AWS90 Ch10 Harmonic

Chapter Ten
Harmonic Analysis
Harmonic Analysis
Chapter Overview Training Manual
ANSYS Workbench Simulation

In this chapter, performing harmonic analyses in Simulation
will be covered:
It is assumed that the user has already covered Chapter 4 Linear
Static Structural Analysis and Chapter 5 Free Vibration Analysis
prior to this chapter.
The following will be covered in this chapter:

Setting Up Harmonic Analyses
Harmonic Solution Methods
Damping
Reviewing Results
The capabilities described in this section are generally

applicable to ANSYS Professional licenses and above.
Exceptions will be noted accordingly
March
Harmonic Analysis
Background on Harmonic Analysis Training Manual

A harmonic analysis is used to determine the response of
the structure under a steady-state sinusoidal (harmonic)
loading at a given frequency.
A harmonic, or frequency-response, analysis considers
loading at one frequency only. Loads may be out-of-phase
with one another, but the excitation is at a known frequency.
This procedure is not used for an arbitrary transient load.
One should always run a free vibration analysis (Ch. 5) prior to
a harmonic analysis to obtain an understanding of the
dynamic characteristics of the model.
To better understand a harmonic analysis, the general

equation of motion is provided first:
M x C x K x F
March
Harmonic Analysis

In a harmonic analysis, the loading and response of the
structure is assumed to be harmonic (cyclic):
F Fmax e e
j jt
x xmax e j e jt
The use of complex notation is an efficient representation of
the response. Since ejA is simply (cos(A)+jsin(A)), this
represents sinusoidal motion with a phase shift, which is
present because of the imaginary (j=-1) term.
The excitation frequency is the frequency at which the
loading occurs. A force phase shift may be present if
different loads are excited at different phases, and a
displacement phase shift may exist if damping or a force
phase shift is present.
March
Harmonic Analysis

1
For example, consider the case on 0.75
right where two forces are acting on 0.5
the structure 0.25
Both forces are excited at the same
Force Value
Force 1
0
Force 2
frequency , but Force 2 lags Force -0.25
1 by 45 degrees. This is a force phase -0.5
shift of 45 degrees. -0.75
The way in which this is represented is -1

0 45 90 135 180 225 270 315 360 405 450 495 540 585 630 675 720
via complex notation. This, however, Angle (Degrees)
can be rewritten as:
F Fmax e j e jt
Fmax cos jFmax sin e jt
F1 jF2 e jt
In this way, a real component F1 and an
imaginary component F2 are used.
The response {x} is analogous to {F}
Model shown is from a sample SolidWorks assembly. March

Harmonic Analysis
Basics of Harmonic Analysis Training Manual

For a harmonic analysis, the complex response {x1} and {x2}
are solved for from the matrix equation:
M j C K x jx F jF
2
1 2 1 2
This results in the following assumptions:
[M], [C], and [K] are constant:
Linear elastic material behavior is assumed
Small deflection theory is used, and no nonlinearities included
Damping [C] should be included. Otherwise, if the excitation
frequency is the same as the natural frequency of the structure,
the response is infinite at resonance.
The loading {F} (and response {x}) is sinusoidal at a given frequency
, although a phase shift may be present
It is important to remember these assumptions related to

performing harmonic analyses in Simulation.
March
Harmonic Analysis
A. Harmonic Analysis Procedure Training Manual

The harmonic analysis procedure is very similar to
performing a linear static analysis, so not all steps will be
covered in detail. The steps in yellow italics are specific to
harmonic analyses.
Attach Geometry
Assign Material Properties
Define Contact Regions (if applicable)
Define Mesh Controls (optional)
Include Loads and Supports
Request Harmonic Tool Results
Set Harmonic Analysis Options
Solve the Model
Review Results
March
Harmonic Analysis
Geometry Training Manual

Any type of geometry may be present in a harmonic
analysis
Solid bodies, surface bodies, line bodies, and any combination
thereof may be used
Recall that, for line bodies, stresses and strains are not
available as output
A Point Mass may be present, although only acceleration
loads affect a Point Mass
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Harmonic Analysis
Material Properties Training Manual

