ME-422 FINITE ELEMENT METHOD

CHAPTER 4
DEVELOPMENT OF BEAM EQUATIONS
FEM of 1-D Problems: Applications
Development of Beam Equations
 Bending of Beam
y
Review
M M
x

Pure bending problems:

y
Normal strain: x   L    y 

  L  L    y      y
Ey  y
Normal stress: x   x   
y
(strain varies linearly)
 L  

Normal stress with bending moment:   x ydA  M

1 M 1 d2y
Moment-curvature relationship:  M  EI  EI 2
 EI  dx

My
Flexure formula: x   I   y 2dA
I
 Bending of Beam
y
Review q(x) force/length

Relationship between shear force, bending moment and transverse load:

1 d2y dV d4y
M  EI  EI 2
 dx  q(x) EI 4  q( x)
dx dx
dM
V
dx

Sign convention: M + M - M

V + V - V
Galerkin` s Approach
 Governing Equation and Boundary
Condition
• Governing Differential Equation
d 2  d 2 v( x) 
 EI
2  2
  q( x)  0, 0<x<L
dx  dx 
v = Deflection along Y-axis

• Boundary Conditions -----

dv d 2v d  d 2v 
v? &  ? & EI 2  ? &  EI 2   ? , at x  0
dx dx dx  dx 
dv d 2v d  d 2v 
v? &  ? & EI 2  ? &  EI 2   ? , at x  L
dx dx dx  dx 
Essential BCs – if v or dv is specified at the boundary.

{ Natural BCs –
d 2v
if EI 2
dx
dx

d  d 2v 
or  EI 2  is
dx  dx 
specified at the boundary.
Weak Formulation for Beam Element
• Governing Differential Equation

d 2  d 2 v( x) 
 EI
2  2
  q( x)  0, x1  x  x2
dx  dx 

• Weighted-Integral Formulation for one element

x2
 d 2  d 2 v( x)  
0   w( x)  2  EI 2
  q( x) dx
x1  dx  dx  

• Weak Form from Integration-by-Parts ----- (1st time)

x2
x2
 dw d  d v 2
 d  d v 2
0     EI 2   wq  dx  w  EI 2 
x1 
dx dx  dx   dx  dx  x
1
Weak Formulation for Beam Element
• Weak Form from Integration-by-Parts ----- (2nd time)
x2 x2
x2
 d 2 w  d 2v   d  d 2v  dw  d 2v 
0    2  EI 2   wq  dx  w  EI 2    EI 2 
x1 
dx  dx   dx  dx  x dx  dx  x
1 1

y V(x1) q(x) V(x2)

M(x1) M(x2)
x x = x1 L = x2-x1 x = x2

 d 2 w  d 2v  
x2 x
 
2
dw
0    2  EI 2   wq  dx  wV 
  M
x1 
dx  dx    dx  x1
 Weak Formulation for Beam Element
• Weak Form
 d 2 w  d 2v  
x2 x
 dw 
2

0    2  EI 2   wq  dx  wV  M
x1 
dx  dx    dx  x1

y(v) Q1 q(x) Q3

Q2 Q4 +ve Reactions
x x = x1 L = x2-x1 x = x2

Q1  V x1 , Q2   M x1  , Q3  V x2 , Q4  M x2 

So beam with two nodes have two dof at each node
(verticle displaceme t and rotation angle or slope)
x2
 d 2 w  d 2v   dw dw
x  dx 2  EI dx 2   wq dx  w( x1 )Q1  w( x2 )Q3  dx 1 Q2  dx 2 Q4
 
1 
 Ritz Method for Approximation
y(v) Q1 q(x) Q3

Q2 Q4
x x = x1 L = x2-x1 x = x2
n
Let v( x)   u j j ( x) and n  4
j 1

where u1  vx1 ; u2  ; u3  vx2 ; u4 

dv dv
;
dx x  x1 dx x  x2
x2
 d 2w  4 d 2 j  
  wq  dx  w( x1 )Q1  w( x2 )Q3  dw Q2  dw Q4
x  dx 2  EI  uj
dx 2 
 dx 1 dx 2
1  j 1 
Let w(x)= i (x), i = 1, 2, 3, 4
 d 2  d 2 j  
  i q  dx  i ( x1 )Q1  i ( x2 )Q3  di Q2  di Q4
x2 4
 EI  u j
x  dx 2
 i
 j 1 dx 2 
 dx 1 dx 2
1  
 Ritz Method for Approximation

