Apresenta uma nova técnica de identificação estocástica para estruturas sujeitas a excitação ambiente utilizando um método não recursivo, a análise estatística e a transformada wavelet. A análise estatística contribui para a seleção da melhor ordem para o sistema e automação dos procedimentos computacionais. Em geral há dificuldade para a identificação de baixas freqüências. A transformada wavelet é uma ferramenta fundamental para a compressão de dados e torna possível a identificação completa incluindo baixas freqüências e modos acoplados, além de melhorar significativamente a eficiência computacional do método. É apresentado o estudo de três sistemas simulados e os resultados obtidos são comparados aos parâmetros modais teóricos. / A new form to carry out stochastic identification of structures in operational conditions using a non recursive method, the statistic analysis and the wavelet transform, is presented. The statistic analysis contributed to select the best system order and to automation of computational procedures. In general the identification of low frequencies is a difficult task. The wavelet transform is an essential tool for compression of data making possible the complete identification including low frequencies. In addition it improves the computational efficiency. The study of three simulated system is presented and the results are compared with the analytical modal parameters.

This study presents the investigation and the verification of the modal parameters of a plate-like structure by using different modal analysis methods. A fin-like structure which is generally used in aircraft is selected as a subcategory of a plate-like test structure. In the first part of the thesis, the natural frequencies and the corresponding mode shapes of the fin are extracted by Finite Element Analysis method. Classical Modal Analysis and Testing methods comprising both impact hammer and modal shaker applications are then applied in order to obtain the modal parameters such as / resonance frequencies, mode shapes and damping ratios. In the second part, a recent modal analysis technique, Operational Modal Analysis, is also applied in the laboratory environment. Since Operational Modal Analysis method does not require any information of input forcing, the fin structure is tested under both mechanical and acoustical types of excitations without measuring the given input forces. Finally, Operational Modal Analysis and Testing is also performed under various flow conditions generated in the wind tunnel which may simulate the real operating environment for the fin structure. The modal parameters extracted under these flow conditions are then compared with the previously obtained Finite Element, Classical and Operational Modal Analyses results.

[pt] Análise modal consiste na caracterização de um sistema através dos seus parâmetros modais. Quando a principal excitação é causada pelo ambiente em que o sistema está inserido, essa caracterização é definida como análise modal operacional (OMA). Nestes casos, os forçamentos não são conhecidos (mensuráveis) e apenas as respostas são monitoradas. Por terem natureza aleatória, esses sinais precisam ser incorporados ao modelo numérico através de processos estocásticos. O principal objetivo desta dissertação consiste em descrever as técnicas de identificação em OMA. Para isso, duas vertentes foram criadas, uma teórica e outra experimental. Na parte teórica, as hipóteses necessárias para a identificação de um sistema por OMA são apresentadas. Uma análise dos erros causados por sinais ruidosos também é feita, permitindo que a sensibilidade dos métodos seja avaliada. Além de contemplar os principais métodos de identificação, dois novos métodos são propostos. Ambos foram desenvolvidos a partir da Decomposição Ortogonal Própria (POD) e combinam uma eficiência computacional com a possibilidade de quantificar as incertezas dos parâmetros. Na vertente experimental, o objetivo é ilustrar e validar a identificação de estruturas. Para isso, três diferentes bancadas foram criadas: um prédio de dois andares, uma pá eólica e uma ponte suspensa. Após a construção, essas estruturas foram devidamente instrumentadas por diferentes sensores. Um sistema de aquisição dados foi montado através de hardwares comerciais e analisados através de uma interfase gráfica desenvolvida especialmente para OMA pelo Laboratório de Vibrações. / [en] Modal analysis consists in the characterization of a system through its modal parameters. When the main excitation source is the system s environment, this characterization is defined as operational modal analysis (OMA). On those cases, the forces are unknown (not measured) and only the responses are monitored. Because of there random nature, those signals are incorporated into the numerical model as stochastic processes. The main goal of this dissertation is to describe the identification techniques in OMA. Therefore, two different approaches were created: a theoretical one and an experimental one. In the theoretical part, the required hypotheses for system s identification with OMA are presented. An analysis of the errors caused by noisy signals are also performed, allowing the method s sensibility to be evaluated. Besides the standard identification methods, two new ones are proposed. They both has been developed as extension of the Proper Orthogonal Decomposition (POD) and combine an efficient computational process with the possibility of quantify the parameters uncertainties. In the experimental approach, the goal is to illustrate and validate the identification of structures. Therefore, three different test bench were created: a two floor building, a wind turbine blade and a cable-stayed bridge. After their construction, those structures were proper instrumented with different sensors. A data acquisition system were built using commercial hardwares and analyzed through a graphic interface specially made for OMA and developed in the vibration laboratory.

