Substructuring with Subcomponent

Models Based on Nonlinear Normal

Modes

M.S. Allen & R. J. Kuether

30th International Modal Analysis Conference
Jacksonville, Florida
February 2012
 Motivation

flow induces pressure load and

heating causing nonlinear response

Built-up System
Substructure

• Structural panels on future hypersonic vehicles are subject to

buckling due to thermal expansion, so their dynamic response is
highly nonlinear.
• Current methods are too expensive to allow modeling of the
entire aircraft, but substructures can be studied.
– How does one nonlinear subcomponent affect the system?
– Do concepts from linear modal substructuring transfer to nonlinear
systems?

Allen & Kuether, Univ. Wisconsin-Madison

 Outline

• Background Substructures

• Nonlinear normal mode (NNM)

theory A B
– Frequency-Energy dependence
• Relationship to free response, forced
response
– Nonlinear Mode Shapes
• Substructuring in terms of NNMs Assembly
– Simple example problem to illustrate
the concepts.
– Predicting NNMs of Assemblies with A B
“Representative Linear Modal Models”
(RLMMs)
• Conclusions

Allen & Kuether, Univ. Wisconsin-Madison

 Nonlinear Assembly

• The basic idea of substructuring by satisfying

compatibility and equilibrium at the interfaces
between subcomponents is general and readily
applicable to nonlinear substructures.
– Commonly used in geometrically nonlinear FEA packages, for
example.
– However, this gives little insight into how the dynamics of
each substructure affect the nonlinear behavior.

Allen & Kuether, Univ. Wisconsin-Madison

 Prior Studies: Ozguven et al.

• Quite general method for frequency

based substructuring presented in mid-
90’s by Watanabe and Sato [1], Comert
& Ozguven [2] and Ferreira & Ewins
[3].
– Based on a single frequency harmonic
balance model (HBM) and describing
functions.
  x(t )   sin(t ) 
x  21 x  1x  3 x 3  f (t )  
 2 A  2ni A  n 2  34 3 A  2
 A  f (t )
– Satisfies equilibrium and compatibility of Quasi-linearization
the dominant harmonic in the HBM.
– Models exist in the physical domain; no Harmonic Balance
mention of modes and no method for Describing Function
reduction of the nonlinear model. Analysis
[1] K. Watanabe and H. Sato, "Development of Nonlinear Building Block Approach," Journal of Vibration, Acoustics, Stress, and Reliability in
Design, vol. 110, pp. 36-41, 1988.
[2] M. D. Cömert and H. N. Ozguven, "A Method for Forced Harmonic Response of Substructures Coupled by Nonlinear Elements," in Proceedings of the 13th IMAC
Nashville, Tennessee, 1995.
[3] J.&V.Kuether,
Allen FerreiraUniv.
and D. J. Ewins, "Nonlinear receptance coupling approach based on describing functions," in Proceedings of 14th IMAC Dearborn, Michigan, USA, 1996.
Wisconsin-Madison
 Prior Studies

• Chong & Imregun built on these

concepts presenting a modal
substructuring method for
nonlinear systems in [4].
– “Nonlinear Modes” defined either as Chong & Imregun
eigenvalues of [M] and tangent
stiffness matrix [K(Xmax)] or as shape
and frequency satisfying a single
term HBM.
• Allen & Kuether presented a
substructuring / structural
modification framework in terms
of Rosenberg’s nonlinear normal
modes.
– Showed excellent performance for
realistic problems.
– A formal proof has yet to be
developed.

