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1

2011 ANSYS, Inc.

February 26, 2016

ANSYS Mechanical
FSI Modal Computation

2011 ANSYS, Inc.

February 26, 2016

Fluid-Structure Modal Simulation

Immersed structures in dynamics

Simulate the dynamic comportment of structures with fluid

environment
Taking into account the added mass from the fluid for the
modal analysis

Applications

Immersed structures
Fluid-containing structures

2011 ANSYS, Inc.

February 26, 2016

Agenda : Modal analysis of immersed

structures
Background

Eigensolvers
Tips and Tricks

Examples

2011 ANSYS, Inc.

February 26, 2016

Background

2011 ANSYS, Inc.

February 26, 2016

Modal Analysis (Structural)

The modal analysis technique is used to determine
the vibration characteristics (i.e., natural frequencies
and mode shapes) of linear elastic structures.

The most fundamental of all dynamic analysis types.

Allows the design to avoid resonant vibrations.
Gives engineers an idea of how the design will
respond to different types of dynamic loads.
Helps in calculating solution controls for other
dynamic analyses.
Image on the right
shows the first mode
shape of a waterfilled structure
6

2011 ANSYS, Inc.

February 26, 2016

Modal Analysis (Structural)

The linear equation of motion for free, un-damped vibration is

M u K u 0
Assume harmonic motion:

u
i sin it i
u i2 i sin it i
Substituting {} and {} In the governing equation gives an eigenvalue
equation:

K M 0
2
i

2011 ANSYS, Inc.

February 26, 2016

Modal Analysis (Structural)

K M 0
2
i

This equality is satisfied if

1. i = 0

(trivial, implies no vibration)

2.

or if

This is an eigenvalue problem which may be solved for up to n roots

(12, 22, .., n2).
These roots are the eigenvalues of the equation
For each root (eigenvalue), there is a corresponding eigenvector
(1, 2,., n)

2011 ANSYS, Inc.

February 26, 2016

Taking fluid into account

To model fluid in mechanical analyses, the most common
approaches are :

Distributed mass to take added mass

into account

Not fully accurate

9

2011 ANSYS, Inc.

February 26, 2016

Changing the density of the

material of the structure

ANSYS Mechanical Acoustics

Powerful Acoustic FEM Solver

Complete acoustic element library

Coupled acoustic-structural interaction for vibro-acoustics
High performance computation compatible
Fluid is modelled as a solid body
ACT Acoustics Extension can be used to include this acoustics
environment directly inside WorkBench

Fluid is physically distributed

Dynamics of the fluid is taken into account
10

2011 ANSYS, Inc.

February 26, 2016

Background - Acoustics
The Helmholtz equation (linear wave equation) is used as
the basis for the acoustic domain:
1 2 p
2 p 0
2
2
c t

Additional modifications are made to include nonuniform material properties and mass source terms
(sloshing and FSI effects omitted in equation below):

2
Q

pa
p

a
2

x
c
x
x

This is then solved with the finite element method:

M p C p K p q
f

11

2011 ANSYS, Inc.

February 26, 2016

Background - Structure
The governing equation for a linear structure is:

M s u Cs u K s u Fs
Assume {Fs} and {u} are harmonic with frequency W:

Fs Fmax ei eiWt
u umax ei eiWt

Note: The symbols W an differentiate the input from

the output:
W = input (imposed) circular frequency
= output (natural) circular frequency
12

2011 ANSYS, Inc.

February 26, 2016

Background Acoustic Structure Coupling

If you want to take into account the fluid-structure
interaction (pressure waves generated by the structure
vibration or/and structure deformation due to fluid
pressure) you can use coupled acoustic analysis.
The governing finite element matrix equations then
become:

M s u Cs u K s u Fs RP
M p C p K p F R u
T

13

2011 ANSYS, Inc.

February 26, 2016

Background Acoustic Structure Coupling

In modal analysis, external loads are not taken into
account.
The governing finite element matrix equations then
become:

[R] is a "coupling" matrix that represents the effective

surface area associated with each node on the fluidstructure interface (FSI).

