PDF Slide Show - Module 10

ภาควิชาวิศวกรรมเครื องกล Department of Mechanical Engineering
คณะวิศวกรรมศาสตร์ Faculty of Engineering

มหาวิทยาลัยเทคโนโลยีราชมงคลธัญบุรี Rajamangala University of Technology Thanyaburi
Module 10
Finite Element Method for
Vibratory Bars
Lessons:
10.1 Finite Element Method for Vibratory Bars
10.2 Example of Vibratory Bars
Objectives:
 To explain steps of finite element in solving vibrating bars
 To calculate natural frequency
04-312-305 การสันสะเทือนทางกล 3(3-0-6) Page 1

Mechanical Vibration Module 10
10.1 Finite Element Method for Vibrating Bars

In general, it is difficult to determine the exact solution
of vibrating bar. Finite element method, FEM, is a numerical
method used for estimating the approximate solution of
vibration system of complex bars. In process of FEM, bar is
discretised into several elements having all behaviour as same
as real bar as shown in Fig. 10.1. Each element is connected
to other elements by nodes at each end.
Fig. 10.1

Consider bar element shown in Fig. 10.2.
Fig. 10.2
where i = node at left end of the bar element

j = node at right end of the bar element
u = displacement at the node
f = axial nodal force
A = cross-sectional area of the bar element
l = length of the bar element
 = density of the bar element
E = Young’s modulus of the bar element
An element equation of the bar element shown in Fig. 10.2

could be expressed in the form of equation of motion (EOM).
Acceleration matrix Displacement matrix
 
 ( e ) A( e )l ( e )  2 1   ui  A( e ) E ( e )  1 1   u i   f i (t ) 
(e) (e) (e)
6  1 2   u( e )   l ( e )  1 1   u ( e )    f ( e ) (t ) 
   j      j   
  
j
Mass matrix (see next page) Stiffness matrix Nodal force matrix
In compact form,
    
 m( e )  u( e)   k ( e )  u ( e )  f ( e ) (t ) 
(22) (21) (2 2) (21) (21)

It is found that there are 2 expressions of element mass matrix.
    
 m( e )  u( e )   k ( e )  u ( e )  f ( e ) (t ) 
(2
2)
 (21) (2 2) (21) (21)
Consistent-mass matrix
 

 ( e ) A( e ) l ( e )  2 1 
 m (e)
  1 2
(2 2) 6  
Lumped-mass matrix
 
Lumped-mass matrix

 ( e ) A( e ) l ( e )  1 0 
 m (e)
  0 1
(2 2) 2  
Either the consistent-mass matrix or the lumped-mass matrix

can be used. In general, using the consistent-mass matrix has
resulted in solutions that compare more closely to available
analytical and experimental results than those found using the
lumped-mass matrix. However, the longhand calculations are
more tedious using the consistent-mass matrix than using the
lumped-mass matrix because the consistent-mass matrix is a
full symmetry matrix, whereas the lumped-mass matrix has
nonzero terms only along the main diagonal. In addition, the
calculation time using the lumped-mass matrix is shortened
because element equations in the system equation are
uncoupled. Hence, it is recommended that the lumped-mass
matrix should be used in the longhand calculation.
6 Steps in Solving Vibrating Bar System (Big Picture)
1. Discretise the bar (domain) into elements, typically shown

in Fig. 10.3.
Fig. 10.3
Given A (1)  A (2)  A, l (1)  l (2)  l  L 2,  (1)   (2)   .
where L = length of the bar

l = length of the bar element
E = Young’s modulus
A = cross-sectional area of the bar
 = density of the bar material
f (t ) = nodal force (axial force)

2. Write element equation(s).
Fig. 10.4
Element equation 1:
    
 m(1)  u(1)   k (1)  u (1)  f (1) (t ) 
(22) (21) (22) (21) (21)
Element equation 2:
  
 m(2)  u(2)   k (2)  u (2)  f (2) (t )   
(22) (21) (22) (21) (21)

3. Assemble element equations to system equation.

{See how to assemble in Example 1}
Element equation 1:
    
 m(1)  u(1)   k (1)  u (1)  f (1) (t ) 
(22) (21) (22) (21) (21)
Element equation 2: +
  
 m(2)  u(2)   k (2)  u (2)  f (2) (t )   
(22) (21) (22) (21) (21)
=
By superposition, system equation is
 m  u   k  u    f (t ) 
(33) (31) (33) (31) (31)
Note: maximum size of system matrix (EOM of system)

is equal to Total nodes  Total nodes, i.e. 33.

i.e.
  
