MECH4450 Introduction to Finite

Element Methods

Chapter 3
FEM of 1-D Problems: Applications
 Plane Truss Problems
Example 1: Find forces inside each member. All members have
the same length L. E = 10 GPa, A = 1 cm2, L = 1 m, F = 10 kN
2 2 R3

S3
III II

R1 1 1 R2
F
1 2
I
S1 S2

Local node: 1,2 Connectivity table I II III

local node 1 2 1
Global node: 1 2 3
(i,j) 2 3 3
Element: I II III
global node index (I,J)
Arbitrarily Oriented 1-D Bar Element on 2-D Plane

P1 u1 P2 u2
AE 1 -1u1 P1
=
-1 1 u2
L P2

P2 u2

P1 u1 AE 1 -1u1 P1
=
L -
1 1 u2 P2
Q2 v2
? ? ?
? u1 P1

? ? ?
AE ? v1 Q
Q1 v1 =
1

P2 u2 L
? ? ? ? u2 P2

? ? ?
? v2 Q2
P1 u1
 Arbitrarily Oriented 1-D Bar Element on 2-D Plane
1 0 -1 0u1 P1
00
AE 1 -1u1 P1 AE 0 0 0
= 0

=
L -
1 1 u2 P2 L -1 0 1 0u2 P2

0 0 0 0
0 0

y u1 cos q sin q 0 0 u1
v = 0 - sin q cos q 0 0 v1
1
y x =
u2 0 0 cos q sin q u 2
v2 = 0 0 0 - sin q

cos q v2

q
x
P1 cos q sin q 0 0 P1

0 - sin q cos q 0 0 Q1
=
P2 0 0 cos q sin q P2
0 0 0 - sin q

cos q Q2
Stiffness Matrix of 1-D Bar Element on 2-D Plane
Q2 , v2 P2 , u2
P2 , u2

1 0 -1 0
P1 , u1 0
q
K ij =
AE 0
L - 1
0 0
0 1 0
P1 , u1 Q1 , v 1
0 0 0 0

P1 cos q - sin q 0 0 cos q sin q 0 0 u1

Q sin q cos q 0 - sin q cos q 0 v1
1
=
0

K ij 0

P2 0 0 cos q - sin q 0 0 cos q sin q u2
Q2 0 0 sin q cos q

0 0 - sin q

cos q v2

P1 cos 2 q sin q cos q - cos 2 q - sin q cos q u1

Q
1 AE sin q cos q sin 2 q - sin q cos q - sin 2 q v1
=
P2 L - cos q - sin q cos q cos 2 q sin q cos q u2
2

Q2
- sin q cos q - sin 2 q sin q cos q sin 2 q v2
Matrix Assembly of Multiple Bar Elements
P1I 1 0 -1 0u1I
I 0
Q
AE 0 0 0v1I
Element I 1I =
P2 L -1 0 1 0 u2 I
I
Q
2 0 0 0 0v2 I

P1II 1 - 3 -1 3 u II
II 1II
Element
I IQ1 AE - 3 3 3 -3 v1
II = II
P2 4 L u2
-1 3 1 - 3
Q

II
v II
2
3 -3 - 3 3 2

P1III 1 3 -1 - 3 u III
III
1

Q1 AE 3 3 - 3 -3 v1III
I I I III =
Element III
P2 4 L -1 - 3 1 3 u2
Q

III
v III
2
- 3 -3 3 3 2
Matrix Assembly of Multiple Bar Elements

Element I

Element
I I

II I
Element
 Matrix Assembly of Multiple Bar Elements
R1 41 0 3 -4 0 -1 - 3 u1
S
1 0 3 03 0 0 - 3 - 3 v1
R2 AE - 4 0 41 0- 3 -1 3 u2
=
S2 4 L 0 0 0- 3 03 3 - 3 v2
R3 -1 - 3 -1 3 1 1 3 - 3 u3

S 3 - 3 -3 3 -3 3- 3 3 3 v 3

Apply known boundary conditions

R1 = ? 5 3 -4 0 -1 - 3 u1 = 0
S =0
1 3 3 0 0 - 3 - 3 v1 = ?
R2 = F AE - 4 0 5 - 3 -1 3 u2 = ?
=
S2 = ? 4 L 0 0 - 3 3 3 - 3 v2 = 0
R3 = ? -1 - 3 -1 3 2 0 u3 = 0

