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HyperMesh 1990-2014; HyperCrash 2001-2014; OptiStruct 1996-2014; RADIOSS1986-2014; HyperView1999-2014;
HyperView Player 2001-2014; HyperStudy 1999-2014; HyperGraph1995-2014; MotionView 1993-2014; MotionSolve 20022014; HyperForm 1998-2014; HyperXtrude 1999-2014; Process Manager 2003-2014; Templex 1990-2014; TextView
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Copyright notice does not imply publication
Table of Contents
Table of Contents.................................................................................................................... 3
Chapter 1: Introduction ............................................................................................ 5
1 HyperWorks Overview ............................................................................................... 5
1.1 HyperWorks Tool Descriptions ............................................................................... 7
1.2 OptiStruct Integration with HyperWorks ................................................................ 10
2 RADIOSS Overview ................................................................................................ 11
2.1 RADIOSS Process ............................................................................................... 11
HyperWorks 12.0
HyperWorks 12.0
Chapter 1: Introduction
Chapter 1
Introduction
1- HyperWorks Overview
HyperWorks, The Platform for Innovation, is built on a foundation of design
optimization, performance data management, and process automation. HyperWorks is an
enterprise simulation solution for rapid design exploration and decision-making. As one of the
most comprehensive CAE solutions in the industry, HyperWorks provides a tightly integrated
suite of best-in-class tools for modeling, analysis, optimization, visualization, reporting, and
performance data management. Leveraging a revolutionary pay-for-use token-based business
model, HyperWorks delivers increased value and flexibility over other software licensing
models. Firmly committed to an open-systems philosophy, HyperWorks continues to lead the
industry with the broadest interoperability to commercial CAD and CAE solutions.
HyperWorks 12.0 is the new version of Altairs CAE software suite. It includes a large
number of new functionalities to support optimization-driven product design and predictive multiphysics analysis, combined with a strong focus on usability and performance. Highlights are:
Revolutionary Business Model Enriching the value of the HWU
AcuSolve Finite element computational fluid dynamics (CFD) solver licensed under
HyperWorks
One low unit-draw for all RADIOSS solutions - 25 HWU for up to 4 processors.
License decay function for massive use of RADIOSS finite element solver for simulation
driven innovation
solidThinking where ideas take shape is now part of the HyperWorks offering
New framework for the integration of finite element and multi-body dynamics pre- and post-
HyperWorks 13.0
Chapter 1: Introduction
Expanded third party software interfacing including new CAD reader technology as well as
well-rounded solver interfaces
Access to on-line learning with interactive, self-paced learning guides from inside the
applications
Manage personal and team CAE data from well integrated GUIs inside HyperWorks.
Share data among multiple engineering teams for collaboration between users with the
appropriate access rights.
Connect to PDM systems to obtain product BOM (Bill of Materials) and CAD geometry.
Capture the best practices and automate the most tedious phases of the product
development process.
Author, edit, and execute processes inside HyperWorks or in standalone mode.
Run, monitor and manage your CAE jobs locally or on a cluster via a drag-n-drop desktop
client interface.
Added AcuSolve Native finite element computational fluid dynamics (CFD) solver
Advanced Mass Scaling technology is a breakthrough in explicit simulation performance
Further increased scalability thru SPMD version for frequency response analysis as well as
other solver performance improvements
New non-linear implicit structural solutions for a wide range of contact, material and postbuckling problems
New structural analysis types like response spectrum, complex eigenvalues, and prestressed normal modes
Generalized method for component mode synthesis
HyperWorks 13.0
Chapter 1: Introduction
Full vehicle wizard support for H-Tire and F-Tire in MotionView and MotionSolve
Greatly improved controls co-simulation and solver robustness of MotionSolve
Innovative application of the Equivalent Static Load Method for the optimization of geometric
and material non-linear problems
New manufacturing constraints for topology optimization
New user profiles for CFD, Noise and Vibrations (NVH), Crash, and drop test simulation
Advanced crash modeling environment HyperCrash tightly integrated
Expanded modeling of physical phenomena for metal and polymer extrusion, stamping,
welding, and mold filling
Design and optimization software using finite elements and multibody dynamics
RADIOSS
HyperWorks 13.0
Chapter 1: Introduction
MotionSolve
AcuSolve
HyperWorks Enterprise
Collaboration
Tools
A solution that organizes, manages, and stores CAE and test data
throughout the simulation life cycle
Process
Manager
HyperMath Solutions
HyperMath
HyperStudy
Manufacturing Solutions
Manufacturing
Solutions
HyperForm
HyperWorks 13.0
Chapter 1: Introduction
HyperXtrude
HyperMold
HyperWeld
Forging
Results Mapper
Engineering Solutions
CFD
NVH
Crash
Drop Test
Durability
Director
Suspension
Director
HyperCrash
High quality tools for CFD applications enabling the engineer to perform
modeling, optimization and post-processing tasks efficiently.
HyperWorks environment customized for automotive full vehicle NVH
modeling and analysis needs.
Tailored environment in HyperWorks that efficiently steers the Crash
CAE specialist in CAE model building, starting from CAD geometry and
finishing with a runnable solver deck in both solvers RADIOSS and LSDYNA.
The Drop Test Manager is an automated solution that allows the user to
either simulate a single drop test or a choice of multiple iterations with
the aim of finding the sensitivity of process variables like initial orientation
and drop height in a typical drop test by controlling the run parameters
and conditions with ease.
Solver-neutral, process-oriented customization of HyperWorks that
addresses many of the challenges associated with assessing the fatigue
life of mechanical components.
Industry specific solution that is integrated with MotionView and utilizes
many aspects of HyperWorks to assist with the engineering of vehicle
suspensions.
CAE pre-processor tool developed to support the non-linear finite
element solver, Altair RADIOSS
HyperWorks 13.0
Chapter 1: Introduction
solidThinking
solidThinking
solidThinking
Inspired
Solver Overview
Within the HyperWorks suite, the pre-processing for OptiStruct is done using
HyperMesh or HyperCrash and the post-processing is done using HyperView and
HyperWorks 13.0
Chapter 1: Introduction
HyperGraph. For more information about the HyperWorks suite of products, please refer to our
online help documentation.
