Comparison of Analytical and Lumped Element Modeling Solutions for Forced Vibration of a Clamped Circular Plate

by Ben Griffin & Matt Williams This document contains the detailed development of a lumped element model for a circular plate and compares the dynamic behavior predicted using the lumped element model with that given by an exact analytical solution.

Exact Analytical Solution

The governing equation for transverse vibration of a circular plate under a constant pressure load is (Rao 490) 2w w A 2 + + D 4 w = p , (1) t t where the meaning of each of the quantities needed for the above equation are found below. An example is provided at the end of the document using the numbers found in the last column of Table 1. Table 1: Nomenclature Expression Units m m s m m Pa kg/m3 N.m kg/m2

Symbol Description Dependent variable w Transverse displacement Independent variables Radial r coordinate t Time Geometry a Plate radius h Plate thickness Properties Young's E modulus Poisson's ratio Damping ratio Density Other Flexural D rigidity

Value Used in Example 500e 6 10e 6

149e9

0.27 0.03 2330 -

Eh3 = 12 (1 2 )

Aerial density

A = h

n *
+ p

Natural frequency Damping Pressure

= 10.2158

D A a4

rad/s kg/s/m2 Pa

0.6325 (90 dB re 20 Pa )

= 2n A -

* From Leissa, 8. More details on this expression are given in the upcoming analysis. +The equation for this quantity is deduced by comparing the governing equation to the classical mass-spring-damper equation (Rao 35).

To get the frequency response, the time harmonic form of the differential equation is of interest. Therefore, it is assumed that
w ( r , t ) = W ( r ) e j t and p ( t ) = P0 e j .

(2) (3) (4)

to get Next, letting

D 4W + ( j 2 A ) W = P0 . k4 =

2 A j
D

equation (3) becomes

4W k 4W =

P0 . D

(5)

This equation is easily solved using the factoring method. Rewriting an equation in a factored form gives 0 . (6) ( 2 k 2 )( 2 + k 2 )W = P D The solution is then the superposition of the solution to the equations

(
and

k 2 )W = 0

(7)

+ k 2 )W = 0 ,

(8)

in addition to the particular solution. Equations (7)-(8) are Bessel equations whose solutiosn are well known (King 58). The overall solution to equation (6) is W ( r ) = c1 J 0 ( kr ) + c2Y0 ( kr ) + c3 I 0 ( kr ) + c4 K 0 ( kr ) P0 . k 4D (9)

Two of the Bessel functions ( Y0 and K 0 ) become unbounded at the origin, which is not a physical feature of the solution for a solid circular plate. Thus, c2 = c4 = 0 and equation (9) becomes

W ( r ) = c1 J 0 ( kr ) + c3 I 0 ( kr ) The boundary conditions for a clamped plate are

W ( r = a ) = 0 and

P0 . k 4D

(10)

dW dr

= 0,
r =a

(11)

meaning that there is no displacement or rotation at the outer edge of the plate. Applying these boundary conditions, the final solution is
W (r ) = P0 I1 ( ka ) J 0 ( kr ) + J1 ( ka ) I 0 ( kr ) 1 . k 4 D I1 ( ka ) J 0 ( ka ) + J1 ( ka ) I 0 ( ka ) (12)

The natural frequency can be found by letting the denominator of equation (12) be equal to zero (ie unbounded response) and solving for the roots k . The first root is that found in Table 1, 10.2158 (Leissa 8). Equation (4) may then be used to solve for the natural frequency (letting = 0 ). In summary, the frequency response for a circular plate may be found from equations (12) and (4), where the frequency is varied over some range of interest.

Lumped Element Model

Static Solution Approach
With the appropriate mass, damping, and compliance terms, the plate may be lumped into a spring-mass-damper system with displacement x governed by (Bendat & Piersol 34)

+ M me  x + Rme x

1 x = pAeff , Cme

(13)

where the nomenclature is chosen to be compatible with the equivalent circuit form of the system and the me subscripts stand for the mechanical domain, meaning the effort and flow variables are force and velocity, respectively. In lumped element modeling, the wavelength of the physical phenomenon of interest is assumed to be much greater than the device dimensions. This allows the spatial and temporal terms in the governing equation (1) to be decoupled, allowing the dynamic behavior to be predicted using the solution of the static equation. The mass-springdamper system of equation (13) may be represented by the equivalent circuit shown in Figure 1.

