FEM

Finite Element Methods

Introduction

VŠB – Technical University of Ostrava

Faculty of Mechanical Engineering

1
 Content:

1. Static 2-D Problem

2. A Static Solution of 2-D Beam with ANSYS
3. Modal Analysis
4. Solution of Natural Frequencies of a Cantilever Beam by FEM
5. Contacts in FEM
6. FEM - Tool for Buckling Solution

2
 1. STATIC 2-D PROBLEM
There is stress due to
the object’s complex
shape… !!
WHY ??
We cannot solve this plane
problem with an analytical
(exact) solution as we would
with any other partial
differential equations
FEM Computation INTRODUCTION
 BACKGROUND
WE HAVE OFOFFEM
A FINITE NUMBER ELEMENTS

THEREFOR…
FINITE
ELEMENTS
METHOD
NOW IT CAN BE SOLVED THROUGH
A NUMERICAL WAY = A SYSTEM OF

LINEAR A MESH OF
ELEMENTS
EQUATIONS FEM Computation INTRODUCTION 4
JOINING ELEMENTS TOGETHER

ELEMENTS
ARE
JOINED
TOGETHER
ONLY IN
THE
NODES!!!
FEM Computation INTRODUCTION 5
ELEMENTS ARE CONNECTED ONLY
IN THE NODES

FEM Computation INTRODUCTION 6

WHATREALY
DO PROBLEM CAN’T BE SOLVED
WITHOUT
WE MEAN
BOUNDARY CONDITIONS
BY…

PRESSURE
DISPLACEMENT LOADING

FEM Computation INTRODUCTION 7

WE ARE DISCUSSING THE
“BOUNDARY PROBLEM”
AND
SOLVING IT !!

FEM Computation INTRODUCTION 8

RESULTS: DISPLACEMENT

FEM Computation INTRODUCTION 9

EQUIVALENT STRESS

FEM Computation INTRODUCTION 10

Static & Dynamic Problems

K   F 
1k11   2 k12   3 k13 ....................  f1
1k 21   2 k 22   3 k 23 ....................  f2
. . . . .
. . . . .
. . . . .
.......................+  n1k n, n1   n k n, n  f n
11
 Static & Dynamic Problems

M  K   Ft 

 m  
  m  ...   k   k  .........  f
1 11 2 12 1 11 2 22 1t
 m  
  m  ...   k   k  .........  f
1 21 2 22 1 22 2 22 2t

. . . . . .
. . . . . .
. . . . . .
 m
 
n -1 n , n 1   n m n , n  ...   n 1 k n , n 1   n k n , n  f nt
12
 Eigenvalue Problem

K    M R
2
O   0

Buckling Problems

K   K G   F 

13
 EXAMPLES:
CAR BRAKE STRUCTURE

14
 EXAMPLES:
CAR FOR CRASH SIMULATION

15
EXAMPLES: MATERIAL
NONLINEAR PROBLEM

16
TYPES OF FINITE ELEMENTS
2

1

LINK (TRUSS, ROD, SPAR) PIPE

17
TYPES OF FINITE ELEMENTS

BEAM 3D
18
TYPES OF FINITE ELEMENTS

SHELL

SOLID

19
 Easy Example Leads to Stiffness
Matrix of the Beam Element
q

EJ
EJy (IVx )  q( x )
ℓ
A B BOUNDARY CONDITIONS
yo   0, y    0

y"o   0, y"   0 M o o   0, M o    0

2
1 M o( x)
 
dx  EJ  y"( x )  dx.
POTENCIAL ENERGY OF 1
d  
2

INTERNAL FORCES 2 o EJ 2 o


POTENCIAL ENERGY OF  z    q ( x ) y ( x ) dx,
EXTERNAL FORCES o

20
EXACT SOLUTION: EJ . y (IVx)  q

EJ . y (IIIx)  qx  c1
1 2
EJ . y II ( x )  qx  c1 x  c2
2
1 3 1 2
EJ . y(Ix )  qx  c1 x  c2 x  c3
6 2
1 1 1
EJ . y( x )  qx 4  c1x 3  c2 x 2  c3 x  c4 .
24 6 2

q 4 1 3 1
c1   q.
THE FIRST BC y=0 c4  0 a 0   c1  c3 .
24 6 2
AFTER THE SECOND BC y"o   0, y"   0

1 1 1 3
EXACT SOLUTION ! EJy  qx 4  qx 3  q x.
24 12 24
21
 RITZ SOLUTION – VARIATION CALCULUS

n
y( x )   ai ( x ) i
i 1

POTENCIAL ENERGY OF STRUCTURE   F a1 , a 2 ,..., a n 

a = UNKNOWN !

 0, i  1,2,..., n.
a i

WE SUPPOSE : y( x )  a1 x  x   a2 x 2   x .
  
 a1 , a 2    EJ  y" dx   qydx  EJ  4 a1  a 2   3 x  dx 
1 2 1 2

2o o
2 o

     
l
  q a1 x  x   a 2 x 2   x  dx  2 EJl a12  a1 a 2   a 22  2 
q
2a1 3  a 2  4 .
o
12

22
RITZ SOLUTION – VARIATION CALCULUS
CONTINUED
 1
 2 EJ(2a1  a 2 )  q 3  0
a1 6

 1
 2 EJ(a1  2a 2  2 )  q 4  0.
a 2 12

q 2
a1  , a2  0
24EJ

q 2
y( x)  (  x ) x
24EJ

ERROR TO EXACT SOLUTION IS 16%

23
 A BEAM ELEMENT

Δ1 Δ2 Δ3
Δ4

w( x )  b0  b1x  b2 x 2  b3 x 3 . BETTER WAY x dx

 a d  .
L L
APROXIMATION EQUATION
w( )  a0  a1  a 2 2  a3 3 ,

SHAPE FUNCTION !

