Mode Superposition

Module 7
D
Y
N
A
M
I
C
S

7
.
0

Training Manual
March 14, 2003
Inventory #001809
7-2
Module 7
Mode Superposition
A. Define mode superposition.
B. Learn how to use the mode superposition method.
C. Work on a mode superposition exercise.
D
Y
N
A
M
I
C
S

7
.
0

Training Manual
March 14, 2003
Inventory #001809
7-3
Mode Superposition
A. Definition & Purpose
A solution technique for transient or harmonic analyses. It sums
factored mode shapes from a modal analysis to calculate the
dynamic response.
A fast, efficient method that can be used for linear dynamics
problems.
The alternative is to use the direct integration method which can
be time consuming. The two methods are compared next.
D
Y
N
A
M
I
C
S

7
.
0

Training Manual
March 14, 2003
Inventory #001809
7-4
General equation of motion:
Mode Superposition
Definition & Purpose
) t ( f Ku u C u M

Mode superposition assumes that U(t) can be represented as a linear
combination of mode shapes of the structure.
} ]{ [ ) ( y t u
where [] is the matrix of mode shapes f
1
, f
2
, f
3
,... f
m
,
D
Y
N
A
M
I
C
S

7
.
0

Training Manual
March 14, 2003
Inventory #001809
7-5
) t ( f ] [ } y ]{ [ K ] [ } y ]{ [ C ] [ } y ]{ [ M ] [
T T T T


The general equation of motion can be premultiplied by []
T
and written
as:
Mode Superposition
Definition & Purpose
Orthogonality of natural modes means:
2
] [ K ] [
1 ] [ M ] [
J J
T
J
J
T
J


If proportional damping is specified, then:
J J J
T
J
2 ] [ C ] [
D
Y
N
A
M
I
C
S

7
.
0

Training Manual
March 14, 2003
Inventory #001809
7-6
Defining m as the number of modes, this reduces the problem to
a system of m single DOF uncoupled equations :



These equations are then solved for y
i
(t) using an undamped
solver (e.g. the Frontal solver).
If non-proportional damping is specified, then the system of m
single DOF equations are coupled by the damping matrix. This
system of equations must be solved using the QR Damped solver.
The final solution (regardless of the specified damping) is:

) t ( f ] [ y y 2 y
2
T
J J J J J J J


} ]{ [ ) ( ... ) ( ) ( ) (
2 2 1 1
y t y t y t y t u
m m
f f f
Mode Superposition
Definition & Purpose
D
Y
N
A
M
I
C
S

7
.
0

Training Manual
March 14, 2003
Inventory #001809
7-7
Mode Superposition
Definition & Purpose
Mode Superposition
+ Fast solution regardless of whether
equations of motion are uncoupled
(proportional damping only ) or
coupled (non-proportional damping).
+ Effective when only a few modes are
needed to describe response.
Requires eigenvectors from a modal
solution.
Linear only, no nonlinearities.
Deciding how many modes to use
may be difficult. Too few modes may
give good displacements but poor
stresses
Direct Integration
Fully coupled equation of motion.
Solution can be time consuming.
+ Effective for most problems.

No eigenvectors required. However,
most dynamic analyses begin with a
modal solution.
+ Nonlinearities allowed in transient
analysis.
+ Easier to determine Dt, the
integration time step, than number of
modes.
D
Y
N
A
M
I
C
S

7
.
0

Training Manual
March 14, 2003
Inventory #001809
7-8
Mode Superposition
B. Procedure
Five main steps:
Build the model
Obtain the modal solution
Switch to harmonic or transient analysis
Apply loads and solve
Review results
D
Y
N
A
M
I
C
S

7
.
0

Training Manual
March 14, 2003
Inventory #001809
7-9
Mode Superposition
Build the Model
Model
Same considerations as a modal analysis.
Linear elements and materials only. Nonlinearities are ignored.
Remember density! Also, if material-dependent damping is
present, it must be defined in this step.
See also Modeling Considerations in Module 1.
D
Y
N
A
M
I
C
S

7
.
0

Training Manual
March 14, 2003
Inventory #001809
7-10
Mode Superposition
Obtain the Modal Solution
Build the model

Obtain the modal solution
Same procedure as a normal modal analysis.
A few differences, discussed next.
D
Y
N
A
M
I
C
S

7
.
0

Training Manual
March 14, 2003
Inventory #001809
7-11
Mode Superposition
Obtain the Modal Solution
Mode extraction:
Only valid methods are Block Lanczos, subspace, reduced,
powerdynamics, or QR damped.
Extract all modes that may contribute to the dynamic response.
Mode expansion is needed to view mode shapes but not required for
the mode superposition solution.
If QR damped mode extraction method is used, the damping must be
specified during preprocessing or in the modal analysis. Damping
specified during the mode superposition transient or harmonic
analysis will be ignored.
D
Y
N
A
M
I
C
S

7
.
0

Training Manual
March 14, 2003
Inventory #001809
7-12
Mode Superposition
Obtain the Modal Solution
Loads and BCs:
All displacement constraints must be applied in this step. Zero valued
only; non-zero displacements are not allowed.
If element loads (pressures, temperatures, and accelerations) are to be
applied in the harmonic or transient analysis, they must be specified
in this step.
The solver
ignores the
loads for the
modal solution,
but writes a
load vector to
the .mode file.
D
Y
N
A
M
I
C
S

7
.
0

Training Manual
March 14, 2003
Inventory #001809
7-13
Mode Superposition
Switch to Harmonic or Transient Analysis
Build the model
Obtain the modal solution

Switch to harmonic or transient analysis
Exit and re-enter Solution
New analysis: Harmonic or Transient
Analysis options: Discussed next
Damping: Discussed next
D
Y
N
A
M
I
C
S

