ASSIGNMENT-3

MECH 6421-METAL MACHINING AND SURFACE TECHNOLOGY

Topic: MODAL ANALYSIS

Submitted to
Dr. Serafettin Engin

Prepared by:
Akhilesh Medishetty
Student ID: 40042355

Concordia University
Faculty of Engineering and Computer Science
Department of Mechanical and Industrial Engineering
Winter 2017
Question:
The transfer functions of a long end mill attached to the spindle are measured at 2 points in both
feed X and normal Y directions (see the Figure). The accelerometer was attached to point 1, and
the hammer instrumented with an impact force sensor is applied to two points. The measured
transfer functions are curve fitted with modal analysis software, and the modal parameters are
given in the Table.
A) Identify the real modal matrix in both X and Y directions.
B) Plot the mode shapes in X direction.
C) Evaluate the direct transfer function at point 2 in directions X and Y.

Table: Transfer function parameters

X Direction Y Direction
Mode 1 Mode 2 Mode 1 Mode 2
ωn [Hz]
354.3 467.6 225.6 386.6
ξ
0.038 0.049 0.038 0.035
σ11+jϑ11
1.9890*10-6 1.4978*10-5 8.5993*10-6 1.4732*10-5
(s/kg)
-j 1.9644*10-5 -j 4.4070*10-5 -j 1.5280*10-5 -j 4.9648*10-5
σ12+jϑ12
-4.4952*10-6 7.0287*10-6 4.0081*10-6 4.4653*10-6
(s/kg)
-j 1.2556*10-5 -j 3.3470*10-5 -j 1.0945*10-5 -j 3.3297*10-5

Figure: A four-fluted helical end mill attached to a spindle

Solution:
a) Firstly, we observe that the natural frequency ωn is given in hertz we should convert it to
radians per second. We do it by multiplying 2π to the value given in hertz. Then after finding the
natural frequency of respective modes we should find the damped natural frequency ωd [rad/sec]
using formula
𝜔𝑑 = 𝜔𝑛 √1 − 𝜉 2

X Direction Y Direction
Title Mode 1 Mode 2 Mode 1 Mode 2
ωn [Hz] 354.3 467.6 225.6 386.6
ωn [rad/sec] 2226.130674 2938.014968 1417.485408 2429.077388
ξ 0.038 0.049 0.038 0.035
ωd [rad/sec] 2224.522827 2934.485761 1416.461614 2427.589122

Note that, when the measurements are made with an acceleromoter, residue must be scaled to
displacement units before processing them.
To get the direct [h11] and cross transfer functions [h12] we need to find α, β which we get by
substituting
α = 2(ζωnσ − ωdν)
β =2σ

X- Direction
Mode 1 Mode 2
𝛼11,1= 0.087733564 𝛽11,1 = 0.000003978 𝛼11,2= 0.262958123 𝛽11,2 = 2.9956E-06

𝛼12,1= 0.055101693 𝛽12,1 = -8.9904E-06 𝛼12,2= 0.198458219 𝛽12,2 = 1.40574E-05

Similary in Y direction

Y- Direction
Mode 1 Mode 2
𝛼11,1= 0.04421346 𝛽11,1 =1.71986E-05 𝛼11,2= 0.243554851 𝛽11,2 = 0.000029464

𝛼12,1= 0.031438133 𝛽12,1 = 0.000008016 𝛼12,2= 0.162422129 𝛽12,2 = 8.9306E-06

The general equation to find the transfer function is

In x direction transfer functions are obtained as follows

h11 = ((0.087733564 + 0.000003978*s)/ (s2+ 169.1859312*s+ 4955657.778)) + ((0.262958123

+2.9956E-06)/ (s2 + 287.9254669*s + 8631931.952))

h12 = ((0.055101693-8.9904E-06*s) / (s2+ 169.1859312*s+ 4955657.778)) +

((0.198458219 + 1.40574E-05*s)/(s2+287.9254669*s+8631931.952))

similarly, in y direction

h11= ((0.04421346+1.71986E-05*s)/ (s2+ 107.728891*s+2009264.882)) + ((0.243554851+

0.000029464*s)/ (s2+ 170.0354172*s + 5900416.957))

h12 = ((0.031438133+0.000008016*s)/ (s2+ 107.728891*s+ 2009264.882))