NT   T .S 1  1  3 2  2 3 , L  2 2   3 , 3 2  2 3 , L  2   3 

24
 STIFFNESS MATRIX OF BEAM ELEMENT

 12, 6 L,  12, 6 L 
 4 L2
 6 L, 2 L2 

k   EJ3  .
L  12,  6 L
 2 
 sym. 4L 

LOAD VECTOR:
L 1 1
z    q ( x ) .w( x ) dx    q ( ) w( ) Ld    L  q ( ) N  d .   f  ,
T T

0 0 0

 qL qL2 qL  qL2 
 f1 
1
 f T  L  q( ) N  .d ,  ,
T
T , , .
0
 2 12 2 12 

q f1=qL/2 f3=qL/2

L
f2=qL2/12 f4= -qL2/12
25
 STATIC MATRIX EQUATION

1
 p  d  z  T k    f T .
2
n
1 n n
    pi    i  k i  i     f i   i . n = NUMBER OF ELEMENTS
T T

i 1 2 i 1 i 1

   G  K  G   F   G ,
1 T T

2

 0  K  G   F ,
  G 

K  G   F 

26
 SOLUTION OF OUR EASY EXAMPLE
Numbers of the
elements: 1 2

1 3 1 3
Local DP: 2 4 2 4

Global DP 1 3 3 5
by element 2 4 4 6

Global DP:
a) without 1 3 5
the influence 2 4 6
of peripheral
conditions

b) with consideration 0 2 0
of peripheral 1 0 3
conditions

27
 SOLUTION OF OUR EASY EXAMPLE/cont’d

Numbers of DOF parameters for 0 1 2 0

the first element:
 12 3  12 3  0  00 01 02 00
  2  3  2 / 2 1  10 10 
8EJ  3l 11 12
k1   3  
  12  3 12  3  2  20 21 22 20
   
 3  2
 3  2
 0  00 01 02 00

Numbers of DOF parameters for 2 0 0 3

the second element:
 12 3  12 3  2  22 20 20 23
  2  3  2 / 2 0  02 03
8EJ  3 00 00
k 2   3  
  12  3 12  3  0  02 00 00 03
   
 3  2  3  2  3  32 30 30 33

FEM Computation INTRODUCTION 28

 SOLUTION OF OUR EASY EXAMPLE/cont’d

GLOBAL STIFFNESS MATRIX GLOBAL LOAD VECTOR

  2  3 0 
 q 2 q q 2 
K   8EJ 
 3 24 3
 F T  , , ,
3  
 48 2 48 
 0 3  
2

FEM STATIC EQUATION:
 q 2 
 
  2  3 0    1   48 
8 EJ      q 
3 
 3 24 3  . 2     
 2    2
 0    2 
 3   3   q  
 48 
SOLUTION FOR UNKNOWN DOF

1    3 , 1 q 3 5 q 4 1 q 3
1   , 2   , 3  .
24 EJ 384 EJ 24 EJ
FEM Computation INTRODUCTION 29
 SOLUTION OF OUR EASY EXAMPLE/cont’d

INTERNAL FORCES

d 2 w  d  EJ d 2 N 
2 T
EJ d 2 w
M o   2 .  EJ   2 . 2   2 .   
EJ
g T
,
d  dx  L d L d 2 L2

d 2 N  EJ
T
 g   6  12 , L(4  6 ), 6  12 , L(2  6 )
T
M o ( p)  61  4 L 2  6 3  2 L 4 
d 2 L2

EJ d 3 N 
3
d 3 w  d 
T
dM o d 3w EJ
T   EJ . 3  EJ . 3 .   3 . .  . pT
.
dx dx d  dx  L d 3 L3

d 3 N  d q
T T
  pT
  12, 6 L,  12, 6 L. T ( p)  T (k ) 
EJ
12 1  6 L 2  12  3  6 L 4 .
d 3 d L3

FEM Computation INTRODUCTION 30

 SOLUTION OF OUR EASY EXAMPLE/cont’d

Global DOF

FEM - 2 ELEMENTS

EXACT

FEM - 2 ELEMENTS
FEM Computation INTRODUCTION 31
 SOLUTION OF OUR EASY EXAMPLE/cont’d

Numbers of theElements

Global DOF
with Bounadary Conditions

32
 A STATIC SOLUTION OF 2-D BEAM WITH ANSYS
TOPIC:
The topic is to learn basic commands in the ANSYS programme package for an easy static example of a plane
beam.

For our beam (see figure) solve internal forces – axial force N, shearing force Q and bending moment
Mb - normal stress  and maximum deflection y. Find out the place of maximum deflection and the
place of maximum normal stress. The cross-section is a steel rectangle with a height of H = 100 mm
and width B = 20 mm. Young's modulus is E = 210 GPa and Poisson's ratio ν = 0,3.

1. Enter title for display

Utility Menu > File > Change Title …

/title, EASY 2-D BEAM

2. Open preprocessor

ANSYS Main Menu > Preprocessor

3. Enter graphic points "Keypoints"

Preprocessor > (-Modeling-) Create > Keypoints > In Active CS…

Graphic points in 5 important places on our beam, see next figure

Coordinates of keypoints (solution in mm a MPa)

No. of KP X coord. mm Y coord. mm Z coord. mm
1 0 0 0
2 2000 0 0
3 7000 0 0
4 9000 0 0
5 11000 0 0
Notice: You can put values in shape: 2E3
___________________________________________________________________________________
A Static Solution of 2-D Beam with ANSYS 1
 Keypoint No. 1 is
hidden under
coordinate system

4. Enter lines "Lines"

1
LINES
Preprocessor > (-Modeling-) Create > (-Lines-) Lines > Straight Line > Apply…
JAN 27 2012
TYPE NUM 08:29:11
After entering the command Straight Line the very important Selection menu appears,, which we
will use very often. You can choose entities individually "by mouse", or by number, by "Box",
"Circle" or "Polygon". After opening this small window, the cursor will change shape with  or
unselect  .