7
.
0

Training Manual
March 14, 2003
Inventory #001809
7-14
Mode Superposition
Switch to Harmonic or Transient
Analysis options - same as for a full harmonic or transient except:
Solution method: Mode superposition
Maximum mode number: Highest mode number to be used for solution.
Defaults to highest mode extracted.
Minimum mode number: Lowest mode number. Defaults to 1.
Also for harmonic analysis:
Solution clustering option for a smooth response curve.
Option to print mode contributions at each frequency.
D
Y
N
A
M
I
C
S

7
.
0

Training Manual
March 14, 2003
Inventory #001809
7-15
Mode Superposition
Switch to Harmonic or Transient
Damping
Specified here if QR Damped mode
extraction method not used.
Damping in some form should be
specified in most cases.
All four forms are available for mode
superposition:
Alpha (mass) damping
Beta (stiffness) damping
both global and material dependent
Constant damping ratio
Frequency dependent damping ratio
(modal damping)
D
Y
N
A
M
I
C
S

7
.
0

Training Manual
March 14, 2003
Inventory #001809
7-16
Mode Superposition
Apply Loads and Solve
Build the model
Obtain the modal solution
Switch to harmonic or transient analysis
Apply loads and solve
Only forces, no non-zero displacements.
Load vector from modal analysis (discussed next).
Conditions for initial static solution in a transient analysis
(discussed next).
Integration time step is constant throughout transient.
Start solution calculations (SOLVE).
D
Y
N
A
M
I
C
S

7
.
0

Training Manual
March 14, 2003
Inventory #001809
7-17
Mode Superposition
Apply Loads and Solve
Load vector
Gives a way to apply element loads
(pressures, accelerations, and
temperatures) in a mode
superposition analysis.
Calculated during the modal
solution based on loads specified
in the modal analysis.
Can be applied with a scale factor
(which defaults to 1.0).
D
Y
N
A
M
I
C
S

7
.
0

Training Manual
March 14, 2003
Inventory #001809
7-18
Mode Superposition
Apply Loads and Solve
Initial static solution in a transient analysis
The initial solution (at time = 0) in a mode superposition transient
analysis is always a static solution (using the frontal solver).
Can take a long time and much disk space for large models.
To avoid it (and get {U}
t=0
= {0}), do not apply any loads at time = 0.
D
Y
N
A
M
I
C
S

7
.
0

Training Manual
March 14, 2003
Inventory #001809
7-19
Mode Superposition
Apply Loads and Solve
Solve
Same procedure as for a full transient or harmonic analysis.
Only displacement results are calculated during solution (no
stresses or reaction forces). The displacement solution is written
to:
jobname.rdsp for a transient analysis
jobname.rfrq for a harmonic analysis
Next step is to review results.
D
Y
N
A
M
I
C
S

7
.
0

Training Manual
March 14, 2003
Inventory #001809
7-20
Mode Superposition
Review Results
Build the model
Obtain the modal solution
Switch to harmonic or transient analysis
Apply loads and solve

Review results. Three steps:
Review the displacement solution
Expand the solution
Review the expanded solution
D
Y
N
A
M
I
C
S

7
.
0

Training Manual
March 14, 2003
Inventory #001809
7-21
Mode Superposition
Review Results
Review displacement solution
Enter POST26, the time-history postprocessor.
First identify the results file - jobname.rdsp or jobname.rfrq.
TimeHist Postpro > Settings > File or FILE command
Define displacement variables at specific points in the model and obtain
displacement-versus-time (or frequency) plots.
Using graphs and
listings, identify the
critical time-points
(or frequencies and
phase angles).

D
Y
N
A
M
I
C
S

7
.
0

Training Manual
March 14, 2003
Inventory #001809
7-22
Mode Superposition
Review Results
Expand the solution
A process in which derived data (stresses, reaction forces, etc.)
are calculated from the primary data (displacement solution).
Three steps:
1. Enter Solution and activate the expansion pass.
Solution > ExpansionPass or EXPASS,ON
D
Y
N
A
M
I
C
S

7
.
0

Training Manual
March 14, 2003
Inventory #001809
7-23
2. Specify the solution or range of solutions to be
expanded. For harmonic analysis, remember to
specify the phase angle(s) or request expansion of
both real and imaginary parts (which can then be
combined in POST1 using the HRCPLX command).
Solution > Load Step Opts > ExpansionPass > Single Expand >



3. Start expansion pass solution
Solution > Solve > Current LS or SOLVE
Results are written to the .rst file (jobname.rst) and can
then be reviewed using POST1, the general
postprocessor.
Mode Superposition
Review Results
D
Y
N
A
M
I
C
S

7
.
0

Training Manual
March 14, 2003
Inventory #001809
7-24
Review the expanded solution
Use POST1, the general postprocessor.
Procedure is the same as for a full transient or harmonic analysis.
Read the desired results set from the results file, then plot deformed
shape, stress contours, etc.
For a harmonic analysis, if you chose to expand both real and
imaginary parts, use the HRCPLX command to combine them at the
desired phase angle. (No need to do this if you chose to expand the
displacement solution at a specified phase angle.)
Mode Superposition
Review Results
D
Y
N
A
M
I
C
S

7
.
0

Training Manual
March 14, 2003
Inventory #001809
7-25
Mode Superposition
Review Results
Build the model
Obtain the modal solution
Switch to harmonic or transient analysis
Apply loads and solve
Review results
D
Y
N
A
M
I
C
S

7
.
0

Training Manual
March 14, 2003
Inventory #001809
7-26
C. Workshop - Mode Superposition
In this workshop, you will run the Galloping Gertie example again, but
this time follow and understand each step as you go.
See your Dynamics Workshop supplement for details.
Introductory Workshop - Galloping Gertie, Page W-5.