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HENRIK WENTZEL
Dept. of Solid Mechanics
Royal Institute of Technology (KTH)
(SE-100 44 Stockholm) Sweden
Email: henrik.wentzel@scania.com
Telephone : ++46+8 553 807 39
Introduction
1
forces oppose this motion and so energy dissipates. Figure 1 illustrates the
phenomenon. In (Earles, 1966) it was found that the maximum damping
capacity ratio for a riveted joint is obtained if all the shearing forces are
transferred via friction such that the rivet carries no shearing force. The
theories used in (Goodman, 1959), (Ungar, 1973), and (Earles, 1966) are
clearly comparable to Johnson’s theory on contact and sliding between
spherical objects (Johnson, 1990) and based on the assumption that
Coulomb friction governs the tangential interaction in the contact area.
(
ΔW = ΔW E , Fclamp , μ , Fapplied
amplitude
)
∂ΔW ∂ΔW ∂ΔW ∂ΔW
< 0, < 0, < 0, >0
∂E ∂Fclamp ∂μ amplitude
∂Fapplied
Increasing the Young’s modulus makes all members of the joint stiffer,
thereby reducing the magnitude of all displacements including the relative
tangential slip responsible for energy loss. Increased clamping force and
increased coefficient of friction also makes the joint stiffer thereby
decreasing the amount of slip, but at the same time the slip that remains is
restrained by larger frictional forces, something that increases the energy
2
dissipation. However both analytical and experimental investigations show
that the overall result when increasing the clamping force or the coefficient
of friction is a decrease in energy loss. Finally the dissipation is strongly
influenced by the magnitude of the applied force in a positive way.
Friction models
Coulomb friction is the most widely used model for sliding but also for
micro-slip (Gaul, 2001), and several modified friction models have been
derived from it. Stribeck investigated roll bearings and noted that the
coefficient of friction decreases at the onset of sliding until a certain
velocity before it increases again (Stribeck, 1902). This behaviour is called
the Stribeck effect.
3
excitation of joined structures the velocities are low so the Stribeck effect is
rarely noticeable.
It has been noted that the energy dissipation in joints with machined contact
surfaces is influenced by the machined lay orientation (Rogers, 1975),
(Murty, 1982). Asperities are subject to plastic deformation and wear and
the influence of asperities is likely to change over time, this was measured
in (Padmanabhan, 1991) where the energy dissipation per cycle stabilized
after a couple of hundred load cycles.
4
A commonly used technique is to estimate the damping by using the half-
power points of the FRF. The damping as fraction of critical damping, ζ is
defined as the ratio between the dissipated energy per cycle and the peak
kinetic energy during vibration (times 4π). For a single Degree Of Freedom
(DOF) system with viscous damping it may be extracted from the mobility
plot as:
Δf
ζ = ,
2 fn
where Δf is the distance between the half-power points around the peak at
the natural frequency fn. This method also provides a good estimation of the
equivalent viscous damping for other types of damping and for multiple
DOF systems if the damping is small (ζ < 10 %) and the natural frequencies
are well isolated (Ewins, 1994).
J = FRFmeasured (ω ) − FRFmodel (ω ) ,
2
where the following three parameter model FRF may be used for SDOF
systems,
A
FRFmodel (ω ) = 2 .
ωn − ω + 2iζωω n
2
A(s )
FRFmodel (s ) = with
B (s )
5
1979). There are numerous other published studies on this approach, see for
example the review paper by Ibrahim (Ibrahim, 2003).
For linear systems the FRF is a system property and the same regardless of
which time history force is applied to the system. However, because of the
non-linear behaviour of joints and the increase in energy dissipation as
function of applied load amplitude, joined systems have signal dependent
FRF’s, i.e. for different input signals different FRF’s are obtained see for
example (Ewins, 2000).
Figure 2. Frequency Response Functions for a system with a bolted joint for different levels
of harmonic excitation (Gaul, 1993).
Hartwigsen used a 3-piece beam structure forming a bolted double lap joint,
which was suspended in weak elastic cords in the experimental study
6
(Hartwigsen, 2004). The structure was excited with an impact hammer and
the FRF was measured for different levels of excitation. The equivalent
viscous damping was extracted from the FRF for several modes of vibration
and it was presented in an amplitude-of-vibration to damping diagram,
Figure 3.
Locally in the joint the rate of energy dissipation increases rapidly with
increased amplitude of motion and globally this is observed as an increase
of the damping.
As the length of the slip region in the joint increases the stiffness of the joint
decreases (refer to Figure 1). For the global system this is seen as a
reduction of the resonance frequency for higher amplitudes.
