INTRODUCTION

• We learned Direct Stiffness Method in Chapter 2

– Limited to simple elements such as 1D bars
• In Chapter 3, Galerkin Method and Principle of Minimum
CHAP 4 FINITE ELEMENT ANALYSIS OF Potential Energy can be applied to more complex elements
BEAMS AND FRAMES • we will learn Energy Method to build beam finite element
– Structure is in equilibrium when the potential energy is minimum
• Potential energy: Sum of strain energy and potential of
applied loads Potential of
FINITE ELEMENT ANALYSIS AND DESIGN • Interpolation scheme: P =U+ V applied loads
Nam-Ho Kim
Strain energy
v(x) = êëN(x)úû × {q}

Beam Interpolation Nodal

deflection function DOF
1 2

BEAM THEORY BEAM THEORY cont.

• Euler-Bernoulli Beam Theory • Euler-Bernoulli Beam Theory cont.
– can carry the transverse load – Plane sections normal to the beam axis remain plane and normal to
– slope can change along the span (x-axis) the axis after deformation (no shear stress)
– Cross-section is symmetric w.r.t. xy-plane – Transverse deflection (deflection curve) is function of x only: v(x)
– The y-axis passes through the centroid – Displacement in x-dir is function of x and y: u(x, y)
– Loads are applied in xy-plane (plane of loading) dv ¶u du0 d2 v dv
u(x,y) = u0 (x) - y e xx = = -y 2 q=
dx ¶x dx dx dx
y y y
y(dv/dx)
Neutral axis Neutral axis
Plane of loading
x z x y q = dv/dx
A
L L
F F F v(x)

3 4
 BEAM THEORY cont. BEAM THEORY cont.
• Euler-Bernoulli Beam Theory cont. e xx =
¶u du0
=
d2 v
-y 2
• Beam constitutive relation
– Strain along the beam axis: e0 = du0 / dx ¶x dx dx – We assume P = 0 (We will consider non-zero P in the frame element)
– Strain exx varies linearly w.r.t. y; Strain eyy = 0 – Moment-curvature relation:
– Curvature: -d2 v / dx 2
d2 v
– Can assume plane stress in z-dir basically uniaxial status M = EI Moment and curvature is linearly dependent
dx 2
d2 v • Sign convention +Vy
s xx = Ee xx = Ee0 - Ey +M
dx 2 +M y
+P x +P
• Axial force resultant and bending moment
+Vy
d2 v
P = ò s xx dA = Ee0 ò dA - E
dx 2 òA
ydA P = EAe0
A A
d2 v – Positive directions for applied loads
d2 v M = EI y
M = - ò ys xx dA = -Ee0 ò ydA + E 2 ò y 2dA dx 2 p(x)
A A
dx A

EA: axial rigidity x C1 C2 C3

Moment of inertia I(x)
EI: flexural rigidity
5
F1 F2 F3 6

GOVERNING EQUATIONS STRESS AND STRAIN

• Beam equilibrium equations • Bending stress
d2 v d2 v
s xx = -Ey M = EI
æ dV ö dVy dx 2 dx 2
åf y = 0 Þ p(x)dx + ç Vy + y dx ÷ - Vy = 0
dx
= -p(x)
è ø dx M(x)y
s xx (x,y) = -
I Bending stress
æ dM ö dx dM
-M + ç M + dx ÷ - ( pdx ) + Vy dx = 0 Vy = -
è dx ø 2 dx
– This is only non-zero stress component for Euler-Bernoulli beam
4
dv • Transverse shear strain
– Combining three equations together: EI = p(x)
dx 4 ¶u ¶v ¶v ¶v
– Fourth-order differential equation g xy = + =- + =0 dv
u(x,y) = u0 (x) - y
¶y ¶x ¶x ¶x dx
p
dVy
Vy + dx – Euler beam predicts zero shear strain (approximation)
dx VQ
– Traditional beam theory says the transverse shear stress is t xy =
Ib
dM – However, this shear stress is in general small compared to
M Vy M+ dx
dx the bending stress

