Beruflich Dokumente
Kultur Dokumente
Revision E
By Tom Irvine
Email: tomirvine@aol.com
November 18, 2008
_______________________________________________________________________
Introduction
Many structures are too complex for analysis via classical method. Closed-form solutions
are thus unavailable for these structures.
For example, a structure may be composed of several different materials. Some of the
materials may be anisotropic. Furthermore, the structure may be an assembly of plates,
beams, and other components.
Consider three examples:
1. A circuit board has numerous chips, crystal oscillators, diodes, connectors,
capacitors, jump wires, and other piece parts.
2. A large aircraft consisting of a fuselage, wing sections, tail section, engines, etc.
3. A building has plies, foundation, beams, floor sections, and load-bearing walls.
The finite element method is a numerical method that can be used to analyze complex
structures, such as the three examples.
The purpose of this tutorial is to derive for a method for analyzing beam vibration using
the finite element method. The method is based on Reference 1.
Theory
Consider a beam, such as the cantilever beam in Figure 1.
EI,
Figure 1.
where
E is the modulus of elasticity.
I is the area moment of inertia.
L is the length.
is mass per length.
The product EI is the bending stiffness.
The vibration modes of the cantilever beam can be found by classical methods.
Specifically, the fundamental frequency is
.
187510
2 EI
1 =
(1)
This problem presents a good opportunity to compare the accuracy of the finite element
method to the classical solution.
Let y(x,t) represent the displacement of the beam as a function of space and time.
The free, transverse vibration of the beam is governed by the equation:
2
d2
2 y( x , t )
(
)
(
)
EI
x
y
(
x
,
t
)
=
x 2
x 2
t 2
(2)
Equation (2) neglects rotary inertia and shear deformation. Note that it is also independent
of the boundary conditions, which are applied as constraint equations.
Assume that the solution of equation (1) is separable in time and space.
y( x , t ) = Y ( x )f ( t )
(3)
2
2
2 Y ( x )f ( t )
EI(x ) 2 Y( x )f ( t ) = (x )
x 2
x
t 2
(4a)
2
2
2 f (t)
f (t)
EI(x ) 2 Y( x ) = Y( x ) (x )
x 2
x
t 2
(4b)
d 2 d 2
d 2 f (t)
(
)
f (t)
Y( x ) = Y( x ) x
EI
dx 2 dx 2
d t2
(5)
1
d 2 d 2
1 d 2 f (t )
Y( x ) =
EI
Y( x ) (x ) dx 2 dx 2
f (t) d t 2
(6)
The left-hand side of equation (6) depends on x only. The right hand side depends on t
only. Both x and t are independent variables. Thus equation (6) only has a solution if both
sides are constant. Let 2 be the constant.
1
d 2 d 2
1 d2 f (t)
EI
Y
(
x
)
=
= 2
2
Y( x ) (x ) dx 2 dx 2
f
(
t
)
dt
(7)
d 2
d2
EI( x )
Y( x ) ( x ) 2 Y( x ) = 0
dx 2
dx 2
d2
d t2
f ( t ) + 2 f ( t ) = 0
(8)
(9)
d 2
d2
Y( x ) ( x ) 2 Y( x ) dx = 0
( x )
EI( x )
2
dx 2
dx
(10)
The test function ( x ) can be regarded as a virtual displacement. The differential equation
in the brackets represents an internal force. This term is also regarded as the residual.
Thus, the integral represents virtual work, which should vanish at the equilibrium
condition.
