out then a window may be required
ACTUAL TIME SIGNAL
SAMPLED SIGNAL
WINDOW WEIGHTING
WINDOWED TIME SIGNAL
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Dr. Peter Avitabile

Impact Excitation - Exponential Window
If the signal does not

naturally decay within the
sample interval, then an
exponentially decaying
window may be necessary.
T=ND t
However, many times

changing the signal
processing parameters such
as bandwidth and number
of spectral lines may
produce a signal which
requires less window
weighting
T=ND t
19
Dr. Peter Avitabile

Impact Excitation Force & Exponential Window
20
Dr. Peter Avitabile

Impact Excitation - Right Hammer for the Test

Measurement adequacy depends on what is required
40
COHERENCE
dB Mag
FRF
INPUT POWER SPECTRUM
-60
0Hz
800Hz
40
COHERENCE
FRF
dB Mag
INPUT POWER SPECTRUM
-60
0Hz
200Hz
21
Dr. Peter Avitabile

Impact at One Point Listen at Another What FRF?
out/in
= H
row/col
22
Dr. Peter Avitabile

Impact at One Point Listen at Another What FRF?

1
23
Dr. Peter Avitabile

Drive Point Measurements

Drive point measurement
Same input and output location in the same direction

1
24
Dr. Peter Avitabile

Reciprocity
out/in
= Hij
Reciprocity is an underlying necessity for modal theory
25
Dr. Peter Avitabile

Reciprocity
out/in
= Hij
Reciprocity is an underlying necessity for modal theory
out/in
Hij
26
Dr. Peter Avitabile

Reciprocity
out/in
= Hij
- What can go wrong?
27
Dr. Peter Avitabile

Impact Test Multiple Reference Impact Test

Either a row or column of the
FRF matrix is needed to
estimate mode shapes
Ref#1
Ref#1
Ref#2
Ref#2
Ref#3
Ref#3
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Dr. Peter Avitabile

Shaker Test vs. Impact Test What is the difference?

Typical Shaker Test
Typical Impact Test

1
h 13
1
2
1
3
2
h 23
3
h 33
h 31
h 32
h 33
29
Dr. Peter Avitabile

June 1998 Modal Space Articles

30
Dr. Peter Avitabile

FRF from Impact or Shaker Data

Impact Data
Shaker Data
ANALOG SIGNALS
ANALOG SIGNALS
OUTPUT
INPUT
AUTORANGE ANALYZER
AUTORANGE ANALYZER
OUTPUT
INPUT
APPLY WINDOWS
OUTPUT
INPUT
LINEAR
INPUT
SPECTRUM
COMPUTE FFT
LINEAR SPECTRA
LINEAR
INPUT
SPECTRUM
LINEAR
OUTPUT
SPECTRUM
INPUT
POWER
SPECTRUM
OUTPUT
POWER
SPECTRUM
OUTPUT
POWER
SPECTRUM
CROSS
POWER
SPECTRUM
COHERENCE FUNCTION
LINEAR
OUTPUT
SPECTRUM
CROSS
POWER
SPECTRUM
OUTPUT
INPUT
COMPUTE FFT
LINEAR SPECTRA
OUTPUT
INPUT
APPLY WINDOWS
INPUT
POWER
SPECTRUM
OUTPUT
INPUT
31
COHERENCE FUNCTION
Dr. Peter Avitabile

32
Dr. Peter Avitabile

FFT Reference vs. Modal Reference Confusing Nomenclature

Reference means different
things to different people
SHAKER TEST
That is why there is a swap

ROVING IMPACT TEST
HP35665 FFT Analyzer
002Z006Z.DAT
OUT
PUT
USB
Accelerometer
DYNAMIC
SIGNAL
ANALYZER
6
5
Impact Hammer
4
3
1 2 3 4
2
z
x
OUT
FILTER
IN
Hij
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Dr. Peter Avitabile

Why Do Initial Conditions Need to be Zero?
Laplace Domain Equation of Motion

(ms 2 csk) x (s) f (s) (ms c) x 0
Characteristic
Portion
Applied
Force
Initial
Displacement
mx 0
Initial
Velocity
Assuming that initial conditions are zero

