Introduction to Finite Element Method

Judy P. Yang (楊子儀)

Oct. 11, 2016

Department of Civil Engineering

National Chiao Tung University (NCTU)
 Chapter 5 Direct Approach:
Truss Analysis
• 5.1 Truss Structures
• 5.2 Vector Transformation in Two Dimensions
• 5.3 The Element Stiffness Matrix in Global
Coordinates
• 5.4 Assembly
• 5.5 Element Stress
• 5.6 Examples
 5.1 Truss Structures
• Truss
– A framework composed of bar members joined at
their ends to form a rigid structure
– In truss structures, the end connections are assumed
to be pin-jointed
– Unlike bar structures, which have all the elements in
the same axial direction, the elements in truss
structures have different orientations
 5.1 Truss Structures
• Consider a truss structure in global (structural) coordinates 𝑥𝑥
and a structural member connecting node 1 and node 2 in a local
𝑥′ axis x'
f 2 ', u2 '

– Element equation
f1 ', u1 '
𝒇′ = 𝒌′𝒅′
𝑓1 ′ 𝐸𝐸 1 −1 𝑢1 ′
=
𝑓2 ′ 𝐿 −1 1 𝑢2 ′
• The superposed prime indicates local coordinates 𝑥 ′ 𝑦′ oriented at an angle
𝜃 measured from the positive global 𝑥 axis towards the positive local 𝑥𝑥
axis
 5.2 Vector Transformation
in Two Dimensions
• Since each element in a truss structure has its
own orientation, a reference axis in each
element is chosen to be the global coordinates
to construct the element equation
– Using the same reference axis, the various element
equations can be combined to obtain the structural
equation x'
f 2 ', u2 '

f1 ', u1 '
 5.1 Truss Structures
• Comments
– Local coordinates are always chosen to
conveniently represent the individual element

– Global coordinates are chosen to be convenient

for the whole structure
 5.2 Vector Transformation
in Two Dimensions
• Consider the global coordinates 𝑥𝑥 and the local coordinates 𝑥 ′ 𝑦𝑦
– For a vector,
d = d x i + d y j = d x' i '+ d y' j ' y'

 d x'   c s   d x  d y' x'

=
 '    d= =
 (c cos θ , s sin θ )
 y  
d − s c  y d x'
𝑐 𝑠
– transformation matrix:
−𝑠 𝑐

– Since 𝑑𝑑𝑥 = 𝑐𝑑𝑥 + 𝑠𝑑𝑦 , then

 d1x 
 
 d1' x   c s 0 0   d1 y 
 ' = 
 d 2 x  0 0 c s   d 2 x 
 
 d 2 y 
 5.2 Vector Transformation
in Two Dimensions
• Force vector
– Vector transformation in the same way like
displacement vector
 f1x  y'
 
 f1'x   c s 0 0   f1 y 
 ' =  f  d y' x'
 2x 
f  0 0 c s  2x d '
  x

 f 2 y 
 5.2 Vector Transformation
in Two Dimensions
• Consider a truss element having 2 DOFs at each node
u2 y x'
 u1' x 
 c s 0 0   u1x 
f '
, u '  '  −s c 0 0  u 
' '
f 2 y , u2 y=
2 x 2 x
 u1 y =   1 y  or d ' Td
u2 x  u '   0 0 c s   u2 x 
 '   
2x

u2 y 
 0 0 − s c  u2 y 
 c s 0 0
−s c 0 0
u1y
where T =  
 0 0 c s
f1'y , u1' y f1'x , u1' x  
 0 0 −s c 
u1x

– The local displacements and global displacements are related by the

transformation matrix
– Similarly, f ' = Tf
 5.3 The Element Stiffness Matrix in
Global Coordinates
• Element stiffness matrix in local coordinates
– Sign convention of a bar element
EA  1 −1
x ', u k'=
L  −1 1 
f1 ', u1 ' f 2 ', u2 '

– Since a truss element has 4 DOFs, the element stiffness matrix has the
dimension 4 × 4
u2 y x' k 'd ' = f '
0 −1 0   u1' x   f1'x 
f 2' x , u2' x
'
f ,u
2y
'
2y u2 x 1
    
