Effect of Notch Depth & Location on Modal Natural Frequency of Cantilever

Beams

Shravan H. Gawande, Rudesh R. More

PII: S2352-0124(16)30073-X
DOI: doi: 10.1016/j.istruc.2016.09.003
Reference: ISTRUC 146

To appear in:

Received date: 16 February 2016

Revised date: 19 August 2016
Accepted date: 8 September 2016

Please cite this article as: Gawande Shravan H., More Rudesh R., Effect of Notch
Depth & Location on Modal Natural Frequency of Cantilever Beams, (2016), doi:
10.1016/j.istruc.2016.09.003

This is a PDF file of an unedited manuscript that has been accepted for publication.
As a service to our customers we are providing this early version of the manuscript.
The manuscript will undergo copyediting, typesetting, and review of the resulting proof
before it is published in its final form. Please note that during the production process
errors may be discovered which could affect the content, and all legal disclaimers that
apply to the journal pertain.
 ACCEPTED MANUSCRIPT

Effect of Notch Depth & Location on Modal

Natural Frequency of Cantilever Beams
Shravan H.Gawande* and Rudesh R.More

PT
Department of Mechanical Engineering, M.E.Soicetys College of Engineering, Pune, S.P. Pune University, India

*Cooresponding Author: [email protected]

RI
SC
Abstract— The dynamic characteristics of a beam with breathing notch is studied in this paper. A systematic
approach has been adopted in the present investigation to develop theoretical expressions for evaluation of natural
frequencies and mode shapes. A simple elastic cantilever beam with breathing notch located at different position is

NU
considered for the dynamic analysis. The notch depth and its location are the main parameters for the vibration
analysis of beams.The notch depth and its position may affect the natural frequency. Hence, it is essential to study
the effect of notch depth and its location on modal natural frequency of the beam for the decent performance and its
safety. This paper emphasis on the examination of these changes, which are useful for identification of notch
MA
location.The cantilever beam made of mild steel is seleced for the study. In this work the comprehensive analysis of
cantilever beam with & without notch has been done using analytical analysis and finite element method (FEM) and
experimentally. An experimental set up was developed in which a cantilever beam with notch was excited by a
hammer and the response was obtained using an accelerometer. The method presented describes the relation
between the modal natural frequency with notch depth and its location. This paper contains the study of dynamic
D

properties of cantilever beams subjected to free vibration under the influence of notch at different points along the
length.
TE

Keywords— Cantilever beam, Notch, Finite Element Method (FEM), NI Lab-view, Dynamics characteristics.
P

NOMENCLATURE
CE

d Depth of notch(mm)
L Length of the beam mm
l Notch location from fixed end (mm)
lc Notch location from free end ( mm)
AC

A Cross-sectional Area (mm2)

B Width of the beam (mm)
H Height of the beam (mm)
 Mass Density (Kg/mm3)
E Modulus of Elasticty (MPa)
I Second moment of Inertia (mm4)
Z Dimensionless parameter
 Poisson’s ratio
KJ Coefficient of torsional spring
ωn Natural frequency of free vibration of
uncraked beam.
ωc Natural frequency of free vibration of
notched beam.
 Frequency parameter
S Crack depth ratio

1
 ACCEPTED MANUSCRIPT

I. INTRODUCTION
Beams are used in many engineering applications like building, bridges, wings of aeroplane (Fig.1) etc. It is
required that any structure must work properly during its life time. But due to the damages there may be chance of
breakdown or collapse of the structure. When a structure suffers from damages, its dynamic properties can change,
especially, crack or notch mutilation can cause a stiffness reduction, with an inherent reduction in natural
frequencies, an increase in modal damping, and a change of the mode shapes. Notch is the crucial part of the

PT
damage which is responsible for break-down of the structure. Hence, it is necessary to detect a notch in early stages
for the physical health monitoring of the structure.

RI
SC
NU
MA
Fig.1. Wings of aeroplane acts as a cantilever

In this paper an efforts have been made to study the effect of notch depth and notch position of cantilever beam on
D

modal parameters. Extensive research has been carried out by many researchers on the analysis and effect of crack
on different dynamic parameters. But very few worked on effect of notch on these parameters. Their work has been
TE

been reported through recently published research articles, technical reports. Loutridisa et al., [1] established a new
method for notch detection in beams based on instantaneous frequency and empirical mode decomposition in which
the dynamic behaviour of a cantilever beam is studied with a breathing notch under harmonic excitation. Nahvi and
Jabbari [2] have established an analytical as well as experimental approach for crack detection in cantilever beams
P

by vibration analysis. An experimental setup was designed in which a cracked cantilever beam is excited by a
CE

hammer and the response is obtained by an accelerometer attached to the beam. To identify the crack, contours of
the normalized frequency in terms of the normalized crack depth and location are plotted. Seyed et al., [3] proposed
a numerical method for open edge- crack detection in an Euler–Bernoulli cantilever beam. By numerical simulations
and experimental tests they have detected location and depth of crack. Khadem and Rezaee [4] established an
AC

