Finite element method for structural dynamic

and stability analyses

Module-7

Analysis of 2 and 3 dimensional continua

Lecture-19 Plane stress models

Prof C S Manohar
Department of Civil Engineering
IISc, Bangalore 560 012 India

1
Recall y y Geometry
Prismatic body
Lateral dimensions >> thickness
Loads
 x z
Functions of x and y
No body forces in z-direction
z=h and z=-h free from surface tractions

z
2h x

Boundary conditions We interpolate these Boundary conditions

 zz  x, y,  h   0 features into the  zz  x, y, z   0 

 zx  x, y,  h   0 interior  zx  x, y, z   0  x, y, z  
 zy  x, y,  h   0 
 zy  x, y, z   0 
On ,  xx ,  yy , & xy  xx  x, y, z    xx  x, y  

are independent of z  yy  x, y, z    yy  x, y   x, y, z  

 xy  x, y, z    xy  x, y  
Recall σ xx , σ yy , σ xy 

 xx ,  yy ,  zz ,  xy 10 unknowns

u , v, w 
2 equllibrium equations 

4 stress-strain relations 10 equations
4 strain displacement relations 

σ xx σ xy u
  
 X  0 xx E xx
1
    yy   
x y x
xx

σ xy σ yy  
1
  xx   yy 
 yy 
v V
2h t
   dA
 Y  0
xx
E
x y  y 2 A
 zz    xx   yy 
E w
 zz 
1   xy z
 xy   xy 
E G 1  u v 
 xy    
2  y x 
 Plane strain model

long prismatic
hydrostatic dam
pressure
indepndent of z

x
 0, 0 

Geometry Loads
Prismatic body Surface tractions and body forces
Fixed at two ends z=0 and z=L functions of x and y and independent of z
against movement in z-direction No body forces in z-direction
Lateral dimensions << thickness

4
At z  0 and z  L, w  x, y, z   0.
L  L
Body is symmetric and loading is symmetric about z   w  x, y ,   0
2  2
L
Consider the section between z  0 and z  .
2
L L
The plane z  is plane of symmetry for section between z  0 and z  .
4 2
L
For this section, loading is symmetric about z  .
4
 L  L
w  x, y, 0   0 & w  x, y,   0  w  x, y,   0.
 2  4
By using this arguement repeatedly, we conclude that w  x, y, z   0z   0, L .
Since loading and the body do not change wrt z, we also postulate that
u  x, y , z   u  x, y  & v  x , y , z   v  x , y 

5
 u
 xx  x, y, z     xx  x, y 
x
v
 yy  x, y, z     yy  x, y 
y
u  x, y , z   u  x, y   w
 zz  x, y, z   0
 z
v  x, y , z   v  x, y   
 2  x, y, z   u  v  2  x, y 
w  x, y , z   0  xy
y y
xy

u w
2 xz  x, y, z    0
z x
v w
2 yz  x, y, z    0
z x
6
Constitutive laws
e   xx   yy   zz   xx   yy
 xx  x, y, z    e  2G xx     2G   xx   yy   xx  x, y 
 yy  x, y, z    e  2G yy     2G   yy   xx   yy  x, y 
 zz  x, y, z    e  2G zz     xx   yy    zz  x, y 
 xy  x, y, z   2G xy   xy  x, y 
 xz  2G xz  0
 yz  2G yz  0
G  3  2G  
E & 
 G 2 G   

7
  σ xx  x, y  σ xy  x, y  0 
 
  x, y, z     x, y   σ xy  x, y  σ yy  x, y  0 
Nine unknowns
 0 0 σ zz  x, y  
 xx  x, y   xy  x, y  0
 
  x, y, z     x, y    xy  x, y   yy  x, y  0
 0 0 0 
u  x, y  & v  x, y 
Nine equations
1  2   
u  xx    xx   yy 
σ xx σ xy
 X 0
 xx  E  1  
x y x
1  2   
σ xy σ yy v  yy  
 yy   xx 
 Y  0  yy  E  1  
x y y
2 1  
u v  xy   xy
2h t 2 xy   E
V 
2 A
  dA y y 8
Remarks
Plane stress and plane strain models are mathematically equivalent.
E 
Replace E by & by to convert plane stress model into
1  2
1 
plane strain model.
E 1  2  
Replace E by & by to convert plane strain model into
1  2
1 
plane stress model.
Both the plane stress and plane strain models are approximations:
in plane stress models we have difficulty in satisfying a few compatibility
equations and in plane strain models we have difficulty in satisfying boundary
condtions on z  0 and L.

