AWB120 Dynamics 03 Harmonic PDF

Chapter 3:
Harmonic Response
Workbench Mechanical
Dynamics
ANSYS, Inc. Proprietary 3-1 July 2009

2009 ANSYS, Inc. All rights reserved. Inventory #002666
Harmonic Analysis
Harmonic Analysis Training Manual
A. Define harmonic analysis and its purpose.
B. Learn basic terminology and concepts underlying harmonic

analysis.
C Learn how to do a harmonic analysis in Workbench.

C. Workbench
D. Work on a harmonic analysis exercise.

Harmonic Analysis
A. Definition & Purpose Training Manual
What is harmonic analysis?

A technique to determine the steady state response of a structure to
sinusoidal (harmonic) loads of known frequency.
Input:
Harmonic loads (forces, pressures, and imposed displacements) of
known magnitude and frequency.
May be multiple loads all at the same frequency. Forces and
displacements can be in-phase or out-of phase. Body loads can only be
specified with a phase angle of zero.
Output:
Harmonic displacements at each DOF, usually out of phase with the
applied loads.
Other
Oth derived
d i d quantities,
titi such
h as stresses
t and
d strains.
t i

Harmonic Analysis
Definition & Purpose Training Manual
Harmonic analysis is used in the design of:

Supports, fixtures, and components of rotating equipment such as
compressors, engines, pumps, and turbomachinery.
Structures subjected to vortex shedding (swirling motion of fluids)
such as turbine blades, airplane wings, bridges, and towers.
Why should you do a harmonic analysis?

To make sure that a given design can withstand sinusoidal loads at
different frequencies (e.g, an engine running at different speeds).
To detect resonant response and avoid it if necessary (by using
dampers for example)
dampers, example).

Harmonic Analysis
B. Terminology & Concepts Training Manual
Topics covered:
Assumptions and Restrictions
Equation of motion
Nature of harmonic loads
Complex displacements
Solution methods

Theory
Assumptions & Restrictions Training Manual
The entire structure has constant or frequency-dependent stiffness,

damping, and mass effects.
All loads and displacements vary sinusoidally at the same known

frequency (although not necessarily in phase).
Acceleration, bearing, and moment loads are assumed to be real (in-

phase) only.

Theory
Development Training Manual
Start with the linear general equation of motion:
[M ]{u&&}+ [C ]{u&}+ [K ]{u} = {F }

Assume [F] and {u} are harmonic with frequency :
{F } = {Fmax ei }eit {u} = {umax ei }eit

= {Fmax (cos + i sin )}e i t = {umax (cos + i sin )}ei t
= ({F1}+ i{F2 })e i t = ({u 1}+ i{u 2 })e i t
Note: The symbols an differentiate the input from the output:

= input (a.k.a. imposed) circular frequency
= output (a.k.a.
(a k a natural) circular frequency

Theory
Take two time derivatives:
{u} = ({u 1}+ i{u2 })eit

{u&} = i ({u 1}+ i{u2 })eit
{u&&} = 2 ({u 1}+ i{u2 })eit
Substitute and simplify:
[M ]{u&&}+ [C ]{u&}+ [K ]{u} = {F }

2 [M ]({u 1}+ i{u2 })ei t =
+ i[C ]({u 1}+ i{u2 })ei t =
+ [K ]({u 1}+ i{u2 })ei t = ({F 1}+ i{F2 })ei t
( 2 [M ] + i[C ] + [K ])({u 1}+ i{u2 }) = ({F 1}+ i{F2 })
This can then be solved using one of two methods.
Theory
The full method solves the system of simultaneous equations directly

using a static solver designed for complex arithmetic:
c denotes a complex matrix or vector
6444 4[7 Kc ]
4444 8 647 {uc }
48 647 4{Fc }48
4
( )
2 [M ] + i[C ] + [K ] ({u 1}+ i{u 2 }) = ({F 1}+ i{F2 })
[K c ]{uc } = {Fc }
The mode-superposition
p p method expresses
p the displacements
p as a
linear combination of mode shapes (see Theory Reference for
details).
( [M ] + i[C ] + [K ])({u }+ i{u }) = ({F }+ i{F })

2
1 2 1 2
M
( 2
)
+ i 2 j j + 2j y jc = f jc
Theory
Solution Methods Training Manual
FULL MSUP
Exact solution. Approximate solution; accuracy depends in
part on whether an adequate number of
modes
d h have b
been extracted
d to represent
the harmonic response.
Generallyy slower than MSUP. Generallyy faster than FULL.
Supports all types of loads and boundary Does not support nonzero imposed
conditions. harmonic displacements.
S
Solution
l ti points
i t mustt b
be equally
ll di
distributed
t ib t d S
Solution
l ti points
i t may bbe either
ith equally
ll
across the frequency domain. distributed across the frequency domain or
clustered about the natural frequencies of
the structure.
Solves the full system of simultaneous Solves an uncoupled system of equations

equations using the Sparse matrix solver for by performing a linear combination of
complex arithmetic. orthogonal vectors (mode shapes).
Prestressing is not available in either method in ANSYS Workbench 12.0.