EA  0 0 0 0   u1' y   f1'y 
= '
L  −1  
0 1 0 u2 x '   f2 x 
u1y   '   ' 
f1'x , u1' x 0 0 0 0  u2 y   f 2 y 
f1'y , u1' y
u1x
 5.3 The Element Stiffness Matrix in
Global Coordinates
• Element stiffness matrix in global coordinates u2 y x'
– Recall ' '
f 2' x , u2' x
f ,u
k 'd ' = f '
2y 2y u2 x

⇒ k ' Td =
Tf
⇒ TT k ' Td =
TT Tf u1y

f1'x , u1' x
⇒ T k ' Td =
T
f f1'y , u1' y
u1x
⇒ kd =
f
 c2 cs −c 2 −cs   u1x   f1x 
 2 u  f 
EA  cs s 2
− cs − s , d  1= y  1y 
=k T=
T
k 'T = ,f
L  −c 2 −cs c 2 cs   u2 x   f2 x 
 2     
 −cs − s u2 y   f 2 y 
2
cs s 
 5.4 Assembly
• Assemble the element equations
– Obtain the global stiffness matrix and the global
force vector by using nodal force equilibrium,
force/deformation, and displacement compatibility
equations
– 𝑲 = ∑𝑛𝑒=1 𝒌𝑒
– 𝑭 = ∑𝑛𝑒=1 𝒇𝑒
where 𝒌𝑒 and 𝒇𝑒 are element stiffness matrices and
force vectors in global coordinates
– 𝑲𝑲 = 𝑭
• Solve for global displacement 𝒅
 5.5 Element Stress
• Stress in an element x'
f 2 ', u2 '
– Stress in terms of local displacements
𝑢2 ′−𝑢1 ′
• 𝜎 = 𝐸𝜀 = 𝐸
𝐿
– Recall
f1 ', u1 '
 u1' x   c s 0 0   u1x 
 '    u 
u
 =
1 y − s c 0 0   1y 
 u2' x   0 0 c s   u2 x 
 '    
 2 y  
u 0 0 − s c  u2 y 

– Stress in terms of global displacements

𝑢1𝑥
𝐸 𝑐 𝑠 0 0 𝑢1𝑦 𝐸
𝜎 = −1 1 = −𝑐𝑢1𝑥 − 𝑠𝑢1𝑦 + 𝑐𝑢2𝑥 + 𝑠𝑢2𝑦
𝐿 0 0 𝑐 𝑠 𝑢2𝑥 𝐿
𝑢2𝑦
 5.6 Examples
• Example 1
– Obtain the element stiffness matrix of the truss
element oriented at 45°
– Given: 𝐸 = 30 × 106 𝑝𝑝𝑝, 𝐴 = 1𝑖𝑖2 , 𝐿 = 30𝑖𝑖

x'
 5.6 Examples
• Solution
=
EA (=
30 ×10 )1 6

106 lb in
L 30
θ = 45 :
1 1
= =
c cos θ = =
, s sin θ
2 2
12 1 2 −1 2 −1 2
 1 2 −1 2 − 1 2 
6  1 2
k = 10 lb in
 −1 2 −1 2 1 2 12
 
 − 1 2 − 1 2 1 2 1 2 
 5.6 Examples
• Example 2
– Obtain the element stiffness matrix of the truss
element oriented at 135°
– Given that 𝐸 = 30 × 106 𝑝𝑝𝑝, 𝐴 = 1𝑖𝑖2 , 𝐿 = 30𝑖𝑖

x'

x
 5.6 Examples
• Solution
=
EA (=
30 ×10 )1 6

106 lb in
L 30
θ = 135 :
1 1
cos θ =
c= − sin θ =
, s=
2 2
 1 2 −1 2 −1 2 1 2 
 1 2 −1 2 
6  −1 2 12
k = 10 lb in
 −1 2 1 2 1 2 −1 2 
 