(ms 2 csk) x (s) f (s)
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Dr. Peter Avitabile

ACTUAL IMPACT RESPONSE
USER PERCEPTION
SAMPLE CAPTURED
RESPONSE SAMPLE
CAPTURED
WINDOWED SAMPLE
CAPTURED
35
Dr. Peter Avitabile

SAMPLE
CAPTURED
SAMPLE CAPTURED WITH

RINGING OF FIRST SAMPLE
SAMPLE CAPTURED WITH

RINGING OF FIRST AND
SECOND SAMPLE
36
Dr. Peter Avitabile

Too Hard a Hammer Tip Can Cause Problems

Energy is imparted to the structure beyond the frequency
range of interest and may overload or saturate the response
40
128 HZ BW
dB Mag
-30
-60
0Hz
dB Mag
800Hz
HAMMER TIP
50
-80
dB Mag
0Hz
0Hz
400Hz
OF INTEREST
50
-50
EXCITES MODES
OUTSIDE BAND
200Hz
dB Mag
40
dB Mag
-50
0Hz
400Hz
-60
0Hz
200Hz
37
Dr. Peter Avitabile

Impact Spectrum Considerations

Selecting the right impact tip to excite the right frequency
range is critical to optimizing the measured response
128 HZ BW
INFORMATION BEYOND BW
-30
STRONG RESPONSE
dB Mag
WEAK RESPONSE
40
1.0 VOLT
ENERGY
1.5 VOLT
ENERGY
dB Mag
4.0 VOLT
ENERGY
-80
0Hz
0.1 VOLT
ENERGY
128Hz
50
-60
0Hz
dB Mag
800Hz
40
-50
0Hz
dB Mag
3.0 VOLT
ENERGY
1.0 VOLT
ENERGY
128Hz
9.0 VOLT
ENERGY
-60
0.5 VOLT
ENERGY
0Hz
38
800Hz
Dr. Peter Avitabile

Exponential Window Can It Be a Problem?

While a window
may be ultimately
required, never
start with the
window applied
before the raw
measurement is
reviewed.
3.5
V
TIME PULSE
Real
-1.5
V
-25.391ms
973.633ms
2.5
V
WINDOWED RESPONSE
Real
-2.5
V
-25.391ms
How many peaks

are observed in
the measured FRF.
50
dB Mag
-50
0Hz
973.633ms
39
400Hz
Dr. Peter Avitabile


Here is a
measurement
where a significant
amount of damping
is applied to the
measurement.
2.5
RAW TIME RESPONSE
Real
-2.5
V
-25.391ms
973.633ms
1.2
V
WINDOWED RESPONSE
Real
How many peaks

are observed in
the measured FRF.
-800
mV
-25.391ms
973.633ms
25
dB Mag
-25
0Hz
40
400Hz
Dr. Peter Avitabile


2.5
RAW TIME RESPONSE
Picking a longer
time block allows
the response to
naturally decay
and lessens the
need of the
exponential
window.
Real
-2.5
V
-25.3906ms
1.9736s
2.5
V
WINDOWED RESPONSE
Real
-2.5
V
-25.3906ms
How many peaks

are observed in
the measured FRF.
1.9736s
50
dB Mag
-50
0Hz
400Hz
TWO CLOSELY SPACED MODES
41
Dr. Peter Avitabile


Window should only be applied once it is deemed necessary
2.5
2.5
3.5
V
RAW TIME RESPONSE
RAW TIME RESPONSE
TIME PULSE
Real
Real
Real
-2.5
-2.5
-1.5
V
V
-25.391ms
-25.391ms
-25.3906ms
973.633ms
1.9736s
973.633ms
2.5
1.2
2.5
V
V
V
WINDOWED RESPONSE
WINDOWED RESPONSE
WINDOWED RESPONSE
Real
Real
Real
-2.5
-800
mV
-2.5
V
-25.391ms
50
25
dB Mag
dB Mag
-50
0Hz
V
-25.3906ms
-25.391ms
973.633ms
50
dB Mag
-25
400Hz
1.9736s
973.633ms
0Hz
400Hz
-50
0Hz
400Hz
TWO CLOSELY SPACED MODES
42
Dr. Peter Avitabile

Double Impacts A Problem Or is it ???

