Modal Analysis 1

Chapter 3 Modal Analysis

Problem No. (1)
The shown machine in Fig. is presented to scale 1:500 by a prototype.
Calculate the pole location, residue, modal parameter model and hence FRF

𝒌
𝝎𝒏 = √ 4√5 = 8.94 s-1 4√5 = 8.94 s-1
𝒎
𝒄 𝒄
𝛇 = = 0.45 0.45
𝒄𝒓 𝟐𝒎 𝝎𝒏
𝝎𝒅 = 𝝎𝒏 √𝟏 − 𝛇𝟐 8 s-1 8 s-1
𝝈 = 𝛇𝝎𝒏 = 𝒄/𝟐𝒎 4.02 s-1 4.02 s-1
Pole location: 𝐏 = −𝛔 + 𝐣𝛚𝐝 - 4.02 + j8 - 4.02 + j8
Residue: 𝐑 = −𝐣/𝟐𝐦𝛚𝐝 - j 1.25 ×10-4 s/Kg - j 6.25 ×10-2 s/Kg
|𝐇(𝛀)| = 𝑹/𝝈 - j 3.11 ×10-5 m/N - j 1.5 ×10-2 m/N
𝟏 𝟏 𝟏
𝐇(𝛀) =
𝐦𝝎𝟐𝒏 [(𝟏 − 𝐫 𝟐 ) + 𝐣(𝟐𝛇𝐫)] 𝟒 × 𝟏𝟎𝟒 [(𝟏 − 𝐫 𝟐 ) + 𝐣(𝟐𝛇𝐫)] 𝟖𝟎[(𝟏 − 𝐫 𝟐 ) + 𝐣(𝟐𝛇𝐫)]

Prof. Sobhy Ghoneam Prof. Ahmed Hamada Eng. Ahmed ElKholy Eng. Taha Sherif
Chapter 3 2

Problem No. (2)

From the experimental measurements of vibratory motion of a prototype of a milling
machine by a scale of 1:50, the frequency response function H(Ω) is shown in fig. Given
that:
(i) The excitation action is modeled as: F=104 sin Ωt.
(ii) H1=45*10-6, Ω1=55 rad/s, Ω2=67 rad/s, ωd=60 rad/s.

1) Deduce the pole location and the modal parameter model.

2) Plot FRF curve of the machine.

𝟏
𝐇𝟏 =
𝐂𝐩 𝛚𝐝𝟏
𝟏
𝟒𝟓 ∗ 𝟏𝟎−𝟔 =
𝐂𝟏 ∗ 𝟔𝟎
∴ 𝐜𝐩 = 𝟑𝟕𝟎. 𝟒 𝐍. 𝐬/𝐦
𝛀𝟐 − 𝛀𝟏 𝟔𝟕 − 𝟓𝟓
∵𝜻= = = 𝟎. 𝟏
𝟐𝝎𝒅 𝟐(𝟔𝟎)
𝝎𝒅 𝟔𝟎
∵ 𝝎𝒏 = = = 𝟔𝟎. 𝟑 𝒔−𝟏
√𝟏 − 𝜻𝟐 √𝟏 − 𝟎. 𝟏𝟐
𝐜𝐩 𝟑𝟕𝟎. 𝟒
𝛇= = = 𝟎. 𝟏
𝟐𝐦𝐩 𝛚𝐧 𝟐𝐦𝐩 (𝟔𝟎. 𝟑)
𝐦𝐩 = 𝟑𝟎. 𝟕𝟏𝟑 𝐊𝐠
𝐤 𝐩 = 𝛚𝟐𝒏 . 𝐦𝐩 = 𝟑𝟎. 𝟕𝟏𝟑(𝟔𝟎. 𝟑)𝟐 = 𝟏𝟏𝟏𝟔𝟕𝟓. 𝟐𝟑𝟐𝟐 𝐍/𝐦

For the prototype,

𝐦𝐩 = 𝟑𝟎. 𝟕𝟏𝟑 𝐊𝐠, 𝐤 𝐩 = 𝟏𝟏𝟏𝟔𝟕𝟓. 𝟐𝟑𝟐𝟐 𝐍/𝐦 𝒂𝒏𝒅 𝐜𝐩 = 𝟑𝟕𝟎. 𝟒 𝐍. 𝐬/𝐦

Scale = Prototype: Machine = 1:50

For the machine,
𝐦𝐦 = 𝟏𝟓𝟑𝟓. 𝟔𝟓 𝐊𝐠, 𝐤 𝐦 = 𝟓𝟓𝟖𝟑𝟕𝟔𝟏. 𝟔𝟏 𝐍/𝐦 𝒂𝒏𝒅 𝐜𝐦 = 𝟏𝟖𝟓𝟎𝟎 𝐍. 𝐬/𝐦

Prof. Sobhy Ghoneam Prof. Ahmed Hamada Eng. Ahmed ElKholy Eng. Taha Sherif
Modal Analysis 3

