Finite Elements:

Barelement
Planetruss
Beam element
Guyan reduction Guyan reduction
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RayleighRitzvs.Finite Elements
localassumed modes
On the contrary to the Rayleigh Ritz method the shape functions Onthecontrary totheRayleighRitzmethod,theshape functions
within anelement areselected onceandforallforevert typeofelement.
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Barelement
Kinematic assumptions (within anelement):
(uniform strain within theelement)
Strain energy:
3
Generalized coordinates: Generalized coordinates:
Strain energy:
Stiffness matrix:
Kinetic energy:
Massmatrix:
4
Summary:
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Truss structure(assembly)
6nodes with 2d.o.f.each:(u
i
,v
i
)
Globalcoordinates:
Using thetopology ofthestructure,thelocal
coordinates ofevery element arerelated tothe
l b l di globalcoordinates:
Totalstrain energy =sum ofthestrain energy ofalltheelements
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Globalstiffness matrix:
Totalstrain energy =sum ofthestrain energy ofalltheelements
Globalstiffness matrix:
Totalkinetic energy =sum ofthekinetic energy ofalltheelements
Globalmassmatrix:
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Beam element (EulerBernoulli)
1.Kinematics
Shapefunctions:
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EulerBernoullibeam:
Intheelement:
consistent massmatrix
(b d h h f i
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(based onthesame shape functions
asthestiffness matrix)
Lumped massmatrix
Theinertia associated with therotation
is neglected and one half of the total is neglected,andonehalf ofthetotal
massis lumped atbothendsoftheelement
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Beam structure(assemby)
Assembled stiffness matrix:
11
Assembled massmatrix:
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Boundary conditions:
P i i f h di h Partitionofthecoordinates: where
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Af f i h b d di i After enforcing theboundary conditions:
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Eigenvalue problem:
Inthetheory ofbeams,
Thereduced frequency
was defined
Reduced
Eigenvalue:
Firstmode: >
(analytical result)
Larger butquite close
>>
1. TheFEmethod overestimates thenatural frequencies (Rayleighquotient)
(theapproximationis poor)
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2. Goodaccuracy ofm natural frequencies requires N>>mdegrees offreedom
3. Highfrequency modesdepend onthedicretization (nophysical meaning).
Guyan Reduction
1. ThesizeofFEmodels is governed bytherepresentation ofthestiffness.
2. Automatic mesh generators tendtoproduce very big models (N>10
5
d.o.f.).
3 Guyans idea (60): quasistatic condensation before solving the eigenvalue problem 3. Guyan s idea ( 60):quasistatic condensationbefore solving theeigenvalue problem.
Thed.o.f.areseparated intwo groups:Masters:x
1
Slaves:x
2
(will be eliminated)
Case1:Theslaveshavenoinertia andhavenoexternal forcesapplied:
I l l h d f Involves only themasterd.o.f.
Thereis noapproximationinthis case
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Guyans assumption:Thequasistatic relationship between mastersandslavesapplies inallcases
Coordinate
Transformation:
Kinetic energy:
Strain energy:
Reduced massand
iff i siffness matrices:
Virtualwork of
External forces:
Equationofmotion
after reduction:
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Guidelines for selecting the master d o f Guidelinesforselecting themasterd.o.f.
1. Thed.o.f.without inertia andexternal forcesapplied may be
condensed without affecting theaccuracy
2.Thetranslation d.o.f.carrymoreinformationthan therotationd.o.f.
3.Themasterd.o.f.should be selected inorder tomaximize thefirst
natural frequency
i
of the constrained system (x blocked) natural frequency
i
oftheconstrained system(x
1
blocked)
[theerror is anincreasing function oftheratio:(
i

i
)
2
]
4.Thefrequency
i
ofthefirstconstrained modeshould be farabove
the frequency band where the model is expected to be accurate thefrequency bandwhere themodelis expected tobe accurate.
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Example 1:Clamped beam modelled with asinglefinite element
Reduced eigenvalue :
Eigenvalue problem:
F.E.(2dof) Analytical
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(secondrow ofthestiffness matrix)
Static deflection
Massandstiffness
Af d i After reduction:
Constrained system:
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Fi t f th tiff t i ) Firstrow ofthestiffness matrix)
Static deflection
Constrained sytem:
Poor quality !