analytical approach to the crack detection of rectangular plates under uniform external loads by vibration analysis.
The flexibility was modeled by the stress-intensity factor and compliance. Owolabi et al., [5] considered two beams
namely cantilever and fixed beam for investigation, after that they initiated crack at seven different location from
one end to the otherv(along the length of the beam), with different range of crack depth ratio. They measured
acceleration frequency responses at seven different points on each beam. From the experimental work, they
observed that the crack can be detected by analyzing change in natural frequency and amplitudes of frequency
response function. Agarwalla et al., [6] had experimentally analyzed the effect of an open crack on the modal
parameters of the cantilever beam subjected to free vibration and compared with result obtained from numerical
method. Lee and chung [7] has given non-destructive approach for identifying a crack, the location and size of the
crack, in a one-dimensional beam-type structure using the natural frequency data. Orhan [8] has performed an
analysis of free and forced vibration cracked beam in order to identify the crack in a cantilever beam. Jassim et al.,
[9] performed analytical and experimental investigations to study the effects of a crack on the cantilever steel beam
with circular cross section. They determined the extent of the damage magnitude and the location of the cantilever
beams. They observed that monitoring the change of the natural frequency, is a feasible and viable tool to indicate
the damage occurrence and magnitude. Kisa and Gurel [10] proposed a numerical model that combines the finite
element and component mode synthesis methods for the modal analysis of beams with circular cross section and
containing multiple non-propagating open cracks. They have given three numerical examples to investigate the
effects of location and depth of notchs on the natural frequencies and mode shapes of the beams. Nejad et al., [11]
has given an analytical estimation based on the Rayleigh's method, extended for a beam having one or two cracks
find natural frequencies and mode shapes in order to overcome weakness of solving eigen value problem. They

2
 ACCEPTED MANUSCRIPT

developed an algebric equation which was solved numerically and then coefficients of trigonometric and hyperbolic
terms in mode shapes are found using matrices obtained from compatibility conditions at each point of cracks and
boundary conditions. Thalapil and Maiti [12] has developed an analytical method to address both forward problem
of determination of natural frequencies knowing the beam and crack geometry details as well as inverse problem of
detection of crack with the knowledge of changes in the beam natural frequencies. Both long (Euler–Bernoulli) and
short (Timoshenko) beams have been examined numerically. Nguyen [13] has analyzed mode shapes of a cracked
beam with a rectangular cross section beam using finite element method. He observed that the existence of the crack

PT
can be detected based on the mode shapes, when the mode shapes are space curves. Also, when there is a crack, the
mode shapes have distortions or sharp changes at the crack position. Thus, the position of the crack can be
determined as a position at which the mode shapes exhibit such distortions or sharp changes. Khiem and Toan [14]

RI
have proposed method for calculating the natural frequencies of a multiple cracked beam and detecting unknown
number of multiple cracks from the measured natural frequencies. Chinchalkar [15] presented a numerical
technique for determining the location of a crack in a slender beam of varying cross-section given the first three

SC
natural frequencies of the cracked beam. Jena et al. [16] has given the fault detection of Multi cracked slender Euler
Bernoulli beams through the knowledge of changes in the natural frequencies and their measurements. The method
is based on the approach of modeling a crack by rotational spring. Barad et al. [17] has presented detection of the

NU
crack presence on the surface of beam-type structural element using natural frequency. Andreausa et al., [18]
developed the characterization of the non-linear response of a cantilever cracked beam to a harmonic loading,
adopting a two-dimensional finite element formulation, which was capable of simulating the behavior of a breathing
crack via a frictionless contact model of the interacting surfaces. Saavedra and Cuitino [19] presented a theoretical
MA
and experimental dynamic behaviour of different multi-beams systems containing transverse notch.Their proposed
method is used to evaluate the dynamic analysis response of notched free-free beam and a U-frame when harmonic
force is applied. Vigneshwaran and Behera [20] studied the dynamic characteristics of a beam with multiple
breathing notchs.They developed a a systematic approach which has been adopted to develop theoretical
expressions for evaluation of natural frequencies and mode shapes.Saptarshi and Ramanjaneyelu [21] presented a
D

methodology for detection and quantification of structural damage using modal information obtained from transfer
matrix technique. Dawari and Vesmawala [22] have detected and located the damage in beam models with different
TE

boundary condtion by using modal based damage detection method. Barad et al., [23] seen that crack presence by
using natural frequency as a parameter.They have studied the effect of crack depth and location on natural
frequency. The study of dynamic properties of cantilever beams under the influence of notch at different positions
P

along the length is studied in [24, 25].

From literature survey it is observed that comprehensive research work has been carried out by many
CE

researchers on the detection, analysis on effect of crack on different dynamic characterisics of structures. But very
few worked on effect of notch on these parameters. The objective of this study is to analyze the vibration behavior
of beams subjected to notch by analytical, numerical, experimental approach.
AC

II. ANALYTICAL MODEL FOR CANTILEVER BEAM WITH NOTCH

In this section analytical model for cantilever beam with notch to determine the three natural frequencies for first
three modes i.e. 1st, 2nd & 3rd is proposed. The cantilever beam of the dimensions 500mm x 25mm x 10 mm is
seclected and demonstrated with notch using wirecut electronic discharge machining (EDM) process (depth 2mm,
4mm, 6mm) at two different positions i.e at 100mm and 200 mm from free end. The proposed analytical model to
determine the natural frequencies is then solved by developing code in MATLAB software. Fig.2 shows a
cantilever beam with notch. The material for the beam is taken as mild steel having E=210 Gpa, A  25 10 mm2,
  7.85 106 kg/mm3,  =0.32.
In this study, a cantilever beam having a length L, height H,width B and transverse open edge-notch of depth d is
considered as shown in Fig.2.