Machine Prototype
𝒌
𝝎𝒏 = √ 60.3 s-1 60.3 s-1
𝒎
𝒄 𝒄
𝛇 = = 0.1 0.1
𝒄𝒓 𝟐𝒎 𝝎𝒏
𝝎 𝒅 = 𝝎 𝒏 √𝟏 − 𝛇 𝟐 60 s-1 60 s-1
𝝈 = 𝛇𝝎𝒏 = 𝒄/𝟐𝒎 6 s-1 6 s-1
Pole location: 𝐏 = −𝛔 + 𝐣𝛚𝐝 - 6 + j60 - 6 + j60
Residue: 𝐑 = −𝐣/𝟐𝐦𝛚𝐝 - j 5.4 ×10-6 s/Kg - j 2.7 ×10-4 s/Kg
|𝐇(𝛀)| = 𝑹/𝝈 - j 3.11 ×10-5 m/N - j 1.5 ×10-2 m/N
𝟏 𝟏 𝟏
𝐇(𝛀) =
𝐦𝝎𝟐𝒏 [(𝟏 − 𝐫 𝟐 ) + 𝐣(𝟐𝛇𝐫)] 𝟏𝟓𝟑𝟓(𝟔𝟎. 𝟑)𝟐 [(𝟏 − 𝐫 𝟐 ) + 𝐣(𝟐𝛇𝐫)] 𝟑𝟎. 𝟕(𝟔𝟎. 𝟑)𝟐 [(𝟏 − 𝐫 𝟐 ) + 𝐣(𝟐𝛇𝐫)]

Prof. Sobhy Ghoneam Prof. Ahmed Hamada Eng. Ahmed ElKholy Eng. Taha Sherif
Chapter 3 4

Problem No. (3)

A knee type milling machine is characterized by
Data: m1 = 20 Kg & m2 = 5 Kg
k1= 3000 N/m & k2= 1000 N/m
c1=180 N.s/m & c2=60 N.s/m
∆m1 = 1.5 Kg & ∆m2 = 2.5 Kg
∆k1= 10 N/m & ∆k2= 20 N/m
Required:
1) Derive the equation of motion of the system.
2) Prove that the damping in the system is proportional damping.
3) Calculate the Natural frequencies and Natural modes of the system.
4) Calculate the Modal Parameter Model, Rate of Decay, Pole location, Residue and FRF.
5) Plot FRF curve.
6) In the absence of damping, compute the changes of natural frequencies and natural
modes due to modifications.

Solution:
1) The equation of motion of the system:
𝟏 𝟏
𝐓= 𝒎𝟏 𝒙̇ 𝟐𝟏 + 𝒎𝟐 𝒙̇ 𝟐𝟐
𝟐 𝟐
𝒎 𝟎 𝟐𝟎 𝟎
[𝒎] = [ 𝟏 ]=[ ]
𝟎 𝒎𝟐 𝟎 𝟓
𝟏
𝑽= [𝟒 𝒌𝟏 𝒙𝟐𝟏 + 𝟒 𝒌𝟐 ( 𝒙𝟐 − 𝒙𝟏 )𝟐 ]
𝟐
𝟒 (𝒌𝟏 + 𝒌𝟐 ) −𝟒𝒌𝟐 𝟏𝟔𝟎𝟎𝟎 −𝟒𝟎𝟎𝟎
[𝒌] = [ ]=[ ]
−𝟒𝒌𝟐 𝟒𝒌𝟐 −𝟒𝟎𝟎𝟎 𝟒𝟎𝟎𝟎
𝟏
𝑫= [𝟒 𝒄𝟏 𝒙𝟐𝟏 + 𝟒 𝒄𝟐 ( 𝒙𝟐 − 𝒙𝟏 )𝟐 ]
𝟐
𝟒 (𝒄𝟏 + 𝒄𝟐 ) −𝟒𝒄𝟐 𝟐𝟒𝟎 −𝟔𝟎
[𝒄] = [ ]=[ ]
−𝟒𝒄𝟐 𝟒𝒄𝟐 −𝟔𝟎 𝟔𝟎
The eqn. of motion:

𝟐𝟎 𝟎 𝒙̈ 𝟏 𝟐𝟒𝟎 −𝟔𝟎 𝒙̇ 𝟏 𝟏𝟔𝟎𝟎𝟎 −𝟒𝟎𝟎𝟎 𝒙𝟏

[ ]⌈ ⌉ + [ ]⌈ ⌉ + [ ]⌈ ⌉ = 𝟎
𝟎 𝟓 𝒙̈ 𝟐 −𝟔𝟎 𝟔𝟎 𝒙̇ 𝟐 −𝟒𝟎𝟎𝟎 𝟒𝟎𝟎𝟎 𝒙𝟐

Prof. Sobhy Ghoneam Prof. Ahmed Hamada Eng. Ahmed ElKholy Eng. Taha Sherif
Modal Analysis 5

2) The damping in the system is proportional damping:

𝟒 (𝒌𝟏 + 𝒌𝟐 ) −𝟒𝒌𝟐 𝟒 (𝒄𝟏 + 𝒄𝟐 ) −𝟒𝒄𝟐
∵ [𝒌] = [ ] & [𝒄] = [ ]
−𝟒𝒌𝟐 𝟒𝒌𝟐 −𝟒𝒄𝟐 𝟒𝒄𝟐
∵ [𝒄] 𝒊𝒔 𝒑𝒓𝒐𝒑𝒐𝒓𝒕𝒊𝒐𝒏𝒂𝒍 𝒘𝒊𝒕𝒉 [𝒌]

∴ 𝑻𝒉𝒆 𝒅𝒂𝒎𝒑𝒊𝒏𝒈 𝒊𝒏 𝒕𝒉𝒆 𝒔𝒚𝒔𝒕𝒆𝒎 𝒊𝒔 𝒑𝒓𝒐𝒑𝒐𝒓𝒕𝒊𝒐𝒏𝒂𝒍 𝒅𝒂𝒎𝒑𝒊𝒏𝒈.

3) The Natural frequencies and Natural modes of the system

[[𝒌] − 𝝎𝟐 [𝒎]] ⌈𝑽⌉ = 𝟎

|[𝒌] − 𝝎𝟐 [𝒎]| = 𝟎
𝟏𝟔𝟎𝟎𝟎 −𝟒𝟎𝟎𝟎 𝟐𝟎 𝟎
|[ ] − 𝝎𝟐 [ ]| = 𝟎
−𝟒𝟎𝟎𝟎 𝟒𝟎𝟎𝟎 𝟎 𝟓
𝟐
|𝟏𝟔𝟎𝟎𝟎 − 𝟐𝟎𝝎 −𝟒𝟎𝟎𝟎 | = 𝟎
−𝟒𝟎𝟎𝟎 𝟒𝟎𝟎𝟎 − 𝟓𝝎𝟐
(𝟏𝟔𝟎𝟎𝟎 − 𝟐𝟎𝝎𝟐 )(𝟒𝟎𝟎𝟎 − 𝟓𝝎𝟐 ) − 𝟏𝟔 ∗ 𝟏𝟎𝟔 = 𝟎
𝝎𝟒 − 𝟏𝟔𝟎𝟎𝝎𝟐 + 𝟒𝟖𝟎𝟎𝟎𝟎 = 𝟎
𝝎𝟐𝟏 = 𝟒𝟎𝟎 ⇒ 𝝎𝟏 = 𝟐𝟎 𝒔−𝟏
𝝎𝟐𝟐 = 𝟏𝟐𝟎𝟎 ⇒ 𝝎𝟐 = 𝟐𝟎√𝟑 𝒔−𝟏

Spectral Matrix

𝟐] 𝝎𝟐𝟏 𝟎 𝟒𝟎𝟎 𝟎
[𝛀 =[ ] = [ ]
𝟎 𝝎𝟐𝟐 𝟎 𝟏𝟐𝟎𝟎
𝟐
[𝟏𝟔𝟎𝟎𝟎 − 𝟐𝟎𝝎 −𝟒𝟎𝟎𝟎 ] ⌈𝒗𝟏𝒓 ⌉ = 𝟎
−𝟒𝟎𝟎𝟎 𝟒𝟎𝟎𝟎 − 𝟓𝝎𝟐 𝒗𝟐𝒓
−𝟒𝟎𝟎𝟎𝒗𝟏𝒓 + (𝟒𝟎𝟎𝟎 − 𝟓𝝎𝟐 )𝒗𝟐𝒓 = 𝟎 𝒓 = 𝟏, 𝟐
𝒂𝒔𝒔𝒖𝒎𝒆: 𝒗𝟏𝒓 = 𝟏
𝒇𝒊𝒓𝒔𝒕 𝒎𝒐𝒅𝒆: 𝒗𝟏𝟏 = 𝟏 ∴ 𝒗𝟐𝟏 = 𝟐
𝒔𝒆𝒄𝒐𝒏𝒅 𝒎𝒐𝒅𝒆: 𝒗𝟏𝟐 = 𝟏 ∴ 𝒗𝟐𝟐 = −𝟐

