Summary of the Class before Exam1

Building a FEA Model

Ingredients of a FEA software package Steps in building a FEA model Modeling considerations Single 1D spring/truss element Global stiffness matrix; properties Boundary conditions Shape functions and their properties 2D and 3D truss elements; rotation matrix 1D beam elements 2D beam elements Distributed load Beam elements with bending and axial loads 3D beam elements with bending, axial loads, and torsion

1D Spring/Truss Elements

Beam elements

Frames

Building A FEA Model

Six basic ingredients of a FEA software package 1. 2. 3. 4. 5. 6. Type of analysis Geometry (defined through nodes) Elements Material properties Boundary conditions Time functions

Building A FEA Model

Steps in building a FEA model 1. Discretization of the geometry into an equivalent system of finite elements with associated nodes and choosing an appropriate element type to closely model the actual physical behavior. 2. Selection of an appropriate displacement (interpolation) function within each element. 3. Defining the strain/displacement and stress/ strain relationships for deriving the equations for each finite element 4. Derivation of the element stiffness matrix and equations. The nodal forces are related to the nodal displacements using the direct equilibrium method, or energy methods or the weighted residual method. 5. Assembling the global stiffness matrix from the element stiffness matrices 6. The introduction of the boundary conditions. 7. Solving for the unknown degrees of freedom (or the generalized displacements) 8. Solving for the element stresses and strains 9. Interpretation of the results for use in the design/analysis process

Building An FEA Model

The differences between a physical model and an FEA model
Developing a physical model is a process that simplifies a real-world problem into a problem that is suitable for FEA.

Considerations in building a physical model

1. 2. The nature of real-world problem The cost of conducting FEA

Considerations in building an FEA model

1. 2. The accuracy of the FEA model The cost of conducting FEA

Factors that affect the cost:

1. Degree of Freedoms (DOF): p 2. Number of Nodes : N 3. How the nodes are numbered 4. Number of Integration Points in Each Elements 5. Nonlinear Analysis How to estimate the size (the memory need) of an FEA model?
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Element Stiffness Matrix and Global Stiffness Matrix Element stiffness matrix
Shape functions, or interpolation functions: approximation of displacement field Nodal force-nodal displacement relationship Matrix form of above relationship

Coordinate Transformation

e [ K ] = [T ] K [T ] e T
Global Stiffness Matrix
Direct stiffness matrix method
Write down global displacement vector Use this vector as an index for DOFs Airline tickets

[]

Boundary Conditions
Coordinate rotation for skewed support Cross out some terms Solve global stiffness matrix Solve nodal reaction force (external force) 5

Spring/Truss Elements
f d 1x 1x
1 For the spring to be in equilibrium,

f d 2x 2x
2

= kd kd f 1x 1x 2x = kd + kd f 2x 1x 2x
k f 1x = k f2x k d 1x k d 2 x

{ }

e f x = [k ] d x

{ }

[k ]e

stiffness matrix

Spring/Truss Elements
1 1 2

x
2

T
d1x d2x

x
=
du dx

u =?

d d 2x 1x = d1x + u x L

x x = 1 d + d2x u 1x L L d = [N1 N 2 ] 1x u d 2 x
x N2 = L
Shape functions
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x N1 = 1 L

Beam Elements m
+ +

m V

m f

V
In beam theory

f
In FEA

Mechanics of Beams

dv 2 m = EI 2 dx

dv 2 m = 2 EI dx dv 3 ) EI 3 = V (x dx dv 4 ) EI 4 = w(x dx dv 4 EI 4 = 0 dx

dm =V dx
dV ) = w( x dx

) = 0 If w(x

Beam Elements
Beam Elements

dv 3 ) EI 3 = V (x dx

In general,

) 0 V (x

d1 y

d2 y

) = a1 x 3 + a2 x 2 + a3 x + a4 v( x
Interpolation function for deflection.