2 RADIOSS Overview
Altair RADIOSS is a leading structural analysis solver for highly non-linear problems
under dynamic loadings. It is highly differentiated for Scalability, Quality and Robustness, and
consists of features for multi-physics simulation and advanced materials such as composites.
RADIOSS is used across all industry worldwide to improve the crashworthiness, safety, and
manufacturability of structural designs. For over 20 years, RADIOSS has established itself as a
leader and an Industry standard for automotive crash and impact analysis.
Finite element solutions via RADIOSS include:
o
o
o
o
o
o
o
o
o
o
A typical set of finite elements including shell, solid, bar, and spring elements, rigid
bodies as well as loads, a number of materials, and contact interfaces are available for
modeling complex events.
HyperWorks 13.0
Chapter 1: Introduction
HyperWorks 13.0
Chapter 2
Theoretical Introduction
1- Dynamic System
L >> 10-9 m
Relativistic
Mechanics
Quantum
Mechanics
Quantum
Field Theory
Size
Classical
Mechanics
L ~ 10-9 m or Lower
Speed
Type dynamic system
On this training we will focus only on problems that are solved using the Classical
mechanics approach.
HyperWorks 13.0
HyperWorks 13.0
HyperWorks 13.0
X0=0.3 mm
V0=5.97 mm/s
n =
k
m
fn =
n 1
=
2 T
X(t)
V0
T=
X0
tmax = /wn
These time dependence characteristics make the dynamic analysis more complex than static
analysis.
Dynamic analysis for simple structures like the one described above can be carried out
manually, in general it is possible to find analytical response for it or using analytical tools is
possible to determine the mathematical functions that can represent the system responses.
But for complex structures Finite Element Analysis (FEA) should be used to calculate the
dynamic responses. This kind of analysis is well known as Structural Dynamic Analysis.
HyperWorks 13.0
Mx + Cx + Kx = f (t )
(1)
Example:
A simple single degree of freedom system (a Spring-Mass system for example) has the
following equation of motion:
Mx + Cx + Kx = f (t )
Mx + Kx = f (t )
HyperWorks 13.0
Where x is the acceleration and x is the displacement, and on this case they are scalar
values, then our system is reduced to only one equation:
mx + kx = f (t )
(2)
x (t ) = A Sin ( t ) + B Cos ( t ) + C
(3)
Where A, B and C are determined by the initial boundary conditions and the circular natural
k
frequency =
or the natural frequency f =
of this system are defined in terms of
m
2
the k and m.
The static deflection for this single degree of freedom system is:
x max =
Fmax
k
(4)
Equation 2 gives the (theoretical) time history of the structure due to a load f(t), where the
assumption is made that there is no damping.
3.1 - Damping
Any real structure will dissipate energy (in general from friction) and this can be modeled
mathematically as a force synchronous with the velocity of the object but opposite in
direction to it. Thus, for a simple mechanical damper, the force F may be related to the
velocity v by
F = vc
(5)
Ns
.
m
HyperWorks 13.0
fc
fk
fi
f(t)
m
One degree of freedom Spring-Mass-Damper system
Now including the damping effect on our spring-mass system, as shown in the figure above,
we have a new term on our motion equation that includes this effect:
mx + cx + kx = f (t )
(6)
mx + cx + kx = 0
(7)
c
k
x + x = 0
m
m
x +
k
m
(8)
c
2 km
(9)
0 =
and
=
Where:
HyperWorks 13.0
x + 20 x + 02 x = 0
We can solve this equation if we proposal a general solution for with this form:
x = e t
(10)
where in general is a complex number, this transform the differential equation in a second
order polynomial equation:
2 + 20 + 02 = 0
(11)
= 0 2 1
(12)
HyperWorks 13.0
Reinforced concrete ~ 4%
Welded steel ~ 2%
mx + hxi + kx = 0
(13)
where h is the hysteretic damping coefficient and i denotes the imaginary unit; the
presence of i is required to synchronize the damping force to the velocity (xi being in phase
with the velocity). This equation is more often written as:
mx + k (1 + i )x = 0
(14)
where is the hysteretic damping ratio, that is, the fraction of energy lost in each cycle of
the vibration.
Although it requires complex analysis to solve this equation, this model reproduces the real
behavior of many vibrating structures more closely than the viscous model.
HyperWorks 13.0
HyperWorks 13.0
Chapter 3
Modal Analysis
1 Definitions
A modal analysis calculates the frequency modes or natural frequencies of a given system,
but not necessarily its full time history response to a given input. The natural frequency of a
system is dependent only on the stiffness of the structure, and the mass which participates
with the structure (including self-weight) and the boundary conditions.
Consider the motion equation (1) defined in Chapter 2, where the damping and external
forces are null, this leaves the equation in the reduced form known as the Free vibration
equation:
Mx + Kx = 0
(1)
The solution for this equation can be evaluated if we proposal a general harmonic solution
with the form:
x = sin (t )
(2)
Where:
HyperWorks 13.0
If we substitute the equation 2 into 1 performing the differentiation on the first term:
2 M sin(t ) + K sin(t ) = 0
(K M ) = 0
2
(3)
This is the equilibrium equation for a structure performing free vibration, which can be
rewrite in terms of the eigenvalues =2:
[K M] = 0
Where:
The eigenvalue problem in OptiStruct is solved using a matrix method called the
Lanczos Method. This method is very efficient when not all eigenvalues are required
that is the case for structural problems where only a small number of the lowest
eigenvalues are normally important.
* It requires that the mass matrix be positive semidefinite and the stiffness be symmetric.
fi =
i
2
(4)
Where:
HyperWorks 13.0
Verify if there are rigid modes on the system, and the link between components.
With the strain energy density for example, the Engineer can determine where the
part should be reworked to improve the performance.
It helps on predict the dynamic responses that this system will have, then all the
other dynamic simulations should be done only after a MODAL Analysis.
It is useful to know the modal frequencies of a structure as it allows you to ensure that the
frequency of any applied periodic loading will not coincide with a modal frequency and
hence cause resonance, which could leads to large responses and consequently fails.