The foregoing equation implies that nodes on a fluidstructure interface have both displacement and pressure
degrees of freedom.
14

2011 ANSYS, Inc.

February 26, 2016

Coupling formulations
For fluid structure interaction problem two different
coupling algorithm are available and can be chosen at the
Acoustics Body object level:

Unsymmetric formulation
Recently implemented Symmetric formulation

15

2011 ANSYS, Inc.

February 26, 2016

Unsymmetric formulation
Putting structure and fluid fields together we end up with
the unsymmetric coupled (u, p) formulated FSI matrix
system:

This unsymmetric formulation requires a large amount of

memory because we need to store the full matrix and not
only the upper triangular half.
Using an unsymmetric algorithm also requires to use the
unsymmetric or damped eigensolvers:

16

2011 ANSYS, Inc.

February 26, 2016

Symmetric formulation
The symmetric coupling algorithm is based on the
introduction of a displacement potential :
This causes an increase of the matrices size but leads to
symmetric matrices and then reduces the elapsed time of
the simulation.
All the elements in the model must use the symmetric
formulation (impossible to mix unsymmetric and
symmetric formulation).

17

2011 ANSYS, Inc.

February 26, 2016

Eigensolvers

18

2011 ANSYS, Inc.

February 26, 2016

Eigensolvers
Block Lanczos, Subspace and Unsymmetric solvers can be
used depending on the model:
Block Lanczos/Subspace: pure acoustic or FSI with
symmetric algorithm without viscosity, impedance or
attenuation surface
Unsymmetric: FSI with unsymmetric algorithm

Block Lanczos / Subspace

19

2011 ANSYS, Inc.

February 26, 2016

Unsymmetric

Symmetric formulation
In V13 we introduced a more efficient symmetry
formulation.
With unsymmetric matrices we required twice of much
memory because we need to store the full matrix and not
only the upper triangular half so the memory required
doubled and also the CPU time increases maybe about
1.5 time. So with the symmetric formulation this allow to
maintain the symmetric nature of the matrices so the
memory requirement doesnt double and the CPU time
doesnt increase.

20

2011 ANSYS, Inc.

February 26, 2016

Results Comparison

21

2011 ANSYS, Inc.

February 26, 2016

Tips and Tricks

22

2011 ANSYS, Inc.

February 26, 2016

Acoustics ACT Extension

Expose 3D acoustic features in Mechanical without the need for APDL

Define acoustics properties

Apply acoustic boundary conditions & loads
Postprocess acoustic results

23

2011 ANSYS, Inc.

February 26, 2016

ACT Extension Library

ANSYS Customer Portal

support.ansys.com
A library of helpful ACT extensions
available to any ANSYS customer
Roughly one dozen available
More being added continually
Great place to get started
Extensions made available in either
binary format (.wbex file) or binary plus
scripted format (python and XML files)

Scripted extensions are great examples

Links to ACT documentation and training
material
Goals for an ACT developers forum
24

2011 ANSYS, Inc.

February 26, 2016

Acoustics ACT Extension

ACT Acoustics extension can be used to create acoustic boundary
conditions and defining fluid bodies (elements & material properties):

25

2011 ANSYS, Inc.

February 26, 2016

Acoustic Body
The wave equation resolved in acoustic simulation
requires mass density and sound velocity of the fluid
media.

Thus these properties have to be inputted for the

acoustic domains. An acoustic domain is defined with the
Acoustic Body object. Man can then scope the bodies
representing the fluid domain and input the mass density
and the sound velocity:

Note: MAPDL commands:

MP,,DENS & MP,,SONC
26

2011 ANSYS, Inc.

February 26, 2016

FSI Interface Manual Creaction

The acoustic Fluid-Structure interface can be identified
using the FSI Interface object available in the
Boundary Conditions drop down menu.

Note: MAPDL command: SF,,FSI,1

Its worth noting that if no FSI flags defined, MAPDL
solver will try to automatically detect FSI surfaces.
However, its good practice to define FSI manually.

28

2011 ANSYS, Inc.

February 26, 2016

Frequency Range
The stiffness-coupled symmetric formulation may lead to
the divergence for FSI eigen problem with zero beginning
frequency. So it is recommend to assign the beginning
frequency (e.g. 1.E-02).

30

2011 ANSYS, Inc.

February 26, 2016

Unsymmetric formulation
Using unsymmetric algorithm its possible to use both
unsymmetric and uncoupled formulations. The best
solution here in terms of number of DOF to compute is to
create a single layer of elements using unsymmetric
algorithm at the FSI boundary and use uncoupled
algorithm for all other elements.

