Modal Analysis
Module 2
Modal Analysis
Training Manual
B. Discuss associated concepts, terminology, and mode extraction
methods.
C. Learn how to do a modal analysis in ANSYS.
DYNAMICS 7.0
A. Define modal analysis and its purpose.
D. Work on one or two modal analysis exercises.
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Modal Analysis
A. Definition & Purpose
What is modal analysis?
A technique used to determine a structures vibration
characteristics:
Natural frequencies
Mode shapes
Mode participation factors (how much a given mode participates in a
given direction)
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Most fundamental of all the dynamic analysis types.
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Modal Analysis
Definition & Purpose
Training Manual
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Benefits of modal analysis
Allows the design to avoid resonant vibrations or to vibrate at a
specified frequency (speakers, 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, always perform a
modal analysis first before trying any other dynamic analysis.
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Modal Analysis
B. Terminology & Concepts
DYNAMICS 7.0
Training Manual
General equation of motion:
Mu Cu Ku Ft
Assume free vibrations and ignore damping:
Mu Ku 0
Assume harmonic motion ( i.e.
u U sin( t ) )
K Mu 0
2
The roots of this equation are i2, the eigenvalues, where i ranges
from 1 to number of DOF. Corresponding vectors are {u}i, the
eigenvectors.
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Modal Analysis
Terminology & Concepts
Training Manual
The square roots of the eigenvalues are i , the structures natural
circular frequencies (radians/sec). Natural frequencies fi are then
calculated as fi = i /2p cycles/sec. It is the natural frequencies fi
that are input by the user and output by ANSYS.
The eigenvectors {u}i represent the mode shapes - the shape
assumed by the structure when vibrating at frequency fi.
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Modal Analysis
Terminology & Concepts (cont.)
Training Manual
Mode Extraction is the term used to describe the calculation of
eigenvalues and eigenvectors.
Mode Expansion has a dual meaning. For the reduced method,
mode expansion means calculating the full mode shapes from the
reduced mode shapes. For all other methods, mode expansion
simply means writing mode shapes to the results file.
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Modal Analysis - Terminology & Concepts
Mode Extraction Methods
Several mode extraction methods are available in ANSYS:
Block Lanczos (default)
Subspace
PowerDynamics
Reduced
Unsymmetric
Damped (full)
QR Damped
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Which method you choose depends primarily on the model size
(relative to your computer resources) and the particular
application.
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Modal Analysis - Terminology & Concepts
Mode Extraction Methods - Block Lanczos
The Block Lanczos method is recommended for most
applications.
Efficient extraction of large number of modes (40+) in most models
Typically used in complex models with mixture of
solids/shells/beams etc.
Efficient extraction of modes in a frequency range
Handles rigid-body modes well
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Modal Analysis - Terminology & Concepts
Mode Extraction Methods - Subspace
When extracting a small number of modes (<40) in similar size
models, the subspace method can be more suitable.
Requires relatively less memory but large diskspace
May have convergence problems when rigid body modes are present.
Not recommended when constraint equations are present.
Generally superseded by Block Lanczos
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Modal Analysis - Terminology & Concepts
Mode Extraction Methods - PowerDynamics
For large (100K+ DOF) models and a small number of modes
(< 20), use the PowerDynamics method. It can be significantly
faster than Block Lanczos or Subspace, but:
Requires large amount of memory.
May not converge with poorly shaped elements or an ill-conditioned
matrix.
May miss modes (No Sturm sequence check)
Recommended only as a last resort for large models.
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Modal Analysis - Terminology & Concepts
Mode Extraction Methods - Reduced
For models in which lumping mass does not create a local
oscillation, typically beams and spars, use the Reduced method.
Memory and disk requirements are low.
In general fastest eigen solver
Employs matrix reduction, a technique to reduce the size of [K] and
[M] by selecting a subset of DOF called master DOF.
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Reduction of [K] is exact but [M] loses some accuracy
Accuracy of [M] depends on number and location of master DOF.
Generally not recommended due to
Expertise required in picking master DOF
Efficient alternatives such as Block Lanczos
reduced cost of hardware
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Modal Analysis - Terminology & Concepts
Mode Extraction Methods - Unsymmetric
The unsymmetric method is used for acoustics (with structural
coupling) and other such applications with unsymmetric [K] and [M].
