Planar Beam Element

University of Hertfordshire
School of Engineering and technology
 Why beam

The Planar Beam Element y

Fj
 Learning objectives Fi
Mj x
Mi
– Develop the governing equations of i Le j

the planar beam element

y
 Definition of a beam element qi
– Has two nodes i
j qj
– Has a uniform section across its length vi
vj x
– Taking shear force & bending moment
– Lateral deflection and rotation at both
ends
 acw rotation is positive
 lateral deflection in local y direction is
positive
 The Rayleigh-Ritz Method (1)
----Choose v(x) y

 Assume a displacement field v(x) for an element Fi Fj

using four unknown constants am (m=1,2,3,4) Mj x
Mi
i Le j

v( x)  a1  a2 x  a3 x 2  a4 x 3
y
 Consequently, the slope of the beam is qi
i
j qj
dv( x) vi
 a2  2a3 x  3a4 x 2 vj x
dx
 Apply boundary/end conditions for four constants am so that displacement
field v(x) can be expressed in terms of nodal displacements, not the am
dv(0)
v(0)  vi  qi
When x=0 dx
dv( Le )
When x=Le v( Le )  v j q j
dx
 The Rayleigh-Ritz Method (2)
----Determination of Constants a1, a2, a3, a4,
y


 These four conditions yield qi
i
v(0)  vi v(0)  a1  a2 0  a3 0  a4 0
2 3
vi  a1 j qj
vi
dv(0) dv(0) vj x
 qi  a2  2a3 0  3a4 02 q i  a2
dx dx
v( Le )  v j v( Le )  a1  a2 Le  a3 Le 2  a4 Le 3 v j  a1  a2 Le  a3 Le 2  a4 Le 3
dv( Le ) dv( Le )
q j  a2  2a3 Le  3a4 L2e q j  a2  2a3 Le  3a4 L2e
dx dx


 The first two equations yield a1 & a2 directly a1  vi
 Substituting a1 & a2 into last two equations a2  q i
3 1
a3  ( v  v )  (2q i  q j )
q  q  2a L  3a L
v j  vi  q i Le  a3 Le  a4 Le
2 3
Le2 j i
Le
2 1
a4  3 (vi  v j )  2 (q i  q j )
2
j i 3 e 4 e
Le Le
 The Rayleigh-Ritz Method (3)
----Determination of Shape Functions


a1  vi y
 Substituting a2  q i
qi
3 1
a3  2 (v j  vi )  (2q i  q j ) i
Le Le j qj
vi
vj x
2 1
a4  3 (vi  v j )  2 (q i  q j )
Le Le into v( x)  a1  a2 x  a3 x 2  a4 x 3
  x
2
 x 
3
 x 2 x3    x  2  x 3   x 2 x3 
v( x)  1  3   2   vi   x  2  2 q i  3   2   v j    2 q j
  Le   Le    Le Le    Le   Le    Le Le 
 vi 
q 

v( x)  ( N v ) i vi  ( Nq ) i q i  ( N v ) j v j  ( Nq ) j q j  ( N v ) i ( Nq ) i (Nv ) j 
( Nq ) j  
i
v j 
 Where shape functions can be given q 
2 3  j
 x  x x 2 x3  x
2
 x
3
x 2 x3
( N v ) i  1  3   2  ( Nq ) i  x  2  2 ( N v ) j  3   2  ( Nq ) j    2
 Le   Le  Le Le  Le   Le  Le Le
The displacement field v(x) of an element is expressed by a summation of shape functions multiplied by nodal
displacements vi ,qi , vj ,qj
 The Rayleigh-Ritz Method (4)
----Determination of Strain Energy
 Strain energy for a beam in bending is given by
 vi 
1 M2  d 2v 
2 q 
U 
1
dx   EI  2  dx where 
v( x)  ( N v ) i ( Nq ) i (Nv ) j 
( Nq ) j  
i
v j 
2 Le EI 2 Le  dx 
q 
 j
 The 2nd derivative can be determined
 vi   vi 
d 2 ( N q ) j  q i 
q 
d 2v  d 2 ( N v )i d 2 ( Nq ) i d 2 (Nv ) j
    B1 B2 B4  
i
 B3
v j 
2 2 2 2 2 v 
dx  dx dx dx dx   j  q 
 j
where q j 
2 3
2
d ( N v )i d2  x  x 6 12 x
B1   2 {1  3   2  }   
dx 2 dx  Le   Le  L2e L3e
d 2 ( Nq ) i d2 x 2 x3   4  6x d 2 ( Nq ) j d2 x 2 x3
B2   2 (x  2  2 ) B4 
2 6x
 2 (  2 )    2
dx 2 dx Le Le Le L2e
dx 2 dx Le Le Le Le
2 3
d 2 (Nv ) j d2  x   x    6  12 x
B3   2 {3   2  }
dx 2 dx  Le   Le  L2e L3e
 The Rayleigh-Ritz Method (5)
----Determination of Strain Energy
 vi   vi 
q  q 
B4    B u  where B  B1
d 2v B4  u    i 
 B1
i B2 B3
B2 B3 v j 
dx 2 v j  q 
q   j
2
 j
 d 2v 
   B u 2  u  B Bu 
T T
 Substituting this equation into the strain energy
 dx 2 
  & assuming that EI is constant for the element
2
 d 2v   [u] is not the function of x
 u  B  B u dx
1 EI
U   EI  2  dx 
T T
2 Le  dx  2 Le