2
Beam element

Boundary conditions

= 0 ) = d1 y = a4 v(x

dv = 0 ) = 1 = a3 (x dx
= L ) = d 2 y = a1 L3 + a2 L2 + a3 L + a4 v( x

dv = L ) = 2 = 3a1 L2 + 2a2 L + a3 (x dx
Why we use a third order polynomial?
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Beam Elements
Beam Elements: displacement function

) = a1 x 3 + a2 x 2 + a3 x + a4 v( x
2 1 a1 = 3 d1 y d 2 y + 2 (1 + 2 ) L L
a3 = 1
In matrix form

a2 =

3 1 (21 + 2 ) d d 1y 2y 2 L L

a3 = d1 y

v = [N ]{d }

[N ] = [N1

N2

N3

N4 ]
N2 = N4 =

{d } = [d1 y

1 d 2 y 2 ]T

1 3 3x 2 L + L3 N1 = 3 2 x L 1 3 + 3x 2L N3 = 3 2x L

1 3 2 2 3 x L x L + x L 2 L3 1 3 2 2 x L x L 3 L

)
dN 2 10 = L) = 0 (x dx

Note:

= 0) = 1 N1 ( x

= L) = 0 N1 ( x

dN 2 = 0) = 1 (x dx

Beam Elements
Beam Elements: Stress and Strain

dv 2 ) = EI 2 m( x dx dv 3 ) = EI 3 V (x dx

f1 y d1 y m 1 e 1 = [K ] f2y d 2 y m2 2

[K ]e

6 L 12 6 L 12 2 2 EI 6 L 4 L 6 L 2 L = 3 L 12 6 L 12 6 L 2 2 6 L 2 L 6 L 4 L
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Frames
Torsion in FEA Consider torsion only

1x m
1x

2x m
2x

d M =G J L 1x = m 2x m

GJ = 2 x 1x L

1x GJ m = 2x L m

1 1 1x 1 1 2 x
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Frames
Consider shear, bending, and torsion
d f 2y 2y

1x m

1x

d f 1y 1y

2x m 2x

1z m 1z

x
1 L 2
2z m 2z

f 6 L 12 6 L d 12 1y 1y 6 L 4 L2 6 L 2 L2 m 1z EI m 1z 1x GJ = 3 = 2x L f 2 y L 12 6 L 12 6 L d 2 y m 2 2 m 6 L 4 L 2 z 6L 2L 2z

1 1 1x 1 1 2 x

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Frames
Beam In 3D Space Start from Local Coordinate

x
Consider bending in Consider shear in

and z y , and torsion in x

and z y , and axial in x

2 y , m 2y ,d f 2x 2x 2 z , m 2z ,d f 2z 2z 2 x , m 2x
,d f 2y 2y
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Frames
Beam In 3D Space, Local Coordinate
AE L f 1x f1 y f 1z 1x m m1 y m 1z = f2x f 2y f 2z m2 x m 2y 2z m 0 12 EI z L3 0 0 12 EI y L3 0 0 0 GJ L 0 0 6 EI y L2 0 4 EI y L 4 EI z L 0 6 EI z L2 0 0 AE L 0 0 0 0 0 AE L 0 12 EI z L3 0 0 0 6 EI z L2 0 12 EI z L3 0 0 12 EI y L3 0 6 EI y L2 0 0 0 12 EI y L3 0 0 0 GJ L 0 0 0 0 0 GJ L 0 0 6 EI y L2 0 2 EI y L 0 0 0 6 EI y L2 0 4 EI y L 6 EI z L2 0 d 1x d 0 1y d 1z 0 1x 2 EI z 1 y 1z L d 0 2x d 6 EI z 2 y 2 d L 2z 0 2x 2 y 0 2z 0 4 EI z L 15 0

Shape Functions
Shape functions describe the shape of displacement field and are one of the determinant factors in governing the efficiency and accuracy of FEA. A shape function takes the value of ONE at the node associated with it, and takes the value of ZERO at other nodes. The choice of shape functions depends on: The number of nodes in the element. The function should be able to describe rigid body motion, and constant strain.