7
Figure 4. Energy dissipation per cycle as a surface function of clamping force, P, and
amplitude of excitation, Tm (Padmanabhan, 1992).
Joint modeling
A good joint model should be as simple as possible and still capture all the
important physical properties of the actual joint. The important properties
considered here are the force-displacement behaviour, the resulting
hysteresis loop i.e. the damping, and the influence of velocity. The wear
aspect will not be considered at this stage nor will the possibility to create
failure criteria for the joint be investigated.
Six different joint modelling techniques from the scientific literature are
presented here together with a brief description:
8
success been used to model high-frequency vibration and acoustics in the
frequency plane.
Iwan networks model, a network of springs and sliders replaces the actual
joint. The network is calibrated to produce the desired quasi-static or
dynamic force-displacement characteristics (including the dissipation) of the
actual joint.
9
In order to estimate the energy loss during vibration and hence the damping
Ellison and Jones used substructure testing of satellites transported by the
Saturn rocket (Ellison, 1972). Modal damping for mode r is defined as
ΔWr
ζr = ,
4π ⋅ Trpeak
where Trpeak is the peak kinetic energy contained in mode r and ΔWr is the
energy loss per cycle of mode r.
ΔW i = ΔW i ( F i ) .
Each mode shape r contribute with a force on each joint i proportional to the
amplitude of that mode qr as
F i = ∑ a ri q r ,
r
where the coefficient ari depends on the geometry and the mode shape.
Thus when the structure vibrates at a single mode r the energy loss is given
by the expression
ΔWr = ∑ ΔW i = ∑ ΔW i (a ri q r ) .
i i
Recognising that for vibration at the resonance frequency the peak kinetic
energy is well determined if the amplitude of motion is known,
1 1
Trpeak = ∫ u&&2 dm = qr2ωr2 ∫ φr2 dm ,
2 mass 2 mass
where the last integral is unity if the mode shapes are normalized with
respect to the modal mass.
Since the energy loss for each mode is known as a function of the modal
coordinate the energy equivalent modal damping is obtained with the
relation
10
∑ ΔW (a q )
i i
r r
ζr = i
.
2πq r2ω r2
The method of using substructure testing and then computing the modal
forces may work on systems with low damping. However, Bowden showed
that for highly damped systems this approach leads to erroneous results,
(Bowden, 1988). For lightly damped systems the method does produce a
damping that is energy equivalent to the dissipation in the joints when the
structure vibrates at a single mode at specific amplitude. It is not calibrated
for and is not likely to produce correct damping for vibrations at several
simultaneous modes or for dynamic processes of varying amplitude.
The joint parameters are the stiffness and the viscosity of the joint material
model or the spring dashpot. In (Baraco, 1981) joints of sheet metal were
experimentally characterised by the number of bolts, clamping force and the
way the loading was applied. Different local energy equivalent viscous
damping coefficients were computed for different joints and load cases.
Coefficients that later mat be used for linear dynamic FE simulations. A
similar approach is used in (Dubigeon, 1982) for bending of bolted joints,
resulting in very simple viscous models that are treated analytically. In
(Bowden, 1988) the joints are modelled with a parallel spring and dashpot.
For any modal vibration a joint participation factor is computed which is a
measure on how much the joints are exercised during vibration.
11
largest strain in the joint region are damped the most. In the frequency
domain the FRF of a complex stiffness problem may be formulated as:
1
FRF (ω ) =
− ω M + (1 + iγ sgn (ω ))K
2
Re(λ )
ζr =
Im(λ )
Many joint models are derived from friction or material models that include
plasticity. Iwan’s material model (Iwan, 1967) consisting of a network of
spring and slider elements is currently the basis for many joint models.
These models are simplifications of the joint but permit some liberty in the
design of the force-displacement characteristics.
12
Figure 5. Schematics of parallel Iwan networks.
13
Figure 6. Force displacement hysteresis loop of a discrete parallel Iwan network of four
spring-slider units with stiffness 1 and break-free forces 1,2,3, and 4 respectively.
∞
F (u ) = ∫ ρ ( f )k [u − x( f )]df ,
0
where x(f) is the current displacement of all sliders with break-free force f.