31

2011 ANSYS, Inc.

February 26, 2016

How to Avoid Ill-Conditioned System Matrix?

Example analysis output file when working in kg-m unit

system :

11 decades: this is due to the fact that [Ks] and [Kf] are
defined in very different numerical scales
Ill conditioned problem causing trouble for the solver
and may give unphysical result deviations by minor
system modifications
32

2011 ANSYS, Inc.

February 26, 2016

How to Avoid Ill-Conditioned System Matrix?

Same example analysis output file when working in t-mm

unit system :

5 decades: numerical scales of [Ks] and [Kf] are getting

closer now
Well conditioned problem
Always solve in t-mm

33

2011 ANSYS, Inc.

February 26, 2016

Sloshing
In fluid dynamics, slosh refers to the movement of liquid inside another
object (which is, typically, also undergoing motion). Strictly speaking,
the liquid must have a free surface to constitute a slosh
dynamics problem, where the dynamics of the liquid can interact with
the container to alter the system dynamics significantly.
Important examples include propellant slosh in spacecraft tanks
and rockets (especially upper stages), and cargo slosh in ships and
trucks transporting liquids (for example oil and gasoline).

34

2011 ANSYS, Inc.

February 26, 2016

Sloshing
Assuming that the actual surface is at an elevation relative to the
mean surface in z-direction, the pressure for a sloshing (free) surface is
given by:
p F g

The acoustic fluid matrix equation with sloshing effect is expressed as:

35

2011 ANSYS, Inc.

February 26, 2016

Choosing bounding box size

The bounding box size is fundamental: it has to be as
small as possible to reduce computation time but big
enough to obtain good results.
ANSYS Design Explorer can be used to determine the
required water volume.

37

2011 ANSYS, Inc.

February 26, 2016

Choosing bounding box size

In order to do this quickly, only the first mode is computed in a
parametric run.
The bounding box dimension is chosen as input parameter.
The frequency of the first mode is chosen as output parameter.

Best compromise

Convergence is obtained for last 3 points. The error is

approximately 7% between worst and best point.
38

2011 ANSYS, Inc.

February 26, 2016

Application Examples

39

2011 ANSYS, Inc.

February 26, 2016

Tank filled with water

Problem statement:

The model consists of a tank structure filled with water,

Our goal is to calculate the sloshing modes of the system.

40

2011 ANSYS, Inc.

February 26, 2016

Tank filled with water

Mesh:

41

2011 ANSYS, Inc.

February 26, 2016

Tank filled with water

Boundary conditions:

42

2011 ANSYS, Inc.

February 26, 2016

Immersed propeller
Problem statement:

The model consists of a propeller structure surrounded by

43

2011 ANSYS, Inc.

water,
Our goal is to calculate the structure modes of the immersed
structure.

February 26, 2016

Immersed propeller
Mesh:

44

2011 ANSYS, Inc.

February 26, 2016

Immersed propeller
Boundary conditions:

45

2011 ANSYS, Inc.

February 26, 2016

Importance of taking the water into account

Considering 2 models:

Propeller without water

46

2011 ANSYS, Inc.

February 26, 2016

Propeller with surrounding water

Importance of taking the water into account

On mode shapes:

With water

Without water

47

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20

1
0.8
0.1
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

2
0.1
0.8
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

3
0.0
0.0
0.0
0.3
0.7
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

2011 ANSYS, Inc.

4
0.0
0.0
1.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

5
0.0
0.0
0.0
0.7
0.3
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

6
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.4
0.6
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

7
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.6
0.4
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

8
0.0
0.0
0.0
0.0
0.0
0.0
0.0
1.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

9
0.0
0.0
0.0
0.0
0.0
0.0
1.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

February 26, 2016

10
0.0
0.0
0.0
0.0
0.0
1.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

11
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.9
0.0
0.1
0.0
0.0
0.0
0.0
0.0

12
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.1
0.0
0.8
0.0
0.0
0.0
0.0
0.0

13
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.9
0.0
0.0
0.0
0.0
0.0
0.0

14
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.4
0.6
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

15
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.6
0.4
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