To define the subsequent dynamic analyses (i.e., transient, frequency response, PSD, etc.)
should be based on Modal results. With a previous knowledge about the important modes
the analyst can chose the appropriate time or frequency step to solve the problem. If the
analyst needs to work with a big model then the modal analysis results can be used to solve
the FRF or Transient simulation, this is called a modal FRF or Modal Transient, where the
equations are solved using a method called Modal superposition, this make the dynamic
solution much less expansive then the direct integration.
A modal analysis plays a key role when the analyst needs to compare the dynamic analyses
with physical test, it helps to define the right equipment that have to be used and the right
location for accelerometers and strain gages. It helps during the test too to understand the
test results and correlate the virtual model with the prototype.
It is possible sometimes only with a modal analysis find out if a design change will improve
the dynamic performance of the system. In summary the modal analysis is used to
determine the normal modes and normal shapes, but it helps on understand the whole
system and helps on understand all other dynamic analysis.
All output quantities for a modal analysis are based on the relative displacements of a mode
shape, and then the output quantities can be compared for a certain mode, but not
necessarily between different modes.
HyperWorks 13.0
Inverse Iteration
Forward Iteration
2. Transformation Methods
o
Jacobi Method
HyperWorks 13.0
+ C u + Ku = F
Mu
Where M is the mass matrix, is the 2nd time derivative of the displacement u (i.e. the
acceleration), u is the velocity, C is a damping matrix, K is the stiffness matrix, and F is the
force vector. The only terms kept are the 1st and 3rd terms on the left hand side which give
the following system:
+ Ku = 0
Mu
This is the general form of the eigensystem encountered in structural engineering using the
FEA. Further, harmonic motion is typically assumed for the structure so that is taken to
equal -u, where is an eigenvalue, and the equation reduces to:
(K M )u = 0
where the solution of the eigenvalue problem yields n eigenvalues , where n is the number
of degrees of freedom. The vector u is the eigenvector corresponding to the eigenvalue.
HyperWorks 13.0
HyperWorks 13.0
Problem description
Problem Statement
Geometry:
o
3 first modes
Material STEEL:
o
o
o
= 7.8e-9
E = 210000
= 0.3
T/mm3
MPa
-
[RHO] Density
[E]
Youngs modulus
[nu]
Poissons ratio
Problem Setup
You should copy the file: BEAM_SHELL_MODAL.hm
HyperWorks 13.0
BEAM_SHELL_MODAL.hm.
Step 2: Mesh the model and create and assign the materials and properties
1. From the 2D page, select automesh.
2. Select the single surface, set the element size to 1000, and click mesh to mesh the
surface with all other options set to default, and making one element across the face.
3. Right-click in the Model Browser and select Create > Material.
4. In the Entity Editor, set the following values:
HyperWorks 13.0
7. In the Model Browser, expand the Component section and right-click on the beam
component to select Assign. Assign the property created above to the comp beam.
With the entity selector set to surfs, uncheck all DOFs except DOF 3 and click
create to constrain Uz = 0
With the entity selector set to lines, check all DOFs and select the edge closest to
the origin. Click create to constrain that edge in all six degrees of freedom.
HyperWorks 13.0
3. Create a new LoadCollector with card image EIGRL named EIGRL and edit the card
with the following settings.
4. In the Model Browser, create a new loadstep and edit the new loadstep in the Entity
Editor as follows:
HyperWorks 13.0
Do it until you think the model can represent well the 3 first modes of the Beam.
As the mesh size drops below 10mm, ensure that the every node on the constrained
edge has an SPC on it in all six DOFs.
HyperWorks 13.0
Result Table
SIZE
DOF
1ST MODE
2ND MODE
3RD MODE
500
250
100
50
20
10
5
1
0.5
Note that those meshes shaded in orange are outside of traditional bounds acceptable in
FEA for element aspect ratio while the results in blue are in violation of acceptable limits
for shell element thickness bounds with respect to bending behavior. Results in both of
these regions will be calculated, but are not considered good modeling practice.
MODES CONVERGENCY
10000.00
Freq (Hz)
1000.00
100.00
10.00
1.00
0.001
0.01
0.1
10
1 / elem size
1ST MODE
2ND MODE
3RD MODE
Analytical Solution:
f 1 = 0.7482
EI
= 8.3
mL4
f 2 = 1.8732
EI
= 52.2
mL4
f 3 = 3.1342
EI
= 146.2
mL4
HyperWorks 13.0
5 Bolt link
Problem description
Problem Information
Problem Setup
You should copy the file: BRACKET_COMPRESSOR_FEA_2nd.hm
HyperWorks 13.0
BRACKET_COMPRESSOR_FEA_2nd.hm.
HyperWorks 13.0
Step 4: Create a PSOLID property and assign the new property to the
FEA_Bracket component.
HyperWorks 13.0
Step 5: In the 1D > masses page, create a mass element at the dependent node
of the RBE3.
HyperWorks 13.0
HyperWorks 13.0
Q1: How much you trust on the first mode you have got on this analysis?
______________________________________________________________________
Q2: Is there any result that you can look to identify if your model is good?
______________________________________________________________________
Q3: Should you improve the model?
______________________________________________________________________
Q4: How can you determine where the mesh needs to be refined?
______________________________________________________________________
Expected result:
1st mode (Hz)
Time (s)
N. DOFS
*FEA ERROR
475
35
134769
~2.2%
HyperWorks 13.0
HyperWorks 13.0
ERROR
10.0%
1st
2nd
1.0%
0.1%
0.1
10
100
1000
10000 100000
TIME
f)
HyperWorks 13.0
Are there any tests, analytical or past results to calibrate the model.
Answer 2: Is there any result that you can look to identify if your model is good?
Strain energy can give to the analyst a very good indication if the mode is well
refined. It works like the stress for a static analysis.
Answer 4: How can you determine where the mesh needs to be refined?
Again the highest strain energy shows the places where the mesh needs to be
refined.
HyperWorks 13.0
HyperWorks 13.0
Chapter 4
The loads can be applied as forces or enforced motions (displacements, velocities, and
accelerations). They are dependent on the excitation frequency (). All the loads are
applied on the frequency where the response is evaluated. (Harmonic loads)
The results/responses from a FRF analysis are displacements, velocities, accelerations,
forces, stresses, and strains. The responses are usually complex numbers that are either
given as magnitude and phase angle or as real and imaginary part.
