International Journal of Advanced Engineering Technology E-ISSN 0976-3945 Research Article VIBRATION ANALYSIS OF CRACKED BEAM, 'S.P.Mogal, ’Dr.R.K.Behera, ’S.Y Pawar jour ‘cataccom Address for Correspondence ‘St.Lecturer, M.V.P.K.B.T College of Engineering, Nasik (M.S.), India ° Associate Professor, NIT Rourkela (Orissa), India ‘Lecturer, M.V.P-K.B.T.College of Engineering, Nasik (M.S.), India ‘ABSTRACT Inthe present stady, vibration analysis is carried out on cantilever beam with two open transverse cracks, to study the response charactristies. In first phase local compliance matrices of diferent degree of freedom have been used model ‘tansverse cracks in bear on available expression of stress intensity factors and the associated express for stain energy release rates. Suitable boundary conditions are used to find out natural frequency and mode shapes. The resulls obtained numerically are validated with the results obtained from the simulation, The simulations have done with the help of ANSYS software. [tis verified from both computational and simulation analysis that the presence of crack decreases the natural frequency of vibration, The mode shapes also changes considerably due tothe presence of erack, Feed-forward multi-layer neural networks tained by beck-propogation are used to learn the input (the location and depth of a crack)-output (the structural eigenfrequencies) relation ofthe structural system, 1. INTRODUCTION In the present investigation a number of literatures published so far have been surveyed, reviewed and analysed. Most of researchers studied the effect of single crack on the dynamies of structures. Orhan Sadettin [1] has studied the free and forced vibration analysis of cracked beam was performed in order to identify the erack in a cantilever beam. Single- and ‘pwo-edge cracks were evaluated. Dynamic response of the forced vibration better describes changes in crack depth and location than the free vibration in which the difference between natural frequencies corresponding to a change in crack depth and location only is a minor effect, Kisa et al.(2,3] Presents a novel numerical technique applicable to analyse the fice vibration analysis of uniform and stepped cracked beams with circular cross section Darpe et al,[4] have studied Sa simple Jeffeott rotor with two transverse surface cracks. The stiffness of such a rotor is derived based on the concepts of fracture mechanics. Subsequently, the effect of the interaction of the two cracks on the breathing ‘behavior and on the unbalance response of the rotor is studied Chondros et al. [5] has analyzed the lateral vibration of cracked Euler-Bernoulli beams with single or double edge cracks. Theit analysis can be used for the prediction of the dynamic response of a simply supported beam with open surface cracks. However in actual practice structural members such as beams are highly susceptible to transverse cross-sectional cracks due to fatigue. Therefore to attempt has been made to investigate the dynamic behavior of basic structures with erack systematically. The objective is to carry out vibration analysis on a cantilever beam with and without crack. The results obtained analytically are validated with the simulation results In first phase of the work two transverse surface cracks are included in developing the analytical expressions in dynamic characteristics of structures These cracks introduce new boundary conditions for the structures at the crack locations. These boundary conditions are derived from strain energy equation using castiligiano's theorem, Presence of erack also reduces stiffness of the structures which has been LAET/VoLIIL/ Issue I/January-March, 2012/371-377 ‘derived from silfness matrix, The detailed analyses fof crack modeling and stiffness matrices ate presented in subsequent sections. Euler-Bernoulli beam theory is used for dynamic characteristics of beams with transverse cracks Modified boundary conditions due to presence of crack have been used to find out the theoretical expressions for natural frequencies and mode shape for the beams. 