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Course Outline
1. Introduction (1 wk)
CE 6504 2. Preliminaries (1 wk)
Finite Elements Method in Structures 3. 1D (2-Node) Line Elements (3 wks)
(Part 1) Bar, Truss, Beam-elements, Shape functions
4. 2D Elements (3 wks)
Plane Stress and Plane Strain Problems
5. 3D Elements (2 wks)
Tetrahedral, Hexahedral Elements
6. Plate Bending & Shells (1 wk.)
AY 2013/14 – II
7. Further Issues (2 wk.)
Bedilu Habte Modeling, Errors, Non-linearity
AAiT – Civil Engineering – Bedilu Habte 2

References Internet References:

Finite Element Analysis (Text) Introduction to Finite Element Methods
By: S.S. BHAVIKATTI Department of Aerospace Engineering Sciences
Concepts and Applications of Finite Element Analysis University of Colorado at Boulder
By: Robert D. Cook, David S. Malkus and Michael E. Plesha http://www.colorado.edu/engineering/CAS/courses.d/IFEM.d/Home.html
Finite Element Procedures in Engineering Analysis Advanced Finite Element Methods
By: K.-J. Bathe Department of Aerospace Engineering Sciences
The Finite Element Method University of Colorado at Boulder
O.C. Zienkiewicz http://www.colorado.edu/engineering/CAS/courses.d/AFEM.d/Home.html
An Introduction to the Finite Element Method
By: J. N. Reddy

AAiT – Civil Engineering – Bedilu Habte 3 AAiT – Civil Engineering – Bedilu Habte 4

Topics I Introduction
Introduction & Steps in FEM
What is FEM?
• Elasticity & Variational Method
Finite element method is a numerical method
Bar Elements (2, 3 Node)
that generates approximate solutions to
Derivation of k
• Governing Equation: Strong/Weak forms engineering problems which are usually expressed
• Minimization of Total Potential Energy in terms of differential equations.
• Ritz- & Galerkin’s Methods
Shape Function &Natural Coordinates Used for stress analysis, heat transfer, fluid flow,
• Isoparametric Formulation electromagnetic etc.
Beam Elements
FE – Analysis of Frames
AAiT – Civil Engineering – Bedilu Habte 5 AAiT – Civil Engineering – Bedilu Habte 6

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What is FEM? What is FEM?

• Use of several materials within the same structure, Structure is partitioned into FINITE
• complicated or discontinuous geometry, ELEMENTS – that are joined to each other at
• complicated loading, etc, limited number of NODES

makes the closed form (analytical) solution of Behavior of an individual element can be
structural problems very difficult. described with a simple set of equations

One resorts to a numerical solution, the best of Assembling the element equations, to a large
which is the FEM. set, is supposed to describe the behavior of the
whole structure.

AAiT – Civil Engineering – Bedilu Habte 7 AAiT – Civil Engineering – Bedilu Habte 8

Discretization Example Discretization Example

Find the circumference of a circle with a unit Solution:
diameter – find the value of π. Let n be the number of sides of the
inscribed or circumscribing polygon.
Approximation with that of regular polygons:
i) Inscribed polygon
Perimeter p = n sin (π/n)

ii) Circumscribing polygon

Perimeter p = n tan (π/n)

AAiT – Civil Engineering – Bedilu Habte 9 AAiT – Civil Engineering – Bedilu Habte 10

Discretization Example Brief History

Estimated vs. exact value of π = 3.1415926536 A formal mathematical theory for the FEM
No. of sides Inscribed polygon Error
3 2.5980762114
started some 60 years ago
0.5435164422
4 2.8284271247 0.3131655288
The steps in FEA are very similar to the
8 3.0614674589 0.0801251947 method of the stiffness method in matrix structural
16 3.1214451523 0.0201475013 analysis
32 3.1365484905 0.0050441630
64 3.1403311570
 The term finite element was first used by Clough in
0.0012614966
128 3.1412772509
1960.
0.0003154027
1000 3.1415874859 0.0000051677  The first book on the FEM by Zienkiewicz and Cheung
10000 3.1415926019 0.0000000517 was published in 1967.
100000 3.1415926531 0.0000000005  In the late 1960s and early 1970s, the FEM was applied
1000000 3.1415926536 0.0000000000 to a wide variety of engineering problems.
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Brief History Brief History

 The Pioneers – 1950 to 1962; Clough,
Turner, Argyris, etc.; thought structural
elements as a device to transmit forces
(“force transducer”).
 The Golden Age – 1962–1972;
Zienkiewicz, Cheung, Martin, Carey etc.;
thought discrete elements approximate
continuum models (displacement
formulation).
 Consolidation – 1972 to mid 1980s;
Hughes, Bathe Argyris, etc.; variational
method, mixed formulation, error
estimation.
 Back to Basics – early 1980s to the
present; Elements are kept simple but
should provide answers of engineering
accuracy with relatively coarse meshes.