In a harmonic analysis, Youngs Modulus, Poissons Ratio,
and Mass Density are required input
All other material properties can be specified but are not used
in a harmonic analysis
As will be shown later, damping is not specified as a material
property but as a global property

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Harmonic Analysis
Contact Regions Training Manual

Contact regions are available in modal analysis. However,
since this is a purely linear analysis, contact behavior will
differ for the nonlinear contact types, as shown below:
Harmonic Analysis
Contact Type Static Analysis
Initially Touching Inside Pinball Region Outside Pinball Region
Bonded Bonded Bonded Bonded Free
No Separation No Separation No Separation No Separation Free
Rough Rough Bonded Free Free
Frictionless Frictionless No Separation Free Free
The contact behavior is similar to free vibration analyses

(Ch. 5), where nonlinear contact behavior will reduce to its
linear counterparts since harmonic simulations are linear.
It is generally recommended, however, not to use a nonlinear
contact type in a harmonic analysis

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Harmonic Analysis
Loads and Supports Training Manual

Structural loads and supports may also be used in
harmonic analyses with the following exceptions:
Thermal loads are not supported
Rotational Velocity is not supported
The Remote Force Load is not supported
The Pretension Bolt Load is nonlinear and cannot be used
The Compression Only Support is nonlinear and should not be
used. If present, it behaves similar to a Frictionless Support
Remember that all structural loads will vary sinusoidally at

the same excitation frequency

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Harmonic Analysis

A list of supported loads are shown below:
Type of Load Phase Input Solution Method
Acceleration Load No Full or Mode Superposition
Standard Earth Gravity Load No Full or Mode Superposition
Pressure Load Yes Full or Mode Superposition
Force Load Yes Full or Mode Superposition
Bearing Load No Full or Mode Superposition
Moment Load No Full or Mode Superposition
Given Displacement Support Yes Full Only
The Solution Method will be discussed in the next section.

It is useful to note at this point that ANSYS Professional does not
support Full solution method, so it does not support a Given
Displacement Support in a harmonic analysis.
Not all available loads support phase input. Accelerations,
Bearing Load, and Moment Load will have a phase angle of 0.
If other loads are present, shift the phase angle of other loads,
such that the Acceleration, Bearing, and Moment Loads will remain
at a phase angle of 0.
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Harmonic Analysis

To add a harmonic load:
Add any of the supported loads as usual.
Under Time Type, change it from
Static to Harmonic
Enter the magnitude (or components,
if available)
Phase input, if available, can be input
If only real F1 and imaginary F2 components of the load are

known, the magnitude and phase can be calculated as
follows:
magnitude F12 F22
F2
tan 1

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Harmonic Analysis

The loading for two cycles may be visualized by selecting
the load, then clicking on the Worksheet tab
The magnitude and phase angle will be accounted for in this
visual representation of the loading

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Harmonic Analysis
B. Solving Harmonic Analyses Training Manual

Prior to solving, request the Harmonic Tool:
Select the Solution branch and insert a Harmonic
Tool from the Context toolbar
In the Details view of the Harmonic Tool, one
can enter the Minimum and Maximum excitation
frequency range and Solution Intervals
The frequency range fmax-fmin and number of
intervals n determine the freq interval
f max f min
2
n
Simulation will solve n frequencies,
starting from . In the example above, with a
frequency range of 0 10,000 Hz
at 10 intervals, this means that
Simulation will solve for 10
excitation frequencies of 1000,
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8000, 9000, and 10000 Hz.
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Harmonic Analysis
Solution Methods Training Manual

There are two solution methods available in ANSYS
Structural and above. Both methods have their advantages
and shortcomings, so these will be discussed next:
The Mode Superposition method is the default solution option
and is available for ANSYS Professional and above
The Full method is available for ANSYS Structural and above
Under the Details view of the Harmonic

Tool, the Solution Method can be toggled
between the two options (if available).
The Details view of the Solution branch
should not be used, as it has no effect
on the analysis.