9
Strain and Kinetic energies
  x, y   σ xx  x, y  σ yy  x, y  σ xy  x, y 
t

  x, y    xx  x, y   yy  x, y   xy  x, y 
t

  x, y   D  x, y 
 
 0
 x 
   u  x, y  
  x, y    0  
 y   v  x, y  
 
 
 y x 
1 2h t 2h t
V           D dA
t
dV0 dA
2 V0 2 A 2 A

T     u  v  dV0   
1 2h
  
2 2 2 2
u v dA
2 V0 2 A
10
Finite element model for plane stress continuum

11
Linear triangular plane stress element

v3
y, v  x, y, t 
 x3 , y3  3 u3 v2 Field variables
u  x, y , t 
v1
 u2
v  x, y , t 
2
1 u1  x2 , y2 
 x1 , y1 
x, u  x, y, t 

u  x, y, t   1  t    2  t  x   3  t  y
v  x, y , t    4  t    5  t  x   6  t  y

Thickness=h 12
u  x , y , t   1  t    2  t  x   3  t  y
v  x, y , t    4  t    5  t  x   6  t  y

u  x1 , y1 , t   u1  1   2 x1   3 y1
u  x2 , y2 , t   u2  1   2 x2   3 y2
u  x3 , y3 , t   u3  1   2 x3   3 y3
 u1  1 x1 y1  1  1 
      
u2   1 x2 y2   2   A  2 
u  1 x y3   3   
 3  3  3
1   u1   x2 y3  x3 y1 x3 y1  x1 y3 x1 y2  x2 y1 
  1   1 
 2   A u2  with A 
1
 y2  y3 y3  y1 y1  y2 
  u  2 A0
 3  3  x3  x2 x1  x3 x 2  x1 
2 A0  x1  y1  y2   x2  y3  y1   x3  y1  y2 
13
  A10 A20 A30 
1 1  
A   a1 a2 a3 
2 A0
 b1 b2 b3 

u  x , y , t   1  t    2  t  x   3  t  y
 1   u1 
   
 u  x, y, t   1 x y   2   1 x y  A1 u2 
  u 
 3  3
Denote  N1 N 2 N 3   1 x y  A1
 u1 
 
 u  x, y, t    N1 N2 N 3  u2 
u 
 3
14
  u1 
 
u  x, y, t    N1 N2 N 3  u2 
u 
 3
 v1 
 
Similarly, we get v  x, y, t    N1 N2 N 3  v2 
v 
 3
 u1 
v 
 1
u  x, y, t    N1 0 N2 0 N3 0  u2 
   
 v  x, y, t    0 N1 0 N2 0 N 3   v2 
u3 
 
 v3 
u  x, y, t   u 
    N ue     N ue
 v  x, y, t   v  26 61 15
21
Remarks
 u1 
v 
 1
u  x, y, t    N1 0 N 2 0 N 3 0  u2 
Consider    v 
 v  x , y , t    0 N 1 0 N 2 0 N 3 2 
u3 
 
 v3 
u  x, y, t   N1  x, y  u1  t   N 2  x, y  u2  t   N 3  x, y  u3  t 
v  x, y, t   N1  x, y  v1  t   N 2  x, y  v2  t   N 3  x, y  v3  t 
Since  has been selected so as to satisfy condtions at nodes 1,2, and 3
we get
N1  x1 , y1   1, N 2  x1 , y1   0, N 3  x1 , y1   0, 

N1  x2 , y2   0, N 2  x2 , y2   1, N 3  x2 , y2   0,   N i  x j , y j    ij

N 3  x3 , y3   0, N 2  x3 , y3   0, N 3  x3 , y3   1.  16
Remarks Consider element 1.
 Ni  x j , y j    ij If we are on edge 2-3, N1  x, y  is 0.

 Ni  x, y  varies linearly in x and y For any point A on the edge 2-3,

displacement is not affected by
u1  t  & v1  t  .
y If we now add element 2,
again, displacement at A is unaffected
x N1  x, y  by u1  t  & v1  t  .
z Upon deformation, the nodes will be
1 displaced. However, there would be
3
1 no gaps along the line 2-3 in the
A
displacement function.
2 2

4
17
u  x, y, t  
    N  x, y   u  t e
 v  x, y, t  

h    u 2  v 2  dA0
1
T
2 A0
t
1 u  u 
 h      dA0
2 A0  v  v 

 h   u  t e  N  x, y    N  x, y   u  t e dA0

1 t t

2 A0

t  
 u  t e  h    N  x, y    N  x, y   dA0  u  t e
1 t

2  A0 

 u  t e M e u  t e
1 t

2
18
T  u  t e M e u  t e
1 t

2
M e  h    N  x, y    N  x, y   dA0
t

A0

2 0 1 00 1
0 2 0 1 
1 0

 hA0 1 0 2 00 1
Me   
12  0 1 0 12 0
1 0 1 0 2 0
 
0 1 0 1 0 2

19
Strain energy
  x, y, t   σ xx  x, y, t  σ yy  x, y, t  σ xy  x, y, t 
t

  x, y, t    xx  x, y, t   yy  x, y, t   xy  x, y, t 
t

  x, y, t   D  x, y, t 
   
 0  0
 x   x 
   u  x, y, t    
  x, y , t    0   v x, y , t    0   N  x, y   u  t e  B u  t e
 y       y 
   
