A Guide to linear dynamic

analysis with Damping

This guide starts from applications of linear dynamic response
and its role in FEA simulation. Fundamental concepts and
principles will be introduced such as equation of motion, types of
vibrations, role of damping in engineering and its types, linear
dynamic analyses, etc. Finally we will discuss how to choose
appropriate solution type for damping and introduce strength of
midas NFX for solving dynamic problems.

Courtesy of Faculty of Mechanical Engineering

and Mechatronics; West Pomeranian University
of Technology, Poland
1. Dynamic Analysis Application
Dynamic analysis is strongly related to vibrations.

Vibrations are generally defined as fluctuations of a mechanical or structural system about an

equilibrium position. Vibrations are initiated when an inertia element is displaced from its
equilibrium position due to an energy imported to the system through an external source.

Vibrations occur in many mechanical and structural

systems. Without being controlled, vibrations can
lead to catastrophic situations.

Vibrations of machine tools or machine tool chatter

can lead to improper machining of parts. Structural
failure can occur because of large dynamic
stresses developed during earthquakes or even
wind induced vibrations.
Figure 1: 1940 Tacoma Narrows Bridge failure

Vibrations induced by an unbalanced helicopter blade while rotating at high speeds can lead to
the blade's failure and catastrophe for the helicopter. Excessive vibrations of pumps,
compressors, turbomachinery, and other industrial machines can induce vibrations of the
surrounding structure, leading to inefficient operation of the machines while the noise produced
can cause human discomfort.

Figure 2: Failed compressor components

Vibrations as the science is one of the first courses where most engineers to apply the knowledge
obtained from mathematics and basic engineering science courses to solve practical problems.
Solution of practical problems in vibrations requires modeling of physical systems. A system is
abstracted from its surroundings. Usually assumptions appropriate to the system are made.

Basic engineering science, mathematics and numerical methods are applied to derive a computer
based model.

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2. Dynamic Analysis Equation
The mathematical modeling of a physical system results in the formulation of a mathematical
problem. The modelling is not complete until the appropriate mathematics is applied and a
solution obtained.

The type of mathematics required is different for different types of problems. Modeling of any
statics, dynamics, and mechanics of solids problems leads only to algebraic equations.
Mathematical modeling of vibrations problems leads to differential equations.

In mathematical physics, equations of motion are equations that describe the behavior of
a physical system in terms of its motion as a function of time.

Equations of motion are consisted of inertial force, damping force (energy dissipation) and
elastic (restoring) force.

The overall behavior of a structure can be grasped through these three forces.

mu(t )  cu (t )  ku(t )  p(t )

INERTIA FORCE DAMPING FORCE RESTORING FORCE APPLIED FORCE

Inertia Force is generated by accelerated mass.

Damping Force describes energy dissipation mechanism which induces a force that is a
function of a dissipation constant and the velocity. This force is known as the general viscous
damping force.

The final induced force in the dynamic system is due to the elastic resistance in the system and
is a function of the displacement and stiffness of the system. This force is called the elastic force,
restoring force or occasionally the spring force.

The applied load has been presented on the right-hand side of equation and is defined as a
function of time. This load is independent of the structure to which it is applied.

Exact analytical solutions, when they exist, are preferable to numerical or approximate solutions.
Exact solutions are available for many linear problems, but for only a few nonlinear problems.

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2.1 Single Degree of Freedom System
Simple mechanical system is schematically shown in Figure 3. The inputs (or excitation) applied to
the system are represented by the force p(t). The outputs (or response) of the system are
represented by the displacement u(t). The system boundary (real or imaginary) demarcates the
region of interest in the analysis. What is outside the system boundary is the environment in which
the system operates.
Environment

System Boundary

Dynamic System State

of Variables
Parameters (m, c, k)

System Excitation u(t) System Response

(Inputs)
(Outputs)
Figure 3: A Mechanical dynamic system

System parameters are represented in the model, and their values should be known in order to
determine the response of the system to a particular excitation.

State variables are a minimum set of variables, which completely represent the dynamic state of a
system at any given time t. For a simple SDOF oscillator an appropriate set of state variables would
be the displacement u and the velocity du/dt.

