FINITE ELEMENT ANALYSIS AND DESIGN

FINITE ELEMENT ANALYSIS OF BEAMS

Beam transverse loads are primarily resisted by bending action

Terminology and choice of axes for Bernoulli-Euler model of plane beam

2

A simply supported beam has end supports that preclude transverse

displacements but permit end rotations.

A cantilever beam is clamped at one end and free at the other.

Airplane wings and stabilizers are examples of this configuration.
3

ENGINEERING BEAM THEORY

Euler-Bernoulli Beam Theory

can carry the transverse load

slope can change along the span (x-axis)
Cross-section is symmetric w.r.t. xy-plane or xz-plane
The y-axis passes through the centroid
Loads are applied in xy-plane (plane of loading)
y

y
Neutral axis
Plane of loading
x
L

z
A

ENGINEERING BEAM THEORY cont.

Euler-Bernoulli Beam Theory
Plane sections normal to the beam axis remain plane and normal to
the axis after deformation (no shear deformation)
Transverse deflection (deflection curve) is function of x only: v(x)
Displacement in x-direction is function of x and y: u(x, y)

u ( x , y ) u0 ( x ) y

dv
dx

u du0
d 2v

y 2
x dx
dx

dv
dx

-y(dv/dx)

Neutral axis
x
L

= dv/dx

y
v(x)

ENGINEERING BEAM THEORY cont.

Euler-Bernoulli Beam Theory
Strain along the beam axis: 0 du0 / dx

u du0
d 2v

y 2
x dx
dx

Strain x varies linearly w.r.t. y

Curvature: d 2v / dx 2

x E x E 0 Ey

d 2v
dx 2

Axial force resultant and bending moment

P x dA E 0 dA E
A

d 2v
ydA
dx 2 A

d 2v
M z y x dA E 0 ydA E 2 y 2 dA
dx A
A
A
Moment of inertia Iz(x)

P EA 0
M z EI z

d 2v
dx 2

EA: axial rigidity

EIz: flexural rigidity
6

ENGINEERING BEAM THEORY cont.

Beam constitutive relation
We assume P = 0 (We will consider non-zero P in the frame element)
Moment-curvature relation:

M EI

d 2v
dx 2

Moment and curvature is linearly dependent

Sign convention

+Mz

+Vy

+P

+Mz
+P

x
+Vy

Positive directions for applied loads

y
p(x)
x

C1

C2

F1

C3

F2

F3

GOVERNING EQUATIONS
Beam equilibrium equations

dV

0 p( x)dx Vy y dx Vy 0
dx

dVy
dx

dM z
dx

M z M z
dx pdx Vy dx 0
dx
2

p( x)

Vy

dM z
dx

d 4v

Combining three equations together: EI 4 p ( x)

dx
Fourth-order differential equation

p
Vy

Mz

dVy
dx

Mz

Vy

dx

dx

dM z
dx

dx

STRESS AND STRAIN

Bending stress
d 2v
x Ey 2

M EI

dx

x ( x, y )

M z ( x) y
I

d 2v
dx 2

Bending stress

This is only non-zero stress component for Euler-Bernoulli beam

Transverse shear strain

xy

u v
v v
0
y x
x x

u ( x , y ) u0 ( x ) y

dv
dx

Euler beam predicts zero shear strain (approximation)

VQ
Traditional beam theory says the transverse shear stress is xy
Ib
However, this shear stress is in general small compared to
the bending stress for slender beams

SIMPLE ENGINEERING BEAM EQUATIONS

u y
dVy
dx

d 2v
dx 2
dM z
Vy
dx

dv
y
dx

x y

p( x)

M z ( x) EI z

d 2v
dx 2

Vy ( x) EI z

d 4v
EI z 4 p ( x)
dx
+Mz

x
+Vy

p
Vy
+Vy

d 3v
dx3

+Mz

Mz

dVy
dx

Mz

Vy

dx

dM z
dx

dx

dx
10

POTENTIAL ENERGY
Potential energy = U + V
Strain energy
Strain energy density

d 2v
1
1
1
d 2v
1
U 0 x x E ( x ) 2 E y 2 Ey 2 2
2
2
2
dx
2
dx

Strain energy per unit length

d 2v
1
1 d 2v
U L ( x) U 0 ( x, y, z ) dA Ey 2 2 dA E 2
2
2 dx
dx
A
A

1 d v
U L ( x) EI 2
2 dx
2

y dA
2

Moment of
inertia

Strain energy
2

1 L d 2v
U U L ( x) dx EI 2 dx
0
2 0
dx
L

11

POTENTIAL ENERGY cont.