S 3 = ? - 3 -3 3 -3 0 6 v 3 = 0

 Solution Procedures
Exchange the first and the third equations:

R2 = F -4 0 5 - 3 -1 3 u1 = 0
S =0
1 3 3 0 0 - 3 -3 v 1 = ?
R1 = ? AE 5 3 -4 0 -1 - 3 u2 = ?
=
2S = ? 4 L 0 0 - 3 3 3 - 3 v2 = 0
R3 = ? -1 - 3 -1 3 2 0 u3 = 0

S 3 = ? - 3 -3 3 -3 0 6 v 3 = 0

Condensed system: u2= 4FL/5AE, v1= 0

R2 = F -4 0 5 - 3 -1 3 u1 = 0
S =0 v = 0
1 3 3 0 0 - 3 - 3 1
4 FL
R1 = ? AE 5 3 -4 0 -1 - 3 u2 =

= 5 AE
2S = ? 4L 0 0 - 3 3 3 - 3 v2 = 0
R3 = ? -1 - 3 -1 3 2 0 u3 = 0

S 3 = ? - 3 -3 3 -3 0 6 v 3 = 0
 Recovery of Axial Forces
u = 0 - 4
P1I 1 0 -1 0 1 5
I v1 = 0
Q 0
0 0 0 0
AE
Element I 1I = 4 FL = F
P2 L -1 0 1 0 u2 = 4
I 5 AE 5
Q
2 0 0 0 0
v2 = 0 0
1
1 - 3 -1 3 4 FL 5
P1II u2 =
II 5 AE - 3
Element
I IQ1 AE - 3 3 3 -3
5
II = v 2 = 0 = F
P 4 L - - 1
2 1 3 1 3 u3 = 0 - 5

Q2 II 3
- 3 - 3 3 v3 = 0 3
5
P1III 1 3 -1 - 3 u1 = 0 0
III
Q
II I 1
Element AE 3 3 - 3 - 3 v1 = 0 0

III = =
P2 4 L -1 - 3 1 3 u3 = 0 0
Q
2
III
v3 = 0
0
-
3 -3 3 3
 Stresses inside members

4F
Element I s= = 80 MPa
5A
4F 4F
P1I = - P2 I = -
5 5

3
1 Q2 II = F
P2 II = F 5
5

Element
I I 3
Q1II = F
5 2F
s= = 40 MPa
1 5A
P1II = F
5

II I
Element
 Bending Beam
y
Review
M M
x

Pure bending problems:

y
Normal strain: x = -

Ey
Normal stress: sx = -

Normal stress with bending moment: -s x ydA = M

1 M
Moment-curvature relationship: =
EI
My
Flexure formula: sx = - I = y 2 dA
I
 Bending Beam
y
Review q(x)

x
Relationship between shear force, bending moment and
transverse load:
dV dM
=q =V
dx dx

Deflection:

Sign convention:
M + M - M

V + V - V
 Governing Equation and Boundary
Condition
Governing Equation
d 2 d 2 v( x)
EI
2 2
- q ( x) = 0, 0<x<L
dx dx
Boundary Conditions -----
dv d 2v d d 2v
v=? & = ? & EI 2 = ? & EI 2 = ? , at x = 0
dx dx dx dx
dv d 2v d d 2v
v=? & = ? & EI 2 = ? & EI 2 = ? , at x = L
dx dx dx dx

{
Essential BCs if v or dv is specified at the boundary.
dx

d 2v d d 2v
Natural BCs if EI 2 or EI 2 is specified at the boundary.
dx dx dx
 Weak Formulation for Beam Element
Weighted-Integral Formulation for one element
x2
d 2 d 2 v( x)
0 = w( x) 2 EI 2
- q ( x) dx
x1 dx dx
Weak Form from Integration-by-Parts
x2 x2
x2
d 2 w d 2v d d 2v dw d 2 v
0 = 2 EI 2 - wq dx w EI 2 - EI 2
x1
dx dx dx dx x dx dx x
1 1

y V(x1) q(x) V(x2)