2. THEORETICAL ANALYSIS. The beam with a two transverse edge cracks is clamped at left end, fiee at right end and it has a uniform structure with a constant rectangular cross section, ‘The Euler-Bemoulli beam model was assumed, The damping has not been considered in this study, A cantilever beam of length L, of uniform rectangular cross-section XFL with cracks located at positions Ly and L, is considered in fig.(1). The cracks are assumed to be an open crack and have In the uniform depths a, and a, respectively present analysis the axial and bending vibration are ‘considered. Local flexibility of eracked beam under bending & axial loading. AZ ymetry of cantilever beam with two transverse cracks, Local flexibility of eracked beam under bending and axial loading The present of crack of depth a, introduces a local flexibility matrix. The dimension of the local flexibility matrix (2%2), as each side has two degree of freedom where off diagonal elements of the matrix are considered as coupling elements in the flexibility ‘matrix.International Journal of Advanced Engineering Technology E-ISSN 0976-3945 The elastic strain energy release rate J can be expressed as follows [3], va)= EK ORLY « Where E'=E/I-v for plain strain. The stress intensity factors from elementary fracture mechanies are given as P K1,= pVaa tF (a/W} @ 6P, pwr (GW) GB) The function F, and F, are dependent on the crack depth and approximated as [32] ys (= +2.02(a/W)+0.37(1-sin(wa/2W))° KI,= (Mrancraraw) ma cos(na/2W) ** [0,923+0.199(1-sin(na/2W))* | cos(nral2W) In addition crack produces a local additional displacement 1, between the right and Iefl sections of the erack, in similar way as equivalent spring, These displacement U, in the i direction under the action of force P; are be given as castiliagno’s theorem [7] jreras] «@ aP, Finally the additional flexibility introduced due to crack is obtained by combining relation (3) and (4) and definition of compliance{7} oF apap, {ee () c The final flexibility matrix can be formed by integrating over the breadth B of beam. au, 2? Py ayanae 6 op, ae, J! (a)dai (6) Paiting the value of strain energy release rate equation (6) can be modified, Boa Con BE apap [Kh KL) da a ‘Writing & = a/W are obtains dg = da/W We get da = Wag and When « and When a=a,,§= a,/W From above condition equation (7) becomes BW @ Joc eK1, yas (8) From equation (8) local axial, coupled axial and bending and bending compliance canbe calculated at "B” apap, c, Jgryo? yas ) cu 2% fe(n@y as (10) “BES! . ea : Cy BWE JEROF, (ds, ap 72m = 28 _[erOone 2 n rawr J (EJF (B)d& (2) In dimensionless form the above equation (9) to (12) can be written as z= ¢,, BE a3) w (4) 12m WABT/VoLIIl Issue January-March, 2012/371-377International Journal of Advanced Engineering Technology E-ISSN 0976-3945 a EBW? n= Cn (as) ‘The local stiffness matrix can be obtained by taking inverse of compliance matrix. ky Ka ]_fen ee]! K= =| Ky Ky J Le ee ‘The stiffness matrix of first crack ee Sy) ‘The stiffness matrix of Second crack ele 3] 2.1 Governing equation of free vibration Fig.2. shows a double-cracked cantilever beam with longitudinal and transverse vibrations. Here, UI(,), U2G%,) and U3(x,1) are longitudinal vibrations for the section before and after the cracks, Morcover, Y1(%,s Y2(x, and Y3(x,0) are bending vibrations for the same section(ig.2) oe =—-FA T oe 4 4 | F | aa “We wn Beam Model with cracks. ‘The normal functions for the system ean be defined as TW=A cos(K, +A .sin(K,D (16) T,(Z)HA cos, ZA ,sin(k,X) ay TA coslk, +A sin(E,X) as) F(R) A ,cosh(k,X)+A ysinh(K,X)+A ,cos(k,X)+A ,sin( kX) (9) ¥2@)=A,,cosh(k, X)+A,,sinh(k,X)+A ,,cos(k,X)+A ,.sin(kX) (20) FGA, cosh(k, X)+A,,sinh(k,X+A,,cos(k,X)+A ,,sin(k,X) Qi) where Ly Ly K,=OL/C,, C,=(Bip)” ky =(@L7/C,)", C,=(EMp)" w= Ap 4,7 =1,18) are the constants to be determined by the boundary conditions. ‘The associated boundary conditions for the eracked cantilever beam under consideration are: 2 23) ea (25) (26) 