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10 INTRODUCTION

This report investigates in the calculation of experimental natural frequencies


and mode shapes for a specific system. This report includes detailed calculations
of theoretical and experimental natural frequencies of a vibrating beam and their
corresponding mode shapes. In addition to that, this report also investigates into
the calculation of an estimated tip mass by Dunkerley’s and Rayleigh’s methods
and each error analysis as well.

20 AIM

The aim of the experiment was to become familiar with impact hammer testing
and experimental modal analysis techniques using Frequency Response
Functions. This was achieved by computer software called MATLAB.

30 APARATUS

Figure 1.0: Apparatus for Experiment 3

The apparatus required for experiment 3 was as follow:

• Flexible Beam
• Rigid Support
• Impact Hammer
• Accelerometer
• Computer
• Data Acquisition Card
• Tip Mass
• Matlab
10 PROCEDURE
1. Place the accelerometer on the beam at the furthest point from the
clamped end. Ensure the accelerometer and hammer are connected via
leads to the computer’s data acquisition board.

2. After filling in the sections of MATLAB code provided in the appendix,


setup the software on the computer to collect data from the
accelerometer and the impact hammer. Then strike the beam on the flat
side with the hammer, being careful to avoid multiple impacts or “hammer
bounce”. Look at the time history plots of both the hammer strike and the
accelerometer response to ensure they appear acceptable. Note that you
will need to repeat this step a number of times to ensure there is no
aliasing as described in step 3.

3. Produce a plot representing the Frequency Response Function (FRF) of the


system using your measured data in MATLAB. Consider applying a
transient window to the impact hammer input pulse by setting the input to
zero during the non-contact periods. Confirm from the FRF first that your
sample rate is high enough to avoid aliasing problems, as the highest
frequency signal that can be considered is half that of the sampling rate.
Make sure you have a high enough sample rate to be able to observe the
first four modes. Also generate a frequency spectrum density plot for the
hammer excitation to be sure the hammer is providing sufficient excitation
in the frequency range of the first four modes. Also check that the length
of sampled data is sufficient to provide enough frequency resolution for
the FFTs. Determine whether the noise level is acceptable by plotting the
coherence. If any of these are insufficient, redo the hammer strike and
date collection procedure in Step 2.

4. From the FRF, determine the natural frequencies ωn of the first few modes
of vibration. Next, for each mode, note the local maximum value H of the
peak magnitude. Then find the frequency bandwidth ∆ω of the function at
a response magnitude of Hiω2. From this, it is possible to evaluate the
damping of the mode being considered using the equation ζ≅∆ω2ωn,
while the modal constant can be estimated from A=±2ζωn2Hiω. The sign
of A is determined by the phase of the FRF at each mode i.e. ±90°→+ve
and -90°→-ve. Note that these calculations assume no windowing has
been used.

5. Move the accelerometer to positions of 14-,12- and 34- way along the
flexible beam from the clamped end as well as the tip and for each
position repeat steps 1 to 4. Plot the modal constants against the positions
along the beam at which each was measured. Compare the results with
the first three analytical mode shapes.
6. Add a mass to the tip of the beam. Perform steps 1 to 4 for the new
configuration for the first mode of vibration, using the best point for
measurement of this mode as the location of the accelerometer. From
your measurements of mode 1 natural frequency, estimate the added tip
mass and error of your estimate using Dunkerley’s and Rayleigh’s Method.
Check your estimated result with the actual tip mass.

10 THEORY
• Aliasing refers to errors caused by incorrect sampling of data from a
signal. The errors are due to non-continuous recording of data. It can be
avoided by sampling at 2 time’s fastest vibration rate.
• Leakage occurs when a non-integer number of cycles fit into the recorded
duration time. The signal is truncated at the end of the recorded duration
time which then results in glitches in the data if leakage occurs.
• Windowing refers to multiplying the data by a window function in order to
reduce the glitches in between the data segments. It streamlines and
smooths the glitches in between the data.
• Nyquist frequency is the minimum sampling frequency which ensures a
recorded signal to be free of aliasing.
• Coherence is (!!!!!!!!!!!!!!!!!!!!)