 1 2 −1 2 −1 2 1 2 

x
 5.6 Examples
• Example 3
– Consider a two-bar truss structure
– Obtain the nodal displacements, reaction forces,
element internal forces, and element stresses of the
truss structure
– For each member, 𝐸 = 30 × 106 𝑝𝑝𝑝 and 𝐴 = 1𝑖𝑖2
 5.6 Examples
• Solution
L1 = L2 =15 2 × 2 =30in
EA EA
= =
( 30 ×10 =
)1
6

106 lb in
L1 L2 30

– Element 1 1 2 −1 2 −1 2
12
x' 
6  1 2 1 2 −1 2 − 1 2 
k1 = 10 lb in
 −1 2 −1 2 1 2 12 
 
 −1 2 −1 2 1 2 12

x' – Element 2
 1 2 −1 2 −1 2 1 2 
 −1 2 1 2 1 2 − 1 2 
k 2 = 106   lb in
 −1 2 1 2 1 2 −1 2 
 
 1 2 − 1 2 −1 2 1 2 
 5.6 Examples
• Assembly

12 12 0 0 −1 2 −1 2  u1x
12 1 2 0 0 − 1 2 − 1 2 u
  1y
 0 0 1 2 −1 2 −1 2 1 2  u2 x
K = 106   lb in
 0 0 −1 2 1 2 12 −1 2  2 yu
 −1 2 − 1 2 − 1 2 1 2 1 2 + 1 2 1 2 −1 2  u3 x
 
 − 1 2 − 1 2 1 2 − 1 2 1 2 − 1 2 1 2 + 1 2  u3 y
12 12 0 0 −1 2 − 1 2   u1x   F1x 
12 1 2 0 0 − 1 2 − 1 2  u   F 
   1y   1y 
 0 0 1 2 −1 2 −1 2 1 2   u2 x   F2 x 
⇒ 10 
6
  =  
 0 0 −1 2 1 2 1 2 − 1 2   2 y   F2 y 
u
 −1 2 −1 2 −1 2 1 2 1 0   u3 x   F3 x 
    
 − 1 2 − 1 2 1 2 − 1 2 0 1   u3 y   F3 y 
 5.6 Examples
• Apply BCs:
12 12 0 0 −1 2 − 1 2   0   F1x 
12 1 2 0 0 − 1 2 − 1 2  0   F 
     1y 
 0 0 1 2 −1 2 −1 2 1 2   0   F2 x 
  = 
6
10  
 0 0 −1 2 1 2 1 2 − 1 2 0
    2y 
F
 −1 2 −1 2 −1 2 1 2 1 0   u3 x   0 
    
 − 1 2 − 1 2 1 2 − 1 2 0 1  
  3y  
u 10000 

1 0  u3 x   0 
⇒ 10 
6
 u  =  
 0 1   3 y  10000 
⇒ u3 x= 0, u3 y= 0.01in
• Reaction force
 1 1   1 1 
F1x =106  − u3 x − u3 y  = −5000lb F2 x =106  − u3 x + u3 y  = 5000lb
 2 2   2 2 
 1 1  1 1 
F1 y =
106  − u3 x − u3 y  = −5000lb F2 y =106  u3 x − u3 y  = −5000lb
 2 2   2 2 
 5.6 Examples
• Internal forces in element 1
 f1'x  12 1 2 −1 2 −1 2   u1x = 0   −5000 
 '  12  u =0   −5000 
f
 1 y  10 6  1 2 − 1 2 − 1 2   1y    lb
=
 f2 x 
'
 −1 2 −1 2 1 2 1 2   u3x = 0   5000 
 '      
 2 y 
f  − 1 2 − 1 2 1 2 1 2   3y
u = 0.01  5000 

