OptiStruct for Linear Dynamics

Modal, FRF, and Transient Analysis

www.altairhyperworks.com | HyperWorks is a division of

Altair Engineering Support Contact Information
Web site www.altairhyperworks.com

Location Telephone e-mail

Australia 64.9.413.7981 [email protected]

Brazil 55.11.3884.0414 [email protected]

Canada 416.447.6463 [email protected]

China 86.400.619.6186 [email protected]

France 33.1.4133.0992 [email protected]

Germany 49.7031.6208.22 [email protected]

India 91.80. 6629.4500 [email protected]

1.800.425.0234 (toll free)

Italy 39.800.905.595 [email protected]

Japan 81.3.5396.2881 [email protected]

Korea 82.70.4050.9200 [email protected]

Mexico 55.56.58.68.08 [email protected]

New Zealand 64.9.413.7981 [email protected]

North America 248.614.2425 [email protected]

Scandinavia 46.46.460.2828 [email protected]

United Kingdom 01926.468.600 [email protected]

In addition, the following countries have resellers for Altair Engineering: Colombia, Czech Republic, Ecuador, Israel, Russia,
Netherlands, Turkey, Poland, Singapore, Vietnam, Indonesia
Official offices with resellers: Canada, China, France, Germany, India, Malaysia, Italy, Japan, Korea, Spain, Taiwan, United
Kingdom, USA

Copyright© Altair Engineering Inc. All Rights Reserved for:

HyperMesh® 1990-2014; HyperCrash® 2001-2014; OptiStruct® 1996-2014; RADIOSS®1986-2014; HyperView®1999-2014;
HyperView Player® 2001-2014; HyperStudy® 1999-2014; HyperGraph®1995-2014; MotionView® 1993-2014; MotionSolve® 2002-
2014; HyperForm® 1998-2014; HyperXtrude® 1999-2014; Process Manager™ 2003-2014; Templex™ 1990-2014; TextView™
1996-2014; MediaView™ 1999-2014; TableView™ 2013-2014; BatchMesher™ 2003-2014; HyperMath® 2007-2014;
Manufacturing Solutions™ 2005-2014; HyperWeld® 2009-2014; HyperMold® 2009-2014; solidThinking® 1993-2014; solidThinking
Inspire® 2009-2014; solidThinking Evolve®™ 1993-2014; Durability Director™ 2009-2014; Suspension Director™ 2009-2014;
AcuSolve® 1997-2014; AcuConsole® 2006-2014; SimLab®™2004-2014 and Virtual Wind Tunnel™ 2012-2014.

In addition to HyperWorks® trademarks noted above, Display Manager™, Simulation Manager™, Compute Manager™, PBS™,
PBSWorks™, PBS GridWorks®, PBS Professional®, PBS Analytics™, PBS Desktop™, PBS Portal™, PBS Application Services™,
e-BioChem™, e-Compute™ and e-Render™ are trademarks of ALTAIR ENGINEERING INC.

Altair trademarks are protected under U.S. and international laws and treaties. Copyright© 1994-2014. Additionally, Altair software
is protected under patent #6,859,792 and other patents pending. All other marks are the property of their respective owners.

ALTAIR ENGINEERING INC. Proprietary and Confidential. Contains Trade Secret Information. Not for use or disclosure outside of
ALTAIR and its licensed clients. Information contained inHyperWorks® shall not be decompiled, disassembled, or “unlocked”,
reverse translated, reverse engineered, or publicly displayed or publicly performed in any manner. Usage of the software is only as
explicitly permitted in the end user software license agreement.

Copyright notice does not imply publication

 Table of Contents
OptiStruct for Linear Dynamics
Modal, FRF and Transient Analysis

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

Chapter 2: Theoretical Introduction...................................................................... 13

1 - Dynamic Systems .................................................................................................... 13

1.1 - Linear Dynamics ................................................................................................... 14

1.2 - Nonlinear Dynamic ................................................................................................ 15

2 - Static versus Dynamic System ................................................................................. 16

3 - Structural Dynamics Analysis ................................................................................... 17

3.1 - Damping ............................................................................................................... 18

3.1.1 - Damper effects on system behavior ................................................................... 20

3.1.2 - Damper alternative models................................................................................. 21

Chapter 3: Modal Analysis .................................................................................... 23

1 - Definitions ................................................................................................................ 23

1.1 - Natural Frequency (Eigenvalue) ............................................................................ 24

1.2 - Mode Shape (Eigenvector) .................................................................................... 25

OptiStruct for Linear Dynamics 3 HyperWorks 12.0

Proprietary Information of Altair Engineering, Inc.
 2 - Why Modal Analysis is important? ............................................................................ 25

3 – Eigenvalue Solution Methods .................................................................................. 26

4 - Modal Analysis using FEM ....................................................................................... 27

4.1 - FEA Eigensystems ................................................................................................ 27

5 - How to set a Modal Analysis in OptiStruct ................................................................ 28

Exercise 3a: Shell Clamped BEAM Model ..................................................................... 29

Exercise 3b: Compressor Bracket Modal Analysis ........................................................ 35

Chapter 4: Frequency Response Functions (FRF) .............................................. 45

1 - What are Frequency Response Functions (FRF)? ................................................... 45

1.1 – Direct Frequency Response Analysis ................................................................... 45

1.1.1 – How to Define a Direct FRF Analysis in OptiStruct ............................................ 47

1.2 – Modal Frequency Response Analysis ................................................................... 55

1.2.1 – Modal Frequency Response Analysis Remarks................................................. 56

1.2.2 – How to Define a Modal FRF Analysis in OptiStruct ............................................ 56

Exercise 4a: FRF Spring-Mass System Direct vs. Modal (1 DOF) ................................. 61

Exercise 4b: FRF Clamped Beam coupled with a Spring-Mass .................................... 61

Chapter 5: Transient Systems ............................................................................... 77

1 - What is a Transient Analysis? .................................................................................. 77

2 - Transient Response Analysis using OptiStruct ......................................................... 78

2.1 – Direct Transient Response ................................................................................... 78

2.1.1 – How to do a Direct Transient Analysis ............................................................... 81

2.2 – Modal Transient Response ................................................................................... 85

2.2.1 – How to do a Modal Transient Analysis ............................................................... 86

2.3 – Transient Response Loads and Boundary Conditions .......................................... 88

Exercise 5a: Transient Spring-Mass System (1 DOF) ................................................... 89

Exercise 5b: Transient Clamped Beam coupled with a Spring-Mass ........................... 95

HyperWorks 12.0 OptiStruct for Linear Dynamics 4

Proprietary Information of Altair Engineering, Inc.
 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 Altair’s CAE software suite. It includes a large
number of new functionalities to support optimization-driven product design and predictive multi-
physics 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
• Next generation simulation data management solution fully integrated
• More HyperWorks enabled partners through the HyperWorks Partner Alliance
New licensing technology now fully owned and developed by Altair helps to better manage
• und utilize HyperWorks licenses

Let Engineers be Engineers – Integrated, easy to use CAE desktop solution

• New framework for the integration of finite element and multi-body dynamics pre- and post-

HyperWorks 13.0 OptiStruct for Linear Dynamics 5

Proprietary Information of Altair Engineering, Inc.
Chapter 1: Introduction

processing, as well as data and process management

- Modern and easy to learn graphical user interface
- Extended result visualization capabilities
- Tight integration with enterprise services
• HyperMesh extends meshing dominance
- Acoustic cavity meshing
- Extensions to mid-surface algorithms
• CAD in CAE - Extended toolset for geometry creation and manipulation
• Full 3D visualization of shell and beam models in modeling environment
• Result math to derive custom result types
• Video-animation overlay to compare test and simulation
Tight integration of automation development environment ScriptView with HyperMesh and
• HyperView
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

Extended Collaboration – Integrated, Natural, Affordable Simulation Knowledge

Management

• 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.

Solver Power – Best in class Scalability, Quality, Repeatability

• Added AcuSolve – Native finite element computational fluid dynamics (CFD) solver
• Advanced Mass Scaling technology is a breakthrough in explicit simulation performance
• A new multi-domain implementation increases accuracy of detailed explicit simulation
• Hybrid-MPP for explicit solver for extended scalability
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 post-
• buckling problems
New structural analysis types like response spectrum, complex eigenvalues, and pre-
• stressed normal modes
• Generalized method for component mode synthesis

Customizable end-to-end multi-body solution for automotive and mechanism design

6 OptiStruct for Linear Dynamics HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 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
• All new automated and modular assembly management in MotionView
• Built-in, easy-to-use, and powerful file management system in MotionView

Design and Optimization – Key to simulation driven innovation

Innovative application of the Equivalent Static Load Method for the optimization of geometric
• and material non-linear problems
• New manufacturing constraints for topology optimization
• A new global search option to avoid being stuck in a local solution
• New algorithms for multi-objective and robust design
• Easy to use multi-Excel spreadsheet optimization and study

Engineering and Manufacturing Solutions – Knowledge capture for vertical processes

• New user profiles for CFD, Noise and Vibrations (NVH), Crash, and drop test simulation
• Advanced crash modeling environment HyperCrash tightly integrated
• Durability Director for solving from load assessment to life estimation
AcuConsole, pre-processor for AcuSolve CFD solver, including automatic mesh generation
• for complex geometries
Expanded modeling of physical phenomena for metal and polymer extrusion, stamping,
• welding, and mold filling

1.1 - HyperWorks Tool Descriptions

Below is the list of applications that are part of HyperWorks, for extra information about them go
to www.altairhyperworks.com web page or go to HyperWorks online documentation.

HyperWorks Desktop
HyperWorks Integrated user environment for modeling and visualization
Desktop
HyperMesh Universal finite element pre- and post-processor
MotionView Multi-body dynamics pre- and post-processor
HyperView High performance finite element and mechanical systems post-
processor, engineering plotter, and data analysis tool
HyperGraph Engineering plotter and data analysis tool
Templex General purpose text and numeric processor

HyperWorks Solvers

OptiStruct Design and optimization software using finite elements and multi-
body dynamics
RADIOSS Finite element solver for linear and non-linear problems

HyperWorks 13.0 OptiStruct for Linear Dynamics 7

Proprietary Information of Altair Engineering, Inc.
Chapter 1: Introduction

MotionSolve Multi-body dynamics solver

AcuSolve General, all-purpose finite element computational fluid dynamics
(CFD) solver

HyperWorks Enterprise

Collaboration A solution that organizes, manages, and stores CAE and test data
Tools throughout the simulation life cycle
Process Process automation tool for HyperWorks and third party software;
Manager Processes can be created with the help of Process Studio.

