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Chapter 1:

Introduction

ANSYS Mechanical
Dynamics

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Introduction

Welcome!

Training Manual

Welcome to the Workbench Dynamics training course!


This training course covers the procedures required to perform
dynamic analyses with ANSYS Workbench.
It is intended for novice and experienced users.
A related course is ANSYS Rigid and Flexible Dynamic Analysis,
which covers multi-body analysis.
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

This course is intended for users already familiar with the procedures
for performing a linear static analysis in Workbench Mechanical
environment.
Prerequisite is ANSYS Workbench Mechanical Introduction

By the end of this course, you will be able to use Mechanical to


define, solve, and interpret the following dynamic analyses:

Modal
Harmonic Response
Response Spectrum
Random Vibration
Transient

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Introduction

Course Material

Training Manual

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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Introduction

Introduction to Dynamics

Training Manual

A. Define dynamic analysis and its purpose.


B. Discuss different types of dynamic analysis available in Workbench
Mechanical.
C. Cover some basic concepts and terminology.
D. Review the types of damping available in Workbench Mechanical.
E. Do a sample dynamic analysis exercise.

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Dynamics

A. Definition & Purpose

Training Manual

A dynamic analysis is a technique used to determine the dynamic


behavior of a structure or component.
It is an analysis involving time, where the inertia and possibly
damping of the structure 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 harmonic loads.


Effect of seismic or shock loads.
Effect of random loads.
Effect of time-varying loads.

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Dynamics

Definition & Purpose

Training Manual

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

A dynamic analysis usually takes into account one or more of the


following:
free vibrations
natural vibration frequencies and shapes

forced vibrations
e.g. crank shafts, other rotating machinery

seismic/shock loads
e.g. earthquake, blast

random vibrations
e.g. rocket launch, road transport

time-varying loads
e.g. car crash, hammer blow

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

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Dynamics

B. Types of Dynamic Analysis

Training Manual

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?

A modal analysis can be used to determine a structures vibration


characteristics.

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Dynamics

Types of Dynamic Analysis

Training Manual

Rotating machines exert steady,


alternating forces on bearings and
support structures. These forces
cause different deflections and
stresses depending on the speed of
rotation.

A harmonic-response analysis can


be used to determine a structures
response to steady, harmonic loads.

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Dynamics

Types of Dynamic Analysis

Training Manual

Spacecraft and aircraft components must withstand random loading of varying


frequencies for a sustained time period.

A random-vibration analysis can be used to determine how a component


responds to random vibrations.

Courtesy: NASA
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Dynamics

Types of Dynamic Analysis

Training Manual

Skyscrapers, power-plant cooling


towers, and other structures must
withstand multiple short-duration
transient shock/impact loadings,
common in seismic events.

A response-spectrum analysis can


be used to determine how a
component responds to
earthquakes.

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Dynamics

Types of Dynamic Analysis

Training Manual

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.

A transient analysis can be used to calculate a structures response to time


varying loads.

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Dynamics

Types of Dynamic Analysis

Training Manual

Choosing the appropriate type of dynamic analysis depends on the type of


input available and the type of output desired.
Type

Input

Output

Modal

none

natural frequencies and


corresponding mode shapes
stress/strain profile

Harmonic

sinusoidally-varying excitations
across a range of frequencies

sinusoidally-varying response at
each frequency
min/max response over frequency
range

Spectrum

spectrum representing the


response to a specific time history

maximum response if the model


were subjected to the time history

Random

spectrum representing probability


distribution of excitation

response within specified range of


probabilities

Transient

time-varying loads

time-varying response

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Dynamics

C. Basic Concepts and Terminology

Training Manual

Topics discussed:
General equation of motion
Modeling considerations
Damping

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Basic Concepts & Terminology

Equation of Motion

Training Manual

The linear general equation of motion, which will be referred to


throughout this course, is as follows (matrix form):

M u C u K u F
u nodal acceleration vector
M structural mass matrix
C structural damping matrix u nodal velocity vector
K structural stiffness matrix u nodal displacement vector
F applied load vector
Note that this is simply a force balance:
Finertial

Fdamping

Fstiffness

Fapplied

M u C u K u F
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Basic Concepts & Terminology

Equation of Motion

Training Manual

M u C u K u F
Different analysis types solve different forms of this equation.
Modal
F(t) set to zero; [C] usually ignored.

Harmonic Response
F(t) and u(t) assumed to be sinusoidal.

Response Spectrum
Input is a known spectrum of response magnitudes at varying frequencies in
known directions.

Random Vibration
Input is a probabilistic spectrum of input magnitudes at varying frequencies in
known directions.

Transient
The complete, general form of the equation is solved.
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Basic Concepts & Terminology

Modeling Considerations - Geometry and Mesh

Training Manual

Generally same geometry and meshing considerations for static


analysis apply to dynamic 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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Basic Concepts & Terminology

Modeling Considerations - Nonlinearities

Training Manual

M u C u K u u F
nonlinear
Nonlinearities, such as large deflections, nonlinear contact, material
nonlinearities, etc, are allowed only in a full transient dynamic
analysis with large deflection turned ON.
All other Workbench dynamic analysis types are linear.
the initial state of nonlinearities will be maintained throughout the
solution; i.e., [K] = const.