2009264.882+((0.162422129+8.9306E-06*s)/ (s2 + 170.0354172*s+ 5900416.957))

where s = j*wd
now to find real mode shapes first we need to find the complex mode shapes and then neglecting
the imaginary part we get he real mode shapes
To find the mode shapes for 1st mode

𝑢11 = √𝛼11,1 + 𝛽11,1 𝑠|s = 𝑗𝜔d

𝛼12,1 + 𝛽12,1 𝑠
𝑢21 =
𝑢11

In x direction

U11= √0.087733564 + (0.000003978 ∗ 2224.522827𝑗)

U11= 0.296198521+j*0.09406993

0.055101693+(−8.9904E−06∗2224.522827𝑗)
U21 = 0.296198521+j∗0.09406993

U21 =
0.186029602-j*0.280453071
For 2nd mode
𝑢12 = √𝛼11,2 + 𝛽11,2 𝑠|s = 𝑗𝜔d

𝛼12,2 + 𝛽12,2 𝑠
𝑢22 =
𝑢12

U12=√0.262958123 + (2.9956E − 06 ∗ 2934.485761𝑗)

U12= 0.5127944257+j*0.093757909
0.198458219+(1.40574E−05∗2934.485761𝑗)
U22= 0.5127944257+j∗0.093757909

U22= 0.3870132144+j*0.439976111

Complex Modal Matrix

0.296198521 + j ∗ 0.09406993 0.5127944257 + j ∗ 0.093757909

[U]X = [ ]
0.186029602 − j ∗ 0.280453071 0.3870132144 + j ∗ 0.439976111

Real Modal Matrix

0.296198521 0.5127944257
[U]X =[ ]
0.186029602 0.3870132144

Similarly, In y direction

For the 1st mode

𝑢11 = √𝛼11,1 + 𝛽11,1 𝑠|s = 𝑗𝜔d

𝛼12,1 + 𝛽12,1 𝑠
𝑢21 =
𝑢11

U11= √0.04421346 + (1.71986E − 05 ∗ 1416.461614 ∗ 𝑗)

U11= 0.210269969+j*0.15608061

0.031438133+( 0.000008016 ∗1416.461614𝑗)

U21 = 0.210269969+j∗0.15608061

U21= 0.149513186+j*0.072746745

For 2nd mode

𝑢12 = √𝛼11,2 + 𝛽11,2 𝑠|s = 𝑗𝜔d
 𝛼12,2 + 𝛽12,2 𝑠
𝑢22 =
𝑢12

U12=√0.243554851 + (0.000029464 ∗ 2427.589122 ∗ 𝑗)

U12= 0.493512767+j* 0.26744436

0.162422129+(8.9306𝐸−06 ∗2427.589122∗𝑗)
U22=
0.493512767+j∗ 0.26744436

U22= 0.329114341+j*0.081062945

Complex Modal Matrix

0.210269969 + j ∗ 0.15608061 0.493512767 + j ∗ 0.26744436
[U]Y=[ ]
0.149513186 + j ∗ 0.072746745 0.329114341 + j ∗ 0.081062945

Real modal matrix

0.210269969 0.493512767
[U]y =[ ]
0.149513186 0.329114341

b) Now we should plot the mode shapes in x- direction:

for that we have real modal matrix which is
0.296198521 0.5127944257
[U]x=[ ]
0.186029602 0.3870132144
c) Now using the complex modal matrix, we need to find the value of RX matrix using the
formula below

𝑈𝑥1,1 𝑈𝑥1,2
Modal matrix [U]x=[ ] that is
𝑈𝑥2,1 𝑈𝑥2,2

0.296198521 + j ∗ 0.09406993 0.5127944257 + j ∗ 0.093757909

[U]X = [ ]
0.186029602 − j ∗ 0.280453071 0.3870132144 + j ∗ 0.439976111

𝑈𝑦1,1 𝑈𝑦1,2
Modal matrix [u]y=[ ]
𝑈𝑦2,1 𝑈𝑦2,2

0.210269969 + j ∗ 0.15608061 0.493512767 + j ∗ 0.26744436

[U]Y=[ ]
0.149513186 + j ∗ 0.072746745 0.329114341 + j ∗ 0.081062945
MATLAB Command Window Page 1
April 3, 2017 11:39:35 PM