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Harmonic Analysis
Mode Superposition Method Training Manual

The Mode Superposition method solves the harmonic
equation in modal coordinates
Recall that the equation for harmonic analysis is as follows:
M j C K x jx F jF
2
1 2 1 2
For linear systems, one can express the displacements x as a

linear combination of mode shapes i :
n
x yi i
i 1
where yi are modal coordinates (coefficient) for this relation.
For example, one can perform a modal analysis to determine the
natural frequencies i and corresponding mode shapes i.
One can see that as more modes n are included, the approximation
for {x} becomes more accurate.
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Harmonic Analysis

The preceding discussion is meant to provide background
information about the Mode Superposition method. From
this, there are three important points to remember:
1. Because of the fact that modal coordinates are used, a
harmonic solution using the Mode Superposition method
will automatically perform a modal analysis first
Simulation will automatically determine the number of modes
n necessary for an accurate solution
Although a free vibration analysis is performed first, the
harmonic analysis portion is very quick and efficient. Hence,
the Mode Superposition method is usually much faster overall
than the Full method.

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Harmonic Analysis

2. Since a free vibration analysis is performed, Simulation will
know what the natural frequencies of the structure are
In a harmonic analysis, the peak response will correspond
with the natural frequencies of the structure. Since the
natural frequencies are known, Simulation can cluster the
results near the natural frequencies instead of using evenly
spaced results.
In this example, the cluster option
captures the peak response better
than evenly-spaced intervals
(4.51e-3 vs. 4.30e-3)
The Cluster Number determines
how many results on either side of
a natural frequency is solved.

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Harmonic Analysis

3. Due to the nature of the Mode Superposition method, Given
Displacement Supports are not allowed
Nonzero prescribed displacements are not possible because
the solution is done with modal coordinates
This was mentioned earlier during the discussion on loads
and supports

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Harmonic Analysis
Full Method Training Manual

The Full method is an alternate way of solving harmonic
analyses
Recall the harmonic analysis equation:
M j C K x jx F jF
2
1 2 1 2
In the Full method, this matrix equation is solved for directly in

nodal coordinates, analogous to a linear static analysis except
that complex numbers are used:
K C 2 M j C K
xC x1 jx2
FC F1 jF2
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K C xC FC
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Harmonic Analysis

This results in several differences compared with the Mode
Superposition method:
1. For each frequency, the Full method must factorize [K c].
In the Mode Superposition method, a simpler set of uncoupled
equations is solved for. In the Full method, a more complex,
coupled matrix [KC] must be factorized.
Because of this, the Full method tends to be more
computationally expensive than the Mode Superposition
method
2. Given Displacement Support is available

Because {x} is solved for directly, imposed displacements are
permitted. This allows for the use of Given Displacement
Supports.

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Harmonic Analysis

3. The Full method does not use modal information
Unlike the Mode Superposition method, the Full method does
not rely on mode shapes and natural frequencies
No free vibration analysis is internally performed
The solution of {xC} is exact
No approximation of the response {x} to mode shapes is used
However, because modal information is not present to
Simulation during a solution, no clustering of results is
possible. Only evenly-spaced intervals is permitted.

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Harmonic Analysis
C. Damping Input Training Manual

The harmonic equation has a damping matrix [C]
It was noted earlier that damping is specified as a global
property
For ANSYS Professional license, only a constant damping
ratio is available for input
For ANSYS Structural licenses and above, either a constant
damping ratio or beta damping value can be input
Note that if both constant damping and
beta damping are input, the effects will
be cumulative
Either damping option can be used with
either solution method (full or mode
superposition)

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Harmonic Analysis
Background on Damping Training Manual

Damping results in energy loss in a dynamic system.
The effect damping has on the response is to shift the natural
frequencies and to lower the peak response
Damping is present in many forms in any structural system
Damping is a complex phenomena due to various effects.