1.1Theoretical Modal Analysis

From the lecture:

ωi=βiL2EIρLL4 → β1L=1.875,β2L=4.694, β3L=7.855,

C1=0.734, C2=1.019 and C3=0.9992

As the beam is a rectangular bar:

I=bh312→ρL=ρ×A=ρ×b×h→ωi=βiL2Eh212ρL4

The general solution for mode shape of a beam with fixed & free-end condition is
as follow:

Yix=coshβix-cosβix-Cisinhβix-sinβix

Beam Dimension:806mm(L)×80mm(B)×12mm(W)

ρL=2700kgm3×80mm×12mm=2.592kgm

Young's Modulus=72GPa

Second Moment ofArea=bh312=80mm×12mm312=1.152×10-8m4

ωi=βiL2×27.54

ω1=1.8752×27.54=96.807rads=15.407 Hz
ω2=4.6942×27.54=606.724rads=96.563 Hz

ω3=7.8552×27.54=1699.015rads=270.407 Hz

1.2The Mode Shapes of Cantilever Beam

Figure 2.0: Mode Shape of Mode 1

Figure 2.0 above shows the mode shape of mode 1.

Figure 3.0: Mode Shape of Mode 2

Figure 3.0 above shows the mode shape of mode 2.

Figure 4.0: Mode Shape of Mode 3

Figure 4.0 above shows the mode shape of mode 3.

Figure 5.0: Mode Shapes of the System

Figure 5.0 shows the combined mode shapes of the cantilever beam.

20 EXPERIMENTAL RESULT
Figure 6.0: FRF for 0.25L

Figure 7.0: FRF for 0.5L


Figure 8.0: FRF for 0.75L

Figure 9.0: FRF for 1.00L

2.1EXPERIMENTAL DATA AND NATURAL FREQUENCIES

ζi=∆ω2ωn & A=±2ωn2ζHiω

Half-Power method to find damping:

Once Frequency Response Function (FRF) was found and resonant peaks are
sufficiently separated, it is possible to estimate the modal damping coefficients
using the theory of single freedom degree. This method is also called as Half-
Power Method. Once the data is plotted, it is possible to determine the
bandwidth where the response magnitude is 12 at that resonance. The
bandwidth is related to the equation of ζ=ω2-ω12ωn.

2.2RESULTS FROM FRF

Table 1.0: RESULTS FROM FRF

Mode ωn Hiω Hiω2 ∆ω ζ sign A


(Hz)

X=L 1 14.00 102.93 102.786 0.394 0.0140 + 4767.4


666 14 71 79

2 89.33 103.34 103.195 0.540 0.0030 - 10694


577 26 23 4

3 252.3 103.14 102.995 0.470 0.0009 + 16577


551 00 31 6.2

X=0.75 1 14.33 102.85 102.705 0.186 0.0064 + 1911.0


L 552 01 9 77

2 91.68 102.86 102.714 0.499 0.0027 - 33831.


516 65 22 8

3 255.3 103.36 103.213 0.560 0.0010 - 33068


418 67 97 5

X=0.5L 1 14.33 102.70 102.557 0.295 0.0102 + 2156.3


766 15 93 71

2 90.33 103.56 103.418 0.125 0.0006 + 41834.


879 28 92 08

3 258.00 102.41 102.260 0.460 0.0008 + 30560.


078 27 91 1

X=0.25 1 14.67 102.02 101.878 0.510 0.0173 + 800.54


L 938 87 82 19

2 91.33 103.22 103.075 0.620 0.0033 + 95299.


608 57 94 2

3 254.00 103.27 103.128 0.640 0.0012 + 30870


852 01 60 1.4
The findings of natural frequencies from FRF plots are as follow:

Table 2.0: NATURAL FREQUENCIES

FINDINGS OF NATURAL FREQUENCIES FORM FRF PLOTS

Mode 1 (Hz) Mode 2 (Hz) Mode 3 (Hz)

X=L 14.00 89.33 252.30

X=0.75L 14.33 91.68 255.30

X=0.5L 14.33 90.33 258.00

X=0.25L 14.67 91.33 254.00

Average Value 14.3325 90.6675 254.90

Table 3.0: Average Damping Ratio

EXPERIMENTAL DAMPING RATIO

Mode 1 Mode 2 Mode 3

X=L 0.014071 0.003023 0.000931

X=0.75L 0.00649 0.002722 0.001097

X=0.5L 0.010293 0.000692 0.000891

X=0.25L 0.017382 0.003394 0.001260

Average Value 0.012059 0.002458 0.001045

2.3Experimental Mode Shapes of mode 1, mode 2 and mode 3

The experimental mode shapes for mode 1, mode 2 and mode 3 without the tip
mass were plotted from modal constant against the relative distance along the
beam and they are shown in the figures below.