HyperWorks 13.0
In OptiStruct the direct and modal frequency (Modal Superposition) solutions are
implemented:
o
o
The direct method solves the coupled equation of motion in terms of the excitation
frequency.
The modal method uses the mode shape of the structure to uncouple the equations
of motion and the solution for a particular excitation frequency is obtained by
summation of individual modal responses or modal superposition.
+ Bu + Ku = f ( ) eit
Mu
Where:
The harmonic motion assumes a harmonic response, which it and their derivatives can be
written as:
] [
([K M] + iB)ue
2
it
= feit
HyperWorks 13.0
There are many ways to introduce the damping effect on a dynamic system, in OptiStruct
the damper is implemented as described below:
1. B1 : Viscous damper matrix from damping elements (cvisc, cdamp) and B2GG
2. iGK : Global uniform damper associated with stiffness matrix. PARAM, G.
3.
Now our Motion equation can be rewrite with the damper terms expanded:
([K M] + iGK + iK
2
Rearranging the terms we can show the real and imaginary parts:
([K M] + [GK + K
2
B1 ]i ) ueit = feit
When the users choose the direct option for a FRF, OptiStruct will solve the equation of
motion directly using complex algebra algorithm for every frequency defined on the range of
frequencies using on one of these cards: FREQ, FREQ1 or FREQ2.
b. TABLED2
c. TABLED3
d. TABLED4
HyperWorks 13.0
y = yT ( x )
y = yT (x X 1)
x X1
y = yT
X2
N
x X1
y = Ai
X2
i =1
a. FREQ
SID
FREQ
F1
F2
F3
F4
F5
F6
F7
f6
f7
f8
and
a default of 10 .
FREQ1
f i = F1 + DF * (i 1) i = 1 NDF+1
b. FREQ1
SID
F1
DF
NDF
2.9
0.5
13
[2.9; 3.4; 3.9; 4.4; 4.9; 5.4; 5.9; 6.4; 6.9; 7.4; 7.9; 8.4; 8.9]
o
o
o
and
a default of 10 .
HyperWorks 13.0
f i = F1 * e
c. FREQ2
d=
(i 1)d
where
1
F
ln 2
NF F1 i = 1,2,,(NF+1)
SID F1 F2 NF
FREQ2 6 1.0 8.0 6
9
8
F(Hz)
5.656854249
5
FREQ2
4
2.828427125
2
1.414213562
0
0
and
a default of 10 .
HyperWorks 13.0
i. f
ii. f
iii. A
iv. C( f )
v. D( f )
vi.
vii.
a. RLOAD1
Example:
SID A
RLOAD1
C( f ) D( f ) Type
1
DISP
RLOAD ID : 5
Unit load : Load collector 3 (DAREA or SPCD)
No delay
Phase angle = 0.
o Real Part C( f ): Load collector 1 (TABLED)
o Imaginary part D( f ): = 0
o Load type: Imposed displacement (DISP).
o
o
o
o
b. RLOAD2
viii.
ix.
x.
xi.
xii.
xiii.
xiv.
f
f
A
B( f )
( f )
f ( f ) = A * B ( f )e i ( ( f )+ 2f )
HyperWorks 13.0
Example:
SID A
RLOAD2
B( f ) ( f ) Type
7
DISP
RLOAD ID : 5
Unit load : Load collector 3 (DAREA or SPCD)
No delay
Phase angle = 0.
o Amplitude B( f ): Load collector 1 (TABLED)
o Phase Angle ( f ): = 0
o Load type: Imposed displacement (DISP).
o
o
o
o
TYPE
Description
The enforced loads (SPCD) should be applied to a node where there the DOF where
the direction of the load is constrained. (BASE excitation)
HyperWorks 13.0
SPC
DLOAD
FREQ
SPC=1
HyperWorks 13.0
FREQUENCY=4
DLOAD=5
HyperWorks 13.0
SORTING
o SORT1 : Default, used to group all elems/nodes per
frequency.
o SORT2 : Used to group all frequency per entity.
Format
o HM
: HyperMesh result (.res)
o H3D
: HyperView result (.h3d)
o OPTI
: OptiStruct result (.disp)
o PUNCH
: Nastran punch result (.pch)
o OUTPUT2
: Nastran results file (.op2)
o PATRAN
: Patran result (multiples files)
o HG
: HyperGraph files (.mvw)
o APATRAN
: Alternative Patran result (mult. files)
o BLANK
: Default, Output to all files that the
result is available.
DISP_FORM:
o REAL or IMAG: real/ imaginary
o PHASE: magnitude/phase
o BOTH: real/imaginary and magnitude/Phase.
o COMPLEX: Default, magnitude/Phase if (.res), the
real/imaginary form is used if not specified
for other output formats. (Phase in degrees)
ROTATIONS:
o ROTA : The rotational displacements are output.
o NOROTA: Default, no rotational displacements are
output.
DISP_OPT:
o YES, ALL or Blank : Default, Displacement is output for
all nodes.
o NO or NONE
: Displacement are not output
o SID
: if a set ID is given, displacement is
output only for the nodes listed in
that set.
STRAIN
STRAIN(OUTPUT2,PHASE,ALL) = ALL
STRESS
STRESS(OUTPUT2,PHASE,ALL,CUBIC) = YES
Here is just a basic list about the output options, to learn more about the type of
output, go to our online documentation.
Some types may be are not supported yet on the Control card panel on
HyperMesh, these you can enter directly on the Input deck or use the card:
CTRL_UNSUPPORTED_CARDS.
HyperWorks 13.0
* Inertia relief is not implemented for direct frequency response. The solver will error out if it is
attempted.
HyperWorks 13.0
u = Xq
The equation of motion without damping is then transformed into modal coordinates using
the eigenvectors.