y(v) Q1 Q3

Q2 Q4
x x = x1 L = x2-x1 x = x2

x2
 d 2  4 d 2 j   di di
 EI  u j 
x  dx 2
 i
 j 1 dx 2 
 i q  dx  i ( x1 )Q1  i ( x2 )Q3 
 dx 1
Q2 
dx 2
Q4
1 


 
 i
 di
Q1  
 dx

 
Q2  i

 di
Q3  
 dx
  4
Q4    K ij u j qi
  j 1

x1 x2
 x1   x2  

 d 2i d 2 j
x2
 x2

where K ij   EI  2 dx and qi  i qdx

x
 dx dx 2 
x1   1
 Ritz Method for Approximation

y(v) Q1 Q3

Q2 Q4
x x = x1 L = x2-x1 x = x2


 
 1 x
 d1

 dx



 
1 x
 d1

 dx



 1  x1 
2
 x2  
  Q1   K11 K12 K13
 

 2 x1
 d2

 dx



 
2 x2
 d2

 dx

    K
K14  u1   q1 
K 24  u2  q2 
 x1   x2  Q2  K 22 K 23
     21
  

 
 3 x1
 d3

 dx



 
3 x2
 d3

 dx
  Q3   K 31 K 32 K 33

  Q   K

K 34 u3  q3 

K 44  u4  q4 
 x1   x2   4   41 K 42 K 43
 

 
 4 x1
 d4

 dx



 
4 x2
 d4

 dx


  where K ij  K ji 
  x1   x2  

 Selection of Shape Function
The best situation is -----

 
 1 x
 d1

 dx



 
1 x
 d1

 dx



 1  x1 
2
 x2  
  1
 

 2 x1
 d2

 dx



 
2 x2
 d2

 dx

  0
0 0 0
1 0 0
  x1   x2 
 Interpolation

 
 3 x1
 d3

 dx



 
3 x2
 d3

 dx
  0
 
  0
0 1 0
0 0 1
 Properties
  x1   x2 


 
 4 x1
 d4

 dx



 
4 x2
 d4

 dx



  x1   x2  


Q1   K11 K12 K13 K14  u1   q1 

Q   K K 24  u2  q2 
 2   12 K 22 K 23
    
Q3   K13 K 23 K 33 K 34  u3  q3 
Q4   K14 K 24 K 34

K 44  u4  q4 
Derivation of Shape Function for Beam
Element – Local Coordinates
How to select i???
v( )  u11  u22  u33  u44

and dv( ) d d d d
 u1 1  u2 2  u3 3  u4 4
d d d d d
dv1 dv2
where u1  v1 u2  u3  v2 u4 
d d

Let i  ai  bi  ci 2  di 3

Find coefficients to satisfy the interpolation properties.

 Derivation of Shape Function for Beam
Element – Local Coordinates
How to select i???
e.g. Let 1  a1  b1  c1 2  d1 3

1
1  1     2   
2

4
1
2  1    1   
2

4
1
3  1     2   
2

4
1
4  1      1
2

1 4
x=x1 2 3

x=x2
 Derivation of Shape Function for Beam
Element
dv1 dv
In the global coordinates: v( x)  v11 ( x)  2 ( x)  v23 ( x)  2 4 ( x)
dx dx
In the local coordinates: v( )  u11  u22  u33  u44

  x  x1 
2
 x  x1  
3

1  3    2  
  x2  x1   x2  x1  
 2 
1    x  x1  
  
 x  x 
1  1   
 2   x2  x1  
    3  ξ

 3    x  x1 
2
 x  x1  
4    x  x 
3  2   

  2 1  2 1 
x x
  x  x  2 x  x  
 x  x1   1
 
1 

  x2  x1  x2  x1  

 Element Equations of 4th Order 1-D
Model
y(v) u1 q(x) u3

u2 u4
x x = x1 L = x2-x1 x = x2

dv1 dv
v( x)  v11 ( x)  2 ( x)  v23 ( x)  2 4 ( x)
dx dx
 Element Equations of 4th Order 1-D
Model
y(v) u1 q(x) u3