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Basic Concepts & Terminology

Modeling Considerations - Material properties

Training Manual

M u C u K u F
Mass properties [M]

e.g. density, point mass


required for all dynamic analysis types
specify mass density when using metric units, and
specify weight density when using British units

Damping properties [C]


e.g. viscous, material (discussed later)
required for mode-superposition harmonic
optional but recommended for all other dynamic analysis types

Stiffness (elastic) properties [K]


e.g., Youngs modulus, Poissons ratio, shear modulus
required for all flexible analysis types

Note that Mechanical has display (interactive) units and solution units.
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Basic Concepts & Terminology

D. Damping

Training Manual

Damping is an energy-dissipation
mechanism that causes vibrations
to diminish over time and eventually
stop.
e.g. vibrational energy that is
converted to heat or sound

The amount of damping may


depend on the material, the velocity
of motion, and/or the frequency of
vibration.
Damping be classified as:
Viscous damping (e.g. dashpot,
shock absorber)
Material / Solid / Hysteretic damping
(e.g. internal friction)
Coulomb or dry-friction damping
(e.g. sliding friction)
Numerical damping
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Basic Concepts & Terminology

Damping

Training Manual

If the amount of damping in a system


becomes large, the response will no
longer oscillate.
Critical damping is defined as the
threshold between oscillatory and
non-oscillatory behavior.
The damping ratio is the ratio of the
damping in a system to the critical
damping, given by

c

cc
cc 2m
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k
2 km 2mn
m
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Basic Concepts & Terminology

Damping

Training Manual

The undamped natural frequency of a


1-DOF system is given by

k
n
m

d
1 2
n

The addition of viscous or solid


damping slightly alters the natural
frequency of a system.

d 1 2 n
Coulomb damping has no effect on
frequency.

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Basic Concepts & Terminology

Viscous damping

Training Manual

Viscous damping force is


proportional to the velocity of the
vibrating body.

Fd cu
Assuming the motion is harmonic,

Fd cu icnu
This type of damping occurs, for
example, when a body moves
through a fluid.

c k
Fd ku iknu

For structural systems, a stiffness


multiplier is often used in place of c
for numerical simplicity.
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Basic Concepts & Terminology

Viscous damping

Training Manual

The value of c in

Fd cu icnu
can be input directly as element damping
(Details section of Spring connection).

The value of in

Fd ku i knu
can be input directly as global
damping value (Details section of
Analysis Settings) or as materialdependent damping value
(Material Damping Factor material
property).
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Basic Concepts & Terminology

Material / Solid / Hysteretic damping

Training Manual

Solid damping is inherently present


in a material (energy is dissipated
by internal friction), so it is typically
considered in a dynamic analysis.
Experience shows that energy
dissipated by internal friction in a
real system does not depend on
frequency.
Not well understood and therefore
difficult to quantify, so again a
stiffness multiplier is used for
numerical simplicity.

Fd 2iku
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Basic Concepts & Terminology

Material / Solid / Hysteretic damping

Training Manual

The value of in

Fd 2iku
can be input directly as global
damping value (Details section
of Analysis Settings) or as
material-dependent damping
value (Constant Damping
Coefficient material property).
Damping ratio isnt available in a transient analysis since
the response frequency is not known in advance.
The value of can be calculated from a known value of
(damping ratio) and a known frequency :

2 / n
Pick the most dominant response frequency to calculate .
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Basic Concepts & Terminology

Coulomb or dry-friction damping

Training Manual

Coulomb damping occurs when a body slides on a dry surface.


Damping force is proportional to the force normal to the surface.

Fd mg sgn(x )

is the coefficient of friction


m is the mass
g is the gravitational constant
sgn(y) is the signum function, defined as

1 for y 0

sgn( y ) 1 for y 0
0 for y 0

Not considered in a linear dynamic analysis. Generally requires a


nonlinear transient solution.

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Basic Concepts & Terminology

Numerical Damping

Training Manual

Numerical Damping is not true damping.


Artificially controls numerical noise produced by the higher frequencies of a
structure.

Stabilizes the numerical integration scheme by damping out the unwanted


high frequency modes.
The default value of 10% will damp-out spurious high frequencies and is a
sensible value to try initially.
Use the lowest possible value that damps out nonphysical response without
significantly affecting the final solution.
High-frequency
response

Primary
Frequency
undamped
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Basic Concepts & Terminology

Damping Summary

Training Manual

In summary, Workbench allows the


following four inputs for damping:
Beta damping (viscous)
Global or material-dependent.
Defines the stiffness matrix multiplier
for damping.

Element damping (viscous)


Defines the damping coefficients
directly.

Damping ratio (solid)


Global or material-dependent.
Defines the ratio of actual damping to
critical damping.

Numerical damping (artificial)


Defines the amplitude decay factor
obtained through a modification of
the time-integration scheme.

NOTE: The effects are cumulative if


set in conjunction.
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Basic Concepts & Terminology

Damping

Training Manual

Different industries specify damping in different ways:

D
A

= Viscous damping factor or damping ratio


= Loss factor or Structural damping factor
= Quality factor or simply
= Log decrement
= Spectral damping factor
= Amplification factor

The following table provides the conversions (note: U = strain energy)

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Dynamics

References & Bibliography

Training Manual

S. S. Rao, Mechanical Vibrations.


K. Ogata, Modern Control Engineering.
B. J. Lazan, Damping of Materials and Members in Structural
Mechanics.
A. K. Gupta, Response Spectrum Method: In Seismic Analysis and
Design of Structures.
U.S. Nuclear Regulatory Commission Regulatory Guide 1.92,
Combining Modal Responses and Spatial Components in Seismic
Response Analysis.
D. E. Newland, An Introduction to Random Vibrations, Spectral &
Wavelet Analysis.
Military Standard 810E, Environmental Test Methods And
Engineering Guidelines.

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Dynamics

E. Introductory Workshop

Training Manual

In this workshop, you will run a


sample dynamic analysis of a
flywheel.
Follow the instructions in your
Dynamics Workshop supplement
WS1: Intro (Flywheel)
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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