AAiT – Civil Engineering – Bedilu Habte 13 AAiT – Civil Engineering – Bedilu Habte 14

Brief History Brief History

 The 1970s  advances in
mathematical treatments, including the
development of new elements, and
convergence studies.
 Most commercial FEM software
packages originated in the 1970s and
1980s.
 The FEM is one of the most important
developments in computational
methods to occur in the 20th century.
AAiT – Civil Engineering – Bedilu Habte 15 AAiT – Civil Engineering – Bedilu Habte 16

Proprietary Software Steps in FEA Process

1. Discretize and Select Element Type
 ANSYS
2. Select a Displacement Function
 MSC/NASTRAN
3. Define Strain/Displacement and
 ABACUS
Stress/Strain Relationships
 ADINA
4. Derive Element Stiffness Matrix & Eqs.
 ALGOR
 NISA 5. Assemble Equations and Introduce
B.C.’s
 COSMOS/M
 STARDYNE 6. Solve for the Unknown Degrees of
Freedom
 IMAGES-3D
7. Solve for Element Stresses and Strains
8. Interpret the Results
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Common FEA Procedure for Structures Common FEA Procedure for Structures
3. Derivation of Element Equations
1. Idealization Derive the relationship between the unknown and
The given structure needs to be idealized based on given parameters at the nodes of the element.
engineering judgment. Identify the governing
f  k  u
e e e
equation.

2. Discretization 4. Assembly
The continuum system is disassembled into a Assembling the global stiffness matrix from the
number of small and manageable parts (finite element stiffness matrices based on compatibility
elements). of displacements and equilibrium of forces.
For example:
AAiT – Civil Engineering – Bedilu Habte 19 AAiT – Civil Engineering – Bedilu Habte 20

Common FEA Procedure for Structures Common FEA Procedure for Structures
Fxi  fx1
2  fx1
2

Fyi  fy1
2  fy1
2

Ui u12 u12  The sum of the forces on each element

of a particular node must balance the
Vi v12 v12 external force at that node.
For the whole structure, this process results in the master
 Displacement of a node is always stiffness equation:

 K '  U '   F ' 

the same for the adjoining elements
and for the whole structure.

AAiT – Civil Engineering – Bedilu Habte 21 AAiT – Civil Engineering – Bedilu Habte 22

Common FEA Procedure for Structures Common FEA Procedure for Structures
5. Introduce Boundary Conditions 6. Solve for the primary unknowns
After applying prescribed nodal displacements

U    K  F 
(and known external forces) to the master stiffness 1
equation, the resulting equation becomes the
modified master stiffness equation:

7. Compute other values of interest

 K U   F  Secondary unknowns are determined using the
known nodal displacements.

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Types of FEA in Structures Advantages of Finite Element Analysis

1. Linear analysis: small deflection and elastic
material properties.
2. Non-linear analysis:
• Material non-linearity: small deflection and
non-linear material properties.
• Geometric non-linearity: large deflection and
elastic material properties.
• Both material and geometric non-linearity.
• Models Bodies of Complex Shape
• Can Handle General Loading/Boundary Conditions
• Models Bodies Composed of Composite Materials
• Model is Easily Refined for Improved Accuracy by
Varying Element Size and Type (Approximation Scheme)
• Time Dependent and Dynamic Effects Can Be Included
• Can Handle a Variety Nonlinear Effects

AAiT – Civil Engineering – Bedilu Habte 25 AAiT – Civil Engineering – Bedilu Habte 26

Common Sources of Error in FEA Measures of Accuracy in FEA

Accuracy
• Domain Approximation
Error = |(Exact Solution)-(FEM Solution)|
• Element Interpolation/Approximation
Convergence
• Numerical Integration Errors
Limit of Error as:
(Including Spatial and Time Integration)
Number of Elements (h-convergence)
• Computer Errors (Round-Off, Etc., ) or
Approximation Order (p-convergence)
Increases
Ideally, Error  0 as Number of Elements or
Approximation Order  

AAiT – Civil Engineering – Bedilu Habte 27 AAiT – Civil Engineering – Bedilu Habte 28

Numerical Methods
Mathematical Preliminaries  Several approaches can be used to transform
the physical formulation of the problem to its
 Elasticity finite element discrete analogue.
 Variational Methods  Galerkin method – the physical formulation of
the problem is known as a differential
equation.
 Variational formulation – the physical problem
can be formulated as minimization of a
functional.