Potential energy of applied loads
NF

NC

i 1

i 1

V p( x)v( x) dx Fv
i ( xi ) Ci
L

dv( xi )
dx

Potential energy
2

U V

NC
NF
L
dv( xi )
1 L d 2v
EI
dx

p
(
x
)
v
(
x
)
dx

Fv
(
x
)

Ci

i
i

0
0
2
dx
i 1
i 1
dx

Potential energy is a function of v(x) and slope

The beam is in equilibrium when has its minimum value

0
v
v*

12

RAYLEIGH-RITZ METHOD
1. Assume a deflection shape

v( x) c1 f1 ( x) c2 f 2 ( x)..... cn f n ( x)

Unknown coefficients ci and known function fi(x)

Deflection curve v(x) must satisfy displacement boundary conditions

2. Obtain potential energy as function of coefficients

(c1 , c2 ,...cn ) U V
3. Apply the principle of minimum potential energy to determine
the coefficients

13

EXAMPLE SIMPLY SUPPORTED BEAM

Assumed deflection curve
v( x) c1 sin

x
L

E,I,L

Strain energy
L

p0

d 2v
1
c 2 EI 4
U EI 2 dx 1 3
2 0
4L
dx

Potential energy of applied loads (no reaction forces)

L
L
2p L
x
V p( x)v( x)dx
p0c1 sin dx 0 c1
0
L

0
EI 4 2 2 p0 L
Potential energy U V
c1
c
4 L3
1
2 p0 L
4 p0 L4
d EI 4

PMPE:
1
1
dc1
2 L3

EI 5
14

EXAMPLE SIMPLY SUPPORTED BEAM cont.

Exact vs. approximate maximum deflection
(approx)
vmax
c1

p0 L4
p L4
0.013071 0
76.5EI
EI

(exact)
vmax

p0 L4
p L4
0.013021 0
76.8EI
EI

Approximate bending moment and shear force

4 p L2
d 2v
2
x
x
M ( x) EI 2 EIc1 2 sin
03 sin
dx
L
L

L
3
3
4p L
d v

x
x
Vy ( x) EI 3 EIc1 3 cos
02 cos
dx
L
L

L
Exact solutions
v( x)

pL
p
1 p0 L3
x 0 x3 0 x 4

EI 24
12
24

M ( x)

p0 L
p
x 0 x2
2
2

Vy ( x)

p0 L
p0 x
2
15

EXAMPLE SIMPLY SUPPORTED BEAM cont.

1.0

Deflection

0.8

v(x)/v_max

0.6
0.4
v-exact

0.2

v-approx.

0.0
0

0.2

0.4

Bending Moment M(x)

-0.02

0.6

0.8

0.2

0.4

0.6

0.8

-0.04
-0.06
-0.08
-0.10

M_exact

-0.12

M_approx

Error increases

Bending
moment

x
x

0.00

-0.14

0.6

V_exact

Shear force

Shear Force V(x)

0.4

V_approx

0.2
0.0
-0.2
-0.4
-0.6
0

0.2

0.4

0.6

0.8

16

FINITE ELEMENT INTERPOLATION

Finite element approximates solution in an element
Make it easy to satisfy displacement BC using interpolation technique

Beam element

Divide the beam using a set of elements

Elements are connected to other elements at nodes
Concentrated forces and couples can only be applied at nodes
Consider two-node beam element
Positive directions for forces and couples
Constant or linearly distributed load

F2

F1
C1

C2

x
p(x)

17

FINITE ELEMENT INTERPOLATION

Nodal DOF of beam element
Each node has deflection v and slope
Positive directions of DOFs
Vector of nodal DOFs {d} {v1 1 v2

2 }T

v2

v1

L
x1

x2

18

FINITE ELEMENT INTERPOLATION

What is the deflection v(x) of the beam element, if the
nodal DOFs of the element {d} {v1 1 v2 2 }T
are given?
v2

v1

x
L
x=0

x=L

v(x) =?

19

FINITE ELEMENT INTERPOLATION

Deflection interpolation
Interpolate the deflection v(x) in terms of four nodal DOFs
2
3
Use cubic function: v( x) a0 a1 x a2 x a3 x
dv
Relation to the slope:
2

dx

a1 2a2 x 3a3 x

Apply four conditions:

v(0) v1

dv(0)
1
dx

v( L) v2

dv( L)
2
dx

Express four coefficients in terms of nodal DOFs

2
3

x 2 x3
x
x
v( x) 1 3 2 v1 x 2 2 1
L
L
L L

3
x 2
x 2 x3
x
3 2 v2 2 2
L
L
L L
N1 ( x)v1 N 2 ( x)1 N 3 ( x)v2 N 4 ( x ) 2

20

10

PLANE BEAM ELEMENT

v( x ) N1 ( x )v1 N 2 ( x )1 N 3 ( x )v2 N 4 ( x ) 2
2

x
N 2 ( x) x 2
L

x
L2

x
x
N1 ( x) 1 3 2
L
L
2

x
x
N 3 ( x) 3 2
L
L

N1 ( s ) 1 3s 2 2 s 3
N 2 ( s ) L( s 2s 2 s 3 )
N 3 ( s ) 3s 2 2 s 3
N 4 ( s ) L( s 2 s 3 )
where s

