SPAIN Fundamentals of Modal Analysis Part I FRFs Acquisition

A Y U D A M O S A L A S E M P R E S A S A S E R M Á S C O M P E T I T I V A S
CT Solutions Group I AVANTEK +34 902 223 002 info@avantek.es

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01 Marcos Barral Táboas 02 Mari Carmen Amate
Application Test Engineer Account Manager

Siemens Industry Software NV Avantek Soluciones PLM
Centre of Excellence – EMEA Avda. Leonardo Da Vinci, 15
Product Lifecycle Managment (Edificio Siemens)
Interleuvenlaan, 68 28906 – Getafe (Madrid)
3001 Leuven - Belgium E-mail: mamate@avantek.es
E-mail: marcos.barral@siemens.com
+34 902 223 002 info@avantek.es

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Fundamentals of Modal
Analysis, part I: FRFs
Acquisition
Webinar
Marcos Barral, Siemens Industry Software
Restricted © Siemens AG 2017 Realize innovation.

Agenda
• Introduction
• What is vibration?
• What is a resonance?
• What is a FRF and how to measure it?
• What is coherence?
• Structural testing equipment
• Excitation techniques, advantages and disadvantages:
• Impact excitation: hammer testing
• Shaker excitation
 Broadband random shaker excitation signals: random, burst
and pseudo random
 Sine shaker excitation signals: swept and stepped sine, normal
modes
• FRF measurements: tips and tricks
Unrestricted © Siemens AG 2017

Page 2 October 2017 Siemens PLM Software
Introduction
Introduction
Source-Transfer-Receiver model
structure-borne air-borne
structure-borne
Any target problem is caused by an interaction between the acting forces and the structure
Introduction
Why is this happening?
Wind interaction Collapsing bridge
Aero Elastic interaction Flutter
People interaction Wobbling bridge

Introduction
Source-Transfer-Receiver model
Seat Vibration
Engine Wheel & Tire Steering Wheel

Shake
Rearview mirror
Turbo machinery vibration
Road
Noise at Driver’s &
Passenger’s Ears
Gearbox and
Rotor Transmission Cockpit vibration &
noise
Environmental
sources
Accessories
X System Transfer = Receiver
Source
Cabin comfort

Introduction
What is vibration?
No damping
k
n 
m
Tends to reduce the

oscillations in a With damping
system!
e t  e t
n
ωd
d  n * (12 )

Introduction
What is a resonance?
RESONANCE
A resonance is a phenomenon in which a external force (source) drives another system to oscillate with greater amplitude at a
specific preferential frequency.
1 2 3
Stiffness Damping Mass
dominated region dominated region dominated region
F F F
X
It is a natural characteristic of the

structure itself!
Introduction
What is a FRF?
FREQUENCY RESPONSE FUNCTION
The FRF expresses the relation between the output response and the input force in frequency domain.
F(j) X(j)
H(j
h(t)
f(t) x(t)
H ( j)  output  X ( j) F ( j)

Compliance input
(Dynamic Dynamic Stiffness H ( j)  
input F( j) output X( j)
Flexibility)
Mobility H ( j) 
output X (j)
 Mechanical H ( j)  input  F ( j)
input F( j) Impedance output X( j)
output X(j) input F ( j)

Inertance H ( j)   Apparent Mass H ( j)  
input F( j) output X(j)

Introduction
FRF calculation – H1
At single frequency : N measurements available
Input Auto Powe r Spectrum
0.1
0.04
Fj Xi
0.02
Log 0.01
0.004
SF
0.002
0.001
H 1 Fre quency Response Function Hij(w)
N2
0.0004 100
0.0002 50
0.0001
4e-05 30
20
N
Log
2e-05
1e-05 10
4e-06 5
2e-06 3
1e-06
0 100 200 300 400 500 600 700 800 900 1022 2
Hz 1
(m/s2)/N
0 .5
0 .3
0 .2
H1
0.04
0.1
Cross Power Spe ctrum 0 .1
0 .0 5
X
H
0.02
0 .0 3
0 .0 2
1
SX
Log
0.01
0 .0 1
0.004 0 100 200 300 400 500 600 700 800 900 1022
0.002 Hz
0.001
m2kg/s4
0.0004
S X (k)  Hij (k)  S F (k)

0.0002
0.0001
4e -05
2e -05
1e -05
4e -06
2e -06
1e -06
0 100 200 300 400 500 600 700 800 900 1022
Hz
G (k)
H1 (k)  XF
Force measurement GFF (k)