3
 ACCEPTED MANUSCRIPT

PT
RI
Fig.2. A cantilever beam with notch

SC
A cantilever beam with notch is divided in to two parts in order to find out natural frequencies, which are supposed
to be joined by a torsional spring as shown in Fig.3.

NU
MA
D
TE

Fig.3. A notched cantilever beam with torsional spring

P

Increase in notch depth affects the natural frequency of beam.Stiffness of torsional spring is calculated based on the
CE

notch depth and geometry of the beam.The coefficient of the torsional spring, is calculated based on K J using
following equation (1).

EI 1
AC

KJ = ×
2
6(1 - μ ) Z
--------------------------------------------------------------[1]

where, E , I and  are Young modulus, second moment of inertia and Poisson’s ratio. The parameter Z is
calculated as follows using equation (2):

2 3 4 5 6 7
Z = 1.86 × S - 3.95× S - 16.38× S - 37.23× S +76.81× S - 126.9× S +
----------[2]
8 9 10
172× S - 143.97 × S + 66.56 × S

Where S is notch depth ratio i.e. d

H

1) Governing Equation for cantilever beam with notch :

To derive the governing equation a cantilever beam with torsion spring as shown in Fig. 2 is taken to develope
mathematical model.The equations describing the cantilever beam is divided into two new function as Y1 ( x) and
Y2 ( x) , which describe the beam equations in the left and right sides of the spring, respectively.The variable x is
measured from fixed end of the beam. Notch is assumed to be located at distance l from fixed end as shown in Fig.1.

4
 ACCEPTED MANUSCRIPT

y1 2 y2 2
lc L
1 1
W   (  m( ) )  dx   ( 2  m( ) )  dx -----------------[3]
0
2 t lc
t

y y y y
lc L
1 1 1
X  ( 2
 EI ( 1 ) 2 )  dx   (  EI ( 2 ) 2 )  dx   K J .(( 1 )  ( 1 )) 2
x 2 x 2 t t
-------[4]

PT
0 lc x lc

where m is mass per unit length of the beam.

RI
After derivation of kinematic and potential energy relationships and also using Hamilton equation, the equations of
motion is obtained, the equation of motion is obtained as given in equation (6).

SC
t2

  (W  X )  dt  0 ---------------------------------------------[5]
t1

 y1 2  2 y1

NU
2
m( )  EI ( ( ))  0
t 2
x 2
x 2 --------------------------------------[6]
 2 y2 2  2 y2
m( )  EI ( ( ))  0
t 2 x 2 x 2
MA
by applying the seperation of variables y( x, t )  Y ( x).T (t ) to equation (6), the final equations of transverse
vibration are obtained as shown in equation (7) and (8) for the left and right side of notch.

x x x x
D

Y1 ( x)  B1  cosh( )  B2  sinh( )  B3  cos( )  B4  sin( ) --------------[7]

L L L L
TE

x x x x
Y2 ( x)  B5  cosh( )  B6  sinh( )  B7  cos( )  B8  sin( ) -------------[8]
L L L L
P

where Y1 ( x) and Y2 ( x) are the equation of the beam for the left and right side of the notch.In these relations,  is
CE

defined as follows:

 2  AL4

AC

4
EI

where  ,  , A , natural frequency , density and cross-section area of cantilever beam.

For considered cantilever beam, boundary conditions are given as;

a. Bending moment and shear force at free end is zero.

b. Slope and dispacement at fixed end is zero
c. Also displacement,bending moment,shear force at the left and right hand side of the notch are equal.

Above conditions are given as per equations (9) and (10).

y  2 y2  3 y2
y1  0; 1 ;  0;  0 ----------------------------[9]
x 0
x x 0 x 2 xL
x3 xL

 2 y1  2 y2  3 y1  3 y2 EI  2 y1 y  y2
 ;  ;( ( 2 )( 1)  ( )) ---------------[10]
x 2 x 2 x lc
x3 x3 x lc
K J x x x 2 x l c

5
 ACCEPTED MANUSCRIPT

substituting the boundary conditions from equations (9) and (10) into the equation (7) and (8) , the result can be
wrriten in the form equation (11).