Theory
Nature of Harmonic Loads Training Manual
Multiple loads and boundary

conditions may be input, each with
different amplitude and phase
angles (interpreted as lag angle).
angle)
xi = X i sin (t + i )
where X = amplitude
= freqency
= phase angle
All loads and displacements,
displacements both
input and output, are assumed to
occur at the same frequency.
Calculated displacements will be

complex if
damping is specified or
applied load is complex.

Remarks & Comments
Resonance Training Manual
When the imposed frequency

approaches a natural frequency in
the direction of excitation, a
phenomenon known as resonance
occurs.
This can be seen in the figures on
the right for a 1-DOF system
subjected to a harmonic force for
various amounts of damping.
The following will be observed:

an increase in damping decreases
the amplitude of the response for all
imposed frequencies,
a small change in damping has a
large effect on the response near
resonance, and
the p
phase angle
g alwaysy passes
p
through 90 at resonance for any
amount of damping.
Remarks & Comments
Contact Regions Training Manual
Contact regions are available in harmonic analysis; however, since

this is a purely linear analysis, contact behavior will differ for the
nonlinear contact types, as shown below:
Linear Dynamic Analysis

Contact Type Static Analysis Outside Pinball
Initially Touching Inside Pinball Region
Region
g
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
= 0, No Separation
Frictional Frictional Free Free
> 0, Bonded
Contact behavior will reduce to its linear counterparts.

It is generally recommended, however, not to use a nonlinear contact
type in a linear-dynamic analysis

Remarks & Comments
Mode Superposition Training Manual
The Mode Superposition method will automatically perform a modal

analysis first
The number of modes necessary for an accurate solution will be
estimated if a frequency range is not supplied.
the default range is from zero to twice the ending frequency
The harmonic analysis portion is very quick and efficient, hence, the
Mode Superposition method is usually much faster overall than the Full
method
Since a free vibration analysis is performed

performed, Mechanical knows what
the natural frequencies of the structure are and can cluster the
harmonic results near them (see next slide)

Remarks & Comments
Solution Methods - Mode Superposition Training Manual
Cluster option captures the peak response better than evenly-spaced

intervals.
Evenly spaced
frequency points
Clustered frequency
points

Procedure:
Harmonic Response

Harmonic Analysis
C. Procedure Training Manual
Four main steps:

Build the model
Choose analysis type and options
Apply harmonic loads and solve
Review results

Harmonic Analysis Procedure
Build the Model Training Manual
Model
Nonlinearities are not allowed.
See also Modeling Considerations in Module 1.

Choose Analysis Type & Options Training Manual
9Build the model

Choose analysis type and options
Enter Solution and choose
harmonic analysis.
Main analysis option is solution
method - discussed next.
Specify damping - discussed
next.

Choose Analysis Type & Options Training Manual
Analysis options
Solution method - full or mode Damping
superposition. Choose from beta damping
p g and
For large models (>1 million damping ratio (constant
DOF), set Store Results at All damping ratio is most
Frequencies to No. commonly used).

Apply Harmonic Loads and Solve Training Manual
9Build the model

9Choose analysis type and options
Apply harmonic loads and solve
Structural loads and supports may also be used in harmonic
analyses with the following exceptions:
Loads Not Supported:
Gravity Loads
Thermal Loads
Rotational Velocity
Pretension Bolt Load
Compression Only Support (if present, it behaves similar to a Frictionless
Support)
Remember that all structural loads will vary sinusoidally at the same
excitation frequency

A list of supported loads are shown below:
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.

Specifying harmonic loads requires:

Amplitude and phase angle
Frequency
Loads are applied all at once in the first
solution interval (stepped).
F2max
ary
Imagina
Amplitude and phase angle
The load value (magnitude) represents
F1max
p
the amplitude Fmax. Real
Phase angle is the phase shift

between two or more harmonic loads.
Not required if only one load is present.
N
Non-zero valid
lid for
f force,
f
displacement, and pressure harmonic
loads.

Amplitude and phase angle (continued)

Mechanical allows direct input of amplitude and phase angle into the
Details window.
F2max
ary
Imagina

F1max
Real

Frequency of harmonic load:

Specified in cycles per second
(Hertz) by a frequency range and
number of substeps within that
range.
For example, a range of 0-50 Hz
with
ith 10 solution
l ti intervals
i t l gives
i
solutions at frequencies of 5, 10,
15, , 45, and 50 Hz. Same
range
g with 1 substep p gives
g one
solution at 50 Hz.