Picking a poor measurement location avoids the double impact
but does the measurement look better?
43
Dr. Peter Avitabile

Double Impact Common Difficulty
October 2008 Modal Space Articles

44
Dr. Peter Avitabile

If you cant avoid double impact what about multiple impacts

45
Dr. Peter Avitabile

So if you cant avoid double impact what about multiple

46
Dr. Peter Avitabile

So if you cant avoid double impact what about multiple

47
Dr. Peter Avitabile

Multiple Impacts A Possibility !!!

Multiple Impacts
Single Impact

48
Dr. Peter Avitabile

Should I look at all the measurements ?

This measurement looks fine but do all look this good?
COHERENCE
FORCE
SPECTRUM
IMPACT EXCITATION
TIME RESPONSE
ACCELEROMETER RESPONSE
DRIVE POINT FREQUENCY RESPONSE FUNCTION
49
Dr. Peter Avitabile

Should I look at all the measurements ?

Heres a measurement that doesnt look as good as the rest.
COHERENCE
IMPACT EXCITATION
FORCE
SPECTRUM
TIME RESPONSE
FREQUENCY
RESPONSE
FUNCTION
50
Dr. Peter Avitabile

All measurements should be reviewed
IMPACT EXCITATION
TIME RESPONSE
COHERENCE
FORCE
SPECTRUM
COHERENCE
FORCE
SPECTRUM
FREQUENCY
RESPONSE
FUNCTION
DRIVE POINT FREQUENCY RESPONSE FUNCTION
51
Dr. Peter Avitabile

Filter Ring
Sometimes there can be some ringing on the impact input.
This is referred to as filter ring

Depending on the bandwidth and impact spectrum, this may
or may not appear on the measured data
The following slide shows the effects of this phenomena
52
Dr. Peter Avitabile

Filter Ring
1600 HZ BANDWIDTH SETTING
400 HZ BANDWIDTH SETTING
RED AIR CAPSULE
RED AIR CAPSULE
BLUE PLASTIC
BLUE PLASTIC
WHITE PLASTIC
WHITE PLASTIC
BLACK METAL
BLACK METAL
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Dr. Peter Avitabile

2KHz excitation for 500 Hz BW

Sometimes data may be collected for multiple purposes.
One group wants data to 500Hz and another needs 2KHz.
Can a test be constructed with one set of accelerometers to
acquire the data for both test ranges?
Difficult to achieve unless you have infinite resolution and
infinite spectral resolution.
54
Dr. Peter Avitabile

2KHz excitation for 500 Hz BW
AVERAGED CROSS
AVERAGED INPUT
POWER SPECTRUM
AVERAGED CROSS
AVERAGED INPUT
POWER SPECTRUM
POWER SPECTRUM
COHERENCE
FUNCTION
POWER SPECTRUM
COHERENCE
FUNCTION
ALLOWS MORE SENSITIVE

LOW FREQUENCY ACCELEROMETER
TO BE USED TO MEASURE SYSTEM
FREQUENCY
RESPONSE
FUNCTION
FREQUENCY
RESPONSE
FUNCTION
HIGH FREQUENCY ACCELEROMETER

REQUIRED TO MEASURE SYSTEM
1 KHz
2 KHz
1 KHz
2 KHz
COHERENCE
FUNCTION
FREQUENCY
RESPONSE
FUNCTION
55
Dr. Peter Avitabile

Structural Dynamics &2 KHz
Acoustic Systems Lab
1 KHz
Impact Location Effects Skewed and Same Point

When performing impact testing it is important
to impact the same point in the same direction
for all averages.
One case will be presented to show the effects
of having a skewed input, that is different for
each average of the measurement.
Another case is presented to show the effects
of impacting close to the same point, but not
exactly the same point, for all averages.
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Dr. Peter Avitabile