 2 1 0   u1   1 1 0   u1   f1 (t ) 
 Al    u  AE    u    f (t ) 
1 4 1  2  1 2 1  2   2 
6  l 
 0 1 2   u3 
 
 0 1 1 

 u   f (t ) 
 3  3 
4. Apply boundary conditions to system equation
Fig. 10.6
 2 1 0  0   1 1 0   0   0 
 Al    u  AE    u    2sin 3t 
1 4 1  2  1 2 1  2   
6  l 
 0 1 2   0 
  0 1 1   0   0 
which is reduced to
 Al AE
 4  u2    
 2  u 2   2sin 3t 
6 (11) l (11)

4  Al 2 AE
u2  u2  2sin 3t
6 l

5. Write reduced equation obtained from the Step 4 in the

form of standard eigenvalue problem.
 
 k    2
 m   X    0 
 (11) (11)  (11) (11)
Expanding determinant gives
2 AE 4  Al
 2 0
l 6
6. Calculate natural frequency.
E rad E rad
  1.732 1   3.464 2
 l2 s or 

  L2 s
1.732 050 808 3.464101 615
See the curves approaching an exact solution in Fig. 10.6

and the numerical data in Table 1.
Fig. 10.6 Approaching curves (see numerical data in Table 1)

Table 1
Approximate solution used for plotting the approaching
curves in Fig. 10.6
Number of Bar Fundamental Frequency, 1 (rad/s)

Elements Consistent-Mass Lumped-Mass
2 3.464 1 E  L2 2.828 4 E  L2
3 3.286 2 E  L2 3.000 0 E  L2
4 3.222 7 E  L2 3.061 5 E  L2
5 3.193 4 E  L2 3.090 3 E  L2
6 3.177 7 E  L2 3.106 1 E  L2
7 3.167 8 E  L2 3.115 6 E  L2
8 3.1618 E  L2 3.121 0 E  L2
9 3.157 7 E  L2 3.125 5 E  L2
10 3.154 4 E  L2 3.128 9 E  L2
11 3.1518 E  L2 3.130 7 E  L2
  
3.141 6 E  L2
Exact Solution
(see also Example 3 of Module 08)

12.2 Example of Vibratory Bars
Example 1
Determine equation of motion and fundamental natural
frequency of vibratory bar which is discretised to 2 elements
with the same length as shown in Fig. 10.7. Let students use
the consistent-mass matrix in the solution.
Fig. 10.7
Soln:
1. Write element equations
Element equation 1: (e  1, i  1, j  2)
 (1) A(1)l (1)  2 1   u1  A(1) E (1)  1 1   u1   f1 (t ) 

6  1 2   u   l (1)  1   
1   u 2   f 2 (t ) 
  2 
Element equation 2: (e  2, i  2, j  3)
 (2) A(2)l (2)  2 1   u2  A(2) E (2)  1 1   u 2   f 2 (t ) 

6  1 2   u   l (2)  1   
1   u 3   f 3 (t ) 
  3 

2. Assemble element equations into system equation.

Mass Matrix:
How to convert local matrices to global matrices is shown

in Fig. 10.8.
Big Picture
Fig. 10.8
1 2 2 3
 m 11 m 12  1  m 22 m 23  2
  m m 
m   m   m m 
( 2 2 )  
21 22 

2 ( 2 2 )   
32

33 3
1st Local M atrix 2nd Local M atrix

1 2 3
 m11 m12 0 1
 
 m    m 21 m 22 m 23  2
(33)
 0 m 32 m 33  3
 
Global Matrix

i.e.   (1)   (2)  


