Modal Analysis: ANSYS Mechanical Dynamics

Chapter 2:
Modal Analysis
ANSYS Mechanical
Dynamics
ANSYS, Inc. Proprietary

2009 ANSYS, Inc. All rights reserved.
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Modal Analysis
Training Manual
A. Define modal analysis and its purpose.

B. Discuss associated concepts, terminology, and mode extraction
methods.
C. Learn how to do a modal analysis in Workbench.
D. Work on one or two modal analysis exercises.

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Description & Purpose
Training Manual
A modal analysis is a technique used to determine the vibration

characteristics of structures:
natural frequencies
at what frequencies the structure would tend to naturally vibrate
mode shapes
in what shape the structure would tend to vibrate at each frequency
mode participation factors

the amount of mass that participates in a given direction for each mode
Most fundamental of all the dynamic analysis types.

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Training Manual
Benefits of modal analysis

Allows the design to avoid resonant vibrations or to vibrate at a
specified frequency (speaker box, for example).
Gives engineers an idea of how the design will respond to different
types of dynamic loads.
Helps in calculating solution controls (time steps, etc.) for other
dynamic analyses.
Recommendation: Because a structures vibration characteristics
determine how it responds to any type of dynamic load, it is generally
recommended to perform a modal analysis first before trying any other
dynamic analysis.

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Terminology
Training Manual
A mode refers to the pair of one

natural frequency and
corresponding mode shape.
mode 1
{}1
f1 = 109 Hz
A structure can have any number of

modes, up to the number of DOF in
the model.
mode 2
{}2
f2 = 202 Hz
mode 3
{}3
f3 = 249 Hz

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Theory
Assumptions & Restrictions
Training Manual
The structure is linear (i.e. constant stiffness and mass).

There is no damping.
Damped eigensolvers (MODOPT,DAMP or MODOPT,QRDAMP) may be
accessed using Commands Objects, but will not be covered here.
The structure has no time varying forces, displacements, pressures,

or temperatures applied (free vibration).

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Theory
Development
Training Manual
Start with the linear general equation of motion:
M u C u K u F
Assume free vibrations, and ignore damping:
0
0
M u C u K u F
M u K u 0
Assume harmonic motion:
u
u
u
i sin it i
i i cos i t i
i2 i sin i t i
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Theory
Development
Training Manual
Substitute and simplify
M u K u 0
i2 M i sin i t i K i sin i t i 0
i2 M K i 0
This equality is satisfied if i = 0 (trivial, implies no vibration) or if
det K i2 M 0
This is an eigenvalue problem which may be solved for up to n
eigenvalues, i2, and n eigenvectors, i, where n is the number of
DOF.
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Theory
Extraction & Normalization
Training Manual
Note that the equation
det K M 0
2
i
has one more unknown than equations; therefore, an additional

equation is needed to find a solution.
The addition equation is provided by mode shape normalization.
Mode shapes can be normalized either to the mass matrix
M i 1
T
i
or to unity, where the largest component of the vector {}i is set to 1.

Workbench displays results normalized to the mass matrix.
Because of this normalization, only the shape of the DOF solution
has real meaning.
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Theory
Eigenvalues & Eigenvectors
Training Manual
The square roots of the eigenvalues

are i, the structures natural
circular frequencies (rad/s).
mode 1
{}1
f1 = 109 Hz
Natural frequencies fi can then

calculated as fi = i/2 (cycles/s).
mode 2
{}2
f2 = 202 Hz
It is the natural frequencies, fi in Hz,

that are input by the user and output
by Workbench.
The eigenvectors {}i represent the

mode shapes, i.e. the shape
assumed by the structure when
vibrating at frequency fi.

mode 3
{}3
f3 = 249 Hz
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Theory
Equation Solvers
The equation
Training Manual
det K M 0
2
i
can be solved using one of two solvers available in Workbench

Mechanical:
Direct (Block Lanczos)
To find many modes (about 40+) of large models.
Performs well when the model consists of shells or a combination of shells and
solids.
Uses the Lanczos algorithm where the Lanczos recursion is performed with a
block of vectors. Uses the sparse matrix solver.
Iterative (PCG Lanczos)

To find few modes (up to about 100) of very large models (500,000+ DOFs).
Performs well when the lowest modes are sought for models that are
dominated by well-shaped 3-D solid elements.
Uses the Lanczos algorithm, combined with the PCG iterative solver.
In most cases, the Program Controlled option selects the optimal

solver automatically.
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Theory
Participation Factors (Solution Information)
Training Manual
The participation factors are calculated by
i i M D
T
where {D} is an assumed unit displacement spectrum in each of the global

Cartesian directions and rotation about each of these axes.
This measures the amount of mass moving in each direction for each mode.
The Ratio is simply another list of participation factors, normalized to the largest.
The concept of participation factors will be important in later chapters.