Calculates complex eigenvalues and eigenvectors:
Real part is the natural frequency.
Imaginary part indicates stability - negative means stable, positive
means unstable.
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Modal Analysis - Terminology & Concepts
Mode Extraction Methods - Damped
Damping is normally ignored in a modal analysis, but if its effects
are significant, the Damped method is used.
Typical application is rotor dynamics, where gyroscopic damping
effects are important.
Two ANSYS elements, BEAM4 and PIPE16, allow gyroscopic effects to
be specified in the form of real constant SPIN (rotational speed,
radians/time).
Calculates complex eigenvalues and eigenvectors:
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Imaginary part is the natural frequency.
Real part indicates stability - negative means stable, positive
means unstable.
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Modal Analysis - Terminology & Concepts
Mode Extraction Methods - Q-R damped
A second mode extraction method that considers damping effects
is the Q-R Damped method.
Faster and more stable than the existing Damped Solver
Works with poorly conditioned models
All forms of damping allowed including damper elements
Combines the best features of the real eigensolution method (Block
Lanczos) and the Complex Hessenberg method (QR Algorithm)
Outputs complex eigenvalues ( frequency and stability) and damping
ratio of each mode
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Modal Analysis - Terminology & Concepts
Mode Extraction Methods - Q-R damped
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MODOPT,QRDAMP,NMODE
Training Manual
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Modal Analysis - Terminology & Concepts
Mode Extraction Methods - Q-R damped
Training Manual
FEA Model Characteristics:
111,129 active dofs
10 damped modes
Alpha, Beta and Element damping
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Comparison Demonstrating the Superior Solution Performance
of the QR Damped Mode Extraction Method
160000
140000
120000
100000
CPU (sec)
80000
ELAPSE (sec)
60000
40000
20000
0
QRDAMP
DAMP
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Modal Analysis - Terminology & Concepts
Summary for symmetric, undamped solvers
Linear Solver
Used
Block Lanczos
Sparse Matrix
Subspace
Frontal Solver
Powerdynamics PCG solver
Reduced
Frontal Solver
Remarks
Recommended for most applications; Most stable;
Stable but slow; Requires large disk space; Has
difficulty with constraint equations / rigid body
modes
Same as subspace but with PCG solver; Can
handle very large models; Lumped mass only; May
miss modes; Modes cannot be used in
subsequent spectrum and PSD analyses
In general fastest; Accuracy depends on Master
DOF selection; Limitations similar to Subspace;
Not recommended due to expertise required in
selecting Master DOF.
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Extraction
method
Training Manual
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Modal Analysis
C. Procedure
Build the model
Choose analysis type and options
Apply boundary conditions and solve
Review results
DYNAMICS 7.0
Four main steps in a modal analysis:
Training Manual
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Modal Analysis Procedure
Build the Model
Training Manual
Remember density!
Linear elements and materials only. Nonlinearities are ignored.
See also Modeling Considerations in Module 1.
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Modal Analysis Procedure
Choose Analysis Type & Options
Choose analysis type and
options
Enter Solution and choose
modal analysis.
Mode extraction options*
Mode expansion options*
Other options*
*Discussed next
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Build the model
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Modal Analysis Procedure
Choose Analysis Type & Options
Method: Block Lanczos
recommended for most applications.
Number of modes: Must be specified
(except Reduced method).
Frequency range: Defaults to entire
range, but can be limited to a desired
range (FREQB to FREQE).
Normalization: Discussed next.
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Mode extraction options
Training Manual
defaults to 1e8
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Modal Analysis Procedure
Choose Analysis Type & Options
Training Manual
Needed because the DOF solution does not have real meaning. It
only shows the mode shape - how the nodes move relative to each
other.
Modes are normalized either to the mass matrix or to a unit matrix
(unity).
DYNAMICS 7.0
Normalization of mode shapes:
Normalization to mass matrix is the default, and is required for a
spectrum analysis or if a subsequent mode superposition analysis is
planned.
Choose normalization to unity when you want to easily compare
relative values of displacements throughout the structure.
Modes normalized to unity cannot be used in subsequent mode
superposition analyses (transient, harmonic, spectrum or random
vibration)
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Modal Analysis Procedure
Choose Analysis Type & Options
You need to expand mode shapes if you want to do any of the
following:
Review mode shapes during postprocessing.
