Created in COMSOL Multiphysics 6.

Bracket — Random Vibration Analysis

This model is licensed under the COMSOL Software License Agreement 6.2.
All trademarks are the property of their respective owners. See www.comsol.com/trademarks.
Introduction
The various examples based on a bracket geometry form a suite of tutorials that
summarizes the fundamentals of modeling structural mechanics problems in COMSOL
Multiphysics and the Structural Mechanics Module.

This example shows how to perform a random vibration analysis for a structure using
power spectral density (PSD). The computations are based on the modal reduced-order
model (ROM).

Model Definition
The model geometry is represented in Figure 1.

Figure 1: Bracket geometry. Rigid connector and its center of rotation are shown using special
physics symbols.

The bracket is made of structural steel. Four smaller holes in the bracket are fully
constrained to represent a bolted connection.

A pin connects two larger holes in the bracket arms. The pin is assumed to be perfectly
rigid and is modeled with a rigid connector. Thus, the pin is not represented in the model
geometry.

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The rigid connector has the translational and rotational degrees of freedom of a rigid body.
Options for this feature include applying an external load to such a rigid body. In this
tutorial, you use two components of the load as random excitations applied to the
structure. The input PSD for the load components are shown in Figure 2.

Figure 2: Input PSD for random load components. Log-log scale is used.

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Figure 3: The damping ratio curve.

Rayleigh damping is chosen here with relative damping set to 0.05 and 0.03 at the
frequencies 400 Hz and 700 Hz, respectively. The damping ratio curve is shown in
Figure 3.

The two applied load components are assumed to be uncorrelated. Physically, this means
that it is two different sources of excitation which cause the load in the two directions.

You will compute the displacement response at a point with coordinates: X = 0, Y = 0,

Z  0.045, which is a representative location in the lower plate of the bracket.

Results and Discussion

Figure 4 shows the PSD for two displacement components, calculated for the frequency
range that contains the first three natural frequencies of the structure. Note that there are
three peaks on the resulting PSD. The left and right ones correspond to two natural
frequencies of the structure, while the middle peak corresponds to the maximum of the
input excitation.

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The cross-correlation between the two displacement components is shown in Figure 5.

Figure 4: PSD for the horizontal (U) and vertical (W) displacement response at the selected
location.

Figure 5: Cross-correlation between the horizontal and vertical displacement response at the
selected location.

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Figure 6 and Figure 7 show the PSD for the horizontal and vertical displacement,
respectively, computed at a particular frequency.

Figure 6: PSD of u-displacement component (m2/Hz).

Figure 7: PSD of w-displacement component (m2/Hz).

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Figure 8, Figure 9, and Figure 10 show the RMS for the horizontal and vertical
displacements, as well as for the displacement magnitude, computed using integration of
their corresponding PSD over the frequency range from 150 to 800 Hz.

Figure 8: RMS of u-displacement component (m).

Figure 9: RMS of w-displacement component (m).

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Figure 10: RMS of displacement magnitude (m).

Since the horizontal displacement is dominant, Figure 8 and Figure 10 are almost
identical.

In Figure 11, the RMS of the total acceleration is shown. It can be noted that the
distribution over the structure differs fundamentally from that of the displacement
(Figure 10). The reason is that the vertical motion of the central section of the bracket is
related to a higher eigenfrequency than the horizontal motion of the two arms. This is why
accelerations are more pronounced than displacements in this part of the bracket.

In Figure 10, the RMS of the von Mises equivalent stress is shown.

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Figure 11: RMS of acceleration magnitude (m/s2).

Figure 12: RMS of von Mises stress (Pa).

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The interpretation of results from a random vibration analysis requires special attention.
Usually, the RMS is the important result. The RMS is defined as

T
1-

2
u RMS = --- u  t  dt (1)
T
o

for some long time T. In many cases, you are more interested in the maximum value than
in the RMS. For many statistical distributions, for example the normal distribution, the tail
of the distribution extends to infinity. Mathematically the response can then reach an
arbitrarily high value with a probability that increases with time.

In practice, it is customary to assume that the maximum value does not exceed the RMS
value multiplied by a certain factor. This factor is often taken as 3 or 4. Thus, the maximum
stress can be estimated to 50 to 65 MPa.

For vibrating structures, fatigue is often a more important aspect than the maximum stress.
In the Fatigue Module, you can find an example where this model is extended by a fatigue
analysis.

Notes About the COMSOL Implementation

The simplest way to set up a random vibration analysis in COMSOL Multiphysics is to add
a predefined study called Random Vibration (PSD). This will automatically add two study
nodes configured to act as a sequence.