Review Results Training Manual
9Build the model

9Choose analysis type and options
9Apply harmonic loads and solve
Review results
Three steps:
Pl
Plott displacement
di l t vs. frequency
f att specific
ifi points
i t in
i the
th structure.
t t
Identify critical frequencies and corresponding phase angles.
Review displacements and stresses over entire structure at the
critical frequencies and phase angles.

Displacement vs. frequency plots
Pick nodes that might deform the

most, then choose the DOF
direction.
Then graph the desired frequency

response.

Identify critical frequencies and phase angles

Bode plot shows frequency at which highest amplitude occurs.
The amplitude and phase angle at which the peak amplitude occurs
are shown in the Worksheet tab.

Next step is to review displacements and stresses over the entire

model at that frequency and phase angle.
The frequency
q y and p
phase angle
g must be manually
y entered into the
Details window.

A harmonic analysis produces a real and imaginary solution as

separate sets of results.
Plot deformed shape
shape, stress contours
contours, and other desired results at
a specified frequency and phase angle.

Workshop
Harmonic Analysis Training Manual
In this workshop, you will examine the harmonic response of a

fixed-fixed beam to harmonic forces caused by rotating
machinery mounted on the beam.
See your Dynamics Workshop supplement for details
WS3: Harmonic Analysis - Fixed-Fixed Beam


AWB120 Dynamics 03 Harmonic PDF

Enviado por

Dados do documento

Título original

Direitos autorais

Formatos disponíveis

Compartilhar este documento

Compartilhar ou incorporar documento

Opções de compartilhamento

Você considera este documento útil?

Este conteúdo é inapropriado?

Direitos autorais:

Formatos disponíveis

AWB120 Dynamics 03 Harmonic PDF

Enviado por

Direitos autorais:

Formatos disponíveis

Chapter 3:

ANSYS, Inc. Proprietary 3-1 July 2009

A. Define harmonic analysis and its purpose.

B. Learn basic terminology and concepts underlying harmonic

C Learn how to do a harmonic analysis in Workbench.

D. Work on a harmonic analysis exercise.

ANSYS, Inc. Proprietary 3-2 July 2009

What is harmonic analysis?

ANSYS, Inc. Proprietary 3-3 July 2009

Harmonic analysis is used in the design of:

Why should you do a harmonic analysis?

ANSYS, Inc. Proprietary 3-4 July 2009

ANSYS, Inc. Proprietary 3-5 July 2009

The entire structure has constant or frequency-dependent stiffness,

All loads and displacements vary sinusoidally at the same known

Acceleration, bearing, and moment loads are assumed to be real (in-

ANSYS, Inc. Proprietary 3-6 July 2009

Start with the linear general equation of motion:

[M ]{u&&}+ [C ]{u&}+ [K ]{u} = {F }

{F } = {Fmax ei }eit {u} = {umax ei }eit

Note: The symbols an differentiate the input from the output:

ANSYS, Inc. Proprietary 3-7 July 2009

Take two time derivatives:

{u} = ({u 1}+ i{u2 })eit

[M ]{u&&}+ [C ]{u&}+ [K ]{u} = {F }

The full method solves the system of simultaneous equations directly

( [M ] + i[C ] + [K ])({u }+ i{u }) = ({F }+ i{F })

Generallyy slower than MSUP. Generallyy faster than FULL.

Solves the full system of simultaneous Solves an uncoupled system of equations

Prestressing is not available in either method in ANSYS Workbench 12.0.

ANSYS, Inc. Proprietary 3-10 July 2009

Multiple loads and boundary

Calculated displacements will be

ANSYS, Inc. Proprietary 3-11 July 2009

When the imposed frequency

The following will be observed:

Contact regions are available in harmonic analysis; however, since

Linear Dynamic Analysis

Contact behavior will reduce to its linear counterparts.

ANSYS, Inc. Proprietary 3-13 July 2009

The Mode Superposition method will automatically perform a modal

Since a free vibration analysis is performed

ANSYS, Inc. Proprietary 3-14 July 2009

Cluster option captures the peak response better than evenly-spaced

ANSYS, Inc. Proprietary 3-15 July 2009

ANSYS, Inc. Proprietary 3-16 July 2009

Four main steps:

ANSYS, Inc. Proprietary 3-17 July 2009

See also Modeling Considerations in Module 1.

ANSYS, Inc. Proprietary 3-18 July 2009

9Build the model

ANSYS, Inc. Proprietary 3-19 July 2009

ANSYS, Inc. Proprietary 3-20 July 2009

9Build the model

ANSYS, Inc. Proprietary 3-21 July 2009

A list of supported loads are shown below:

ANSYS, Inc. Proprietary 3-22 July 2009

Specifying harmonic loads requires:

Phase angle is the phase shift

ANSYS, Inc. Proprietary 3-23 July 2009

Amplitude and phase angle (continued)

ANSYS, Inc. Proprietary 3-24 July 2009

Frequency of harmonic load: