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Course Outline
1. Introduction
CE 6504 2. Preliminaries
Finite Elements Method in Structures 3. 1D (2-Node) Line Elements
(Part 1) Bar, Truss, Beam-elements, Shape functions
4. 2D Elements
Plane Stress and Plane Strain Problems
5. 3D Elements
Tetrahedral, Hexahedral Elements
6. Plate Bending & Shells
AAiT April 2016 7. Further Issues
Bedilu Habte Modeling, Errors, Non-linearity
AAiT – Civil Engineering – Bedilu Habte 2

References Internet References:

Finite Element Analysis (Text) FEM Primer Part 1 - 4

By: S.S. BHAVIKATTI Mike Barton & S. D. Rajan
Concepts and Applications of Finite Element Analysis Arizona State University
http://enpub.fulton.asu.edu/structures/FEMPrimer-Part1.ppt
By: Robert D. Cook, David S. Malkus and Michael E. Plesha
Finite Element Procedures in Engineering Analysis Introduction to Finite Element Methods
By: K.-J. Bathe Department of Aerospace Engineering Sciences
University of Colorado at Boulder
The Finite Element Method
http://www.colorado.edu/engineering/CAS/courses.d/IFEM.d/Home.html
O.C. Zienkiewicz
An Introduction to the Finite Element Method Advanced Finite Element Methods
By: J. N. Reddy Department of Aerospace Engineering Sciences
University of Colorado at Boulder
http://www.colorado.edu/engineering/CAS/courses.d/AFEM.d/Home.html

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 engineering problems which are usually expressed
• Governing Equation: Strong/Weak forms in terms of differential equations.
• Minimization of Total Potential Energy
• Ritz- & Galerkin’s Methods
Used for stress analysis, heat transfer, fluid flow,
Shape Function &Natural Coordinates
• Isoparametric Formulation
electromagnetic etc.
Beam Elements
FE – Analysis of Frames
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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.

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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 e e e
equation. f    k  u 
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
i
F x  f x 12  f x 12
i 1
F y  fy 2  f y 12
U i  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:
the same for the adjoining elements
and for the whole structure.  K '  U    F 
' '

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
(and known external forces) to the master stiffness 1
equation, the resulting equation becomes the U    K  F 
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.
AAiT – Civil Engineering – Bedilu Habte
• 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
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 Variational Method cont.

 Several approaches can be used to transform
the physical formulation of the problem to its
finite element discrete analogue.
 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 • A mathematical model is a set of
functional. mathematical statements which attempts to
describe a given physical system.
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Variational Method cont. Elasticity

 Strong Form (SF): A system of ordinary or  3D Stress block
partial differential equations in space and/or y
time, complemented by appropriate
boundary conditions. xy
 Weak Form (WF): A weighted integral yz
xy
equation that “relaxes” the strong form into
a domain-averaging statement. zy x
 Variational Form (VF): A functional whose zx xz
stationary conditions generate the weak z
and strong forms.

AAiT – Civil Engineering – Bedilu Habte 31 AAiT – Civil Engineering – Bedilu Habte 32

Elasticity cont. Elasticity cont.

 Stress Equilibrium Equations

AAiT – Civil Engineering – Bedilu Habte 33 AAiT – Civil Engineering – Bedilu Habte 34

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 37 AAiT – Civil Engineering – Bedilu Habte 38

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 39 AAiT – Civil Engineering – Bedilu Habte 40

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 
boundary conditions
u 0 Principles of Minimum Potential Energy – Of all
x0 kinematically admissible displacement equations,
du  those corresponding to equilibrium extermize the

 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  
x d  x dV
Usually Polynomials Energy
 ε x 
Continuous within element. (Internal U     xd  dV
Inter-element compatibility. Prevent overlap work)

V  0
x

or gaps.
1
Allow for rigid body displacement and U 
2   x  x dV
constant strain. V

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

Total Potential Energy Total Potential Energy

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

TPE External energy Pu 2

1
p   x  AE  x dx  W
2 L
1
Total potential energy Π   T  Adx  Pu 2
2 L
AAiT – Civil Engineering – Bedilu Habte 45 AAiT – Civil Engineering – Bedilu Habte 46

Ritz-Method
AAiT – Civil Engineering – Bedilu Habte
Ritz-Method
Using the Ritz-method, approximate
displacement function is obtained by:
Assume arbitrary displacement
  a1 f 1  a 2 f 2  ...  a n f n
Introduce this into the TPE functional
Performing differentiation and integration to
obtain a function
Minimizing the resulting function
d
 0 for i  1 , 2 ,..., n
da i
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Ritz-Method Ritz-Method
Consider the linear elastic one-dimensional Consider the polynomial function:
rod with the 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
1
2  du 
Π  2  EA   dx  2u 1
0
 dx 
AAiT – Civil Engineering – Bedilu Habte 49 AAiT – Civil Engineering – Bedilu Habte 50

