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Chapter 6
Chapter 6
Chapter 6
1
INTRODUCTION
• Deform axially and transversely.
• It is capable of carrying both axial and transverse
forces, as well as moments.
• Hence combination of truss and beam elements.
• Frame elements are applicable for the analysis of
skeletal type systems of both planar frames (2D
frames) and space frames (3D frames).
• Known generally as the beam element or general
beam element in most commercial software.
2
FEM EQUATIONS FOR PLANAR FRAMES
• Consider a planar frame element
d1 u1
d v
2 1 diplacement components at node 1
d3 z1
de
d 4 u2
d5 v2
diplacement components at nodey,2 v
x, , u
d 6 z 2
Y, V node 2
(u2, v2, z2)
z
node 1
(u1, v1, z1) l=2a
X, U
z 3
Equations in local coordinate system
(Expand to 6x6)
5
Equations in local coordinate system
AE 0 0 AE
0 0 0 0 0 0 0 0
2a 2a
3 EI z
0 0 0 32EIa3z
3 EI z 3 EI z
0 0 0 2a 3
2a 2
2 a2
0 0 0 0 2 EI z
0 32EIa2z EI z
ke
truss
a a
+ k beam
AE
2a 0 0 e
0 0 0
0 0
sy.
sy. 3 EI z
32EIa2z
2 a3
0 2 EI z
a
AE
2a 0 0 AE
2a 0 0
3 EI z 3 EI z
0 32EIa 3z 3 EI z
2a 3
2a 2
2a2
2 EI z
0 32EIa 2z EI z
ke a
AE
a
2a 0 0
sy. 3 EI z
32EIa 2z
2a3
2 EI z
a 6
Equations in global coordinate system
• Coordinate transformation Y
v2 D3j - 1 x
y u2
x
z
D3j -2
o X
D23j
global node j
d e TD e v1 D3i-1
local node 2
u1
global node i D2j
z1
local node 1
2a
where D3i 0 D3i -2
fs1
D3i 2 l x mx 0 0 0 0
D l my 0 0 0 0
3i 1 y
D3i 0 0 1 0 0 0
De
D
, T
3 j 2 0 0 0 lx mx 0
D3 j 1
0 0 0 ly my 0
D3 j
0 0 0 0 0 1
7
Equations in global coordinate system
Y D3j - 1
v2 x
y u2
x
Direction cosines in T: z
D3j -2
o X
D23j
X j Xi global node j
lx cos( x, X ) cos local node 2
le v1 D3i-1
u1
D2j
Y j Yi global node i z1
mx cos( x, Y ) sin
local node 1
2a
D3i 0 D3i -2
le fs1
Y j Yi
l y cos( y, X ) cos(90 ) sin
le
X j Xi
my cos( y, Y ) cos
le
le ( X j X i )2 (Y j Yi ) 2 (Length of element)
8
Equations in global coordinate system
Therefore,
K e T k eTT
Fe T f e T
9
Element stiffnes matrix of 2D frame in global
coordinate system
10
FEM EQUATIONS FOR SPATIAL FRAMES
d1 u1 u2
y2
d v v1
2 1 2 x2
d3 w1
Displacement
components at y1 w2
d 4 x1 node 1
d5 y1 z2
d 6 z1 1
de
d 7 u2 w1 y
u1
d8 v2
z1 x
d9 w2 Displacement x1
d components at
10 x 2 node 2 z
d11 y 2
d
12 z 2
11
Finite Element Method by G. R. Liu and S. S. Quek
Equations in local coordinate system
• Combination of the element matrices of truss and
beam elements
u1 v1 w1 x1 y1 z 1 u2 v2 w2 x2 y2 z2
AE
2a 0 0 0 0 0 AE
2a 0 0 0 0 0
3 EI z
0 0 0 3 EI z
0 3 EI z
0 0 0 3 EI z
2 a3 2 a2 2 a3 2 a2
3 EI y 3 EI y 3 EI y 3 EI y
2a 3 0 2a 2 0 0 0 2a 3 0 2 a2
0 v2
GJ
0 0 0 0 0 GJ
0 0 y2
u2
2a 2a
v1
2 EI y
0 0 0
3 EI y
0
EI y
0 2 x2
a
3 EI z
2 a2 a
y1 w2
2 EI z EI z
0 2 a2
0 0 0 z2
ke
a a
AE
2a 0 0 0 0 0 1
3 EI z
0 0 0 3 EI z
u1
w1 y
2 a3 2 a2
z1 x
sy.