[4] Y. H. Chong and M. Imregun, "Coupling of non-linear substructures using variable modal parameters," MSSP, vol. 14, pp. 731-746, 2000.
[5] T.&Kalaycioglu
Allen andWisconsin-Madison
Kuether, Univ. H. N. Ozguven, "Harmonic response of large engineering structures with nonlinear modifications," in EURODYN Leuven, Belgium, 2011.
 Modal Substructuring with Nonlinear Normal Modes

• Allen & Kuether’s work explores modal

substructuring starting with a more concrete
definition for the Nonlinear Normal Modes (NNM) by
Rosenberg [1] (1960)
– This definition has been used and generalized by Vakakis [2]
& Kerschen et al. [3].
– Defined as periodic responses of the undamped nonlinear
equations of motion - exact for a given model.
– Valid even for cases of internal resonance (when single-term
harmonic balance solutions become invalid)
• How do the nonlinear modes of an assembly affect
the response of the nonlinear system?
– When do insights from linear substructuring apply? (e.g.
thinking of the NNMs as modes of the substructures)

[1] R. M. Rosenberg, "Normal modes of nonlinear dual-mode systems," Journal of Applied Mechanics, vol. 27, pp. 263–268, 1960.
[2] A. F. Vakakis, "Non-linear normal modes (NNMs) and their applications in vibration theory: an overview," Mechanical Systems and Signal
Processing, vol. 11, pp. 3-22, 1997..
[3] G. Kerschen, M. Peeters, J. C. Golinval, and A. F. Vakakis, "Nonlinear normal modes. Part I. A useful framework for the structural
dynamicist,"
Allen Mechanical
& Kuether, Systems and Signal Processing, vol. 23, pp. 170-94, 2009.
Univ. Wisconsin-Madison
 Nonlinear Normal Mode (NNM) Theory

x  21 x  1x  3 x 3  f (t )

NNMs
4
Forced Freq Sweep
3.5
A=1
Asin(t) 3
x A=0.5
2.5 Multiple

Freq, 
m A=0.05 solutions
2

1.5
k c k3 1

0.5

0
-4 -2 0 2
10 10 10 10
Energy, E

• Undamped NNM defined as a periodic response of the undamped

nonlinear system.
– Damped NNM definition also exists (Pierre & Shaw)
– NNMs related to free response of undamped system, forced periodic
response and potentially even to random response.
• NNMs in this work were computed using algorithm in [1].
[1] M. Peeters, R. Viguie, G. Serandour, G. Kerschen, and J. C. Golinval, "Nonlinear normal modes, part II: toward a practical computation using numerical continuation
techniques,"
Allen Mechanical
& Kuether, Systems and Signal Processing,
Univ. Wisconsin-Madison vol. 23, pp. 195-216, 2009..
 Effect of System Parameters on NNM Frequency

2.6 x  21 x  1x2.6 3 x 3  f (t )

2.4 2.4

2.2 2.2

2 Increasing 2
Increasing linear

Frequency, 
Frequency, 

1.8 nonlinear 1.8

stiffness 3 stiffness
1.6 1.6

1.4 1.4

1.2 1.2

1 1

0.8 0.8
-4 -3 -2 -1 0 1 2 -4 -3 -2 -1 0 1 2
10 10 10 10 10 10 10 10 10 10 10 10 10 10
Energy, E Energy, E

• Changing the parameters of a nonlinear system causes intuitive

changes in the basic structure of the NNM frequency-energy
dependence.
– Similar analyses could be performed for other nonlinearities to
tailor the substructure to eliminate undesirable nonlinear behavior
or accentuate desirable behavior.
– (If internal resonance occurred, e.g. for an MDOF system, the
result would be considerably more complicated.)
Allen & Kuether, Univ. Wisconsin-Madison
 NNMs of MDOF Systems

• Multi-degree-of-freedom systems have multiple nonlinear

normal modes.
• Each is characterized by its frequency-energy dependence
(analogous to its natural frequency) and mode shape.
• Mode shapes of NNMs are nonlinear functions of the modal
amplitude.
x  φ r ( qr ) Nonlinear
15
NNM Shape

x  1r 2 r  Nr  qr
T 10
Linear
5
• The NNMs are related to a
0

x2
manifold in the state space.
• Motions that initiate on an -5

NNM manifold remain on that -10

NNM

manifold for all time, Linear Trend

described by a single-degree-
-15
-2 -1 0 1 2
of-freedom equation of x1
motion.

