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Vibrations of Machine Foundations: Richard P. Ray, PH.D., P.E
Vibrations of Machine Foundations: Richard P. Ray, PH.D., P.E
of
Machine Foundations
USC
Thanks To:
Prof. Richard D. Woods, Notre Dame Univ.
Prof. F.E. Richart, Jr.
USC
Topics for Today
Fundamentals
Modeling
Properties
Performance
USC
Foundation Movement
Z
Y
θ
φ
X
ψ
Fundamentals-Modeling-Properties-Performance USC
Design Questions (1/4)
How Does It Fail?
Static Settlement
Dynamic Motion Too Large (0.02 mm is large)
Settlements Caused By Dynamic Motion
Liquefaction
What Are Maximum Values of Failure?
(Acceleration, Velocity, Displacement)
Fundamentals-Modeling-Properties-Design-Performance USC
Velocity Requirements
Fundamentals-Modeling-Properties-Performance USC
Fundamentals-Modeling-Properties-Performance USC
Design Questions (2/4)
What Are Relations Between Loads And
Failure Quantities
Loading -Machine (Periodic), Impluse, Natural
Relations Between Load, Structure, Foundation,
Soil, Neighboring Structures
Generate Model: Deterministic or Probabilistic
Fundamentals-Modeling-Properties-Performance USC
Design Questions (3/4)
How Do We Measure What Is Necessary?
Full Scale Tests
Prototype Tests
Small Scale Tests (Centrifuge)
Laboratory Tests (Specific Parameters)
Numerical Simulation
Fundamentals-Modeling-Properties-Performance USC
USC
Design Questions (4/4)
What Factor of Safety Do We Use?
Does FOS Have Meaning
What Happens After There Is Failure
Loss of Life
Loss of Property
Loss of Production
Fundamentals-Modeling-Properties-Performance USC
r -2 r -2 r -0.5
+
Rayleigh wave
+ Vertical Horizontal
component component
Shear Relative
- + wave + - amplitude
r -1
+
+
r
Shear r -1
Wave Type Percentage of
window
Total Energy
Rayleigh 67
Waves Shear 26
Compression 7
Fundamentals-Modeling-Properties-Performance USC
Modeling Foundations
Lumped Parameter (m,c,k) Block System
Parameters Constant, Layer, Special
Impedance Functions
Function of Frequency (ω), Layers
Boundary Elements (BEM)
Infinite Boundary, Interactions, Layers
Finite Element/Hybrid (FEM, FEM-BEM)
Complex Geometry, Non-linear Soil
Fundamentals-Modeling-Properties-Performance USC
Lumped Parameter
P Po sin( t )
r
m m
c k
Gνρ
mz cz kz P0 sin(t )
Fundamentals-Modeling-Properties-Performance USC
SDOF
Adynamic
Mag
Astatic
1
2 2
2
1 2 D
n n
Fundamentals-Modeling-Properties-Performance USC
Lumped Parameter System
Z mz z cz z k z z P0 sin( t )
k
n
Cz Kz m
Kx
Iψ m X
ψ
Cx
Kψ D c ccr ccr 2 k m
Cψ/2 Cψ/2
Fundamentals-Modeling-Properties-Performance USC
Lumped Parameter Values
Mode Vertical Horizontal Rocking Torsion
Fundamentals-Modeling-Properties-Performance USC
Mass Ratio
Fundamentals-Modeling-Properties-Performance USC
Design Example 1
VERTICAL COMPRESSOR
Unbalanced Forces
•Vertical Primanry = 7720 lb
•Vertical Secondary = 1886 lb
•Horzontal Primary = 104 lb
•Horizontal Secondary = 0 lb
Operating Speed = 450 rpm
Soil Properties
Wt Machine + Motor = 10 900 lb
Shear Wave Velocity Vs = 680 ft/sec
DESIGN CRITERION:
Smooth Operation At Speed Shear Modulus, G = 11 000 psi
Velocity <0.10 in/sec Density, γ = 110 lb/ft3
Displacement < 0.002 in Poisson's Ratio, ν = 0.33
Jump to Chart
Fundamentals-Modeling-Properties-Performance USC
Q0 (1 )Q0 0.667(7720 1885)
Azs 0.002"
kz 4Gr 4 11 000 r
r 72.8" 6.07'
Try a 15 x 8 x 3 foundation block, Area = 120 ft2 and r = 6.18 ft
Weight = 54,000 lb Total Weight = 54 000 + 10 900 = 64 900
(1 ) W g 0.67 64 900
mˆ 0.42
4r g 4 110 6.18
3 3
0.425 1
D 0.66 M z 1.0 Jump to Figure
mˆ 2D
Az dynamic Az static 0.002"
Fundamentals-Modeling-Properties-Performance USC
Design Example - Table Top
18'
W=550 000 lb
Q0=400 lb
Iψ=2.88 x 106 ft-lb-sec2
Fundamentals-Modeling-Properties-Performance USC
Horizontal Translation Only
4cd 4 18 34 2 m
Equivanlen t r 13.96 ft mˆ 0.38
8 r 3
0.288 Q Q 2
D 1/ 2 0.465 Mag x 1.0 Ax static 0 0 3.0 105 in
mˆ kx 8 Gr
32.2
0.15
D 0.09 Mag 5.6 Static Moment M o 400 18 7200 ft lbs.