dx 7 8
 POTENTIAL ENERGY POTENTIAL ENERGY cont.
• Potential energy P =U+ V • Potential energy of applied loads
• Strain energy L
NF NC
dv(x i )
V = - ò p(x)v(x)dx - å Fv(x
i i ) - å Ci
– Strain energy density 0
i=1 i=1 dx
2 2
1 1 1 æ d2 v ö 1 2 æ d2 v ö
U0 = s xx e xx = E(e xx ) = E ç - y 2 ÷ = Ey ç 2 ÷
2
• Potential energy
2 2 2 è dx ø 2 è dx ø
2
– Strain energy per unit length 1 L æ d2 v ö L
NF NC
dv(x i )
2 2 P = U + V = ò EI ç 2 ÷ dx - ò p(x)v(x)dx - å Fv(x
i i ) - å Ci
1 æ d2 v ö 1 æ d2 v ö 2 0
è dx ø 0
i=1 i=1 dx
UL (x) = ò U0 (x,y,z)dA = ò Ey 2 ç 2 ÷ dA = E ç 2 ÷ ò y dA
2

A A
2 è dx ø 2 è dx ø A
2
– Potential energy is a function of v(x) and slope
1 æd vö
2 Moment of
– The beam is in equilibrium when P has its minimum value
UL (x) = EI ç 2 ÷ inertia
2 è dx ø P
– Strain energy
¶P
2 =0
L 1 L æ d2 v ö ¶v
U = ò UL (x)dx = ò EI ç 2 ÷ dx
0 2 0 è dx ø

9 v* v 10

RAYLEIGH-RITZ METHOD EXAMPLE – SIMPLY SUPPORTED BEAM

p0
1. Assume a deflection shape • Assumed deflection curve
v(x) = c1f1(x) + c 2 f2 (x)..... + c n fn (x) px
v(x) = C sin
L
– Unknown coefficients ci and known function fi(x) E,I,L
• Strain energy
– Deflection curve v(x) must satisfy displacement boundary conditions
2
2. Obtain potential energy as function of coefficients 1 L æ d2 v ö C2EIp4
U= ò EI ç 2 ÷ dx =
2 0 è dx ø 4L3
P(c1,c 2 ,...c n ) = U + V • Potential energy of applied loads (no reaction forces)
L L
3. Apply the principle of minimum potential energy to determine px 2p L
V = - ò p(x)v(x)dx = - ò p0C sin
dx = - 0 C
the coefficients 0 0
L p
• Potential energy P = U + V = EIp3 C2 - 0 C
4
2p L
¶P ¶P ¶P 4L p
= =!= =0
¶c1 ¶c 2 ¶c n
dP EIp4 2p L 4p0L4
• PMPE: = C- 0 =0 Þ C=
dC 2L3 p EIp5

11 12
 EXAMPLE – SIMPLY SUPPORTED BEAM cont. EXAMPLE – SIMPLY SUPPORTED BEAM cont.
1.0
• Exact vs. approximate deflection at the center • Deflection 0.8

v(x)/v_max
4 4 0.6
p0L p0L
Capprox = Cexact = 0.4
76.5EI 76.8EI 0.2
v-exact
v-approx.
0.0
• Approximate bending moment and shear force 0 0.2 0.4 x 0.6 0.8 1
x

Error increases
0.00
d2 v p2 px 4p L2 px 0 0.2 0.4 0.6 0.8 1
M(x) = EI = -EIC 2 sin = - 03 sin
-0.02
• Bending

Bending Moment M(x)

dx 2
L L p L -0.04

moment -0.06
dv3
p 3
px 4p L px
Vy (x) = -EI 3 = -EIC 3 cos = - 20 cos
-0.08

dx L L p L -0.10
M_exact
-0.12
M_approx
1 æp L pL 3
p ö -0.14

• Exact solutions v(x) = ç 0 x - 0 x 3 + 0 x 4 ÷ 0.6

EI è 24 12 24 ø 0.4
V_exact
V_approx

Shear Force V(x)

pL p • Shear force 0.2

M(x) = - 0 x + 0 x 2 0.0
2 2 -0.2

p0L
Vy (x) = - p0 x
-0.4

2 -0.6
0 0.2 0.4 x 0.6 0.8 1
13 14

EXAMPLE – CANTILEVERED BEAM EXAMPLE – CANTILEVERED BEAM cont.