Y
Z1 X 2 3 4 5

Notice: Numbering of objects

Plot_Ctrls > Numbers … >

___________________________________________________________________________________
A Static Solution of 2-D Beam with ANSYS 2
For numbering, we have to switch "Off" to "On", and in the window with "[/NUM] Numbering
shown with", change to "Colors & Numbers". You can see it in the next figure for Keypoints.

Next command Plot > Keypoints > Keypoints appear Keypoints with numbers.

5. Enter "Type of Elements"

Preprocessor > Element Type > Add/Edit/Delete > Add > Beam > (2D elastic 3)

For our example we are choosing plane beam “BEAM3”. It has three DOF in the starting node as
well as in the ending nodes (displacement in directions X, Y and rotation around Z). Now we open
"Options", (see next figure) and we change the K6 key to "Include output" (we want to get the
internal forces in the results file)

6. Enter section characteristic of element "Real Constants"

Preprocessor > Real Constants … > Add …

In the window "Real constants for BEAM3" you have to enter the next section characteristics: cross-
section area, second moment of area, height of the section. The ratio for the shearing force influence
is "SHEARZ" (the shearing force is neglected when the value is zero). The SHEARZ parametr for
the rectangular section has a value of 1.2 . Values can be entered into the system through the
"ANSYS Input window", (see next figure), type H=100 and then B=20.

___________________________________________________________________________________
A Static Solution of 2-D Beam with ANSYS 3
Notice: You can check typing parameters :Parameters > Scalar Parameters …

7. Enter "Material Properties"

Preprocessor > Material Props > (-Constant-) Isotropic > Specify material number 1 > :
Young’s modulus EX 2.1E5 and Poisson’s ratio NUXY 0.3

8. Enter size of elements for meshing ("Define Mesh Size")

Preprocessor > (-Meshing-) Size Cntrls > (-Lines-) All lines …

We chose an element edge length of 250 mm

After this command, lines are divided into a number of elements, but no elements exist yet!

___________________________________________________________________________________
A Static Solution of 2-D Beam with ANSYS 4
 Y
Z1 X 2 3 4 5

9. Creation of " Mesh "

Preprocessor > (-Meshing-) Mesh > Lines > choose "Pick All"

We can choose a method for drawing and numbering elements by Plot Cntrls > Numbering …
see next figure

1Z2X3 4 5 6 7 8 9 1011121314151617181920212223242526272829303132333435363738394041424344

1
ELEMENTS
The numbering is unnoticed, so we change it from "Colors & numbers" to "Colors only". To draw the
true height of elements: NOV 18 2001
ELEM NUM
09:42:29
Plot Cntrls > Style > Size and Shape … "ESHAPE" put ON and SCALE on 1.

Y
Z X

___________________________________________________________________________________
A Static Solution of 2-D Beam with ANSYS 5
ENTER BOUNDARY CONDITIONS

1. Analysis type

Solution > New Analysis > Static

2. Loading

(-Loads-) Apply > (-Structural-) Force/Moment > On Keypoints …We must draw
Keypoints (Keypoints) and enter force and moment (see following tables):

We can draw force and moment through the following commands:

Plot Ctrnls > Symbols > For Individual: Applied BC's

___________________________________________________________________________________
A Static Solution of 2-D Beam with ANSYS 6
 Force and moment:

3. Enter join (support, constraint, coupling, binding)

(-Loads-) Apply > (-Structural-) Displacement > On Keypoints … After drawing

Keypoints with numbers, we can remove DOF after the next figure:

1
POINTS
JAN 27 2012
Remove POIN
twoNUM 08:32:24
DOF for the joint in place of KP2: UX and UY, in the dark blue figure. Rotation about
axis Z is free. Only one DOF is removed in KP5, namely UY. Constrained displacements are colored
U
light-blue.

Y
Z1 X 2 3 4 5

4. Enter pressure (continuous) load

(-Loads-) Apply > (-Structural-) Pressure > On Beams …

___________________________________________________________________________________
A Static Solution of 2-D Beam with ANSYS 7
For easy choice of loading elements, we draw lines by means of the "LPLO" command. After that we
can choose elements through the selection box. We only enter the pressure value 2 N/mm (=2 kN/m)
into the window. „LKEY“ = 1 do not change.

5. SOLUTION

(-Solve-) Current LS …

The window with the specification of our example is open. We needn’t change anything. The
solution will start by clicking on "OK" in the next window.

The solution will finish with the opening of the small "Solution is done" window.

ANALYSIS OF RESULTS
1. Open postprocessor

ANSYS Main Menu > General Postprocessor…

2. Drawing deformed shape

Plot Results > Deformed Shape… > (Def + undef edge )

TIME=1 DMX =259.122

Y

You can find the maximum deflection on the upper left, but not its location. We will get a better
course of deflection by means of the "Vector Plot"
___________________________________________________________________________________
A Static Solution of 2-D Beam with ANSYS 8
Plot Results > (-Vector Plot-) Predefined … > ( DOF solution –Translation U )

2. Drawing the course of internal forces and stresses

Element Table > Define Table … > ( Add )

To obtain the drawing results we have to create an "ETABLE". In bottom window we have to enter
special commands ( e.g. SMISC,2 ). This is found in the ANSYS manual for BEAM3.

___________________________________________________________________________________
A Static Solution of 2-D Beam with ANSYS 9
Axial force in the starting node: SMISC,1 (title NI ), Axial force in the ending node: SMISC,7 (title
NJ ). Shearing force in the starting node: SMISC,2 (title TI ), Shearing force in the ending node:
SMISC,8 (title TJ ). Bending moment in the starting node: SMISC,6 (title MZI ), Bending moment in
the starting node: SMISC,12 (title MZJ ). Max. normal stress (tension+bending) in the starting node
NMISC,1 (title SMAXI), Max. normal stress (tension+bending) in the ending node: NMISC,3 (title
SMAXJ). Min. normal stress (compression+bending) in the starting node: NMISC,2 (title SMINI),
Min. normal stress (compression+bending) in the ending node: NMISC,4 (title SMINJ).