• Internal forces in element 2

 f1'x   1 2 −1 2 −1 2 1 2   u2x = 0   5000 
 '   −1 2 1 2  u =0   −5000 
f
 1 y  10 6  1 2 − 1 2   2y    lb
=
 f2 x 
'
 −1 2 1 2 1 2 −1 2   u3x = 0   −5000 
 '      
 2 y 
f  1 2 − 1 2 −1 2 1 2   3y
u = 0.01  5000 
 5.6 Examples
• Stress in element 1
𝐸
𝜎= −𝑐𝑢1𝑥 − 𝑠𝑢1𝑦 + 𝑐𝑢3𝑥 + 𝑠𝑢3𝑦
𝐿
30×106
= −0 − 0 + 0 + 0.7071 × 0.01
30
= 7071𝑝𝑝𝑝
• Stress in element 2
𝐸
𝜎= −𝑐𝑢2𝑥 − 𝑠𝑢2𝑦 + 𝑐𝑢3𝑥 + 𝑠𝑢3𝑦
𝐿
30×106
= −0 − 0 + 0 + 0.7071 × 0.01
30
= 7071𝑝𝑝𝑝
 5.6 Examples
• Example 4
– Obtain the nodal displacements, reaction forces,
element internal forces, and element stresses of the
truss structure
– For each member, 𝐸 = 200𝐺𝐺𝐺 and 𝐴 = 10−3 𝑚2
 5.6 Examples
• Solution
EA
=
( 200 ×10 )10=
9 −3

6.67 ×107 N m
L 3

– Element 1
1 0 −1 0 
x'  0 0 0 
k1 ( 6.67 ×10 )
= 7  0

 −1 0 1 0
 
– Element 2 0 0 0 0

x'
0 0 0 0
 0 −1
k 2 ( 6.67 ×10 )
7 0 1
=
0 0 0 0
 
0 −1 0 1
 5.6 Examples
• Assembly
1 0 0 −1 0   u1x   F1x 
0
0    
 0 0 0 0   u1 y   F1 y 
0
0 0 0   u2 x   F2 x 
( ) 0
0 0 0
6.67 × 10 7
  =  
 0 0 0 −1 u2 y   F2 y 
1
 −1 0 0 0 1 0   u3 x   F3 x 
    
0 0 0 −1 0 1   u3 y   F3 y 
 5.6 Examples
• Apply BCs:
1 0 0 −1 0   0   F1x 
0
0  
 0 0 0 0   0   F1 y 
0
0 0 0   0   F2 x 
( ) 0
0 0 0
6.67 × 10 7
  =  
 0 0 0 −1  0   F2 y 
1
 −1 0 0 1 0   u3 x  50000 
0
    
0 0 0 −1 0 1  u3 y  50000 

1 0   u3 x  50000 
⇒ ( 6.67 ×107 )   u  = 50000 
 0 1   
3 y 
⇒ u3 x = u3 y = 7.496 × 10−4 m
• Reaction force
− ( 6.67 ×107 ) u3 x =
F1x = −50000 N
F=
1y F=
2x 0
− ( 6.67 ×107 ) u3 y =
F2 y = −50000 N
 5.6 Examples
• Internal forces in element 1
 f1'x   1 0 −1 0   u1x = 0   −50000 
 '     
0 0 0   u1 y = 0 
(
 f1 y  = 6.67 ×10 )
7  0   0 N
−4 =
 f2 x 
'
 −1 0 1 0 =  u3 x 7.496 ×10   50000 
 '    −4   
 2 y 
f  0 0 0 0 =
  3 y
u 7.496 × 10   0 

• Internal forces in element 2

 f1'x  0 0 0 0   u2 x = 0   0 
 '  0 1 0 −1    
u = 0 −
( 6.67 ×10 )
f
 1y  = 50000
7   2 y  
−4 =
N
 f2 x 
'
 0 0 0 0 =  u3 x 7.496 ×10   0 
 '    −4   
 2 y 
f  0 −1 0 1 =
  3y
u 7.496 × 10 
  50000 
 5.6 Examples
• Stress in element 1
𝐸
𝜎= −𝑐𝑢1𝑥 − 𝑠𝑢1𝑦 + 𝑐𝑢3𝑥 + 𝑠𝑢3𝑦
𝐿
200×109
= −0 − 0 + 1 × 7.496 × 10−4 + 0 × 7.496 × 10−4
3
= 49.97𝑀𝑀𝑀
• Stress in element 2
𝐸
𝜎= −𝑐𝑢2𝑥 − 𝑠𝑢2𝑦 + 𝑐𝑢3𝑥 + 𝑠𝑢3𝑦
𝐿
200×109
= −0 − 0 + 0 × 7.496 × 10−4 + 1 × 7.496 × 10−4
3
= 49.97𝑀𝑀𝑀