 1 0 1 0 0 0 0 0   B1 
 0 1 0 1 0 0 0 0   B2 

PT

 A1 A2 A3 A4  A1  A2  A3  A4   B3 
    -------[11]
 A2 A1 A4  A3  A2  A1  A4 A3   B4 
  0

RI
 A1 A2  A3  A4  A1  A2 A3 A4   B5 
   
 0 0 0 0 A5 A6  A7  A8   B6 

SC
 0 0 0 0 A6 A5 A8  A7   B 7 
   
 A1  KA2 A2  KA1  A3  KA4  A4  KA3  KA2  KA1 KA4  KA3   B8 

NU
where, A1  cosh( lc ), A2  sinh( lc ), A3  cos( lc ), A4  sin( lc )
L L L L -------------------[12]
MA
KJ L
A5  cosh( ), A6  sinh( ), A7  cos( ), A8  sin( ), K 
EI  -------------[13]

Natural frequency can be obtained by equating the determinant of coefficient of matrix of equation (11) to zero. As
D

for non-trival solution determinant must be zero, thus the characteristic equation can be obtained from this
determinant by converting sin , sinh , cos , cosh terms into polynomial by using taylors series expansion.Thus from
TE

the above polynomial equations determinant is solved by using MATLAB Software. From the solved determinat
characteristic equation are obtained. From this equation natural frequencies of notched cantilever beams are
obtained.
P

III. MODAL ANALYSIS

CE

The majority of the structure vibrates excessively than required due to resonance. The contributing factor are too
many for these vibration and noise problem in various structures and machineries is resonance. Hence the resonant
frequency need to be recognized to understand vibration phenomenon. In modal testing frequecncy response
function (FRF) measurements are usually made under controlled conditions, where the test structure is artificially
AC

excited by using either an impact hammer, or one or more shakers driven by broadband signals. A multi-channel
FFT analyser is then used to make FRF measurements between input and output degree of freedom (DOF) pairs on
the test structure. Modal analysis is the process of determining the modal parameters of a structure for all modes in
the frequency range of interest. Modal analysis is a method of finding the modes of vibration of a structure or
machine. In other words it is used to find out the dynamic characteristic of a system in the form of natural frequency,
damping factors and mode shapes. Modal analysis is related to the response of the system. For different natural
frequencies there will be different response for the corresponding natural frequency. These deformation patterns are
called as mode shapes. Because accurate impact testing results depend on the skill of the one doing the impacting,
FRF measurements should be made with spectrum averaging, a standard capability in all modern FFT analysers.
FRFs should be measured using 3 to 5 impacts per measurement. Since one or two of the impacts during the
measurement process may be bad hits, an FFT analyser designed for impact testing should have the ability to accept
or reject the result of each impact. In modal analysis an accept/reject capability saves a lot of time during impact
testing since you don’t have to restart the measurement process after each bad hit. Modal analysis is used in design
of all type of structure like aircraft, tennis racket, and bridges, automobile.

3.1 Natural frequency for different mode

Natural frequency is one of the parameter which is considered during modal analysis. Natural frequency is the
frequency at which a system tends to oscillate in the absence of any driving force. Free vibrations of any elastic
body is called natural vibration and happens at a frequency called natural frequency. Natural vibrations are different

6
 ACCEPTED MANUSCRIPT

from forced vibration which happens at frequency of applied force (forced frequency). If forced frequency is equal
to the natural frequency, the amplitude of vibration increases manifold. This phenomenon is known as resonance.
Resonance is nothing but the tendency of a system to oscillate with greater amplitude at some frequencies than at
others. Frequencies at which the response amplitude is a relative maximum are known as the system's resonant
frequencies, or resonance frequencies. At these frequencies, even small periodic driving forces can produce large
amplitude oscillations.Therefore we have to avoid resonance for the less vibration of the considered structure.
Therefore natural frequency is one of the important parameter which is to be known during experiment for the

PT
different number of modes.

3.2 Mode

RI
Modes (or resonances) are inherent properties of a structure. Resonances are determined by the material properties
(mass, stiffness, and damping properties), and boundary conditions of the structure. Each mode is defined by natural

SC
(modal or resonant) frequency, modal damping, and a mode shape. If either the material properties or the boundary
conditions of structure change, its modes will change. For instance, if mass is added to a vertical pump, it will
vibrate differently because its modes have changed.

NU
IV. EXPERIMENTAL PROGRAMME FOR CANTILEVER BEAM WITH NOTCH

In order to study the effect of notch on cantilever beam, the required experimental setup as shown in Fig.4 (a) is
MA
developed. It contains instruments like data acquisition hardware (with specifications as shown in Table1),
accelerometer (with specifications as shown in Table2), impact hammer (with specifications as shown in Table3), a
loaded personal computer [pc] or labtop, test-specimen, power supply for the pc and vibration analyzer, connecting
cables for the impact hammer and accelerometer. The experimental analysis was carried out for the cantilever beam
D

to find the natural frequencies of transverse vibration.

TE

Table 1 Specification of Data acquisition system

Sr.No. Parameter Specification
1 Brand Make National Instruments
P

2 Number of channel 4
3 Maximum sampling 51.2 ks/s per channel
CE

4 Voltage input 5V
5 Dynamic range 102 DB
AC

Table 2 Specification of accelerometer

Sr.No. Parameter Specification
1 Brand Make National Instruments
2 Model no. PCB 352C33
3 Voltage sensitivity 100mv/g
4 Frequency range 0.3 to 12000Hz
5 Electrical connector Type/location 5-44
coaxial/side

Table 3 Specification of Hammer

Sr.No. Parameter Specification
1 Brand Make National Instruments
2 Model no. PCB086C03
3 Voltage range 10 DB
4 Sensitivity element Material/type
quartz/Epoxy
5 Electrical connector type/location
BNC/Bottom of handle

7
 ACCEPTED MANUSCRIPT

PT
RI
SC
NU
Fig.4 (a) Experimental setup
MA
4.1 Experimental Procedure

1. Prepare the cantilever beam: Measure the length on the fixture that holds the mild steel beam and leave a
D

margin of that length on the beam. Fix the accelerometer to the beam at one node but on the face of the beam
opposite to the markings. Ensure that face of beam with markings and node numbers up, fix the beam into
TE

the slot on the fixture so that a cantilever is formed.