HyperMath Solutions

HyperMath Mathematical scripting language for numerical computation

HyperStudy Integrated optimization, DOE, and robust design engine

Manufacturing Solutions

Manufacturing A unified environment for manufacturing process simulation, analysis,

Solutions and design optimization
HyperForm A unique finite element based sheet metal forming simulation software
solution

8 OptiStruct for Linear Dynamics HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 1: Introduction

HyperXtrude An finite element solver and user environment that enables engineers to
analyze material flow and heat transfer problems in extrusion and rolling
applications
HyperMold Provides a highly efficient and customized environment for setting up
models for injection molding simulation with Moldflow and Moldex3D
HyperWeld Provides an efficient interface for setting up models and analyzing
friction stir welding with the HyperXtrude Solver
Forging Provides a highly efficient and customized environment for setting up
models for complex three-dimensional forging simulation with
DEFOM3D
Results Mapper Process Manager-based tool that provides a framework to initialize a
structural model with results from a forming simulation

Engineering Solutions

CFD High quality tools for CFD applications enabling the engineer to perform
modeling, optimization and post-processing tasks efficiently.
NVH HyperWorks environment customized for automotive full vehicle NVH
modeling and analysis needs.
Crash 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 LS-
DYNA.
Drop Test 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.
Durability Solver-neutral, process-oriented customization of HyperWorks that
Director addresses many of the challenges associated with assessing the fatigue
life of mechanical components.
Suspension Industry specific solution that is integrated with MotionView and utilizes
Director many aspects of HyperWorks to assist with the engineering of vehicle
suspensions.
HyperCrash CAE pre-processor tool developed to support the non-linear finite
element solver, Altair RADIOSS

CAE Result Player

HyperView Player Plug-in and stand-alone utility to share and visualize 3-D CAE models
and results

HyperWorks 13.0 OptiStruct for Linear Dynamics 9

Proprietary Information of Altair Engineering, Inc.
Chapter 1: Introduction

solidThinking

solidThinking Comprehensive NURBS-based 3D modeling and rendering

environment for industrial design
solidThinking Innovative morphogenesis form generation technology
Inspired

1.2 – OptiStruct Integration with HyperWorks

OptiStruct is part of the HyperWorks toolkit. As described earlier, this is a finite element
solver designed to solve linear and non-linear simulations. Along with the HyperWorks suite
explicit solver, RADIOSS, HyperWorks can simulate structures, fluid, fluid-structure interaction,
sheet metal stamping, and mechanical systems. Multi-body dynamics simulation is made
possible through the integration with MotionSolve.
The solvers consist of loosely integrated executables (see picture below). To the user
the integration is seamless through the run script provided. Based on the file naming
convention, the right executable or combination of executables is chosen.

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

10 OptiStruct for Linear Dynamics HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 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 Explicit dynamic analysis

o Non-linear implicit static analysis
o Transient heat transfer and thermo-mechanical coupling
o Explicit Arbitrary Euler-Lagrangian (ALE) formulation
o Explicit Computational Fluid Dynamics (CFD)
o Smooth Particle Hydrodynamics (SPH)
o Incremental sheet metal stamping analysis with mesh adaptivity
o Linear static analysis
o Normal modes analysis
o Linear and non-linear buckling analysis

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.

2.1 – RADIOSS Process

HyperWorks 13.0 OptiStruct for Linear Dynamics 11

Proprietary Information of Altair Engineering, Inc.
Chapter 1: Introduction

12 OptiStruct for Linear Dynamics HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 2: Theoretical Introduction

Chapter 2

Theoretical Introduction
1- Dynamic System
A dynamical system concept can be described like mathematical representation of a point
that has time dependent position on the space, this dependence can be described per a
system of differential equations. These systems can be classified in four big categories
based on the speed average and the size of the model that we are interested in study like
shown in the following image.
L >> 10-9 m

Classical Relativistic
Mechanics Mechanics
Size
L ~ 10-9 m or Lower

Quantum Quantum
Mechanics Field Theory

V << 3x 108 m/s V ~ 3x 108 m/s or Higher

Speed
Type dynamic system

On this training we will focus only on problems that are solved using the Classical
mechanics approach.

HyperWorks 13.0 OptiStruct for Linear Dynamics 13

Proprietary Information of Altair Engineering, Inc.
Chapter 2: Theoretical Introduction

Classical mechanics (commonly confused with Newtonian mechanics, which is a subfield

thereof) is used for describing the motion of macroscopic objects, from projectiles to parts of
machinery, as well as astronomical objects, such as spacecraft, planets, stars, and galaxies.
It produces very accurate results within these domains, and is one of the oldest and largest
subjects in science and technology.
In physics, classical mechanics is one of the two major sub-fields of study in the science of
mechanics, which is concerned with the set of physical laws governing and mathematically
describing the motions of bodies and aggregates of bodies.
The initial stage in the development of classical mechanics is often referred to as Newtonian
mechanics, and is associated with the physical concepts employed by and the mathematical
methods invented by Newton himself, in parallel with Leibniz, and others. More abstract and
general methods include Lagrangian mechanics and Hamiltonian mechanics that can be
used to describe the dynamic system behavior.

For simplicity, when the engineers are modeling real-world objects they assume they are like
point particles, objects with negligible size. The motion of a point particle is characterized
by a small number of parameters: its position, mass, and the forces applied to it.

In reality, the kind of objects which classical mechanics can describe always has a non-zero
size. However, the results for point particles can be used to study such objects by treating
them as composite objects, made up of a large number of interacting point particles.

These systems that the classical mechanics studies can be classified in two different
classes:
Linear Dynamics
Nonlinear Dynamics

1.1 - Linear Dynamics

Describes those systems in which forces increase linearly with parameters such as position
and velocity.
Perhaps the best known linear system is a mass oscillating on a spring, or the "simple
harmonic oscillator." In this situation, force on the mass increases linearly with
displacement by a factor of "k," the spring constant. A graph of the potential energy of this
system is parabolic, since F(x) = - dU / dx. A particle of mass m oscillating in the potential
1/2
well of this system will have an angular frequency of w = (k/m) .
The system becomes more complex when damping or a driving force is added. Damping
alone will cause the particle to sit down in the potential well or "attractor." When the system
is forced, the system will oscillate at one frequency determined by the relative strengths of
the forcing and damping. If the forcing is too weak or too strong, the system may oscillate at
the forcing frequency. In this case, the free movement of the system is essentially drowned
by the forcing and damping and the amplitude of oscillation is weak. At some frequency,
however, the system will resonate where maximum oscillating amplitude occurs. Again, in
the linear system, this resonant frequency is unique and is determined by the forcing,
damping, and natural frequencies of the system. In this driven and damped linear system,
periodic inputs result in periodic outputs. If there is error in a measurement, this error will
increase linearly as the system progresses.

14 OptiStruct for Linear Dynamics HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 2: Theoretical Introduction

1.2 - Nonlinear Dynamics

Describes those non-linear systems where one or more "forcing elements" does not vary
linearly with space parameters. For example, if the spring coefficient in the spring system
described before varied with displacement, then the spring force would vary with the square
of displacement.
Although linear systems make for pretty equations and an efficient summary of behavior,
non-linear systems seem to pervade real natural systems. Friction forces, damping
elements, resistive elements in circuits -- these and many other factors often vary in a non-
linear fashion. As a result, the differential equations describing these systems involve very
messy solutions that can only be solved numerically. Even if there were analytic solutions to
these systems the behavior in some cases would be difficult or impossible to predict due to
the exponential increase in error.
In this training we will learn how to solve the problems that are in the first category called
Linear Dynamic System.

HyperWorks 13.0 OptiStruct for Linear Dynamics 15

Proprietary Information of Altair Engineering, Inc.
Chapter 2: Theoretical Introduction

2 - Static versus Dynamic System

To help on understand what a dynamic system is it is interesting to compare it with a static
system. There are two basic aspects that make the dynamic systems differ from static
system:
• The loads are applied as a function of time. F(t)
• The responses are time dependent. X(t)
Example Dynamic System:
m = 1 kg
k=4π
2
k ωn 1
ωn = fn = =
m 2π T

X0=0.3 mm
V0=5.97 mm/s X(t)

V0
2π
T=
ωn

X0

tmax = φ/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.

16 OptiStruct for Linear Dynamics HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 2: Theoretical Introduction

3 - Structural Dynamics Analysis

It is a subset of structural analysis which covers the behavior of structures subjected to
dynamic loading. Dynamic loads include people, wind, waves, traffic, earthquakes, and
blasts. Any structure can be subject to dynamic loading.

A static load is one which does not vary. A dynamic load is one which changes with time. If it
changes slowly, the structure's response may be determined with static analysis, but if it
varies quickly (relative to the structure's ability to respond), the response must be
determined with a dynamic analysis.

A full time history will give the response of a structure over time during and after the
application of a load. To find the full time history of a structure's response you must solve
the structure's equation of motion (1).

Mɺxɺ + Cxɺ + Kx = f (t ) (1)

Example:

One degree of freedom Spring-Mass system

A simple single degree of freedom system (a Spring-Mass system for example) has the
following equation of motion:

0
Mɺxɺ + Cxɺ + Kx = f (t )

Mɺxɺ + Kx = f (t )

HyperWorks 13.0 OptiStruct for Linear Dynamics 17

Proprietary Information of Altair Engineering, Inc.
Chapter 2: Theoretical Introduction

Where ɺxɺ 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:

mɺxɺ + kx = f (t ) (2)

A general solution for this equation is

x (t ) = A Sin (ω t ) + B Cos (ω t ) + C (3)

Where A, B and C are determined by the initial boundary conditions and the circular natural
k ω
frequency ω = or the natural frequency f = of this system are defined in terms of
m 2π
the k and m.

The static deflection for this single degree of freedom system is:

Fmax
x max = (4)
k
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
where c is the viscous damping coefficient, given in units of .
m

This relationship is perfectly analogous to electrical resistance.

This force is an (raw) approximation to the friction caused by drag.

