Structural analysis

By
Sajjad AHMAD
Course outline (Week 1)
 Chapter 1: Introduction
 Introduction to matrix notation
 General steps of the finite element method
 Applications of the finite element method
 Advantages of the finite element method
 Computer programs for the finite element method
Structural analysis
Matrices
Matrices
 Definition: A matrix is a rectangular array of
numbers or symbolic elements
 In many applications, the rows of a matrix will
represent individuals cases (people, items,
plants, animals,...) and columns will represent
attributes or characteristics
 The dimension of a matrix is it number of rows
and columns, often denoted as r x c (r rows by
c columns)
 Can be represented in full form or abbreviated
form:
 a11 a12 a1 j a1c 
a a22 a2 j a2 c 
 21
 
A    aij  i  1,..., r ; j  1,..., c
 ai1 ai 2 aij aic 
 
 
 ar1 ar 2 arj arc 
 Special Types of Matrices
Square Matrix: Number of rows = # of Columns r  c
 20 32 50 
b b 
A  12 28 42  B   11 12 
 28 46 60  b21 b22 

Vector: Matrix with one column (column vector) or one row (row vector)
 d1 
57  d 
C   24 D   2 E '  17 31 F '   f1 f 2 f3 
 d3 
18   
d4 
Transpose: Matrix formed by interchanging rows and columns of a matrix (use "prime" to denote transpose)
6 8 
6 15 22 
G  G '  15 13 
23
8 13 25  32
 22 25
 h11 h1c   h11 hr1 
H      h  i  1,..., r ; j  1,..., c  H '  
  ij  
   h  j  1,..., c; i  1,..., r
  ji 
r c c r
 hr1 hrc   h1c hrc 
Matrix Equality: Matrices of the same dimension, and corresponding elements in same cells are all equal:
4 6  b11 b12 
A  = B  b   b11  4, b12  6, b21  12, b22  10
12 10   21 22 
b
 Example
X Y
1 80 399
 Y1  1 30 121

Y  1
1
50 221

Response Vector: Y   2 
90 376
1 70 361
n1   1 60 224
  1 120 546

Yn  1
1
80
100
352
353
Y'  Y1 Y2 Yn  1
1
50 157
1 n 40 160
1 70 252
1 X 1  1 90 389
1 X  1 20 113

Design Matrix: X   2 1 110 435

1 100 420
n 2   1 30 212
  1 50 268
1 X n  1 90 377
1 110 421
1 1 1  1 30 273
X'    1 90 468
2 n
 1
X X 2 X n
1
1
40
80
244
342
1 70 323
 Matrix Addition and Subtraction
Addition and Subtraction of 2 Matrices of Common Dimension:
4 7  2 0  42 70   6 7   42 7  0   2 7
C   D  14 6  C  D  
10  14 12  6   24 18 C  D  10  14 12  6    4 6 
22
22
10 12    22
    22
   
 a11 a1c  b11 b1c 
A      a  i  1,..., r ; j  1,..., c B  
  ij  
  b  i  1,..., r ; j  1,..., c
  ij 
r c r c
 ar1 arc  br1 brc 
 a11  b11 a1c  b1c 
AB       a  b  i  1,..., r ; j  1,..., c
r c   ij ij 
 ar1  br1 arc  brc 
 a11  b11 a1c  b1c 
A  B      a  b  i  1,..., r ; j  1,..., c
  ij ij 
r c
 ar1  br1 arc  brc 
Regression Example:
 Y1   E Y1   1   Y1   E Y1   1   E Y1  1 
Y      Y   E Y     E Y   
E Y   2   2    2  2 
Y   2 E Y   2  ε   2 Y  E Y  ε since  2     
n1   n1
  n1   n1
n1
n1        
             
Yn   E Yn   n  Yn   E Yn   n   E Yn    n 
Matrix Multiplication
Multiplication of a Matrix by a Scalar (single number):
 2 1  3(2) 3(1)   6 3 
k 3 A   kA     
  2 7   3( 2) 3(7)   6 21