The mathematical representation of damping, however, is
quite simple. Viscous damping will be considered here:
The viscous damping force Fdamp is proportional to velocity
Fdamp cx
where c is the damping constant
There is a value of c called critical damping ccr where no
oscillations will take place
The damping ratio is the ratio of actual damping c over critical
damping ccr. c

ccr March
Harmonic Analysis
Constant Damping Ratio Training Manual

The constant damping ratio input in Simulation means that
the value of will be constant over the entire frequency
range.
The value of will be used directly in Mode Superposition
method
The constant damping ratio is unitless
In the Full method, the damping ratio is not directly used.
This will be converted internally to an appropriate value for [C]

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Harmonic Analysis
Beta Damping Training Manual

Another way to model damping is to assume that damping
value c is proportional to the stiffness k by a constant :
c k
This is related back to the damping ratio :
c k 2 i
i i
ccr 2 i m 2 i 2
One can see from this equation that, with beta damping, the
effect of damping increases linearly with frequency
Unlike the constant damping ratio, beta damping increases
with increasing frequency
Beta damping tends to damp out the effect of higher
frequencies
Beta damping is in units of time
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Harmonic Analysis
Beta Damping Training Manual

There are two methods of input of beta damping:
Beta damping value can be directly input
A damping ratio and frequency can be input, and the
corresponding beta damping value will be calculated by
Simulation, per the equation on the previous slide
Although a frequency and
damping ratio is input in this
second case, remember that beta
damping will linearly increase
with frequency. This means that
lower frequencies will have less
damping and higher frequencies
will experience more damping.

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Harmonic Analysis
Damping Relationships Training Manual

There are some other measures of damping commonly used.
Note that these are usually for single degree of freedom systems,
so extrapolating it for use in multi-DOF systems (such as FEA)
should be done with caution!
The quality factor Qi is 1/(2 i)
The loss factor i is the inverse of Q or 2 i
The logarithmic decrement i can be approximated for light damping
cases as 2 i
The half-power bandwidth i can be approximated for lightly
damped structures as 2 i i
Remember that these measures of damping are simplified and for

single DOF systems.
If the user understands the physical structures response over a
frequency range as well as the difference between constant damping
ratio and beta damping, then damping can be modeled appropriately
in Simulation
March
Harmonic Analysis
D. Request Harmonic Tool Results Training Manual

Results can then be requested from Harmonic Tool branch:
Three types of results are available:

Contour results of components of stresses, strains, or
displacements for surfaces, parts, and/or assemblies at a specified
frequency and phase angle
Frequency response plots of minimum, maximum, or average
components of stresses, strains, displacements, or acceleration at
selected vertices, edges, or surfaces.
Phase response plots of minimum, maximum, or average
components of stresses, strains, or displacements at a specified
frequency
Unlike a linear static analysis, results must be requested
before initiating a solution. Otherwise, if other results are
requested after a solution is completed, another solution must
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Harmonic Analysis
Request Harmonic Tool Results Training Manual

Request any of the available results under the Harmonic
Tool branch
Be sure to scope results on entities of
interest
For edges and surfaces, specify whether
average, minimum, or maximum value
will be reported
Enter any other applicable input
If results are requested between solved-for frequency

ranges, linear interpolation will be used to calculate the
response
For example, if Simulation solves frequencies from 100 to 1000
Hz at 100 Hz intervals, and the user requests a result for 333
Hz, this will be linearly interpolated from results at 300 and 400
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Request Harmonic Tool Results Training Manual

Simulation assumes that the response is harmonic
(sinusoidal).
Derived quantities such as equivalent/principal stresses or
total deformation may not be harmonic if the components are
not in-phase, so these results are not available.
No Convergence is available on Harmonic results

Perform a modal analysis and perform convergence on mode
shapes which will reflect response. This will help to ensure
that the mesh is fine enough to capture the dynamic response
in a subsequent harmonic analysis.

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Harmonic Analysis
Solving the Model Training Manual

The Details view of the Solution branch is
not used in a Harmonic analysis.
Only informative status of the type of
analysis to be solved will be displayed
After Harmonic Analysis options have been set and results

have been requested, the solution can be solved as usual
with the Solve button

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Harmonic Analysis
Contour Results Training Manual

Contour results of components of stress, strain, or
displacement are available at a given frequency and phase
angle

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Harmonic Analysis
Contour Animations Training Manual

These results can be animated. Animations will use the
actual harmonic response (real and imaginary results)

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Harmonic Analysis
Frequency Response Plots Training Manual