We can see the course of the shearing forces after the command PLLS,TI,TJ,1

___________________________________________________________________________________
A Static Solution of 2-D Beam with ANSYS 10
We can see the course of bending moment after the command PLLS,MZI,MZJ,1

We can see the course of the maximum normal stress after the command PLLS,SMAXI,SMAXJ,1

___________________________________________________________________________________
A Static Solution of 2-D Beam with ANSYS 11
3. PROGRAMME (macro) for drawing internal forces and stresses BEAM3
! Macros have been created in the internal ANSYS Programme Design Language (APDL)
! by means of using "ETABLE" commands
/POST1 ! open postprocessor
SET,1,1 ! open results of the first loading step
ETABLE,NI,SMISC,1 ! definition of axial force in starting node I
ETABLE,NJ,SMISC,7 ! definition of axial force in ending node J
ETABLE,TI,SMISC,2 ! definition of shearing force in starting node I
ETABLE,TJ,SMISC,8 ! definition of shearing force in ending node J
ETABLE,MZI,SMISC,6 ! definition of bending moment in starting node I
ETABLE,MZJ,SMISC,12 ! definition of bending moment in ending node J
ETABLE,SMAXI,NMISC,1 ! definition of max. normal stress in starting node I
ETABLE,SMAXJ,NMISC,3 ! definition of max. normal stress in ending node J
ETABLE,SMINI,NMISC,2 ! definition of min. normal stress in starting node I
ETABLE,SMINJ,NMISC,4 ! definition of min. normal stress in ending node J
PLLS,NI,NJ ! drawing course of axial forces N on display
/WAIT,8 ! wait 8 sec and looking on display
PLLS,TI,TJ ! drawing course of shearing forces Q on display
/WAIT,8 ! wait 8 sec and looking on display
PLLS,MZI,MZJ ! drawing course of bending moment Mb on display
/WAIT,8 ! wait 8 sec and looking on display
PLLS,SMAXI,SMAXJ ! drawing course of maximum normal stress  on display
/WAIT,10 ! wait 10 sec and looking on display
PLLS,SMINI,SMINJ ! drawing course of minimum normal stress  on display
/EOF ! macro end

Macros can be created in any text editor using ASCII code with the *.mac extension. It has been saved
in the working directory. Open a macro by typing the title without the extension.

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A Static Solution of 2-D Beam with ANSYS 12
 3. MODAL ANALYSIS

• Modal analysis and its purpose.

• Learn how to do a modal analysis in ANSYS.
• Work modal analysis exercises.

Modal Analysis 1
 Description & Purpose
A modal analysis is a technique used to determine
the vibration characteristics of structures:

1. natural frequencies
2. mode shapes

Modal Analysis 2
 Benefits of modal analysis
• Allows the design to avoid resonant vibrations or
to vibrate at a specified frequency (speaker box,
for example).
• Gives engineers an idea of how the design will
respond to different types of dynamic loads.
• Helps in calculating solution controls (time steps,
etc.) for other dynamic analyses.

Recommendation: Because a structure’s vibration characteristics

determine how it responds to any type of dynamic load, it is generally
recommended to perform a modal analysis first before trying any other
dynamic analysis.
Modal Analysis 3
 Terminology
• A “mode” refers to the pair of one natural
frequency and corresponding mode shape.
• A structure can have any number of modes,
up to the number of DOF in the model.

Assumptions & Restrictions

• The structure is linear (i.e. constant stiffness and mass).
• There is no damping.
• The structure has no time varying forces,
displacements, pressures, or temperatures applied (free
vibration).
Modal Analysis 4
 Example: Cantilever beam

mode 1, f1 = 16.53 Hz, {0}1 ---->

mode 2, f2 = 103.4 Hz, {0}2 ---->

mode 3, f3 = 288.8 Hz, {0}3 ---->

Modal Analysis 5
 Theory development
• Start with the linear general equation of
motion:
M  D K   Ft 
 

• Assume free vibrations, and ignore damping:

M  K   0
• Assume harmonic motion:
   0 i sin( it  i )
  i  0 i cos(i t  i )
 - i  0 i sin( i t  i )
2
Modal Analysis 6
 Theory development
• Substitute and simplify
M  K   0
 i2 M  0 i sin( i t  i )  K  0 i sin( i t  i )  0
(i2 M   K ) 0 i  0
Last equality is satisfied if {0}i = 0 (trivial, implies no
vibration) or if


det K    M   0 2
i 
This is an eigenvalue problem which may be solved for
up to N eigenvalues i2 and N eigenvectors {0}i where
N is the number of DOF. Modal Analysis 7
 Theory development

Mode shapes can be normalized either to the mass matrix

  M 0 i  1
T
0 i
or to unity, where the largest component of the vector
{0}i is set to 1.

Modal Analysis 8
 Eigenvalues & Eigenvectors
• The square roots of the eigenvalues are i , the
structure’s natural circular frequencies (rad/s).
• Natural frequencies fi can then calculated as
f =  /2π (cycles/s)
• The eigenvectors {0}i represent the mode shapes,
i.e. the shape assumed by the structure when
vibrating at frequency fi.