Multiplication of a Matrix by a Matrix (#cols(A) = #rows(B)):

If c A  rB : A B  AB =  abij  i  1,..., rA ; j  1,..., cB
rA c A rB cB rA cB

abij  sum of the products of the c A  rB elements of i th row of A and jth column of B :
2 5 
 3 1
A   3 1 B  
3 2 22
 0 7   2 4 

 2(3)  5(2) 2( 1)  5(4)  16 18 

A B  AB  3(3)  (1)(2) 3( 1)  (1)(4)    7 7 
3 2 2 2 3 2
 0(3)  7(2) 0( 1)  7(4)  14 8 

 c 
If c A  rB  c : A B  AB =  abij  =   aik bkj  i  1,..., rA ; j  1,..., cB
rA c A rB cB rA cB
 k 1 
 Matrix Multiplication Examples - I
Simultaneous Equations: a11 x1  a12 x2  y1 a21 x1  a22 x2  y2
 a11 a12   x1   y1 
(2 equations: x1 , x2 unknown):      
 a21 a22   x2   y2 
 a11 x1  a12 x2   y1 
       AX = Y
 a21 x1  a22 x2   y2 
4
Sum of Squares: 4 2   2   32   4 2 3  2    29
2

 3 
1 X 1    0  1 X 1 
1 X      X 
 
Regression Equation (Expected Values):  2 0
  0 1 2

   1   
   
1 X n 
 0  1 n
X
 Matrix Multiplication Examples - II
Matrices used in simple linear regression (that generalize to multiple regression):
 Y1 
Y  n
Y ' Y  Y1 Y2 Yn   2    Yi 2
  i 1
 
Yn 
1 X 1   n

1 1 
1  1 X 2    n  X i 

 n 
i 1
X'X   
 X1 X2 Xn     n
2
   X i  Xi 
1 X n   i 1 i 1 
 Y1   n  1 X 1    0  1 X 1 
1  Y2    1 X      X 
Yi 
1 1  
  Xβ   2  0 1 2
i 1
X'Y     0

 X1 X2 Xn     n
    1   
   i i  X Y    
Yn   i 1  1 X n 
 0  1 n
X
 Special Matrix Types
Symmetric Matrix: Square matrix with a transpose equal to itself: A = A':
 6 19 8  6 19 8
A  19 14 3  A'  19 14 3   A
 8 3 1   8 3 1 
Diagonal Matrix: Square matrix with all off-diagonal elements equal to 0:
4 0 0 b1 0 0 
A   0 1 0  B   0 b2 0  Note:Diagonal matrices are symmetric (not vice versa)
 0 0 2   0 0 b3 
Identity Matrix: Diagonal matrix with all diagonal elements equal to 1 (acts like multiplying a scalar by 1):
1 0 0   a11 a12 a13   a11 a12 a13 

I  0 1 0   A   a21 a22 a23   IA  AI  A   a21 a22 a23 
 
33 33
0 0 1   a31 a32 a33   a31 a32 a33 
Scalar Matrix: Diagonal matrix with all diagonal elements equal to a single number"
k 0 0 0  1 0 0 0 
0 k 0 0 0 1 0 0 
 k k I
0 0 k 0 0 0 1 0  44
   
0 0 0 k  0 0 0 1 
1-Vector and matrix and zero-vector:
1 0 1 1
1 1 1 0 1 1 1 1
1   J   
 0   Note: 1 ' 1  1 1 1    r 1 1 '    1 1 1    J
 r r
r 1  r r r 1   1r r 1  r 11r 
 1 1     1 1
1 0 1 1
 Linear Dependence and Rank of a Matrix
 Linear Dependence: When a linear function of
the columns (rows) of a matrix produces a zero
vector (one or more columns (rows) can be
written as linear function of the other columns
(rows))
 Rank of a matrix: Number of linearly
independent columns (rows) of the matrix. Rank
cannot exceed the minimum of the number of
rows or columns of the matrix. rank(A) ≤
min(rA,cA)
 A matrix if full rank if rank(A) = min(rA,cA)