La France Métropolitaine est composée de régions à sismicité modérée mais néanmoins vulnérables aux tremblements de terre. En effet, 85% des bâtiments existants ont été construits avant l’apparition des règles de construction parasismique. Pour évaluer la vulnérabilité sismique de ces structures, il existe différentes méthodes à grande échelle telles que Hazus ou Risk-UE, non adaptées à l’échelle d’un bâtiment. Deux typologies de structures ont été étudiées dans ce travail : les structures récentes en béton armé représentatives des grands bâtiments stratégiques, et les structures en maçonnerie non renforcée, représentatives des centres villes historiques. Compte-tenu de la sismicité modérée, les structures récentes en béton armé ont un comportement linéaire élastique. Dans ce cadre, l’instrumentation d’un bâtiment, tel que la Tour de l’Ophite, est essentielle car elle permet de déterminer les vibrations ambiantes d’une structure et d’en extraire les paramètres modaux (fréquences propres, amortissements et déformées modales) qui incluent naturellement des informations sur la qualité des matériaux utilisés, leur vieillissement, leur endommagement, etc. De plus, un outil, basé sur la méthode stochastique par sous-espaces à l’aide des matrices de covariance (SSI-COV), a été développé afin de détecter au mieux les modes propres très proches (modes doubles), lors du traitement des données issues de l’instrumentation de la Tour de l’Ophite. Un modèle numérique par Eléments Finis est également proposé afin de prédire, dans le domaine linéaire, les déplacements de la Tour de l’Ophite soumise à un séisme identique à celui des Abruzzes en Italie en 2009. Pour les structures en maçonnerie non renforcée, un modèle de comportement non-linéaire des matériaux, avec une approche de type endommagement fragile, a été développé et utilisé pour la simulation numérique du comportement ductile des panneaux, remplaçant ainsi la mise en œuvre d’essais expérimentaux lourds et coûteux. A partir des travaux précédents, une méthodologie analytique d’évaluation de la vulnérabilité sismique des bâtiments existants, validée par comparaison avec le code numérique TreMuRi, est proposée et appliquée à un bâtiment. Par exemple, la généricité de notre méthodologie a permis de mener une investigation sur un matériau local, les murs en galets. / France is a country composed of moderate seismic hazard regions however vulnerable to earthquakes. 85% of existing buildings have been built before the application of paraseismic codes. Several current large-scale seismic vulnerability assessment methods are used, such as Hazus or Risk-UE, but they are inappropriate for specific building analysis. Two structure types have been evaluated in this thesis; the recent reinforced concrete structures for high strategic buildings, and the unreinforced masonry structures, for historical city centres. In view of the moderate seismic risk, recent reinforced concrete structures have an elastic behaviour. In this context, the instrumentation of a building, such as the Ophite Tower, is essential as it determines the ambient vibrations of a structure and extracts modal parameters (natural frequencies, modal shapes and damping), which naturally include information such as quality of materials, ageing, damage, etc. Moreover, as a tool based on the Covariance driven Stochastic Subspace Identification method (SSI-COV), it was developed in order to improve the detection of very close natural modes (double modes), during data processing from the instrumentation of Ophite Tower. A Finite Element numerical model (linear) was also proposed to predict the displacements of Ophite Tower under a seismic motion similar to Abruzzes earthquake (Italy, 2009). For unreinforced masonry structures, a model for nonlinear behaviour of materials with a brittle cracking approach has been developed. This is used for the numerical simulation of the ductile behaviour of panels and replaces the expensive experimental tests. From previous works, an analytical seismic vulnerability assessment method of existing buildings, validated par comparison with TreMuRi code, was proposed and applied to a building. For example, the genericity of this methodology has led to an investigation of a local material (pier walls).