Modal Analysis 9
4. Solution of the Natural Frequencies of a Cantilever Beam Using FEM
A cantilever as shown has a length L, cross-sectional area S, cross-sectional moment of
inertia J,  is the material density and Yang's modulus E. Let us consider the so-called
Bernoulli beam vibration (ie, neglecting the effect of shear forces on the deformation and
ignoring the rotary inertia effects). The exact value of its own circular frequencies are
obtained by solving the frequency equation

i2
E. J
1  cos  * cosh   0, where to apply its own circular frequency  i  .
L  .S
2

For our beam based 1 = 0.5968.  and 2 = 1.4942. , the angular frequency is

3,51526 E.J 22,03521 E.J

1  . , 2  .
L2
 .S L2  .S
S, J, 
r2

r1
L

Figure 1 Discretization of the cantilever beam

Now we will proceed to the discretization of the cantilever beam with the aid of the
deformation variant of FEM. To simplify the solution we choose the coarsest possible
discretization for the cantilever and to create one finite element. We will take the known
definition of the stiffness matrix [k] and mass matrix [m] of the bending element,
provided the use of a cubic polynomial approximation for the deflection of the beam. The
matrices have the following form:
 12 6 L  12 6 L   156 22L 54  13L 
  6 L 2 L2   4 L2 13L  3L2 
4 L2 LS 
k   3 . m 
EJ 
.
L  12  6 L 420  156  22L
   
 sym. 4 L2  sym. 4 L2 

Symbols r1 (deflection) and r2 (rotation) at the end of the bracket indicate the global
deformation parameters (DOF). Since the boundary condition ("enshrine") in the initial
node of the element prevents both deflection and rotation, the numbers of the
corresponding deformation parameters are zero and the rows and columns of the
element's matrices are "not reflected" in the matrices of the resulting beam. The end of
the beam that is our ending node of our finite element is free, therefore the DOF numbers
are 1 and 2 The resulting matrices of our beam will have after the following form after
discretization and the application of boundary conditions:

Natural Frequencies of a cantilever Beam 1

 12  6 L LS  156  22L
K   EJ3  2 
and M  
L  6 L 4 L  420  22L 4 L2 
We get the frequency equation for the calculation of its own circular frequencies
F)a  2(FEM) by developing the determinant: det K   ( FEM ) M   0 .
2

This equation has the following form

(4FEM ) L6 m2p  1224.(2FEM ) L3mp EJ  15120E 2 J 2  0 , where mp = .L.S is the
mass of the element. The result of the quadratic equation for unknown  1,2(FEM) are the
following:
3,53273 E.J 34,80689 E.J
1( FEM )  and   .
 .S  .S
2 ( FEM )
L2 L2
By comparing the exact values on the circular frequency Ωi with the values of its own
circular frequency of the beam discretized by FEM  F), we come to these
conclusions. The first frequency deviation from an exact solution is Δ1 ≈ 0.5% and for the
second it is Δ2 ≈ 58% (the error was calculated using the formula Δi = ( F / Ωi ) .
100). In view of using the "coarsest possible" discretization cantilever by one finite
element, the value of the first eigenfrequency is a "surprisingly good" match with the
theoretical result. The second natural eigenfrequency is already useless. We would have
to use a finer discretization of the beam (at least two, preferably more, elements). We
obtain the first eigenshape from the equation

M  1   
0
K    2
1( FEM )
r
 , where r1 and r2 are amplitudes of harmonics vibration
r2  0
of the first eigenshape. They are linearly dependent and therefore can only obtain their
ratio at a specified value of deformation parameter, for example, r 1 = 1 r2 = released
1378/L. The shape of the oscillation is shown in Figure 2
r2
r1

Figure 2 The first eigenshape

Note: When cutting the beam into two finite elements, we get the value of its own
circular frequencies with the following error to the exact solution:
Serial Number of 1. 2. 3. 4.
eigenfrequencies
Error to the 0,07 0,85 21,8 80,4
exact solution %

Natural Frequencies of a cantilever Beam 2

 5. CONTACTS in FEM
EASY EXAMPLE

1
F


EJ
EJ
2
=
STARTING EXAMPLE
1 2 3 {P} ….. Vector of Final Gap
[Q] ..... Identification Matrix (only 0 and 1)
{u} ….. Deformation Parameters in Bending
{P0} {P0} …… Vector of Starting Gap

Detail  P1 
1 2 3 P  P2   Q u P0   0
P 
u1 u2  3
1 u3 1 0 0 0 0 0  u1   P0  0
2 P0 0
 0 0 0 0 0 1   0  0
P1
P2 3 0 0 1 0 0 0 u2   P0  0
P3 P            (1)
0 0 0 0 0 0 2   0  0
0 0 0 0 1 0 u3   P0  0
      
0 0 0 0 0 0 3   0  0
Contacts in FEM 2
 STARTING EXAMPLE
If the last equation (1) is valid, then a gaps exists between
beams.
Then it holds generally to the

K u  F 
classic static matrix equation of FME.

K .... global stiffness matrix

u.... vector of unknown displaceme nts
F.... loading vector
Contacts in FEM 3
 METHODS FOR CONTACT SOLUTION

• PENALTY METHOD ANSYS

• LAGRANGE MULTIPLIER METHOD ANSYS
• AUGMENTED LAGRANGE METHOD ANSYS
• PARTITIONING (SEMIANALYTICAL) METHOD
MATSOL

Contacts in FEM 4
 PENALTY METHOD

1 F

EJ  
EJ
2

Contacts in FEM 5
Stiffness of one beam is cb = F3/3EJ. Stiffness of two beams if they have contact is

1 1 1
 
C1 Cb Cb
For two beams and artificial spring we get

1 1 1 1
  
C2 Cb C Cb
For conditions c1  c2 must be   

Penalty parameter  which has been chosen too large

can lead to ill-conditioning of the equation system.

Disadvantage of easy Penalty method

Contacts in FEM 6
 PENALTY METHOD - EQUATIONS
Energy of the system: p = ½{u}T[K]{u} - {u}T{F} + ½{P}T[]{P}
= ½{u}T[K]{u} - {u}T{F} + ½{u}T[Q]T[][Q]{u} + {u}T[Q]T[]{P0} + ½{P0}T[K]{P0}
We institute from equation (1) for {P} = [Q]{u} + {P0}

We use the minimum principle of potencial energy:

P / {u} = 0

We get: P / {u} = [K]{u} – {F} + [Q]T[][Q]{u} + [Q]T[]{P0} = 0

[Kp]{u} = {Fp}

[Kp] = [K] + [Q]T[][Q] and {Fp} = {F} + [Q]T[]{P0}

Contacts in FEM 7
LAGRANGE MULTIPLIER METHOD

1 F
 
EJ R21= EJ
2
R12=

 are Lagrange multipliers !