M(x1) M(x2)
x x = x1 L = x2-x1 x = x2

x
x2
d 2 w d 2v dw
2

0 = 2 EI 2 - wq dx wV - M
x1
dx dx dx x1
 Weak Formulation
Weak Form
x
x2
d 2 w d 2v dw
2

0 = 2 EI 2 - wq dx wV - M
x1
dx dx dx x1

y(v) Q1 q(x) Q3

Q2 Q4
x x = x1 L = x2-x1 x = x2

Q1 = V x1 , Q2 = - M x1 , Q3 = -V x2 , Q4 = M x2
x2
d 2 w d 2v dw dw
x dx 2 dx 2
EI - wq dx = w( x1 )Q1 w( x 2 )Q3
dx 1
Q2
dx 2
Q4
1
 Ritz Method for Approximation
y(v) Q1 q(x) Q3

Q2 Q4
x x = x1 L = x2-x1 x = x2
n
Let v( x) = u jf j ( x) and n = 4
j =1
dv dv
where u1 = v x1 = v1; u2 = = q1; u3 = v x2 = v 2 ; u4 = = q2 ;
dx x = x1 dx x = x2
x2
d 2w 4 d 2f j
- wq dx = w( x1 )Q1 w( x2 )Q3 dw Q2 dw Q4
x dx 2 EI uj
dx 2
dx 1 dx 2
1 j = 1

Let w(x)= f i (x), i = 1, 2, 3, 4

x2
d 2f d 2f j
- fi q dx = fi ( x1 )Q1 fi ( x2 )Q3 dfi Q2 dfi Q4
4
EI u j
x dx 2
i
j =1 dx 2
dx 1 dx 2
1
 Ritz Method for Approximation

y(v) Q1 Q3

Q2 Q4
x x = x1 L = x2-x1 x = x2

fi x1
dfi
Q1
dx


Q2 fi
x2
dfi
Q3
dx
4
Q4 = K iju j -qi
j =1
x1 x2

d 2fi d 2f j
x2
x2

where K ij = EI 2 dx and qi = fi qdx

x
dx dx 2
x1 1
 Ritz Method for Approximation

y(v) Q1 Q3

Q2 Q4
x x = x1 L = x2-x1 x = x2

f1 x1
df1

dx



f
1 x
df1

dx



x1
2
x2
Q1 K11 K12 K13

f2
x1
df2

dx



f
2 x
df2

dx

K
K14 u1 q1
K 24 u2 q2
x2 Q2 K 22 K 23
2
x1 = 21
-

f3 x1
df3

dx



f
3 x
df3

dx
Q3 K 31 K 32 K 33

Q K
41 K 42 K 43

K 34 u3 q3

K 44 u4 q4
x2 4
2
x1

f4 x1
df4

dx



f
4 x2
df4

dx


where K ij = K ji
x1 x2

 Selection of Shape Function
The best situation is -----

f1 x1
df1

dx



f
1 x
df1

dx



x1
2
x2
1

f2
x1
df2

dx



f
2 x
2
df2

dx

0
0 0 0
1 0 0
x1 x2
= Interpolation

f3 x1
df3

dx



f
3 x2
df3

dx
0

0
0 1 0
0 0 1
Properties
x1 x2

f4 x1
df4

dx



f
4 x2
df4

dx



x1
x2

Q1 K11 K12 K13 K14 u1 q1

Q K K 22 K 23 K 24 u2 q2
2 12
= -
Q3 K13 K 23 K 33 K 34 u3 q3
Q4 K14 K 24 K 34

K 44 u4 q4
Derivation of Shape Function for Beam
Element Local Coordinates
How to select f i???
v(x ) = u%f% u%f% u%f% u%f%
1 1 2 2 3 3 4 4

and dv(x ) df% df% df% df%

= u% 1
u% 2
u% 3
u% 4
dx dx dx dx dx
1 2 3 4

dv1 dv2
1 = v1 u2 =
u% 3 = v2 4 =
where % u% u%
dx dx

Let f% = x x x
2 3
i ai bi ci d i

Find coefficients to satisfy the interpolation properties.