2. Connect the wires and cables: Make connections of the data acquisition hardware, pc or laptop,
accelerometer and the impact hammer as given in the manuals.
3. Switch on the power supply: Open the software of vibration analysis and experimental modal analysis
P

installed on the pc/laptop. Provide the necessary inputs and make necessary settings in the software. Ensure
that there is proper supply and communication between the devices connected.
CE

4. Next provide impact by the hammer on the nodes marked on the cantilever one by one. Impact generally
given on nodes. Accelerometer is connected at one node. Signals from the impact hammer and the
accelerometer will be received by the data acquisition hardware/vibration analyzer for each impact provided
AC

one by one and will be compared and analyzed by the software. Then curve known as Frequency Response
Function (FRF) (as shown in Fig.4 (b)) will be generated by the software which is used to find the natural
frequencies of the cantilever beam.
5. Then put the nodes how much you required in requisite frequency range, so that at each peak we will get
corresponding natural frequency.
6. Now determine mode shapes for each natural frequency (as shown in Fig.4(c)).

4.2 FRF Output Screen on Lab-view software

Fig.4 (b) shows regular output of frequency response function (FRF) of cantilever beam obtained by using NI Lab-
view software by performing extensive experiment on cantilever beam with and without notch using modal analysis.
To perform modal analysis 6 nodes are selected as shown in 3D mode structure window of Fig.4 (b). The number of
nodes can be increase or decrease as per the requirement. Each node was tense by using hammer which was taken as
input to the considered specimen, it must be a single pick. Each node gives its corresponding FRF magnitude and
acceleration. Acceleration is nothing but the output in terms of acceleration of cantilever beam which must be
logarithmic decrement. The Fig.4 (b) particularly shows that the third node which has been plugged using hammer
and gives the corresponding FRF magnitude versus frequency and acceleration versus time graph. Input given to the
3rd node is shown in Fig.4 (b) in terms of hammer versus time window and output in terms of acceleration versus
time window which is nothing but logarithmic decrement. Similar procedure was repeated for other nodes also.

8
 ACCEPTED MANUSCRIPT

PT
RI
SC
NU
MA
Fig.4 (b) FRF output screen

4.3 Natural frequency for different modes

D
P TE
CE
AC

Fig.4 (c). Natural frequencies

Fig.4 (c) shows the regular plot of peak natural frequency of cantilever beam with no notch for the corresponding
mode obtained by using Lab-view. The different picks which are obtained as shown in Fig.4 (c) within a specified
limit is nothing but the mode of vibration, from the different number of mode will get corresponding natural
frequency. Fig.4 (c) shows the average FRF of 6 nodes. To get the FRF, first click on load FRF data as shown in
Fig.4 (c) and call the file which has been saved. The graph highlighted in the red color as shown in Fig.4 (c) is
nothing but FRF graph and each pick of the graph gives the corresponding natural frequency. One can vary the
range of natural frequency by moving the vertical lines shown in yellow color. One can increase or decrease the
natural frequency by changing the mode number which is given in setting column.

9
 ACCEPTED MANUSCRIPT

V. NUMERICAL MODEL FOR CANTILEVER BEAM WITH NOTCH

The numerical analysis is performed for the cantilever beam to find the natural frequencies of transverse vibration.
The cantilever beam made of mild steel (E=210 Gpa, A  25 10 mm2,   7.85 106 kg/mm3,  =0.32.) is selected

PT
with the dimensions 500mm x 25mm x 10 mm and is being modeled with notch using wirecut EDM process (depth
2mm, 4mm, 6mm) at two different positions i.e at 100mm and 200mm from free end. The modal analysis of
considered cantilever beam has been done using Ansys software of version 14.5 . In order to perform finite element
analysis, creation of solid model of cantilever is important. Hence cantilever beam is first modeled in PRO/E

RI
WILDFIRE CAD software, which makes modeling so easy and user friendly. Then the solid model is transferred in
IGES format and exported into the Analysis software ANSYS 14.5. After that the cantilever beam is analyzed in

SC
three steps. First is preprocessing which involves modeling, geometric clean up, element property definition and
meshing. Next step includes solution of problem, which involves imposing boundary conditions on the model and
then solution runs. Fig.5 shows a meshed cantilever beam notch. For this purpose, the key points were first created
and then line segments were formed. The lines were combined to create an area. Finally, this area was extruded and

NU
a three-dimensional V-shaped edge notch beam model was obtained. Notch with 0.5mm width was modeled on the
top surface of the beam.The next step in sequence is post processing, which involves analyzing the natural frequency
for different mode of vibration. MA
D
P TE
CE
AC

