Dynamics 70 M1 Intro

Module 1
Introduction to Dynamics
Introduction
Welcome! Training Manual
DYNAMICS 7.0
Welcome to the Dynamics Training Course!
This training course covers the ANSYS procedures required to

perform dynamic analyses.
It is intended for novice and experienced users interested in

solving dynamic problems using ANSYS.
Several other advanced training courses are available on specific

topics. See the training course schedule on the ANSYS
homepage: www.ansys.com under Training Services.
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Introduction
Course Objectives Training Manual
DYNAMICS 7.0
By the end of this course, you will be able to use ANSYS to:
Preprocess, solve, and postprocess a modal, harmonic, transient, and

spectrum analysis.
Use a Restart Analysis to either add time points to an existing load

history or recover from an unconverged solution.
Use the Mode Superposition method to reduce the solution time of

either a transient or harmonic analysis.
Use ANSYSs advanced modal analysis capabilities. These include

prestressed modal, cyclic symmetry, and large deflection analyses.
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Introduction
Course Material Training Manual
DYNAMICS 7.0
The Training Manual you have is an exact copy of the slides.
Workshop descriptions and instructions are included in the

Workshop Supplement.
Copies of the workshop files are available (upon request) from the
instructor.
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Module 1
Introduction to Dynamics Training Manual
DYNAMICS 7.0
A. Define dynamic analysis and its purpose.
B. Discuss different types of dynamic analysis.
C. Cover some basic concepts and terminology.
D. Introduce the Variable Viewer in the Time-History Postprocessor.
E. Do a sample dynamic analysis exercise.
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Dynamics
A. Definition & Purpose Training Manual
DYNAMICS 7.0
What is dynamic analysis?
A technique used to determine the dynamic behavior of a

structure or component, where the structures inertia (mass
effects) and damping play an important role.
Dynamic behavior may be one or more of the following:

Vibration characteristics - how the structure vibrates and at what
frequencies.
Effect of time varying loads (on the structures displacements and
stresses, for example).
Effect of periodic (a.k.a. oscillating or random) loads.
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Dynamics
Definition & Purpose Training Manual
DYNAMICS 7.0
A static analysis might ensure that
the design will withstand steady-
state loading conditions, but it
may not be sufficient, especially if
the load varies with time.
The famous Tacoma Narrows

bridge (Galloping Gertie) collapsed
under steady wind loads during a
42-mph wind storm on November
7, 1940, just four months after
construction.
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Dynamics
Definition & Purpose Training Manual
DYNAMICS 7.0
A dynamic analysis usually takes into account one or more of the
following:
Vibrations - due to rotating machinery, for example.
Impact - car crash, hammer blow.
Alternating forces - crank shafts, other rotating machinery.
Seismic loads - earthquake, blast.
Random vibrations - rocket launch, road transport.
Each situation is handled by a specific type of dynamic analysis.
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Dynamics
B. Types of Dynamic Analysis Training Manual
DYNAMICS 7.0
Consider the following examples:
An automobile tailpipe assembly could shake apart if its natural
frequency matched that of the engine. How can you avoid this?
A turbine blade under stress (centrifugal forces) shows different
dynamic behavior. How can you account for it?
Answer - do a modal analysis to determine a structures vibration

characteristics.
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Dynamics
Types of Dynamic Analysis Training Manual
DYNAMICS 7.0
An automobile fender should be able to withstand low-speed impact,
but deform under higher-speed impact.
A tennis racket frame should be designed to resist the impact of a
tennis ball and yet flex somewhat.
Solution - do a transient dynamic analysis to calculate a structures

response to time varying loads.
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Dynamics
DYNAMICS 7.0
Rotating machines exert steady,
alternating forces on bearings and
support structures. These forces
cause different deflections and
stresses depending on the speed of
rotation.
Solution - do a harmonic analysis to

determine a structures response to
steady, harmonic loads.
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Dynamics
DYNAMICS 7.0
Building frames and bridge structures in an
earthquake prone region should be designed to
withstand earthquakes.
Solution - do a spectrum analysis to determine a

structures response to seismic loading.
Courtesy: U.S. Geological Survey
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Dynamics
DYNAMICS 7.0
Spacecraft and aircraft components must withstand random loading
of varying frequencies for a sustained time period.
Solution - do a random vibration analysis to determine how a