Segalman proposes the use of the moments of distribution (Segalman, 2001)
of ρ(f) to facilitate the computation. The moments of distribution are defined
as:
θ
Λ n (θ ) = ∫ ρ ( f ) f n df
0
ρ ( f ) = Rf χ ,
14
ΔW ∝ F 3+ χ
Song et al. (Song, 2004) developed a finite element based on Iwan networks
labelled the Adjusted Iwan Beam Element (AIBE) that was used for dynamic
simulation of a joined structure. The Iwan network consisted of an infinite
number of spring-slider units all with the spring stiffness k. The break-free
forces of the spring-slider units are defined by the population distribution:
β
ρ( f ) =
2 fy
[
H ( f − (1 − β ) ⋅ f y ) − H ( f − (1 + β ) ⋅ f y ) ]
In addition, the network is adjusted by adding an extra spring with stiffness
kextra = k α without a slider in series (or, equivalently, a slider with break-
free force f = ∞). Thus, the initial stiffness of the network is k(1+α). The
AIBE element consists of two such networks, Figure 7, and can transfer
both shear forces and bending moment. It is an eight parameters model with
the parameters:
{k , α , f
1 1 y1 , β1 , k 2 , α 2 , f y 2 , β 2 }
If the initial stiffness is known in both directions the model is reduced to six
parameters, and if in addition β = 1, which implies that micro-slip occurs for
15
infinitesimal small loading the model is further reduced to four parameters.
Song et al. trained a neural network to identify the four parameters from
hammer excitation loading. Pettit used the AIBE element to model
variability in joints (Pettit, 2004) and developed a method to identify the
parameters from harmonic loading (Pettit, 2005). Comparison of simulated
data to experimental results showed good agreement, particularly for the
envelopes of the signals.
⎡ λ ⎤
E 0 x& ⎢1 + sgn ( x& ) (Et x − F )⎥
⎣ E0 ⎦,
F& =
λ
1 + κ sgn ( x& ) (Et x − F )
E0
where E0, Et, λ, and κ are constants and model parameters.
Just like the Iwan model the Valanis model fulfils what is sometimes
referred to as the Masing hypothesis (Segalman, 2006): the force-
displacement characteristics during cyclic loading may be obtained from
reflection, translation and scaling of the force-displacement characteristics
during monotonic loading.
The Valanis model seems able to capture some of the non-linear phenomena
in the joint transfer behaviour and is clearly easily implemented in existing
FE-codes.
16
The Bouc-Wen model
Wen has developed a model to describe the restoring force in a system with
hysteresis (Wen, 1976), (Wen, 1980) based on a model first introduced in
(Bouc, 1967). According to the model the following relation describes the
total restoring force in a hysteretic system:
n −1 n
z& = Ax& − α ⋅ x& ⋅ z − β ⋅ x& ⋅ z , with z(0)=0
17
Three dimensional models including friction have been used in order to
investigate the ultimate failure of open bolted joints (Bursi, 1997) and
regular lap joints (Chung, 2000). These authors found acceptable agreement
in force-displacement characteristics under monotonic loading up to the
point of maximum force. Pratt studied a conical-head bolted lap joint with
three dimensional finite element models and compared force-displacement
characteristics with experiments during cyclic loading (Pratt, 2002) using a
rather coarse mesh but still obtaining seemingly good results. The three
authors use three different solvers with slightly different numerical
implementation of the frictional interaction and they all stress the
importance of correctly choosing the analysis parameters. This is clearly an
area of ongoing research.
Figure 8. a) Details of the finite element model used by Bursi, (Bursi, 1997). b) Details of
the finite element model used by Chung, (Chung, 2000). c) Details of the finite element
model used by Pratt, (Pratt, 2002).
To overcome this problem studies have been made to use the detailed FE-
models in quasi-static simulation to compute simplified joint model
parameters. Oldsfield studied a detailed FE-model of an isolated joint and
used the results from static FE-simulations to design a parallel Iwan-
network and a Bouc-Wen model with similar properties, (Oldsfield, 2003).
Wentzel used a detailed FE-model to compute the energy dissipation in
joints during loading and computed an equivalent modal viscous damping
for the global structure (Wentzel, 2005).
18
Steady state solutions can be computed analytically for systems with a very
limited number of DOF's and Coulomb friction (Nosonovsky, 2004). This is
of limited interest in vehicle systems where steady state but rarely is reached
and the models considered often are complex with many degrees of
freedom.
Of particular interest in the future are applications where multiple modes are
excited simultaneously. Multiple mode vibration complicates joint
mechanics even more and has scarcely been treated at all. Another area
where the industry demands improvement is in the parameter estimation of
the simplified models. Most of the authors in the scientific literature on joint
models use experimental data to find suitable model parameters. Some
attempts have been made to extract parameters for simplified models from
detailed FE-models, (Oldsfield, 2003), (Wentzel, 2005). This approach will,
if proven successful, have substantial impact in the industry.
19
Concluding remarks
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