x
L

x 2 x3
N 4 ( x) 2
L L

21

PLANE BEAM ELEMENT

2

x
x
N1 ( x) 1 3 2
L
L

x 2 x3
N 2 ( x) x 2 2
L L
2

x
x
N 3 ( x) 3 2
L
L
x 2 x3
N 4 ( x) 2
L L

dN1
x
x2
6 2 6 3
dx
L
L
dN 2
x
x2
1 4 3 2
dx
L
L
2
dN 3
x
x
6 2 6 3
dx
L
L
dN 4
x
x2
2 3 2
dx
L
L

v( x) N1 ( x)v1 N 2 ( x)1 N 3 ( x)v2 N 4 ( x) 2

( x)

N ( x)
N1 ( x)
N ( x)
N ( x)
v1 2 1 3 v2 4 2
dx
dx
dx
dx

d 2 N1
6
x
2 12 3
2
dx
L
L
d 2 N2
4
x
6 2
dx 2
L
L
d 2 N3 6
x
2 12 3
2
dx
L
L
d 2 N4
2
x
6 2
dx 2
L
L

d 3 N1
dx 3
d 3 N2
dx 3
d 3 N3
dx 3
d 3 N4
dx 3

12
L3
6
2
L
12
3
L
6
2
L

22

11

EXAMPLE INTERPOLATION
v1
Cantilevered beam
Given nodal DOFs
1
{d} {0, 0, 0.1, 0.2}T
L
Deflection and slope at x = 0.5L
L 1m
Shape functions:
Deflection at x = 0.5m:
v( 12 ) N1 ( 12 )v1 N 2 ( 12 )1 N 3 ( 12 )v2 N 4 ( 12 ) 2
1
1
1
1
v
0 0 v2 2 2 2 0.025

v2

Slope at x = 0.5 m:
dN
dv
dN
dN
dN 4
v1 1 1 2 v2 3 2
dx
dx
dx
dx
dx
2

x
x
x
x
x2
x
x2
x2
v1 (6 2 6 3 ) 1 1 4 3 2 v2 (6 2 6 3 ) 2 2 3 2 0.1
L
L
L
L
L
L
L

L
23

FINITE ELEMENT INTERPOLATION

Properties of interpolation
Deflection is a cubic polynomial (discuss accuracy and limitation)
Interpolation is valid within an element, not outside of the element
Adjacent elements have continuous deflection and slope

Approximation of curvature
Curvature is second derivative and related to strain and stress
v1

2
d v 6 12
4 6
6 12
2 6 1

x
,

x
,

x
,

x

dx 2 L2 L3
L L2 L2 L3
L L2 v2
2
d v

B {d} B: strain-displacement vector

dx 2

14

41

B is linear function of x and, thus, the strain and stress

2
Alternative expression: d v
T
T

dx 2

d {B }
41
14

If the given problem is linearly varying curvature, the approximation is

accurate; if higher-order variation of curvature, then it is approximate
24

12

FINITE ELEMENT INTERPOLATION cont.

Approximation of bending moment and shear force
d 2v
EI B {d}
dx 2
EI
x
x
x
x
2 [6 12 , L(4 6 ), 6 12 , L(2 6 )]{d} Linear
L
L
L
L
L

M z ( x) EI

Vy

dM z
d 3v EI
EI 3 3 [12 6 L 12 6 L]{d}
dx
dx
L

Constant

Stress (x = - Mzy/Iz) is proportional to Mz; Mz(x) is linear; stress is

linear in x, too
Maximum stress always occurs at the node
Bending moment and shear force are not continuous between adjacent
elements (since the two nodal DOF vectors {d} of the two adjacent
elements are not the same)

25

STRAIN ENERGY OF BEAM ELEMENT

Strain energy
Stress and strain

x y

d 2v
dx 2

x E x Ey

d 2v
dx 2

Strain energy of element (e)

1
e
1 2
U
x x dV E x dV
( e ) 2
( e ) 2
V

x2( e )

x( e )

2
1 d 2v
1
2

E 2 dx y dA EI
2 x( e )
x1( e ) 2 dx
A( e )
1

d 2v
2 dx
dx

26

13

FE EQUATION FOR BEAM cont.

Strain energy cont.
Approximate curvature in terms of nodal DOFs

d 2v
B {d}
dx 2 14 41
2

d 2v
T
(e) T
(e)
2 {d } B B {d }
dx
1

4
4
1
4

1
1

Approximate element strain energy in terms of nodal DOFs

1
U ( e ) {d ( e ) }T
2

x2( e )
T

(e) 1 (e) T (e) (e)

EI
B
B
dx

{d } 2 {d } [k ]{d }
x1
L

where [k ( e ) ] EI z B B dx
0
T

27

FE EQUATION FOR BEAM cont.