Contacts in FEM 8
 LAGRANGE MULTIPLIER METHOD
Energy of the system:  = ½{u}T[K]{u} - {u}T{F} + {}T{P}
= ½{u}T[K]{u} - {u}T{F} + {}T[Q]{u} + {}T{P0}
Again we institute from equation (1) for {P} = [Q]{u} + {P0}

Minimum principle of potencial energy:   / {u} = 0

We get:   / {u} = [K]{u} – {F} + [Q]T{} = 0

{u} = [K]-1{{F} - [Q]T{} } Very important equation (2)

The second variation step:   / {} = [Q]{u} + {P0} = 0

K  Q  u   F  

T


0     
  
 0 
We get:
[K]{u} = {F}
Q    P

9
 AUGMENTED LAGRANGE METHOD
Energy of the system: A = ½{u}T[K]{u} - {u}T{F} + {}T{P} + ½{}T[1/]{}
1/ -> compliance [mm/N]

Again we institute from equation (1) for {P} = [Q]{u} + {P0}

Minimum principle of potencial energy:  A / {u} = 0 and  A / {} = 0

K  QT 
  u  F  
 1    
Q      P 0 
We get:
[K A]{u} = {F}
   
 
10
 PARTITIONING (SEMIANALYTICAL) METHOD
Energy of the system: S = ½{u}T[K]{u} - {u}T{F} + {}T{P}

Minimum principle of potencial energy:  S / {} = 0

Again we institute from equation (1) for {P} = [Q]{u} + {P0}
and equation (2) {u} = [K]-1{{F} - [Q]T{} }

 S / {} = - [Q]T[K]-1[Q]T{} + {P0} + [Q][K]-T{F} = {0}

QK  Q  QK  F P 

We get only one unknown vector : {}
1 T T 0
[K S]{} = {FS}

Big advantages: the number of  << u

Contacts in FEM 11
REAL EXAMPLE – creation of global matrixes [K], {u} and {F}
l l

F
w1
w3
F
φ4
w7

q φ2 Beam stiffness
w5
k =1.75 10 6 Nmm-1
φ8
φ6

1  k11,1 k11,2 k11,3 k11,4 0 0 0 0  w1  0 R1

 1 
2  k 2 ,1 k 1
2 ,2 k 21,3 k 21,4 0 0 0 0  2  0 M2
3 k 31,1 k 31,2 k 31,3 k 41,3 0 0 0 0  w3 F
 1 
4  4 ,1 4 ,2
k k 1
k 41,3 k 41,4 0 0 0 0  4 0
0 
5 0 0 0 k12,1 k12,2 k12,3 k12,4  w5 0
 
6 0 0 0 0 k 22,1 k 22,2 k 22,3 k 2 ,4 
2
6 0
7 0 0 0 0 k 32,1 k 32,2 k 32,3 k 42,3  w7  0 R7
 
8  0 0 0 0 k 42,1 k 42,2 k 42,3 k 4 ,4 
2
8  0 M8
Contacts in FEM 12
 REAL EXAMPLE -> open gap
l l

F
w1
w3
F
φ4
w7

q φ2 Beam stiffness
w5
k =1.75 10 6 Nmm-1
φ8
φ6

d  0.1m
l  1m
3  12 EJ 3  6 EJ
l2
0 0  w3   F 
S  0.01m 2 
l
    0 
4  6 EJ 3 EJ 2

 4  EJ EJ w5  0 6  0 
 
Fl 4 0 Fl 0
J  8.333 10 -6 m 4 w3  l
2 l 4

5 0 3 EJ 0 12 l 32 EJ6 l2  w5   0 
 EJ 
 6   0 
EJ
6  0 0 6 l2
4 l 

Only for q+w3 > 0 -> open gap

Contacts in FEM 13
REAL EXAMPLE -> PENALTY METHOD
P  q  w3  w5 P0  q
P  P 0  Qu Q   1 0  1 0 
uT  w3 4 w5 6 

 = spring stiffness

3 12 EJl 3    6 EJl 2  0  w3   F   q 

 
4   6 EJl 2 4 EJl 0 0  4   0 
 
EJ   
  
5    0 12 EJ
  6 w5   q 
  
EJ   
l3 l2
 0 
 6 
EJ
6  0 0 6 l2
4 l 

Contacts in FEM 14
REAL EXAMPLE -> PENALTY METHOD -> RESULTS
Small stiffness  = 105 Big stiffness  = 107
2q
Beam stiffness k =1.75 10 6 Nmm-1

q
Exact
-w3 solution
5
10
Spring
6
stiffness 10
 10
7

F0 2.5F0
F

Spring stiffness
error (%) for
 F=2.5F0
(Nmm-1)

105 41.71 Small stiffness 105

106 31.43
107 8.91 Big stiffness 107
108 1.10

Contacts in FEM 15
REAL EXAMPLE -> PENALTY METHOD -> RESULTS

Contacts in FEM 16
EXAMPLE -> AUGMENTED LAGRANGE METHOD -> RESULTS

K  QT 
  u  F  
 1    
Q      P 0 

 
 
[Q] => {1 0 -1 0}
{} => 
[1/] => 1/

 12 EJ
l3
 6 EJl2
0 0 1  w3   F 
 6 EJ 4 EJl 0 0 0   4   0 
 l2
   
 0 0 2 EJ 6 EJ 
 1 w5    0 
 l3 l2

 0 0 6 EJ 4 EJl 0  6   0 
l2    
 1 0 1 0 1 /        q 
Contacts in FEM 17
EXAMPLE -> AUGMENTED LAGRANGE METHOD -> RESULTS
F Fl 3
q
w3   3EJ
3EJ
 3 2
l
Fl 3 q
w3 (  )   
6 EJ 2

Contacts in FEM 18
EXAMPLE -> AUGMENTED LAGRANGE METHOD -> RESULTS

Contacts in FEM 19
 EASY EXAMPLE -> PARTITIONED METHOD -> RESULTS
first step: solution of contact force  [K S]{} = {FS}