Element equation 1: Note :  A(1)  A(2)  A
 l (1)  l (2)  l

Local Matrix Global Matrix
1 2 3
1 2
 2 1 0 1
 Al  2 1  1 AE  2
 m (1)    m (1)   1 2 0
6  1 22  l  
(22)   (33)
 0 0 2  3
Element equation 2:
1 2 3
2 3
 0 0 0 1
 Al  2 1  2 AE  2
 m (2)    m (2)   0 2 1
6  1 23  l  
(22)   (33)
 0 1 2  3
By superposition,
2 1 0 0 0 0
 Al     Al  0 2 1 
 m    m(1)    m (2)   1 2 0
(33) 6   6  
(33) (33)
 0 0 0   0 1 2 
mass matrix of the system is
2 1 0
 Al  
 m  1 4 1
(33) 6  
 0 1 2 

Stiffness matrix:
Element equation 1:
Local Matrix  E (1)  E (2)  E


Global Matrix
Note :  A(1)  A(2)  A
 l (1)  l (2)  l 1 2 3

1 2
 1 1 0  1
AE  1 1  1  k (1)  
AE 
1 1 0 2
 k (1)    1 1  2 
l   l  
(22) (33)
 0 0 0  3
Element equation 2:

1 2 3
2 3
 0 0 0 1
AE  1 1  2  k (2)  
AE 
0 1 1 2
 k (2)    1 1  3 
l   l  
(22) (33)
 0 1 1  3
By superposition,
 1 1 0  0 0 0
AE    AE  0 1 1 
 k    k (1)    k (2)    1 1 0
(33) l   l  
(33) (33)
 0 0 0   0 1 1 
stiffness matrix of the system is

 1 1 0 
AE
 k    1 2 1 
(33) l
 0 1 1 

Acceleration, displacement and force matrices of the

system are
 u1   u1   f1 (t ) 
     
 u    u2   u    u2   f (t )    f 2 (t ) 
(31)  u  (31) u  (31)  f (t ) 
 3  3  3 
Substituting all matrices into system equation
 m  u   k  u    f (t ) 
(33) (31) (33) (31) (31)
gives
 2 1 0   u1   1 1 0   u 1   f1 (t ) 
 Al    u   AE  1 2 1   u    f (t ) 
1 4 1  2 l   2  2 
6 
 0 1 2   u3   0 1 1   u 3   f3 (t ) 

3. Take boundary conditions
Fig. 10.9
 2 1 0  0   1 1 0   0   0 
 Al    u   AE  1    
 1 4 1  2   2 1   u 2    2 sin 50t 
6 l
 0 1 2   0  
 0 1 1   0  
  0 

It is reduced to
 Al AE
 4 
u2    
 2  u2    
2sin 50t 
6 (11) l (11)    
(11) (11) (11)

4  Al 2 AE
u2  u 2  2sin 50t
6 l

4. Write the standard eigenvalue problem

4  Al
 2 AE 
 l  6

 k     m   X    0 
2
 (11) (11)  (11) (11)

 
Equation of natural frequency is
2 AE 4  Al
 2 0
l 6
5. Calculate natural frequency.
3E 3E 12 E E rad
    3.4641
l 2
 ( L 2) 2 2 
 L 3.464  L2 s
101 615
Ans
It is recommended that students should study Example 1 again

by using lumped-mass matrix. Also, difficulties in solving for
both solutions should be compared and discussed.

Exercise 10
1. Consider the bars given below,
1.1
1.2
1.3
determine the following as:

(a) mass matrix of the system by using consistent-mass
matrix
(b) mass matrix of the system by using lumped-mass
matrix
(c) stiffness matrix of the system

Ans
2 1 0 1 0 0
 Al   Al 
1.1(a)  m    1 4 1  1.1(b)  m  0 2 0 
(33) 6 (33) 2
 0 1 2   0 0 1 
 1 1 0 
AE  
1.1(c)  k    1 2  1
(33) l  
 0 1 1 
2 1 0 0 1 0 0 0
 4 1 0   2 0 0 
 Al 1  Al 0
1.2(a )  m   1.2(b)  m
(44) 6 0 1 4 1 (4 4) 2 0 0 2 0
   