Impact Location Effects

Notice that the coherence for the skewed input is not as
good as the measurement with consistent input excitation
Good Measurement
Skewed/Angle Impact
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Dr. Peter Avitabile

Impact Location Effects

Notice that the coherence for the impact around point is not
as good as the measurement with consistent input excitation
Good Measurement
Impact Around Point
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Dr. Peter Avitabile

Control the Location of Excitation
HAMMER
STRAW
SLEEVE
SWIVEL
JOINT
CLAMP
Adaptor for small impact hammer enables easy

orientation of hammer to impact structure using
swivel joint on small tripod fixture.
Current design uses a straw sleeve adapted to
connector to swivel joint on tripod.
59
Dr. Peter Avitabile

Impact Location
Control of input point
and direction is very
important
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Dr. Peter Avitabile

Accelerometer Saturation But No Overload

Sometimes the response transducer may be too sensitive
which generally may cause an overload.
But there are times when the accelerometer and the signal
conditioner may not overload the data acquisition system
BUT may be distorted due to saturation of the signal
conditioner.
61
Dr. Peter Avitabile

Accelerometer Saturation But No Overload

Accelerometer with proper sensitivity
Accelerometer too sensitive
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Dr. Peter Avitabile

Analyzer ICP / External ICP / DC Accelerometer Comparison

DC 200mv/g
DC 1V/g
63
ICP 1V/g
Dr. Peter Avitabile

Analyzer ICP / External ICP / DC Accelerometer Comparison

F
F
F
FRF 200 mv DC:+Z/Force - 75%:+Z

FRF 1 V ICP:+Z/Force - 75%:+Z
FRF 1 V DC:+Z/Force - 75%:+Z
70.00
g/lbf
dB
1.00
Amplitude
70.00
20.00
F
F
F
FRF 200 mv DC:+Z/Force - 75%:+Z

FRF 1 V ICP:+Z/Force - 75%:+Z
FRF 1 V DC:+Z/Force - 75%:+Z
1.00
0.00
16.00
Amplitude
Hz
g/lbf
dB
0.00
20.00
0.00
0.00
Hz
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1.00
Dr. Peter Avitabile

How Hard Should I Hit Air Capsules

The hammer kits normally have the ability to use a variety of
different tips to customize the input spectrum.
But what happens if some impacts are harder and some are
softer? Does this affect the input excitation spectrum?
Depending on the hammer tip, this can be significant.
65
Dr. Peter Avitabile

Air Capsule
Plastic Cap on Hard White Tip
Hard White Tip
How Hard Should I Hit February2010

Time Pulse
--------- - 48 dB
--------- - 45 dB
Time Pulse
--------- - 49 dB
20 dB
20 dB
20 dB
2500 Hz
220 Hz
MED IUM HIT
240 Hz
Time Pulse
Time Pulse
Time Pulse
--------- - 41 dB
--------- - 43 dB
--------- - 41 dB
20 dB
20 dB
20 dB
2700 Hz
340 Hz
300 Hz
Time Pulse
HA RD HIT
Time Pulse
Time Pulse
--------- - 34 dB
--------- - 40 dB
--------- - 37 dB
20 dB
8 dB
10 dB
February
400 Hz 2010 Modal Space Articles
3000 Hz
400 Hz
66
Dr. Peter Avitabile

INCREASI NG HAM MER T IP HARDNE SS
INCREASI NG I MP ACT HAMM ER FO RCE L EVE L
S OFT HI T
Time Pulse
Selection of Measurement Locations

So what are the chances that you would pick 9 of the worst
possible measurement locations for a plate ???
August 1998 Modal Space Articles

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Dr. Peter Avitabile

Selection of Measurement Locations

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Dr. Peter Avitabile

The Modal Question

Do these two test yield the same modal information?
SETUP 1
STATIONARY
TRI-AX AT 9
5
2
9
6
3
SETUP 2
STATIONARY
IMPACT AT 9
IN Z ONLY
ROVING IMPACT
IN Z ONLY
7
5
2
ROVING TRI-AX
6
3