u  {EI  BT Bdx}u   u T k e u 

1 T 1

2 Le 2

k e  EI  BT Bdx  This is the stiffness matrix of the

where Le element
 The Rayleigh-Ritz Method (6)
----Build-up the Element Stiffness Matrix
 B1   B12 B1 B2 B1 B3 B1 B4 
B   
B22
k e  EI  B Bdx  EI   2 B1
T
B2 B3 B4 dx  EI   1 2
BB B2 B3 B2 B4 
dx
Le Le  B3  Le  B1 B3 B2 B3 B32 B3 B4 
B   2 
 4  B1 B4 B2 B4 B3 B4 B4 

 All the terms within the matrix must be integrated since Bi terms are functions of x
typically
Le Le
6 12 x 4 6x Le
24 84 x 72 x 2
EI  B1 B2 dx  EI  ( 2  3 )(  2 )dx  EI  ( 3  4  5 )dx
0 0 Le Le Le Le 0 Le Le Le
Le
 EI   EI   12 6 L  12 6 L 
24 x 42 x 2 24 x 3      (6 Le ) 
 EI ( 3  4  5 )  6 L 2 L2 
6 L2   L3  2
 EI   6 L 4 L
Le Le Le 0  e  e k e  3  
 L  e  12  6 L 12  6 L 
 6 L 2 L2  6 L 4 L2 
 Assuming Le = L and integrating the rest of  
terms in the stiffness matrix of the element gives
 The Rayleigh-Ritz Method (7)
The Relationship between Nodal Forces & Displacements
 y
  u T k e u   Fi vi  M iq i  F j v j  M jq j
1 0
2 ui Fi Fj
Mj x
 Differentiating the above equation with respect to the Mi
Le
i j
nodal displacements [u]=[vi qi vj qj]T
 12 6 L  12 6 L   vi   Fi  0
 6 L 4 L2  6 L 2 L2  q   M  0
  
EI   i  i
 3   
 L  e  12  6 L 12  6 L   v j   F j  0 y
 6 L 2 L2  6 L 4 L2  q   M  0 qi
  j   j    i
j qj
vi
or  12 6 L  12 6 L   vi   Fi  vj x
 6 L 4 L2  6 L 2 L2  q   M 
  
EI   i  i
 3 
 L  e  12  6 L 12  6 L   v j   F j 
 6 L 2 L2  6 L 4 L2  q   M 
k e u    f 
  j   j 
[stiffness matrix] [disps] [forces]
 Summary of The Rayleigh-Ritz
Method for an Beam Element (1)
y
 Assume a deflection field of the element using many
unknown constants as there are degrees of freedom Fi Fj
Mj x
v( x)  a1  a2 x  a3 x 2  a4 x 3 Mi
i Le j
 Obtain Shape function
2 3
2
 x  x
3
 x  x y
( N v ) i  1  3   2  ( N v ) j  3   2   vi 
 Le   Le   Le   Le  q 
qi
x 2 x3 x 2 x3 
v( x)  ( N v ) i ( Nq ) i (Nv ) j 
( Nq ) j  
i
i
( Nq ) i  x  2  2 ( Nq ) j    2 v j 
Le Le Le Le q  qj
 j vi j
 Calculate the strain energy vj x
2
1  d 2v 
U   EI  2  dx  1 u T k  u  d 2 (Nv ) j  vi 
2 Le  dx  2
e d 2 ( N v )i B3  q 
B1 
 Calculate the element stiffness matrix dx 2 dx 2 u    i 
d 2 ( Nq ) j v j 
[k ]e  EI  [ B]T [B]dx d 2 ( Nq ) i B4  q 
B2  dx 2
dx 2
 Fi   j
Le
M 
 Determine the force equilibrium equation Through f   i 
k e u    f 
 Fj 
 M 
e  U  W p 0  j
ui
 Summary of The Rayleigh-Ritz Method
for an Beam Element (2)
y
 Details of the element stiffness matrix
Fi Fj
Mj x
 12 6 L  12 6 L  Mi
i Le j
 2
 6 L 2 L2 
 EI   6 L 4 L
k e  3   y
 L  e  12  6 L 12  6 L 
 6 L 2 L2  6 L 4 L2  qi
  i
j qj
vi
vj x
 The Relationship between Nodal Forces &
Displacements
 12 6 L  12 6 L   vi   Fi 
 6 L 4 L2  6 L 2 L2  q   M 
  
k e u    f 
EI   i  i
 3 
 L  e  12  6 L 12  6 L   v j   F j 
 6 L 2 L2  6 L 4 L2  q   M 
  j   j 
[stiffness matrix] [disps] [forces]>