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Theory
Participation Factors (Solution Information)
Training Manual
A high value in a direction indicates that the mode will be excited by forces in
that direction.
mode 1

mode 3
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Theory
Effective Mass (Solution Information)
Training Manual
Also printed out is the effective mass.
M eff ,i
i2
T
2
,
if
i
i M i 1
T
i M i
Ideally, the sum of the effective masses in each direction should equal total
mass of structure, but will depend on the number of modes extracted.
The ratio of effective mass to total mass can be useful for determining
whether or not a sufficient number of modes have been extracted.

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Theory
Prestress Effects
Training Manual
A prestressed modal analysis can be used to calculate the

frequencies and mode shapes of a prestressed structure, such as a
spinning turbine blade.
The prestress influences the stiffness of the structure through the stressstiffening matrix contribution.

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Theory
Prestress Effects
Training Manual
In free vibration with prestress analyses, two solutions are required.

A linear static analysis is initially performed:
K u F
Based on the stress state [] from the static analysis, a stress stiffness
matrix [S] is calculated (see Theory Reference for details):
S
The free vibration with pre-stress analysis is then solved, including the
[S] term:
K S M 0
2
i
Note that the prestress only affects the stiffness of the system.
i.e. the static prestress will not be added to the modal stress
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Remarks & Comments
Contact Regions
Training Manual
Contact regions are available in modal analysis; however, since this

is a purely linear analysis, contact behavior will differ for the
nonlinear contact types, as shown below:
Linear Dynamic Analysis
Contact Type
Static Analysis
Bonded
Initially Touching
Inside Pinball Region
Outside Pinball
Region
Bonded
Bonded
Bonded
Free
No Separation
No Separation
No Separation
No Separation
Free
Rough
Rough
Bonded
Free
Free
Frictionless
Frictionless
No Separation
Free
Free
Frictional
Frictional
Free
Free
= 0, No Separation
> 0, Bonded
Contact behavior will reduce to its linear counterparts.

It is generally recommended, however, not to use a nonlinear contact
type in a linear-dynamic analysis
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Remarks & Comments
Unconstrained Systems
Training Manual
An unconstrained system is one that has no constraints or supports

and can move as a rigid body in at least one direction.
Rigid-body motion can be considered to be a mode of oscillation with
zero frequency.
In practice, these modes may not have a frequency of exactly zero.
rigid-body
or
zero modes
Note that a well-connected system can have at most six rigid-body

modes.
Obtaining more than six rigid-body modes may indicate that assemblies
are not well connected.
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Remarks & Comments
Symmetry Boundary Conditions
Training Manual
Symmetry BCs will only produce symmetrically shaped modes, so

some modes can be missed.
It may be necessary to apply several different symmetry conditions to
find all modes.
The full model below results in the frequencies listed in the tabular view.
A quarter-symmetry model will require three sets of symmetry boundary
conditions to find all modes (see next slide)...

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Remarks & Comments
Symmetry Boundary Conditions
Training Manual
Symm-Asym BC
Full Model
Symmetry BC
etc
Anti-Symmetry BC

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Procedure:
Modal

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Modal
Procedure
Training Manual
Drop a Modal (ANSYS) system into the project schematic.

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Modal
Procedure
Training Manual
Create new geometry, or link to

existing geometry.

Edit the Model cell to bring up the

Mechanical application.
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Modal
Preprocessing
Training Manual
Verify materials, connections, and mesh settings.

This was covered in Workbench Mechanical Intro.

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Modal
Preprocessing
Training Manual
Add supports to the model.

Displacement constrains must have a magnitude of zero.

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Modal
Solution Settings
Training Manual
Choose the number of modes to

extract.
If needed, upper and lower bounds
on frequency may be specified to
extract the modes within a specified
range.

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Modal
Solution Settings
Training Manual
Stress and strain results may be

turned on under Output Controls.
If the Program-Controlled solver
selection is not appropriate, the
solver type can be changed to either
Direct or Iterative.

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Modal
Postprocessing
Training Manual
Total-deformation results may be

quickly inserted by highlighting
multiple rows in the tabular view or
histogram view.

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Modal
Postprocessing
Training Manual
If stress/strain were requested, these results may also be access from the
Solution Toolbar.

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Procedure:
Prestressed Modal

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Prestressed Modal
Procedure
Training Manual
The procedure to do a prestressed

modal analysis is essentially the
same as a regular modal analysis,
except that you first need to
prestress the structure by doing a
static analysis.
The static analysis results in a
stressed structure, which is used as
the initial condition for the modal
analysis.