O presente trabalho tem como objetivo desenvolver novas alternativas de identificação modal para estruturas sob excitações em condição de operação baseadas em funções de transmissibilidade. Recentes metodologias formuladas sobre conceitos de transmissibilidade têm surgido como alternativa para a identificação de parâmetros modais de estruturas. A identificação nestas metodologias é independente do espectro da excitação, sendo uma vantagem importante com respeito a metodologias anteriores no domínio da frequência que supõem a excitação como ruído branco. Dessa forma, aproveitando os diferentes trabalhos dirigidos a avaliar parâmetros modais com uso da transmissibilidade, são propostas três novas alternativas. A primeira delas propõe a decomposição de valores singulares sobre matrizes de funções de transmissibilidade escalar com densidade espectral para estimar frequências naturais e modos de vibração. A segunda alternativa propõe o conceito de funções de transmissibilidade multivariável com diferente referência para a identificação modal. E a terceira introduz uma melhora na primeira alternativa incluindo a possibilidade da estimação de taxas de amortecimento. Uma ferramenta computacional para a análise modal é desenvolvida como apoio para as simulações numéricas de verificação das metodologias de identificação modal propostas. Diferentes exemplos numéricos com uma viga submetida a excitações de ruído colorido mostram que os métodos propostos são capazes de identificar parâmetros modais sem a introdução das frequências adicionais devido às excitações de ruído colorida utilizadas. Além disso, os dados de um teste de vibrações sobre uma ponte em operação foram utilizados para verificar os métodos. / This research aims to develop new alternatives of modal identification for structures under excitation in operation condition based on transmissibility functions. Latest methodologies based on transmissibility concepts have been arising as alternatives for modal parameter identification of structures. Modal parameter identification in this type methodology is input spectrum independent being an important advantage with respect previous frequency domain methods that assumes white noise excitation. Different alternatives of modal identification based on transmissibility functions are proposed in this work. The first of them proposes singular value decomposition on scalar transmissibility functions matrices with spectral density to estimate natural frequencies and vibration modes (PSDTM-SVD method). A second alternative proposes the concept of multivariable transmissibility functions with different transferring outputs for modal parameter identification. And the third alternative proposes an enhanced PSDTM-SVD method, which permits to identify modal damping. Computational tool for modal analysis is developed as a support for the numerical simulations of verification of modal identification methodologies proposed. Different numerical examples of a beam model subjected to colored noise excitations show that the proposed methods are capable of identifying modal parameters without the introduction of the additional frequencies due to the excitations used. Furthermore, data from an operational vibration bridge test were used to verify the methods.

A análise de vibrações nos sistemas estruturais e rotativos permite detectar problemas indesejáveis, como a fadiga estrutural e o desgaste excessivo, que contribuem para a redução da vida útil do sistema e seus componentes. Tradicionalmente, a medição das vibrações é realizada por sensores de contato (acelerômetros e extensômetros), que possuem como inconveniente a adição de sua massa no sistema. Como alternativa, existem os sensores de não contato (LVD e ESPI), que são equipamentos de custo elevado. Este trabalho visa o desenvolvimento de um equipamento de baixo custo que realize medições multi-pontos sem contato do comportamento vibratório de estruturas e eixos rotativos. O método proposto utiliza como base os princípios da fotogrametria em conjunto com técnicas de subamostragem, que são utilizadas em estruturas ou máquinas com frequências de vibração conhecidas (e.g máquinas rotativas). A metodologia foi inicialmente aplicada em uma viga engastada-livre, excitada periodicamente por um shaker eletrodinâmico e posteriormente em um sistema rotativo montado em um bancada de testes. A viabilidade em se utilizar o método foi verificada comparando os resultados obtidos com as medições realizadas por um vibrômetro laser Doppler, no caso do sistema estrutural, e por sensores de proximidade indutivo nas vibrações do eixo rotativo. Com base nos comparativos, conclui-se que este método, mesmo apresentando limitações de resolução, pode ser perfeitamente empregado em medições de sistemas estruturais e rotativos assim como na análise modal operacional de estruturas. / The analysis of vibrations in structural and rotating systems allows the detection of undesirable problems, such as the structural fatigue and excessive wear, which contribute to the reduction of the useful life of the systems and their components. Traditionally, the measurement of vibrations is carried out by contacting sensors (accelerometers and strain gauges), which have the inconvenience of adding mass into the system. Alternativelly, there are the non-contacting sensors (LVD and ESPI), which are high cost equipments. This work aims at developing a low cost equipment that carry out multi-point non-contact measurements of the vibratory behavior of structures and rotating shafts. The proposed method uses as a basis the principles of photogrammetry together with sub-sampling techniques, which are used in structure or machines with known vibration frequencies (e.g rotating machines). The methodology was initially applied on a cantilever beam, periodically excited by an electrodynamic shaker and later in a rotating system mounted on a test bench. The feasibility of using the method was verified comparing the results obtained with measurements from a laser Doppler vibrometer, in the case of the structural system, and with inductive proximity sensors in the rotating shaft vibration. Based on the comparison analysis, one observes that this method can be perfectly used in vibration measurements in structural and rotating systems even with limitations in resolution as well as in operational modal analysis of structures.