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5

Variational Method cont.
• A mathematical model is a set of
mathematical statements which attempts to
describe a given physical system.
AAiT – Civil Engineering – Bedilu Habte 31
Variational Method cont.
 Example: Consider the ODE
This is SF and called problem domain. To
solve this equation, let the BCs are
y(0) = 1, y(2) = 4 (boundary value problem)
y(0) = 1, y' (0) = 0 (initial value problem)
 BVPs usually model problems in spatial
domains whereas IVPs model problems in the
time domain.
AAiT – Civil Engineering – Bedilu Habte 33
Variational Method cont.
 multiply the ODE residual r (x) by a weight
function w(x) and integrate over [0, 2].
 multiply r0 and r2 by weights w0 and w2
 add the three terms

 This is a weighted integral form; WF
statement. It is possible that other functions
not satisfying the specified BVP may verify
the WF. Thus the qualifier “weak.”
AAiT – Civil Engineering – Bedilu Habte 35
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Variational Method cont.
 Strong Form (SF): A system of ordinary or
partial differential equations in space and/or
time, complemented by appropriate
boundary conditions.
 Weak Form (WF): A weighted integral
equation that “relaxes” the strong form into
a domain-averaging statement.
 Variational Form (VF): A functional whose
stationary conditions generate the weak
and strong forms.
AAiT – Civil Engineering – Bedilu Habte 32
Variational Method cont.
 A residual function associated to the
above ODE is r(x) = y'' − y − 2. The SF is
equivalent to saying that r(x) = 0.
AAiT – Civil Engineering – Bedilu Habte 34
Variational Method cont.
 If w, w0 and w2 are formally written as the
variations of functions v, v0 and v2,
respectively, then the above WF becomes:

 δ is the variation symbol. The v’s are
technically called test functions.
 The resulting equation is called a
variational statement, which leads directly
to the important Galerkin forms.
AAiT – Civil Engineering – Bedilu Habte 36
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Variational Method cont. Elasticity

 3D Stress block
 Finally, the BVP stated earlier has a y
solution in variational calculus, given by:
xy
yz
xy
 which is called the Euler-Lagrange
equation; it is an example of a VF. zy x
zx xz
z

AAiT – Civil Engineering – Bedilu Habte 37 AAiT – Civil Engineering – Bedilu Habte 38

Elasticity cont. Elasticity cont.

 Stress Equilibrium Equations

AAiT – Civil Engineering – Bedilu Habte 39 AAiT – Civil Engineering – Bedilu Habte 40

Elasticity cont. Elasticity cont.

 Strain – Displacement  3D Stress – Strain Relationships

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Bar Elements Bar Elements cont.

(1) The longitudinal dimension or axial
dimension is much larger that the
transverse dimension(s). The
intersection of a plane normal to the
longitudinal dimension and the bar
defines the cross sections.
(2) The bar resists an internal axial force
along its longitudinal dimension.

AAiT – Civil Engineering – Bedilu Habte 43 AAiT – Civil Engineering – Bedilu Habte 44

Bar Elements cont. Bar Elements cont.

• It must be in equilibrium.
• It must satisfy the elastic stress–strain
law (Hooke’s law)
• The displacement field must be
compatible.
• It must satisfy the strain–displacement
equation.

AAiT – Civil Engineering – Bedilu Habte 45 AAiT – Civil Engineering – Bedilu Habte 46

Governing Equation Approximate Solution

The governing differential equation of Admissible displacement function is
continuous over the length and satisfies
the bar element is given by
any boundary condition:
d  du 
 AE q  0
dx  dx 
boundaryconditions
u 0 Principles of Minimum Potential Energy – Of all
x 0
kinematically admissible displacement equations,
those corresponding to equilibrium extermize the
 du 
 AE  P TPE. If the extremum is a minimum, the equilibrium
 dx  x  L state is stable.

