MODAL SPACE - IN OUR OWN LITTLE WORLD by Pete Avitabile

What's the difference and a real normal mode ? There's a lot to explain
between a complex mode but let's start with some
simple examples

Illustration by Mike Avitabile

What's the difference between a complex mode and a real normal mode?
There's a lot to explain but let's start with some simple examples.

Now that's a question that comes up often and gets many people
confused. So let's discuss this in a little detail to explain the 0.4 − 0.1 0.4 − 0.1
[C0 ] = 
0 0
differences. Unfortunately, we are going to have to include a  ; [C P ] =   ; [C N ] =  
0 0  −
 0.1 0.4  −
 0.1 0.1 
little math and some theory here to help explain this.
First, the undamped case is considered. The mass, [M], and
Let's start with an undamped set of equations and proceed on to
stiffness, [K], will be used with the [C0] matrix. The
a damped case with proportional and then non-proportional
eigensolution of this set of matrices will yield frequencies,
damping. It is here where the differences will become apparent.
residues and shapes as:
A simple example will be used to illustrate some points here.
0 + 0.1230 j 0.2459  1 
The equations describing a general system can be written as λ 1 = 0 + 0.3737 j; a 1 =  ; u 1 =  = 
0 + 0.2116 j 0.4232 1.72
0 + 0.1868 j  0.3735   1 
[M]{&x&} + [C]{x& } + [K ]{x} = {F} λ 2 = 0 + 1.0926 j; a 2 =  ; u 2 =  = 
0 − 0.0724 j − 0.1447 − 0.387

where [M], [C], [K] are the mass, damping and stiffness Notice that the mode shape is a sign valued (+ or -) real number.
matrices respectively, along with the corresponding The first mode has both DOFs with the same sign indicating
acceleration, velocity, displacement and force. that both of these DOFs are in phase with each other differing
only in magnitude. The second mode has both DOF with
The transformation to modal space will yield differing signs indicating that both DOFs are out of phase with
each other and have differing magnitudes.
\  \  \ 
  &&p +   p& +   p = UT F
 M { }  C { }  K { } [ ] { } Now let's consider the second case with damping which is
 \   \   \  proportional to either the mass and/or stiffness of the system.
The damping here is [CP] to be used with the [M] and [K]. The
with diagonal matrices of modal mass, modal stiffness and, eigensolution of this set of matrices will yield frequencies,
under certain conditions, modal damping. The mode shapes residues and shapes as:
will uncouple the mass and stiffness matrices and for certain
specific types of damping, these mode shapes will also uncouple 0 + 0.1244 j 0.2488  1 
λ 1 = −0.0579 + 0.3693 j a 1 =   u1 =  = 
the damping matrix. In order to understand some of these  0 + 0 .2141 j  0.4282 1.72
conditions, a simple example will be shown. 0 + 0.1877 j  0.3754   1 
λ 2 = −0.1097 + 1.0871j a 2 =   u2 =  = 
 0 − 0. 0727 j − 0.1455 − 0.387
For the example here, the matrices will be defined with

2 − 1
[M] = 
2 0
 ; [K ] =  
 0 3 − 1 1 
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What's the difference between a complex mode and real normal mode? Copyright 2002
SEM Experimental Techniques - April 2002 Page 1 Pete Avitabile
Notice that the eigensolution yields the same mode shapes as REAL NORMAL MODE
the undamped case. This is due to the fact that the damping is Some characteristics of a real normal mode are:
proportional to the mass and /or stiffness of the system. This 1. The mode shape is described by a standing wave which has
results in modes that are referred to as "real normal modes". So the presence of a fixed stationary node point
it is clear that the mode shapes for the undamped and 2. All points pass through their maxima and minima at the same
proportionally damped cases are exactly the same. instant in time
3. All points pass through zero at the same instant in time
Now let's consider the third case with damping which is not 4. The mode shape can be described as a sign valued, real
proportional to either the mass and/or stiffness of the system. number
The damping here is [CN] to be used with the [M] and [K]. The 5. All points are either totally in-phase or out-of-phase with any
eigensolution of this set of matrices will yield frequencies, other point on the structure
residues and shapes as: 6. The mode shapes from the undamped case are the same as the
proportionally damped case. These shapes uncouple the
 − 0.0071 + 0.1288 j 0.2456 + 0.0143 j [M],[C], and [K]
λ 1 = −0.0162 + 0.3736 j a 1 =   u1 =  
− 0.0048 + 0.2116 j 0.4232 + 0.0095 j
 − 0.0071 + 0.1885 j − 0.3771 + 0.0142 j COMPLEX MODE
λ 2 = −0.1005 + 1.0872 j a 2 =   u2 =  
− 0.0048 − 0.0726 j  0.1451 + 0.0096 j  Some characteristics of a complex mode are:
1. The mode shape is described by a traveling wave and appears
Now for this case, the mode shapes are seen to be different than to have a moving node point on the structure
the previous cases. First of all, the mode shapes are complex 2. All points do not pass through their maxima at the same
valued. Upon closer inspection of these shapes, it can be seen instant in time - points appear to lag behind other points
that the relative phasing between each DOF for each of the 3. All points do not pass through zero at the same instant in time
modes is NOT either totally in-phase or out-of-phase. This 4. The mode shape can not be described by real valued numbers
results in modes which are described as "complex modes". This - the shapes are complex valued
is very different from the two previous cases. This will 5. The different DOFs will have some general phase relationship
typically occur when the damping for the system is not related that will not necessarily be in-phase or 180 degrees out-of-
to the mass and/or stiffness of the system and is referred to as phase with other DOF
non-proportional damping. In order to perform the eigen 6. The mode shapes from the undamped case will not uncouple
solution, a slightly different form is used where the equations the damping matrix
are cast in state space in order to perform the solution.
In order to further visualize some of these statements. A simple
Basically all the equations get more complicated when mode shape is plotted for a real normal mode and a complex
considering complex modes. Some simple statements between mode for one of the modes of a cantilever beam. In the real
a real normal mode and a complex mode can be summarized as normal mode (Figure 1a), the relative phasing between the DOF
follows: is either totally in phase (as in the case of the blue and red DOF)
or totally out of phase by 180 degrees (as in the case of the
green DOF relative to the blue and red DOF). A complex mode
does not have this simple phasing relationship and the mode
PHASE shape must be described by both amplitude and phase, or real
and imaginary components (Figure 1b). The plots in Figure 1
are intended to visualize this relationship of the phase.

MAGNITUDE Now it is very important to point out that phasing can be seen in
FRF measurements all the time. Sometimes this may be an
Figure 1a - Proportional (Real Normal) Mode Schematic indication of complex mode behavior, but be careful to jump
conclusions. The data acquisition, instrumentation, signal
PHASE processing, FFT, and modal parameter estimation are all stages
that can distort a measurement and force a mode shape to
"appear" as if it is complex.

MAGNITUDE While there is a lot more to it all, I hope this simple explanation
helps to put everything in better perspective. Think about it and
Figure 1b - Non-Proportional (Complex) Mode Schematic if you have any more questions about modal analysis, just ask
me.

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What's the difference between a complex mode and real normal mode? Copyright 2002
SEM Experimental Techniques - April 2002 Page 2 Pete Avitabile