component responds to random vibrations.
Courtesy:
NASA
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Dynamics
C. Basic Concepts and Terminology Training Manual
DYNAMICS 7.0
Topics discussed:
General equation of motion
Solution methods
Modeling considerations
Mass matrix
Damping
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Dynamics - Basic Concepts & Terminology
Equation of Motion Training Manual
DYNAMICS 7.0
The general equation of motion is as follows.
Mu Cu Ku Ft
Different analysis types solve different forms of this equation.
Modal analysis: F(t) is set to zero, and [C] is usually ignored.
Harmonic analysis: F(t) and u(t) are both assumed to be harmonic in
nature, i.e, Xsin(wt), where X is the amplitude and w is the frequency
in radians/sec.
Transient dynamic analysis: The above form is maintained.
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Solution Methods Training Manual
DYNAMICS 7.0
How do we solve the general equation of motion?
Two main techniques:

Mode superposition
Direct integration
Mode superposition
The frequency modes of the structure are predicted, multiplied by

generalized coordinates, and then summed to calculate the
displacement solution.
Can be used for transient and harmonic analyses.
Covered in Module 6.
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DYNAMICS 7.0
Direct integration
Equation of motion is solved directly, without the use of

generalized coordinates.
For harmonic analyses, since both loads and response are

assumed to be harmonic, the equation is written and solved as a
function of forcing frequency instead of time.
For transient analyses, the equation remains a function of time

and can be solved using either an explicit or implicit method.
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DYNAMICS 7.0
Implicit Method Explicit Method
Matrix inversion is required No matrix inversion
Nonlinearities require equilibrium Can handle nonlinearities easily

iterations (convergence problems) (no convergence issues)
Integration time step Dt can be large Integration time step Dt must be

but may be restricted by small (1e-6 second is typical)
convergence issues
Useful for short duration transients
Efficient for most problems except such as wave propagation, shock
where Dt needs to be very small. loading, and highly nonlinear
problems such as metal forming.
This is the topic covered in this
seminar ANSYS-LS/DYNA uses this method.
Not covered in this seminar.
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Modeling Considerations Training Manual
DYNAMICS 7.0
Geometry and Mesh:
Generally same considerations as a static analysis.
Include as many details as necessary to sufficiently represent the

model mass distribution.
A fine mesh will be needed in areas where stress results are of

interest. If you are only interested in displacement results, a
coarse mesh may be sufficient.
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DYNAMICS 7.0
Material properties:
Both Youngs modulus and density are required.
Remember to use consistent units.
For density, specify mass density instead of weight density when using
British units:
[Mass density] = [weight density]/[g] = [lbf/in3] / [in/sec2] = [lbf-sec2/in4]
Density of steel = 0.283/386 = 7.3 x 10-4 lbf-sec2/in4
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DYNAMICS 7.0
Nonlinearities (large deflections, contact, plasticity, etc.):
Allowed only in a full transient dynamic analysis.
Ignored in all other dynamic analysis types - modal, harmonic,

spectrum, and reduced or mode superposition transient. That is,
the initial state of the nonlinearity will be maintained throughout
the solution.
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Mass Matrix Training Manual
DYNAMICS 7.0
Mass matrix [M] is required for a dynamic analysis and is
calculated for each element from its density.
Two types of [M]: consistent and lumped. Shown below for

BEAM3, the 2-D beam element.
UX 1 x 0 0 x 0 0 x 0 0 0 0 0
UY1 0 x x 0 x x 0 x 0 0 0 0

ROTZ 1 0 x x 0 x x
0
BEAM3
0 x 0 0 0

UX 2 x 0 0 x 0 0 1 2 0 0 0 x 0 0
UY2 0 x x 0 x x 0 0 0 0 x 0
ROTZ 2 0 x x 0 x x 0
0 0 0 0 x
Consistent [M] Lumped [M]
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DYNAMICS 7.0
Consistent mass matrix
Calculated from element shape functions.
Default for most elements.
Some elements have a special form called the reduced mass

matrix, which has rotational terms zeroed out.
Lumped mass matrix
Mass is divided among the elements nodes. Off-diagonal terms

are zero.
Activated as an analysis option (LUMPM command).
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DYNAMICS 7.0
Which mass matrix should you use?
Consistent mass matrix (default setting) for most applications.
Reduced mass matrix (if available) or lumped [M] for structures