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Kinematically admissible Total Potential Energy (TPE)

Displacement Functions
those that satisfy the single-valued nature of
 p  U W
displacements (compatibility) and the dU   x x y z d x
boundary conditions Strain dU   d dV
x x
 Usually Polynomials Energy


εx


 Continuous within element. (Internal U 
 Inter-element compatibility. Prevent work)

V 
   x d x dV

0 
overlap or gaps. 1
2 
 Allow for rigid body displacement and U   x x dV
constant strain. V

AAiT – Civil Engineering – Bedilu Habte 49 AAiT – Civil Engineering – Bedilu Habte 50

Total Potential Energy Total Potential Energy

 p work
External U Wof loads
1
2
M
W   Xˆ b uˆ dV   Tˆx u dS   fˆi dˆi
V S i 1
Strain energy 1
2 L
 T  Adx

TPE External energy Pu 2

1
 x  AE  x dx  W
2 L
p  1
2 L
Total potential energy Π   T  Adx  Pu 2

AAiT – Civil Engineering – Bedilu Habte 51 AAiT – Civil Engineering – Bedilu Habte 52

Ritz-Method
AAiT – Civil Engineering – Bedilu Habte
Ritz-Method
• Using the Ritz-method, approximate
displacement function is obtained by:
1. Assume arbitrary displacement
  a1 f1  a2 f 2  ...  an f n
2. Introduce this into the TPE functional
3. Performing differentiation and integration
to obtain a function
4. Minimizing the resulting function
d
 0 for i  1,2,..., n
dai
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Ritz-Method Ritz-Method
• Consider the linear elastic one-dimensional • Consider the polynomial function:
rod with a body force shown below
• To be kinematically admissible u must
satisfy the boundary conditions u = 0 at
both (x = 0) and (x = 2)
&

• Thus:
• The potential energy of this system is:
2
2  du 
Π 1
2 
0
EA  dx  2u1
 dx 
AAiT – Civil Engineering – Bedilu Habte 55 AAiT – Civil Engineering – Bedilu Habte 56

Ritz-Method Galerkin-Method
• TPE of this system becomes: For the one-dimensional rod considered in the
Π  43 a32  2a3 pervious example, the governing equation is:
• Minimizing the TPE: Π 8
 a3  2  0
a3 3
 a3  3
4 The Galerkin method aims at setting the
residual relative to a weighting function Wi,
• Thus, an approximate u is given by:
to zero. The weighting functions, Wi, are
chosen from the basis functions used for
• Rayleigh-Ritz method assumes trial constructing û (approximate displacement
functions over entire structure function).
AAiT – Civil Engineering – Bedilu Habte 57 AAiT – Civil Engineering – Bedilu Habte 58

Galerkin-Method Galerkin-Method
• Consider the rod shown below
• Using the Galerkin-method, approximate
displacement function is obtained by:
1. The governing DE is written in residual form
d  du 
RES   AE 
dx  dx 
2. Multiply this by weight function f introduce
into the TPE, and equate to zero
3. Performing differentiation and integration to • Multiplying by Φ and integrating gives (parts):
obtain a function L f R dx  0
4. Minimizing the resulting function, to obtain
the approximate u
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Galerkin-Method Galerkin-Method
• The function Φ is zero at (x = 0) and (x = 2) • Equating the value in the bracket to zero
and EA(du/dx) is the tension in the rod, and performing the integral:
which equals 2 at (x = 1). Thus:
u1  3
4

u  0.75 2 x  x 2 
• In elasticity problems Galerkin’s method turns
• Using the same polynomial function for u and out to be the principle of virtual work: (A
Φ and if u1 and Φ1 are the values at (x = 1): deformable body is in equilibrium when the
total work done by external forces is equal to
• Setting these and the total work done by internal forces).
E=A=1 in the integral:
AAiT – Civil Engineering – Bedilu Habte 61 AAiT – Civil Engineering – Bedilu Habte 62

Bar Element Assumptions

Y   E The bar cannot resist shear forces.