Ritz-Method Galerkin-Method
• TPE of this system becomes: For the one-dimensional rod considered in the
Π  4 2
a  2 a3
3
pervious example, the governing equation is:
3

• 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 51 AAiT – Civil Engineering – Bedilu Habte 52

Galerkin-Method Galerkin-Method
Consider the rod shown below
Using the Galerkin-method, approximate
displacement function is obtained by:
The governing DE is written in residual form
d  du 
RES   AE 
dx  dx 
Multiply this RES by weight function f and
integrate and equate to zero
Perform differentiation and integration to • Multiplying by Φ and integrating gives (parts):
obtain the approximate u

 L
f R dx  0

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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
and EA(du/dx) is the tension in the rod, 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 55 AAiT – Civil Engineering – Bedilu Habte 56

Bar Element Assumptions

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

ŷ
x̂, û duˆ That is: f̂1ŷ  f̂ 2 ŷ  0
2
 Effects of transverse displacements
dxˆ
L dˆ2 x , fˆ2 x are ignored.
1 A xˆ  T  A
Hooke’s law applies.

dˆ1 x , fˆ1 x That is:
d  duˆ 
X
 AE   0  x  E x
dxˆ  dxˆ 

AAiT – Civil Engineering – Bedilu Habte 57 AAiT – Civil Engineering – Bedilu Habte 58

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 
 a2  û   N1 N 2   1x 
d̂ 2x 
Expressed as function of d̂1x and d̂ 2 x
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 dˆ2 x  dˆ1x f  A
N1 + N2 =1 at any point  
dxˆ L  dˆ  dˆ2 x 
1
N1
1
dˆ2 x  dˆ1 x fˆ1 x  AE  1 x 

N2   E  E  L 
L
 dˆ  dˆ 
1 2 fˆ2 x  AE  2 x 1 x 
 L 
L
AAiT – Civil Engineering – Bedilu Habte 61 AAiT – Civil Engineering – Bedilu Habte 62

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
 kˆ 
L  1 1 
N
 K    kˆ (e)  
U 
2  
V
x  x dV
e 1
N M
Assemble Global Stiffness Matrix, apply BC and solve
the Master stiffness equation for the unknown
F     fˆ (e)  W    Xˆ b uˆ dV   Tˆx u dS   fˆix dˆix
e 1 V S i 1
displacements:
 K d   F 
AAiT – Civil Engineering – Bedilu Habte 63 AAiT – Civil Engineering – Bedilu Habte 64

Potential Energy Approach Potential Energy Approach

L
1
p  A x  x dxˆ  fˆ1x dˆ1x  fˆ2 x dˆ2 x   uˆ Tˆx dS   uˆ Xˆ b dv  x   D x 
2 0 S V
[D] is the constitutive matrix
uˆ  [ N ] { dˆ }
D   E  (elasticity property matrix)
 1 1 ˆ
 x    L L 
d   x   DB dˆ
N   1  xˆ xˆ  
 L L   x   B  dˆ  L
 dˆ  A
 x  x dxˆ  fˆ1x dˆ1x  fˆ2 x dˆ2 x   uˆ Tˆx dS   uˆ Xˆ b dv

dˆ   1 x 
 dˆ 2 x 
B     1 1 p 
2 0
L 
S V
 L

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Potential Energy Approach Potential Energy Approach

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

2 0
x b
S V
 1
   1 1   dˆ1x 
U  dˆ 
L
A T

 p   dˆ BT DT B dˆ dxˆ  *
dˆ2 x  L E   
L   dˆ2 x 
1x
20 1
   L
T

 dˆ P   dˆ   N  Tˆ dS  dˆ  N  Xˆ dv
T T
x
T T
b
 L 
E ˆ2
S V
U* 
L2

d1x  2dˆ1x dˆ2 x  dˆ22x 
AL ˆ
p 
2
d  T T
    
B  D  B  dˆ  dˆ
T T
fˆ

 
fˆ  {P}   N  Tˆ  dS   N  Xˆ dv
T
x
T
b  dˆ  fˆ  dˆ
T
fˆ  dˆ2 x fˆ2 x
1x 1x
S V

AAiT – Civil Engineering – Bedilu Habte 67 AAiT – Civil Engineering – Bedilu Habte 68