L’objectif de ce travail est de proposer une méthode d’analyse de vulnérabilité sismique adaptée à l’étude d’un patrimoine historique complet très étendu, indépendamment de la renommée de chaque bâtiment. En effet la grande vulnérabilité sismique du patrimoine ancien, très souvent en maçonnerie, impose, afin d’éviter tout dommage irréparable, de se donner les moyens d’intervenir en amont. Notre démarche doit donc répondre à trois impératifs principaux: développer des outils de choix à grande échelle afin de hiérarchiser les besoins, offrir une analyse pertinente du comportement sous séisme d'une structure historique maçonnée même en première approche, et trouver des méthodes pour gérer le nombre important d’incertitudes qui caractérise le diagnostic des édifices anciens. Pour ce faire, nous étudions les églises et chapelles baroques des hautes vallées de la Savoie française, témoignages d'une période particulièrement prospère dans l'histoire de la Savoie et d'un mouvement artistique unique dans un environnement hostile. Dans ce contexte nous avons donc développé ou adapté différents outils afin de pouvoir traiter les particularités des édifices anciens et utiliser pour des édifices anciens en maçonnerie rustique les potentialités des techniques proposées pour les édifices modernes : modélisations numériques non-linéaires dynamiques temporelles, mesures vibratoires in-situ, analyse multi modale non-linéaire. / The aim of this thesis is to propose a seismic vulnerability assessment method well suited to the study of a complete historical heritage, regardless of the prestige of each building. Indeed the great seismic vulnerability of the historical heritage, often in masonry, requires to act preventively in order to avoid irreparable damage. Our approach must tackle three main requirements: to develop large-scale tools of choice to prioritize the needs, to provide relevant analysis of seismic behavior on the structural scale even in the first study, and to manage the large number of uncertainties characterizing the old buildings structural assessment. To this aim, we study the baroque churches and chapels in the high valleys of the French Savoie. They witness to a particularly prosperous period in the history of Savoy and a unique artistic movement adapted to a harsh environment. In this context we have therefore developed or adapted different tools in order to handle the peculiarities of the old buildings. This way we can use the today proposed techniques for modern buildings to study these ancient buildings in rustic masonry: non-linear temporal dynamics numerical modeling, vibratory in situ measurements, non-linear multi modal analysis.