Stiffness matrix of a beam element
[k ] EI B B dx
0
e

6 12
L2 L3 x

4 6 x
L
4 6
6 12
2 6
L L2 6 12
EI
[ 2 3 x, 2 x, 2 3 x, 2 x]dx

0
6 12
L L
L L
L L
L L
2 3x
L L
2 6
2 x
L L
6 L 12 6 L
12
6 L 4 L2 6 L 2 L2
EI

3
L 12 6 L 12 6 L

2
2
6 L 2 L 6 L 4 L
28

14

FE EQUATION FOR BEAM cont.

Stiffness matrix of a beam element
6 L 12 6 L
12
6 L 4 L2 6 L 2 L2
EI
e

[k ] 3
L 12 6 L 12 6 L

2
2
6 L 2 L 6 L 4 L

Symmetric, positive semi-definite

Proportional to EI
Inversely proportional to L

Strain energy cont.

NEL

U U (e)
e1

1 NEL e T e e
{d } [k ]{d }
2 e1

Assembly

1
U {Ds }T [K s ]{Ds }
2
29

PRINCIPLE OF MINIMUM POTENTIAL ENERGY

Potential energy (quadratic form)
1
U V {Ds }T [K s ]{Ds } {Ds }T {Fs }
2

PMPE
Potential energy has its minimum when

[K s ]{Ds } {Fs }

[Ks] is symmetric & PSD

Applying BC
The same procedure with truss elements (striking-the-rows and
striking-the-columns)

[K ]{D} {F}

[K] is symmetric & PD

Solve for unknown nodal DOFs {D}

30

15

PLANE BEAM ELEMENT

v( x ) N1 ( x )v1 N 2 ( x )1 N 3 ( x )v2 N 4 ( x ) 2

dN1
x
x2

6
dx
L2
L3

x
x2
dN 2

3
dx
L
L2

2
dN 3 6 x 6 x
dx
L2
L3

2
dN 4 2 x 3 x
dx
L
L2

2
3

x
x
N
(
x
)

1
L
L

2
3

x
N ( x ) x 2 x
2
L L2

2
3
x
N ( x ) 3 2 x
3
L
L

x2 x3
N 4 ( x ) 2
L L

6 L 12 6 L v1
F1
12
C
6 L 4 L2 6 L 2 L2
1 EI
1
3

v 2
F

12

6
L
12

6
L
L
2

2
2
C 2
6 L 4 L 2
6L 2L
31

PLANE BEAM ELEMENT

d 2v
dx 2
dM z
d 3v
Vy ( x )
EI 3
dx
dx
M z ( x) EI

6 L 12 6 L v1
V1 Vy1
12
C M
6 L 4 L2 6 L 2 L2
EI
1
z1
1

3
V2 Vy 2 L 12 6 L 12 6 L v2

2
2
C2 M z 2
6 L 2 L 6 L 4 L 2

+Mz

+Vy

y
x
+Vy

+Mz

C1

V2

V1
x

C2

32

16

PLANE BEAM ELEMENT

v( x) N1 ( x)v1 N 2 ( x)1 N 3 ( x)v2 N 4 ( x) 2 N {d }
( x) N1( x)v1 N 2 ( x)1 N3 ( x)v2 N 4 ( x) 2 N {d }
d 2v
EI N {d }
dx 2
EI
x
x
x
x

2 6 12 v1 L 4 6 1 6 12 v2 L 2 6 2
L
L
L
L
L

M z ( x) EI

dM z
d 3v
EI 3 EI N {d }
dx
dx
12
6
12
6

EI 3 v1 2 1 3 v2 2 2
L
L
L
L

Vy ( x )

V1 Vy1 Vy (0)

V2 Vy 2 Vy ( L)

C1 M z1 M z (0)