(1 mˆ ) mˆ
Fundamentals-Modeling-Properties-Performance USC
M o 7200 3(0.67) 0.50
Static Angular Deflection s 6 rad
k 2.9 10 8
10
0.50
Horizontal Motion Axs s h 6
( 18 12 ) 1.0 10 4
in
10
At Resonance 5.6(1.0 10 4 ) 5.6 10 4 in.
Fundamentals-Modeling-Properties-Performance USC
Impedance Methods
Based on Elasto-Dynamic Solutions
Compute Frequency-Dependent Impedance
Values (Complex-Valued)
Solved By Boundary Integral Methods
Require Uniform, Single Layer or Special Soil
Property Distribution
Solved For Many Foundation Types
Fundamentals-Modeling-Properties-Performance USC
Impedance Functions
P Poeit Po cos( t ) i sin( t )
Sz
Rz 2K
Sz K i C K STATIC k ( ) i C DSOIL
Az
Soil Damping
Radiation Damping
Jump Wave
Fundamentals-Modeling-Properties-Performance USC
Impedance Functions
r
a0 r
G Vs
Fundamentals-Modeling-Properties-Performance USC
Layer
Effects
Fundamentals-Modeling-Properties-Performance USC
Impedance Functions
Fundamentals-Modeling-Properties-Performance USC
Boundary Element
Fundamentals-Modeling-Properties-Performance USC
B-Spline Impulse Response Approach
Fundamentals-Modeling-Properties-Performance USC
M z K z p eit z Z eit then
K M Z p
2
Finite/Hybrid
Model
G* G 1 2 2 2i 1 2
Fundamentals-Modeling-Properties-Performance USC
Dynamic p-y Curves
Fundamentals-Modeling-Properties-Performance USC
Soil Properties
Shear Modulus, G and Damping Ratio, D
Soil Type
Confining Stress
Void Ratio
Strain Level
Field: Cross-Hole, Down-Hole, Surface
Analysis of Seismic Waves SASW
Laboratory: Resonant Column, Torsional
Simple Shear, Bender Elements
Fundamentals-Modeling-Properties-Performance USC
Oscilloscope
Crosshole Testing
ASTM D 4428
Pump
t
Shear Wave Velocity:
Vs = x/t
Downhole
Hammer
(Source) Velocity
Test Transducer
Depth (Geophone
Receiver)
packer
x
Slope Slope
Note: Verticality of casing Inclinometer Inclinometer
must be established by
slope inclinometers to correct PVC-cased PVC-cased
distances x with depth. USC
Borehole Borehole
Resonant Column Test
G, D for Different γ
Fundamentals-Modeling-Properties-Performance USC
Torsional Shear Test
Schematic Stress-Strain
Fundamentals-Modeling-Properties-Performance USC
Hollow Cylinder RC-TOSS
Fundamentals-Modeling-Properties-Performance USC
TOSS Test Results
Fundamentals-Modeling-Properties-Performance USC
Steam Turbine-Generator
(Moreschi and Farzam, 2003)
Fundamentals-Modeling-Properties-Performance USC
Machine Foundation Design Criteria
Deflection criteria: maintain turbine-generator
alignment during machine operating conditions
Dynamic criteria: ensure that no resonance
condition is encountered during machine
operating conditions Jump to Resonance
Fundamentals-Modeling-Properties-Performance USC
STG Pedestal Structure
Fundamentals-Modeling-Properties-Performance USC
Vibration Properties Evaluation
Identification of the foundation natural
frequencies for the dominant modes
Frequency exclusion zones for the natural
Z
Y X
Fundamentals-Modeling-Properties-Performance USC
Low Frequency Modes
1st mode
6.5 Hz
95 % m.p.f.