Potential Energy Approach Transformation Matrix (Local  Global)

 p AL  E ˆ
dˆ1x
 ˆ  ˆ
2  L2

2d1x  2d 2 x   f1x  0

  dˆ1x   C S 0 0   d1x 
Let ˆ    
 p AL  E ˆ  d1 y   S C 0 0   d1 y 

dˆ2 x

2  L2
2d 2 x  2dˆ1x    ˆ
  f 2 x  0 C  cos θ ˆ  
d 2 x   0 0 C S  d 2 x 
 
S  sin θ  
dˆ2 y   0 0  S C  d 2 y 
 
AE  1 1  dˆ1 x   fˆ1x 
   
L  1 1  dˆ2 x   fˆ2 x  C S 0 0
dˆ   T d  
 S C 0 0   fˆ   T  f 
T
 k     B   D  B  dV  D
T
  D  T  
 0 0 C S
V  
 0 0 S C
AAiT – Civil Engineering – Bedilu Habte 69 AAiT – Civil Engineering – Bedilu Habte 70

Element stiffness equation in local coordinate: Quadratic Bar Element

Obtain displacement function for the one-dimensional
 fˆ1x  1 0  1 0   d1 x 
ˆ    quadratic element with three nodes shown below.
 0 0 0  d1 y 
 f1 y  AE  0
 ˆ   
 f 2 x  L  1 0 1 0  d 2 x 
  
 fˆ2 y 
  0 0 0 0  d 2 y   
T   f   kˆ  T d

 f    T 1 kˆ  T d A quadratic displacement function:
uˆ  a1  a2 xˆ  a3 xˆ 2
 T  1  T  T No. of coefficients = No. of DOF  a1 
Element stiffness matrix  f    T T  kˆ T d Written in matrix form: uˆ  1 xˆ    
xˆ 2 a2 
in the global coordinate:  k   T T  kˆ T  a3 

AAiT – Civil Engineering – Bedilu Habte 71 AAiT – Civil Engineering – Bedilu Habte 72

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uˆ
Quadratic Shape Functions
L  d1 a2 L a3 L2
xˆ 
2 d1  a1  
2 4 N1 =1 N2 = N3 =0 at node 1
uˆ xˆ  0  d2  N2 =1 N1 = N3 =0 at node 2
d 2  a1
N3 =1 N1 = N2 =0 at node 3
uˆ L  d3 a2 L a3 L2
xˆ 
2
d 3  a1  
2 4 N1 + N2 + N3 = 1 at any point
d  d1 xˆ 2
uˆ  d 2  3 xˆ  2  d 3  2 d 2  d1  2
L L
 d1 
 xˆ 2 xˆ 2 4 xˆ 2 xˆ 2 xˆ 2   
   2 1  2  2  d 2 
 L L L L L  
d3  d1 
 
  N1 N2 N3  d2 
d 
 3
AAiT – Civil Engineering – Bedilu Habte 73 AAiT – Civil Engineering – Bedilu Habte 74

PROPERTIES OF THE SHAPE FUNCTIONS

Shape Function (Recap)
The shape function at any node has a value of 1 at that node and
a value of zero at ALL other nodes.
Natural Coordinates; Isoparametric 1 1

Formulation x 2 -x x-x1
N 1 (x )  N 2 (x) 
x 2  x1 x 2  x1

Beam Elements x1 x2 x

x -x
N1 (x)  2
x 2  x1
FE – Analysis of Frames x 2 - x1
Check  N1 (x  x 1 )  1
x 2  x1
x2 - x2
and N1 (x  x 2 )  0
x 2  x1
AAiT – Civil Engineering – Bedilu Habte 75 AAiT – Civil Engineering – Bedilu Habte 76

Writing shape functions (without deriving):

Compatibility: The displacement approximation is continuous
across element boundaries The Kronecker delta property (the shape function at any node
has value of 1 at that node and a value of zero at all other nodes)
1 1

x 2 -x x -x 1
N 1 (x )  N 2 (x ) 
x 2  x1 x 2  x1
x1 x2 x
x1 x2 El #1
El #1 El #2 x3
Node at which N1 is 0
N 1 (x ) 
x 2 -x 
 x 2 -x 1  Notice that the length of the element = x2-x1
x 1 -x  x -x 1 
N 2 (x )  
 x 1 -x 2   x 2 -x 1  The denominator is
Hence the displacement approximation is continuous across elements the numerator evaluated at
the node itself
AAiT – Civil Engineering – Bedilu Habte 77 AAiT – Civil Engineering – Bedilu Habte 78

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3-Node bar element: varying quadratically inside the bar Writing shape functions for higher DOFs:

N1 (x) N 2 (x) N 3 (x)

x1 x2 x
x3

N1 (x) 
x 2 - x x 3 - x  u(x)  N1 (x)d1x  N 2 (x)d 2x  N 3 (x)d 3x
x 2 - x1 x 3 - x1 
N 2 (x) 
x1 - x x 3 - x  This is a quadratic finite element in
x1 - x 2 x 3 - x 2  1D and it has three nodes and three
N 3 (x) 
x1 - x x 2 - x  associated shape functions per element.
x1 - x 3 x 2 - x 3 
AAiT – Civil Engineering – Bedilu Habte 79 AAiT – Civil Engineering – Bedilu Habte 80