   
 y x   y x 

20
  x, y, t   B u  t e
 
 0
 x 
 
B 0   N  x, y  
 y 
 
 
 y x 
1 h h
V           D dA0
t t t
dV0 dA0
2 V0 2 A0 2 A0
h
  ue B t DB ue dA
t

2A
1   1
 ue  h  B DBdA0  ue  ue K e ue
t t t

2  A0  2

K e  h  B t DBdA0
A0
21
  
 0
 x   a1 0 a2 0 a3 0
  1 
B 0  
 N  
x , y    0 b1 0 b2 0 b3 
 y  2 A0
 b1 a1 b2 a2 b3 a3 
 
 
 y x 
 K e  hA0 B t DB
Remark: B is independent of x and y and hence
this element is called the constant strain triangle.
  x, y, t   B u  t e
  x, y, t   DB u  t e  constant over the element 

The steps which follow development of structural

matrices (transformation to global coordinates,
assembling, imposition of boundary conditions,
evaluation of nodal forces) would be similar to those
described in the context of analysis of frames. 22
 Linear rectangular plane stress element

Field variables y,

u  x, y , t  4 3
x
  , 
y
 
v  x, y , t  a b
x, 
2b

y 
1 2
2a 1,1 1,1
 a, b a, b
x 

1, 1
a, b 1, 1
a, b
23
u  x, y, t   1  t    2  t  x   3  t  y   4  t  xy
v  x, y, t    5  t    6  t  x   7  t  y   8  t  xy
Evaluation of  i  t  , i  1, 2,3, 4
Use u  xi , yi , t   ui  t  and obtain  i  t  in terms of ui  t  , for i  1, 2,3, 4.
Evaluation of  i  t  , i  5, 6, 7,8
Use v  xi , yi , t   vi  t  i  1, 2,3, 4, and obtain  i  t  , i  5, 6, 7,8
in terms of vi  t  , for i  1, 2,3, 4
x y
It is advantageous to introduce the transformation   ,  .
a b

4
u  , , t    N j  ,  u j  t 
j 1
4
v  , , t    N j  ,  v j  t  24
j 1
 4 4
u  , , t    N j  ,  u j  t  & v  , , t    N j  ,  v j  t 
j 1 j 1

The function N j  ,  would be such that N j i ,i    ij .

It can be shown that
1
N1  ,   1   1   
4
1
N 2  ,   1   1   
4
1
N 3  ,   1   1   
4
1
N 4  ,   1   1   
4
or, more compactly as

N j  ,   1   j 1   j  ; j  1, 2,3, 4
1
4 25
 1
N1  ,   1   1   
4

 3
1 4

 
1 2

1
Edge 1-2,   1, N1  ,   1   
2 Displacements
Edge 3-4,   1, N1  ,   0 would be continuous
across element
Edge 2-3,   1, N1  ,   0 boundaries
1
Edge 4-1,   1, N1  ,   1   
2 26
ue  u1 v4 
t
v1 u2 v2 u3 v3 u4
 N1 0 N 2 0 N 3 0 N4 0
N    0 N 0 N 0 N N 4 
 1 2 3 0
u  , , t  
    N  ,   u  t e
 v  , , t  
T     u  v  dV0    u u dV0
1 2 2 1 t

2 V0 2 V0
1
   ue  N   N ue dV0
t t

2 V0

t  
1 1
1
 ue     abh  N   N  d  d  ue
t

2  1 1 
1 1 
 M e      abh  N   N  d  d 
t

 1 1  27
 4 4
u  , , t    N j  ,  u j  t  & v  , , t    N j  ,  v j  t 
j 1 j 1

The function N j  ,  would be such that N j i ,i    ij .

It can be shown that
1
N1  ,   1   1   
4
1
N 2  ,   1   1   
4
1
N 3  ,   1   1   
4
1
N 4  ,   1   1   
4
or, more compactly as

N j  ,   1   j 1   j  ; j  1, 2,3, 4
1
4 28
 1 1 
M e      abh  N   N  d  d 
t

 1 1 
Typical element
1 1
M eij     abhN  ,  N  ,  d d
1 1
i j

1 1

1  i 1  i  1   j 1   j  d d

1
    abhd
1 1
16
 abhd  1 1 
   1  i  1   j  d    1  i  1   j  d 
16  1   1 
This can be evaluated in a straight forward manner.