[KS ] = [Q][K]-1 [Q]T = 2. 3 / 3EJ

{FS } = [Q][K]-1 {F} + { P0} = -F. 3 / 3EJ + q

 = - F /2 + 3/2 .q . EJ/3

second step : solution of displacement {u} {u} = [K]-1{{F} - {} [Q]}

w3 
  2l 2 3l 0 0   F  1
 4     0  0
l  3l 6 0 0    1 EJ  
w5     2    3 
3
F q
  6 EJ 0 0 2l 2  3l   0  
2
l   1
 6    0   
 0 0  3l 6  0
 
Contacts in FEM 20
6. FEM - Tool for Buckling Solution

 introduction of linear buckling

 geometric stiffness matrix for straight-lined elements
 practical examples
 nonlinear buckling
 practical examples
1.0 BASIC FEM MATRIX EQUATIONS IN STATICS

approximation of displacement

u    x T a    N r  (1)

[x] …matrix of approximation function

{a} …constant values of approximation polynomial
[N] …shape function
{r} … vector of DOF for element

strain-displacement relations

ε    u   B r  (2)

{ε}… vector of strain components

[δ] … operation matrix
[B] … matrix

elastic stress-strain relations

ε  Cσ (3)

[C] …value of the material parameters

{σ} … vector of stress components

FEM - Tool for Buckling Solution 2

1.0 BASIC FEM MATRIX EQUATIONS IN STATICS

strain energy
d 
1
 εT
σdV  
1 T
r (  B T
CB dV )r  r k r. (4)
1 T
2V 2 2
potential of external loading
 z   u zdV  -r (  N zdV)  -r f 
T T T T
(5)
V V

{z} … loading components

{f} … equivalent nodal loading

basic static equation of FEM

variation of the total potential functional

   r  0  k r  f  , (6)
r
and for the solving system

K R  F . (7)

FEM - Tool for Buckling Solution 3

 1.1 „LINEAR“ BUCKLING

V V F
F
Y1 Y2

• Intuition Y1>Y2
• Stiffness of tensioned bar is less than compressed bar i.e. influence of
geometric stiffness matrix [[K] + [KG]]
Matrix [ KG ] depends on loading vector { F }. The increasing of loading
vector we can describe as { Fo } i.e. {F} = λ . { Fo } and then real values of [
KG ] is now λ . [ KG ].

K    K G r  Fo  r  K   K G 1  Fo 

det K    K G   0 FKR   Fo 
K    K G r  0 4
 1.2 GEOMETRIC STIFFNESS MATRIX [kG] OF BAR ELEMENT

The bar element has very easy basic equations. The approximation function can be
a linear i.e. u = b0 + b1ξ, where ξ is a new variable ξ = x/L ( L is lenght of element ).
Equation (1) has a form

r 
u  1     1   N r ,
T
(9)
r2 
v

r4
r2

r1 r3

Fig. 2

FEM - Tool for Buckling Solution 5

 1.2 GEOMETRIC STIFFNESS MATRIX [kG] OF BAR ELEMENT

 r1 
u  1   0  0  r2 
   u      N  r .
T
 (10)
v   0 1   0   r3 
r4 

u 1  v 
2

x     , (11)  x  E x . (12)
x 2  x 
2
AE  u 1  v     u  2 u  v  2 1  v  4 
L 2 L
 dx  AE          dx
d   
  
2 0  x 2  x   2    x  x  x  4  x  
 0  

 1 0 1 0 0 0 0 0
 0    1
1 T AE  0 0 0 1 T N 0 1 0
 d  r  r  r r 
2 L  1 0 1 0  2 L 0 0 0 0 
    (13)
0 0 0 0 0 1 0 1

r k T r  1 rT k G r 

1 T
2 2 6
1.3 GEOMETRIC STIFFNESS MATRIX [kG] OF BAR ELEMENT
simple example
Fo
r1

L , AE

1
2
v2*L, AE

AE  1 1  1   2 F0 2 0
det      0 (14)
2 L 2  1 1 2 2 2L 2  0 0

[K] [KG]

From equation (14) we obtain for λ :

1 AE AE
   0 , 2612
1 2 2 F0 F0 (15)

FEM - Tool for Buckling Solution 7

1.3 GEOMETRIC STIFFNESS MATRIX [kG] OF BAR ELEMENT
simple example

FEM - Tool for Buckling Solution 8

1.4 NONLINEAR GEOMETRIC STIFFNESS MATRIX [kGN]
OF BAR ELEMENT

0 0 0 0
 0  1
1  v 
4
2 0 1
  , k GN   3 r2  r4 
AE
(16)
4  x  2L 0 0 0 0 .
 
0  1 0 1

K   K G   K GN R   F  . (17)

FEM - Tool for Buckling Solution 9

1.5 GEOMETRIC STIFFNESS MATRIX [kGo] OF PLANE FRAME
ELEMENT (bending + tension)

r4 X,u

r2
r5
r1 r3
Z,w

r6

r1 
r 
 2
u  1   0 0  0 0 r3 
       0 1  3 2  2 3 (  2 2   3 )L 0 3 2  2 3  
( 2   3 )Lr4 
w
w 
r5 
 
r6 
 N rr 
T

u  w 1  w 
2 2

x   2 z  
x x 2  x  (19)
FEM - Tool for Buckling Solution 10
1.5 GEOMETRIC STIFFNESS MATRIX [kGo] OF PLANE FRAME
ELEMENT (bending + tension)
2
E  u  2 w 1  w  
L 2

 d    2 z    dA.dx 

2 0 A  x x 2  x  

E   u    2 w  2 1  w  u  2 w  2 w  w  u  w  
L 2 2 4 2 2

      2  z     2 z  2      dA.dx

2 0 A   x   x  4  x  x x 2
x  x  x  x  
2
EA  u  EJ   2 w  EA u  w  EA 1  w 
L L2 L L 2 4

    dx    2  dx     dx    
2 0  x  2 0  x  2 0 x  x  2 0 4  x 

 rr  k T rr  1 rr T k o rr  1 rr T k Go rr 

1 T
2 2 2

stiffness matrix stiffness matrix geometric stiffness matrix

of bar element of bending element of bending element

FEM - Tool for Buckling Solution 11

1.5 GEOMETRIC STIFFNESS MATRIX [kGo] OF PLANE FRAME
ELEMENT (bending + tension)

0 0 0 0 0 0 
 6 1 6 1 
 0 0 
5L 10 5L 10 
 1 2L 1 L
0 0   
k G o   N 0 100 15 10 30  .
 0 0 0 0 
0  6 
1
0
6
 