Fig.5 A meshed cantilever beam

VI. RESULTS AND DISCUSSION

By using proposed analytical model one can easily find out the natural frequencies for various notch depth and
position. Table 4 shows the ratio of natural frequency (ωc/ωn, i.e ratio of natural frequency of beam with notch to
the natural frequency of beam without notch) for various notch depth and locations obtained by using proposed
analytical model. The experimental data for cantilever beam is obtained by performing trials using data aquisition
system. The frequency response function (FRF) obtained are curve fitted automatically using this software. The
experimental data obtained from data aquisition system is plotted in the form of ratio of natural frequency (ωc/ωn,
i.e ratio of natural frequency of beam with notch to the natural frequency of beam without notch) for various notch
depth and locations. Table 5 shows the variation of frequency ratio for various notch depth and location obtained
experimentally. The effect of various notch depth and position on natural frequency ratio is validated by performing
finite element analysis in ANSYS software. Table 6 shows the variation of frequency ratio with repect to various
notch depth and location obtained by using ANSYS software. Table 4, Table 5 and Table 6 shows the position of
notch from free end ( i.e.100 mm and 200 mm) of cantilever beam.

10
 ACCEPTED MANUSCRIPT

Table 4 Ratio of ωc/ωn from analytical analysis

Ratio of natural frequency (ωc/ωn)
Mode 2 mm 4mm 6mm
(100 mm) (200 mm) (100 mm) (200 mm) (100 mm) (200 mm)
1 0.96 0.96 0.95 0.9 0.942 0.87
2 0.938 0.933 0.897 0.873 0.799 0.733

PT
3 0.9858 0.975 0.94 0.931 0.877 0.828

Table 5 Ratio of ωc/ωn from experimental analysis

RI
Ratio of natural frequency (ωc/ωn)
Mode 2 mm 4mm 6mm

SC
(100 mm) (200 mm) (100 mm) (200 mm) (100 mm) (200 mm)
1 0.821 0.765 0.802 0.683 0.489 0.421
2 0.921 0.84 0.799 0.706 0.714 0.649

NU
3 0.997 0.923 0.99 0.91 0.97 0.89

Table 6 Ratio of ωc/ωn from F E analysis in ANSYS

MA
Ratio of natural frequency (ωc/ωn)
Mode 2 mm 4mm 6mm
(100 mm) (200 mm) (100 mm) (200 mm) (100 mm) (200 mm)
1 0.945 0.943 0.9 0.89 0.89 0.88
D

2 0.85 0.83 0.83 0.82 0.82 0.8

TE

3 0.898 0.895 0.8 0.89 0.79 0.77

The first, second and third natural frequencies corresponding to various notch locations and depths are calculated.
The fundamental mode shapes for transverse vibration of notch and without notch beams are plotted and compared.
P

The results obtained from the numerical analysis are presented in graphical form. Results show that there is an
CE

appreciable variation between natural frequency of notch and without notch beams. With increase in mode of
vibration this difference increases. The transverse vibration mode shapes for two notch steel beams are shown in
Figs.6 to 8. In these figures different combinations of crack depths are considered. The relative crack locations are
chosen at 200mm and 100mm. For moderate notches appreciable changes in mode shapes are noticed and for deep
AC

notches the changes in mode shapes are quite substantial. However remarkable changes are observed in longitudinal
mode shapes at the various notch positions. The numerical results indicate that the deviation between the
fundamental mode shapes of the beam with and without notch is always sharply changed at the notch location.
Figs. 6, 7 and 8 are intrigued from the Tables 4, 5, 6 respectively. Figs.6,7,8 shows the graph of natural frequency
ratio (i.e ωc/ωn) versus notch depth and position. Figs. 6, 7 and 8 shows the variation of natural frequency ratio for
three modes in terms of notch position for various notch depth as 2mm, 4mm, 6mm for 1st,2nd,3rd mode respectively
obtained by analytical, numerical and experimental approach. From Figs. 6, 7, 8 it is clear that natural frequency
decreases as depth of notch increases. Figs. 6,7,8 also shows that there is significant decrease in natural frequency of
vibration for notch at position 200 mm as compared to notch at position 100 mm. Therefore it is seen that natural
frequency decreases significantly as position of notch move towards fixed end of cantilever beam.Thus from Figs.
6,7, 8 it is observed that behaviour of natural frequency is same for analytical, experimental and numerical
approach. From Table 4, Table 5, Table 6 and Figs.6,7, 8, it is observed that natural frequencies of cantilever beam
were greatly affected by notch depth and its position. It is seen that natural frequency of vibration decreases as depth
of notch increases. Therefore it seems that decrease in frequency is the function of notch depth.This because the fact
that as notch depth increases implies stiffness of the structure decreases.Thus fundamental frequency decreases as
notch depth increases.The frequency was mostly affected by notch when it was located at 200mm from free end.
Therefore, for cantilever beam it is concluded that natural frequency decreases significantly as notch position moves
towards fixed end. From this observations it is sturdily established that the frequency decreases greately at the notch
which ultimately result in maximum bending moment. Therefore it is concluded that the change in natural frequency
is the function of notch position.