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Prestressed Modal
Procedure
Training Manual
Drop a Static Structural (ANSYS) system into the project schematic.

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Prestressed Modal
Procedure
Training Manual
Drop a Modal (ANSYS) system onto

the Solution cell of the Modal
system.

Note the circular-ended connector,

indicating a data transfer from the
Static to the Modal analysis.
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Prestressed Modal
Procedure
Training Manual
Create new geometry, or link to

existing geometry.
Edit the Model cell to bring up the
Mechanical application.

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Prestressed Modal
Preprocessing
Training Manual
In the Static Structural system, insert the loads and supports that will cause
the prestressed-state to occur.

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Prestressed Modal
Postprocessing
Training Manual
Review the static results before

proceeding.

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Prestressed Modal
Preprocessing
Training Manual
Workbench will automatically setup

the data transfer between the
systems.

To verify the data transfer, one can

ensure that
Future Analysis is set to Prestressed
analysis in the Static Structural
system
Pre-Stress Environment is set to
Static Structural in the Modal system
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Prestressed Modal
Postprocessing
Training Manual
The modal results may be reviewed as described in the previous section.

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Prestressed Modal
Postprocessing
Training Manual
Note that the prestressed state increased the frequencies of this structure.
e.g. the first mode in this example increased from 108.3 Hz to 274.6 Hz
Not Prestressed
Prestressed
A prestress may not always increase the natural frequencies; a compressive

load will decrease the frequencies.
In fact, a sufficiently-high compressive load will result in a natural frequency of
zero, effectively replicating the results of a buckling analysis.
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D. Workshop - Modal Analysis
Training Manual
This workshop consists of two problems:

1. Modal analysis of a plate with a hole
A step-by-step description of how to do the analysis.
You may choose to run this problem yourself, or your instructor may
show it as a demonstration.
(WS2A: Modal Analysis - Plate with a Hole).
2. Pre-stressed Modal analysis of a model airplane wing

This is left as an exercise to you.
(WS2B: Modal Analysis - Model Airplane Wing).

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Modal Analysis: ANSYS Mechanical Dynamics

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Chapter 2:

ANSYS, Inc. Proprietary

A. Define modal analysis and its purpose.

ANSYS, Inc. Proprietary

Description & Purpose

A modal analysis is a technique used to determine the vibration

mode participation factors

Most fundamental of all the dynamic analysis types.

ANSYS, Inc. Proprietary

Description & Purpose

Benefits of modal analysis

ANSYS, Inc. Proprietary

Description & Purpose

A mode refers to the pair of one

A structure can have any number of

ANSYS, Inc. Proprietary

Assumptions & Restrictions

The structure is linear (i.e. constant stiffness and mass).

The structure has no time varying forces, displacements, pressures,

ANSYS, Inc. Proprietary

Start with the linear general equation of motion:

Substitute and simplify

Extraction & Normalization

Note that the equation

has one more unknown than equations; therefore, an additional

Mode shapes can be normalized either to the mass matrix

or to unity, where the largest component of the vector {}i is set to 1.

Eigenvalues & Eigenvectors

The square roots of the eigenvalues

Natural frequencies fi can then

It is the natural frequencies, fi in Hz,

The eigenvectors {}i represent the

ANSYS, Inc. Proprietary

can be solved using one of two solvers available in Workbench

Iterative (PCG Lanczos)

In most cases, the Program Controlled option selects the optimal

Participation Factors (Solution Information)

The participation factors are calculated by

where {D} is an assumed unit displacement spectrum in each of the global

The concept of participation factors will be important in later chapters.

ANSYS, Inc. Proprietary

Participation Factors (Solution Information)

ANSYS, Inc. Proprietary

Effective Mass (Solution Information)

Also printed out is the effective mass.

ANSYS, Inc. Proprietary

A prestressed modal analysis can be used to calculate the

ANSYS, Inc. Proprietary

In free vibration with prestress analyses, two solutions are required.

Remarks & Comments

Contact regions are available in modal analysis; however, since this

Inside Pinball Region

Contact behavior will reduce to its linear counterparts.

Remarks & Comments

An unconstrained system is one that has no constraints or supports

Note that a well-connected system can have at most six rigid-body

Remarks & Comments

Symmetry Boundary Conditions

Symmetry BCs will only produce symmetrically shaped modes, so

ANSYS, Inc. Proprietary

Remarks & Comments

Symmetry Boundary Conditions

ANSYS, Inc. Proprietary