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Dr. Peter Avitabile

The Modal Question

SETUP 2
SETUP 1
ROVING IMPACT
IN Z ONLY
STATIONARY
TRI-AX AT 9
ROVING TRI-AX
STATIONARY
IMPACT AT 9
IN Z ONLY
7
5
8
5
2
1x
1y
1x
1z
THREE
PARTIAL
ROWS
OF
FRFS
1y
2x
1z
2y
2x
2z
2y
3x
2z
3y
3x
ONE
FULL
3z
3y
3z
COLUMN
OF
FRFS
9x
9y
9z
9x
9y
1x 1y 1z 2x 2y 2z 3x 3y 3z
9x 9y 9z
9z
1x 1y 1z 2x 2y 2z 3x 3y 3z
9x 9y 9z

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Dr. Peter Avitabile

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Dr. Peter Avitabile

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Dr. Peter Avitabile

Reference Selection Where Should Reference Be Located?
Random Point Selection
Organized Point Selection
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Dr. Peter Avitabile

Composite Plate Pseudo-Repeated Root Example

A plate structure with suspected pseudo-repeated roots was
tested to determine the appropriate reference locations
13 Z
15 Z
3Z
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Dr. Peter Avitabile


A summation plot and typical drive point FRFS are shown
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Dr. Peter Avitabile


Using all 3 references, TRIP identifies a repeated root
Note: plot only to 500 Hz

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Dr. Peter Avitabile


Using references 3 Z & 15 Z, TRIP identifies repeated root
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Dr. Peter Avitabile


Using references 13 Z & 15 Z, TRIP identifies repeated root
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Dr. Peter Avitabile


Using references 3 Z & 13 Z, does not ! ! ! ! ! ! !
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Dr. Peter Avitabile

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Dr. Peter Avitabile

Shaker Excitation
Overview shaker testing considerations
Identify some typical set up concerns
Provide some examples
IMAC 27 presentation covered excitation techniques
IMAC 29 presentation covered shaker testing considerations
83
Dr. Peter Avitabile

Excitation Configuration
Shaker
force
sensor
Stinger
Test Signal
-random
-burst Random
-pseudo-random
-periodic-random
-Chirp
structure
AUTORANGING
Power
Amplifier
AUTORANGING
AUTORANGING
AVERAGING
AVERAGING WITH WINDOW
AVERAGING
84
Dr. Peter Avitabile

Reason for Stinger
Purpose of Stinger
Decouple shaker from test structure
Force transducer between stinger and structure decouple
forces acting in the axial direction only

Forces acting in any other direction will be unaccounted
for creating error in the measurements

Bending
Modal
Shaker
Force Gage
Axial
Stinger
Structure
85
Dr. Peter Avitabile

Possible Problems with Stinger

Location of stinger on structure may be affected by the
local stiffness and/or structure deformation
Axial stiffness
Axial and bending stiffness
86
Dr. Peter Avitabile

Stinger Configuration with Through Hole Shaker
Force
sensor
Test Structure
Modal Exciter
2-part
chuck
assembly
collet
armature
stinger
87
Dr. Peter Avitabile

Multiple Input Shaker Excitation

Objectives of this part of lecture:
Identify some basics of MIMO testing
Discuss several practical aspects of
multiple input multiple output shaker testing
88
Dr. Peter Avitabile

Multiple Input Shaker Excitation

Provide a more even distribution of energy
Simultaneously excite all modes of interest
Multiple columns of FRF matrix acquired

More consistent data is collected
Same test time as SISO case
89
Dr. Peter Avitabile

Excitation Considerations - MIMO
Multiple referenced FRFs are

obtained from MIMO test
Energy is distributed
better throughout the
structure making better
measurements possible
Ref#1
90
Ref#2
Ref#3
Dr. Peter Avitabile

Large or
complicated
structures
require special
attention
91
Dr. Peter Avitabile

Multiple shakers are

needed in order to
adequately shake the
structure with
sufficient energy to
be able to make good
measurements for
FRF estimation
92
Dr. Peter Avitabile

Frequently Asked Questions

Objectives of this part of lecture:
Provide some measurements to illustrate issues
Revisit reciprocity
Compare impedance head vs force/accelerometer
Compare MIMO measurements
93
Dr. Peter Avitabile