Allen & Kuether, Univ. Wisconsin-Madison

 Substructuring in light of Nonlinear Normal Modes

• Example: Two simple Nonlinear

nonlinear systems joined to

Substructures
A and B

form a built-up structure.

Built-up
x3 System C
m3
– Parameters:
• m1=1, m2=0.5, m3=0.5, k1=1, k2=0.2 m3
knl,2 k2
– Nonlinear springs are cubic with
coefficients knl,1=0.5 and knl,2=1e-5. x2
m2
– Linearized natural frequency of
A, A1=1 rad/s, is close to the m2
second linearized natural x1
frequency, B2=(2k2/m2)(1/2) ≈0.89. m1 m1
• Attached system acts as a vibration
absorber. knl,1 k1
• Using linear theory, one would
expect that the natural frequencies
of the built up system will be above
and below A1≈ B2 .

Allen & Kuether, Univ. Wisconsin-Madison

 Substructuring in light of Nonlinear Normal Modes

NNM Frequencies vs. Energy Nonlinear

1
Substructures
10
• At low energies linear A x3
A and B
Built-up
substructuring can be used
C
m3
System C

and the expected vibration

m3
absorber effect is observed: knl,2 k2
Frequency (rad/s)

B
– Two modes appear with
frequencies above and below x2
the frequencies of the C
m2
subcomponents. m2
0
x1
10 m1 m1

knl,1 k1
-4 -2 0 2 4 6
10 10 10 10 10 10
Energy

Allen & Kuether, Univ. Wisconsin-Madison

 Substructuring in light of Nonlinear Normal Modes

NNM Frequencies vs. Energy Nonlinear

1
Substructures
10 A and B
A x3 Built-up
C System C
m3
m3
knl,2 k2
Frequency (rad/s)

B
3x NNM 1 x2
C
m2
m2
0
x1
10 m1 m1

knl,1 k1
-4 -2 0 2 4 6
10 10 10 10 10 10
Energy
• Behavior resembles linear substructuring behavior for all but one
small range of energy where internal resonance occurs.
• Can the evolution be understood using linear substructuring
concepts?
Allen & Kuether, Univ. Wisconsin-Madison
 Quasi-Linear Substructuring
NNM Frequencies vs. Energy

• Linear substructuring: 10
1

A
C
– Combines the modes of two
substructures (using constraints and

Frequency (rad/s)
equilibrium) to estimate the modes
B

of an assembly. C

– e.g. “ritzscomb.m” package by Allen 0

10

• Can the NNMs of two substructures

be combined in a similar way to
estimate the NNMs of the assembled 10
-4
10
-2 0
10
Energy
10
2
10
4
10
6

system at a certain energy?

Modes of Modes of
Substructures: Assembly:
Linear Modal
r  r 
A A Substructuring r r

r  r 
B B Constraints:
y A 
  
a p   y B   0 Iterate to use subcomponent modal
  
Allen & Kuether, Univ. Wisconsin-Madison
  parameters at the correct energy level.
 Representative Linear Modal Models (RLMMs)

• Proposed Approach:
– Define a linear model that captures the frequency and mode
shape of each mode at a certain energy level:
• Representative Linear Modal Model (RLMM).
• Quasi-linear modal model
– Use linear substructuring to couple the RLMMs and estimate
the NNMs of the assembly at that energy level.
NNM Shape
15

10
secant approx.
 ( E )r  
R NNM
( E )r 5
to NNM shape
0
x2

 R ( E )r  φ NNM ( E , tdpk )r -5
NNM
-10
RLMM Linear Trend
-15
-2 -1 0 1 2
x1
Allen & Kuether, Univ. Wisconsin-Madison
 RLMM Predictions for Simple Spring-Mass System

NNM Frequencies vs. Energy

Nonlinear
1
10 Substructures
-0.18 A and B
10 Built-up
x3 System C
m3
m3
Frequency (rad/s)