Derivation of Shape Function for Beam
Element
How to select f i???
e.g. Let f%
1 = a1 b1x c1x 2
d1x 3

1
f1 = 1 - x 2 x
% 2

1
f% 1 x
2
Similarly 2 = 1 - x
4
1
f3 = 1 x 2 - x
% 2

4
1
f% x - 1
2
4 = 1 x
4
 Derivation of Shape Function for Beam
Element
dv1 dv
In the global coordinates: v( x ) = v1f1 ( x ) f2 ( x) v2f3 ( x) 2 f4 ( x)
dx dx
In the local coordinates: v(x ) = u% % %% %% %%
1f1 u 2f2 u3f3 u 4f4

x - x 2
x - x1
3

1- 3
1
2
x2 - x1 x2 - x1
2
f1 x - x1
x - x1 1-
x - x

f2
2 1
= 3
f 2
3 x - x1 x - x1

f 3 - 2
4 x - x x - x
2 1 2 1
x - x1 x - x1
2
x - x1
-


x2 - x1 x2 - x1

Element Equations of 4th Order 1-D Model
y(v) u1 q(x) u3

u2 u4
x x = x1 L = x2-x1 x = x2

f1 f4
1 1
f2 f3
x=x2
x=x1

Q1 q1 K11 K12 K13 K14 u1

Q q K K 22 K 23 K 24 u2
2 2 12
=
Q3 q3 K13 K 23 K 33 K 34 u3
Q4 q4 K14 K 24 K 34

K 44 u4
d 2fi d 2f j
x2
x2

where K ij = EI 2 dx = K ji and qi = fi qdx

x
dx dx 2
x1 1
Element Equations of 4th Order 1-D Model
y(v) u1 q(x) u3

u2 u4
x x = x1 L = x2-x1 x = x2

Q1 q1 6 3L -6 3L u1 = v1
Q q 3L 2 L2 - 3L L2 u = q
2 2 2 EI 2 1
= 3
Q3 q3 L - 6 - 3L 6 - 3L u3 = v2
Q4 q4 2
- u4 = q 2
2
3 L L 3 L 2 L

x2

where qi = fi qdx
x1
 Finite Element Analysis of 1-D Problems
Example 1. F
L L L

Finite element model:

Q1 6 3L -6 3L v1
Q 3L 2 L2 - 3L L2 q
2 2 EI 1
= 3
Q3 L - 6 - 3L 6 - 3L v2
Q4
3L L2 - 3L 2 L2 q 2

Discretization:

P1 , v1 I P2 , v 2 II P 3 , v3 III P 4 , v4

M1 , q 1 M2 , q 2 M3 , q 3 M4 , q 4
Matrix Assembly of Multiple Beam Elements
Q1I 6 3L -6 3L 0 0 0 0 v1
I
Q2 3L 2 L2 -3L L2 0 0 0 0 q1

Q3I -6 -3L 6 -3L 0 0 0 0v2
I
Element I Q4 2 EI 3L L2
- 3 L 2 L2
0 0 0 0 q2
= 3
0 L 0 0 0 0 0 0 0 0 v3
0
0 0 0 0 0 0 0 0 q3

0 0 0 0 0 0 0 0 0 v4
0
0
0 0 0 0 0 0 0 q4
0 0 0 0
0 0 0 0 0 v1
0
0 0 0 0 0 0 0 0 q1

Q1II
0 0 6 3L -6 3L 0 0v2
II
Q2 2 EI 0
0 3L 2 L2
-3 L L2
0 0 q2
II = 3
Element
I I Q3 L
0 0 -6 -3L 6 -3L 0 0v3

Q4II 0
0 3L L2
-3 L 2 L2
0 0 q3

0
0 0 0 0 0 0 0 0 v4

0 0 0 0
0 0 0 0 0 q4
 Matrix Assembly of Multiple Beam Elements
0 0
0 0 0 0 0 0 v1
0
0
0 0 0 0 0 0 0
0 q1