16
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.1
0.0
0.0
0.0
0.0

17
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.5
0.0
0.0

18
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.5
0.0
0.0
0.0

19
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.8

20
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.8
0.0

Poor MAC result, showing

the big difference on
mode shapes with and
without water

Importance of taking the water into account

On the frequency:
Mode Error (%)
1
-32%
2
-32%
3
-32%
4
-32%
5
-32%
6
-24%
7
-24%
8
-24%
9
-24%
10
-24%
11
-25%
12
-25%
13
-25%
14
-25%
15
-25%
16
-15%

Without water

48

2011 ANSYS, Inc.

February 26, 2016

With water

Difference between acoustics elements and

distributed mass
Considering 2 models:

Fluid modeled as
FLUID220 elements
49

2011 ANSYS, Inc.

February 26, 2016

Fluid modeled as added mass

per unit area through
SURF154 elements

Difference between acoustics elements and

distributed mass
On the mode shapes :

FLUID220

SURF154

50

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20

1
1.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

2
0.0
1.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

3
0.0
0.0
0.9
0.0
0.2
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

4
0.0
0.0
0.0
1.0
0.0
0.1
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

2011 ANSYS, Inc.

5
0.0
0.0
0.1
0.0
0.8
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

6
0.0
0.0
0.0
0.0
0.0
0.9
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

7
0.0
0.0
0.0
0.0
0.0
0.0
0.0
1.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

8
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
1.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

9
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
1.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

February 26, 2016

10
0.0
0.0
0.0
0.0
0.0
0.0
0.9
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

11
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.9
0.0
0.1
0.0
0.0
0.0
0.0
0.0
0.0
0.0

12
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
1.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

13
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.1
0.0
0.8
0.0
0.0
0.0
0.0
0.0
0.0
0.0

14
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
1.0
0.0
0.0
0.0
0.0

15
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
1.0
0.0
0.0
0.0

16
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.6
0.3
0.0
0.0
0.1
0.0
0.0

17
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.3
0.5
0.0
0.0
0.1
0.0
0.0

18
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.1
0.0
0.0
0.7
0.2
0.0

19
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.2
0.8
0.0

20
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

MAC result, showing the

difference on mode
shapes between FLUID220
and SURF154 models

Difference between acoustics elements and

distributed mass
On the frequency:

MAC Pairing

FLUID220
51

2011 ANSYS, Inc.

SURF154
February 26, 2016

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20

FLUID220
1.7651
5.1429
9.9342
10.311
11.628
12.429
17.485
18.094
18.85
18.984
21.846
23.641
24.229
28.277
28.552
29.507
29.596
33.552
34.093
36.381

1
2
3
4
5
6
10
7
9
8
11
12
13
16
17
14
15
18
19
20

SURF154
1.7633
4.5584
8.8676
8.8713
10.109
11.305
17.106
13.95
15.817
14.274
17.758
18.297
19.996
22.559
22.613
21.12
21.201
24.36
24.438
27.098

Error
0%
-11%
-11%
-14%
-13%
-9%
-2%
-23%
-16%
-25%
-19%
-23%
-17%
-20%
-21%
-28%
-28%
-27%
-28%
-26%

Difference between acoustics elements and

distributed mass
Frequency comparison shows errors between 0% and
30%, which is significant.
Mode shapes results are not identical but pretty good for
the first few modes.
Nevertheless, the distributed mass method cannot be
used in 2 common cases:

On an immersed structure the amount of added mass

is hard to know
On a tank structure not completely full (which is the
case most of the time), sloshing effects have to be
considered

52

2011 ANSYS, Inc.

February 26, 2016

New R16 Capability:

Mode superposition spectral with FLUID220

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February 26, 2016

Typical Application of Response Spectrum

A common way to assess fluid filled tanks at nuclear

facilities for earthquake survival is to use a response
spectrum analysis. With the acoustic sloshing capability,
a response spectrum analysis of the tank can include the
effect of the fluid in an inexpensive earthquake analysis.

54

2011 ANSYS, Inc.

February 26, 2016

Typical Application of Random Vibration

A fluid container experiences random excitation during
transport on the back of a truck. It would be a typical use
of random vibration analysis on a vibro-acoustic model to
determine the fatigue life of the container due to the
random stresses caused by the road surface roughness.

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2011 ANSYS, Inc.

February 26, 2016

Questions ?

Thibault HAZARD
Thibault.hazard@ansys.com

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2011 ANSYS, Inc.

February 26, 2016