[ X
2
MX + X T KX q = X T f
The modal mass matrix X T MX and the modal stiffness matrix X T KX are diagonal. If the
eigenvectors are normalized with respect to the mass matrix, the modal mass matrix is the
unity matrix and the modal stiffness matrix is a diagonal matrix holding the eigenvalues of
the system. This way, the system equation is reduced to a set of uncoupled equations for
the components of u that can be solved easily.
The inclusion of damping, as discussed in the direct method, yields:
([X
] [
KX 2 X T MX + GX T KX + X T K E X X T B1X i ) q = X T f
Here, the matrices X T K E X and X T B1X are generally non-diagonal. The then coupled
problem is similar to the system solved in the direct method, but of much lesser degree of
freedom. It is solved using the direct method.
The evaluation of the equation of motion is much faster if the equations can be kept
decoupled. This can be achieved if the damping is applied to each mode separately. This
is done through a damping table TABDMP1 that lists damping values g i versus natural
frequency fi. If this approach is used, no structural element or viscous damping should be
defined.
The decoupled equation is:
( m ib + k ) q e
2
Where
it
= f i eit
g i ( f i ) can be defined:
i =
G Structural damping:
bi
g
= i
bcr
2
bcr = 2mii
HyperWorks 13.0
Qi =
Q Quality factor:
1
1
=
2 i g i
( m (1 + ig ( ))k ) q e
2
it
= f i e it
HyperWorks 13.0
Similar to DIRECT.
a. FREQ/FREQ1/FREQ2
FREQ3
Similar to DIRECT.
SID
F1
F2
TYPE
200
LINEAR
= 1 + 2
b. FREQ3
Fi= k + j
) (
NEF CLUSTER
4
k 1
NEF 1
[ 1,1]
NEF
1
1
1 / CLUSTER
=
f j + f j+1 + f j+1 f j
* SIGN ( )
2
2
k =1
Num. Modes - 1
j=1
HyperWorks 13.0
NFM -1
(
1 .3 * F j 0 .7 * F j )
= 0 .7 * F j + k
NFM - 1
k =0
j =1
NF
f i= j+ k
c. FREQ4
FREQ4
SID
F1
F2
FSPD
NFM
1. 400 2. 0.3 3. 3
[ 7; 10; 13; 70; 100; 130; 115; 150; 195; 210; 300; 390 ]
o
o
o
o
FSPD: Define how much the intermediate frequencies will be from the
natural frequencies, 0.3 give a 30% of offset.
NFM: Define an exponential distribution for the intermediate frequencies.
If this
HyperWorks 13.0
f i= j+ k = FRk
d. FREQ5
* fj
k =1
NF
j =1
FREQ5
SID
F1
F2
400
1.0
1.05
1.1
0.6
0.8
0.9
0.95
[6; 8; 9; 9.5; 10; 10.5; 11 ; 60; 80; 90; 95; 105; 110; 150; 200; 225; 237.5; 250; 262.5; 275]
Similar to DIRECT.
Similar to DIRECT.
HyperWorks 13.0
SPC
DLOAD
METHOD(STRUCT)
FREQ
FREQUENCY=4
DLOAD=5
8. Define the responses from the FRF iterations:
Similar to DIRECT.
Similar to DIRECT.
Similar to DIRECT.
HyperWorks 13.0
1 K
2 M
f = 1Hz
f =
K = 4 N/m
2
M=1 Kg
Problem description
Problem Information
Geometry:
o
(K = 39.479 , M = 1)
2 load cases:
o
No Material.
Problem Setup
You should copy the file: spring_mass_FRF.hm
HyperWorks 13.0
spring_mass_FRF.hm.
Step 2: Run the Modal analyses and verify the value of the first mode
1. First mode = ____________Hz
Step 3: Create a Direct and a Modal FRF load step: Force = 1 Sin (
t)
1. Create a new Load Collector named UNIT_LOAD.
2. Change the constraint load type to DAREA.
3. Apply unit force on the mass node, using the constrain panel leaving DOF 2 checked
and set to 1.00. Uy = 1.
o This is used to define the DOF where the load will be applied.
4. Create a Load Collector TABLED1 for Frequency load Table, type TABLED1, as below:
Point
Freq (Hz)
Load (N)
0.1
1000
5. Define a Load Collector of type FREQi and edit it by checking FREQ1 and adding these
settings:
a) [F1] = 0.1
b) [DF] = 0.05
c) NDF = 100
o
This creates a list of freq starting in 0.1 with an increment of 0.05 applied 100 times.
6. Define the harmonic load, type RLOAD2, that will link the UNIT_LOAD with the
TABLED1 to set a sinusoidal load as below:
a) EXCITEID = UNIT_LOAD (3)
b) TB = TABLED1 (4)
c) TYPE = LOAD.
HyperWorks 13.0
HyperWorks 13.0
o It defines the FRF direct loadstep for the dynamic load 6 (Force).
HyperWorks 13.0
It defines the FRF modal loadstep for the dynamic load 6 (Force).
HyperWorks 13.0
HyperWorks 13.0
Take advantage of the integration between OptiStruct and HyperStudy to study the effect of a
coupled system.
M =10-3 T
F = Sin (t)
Problem description
Problem Statement
Geometry:
o
Engine
(N)
0
0.8
0.04
1.0
0.04
Engine
(N)
0.04
Freq
(Hz)
5
Engine
(N)
0.04
0.02
0.04
0.02
0.05
Freq
(Hz)
70
Engine
(N)
0.2
80
100
Material STEEL:
o
o
o
Freq
(Hz)
1.2
= 7.8e T/mm
E = 210000 MPa
= 0.3
-9
[RHO] Density
[E]
Youngs modulus
[nu]
Poissons ratio
Problem Setup:
You should copy the file: BEAM_spring_mass.hm
HyperWorks 13.0
BEAM_spring_mass.hm.
Step 2: Run the Modal analyses and verify the value of the first mode
Create a subdirectory called 00_modal to run this analysis.
1. Write here the natural frequencies values and mark the system where that mode is
predominant:
o First mode
= ____________Hz [
] BEAM
[
] SPRING-MASS
o Second mode = ____________Hz [
] BEAM
[
] SPRING-MASS
o Third mode
= ____________Hz [
] BEAM
[
] SPRING-MASS
o Fourth mode = ____________Hz [
] BEAM
[
] SPRING-MASS
o Fifth mode
= ____________Hz [
] BEAM
[
] SPRING-MASS
Card edit the steel material properties to include the material damper coefficient, GE.