1 3 
A   A1 A 2  3A1  A 2  0
12   21
Columns of A are linearly dependent rank(A ) = 1
22
 4 21 

4 3 
B    B1 B 2  0B1  0B 2  0 Columns of B are linearly independent rank(B) = 2
22
4 12   21 21 
Geometry of Vectors - II
Length of a vector: length(u ) = u ' u

u 'v
Cosine of Angle between 2 vectors: cos( ) 
u 'u v 'v

 u 'v 
   arcsin   in degrees
 u 'u v 'v 
 Matrix Inverse
Note: For scalars (except 0), when we
multiply a number, by its reciprocal, we get
1: 2(1/2)=1 x(1/x)=x(x-1)=1
In matrix form if A is a square matrix and full
rank (all rows and columns are linearly
independent), then A has an inverse: A-1
such that: A-1 A = A A-1 = I
2 8  2 8   4 32 16 16 
 36  
2 8  36   36 
36  2 8   36 36 36 36  1 0 
A  A -1    A -1 A      I
 4 2  4 2  4 2   4 2   8 8 32 4  0 1 
 
 36 36   36 36   36 36 36 36 
4 0 0 1/ 4 0 0   4 1 / 4   0  0 000 0  0  0  1 0 0 
 
B   0 2 0  B -1   0 1/ 2 0  BB -1   0  0  0 0   2  1/ 2   0 0  0  0   0 1 0   I
 0 0 6   0 0 1/ 6   0  0  0 000 0  0  6 1/ 6   0 0 1 
 Computing an Inverse of 2x2 Matrix
a a12 
A   11   full rank (columns/rows are linearly independent)
22
 a21 a22 
Determinant of A  A  a11a22  a12 a21
Note: If A is not full rank (for some value k ): a11  ka12 a21  ka22
 A  a11a22  a12 a21  ka12 a22  a12 ka22  0
 a22 a12 
1
A 1   a
-1
 Thus A does not exist if A is not full rank
22
 21
A a11 

While there are rules for general r  r matrices, we will use computers to solve them
Regression Example:
1 X 1   n
   n  
2

1 X   n  Xi 
 n 
2   i  
X
X'X  n X i    X i   n  X i   i 1    n X i  X

 
n n n
X   X'X  
2
2 i 1
  2 2
   n n
  i 1   i 1 n 
 X i  i 1 i 1
  X i2   
 i 1   
1 X n  i 1  
 n 2 n

  Xi  X i 
   
n n n n n
1
 X'X  Note:  X i  n X   X i2  n X   X i2   X i  X
1 2 2
 i 1 
i 1 2 2
  Xi  X  nX
   n 
n
n X i  X
2

  X i
i 1 i 1 i 1 i 1 i 1
n 
i 1  i 1 
1 X
2
X 
  n  
   
n
n Xi  X 
 
2 2
Xi  X
 
  X'X   
1 i 1 i 1

 X 1 
  n 2 
   
n
  Xi  X 
2
X i  X 
 i 1 i 1 
Use of Inverse Matrix – Solving Simultaneous
Equations
AY = C where A and C are matrices of of constants, Y is matrix of unknowns
 A -1 AY  A -1C  Y = A -1C (assuming A is square and full rank)

Equation 1: 12 y1  6 y2  48 Equation 2: 10y1  2 y2  12

12 6   y1   48
A  Y  C  Y = A -1C
10 2   y2  12 
1  2 6  1  2 6 
 A 
-1
 
12( 2)  6(10)  10 12  84 10 12 
 

1 2 6   48 1  96  72  1 168   2 
Y=A C 
-1
          
84 10 12  12  84  480  144  84 336   4 

Note the wisdom of waiting to divide by | A | at end of calculation!