Mme Cme Rme

Figure 1: Equivalent circuit for mass-spring-damper system

PAeff

The mass and compliance are found from the static solution of the governing differential equation (1). The static solution may be found from taking the limit of equation (12) as k 0 or from solving equation (1) with time derivatives removed. Using either method, the static solution (denoted by the subscript s) is
pa 4 r ws ( r ) = 1 64 D a
2

(14)

Referring back to equation (13), it is convenient to let the displacement x equal the plate center displacement, that is x = ws ( 0 ) . Equation (14) may then be rewritten
r 2 ws ( r ) = x 1 , a
2

(15)

where x= pa 4 . 64 D (16)

To find the lumped compliance of the distributed system, the potential energy stored in a spring with compliance Cme , 1 1 2 U= x , (17) 2 Cme is set equal to the potential energy stored in the plate. The potential energy stored in the plate is (Boresi & Schmidt 472, Solecki & Conant 649, Rao 459)
2 a

U=

1 2

d 2w 2 dr 0

d 2w dr 2 1 d 2 w 1 D rdrd . 2 r dr 2 1 1 d w r dr 2

(18)

Evaluating this expression yields U=

32 D 2 x . 3a 2

(19)

Setting (19) equal to (17) and solving for Cme yields

Cme =

3a 2 . 64 D

(20)

The equivalent (or "lumped") mass of the circular plate is found by setting the kinetic energy of the plate equal to the kinetic energy of the equivalent mass,
T=

1 2 . M me x 2

(21)

The kinetic energy of a vibrating circular plate is given by (Rao 460) 1 T= 2

2 a

dw A rdrd . dt 0

(22)

It is desired to use the static mechanical model to evaluate this integral, so it is assumed that

 dw x = j ws = ws . dt x
Evaluating the integral yields
T=

(23)

1 2 . A a 2 x 10

(24)

Finally, setting equation (24) equal to (21) yields the lumped mass,
M me =

1 A a 2 . 5

(25)

Finally, the damping (or resistance) term is addressed. Comparing equation (13) to that of a classical mass-spring damper system (Rao 35) reveals
Rme = 2n M me = 2 M me . Cme

(26)

With M me , Cme , and Rme known, the frequency response of the system is found from taking the Fourier transform of equation (13) and rearranging to yield
Aeff x . = P0 2 M + j R + 1 me me Cme

(27)

The effective area up to this point has been ignored. It represents an effective area over which the pressure must be distributed to yield the displacement x when the compliance is Cme . Thus, it can be found from the equation x = pAeff Cme . (28) Substituting equations (16) and (20) into (28) and solving for the effective area yields

Aeff =

a2
3

(29)

In general, in problems like this where pressure is a more natural effort variable, it is convenient to let the flow variable be volume displacement,
V = w ( r ) 2 rdr .
a 0

(30)

Evaluating this integral,

V = xAeff .
The mass, compliance, and damping (resistance) in the acoustic domain therefore become
M ac = Rac = M me 9 A , = Aeff 2 5 a 2 M ac , Cac

(31)

(32) (33) (34)

Rme = 2 Aeff 2

and

Cac = Aeff 2Cme =

a6
192 D

The frequency response is then given as

V 1 = . 2 M ac + Rac + Cac P0

(35)

Note that although in this case the acoustic lumped elements were derived from the mechanical lumped elements, for problems such as this it is in general better to work directly in the acoustic domain. In summary, the frequency response of the circular plate may be found from lumped element modeling using equation (27) together with the lumped element definitions, equations (20), (25), and (26).

Series Expansion Approach

An alternative approach to finding the lumped elements is to find a generalized impedance relating the effort and flow variables using the solution of the time harmonic differential equation. In this section, the elements will be derived in the acoustic domain. The acoustic impedance for the plate defined as (Blackstock 47) p (36) Z ac = av , q where q is the volume velocity defined as a dw q= 2 rdr (37) 0 dt and the average pressure, pav , is simply equal to p since it is a constant over the area of the plate. Next, applying equation (2) to (37) yields the time harmonic form of the volume velocity,
q = jWe jt 2 rdr
0 a

= Qe

jt

(38)

Applying the time harmonic forms of the volume velocity and the pressure (equation (2)) to the impedance relation (36) yields P (39) Z ac = 0 . Q Evaluating Q using equation (38) yields the generalized acoustic impedance for the plate. Details of this calculation are not given here but it is easily accomplished using MAPLE or other mathematics software. The actual acoustic impedance of the plate, employing no approximations beyond the assumptions made in the original differential equation, is
D ( ka ) I1 ( ka ) J 0 ( ka ) + J1 ( ka ) I 0 ( ka ) Z ac = . 6 j a 4 I1 ( ka ) J1 ( ka ) ( ka ) I1 ( ka ) J 0 ( ka ) + J1 ( ka ) I 0 ( ka )
5

(40)

The lumped elements may be found from this generalized impedance by taking the series solution about ka = 0 (also easily performed using MAPLE). The first three terms of this series solution are
192 D 9 jD ( ka ) 47 jD ( ka ) Z ac = + + + ... 6 6 j a 5 a 134400 a 6
4 8

(41)

The first two terms represent the lumped compliance and mass, respectively. The third term is a higher order term that may be dropped for frequencies up to and just beyond the first resonance. In the other method, calculating the error in the lumped assumption is not straightforward, but using this method, the higher order terms are known and their importance may be easily calculated. Simplifying equation (41) by dropping the third term and making use of equation (4)

allows recovery of the lumped elements, which match exactly with those of equations (32)-(34). The acoustic impedance is 192 D 9 jD ( ka ) + Z ac j a 6 5 a 6 1 192 D 9 A = + j . 6 2 j N a a 5 N
4 1 Cac M ac

(42)