–p0
• Derivatives of U: ¶U
L

• Assumed deflection C ¶c1

= 2EIò ( 2c1 + 6c 2 x ) dx = EI 4Lc1 + 6L2c 2 ( )
0

v(x) = a + bx + c1x 2 + c 2 x 3 E,I,L ¶U

L

F ¶c 2
= 6EIò ( 2c1 + 6c 2 x ) xdx = EI 6L2c1 + 12L3c 2 ( )
• Need to satisfy BC 0

v(0) = 0, dv(0) / dx = 0 v(x) = c1x 2 + c 2 x 3 • PMPE: ¶P = 0 p0L3

L ¶c1 (
EI 4Lc1 + 6L2c 2 = - ) 3
+ FL2 + 2CL
• Strain energy U = EI ( 2c1 + 6c 2 x )2 dx
ò ¶P p L4
2 0
¶c 2
=0
(
EI 6L2c1 + 12L3c 2 ) = - 0 + FL3 + 3CL2
4
• Potential of loads
L • Solve for c1 and c2: c1 = 23.75 ´ 10 -3 , c 2 = -8.417 ´ 10 -3
dv
V ( c1,c 2 ) = - ò ( -p0 ) v(x)dx - Fv(L) - C (L)
• Deflection curve: v(x) = 10 ( 23.75x - 8.417x )
-3
0
dx 2 3

æ p L3 ö æ p L4 ö 1
= c1 ç 0 - FL2 - 2CL ÷ + c 2 ç 0 - FL3 - 3CL2 ÷ • Exact solution: v(x) =
24EI
(
5400x 2 - 800x 3 - 300x 4 )
è 3 ø è 4 ø

15 16
 EXAMPLE – CANTILEVERED BEAM cont. FINITE ELEMENT INTERPOLATION
0.0

• Deflection 0.0
• Rayleigh-Ritz method approximate solution in the entire beam

v(x)/v_max
0.0
– Difficult to find approx solution that satisfies displacement BC
0.0 v-exact • Finite element approximates solution in an element
v-approx.
0.0 – Make it easy to satisfy displacement BC using interpolation technique
0 0.2 0.4 x 0.6 0.8 1
500.00
• Beam element

Error increases
400.00 M_exact – Divide the beam using a set of elements
Bending Moment M(x)

• Bending 300.00
M_approx
– Elements are connected to other elements at nodes
moment 200.00

100.00 – Concentrated forces and couples can only be applied at nodes

0.00
– Consider two-node bean element
-100.00
0 0.2 0.4 x 0.6 0.8 1 – Positive directions for forces and couples
600.0
– Constant or linearly F1 F2
500.0 distributed load C1 C2
Shear Force V(x)

• Shear force x
400.0

300.0 V_exact

200.0
V_approx p(x)
0 0.2 0.4 x 0.6 0.8 1
17 18

FINITE ELEMENT INTERPOLATION cont. FINITE ELEMENT INTERPOLATION cont.

• Nodal DOF of beam element • Deflection interpolation
– Each node has deflection v and slope q – Interpolate the deflection v(s) in terms of four nodal DOFs
– Positive directions of DOFs – Use cubic function: v(s) = a0 + a1s + a2s2 + a3 s3
– Vector of nodal DOFs {q} = {v1 q1 v 2 q2 } T – Relation to the slope: dv dv ds 1
q= = = (a1 + 2a2s + 3a3 s2 )
• Scaling parameter s dx ds dx L
– Length L of the beam is scaled to 1 using scaling parameter s – Apply four conditions:
dv(0) dv(1)
v1 v2 v(0) = v1 = q1 v(1) = v 2 = q2
dx dx
x - x1 1 q1 q2
s= , ds = dx, – Express four coefficients in terms of nodal DOFs
L L
x
ds 1 v1 = v(0) = a0
dx = Lds, = L a0 = v 1
dx L x1 x2 dv 1
q1 = (0) = a1 a1 = Lq1
s=0 s=1 dx L
v 2 = v(1) = a0 + a1 + a2 + a3 a2 = -3v1 - 2Lq1 + 3v 2 - Lq2
• Will write deflection curve v(s) in terms of s dv 1 a3 = 2v1 + Lq1 - 2v 2 + Lq2
q2 = (1) = (a1 + 2a2 + 3a3 )
dx L
19 20
 FINITE ELEMENT INTERPOLATION cont. FINITE ELEMENT INTERPOLATION cont.
• Deflection interpolation cont. • Properties of interpolation
– Deflection is a cubic polynomial (discuss accuracy and limitation)
v(s) = (1 - 3s2 + 2s3 )v1 + L(s - 2s2 + s3 )q1 + (3s2 - 2s3 )v 2 + L( -s2 + s3 )q2
– Interpolation is valid within an element, not outside of the element
ì v1 ü – Adjacent elements have continuous deflection and slope
ïq ï
ï ï
v(s) = [N1(s) N2 (s) N3 (s) N4 (s)] í 1 ý v(s) = ëêNûú {q } • Approximation of curvature
ïv 2 ï – Curvature is second derivative and related to strain and stress ì v1 ü
ï
î q2 ï
þ ïq ï
d2 v 1 d2 v 1 ï 1ï
= = [ -6 + 12s, L( -4 + 6s), 6 - 12s, L( -2 + 6s)] í ý
• Shape functions 1.0 dx 2 L2 ds2 L2 ïv 2 ï
N1 N3 ïî q2 ïþ
N1(s) = 1 - 3s2 + 2s3 0.8
d2 v 1
= ê ú
B { q }
N2 (s) = L(s - 2s2 + s3 ) 0.6 dx 2 L2 ë û 4´1 1´4
B: strain-displacement vector