ŷ
x̂, û duˆ That is: f̂1ŷ  f̂ 2ŷ  0
2
 Effects of transverse
dxˆ
L dˆ2 x , fˆ2 x
A xˆ  T  A displacements are ignored.
1

Hooke’s law applies.
dˆ1x , fˆ1x
That is:   E
d  duˆ  x x
X
 AE   0
dxˆ  dxˆ 

AAiT – Civil Engineering – Bedilu Habte 63 AAiT – Civil Engineering – Bedilu Habte 64

Select a Displacement Function  dˆ  dˆ 1x 

uˆ   2x  xˆ  dˆ 1x
 L 
Assume a linear function. û
uˆ  a1  a2 xˆ  xˆ xˆ   d̂1x 
û  1   
No. of coefficients = No. of DOF  L L  dˆ 2x 
Written in matrix form:  a1 
uˆ  1 xˆ    d̂ 
a 2  û   N1 N 2   1x 
d̂ 2x 
Expressed as function of d̂1x and d̂ 2x
Where :
uˆ (0)  dˆ1x  a1  a2 (0)  dˆ1x  a1 xˆ xˆ
Shape functions: N1  1  and N 2 
uˆ ( L)  dˆ2 x  a1  a2 ( L)  dˆ2 x  dˆ1x  a2 L L L

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Shape Functions Define Strain/Displacement and Stress/Strain

Relationships
N1 and N2 are called Shape Functions or Interpolation
Functions. They express the shape of the assumed  dˆ  dˆ 
displacements. uˆ   2 x 1x  xˆ  dˆ1x
 L 
N1 =1 N2 =0 at node 1
N1 =0 N2 =1 at node 2 duˆ d 2 x  dˆ1x
ˆ f  A
N1 + N2 =1 at any point  
dxˆ L  dˆ  dˆ2 x 
1
N1
1
dˆ2 x  dˆ1x fˆ1x  AE  1x 

N2   E  E  L 
L
ˆ
d d  ˆ
1 2 fˆ2 x  AE  2 x 1x 
 L 
L
AAiT – Civil Engineering – Bedilu Habte 67 AAiT – Civil Engineering – Bedilu Habte 68

Derive the Element Stiffness Potential Energy Approach

Matrix and Equations
 fˆ1x  AE  1  1  dˆ1x   p  U W
ˆ    
 f 2 x  L  1 1  dˆ2 x  dU   x d x dV

 AE  1  1 1
2 
kˆ  U   x x dV
 
N
L  1 1   K    kˆ (e) V
e 1

F     fˆ (e) 
N M
Assemble Global Stiffness Matrix, apply BC and solve W    Xˆ b uˆ dV   Tˆx u dS   fˆix dˆix
the Master stiffness equation for the unknown
e 1 V S i 1
displacements:
 K d   F 
AAiT – Civil Engineering – Bedilu Habte 69 AAiT – Civil Engineering – Bedilu Habte 70

Potential Energy Approach Potential Energy Approach

L

 x   D x 
1
A x  x dxˆ  fˆ1x dˆ1x  fˆ2 x dˆ2 x   uˆ Tˆx dS   uˆ Xˆ b dv
2 0
p 
S V

uˆ  [ N ] {dˆ}
D  E  [D] is the constitutive matrix


(elasticity property matrix)
 x    1  x   DBdˆ
1 ˆ
d
xˆ xˆ  L 
N   1  L 
 L L   x   B  dˆ  A
L

  dˆ 

dˆ   1x 

B    1 1 p 
2 0
 x  x dxˆ  fˆ1x dˆ1x  fˆ2 x dˆ2 x   uˆ Tˆx dS   uˆ Xˆ b dv
ˆ L 
S V

d 2 x 
  L

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Potential Energy Approach Potential Energy Approach

A
L
 x T  x  dxˆ  dˆ   P  uˆ  Tˆ dS   uˆ Xˆ dv
T
U   dˆ B D B dˆ
*
T T T

2 0
p  T
x
T
b
S V
 1
   1
  U    1   dˆ1x 
L

d 2 x  L E 
A
B D B dˆ dxˆ  dˆ1x ˆ
T
 p   dˆ T T *
 
20

1
  L L   dˆ2 x 

 dˆ P  dˆ
T
  N  Tˆ dS   dˆ  N  Xˆ dv
T T
x
T T
b
 L 
S V
U* 
E ˆ2
L2

d1x  2dˆ1x dˆ2 x  dˆ22x 
p 
AL ˆ T T T
2

d B  D  B  dˆ  dˆ fˆ
T
    
 
fˆ  {P}   N  Tˆx dS   N  Xˆ b dv
T T
     dˆ  fˆ  dˆ
T
fˆ  dˆ2 x fˆ2 x
1x 1x
S V

AAiT – Civil Engineering – Bedilu Habte 73 AAiT – Civil Engineering – Bedilu Habte 74