0
0 0 0 0 0 0 0 0 v2

II I
Element 0 2 EI 0
0 0 0 0 0 0 0 q2
III = 3
Q1 L

0 0 0 0 6 3L -6 3L v3

Q2III 0
0 0 0 3L 2 L2 -3L L2 q3
III
Q3

0 0 0 0 -6 -3L 6 -3L v4
III
Q

4 0 0 0 0 3L L2 -3L 2 L2 q4

P1 6 3L -6 3L 0 0 0 0 v1
M 3L 2 L2 - 3L L2 0 0 0 0 q1
1
P2 - 6 - 3L 66 - 3L 3L -6 3L 0 0 v2

- - q 2
2 2 2 2
M 2 2 EI - 3 L L 3 L 3 L 2 L 2 L 3 L L 0 0
= 3 0
P3 L 0 -6 - 3L 66 - 3L 3L - 6 3L v3
M 3 2
- - q 3
2 2 2
0 0 3 L L 3 L 3L 2 L 2 L 3 L L

P4 0 0 0 0 -6 - 3L 6 - 3L v4
M 4 2
0 0 0 0 3L L 2
- 3L 2 L q 4
 Solution Procedures
Apply known boundary conditions
P1 = ? 6 3L -6 3L 0 0 0 0 v1 = 0
M =? 3L 2 L2 - 3L L2 0 0 0 0 q1 = 0
1
P2 = ? - 6 - 3L 12 0 -6 3L 0 0 v2 = 0

M 2 = 0 2 EI 3 L L 2
0 4 L 2
- 3 L L2
0 0 q 2 = ?
= 3 0
3P = ? L 0 - 6 - 3L 12 0 -6 3L v 3 = 0
M3 = 0 2
- q 3 = ?
2 2
0 0 3 L L 0 4 L 3 L L

P
4 = - F 0 0 0 0 - 6 - 3L 6 - 3L v4 = ?
M 4 = 0 2
- q 4 = ?
2
0 0 0 0 3 L L 3 L 2 L

M2 = 0 3L L2 0 4 L2 - 3L L2 0 0 v1 = 0
M =0 2
0 0 3 L L 2
0 4 L 2
- 3 L L q = 0
3 1
P4 = - F 0 0 0 0 - 6 - 3L 6 - 3L v2 = 0
2
M 4 = 0 2 EI 0 0 0 0 3 L L 2
- 3 L 2 L q 2 = ?
= 3 6
P1 = ? L 3L -6 3L 0 0 0 0 v3 = 0

M1 = ? 3L 2 L - 3L L
2 2
0 0 0 0 q 3 = ?
- 6 - 3L 12
2P = ? 0 -6 3L 0 0 v4 = ?

P3 = ? 0 0 - 6 - 3L 12 0 -6 3L q 4 = ?
 Solution Procedures

M2 = 0 3L L2 0 - 3L 4 L2 L2 0 0 v1 = 0
M =0 2
q =
3 0 0 3 L 0 L 2
4 L 2
- 3 L L 1 0

P4 = - F 0 0 0 -6 0 - 3L 6 - 3L v2 = 0
2
M 4 = 0 2 EI - =
2
0 0 0 3 L 0 L 3 L 2 L v 3 0
= 3 6
P1 = ? L 3L -6 0 3L 0 0 0 q 2 = ?

M1 = ? 3L 2 L - 3L
2
0 L 2
0 0 0 q 3 = ?
- 6 - 3L 12
2P = ? -6 0 3L 0 0 v4 = ?

P3 = ? 0 0 - 6 - 12 - 3L 0 -6 3L q 4 = ?

Condensed system:
M2 = 0 4 L2 L2 0 0 q 2 = ? P1 = ? 3L 0 0 0 q 2
2 L2
M =0
3 2 EI L 4 L2
- 3 L L2
q
3
= ? M = ?
1 2 EI 0 0 0 q 3
= 3

= - 0 - 3 L 6 - 3 L v4 = ? = 3 0 3 L 0 0 v4
P
4 F L 2
P2 = ? L
M 4 = 0 0 L2
- 3L 2 L q 4 = ? P3 = ? - 3L 0 - 6 3L q 4
 Shear Resultant & Bending Moment
Diagram

3
F F
7

P2

9
F
2 7
FL
7

1
FL
7

FL
 Plane Frame
Frame: combination of bar and beam

Q 1 , v1
E, A, I, L Q3 , v2
P1 , u1 P2 , u2
Q2 , q 1 Q4 , q 2
AE AE
L 0 0 - 0 0
L
12 EI 6 EI 12 EI 6 EI u
P1 0 0 - 1
Q L3 L2 L3 L v
2