7) (8) 29) Go) LAET/VoLIIL/ Issue I/January-March, 2012/371-377International Journal of Advanced Engineering Technology E-ISSN 0976-3945 Fy BF, (8) BD TOT) (32) TOF 33) OT G4) IO Gs) Also atthe eracked section, we have: ap duced x =k (us (L,)-a,L,))+k; | Multiplying both sides by AE/LK’,k', and simplifying we get mm, (B) = m, ,()-T (B)}+m,F,(6)-F,(0)) (36) Similarly, Hi (ay yi.) PEED g0,(L)- 4 (Lyk, (SE SE) Multiplying both sides EI/L?k’; k’,, and simplifying we get, msm.y, (B) = m,(¥,(B)-¥, (B))+ m, (@,(B)- 0, (B)) (7) Similarly for the postion of sccond erack from the fixed end we have m,m,8, (7) = mG, (7) Ty) mF) F2)) G8) mm, ¥2(1) = m,F5()-¥2))* mT) 7) 39) Where m,=AE/(LK',), m,=AE/K',, m,-EI/(LK’,,), m,=EL(LR',,) m,=AE/(Lk’,,), m,=AE/k",,, m,=EI/(Lk",,), m,=EI/(L’k",,) The natural frequency of the cracked beam can be evaluated using the crack model and boundary conditions, The stiffness matrices and equation (22)-(39) define these relations as set of 18 homogeneous linear equations. These equations can be written in compact form [QHA}=(0} (40) ‘Where [Q] i the coefficient matrix defined in terms of the cracked beam parameters & given as: 1 sheeee ° a e ° t eesteene eepaee ° ° ° ° a ° , a ‘ a ' a ‘ a . a 4 “ 4 a e ° ° ° ° a rs a ° e ° ° 5 5 Frocee Pheoce > a a a 6 a a . a . a 4, a 4 a o 4 ' x ' . ‘ ¥ & % 4 * eophoccappheceence Be ecectecencouece fapeesse a 1 a a « 6 a a e a « « « a 5 1 « ee ee HRP PPR PEAS Pecos a & x a 5 + x x ekoo RR be ' x ' . ‘ % 4 x * eeuys Where, T,=sink,, T, The vector {A}=[A:,...Arg]" contains the coefficients used in equations (16-21). For non trivial values for the veetor {A}, equation (40) leads tothe following characteristic equation: lo ay Given all the cracked beam parameters, the only unknown in equation (40) is the value of the natural frequency AVjs = m44Ty, Vig = My Te m, EM(LK’,,), m,= BI/(LK’,,), m.= m,/m,,, o. The root of the characteristic equation |Q| gives the values of natural frequencies. The frequency of identical uncracked beam is obtained by modifying equation (41), where crack relations are removed and only equations describing the boundary conditions are applied resulting in a 6% 6 characteristic matrix, The mode shapes for the transverse & axial vibration are determined by evaluating the vector {A}=[A),..Ais]". This done by setting the value of As to I.then solving for the rest of the elements using equation (40) after the required modifications. 3. NEURAL NETWORK TRAINING The clamped-free beam of Figure 3 has a length of 10.8 m, width of the beam = 0.05 m, depth of the beam = 0.006 m, the material properties are E = 0.724x10 Nim’, Poisson's ratio = 0.334, p= 2713, kg/m’. For the preparation of the learning data, 10 sels of a erack depths 10003,..., 0.003m (step size=0.0003m) are introduced at the 17 different crack locations L,=0.04,..., 0.68m (step size~0.04m) and L3=0.08,..,0.72m (step size=0.04m), Totally 170 eases or patterns (10 different erack depths and different crack locations) are solved for the first three frequencies. The patterns which consist of 170 sels of data are used to train the neural network of Figure3 Figure 3.Three-layer neural network with neuron arrangement of 4-13. Because of the nature of the sigmoid activation function, ie, saturation function, the output variables should be sealed by the user, to be within the most active range of the sigmoid function. Scaling rule that ‘minimum and maximum values are set to 0.1 and 0.9 is usually suggested. Through some trials, a network ‘with neuron arrangement (input-hidden-output) of 4- 13-3 trained with 8 iteration for the 170 patterns are concluded to be the best for our application Mean-square error (MSE) is employed as a measurement of modelling performance. The mathematical expression can be described as follows:[8] @) LAET/VoLIIL/ Issue I/January-March, 2012/371-377 4.RESULTS AND DISCUSSION 4.1 NUMERICAL RESULTS PROBLEM DEFINITION The problem involves calculation of natural frequencies and mode shapes for cantilever beam without a crack and