Prof. Sobhy Ghoneam Prof. Ahmed Hamada Eng. Ahmed ElKholy Eng. Taha Sherif
Chapter 3 6

Modal Matrix
𝟏𝟏
[𝒗] = [𝒗𝟐𝟏 𝒗𝟏𝟐 ] = [𝟏 𝟏
]
𝒗 𝒗𝟐𝟐 𝟐 −𝟐

Modal Transformation:

[𝒎𝒓 ] = [𝒗]𝑻 [𝒎][𝒗] Must

[𝒄𝒓 ] = [𝒗]𝑻 [𝒄][𝒗] be
[𝒌𝒓 ] = [𝒗]𝑻 [𝒌][𝒗] Diagonal

𝟐𝟎 𝟎 𝟏 𝟏 𝟒𝟎 𝟎
[𝒎𝒓 ] = [𝒗]𝑻 [𝒎][𝒗] = [𝟏 𝟐 ] [ ][ ]=[ ]
𝟏 −𝟐 𝟎 𝟓 𝟐 −𝟐 𝟎 𝟒𝟎
𝟐𝟒𝟎 −𝟔𝟎 𝟏 𝟏 𝟐𝟒𝟎 𝟎
[𝒄𝒓 ] = [𝒗]𝑻 [𝒄][𝒗] = [𝟏 𝟐 ] [ ][ ]=[ ]
𝟏 −𝟐 −𝟔𝟎 𝟔𝟎 𝟐 −𝟐 𝟎 𝟕𝟐𝟎
𝟏𝟔𝟎𝟎𝟎 −𝟒𝟎𝟎𝟎 𝟏 𝟏 𝟏𝟔𝟎𝟎𝟎 𝟎
[𝒌𝒓 ] = [𝒗]𝑻 [𝒌][𝒗] = [𝟏 𝟐 ] [ ][ ]=[ ]
𝟏 −𝟐 −𝟒𝟎𝟎𝟎 𝟒𝟎𝟎𝟎 𝟐 −𝟐 𝟎 𝟒𝟖𝟎𝟎𝟎

Prof. Sobhy Ghoneam Prof. Ahmed Hamada Eng. Ahmed ElKholy Eng. Taha Sherif
Modal Analysis 7

4) Calculate the Modal Parameter Model, Rate of Decay, Pole location, Residue
and FRF.

𝒌𝒓
𝝎𝒏𝒓 = √ 𝝎𝟏 =20 s-1 𝝎𝟐 =20√3 s-1
𝒎𝒓
𝒄 𝒄𝒓
𝛇𝒓 = = 𝛇 𝟏 = 0.15 𝛇 𝟐 = 0.26
𝒄𝒄𝒓 𝟐𝒎𝒓 𝝎𝒏𝒓
𝝎𝒅𝒓 = 𝝎𝒏𝒓 √𝟏 − 𝛇𝟐𝒓 𝝎𝒅𝟏 = 19.77 s-1 𝝎𝒅𝟐 = 33.45 s-1
Rate of Decay:
𝝈𝟏 = 3 s-1 𝝈𝟐 = 9 s-1
𝝈𝒓 = 𝛇𝒓 𝝎𝒏𝒓 = 𝒄𝒓 /𝟐𝒎𝒓
Pole location: 𝐏𝒓 = −𝛔𝒓 + 𝐣𝝎𝒅𝒓 𝐏𝟏 = - 3 + j 19.77 𝐏𝟐 = - 9 + j33.45
Residue: 𝐑 𝒓 = −𝐣/𝟐𝐦𝒓 𝝎𝒅𝒓 𝐑 𝟏 = - j 6.3 ×10-4 s/Kg 𝐑 𝟐 = - j 3.7 ×10-4 s/Kg
|𝐇(𝛀)| = 𝐑 𝒓 /𝛔𝒓 - j 3.11 ×10-5 m/N - j 1.5 ×10-2 m/N

5) Plot FRF curve.

Prof. Sobhy Ghoneam Prof. Ahmed Hamada Eng. Ahmed ElKholy Eng. Taha Sherif
Chapter 3 8

6) In the absence of damping, compute the changes of natural frequencies and

natural modes due to modifications.