11
 ACCEPTED MANUSCRIPT

Natural frequency ratio versus notch depth and position for 1st mode
2
4

PT
1
6

RI
ωc/ωn

0.5

Notch depth (mm)

SC
0 6
4
100 mm
200 mm
2

NU
100 mm
Theoretical 200 mm
100 mm
Experimental 200 mm
MA Ansys

Notch position
D

Fig.6 Natural frequency ratio versus notch position versus notch depth for 1st mode
P TE

Natural frequency ratio versus notch depth and position for 2 nd mode
CE

2
1 4
0.8
AC

6
0.6
ωc/ωn

0.4
Notch depth (mm)

0.2
0 6
4
100 mm
200 mm
100 mm 2
Theoretical 200 mm
100 mm
Experimental 200 mm
Ansys
Notch position

Fig.7 Natural frequency ratio versus notch position versus notch depth for 2nd mode

12
 ACCEPTED MANUSCRIPT

Natural frequency ratio versus notch depth and position for 3 rd mode
2
4
1 6

PT
0.8

0.6
ωc/ωn

RI
0.4

Notch depth (mm)

0.2

SC
0 6
4
100 mm
200 mm

NU
100 mm 2
Theoretical 200 mm
100 mm
Experimental 200 mm
MA Ansys
Notch position
D

Fig.8 Natural frequency ratio versus notch position versus notch depth for 3rd mode
TE

VII. CONCLUSION
P

By using proposed analytical model executed in MATALB software one can easily find out the natural frequencies
for various notch depths and positions. The frequency response function (FRF) obtained are curve fitted
CE

automatically using this software. The effect of various notch depth and position on natural frequency ratio is
validated by performing finite element analysis. From the analytical, numerical and experimental investigations it is
seen that natural frequency of vibrating structure is susptible to change under the influence of notch, its position and
AC

depth within 5-10% deviation. The natural frequency of the vibrating beam changes significantly in the presence of
notch. The frequency was mostly affected by notch when it was located at 200mm from free end. Therefore, for
cantilever beam it is concluded that natural frequency decreases significantly as notch position moves towards fixed
end. From this observations it is sturdily established that the frequency decreases greately at the notch which
ultimately result in maximum bending moment. Therefore it is determined that the change in natural frequency is the
function of notch depth and position. So from analytical, numerical and experimental results it is observed that by
applying the the approach proposed in this paper one can easily envisage the effect of depth and location of notch
on natural frequency.

Conflict of Interests

The authors declare that there is no conflict of interests regarding the publication of this paper.

REFERENCES

1. Loutridis, S. Douka, E. Hadjileontiadisc, L.J. Forced vibration behaviour and crack detection of cracked beams
using instantaneous frequency, Journal of NDT and E international, 38, 411-419, (2005).
doi:10.1016/j.ndteint.2004.11.004
2. Nahvi,H. and Jabbari, M. Crack detection in beams using experimental modal data and finite element model,
International Journal of Mechanical Sciences, 47, 1477–1497, (2005). doi:10.1016/j.ijmecsci.2005.06.008

13
 ACCEPTED MANUSCRIPT

3. Moezi, S.A. Zakeri, E. Zare, A. Nedaei, M. On the application of modified cuckoo optimization algorithm to the
crack detection problem of cantilever Euler–Bernoulli beam, Computers and structures, 157, 42-50, (2015).
doi-10.1016/j.compstruc.2015.05.008
4. Khadem, S.E. and Rezaee, M. An analytical approach for obtaining the location and depth of an all-over part-
through notch on externally in-plane loaded rectangular plate using vibration analysis, Journal of Sound and
vibration, 230, 291-308, (2000). doi:10.1006/jsvi.1999.2619

PT
5. Owolabi, G.M. Swamidas, A.S. J. and Seshadri, R. Crack detection in beams using changes in frequencies
andamplitudes of frequency response functions, Journal of sound and vibration, 265,1–22, (2003).
doi:10.1016/S0022-460X(02)01264-6
6. Agarwalla, D.K. and Parhi, D. R. Effect of carck on modal parameters of a cantilever beam subjected to

RI
vibration,procediaengineering, 51, 665–669, (2013). doi-10.1016/j.proeng.2013.01.094
7. Lee,Y.S. Chung, M.J. A study on carck detection using eigenfrequency test data, Computers and Structures, 38,
327-342, (2000). doi:10.1016/S0045-7949(99)00194-7

SC
8. Orhan, S. Analysis of free and forced vibration of cracked cantilever beam, 40, 445-450, (2007).
doi:10.1016/j.ndteint.2007.01.010
9. Jassim, Z.A, Ali, N.N. Mustapha, F. and Abdul Jalil, N.A. A review on the vibration analysis for a damage

NU
occurrence of a cantilever beam, Journal of Engineering Failure Analysis, 31, 442–461, (2013).
doi:10.1016/j.engfailanal.2013.02.016
10. Kisa, M. and Gurel, M. A. Modal Analysis of multi carcked beams with circular cross-section, Engineering
Fracture Mechanics, 73, 963-977, (2006). doi:10.1016/S0045-7949(99)00194-7
11.
MA
Nejad, F.B. Khorram, A. and Rezaeian, M. Analytical estimation of natural frequencies and mode shapes of a
beam having two notchs, International Journal of Mechanical Sciences, 78, 193–202, (2014).
doi:10.1016/j.ijmecsci.2013.10.007
12. Thalapil, J. and Maiti, S.K. Detection of longitudinal cracks in long and short beams using changes in natural
frequencies, International Journal of Mechanical Sciences, 83, 38–47, (2014).
D

doi:10.1016/j.ijmecsci.2014.03.022
13. Nguyen, K.V. Mode shapes analysis of a carcked beam and its application for crack detection, Journal of
TE