with two cracks of different ‘rack depths, The results calculated analytically are validated with the results obtained by simulation analysis, The method described has been applied to a cracked Bernoulli-Euler beam. Aluminum has taken the beam Properties: Width of the beam = 0.05 m Depth of the beam = 0.006 m Length of the beam = 0,8 m. Elastic modulus of the beam = 0.724x10 Nim Poisson's Ratio = 0.334 Density = 2713 kg/m End condition of the beam = One end fixed and other ‘end fire (Cantilever beam), 235 cracked cracks ‘Amplitude eam Position Fig.4.1First mode of transverse vibration, ay/w=0.1667, a; /w=0.1667, L1/L=0.125, L2/L=0.25 > ot cracked Ampltuse Beam Position ,42.Second mode of transverse vibration, _ayiw= 0.1667, a; /W=0.1667, L1/L=0.125, L2/L=0.25International Journal of Advanced Engineering Technology 35 oo cracked 2 —unersked e| 7 20 in 210 1 2 39 «q_0% m9 9 &. eam Position Fig.3.Third mode of transverse vibration, {= 0.1667, aryy~ 1667,LU/L=0.125,L2/L=0.25 4.2 Finite element modeling The ANSYS 10.0 finite element program was used for free vibration of the cracked beams. For this purpose, the key points were first ereated and then line segments were formed. The lines were combined to create an area. Finally, this area was extruded and a three-dimensional V-shaped edge cracked beam model was obtained. We modeled the crack with a 0.5mm width on the top surface of the beam and a crack going through the depth of the beam. A 20- node three-dimensional structural solid element under SOLID 95 was selected to model the beam. The ‘beam was discretized into 1045 clements with 2318 nodes, Cantilever boundary conditions can also be modeled by constraining all degrees of freedoms of the nodes located on the left end of the beam. The subspace mode extraction method was used to calculate the natural frequencies of the beam, The subspace mode extraction method was used to calculate the natural frequencies of the beam. [9 — 7 ig Ad, First mode of vibration, a/w=0.166 a/w=0.1667, Ly/L=0.125, Ly/l=0.25. = ANT) ‘Second mode of vibration, ay/w=0.1667, ay/w=0.1667, Ly/L=0.125, Ly/L=0.25, a NT) Fig.4.6. Third mode of vibration, ay/w=0.1667, a,/w=0.1667, Ly/L=0.125, L3/L=0.25. LAET/VoLIIL/ Issue I/January-March, 2012/371-377 E-ISSN 0976-3945 4.3 Neural Network Tr: ing, myn nr Fig. 4.7. Comparison of the first estimated cigentrequencies from the neural network to target values fia ny cigentrequencies from the neural network to target values Fig.4.9.Comparison of the third estimated cigenfrequencies from the neural network to target values: 10, Neural network output gen value joa ond eigen value 02, —=Thiddeigen vale ° Fig.4.11. Frequency ratio vs Relative crack depth at Ly/L=0.125, LoflInternational Journal of Advanced Engineering Technology efit eigen value 4 —w-Second igen value 02 |e Ihrdewenvaie 0 4 on oa ng Relative crackdepth Figd.12,Prequeney ratio vs Relative erack depth at Ly/L=0.25, Ly/L=0.375. The first, second and third natural frequencies corresponding to various crack locations and depths are calculated, The fundamental mode shapes for transverse vibration of cracked and uncracked beams are plotted and compared. The results obtained from the numerical analysis are presented in graphical form, Results show that there is an appreciable variation between natural frequeney of eracked and uuneracked cantilever beam. With increase in mode of vibration this difference increases. The transverse vibration mode shapes for two crack aluminium beam are shown in fig.4.1-4.3. In these figures different combinations of crack depths (ay/w=ay'w=0,1667,0.334, 0.5) are considered. The relative crack locations are chosen at 0,125 and 0.25, For moderate cracks appreciable changes in mode shapes are noticed and for deep cracks the changes in mode shapes are quite substantial. The numerical results indicate that the deviation between the fundamental mode shapes of the cracked and uneracked beam is always sharply changed at the crack location. The simulation results obtained by ANSYS