29
 4 0 2 0 1 0 2 0
0 4 0 2 0 1 0 2 

2 0 4 0 2 0 1 0
 
 hab  0 2 0 4 0 2 0 1
Me 
9 1 0 2 0 4 0 2 0
 
0 1 0 2 0 4 0 2
2 0 1 0 2 0 4 0
 
 0 2 0 1 0 2 0 4 

30
Strain energy
h t h t
V 
2A
  dA  
2A
 D dA

 
 0
 x 
   u  x, y, t  
  x, y , t    0   
 y   v  x, y, t  
 
 
 y x 
 
 0
 x 
 
 0   N  x, y   u  t e  B u  t e
 y 
 
 
 y x  31
 a b
h t t h
V   ue B DBue dA    uet B t DBue dxdy
2A 2  a b
1 1
h
 ab   uet B t DBue d  d
2 1 1
1 t  1 1

 ue  abh   B DBd  d  ue
t

2  1 1 
 1 1

 K e   abh   B DBd d 
t

 1 1 
 In this case the integral can be evaluated in closed form.
32
  1    1    1    1    
 0 0 0  0 
 a a a a 

B 0 
1  

1   1    1    
0 0 0 
 b b b b 
 1    1   1   1    1    1    1    1  
 b   
a 
 a b a b a b

Summary
K e   hB t DBdA
A

M e   h  N t NdA
A

In cases considered so far, it has been possible to evaluate these

integrals in closed form.
If the element geometry is not simple (like triangle or rectangle),
we need to resort to numerical integrations to evaluate these integrals:
33
isoparametric formulations.
60.96 m
E =34.474 109 N/m 2
  0.11
  568.7 kg/m3
h  0.2286 m

Determine the first five natural frequencies

and normal modes.

15.24 m
34
Analysis using triangular plane stress elements

No of elements: 32
No dofs= 48
Natural frequencies (Hz)
6.39
31.99 (axial)
32.19
74.81
96.86 (axial)
123.76

Model 1
35
Mode-1 Mode-2 Mode-3
6.39 Hz 31.99 Hz 32.19 Hz

36
Mode-4 Mode-5 Mode-6
74.81 Hz 96.86 Hz 123.76 Hz

37
No of elements: 128
No dofs= 160
Natural frequencies (Hz)
5.35
27.58
31.95 (axial)
64.25
96.04 (axial)

Analytical natural
Frequencies
(Timoshenko beam theory)
4.973
26.391
31.944 (axial)
62.066
95.832 (axial) 38
Mode-1 Mode-2 Mode-3 Mode-4
5.35 Hz 27.58 Hz 31.95 Hz 64.25 Hz

39
Mode-5 Mode-5 Mode-7 Mode-8
96.04 Hz 105.31 Hz 148.94 Hz 160.53 Hz

40
 Summary

Model-1 Model-2 Analytical natural

No of elements: 32 No of elements: 128 Frequencies
No dofs= 48 No dofs= 160 (Timoshenko beam
Natural frequencies (Hz) Natural frequencies (Hz) theory)
6.39 5.35 4.973
31.99 (axial) 27.58 26.391
32.19 31.95 (axial) 31.944 (axial)
74.81 64.25 62.066
96.86 (axial) 96.04 (axial) 95.832 (axial)
123.76 105.31

Axial modes are more accurately

captured than bending modes

41
 No of elements: 64
No dofs= 160
Natural frequencies (Hz)
5.03
26.22
31.95 (axial)
61.56
96.04 (axial)
101.61 Analytical natural
Frequencies
(Timoshenko beam
theory)
4.973
26.391
31.944 (axial)
Bending modes 62.066
are better captured 95.832 (axial)
42
Mode-1 Mode-2 Mode-3 Mode-4
5.03 Hz 26.22 Hz 31.95 Hz 61.56 Hz

43
Mode-5 Mode-6 Mode-7 Mode-8
96.11 Hz 101.61 Hz 144.57 Hz 160.95 Hz

44
Example: earth dam

42 elements
E=5.605E08 N/m2 42 dofs Shear beam model
Nu=0.45 Nat frequencies in Hz Nat freqs Hz
Rho=2082 kg/m3 1.25 1.227
2.67 1.993
3.70 2.324
4.05 3.073
4.10 45
Mode 1, 1.25 Hz

Mode 2, 2.67 Hz

46
 Mode 3, 3.70 Hz

Mode 4 4.05 Hz

47
Discretization
using triangular
and rectangular elements

Nat freqs Hz
1.244
2.27
2.73
3.45
4.35 48
Mode 1, 1.24 Hz

Mode 2, 2.27 Hz

49
 Mode 3, 2.73 Hz

Mode 4, 3.45 Hz

50
Finite element model for plane stress continuum

51
52