N3 (s) = 3s - 2s
2 3
0.4
– B is linear function of s and, thus, the strain and stress
N4 (s) = L( -s + s )
2 3 2
– Alternative expression: d v 1 ê T ú T
0.2 N2/L = q {B }
dx 2 L2 ë 1´4 û 4´1
– Hermite polynomials 0.0
0.0 0.2 0.4 0.6 N4/L 0.8 1.0 – If the given problem is linearly varying curvature, the approximation is
– Interpolation property -0.2
21 accurate; if higher-order variation of curvature, then it is approximate 22

FINITE ELEMENT INTERPOLATION cont. EXAMPLE – INTERPOLATION

v2
v1
• Approximation of bending moment and shear force • Cantilevered beam
d2 v EI • Given nodal DOFs
M(s) = EI = êB ú {q}
dx 2 L2 ë û Linear
{q } = {0, 0, - 0.1, - 0.2} T q1
q2
L
dM d3 v EI • Deflection and slope at x = 0.5L
Vy = - = -EI 3 = 3 [ -12 -6L 12 -6L]{q} Constant
dx dx L
• Parameter s = 0.5 at x = 0.5L
– Stress is proportional to M(s); M(s) is linear; stress is linear, too 1 L 1 L
• Shape functions: N1( 21 ) = , N2 ( 21 ) = , N3 ( 21 ) = , N4 ( 21 ) = -
– Maximum stress always occurs at the node 2 8 2 8
• Deflection at s = 0.5:
– Bending moment and shear force are not continuous between adjacent
v( 21 ) = N1( 21 )v1 + N2 ( 21 )q1 + N3 ( 21 )v 2 + N4 ( 21 )q2
elements
1 L 1 L v Lq
= ´ 0 + ´ 0 + ´ v 2 - ´ q2 = 2 - 2 = -0.025
2 8 2 8 2 8
• Slope at s = 0.5:
dv 1 dv 1 æ dN1 dN dN3 dN4 ö
= = v1 + q1 2 + v 2 + q2
dx L ds L çè ds ds ds ds ÷ø
1 1
23
( ) ( )
= v1 ( -6s + 6s2 ) + q1 1 - 4s + 3s2 + v 2 (6s - 6s2 ) + q2 -2s + 3s 2 = -0.1
L L 24
 EXAMPLE FINITE ELEMENT EQUATION FOR BEAM
• A beam finite element with length L • Finite element equation using PMPE
L3
L2 – A beam is divided by NEL elements with constant sections
v1 = 0, q1 = 0, v 2 = , q2 =
3EI 2EI L • Strain energy
F
– Sum of each element’s strain energy
• Calculate v(s) NEL x(2 ) NEL
e
LT
U = ò UL (x)dx = å ò (e) UL (x)dx = å U(
e)
v(s) = N1(s)v1 + N2 (s)q1 + N3 (s)v 2 + N4 (s)q2 0 x1
e =1 e =1

v(s) = (3s2 - 2s3 )v 2 + L( -s2 + s3 )q2 – Strain energy of element (e)

2 2
(e) x(2 )
e
1 æ d2 v ö EI 1 1 æ d2 v ö
• Bending moment U = EIò (e) ç 2 ÷ dx = 3 ò0 ç 2 ÷ ds
x1 2 è dx ø L 2 è ds ø
2 2
d v EI d v EI
M(s) = EI = = [(6 - 12s)v 2 + L( -2 + 6s)q2 ] y p(x)
dx 2 L2 ds2 L2
EI é L3 L2 ù C1 x C2 C3 C4 C5
= 2 ê(6 - 12s) + L( -2 + 6s)
L ë 3EI 2EI úû 1 2 3 4
5

= L(1 - s) = (L - x) Bending moment cause by unit force at the tip F1 F2 F3 F4 F5

25
x1(1) x 2(1) = x1( 2 ) x 2( 2 ) = x1( 3 ) x 2( 3 ) = x1( 4 ) x 2( 4 ) 26

FE EQUATION FOR BEAM cont. FE EQUATION FOR BEAM cont.