software are shown in Figs.4.4-4.6, The three-layer neural network having an input layer (D with four input nodes, a hidden layer (H) with thirteen neurons and an output layer (Q) with four output node employed for this work is shown in Fig.3.The estimated eigenfrequencies from the network are compared to the target values as shown in Figure4.7-4.9, The target values are fj*, fo" and f5" in Figure3 which are the reference data or training data to have trained the neural network. One hundred and seventy pattems are arranged in 10. separate curves base on the value of a as shown in the Figure, In Fig4.7 shows the first cigenfrequency fy is monotonously increasing as the crack location moves from the clamped end to the free end when the crack depth a;~a, is kept constant. On the other hand, the second and the third cigenfrequencies oscillate under the same situation as shown in Fig.4.8 and 4.9, Mean- square error (MSE) is employed as a measurement of | modelling performance. As shown in figure 4.10. the first MSE is 0.001769, second MSE is 0,002936 and third MSE is 0.004345, As crack depth increases natural frequency decreases. as. shown in fig.4.1 and4.12. 5. CONCLUSIONS The presence of crack in structure member introduces local flexibilities which can be computed and used in structural analysis. Analytical computational method can be used for solving the frequency of equation of elastic beam with cracks, It is shown that the natural frequency changes substantially due to the presence LAET/VoLIIL/ Issue I/January-March, 2012/371-377 E-ISSN 0976-3945 of cracks. The changes depending upon the location and size of cracks, The position of the cracks can be predicted from the deviation of the fundamental modes between the cracked and uncracked beam. The frequency of the cracked cantilever beam decreases with inerease in the crack depth for the all modes of vibration. For moderate cracks (ay/w=ay/w=0.1667) appreciable changes in mode shapes are noticed and for deep cracks (ay/w=ay/w-0.5) the change in mode shapes are quite substantial Feed-forward multi-layer neural networks trained by ack-propagation arc used to earn the input (che Tocation and depth of a erack)-output (the structural cigenfiequencies) relation of the structural system, From neural network training, the first ceigenfrequency f, is monotonously increasing, as the ‘rack location moves from the clamped end to the free end when the crack depth a,=a, is kept constant. On the other hand, the second and the third ceigenfrequencies oscillate under the same situation, The first MSE is 0.001769, second MSE is 0.002936 and third MSE is 0,004345, A neural network for the cracked structure is trained to approximate the response of the structure by the data set prepared for various crack sizes and locations. Training data to train the neural network are properly prepared REFERENCE 1. Orhan Sadettin, Analysis offre and freed vibration of ‘cracked cantilever beam, NDT and E ltenational 40, (2007), pp 43-450. 2,_Kisa Murat and Gurel M, Arf, Fro wbraton analysis ‘of uniform and stepped eracked beams wilh ercular ross sections, Intemational Joural of Engineering Science 45, 2007), pp.364-380 3. Kisa Mand Brandon J, The Efects of closure of cracks om the dynamics of cracked cantilever beam, Journal of Sound nd Vibration, 238(1), (200) pp. 1-18 4. Dape AK,Gupia K, Chawla A. Dynamies of a s¥o- ‘rack rotor, Joumal of Sound and Vibration, 259 (3), (2003), pp 648-675, 5. Chondios T.G, Dimarogonas AD and Yao, J. A, continus cracked beam vibntion theory, Jounal of Sound abd Vibration, 215, (1998), p.17-34, 6. Tada H, Pans PC. and iewin G.R, The stress analysis ‘of racks Handbook, Thitd edition» ASME PRESS, (2000) Stephan HC. Norman C.D. and Thoms JL. An Inirodsction of mechanics of solids, MeGraw Til book company, Second edition, (1978), 8 Haykin 'S. Neural Networks: A comprehensive Fundacion”, Pearson Edition Asia, 2002). 8, Madenei Exiogan, Gaven brahim, The Finite Element Method Application in. Engg by using -ANSYS, (Springer) 2009).