18 OptiStruct for Linear Dynamics HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 2: Theoretical Introduction

FBD – Free Body

Diagram

c k 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:

mɺxɺ + cxɺ + kx = f (t ) (6)

The homogeneous form for this equation is:

mɺxɺ + cxɺ + kx = 0 (7)

If we divide all terms per m:

c k
ɺxɺ + xɺ + x = 0
m m
This is made to simplify the equation in terms of 2 new important terms:

k
ω0 = (8)
m
and
c
ζ = (9)
2 km
Where:

ω0 → Undamped natural frequency

ζ → Damping ratio

HyperWorks 13.0 OptiStruct for Linear Dynamics 19

Proprietary Information of Altair Engineering, Inc.
Chapter 2: Theoretical Introduction

Now the homogeneous equation can be rewrite in terms of these coefficients:

ɺxɺ + 2ζω0 xɺ + ω02 x = 0

We can solve this equation if we proposal a general solution for with this form:

x = e γt (10)

where in general γ is a complex number, this transform the differential equation in a second
order polynomial equation:

γ 2 + 2ζω0γ + ω02 = 0 (11)

Then solving it we have:

(
γ = ω0 − ζ ± ζ 2 − 1 ) (12)

3.1.1 - Damper effects on system behavior

The behavior of the system depends on the relative values of the two fundamental
parameters, the natural frequency ω0 and the damping ratio ζ . In particular, the qualitative
behavior of the system depends crucially on whether the equation 10 has:

One real solution (Critical damping) ζ = 1

Two real solutions (Over-damping) ζ > 1
Two complex conjugate solutions. (Under-damping) ζ < 1

The Under-damped system group is most important to our course, this is where almost all
structural dynamic problems we have to solve belongs, and we will develop many
procedures to determine the solution for it.

For an under-damped system, the value of ζ can be found by examining the logarithm of the
ratio of succeeding amplitudes of a system, This is a method kwon as Logarithmic
Decrement.

In OptiStruct it is possible to enter directly with the damping ration using the following
syntax: Param, G, 0.06 where 0.06 is equal to 2ζ. It is easy to find some damper values in
terms of the damping ration on the literature, this is the reason OptiStruct provides the user
this possibility, but is very high recommended that the user get this values right for his
models, and test it before use on virtual models, a wrong damper value can underestimate
the dynamic responses. For some guidance on this we list typical values below:

20 OptiStruct for Linear Dynamics HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 2: Theoretical Introduction

The structural damping in general is typically 2%-10% depending on the type of

construction:

• Bolted steel ~6%

• Reinforced concrete ~ 4%
• Welded steel ~ 2%

These values should be used only for reference.

3.1.2 - Damper Alternative models

Viscous damping models, although widely used, are not the only damping models. A wide
range of models can be found in specialized literature, we will show more one model called
hysteretic damping model or structural damping model.

When a metal beam is vibrating, the internal damping can be better described by a force
proportional to the displacement but in phase with the velocity. In such case, the differential
equation that describes the free movement of a single-degree-of-freedom system (7)
becomes:

mɺxɺ + 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:

mɺxɺ + k (1 + iη )x = 0 (14)

where η 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 OptiStruct for Linear Dynamics 21

Proprietary Information of Altair Engineering, Inc.
Chapter 2: Theoretical Introduction

22 OptiStruct for Linear Dynamics HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 3: Modal Analysis

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:

Mɺxɺ + Kx = 0 (1)

The solution for this equation can be evaluated if we proposal a general harmonic solution
with the form:

x = Φ sin (ωt ) (2)

Where:

Φ → Mode shape or Eigenvector

ω → Circular natural frequency

The harmonic hypothesis helps on find the equation solution, but it has a physical importance
that we will discuss further, this solution shows that all DOFs of the structure when submitted to
a free vibration will move synchrony with each other.

HyperWorks 13.0 OptiStruct for Linear Dynamics 23

Proprietary Information of Altair Engineering, Inc.
Chapter 3: Modal Analysis

If we substitute the equation 2 into 1 performing the differentiation on the first term:

− ω 2 MΦ sin(ωt ) + KΦ sin(ωt ) = 0
(K − ω M )Φ = 0
2
(3)

This is the equilibrium equation for a structure performing free vibration, which can be
rewrite in terms of the eigenvalues λ =ω2:

[K − λM] Φ = 0
Where:
• K is the stiffness matrix of the structure
• M is the mass matrix.
• The solution of the eigenvalue problem yields n eigenvalues λ, where n is the
number of degrees of freedom.
• The vector Φ is the eigenvector corresponding to the eigenvalue λ.

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.

1.1 - Natural Frequency (Eigenvalue)

The natural frequency of a structure is the frequency value at the structure naturally tends to
vibrate if it is subjected to pulse. For example, the strings of a guitar are made to vibrate at a
specific frequency. A system with N DOFs will have N natural frequencies.

The natural frequencies can be evaluated from solution of the Eigenvalues as shown below:
ωi
fi =
2π
(4)
Where:
f i → i-th natural frequency
ωi → i-th natural frequency in radians

OptiStruct for Linear Dynamics 24 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 3: Modal Analysis

1.2 - Mode Shape (Eigenvector)

It is the deformed shape that the structure will vibrate when excited at a specific natural
frequency, this is called too normal mode or Eigen vector. Each mode shape is associated
with a specific natural frequency or Eigen value.
The natural frequencies and normal modes of a structure can be function of the load and the
damping present on the system, this kind of analysis is defined as Pre-stressed and damped
modal analysis respectively, these analyses will not be covered here.

2 - Why Modal Analysis is important?

On any kind of structural simulation a modal analysis will help the Engineer to understand
the global behavior of the system, doing a modal analysis first it is possible to:
• Identify the natural frequencies and modal shapes of the system.
• Verify if there are rigid modes on the system, and the link between components.
• Understand if the BCs applied to the system are correct.
• 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 OptiStruct for Linear Dynamics 25

Proprietary Information of Altair Engineering, Inc.
Chapter 3: Modal Analysis

3 – Eigenvalue Solution Methods

1. Vector Iteration Methods
o Inverse Iteration
o Forward Iteration
o Shifting in Vector Iteration
o Rayleigh Quotient Iteration
o Matrix Deflation and Gram-Schmidt Orthogonalization
2. Transformation Methods
o Jacobi Method
o Generalized Jacobi Method
o Householder-QR-Inverse Iteration Solution
3. Polynomial Iterations Methods
o Explicit polynomial Iteration
o Implicit Polynomial Iteration
o Iteration Based on the Sturm Sequence Property
4. Lanczos Iteration Method
5. Subspace Iteration Method

For linear elastic problems that are properly set up (no rigid body rotation or translation), the
stiffness and mass matrices and the system in general are positive definite. These are the
easiest matrices to deal with because the numerical methods commonly applied are
guaranteed to converge to a solution. When all the qualities of the system are considered:

1) Only the smallest eigenvalues and eigenvectors of the lowest modes are desired

2) The mass and stiffness matrices are sparse and highly banded

3) The system is positive definite

The Lanczos algorithm is an iterative algorithm invented by Cornelius Lanczos that is an

adaptation of power methods to find eigenvalues and eigenvectors of a square matrix or the
singular value decomposition of a rectangular matrix. It is particularly useful for finding
decompositions of very large sparse matrices as the FEA ones. A typical solution is first to
tridiagonalize the system using the Lanczos algorithm. Next, use the QR algorithm to
find the eigenvectors and eigenvalues of this tridiagonal system.

OptiStruct for Linear Dynamics 26 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 3: Modal Analysis

4 - Modal Analysis using FEM

The goal of modal analysis in structural mechanics is to determine the natural mode
shapes and frequencies of an object or structure during free vibration. It is common to use
the finite element method (FEM) to perform this analysis because, like other calculations
using the FEM, the object being analyzed can have arbitrary shape. Sometimes, the only
desired modes are the lowest frequencies because they can be the most prominent modes
at which the object will vibrate, dominating all the higher frequency modes.

It is also possible to test a physical object to determine its natural frequencies and mode
shapes. This is called an Experimental Modal Analysis. The results of the physical test
can be used to calibrate a finite element model to determine if the underlying assumptions
made were correct (for example, material properties, boundary conditions, etc.).

4.1 - FEA Eigensystems

For the most basic problem involving a linear elastic material which obeys Hooke's Law, the
matrix equations take the form of a dynamic three dimensional spring mass system. The
generalized equation of motion is given as:

ɺɺ + C uɺ + Ku = F
Mu
Where M is the mass matrix, ü is the 2nd time derivative of the displacement u (i.e. the
acceleration), uɺ 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:

ɺɺ + 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 ü is taken to
equal -λu, where λ is an eigenvalue, and the equation reduces to:

(K − λM )u = 0
where the solution of the eigenvalue problem yields n eigenvalues λ, where n is the number
of degrees of freedom. The vector u is the eigenvector corresponding to the eigenvalue.

HyperWorks 13.0 OptiStruct for Linear Dynamics 27

Proprietary Information of Altair Engineering, Inc.
Chapter 3: Modal Analysis

5 - How to set a Modal Analysis

In order to run a normal modes analysis, an EIGRL bulk data entry needs to be given
because it defines the number of modes to be extracted. The EIGRL card needs to be
referenced by a METHOD statement in a SUBCASE in the subcase information section.

The Lanczos eigensolver implemented in OptiStruct provides two different ways of solving
the problems. If the eigenvalue range is defined on EIGRL has no upper bound and
less than 50 modes the faster method is automatic applied. It is not necessary to define
boundary conditions using an SPC statement. If no boundary conditions are applied, a zero
eigenvalue is computed for each rigid body degree of freedom of the model.

It is possible to request the computation of residual vectors in conjunction with a normal

modes analysis. Residual vectors are static displacements ortho-normalized with the
eigenvectors to be used in an external FRF - Frequency Response Analysis. In order to
get this output, users have to define degrees of freedom using USET, USET1. The degrees
of freedom are then used to define loads in the unit load method to compute the residual
vectors. RESVEC = YES needs to be defined in the normal modes subcase. Boundary
conditions can be defined using SPC or inertia relief and need to be applied.

A Modal loadstep definition for OptiStruct looks like the following lines:

SUBCASE 1
SPC=1
METHOD(STRUCTURE)=2

This defines:
1. The Normal modes subcase 1
2. The Constrain are defined on the LoadCollector 1
3. The number of modes and other parameters are defined on the LoadCollector 2
that have to be an Eigrl type.

OptiStruct for Linear Dynamics 28 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 3: Modal Analysis

Exercise 3a: Shell Clamped BEAM Model

This exercise runs a modal analysis on a very simple problem where the eigenvalues and
eigenvectors are well known and can be found using analytical formulas. The problem
intends to describe setting up a modal analysis.
In this exercise, you will learn how to:
• Define a modal analysis in OptiStruct
• Post-process and understand the modal results

h
L b
Problem description

Problem Statement
• Geometry:
o (L = 1000, h = 10, b = 10 mm)
• One load case: Normal Modes
o 3 first modes
• Material STEEL:
o ρ = 7.8e-9 T/mm3 [RHO] Density
o E = 210000 MPa [E] Young’s modulus
o ν = 0.3 - [nu] Poisson’s ratio

Problem Setup
You should copy the file: BEAM_SHELL_MODAL.hm

HyperWorks 13.0 OptiStruct for Linear Dynamics 29

Proprietary Information of Altair Engineering, Inc.
Chapter 3: Modal Analysis

Step 1: Open the model in HyperMesh Desktop.