Figure 10.0: Experimental Mode Shape for Mode 1

Figure 11.0: Experimental Mode Shape for Mode 2


Figure 12.0: Experimental Mode Shape for Mode 3

The table below (table 3.0), information was extracted from FRF plot with tip-
mass.

Table 4.0: Tip Mass Modal Analysis

Mode ωn Hiω Hiω2 ∆ω ζ sign A Tip


1 (Hz) Mass
(kg)

X=1.0 8.33 198 140 2.30 0.1380 + 3793.4 1.2269


L 55 82

2.4DUNKERLY’S METHOD

Dunkerly’s method is a useful approximation technique for finding the


approximate value of the fundamental frequency of a complex system by
subdividing the system into a number of components in terms of the
components’ natural frequencies. The general formula of Dunkerly’s method is
shown below.

1ω12=1ω112+1ω222+…+1ωnn2

Where ω1 is fundamental natural frequency, ω11 is the natural frequency with


mass 1 only present (i.e. other masses set to zero) and ω22 is the natural
frequency with mass 2 only present etc.

From this formula, it is possible to estimate ω22 by formulas of ω22=km where


k=3EIL3.

Therefore the mass from this approximation technique is in formula of


m=3EIL31ω12-1ω112 .

The Dunkerly’s method is expected to underestimate the solution.

2.5RAYLEIGH’S METHOD

Rayleigh’s method is a useful approximation technique for being simple method


for estimating undamped natural frequencies but particularly well for estimating
the lowest natural frequency. However Rayleigh’s method always overestimates
to the actual value. Rayleigh’s method is based on the assumption that at
resonance, amplitude of kinetic energy equals amplitude of fluctuation of
potential energy.
The formula of estimation of this technique is

• Φ is an estimate of the fundamental mode shape cx23L-x


• mR is the point mass that is added
• ∅R is an approximated mode value at mass 2cL3

∴ω2=3EIL333140ρLL+M →M=3EIωn12L3-33140ρLL

Table 5.0: Approximation Techniques Analysis

Dunkerly’s Rayleigh’s
Method Method

Approximated 1.1488 0.9058


Mass (kg)

1.1Error Analysis

Table 6.0 below shows the error analysis of natural frequencies of theoretical and
experimental results.

Table 6.0: Error Analysis of Natural Frequencies

Mode 1 Mode 2 Mode 3

ωn Theoretic Experimen Theoretic Experimen Theoretic Experimen


al tal al tal al tal

Hz 15.407 14.3325 96.563 90.6675 270.407 254.90

Error 6.97 6.11 5.59


%

From table 6.0, it was determined that experimental natural frequencies are
lower than that of theoretical natural frequencies. However experimental values
are only having errors of less than 7% altogether therefore it can be concluded
that experimental result agrees with theoretical result.

There are a number of sources where errors were generated. The experimental
values obtained from FRF plots generated by MATLAB were done by zooming into
the graph and extracting the values. This causes quite a significant error as
human eyes are never perfect. The imperfections of the cantilever beam such as
impurities embedded into the material and manufacturing imperfections could
have caused some errors as well. In addition to that, rounding errors is also a
part of error. However experimental mode shapes very well matches to
theoretical results therefore experiment can be considered to be quite well done.
Table 7.0: Error Analysis of Tip Mass

Actual Tip Mass Dunkerly Error % Rayleigh (kg) Error %


(kg) (kg)

1.2269 1.1488 6.37 0.9058 26.17

The errors associated with tip mass approximations are quite small but it is
important to note that Dunkerly’s and Rayleigh’s method do not take damping
ratios into the consideration for their respective approximation techniques. Other
human errors mentioned above apply in this case as well.

20 Conclusion

By performing this experiment, its main aim mentioned in this report earlier was
achieved very well. From the results, it was found that experimental and
theoretical data match very well indeed. However a slight shortcoming arise
from approximation technique, especially Rayleigh’s method as it should have
over-estimated however this was not the case for this experiment.

However the experimental data collected from FRF plots significantly matches
with the theoretical data with errors less than 7% altogether therefore this
experiment performed was a successful experiment.

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