The equation of motion for SDOF mechanical system may be derived using the free-body diagram
approach.

2.2 Equation of Motion for Single Degree of Freedom System

p(t )  mu(t )  cu (t )  ku(t )

m – mass u(t)– mass displacement

c – damping coefficient u(t)– mass velocity
k – stiffness coefficient u(t)– mass acceleration
p(t) – applied force

Figure 4: SDOF free body diagram.

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2.3 Single Degree of Freedom System Responses

Free Undamped Response

General solution:

mu(t )  ku(t )  0 u(t )  A cos n t  B sin n t

u 0 k rad
u (t )  sin n t  u0 cos n t Natural frequency: n  [ ]
n m s
u0 and u0 are an Initial Condition
entities
Free Damped Response

General solution: Underdamped solution:

mu(t )  cu(t )  ku(t )  0 u(t )  ( A  Bt )e  ct / 2 m u(t )  e  ct / 2 m ( A sin d t  B cos d t )

c  ccr  2 km  2mn c  ccr c  ccr

Critically Damped System Underdamped System

Overdamped System
d   n 1   2 Damped natural
frequency
c
 Damping
 ratio
ccr

Forced Undamped Response Forced Damped Response

(t )  ku(t )  p(t )

mu mu(t )  cu(t )  ku(t )  p(t )

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3. Dynamic Analysis Types in midas NFX
3.1 Eigenvalue Analysis/Normal Modes/Modal
Analysis of the Normal Modes or Natural Mass Stiffness
Frequencies of a structure is a search for it’s Natural
resonant frequencies. By understanding the Frequencies
dynamic characteristics of a structure Structure
experiencing oscillation or periodic loads, we can Normal Mode
prevents resonance and damage of the structure. Shapes
Constraints

Natural Frequency – the actual measure of frequency, [Hz] or similar units

Normal Mode shape – the characteristic deflected shape of a structure as it resonates

3.2 Transient Analysis

Executed in the time domain, it obtains the Mass Stiffness Damping
solution of a dynamic equation of equilibrium
when a dynamic load is being applied to a Response in Time
Structure
structure. Domain
Though the load and boundary conditions
required for a transient response analysis are Constraints Load in Time Domain
similar to those of a static analysis, a difference is
that load is defined as a function of time.

3.3 Frequency Response Analysis

Mass Stiffness Damping
A technique to determine the steady state
response of a structure according to sinusoidal (
harmonic) loads of known frequency. Structure Response in Freq.
Domain
Frequency Response is best visualized as a
response to a structure on a shaker table. Constraints Load in Freq. Domain
Adjusting the frequency input to the table gives a
range of responses.

mu(t )  cu (t )  ku(t )  F sin(t )

sin(t   )
u (t )  F / k
(1 - 
2
)2  ( 2 / n )2
n
2

  input or driving frequency   phase lead Figure 5: SDOF frequency Figure 6: Shaking table
response - Displacement for frequency response
experiment

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4. Dynamic Loading Types
Dynamic loads can be applied directly on your model or as time or frequency dependent
static loadings.

- Time domain based loading types - Frequency domain based loading types

Figure 7. Domain dependent Static Loading.

4.1 Solution Methods
Dynamic Analysis

Normal Modal Analysis

Direct Integration Method
(Eigenvalue Analysis)

Linear or Nonlinear
Analysis

Modal Superposition Method

Linear Analysis

Frequency Response
Transient Response Analysis Shock and Response Analysis*
Analysis

*Not Covered in this guide

Figure 8. Dynamic Analysis Solution Types and Methods.

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5. Damping
Damping is the phenomenon by which mechanical energy is dissipated (usually by conversion
into internal thermal energy) in dynamic systems. Knowledge of the level of damping in a dynamic
system is important in the utilization, analysis, and testing of the system. In structural systems,
damping is more complex, appearing in several forms.

Internal damping refers to the structural material

Mechanical Damping itself. Internal (material) damping results from
mechanical energy dissipation within the material
due to various microscopic and macroscopic
- Internal - Distributed processes.
- External - Localized

Figure 9. Damping forms

External damping comes from boundary

effects. An important form is structural
damping, which is produced by rubbing
friction: stick-and-slip contact or impact.
Another form of external damping is fluid
damping.
Figure 10. Localized damping examples
All damping ultimately comes from frictional effects, which may however take place at different
scales. If the effects are distributed over volumes or surfaces at macro scales, we speak of
distributed damping. Damping devices designed to produce beneficial damping effects, such as
shock absorbers, represent localized damping.