The first added study is an eigenfrequency analysis that serves as a basis for the modal
reduced-order model (ROM) required for the system response analysis. Note that any
Damping nodes should be manually disabled under this study node for all structural
interfaces in the model. This is needed because the eigenmode extraction should be always
done for undamped system.

It is enough to compute the last of the two studies. This will automatically compute the
requested number of eigenfrequencies and then create a ROM based on the computed
eigenmodes.

When you add a Random Vibration (PSD) study, a Reduced-Order Modeling node with
subnodes will be also added automatically under Global Definitions. These nodes are used
for specifying the model control parameters (inputs) and to enter expressions for the input
PSD to be used in the random vibration computations. Such computations are performed
as postprocessing steps. However, if the PSD expressions are changed under Global
Definitions, a solution update might be needed.

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The evaluations are done using special operators that become available as part of the
random vibration analysis.

The input PSD as functions of the frequency are often specified using linear interpolation
in the log-log representation of the data. You can see how to set up such functions in the
model.

Two action buttons are provided in the Damping Settings section in order to visualize the
damping ratio with respect to frequency. The first button shows a dynamic preview plot of
the damping ratio, while the second button generates a plot in the Results node.

Application Library path: Structural_Mechanics_Module/Tutorials/

bracket_random_vibration

Modeling Instructions

ROOT
This file serves as starting point for various examples based on a bracket geometry. It sets
up the model geometry, material, and mesh. It also adds a Solid Mechanics interface with
a fixed constraint applied to the bolt holes.

APPLICATION LIBRARIES
1 From the File menu, choose Application Libraries.
2 In the Application Libraries window, select Structural Mechanics Module>Tutorials>
bracket_basic in the tree.
3 Click Open.

ADD STUDY
1 In the Home toolbar, click Add Study to open the Add Study window.
2 Go to the Add Study window.
3 Find the Studies subsection. In the Select Study tree, select
Preset Studies for Selected Physics Interfaces>Random Vibration (PSD).
4 Right-click and choose Add Study.
5 In the Home toolbar, click Add Study to close the Add Study window.

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SOLID MECHANICS (SOLID)

Linear Elastic Material 1

In the Model Builder window, expand the Component 1 (comp1)>Solid Mechanics (solid)
node, then click Linear Elastic Material 1.

Damping 1
1 In the Physics toolbar, click Attributes and choose Damping.
2 In the Settings window for Damping, locate the Damping Settings section.
3 From the Input parameters list, choose Damping ratios.
4 In the f1 text field, type 400.
5 In the 1 text field, type 0.05.
6 In the f2 text field, type 700.
7 In the 2 text field, type 0.03.
In order to visualize the damping ratio curve, preview the Damping Ratio plot through
an action button from the Damping Settings section.
8 Click Damping Ratio Preview in the upper-right corner of the Damping Settings section.
From the menu, choose Damping Ratio Preview.

STUDY 1

Step 1: Eigenfrequency
You need to disable the damping for this study because the eigenmode computation
should be performed for the undamped system. The damping will however be used in the
following modal reduced-order model and random response analysis.

1 In the Model Builder window, under Study 1 click Step 1: Eigenfrequency.

2 In the Settings window for Eigenfrequency, locate the Physics and Variables Selection
section.
3 Select the Modify model configuration for study step check box.
4 In the tree, select Component 1 (comp1)>Solid Mechanics (solid)>
Linear Elastic Material 1>Damping 1.
5 Right-click and choose Disable.

GLOBAL DEFINITIONS
Set up two control parameters to be used as loads.

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Global Reduced-Model Inputs 1
1 In the Model Builder window, expand the Global Definitions>Reduced-Order Modeling
node, then click Global Reduced-Model Inputs 1.
2 In the Settings window for Global Reduced-Model Inputs, locate the Reduced-Model Inputs
section.
3 In the table, enter the following settings:

Control name Expression

Fx 100[N]
Fz 100[N]

SOLID MECHANICS (SOLID)

Now add a rigid connector to the holes in the bracket arms to simulate the presence of a
connecting pin.