that are small in one dimension compared to the other two
dimensions, e.g, slender beams or very thin shells.
Lumped mass matrix for wave propagation problems.
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Damping Training Manual
DYNAMICS 7.0
What is damping?
The energy dissipation mechanism that causes
vibrations to diminish over time and eventually
stop. Dampening of
Amount of damping mainly depends on the a Response
material, velocity of motion, and frequency of
vibration.
Can be classified as:
Viscous damping
Hysteresis or solid damping
Coulomb or dry-friction damping
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DYNAMICS 7.0
Viscous damping
Occurs when a body moves through a fluid.
Should be considered in a dynamic analysis since the damping
force is proportional to velocity.
The proportionality constant c is called the damping constant.
Usually quantified as damping ratio x (ratio of damping constant c
to critical damping constant cc*).
Critical damping is defined as the threshold between oscillatory
and non-oscillatory behavior, where damping ratio = 1.0.
*For a single-DOF spring mass system of mass m and frequency w, cc = 2mw.
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DYNAMICS 7.0
Hysteresis or solid damping
Inherently present in a material.
Should be considered in a dynamic analysis.
Not well understood and therefore difficult to quantify.
Coulomb or dry-friction damping
Occurs when a body slides on a dry surface.
Damping force is proportional to the force normal to the surface.
Proportionality constant m is the coefficient of friction.
Generally not considered in a dynamic analysis.
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DYNAMICS 7.0
ANSYS allows all three forms of damping.
Viscous damping can be included by specifying the damping ratio
x, Rayleigh damping constant a (discussed later), or by defining
elements with damping matrices.
Hysteresis or solid damping can be included by specifying
another Rayleigh damping constant, b (discussed later).
Coulomb damping can be included by defining contact surface
elements and gap elements with friction capability (not discussed
in this seminar; see the ANSYS Structural Analysis Guide for
information).
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DYNAMICS 7.0
In ANSYS damping is defined as
NMAT NEL
[C] a[M] (b bc )[ K] b [K ] C
j1
j j
k 1
k [Cx ]
[C] structure damping matrix

a constant mass matrix multiplier (ALPHAD)
M structure mass matrix
b constant stiffness matrix multiplier (BETAD)
bc variable stiffness matrix multiplier (DMPRAT)
K structure stiffness matrix
bj constant stiffness matrix multiplier for material j (MP,DAMP)
[Ck] element damping matrix (element real constants)
Cx frequency-dependent damping matrix (DMPRAT and MP,DAMP)
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DYNAMICS 7.0
Damping is specified in various forms:
Viscous damping factor or damping ratio x
Quality factor or simply Q
Loss factor or Structural damping factor h
Log decrement D
Spectral damping factor D
Most of these are related to DAMPING RATIO x used in ANSYS
Conversion factors are shown next
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DYNAMICS 7.0
Conversion between various damping specifications:
Damping Log Quality Spectral Amplification

Measure Loss Factor
ratio Decrement Factor Damping Factor
Damping
Ratio x h D 1/(2Q) D/(4U) 1/2A
Loss Factor
x h D Q D/(2U) 1/A
Log
Decrement x h D Q D/(2U)
Quality
Factor x h D Q U/D
Spectral
Damping Ux Uh 2UD U/Q D U
Amplification
Factor x h D Q U/D
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DYNAMICS 7.0
Alpha Damping
Also known as mass damping.
Effect of Alpha Damping on Damping
Specified only if viscous damping is Ratio (Beta Damping Ignored)
dominant, such as in underwater
applications, shock absorbers, or
objects facing wind resistance.
If beta damping is ignored, a can be
Damping Ratio
a3
calculated from a known value of x
(damping ratio) and a known 2
frequency w: 1
a = 2xw
0.5
Frequency
Only one value of alpha is allowed, so
pick the most dominant response
frequency to calculate a.
Input using the ALPHAD command.
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DYNAMICS 7.0
Beta Damping
Also known as structural or stiffness
damping.
Inherent property of most materials. Effect of Beta Damping on Damping
Ratio (Alpha Damping Ignored)
Specified per material or as a single,
global value. b0.004
If alpha damping is ignored, b can be 0.003

calculated from a known value of x
Damping Ratio
(damping ratio) and a known frequency
w: 0.002
b = 2x/w
0.001
Pick the most dominant response
frequency to calculate b. Frequency
Input using MP,DAMP or BETAD

command.
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DYNAMICS 7.0
Rayleigh damping constants a and b
Used as multipliers of [M] and [K] to calculate [C]:
[C] = a[M] + b[K]
a/2w + bw/2 = x
where w is the frequency, and x is the damping ratio.
Needed in situations where damping ratio x cannot be specified.
Alpha is the viscous damping component, and Beta is the
hysteresis (a.k.a. solid or stiffness) damping component.
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DYNAMICS 7.0
To specify both a and b damping:
Use the relation