• Strain energy cont. • Stiffness matrix of a beam element
– Approximate curvature in terms of nodal DOFs
2 é 12 6L -12 6L ù Symmetric, positive semi-definite
æ d2 v ö æ d2 v ö æ d2 v ö (e) T T (e) ê 6L 4L2 -6L 2L2 ú
ç 2 ÷ = ç 2 ÷ ç 2 ÷ = {q } êëB úû êëB úû {q } EI
ds ds ds [k ( ) ] = 3 ê ú Proportional to EI
e
è ø è øè ø 1´ 4 4´1 1´ 4 4´1
L ê -12 -6L 12 -6L ú
ê 2 ú
Inversely proportional to L
ë 6L 2L -6L 4L û
2
– Approximate element strain energy in terms of nodal DOFs
(e)
1 ( e ) T é EI 1 ù 1 (e) T (e) (e)
{q } ê 3 ò êëB úû êëB úû ds ú {q( ) } =
T e
U(e) = {q } [k ]{q }
2 ëL 0 û 2 • Strain energy cont.
• Stiffness matrix of a beam element NEL
U = å U(e) =
1 NEL ( e ) T ( e ) ( e )
e =1
å {q } [k ]{q }
2 e=1
é -6 + 12s ù
ê ú – Assembly
EI L( -4 + 6s)ú
[ -6 + 12s L( -4 + 6s) 6 - 12s L( -2 + 6s)] ds
1
[k ( ) ] = 3 ò ê
e

L 0 ê 6 - 12s ú 1
ê ú U= {Q s } T [K s ]{Q s }
ëL( -2 + 6s)û 2

27 28
 y EXAMPLE – ASSEMBLY FE EQUATION FOR BEAM cont.
• Two elements • Potential energy of applied loads
x 2EI EI ì F1 ü
• Global DOFs – Concentrated forces and couples ïC ï
2 3
1 ND ïï 1 ïï
V = -å (Fv i i + Ci qi )
= - q qND û í F2 ý = - {Q s } {Fs }
T
2L L {Q s } T = {v1 q1 v 2 q2 v 3 q3 } V ê v v
ë 1 1 2 ...... ú
F2 F3 i=1 ï ! ï
ï ï
v1 q1 v2 q2 v2 q2 v3 q3 ïCND þï
– Distributed load (Work-equivalent nodal forces) î
é 3 3L -3 3L ù v1 é 12 6L -12 6L ù v 2
ê 3L 4L2 -3L 2L2 ú q ê 2 ú
EI ê 6L 4L -6L 2L ú q2
2 1
EI ( 2) NEL x(2 )
e NEL
x(2 )
e
[k ( ) ] = 3 ê ú 1
V = - å ò (e) p(x)v(x)dx = å V (e)
1
[k ] = 3 V (e) = ò (e) p(x)v(x)dx = L(e) ò p(s)v(s)ds
L ê -3 -3L 3 -3L ú v 2 L ê -12 -6L 12 -6L ú v 3 x1 x1
ê 2 ú ê 2 ú
e =1 e =1 0
ë 3L 2L -3L 4L û q2 ë 6L 2L -6L 4L û q3
2 2

é 3 3L -3 3L 0 0 ù V (e) = L(e) ò p(s) ( v1N1 + q1N2 + v 2N3 + q2N4 ) ds

ê 3L 4L2 -3L 2L2 0 0 ú
0

ê ú æ 1
ö æ 1
ö æ 1
ö æ 1
ö
= v1 ç L(e) ò p(s)N1ds ÷ + q1 ç L(e) ò p(s)N2ds ÷ + v 2 ç L(e) ò p(s)N3ds ÷ + q2 ç L(e) ò p(s)N4ds ÷
EI ê -3 -3L 15 3L -12 6L ú
è ø è ø è ø è ø
[K s ] = 3 ê ú 0 0 0 0
L ê 3L 2L2 3L 8L2 -6L 2L2 ú = v1F1(e) + q1C1(e) + v 2F2(e) + q2C(e)
2
ê0 0 -12 -6L 12 -6L ú
ê ú
ë0 0 6L 2L2 -6L 4L2 û 29 30

EXAMPLE – WORK-EQUIVALENT NODAL FORCES FE EQUATION FOR BEAM cont.