0 0 1 2 0 0 0 1
 1 1 0 0 
 2 1 0 
AE  1
1.2(c)  k  
(44) l  0 1 2 1 
 
 0 0 1 1 
2 1 0 0 0 1 0 0 0 0
1 4 1 0 0  0 2 0 0 0 
 Al   Al 
1.3(a )  m   0 1 4 1 0  1.3(b)  m 0 0 2 0 0
(55) 6   (55) 2  
0 0 1 4 1 0 0 0 2 0
 0 0 0 1 2  0 0 0 0 1 
 1 1 0 0 0 
 1 2 1 0 0 
AE  
1.3(c)  k    0 1 2 1 0 
(55) l  
 0 0 1 2 1 
 0 0 0 1 1 

2. Consider the bar given below, there are 5 sub-problems

according to different permutation of element number.
Determine the following as:

(a) consistent-mass matrix
(b) lumped-mass matrix
(c) stiffness matrix
Ans
Probs. 2.1(a) – 2.5(a) Probs. 2.1(b) – 2.5(b)
 2 1 0 0  1 0 0 0
 1 4 1 0   0 2 0 0 
 Al   Al 
m m
(4 4) 6  0 1 4 1 (4 4) 2  0 0 2 0
   
 0 0 1 2  0 0 0 1
Probs. 2.1(c) – 2.5(c)

 1 1 0 0 
 
AE  1 2 1 0 
 k    0 1 2 1 
(4 4) l
 
 0 0 1 1 

3. Consider the bar given below, there are 23 sub-problems

according to different permutation of node.
Determine as follows:
(c) stiffness matrix

4. Determine system equation of the vibratory bars in Prob.

1.3. In solution, let students use:

(b) lumped-mass matrix.
Ans
4(a) consistent-mass matrix:
 2 1 0 0 0   u1   1 1 0 0 0   u1   f 1 (t ) 
    1 2 1 0 0   u   f 2 (t ) 
1 4 1 0 0   u2    2  
 Al     AE  
 0 1 4 1 0   u3    0 1 2 1 0   u 3    f 3 (t ) 
6      l    
 0 0 1 4 1  u4  0 0 1 2 1   u4   f 4 (t ) 
  
 0 0 0 1 2   u5   0 0 0 1 1   u 5   f 5 (t ) 
4(b) lumped-mass matrix:
 1 0 0 0 0   u1   1 1 0 0 0   u 1   f 1 (t ) 
    1 2 1 0 0   u   f 2 (t ) 
0 2 0 0 0   u2    2  
 Al     AE  
 0 0 2 0 0   u3    0 1 2 1 0   u 3    f 3 (t ) 
2   l  
 0 0 0 2 0   u4   0 0 1 2 1   u 4   f 4 (t ) 
     
 0 0 0 0 1   u5   0 0 0 1 1   u 5   f 5 (t ) 

5. Determine system equation of vibratory bars with different

boundary conditions as follows:
5.1
5.2
Hint: To save space and time in solution, students should

start your solution by using the answer of Prob. 4(a),
i.e. system equation of vibratory bar with free-free
support.
Ans
5.1
 4 1 0 0   u2   2 1 0 0   u 2   0 
    
 Al  1 4 1 0   u3  AE  1 2 1 0   u 3   10 

    
6  0 1 4 1   u4  l  0 1 2 1   u 4   0 
   
 0 0 1 2   u5   0 0 1 1   u 5   0 
5.2
 2 1 0 0   u1   1 1 0 0   u1   12sin 50t 
    
 Al  1 4 1 0   u2  AE  1 2 1 0   u 2   0 

    
6  0 1 4 1   u3  l  0 1 2 1   u 3   10 
     
 0 0 1 4   u4   0 0  1 2 u
 4   0 

6. Determine system equation and fundamental natural

frequency of vibratory bar with fixed-fixed support shown
in figure below by using:
Hint: To save space and time in solution, students should

start your solution by using the answer of Probs. 4(a)
and 4(b), i.e. system equation of vibratory bar with
free-free support.
Ans
System equation:
 4 1 0   u2   2 1 0   u 2   2 cos 50t 
 Al    u   AE  1 2 1   u    
1 4 1  3  l   3   0 
6 
 0 1 4   u4   0 1 2   u 4   0 

Fundamental natural frequency:

E E
 1  0.752 4  3.009 6 rad s
l2  L2


System equation:
 2 0 0   u2   2 1 0   u 2   2 cos 50t 
 Al    u   AE  1    
0 2 0  3  l  2 1   u 3    0 
2 
 0 0 2   u4   0 1 2   u 4   0 

Fundamental natural frequency:

E E
 1  0.765 4  3.016 1 rad s
l2  L2



PDF Slide Show - Module 10

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

PDF Slide Show - Module 10

Uploaded by

Copyright:

Available Formats

ภาควิชาวิศวกรรมเครื องกล Department of Mechanical Engineering

คณะวิศวกรรมศาสตร์ Faculty of Engineering

04-312-305 การสันสะเทือนทางกล 3(3-0-6) Page 1

10.1 Finite Element Method for Vibrating Bars

04-312-305 การสันสะเทือนทางกล 3(3-0-6) Page 2

Consider bar element shown in Fig. 10.2.

where i = node at left end of the bar element

An element equation of the bar element shown in Fig. 10.2

04-312-305 การสันสะเทือนทางกล 3(3-0-6) Page 3

It is found that there are 2 expressions of element mass matrix.

Either the consistent-mass matrix or the lumped-mass matrix

6 Steps in Solving Vibrating Bar System (Big Picture)

1. Discretise the bar (domain) into elements, typically shown

Given A (1)  A (2)  A, l (1)  l (2)  l  L 2,  (1)   (2)   .

where L = length of the bar

04-312-305 การสันสะเทือนทางกล 3(3-0-6) Page 5

2. Write element equation(s).

04-312-305 การสันสะเทือนทางกล 3(3-0-6) Page 6

3. Assemble element equations to system equation.

Note: maximum size of system matrix (EOM of system)

04-312-305 การสันสะเทือนทางกล 3(3-0-6) Page 7

4. Apply boundary conditions to system equation

04-312-305 การสันสะเทือนทางกล 3(3-0-6) Page 8

5. Write reduced equation obtained from the Step 4 in the

Expanding determinant gives

6. Calculate natural frequency.

See the curves approaching an exact solution in Fig. 10.6

Fig. 10.6 Approaching curves (see numerical data in Table 1)

Number of Bar Fundamental Frequency, 1 (rad/s)

04-312-305 การสันสะเทือนทางกล 3(3-0-6) Page 10

12.2 Example of Vibratory Bars

1. Write element equations

 (1) A(1)l (1)  2 1   u1  A(1) E (1)  1 1   u1   f1 (t ) 

 (2) A(2)l (2)  2 1   u2  A(2) E (2)  1 1   u 2   f 2 (t ) 

04-312-305 การสันสะเทือนทางกล 3(3-0-6) Page 11

2. Assemble element equations into system equation.

How to convert local matrices to global matrices is shown

1st Local M atrix 2nd Local M atrix

04-312-305 การสันสะเทือนทางกล 3(3-0-6) Page 12

i.e.   (1)   (2)  

mass matrix of the system is

04-312-305 การสันสะเทือนทางกล 3(3-0-6) Page 13

Local Matrix  E (1)  E (2)  E

Local Matrix Global Matrix

stiffness matrix of the system is

04-312-305 การสันสะเทือนทางกล 3(3-0-6) Page 14

Acceleration, displacement and force matrices of the

Substituting all matrices into system equation

04-312-305 การสันสะเทือนทางกล 3(3-0-6) Page 15

3. Take boundary conditions

04-312-305 การสันสะเทือนทางกล 3(3-0-6) Page 16

4. Write the standard eigenvalue problem

 (11) (11)  (11) (11)

Equation of natural frequency is

5. Calculate natural frequency.

It is recommended that students should study Example 1 again

04-312-305 การสันสะเทือนทางกล 3(3-0-6) Page 17

determine the following as:

04-312-305 การสันสะเทือนทางกล 3(3-0-6) Page 18

04-312-305 การสันสะเทือนทางกล 3(3-0-6) Page 19

2. Consider the bar given below, there are 5 sub-problems

Determine the following as:

Probs. 2.1(c) – 2.5(c)

04-312-305 การสันสะเทือนทางกล 3(3-0-6) Page 20