1. Launch HyperMesh Desktop with User Profile > OptiStruct.

2. Open the model file 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:

5. Right-click in the Model Browser and select Create > Property.

6. In the Entity Editor, set the following values:

OptiStruct for Linear Dynamics 30 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 3: Modal Analysis

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.

Step 3: Create modal subcase

1. Right-click in the Model Browser to create a new Load Collector named SPC with no
load collector type.
2. On the Analysis page, select the constraints panel and create the following constraints:
• 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 OptiStruct for Linear Dynamics 31

Proprietary Information of Altair Engineering, Inc.
Chapter 3: Modal Analysis

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:

OptiStruct for Linear Dynamics 32 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 3: Modal Analysis

Step 4: Run and study the results

1. Save this model as BEAM_SHELL_BASELINE_MODAL.HM.
2. Run this model, saving it as BEAM_ELEM_1000.FEM.
3. Run the same model with different mesh size, see the table below for reference and fill
the values you get for all models, filling in the table that corresponds to the longest mesh
edge length.
• 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 OptiStruct for Linear Dynamics 33

Proprietary Information of Altair Engineering, Inc.
Chapter 3: Modal Analysis

Result Table

SIZE DOF 1ST MODE 2ND MODE 3RD MODE

500

250

100

50

20

10

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

1000.00
Freq (Hz)

100.00

10.00

1.00
0.001 0.01 0.1 1 10
1 / elem size

1ST MODE 2ND MODE 3RD MODE

Analytical Solution:

EI EI EI
f 1 = 0.7482 = 8.3 f 2 = 1.8732 = 52.2 f 3 = 3.1342 = 146.2
mL4 mL4 mL4

OptiStruct for Linear Dynamics 34 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 3: Modal Analysis

Exercise 3b: Compressor Bracket Modal Analysis

This exercise runs a modal analysis on a compressor system. This is very common problem
for an engine designer, who needs to find the best way to link the compressor with the
engine. To make this system viable, the vibration produced by the engine can’t have
resonance with the compressor system. The key to the project, then, is to develop a bracket
whose natural frequencies are higher than any input excitations. For this model, suppose
that our 4-cycle engine can work up to 8000 RPM, and that the excitations from the second
order (2 explosions per cycle) are up to ~266 Hz.
The objective of this project is to have a bracket with the first frequency higher than 350 Hz.
In this exercise, you will learn how to:
• Determine if a FEA model is well defined
• Understand how accurate the modal results are

5 Bolt link

Problem description

Problem Information
• Determine if the Bracket Baseline geometry passes the dynamic criteria:
o Natural frequencies > 350 Hz.
• Compressor: (Mass = 3 kg and CG = (-5.2, -14.5, 65.2)
• Material STEEL:
o ρ = 7.8e-9 T/mm3 [RHO] Density
o E = 210000 MPa [E] Young’s modulus
o ν = 0.3 - [nu] Poisson’s ratio

Problem Setup
You should copy the file: BRACKET_COMPRESSOR_FEA_2nd.hm

HyperWorks 13.0 OptiStruct for Linear Dynamics 35

Proprietary Information of Altair Engineering, Inc.
Chapter 3: Modal Analysis

Step 1: Open the model in HyperMesh Desktop.

1. Launch HyperMesh Desktop with User Profile > OptiStruct.

2. Open the HyperMesh database BRACKET_COMPRESSOR_FEA_2nd.hm.

Step 2: Model Review

1. As the user can see this FEA model is already idealized.

FEA model with tetra10, RB2 and RB3.

a) The model is made with tetra10 ~5mm.

Is it a good representation of the part? What would you change on this model?
__________________________________________________________________
__________________________________________________________________
b) The modeler used an RB3 to link the mass element.
Why we don’t use a RB2 (rigid) for it?
__________________________________________________________________
__________________________________________________________________
c) There is no representation for the Bolts and the compressor.
How much difference would the bolt representations make? How could this be more
accurately determined?
__________________________________________________________________
__________________________________________________________________

d) The engine wall is considered rigid.

When this is important?
__________________________________________________________________
__________________________________________________________________

OptiStruct for Linear Dynamics 36 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 3: Modal Analysis

Step 3: Create a MAT1 with these properties

Step 4: Create a PSOLID property and assign the new property to the
FEA_Bracket component.

HyperWorks 13.0 OptiStruct for Linear Dynamics 37

Proprietary Information of Altair Engineering, Inc.
Chapter 3: Modal Analysis

Step 5: In the 1D > masses page, create a mass element at the dependent node
of the RBE3.

Step 6: Create modal subcase

1. Create a Load Collector named SPC.
2. Add a displacement constraint to all 5 bolt RBE2 independent nodes (DOFs 1-3).
3. Create/Edit a LoadCollector with card image EIGRL named EIGRL.

4. Create a loadstep named Normal Modes as follows.

OptiStruct for Linear Dynamics 38 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 3: Modal Analysis

Step 7: Run and study the results

1. Save this model BRACKET_COMPRESSOR_FEA_2nd_FINAL.hm.
2. Include strain energy results by adding the card ESE in the
GLOBAL_OUPUT_REQUEST section of the control cards.
3. Run the model.

HyperWorks 13.0 OptiStruct for Linear Dynamics 39

Proprietary Information of Altair Engineering, Inc.
Chapter 3: Modal Analysis

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%

* Based on a very refined model (~2M DOFs)

Eigen Vector Contour (First Mode)

OptiStruct for Linear Dynamics 40 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 3: Modal Analysis

Strain Energy Contour (First Mode)

HyperWorks 13.0 OptiStruct for Linear Dynamics 41

Proprietary Information of Altair Engineering, Inc.
Chapter 3: Modal Analysis

e) The model is made with tetra10 ~5mm.

Is it ok? What would you change on this model?

It is not a easy determine if a model is good enough, to do it the analyst needs

to start with a simple model and refine it until achieve a converged result, and
in general the analyst needs to do trade off (time vs. accuracy).
On a modal analysis the user should see which part of the model has the
highest STRAIN ENERGY to refine it up to achieve the convergence on the
frequency value.

ERROR FIRST MODE

100.0%

10.0%
ERROR

1st
2nd
1.0%

0.1%
0.1 1 10 100 1000 10000 100000
TIME

f) It is used RB3 to link the mass element.

Why we don’t use RB2 (rigid) for it?
An RB2 would include a rigid condition between the compressors links that doesn’t
exist. For this model for example it would show that the first mode would be higher
than 700 Hz.

OptiStruct for Linear Dynamics 42 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 3: Modal Analysis

g) There is no representation for the Bolts and the compressor.

How much it can change? What is needed to make this hypothesis?

To do this kind of simplification the analyst needs to have know-how about the
system behavior, in general we can assume that the bolt is strong enough
(SIZE/MAT) to not change the modal result. But the compressor geometry needs to
be studied before any simplification.

h) The engine wall is considered rigid.

When this is important?
This is very important, some times the engine wall is thin on the region where
the bracket is fixed, and it can be very important on the modal behavior. Again here
the analyst needs to study the region to make the right assumption.

Answer 1: How much you trust on the first mode you have got on this analysis?
To answer this question the analyst should verify:
• The first mode is like was expected. (shape and value)
• The mesh is refined enough (Mode shape, strain energy convergence).
• 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 3: Should you improve the model?

Based on the error plotting the answer should be no.

But in general the analyst doesn’t know the FEA error, then the measure needs to
be made based on the response variance, if it is less than a certain amount
considered admissible the model is ok.

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 OptiStruct for Linear Dynamics 43

Proprietary Information of Altair Engineering, Inc.
Chapter 3: Modal Analysis

OptiStruct for Linear Dynamics 44 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 4: Frequency Response Functions

Chapter 4

Frequency Response Functions

1- What are Frequency Response Functions (FRFs)?
Frequency response analysis is used to calculate the response of a structure under a
harmonic excitation. Typical applications are noise, vibration and harshness (NVH) analysis
of vehicles, rotating machinery, and transmissions.

The analysis computes the transient response of the structure in a static frequency domain
where the loading is sinusoidal. A simple case is a load that has amplitude at a specified
frequency. The response occurs at the same frequency, and damping would lead to a
phase shift, see the following image.

Excitation and response of a frequency response analysis.

The loads can be applied as forces or enforced motions (displacements, velocities, and
accelerations). They are dependent on the excitation frequency (ω). 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 OptiStruct for Linear Dynamics 45

Proprietary Information of Altair Engineering, Inc.
Chapter 4: Frequency Response Functions

In OptiStruct the direct and modal frequency (Modal Superposition) solutions are
implemented:

o The direct method solves the coupled equation of motion in terms of the excitation
frequency.
o 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.

1.1 - Direct Frequency Response Analysis

The direct frequency response analysis computes the structural responses directly at
discrete excitation frequencies ω by solving a set of complex matrix equations.

ɺɺ + Buɺ + Ku = f (ω ) eiωt
Mu
Where:

• ω : Load angular frequency

• f (ω ) e iωt : Harmonic Load
• M : Global mass matrix
• B : Global damper matrix
• K : Global stiffness matrix.
• u, uɺ , u
ɺɺ : Complex Displacement, Velocity, Acceleration

The harmonic motion assumes a harmonic response, which it and their derivatives can be
written as:

u = u(ω )eiωt ⇒ u(ω )(cos(ωt ) + i sin(ωt ))

uɺ = iωu(ω )eiωt

ɺɺ = −ω 2 u(ω )eiωt
u
We can introduce these harmonic functions in our motion equation:

[ ] [ ]
− M uω 2 eiωt + B uiωe iωt + Kueiωt = feiωt

We can isolate the real and the imaginary part on the left side:

([K − ω M] + iωB)ue
2 iωt
= feiωt

OptiStruct for Linear Dynamics 46 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 4: Frequency Response Functions

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. iK E : Structural element damping using the damping coefficients GE on the
materials as well as GE on bushing and spring element property definitions.

Now our Motion equation can be rewrite with the damper terms expanded:

([K − ω M] + iGK + iK
2
E − iωB1 ) ueiωt = feiωt

Rearranging the terms we can show the real and imaginary parts:

([K − ω M] + [GK + K
2
E − ωB1 ]i ) ueiωt = feiωt

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.

1.1.1 – How to Define a Direct FRF Analysis in OptiStruct

To define an OptiStruct Direct Frequency Response loadstep the user should follow these
steps:

1. Define the SPC load collector and apply constrains.

2. Define the Unit load :

a. DAREA for Load (Force)

b. SPCD for Displacement, Velocity and Acceleration.