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Example 2:Comparison ofvarious Guyan reductions
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Part4:Vibrationalleviation
Dynamic VibrationAbsorber
Vibrationisolator
Relaxationisolator
Sixaxis isolator Six axisisolator
Isolationbykinematic coupling
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Why suppress vibrations ? Why suppress vibrations?
Failure
B ildi t th k ( i t i ) Buildingresponse toearthquakes (excessivestrain)
Windonbridges(flutterinstability)
Fatigue
Comfort
Carsuspensions
Noiseinhelicopters
Wi d i d d i b ildi Windinduced sway inbuildings
Operation ofprecision devices
DVDreaders
Wafersteppers
Telescopes &interferometers
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How?
Vibrationdamping:
Reduce theresonance peaks
Vibration isolation: Vibrationisolation:
Prevent propagationofdisturbances tosensitivepayloads
3
Active damping in civil engineering structures Activedamping incivilengineeringstructures
TMD: Tuned Mass Damper = DVA: Dynamic Vibration Absorber
AMD: Active Mass Damper
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Dynamic VibrationAbsorber (DVA) Dynamic Vibration Absorber (DVA)
Tuned Mass Damper (TMD)
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DVA -TMD
AMD - HMD
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Taipei 101 (509 m)
730 T Tuned Mass Damper
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Yokohama Landmark Tower
Active Mass Damper
8
(from K. Seto)
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(from K. Seto)
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Multiple tower with active control bridges (Seto)
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Dynamic VibrationAbsorber (DVA) Dynamic Vibration Absorber (DVA)
In Laplace form:
Response:
with
Response:
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with
1. Narrow-band disturbance
Th i l h i The response is also harmonic:
If the frequencyof the
harmonic disturbance harmonic disturbance
is constant, the best solution
is to create a transmission
zero at
The tuningmay be basedon
By excitingthe structure at
andtuningin such a way that
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and tuningin such a way that
X
1
and X
2
be 90 out of phase.
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2. Wide band disturbance
2 design
parameters parameters
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For all values of the damping,
The curves cross eachother
in P and Q.
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Equal peak design (Den Hartog, 1929)
The relative amplitude of the points P and Q
is controlled by the frequency ratio.
P and Q have equal amplitude for:
P and Q constitute the maxima of
the dynamic amplification curve for:
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Multiple D.O.F.
One mode approximation in the
vicinityof the targetedfrequency:
For frequencies close to mode k,
the response is dominatedby mode k
Mass m
1
to take into
Account in the design
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Wide-band isolator: Various isolator architectures for spacecraft
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J ames Webb Space Telescope ( ~ 2015?)
1 Hz
Isolator
RWA
Isolator
7 Hz
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Effect of the isolator on the transmissibility of disturbances
Reaction wheel speed
Range 10-100 Hz
10 100
Hz
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V i i l ti t Various isolation concepts
Classical Sky hook Relaxation Classical
passive
isolator
Sky-hook
Damper
(active)
Relaxation
isolator
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Linear Isolator
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Relaxation Isolator
The poles are solutions of the characteristic equation:
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The characteristic equationmay be rewritten
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Six-axis isolator
Kinetic energy:
J acobianof the isolator
Kinetic energy:
J acobianof the isolator
(depens on the topology):
Strain energy:
Eigenvalue problem:
(6 isolator modes)
normalizedaccordingto
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If the springs k are replacedby relaxation isolators, the
springstiffness must be replacedby the dynamic stiffness:
U li i ti f Uponeliminatingx
1
from
Dynamic stiffness of one leg: y g
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(pure spring) (relaxation isolator)
Relaxation isolator:
Change of coordinates (usingthe modes of the isolator with pure springs)
One finds a set of
decoupledequations:
With the notation:
or
(identical to a single axis isolator.
However, there is a single scalar
parameter: k
1
/c)
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Isolation by kinematic coupling
Harmonic disturbance with a constant frequency :
Control strategy = introducing a transmission zero
at the excitation frequency.
Kinematics:
Lagrange equation:
Transfer function:
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The system is tunedin sucha way
that the frequency z of the zero
Matches that of the disturbance Matches that of the disturbance.
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