C2 M z 2 M z ( L )
33

EXAMPLE ASSEMBLY

2EI

EI
3

1
2L

v1

{Ds }T {v1 1 v2 2 v3 3}

v2

F2

3 3L v1
3 3L
3L 4 L2 3L 2 L2
EI
1
1
[k ] 3
3
3L v2
L 3 3L

2
2
3L 2 L 3L 4 L 2
3
3 3L
3L 4 L2 3L

EI 3 3L 15
[K s ] 3
L 3L 2 L2 3L
0
0
12

0
6L
0

Two elements
Global DOFs

F3

v2

v3

6 L 12 6 L v2
12
6 L 4 L2 6 L 2 L2
EI
2
2
[k ] 3
L 12 6 L 12 6 L v3

2
2
6 L 2 L 6 L 4 L 3
3L
0
0
2
2L
0
0

3L 12 6 L

8 L2 6 L 2 L2
6 L 12 6 L

2 L2 6 L 4 L2
34

17

PROBLEM 4.10
One elements
Global DOFs
{Ds }T v1 1 v2 2

EI
PL3
(12)v2 P v2
L3
12 EI
35

PROBLEM 4.17

One elements
Global DOFs
{Ds }T v1 1 v2 2
6 L 12 6 L v1 0 F1
12
2
2

EI 6 L 4 L 6 L 2 L 1 0 M 1

3
L 12 6 L 12 6 L v2 F kv2

2
2
6 L 2 L 6 L 4 L 2 0 M 2
6L
12
12
6 L 4 L2
6 L
EI
k

L3 12 6 L 12
EI / L3

2
6 L
6L 2L

6L
v1 0 F1
2 L2
1 0 M 1

6 L v2 F
0 M 2
4 L2 2

36

18

EXAMPLE 4.4

2EI

EI
3

1
2L

v1

F2

v2

F3

3 3L v1
3 3L
3L 4 L2 3L 2 L2
EI
1
1
[k ] 3
3
3L v2
L 3 3L

2
2
3L 2 L 3L 4 L 2
v2

{Ds }T {v1 1 v2 2 v3 3 }

v3

6 L 12 6 L v2
12
6 L 4 L2 6 L 2 L2
EI
2
2
[k ] 3
L 12 6 L 12 6 L v3

2
2
6 L 2 L 6 L 4 L 3

Two elements
Global DOFs
{D}T v2 2 v3 3
L1 2 L, ( EI )1 2 EI
L2 L, ( EI ) 2 EI

3 3L
0
0
3 3L
3L 4 L2 3L 2 L2
0
0

3L 12 6 L
EI 3 3L 15
[K s ] 3

L 3L 2 L2 3L 8 L2 6 L 2 L2
0
0
12 6 L 12 6 L

0
6 L 2 L2 6 L 4 L2
0
37

EXAMPLE 4.4
L = 1 m, E = 100 GPa, I = 110-6 m4, F2 = 100 N, F3 = 200 N
Determine deflection & slope at x = 1.6, 2.4 m
[K](4x4 matrix) =
1.5000e+006 3.0000e+005 -1.2000e+006 6.0000e+005
3.0000e+005 8.0000e+005 -6.0000e+005 2.0000e+005
-1.2000e+006 -6.0000e+005 1.2000e+006 -6.0000e+005
6.0000e+005 2.0000e+005 -6.0000e+005 4.0000e+005
v1 = 0, 1 = 0, v2 = 0.006 m, 2 = 0.005 rad, v3 = 0.01167 m, 3 = 0.006 rad
2

x
x
N1 ( x) 1 3 2
L
L
2

x
x
N3 ( x) 3 2
L
L

dN1
x
x2
6 2 6 3
dx
L
L
dN3
x
x2
6 2 6 3
dx
L
L

x 2 x3
N 2 ( x) x 2 2
L L
x 2 x3
N 4 ( x) 2
L L

dN 2
x
x2
1 4 3 2
dx
L
L
dN 4
x
x2
2 3 2
dx
L
L
38

19

EXAMPLE 4.4
v(1.6) v (1) (1.6) v1 N1 (1.6) 1 N 2 (1.6) v2 N 3 (1.6) 2 N 4 (1.6)
v2 N 3 (1.6) 2 N 4 (1.6)
0.006 N 3 (1.6) 0.005 N 4 (1.6)
0.006 0.896 0.005 (0.256) 0.004096 m

(1.6) (1) (1.6) v2

2

dN 3
dx

x 1.6
L2

dN 4
dx

x 1.6
L2

x
x
1.6
1.6
N3 ( x) 3 2 N 3 (1.6) 3 2 0.896
L
L
2



2
x 2 x3
1.62 1.63
N 4 ( x) 2 N 4 (1.6)
2 -0.256
L L
2 2
v(2.4) v (2) (0.4) v2 N1 (0.4) 2 N 2 (0.4) v3 N 3 (0.4) 3 N 4 (0.4)