Rigid Connector 1
1 In the Physics toolbar, click Boundaries and choose Rigid Connector.
2 In the Settings window for Rigid Connector, locate the Boundary Selection section.
3 From the Selection list, choose Pin Holes.
By default the location of the center of rotation is computed automatically. You can also
manually specify its location.
To visualize its position you need to enable the physics symbols.
4 In the Model Builder window, click Solid Mechanics (solid).
5 In the Settings window for Solid Mechanics, locate the Physics Symbols section.
6 Select the Enable physics symbols check box.
The displacement of the rigid connector in the y direction and all rotations are
constrained.
7 In the Model Builder window, click Rigid Connector 1.
8 In the Settings window for Rigid Connector, locate the
Prescribed Displacement at Center of Rotation section.
9 Select the Prescribed in y direction check box.
10 Locate the Prescribed Rotation section. From the By list, choose Constrained rotation.
11 Select the Constrain rotation around x-axis check box.
12 Select the Constrain rotation around y-axis check box.
13 Select the Constrain rotation around z-axis check box.

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Applied Force 1
1 In the Physics toolbar, click Attributes and choose Applied Force.
Apply a load at the center of rotation of the rigid body.
2 In the Settings window for Applied Force, locate the Applied Force section.
3 Specify the F vector as

Fx x
0 y
Fz z

DEFINITIONS

Variables 1
1 In the Model Builder window, under Component 1 (comp1) right-click Definitions and
choose Variables.
Set up variables to evaluate the displacement components at a selected point.
2 In the Settings window for Variables, locate the Variables section.
3 In the table, enter the following settings:

Name Expression Unit Description

U at3(0, 0, -0.045, u) m Displacement, X component
W at3(0, 0, -0.045, w) m Displacement, Z component

STUDY 2

Frequency Domain 1
1 In the Model Builder window, expand the Step 1: Model Reduction node, then click
Frequency Domain 1.
2 In the Settings window for Frequency Domain, locate the Study Settings section.
3 In the Frequencies text field, type 500.

STUDY 1
In the Home toolbar, click Compute.

STUDY 2
The computation of the solution for Study 2 will find the requested number of
eigenfrequencies and create a reduced-order model based on the computed eigenmodes.

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1 Click Compute.

GLOBAL DEFINITIONS
Next, set up the input PSD for the random loads.

PSD of load
1 In the Home toolbar, click Functions and choose Global>Interpolation.
2 In the Settings window for Interpolation, type PSD of load in the Label text field.
3 Locate the Definition section. In the Function name text field, type PSD.
4 In the table, enter the following settings:

t f(t)
400 0.01
500 5^2
600 10^2
700 3^2
800 0.01

5 Locate the Units section. In the Argument table, enter the following settings:

Argument Unit
t Hz

6 In the Function table, enter the following settings:

Function Unit
PSD N^2/Hz

7 Click to expand the Data Transformation for Interpolation section. From the Argument
list, choose Logarithmic.
8 From the Function list, choose Logarithmic.

Random Vibration 1 (rvib1)

Assume that the two random loads are uncorrelated, and have different power spectral
densities.

1 In the Model Builder window, under Global Definitions>Reduced-Order Modeling click

Random Vibration 1 (rvib1).
2 In the Settings window for Random Vibration, locate the Power Spectrum section.

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3 In the table, enter the following settings:

Control name Power spectral density

Fx PSD(freq+250[Hz])
Fz PSD(freq)

4 Locate the Output Operator Settings section. In the Lower frequency limit text field, type
150.

5 In the Upper frequency limit text field, type 800.

Update the study to make the input change available for the solution.

STUDY 2
In the Study toolbar, click Update Solution.

RESULTS

Global Evaluation Sweep 1

1 In the Results toolbar, click More Derived Values and choose Other>
Global Evaluation Sweep.
Plot the input PSD for the load components in a range of frequencies containing first
three natural frequencies of the structure.
2 In the Settings window for Global Evaluation Sweep, locate the Data section.
3 From the Dataset list, choose Study 2/Solution 2 (sol2).
4 Locate the Parameters section. In the table, enter the following settings:

Parameter name Parameter value list

freq range(150,5,800)[Hz]

5 Locate the Expressions section. In the table, enter the following settings:

Expression Unit Description

PSD(freq+250[Hz]) N^2/Hz PSD of load, X component
PSD(freq) N^2/Hz PSD of load, Z component

6 Click Evaluate.

TABLE 1
1 Go to the Table 1 window.
2 Click Table Graph in the window toolbar.

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RESULTS

Table Graph 1
1 In the Model Builder window, under Results>1D Plot Group 2 click Table Graph 1.
2 In the Settings window for Table Graph, locate the Coloring and Style section.
3 Find the Line markers subsection. From the Marker list, choose Cycle.
4 From the Positioning list, choose Interpolated.
5 Click to expand the Legends section. Select the Show legends check box.
6 Click the x-Axis Log Scale button in the Graphics toolbar.
7 Click the y-Axis Log Scale button in the Graphics toolbar.