 Useful Matrix Results
All rules assume that the matrices are conformable to operations:

Addition Rules:
AB BA ( A  B )  C  A  (B  C)

Multiplication Rules:
(AB)C  A(BC) C( A  B )  CA + CB k (A  B )  kA  kB k  scalar

Transpose Rules:
( A ') '  A ( A  B) '  A ' B ' ( AB) '  B'A' (ABC)' = C'B'A'

Inverse Rules (Full Rank, Square Matrices):

(AB)-1 = B -1 A -1 (ABC)-1 = C-1B -1 A -1 (A -1 )-1 = A (A')-1 = (A -1 )'
Fundamental Concept of FEM

 A continuous field of a certain domain having infinite

degrees of freedom is approximated by a set of
piecewise continuous models with a number of finite
regions called elements. The number of unknowns
defined as nodes are determined using a given
relationship i.e.{F}=[K]*{d}.
Fundamental Concept of FEM

Domain 
x


Red line-Continuous field
Domain with degrees of freedom
over the entire domain.
Blue line-Finite number of
x linear approximations with
 the finite number of
 Subdomain e
x
elements
Domain divided with subdomains
with degrees of freedom

1

2
5 6
3
4
x
General Steps
1) Discretize the domain
a) Divide domain into finite elements using Examples of Axisymmetric
appropriate element types (1-D, 2-D, 3-D, or models: if the left edge of
each mesh is coincident
Axisymmetric) with the X = 0 axis, then
the model on the left
2) Select a Displacement Function represents a SPHERE and
the model on the right
a) Define a function within each element using the represents a CYLINDER, in
three dimensions.
nodal values
3) Define the Strain/Displacement and
Stress/strain Relationships
4) Derive the Element Stiffness Matrix and
Equations
a)Derive the equations within each element
General Steps

5) Assemble the Element Equations to Obtain the

Global or Total Equations and Introduce
Boundary Conditions
a)Add element equations by method of superposition
to obtain global equation
6) Solve for the Unknown Degrees of Freedom (i.e
primary unknowns)
7) Solve for the Element Strains and Stresses
8) Interpret the Results
Applications

 Stress Analysis
 Truss and frame
analysis
 Stress concentration
 Buckling
 Vibration analysis
 Heat transfer
 Fluid flow
Advantages of FEM

 Model irregularly shaped bodies

 Compute General load conditions
 Model bodies composed of different materials
 Solve unlimited numbers and kinds of boundary
conditions
 Able to use different element sizes in places where
loads or stresses are concentrated
 Handle non-linear behavior using linear
approximations
 Reduce System Cost
FEM Packages

 Large Commercial Programs

 Designed to solve many types of problems
 Can be upgraded fairly easily
 Initial Cost is high
 Less efficient
 Special-purpose programs
 Relatively short, low development costs
 Additions can be made quickly
 Efficient in solving their specific types of problems
 Can’t solve different types of problems
FEM Packages

Algor SAP
ANSYS STAAD
ABAQUS LS-DYNA
ETABs TNO DIANA
Note on Stiffness matrix
For a 1-D bar, the stiffness matrix is derived from the
stress/strain relationship in Hooke’s law and the definitions
of stress and strain.

σx = Eεx. ; σx = P/A ; εx = du/dx = (d2x – d1x)/L

By substitution: -f1x = EA (d2x – d1x)

L
f1x = EA (d1x – d2x) L E
L
A
f1 f2
Similarly for f2x:
f2x = EA (d2x – d1x)
L d1x d2x
Combining into matrix form, the stiffness matrix is defined
as

[k] = EA 1 -1
L
-1 1
 Note on the displacement function

•For a given set of nodes there exists a function that approximates

the displacement at any position along the bar.
•This function, called the displacement function, is derived from
Pascal’s Triangle.
•A new constant is introduced into the function for every node in
the discretized domain.

For 1-D u(x) = a1 + a2x + a3x2 + …

 Note on the displacement function
If a 1-D bar is broken into 2 elements, the displacement function
would be u(x) = a1 + a2x + a3x2. a1
Putting it into matrix notation: u(x) = [1 x x2] a2
a3
By knowing the distances to the nodes
and the displacements at those nodes, the
equation becomes: u
1
1 0 0 a1
u2 a2 , where
= 1 x2 0
u3 a3
1 x 3 x32
x1 = 0, x2 and x3 are the distances to the nodes and u1, u2, and u3 are the displacements.