2nd mode
7.2 Hz
76 % m.p.f
Fundamentals-Modeling-Properties-Performance USC
High Frequency Modes
Quantification of changes
on vibration properties due
to foundation modifications
Fundamentals-Modeling-Properties-Performance USC
ATST Telescope and FE Model
Fundamentals-Modeling-Properties-Performance USC
Assumptions in FE analyses
Optics Lab mass/Instrument weight = 228 tons
Wind mean force = 75 N, RMS = 89 N
Ground base excitation PSD = 0.004 g2/hz
Concrete Pier
High Strength Concrete (E=3.11010 N/m2, =0.15)
Soil Stiffness, k
Four different values using Arya & O’Neil’s
formula based on the site test data (Shear
modulus:30~75ksi, Poisson’s ratio:0.35~0.45)
Fundamentals-Modeling-Properties-Performance USC
Frequency vs Soil Stiffness
Stiffness units = SI, frequency mode (hz)
Stiffness min m in+33.3% m in+66.6% max
Kx 1.19E+10 1.83E+10 2.48E+10 3.12E+10
Ky 1.19E+10 1.83E+10 2.48E+10 3.12E+10
Kz 1.48E+10 2.45E+10 3.41E+10 4.38E+10
Krx 1.34E+12 2.21E+12 3.09E+12 3.96E+12
Kry 1.34E+12 2.21E+12 3.09E+12 3.96E+12
MODE Krz 1.74E+12 2.61E+12 3.49E+12 4.36E+12
1 6.3 7.0 7.4 7.5
2 6.4 7.1 7.5 7.7
3 9.4 9.7 9.9 10
4 9.4 10.3 11.1 11.8
5 10.4 11.9 12.6 13.3
6 11.2 13.0 13.6 13.7
• Soil property range: Shear modulus (30~75ksi), Poisson’s ratio (0.35~0.45)
• Pier Footing: Diameter (23.3m)
• “min” for shear modulus of 30 ksi; “max” for 75 ksi
Fundamentals-Modeling-Properties-Performance USC
Summary and Conclusions (Cho, 2005)
1. High fidelity FE models were created
2. Relative mirror motions from zenith to horizon pointing: about 400 m in
translation and 60 rad in rotation.
3. Natural frequency changes by 2 hz as height changes by 10m.
4. Wind buffeting effects caused by dynamic portion (fluctuation) of wind
5. Modal responses sensitive to stiffness of bearings and drive disks
6. Soil characteristics were the dominant influences in modal
behavior of the telescopes.
7. Fundamental Frequency (for a lowest soil stiffness):
OSS=20.5hz; OSS+base=9.9hz; SS+base+Coude+soil=6.3hz
8. A seismic analysis was made with a sample PSD
9. ATST structure assembly is adequately designed:
1. Capable of supporting the OSS
2. Dynamically stiff enough to hold the optics stable
3. Not significantly vulnerable to wind loadings
Fundamentals-Modeling-Properties-Performance USC
Free-Field Analytical Solutions
L0V 2 r
u z (r , ,0) i 3 RV (a0 ) H 0
ur 2 CR
uz
M 0V 2 r
ur (r , ,0) i RV (a0 ) H1
2 3
CR
Fundamentals-Modeling-Properties-Performance USC
Fundamentals-Modeling-Properties-Performance USC
Fundamentals-Modeling-Properties-Performance USC
Fundamentals-Modeling-Properties-Performance USC
Fundamentals-Modeling-Properties-Performance USC
Fundamentals-Modeling-Properties-Performance USC
Trench
Isolation
Fundamentals-Modeling-Properties-Performance USC
Celibi et al (in press)
USC
Thank-you
Questions?
USC
r -2 r -2 r -0.5
+
Rayleigh wave
+ Vertical Horizontal
component component
Shear Relative
- + wave + - amplitude
r -1
+
+
r
Shear r -1
window Wave Type Percentage of
Total Energy
Rayleigh 67
Shear 26
Compression 7
USC
Waves
Rayleigh, R
Surface
Shear,S
Secondary
Compression, P
Primary
USC
Machine Performance Chart
Performance Zones
A=No Faults, New
B=Minor Faults,
Good Condition
C = Faulty, Correct
In 10 Days To Save
0.002 $$
D = Failure Is Near,
Correct In 2 Days
E = Stop Now
450
USC