Potential Energy Approach Example

 p AL  E ˆ
 
Analyse the bar shown below by the finite element
 ˆ  ˆ 2d1x  2d 2 x   f1x  0 method dividing it into five equal segments.
dˆ1x 2  L2 
 p AL  E ˆ
ˆ
d 2 x

2 
 L2



2d 2 x  2dˆ1x   fˆ2 x  0 
AE  1 1  dˆ1x   fˆ1x 
   
L  1 1  dˆ2 x   fˆ2 x 

 k     B   D  B  dV  D   D
T T

AAiT – Civil Engineering – Bedilu Habte 75 AAiT – Civil Engineering – Bedilu Habte 76

Transformation Matrix (Local  Global) Element stiffness equation in local coordinate:

 dˆ1x   C S  fˆ1x  1 0 1 0  d1x 

0 0   d1x  ˆ   
ˆ      0  d1 y 
0   d1 y   f1 y  AE  0
Let 0 0
 d1 y   S C 0  ˆ   
C  cos θ ˆ     f 2 x  L  1 0 1 0  d 2 x 

S  sin θ
d 2 x   0 0
dˆ2 y   0 0 S
C S  d 2 x 

C  d 2 y 
 fˆ2 y 
 

0 0 0
 

0 d 2 y   T   f   kˆ  T d 

 f    T   kˆ T d 
  1

 dˆ  T d 
 T  1  T  T
C S
 fˆ   T  f 
0
0

 f    T T  kˆ T d 
 S C 0 
0
 T   Element stiffness matrix
 0 0 C S

 0 0  S C
 in the global coordinate:  k    T T  kˆ T 
AAiT – Civil Engineering – Bedilu Habte 77 AAiT – Civil Engineering – Bedilu Habte 78

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Example Stress Computation

For the bar element shown in the figure below and
the accompanying data, 0.25 x 10 3 m 
x̂
A = 4 x 10-4 m2  
E = 210 GPa 210 x 10  1
6
3 1 3   0.0 m 
Y     
 = 60o 2 2 2 2 2  0.50 x 10 3 m
2 d1x = 0.25 mm 
d1y = 0.0 mm 0.75 x 10 3 m
d2x = 0.50 mm
d2y = 0.75 mm   81.32 x 103 kN / m 2
o 60
  81.32 MPa
1 X
Compute the stress in the bar.

AAiT – Civil Engineering – Bedilu Habte 79 AAiT – Civil Engineering – Bedilu Habte 80

Quadratic Bar Element uˆ  d1 a2 L a3 L2

xˆ 
L d1  a1  
Obtain displacement function for the one-dimensional 2 2 4
quadratic element with three nodes shown below. d 2  a1
uˆ xˆ  0  d2 
a2 L a3 L2
d 3  a1  
uˆ L  d3 2 4
xˆ 
2
A quadratic displacement function: d 3  d1 xˆ 2
uˆ  d 2  xˆ  2d 3  2d 2  d1  2
uˆ  a1  a2 xˆ  a3 xˆ 2
L L
No. of coefficients = No. of DOF  a1   d1 
Written in matrix form: uˆ  1 xˆ    
xˆ 2 a2 
 xˆ 2 xˆ 2
   2
4 xˆ 2
1 2
xˆ 2 xˆ 2   
 2  d 2 
a3   L L L L L  
d 3 
AAiT – Civil Engineering – Bedilu Habte 81 AAiT – Civil Engineering – Bedilu Habte 82

Quadratic Shape Functions

N1 =1 N2 = N3 =0 at node 1 Shape Function (Recap)
N2 =1 N1 = N3 =0 at node 2
N3 =1 N1 = N2 =0 at node 3
Natural Coordinates; Isoparametric
N1 + N2 + N3 = 1 at any point Formulation

Beam Elements

FE – Analysis of Frames

AAiT – Civil Engineering – Bedilu Habte 83 AAiT – Civil Engineering – Bedilu Habte 84

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PROPERTIES OF THE SHAPE FUNCTIONS Compatibility: The displacement approximation is continuous

across element boundaries
The shape function at any node has a value of 1 at that node and
a value of zero at ALL other nodes.
1 1
x 2 -x x-x1
N1 (x)  N 2 (x) 
x 2  x1 x 2  x1
x1 x2 x x1 x2 x3
El #1 El #2
x2 - x At x=x2
N1(x)
x2 x1
x2 - x1
Check N1(x x1)  1
x2 x1
x2 - x2 Hence the displacement approximation is continuous across elements
andN1(x x2)  0
x2 x1
AAiT – Civil Engineering – Bedilu Habte 85 AAiT – Civil Engineering – Bedilu Habte 86