How to Approximate Rayleigh
a/2w + bw/2 = x Damping Constants
Rayleigh Equation: the sum
Since there are two unknowns, of the a and b terms is nearly
constant over the range of
assume that the sum of alpha and frequencies
beta damping gives a constant
Damping Ratio
damping ratio x over the frequency w1 w2 ab
range w1 to w2. This gives two
simultaneous equations from which b
you can solve for a and b. a
x = a/2w1 + bw1/2
Frequency
x = a/2w2 + bw2/2
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Dynamics - PostProcessing
D. Variable Viewer Training Manual
DYNAMICS 7.0
The Variable Viewer is a
specialized tool allowing one to
postprocess results with respect
to time or frequency.
The Variable Viewer can be

started by:
Main Menu > TimeHist Postpro >
Variable Viewer
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Variable Viewer Training Manual
DYNAMICS 7.0
1 Add variable button
1 2 3 4 5 6 7 8 9 10 2 Delete variable button
11 3 Graph variable button
4 List variable button
12 5 Properties button
6 Import data button
7 Export data button
8 Export data type
9 Clear Time-History Data
13 14 10 Refresh Time-History Data
15 16 11 Real/Imaginary Components
12 Variable list
13 Variable name input area

17 14 Expression input area
15 Defined APDL variables
16 Defined Post26 variables
17 Calculator
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Variable Viewer Training Manual
DYNAMICS 7.0
k = 36kN/m
100kg
x
k = 36kN/m
25kg
y
F
4000 N , t 0
F
0, t 0
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Dynamics
E. Introductory Workshop Training Manual
DYNAMICS 7.0
In this workshop, you will run a
sample dynamic analysis of the
Galloping Gertie (Tacoma
Failure of Tacoma Narrows Bridge
Narrows bridge).
Follow the instructions in your
Dynamics Workshop supplement
(Introductory Dynamics -
Galloping Gertie, Page W-5 ).
The idea is to introduce you to
the steps involved in a typical
dynamic analysis. Details of
what each step means will be
covered in the rest of this
seminar.
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Dynamics 70 M1 Intro

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Module 1

This training course covers the ANSYS procedures required to

It is intended for novice and experienced users interested in

Several other advanced training courses are available on specific

March 14, 2003

Preprocess, solve, and postprocess a modal, harmonic, transient, and

Use a Restart Analysis to either add time points to an existing load

Use the Mode Superposition method to reduce the solution time of

Use ANSYSs advanced modal analysis capabilities. These include

March 14, 2003

Workshop descriptions and instructions are included in the

March 14, 2003

B. Discuss different types of dynamic analysis.

C. Cover some basic concepts and terminology.

D. Introduce the Variable Viewer in the Time-History Postprocessor.

E. Do a sample dynamic analysis exercise.

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A technique used to determine the dynamic behavior of a

Dynamic behavior may be one or more of the following:

March 14, 2003

The famous Tacoma Narrows

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Each situation is handled by a specific type of dynamic analysis.

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Answer - do a modal analysis to determine a structures vibration

March 14, 2003

Solution - do a transient dynamic analysis to calculate a structures

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Solution - do a harmonic analysis to

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Solution - do a spectrum analysis to determine a

Courtesy: U.S. Geological Survey

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Solution - do a random vibration analysis to determine how a

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General equation of motion

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March 14, 2003

Two main techniques:

The frequency modes of the structure are predicted, multiplied by

Can be used for transient and harmonic analyses.

March 14, 2003

Equation of motion is solved directly, without the use of

For harmonic analyses, since both loads and response are

For transient analyses, the equation remains a function of time

March 14, 2003

Matrix inversion is required No matrix inversion

Nonlinearities require equilibrium Can handle nonlinearities easily

Integration time step Dt can be large Integration time step Dt must be

March 14, 2003

Generally same considerations as a static analysis.

Include as many details as necessary to sufficiently represent the

A fine mesh will be needed in areas where stress results are of

March 14, 2003

Both Youngs modulus and density are required.

Remember to use consistent units.

March 14, 2003

Allowed only in a full transient dynamic analysis.

Ignored in all other dynamic analysis types - modal, harmonic,

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Two types of [M]: consistent and lumped. Shown below for

March 14, 2003

Calculated from element shape functions.

Default for most elements.