•Electrical noise
Response measurement
F
•Electrical noise
•Machines, footsteps, wind, sound, … will result in mechanical noise (process noise)
Least-Squares Estimation
•Minimize the effect of output noise

Introduction
FRF calculation – H2
At single frequency : M measurements available
Output Auto Power Spe ctrum
0.01
0.004
0.002
0.001
Log
0.0004
0.0002
0.0001
4e-05
100
H2 Fre quency Response Function
Fj Hij(w) Xi
50
2e-05
30
SX
g2
1e-05
20
Lo
4e-06
g
2e-06 10
1e-06
5
4e-07
2e-07
1e-07
3
2
M
1
H2
(m/s2)/N
3e-08
1e-08
0 100 200 300 400 500
Cross Power SpeHctzrum

600 700 800 900 1022
0.5
0.3 X
H2
0.1 0.2
0.04 0.1
0.02
0.05
Log
0.01
0.03
0.004 0.02
0.002 0.01
0.001 0 100 200 300 400 500 600 700 800 90 0 1022
Hz
0.0004
SF
m2kg/s4
S X (k)  Hij (k)  S F (k)

0.0002
0.0001
4e-05
2e-05
1e-05
4e-06
2e-06
1e-06
G (k)
H 2(k) 
0 100 200 300 400 500 600 700 800 900 1022
Hz XX
GXF (k) F
At its natural frequencies the structure becomes very compliant
• High vibration amplitudes
• Shaker may use all available energy to accelerate its own mechanical components, leaving no
force to excite the structure
• Minimize the effect of input noise

Introduction
FRF calculation – Hv
Fj S X (k)  Hij (k)  S F (k)

Xi
Fj Hij(w) Xi
S S FY 
i SFFX   S FF 
 YF SYY 
M N
j
H
100
H v Fre q u en cy Resp on se Functi o n X v
50
30
Log
20
10
5
3
2
0 .5 Hv
(m/s2)/N
0 .3
0 .2
0 .1
0.05
0.03
0.02
0.01
0 100 200 300 400 500 600 700 800 900 1022
Hz
F
• Minimize the effect of input and output noise

Introduction
FRF – Smooth curve is the goal
Damping
1.7 dominated region
1 1 2 3
1.5 10
1.4
1.3 Mass
Stiffness
1.2 dominated region
dominated region
1.1
1.0
Amplitude
0
10
0.9
g/N
0.8 Amplification
0.7
0.6
0.5 Isolation
0.4 -1
10
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0.3
0.2 180
160
0.0
180 140
120
90.00 100
90 degrees
Phase
80
°
60
40
20
-180 134.48 305.00
12 40 60 80 100 120 140 160 180 200 220 240 260 280 300 320 355 00 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Hz
Introduction
FRF calculation – Coherence
• Coherence is a quality measure of our estimated FRF
• Smaller than 1 when … 1.10 1.00
• Noise in the measurements 1.00
• Non-linearities 0.90
• Leakage
0.80
• Unmeasured sources
0.70
0.60
Amplitude
Imag
g/N
0.50
/
0.40
0.30
0.20
0.10 F FRF Fluxring:2779:-X/Fluxring:2779:+X

B Coherence Fluxring:2779:-X/Fluxring:2779:+X
0.00
-0.10 1738.73 0.00

0.00 400.00 1000.00 1400.00 2000.00 2704.69
Hz
Structural testing equipment
Input (force) + Output (acceleration) + Analyzer
Modal Parameters:
Frequency
Damping
Mode shapes

Force Sensors
Better more than 1 shaker than a big one:

important is energy spreading as homogeneous as possible,
not big force!
Response Sensors
Proximity probe sensor
Laser Doppler Vibrometer
Accelerometers (MEMS & ICP)
Unrestricted © Siemens AG 2017 Strain Gauges

…and the analyzer
Laboratory, In-field Testing and
Laboratory Testing
Autonomous Recording
LMS SCADAS Lab LMS SCADAS Mobile Personal Testing
LMS SCADAS XS
SCL platform SCM / SCR platform XS12 & XS06

