Introduction to FEM

IFEM Ch 2 Slide 1
The Direct Stiffness Method (DSM)
A democratic method, works the same no matter
what the element:
Obvious decision: use the truss to teach the DSM
Importance: DSM is used by all major commercial FEM codes
Bar (truss member) element,
2 nodes, 4 DOFs
Tricubic brick element,
64 nodes, 192 DOFs
Quadratic thin-plate element,
6 nodes, 12 DOFs
Introduction to FEM
IFEM Ch 2 Slide 2
Model Based Simulation
(a simplification of diagrams of Chapter 1)
Physical
system
Modeling + discretization + solution error
Discretization + solution error
Solution error
Discrete
model
Discrete
solution
Mathematical
model
IDEALIZATION DISCRETIZATION SOLUTION
FEM
VERIFICATION & VALIDATION
Introduction to FEM
IFEM Ch 2 Slide 3
Introduction to FEM
Idealization Process
(a) Physical System
(b) Idealized Sytem:
FEM-Discretized
Mathematical Model
IDEALIZATION
joint
support
member
IFEM Ch 2 Slide 4
FEM model:
Remove loads
& supports:
Disassemble:
Localize:
longerons
battens
diagonals
longerons
Generic element:
Introduction to FEM
DSM: Breakdown Steps
IFEM Ch 2 Slide 5
Solve for joint
displacements:
Merge:
Apply loads
and supports:
Form
elements:
longerons
battens
diagonals
longerons
Globalize:
Introduction to FEM
DSM: Assembly & Solution Steps
IFEM Ch 2 Slide 6
The Direct Stiffness Method (DSM) Steps
Disconnection
Localization
Member (Element) Formation
Globalization
Merge
Application of BCs
Solution
Recovery of Derived Quantities
Breakdown
(Chapter 2)
Assembly &
Solution
(Chapter 3)
Introduction to FEM
Starting with: Idealization
IFEM Ch 2 Slide 7
A Physical Plane Truss
Introduction to FEM
joint
support
member
Too complicated to do by hand. We will
use a simpler one to illustrate DSM steps
Typical of those used for building roofs and
short span bridges.
IFEM Ch 2 Slide 8
The Example Truss: Physical and
Pin-1ointed Idealization
Introduction to FEM
1 2
3
Idealization as Pin-1ointed Truss
and FEM Discretization
IFEM Ch 2 Slide 9
The Example Truss - FEM Model:
Nodes, Elements and DOFs
Introduction to FEM
45
o
45
o
1(0,0)
2(10,0)
3(10,10)
x
v
x3
x3
f , u
v2
v2
f , u v1
v1
f , u
x2
x2
f , u
x1
x1
f , u
v3
v3
f , u
(1)
(2) (3)
(3) (3)
(3)
(3)
E ÷ 100, A ÷ 2 2,
L ÷ 10 2, ÷ 3/20
(1)
(1)
(1)
(1)
E ÷ 50, A ÷ 2,
L ÷ 10, ÷ 1/5
(2)
(2)
(2)
(2)
E ÷ 50, A ÷ 1,
L ÷ 10, ÷ 1/5
IFEM Ch 2 Slide 10
The Example Truss - FEM Model BCs:
Applied Loads and Supports (Saved for Last)
Introduction to FEM
f ÷ 2
x3
f ÷ 1
v3
1
2
3
x
v
(1)
(2) (3)
IFEM Ch 2 Slide 11
Master (Global) Stiffness Equations
f
f
x1
f
v1
f
x2
f
v2
f
x3
f
v3
u
u
x1
u
v1
u
x2
u
v2
u
x3
u
v3
f
x1
f
v1
f
x2
f
v2
f
x3
f
v3
K
x1x1
K
x1v1
K
x1x2
K
x1v2
K
x1x3
K
x1v3
K
v1x1
K
v1v1
K
v1x2
K
v1v2
K
v1x3
K
v1v3
K
x2x1
K
x2v1
K
x2x2
K
x2v2
K
x2x3
K
x2v3
K
v2x1
K
v2v1
K
v2x2
K
v2v2
K
v2x3
K
v2v3
K
x3x1
K
x3v1
K
x3x2
K
x3v2
K
x3x3
K
x3v3
K
v3x1
K
v3v1
K
v3x2
K
v3v2
K
v3x3
K
v3v3
u
x1
u
v1
u
x2
u
v2
u
x3
u
v3
f Ku
Nodal
forces
Master stiffness matrix Nodal
displacements
Linear structure:
or
Introduction to FEM
IFEM Ch 2 Slide 12
Member (Element) Stiffness Equations
f Ku
f
xi
f
vi
f
x f
f
vf
K
xi xi
K
xi vi
K
xi x f
K
xi vf
K
vi xi
K
vi vi
K
vi x f
K
vi vf
K
x f xi
K
x f vi
K
x f x f
K
x f vf
K
vf xi
K
vf vi
K
vf x f
K
vf vf
u
xi
u
vi
u
x f
u
vf
Introduction to FEM
¸
IFEM Ch 2 Slide 13
First Two Breakdown Steps:
Disconnection and Localization
Introduction to FEM
These steps are conceptual (not actually
programmed as part of the DSM)
1
2
3
(3)
(1)
(2)
v
¸
(1)
x
¸
(1)
v
¸
(2)
x
¸
(2)
v
¸
(3)
x
¸
(3)
1 2
3
Remove loads and supports,
and disconnect pins
x
v
IFEM Ch 2 Slide 14
The 2-Node Truss (Bar) Element
Introduction to FEM
i
i
f
f
d L
x
Equivalent spring stiffness
F
F
f , u
xi
xi
¸
¸
f , u
xf xf
¸
¸
f , u
vf vf
¸
¸
f , u
vi
vi
¸
¸
v
¸
¸
s
k ÷ EA / L
IFEM Ch 2 Slide 15
Truss (Bar) Element Formulation
by Mechanics of Materials (MoM)
K
E A
L
1 0 1 0
0 0 0 0
1 0 1 0
0 0 0 0
F k
s
d
E A
L
d F f
x f
f
xi
d u
x f
u
xi
f
xi
f
vi
f
x f
f
vf
E A
L
1 0 1 0
0 0 0 0
1 0 1 0
0 0 0 0
u
xi
u
vi
u
x f
u
vf
Exercise 2.3
Element stiffness
matrix in local
coordinates
Element stiffness
equations in local
coordinates
Introduction to FEM
Irom which
IFEM Ch 2 Slide 16
Where We Are So Far in the DSM
Disconnection
Localization
Member (Element) Formation
Globalization
Merge
Application of BCs
Solution
Recovery of Derived Quantities
Breakdown
(Chapter 2)
Assembly &
Solution
(Chapter 3)
Introduction to FEM
we are done with this ...
we finish Chapter 2 with
IFEM Ch 2 Slide 17
u
xi
u
xi
c u
vi
s u
vi
u
xi
s u
vi
c
u
x f
u
x f
c u
vf
s u
vf
u
x f
s u
vf
c
Node displacements transform as
i
x
v
c cos s sin
in which
Globalization: Displacement Transformation
Introduction to FEM
x
v
f