3. Define the dynamic load vs. Frequency table F(f):

a. TABLED1 → y = yT ( x )

b. TABLED2 → y = yT (x − X 1)
 x − X1
y = yT  
c. TABLED3 →  X2 
 x − X1
N i

y = ∑ Ai  
d. TABLED4 → i =1  X2 

HyperWorks 13.0 OptiStruct for Linear Dynamics 47

Proprietary Information of Altair Engineering, Inc.
Chapter 4: Frequency Response Functions

4. Define the frequency list or set of frequencies to be used in the solution:

a. FREQ → [f1; f2; f3; f4; f5]

SID F1 F2 F3 F4 F5 F6 F7

FREQ 3 7.0 12.56 13.99 23.4 23.34 f6 f7

f8 … … … … … … …

[7; 12.56; 13.99; 23.5; 23.34]

o F1, F2, F3…,FN : Frequencies where the solution will be evaluated.

o Duplicate frequencies will be ignored. and are considered duplicated if
f N − f N −1 < DFREQ * f MAX − f MIN where DFREQ is a user parameter, with
-5
a default of 10 .

b. FREQ1 → f i = F1 + DF * (i − 1) i = 1 … NDF+1

SID F1 DF NDF

FREQ1 6 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 F1 : First frequency where the response will be evaluated (Hz)

o DF : Increment on the frequency list (Hz)
o NDF: Number of Frequencies.
o Duplicate frequencies will be ignored. and are considered duplicated if
f N − f N −1 < DFREQ * f MAX − f MIN where DFREQ is a user parameter, with
-5
a default of 10 .

OptiStruct for Linear Dynamics 48 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 4: Frequency Response Functions

1 F
(i −1)d d= ln 2
c. FREQ2 → f i = F1 * e where
NF F1 i = 1,2,…,(NF+1)

SID F1 F2 NF

FREQ2 6 1.0 8.0 6

8 8

6
5.656854249
5
F(Hz)

FREQ2
4 4

3 2.828427125
2 2
1.414213562
1 1

0
0 1 2 3 4 5 6 7 8
i

[1; 1.41; 2; 2.83; 4; 5.66; 8 ]

o F1 : First frequency where the response will be evaluated (Hz)

o F2 : Last frequency where the response will be evaluated (Hz)
o NF : Number of frequencies intervals.
o Duplicate frequencies will be ignored. and are considered duplicated if
f N − f N −1 < DFREQ * f MAX − f MIN where DFREQ is a user parameter, with
-5
a default of 10 .

HyperWorks 13.0 OptiStruct for Linear Dynamics 49

Proprietary Information of Altair Engineering, Inc.
Chapter 4: Frequency Response Functions

5. Define the Harmonic load:

a. RLOAD1 → f ( f ) = A[C ( f ) + iD( f )]e i (θ − 2πfτ )

i. f : Force, Displacement, Velocity or Acceleration. (load units)

ii. f : Frequency (Hz)
iii. A : Fixed amplitude. (Scale, Unit load)
iv. C( f ) : Real parte of the load in function of the frequency f.
(load units)
v. D( f ) : Imaginary parte of the load in function of the frequency f.
(load units)
vi. θ : Phase angle of the load. (radians)
vii. τ : Delay to apply the load. (time units)

Example:

SID A τ θ C( f ) D( f ) Type

RLOAD1 5 3 1 DISP
* See the table Type of Loads

o RLOAD ID : 5
o Unit load : Load collector 3 (DAREA or SPCD)
o No delay
o Phase angle = 0.
o Real Part C( f ): Load collector 1 (TABLED)
o Imaginary part D( f ): = 0
o Load type: Imposed displacement (DISP).

b. RLOAD2 → f ( f ) = A * B ( f )e i (ϕ ( f )+θ − 2πfτ )

viii. f : Force, Displacement, Velocity or Acceleration. (load units)

ix. f : Frequency (Hz)
x. A : Fixed amplitude. (Scale, Unit load)
xi. B( f ) : Amplitude of load in function of the frequency f. (load units)
xii. ϕ( f ) : Phase angle in function of the frequency f. (radians)
xiii. θ : Fixed Phase angle of the load. (radians)
xiv. τ : Delay to apply the load. (time units)

OptiStruct for Linear Dynamics 50 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 4: Frequency Response Functions

Example:

SID A τ θ B( f ) ϕ( f ) Type

RLOAD2 5 3 7 DISP
* See the table Type of Loads

o RLOAD ID : 5
o Unit load : Load collector 3 (DAREA or SPCD)
o No delay
o Phase angle = 0.
o Amplitude B( f ): Load collector 1 (TABLED)
o Phase Angle ϕ( f ): = 0
o Load type: Imposed displacement (DISP).

TYPE Description

0, L, LO, LOA, LOAD Applied load; EXCITEID references DAREA data.

1, D, DI, DIS, DISP Enforced displacement; EXCITEID references SPCD data.

2, V, VE, VEL, VELO Enforced velocity; EXCITEID references SPCD data.

3, A, AC, ACC, ACCE Enforced acceleration; EXCITEID references SPCD data.

o The enforced loads (SPCD) should be applied to a node where there the DOF where
the direction of the load is constrained. (BASE excitation)

6. Define the FRF load step:

The frequency 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 OptiStruct for Linear Dynamics 51

Proprietary Information of Altair Engineering, Inc.
Chapter 4: Frequency Response Functions

SPC → Load collector with displacement constrains.

DLOAD → Load definition on the frequency range. (RLOAD1 or

RLOAD2)

FREQ → Frequency table where the response will be evaluated.

(FREQ, FREQ1 or FREQ2)

b. Direct on the Input Deck:

Subcase Information Section

SUBCASE 1

SPC=1 Load collector with displacement constrains.

OptiStruct for Linear Dynamics 52 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 4: Frequency Response Functions

FREQUENCY=4 Frequency table where the response will be

evaluated. (FREQ, FREQ1 or FREQ2)

DLOAD=5 Load definition on the frequency range.

(RLOAD1 or RLOAD2)

7. Define the responses from the FRF iterations:

a. HyperMesh

o SORTING
o SORT1 : Default, used to group all elems/nodes per
frequency.
o SORT2 : Used to group all frequency per entity.
o 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.
o 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)

HyperWorks 13.0 OptiStruct for Linear Dynamics 53

Proprietary Information of Altair Engineering, Inc.
Chapter 4: Frequency Response Functions

o ROTATIONS:
o ROTA : The rotational displacements are output.
o NOROTA: Default, no rotational displacements are
output.
o 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.

b. Direct on the Deck

I/O Options Section

DISPLACEMENT(OUTPUT2,PHASE) = ALL

xv. Tools > Control cards > …

Result Type List of Examples of I/O Options Section

DISPLACEMENT DISPLACEMENT(OUTPUT2,PHASE) = ALL
VELOCITY VELOCITY(OUTPUT2,PHASE) = ALL
ACCELERATION ACCELERATION(OUTPUT2,PHASE) = ALL
ELFORCE ELFORCE(OUTPUT2,PHASE) = ALL
GPFORCE GPFORCE(OUTPUT2,PHASE) = ALL
SPCFORCE
SPCFORCE(OUTPUT2,PHASE,ALL) = ALL
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.

8. Run the analyses.

9. Pos-processes the results

a. Start with an overview of the Magnitude (Frequency).

b. The frequencies with maximum displacement, velocity or acceleration are
where you will find the maximum stress or higher deformations.

* Remember that before do a FRF you should run a modal analysis that can give a very good
understanding about your system and help on validate the results.

OptiStruct for Linear Dynamics 54 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 4: Frequency Response Functions

* Inertia relief is not implemented for direct frequency response. The solver will error out if it is
attempted.

HyperWorks 13.0 OptiStruct for Linear Dynamics 55

Proprietary Information of Altair Engineering, Inc.
Chapter 4: Frequency Response Functions

1.2 - Modal Frequency Response Analysis

The modal method first performs a normal modes analysis to obtain the eigenvalues
λi = ωi2 and the corresponding eigenvectors X = [x i ] of the system. The response can be
expressed as a scalar product of the eigenvectors X and the modal responses q.
u = Xq
The equation of motion without damping is then transformed into modal coordinates using
the eigenvectors.
[− ω X 2 T
]
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 T
] [
KX − ω 2 X T MX + GX T KX + X T K E X − ωX 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:

(− ω m − iωb + k ) q e
2
i i i i
iωt
= f i eiωt

Where
bi = 2miωiζ i is the modal damping ratio and ωi2 is the modal eigenvalue.

g i ( f i ) can be defined:
Three types of modal damping values

bi g
ζi = = i
• G – Structural damping:
bcr 2

• CRIT – Critical damping:

bcr = 2miωi

OptiStruct for Linear Dynamics 56 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 4: Frequency Response Functions

1 1
Qi = =
• Q – Quality factor:
2ζ i g i

Modal damping is entered in to the complex stiffness matrix as structural damping if

PARAM, KDAMP, -1 is used. The then uncoupled equation becomes:

(− ω m − (1 + ig (ω ))k ) q e
2
i i i
iωt
= f i e iωt

1.2.1 - Modal Frequency Response Analysis Remarks

The frequency 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 frequency set must be referenced using a FREQUENCY statement. A METHOD

statement is required for the modal method to control the normal modes analysis. In order
to save computational effort, previously saved eigenvectors can be retrieved using the
EIGVRETRIEVE subcase statement.

In addition to the various damping elements and material damping, uniform structural
damping G can be applied using PARAM, G, 0.6.

Modal damping is being applied using the SDAMPING reference of a damping table
TABDMP1. The parameter PARAM, KDAMP is to define the method of applying the
damping table.

1.2.2 - How to Define a Modal FRF Analysis in OptiStruct

To define an OptiStruct Modal Frequency Response loadstep the user should follow these
steps:

1. Define the SPC load collector and apply constrains.

2. Define the Unit load :

a. DAREA for Load (Force)

b. SCPD for Displacement, Velocity and Acceleration.

3. Define the EIGRL LoadCollector with the modes to be used to represent the structure.
4. Define the Load table F( f ):

a. TABLED1/TABLED2/TABLED3/TABLED4 → Similar to DIRECT.

HyperWorks 13.0 OptiStruct for Linear Dynamics 57

Proprietary Information of Altair Engineering, Inc.
Chapter 4: Frequency Response Functions

5. Define the measure frequency points:

a. FREQ/FREQ1/FREQ2 → Similar to DIRECT.