Tuned for classical N&V applications Tuned for advanced N&V Portable N&V
Dedicated for laboratory use applications measurement device
Operable with the recorder Standalone, tablet or PC
Capable of higher throughput rate
functionality operation
(Up to 16 MS/s)
Capable of higher 3D binaural headset for
Operable with enhanced input
throughput rate recording & replay
modules
(Up to 14 MS/s)
(204.8 kHz & 150 dB)
Operable with enhanced
Unrestricted © Siemens AG 2017 input modules
Page 19 October 2017 (204.8 kHz & 150 dB) Siemens PLM Software
Excitation techniques:
Advantages and disadvantages
Excitation techniques
Overview of excitation methods
Periodic &
Pure & Burst
Impact Pseudo Swept Sine Stepped Sine Normal Modes
Random
Random
t
Phase Separation or Phase Resonance /
Frequency Response Function (FRF) based methods Mode Appropriation
res
AP(F) [N²]
AP(F) [N²]
AP(F) [N²]
AP(F) [N²]
AP(F) [N²]
AP(F) [N²]
f
 [Hz]  [Hz]  [Hz]  [Hz]  [Hz]  [Hz]
Measure Modal Parameter Experimental Modal Measure /

Identify Mode
FRF Estimator Model [ , ,  ]
-19.83
[ , ,  ]
)
B
d
(
FRF DRV:1:+X / FOR:1:

-89.83

Hammer Testing – Overview
Periodic &
Pure & Burst
Impact Random Pseudo Swept Sine Stepped Sine Normal Modes
Random
t
res
AP(F) [N²]
AP(F) [N²]
AP(F) [N²]
AP(F) [N²]
AP(F) [N²]
AP(F) [N²]
f
 [Hz]  [Hz]  [Hz]  [Hz]  [Hz]  [Hz]

Identify Mode
-19.83
[ , ,  ]
)
B
d
(

-89.83

Impact Testing
Time Frequency
Advantages
• Limited equipment
Input
• Easy and fast
• Low cost
• Excellent for troubleshooting
Response
Disadvantages
• Poor Signal to Noise ratio
• Poor for non-linear structures FRF
• Double impacts
• ADC underload / overload
Typically: fixed response

accelerations - roving impact location

Impact Testing - About Hammer Tips
Force spectrum
Coherence Soft tip
FRF
Hard tip
Right tip

Impact Testing - Examples

Shaker Testing
• Fast & reliable
Time Frequency
• Best ratio quality/time
• Better energy distribution over structure
• Excellent for trouble shooting & modification
Input
simulation
• Typically fixed excitation point, multiple
response points - measured in batches
Response
• Only way to characterize non-linearities
FRF

Impact Testing - Accuracy and reproducibility
• Exact excitation position and orientation is critical in high 70.00
Positioning error of ring on structure ±2mm
accuracy measurements.
Pa/N
dB
35.00
70.00
Misalignment of conventional shaker ±5degrees
Pa/N
dB
35.00
70.00
Conventional shaker Modal hammer Integral shaker Reproducibility of 10 persons with modal hammer
Pa/N
dB
35.00
200 240 260 280 300 320 340 360 380 400 420 440 460 480 500 520 540 560 600
Hz
Broadband shaker excitation signals – Overview
Periodic &
Pure & Burst
Impact Pseudo Swept Sine Stepped Sine Normal Modes
Random
Random
t
res
AP(F) [N²]
AP(F) [N²]
AP(F) [N²]
AP(F) [N²]
AP(F) [N²]
AP(F) [N²]
f
 [Hz]  [Hz]  [Hz]  [Hz]  [Hz]  [Hz]

Identify Mode
-19.83
[ , ,  ]
)
B
d
(

-89.83

Shaker Testing
Broadband shaker excitation signals – Pure random excitation
Advantages Disadvantages
• Wide frequency range • Leakage for lightly damped
covered fairly quickly structures
• Non-linear systems are • Use burst random
“linearized” • Use Hanning window
• Low level excitation (not suited
for accurate non-linearity
characterization)
Unrestricted © Siemens AG 2017 • Low SNR
Shaker Testing
Broadband shaker excitation signals - Burst random excitation
Advantages Disadvantages
• Wide frequency range covered fairly • Still risk of leakage (lightly damped structures)
quickly • Compared to random
• Non-linear systems are “linearized” • Less energy in structure
• Leakage-free (no window needed) if • Lower SNR
responses decay within observation • Low level excitation (not suited for accurate
time (“block”) non-linearity characterization)

Shaker Testing
Broadband shaker excitation signals – Pseudo vs Periodic Random
Pseudo Random
Randomize Phase only
Flat amplitude spectrum
Periodic Random
Randomize Amplitude &
Phase
Random amplitude spectrum
Unrestricted © Siemens AG 2017 Periodic averaging scheme to satisfy Fourier