Writing shape functions (without deriving): 3-Node bar element: varying quadratically inside the bar

The Kronecker delta property (the shape function at any node N1 (x) N 2 (x) N 3 (x)

has value of 1 at that node and a value of zero at all other nodes)
1 1 1

x 2 -x x-x1
N1 (x)  N 2 (x) 
x 2  x1 x 2  x1
x1 x2 x1 x2 x
El #1
x x3

Node at which N1 is 0 N1(x) 

x2 - xx3 - x u(x)  N1 (x)d1x  N2 (x)d 2x  N3 (x)d3x
N1 (x) 
 x 2 -x  x2 - x1 x3 - x1 
 x 2 -x1  Notice that the length of the element = x2-x1 x1 - xx3 - x
 x1 -x   x-x1  N2 (x)  This is a quadratic finite element in
N 2 (x)  
The denominator is x1 - x2 x3 - x2  1D and it has three nodes and three
 x1 -x 2   x 2 -x1 
the numerator evaluated at N3 (x)  1
x - xx2 - x associated shape functions per element.
the node itself x1 - x3 x2 - x3 
AAiT – Civil Engineering – Bedilu Habte 87 AAiT – Civil Engineering – Bedilu Habte 88

Writing shape functions for higher DOFs: STRAIN and STRESS WITHIN EACH ELEMENT

From equation (1), the displacement within each element

(x)=N d

The strain in the bar d

ε
dx
Hence
 dN 
ε d Bd (2)
 dx 
The matrix B is known as the “strain-displacement matrix”
 dN 
B
 dx 
AAiT – Civil Engineering – Bedilu Habte 89 AAiT – Civil Engineering – Bedilu Habte 90

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For a linear finite element

 x 2 -x x-x1  Displacement is linear
N   N1 (x) N 2 (x)     (x)  a 0  a1x d 2x
 x 2  x1 x 2  x1 
Hence d 2x -d1x
d 1x x El #1 ε=
 -1 1  1
x 2  x1
B    1 1 x1 x2
 x 2  x1 x 2  x1  x 2  x1 Strain is constant
 -1 1   d1x  du
ε Bd    d  The stress in the bar   Eε=E
 x 2  x1 x 2  x1   2x  dx
d -d The stiffness matrix
 2x 1x Inside the element,   EB d
x 2  x1 the approximate
k     B E  B  dV
T
For a linear bar element, strain is a constant within the element. stress is
V

AAiT – Civil Engineering – Bedilu Habte 91 AAiT – Civil Engineering – Bedilu Habte 92

Natural Coordinates 2 Node Linear Element

L
L
O P 2 x1 x2
1 x
x1 -1  1
x 
1
x2 = x1 + L
N1 x2-x 1-
Mapped on the following Natural Coordinate N1 = ----------- N1 = -----------
x2-x1 2
2

P 1 x-x1 +1
N2 = ---------- N2 = ---------
-1 1
x2-x1 2
 N2

AAiT – Civil Engineering – Bedilu Habte 93 AAiT – Civil Engineering – Bedilu Habte 94

3 Node Quadratic Element Beam Theory – Terminology

1 x2 -x x -x A general beam is a bar-like member designed to
3 2 N1   3
x1 x3 x2 x 2  x1 x 3  x1 resist a combination of loading actions such as
-1 0 1 biaxial bending, transverse shears, axial stretching
1-  -  1
     2
2  1  2
  or compression, and possibly torsion.
1
3
2 x -x x -x If the beam is subject primarily to bending and axial
N2  1  3 forces, it is called a beam-column.
x1  x 2 x 3  x 2
A beam is straight if its longitudinal axis is straight. It
-1 -  -  1
3  
 2 1 2
  2   is prismatic if its cross section is constant.
1 2
x -x x -x A spatial beam supports transverse loads that can
N3  1  2 act on arbitrary directions along the cross section.
x1  x 3 x 2  x 3
3 A plane beam resists primarily transverse loading on
-1 -  1 - 
1 2

1

1

 1 2  a preferred longitudinal plane.