(2.4) (2) (0.4) v2

dN1
dx

x 0.4
L 1

dN 2
dx

x 0.4
L 1

v3

dN3
dx

x 0.4
L 1

dN 4
dx

x 0.4
L 1

39

EXAMPLE WORK-EQUIVALENT NODAL FORCES

L

L
F1 p N1 ( x) dx p
0
0

2
3

pL
x
x
1

dx
L
L
2

L
x 2 x3
pL2
C1 p N 2 ( x) dx p x 2 2 dx
0
12
L L
0
L

L
F2 p N 3 ( x) dx p
0
0

3
x 2
pL
x
3 2 dx
L
L
2

x 2 x3
L
pL2
C2 p N 4 ( x) dx p 2 dx
0
12
0 L L

pL
{F}T
2

pL2
12

pL
2

pL2

12

p
pL/2

pL2/12

Equivalent
pL/2

pL2/12
40

20

EXAMPLE LUMPED NODAL FORCES

Apply lumped load method

p
Equivalent
pL/2

pL/2

Apply lumped load method for one-beam

element model, the nodal DOF are:
v1 = v2 = 1 = 2 = 0

6 L 12 6 L 0 F1 pL 2
12
6 L 4 L2 6 L 2 L2

0
EI

0
L 12 6 L 12 6 L F2 pL 2

2
2
0
6 L 2 L 6 L 4 L 2

EI
L3

4 L2
2
2L

2 L2 1 0

4 L2 2 0

1 2 0
41

EXAMPLE WORK-EQUIVALENT NODAL FORCES

Apply work-equivalent load

p
pL/2

pL2/12

Equivalent
pL/2

pL2/12

Apply work-equivalent load for one-beam

element model, the nodal DOF are:
pL3
v1 v2 0 and 1 2
24 EI

6 L 12 6 L 0 F1 pL 2
12
6 L 4 L2 6 L 2 L2 pL2 12
EI

L3 12 6 L 12 6 L 0 F2 pL 2

2
2
2
6 L 2 L 6 L 4 L 2 pL 12
EI
L3

4 L2
2
2L

2 L2 1 pL2 12

4 L2 2 pL2 12

1 2

pL3
(exact)
24 EI
42

21

Beam - Work-Equivalent Load

(Consistent Load)

43

Beam - Work-Equivalent Load

44

22

EXAMPLE CANTILEVERED BEAM

p0 = 120 N/m

EI = 1000 N-m2

L = 1m

C = 50 N-m

6 12 6 v1
12
6
4 6 2 1

[K s ] 1000
12 6 12 6 v2

2 6 4 2
6

F1e p0 L / 2 60
C p L2 /12 10
1e 0

F2 e p0 L / 2 60
C2 e p0 L2 /12 10
45

EXAMPLE CANTILEVERED BEAM cont.

FE matrix equation
6 12 6 v1 F1 60
12
6
4 6 2 1 C1 10

1000

12 6 12 6 v2 60

2 6 4 2 50 10
6

Applying BC
12 6 v2 60
1000

6 4 2 60

v2 0.01m

2 0.03 rad

Deflection curve: v( x) 0.01N3 ( x) 0.03N 4 ( x) 0.01( x / L)3

Exact solution: v( x) 0.005( x 4 4 x3 x 2 )

46

23

EXAMPLE CANTILEVERED BEAM cont.

Support reaction (From assembled matrix equation)
1000 12v2 6 2 F1 60

F1 120 N

1000 6v2 2 2 C1 10

C1 10 N m

Bending moment
M ( x) EI B {d}

x
x
x
x

6 12 L v1 L 4 6 L 1 6 12 L v2 L 2 6 L 2

x
x
x
1000 [0.01(6 12 ) 0.03(2 6 )] 60 N m
L
L
L

EI
L2

Shear force
EI
12v1 6 L1 12v2 6 L2
L3
1000 [12 (0.01) 6(0.03)] 60 N

Vy

47

FEADLAB Application: dload

E = 200 GPa
16000
4266.67

{ f eq(1) }

16000
4266.67

8000
1066.67

{ f eq(2) }

8000
1066.67

Ry1 16000
4266.67

54000
{Fs }

3200
Ry 3 8000

1066.67
48

24

FEADLAB Application: dload

1 -0.1925
v1 18000
v -0.1376
4266.67
2

(1)
(1) 1

{
f
}

[
k
]

v
0.0942

18000
2

3 0.213
2 33066.67
Ry1 16000 18000 0 Ry1 34000
49

WRONG ELEMENT TYPE SELECTION

The behavior of FE model is different from that of physics
F

1
0

EA 1
L 0

0
0

0 1 0
0 0 0
0

0 1 0
0

0 u1 R1x
0 v1 R1 y

1 0 u2 0

0 0 v2 F

1 0 u3 R3 x

0 0 v3 R3 y
0
0

EA 2 0 u2 0

L 0 0 v2 F

No stiffness in the vertical direction!

Beam element should be used (not rod element)
50

25

CORRECT ELEMENT TYPE SELECTION

F

6 L 12
6L
0
0 v1 0 F1
12
6 L 4 L2 6 L 2 L2
0
0 1 0 M 1

0
24 12 L v2 F2 0
EI 12 6 L 24

0
8 L2 12 L 4 L2 2 M 2 F
L3 6 L 2 L2
0
0
24 12 L
24
12 L v3 0 F3

2
0
6L
2L
6 L
4 L2 3 0 M 3
0
EI 24 0
L3 0 8L2

v2
2

-F
0

Non-singular stiffness matrix

51

MPC: Multi-Point Constraint

mpc: multi-point constraint
mpc{mpc_id} =
[nid_1,ndid_1,c1;nid_2,ndid_2,c2;...;nid_n,ndid_n,cn]

52

26

Beam with Hinge

P

What is the behavior at hinge?