SISO vs MIMO
Excitation technique is one necessary step to acquire better
measurements (random/hann vs burst random).
But using MIMO instead of SISO is another important
consideration.
And mass loading effects are also important
(a)
(b)
SISO
RANDOM WITH HANNING
SISO
(d)
MIMO
MIMO
RANDOM WITH HANNING
BURST RANDOM
(c)
94
BURST RANDOM
Dr. Peter Avitabile

Shaker Mass Loading Effects
MIF
MIF
SUM BLOCKS & STABILITY DIAGRAM
SUM BLOCKS & STABILITY DIAGRAM
95
Dr. Peter Avitabile

Shaker Mass Loading Effects

Three Measurement Setups Compare Repeated Root:
No Mass Compensation
Mass Compensation
All Accels Mounted
Accelerometer
and Mounting Cube
96
Dr. Peter Avitabile

Equivalent
Mass
Whats an impedance head? Why use it? Where does it go?

An impedance head is a transducer that measures both force and
response in one device.
This is a critical measurement for the structure and it is strongly
advised that impedance heads be used in all cases.
A combination of a separate force gage and accelerometer is often
used but time and time again this measurement has been seen to
never be better than that obtained with an impedance head.
The force gage or impedance head needs to be mounted on the
structure side of the stinger arrangement.
2-part chuck
assembly
Force sensor
collet
armature
stinger
97
Dr. Peter Avitabile

Test Set Up
Measurements taken to show difference in set up
Correct
Incorrect
X
Shaker
Shaker
Impedance
Quill
Quill
Impedance
Structure
Structure
98
Dr. Peter Avitabile

What is the proper mounting technique for the force transducer?
1.00
-90.00
Hz
g/N
dB
10.00
Amplitude
g/N
dB
10.00
0.00
Drive-point
FRFs
0.00
-90.00
400.00
1.00
0.00
Hz
Amplitude
0.00
400.00
Distinct difference in drive point FRF based on force configuration !

99
Dr. Peter Avitabile

Drive Point FRF Stinger Effects
No sleeves
With Sleeves
100
Dr. Peter Avitabile

Drive Point FRF Stinger Effects
No sleeves
With Sleeves
101
Dr. Peter Avitabile

Differences in Reciprocal Measurements Impedance vs Accel

Top View
Offset Accelerometer
Accelerometer on Other Face of Structure
Impedance Head
Pt. 2
Measurement
locations
Bottom View
Pt. 1
All reciprocity measurements are between
points 1 & 2 with respect to force from

impedance heads
102
Dr. Peter Avitabile

Reciprocal Measurements
Offset Accelerometer
What if I can
only put the
accelerometer
next to the
force gage?
Accel
Force
103
Dr. Peter Avitabile

Accelerometer on Other Face of Structure
What if I can
only put the
accelerometer
on the face of
the structure
that is opposite
the force gage?
Accel
Force
104
Dr. Peter Avitabile

Impedance Head
What if I have
an impedance
head that
measures force
and acceleration
at the same
place?
Force &
Accel
105
Dr. Peter Avitabile

What is the correct amplitude level for modal testing applications?

The excitation levels for modal testing are usually very low.
There is no need to provide large force levels for conducting a

modal test especially if appropriate response transducers
(accelerometers) are selected with good sensitivity.
The level only need be sufficient to make good measurements.
106
Dr. Peter Avitabile


The excitation levels for modal testing are usually very low.
There is no need to provide large force levels for conducting a

modal test especially if appropriate response transducers
(accelerometers) are selected with good sensitivity.
The level only need be sufficient to make good measurements.
In fact large force levels tend to overdrive the structure and can
excite nonlinear characteristics of the structure and provide overall
poorer measurements than with lower level force tests.
107
Dr. Peter Avitabile


30.00
(m/s 2)/N
dB
(m/s 2)/N
dB
30.00
FRF 2:+Z/2:+Z MIMO

FRF 2:+Z/2:+Z SIMO
FRF 2:+Z/2:+Z MIMO

FRF 2:+Z/2:+Z SIMO
-20.00
1.00
1.00
/
Amplitude
/
Amplitude
-50.00
0.00
0.80
0.00
Hz
800.00
549.46
Hz
High excitation level degrades drive point FRF quality!!!
108
Dr. Peter Avitabile