The coefficients are found by solving the equation.

Example

E 2E

a A b A P

L L

Determine displacements of materials a and b if

the load P is applied to the end of the bar given
the above information.
 Example con’t.
1) Discretize the domain with appropriate elements.

Element a Element b

f1 f3 = P
1 2 3
u1 u2 u3

f1 2 f21 f23 2 3 f3 = P
1

u1 u2 u2 u3
Example con’t.

2) Select a displacement function

There will be new term for each element, and the terms are

derived from Pascal’s triangle.

1 2 3

u1 u2 u3

u(x) = a1 + a2x + a3x2

 Example con’t.
3) Define stress/displacement and stress/strain relationships

σx = Eεx εx = du/dx
4) Derive the element stiffness matrix and element equations

{F} = [k]{d} [k] = stiffness matrix

{F} = Force [k] = EA 1 -1

L
{d} = displacement -1 1
a b

f1 EA 1 -1 u1 EA
f23 2 -2 u2
f21 = L u2 , =
f3 L u3
-1 1 -2 2
Example con’t.

5) Construct Global equation and introduce boundary

conditions and known variables.

f1 EA 1 -1 0 u1
= Global Equation
f21+f23 u2
f3 L -1 3 -2 u3

0 -2 2

B.C.: (x =0) u1 = 0
Known variables: f3 = P and f2 = f21+f23 = 0
 Example con’t.

6) Solve for unknowns.

f1 EA 1 -1 0 0
0 =
L u2
P -1 3 -2 u3

0 -2 2
f1 = -EAu2 0 = EA(3u2-2u3) P = EA(2u3-2u2)
L L L

u2 = PL u3 = 3PL
EA 2EA f1 = -P
Example con’t.

7) Solve for the element strains and stresses.

εa = P = u2 σa = Eεa = P
EA L A

εb = 3P = u3 σa = 2E εb = P
2EA L 3 A

8) Interpret the Results

•After solving for the displacements, the coefficients of the

displacement function can be determined.
 The Need for Analysis
We need to determine the
Response of the Structure to
Excitations Analysis

so that:

We can ensure that the

Design
structure can sustain the
excitation with an acceptable
level of response
 Analysis of Structures

 xx  yy  zz
   pvx  0
x y z
pv
Real Structure is governed by
“Partial Differential Equations” of
various order
Direct solution is only possible for:
• Simple geometry
• Simple Boundary
• Simple Loading.
 The Need for Structural Model
STRUCTURE

EXCITATION RESPONSES
Displacements
Loads
Vibrations Strains
pv
Stress
Settlements
Stress Resultants
Thermal Changes

Structural
Model
 The Need for Modeling

A - Real Structure cannot be Analyzed:

It can only be “Load Tested” to determine
response
B - We can only analyze a
“Model” of the Structure

C - We therefore need tools to Model the

Structure as close as possible
and to Analyze the Model
MATHEMATICAL MODELS OF STRUCTURE

3D SOLIDS

Simplification Discretization
(geometric)

3D-CONTINUM CONTINUOUS MODEL DISCRETE MODEL

MODEL OF STRUCTURE OF STRUCTURE

(governed by partial (governed by either (governed by

differential equations) partial or total differential algebraic
equations) equations)
 From Classical to FEM Solution
Classical Assumptions FEM

Equilibrium
Actual Structure Structural Model

 xx  yy  zz
x

y

z
 pvx  0
Stress-Strain Law
Kr  R
Compatibility “Algebraic
“Partial Differential
Equations”
Equations” _ _ _

 t
 dV   p u dV   p u ds
v
t
v
t
s
K = Stiffness
r = Response
(Principle of Virtual Work) R = Loads
 How FEM works
 Generate individual element stiffness matrix based on element size
and its material properties, on its own local axis
 Transform matrices to global axis
 Assemble (or add up) element stiffness contributions to nodes that
connect the elements (Global Stiffness Matrix)
 Modify the global stiffness matrix to include the effect of boundary
conditions
 Solve the matrix equation to determine unknown displacements
 Back substitute in element matrices to determine stress resultants
and stresses
CONTINUOUS vs DISCRETE MODELS