u2 u4
x x = x1 L = x2-x1 x = x2
 Element Equations of 4th Order 1-D
Model
y(v) u1 q(x) u3

u2 u4
x x = x1 L = x2-x1 x = x2
 Element Equations of 4th Order 1-D
Model
y(v) u1 q(x) u3

u2 u4
x x = x1 L = x2-x1 x = x2

Q1   q1  6 3L 6 3L   u1  v1 
Q   q   2  
 2   2  2 EI  3L 2 L  3L L  u2  1 
2

   3  
Q
 3  3  q L   6  3 L 6  3 L  u 
 3 2v
Q4   q4   2 
 3L L 2
 3L 2 L  u4   2 
Q1   q1   K11 K12 K13 K14  u1 
Q  q   K K 24  u2 
 2   2   12 K 22 K 23
     
Q3  q3   K13 K 23 K 33 K 34  u3 
Q4  q4   K14 K 24 K 34

K 44  u4 
 d 2i d 2 j
x2
 x2

where K ij   EI  2 dx  K ji and qi  i qdx

x
 dx dx 2 
x1   1
Finite Element Analysis of 1-D Problems
F
L L L

Governing equation:
d 2  d 2v 
 EI 2   q( x)  0
2 
0 x L
dx  dx 
Weak form for one element
 d 2 w d 2v 
x2

  dw
  dw
x  EI dx 2 dx 2  wq dx  w x1 Q1  dx x Q2  w x2 Q3  dx x Q4  0
 
1 1 2

where Q1  V ( x1 ) Q2  M ( x1 ) Q3  V ( x2 ) Q4  M ( x2 )
Finite Element Analysis of 1-D Problems

dv1 dv
Approximation function: v( x)  v11 ( x)  2 ( x)  v23 ( x)  2 4 ( x)
dx dx
  x  x1 
2
 x  x1  
3

1  3    2  
  x2  x1   x2  x1  
 2 
1    x  x1  
  
 x  x 
1  1   
 2   x2  x1  
  3 

 3   x  x1 
2
 x  x1  
4    x  x 
3  2  
 1   x2  x1  
 2

  x  x  2

 x  x1   x  x 1 
1
  
  2 1 
x  x x  x 1 
 2 
1 4
x=x1 2 3

x=x2
Finite Element Analysis of 1-D Problems

Finite element model:

Q1  6 3L 6 3L   v1 
Q   3L 2 L2  3L L2   
 2  2 EI    1 
  3
Q3  L  6  3L 6  3L v2 
Q4   
 3L L2  3L 2 L2   2 

Discretization:

P1 , v1 I P2 , v2 II P3 , v3 III P4 , v4

M1 , M2 , M3 , M4 ,
1 2 3 4
Finite Element Analysis of 1-D Problems

Q1I   6 3L 6 3L 0 0 0   v1 
0
 I
Q2 
3L 2 L2 3L L2 0 0 0  1 
0
  
Q3I   6 3L 6 3L 0 0 0   v2 
0
 I   
Element I Q4  2 EI  3 L L2
3 L 2 L2
0 0 0   2 
0
  3  
0 L 0 0 0 0 0 0 0   v3 
0
0  
0 0 0 0 0 0 0  3 
0
   
0 0 0 0 0 0 0 0   v4 
0
0  
  0 0 0 0 0 0 0 0   4 
 0  0 0 0 0 0 0 0 0   v1 
 0  0 0 0 0 0 0 0 0  1 
    
Q1II  0 0 6 3L 6 3L 0 0   v2 
 II    
Q2  2 EI 0 0 3L 2 L2 3L L2 0 0   2 
 II   3  
Element II Q3  L 0 0 6 3L 6 3L 0 0   v3 
Q4II   
0 0 3L L2 3L 2 L2 0 0  3 
   
 0  0 0 0 0 0 0 0 0   v4 
 0   
0 0 0 0 0 0 0 0   4 
 Finite Element Analysis of 1-D Problems