• Uniformly distributed load • Finite element equation for beam
1 1 pL
F1 = pL ò N1(s)ds = pL ò (1 - 3s2 + 2s3 )ds =
0 0 2 é 12 6L -12 6L ù ì v1 ü ì pL / 2 ü ì F1 ü
1 1 pL2 ê 6L 4L2 -6L 2L2 ú ï q ï ï pL2 / 12 ï ï C ï
C1 = pL ò N2 (s)ds = pL2 ò (s - 2s2 + s3 )ds =
0 0 12 EI ê ú ïí 1 ïý = ïí ï ï 1ï
ý+í ý
1 1 pL ê ú
L -12 -6L 12 -6L ï 2 ï ï pL / 2 ï ï F2 ï
3
v
F2 = pL ò N3 (s)ds = pL ò (3s2 - 2s3 )ds = ê 2 ú
ë 6L 2L -6L 4L û ïî q2 ïþ ïî-pL / 12 ïþ ïîC2 ïþ
0 0 2 2 2

1 1 pL2
C2 = pL ò N4 (s)ds = pL2 ò ( -s2 + s3 )ds = -
0 0 12
– One beam element has four variables
ì pL pL2 pL pL2 ü – When there is no distributed load, p = 0
{F} T = í - ý
î2 12 2 12 þ p
– Applying boundary conditions is identical to truss element
Equivalent
pL/2 pL/2 – At each DOF, either displacement (v or q) or force (F or C) must be
known, not both

pL2/12 pL2/12 – Use standard procedure for assembly, BC, and solution
31 32
 PRINCIPLE OF MINIMUM POTENTIAL ENERGY BENDING MOMENT & SHEAR FORCE
• Potential energy (quadratic form) • Bending moment
1 d2 v EI d2 v EI
P =U+ V = {Q s } T [K s ]{Q s } - {Q s } T {Fs } M(s) = EI = = êB ú {q}
2 dx 2 L2 ds2 L2 ë û
• PMPE – Linearly varying along the beam span
– Potential energy has its minimum when • Shear force ì v1 ü
3 3 ïq ï
dM dv EI d v EI ï ï
[K s ]{Q s } = {Fs } [Ks] is symmetric & PSD Vy (s) = - = -EI 3 = - 3 3 = 3 [ - 12 -6L 12 -6L] í 1 ý
dx dx L ds L ïv 2 ï
• Applying BC ïî q2 ïþ
– Constant
– The same procedure with truss elements (striking-the-rows and – When true moment is not linear and true shear is not constant, many
striking-he-columns) elements should be used to approximate it
My
[K]{Q } = {F} [K] is symmetric & PD • Bending stress s x = -
I
• Shear stress for rectangular section
• Solve for unknown nodal DOFs {Q} 1.5Vy æ 4y 2 ö
t xy (y) = ç1 - 2 ÷
bh è h ø
33 34

y
EXAMPLE – CLAMPED-CLAMPED BEAM EXAMPLE – CLAMPED-CLAMPED BEAM cont.
• Determine deflection & x • Applying BC
slope at x = 0.5, 1.0, 1.5 m 1 2 3 v 2 = 0.01
é24 0 ù ìv 2 ü ì240 ü
• Element stiffness matrices 1m 1m
1000 ê úí ý = í ý q2 = 0.0
ë 0 8 û î q2 þ î 0 þ
F2 = 240 N
v1 q1 v2 q2
v2 q2 v3 q3
é 12 6 -12 6 ù v1 • At x = 0.5 s = 0.5 and use element 1
ê 6 é 12 6 -12 6 ù v 2
4 -6 2 ú q1 ê 6 v( 21 ) = v1N1( 21 ) + q1N2 ( 21 ) + v 2N3 ( 21 ) + q2N4 ( 21 ) = 0.01´ N3 ( 21 ) = 0.005m
[k (1) ] = 1000 ê ú 4 -6 2 ú q2
ê -12 -6 12 -6 ú v 2 [k (2) ] = 1000 ê ú
ê ú ê -12 -6 12 -6 ú v 3 1 dN3
ë 6 2 -6 4 û q2 ê ú q( 21 ) = v2 = 0.015rad
ë 6 2 -6 4 û q3 L(1) ds s = 21