Have element stresses calculated.
Do a subsequent spectrum analysis.
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Mode expansion:
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Modal Analysis Procedure
Choose Analysis Type & Options
Training Manual
Recommendation: Always expand as many modes as the number
extracted. The cost of this is minimal.
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Mode expansion (continued):
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Modal Analysis Procedure
Choose Analysis Type & Options
Other analysis options:
Lumped mass matrix
Mainly used for slender beams and thin shells, or for wave
propagation problems.
Automatically chosen for PowerDynamics method.
Pre-stress effects
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For Pre-stressed modal analysis (discussed later).
Full damping
Used only if Damped mode extraction method is chosen.
Damping ratio, alpha damping, and beta damping are allowed.
BEAM4 and PIPE16 also allow gyroscopic damping.
QR damping
All types of damping are allowed.
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Modal Analysis Procedure
Apply BCs and Solve
Choose analysis type and options
Apply boundary conditions and solve
Displacement constraints: Discussed next.
External loads: Ignored since free vibrations are assumed.
However, ANSYS creates a load vector which you can use in a
subsequent mode superposition analysis.
Solve: Discussed next.
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Build the model
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Modal Analysis Procedure
Apply BCs and Solve
Training Manual
Rigid body modes will be calculated in directions not constrained.
Non-zero displacements are not allowed.
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Displacement constraints:
Apply as necessary, to simulate actual fixity.
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Modal Analysis Procedure
... Apply BCs and Solve
Training Manual
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Displacement constraints (continued):
Be careful with symmetry
Symmetry BCs will only produce
symmetrically shaped modes, so some
modes can be missed.
Full Model
Symmetry BC
Anti-Symmetry BC
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Modal Analysis Procedure
Apply BCs and Solve
Training Manual
For the plate-with-hole model, the lowest non-zero mode for the full and
the quarter-symmetry case is shown below. The 53-Hz mode was missed
by the anti-symmetry case because ROTX is non-zero along the
symmetry boundaries.
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Displacement constraints (continued):
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Modal Analysis Procedure
Apply BCs and Solve
Typically one load step.
Multiple load steps can be used to study the
effect of different displacement constraints
(symmetry BC in one load step and anti-symmetry
BC in another, for example).
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Solve:
Training Manual
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Modal Analysis Procedure
Review Results
Choose analysis type and options
Apply boundary conditions and solve
Review results using POST1, the general postprocessor
List natural frequencies
View mode shapes
Review participation factors
Review modal stresses
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Build the model
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Modal Analysis Procedure
Review Results
Training Manual
Choose Read Results > By Pick in the General Postproc menu.
Notice that each mode is stored in a separate substep.
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Listing natural frequencies:
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Modal Analysis Procedure
Review Results
First read in results for the
desired mode using First Set, Next
Set, or By Load Step.
Then plot the deformed shape:
General Postproc > Plot Results >
Deformed Shape
Notice that the graphics legend
shows mode number (SUB = ) and
the frequency (FREQ = ).
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Viewing mode shapes:
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Modal Analysis Procedure
Review Results
Training Manual
You can also animate the mode shape: Utility Menu > PlotCtrls >
Animate > Mode Shape...
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Viewing mode shapes (continued):
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Modal Analysis Procedure
Review Results
Training Manual
Calculated for each mode in global translation and rotation
directions
High value in a direction indicates that the mode will be excited by
forces in that direction
Values are relative based on a unit displacement spectrum
Participation factor values can be retrieved into a parameter using
*GET command
Also printed out (to the output file) is the effective mass. Ideally
the sum of the effective masses in each direction should equal
total mass of structure
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Participation Factors:
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Modal Analysis Procedure
Review Results
Training Manual
Available if element stress calculation is activated when choosing analysis
options.
Stress values have no real meaning, however these can be used to
highlight hot spots
If mode shapes are normalized to unity, you can compare stresses at
different points for a given mode shape
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Modal stresses:
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Modal Analysis Procedure
Review Results
Training Manual
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Mode shapes
normalized to
unity
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Modal Analysis
Procedure
Choose analysis type and options
Apply boundary conditions and solve
Review results
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Build the model
Training Manual
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