 0  0 0 0
0 0 0 0 0   v1 
 0  0 0 0
0 0 0 0 0  1 
    
 0  0 0 0
0 0 0 0 0   v2 
    
Element II I  0  2 EI 0 0 0
0 0 0 0 0   2 
 III   3  
Q1  L 0 0 0
0 6 3L 6 3L   v3 
Q2III   
0 0 0 3L 2 L2 3L L2  3 
0
 III   
Q3  0 0 0 6 3L 6
0 3L   v4 
Q4III   
0 0 0 0 3L L2 3L 2 L2   4 

 P1   6 3L 6 3L 0 0 0 0   v1 
M   3L 2 L2  3L L2 0 0 0 0  1 
 1   
 P2    6  3L 66  3L  3L 6 3L 0 0   v2 
    
 M 2  2 EI       2 
2 2 2 2
 3 L L 3L 3 L 2 L 2 L 3 L L 0 0
  3
 P3  L  0 0 6  3L 66  3L  3L  6 3L   v3 
M 3   2 
 
     3 
2 2 2
 0 0 3 L L 3 L 3 L 2 L 2 L 3 L L
 
 P4   0 0 0 0 6  3L 6  3L v4 
 M 4   2 
 0 0 0 0 3L L 2
 3L 2 L   4 
 Finite Element Analysis of 1-D Problems
Apply known boundary conditions
 P1  ?  6 3L 6 3L 0 0 0 0   v1  0 
 M ?   3L 2 L2  3L L2 0 0 0 0  1  0 
 1    
 P2  ?   6  3L 12 0 6 3L 0 0   v2  0 
    
 M 2  0  2 EI  3 L L 2
0 4 L 2
 3 L L2
0 0   ? 
 3
2
  L F
 3P  ?  L 0 0  6  3L 12 0 6 3L  v3  0  L L
 M3  0   2 
 
  3  ? 
2 2
 0 0 3 L L 0 4 L 3 L L
 
 P4   F  0 0 0 0  6  3L 6  3L v4  ? 
 M 4  0   2 
   4  ? 
2
 0 0 0 0 3L L 3 L 2 L

 M2  0   3L L2 0 4 L2  3L L2 0 0   v1  0 
M 0  2 
  
 3   0 0 3 L L 2
0 4 L 2
 3 L L  1 0

 P4   F  0 0 0 0  6  3L 6  3L v2  0
   2  
 M 4  0  2 EI    2  ? 
2
 0 0 0 0 3 L L 3 L 2 L
  3 6  
 1P  ?  L 3L 6 3L 0 0 0 0  v3  0 
 
 M1  ?   3 L 2 L2
 3 L L 2
0 0 0 0  3  ? 
   6  3L 12  
 P  ?  0 6 3L 0 0   v4  ? 
2
 
 P3  ?       4  ? 
 0 0 6 3 L 12 0 6 3 L
 Finite Element Analysis of 1-D Problems
Solution Procedures
 M2  0   3L L2 0  3L 4 L2 L2 0 0   v1  0 
M 0  2 
  
 3   0 0 3 L 0 L 2
4 L 2
 3 L L  1 0

 P4   F  0 0 0 6 0  3L 6  3L v2  0
   2  
 M 4  0  2 EI    
2
 0 0 0 3 L 0 L 3 L 2 L  v 0
 3
3
 6  
 P1  ?  L 3L 6 0 3L 0 0 0   2  ? 
 
 M1  ?   3L 2 L  3L
2
0 L 2
0 0 0  3  ? 
   6  3L 12  
 2P  ?  6 0 3L 0 0   v4  ? 
 
 P3  ?   0 0  6  12  3L 0 6 3L   4  ? 

 M2  0  4 L2 L2 0 0  2  ?   P1  ?   3L 0 0 0   2 
 2   L2
M 0
 3  2 EI  L 4 L2
 3 L L2

 3 
  ?  M  ?
 1  2 EI 0 0 0  3 
 3  

   0  3L 6  3L  v4  ?    3  0 3L 0 0  v4 
 P2  ?  L
P
 4 F  L  
 M 4  0 
 2 
 3L 2 L  4  ?    
 P3  ?   3L 0  6 3L   4 
2
 0 L
 Shear Resultant & Bending Moment
Diagram

3
F F
7

P2
9
F
2 7
FL
7

1
FL
7

FL