-0.21 knl,2 k2
10

10
2 x2
m2
10
0
m2
x1
m1 m1
-4 -2 0 2 4 6
10 10 10 10 10 10 knl,1 k1
Energy

• RLMM approach predicts the NNM frequency-

energy dependence very precisely for this system!
– Internal resonance is not captured but one could
ascertain that it is possible due to the 3:1 ratio of
NNM frequencies.
Allen & Kuether, Univ. Wisconsin-Madison
 RLMM Predictions for Simple Spring-Mass System

NNM Frequencies vs. Energy

50
1
10 x1
-0.18
10 x2
30
RLMM x1
RLMM x2

Displacements
10
Frequency (rad/s)

-0.21
10 -10

2
10
-30

0
10
-50
0 2 4 6 8 10
Time (s)

• NNM is10 simply

10 a10 periodic
10 solution
10 10
-4
to the -2 0 2 4 6

governing differential
Energy
equations.
• As a linear model, the RLMM approximates
the NNM as a pure cosine.
– Agreement is quite good in this case.
Allen & Kuether, Univ. Wisconsin-Madison
 Case Study: Nonlinear Modal Substructuring

• Modal reduction at the subcomponent level (compared

to 119 DOF and 89 DOF).
– QL-NNM Substructuring: Each beam has 8 NNMs.
– NLROM Substructuring: NLROMs constructed from 8 linear
modes.

Allen & Kuether, Univ. Wisconsin-Madison

 Results of Nonlinear Modal Substructuring

220 Truth
NNM Substructuring
200 NLROM Substructuring

180

160
Frequency, Hz

140

120

100

80

60

40

20 -6 -4 -2
10 10 10
Allen & Kuether, Univ. Wisconsin-Madison
Energy, in-lbf
 Further Extensions by Allen & Kuether

1. M. S. Allen and R. J. Kuether, "Substructuring with Nonlinear

Subcomponents: A Nonlinear Normal Mode Perspective," in
30th International Modal Analysis Conference Jacksonville,
Florida, 2012
2. R. J. Kuether and M. S. Allen, "Structural Modification of
Nonlinear FEA Subcomponents Using Nonlinear Normal Modes,"
in 31st International Modal Analysis Conference (IMAC XXXI)
Garden Grove, CA, 2013
3. R. J. Kuether and M. S. Allen, "Nonlinear Modal Substructuring
of Systems with Geometric Nonlinearities " in 54th
AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics,
and Materials Conference Boston, MA, 2013
4. R. J. Kuether and M. S. Allen, "Substructuring with Nonlinear
Reduced Order Models and Interface Reduction with
Characteristic Constraint Modes," in 55th
AIAA/ASMe/ASCE/AHS/SC Structures, Structural Dynamics,
and Materials Conference National Harbor, Maryland, 2014

Allen & Kuether, Univ. Wisconsin-Madison

 Case Study: Assembly of two flat plates

• Subcomponent A: 9”x9”x0.031” plate

• Subcomponent B: 9”x6”x0.031” plate
• Material properties of structural steel
Each plate has simple
supports at edges

Subcomponents Assembly

Couple at x, y and z
9”
rotational DOF

9”
6” 15”

Allen & Kuether, Univ. Wisconsin-Madison

21
 Nonlinear Substructuring Results

220 CD [1]
CD [4]
CD [16]
200
AMF

180
Frequency, Hz

160

140

120

100

80

-4 -3 -2 -1
10 10 10 10
Allen & Kuether, Univ. Wisconsin-Madison
Energy, in-lbf 22
 Nonlinear Substructuring Results

220 CD [1]
CD [4]
CD [16]
200
AMF

180
Frequency, Hz

160

140

120

100

80

-4 -3 -2 -1
10 10 10 10
Allen & Kuether, Univ. Wisconsin-Madison
Energy, in-lbf 23