For modification in mass and stiffness:

∆𝒎𝟏 𝟎 𝟐. 𝟓 𝟎
[∆𝒎] = [ ]=[ ] 𝒌𝒈
𝟎 ∆𝒎𝟐 𝟎 𝟏. 𝟓
𝟒 (∆𝒌𝟏 + ∆𝒌𝟐 ) −𝟒∆𝒌𝟐 𝟏𝟐𝟎 −𝟒𝟎
[∆𝒌] = [ ]=[ ] 𝑵/𝒎
−𝟒∆𝒌𝟐 𝟒∆𝒌𝟐 −𝟒𝟎 𝟒𝟎

[∆𝒎𝒓 ] = [𝒗]𝑻 [∆𝒎][𝒗] = [𝟏 𝟐 𝟐. 𝟓 𝟎 𝟏 𝟏

][ ][ ]=[
𝟖. 𝟓 −𝟑. 𝟓
]
𝟏 −𝟐 𝟎 𝟏. 𝟓 𝟐 −𝟐 −𝟑. 𝟓 𝟖. 𝟓
[∆𝒌𝒓 ] = [𝒗]𝑻 [∆𝒌][𝒗] = [𝟏 𝟐 𝟏𝟐𝟎 −𝟒𝟎 𝟏 𝟏 𝟏𝟐𝟎 −𝟒𝟎
][ ][ ]=[ ]
𝟏 −𝟐 −𝟒𝟎 𝟒𝟎 𝟐 −𝟐 −𝟒𝟎 𝟒𝟒𝟎

[𝑭] = [∆𝒌𝒓 ] − [∆𝒎𝒓 ][𝜴𝟐 ]

𝟏𝟐𝟎 −𝟒𝟎 𝟖. 𝟓 −𝟑. 𝟓 𝟒𝟎𝟎 𝟎 −𝟑𝟐𝟖𝟎 −𝟒𝟏𝟔𝟎
[𝑭] = [ ]−[ ][ ]=[ ]
−𝟒𝟎 𝟒𝟒𝟎 −𝟑. 𝟓 𝟖. 𝟓 𝟎 𝟏𝟐𝟎𝟎 𝟏𝟑𝟔𝟎 −𝟗𝟕𝟔𝟎

[𝑮] = [𝒎𝒓 ]−𝟏 [𝑭]

−𝟑𝟐𝟖𝟎 −𝟒𝟏𝟔𝟎 −𝟖𝟐 −𝟏𝟎𝟒
[𝑮] = [𝟎. 𝟎𝟐𝟓 𝟎
][ ]=[ ]
𝟎 𝟎. 𝟎𝟐𝟓 𝟏𝟑𝟔𝟎 −𝟗𝟕𝟔𝟎 𝟑𝟒 −𝟐𝟒𝟒
−𝟖𝟐 𝟎
[∆𝜴𝟐 ] = [ ]
𝟎 −𝟐𝟒𝟒
𝟑𝟏𝟖 𝟎
[𝜴𝟐 ]𝒎 = [𝜴𝟐 ] + [∆𝜴𝟐 ] = [ ]
𝟎 𝟗𝟓𝟔
𝟎 𝒉𝟏𝟐 𝟎 −𝟎. 𝟏𝟑
[𝑯] = [ ]=[ ]
𝒉𝟐𝟏 𝟎 −𝟎. 𝟎𝟒 𝟎
𝒈𝒊𝒋
𝒉𝒊𝒋 = 𝟐
𝝎𝒋 − 𝝎𝟐𝒊
𝟎 −𝟎. 𝟏𝟑 −𝟎. 𝟎𝟒 𝟎. 𝟏𝟑
[∆𝒗] = [𝒗][𝑯] = [𝟏 𝟏
][ ]=[ ]
𝟐 −𝟐 −𝟎. 𝟎𝟒 𝟎 𝟎. 𝟎𝟖 𝟎. 𝟐𝟔
𝟎. 𝟗𝟔 𝟏. 𝟏𝟑 ÷ 𝟏. 𝟏𝟑
[𝒗]𝒎 = [𝒗] + [∆𝒗] = [ ]
𝟐. 𝟎𝟖 −𝟏. 𝟕𝟒
÷ 𝟎. 𝟗𝟔

𝟏 𝟏
∴ [𝒗]𝒎 = [ ] Displacement
𝟐. 𝟏𝟕 −𝟏. 𝟓𝟒 increased

Prof. Sobhy Ghoneam Prof. Ahmed Hamada Eng. Ahmed ElKholy Eng. Taha Sherif