Module 2

Modal Analysis

Module 2

Modal Analysis

Training Manual

DYNAMICS 8.1

A. Define modal analysis and its purpose.

B. Discuss associated concepts, terminology, and mode extraction
methods.
C. Learn how to do a modal analysis in ANSYS.
D. Work on one or two modal analysis exercises.

July

Modal Analysis

A. Definition & Purpose

What is modal analysis?

A technique used to determine a structures vibration

characteristics:

DYNAMICS 8.1

Training Manual

Natural frequencies
Mode shapes
Mode participation factors (how much a given mode participates in a
given direction)

Most fundamental of all the dynamic analysis types.

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Modal Analysis

Definition & Purpose

Training Manual

DYNAMICS 8.1

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

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Training Manual

General equation of motion:

M u C u K u F t

Assume free vibrations and ignore damping:

M u K u 0

Assume harmonic motion ( i.e.

K M u 0

u U sin(t )

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/2cycles/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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DYNAMICS 8.1

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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DYNAMICS 8.1

Modal Analysis - Terminology & Concepts

Mode Extraction Methods

Several mode extraction methods are available in ANSYS:

DYNAMICS 8.1

Training Manual

Block Lanczos (default)

Subspace
PowerDynamics
Reduced
Unsymmetric
Damped (full)
QR Damped

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

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Training Manual

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

July

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Training Manual

Modal Analysis - Terminology & Concepts

Mode Extraction Methods - PowerDynamics

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Training Manual

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

DYNAMICS 8.1

Training Manual

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.
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.

July

DYNAMICS 8.1

Training Manual

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:
Imaginary part is the natural frequency.
Real part indicates stability - negative means stable, positive
means unstable.

July

DYNAMICS 8.1

Training Manual

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
Supports the use of a material dependent damping ratio [MP,DMPR] in
a subsequent mode superposition harmonic analysis

July

DYNAMICS 8.1

Training Manual

Modal Analysis - Terminology & Concepts

Mode Extraction Methods - Q-R damped

Training Manual

DYNAMICS 8.1

MODOPT,QRDAMP,NMODE

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Modal Analysis - Terminology & Concepts

Mode Extraction Methods - Q-R damped

Training Manual

DYNAMICS 8.1

Comparison Demonstrating the Superior Solution Performance

of the QR Damped Mode Extraction Method
FEA Model Characteristics:
111,129 active dofs
10 damped modes
Alpha, Beta and Element damping
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.

July

DYNAMICS 8.1

Extraction
method

Training Manual

Modal Analysis

C. Procedure

Training Manual

DYNAMICS 8.1

Four main steps in a modal analysis:

Build the model

Choose analysis type and options

Apply boundary conditions and solve

Review results

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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.

DYNAMICS 8.1

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Modal Analysis Procedure

Choose Analysis Type & Options

Training Manual

DYNAMICS 8.1

Build the model

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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Modal Analysis Procedure

Choose Analysis Type & Options

Training Manual

DYNAMICS 8.1

Mode extraction 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).
Specification of a frequency range
requires additional factorizations and
it is typically faster to simply request
a number of modes which will overlap
the desired range.

Normalization: Discussed next.

defaults to 1e8

July

Modal Analysis Procedure

Choose Analysis Type & Options

Training Manual

Only the shape of the DOF solution has real meaning. It is

therefore customary to normalize them for numerical efficiency or
user convenience.

Modes are normalized either to the mass matrix or to a unit matrix

(unity).
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)

July

DYNAMICS 8.1

Normalization of mode shapes:

Modal Analysis Procedure

Choose Analysis Type & Options

Training Manual

DYNAMICS 8.1

Mode expansion:

You need to expand mode shapes if you want to do any of the

following:
Have element stresses calculated.
Do a subsequent spectrum or mode superposition analysis.

July

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.

July

DYNAMICS 8.1

Mode expansion (continued):

Modal Analysis Procedure

Choose Analysis Type & Options

Other analysis options:

Lumped mass matrix

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Training Manual

Mainly used for slender beams and thin shells, or for wave
propagation problems.
Automatically chosen for PowerDynamics method.

Pre-stress effects
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.

July

Modal Analysis Procedure

Apply BCs and Solve

Training Manual

DYNAMICS 8.1

Build the model

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.

July

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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DYNAMICS 8.1

Displacement constraints:
Apply as necessary, to simulate actual fixity.

Modal Analysis Procedure

... Apply BCs and Solve

Training Manual

DYNAMICS 8.1

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

July

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.

July

DYNAMICS 8.1

Displacement constraints (continued):

Modal Analysis Procedure

Apply BCs and Solve

Training Manual

DYNAMICS 8.1

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).

July

Modal Analysis Procedure

Review Results

Training Manual

DYNAMICS 8.1

Build the model

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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Modal Analysis Procedure

Review Results

Training Manual

DYNAMICS 8.1

Listing natural frequencies:

Choose Read Results > By Pick in the General Postproc menu.

Notice that each mode is stored in a separate substep.

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Modal Analysis Procedure

Review Results

Training Manual

DYNAMICS 8.1

Viewing mode shapes:

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 = ).

July

Modal Analysis Procedure

Review Results

Training Manual

DYNAMICS 8.1

Viewing mode shapes (continued):

You can also animate the mode shape: Utility Menu > PlotCtrls >
Animate > Mode Shape...

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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

The final participation factor value (ROTZ) can be retrieved into a

parameter using *GET command. A spectrum analysis with a
specified direction (SED,0,1,0) could be used to obtain other values

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

Effective Mass = (participation factor)2

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DYNAMICS 8.1

Participation Factors:

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

July

DYNAMICS 8.1

Modal stresses:

Modal Analysis Procedure

Review Results

Training Manual

DYNAMICS 8.1

Mode shapes
normalized to
unity

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Modal Analysis

Procedure

Training Manual

DYNAMICS 8.1

Build the model

Choose analysis type and options
Apply boundary conditions and solve
Review results

July

D. Workshop - Modal Analysis

Training Manual

DYNAMICS 8.1

This workshop consists of two problems:

1. Modal analysis of a plate with a hole
A step-by-step description of how to do the analysis.
You may choose to run this problem yourself, or your instructor may
show it as a demonstration.
Follow the instructions in your Dynamics Workshop supplement (
WS2: Modal Analysis - Plate with a Hole, Page WS-17 ).

2. Modal analysis of a model airplane wing

This is left as an exercise to you.
Follow the instructions in your Dynamics Workshop supplement (
WS3: Modal Analysis - Model Airplane Wing, Page WS-23 ).

July