Create a Load Collector named UNIT_LOAD.
Changes constrain load type to DAREA.
Apply unit force on a node in the end of the beam. Uy = 1.
Create a LoadCollector TABLED1 and define the following:
HyperWorks 13.0
6. Define a Load Collector type FREQi, and check FREQ1 in the card editor to add these
settings:
a) [F1] = 0.0
b) [DF] = 0.01
c) NDF = 10000
7. Define the harmonic load, type RLOAD2, that will link the UNIT_LOAD with the TABLED1
to set a sinusoidal load as below:
a) EXCITEID = UNIT_LOAD (3)
b) TB = TABLED1 (4)
c) TYPE = LOAD.
HyperWorks 13.0
HyperWorks 13.0
2. Set up OptiStruct to export results to an .op2 file by selecting the following options for
the acceleration, displacement and velocity features in the
GLOBAL_OUTPUT_REQUEST control card:
a. Format(1): OUTPUT2
b. Form(1): PHASE
c. Option(1): ALL
HyperWorks 13.0
Now it is necessary to change the project to reduce the vibration amplitude on our
system (MASS).
Design criteria: UYmax (MASS) <= 0.05 mm.
If you look on the displacement curve for the mass there is only one region on the whole spectrum
where the amplitude is higher than the criteria. If we look the displacement of the link point at this
interval, we notice that it is below the criteria. In addition, the amplitude of it is very low compared with
that of the MASS point. These points can be taken to mean that the spring stiffness is much more
important than the beam properties are in effectively reducing the amplitude of the displacement on
the MASS.
We have three values which can be changed in order to improve the design:
o The spring stiffness
o The spring damping
o The thickness of our beam
In general the damper of a mechanical system is something that the engineer cannot change/add
easily. This suggests that the stiffness is generally the first option available.
5. Consider the following set of springs and their associated costs as potential solutions for
this problem:
HyperWorks 13.0
Spring
K (N/m)
Cost
1.0
20.35
40.7
39.48
79
50.5
101
75
150
This is just a set of 5 different options which the user can edit into the model and run, plotting the
response using HyperGraph to determine the solution. Alternatively, users can call HyperStudy and
set up a DOE from which they may also select the most efficient spring.
The thickness of the beam can vary from 2 to 20 mm. And the cost of it is proportional to the
thickness as shown on the function below:
As we can see the spring cost can be described as 2* the spring stiffness.
Objective = 10*thk + 2000*K
And the constraint can be defined as the maximum displacement of the mass node (304).
Remember the model is in mm!
This problem can be solved using just the dynamic concepts that we discussed but we
encourage that you consider learning the HyperStudy (HST) solution process, as it quickly
becomes very useful for problems with complex solutions.
For the HST setup, use a continuous Design Space and the SQP algorithm. To improve the
performance of the model, reduce the number of steps on the FREQ card from 10000 to
1000, and use DF = 0.01 to cover the range from 0 to 10 Hz.
The optimum solution for this case with the options shown is to use the spring 1 with K = 1
N/m and thickness ~ 3.88 mm, as cost function ~ $80.83.
HyperWorks 13.0
Optimization history
HyperWorks 13.0
HyperWorks 13.0
Chapter 5
Transient Systems
1 - What is a Transient Analysis?
A general definition of transient response or natural response is the response of a system
to a change from equilibrium. It can be understood as the portion of the response that varies
with the time, the opposite of steady-state response. On CAE Transient Dynamic Analysis
is a procedure used to determine the time-dependent dynamic response of a structure under
the action of any general loads.
OptiStruct transient analyses is used to determine time-varying responses like
displacements, velocities, accelerations, strains, stresses, forces, etc. in a structure caused
by a load. This type of analysis is used when the dynamic effects like resonance, damper
and inertia play an important role when compared with the strength forces.
Many problems can be easier solved using the frequency techniques as shown in Chapters
3 and 4, but there are problems where a time solution is easier, these problems will be
discussed in these chapters.
HyperWorks 13.0
+ Bu + Ku = f (t )
Mu
u(t = 0) = u 0
u (t = 0) = u 0
(t = 0) = u
0
u
Where:
0 : Initial conditions.
u 0 , u 0 , u
The matrix K is the global stiffness matrix, the matrix M the mass matrix, and the matrix B is
the damping matrix formed by the damping elements. The initial conditions are part of the
problem formulation and are applicable for the direct transient response only. The equation
of motion is integrated over time using the Newmark beta method. The direct and modal
transient techniques are implemented.
B = B1 +
G
1
K+
KE
W3
W4
Where:
o
B1 is the matrix of the viscous damper elements, plus the external damping matrices
input through DMIG
G is the overall structural damping (PARAM, G); W3 is the frequency of interest for
the conversion of the overall structural damping into equivalent viscous damping
(PARAM, W3)
HyperWorks 13.0
W4 is the frequency of interest for the conversion of the element structural damping
into equivalent viscous damping (PARAM, W4); and
is the contribution from
structural element damping coefficients GE.
The transient response loads and boundary conditions are defined in the bulk data section
of the input deck. They need to be referenced in the subcase information section using an
SPC statement and a DLOAD statement in a SUBCASE.
Inertia relief is not implemented for direct transient response. The solver will show a error
message and stop if it is attempted.
Only one transient subcase can be defined. Initial conditions need to be referenced through
the IC subcase statement. The analysis time step and termination time need to be defined
through a TSTEP(TIME) subcase reference.
In addition to the various damping elements and material damping, uniform structural
damping G can be applied using PARAM, G.
The Newmark-beta is used to solve differential equations as shown in the following image.