688.14
(m/s 2)/N
dB
40.00
FRF 4:-Z/2:+Z MIMO

FRF 4:-Z/2:+Z SIMO
-60.00
/
Amplitude
1.00
0.00
0.00
Hz
800.00
High excitation level degrades drive point FRF quality

and measurements across components may be worse!!!
109
Dr. Peter Avitabile

How many shakers should I use in my modal test?

The number of shakers is often a difficult one to answer.
Basically there are never enough shakers when conducting a large

modal test.
Often we are limited by the total number of shakers available in
the test lab for modal testing.
Usually two shakers are sufficient for many tests. Sometimes
three or four shakers are needed for much larger structures.
But generally more than five shakers are rarely used.
The main point is that there needs to be enough shakers acting as

reference locations that are positioned so that all of the modes of
the structure are adequately excited and good frequency response
measurements are obtained.
110
Dr. Peter Avitabile

How many shakers should I use in my modal test?
10.00
0.00
dB
Amplitude
( m/s 2)/N
dB
1.00
(m/s 2)/N
dB
10.00
SISO
MIMO
-70.00
0.00
0.00
Hz
-80.00
800.00
-100.00
0.00
Hz
Single input may not be able to provide accurate FRFs
111
Dr. Peter Avitabile

800.00
Why bother with MIMO testing? Why not run a SISO instead?
Single shaker testing is adequate providing all the modes of the
structure can be sufficiently excited and measured.
In component testing this can often times be sufficient.
However, when structures have several components, then the ability
to provide sufficient excitation to acquire good measurements
across the whole structure may be difficult.
Tests can be conducted with a single shaker that is moved to
different reference locations but generally this does not provide
consistently related measurements.
When this is the case (as it often is), then MIMO is needed.
112
Dr. Peter Avitabile

FRFs Using SIMO vs

FRFs Using MIMO
Blue Shaker is Reference for SIMO & MIMO

20.00
10.00
30.00
(m/s 2)/N
dB
(m/s 2)/N
dB
(m/s 2)/N
dB
FRF 1:+Z/2:+Z MIMO

FRF 1:+Z/2:+Z SIMO
FRF 2:+Z/2:+Z MIMO

FRF 2:+Z/2:+Z SIMO
FRF 3:+Z/2:+Z MIMO
FRF 3:+Z/2:+Z SIMO
Am
-60.00
0.00
-50.00
0.00
Am
Am
-80.00
0.00
113
Dr. Peter Avitabile

15.99
0.96
( m/s 2)/N
dB
Amplitude
SIMO
-9.05
0.71
607.85
Hz
114
696.46
Dr. Peter Avitabile

Why bother with MIMO testing? Why not run 3 SISO instead?
115
Dr. Peter Avitabile

Why bother with MIMO testing? Are modal results better?
SIMO Tests Combined Overall Stabilization Plot
100th order
polynomial
116
Dr. Peter Avitabile

SIMO Tests Combined Stabilization Plot (Close-up)
100th order
polynomial
117
Dr. Peter Avitabile

Individual SIMO Tests Stabilization Plots (Close-up)

Reference Point 1
Reference Point 2
100th order
polynomial
Reference Point 3
118
Dr. Peter Avitabile

SIMO Tests Combined Overall Stabilization Plot
100th order
polynomial
119
Dr. Peter Avitabile

SIMO
1 Volt
MIMO
0.1 Volt
0.1 Volt
0.1 Volt
120
Dr. Peter Avitabile

MIMO Test Overall Stabilization Plot
100th order
polynomial
121
Dr. Peter Avitabile


MIMO Test Stabilization Plot (Close-up)
100th order
polynomial
122
Dr. Peter Avitabile

Experimental Modal - Considerations and Use

Several items are very important
Test Setup boundary conditions
Excitation Methods accurate measurements
Parameter Extraction accurate parameters
Dynamic Model Development
(some personal notes from experience)
123
Dr. Peter Avitabile