How to handle the behavior at hinge?

53

Beam with Hinge

P
Undeformed and Deformed Configurations

E = 10106 psi
L = 20 in. a = 10 in.
P = 800 lb
fea.node = [1 0;2 20;3 20;4 30];
fea.mpc{1} = [3 2 1;2 2 1];
54

27

Beam with Hinge

1200
12000
(1)
[k ]
1200

12000
9600
48000
(2)
[k ]
9600

48000

1200

12000
160000 12000 80000

12000 1200
12000

80000 12000 160000

9600

v3

12000

48000
320000 48000 160000

48000 9600 48000

160000 48000 320000

48000

v1

1
v2

3
v4

12000
0
0 v2 Fy 2
1200
12000 160000
0
0 2 C2

[K ]{D } {F }
0
9600 48000 v3 Fy 3
0

0
48000 320000 3 C3
0

55

Beam with Hinge Approach 1

1200 12000 v1
1200 12000
12000 160000 12000 80000
1
[k ](1)
12000 v2
1200 12000 1200

12000 80000 12000 160000 2

9600 48000 9600 48000 v3 v2
48000 320000 48000 160000
3
(2)

[k ]
9600 48000 9600 48000 v4

48000 160000 48000 320000 4

10800 12000 48000 v2 800 v2 0.2963

12000 160000
0 2 0 2 0.02222

0
320000 3 0 3 0.04444
48000
56

28

Beam with Hinge Approach 1

P

1200 12000
0
v1 1200 12000

12000 160000 12000 80000

{ f }(1) [k ](1) 1

12000 0.2963
v2 1200 12000 1200
2 12000 80000 12000 160000 0.02222
88.89
1777.78

88.89

0
Fy1 88.89
C1 1777.78
57

PLANE FRAME ELEMENT

Beam
Vertical deflection and slope. No axial deformation

Frame structure
Can carry axial force, transverse shear force, and bending moment
(Beam + Truss)

Assumption

v1

Axial and bending effects

are uncoupled
Reasonable when deformation
u2
is small

3 DOFs per node

{ui , vi , i }

v2

Need coordinate transformation like plane truss

u2

F
2
2

u1

v1

v2

u1

u2
3

v2

u1
v1

1
58

29

PLANE FRAME ELEMENT cont.

Axial deformation (in local coord.)
EA 1 1 u1 f x 1

L 1 1 u2 f x 2

Beam bending
6 L 12 6 L v1 f y1
12
6 L 4 L2 6 L 2 L2 c
EI
1 1
L3 12 6 L 12 6 L v2 f y 2

2
2
6 L 2 L 6 L 4 L 2 c2

Basically, it is equivalent to overlapping a beam with a bar

A frame element has 6 DOFs

59

PLANE FRAME ELEMENT

A frame element has 6 DOFs

EA
0
L

12 EI
0

L3

6 EI
0
L2

EA
0

L
12 EI
0
3

6 EI
0
L2

[k ]{d} {f }

0
6 EI
L2
4 EI
L
0
6 EI
L2
2 EI
L

EA
L
0
0

EA
L
0
0

0
12 EI
L3
6 EI
2
L

0
12 EI
L3
6 EI
2
L

6 EI
u f
L2 1 x1
2 EI v1 f y1

L 1 c1

u2 f x 2
0
v2 f y 2
6 EI c
2 2 2
L

4 EI
L
0

60

30

Problem 4.24 PLANE FRAME ELEMENT

The frame shown in the figure is clamped at the left end and supported on a
hinged roller at the right end. The radius of circular cross-section r = 0.05 m.
An axial force P and a couple C act at the right end. Assume the following
numerical values: L = 1 m, E = 80 GPa, P = 15,000 N, C = 1,000 Nm.
(a) Use one element to determine the rotation at the right support.
(b) What is the deflection of the beam at x = L/2?
(c) What is the maximum tensile stress? Where does it occur?

61

Problem 4.24 PLANE FRAME ELEMENT

62

31

PLANE FRAME ELEMENT cont.

Element-fixed local coordinates x y
Local DOFs {u , v , }
Local forces { f x , f y , c }
Transformation between local and global coord.
f x 1 cos
f sin
y1
c1 0

fx 2 0
fy2 0

c2 0

sin
cos

0
0

0
0

cos

0
0

0 sin
0
0

0 f x1
0 f y1

0
0 c1

sin 0 f x 2
cos 0 f y 2

0
1 c2
0
0

Local coordinates

{f } [T]{f }

v1

{d} [T]{d}
y

u2

u1
1

v2

1
Global coordinates
63

PLANE FRAME ELEMENT cont.