Form [K ], [M ], [C]
0 }{
0 }
Initialize {U 0 }{
,U
,U
t + t
] [
=
R
t + t
}+ a {t U
} + [C] a {t U}+ a {t U
}+ a {t U
}
R + [M ] a 0 {t U}+ a 2 {t U
3
4
5
a0 =
t 2
a2 =
1
t
a4 =
a1 =
a3 =
1
2
1;
1; a5 =
t
2
( 2 );
a6 = t (1 ); a7 = t;
Solve LDLT {t + t U} =
{
{
t + t
t + t
{ R }
t + t
} = a ({t + t U} {t U}) a {t U
} a {t U
}
U
0
2
3
t
t
t + t
U} = { U}+ a { U} a { U}
6
= K + a0 [M ] + a1 [C]
Form K
[ ][ ]
:K
= LDLT
Triangular ize K
Newmark Method.
HyperWorks 13.0
To better understand it, we develop a simple spring-mass model with only one degree of
freedom without damper effects:
0
SPRING-MASS system:
Algorithm:
m=1;k=20;h=1;g=10;
X[0]=0; X1[0]=sqrt[2*g*h]; X2[0]=g;
D=1; A=1; dt=0.01;
a0 = 1/(A*dt2); a1=D/(A*dt); a2 = 1/(A*dt);
a3 = 1/(2*A) 1; a4 = D/A 1; a5 = dt/2(D/A-2);
a6 = dt(1-D); a7 = D*dt;
K1 = k+a0*m+a1*0; Triangularize K1;
n=0;
R[0] = m*g;
For n<=100 do
Begin
R1[n+1] = R[n]+m*(a0*X[n]+a2*X1[n]+a3*X2[n])
X[n+1]=R1[n+1]/K1;
X2[n+1]=a0*(X[n+1]-X[n])-a2*X1[n]-a3*X2[n];
X1[n+1]=X1[n]+a6*X2[n]+a7*X2[n+1];
n=n+1;
End
HyperWorks 13.0
b. TABLED2
y = yT ( x )
y = yT (x X 1)
x X1
y = yT
X2
c. TABLED3
x X1
y = Ai
X2
i =1
d. TABLED4
Defines time step intervals at which a solution will be generated and output in
transient analysis.
(1)
SID
TSTEP
N1
800 0.005
o
o
o
o
DT1
N01
5
a. TLOAD1
i.
ii.
iii.
iv.
v.
HyperWorks 13.0
f
t
A
F(t-)
f (t ) = AF (t )
Example:
SID A
TLOAD1
Type
LOAD
F(t)
3
TLOAD ID : 5
No delay
b. TLOAD2
i.
~
ii. t, t
iii. A
iv.
v.
vi.
vii.
viii.
ix.
x.
f
B
T1
T2
Example:
TLOAD1
SID
Type
T1
T2
0.0 0.0
HyperWorks 13.0
TLOAD ID : 5
Unit load : Load collector 2 (DAREA or SPCD)
No delay
Load type: FORCE (LOAD).
Load start at 3 seconds.
Load Finish at 10 seconds
Force applied at 2 Hz with a phase angle of 30 degree.
o
o
o
o
o
o
o
o
TYPE
Description
SPC
DLOAD
TSTEP
HyperWorks 13.0
SPC=1
DLOAD=6
TSTEP(TIME)=7
o
o
SORTING
o SORT1 : Default, used to group all elems/nodes per
frequency.
o SORT2 : Used to group all time per entity.
Format
o HM
: HyperMesh result (.res)
o H3D
: HyperView result (.h3d)
o OPTI
: OptiStruct result (.disp)
o PUNCH
: Nastran punch result (.pch)
o OUTPUT2
: Nastran results file (.op2)
o PATRAN
: Patran result (multiples files)
o HG
: HyperGraph files (.mvw)
o APATRAN
: Alternative Patran result (mult. files)
o BLANK
: Default, Output to all files that the
result is available.
DISP_FORM:
o Not used for Transient.
ROTATIONS:
o ROTA : The rotational displacements are output.
o NOROTA: Default, no rotational displacements are
output.
DISP_OPT:
o YES, ALL or Blank : Default, Displacement is output for
all nodes.
o NO or NONE
: Displacement are not output
o SID
: if a set ID is given, displacement is
output only for the nodes listed in
that set.
HyperWorks 13.0
STRAIN
STRAIN(OUTPUT2,ALL) = ALL
STRESS
STRESS(OUTPUT2,ALL,CUBIC) = YES
Here is just a basic list about the output options, to learn more about the type of
output, go to our online documentation.
Some types may be are not supported yet on the Control card panel on
HyperMesh, these you can enter directly on the Input deck or use the card:
CTRL_UNSUPPORTED_CARDS.
+ X T KXq = X T f
X T MXq
The modal mass matrix X T MX and the modal stiffness matrix X T KX are diagonal. This
way the system equation is reduced to a set of uncoupled equations for the components of
u that can be solved easily.
The inclusion of damping yields:
+ X T BXq + X T KXq = X T f
X T MXq
HyperWorks 13.0
Here, the matrices X T BX are generally non-diagonal. The then coupled problem is similar
to the system solved in the direct method, but of much lesser degree of freedom. The
solution of the reduced equation of motion is performed using the Newmark beta method
too.
The decoupling of the equations can be maintained if the damping is applied to each mode
separately. This is done through a damping table TABDMP1 that lists damping values g i
versus natural frequency f i .
The decoupled equation is:
m i q i (t ) + b i q i (t ) + k i q i (t ) = f i (t )
or
q i (t ) + 2 ii q i (t ) + i2 q i (t ) =
where i =
bi
2mi i
f i (t )
mi
G Structural damping:
bcr = 2mii
Qi =
Q Quality factor:
bi
g
= i
bcr
2
1
1
=
2 i g i
Similar to DIRECT
3. Define the EIGRL LoadCollector with the modes to be used to represent the
structure.
4. Define the dynamic load vs. Time table F( t ):
Similar to DIRECT
5. Define the time step history (TSTEP):
Similar to DIRECT
6. Define the time-dependent load:
Similar to DIRECT
7. Define the TRANSIENT load step:
The transient response loads and boundary conditions are defined in the bulk
data section of the input deck. They need to be referenced in the subcase
information section using an SPC and DLOAD statement in a SUBCASE.
a. HyperMesh
HyperWorks 13.0
SPC
DLOAD
METHOD(STRUCT)
TSTEP
1
Load collector with displacement constrains.