SID F1 F2 TYPE NEF CLUSTER

FREQ3 6 1 200 LINEAR 4 2

k −1
ξ = −1 + 2 [− 1,1]
b. FREQ3 → NEF − 1

Num. Modes - 1
1
( ) ( ) 
NEF

* SIGN (ξ ) 
 1 ˆ
= f j + f j+1 + f j+1 − f j ξ
1 / CLUSTER
Fi= k + j ˆ ˆ ˆ
2 2 
 k =1 
j=1

Example: Natural Frequencies {8.4; 52.3 ; 146.5}

[1;2.55;6.80;8.36;17.65;43.05;52.3;72.23;126.56;146.5;157.77;188.68;200]

F = [F1; f 2 ⋯ f NEF-1; f1; f 2 ⋯ f NEF-1; f 2 ; f 2 ⋯ f NEF-1;⋯; F2 ]

o F1: First frequency on the list.

o F2: Last frequency on the list
o TYPE: How the intermediate frequencies will be distributed LINEAR or
LOG.
o NEF: Number of intermediate frequencies.
o CLUSTER: Define an exponential distribution for the intermediate
frequencies.
o Since the forcing frequencies are near structural resonances, it is
important that some amount of damping be specified.
o Duplicate frequencies will be ignored. and are considered
duplicated if f N − f N −1 < DFREQ * f MAX − f MIN where DFREQ is a user
parameter, with a default of 10-5.
o CLUSTER > 1.0 provides closer spacing of excitation frequency towards
the ends of the frequency range, while values of less than 1.0 provide
closer spacing towards the center of the frequency range.

OptiStruct for Linear Dynamics 58 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 4: Frequency Response Functions

(1 .3 * F j − 0 .7 * F j )
NF
 NFM -1

f i= j+ k 
= 0 .7 * F j + k 
 NFM - 1 
c. FREQ4 →  k =0  j =1
1. If NFM = 0 or 1 [Natural frequencies between F1 and F2].
2. If NFM is even, NFM + 1 will be used.

Example: Natural Frequencies {10 ; 100; 150; 300}

SID F1 F2 FSPD NFM

FREQ4 6 1 1. 400 2. 0.3 3. 3

[ 7; 10; 13; 70; 100; 130; 115; 150; 195; 210; 300; 390 ]

o F1: First frequency on the list.

o F2: Define the upper limit of the frequency list.
o FSPD: Define how much the intermediate frequencies will be from the
natural frequencies, 0.3 give a 30% of offset.
o NFM: Define an exponential distribution for the intermediate frequencies.
o There will be NFM excitation frequencies between (1 − FSPD ) * f N and
(1 + FSPD ) * f N , for each modal frequency in the range F1 to F2. If this
computation results in excitation frequencies less than F1 and greater
than F2, those computed excitation frequencies are ignored.
o Duplicate frequencies will be ignored. and are considered
duplicated if f N − f N −1 < DFREQ * f MAX − f MIN where DFREQ is a user
parameter, with a default of 10-5.

HyperWorks 13.0 OptiStruct for Linear Dynamics 59

Proprietary Information of Altair Engineering, Inc.
Chapter 4: Frequency Response Functions

d. FREQ5 →
(
f i= j+ k = FRk
R
k =1
* fj )
NF

j =1

Example: Natural Frequencies {10 ; 100; 250}

SID F1 F2 FR1 FR2 FR3 FR4 FR5

FREQ5 6 1 400 1.0 0.6 0.8 0.9 0.95

1.05 1.1

[6; 8; 9; 9.5; 10; 10.5; 11 ; 60; 80; 90; 95; 105; 110; 150; 200; 225; 237.5; 250; 262.5; 275]

o F1: Define the Lower Limit of frequency list.

o F2: Define the upper limit of the frequency list.
o FR1, FR2,…,FRN: Define how much the intermediate frequencies will be
from the natural frequencies. This is applied to every natural frequency
between F1 and F2.

o Duplicate frequencies will be ignored. and are considered

duplicated if f N − f N −1 < DFREQ * f MAX − f MIN where DFREQ is a user
parameter, with a default of 10-5.

6. Define the Harmonic load:

o RLOAD1 → Similar to DIRECT.
o RLOAD2 → Similar to DIRECT.

OptiStruct for Linear Dynamics 60 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 4: Frequency Response Functions

7. Define the FRF load step:

The frequency 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

SPC →Load collector with displacement constrains.

DLOAD → Load definition on the frequency range. (RLOAD1
or RLOAD2)
METHOD(STRUCT) → Eigrl LoadCollector that specifies the modes that
will be used to build the dynamic response.
FREQ → Frequency table where the response will be
evaluated. (FREQ, FREQ1, FREQ2, FREQ3,
FREQ4 or FREQ5)

b. Direct on the Input Deck:

Subcase Information Section

SUBCASE 1
SPC=1 Load collector with displacement
constrains.
METHOD (STRUCTURE) =6 Eigrl LoadCollector that specifies the
modes that will be used to build the
dynamic response.
FREQUENCY=4 Frequency table where the response will
be evaluated. (FREQ, FREQ1 or
FREQ2)
DLOAD=5 Load definition on the frequency range.
(RLOAD1 or RLOAD2)
8. Define the responses from the FRF iterations: → Similar to DIRECT.
9. Run the analyses. → Similar to DIRECT.
10. Pos-processes the results → Similar to DIRECT.

HyperWorks 13.0 OptiStruct for Linear Dynamics 61

Proprietary Information of Altair Engineering, Inc.
Chapter 4: Frequency Response Functions

Exercise 4a: Spring and Mass FRF (Direct vs. Modal)

Every dynamic problem can be easily extrapolated to a 1 DOF problem, and then we decide
to develop a very simple problem to demonstrate how to run a frequency response analysis.
Doing it on this model it is easy to determine the dynamic parameters and then compare
them with the theoretical responses. In the end the results we will have in a real model can
be easily compared with this model.
In this exercise, you will learn how to:
• Define a FRF analysis in OptiStruct.
• Post-process and understand the FRF results.
1 K
f =
2π M
K = 4 π N/m
2 f = 1Hz

M=1 Kg

Problem description

Problem Information
• Geometry:
o (K = 39.479 , M = 1)
• 2 load cases:
o ωt) N
FRF Direct F = 1 Sin (ω
o ωt) N
FRF Modal F = 1 Sin (ω
• No Material.

Problem Setup
You should copy the file: spring_mass_FRF.hm

OptiStruct for Linear Dynamics 62 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 4: Frequency Response Functions

Step 1: Open the model in HyperMesh Desktop

1. Launch HyperMesh Desktop with User Profile > OptiStruct.

2. Open the HyperMesh database spring_mass_FRF.hm.

Step 2: Run the Modal analyses and verify the value of the first mode
1. First mode = ____________Hz

ωt)
Step 3: Create a Direct and a Modal FRF load step: Force = 1 Sin (ω
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)

1 0.1 1

2 1000 1
o The whole spectrum will have constant amplitude = 1.
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 OptiStruct for Linear Dynamics 63

Proprietary Information of Altair Engineering, Inc.
Chapter 4: Frequency Response Functions

o It links the TABLED1 x DAREA to define the dynamic load (Force).

7. Create a FRF loadstep as below:
a) SPC = SPC (1)
b) DLOAD = RLOAD2(6)
c) FREQ = FREQ1 (5)

OptiStruct for Linear Dynamics 64 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 4: Frequency Response Functions

o It defines the FRF direct loadstep for the dynamic load 6 (Force).

ωt)
Step 4: Create a Modal FRF load step: Force = 1 Sin (ω
a. SPC = SPC (1)
b. DLOAD = RLOAD2(6)
c. METHOD(STRUCT) = EIGRL(2)
d. FREQ = FREQ1 (5)

HyperWorks 13.0 OptiStruct for Linear Dynamics 65

Proprietary Information of Altair Engineering, Inc.
Chapter 4: Frequency Response Functions

o It defines the FRF modal loadstep for the dynamic load 6 (Force).

Step 5: Define the FRF results

1. Create a new nodal entity set named mass and add the node 1 as the only node in the
set.
2. Edit the control cards to have OptiStruct export the results to an op2 file through the
GLOBAL_OUTPUT_REQUEST, checking the boxes for acceleration, displacement and
velocity and setting the following settings for each of the outputs:
a. Format(1): OUTPUT2
b. Form(1): PHASE
c. Option(1): ALL

OptiStruct for Linear Dynamics 66 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 4: Frequency Response Functions

3. Run the analysis in OptiStruct.

4. Using HyperView, reproduce the results below using an op2 file:

Spring response for F= 1 Sin(ωt).

HyperWorks 13.0 OptiStruct for Linear Dynamics 67

Proprietary Information of Altair Engineering, Inc.
Chapter 4: Frequency Response Functions

Exercise 4b: FRF Clamped Beam and Spring-Mass system.

This exercise runs a FRF analysis on a simple problem, formed by a beam and Spring-Mass system,
this model intends to describe the same concepts we saw on the spring-mass model, but now in a
more complex model with N DOFs. These kind of system can be found in many machines where the
mass-spring set represent the application system simplified, and the beam the structure of the
machine that supports on its end a electrical engine or any other external excitation force.
In this exercise, you will learn how to:
• Analyze coupled system in OptiStruct.
• Take advantage of the integration between OptiStruct and HyperStudy to study the effect of a
coupled system.
M =10-3 T

F = Sin (ωt)
K=39.48 10-3 N/mm

h
L b
Problem description

Problem Statement
• Geometry:
o (K = 39.48 10-3 N/mm , M = 10-3 T)
o (L = 1000; b=h=10 mm)
• 1 load case: Engine LOAD:
Freq Engine Freq Engine Freq Engine Freq Engine
(Hz) (N) (Hz) (N) (Hz) (N) (Hz) (N)
0.0 0 1.2 0.04 5 0.04 70 0.2
0.8 0.04 80 0
2 0.02 6 0.04
1.0 0.04
3 0.02 7 0.05 100 0

• Material STEEL:
ρ = 7.8e T/mm
-9 3
o [RHO] Density
o E = 210000 MPa [E] Young’s modulus
o ν = 0.3 - [nu] Poisson’s ratio
• Damper Coefficient: GE = 0.06 (3%)
• PBUSH Coefficient: GE = 0.06 (3%)

Problem Setup:
You should copy the file: BEAM_spring_mass.hm

OptiStruct for Linear Dynamics 68 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 4: Frequency Response Functions

Step 1: Open the model in HyperMesh Desktop.

1. Launch HyperMesh Desktop with User Profile > OptiStruct.

2. Open the HyperMesh database 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

ωt)
Step 3: Create a Direct FRF load step: Force = 1 Sin (ω
1. Card edit the steel material properties to include the material damper coefficient, GE.
2. Create a Load Collector named UNIT_LOAD.
3. Changes constrain load type to DAREA.
4. Apply unit force on a node in the end of the beam. Uy = 1.
5. Create a LoadCollector TABLED1 and define the following:

HyperWorks 13.0 OptiStruct for Linear Dynamics 69

Proprietary Information of Altair Engineering, Inc.
Chapter 4: Frequency Response Functions

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.