Page 31 October 2017 transformation assumption -> no leakage Siemens PLM Software
Shaker Testing
Broadband shaker excitation signals - Random signals
Pseudo Random Periodic Random
Random Burst Random
(Multi-sines) (Multi-sines)
f AP(F) [N²]
AP(F) [N²]
AP(F) [N²]
AP(F) [N²]
 [Hz]  [Hz]  [Hz]  [Hz]
Random Random Constant or controllable Random Amplitude
Random Random Random Random Phase
Yes On lightly damped structure No No Leakage
Needed Not Needed Not Needed Not Needed Window
Fair Good Very Good with Delay block Very Good with Delay block Transient
Fair Good Very Good Very Good FRF Accuracy
Exactly the same!!!!!! Test time

Shaker Testing
Sine shaker excitation signals – Overview
Swept Sine Stepped Sine Normal Modes
AP(F) [N²]
AP(F) [N²]
AP(F) [N²]
 [Hz]  [Hz] resonance  [Hz]
Measure FRF Modal Parameter Estimator Experimental Modal Model [ , ,  ] Measure / Identify Mode [
, ,  ]

Shaker Testing
Sine shaker excitation signals - MIMO sine sweep excitation
Advantages:
 Measurement in runs possible
 Good S/N ratio
AP(F) [N²]  Cos-sine estimation in the front-end
 Measurement time comparable to burst random, faster
than Stepped Sine Testing
 [Hz]
Disadvantage:
 Open loop => non-linearity's can cause that reference
profile is not reproduced
 Lightly damped structure can give wrong results

Shaker Testing
Sine shaker excitation signals - MIMO Stepped Sine excitation
AP(F) [N²]
 [Hz]
Advantages: Disadvantages:
• Best S/N ratio => best quality FRF’s • Time consuming: stepping through frequency
• Variable frequency step => data concentrated range is slow, needs to be done as many times
around resonance (multiple ranges/variable as you have shakers
frequency step)
• Multiple Run measurements possible
• Ideal excitation for non-linearity studies
• Fit for lightly damped structure

Shaker Testing
Sine shaker excitation signals - MIMO Normal Modes excitation
AP(F) [N²]
resonance  [Hz]
Advantages: Disadvantages:
Direct measurement of mode shapes (feel the Tuning not always straight forward, requires
mode) user’s experience
Damping estimation done by half-power sweep Typically all measurement channels measured
around the resonance simultaneously
Accepted to be the most accurate pole Time consuming: set-up and instrumentation,
identification tuning
Separation of closely spaced modes is done Different shaker set-up for each mode
through the excitation
Tuning at different force levels to identify non-
linearities

Shaker Testing
Sine shaker excitation signals – Overview
Swept Sine Stepped Sine Normal Modes
AP(F) [N²]
AP(F) [N²]
AP(F) [N²]
f
 [Hz]  [Hz] resonance  [Hz]
Energy level Fair High High
SNR Good high High
Test Time poor Bad Bad
FRF Accuracy Good for heavily damped Very Good NO FRF
Amplitude Controllable Controllable Controllable
Leakage No No No
Window Not Needed Not Needed Not Needed

FRF measurements:
Tips and tricks
FRF measurements
Boundary Conditions - Fixed - Free
Fixed boundary conditions Free-free suspension
 Difficult to realise  In practice: almost free-free

 Flexibility of fixtures  Soft spring, elastic cord
 Added damping  Soft cushion
 Environmental noise
Check if your
suspension is soft
enough !
Rigid body mode frequency < 10 % of first flexible mode

FRF measurements
FRF is a matrix!
• 1 complete row or column suffices

to determine modal parameters*
 Column: input at same location
 Row: output at same location
• Reciprocity Inputs
 H pq  Hqp
H 11 H12 H13 H14 

H
H 24 
Responses
H 22 H 23
• Driving point FRF  21
 H 31 H 32 H 33 H 34 
 H pp  
 H 41 H 42 H 43 H 44 
* In case of close poles, the number of rows/columns need to be equal to the pole multiplicity

FRF measurements
Driving Point FRF (1)
Definition:
• response = excitation point
• Same direction
Anti-resonances occur between

every resonance
Magnitude Real
Phase is combination of SDOF
systems with phase information
pointing in same direction
At least 1 necessary for modal

scaling
Phase Imaginary

FRF measurements
Driving Point FRF (2)
Selection and verification of excitation locations: All modes present in driving point FRF?
At nodal point: mode not excited
Spatially separated
Good
excitation
point
Bad
excitation
point
Measure Driving Point FRFs for number of positions and compare !