PSD of Loads
1 In the Model Builder window, under Results click 1D Plot Group 2.
2 In the Settings window for 1D Plot Group, type PSD of Loads in the Label text field.
3 Locate the Legend section. From the Position list, choose Middle left.

The random response computations can be performed as postprocessing steps using the
updated solution. First, evaluate and plot the PSD for the displacement response at the
chosen point.

Global Evaluation Sweep 2

1 In the Results toolbar, click More Derived Values and choose Other>
Global Evaluation Sweep.
2 In the Settings window for Global Evaluation Sweep, locate the Parameters section.
3 In the table, enter the following settings:

Parameter name Parameter value list

freq range(150,5,800)[Hz]

4 Locate the Expressions section. In the table, enter the following settings:

Expression Unit Description

rvib1.psd(U) m^2/Hz PSD of U displacement
rvib1.psd(W) m^2/Hz PSD of W displacement

5 Locate the Data section. From the Dataset list, choose Study 2/Solution 2 (sol2).
6 Click Evaluate.

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TABLE 2
1 Go to the Table 2 window.
2 Click Table Graph in the window toolbar.

RESULTS

Table Graph 1
1 In the Model Builder window, under Results>1D Plot Group 3 click Table Graph 1.
2 In the Settings window for Table Graph, locate the Coloring and Style section.
3 Find the Line markers subsection. From the Marker list, choose Cycle.
4 From the Positioning list, choose Interpolated.
5 Click the x-Axis Log Scale button in the Graphics toolbar.
6 Locate the Legends section. Select the Show legends check box.

PSD of Displacements
1 In the Model Builder window, under Results click 1D Plot Group 3.
2 In the Settings window for 1D Plot Group, type PSD of Displacements in the Label text
field.
3 Locate the Legend section. From the Position list, choose Upper middle.

Global Evaluation Sweep 3

1 In the Results toolbar, click More Derived Values and choose Other>
Global Evaluation Sweep.
Evaluate and plot the cross-correlation for two different components of displacement
responses at the chosen point. For verification, you also plot the nonrandom frequency
response result.
2 In the Settings window for Global Evaluation Sweep, locate the Parameters section.
3 In the table, enter the following settings:

Parameter name Parameter value list

freq range(150,5,800)[Hz]

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4 Locate the Expressions section. In the table, enter the following settings:

Expression Unit Description

real(rvib1.cross(U,W)) m^2/Hz Cross-correlation of U and
W, real part
imag(rvib1.cross(U,W)) m^2/Hz Cross-correlation of U and
W, imaginary part
abs(rvib1.cross(U,W)) m^2/Hz Cross-correlation of U and
W, absolute value

5 Locate the Data section. From the Dataset list, choose Study 2/Solution 2 (sol2).
6 Click next to Evaluate, then choose New Table.

TABLE 3
1 Go to the Table 3 window.
2 Click Table Graph in the window toolbar.

RESULTS

Table Graph 1
1 Click the x-Axis Log Scale button in the Graphics toolbar.
2 In the Model Builder window, under Results>1D Plot Group 4 click Table Graph 1.
3 In the Settings window for Table Graph, locate the Legends section.
4 Select the Show legends check box.

Cross Correlation (U,V)

1 In the Model Builder window, under Results click 1D Plot Group 4.
2 In the Settings window for 1D Plot Group, type Cross Correlation (U,V) in the Label
text field.
3 Locate the Plot Settings section.
4 Select the x-axis label check box. In the associated text field, type Frequency [Hz].
5 Select the y-axis label check box. In the associated text field, type Cross correlation
(U,V) [m^2/Hz].

6 Locate the Legend section. From the Position list, choose Upper left.
7 In the Cross Correlation (U,V) toolbar, click Plot.

Plot the distribution over the structure of the PSD for two displacement components.

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PSD, u-displacement
1 In the Home toolbar, click Add Plot Group and choose 3D Plot Group.
2 In the Settings window for 3D Plot Group, type PSD, u-displacement in the Label text
field.
3 Locate the Data section. From the Dataset list, choose Study 2/Solution 2 (sol2).

Surface 1
1 Right-click PSD, u-displacement and choose Surface.
2 In the Settings window for Surface, locate the Expression section.
3 In the Expression text field, type rvib1.psd(u).
4 Select the Description check box. In the associated text field, type Displacement, X
component, PSD.

5 In the Unit field, type m^2/Hz.

6 In the PSD, u-displacement toolbar, click Plot.

PSD, u-displacement
In the Model Builder window, right-click PSD, u-displacement and choose Duplicate.