OptiStruct for Linear Dynamics 70 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 4: Frequency Response Functions

8. Create a FRF loadstep as shown below:

d) SPC = SPC (1)
e) DLOAD = RLOAD2(6)
f) FREQ = FREQ1 (5)

HyperWorks 13.0 OptiStruct for Linear Dynamics 71

Proprietary Information of Altair Engineering, Inc.
Chapter 4: Frequency Response Functions

Step 4: Define the FRF results

1. Review the set called accelerometers to show the nodes highlighted in the following
image:

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

OptiStruct for Linear Dynamics 72 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 4: Frequency Response Functions

3. Run the analysis on a subdirectory called 01_baseline.

4. Using HyperView you should see these results below:

Baseline system response. (use the template report Final.tpl)

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:

Spring K (N/m) Cost

1 1.0 2

2 20.35 40.7

HyperWorks 13.0 OptiStruct for Linear Dynamics 73

Proprietary Information of Altair Engineering, Inc.
Chapter 4: Frequency Response Functions

3 39.48 79

4 50.5 101

5 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:

Struct _ Cost = 10 * thk

The combination of stiffness, thickness, and cost forms an optimization design space within which
there exists an optimum solution.

Min Cost = Struct_Cost + Spring_Cost

Max disp (node304) <= 0.05

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.

OptiStruct for Linear Dynamics 74 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 4: Frequency Response Functions

Optimization history

Optimum response (DF = 0.01 Hz)

HyperWorks 13.0 OptiStruct for Linear Dynamics 75

Proprietary Information of Altair Engineering, Inc.
Chapter 4: Frequency Response Functions

Optimum system response verification. (DF = 0.001)

RESULT: SPRING 1 (Cost = 81 ; Max disp = 0.0501 mm)

OptiStruct for Linear Dynamics 76 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 5: Transient Systems

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 OptiStruct for Linear Dynamics 77

Proprietary Information of Altair Engineering, Inc.
Chapter 5: Transient Systems

2 - Transient Response Analysis using OptiStruct

The transient response analysis computes the structural responses solving the following
equation of motion with initial conditions in matrix form.

Muɺɺ + Buɺ + Ku = f (t )
u(t = 0) = u 0 uɺ (t = 0) = uɺ 0 ɺɺ(t = 0) = u
u ɺɺ 0

Where:

• f (t ) : Time dependent load

• M : Global mass matrix
• B : Global damper matrix
• K : Global stiffness matrix.
• u, uɺ , u
ɺɺ : Time dependent Displacement, Velocity, Acceleration
• u 0 , uɺ 0 , u
ɺɺ 0 : Initial conditions.

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.

2.1 - Direct Transient Response

The equation of motion is solved directly using Newmark beta.

The use of complex coefficients for damping is not allowed in transient response analysis.
Therefore, structural damping is included using equivalent viscous damping.

The damping matrix B is composed of several contributions as follows:

G 1
B = B1 + K+ KE
W3 W4

Where:
o B1 is the matrix of the viscous damper elements, plus the external damping matrices
input through DMIG
o 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)

OptiStruct for Linear Dynamics 78 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 5: Transient Systems

o 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]

Initialize {U 0 }{
,U ɺ 0 }{
,Uɺɺ 0 } [
t + ∆t
] [
ˆ =
R t + ∆t
]
R + [M ]  a 0 {t U}+ a 2 {t U
 ɺ }+ a {t U
3
ɺɺ } + [C]  a {t U}+ a {t U
  1 4
ɺ }+ a {t U
5
ɺɺ }

   

Select ∆t, δ , α then det. a i i = 1..7

Solve LDLT {t + ∆t U} = { Rˆ }
t + ∆t

a0 = 1
α∆t 2
; a1 = δ
α∆t ;
a2 = 1
α∆t ; a3 = 1
2α − 1;
a4 = δ
α − 1; a5 = ∆t
(αδ − 2 ); {t + ∆t ɺɺ } = a ({t + ∆t U}− {t U}) − a {t U
U 0 2
ɺ }− a {t U
3
ɺɺ }
{ U} = { U}+ a { U}− a { U}
2

a6 = ∆t (1 − δ ); a7 = δ∆t;
t + ∆t ɺ t ɺ t ɺɺ t + ∆t ɺɺ
6 7

ˆ = K + a0 [M ] + a1 [C]
Form K

ˆ :K
Triangular ize K [ ][ ]
ˆ = LDLT

Newmark Method.

HyperWorks 13.0 OptiStruct for Linear Dynamics 79

Proprietary Information of Altair Engineering, Inc.
Chapter 5: Transient Systems

To better understand it, we develop a simple spring-mass model with only one degree of
freedom without damper effects:

SPRING-MASS system: [M ]{uɺɺ}+ [C]{uɺ }+ [K ]{u} = {f (t )}

For this particular problem:

Then the numerical solution for ii can be found as shown on the algorithm below:

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

OptiStruct for Linear Dynamics 80 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 5: Transient Systems

2.1.1 - How to do a Direct Transient Analysis

To define an OptiStruct Direct Transient Response loadstep the user should follow these
steps:

1. Define the SPC load collector and apply constrains.

2. Define the Forces/Imposed movement:
a. DAREA for Load (Force)
b. SPCD for Displacement, Velocity and Acceleration.
3. Define the dynamic load vs. Time table F( t ):
a. TABLED1 → y = yT ( x )

b. TABLED2 → y = yT (x − X 1)
 x − X1
y = yT  
c. TABLED3 →  X2 
 x − X1
N i

y = ∑ Ai  
d. TABLED4 → i =1  X2 
4. Define the time step history (TSTEP):
a. TSTEP

Defines time step intervals at which a solution will be generated and output in
transient analysis.

(1) SID N1 DT1 N01

TSTEP 4 800 0.005 5

… … …

o SID: Load collector unique identification.

o N1: Number of time steps.
o DT1: Size of the time step. (s)
o N01: Skip factor for output.

5. Define the time-dependent load:

a. TLOAD1 → f (t ) = AF (t − τ )
i. f : Force, Displacement, Velocity or Acceleration. (load units)
ii. t : Time (s)
iii. A : Identification DAREA or SPCD entry set that defines {A}.
iv. F(t-τ) : Identification number of TABLEDi entry that gives F(t).
v. τ : Defines time delay t. If it is a non-zero integer, it represents
the identification number of DELAY bulk data entry that
defines t. If it is real, then it directly defines the value of t that
will be used for all degrees-of-freedom that are excited by this
dynamic load entry. (time units)

HyperWorks 13.0 OptiStruct for Linear Dynamics 81

Proprietary Information of Altair Engineering, Inc.
Chapter 5: Transient Systems

Example:

SID A τ Type F(t)

TLOAD1 5 2 LOAD 3

o TLOAD ID : 5
o Unit load : Load collector 2 (DAREA or SPCD)
o No delay
o Load type: FORCE (LOAD).
o Load table: Load collector 1 (TABLED1)

 0 , t < (T 1 + τ ) or t > (T2 + τ )

f (t ) =  ~ B C ~t
 A t e cos(2πf t + ϕ ) , (T 1 + τ ) ≤ t ≤ (T2 + τ )
~

with t = t − (T1 - τ ), T2 > T1

~
b. TLOAD2 →
i. f : Force, Displacement, Velocity or Acceleration. (load units)
~
ii. t, t : Time and modified time for the new interval. (s)
iii. A : Identification DAREA or SPCD entry set that defines {A}.
iv. τ : Defines time delay t. If it is a non-zero integer, it represents
the identification number of DELAY bulk data entry that
defines t. If it is real, then it directly defines the value of t that
will be used for all degrees-of-freedom that are excited by this
dynamic load entry. (time units)
v. C : Exponential coefficient. Default =0.0.
vi. ϕ : Phase angle in degrees.
vii. f : Frequency. (Hz)
viii. B : Growth coefficient. Default = 0.0.
ix. T1 : Time constant that define the beginning of the interval.
x. T2 : Time constant that define the end of the interval.

Example:

SID A τ Type T1 T2 F P

TLOAD1 5 2 LOAD 3.0 10.0 2.0 30

C B

0.0 0.0

OptiStruct for Linear Dynamics 82 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 5: Transient Systems

o TLOAD ID : 5
o Unit load : Load collector 2 (DAREA or SPCD)
o No delay
o Load type: FORCE (LOAD).
o Load start at 3 seconds.
o Load Finish at 10 seconds
o Force applied at 2 Hz with a phase angle of 30 degree.

TYPE Description

0, L, LO, LOA, LOAD Applied load; EXCITEID references DAREA data.

1, D, DI, DIS, DISP Enforced displacement; EXCITEID references SPCD data.

2, V, VE, VEL, VELO Enforced velocity; EXCITEID references SPCD data.

3, A, AC, ACC, ACCE Enforced acceleration; EXCITEID references SPCD data.

o The enforced loads (SPCD) have to be applied to a constrained node. (BASE

excitation)

6. 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

SPC → Load collector with displacement constrains.

DLOAD → Load time-dependent. (TLOAD1 or TLOAD2)

TSTEP → Time step integration setting (TSTEP)

HyperWorks 13.0 OptiStruct for Linear Dynamics 83

Proprietary Information of Altair Engineering, Inc.
Chapter 5: Transient Systems

b. Direct on the Input Deck:

Subcase Information Section

SUBCASE 1

SPC=1 Load collector with displacement constrains.

DLOAD=6 Load definition on the time range.

(TLOAD1 or TLOAD2)

TSTEP(TIME)=7 Load collector with the time step integration

configuration

7. Define the responses from the time iterations:

a. HyperMesh

o SORTING
o SORT1 : Default, used to group all elems/nodes per
frequency.
o SORT2 : Used to group all time per entity.
o 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.
o DISP_FORM:
o Not used for Transient.
o ROTATIONS:
o ROTA : The rotational displacements are output.
o NOROTA: Default, no rotational displacements are
output.
o 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.

OptiStruct for Linear Dynamics 84 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 5: Transient Systems

b. Direct on the Deck

I/O Options Section

DISPLACEMENT(OUTPUT2,PHASE) = ALL

i. Tools > Control cards > …

Result Type List of Examples of I/O Options Section

DISPLACEMENT DISPLACEMENT(OUTPUT2) = ALL
VELOCITY VELOCITY(OUTPUT2) = ALL
ACCELERATION ACCELERATION(OUTPUT2) = ALL
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.