Element matrix equation (local coord.)
0
a1
0
12a2

6 La2
0

0
a1
0 12a2

6 La2
0

0
6 La2
4 L2 a2
0
6 La2
2 L2 a2

a1

u1 f x1

0 12a2 6 La2 v1 f y1

0 6 La2 2 L2 a2 1 c1

a1
0
0 u2 f x 2
0
12a2 6 La2 v2 f y 2

0 6 La2 4 L2 a2 2 c2
[k ]{d} {f }
0

EA
L
EI
a2 3
L
a1

Element matrix equation (global coord.)

[k ][T]{d} [T]{f }

[T]T [k ][T]{d} {f }

[k ]{d} {f }

[k ] [T]T [k ][T]

Same procedure for assembly and applying BC

64

32

PLANE FRAME ELEMENT cont.

Calculation of element forces

Element forces can only be calculated in the local coordinate

Extract element DOFs {d} from the global DOFs {Ds}
Transform the element DOFs to the local coordinate {d} [T]{d}
Then, use 1D bar and beam formulas for element forces

AE
u2 u1
L
Bending moment M ( x) EI B {d}
Axial force P

Shear force Vy ( x)

Other method:

EI
[12 6 L 12 6 L]d
L3

6 L 12 6 L v1
Fy1
Vy1
12
C
M
6 L 4 L2 6 L 2 L2
EI
1

1
1

3

L 12 6 L 12 6 L v2
Fy 2
Vy 2

2
2

6 L 2 L 6 L 4 L
C2
FEA
M2
EBT
2

65

Example: Frame-Truss
A cantilevered beam (Element 1) and a truss bar (Element 2) are joined at node
2 using a bolted joint. Given L1 = L2 = 1 m, E1 = E2 = 100 GPa, I1 = 10-9 m4, A1
= 10-4 m2 , A2 = 10-8 m2, P = 5000 N. Determine
(a) u2, v2, 2,
(1)
(2)
(b) Fx , Fx
(1)
(c) V1 , M1(1) ,V2(1) , M 2(1)

66

33

REDUCED ELEMENT STIFFNESS MATRICES

u1

v1

EA
0
L

12 EI
0

L3

6 EI
0
L2

EA
0

L
12
EI

3
0
L

6 EI
0
L2

u2

0
6 EI
L2
4 EI
L

v2

EA
L

0
12 EI
L3
6 EI
2
L

0
0
EA
L

0
6 EI
2
L
2 EI
L

0
12 EI
L3
6 EI
2
L

0
0

6 EI
2
L
2 EI

6 EI
2
L

4 EI
L
0

u1
v1

1
u2
v2
2

u2

c2

EA cs
L c 2

cs

v2

u3

cs

c 2

s2

cs

cs

c2

s2

cs

v3
cs u2

s 2 v2
cs u3

s 2 v3
67

Example: Frame-Truss
Reduced element stiffness matrices:
[k1] =

10000000
0
0
-10000000
0
0

[k2] =

500
-500
-500
500

-500
500
500
-500

0
1200
600
0
-1200
600

-500
500
500
-500

0
600
400
0
-600
200

-10000000
0
0
10000000
0
0

0
-1200
-600
0
1200
-600

0
600
200
0
-600
400

500
-500
-500
500

Reduced system stiffness matrix:

[K] =
10000500
-500
0

-500
1700
-600

0
-600
400

Active dof: u2, v2, 2

68

34

FEADLAB Example: Frame-Truss

%-----------------------------------------------------------% Static analysis of beam and rod
clear
close all
format short g
%----------------------------% problem parameters setting
%----------------------------fea.param.simpleFEM = 2;
%----------------------------% analysis type
%----------------------------fea.analysis = 'statics';
%----------------------------% nodal coordinates
%----------------------------fea.node = [1 0 0;2 1 0;3 1.70711 -0.70711];
%----------------------------% nodal connectivity
%----------------------------% fea.element.beam2 = [eid,pid,nid1,nid2]
fea.element.beam2 = [1 1 1 2];
fea.element.rod2 = [2 2 2 3];

69

FEADLAB Example: Frame-Truss

%--------------------% section properties
%--------------------fea.property{1}.mid = 1;
fea.property{1}.A = 1e-4; % m^2
fea.property{1}.I = 1e-9;
fea.property{1}.TSD = 0;
fea.property{2}.mid = 1;
fea.property{2}.A = 1e-8; % m^2
%---------------------% material properties
%---------------------fea.material{1}.E = 100e9;
%----------------------------% applied constraints
%----------------------------fea.boundary = [1 1 0;1 2 0;1 6 0;3 1 0;3 2 0];
%----------------------------% applied nodal force
%----------------------------fea.cload = [2 2 -5000];
%----------------% FEM parameters
%----------------fileOutput.feaArray = {'K','F'};
plots.scaleFactor = 0.1;
feadlab(fea,plots,fileOutput)

70

35