5.1 Damping Models

It is not practical to incorporate detailed microscopic representations of damping in the dynamic

analysis of systems. Instead, simplified models of damping that are representative of various types
of energy dissipation are typically used.

Damping Models

General Viscous Structural /

Damping Coulomb Fluid
Hysteretic

Modal damping
Rayleigh damping Figure 11. General Damping models review

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 5.2 Damping Models in midas NFX

The following types of damping are available inside the midas NFX:
- Proportional Damping (Rayleigh; classic)
- Hysteretic/Structural Damping
- Direct Damping values
- Frequency dependent damping
- Modal Damping
- Coulomb damping, requires special modelling techniques

5.3 Damping Model input for:

- Rayleigh Damping (Proportional) - Discrete Viscous Damping

- Defined via Material Card - BUSH 1D element Property

- Damper element Property

- Structural Damping
- Defined via Material Card and Analysis
Case Manager
- Overall and Elemental Damping

- Modal Damping - Coulomb Damping

- Defined via Analysis Case Manager and - Defined by combination of elements and
Functions features

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6. Project Applications of Dynamic Analysis in midas NFX
midas NFX are used in various projects to investigate dynamic characteristics of a large range of
industrial products. Some of the examples are shown below.
Case 1
Performance evaluation of a mobile speaker through sound
pressure level (SPL) analysis Mode Frequency
(midas NFX application from KEYRIN TELECOM) 1ND 1,046 Hz
2ND 1,778 Hz
In this project, the 3ND 1,801 Hz
performance of a cellphone
4ND 9,457 Hz
speaker is evaluated under
5ND 9,679 Hz
different sound pressure
levels. 6ND 10,217 Hz

Firstly modal analysis was performed to

determine natural frequencies of the speaker
components. Then frequency response
analysis was performed to calculate stresses
Stress
and deformation shapes of the speaker
components according to different frequency
spectrums.

From the right image, we can see different

mode shapes of the structure. We can also
observe that maximum displacement was 0.4
mm, it occurred at around 1000Hz. At this Displacement / Frequency
frequency the suspension structure reached
its maximum stress of 250MPa.
Natural
Case 2 Mode
Frequency
Resonance avoidance of ultra large AC servo robot
(midas NFX application from YUDO STAR Automation) 1st Mode 6.0Hz
2nd Mode 8.2Hz
In this case a dynamic characteristics of a
3rd Mode 14.6Hz
servo robot arm was investigated both to
avoid resonance during machine operation
and to ensure structural safety during Resonance frequency range
earthquakes.

From the image we can confirm the necessity

for resonance avoidance design in order to
avoid the resonance which happens at 15Hz
under repetitive load.

Stresses were equally calculated under

seismic load through response spectrum
analysis. Stress distribution under seismic load
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 Case 3
Brake Disc Squeal Analysis
(midas NFX application)

In this project the dynamic characteristics of brake disc were reviewed to avoid squeal noise
caused by vibration. Through frequency response analysis, we can observe that at around 7000
Hz, frequencies of Nodal Diameter Mode and In-Plane Compression Mode are very close,
where squeal noise is most likely to occur. Therefore, a design modification is needed to
separate 2 frequencies to avoid squealing problems.

Natural
Mode
frequency
2ND 1027 Hz
3ND 2394 Hz

4ND 3897 Hz 1st IPC

5ND 5468 Hz
1st IPC 7014 Hz
6ND 7045 Hz
7ND 8592 Hz
8ND 10068 Hz
6ND
2nd IPC 10285 Hz

Case 4
Safety analysis of marine refrigeration machine under vibration
(midas NFX application)
In this project, natural frequency analysis and frequency response analysis were performed to
predict the happening of cracks on the body and piping of a marine refrigeration machine under
vibration loads.