Comparison of Analytical and LEM Solutions

Equation (12) and (4) give the exact analytical solution for the frequency response of a circular plate; meanwhile, equation (27) gives the frequency response derived using the lumped element model. In Figure 2, these two methods are compared using the inputs originally given in Table 1. Note that the lumped element model is good to just beyond the first resonance. The additional resonances predicted in the exact analytical solution are results of the spatially distributed nature of the actual circular plate. The lumped element model cannot predict additional resonances because the mass-spring-damper system has only one.
10 Deflection Sensitivity (m/Pa)
-8

Analytical LEM 10
-9

10

-10

10

-11

10

-12

10

10

10 Frequency (Hz)

10

10

Figure 2: Comparison of frequency response from analytical solution and LEM

Figure 3 shows the comparison between the exact acoustic impedance given by equation (40) and the lumped acoustic impedance (using the truncated series), equation (42). Just as with the deflection sensitivity, the lumped approximation is good to just beyond the first resonance.

10 Acoustic Impedance (Pa*s/m7)

14

10

12

10

10

Zac Exact 10
8

Zac LEM
2

10

10

10 Frequency (Hz)

10

10

Figure 3: Comparison of exact and lumped element acoustic impedances

References

Bendat, Julius S. and Piersol, Allan G. Random Data Analysis and Measurement Procedures. 3rd ed. New York: John Wiley & Sons, 2000. Blackstock, David T. Fundamentals of Physical Acoustics. New York: John Wiley & Sons, 2000. Boresi, Arthur P. and Schmidt, Richard J. Advanced Mechanics of Materials. 6th ed. John Wiley & Sons, 2003. King, A.C., Billingham, J., and Otto, S.R. Differential Equations: Linear, Nonlinear, Ordinary, Partial. Cambridge: Cambridge University Press, 2003. Leissa, Arthur. Vibration of Plates. Acoustical Society of America, 1993. Rao, Singiresu S. Vibration of Continuous Systems. Hoboken, New Jersey: John Wiley & Sons, 2007. Solecki, Roman and Conant, R. Jay. Advanced Mechanics of Materials. New York: Oxford University Press, 2003.

Appendix: MATLAB Code

The MATLAB code used to generate Figure 2 is found below.
close all clear all %% Inputs % Geometry a = 500E-6; %Radius (m) h = 10E-6; % Thickness (m) % Properties E = 149E9; % Young's Modulus (Pa) nu = 0.27; % Poisson's ratio zeta = 0.03; % Damping coefficient rho = 2.33e3; % Density (kg/m^3)

% Other D = E*h^3/(12*(1-nu^2)); % Flexural rigidity rhoA = rho*h; % Aerial density (kg/m^2) omegan = 10.2158/a^2*sqrt(D/rhoA); % Natural frequency upsilon = 2*omegan*zeta*rhoA; % Damping term for plate solution SPL = 90; % Sound Pressure Level (dB) pref = 20E-6; % Reference pressure (Pa) P0 = pref*10^(SPL/20); % Applied pressure (Pa) f = logspace(2,6,1000); % Frequency vector (Hz) omega = 2*pi*f; % Angular frequency vector (rad/s) r = 0; % (m) % Radial position at which to find displacement %% Exact Analytical Solution k = ((omega.^2*rhoA-j*omega*upsilon)/D).^(1/4); W = P0./(k.^4*D).*((besseli(1,k*a).*besselj(0,k*r) + besselj(1,k*a).*besseli(0,k*r))./(besseli(1,k*a).*besselj(0,k*a) + besselj(1,k*a).*besseli(0,k*a)) - 1); b=besseli(1,k*a).*besselj(0,k*a)+besselj(1,k*a).*besseli(0,k*a); Zac = D*(k*a).^5./(j*omega*pi*a^6).*b./(4*besseli(1,k*a).*besselj(1,k*a)-(k*a).*b); %% Lumped Element Solution Cme = 3*a^2/(64*pi*D); % Lumped compliance (m/N) Mme = a^2*pi*rhoA/5; % Lumped mass (kg) Aeff =pi*a^2/3; % Effective area (m^2) Zac_LEM = 1./(j*omega*Cme)/Aeff^2+j*omega*Mme/Aeff^2; Zac_LEM2 = Zac_LEM+47/134400*j*D*(k*a).^8./(omega*pi*a^6); SYS = tf([Aeff],[Mme,2*zeta*sqrt(Mme/Cme),1/Cme]); % FRF [X_P,PHASE] = bode(SYS,omega); %% Compare Solutions figure('units','inches','position',[3 3 4 3]) loglog(f,abs(W/P0),'b-',f,permute(X_P,[1 3 2]),'r--','LineWidth',2) legend('Analytical','LEM','Location','NorthWest') xlabel('Frequency (Hz)'),ylabel('Deflection Sensitivity (m/Pa)') figure('units','inches','position',[3 3 4 3]) loglog(f,abs(Zac),'b-',f,abs(Zac_LEM),'r--','LineWidth',2) legend('Z_{ac} Exact','Z_{ac} LEM','Location','SouthWest') xlabel('Frequency (Hz)'),ylabel('Acoustic Impedance (Pa*s/m^7)')