Sound and Vibration, 333, 848–872, (2014). Doi: 10.1016/j.jsv.2013.10.006

14. Khiem, N.T and Toan, L.K. A novel method for crack detection in beam-like structures by measurements of
natural frequencies, Journal of Sound and Vibration, 333, 4084–4103, (2014). doi:10.1016/j.jsv.2014.04.031
P

15. Chinchalkar.S, Determination of carck location in beams using natural frequencies, Journal of Sound and
vibration, 247, 417-429, (2001). doi:10.1006/jsvi.2001.3748
CE

16. Jena, P.K.Thatoi, D.N. Nanda, J. and Parhi, D.R.K. Effect of damage parameters on vibration signatures of a
cantilever beam, Procedia Engineering, 38, 3318-3330, (2012). doi:10.1016/j.proeng.2012.06.384
17. Barad.K.H,Sharma.D.S and Vyas.V, Crack detection in cantilever beam by frequency based method, Procedia
Engineering, 51770–775, (2013). doi:10.1016/j.proeng.2013.01.110
AC

18. Andreausa, U. Casinib, P. and Vestronia, F. Non-linear dynamics of a cracked cantilever beam under harmonic
excitation, International Journal of Non-Linear Mechanics, 42, 566-575, (2007).
doi:10.1016/j.ijnonlinmec.2006.08.007
19. Saavedra, P.N. Cuitino, L.A. Crack detection and vibration behaviour of cracked beam, Computer and
structures, 2, 1451-1459, (2001). doi:10.1016/S0045-7949(01)00049-9
20. Vigneshwaran, K. Behera, R.K. Vibration Analysis of a Simply Supported Beam with Multiple Breathing
cracks, Procedia Engineering, 86, 835- 842, (2014). doi:10.1016/j.proeng.2014.11.104
21. Sasmal, S. and Ramanjaneyulu, K. Detection and Quantification of Structural Damage of a Beam-Like
Structure Using Natural Frequencies, Engineering, 1, 167-176, (2009). doi:10.4236/eng.2009.13020
22. Dawari, V.B. Vesmawala, G.R. Structural Damage Identification Using Modal Curvature Differences, IOSR
Journal of Mechanical and Civil Engineering, 4, 33-38, (2013). http://iosrjournals.org/iosr-
jmce/papers/sicete(civil)-volume4/43.pdf
23. Barad, K.H,Sharma, D.S, Vyas, V., Crack detection in cantilever beam by frequency based method, 51, 770-
775, 2013. doi:10.1016/j.proeng.2013.01.110
24. Dominguez F.R., Influence of a notch on the natural frequencies of a beam, Technical Report, Universidade de
São Paulo Brazil, 2005, 1-18.
25. Gawande.S.H, More.RR Investigations on Effect of Notch on Performance Evaluation of Cantilever Beams,
International Journal of Acoustics and Vibration, Paper ID#1044, Accepted on 04/08/2015.
*****

14
 ACCEPTED MANUSCRIPT

APPENDAGE

MATLAB CODE

syms y x

PT
x=0.4
E=210*10^3
u=0.3

RI
h=10
I=2083.33

SC
L=500
J=(1.8624*x^2)-(3.95*x^3)-(16.375*x^4)-(37.226*x^5)+(76.81*x^6)-(126.9*x^7)+(172*x^8)-

NU
(143.97*x^9)+(66.56*x^10)
Kj=(E*I)/(6*(1-u^2)*h*J)
b=0.6
MA
k=(Kj*L)/(E*I*y)
B3=(b^4*y^4)/24 - (b^2*y^2)/2 + 1
B5=y^4/24 + y^2/2 + 1
D

B1=(b^4*y^4)/24 + (b^2*y^2)/2 + 1
TE

B7=y^4/24 - y^2/2 + 1
B4=(b^5*y^5)/120 - (b^3*y^3)/6 + b*y
P

B2=(b^5*y^5)/120 + (b^3*y^3)/6 + b*y

B8=y^5/120 - y^3/6 + y
CE

B6=y^5/120 + y^3/6 + y
A=[1 0 1 0 0 0 0 0; 0 1 0 1 0 0 0 0; B1 B2 B3 B4 -B1 -B2 -B3 -B4; B2 B1 B4 -B3 -B2 -B1 -B4 B3; B1 B2 -B3 -B4 -
AC

B1 -B2 B3 B4; 0 0 0 0 B5 B6 -B7 -B8; 0 0 0 0 B6 B5 B8 -B7; B1+(k*B2) B2+(k*B1) -B3-(k*B4) -B4+(k*B3) -

k*B2 -k*B1 k*B4 -k*B3]
Q=det(A)

#####

15