Things to Consider
Test Setup
Pre-Test helps in so many ways but be careful to not fully
rely on the model to be correlated

Do everything possible to make the best possible
measurements (or the original sin results)

Make sure that all measurements are consistent
Be aware of all boundary conditions such as support
structure, shaker stinger interaction, instrumentation

effects on structure
124
Dr. Peter Avitabile

Things to Consider
Test Setup
Check for overloads and underloads of transducer
Check for saturation of signal conditioning
Check linearity of structure
Check mass loading effects of transducers

Check frequency shifts due to support condition
Check frequency resolution for measurements
125
Dr. Peter Avitabile

Things to Consider
Measurements
Check every measurement including input/output time
traces, power spectrum, frequency response function and

coherence
Check reciprocity where possible
Repeat drive point measurements on test that require
multiple sets of data to completely describe all points on

the structure
126
Dr. Peter Avitabile

Things to Consider
Impact Technique
Check FRF with different tips, over different frequency
ranges with different resolutions

Maintain consistent force level for measurements
Impact the same point in the same direction for each
measurement
Compare different number of averages to determine
convergence to FRF
127
Dr. Peter Avitabile

Things to Consider
Shaker Excitation Technique
Check force/quill alignment to prevent any overturning
moments on force gage

Check reciprocity on MIMO tests
Try multiple excitation techniques to determine what
technique works best

Check drive point FRFs when multiple banks of data are
collected
128
Dr. Peter Avitabile

Excitation Techniques
Dos and Donts
Peter Avitabile
Marco Peres
UMASS Lowell
The Modal Shop
Impact Animation
129
Dr. Peter Avitabile


Excitation Techniques

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Excitation Techniques

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Excitation Techniques

Dos and Donts

The Modal Shop

Excitation Dos and Donts

Dr. Peter Avitabile

Identify some typical concerns

IMAC 27 presentation covered shaker excitation techniques

IMAC 29 presentation covered shaker testing considerations

Excitation Dos and Donts

Dr. Peter Avitabile

MODAL SPACE In Our Own Little World

Could you explain

Illustration by Mike Avitabile

Illustration by Mike Avitabile

Illustration by Mike Avitabile

Dr. Peter Avitabile

Measurement Definitions - Refresher

Actual time signals

Analog anti-alias filter

Digitized time signals

Windowed time signals

Compute FFT of signal

Average auto/cross spectra

COMPUTATION OF FRF AND COHERENCE

Compute FRF and Coherence

Excitation Dos and Donts

Dr. Peter Avitabile

Measurements - Linear Spectra - Refresher

FFT & IFT

- time domain input to the system

- time domain output to the system

- linear Fourier spectrum of x(t)

- linear Fourier spectrum of y(t)

- system transfer function

- system impulse response

Excitation Dos and Donts

Dr. Peter Avitabile

Measurements - Power Spectra - Refresher

FFT & IFT

Rxx(t) - autocorrelation of the input signal x(t)

Gyy(f) - autopower spectrum of y(t)

Gyx(f) - cross power spectrum of y(t) and x(t)

Excitation Dos and Donts

Dr. Peter Avitabile

Measurements - Derived Relationships - Refresher

Sy S*x HSx S*x

Sy S*y HSx S*y

(Sy S*x )(Sx S*y )

(Sx S*x )(Sy S*y )

Excitation Dos and Donts

Dr. Peter Avitabile

Typical Measurements - Refresher

Measurements - Cross Power Spectrum

Dr. Peter Avitabile

Measurements - Frequency Response Function

Dr. Peter Avitabile

Measurements - FRF & Coherence

FREQUENCY RESPONSE FUNCTION

Dr. Peter Avitabile

Excitation Dos and Donts

Dr. Peter Avitabile

Dr. Peter Avitabile

IMAC 30 - Jacksonville, FL - 2012

Excitation Dos and Donts

Sy Sx HSx Sx

Sy Sy HSx Sy

(Sy Sx )(Sx Sy )

(Sx Sx )(Sy Sy )