1 >> ux11=0.296198521+1i*0.09406993;
2 ux21=0.186029602-1i*0.28045307;
3 ux12=0.5127944257+1i*0.093757909;
4 ux22=0.3870132144+1i*0.439976111;
5 u=[ux11 ux21;ux12 ux22];
6
7 rx111=ux11*ux11;
8 rx121=ux11*ux21;
9 rx211=ux21*ux11;
10 rx221=ux21*ux21;
11 rx112=ux12*ux12;
12 rx122=ux12*ux22;
13 rx212=ux22*ux12;
14 rx222=ux22*ux22;
15
16 R1=[rx111,rx121; rx211,rx221];
17 R2=[rx112,rx122; rx212,rx222];
18
19 %by comparing
20 wdx1=2224.522827;
21 alpha221= -0.0440;
22 betax221= -0.1043/wdx1;
23 Num1= [-4.68865E-05 -0.0440];
24 Den1=[1 169.1859312 4955657.778];
25 R1=tf(Num1,Den1);
26 ux11=0.296198521+1i*0.09406993;
27 ux21=0.186029602-1i*0.28045307;
28 ux12=0.5127944257+1i*0.093757909;
29 ux22=0.3870132144+1i*0.439976111;
30 u=[ux11 ux21;ux12 ux22];
31
32 rx111=ux11*ux11;
33 rx121=ux11*ux21;
34 rx211=ux21*ux11;
35 rx221=ux21*ux21;
36 rx112=ux12*ux12;
37 rx122=ux12*ux22;
38 rx212=ux22*ux12;
39 rx222=ux22*ux22;
40
41 R1=[rx111,rx121; rx211,rx221];
42 R2=[rx112,rx122; rx212,rx222];
43
44 %by comparing
45 wdx1=2224.522827;
46 alpha221= -0.0440;
47 betax221= -0.1043/wdx1;
48 Num1= [-4.68865E-05 -0.0440];
49 Den1=[1 169.1859312 4955657.778];
MATLAB Command Window Page 2
April 3, 2017 11:39:35 PM

50 R1=tf(Num1,Den1);
51
52 %For Mode2
53 wdx2=2934.485761;
54
55 %by comparing
56 alphax222= -0.0438;
57 betax222 = 0.3406/wdx2;
58 Num2=[ 0.000116068 -0.0438];
59 Den2=[1 287.9254669 8631931.852];
60 R2=tf(Num2,Den2);
61
62 g=R1+R2;
63 bode(g)
64 >>
MATLAB Command Window Page 1
April 3, 2017 11:47:58 PM

1 >> %IN Y DIRECTRION

2 uy11=0.210269969+1i*0.15608061;
3 uy12=0.493512767+1i* 0.26744436;
4 uy21=0.149513186+j*0.072746745;
5 uy22=0.329114341+j*0.081062945;
6 u=[uy11 uy21;uy12 uy22];
7 %for mode1
8 ry111=uy11*uy11
9 ry121=uy11*uy21
10 ry211=uy21*uy11
11 ry221=uy21*uy21
12 wdy1= 1416.461614;
13 alphay221= 0.0171;
14 betay221=0.0218/wdy1;
15 %for mode 2
16 ry112=uy12*uy12
17 ry122=uy12*uy22
18 ry212=uy22*uy12
19 ry222=uy22*uy22
20 wdy2=2427.589122
21 apha222 = 0.1017;
22 beta222= 0.0534/wdy2;
23 Num1=[1.5390e-05 0.0171];
24 Den1=[ 1 107.728891 2009264.882];
25 R1=tf(Num1,Den1);
26 num2 =[2.1997e-05 0.1017];
27 den2=[1 170.0354172 5900416.957];
28 R2=tf(num2,den2);
29
30 g=R1+R2;
31 bode(g)
32
33 ry111 =
34
35 0.0199 + 0.0656i
36
37
38 ry121 =
39
40 0.0201 + 0.0386i
41
42
43 ry211 =
44
45 0.0201 + 0.0386i
46
47
48 ry221 =
49
MATLAB Command Window Page 2
April 3, 2017 11:47:58 PM

50 0.0171 + 0.0218i
51
52
53 ry112 =
54
55 0.1720 + 0.2640i
56
57
58 ry122 =
59
60 0.1407 + 0.1280i
61
62
63 ry212 =
64
65 0.1407 + 0.1280i
66
67
68 ry222 =
69
70 0.1017 + 0.0534i
71
72
73 wdy2 =
74
75 2.4276e+03
76
77 >>