Application of Harmonic Analysis

Harmonic Analysis of Structures – Lesson 3

Intro

• In the preceding session, we gained a fundamental understanding of harmonic analysis.

• Now let's look at the application of the concepts to two examples:

1 Single DOF Spring-Mass Damper Harmonic 2 Drone Arm Harmonic

f u

2
 Application of Harmonic Motion
1 Single degree of freedom (SDOF) spring-mass damper harmonic
• A harmonic force (𝑓) is applied to the mass (𝑚) and we measure the resulting f u
displacement (𝑢) and phase angle (𝜙) as we sweep the excitation frequency
from zero to 3 times the natural frequency.

𝑚𝑢ሷ + 𝑐 𝑢ሶ + 𝑘𝑢 = 𝑓 sin Ω 𝑡 Governing Equation of Motion

𝑓 Τ𝑘
𝑢=
2 Displacement of mass
1 − ΩΤ𝜔𝑛 2 2 + 2𝜉 ΩΤ𝜔𝑛

2𝜉 ΩΤ𝜔𝑛
𝜙 = tan−1 Phase Angle
1 − ΩΤ𝜔𝑛 2

𝑐𝑐 = 2 𝑘𝑚 Critical Damping

𝜁 = 𝑐/𝐶𝑐 Damping Ratio

𝜔𝑑 = 𝜔𝑛 1 − 𝜁 2 Damped Natural Frequency

3
Application of Harmonic Motion (cont.)

SDOF System Observations

• When the imposed frequency (Ω) approaches a natural
frequency (𝜔) in the direction of excitation, resonance occurs as
indicated by the spikes in the graph. 12

• An increase in damping decreases the amplitude of the 10

response for all imposed frequencies. 8
zeta = .03
zeta = .1
• A small change in damping has a large effect on the response

uk/f
6
near resonance. zeta = .2
4
• The damped natural frequency 𝜔𝑑 is less than the natural 2
frequency, as can be seen with 𝜁 (zeta) = 0.2 with a slight shift of
0
the peak less than 1.0. 0 1 2 3 4
/
• Now to comment on 𝜁 (zeta) = 0.2, this high of a damping ratio
may be present for some elastomers, rubbers, etc., but the
damping ratio of most engineering metals is typically less than
0.05 (5%).

4
Application of Harmonic Motion (cont.)

SDOF System Observations (continued)

0.6
• The phase angle always passes through ±90° at resonance for 0
-4
0 1 2 3 4
any amount of damping, as shown in the graph. -50
zeta = .03
• Phase angle reports the relative timing of excitation to the -100 zeta = .1
response.

𝜙
zeta = .2
-150
• So, when we have (/) ~ 0.6 and zeta = 0.03 the phase angle
graph reports a phase angle of about −4°. Looking at the graph -200
/
below, we can see the output will slightly lag the input.

Displacement Force Force = Max Displacement = Nearly Max

4

5
Application of Harmonic Motion (cont.)

SDOF System Observations (continued)

1.0
0
• So, when we have (/) =1.0 (resonance) and zeta = 0.03, the 0 1 2 3 4
-50
phase angle graph reports a phase angle of −90°, and looking at
-90 zeta = .03
the graph we can see the output will greatly lag the input. -100

𝜙
zeta = .1
• At this sweeping phase angle, when the block has no force -150 zeta = .2
applied, the block is experiencing maximum displacement.
-200
/

Displacement Force

Force = 0 Displacement = Max

-90

6
Application of Harmonic Motion (cont.)

SDOF System Observations (continued)

2.0
0
• Finally, when we have (/) -2.0 and zeta = 0.03, the phase 0 1 2 3 4
-50
angle graph reports a phase angle of -177. Looking at the zeta = .03

graph we can see the output will almost completely be -100

𝜙
zeta = .1

opposite the input. -150

zeta = .2

-177
• At this sweeping phase angle, when the block has the -200
/
minimum force applied, the block is experiencing the
maximum displacement.
Force = Min Displacement = Max
Displacement Force

-177

7
 Application of Harmonic Motion (cont.)
2 Drone Arm Harmonic Example
• Motor mount to arm of drone experiences instability as
shown in the video.
• As the motor RPM increases, a slight vibration excites a
natural frequency in the drone arm, causing severe
resonance.
• Decreasing the RPM below the critical natural
frequency, the resonance is eliminated.
• What causes this?
• How to predict this using simulation?
• What design improvements could minimize or eliminate
the resonance?
• The example we will show is not meant to match the
drone design in the video, but rather to illustrate the
concept.

8
Application of Harmonic Motion (cont.)

What causes this resonance?

• Let’s use the drone design to the right.
• The thrust force generally acts vertically for each of the
motors.
• But a slight disturbance (perturbation) on a flimsy arm or
motor support allows the motor to twist along the arm,
resulting in a component of the force in the lateral
direction.
• This is shown as the red arrow on the right.
• As the arm untwists in the other direction, the force pulls
in the other direction.
• This results in a harmonic loading that repeats sinusoidally.
• When the motor RPM approaches the natural frequency in
the twist direction (along length of arm), resonance occurs. Normal Deformed

9
Application of Harmonic Motion (cont.)

How to predict with simulation?

• Modal analysis shows the twisting (torsion) natural frequency is at 230 Hz (13,800 RPM)
• A harmonic analysis with the lateral sinusoidal forces on the motor is run with frequency sweep from
5 to 1000 Hz
• The resonance in the torsion mode is shown by the peak in the frequency response plot (red line)

1.00E+00

1.00E-01

Amplitude (in)
1.00E-02

1.00E-03

1.00E-04

1.00E-05
0 200 400 600 800 1000 1200

Frequency (Hz)

10
Application of Harmonic Motion (cont.)

What design improvements could minimize or eliminate the resonance?

• In our drone example, the arm is made of nylon.
• Let’s replace the arm with a woven carbon fiber with fiber angles at 45° to greatly increase the
torsional stiffness.
• Repeat the harmonic analysis.
• Notice in the frequency response plot, the resonance at 230 Hz is gone. While there still are some
peaks in our modified design to investigate, they may be outside the actual flight operations of the
drone.
1.00E+00

1.00E-01 Original Design

Amplitude (in)

1.00E-02 Modified Design

1.00E-03

1.00E-04

1.00E-05
0 200 400 600 800 1000 1200

Frequency (Hz)

11