3 EI y
0
3 EI y
0 x1
2 a3 2 a2
GJ
2a 0 0 z
2 EI y
a
0
2 EI z
a 12
Equations in local coordinate system
70 0 0 0 0 0 35 0 0 0 0 0
78 0 0 0 22a 0 27 0 0 0 13a
78 0 22a 0 0 0 27 0 13a 0
70 rx
2
0 0 0 0 0 35 r x
2
0 0
8a 2
0 0 0 13a 0 6a 2
0
Aa 8a 2 0 13a 0 0 0 6a 2
me
105 70 0 0 0 0 0
78 0 0 0 22a
78 0 22a 0
2
sy . 70 rx 0 0
0
2
8a
8a 2
Ix
where r x
2
A
13
Finite Element Method by G. R. Liu and S. S. Quek
Equations in global coordinate system
D6j-4
D6j-1
d8
d11 d7
d10 D6j-5
3 2
y
d9 D6j-2
x d12
D6i-4 D6j
D6i-1
z
d2 D6j-3
d5 d1
d4
D6i-5 Y
1 y
d6
d3 D6i-2 x
D6i
X
D6i-3 z
Z
14
Finite Element Method by G. R. Liu and S. S. Quek
Equations in global coordinate system
• Coordinate transformation
d e TD e
where
D6 i 5
D
6i 4
D6 i 3
D
T3 0
6 i 2
0 0
D6i 1
0 l x mx nx
0
T3 l y n y
6i T3 0
, T 0
D
De my
D 6 j 5 0 T3 0
D6 j 4 l z mz n z
0 0 0 T3
6 j 3
D
D6 j 2
6 j 1
D
D
6j 15
Finite Element Method by G. R. Liu and S. S. Quek
Equations in global coordinate system
Direction cosines in T3
lx cos( x, X ), mx cos( x, Y ), nx cos( x, Z )
l y cos( y, X ), my cos( y, Y ), n y cos( y, Z )
lz cos( z, X ), mz cos( z, Y ), nz cos( z, Z )
16
Equations in global coordinate system
• Vectors for defining location and orientation of
frame element in space
2
y 3
V1 X 1 X Y1Y Z1Z V3 V1 y
x
V2 X 2 X Y2Y Z 2 Z x
z
V3 X 3 X Y3Y Z 3 Z y V3
V2 V1
X kl X k X l 1 V2
V1Y
Ykl Yk Yl k, l = 1, 2, 3 1 V1 1
V1
Z kl Z k Z l
V2 V1 X 21 X Y21Y Z 21Z (V2 V1 ) (V3 V1 ) X
V3 V1 X 31 X Y31Y Z 31Z
l 2a V2 V1 X 21
2
Y212 Z 21
2
Z 17
Equations in global coordinate system
• Vectors for defining location and orientation of
frame element in space (cont’d)
y 3
2
(V V ) X Y Z V3 V1 y
x 2 1 21 X 21 Y 21 Z x
V2 V1 2a 2a 2a x
X 21
l x cos( x, X ) x X z
2a y V3
V2 V1
Y 1 V2
mx cos( x, Y ) x Y 21 V1Y
2a 1 1
V1
Z 21 V1
nx cos( x, Z ) x Z
2a
(V2 V1 ) (V3 V1 ) X
(V V ) (V3 V1 )
z 2 1
(V2 V1 ) (V3 V1 )
1
z {(Y21Z 31 Y31Z 21 ) X ( Z 21 X 31 Z 31 X 21 )Y ( X 21Y31 X 31Y21 ) Z }
2 A123 Z
1 V3 V1 y
lz z X (Y21Z 31 Y31Z 21 ) x
2 A123
x
1
mz z Y ( Z 21 X 31 Z 31 X 21 ) z
2 A123 y V3
V2 V1
1 1 V2
nz z Z ( X 21Y31 X 31Y21 ) V1Y
2 A123 1 V1 1
V1
y zx
(V2 V1 ) (V3 V1 ) X
l y mz nx nz mx
m y nz l x l z nx
Z
n y l z mx mz l x
19
Equations in global coordinate system
Therefore,
K e T k eTT
Me T meT T
Fe T f e T
20
REMARKS
• In practical structures, it is very rare to have beam
structure subjected only to transversal loading.
• Most skeletal structures are either trusses or frames
that carry both axial and transversal loads.
• A beam element is actually a very special case of a
frame element.
• The frame element is often conveniently called the
beam element.
21
CASE STUDY
22
CASE STUDY
Young’s modulus, Poisson’s ratio,
E GPa
69.0 0.33
Ensure connectivity
23
CASE STUDY
Horizontal load
24
Finite Element Method by G. R. Liu and S. S. Quek
CASE STUDY
M = 20X
25
M = 20X
26
M = 20X
27
Stiffnes Matrix in Local Coordinates
M = 20X
28
M = 20X
29
Element Matrix for Element 1
M = 20X
30
Element Matrix for Element 2 & 3
M = 20X
31
Coordinate Transformation Matrix
M = 20X
32
M = 20X
33
Coordinate Transformation Matrix
M = 20X
34
Stiffness matrix in Global Coordinate
M = 20X
35
Stiffness matrix in Global Coordinate
M = 20X
36
Stiffness matrix in Global Coordinate
M = 20X
37
Solution
M = 20X
38