p3 Joint
p2

p1 CONTINUOUS MODEL
r8 r7
r9 r11
r5 r12
x2
r6 r4 r10

DISCRETE MODEL
r2
r3 r1 {r} = Joint Degree-of-freedom
= Free DOF
= Locked DOF
 Boundary Conditions
continuous model discrete model
Transfer of Element Load to Nodes

system to be analysed

= +

complete system fixed-joint system homogeneous

loading system
 Physical Meaning of Stiffness Matrix

R1 K 11
R 2 K 21
R K
3 31 r1
r1
R 4 = K 41
r3 -K R 5 K 51
51 -K R 6 K 61
61 r1
-K r1 = 1
41
Other r = 0

-K
11 R1 K11 K12 K13 K14 K15 K16 r1
-K R2 K21 K22 K23 K24 K25 K26 r2
31 R3 K31 K32 K33 K34 K35 K36 r3
-K
R4 = K41 K42 K43 K44 K45 K46 r4
r1 = 1 21 R5 K51 K52 K53 K54 K55 K56 r5
R6 K61 K62 K63 K64 K65 K66 r6
Other r = 0 r1-r6
Standard beam stiffness

r standard stiffness
3
R1 K11 K12 K13 K14 K 15 K16 r1 for beam r2
R2 K21 K22 K23 K24 K 25 K26 r2
R3 K31 K32 K33 K34 K 35 K36 r3 r1
R4
R5
= K41
K51
K42
K52
K43
K53
K44
K54
K 45
K 55
K46
K56
r4
r5 r3 C = cos q
R6 K61 K62 K63 K64 K 65 K66 r6
q S = sin q
r1-r6

EAS C2 + 12EIgS2 EAS CS - 12EIgCS -6EIgS -EAS C2 - 12EIgS2 -EAS +12EI3gCS -6EIgS
L L3 L L3 L2 L L3 CS
L L L2
EAS CS - 12EIgCS EAS S2 + 12EIgC2 6EIgC -EAS CS+12EI3gCS -EAS S2 - 12EIgC2 6EIgC
L L3 L L3 L2 L L L L3 L2
-6EIgS 6EIgC 4EIg +6EIgS -6EIgC 2EIg
L2 L2 L L2 L2 L
-EAS C2 - 12EIgS2 -EAS CS+12EI3gCS 6EIgS EAS C2 + 12EIgS2 EAS CS - 12EIgCS 6EIgS
L L3 L L L2 L L3 L L3 L2

-EAS CS+12EI3gCS -EAS S2 - 12EIgC2 -6EIgC EAS CS - 12EIgCS EAS S2 + 12EIgC2 -6EIgC
L L L L3 L2 L L3 L L3 L2
-6EIgS 6EIgC 2EIg 6EIgS -6EIgC 4EIg
L2 L2 L L2 L2 L
 8
7 11

5 10
9 12
6
4

1
3

1
2
3
4
5
6 =
7
8
9
10
11
12
 8
7 11

5 10
9 12
6
4

1
3

1
2
3
4
5
6 =
7
8
9
10
11
12
 8
7 11

5 10
9 12
6
4

1
3

1
2
3
4
5
6 =
7
8
9
10
11
12
 8
7 11

5 10
9 12
6
4

1
3

1
2
3
4
5
6 =
7
8
9
10
11
12
 8
7 11

5 10
9 12
6
4

1
3
r 2 = r2

1
2
3
4
5
6 = -
7
8
9
10
11
12
 8
7 11

5 10
9 12
6
4

1
Final System
3
r2 = r2

1
2
3
4
5
6 = -
7
8
9
10
11
12
Basic Steps in FEA

Evaluate Real Structure

Create Structural Model

Discretize Model in FE

Solve FE Model

Engineer
Interpret FEA Results
Engineer + Software
Physical significance of Results Software