Two nodes truss:

N1 = 1

x L

N2 =

x L

Two nodes beam bending:

1 3 3x 2 L + L3 N1 = 3 2 x L 1 3 + 3x 2L N3 = 3 2x L

N2 = N4 =

1 3 2 2 3 x L x L + x L 2 L3 1 3 2 2 x L x L 3 L

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Coordinate Transformation
Rotation Matrix

cos f 1x = f1 y sin

sin f1x cos f1 y

f1y
f 1y

f 1x

f1x cos = or f1 y sin

sin f 1x cos f1 y

f1x

sin cos f 1x = sin cos f1 y

{f }= [T ]{ f }

{ f } = [T ]1 {f }

Measured from x to counterclockwise

[T ]1 = [T ]T

to x Measured from x counterclockwise

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Coordinate Transformation
Rotation Matrix

y z xyz x
f1x C f 1y S = f2x 0 f2y 0 S C 0 0 0 0 C S 0 f 1x 0 f 1y S f 2x C f2 y d1x C d 1y S = d 2 x 0 d 2 y 0 S C 0 0 0 0 C S 0 d 1x 0 d 1y S d 2 x C d 2 y

y z xyz x
C f 1x f1 y S = f2x 0 f 2y 0 S C 0 0 0 f1 x f 0 0 1y C S f 2x S C f2 y 0 C d 1x d1 y S = d 2 x 0 d 2y 0 S C 0 0 0 d1x d 0 0 1y C S d 2 x S C d 2 y 0

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Coordinate Transformation y
Coordinate transformation matrix

z
y
z
, z cos( x

cos( x f , x ) 1x , x ) f1 y = cos( y f cos( z , x ) 1x

) , y ) cos( y , y ) cos( z

, y cos( x

) f1 x x , z ) f1 y y cos( y f z , z ) cos( z 1x
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Coordinate Transformation
2D and 3D elements: Element stiffness matrix in global coordinate

e { f } = [T ] K [T ]{d } T T e

[] ] [T ] [ K ] = [T ][K

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Spring Elements
Global Stiffness matrix: direct stiffness matrix method
Element I

i
N by N matrix 1 i j N
(I ) kii (I ) kij (I ) kij (I ) k jj

[K ] =

(I ) kii

(I ) kij

(I ) kij

k (jjI )

1 i j N
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Global Stiffness Matrix

Global Stiffness matrix: Properties 1. It is symmetric

K ij = K ji

2. The element on the diagonal of the matrix is always positive. K ii > 0 3. The product of the i-th row of the global stiffness matrix and the global displacement matrix gives the external force on the i-th DOF of the system. 4. Kij is equal to the reaction force on the i-th DOF due to a unit displacement on the j-th DOF whereas all the other DOFs are fixed.
5. The global stiffness matrix is singular.

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Boundary Conditions
Boundary Conditions
Why we need BC?

=0 d 1x
1

k1
1

d 3x
3
P3

k2
2

d 2x
2
P2

F1x

F1x k1 F2 x = 0 F k 3x 1
k1 F1x X 0 P2 = X P k 3 X1
How to find F1x ?

0 k2 k2

k1 0 k 2 d 2 x k1 + k 2 d 3 x
k1 0 X k2 d 2 x d k1 + k 2 3x

X 0
k2 k2

This method is applicable to other elements.

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Inclined or Skewed Supports

Sometimes, a boundary condition can be more conveniently applied in a local coordinate.

y
2 3

y = 0 In the local coordinate system: d 3

In the global coordinate system:

x cos d 3 = d 3 y sin

sin d 3 x cos d 3 y
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Frames Inclined or Skewed Supports

F1 [K ]11 F2 = [K ]12 F 3
F1x X F X 1y M1 X F2 x X F2 y = X M X 2 F3x F3 y M 3

[K ]12 d1 T [K ]22 [K ]23 [T3 ] d 2 d [T3 ][K ]23 [T3 ][K ]33 [T3 ]T 3
X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X d1x d 1y 1 X d 2 x X d 2 y X 2 X d3 x y =0 X d 3 X 3

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Beam Elements
Distributed loads: Work Equivalence Method
Wdistributed = )v ( x )dx w(x
L 0

d Wdiscrete = f 1 y 1 y + m11 + f 2 y d 2 y + m2 2

= f 1y = f 2y

)N dx w(x
L 0 1

m1 = m2 =

)N dx w(x
L 0 2

)N dx w(x
L 0 3

)N dx w(x
L 0 4

Note,

refers to local coordinate, it takes values between 0 and L.

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