1
 5L 10 5L 10 
 1 L 1 2L 
 0  0  
 10 30 10 15 

FEM - Tool for Buckling Solution 12

1.6 GEOMETRIC STIFFNESS MATRIX [kGo] OF PLANE FRAME
ELEMENT (bending + tension)
SIMPLE EXAMPLE
r2
Fo
r1

E, J

 EJ 6 EJ   6 L
12 L3  2   
L   1  5 10  0
2 L2 
det 
4 EJ 
,
6 EJ L L
 2  
 L L   10 15 
FEM - Tool for Buckling Solution 13
1.6 GEOMETRIC STIFFNESS MATRIX [kGo] OF PLANE FRAME
ELEMENT (bending + tension)
SIMPLE EXAMPLE

FKRE = π2EJ/(4L2) ≈ 2,4674 EJ/L2

Only 1 element, 2 degrees of freedom

FKR = 2,486 EJ/L2

difference from exact solution cca 0,8 %

FEM - Tool for Buckling Solution 14

 1.6 LINEAR BUCKLING - PRACTICAL EXAMPLES
a) buckling of steel arch tunnel support - influence of filling (stowing)

good stowing
λ1 = 31

Support without stowing

λ1 = 19,5

FEM - Tool for Buckling Solution 15

1.6 LINEAR BUCKLING - PRACTICAL EXAMPLES
a) buckling of the ash silo structure

BULK MATERIAL DENSITY

 = 1200 kg/m3 , f = 1,3
ANGLE OF INTERNAL
FRICTION  = 25O
STEEL DENSITY  = 7850
kg/m3 , f = 1,1
ELEMENT TYPES: SHELL,
BEAMS, CONTACT 
MASS
TOTAL No. of ELEMENTS:
4362 ( SHELLS=4036)
DOF 22248
THE HIGHEST LEVEL OF
ASH -2m BELOW
THE ROOF
ASH VOLUME ~508 m3
MASSASH 792,5 t
GRAV.FORCEASH 7,93MN
FEM - Tool for Buckling Solution 16
1.6 LINEAR BUCKLING - PRACTICAL EXAMPLES
a) buckling of an ash silo structure - collapse shape

• Collapse shape
•  = 1,32

FEM - Tool for Buckling Solution 17

 2.0 NONLINEAR BUCKLING ANALYSIS
2.1 algorithm
Three types of nonlinearities:
 geometric (large strain, ….)
 material properties ( creep, hyperelasticity, bilinearn or multilinear models, … )
 structural (contact, …).
K   R  F .
R

K R   F   F   Z 
T
n,i i
a
n
nr
n ,i n ,i

n … n-th step of loading

i … i- th iteration step into one loading step
[KTn,i] … tangential stiffness matrix
{ΔR i} … addition of DOF vector in i- th iteration step
{F an} … final value of loading vector into n-th step
{F nrn,i} … value of loading vector into n-th step and i-th iteration step
{Zn,i} … rest value of loading vector into n-th step and i-th iteration step
FEM - Tool for Buckling Solution 18
2.0 NONLINEAR BUCKLING ANALYSIS
2.1 algorithm
Zn,i+2

Zn,i+1

R
Ri Ri+1 Ri+2

R i1  R i   R i  .
Z 
n ,i   Z .Z ref and/or R i    R .Rref ,k

FEM - Tool for Buckling Solution 19

 2.0 NONLINEAR BUCKLING ANALYSIS
2.2 course of solution
The critical vector of the load is obtained when a "very small" loading
vector {Fan} creates an extreme increase of the DOF vector {ΔRi}.
The solution is non-convergent, the solution is divergent. The last value
of the loading vector when the solution is convergent – this is the value
of the real critical vector {Fkr}.

FEM - Tool for Buckling Solution 20

 2.0 NONLINEAR BUCKLING - practical examples
2.3 steel arch tunnel support

Shape of arch support

Detail of clamping connection

FEM - Tool for Buckling Solution 21

 2.0 NONLINEAR BUCKLING - practical examples
2.3 steel arch tunnel support
Course of loading
enlarged 3 times

Course of displacement for two

nodes in contact in clamping
connection

FEM - Tool for Buckling Solution 22

2.0 NONLINEAR BUCKLING - practical examples
2.4 grid tunnel support in shotcret tunnels

R1 = 1724 mm

90o

3448
545

74o
R2= 2494 mm

545

3900

FEM - Tool for Buckling Solution 23

2.0 NONLINEAR BUCKLING - practical examples
2.4 grid tunnel support in shotcret tunnels

Shape of collapse ( enlarged 10 x )

FEM - Tool for Buckling Solution 24
2.0 NONLINEAR BUCKLING - practical examples
2.4 grid tunnel support in shotcret tunnels

Cumulative plastic strain

( displacement enlarged 3 x ) 25
 3.0 Conclusion
Linear buckling analysis should be the first step of the
solution. Then the second step, namely the nonlinear
solution, should be made. We get two very important results
from linear buckling – namely:

• values of the first critical loading vector are “top

values” for a nonlinear solution

• shape of collapse from linear buckling should be a

starting imperfection for a nonlinear solution

FEM - Tool for Buckling Solution 26