L’identification des paramètres modaux des machines-outils et des robots d’usinage, en service, constitue un levier d’optimisation des performances de coupe. En effet, la connaissance en continue du comportement dynamique d’une machine permet une prédiction fine des conditions de stabilité, bases d’un pilotage intelligent des paramètres du procédé. Cependant, la présence de fortes excitations harmoniques, dues à la rotation de la broche et de l’outil coupant, rend les techniques classiques d’Analyse Modale Opérationnelle (AMO) inapplicables. Le premier objectif de cette thèse consiste à déterminer une méthode d’AMO adéquate pour une application en présence des harmoniques. Une étude comparative des méthodes existantes est conduite, à savoir : la méthode de décomposition dans le domaine fréquentiel (EFDD), la méthode d’identification dans le sous-espace stochastique (SSI), la méthode PolyMAX et la méthode basée sur la fonction de transmissibilité (TFB). La méthode TFB est choisie afin de réaliser une identification modale opérationnelle des robots d’usinage. Cette technique est tout d’abord investiguée sur une machine-outil cartésienne. Cette étape est justifiée par le fait qu’une machine-outil est une structure plus rigide qui présente moins de variations des propriétés dynamiques par rapport à un robot d’usinage. Les résultats montrent la pertinence de la méthode TFB pour identifier les paramètres modaux de la machine-outil en usinage, même en présence des composantes harmoniques fortement dominantes. Ensuite, l’identification modale opérationnelle du robot d’usinage ABB IRB 6660, qui présente une structure moins rigide par rapport à une machine-outil, est menée sur une trajectoire d’usinage. Les résultats obtenus permettent d’établir une base modale du robot montrant l’évolution de son comportement modal en service. L’originalité des travaux présentés réside dans le développement d’une procédure robuste d’identification modale opérationnelle qui permet de suivre l’évolution du comportement modal du robot en cours d’usinage dans son espace de travail. / The identification of the modal parameters of machining robots in service has a significant adverse influence on machining stability, which will, therefore, decrease the quality of the workpiece and reduce the tool life. However, in presence of strong harmonic excitation, the application of Operational Modal Analysis (OMA) is not straightforward. Firstly, the issue of choosing the most appropiate OMA method for an application in presence of harmonic components, is handled. For a comparison purpose, the modified Enhanced Frequency Domain Decomposition (EFDD) method, the Stochastic Subspace Identification (SSI) method, the PolyMAX method and the Transmissibility Function Based (TFB) method are investigated. The obtained results lead to the adoption of the Transmissibility Function Based (TFB) method for an OMA of machining robots. For an accurate modal identification procedure, the OMA of a machine tool is, initially, conducted. It is a preparation step in order to verify the performance of the chosen method under machining conditions as well as a machine tool is a rigid structure, thus, it has less variation in its dynamic behavior compared to a machining robot. Results demonstrate the efficiency of the TFB method to identify the machine tool modal parameters even in the presence of preponderant harmonic components. Finally, the OMA of the machining robot ABB IRB 6660, which has a flexible structure compared to a machine tool, is carried out for a machining trajectory. The obtained results allow the identification of a modal basis of the machining robot illustrating the evolution of its modal behavior, in service. The main novelty of this thesis lies in the development of a robust procedure for an operational modal identification of machining robots, in service, which makes it possible to continuously follow the variations in the modal parameters of machining robots.

La robotisation des procédés d’usinage suscite l’intérêt des industriels en raison du grand espace de travail et le faible coût des robots par rapport aux machines-outils conventionnelles et la possibilité d’usiner des pièces de formes complexes. Cependant, la faible rigidité de la structure robotique favorise le déclenchement de phénomènes dynamiques liés à l’usinage sollicitant le robot en bout de l’outil qui dégradent la qualité de surface de la pièce usinée. L’objectif de ces travaux de thèse est de caractériser le comportement dynamique des robots en usinage. Ces travaux ont suivi une démarche en trois étapes : La modélisation d’un premier modèle considéré de référence où le robot est au repos. Ensuite l’identification du comportement dynamique du robot en service. Enfin, l’exploitation des modèles dynamiques du robot en vue de prédire la stabilité de coupe. L’originalité de ces travaux porte sur le développement des méthodes d’identification modale opérationnelles. Elles permettent d’intégrer les conditions réelles d’usinage et d’élaborer des modèles plus précis que le premier modèle de connaissance sans être biaisés par l’effet des harmoniques de rotation de l’outil. Enfin, des préconisations sur le choix de configurations du robot et sur la direction des forces d’excitation sont proposées pour assurer la stabilité de la coupe lors de l’usinage robotisé. / Machining robots have major advantages over cartesian machine tools because of their flexibility, their ability to reach inaccessible areas on a complex part, and their important workspace. However, their lack of rigidity and precision is still a limit for precision tasks. The stresses generated by the cutting forces and inertia are important and cause static and dynamic deformations of the structure which result in problems of workpiece surface. The aim of the thesis work is to characterize the dynamic behavior of robots during machining operation. This work followed a three-step approach : Modeling a first model considered as a reference where the robot is at rest. Then the identification of the dynamic behavior in service. Finally, the prediction of the cutting stability using the robot dynamic model. The originality of this work is the development of new operational modal identification methods. They integrate the machining conditions and result into a more accurate model than the first model of reference without being biased by harmonics. Finally, guidlines of robot’s configurations and excitation forces’ direction are proposed to ensure the robotic machining stability.

This diploma thesis deals with the issue of operational modal analysis, which is one of the newer areas of structural dynamics that makes it possible to estimate modal properties of structures directly during their operation. The aim of this work is to create theoretical basis of operational modal analysis, more specifically of Frequeny Domain Decomposition method. Furthermore, apply this method to a selected structure and verify the achieved results using computational modelling and experimental modal analysis. The technique of dividing the experiment to separate measurements using reference sensor was used. Evaluation of the operational modal analysis was performed using self-created function for the MATLAB software and using the commercial PULSE Operational Modal Analysis software. Obtained results were verified by computational modelling and experimental modal analysis.