PSD, w-displacement
1 In the Model Builder window, under Results click PSD, u-displacement 1.
2 In the Settings window for 3D Plot Group, type PSD, w-displacement in the Label text
field.

Surface 1
1 In the Model Builder window, expand the PSD, w-displacement node, then click Surface 1.
2 In the Settings window for Surface, locate the Expression section.
3 In the Expression text field, type rvib1.psd(w).
4 In the Description text field, type Displacement, Z component, PSD.
5 In the PSD, w-displacement toolbar, click Plot.
Plot the distribution over the structure of the RMS of the displacement components.
Random vibration plots can take a long time to generate, so it is a good idea not to
replot unless explicitly requested. Also, storing the plots in the saved file can save time
when reopening the model.
6 In the Model Builder window, click Results.
7 In the Settings window for Results, locate the Update of Results section.
8 Select the Only plot when requested check box.

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9 Locate the Save Data in the Model section. From the Save plot data list, choose On.

PSD, u-displacement
In the Model Builder window, under Results right-click PSD, u-displacement and choose
Duplicate.

RMS, u-displacement
1 In the Model Builder window, under Results click PSD, u-displacement 1.
2 In the Settings window for 3D Plot Group, type RMS, u-displacement in the Label text
field.
3 Click to expand the Title section. From the Title type list, choose Custom.
4 Find the Solution subsection. Clear the Solution check box.

Surface 1
1 In the Model Builder window, expand the RMS, u-displacement node, then click Surface 1.
2 In the Settings window for Surface, locate the Expression section.
3 In the Expression text field, type rvib1.rms(u).
4 In the Description text field, type Displacement, X component, RMS.
5 Locate the Coloring and Style section. Click Change Color Table.
6 In the Color Table dialog box, select Rainbow>Prism in the tree.
7 Click OK.
8 In the RMS, u-displacement toolbar, click Plot.
The plotting will take some time because it implies integration over the whole selected
frequency range at each location in the structure.

RMS, u-displacement
In the Model Builder window, right-click RMS, u-displacement and choose Duplicate.

RMS, w-displacement
1 In the Model Builder window, under Results click RMS, u-displacement 1.
2 In the Settings window for 3D Plot Group, type RMS, w-displacement in the Label text
field.

Surface 1
1 In the Model Builder window, expand the RMS, w-displacement node, then click Surface 1.
2 In the Settings window for Surface, locate the Expression section.
3 In the Expression text field, type rvib1.rms(w).
4 In the Description text field, type Displacement, Z component, RMS.

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5 In the RMS, w-displacement toolbar, click Plot.

RMS, von Mises stress

1 In the Home toolbar, click Add Plot Group and choose 3D Plot Group.
2 In the Settings window for 3D Plot Group, type RMS, von Mises stress in the Label
text field.
3 Locate the Data section. From the Dataset list, choose Study 2/Solution 2 (sol2).

Surface 1
1 Right-click RMS, von Mises stress and choose Surface.
2 In the Settings window for Surface, locate the Expression section.
3 In the Expression text field, type rvib1.q2sq(solid.mises_rv).
4 Select the Description check box. In the associated text field, type Stress, von Mises,
RMS.

5 Locate the Coloring and Style section. Click Change Color Table.
6 In the Color Table dialog box, select Rainbow>Prism in the tree.
7 Click OK.
8 In the RMS, von Mises stress toolbar, click Plot.

RMS, von Mises stress

In the Model Builder window, right-click RMS, von Mises stress and choose Duplicate.

RMS, displacement
1 In the Model Builder window, under Results click RMS, von Mises stress 1.
2 In the Settings window for 3D Plot Group, type RMS, displacement in the Label text
field.

Surface 1
1 In the Model Builder window, expand the RMS, displacement node, then click Surface 1.
2 In the Settings window for Surface, locate the Expression section.
3 In the Expression text field, type rvib1.q2sq(solid.disp_rv).
4 In the Description text field, type Displacement, magnitude, RMS.
5 In the RMS, displacement toolbar, click Plot.

RMS, displacement
In the Model Builder window, right-click RMS, displacement and choose Duplicate.

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RMS, acceleration
1 In the Model Builder window, under Results click RMS, displacement 1.
2 In the Settings window for 3D Plot Group, type RMS, acceleration in the Label text
field.

Surface 1
1 In the Model Builder window, expand the RMS, acceleration node, then click Surface 1.
2 In the Settings window for Surface, locate the Expression section.
3 In the Expression text field, type rvib1.q2sq(solid.utt_rv).
4 In the Description text field, type Acceleration, magnitude, RMS.
5 In the RMS, acceleration toolbar, click Plot.

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