u
xi
u
vi
u
xf
u
vf
u
vi

u
xi

u
xf

u
vf

IFEM Ch 2 Slide 18
Displacement Transformation (cont'd)
In matrix form
or
e
e
e
Note:
global on RHS,
local on LHS
Introduction to FEM
u T u
u
u
u
u
c
s
0 0
s
c 0 0
0 0 c
s 0 0
s
c
u
xi
xi
u
vi
vi
u
xf xf
u
vf
vf

¸
IFEM Ch 2 Slide 19
Globalization: Force Transformation
Node forces transform as
or
x
v
i
f

f
xi
f
vi
f
x f
f
vf
f
xi
f
vi
f
xf
f
vf
c s 0 0
s c 0 0
0 0 c s
0 0 s c
Note:
global on LHS,
local on RHS
Introduction to FEM
f
xi
f
vi
f
x f
f
vf

f
vi

f
xi

f
xf

f
vf

f (T ) f
e e
T e
¸
IFEM Ch 2 Slide 20
u
e
T
e
u
e
u
e
f
e
T
e T
f
e
K
e
T
e T
f
e
K
e
T
K
e
e
K
e
E
e
A
e
L
e
c
2
sc c
2
sc
sc s
2
sc s
2
c
2
sc c
2
sc
sc s
2
sc s
2
Globalization: Congruential Transformation
of Element Stiffness Matrices
Exercise 2.8
Introduction to FEM
(
(
)
)
IFEM Ch 2 Slide 21
The Example Truss - FEM Model
(Recalled for Convenience)
Insert the geometric &
physical properties of
this model into
the globalized member
stiffness equations
Introduction to FEM
45
o
45
o
1(0,0)
2(10,0)
3(10,10)
x
v
x3
x3
f , u
v2
v2
f , u v1
v1
f , u
x2
x2
f , u
x1
x1
f , u
v3
v3
f , u
(1)
(2) (3)
(3) (3)
(3)
(3)
E ÷ 100, A ÷ 2 2,
L ÷ 10 2, ÷ 3/20
(1)
(1)
(1)
(1)
E ÷ 50, A ÷ 2,
L ÷ 10, ÷ 1/5
(2)
(2)
(2)
(2)
E ÷ 50, A ÷ 1,
L ÷ 10, ÷ 1/5
IFEM Ch 2 Slide 22
We Obtain the Globalized Element Stiffness
Equations of the Example Truss
f
x1
f
v1
f
x2
f
v2
10
1 0 1 0
0 0 0 0
1 0 1 0
0 0 0 0
u
x1
u
v1
u
x2
u
v2
f
x2
f
v2
f
x3
f
v3
5
0 0 0 0
0 1 0 1
0 0 0 0
0 1 0 1
u
x2
u
v2
u
x3
u
v3
f
x1
f
v1
f
x3
f
v3
20
0 5 0 5 0 5 0 5
0 5 0 5 0 5 0 5
0 5 0 5 0 5 0 5
0 5 0 5 0 5 0 5
u
x1
u
v1
u
x3
u
v3
Introduction to FEM
(1)
(1)
(1)
(1)
(2)
(2)
(2)
(2)
(3)
(3)
(3)
(3)
(3)
(3)
(3)
(3)
(2)
(2)
(2)
(2)
(1)
(1)
(1)
(1)
In the next class
we will put these
to good use
IFEM Ch 2 Slide 23