XY Plots of components of stress, strain, displacement, or
acceleration can be requested
For scoped results, average,
minimum, or maximum values can be
requested.
Bode plots (shown on right) is the
default display method. However,
real and imaginary results can also
be plotted.
The Ctrl-left mouse button allows the

user to query results on the graph.
Results can also be exported to
Excel by right-clicking on the branch

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to change the Graph Properties March
Harmonic Analysis
Phase Response Plots Training Manual

Comparison of phase of components of stress, strain, or
displacement with input forces can be plotted at a given
frequency
The average, minimum, or maximum

value of the scoped results can be
used to track the phase relationship
with all of the input forces.
In this example, the response is
lagging the input forces, as expected,
and the user can visually examine this
phase difference.

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to change the Graph Properties March
Harmonic Analysis
Requesting Results Training Manual

A harmonic solution usually requires multiple solutions:
A free vibration analysis using the Frequency Finder should
always be performed first to determine the natural frequencies
and mode shapes
Although a free vibration analysis is internally performed with the
Mode Superposition method, the mode shapes are not available to
the user to review. Hence, a separate Environment branch must be
inserted or duplicated to add the Frequency Finder tool.
Oftentimes, two harmonic solutions may need to be run:
A harmonic sweep of the frequency range can be performed
initially, where displacements, stresses, etc. can be requested.
This allows the user to see the results over the entire frequency
range of interest.
After the frequencies and phases at which the peak response(s)
occur are determined, contour results can be requested to see the
overall response of the structure at these frequencies.
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Harmonic Analysis
E. Workshop 10 Training Manual

Workshop 10 Harmonic Analysis
Goal:
Explore the harmonic response of the machine frame (Frame.x_t)
shown here. The frequency response as well as stress and
deformation at a specific frequency will be determined.
March

AWS90 Ch10 Harmonic

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Chapter Ten

Chapter Overview Training Manual

ANSYS Workbench Simulation

The following will be covered in this chapter:

The capabilities described in this section are generally

Background on Harmonic Analysis Training Manual

ANSYS Workbench Simulation

To better understand a harmonic analysis, the general

Background on Harmonic Analysis Training Manual

ANSYS Workbench Simulation

Background on Harmonic Analysis Training Manual

ANSYS Workbench Simulation

For example, consider the case on 0.75

right where two forces are acting on 0.5

the structure 0.25

Both forces are excited at the same

frequency , but Force 2 lags Force -0.25

1 by 45 degrees. This is a force phase -0.5

shift of 45 degrees. -0.75

The way in which this is represented is -1

via complex notation. This, however, Angle (Degrees)

can be rewritten as:

Model shown is from a sample SolidWorks assembly. March

Basics of Harmonic Analysis Training Manual

ANSYS Workbench Simulation

It is important to remember these assumptions related to

A. Harmonic Analysis Procedure Training Manual

ANSYS Workbench Simulation

Geometry Training Manual

ANSYS Workbench Simulation

ANSYS License Availability

Material Properties Training Manual

ANSYS Workbench Simulation

ANSYS License Availability

Contact Regions Training Manual

ANSYS Workbench Simulation

The contact behavior is similar to free vibration analyses

ANSYS License Availability

Loads and Supports Training Manual

ANSYS Workbench Simulation

Remember that all structural loads will vary sinusoidally at

ANSYS License Availability

Loads and Supports Training Manual

ANSYS Workbench Simulation

The Solution Method will be discussed in the next section.

Loads and Supports Training Manual

ANSYS Workbench Simulation

If only real F1 and imaginary F2 components of the load are

Loads and Supports Training Manual

ANSYS Workbench Simulation

ANSYS License Availability

B. Solving Harmonic Analyses Training Manual

ANSYS Workbench Simulation

Solution Methods Training Manual

ANSYS Workbench Simulation

Under the Details view of the Harmonic

ANSYS License Availability

Mode Superposition Method Training Manual

ANSYS Workbench Simulation

For linear systems, one can express the displacements x as a

Mode Superposition Method Training Manual

ANSYS Workbench Simulation

ANSYS License Availability

Mode Superposition Method Training Manual