1 6 EI 4 EI 6 EI 2 EI 1
Q2 0 0 - 2
L2 L L L q1
= AE AE u2
P2 - 0 0 0 0
Q3 L L v2
0 12 EI 6 EI 12 EI 6 EI
Q4 - - 0 - 2 q 2
L3 L2 L3 L
0 6 EI 2 EI 6 EI 4 EI
0 - 2
L2 L L L
 Finite Element Model of an Arbitrarily
Oriented Frame
,
,
Local coordinate
,
,

q
x
,
,
y ,

, Global coordinate
,
,

q
x
, ,
Finite Element Model of an Arbitrarily
Oriented Frame

: Stiffness matrix in the global coordinate system

: Stiffness matrix in the local coordinate system
 Finite Element Model of an Arbitrarily
local Oriented Frame
Element equation for the vertical frame element

12 EI 6 EI 12 EI 6 EI
L3 0 - - 0 -
L2 L3 L2
AE AE
P1 0 0 0 - 0 u1
Q L L v1
1 6 EI 4 EI 6 EI 2 EI
global Q2 - L2 0
L L2
0
L q1
= 12 EI 6 EI 12 EI 6 EI u2
P2 - 3 0 0
Q3 L L2 L3 2
L v
2
0 AE AE
Q4 0 0 0 q 2

L L
- 6 EI 0
2 EI 6 EI
0
4 EI
L2 L L2 L
 Plane Frame Analysis - Example

Element II

Rigid Joint
F F
Element I

Boundary conditions:
 Plane Frame Analysis
Q3 , v2
Q4 , q 2
P 2 , u2

P 1 , u1
Q2 , q 1
Q1 , v 1
I
12 EI 6 EI 12 EI 6 EI
L3 0 - 2 - 3 0 - 2
L L L
I AE AE
P1 0 0 0 - 0 u1
Q L L v
1 - 6 EI 4 EI 6 EI 2 EI 1
Q2 0 0 q1
= L L
2
L L2
12 EI 6 EI 12 EI 6 EI
P2 - L3 0 0 u2
Q3 L2 L3 L2 v2
AE AE
0 - 0 0 0
Q4 L L q 2
- 6 EI 0
2 EI 6 EI
0
4 EI
L2 L L2 L
 Plane Frame Analysis

Q1 , v2 Q3 , v3

P1 , u2 P2 , u3

Q2 , q 2 Q4 , q 3

AE AE
L 0 0 - 0 0
L
II 12 EI 6 EI 12 EI 6 EI u
P1 0 0 - 2
Q L3 L2 L3 L v
2

2 0 6 EI 4 EI 6 EI 2 EI 2
0 - 2
Q2
= L2 L L L q 2
AE AE u3
P2 - L 0 0 0 0
Q3 L v3
12 EI 6 EI 12 EI 6 EI
Q4
0 - - 0 - 2 q 4
L3 L2 L3 L
0 6 EI 2 EI 6 EI 4 EI
0 - 2
L2 L L L
 Plane Frame Analysis
12 EI 6 EI 12 EI 6 EI
I
AE AE
0 - 2 - 3 0 - 2 L 0 0 - 0 0
L3 L L L L
I AE AE II 12 EI 6 EI 12 EI 6 EI u
P1 0 0 0 - 0 u1 P1 0 0 - 2
Q L L v Q L3 L2 L3 L2 v
1 - 6 EI 4 EI 6 EI 2 EI 1 2 0 6 EI 4 EI 6 EI 2 EI 2
0 0 0 - 2
Q2
= L
2
L L2 L q1 Q2
= L2 L L L q 2
12 EI 6 EI 12 EI 6 EI AE AE
P2 - L3 0 0 u2 P2 - L 0 0 0 0 u3
Q3 L2 L3 L2 v2 Q3 L v
AE AE 6 EI 3
0 0 0
12 EI 6 EI 12 EI
Q4 - 0 0 q 2 Q4 - - 0 - 2 q 4
L L L3 L2 L3 L
- 6 EI 0
2 EI 6 EI
0
4 EI 0 6 EI 2 EI 6 EI 4 EI
L2 0 - 2
L L2 L L2 L L L
Plane Frame Analysis

1
F
2

1
F
2

1
FL
8

3
FL
8