FRF measurements
Data quality check (1)
Reciprocity of FRF
10.0e-3
)
g/N
Log
(
FRNT:15: - Z  RAIL:151: +Y
RAIL:151: +Y  FRNT:15: +Z
10.0e-6
180.00
A2 A1
H12    H21
Phase
°
F1 F2
-180.00
0.00 Hz 80.00

FRF measurements
Data quality check (2)
Linearity of FRF
1.00 0.10
)
g/N
Log
(
N2
Log
FRF DRV:1:+X/FOR:1:+X
FRF DRV:1:+X/FOR:1:+X(1)
FRF DRV:1:+X/FOR:1:+X(2)
F AutoPow er FOR:1:+X
10.0e-6
180.00
Phase
°
1.00e-6 -180.00
0.00 Hz 100.00 0.00 Hz 100.00
3 different excitation levels

FRF measurements
Data quality check (3) - Coherence
Cross spectrum inequality
• Non-coherent noise FRF
2
GFX  GXX GFF
Coherence
2
2  FX
G
GXX GFF
0  2  1
Smaller than 1 when …

• Noise in the measurements
• Nonlinearities
• Leakage Coherence
• Unmeasured excitation sources
FRF measurements
Data quality check (4) – Rigid Body Modes Analysis
• Verification of measurement setup in low
frequency range
 non-measured nodes
 wrong response ids
 wrong response direction
 bad transducers / wrong calibration
• Completion of non measured FRFs for part of the

test structure moving like a rigid body
• Correction of measurement errors based on rigid

body assumption

Contact page
Marcos Barral Táboas

Pre-sales Solutions Consultant II
Center of Excellence - EMEA
Siemens Industry Software NV
Interleuvenlaan 68
3001 Leuven, Belgium
Phone: +32 (0) 16 38 44 06
E-mail:
marcos.barral@siemens.com
THANKS!

SPAIN Fundamentals of Modal Analysis Part I FRFs Acquisition

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A Y U D A M O S A L A S E M P R E S A S A S E R M Á S C O M P E T I T I V A S

CT Solutions Group I AVANTEK +34 902 223 002 info@avantek.es

01 Marcos Barral Táboas 02 Mari Carmen Amate

Application Test Engineer Account Manager

+34 902 223 002 info@avantek.es

AVANTEK proporciona las herramientas de

+34 902 223 002 info@avantek.es

EQUIPO OFICINAS CLIENTES

+34 902 223 002 info@avantek.es

CADTECH CT ADVANCED MANUFACTURING

+34 902 223 002 info@avantek.es

Restricted © Siemens AG 2017 Realize innovation.

Unrestricted © Siemens AG 2017

Wind interaction Collapsing bridge

Aero Elastic interaction Flutter

People interaction Wobbling bridge

Unrestricted © Siemens AG 2017

Engine Wheel & Tire Steering Wheel

Unrestricted © Siemens AG 2017

Tends to reduce the

Unrestricted © Siemens AG 2017

It is a natural characteristic of the

H ( j)  output  X ( j) F ( j)

output X(j) input F ( j)

Unrestricted © Siemens AG 2017

S X (k)  Hij (k)  S F (k)

Force measurement GFF (k)

Unrestricted © Siemens AG 2017

Cross Power SpeHctzrum

S X (k)  Hij (k)  S F (k)

Unrestricted © Siemens AG 2017

Fj S X (k)  Hij (k)  S F (k)

Unrestricted © Siemens AG 2017

• Noise in the measurements 1.00

0.10 F FRF Fluxring:2779:-X/Fluxring:2779:+X

-0.10 1738.73 0.00

Unrestricted © Siemens AG 2017

Better more than 1 shaker than a big one:

Proximity probe sensor

Laser Doppler Vibrometer

Accelerometers (MEMS & ICP)

Unrestricted © Siemens AG 2017 Strain Gauges

SCL platform SCM / SCR platform XS12 & XS06

Measure Modal Parameter Experimental Modal Measure /

FRF DRV:1:+X / FOR:1:

Unrestricted © Siemens AG 2017

Measure Modal Parameter Experimental Modal Measure /

FRF DRV:1:+X / FOR:1:

Unrestricted © Siemens AG 2017

Typically: fixed response

Unrestricted © Siemens AG 2017

Unrestricted © Siemens AG 2017

Unrestricted © Siemens AG 2017

Unrestricted © Siemens AG 2017

Measure Modal Parameter Experimental Modal Measure /

FRF DRV:1:+X / FOR:1:

Unrestricted © Siemens AG 2017

Unrestricted © Siemens AG 2017

Flat amplitude spectrum

Random amplitude spectrum

Unrestricted © Siemens AG 2017 Periodic averaging scheme to satisfy Fourier

Random Random Random Random Phase

Yes On lightly damped structure No No Leakage

Needed Not Needed Not Needed Not Needed Window