8. Run the analyses.

9. Pos-processes the results

2.2 - Modal Transient Response

In the modal method a normal modes analysis to obtain the eigenvalues λi = ωi2 and the
corresponding eigenvectors X = [x i ] of the system is performed first. The state vector u
can be expressed as a scalar product of the eigenvectors X and the modal responses q.

u=Xq

The equation of motion without damping is then transformed into modal coordinates using
the eigenvectors

ɺɺ + 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:

ɺɺ + X T BXqɺ + X T KXq = X T f
X T MXq

HyperWorks 13.0 OptiStruct for Linear Dynamics 85

Proprietary Information of Altair Engineering, Inc.
Chapter 5: Transient Systems

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 ɺqɺ i (t ) + b i qɺ i (t ) + k i q i (t ) = f i (t )
or
f i (t )
qɺɺ i (t ) + 2ζ iωi qɺ i (t ) + ωi2 q i (t ) =
mi

where ζ i =
bi
2mi ωi is the modal damping ratio, and ωi2 is the modal eigenvalue.
Three types of modal damping values g i ( f i ) can be defined:

bi g
ζi = = i
• G – Structural damping: bcr 2
bcr = 2miωi
• CRIT – Critical damping:
1 1
Qi = =
• Q – Quality factor: 2ζ i g i

2.2.1 - How to do a Modal Transient Analysis

To define an OptiStruct Modal Transient Response loadstep the user should follow these
steps:

1. Define the SPC load collector and apply constrains. → Similar to DIRECT
2. Define the Forces/Imposed movement: → 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

OptiStruct for Linear Dynamics 86 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 5: Transient Systems

SPC → Load collector with displacement constrains.

DLOAD → Load time-dependent. (TLOAD1 or TLOAD2)

METHOD(STRUCT) → Eigrl LoadCollector that specifies the modes that will

be used to build the dynamic response.

TSTEP → Time step integration setting (TSTEP)

b. Direct on the Input Deck:

Subcase Information Section

SUBCASE 1

SPC=1 Load collector with displacement constrains.

METHOD (STRUCTURE)=2 Eigrl LoadCollector that specifies the modes

that will be used to build the dynamic
response.

DLOAD=6 Load definition on the time range.

(TLOAD1 or TLOAD2)

TSTEP(TIME)=7 Load collector with the time step integration

configuration

8. Define the responses from the time iterations: → Similar to DIRECT

9. Run the analyses. → Similar to DIRECT
10. Pos-processes the results → Similar to DIRECT

HyperWorks 13.0 OptiStruct for Linear Dynamics 87

Proprietary Information of Altair Engineering, Inc.
Chapter 5: Transient Systems

2.3 - Transient response loads and boundary conditions

The 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.

Residual vectors can be activated using the subcase statement RESVEC with the options
APPLOD or UNITLOD. They are computed by default. Residual vectors are always
generated if enforced displacements, velocities or accelerations are defined.

When residual vectors are included, inertia relief can be applied to unconstrained models.
A SUPORT1 subcase entry references the boundary conditions that restrain the rigid body
motions. These restraints can also be defined without subcase reference using the
SUPORT bulk data entry or automated using PARAM, INREL, -2.

Initial conditions cannot be defined if the modal method is used. A METHOD statement is
required for the modal method to control the normal modes analysis. The analysis time step
and termination time need to be defined through a TSTEP(TIME) subcase reference. In
order to save computational effort, previously saved eigenvectors can be retrieved using the
EIGVRETRIEVE subcase statement.

In addition to the various damping elements and material damping, uniform structural
damping G is applied using PARAM, G.

Modal damping can be applied using the SDAMPING reference of a damping table
TABDMP1.

OptiStruct for Linear Dynamics 88 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 5: Transient Systems

Exercise 5a: Transient Spring-Mass System (1 DOF)

This is the same model used on the other chapters; the idea now is to reproduce on time
domain the same analyses we have done previously on frequency domain. When OptiStruct
is doing a FRF analysis, it is assuming to have all the loads applied on the frequency
domain where the response is being measured. Then this is good if we don’t have different
excitations that have different frequencies at the same time. To better understand it we will
create multiples transient load steps with force amplitude equal to 1 N in different
frequencies to reproduce the amplification factor curve shown below.
In this exercise, you will learn how to:
• Define a Transient analysis in OptiStruct.
• Post-process and understand the Transient results
1 K
f = 100.00

2π M
K = 4 π N/m
2
f = 1Hz 10.00

M=1 Kg 1.00

0.10
0% 50% 100% 150% 200% 250% 300%

Problem description

Problem Information
• Geometry:
o (K = 39.479 , M = 1)
• 8 Transient load cases (1 N):
o (0.1, 0.2, 0.8, 1.0, 1.2, 1.8, 1.9, 10) Hz
• 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 OptiStruct for Linear Dynamics 89

Proprietary Information of Altair Engineering, Inc.
Chapter 5: Transient Systems

Step 1: Open the model in HyperMesh Desktop

1. Launch HyperMesh Desktop with User Profile >OptiStruct.

2. Open the HyperMesh database 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.

π f t)
Step 3: Create the Transient loadsteps: Force = 1 Sin (2π
1. Create a LoadCollector named AMPLITUDE.
2. Changes constrain load type to DAREA.
3. Apply the force on the mass node, using the constrain panel. Uy = 1 N.
4. Load the TABLE Create Tool using the Utility tab. The Utility tab can be loaded by
checking the menu option View > Browsers > HyperMesh > Utility. The Table Create
macro is located on the FEA section of the Utility tab.

5. Fill out the fields as shown below to import the file load_0.1_hz.csv and create the
TABLED1_0.1.

OptiStruct for Linear Dynamics 90 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 5: Transient Systems

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 OptiStruct for Linear Dynamics 91

Proprietary Information of Altair Engineering, Inc.
Chapter 5: Transient Systems

9. Define a time-dependent load TLOAD1_0.1, type TLOAD1 as shown below:

a) EXCITEID = AMPLITUDE (2)

b) TID = TABLED1_0.1 (3) *this is the only field that will change for the other loads
c) TYPE = LOAD.
10. Repeat the item 9 for all the other 7 load frequencies using the appropriate table.
11. Create a TRANSIENT loadstep for the first time dependent load TLOAD1_0.1:
a) SPC = SPC (1)
b) DLOAD = TLOAD1_0.1(13)
c) TSTEP = TSTEP (12)

OptiStruct for Linear Dynamics 92 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 5: Transient Systems

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.

Step 4: Define the Transient results:

1. Chose the result to be outputted to an op2 file.

OUTPUT, OP2, ALL, MODEL

2. Set up OptiStruct export to a op2 file the displacement using the

GLOBAL_OUTPUT_REQUEST:
a. DISPLACEMENT - FORMAT: OUTPUT2

HyperWorks 13.0 OptiStruct for Linear Dynamics 93

Proprietary Information of Altair Engineering, Inc.
Chapter 5: Transient Systems

Step 5: Run the Transient analyses

1. Export the file as spring_mass_transient.fem:

2. Using HyperView plot the mass displacement as shown below:

3. Using HyperView open the report file named AMPLIFICATION_FACTOR.tpl and apply
it to your model.

OptiStruct for Linear Dynamics 94 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 5: Transient Systems

Exercise 5b: Transient Clamped Beam coupled with a Spring-Mass.

This exercise runs a transient analysis on a simple problem, formed by a beam and Spring-
Mass system, this model was used to simulate the same problem on the frequency domain
using FRF analysis. Now we can get the best option we found and simulate it on time.
In this exercise, you will learn how to:
• Analyzing coupled system in OptiStruct on time.
• Determine the effect of multiple loads on different frequencies.
M =10-3 T
F
K= 10-3 N/mm

h
L b

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)
• load case: Engine LOAD:

• Material STEEL:
o ρ = 7.8e-9 T/mm3 [RHO] Density
o E = 210000 MPa [E] Young’s modulus
o ν = 0.3 - [nu] Poisson’s ratio
• Damper Coefficient: G = 0.06 (3%)
• PBUSH Coefficient: GE = 0.06 (3%)

HyperWorks 13.0 OptiStruct for Linear Dynamics 95

Proprietary Information of Altair Engineering, Inc.
Chapter 5: Transient Systems

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 1: Open the model on HyperMesh Desktop

1. Launch HyperMesh Desktop with User Profile >OptiStruct.

2. Open the HyperMesh database

BEAM_spring_mass_transient_optimum.hm.

Step 2: Run the Modal analyses and verify the value of the first mode
1. First mode = ____________Hz
2. Second mode = ____________Hz
3. Third mode = ____________Hz
4. Forth mode = ____________Hz
5. Fifth mode = ____________Hz
6. Sixth mode = ____________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.

5. Create a LoadCollector named TABLED1_0.16 for Frequency load Table, type

TABLED1, using the TABLE Create Tool at the Utility tab.

OptiStruct for Linear Dynamics 96 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 5: Transient Systems

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 OptiStruct for Linear Dynamics 97

Proprietary Information of Altair Engineering, Inc.
Chapter 5: Transient Systems

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:

a) EXCITEID = SCALE (3)

b) TID = TABLED1_0.16 (4) *this is the only field that will change for the other loads
c) TYPE = LOAD.
11. Repeat the item 9 for all the other 5 load frequencies using the appropriate table.
12. Create a TRANSIENT loadstep for the first time dependent load TLOAD1_0.16:
a) SPC = SPC (1)

OptiStruct for Linear Dynamics 98 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 5: Transient Systems

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 OptiStruct for Linear Dynamics 99

Proprietary Information of Altair Engineering, Inc.
Chapter 5: Transient Systems

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

OptiStruct for Linear Dynamics 100 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 5: Transient Systems

Step 4: Define the Transient results:

1. Set up OptiStruct to export to an op2 file displacement using
GLOBAL_OUTPUT_REQUEST in the control cards:

HyperWorks 13.0 OptiStruct for Linear Dynamics 101

Proprietary Information of Altair Engineering, Inc.
Chapter 5: Transient Systems

Step 5: Run the analysis for the baseline.

Step 6: Run the optimum model

1. Change the spring constant to 0.001 and the shell thickness to 7.9.
2. Change the parameters PARAM,W4 = 1.00531 and PARAM,W3 = 1.00531.

OptiStruct for Linear Dynamics 102 HyperWorks 13.0

Proprietary Information of Altair Engineering, Inc.
 Chapter 5: Transient Systems

Step 7: Post-processing the results:

1. Using HyperView plot the mass displacement and determine what is the maximum
displacement of the mass as shown below:

BASELINE AND OPTIMUM RESULTS

FRF RESULTS TRANSIENT RESULTS

BASELINE 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

1 0.203 1 0.001 1 0.193 1 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 OptiStruct for Linear Dynamics 103

Proprietary Information of Altair Engineering, Inc.