é 12 6 -12 6 0 0 ù ì v1 ü ì F1 ü • At x = 1.0 either s = 1 (element 1) or s = 0 (element 2)

ï ï
ê 6 4 -6 2 0 0 ú ï q1 ï ïï C1 ïï v(1) = v 2N3 (1) = 0.01´ N3 (1) = 0.01m v(0) = v 2N1(0) = 0.01´ N1(0) = 0.01m
ê ú
ê -12 -6 24 0 -12 6 ú ïïv 2 ïï ï240 ï
1000 ê úí ý = í ý 1 dN3 1 dN1
-6 2 ú ï q2 ï ï 0 ï q(1) = v2 = 0.0rad q(0) = v2 = 0.0rad
ê 6 2 0 8
L(1) ds s =1 L(2) ds s=0
ê 0 0 -12 -6 12 -6 ú ïv 3 ï ï F3 ï
ê úï ï ï ï
ë 0 0 6 2 -6 4 û ïî q3 ïþ î C3 þ
Will this solution be accurate or approximate?
35 36
 EXAMPLE – CANTILEVERED BEAM EXAMPLE – CANTILEVERED BEAM cont.
p0 = 120 N/m
• One beam element • FE matrix equation
• No assembly required é 12 6 -12 6 ù ì v1 ü ì F1 + 60 ü
EI = 1000 N-m2
• Element stiffness C = –50 N-m ê 6 4 -6 2 ú ïï q1 ïï ïï C1 + 10 ïï
L = 1m 1000 ê úí ý = í ý
ê -12 -6 12 -6 ú ïv 2 ï ï 60 ï
é 12 6 -12 6 ù v1 ê úï ï ï
ê 6 4 -6 2 ú q1 ë 6 2 -6 4 û î q2 þ î-10 - 50 ïþ
[K s ] = 1000 ê ú
ê -12 -6 12 -6 ú v 2 • Applying BC
ê ú
ë 6 2 -6 4 û q2
é12 -6 ù ìv 2 ü ì 60 ü v 2 = -0.01m
• Work-equivalent nodal forces
1000 ê úí ý = í ý
ë -6 4 û î q2 þ î -60 þ q2 = -0.03 rad
ì F1e ü ì 1 - 3s + 2s ü
2 3
ì 1/ 2 ü ì 60 ü
ïC ï ï
1 ï(s - 2s + s )L ï
2 3 ï ï ï ï ï • Deflection curve: v(s) = -0.01N3 (s) - 0.03N4 (s) = -0.01s3
ï 1e ï ï L / 12 ï ï 10 ï
í ý = p0L ò0 í ý ds = p L í ý = í ý
ï F2e ï ï 3s - 2s
2 3
ï
0
ï 1/ 2 ï ï 60 ï • Exact solution: v(x) = 0.005(x 4 - 4x 3 + x 2 )
ïîC2e ïþ ïî ( -s + s )L ïþ
2 3 ïî-L / 12ïþ ïî -10 ïþ

37 38

EXAMPLE – CANTILEVERED BEAM cont. EXAMPLE – CANTILEVERED BEAM cont.

• Support reaction (From assembled matrix equation) • Comparisons
1000 ( -12v 2 + 6q2 ) = F1 + 60 F1 = -120N 0.000 0.000
1000 ( -6v 2 + 2q2 ) = C1 + 10 C1 = -10N× m FEM FEM
-0.002 Exact -0.005 Exact

• Bending moment -0.004

-0.010

-0.015

q
EI -0.006
M(s) = êB ú {q}
L2 ë û
-0.020
-0.008
Deflection
-0.025
Slope
EI
= 2 [( -6 + 12s)v1 + L( -4 + 6s)q1 + (6 - 12s)v 2 + L( -2 + 6s)q2 ] -0.010 -0.030
L 0 0.2 0.4 x 0.6 0.8 1 0 0.2 0.4 x 0.6 0.8 1