STRAIN and STRESS WITHIN EACH ELEMENT

For a linear finite element

From equation (1), the displacement within each element  x 2 -x x -x 1 

N  N 1 (x ) N 2 (x )    
 (x )= N d  x 2  x1 x 2  x1 
Hence
The strain in the bar d
ε  -1 1  1
dx B    1 1
 x 2  x1 x 2  x 1  x 2  x1
Hence
dN   -1 1   d 1x 
ε dBd (2) ε  B d    d 
 dx   x 2  x1 x 2  x1   2x 
d 2x -d 1x
The matrix B is known as the “strain-displacement matrix” 
x 2  x1
dN 
B For a linear bar element, strain is a constant within the element.
 dx 

AAiT – Civil Engineering – Bedilu Habte 81 AAiT – Civil Engineering – Bedilu Habte 82

Natural Coordinates
L
Displacement is linear
 (x )  a 0  a 1 x d 2x O P 2
1
x1
d -d
d 1x x El #1 ε = 2x 1x
x 2  x1
x1 x2 x2 = x1 + L
Strain is constant Mapped on the following Natural Coordinate
2
d u
The stress in the bar   E ε= E
d x P
The stiffness matrix -1 1
Inside the element,   EB d 
the approximate
T
stress is k     B  E B  d V
V

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

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2 Node Linear Element 3 Node Quadratic Element

1 3 x 2 - x x3 - x
2 N1  
L x1 x3 x 2  x1 x3  x1
x2
x1 x x2 -1 0 1 1-   -   1
-1  1
x        2
2 1 2
 
1
3
1 2 x -x x -x
x2-x 1-
N2  1  3
N1 x1  x 2 x3  x 2
N1 = ----------- N1 = -----------
x2-x1 2
-1-  -  1
1
3      2
 2 1 2
 
x-x1 +1 1 2
N2 = ---------- N2 = --------- x - x x2 - x
x2-x1 2 N3  1 
N2 x1  x3 x 2  x3
3
1 -1-  1- 
2

1

1

 1  2 
AAiT – Civil Engineering – Bedilu Habte 85 AAiT – Civil Engineering – Bedilu Habte 86

Beam Theory – Terminology Mathematical Models

A general beam is a bar-like member designed to One-dimensional mathematical models of structural
resist a combination of loading actions such as beams are constructed on the basis of beam
biaxial bending, transverse shears, axial stretching theories.
or compression, and possibly torsion. The simplest and best known models for straight,
If the beam is subject primarily to bending and axial prismatic beams are based on the:
forces, it is called a beam-column.  Bernoulli-Euler theory (also called classical beam theory or
A beam is straight if its longitudinal axis is straight. It engineering beam theory)
is prismatic if its cross section is constant.  Timoshenko beam theory

A spatial beam supports transverse loads that can

act on arbitrary directions along the cross section.
A plane beam resists primarily transverse loading on
a preferred longitudinal plane.

AAiT – Civil Engineering – Bedilu Habte 87 AAiT – Civil Engineering – Bedilu Habte 88

Beam Theory – Kinematics Beam Theory – Terminology

AAiT – Civil Engineering – Bedilu Habte 89 AAiT – Civil Engineering – Bedilu Habte 90

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Bernoulli-Euler Model Mathematical Model

Total Potential Energy of Beam Members

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

Bernoulli-Euler Beam Theory Iso-P Shape Function

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

Iso-P Shape Function Element Equations

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

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Element Stiffness Loading

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

General 3D Frame Element Stiffness of a 3D Frame Element

 EAx EAx 
 L 0 0 0 0 0  0 0 0 0 0 
L
 12 EI z 6 EI z 12 EI z 6 EI z 
 0 0 0 0 0  0 0 0 
 L3 L2 L3 L2 
 12 EI y 6 EI y 12 EI y 6 EI y 
 0 0
L3
0 
L2
0 0 0 
L3
0 
L2
0 
 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 
L2
0
L
0 0 0
L2
0
L
0 
 6 EI z 4 EI z 6 EI z 2 EI z 
 0 0 0 0 0  0 0 0 
[K i 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 
 L 3
L 2
L 3
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 
 L2 L L2 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 

3/30/2016 100
AAiT – Civil Engineering – Bedilu Habte 99 AAiT – Civil Engineering – Bedilu Habte 100

Example 1
Example 1 – Analyse the plane truss

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

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Example 2 – Analyze the Plane Frame Example 2 – Element and node numbering

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

Example 2 – Boundary Condition & Solve

AAiT – Civil Engineering – Bedilu Habte 105

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