Pipe① Frequency
Part frequency
Response Function response Pipe②Frequency
Part frequency
Response Function response
100 100
X-direction X-direction
Y-direction Y-direction
10 Z-direction 10 Z-direction

1 1

0.1 0.1

0.01
1 0.01

0.001 0.001

0.0001 0.0001
0 10 20 30 40 50
3
Frequency
60 70 80
2
90 100 0 10 20 30 40 50
Frequency
60 70 80 90 100

Pipe③Frequency
Part frequency
Response Function response
100
X-direction
Y-direction
10 Z-direction

0.1

0.01
Resonant stress distribution
0.001

0.0001
0 10 20 30 40 50 60 70 80 90 100
Resonant displacement distribution Frequency

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7. Advantages of NFX for Dynamic Analysis
7.1 Easiness to be learned and adopted
Despite all the benefits that simulation can bring to product design, adopting “simulation driven
design” approach in a well established team can be sometimes challenging.
To fully leverage the capabilities of FEA simulation and create maximum values, design
engineers need to learn FEA software as well as some specialized engineering knowledge.
Sometime design engineers need to work together with analysis specialist in the team to
complete a more complex analysis.
midas NFX is well-known for its fast learning curve to both analysis specialists and product
designers. midas NFX divides its interface into Designer Mode and Analyst Mode to fit the
needs of simple and powerful analysis in one software.
Designer mode aims to help design engineers who aspire to take that intellectual leap from CAD
design to FEA simulation. It is equipped with automation tools such as automatic simplification,
auto-meshing, analysis wizards, etc., as well as powerful meshing algorithms and high-
performance solvers.
Analyst mode provides experienced analyst full flexibility to build and analyze finite element
models in the way you want. One can use different types of elements for modeling, and also
generate mesh manually. There are also tools to create and edit geometry that can help the user
tweak with the geometry without the inconvenience of returning to the CAD platform.
With the “auto-update” function, user can create “ analysis template” with which when model is
redesigned, analysis can be directly performed on the model without having to assign all the
analysis condition again and again. Besides time saving, you can also extend knowledge of the
analysis specialist by asking a specialist to create the template so that the design engineers can
use it later in the “design – simulation” iterations.

7.2 Easiness for modeling

New product are designed in CAD tools, many CAD tools are available on the market, and even
in one team different CAD tools are usually being used. Therefore, CAD compatibility is another
critical capacity to consider.
midas NFX is fully compatible with CAD, 13 most commonly used CAD formats are supported,
including Parasolid, CATIA V4/V5, UG, Pro/E, SolidWorks, Soild Edge, Inventor, STEP, IGES,
ACIS. Nastran format (.nas; .bdf) can also be import for analysis.
Models directly taken from CAD designs are usually with excessive detailing. Especially
electronic components, machine parts include many small holes, fillets, lines, faces which are
not only unnecessary but also will lead to inefficient analysis. Common practice is to clean up the
geometry model first before meshing and analyzing it.

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 midas NFX is equipped with automatic and manual simplification tools to handle effectively the
clean up work. With several clicks such detailing can be automatically detected, selected and
removed. This will save you considerably amount of time.
Furthermore, midas NFX is equipped with geometry creation and editing tools. Simple
modifications to the model can be directly done in midas NFX without going back to CAD tools.

7.3 Convenient graphical output and reporting

Dynamic analysis provides the output related to the nature of the problem:
Natural vibration analysis can extract natural vibration frequencies and the associated mode
shapes
The response analysis refers to the calculation of the response, which can be displacements,
strain, or stress, when the system is subjected to time or frequency varying excitation forces
A good software provides result visualization in the most appropriate manner, as well provides
tools to extract flexibly any result at any location of interest. Advanced requirements such as
drawing value tables and graphs should also be satisfied.
Result visualization is one of the biggest strengths of midas NFX. The software provides
different kinds of contour maps. With “ISO Surface”, overheated locations can be easily
discovered. Interactive graph for incremental solution provides an excellent possibility to
investigate and validate your model during solution phase.
midas NFX has the provision for automatic report generation. The reports include all the
information related to the model, right from the geometry to the result graphs and tables. The
automatic reports can be generated in MS-Word or 3D PDF format. The former can use default
or custom templates whereas the latter is an interactive report with animated illustrations of the
model in a 3D view.

Page 13
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