AAiT – Civil Engineering – Bedilu Habte 95 AAiT – Civil Engineering – Bedilu Habte 96

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Mathematical Models Beam Theory – Kinematics

One-dimensional mathematical models of structural
beams are constructed on the basis of beam
theories.
The simplest and best known models for straight,
prismatic beams are based on the:
 Bernoulli-Euler theory (also called classical beam theory or
engineering beam theory)
 Timoshenko beam theory

AAiT – Civil Engineering – Bedilu Habte 97 AAiT – Civil Engineering – Bedilu Habte 98

Beam Theory – Equilibrium Beam Theory – Constitutive Equation

AAiT – Civil Engineering – Bedilu Habte 99 AAiT – Civil Engineering – Bedilu Habte 100

Beam Theory – Terminology Bernoulli-Euler Model

AAiT – Civil Engineering – Bedilu Habte 101 AAiT – Civil Engineering – Bedilu Habte 102

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Mathematical Model Bernoulli-Euler Beam Theory

Total Potential Energy of Beam Members

AAiT – Civil Engineering – Bedilu Habte 103 AAiT – Civil Engineering – Bedilu Habte 104

Iso-P Shape Function Iso-P Shape Function

AAiT – Civil Engineering – Bedilu Habte 105 AAiT – Civil Engineering – Bedilu Habte 106

Element Equations Element Stiffness

AAiT – Civil Engineering – Bedilu Habte 107 AAiT – Civil Engineering – Bedilu Habte 108

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Loading
General 3D Frame Element

AAiT – Civil Engineering – Bedilu Habte 109 AAiT – Civil Engineering – Bedilu Habte 110

Stiffness of a 3D Frame Element Example 1 – Analyse the plane truss

 EAx EAx 
 L 0 0 0 0 0  0 0 0 0 0 
L
 12 EI z 6 EI z 12 EI 6 EI z 
 0 0 0 0 0  3 z 0 0 0 
 L3 L2 L L2 
 12 EI y 6 EI y 12 EI y 6 EI y 
 0 0 0  0 0 0  0  0 
L3 L2 L3 L2
 GI x GI x 
 0 0 0 0 0 0 0 0  0 0 
 L L 
 6 EI y 4 EI y 6 EI y 2 EI y 
 0 0  0 0 0 0 0 0 
L2 L L2 L
 6 EI z 4 EI z 6 EI z 2 EI z 
 0 0 0 0 0  0 0 0 
[Ki j ]   L2 L L2 L 
 EAx 0 0 0 0 0
EAx
0 0 0 0 0 
 L L 
 12 EI z 6 EI z 12 EI z 6 EI 
 0  0 0 0  0 0 0 0  2z
 L3 L2 L3 L 
 0 12 EI y 6 EI y 12 EI y 6 EI y
0  0 0 0 0 0 0 
 L3 L2 L3 L2 
 GI x GI x 
 0 0 0  0 0 0 0 0 0 0 
 L L 
 0 6 EI y 2 EI y 6 EI y 4 EI y
0  0 0 0 0 0 0 
 L 2
L L 2
L 
 6 EI z 2 EI z 6 EI z 4 EI z 
 0 0 0 0 0 0 0 0 
 L2 L L2 L 

AAiT – Civil Engineering – Bedilu Habte 111 AAiT – Civil Engineering – Bedilu Habte 112

Beam Elements 4/6/2014

Example 1 Example 2 – Analyze the Plane Frame

Member forces are computed using

Element Stiffness Equations.

AAiT – Civil Engineering – Bedilu Habte 113 AAiT – Civil Engineering – Bedilu Habte 114

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Beam Elements 4/6/2014 Beam Elements 4/6/2014

Example 2 – Element and node Example 2 – Boundary Condition &

numbering Solve

AAiT – Civil Engineering – Bedilu Habte 115 AAiT – Civil Engineering – Bedilu Habte 116

Beam Elements 4/6/2014 Beam Elements 4/6/2014

Model the following structures in Lisa and 2. Plane Frame

submit the corresponding liml file.
1. Plane Truss

AAiT – Civil Engineering – Bedilu Habte 117 AAiT – Civil Engineering – Bedilu Habte 118

Beam Elements 4/6/2014 Beam Elements 4/6/2014

3. Space Truss 4. Space Frame

AAiT – Civil Engineering – Bedilu Habte 119 AAiT – Civil Engineering – Bedilu Habte 120

20