= 1000[ -0.01(6 - 12s) - 0.03( -2 + 6s)] 10

FEM
0
FEM
0 -20
= -60s N× m -10
Exact Exact

-40
• Shear force -20
-60

Vy
M

-30
EI -80
Vy = -
L3
[12v1 + 6Lq1 - 12v 2 + 6Lq2 ] -40

Bending moment -100

-50 Shear force
= -1000[ -12 ´ ( -0.01) + 6( -0.03)] -60 -120
0 0.2 0.4 x 0.6 0.8 1 0 0.2 0.4 x 0.6 0.8 1
= 60N
39 40
 PLANE FRAME ELEMENT PLANE FRAME ELEMENT cont.
• Beam • Element-fixed local coordinates x - y
– Vertical deflection and slope. No axial deformation • Local DOFs {u,v, q} Local forces {fx , fy , c}
• Frame structure • Transformation between local and global coord.
– Can carry axial force, transverse shear force, and bending moment
(Beam + Truss) ì fx1 ü é cos f sin f 0 0 0 ù ì fx1 ü
0
ïf ï ê ï ï
• Assumption ï y1 ï ê - sin f cos f 0 0 0 ú ï fy1 ï
0
ú
v1 v2 ïï c1 ïï ê 0 0 1 0 0 0 ú ïï c1 ïï
– Axial and bending effects u1
u2 í ý=ê úí ý
are uncoupled q1 f
ï x2 ï ê 0 0 0 cos f sin f 0 ú ï fx2 ï Local coordinates
– Reasonable when deformation q2 ïfy2 ï ê 0 0 0 - sin f cos f 0 ú ï fy2 ï v2
u2 p
u2 ï ï ê úï ï u2
is small 0 0 0 0 0 1û îï c 2 þï
F
îï c 2 þï ë y
x q2
v2 v2
• 3 DOFs per node q2 2 1 3 q2
2
{ui , v i , qi } v1 u1 f
{ f } = [T ]{f }
• Need coordinate transfor- 2 3 y
{q} = [T ]{q} q1 1
mation like plane truss u1 u1
1 4 x Global coordinates
v1 v1
q1 q1 41 42

PLANE FRAME ELEMENT cont. PLANE FRAME ELEMENT cont.

• Axial deformation (in local coord.) • Element matrix equation (local coord.)
é a1 0 0 -a1 0 0 ù ìu1 ü ì fx1 ü
EA é 1 -1ù ì u1 ü ì fx1 ü ê 0 ï ï ï ï
í ý=í ý 12a2 6La2 0 -12a2 6La 2 ú ï v1 ï ï fy1 ï
L êë -1 1 úû îu2 þ î fx2 þ ê ú a1 =
EA
ê 0 6La2 4L2a2 0 -6La2 2L2a2 ú ïï q1 ïï ïï c1 ïï L
ê úí ý = í ý
ê -a1 0 0 a1 0 0 ú ïu2 ï ï fx2 ï EI
• Beam bending a2 = 3
ê 0 -12a2 -6La2 0 12a2 -6La 2 ú ï v 2 ï ï fy2 ï L
6L -12 6L ù ì v1 ü ì fy1 ü ê úï ï ï ï
é 12 ë 0 6La2 2L2a2 0 -6La2 4L2a2 û îï q2 þï ï c ï
ê 6L 4L2 -6L 2L2 ú ï q ï ï ï î 2þ
EI ê ú ïí 1 ïý = ïí c1 ïý
L ê -12 -6L 12 -6L ú ï v 2 ï ï fy2 ï
3
[k ]{q} = { f }
ê 2 ú
ë 6L 2L -6L 4L û ïî q2 ïþ ïî c 2 ïþ
2
• Element matrix equation (global coord.)
• Basically, it is equivalent to overlapping a beam with a bar [k ][T ]{q} = [T ]{ f } [T ]T [k ][T ]{q} = { f } [k ]{q} = {f }
• A frame element has 6 DOFs [k ] = [T ]T [k ][T ]

• Same procedure for assembly and applying BC

43 44
 PLANE FRAME ELEMENT cont.
• Calculation of element forces
– Element forces can only be calculated in the local coordinate
– Extract element DOFs {q} from the global DOFs {Qs}
– Transform the element DOFs to the local coordinate {q} = [T ]{q}
– Then, use 1D bar and beam formulas for element forces

AE
– Axial force P = ( u2 - u1 )
L
EI
– Bending moment M(s) = 2 ëêB ûú {q}
L
EI
– Shear force Vy (s) = [ -12 -6L 12 -6L] {q}
L3
• Other method:
ì - Vy1 ü é 12 6L -12 6L ù ì v1 ü
ï ï ê 6L 4L2 -6L 2L2 ú ï q ï
ï - M 1 ï
í
EI
ý= 3 ê ú ïí 1 ïý
ï + Vy2 ï L ê -12 -6L 12 -6L ú ïv 2 ï
ïM ï ê 2 ú
- û ïî q2 ïþ
2
î 2 þ ë 6L 2L 6L 4L
45