SPC=1
METHOD (STRUCTURE)=2
DLOAD=6
TSTEP(TIME)=7
HyperWorks 13.0
Similar to DIRECT
Similar to DIRECT
Similar to DIRECT
HyperWorks 13.0
1 K
2 M
f = 1Hz
f =
K = 4 N/m
2
M=1 Kg
100.00
10.00
1.00
0.10
0%
50%
100%
150%
200%
250%
300%
Problem description
Problem Information
Geometry:
o
(K = 39.479 , M = 1)
No Material Data.
Problem Setup
You should copy these files:
spring_mass_transient.hm; load_0.1_hz.csv; load_0.2_hz.csv;
load_0.8_hz.csv; load_1.0_hz.csv; load_1.2_hz.csv;
load_1.9_hz.csv; load_10_hz.csv; AMPLIFICATION_FACTOR.mvw;
AMPLIFICATION_FACTOR.tpl
HyperWorks 13.0
spring_mass_transient.hm.
Step 2: Run the Modal analyses and verify the value of the first mode
1. First mode = ____________Hz
2. Delete the modal loadstep and the EIGRL load collector.
5. Fill out the fields as shown below to import the file load_0.1_hz.csv and create the
TABLED1_0.1.
HyperWorks 13.0
6. Repeat the item 5 for the other 7 files to create the tables:
TABLED1_0.2; TABLED1_0.8; TABLED1_1.0; TABLED1_1.2;
TABLED1_1.8; TABLED1_1.9; TABLED1_10
To review these tables you should export the FEA model.
7. The model tree should be as shown in the following image:
8. Define the transient time step as a TSTEP load collector, as shown in the image below.
We want to run from our starting point up to 10 Hz, using a dt = 1/( 20*f ). For this
model, dt = 0.005. A frequency of 0.1 Hz makes the period 10 s. As a rule of thumb, to
have a good representation of the model, the run should terminate at 30 s, 3 times the
period. For a 30 second run, the number of steps is t/dt = 30/0.005 = 6000.
HyperWorks 13.0
HyperWorks 13.0
12. Create a TRANSIENT loadstep for the other time dependent loads created on the item
10, following the procedure defined on item 11 with the appropriate DLOAD.
HyperWorks 13.0
3. Using HyperView open the report file named AMPLIFICATION_FACTOR.tpl and apply
it to your model.
HyperWorks 13.0
K= 10-3 N/mm
Problem description
Problem Information
Geometry:
o (K = 10-3 N/mm , M = 10-3 T)
o (L = 1000; b=7.9 and h=10 mm)
Material STEEL:
o = 7.8e-9
T/mm3
o E = 210000 MPa
o = 0.3
Damper Coefficient: G = 0.06 (3%)
PBUSH Coefficient: GE = 0.06 (3%)
HyperWorks 13.0
[RHO] Density
[E]
Youngs modulus
[nu]
Poissons ratio
Problem Setup
You should copy these files:
BEAM_spring_mass_transient_baseline.hm;BEAM_spring_mass_transient_optimum;
load_0.16.csv; load_0.8.csv; load_1.0.csv; load_1.2.csv; load_8.37.csv;
load_52.25.csv
Step 2: Run the Modal analyses and verify the value of the first mode
1.
2.
3.
4.
5.
6.
First mode
Second mode
Third mode
Forth mode
Fifth mode
Sixth mode
= ____________Hz
= ____________Hz
= ____________Hz
= ____________Hz
= ____________Hz
= ____________Hz
Step 3: Create 6 Transient load steps: [0.16; 0.8; 1.0; 1.2; 8.37; 52.25; 70] Hz
1. Delete the modal load step.
2. Create a LoadCollector named SCALE.
3. Changes constraint load type to DAREA.
4. Apply the force at a point on the end of the beam, using the constrain panel. Uy = 1 N.
HyperWorks 13.0
6. Fill out the fields as shown below to import the file load_0.16.csv and create the
TABLED1_0.16.
7. Repeat the item 5 for the other 5 files to create the tables:
TABLED1_0.8; TABLED1_1.0; TABLED1_1.2; TABLED1_8.37;
TABLED1_52.25; TABLED1_70
To review these tables you should export the FEA model.
8. Your model tree should be as shown in the following image:
HyperWorks 13.0
9. Define now a transient the appropriate time step TSTEP dt = 1/( 20*f ), as we have
important loads up to 70 Hz, we should create the appropriate time step:
o 70.00
Hz dt
= ~ 0.0005
N = 30000
(15s)
10. Define a time-dependent load TLOAD1_0.16, type TLOAD1 as shown below:
HyperWorks 13.0
b) DLOAD = TLOAD1_0.16(12)
c) TSTEP = TSTEP_0.0005 (11)
13. Create a TRANSIENT loadstep for the other time dependent loads created on the item
10, following the procedure defined on item 11 with the appropriate DLOAD.
14. In the control cards, set up the damper coefficient PARAM,G = 0.06 and PARAM,W4 =
6.28 and PARAM,W3 = 6.28.
HyperWorks 13.0
This will define the global damper factor (3%) and will make valid the next step when we will add
a damper coefficient to our spring. This is explained in detail on the transient chapter.
15. Card edit the PBUSH property card spring to set up the spring damper coefficient GE
= 0.06
HyperWorks 13.0
HyperWorks 13.0
HyperWorks 13.0
TRANSIENT RESULTS
OPTIMUM
BASELINE
OPTIMUM
FREQ
DISP MAX
FREQ
DISP MAX
FREQ
DISP MAX
FREQ
DISP MAX
0.16
0.005
0.16
0.040
0.16
0.002
0.16
0.021
0.8
0.063
0.8
0.001
0.8
0.067
0.8
0.000
0.203
0.001
0.193
0.004
1.2
0.054
1.2
0.000
1.2
0.057
1.2
0.002
8.37
0.008
8.37
0.000
8.37
0.013
8.37
0.000
52.25
0.000
52.25
0.000
52.25
0.001
52.25
0.000
70
0.000
70
0.000
70
0.000
70
0.000
Result table
The FRF and the transient results can be used to solve this problem, but on this case
the FRF approach it is more appropriate.
HyperWorks 13.0