Define the domain over the limits from a to b. These limits represent the boundary points
of the entire beam.
d 2
d2
( x )
Y( x ) ( x ) 2 Y( x ) dx = 0
EI( x )
2
a
dx 2
dx
d 2
d2
( x )
Y( x )
EI( x )
2
a
dx 2
dx
(11)
b
2
dx ( x ) ( x ) Y( x ) dx = 0
a
(12)
Integrate the first integral by parts.
b d
d
d2
(
x
)
EI
(
x
)
Y
(
x
)
2
dx
a dx
dx
b d
d2
d
dx
(
x
)
EI
(
x
)
Y
(
x
)
a dx
dx
dx 2
a (x) {(x)
b
dx
2 Y ( x ) dx = 0
(13)
d
d2
(
x
)
EI
(
x
)
Y
(
x
)
2
dx
dx
b d
d2
d
(
x
)
EI
(
x
)
Y
(
x
)
a dx
dx
dx 2
a (x) {(x)
b
dx
2 Y( x ) dx = 0
(14)
d
d2
(
x
)
EI
(
x
)
Y( x )
dx
dx 2
b d
d2
d
(
x
)
EI
(
x
)
Y( x )
a dx
dx
dx 2
dx
a (x) {(x)
b
2 Y ( x ) dx = 0
(15)
Integrate by parts again.
d
d2
Y( x )
EI( x )
( x )
dx
dx 2
b d
d
( x )
a dx dx
d2
Y( x )
EI( x )
dx 2
dx
2
b
b
d2
d
2
2 ( x ) EI( x ) 2 Y( x ) dx ( x ) ( x ) Y( x ) dx = 0
a
a dx
dx
(16)
d
d2
(
x
)
EI
(
x
)
Y( x )
dx
dx 2
( x )
dx
a
d2
Y( x )
EI( x )
dx 2
2
b
b
d2
d
(
x
)
EI
(
x
)
Y
(
x
)
dx ( x ) ( x ) 2 Y( x ) dx = 0
a
a dx 2
dx 2
(17)
The essential boundary conditions for a cantilever beam are
Y (a ) = 0
(18)
dY
=0
dx x =a
(19)
(20)
d
=0
dx x =a
(21)
d2
d
Y( x )
EI( x )
dx
dx 2
=0
(22)
x =b
d2
Y( x )
=0
EI( x )
dx 2
x =b
(23)
d2
EI( x )
=0
( x )
2
dx
x =b
(24)
Apply equations (20), (21), and (24) to equation (17). The result is
2
b
b
d2
d
2
2 ( x ) EI( x ) 2 Y( x ) dx ( x ) ( x ) Y( x ) dx = 0
a
a dx
dx
(25)
Note that equation (25) would also be obtained for other simple boundary condition cases.
Now consider that the beam consists of number of segments, or elements. The elements
are arranged geometrically in series form.
Furthermore, the endpoints of each element are called nodes.
d2
( x )
dx 2
d2
Y( x )
EI( x )
dx 2
dx
( x ) ( x ) 2 Y( x ) dx = 0
(26)
Furthermore, consider that the stiffness and mass properties are constant for a given
element.
EI
d2
( x )
dx 2
d2
Y( x )
dx 2
2
dx
( x ) Y( x ) dx = 0
(27)
Now express the displacement function Y(x) in terms of nodal displacements y j1 and y j
as well as the rotations j1 and j .
Y( x ) = L1 y j1 + L 2 y j + L3 h j1 + L 4 h j1 ,
( j 1) h < x < j h
(28)
(29)
0 < <1
(30)
0 < <1
(31)
j1
Y(x)
y j1
yj
(j-1) h
jh
Figure 2.
i =1, 2, 3, 4
(32)
{
}
+ { c 21 + c 2 2 + c 23 2 + c 2 4 3 }h j1
+ { c31 + c3 2 + c3 3 2 + c3 4 3 }y j
+ { c 41 + c 4 2 + c 4 3 2 + c 4 4 3 } h j ,
0 < <1
(33)
{
}
+ { c 2 2 + 2 c 23 + 3 c 2 4 2 } h j1
+ { c3 2 + 2 c3 3 + 3 c3 4 2 }y j
+ { c4 2 + 2 c4 3 + 3 c4 4 2 }h j ,
Y ' () = c1 2 + 2 c13 + 3 c1 4 2 y j1
0 < <1
(34)
(35)
Y(1) = y j1
(36)
Y ' ( 0) = h j
(37)
Y ' (1) = h j1
(38)
{ }
{ }
{ }
{ }
(39)
= yj
(39)
c11 = 0
(40)
c 21 = 0
(41)
c31 = 1
(42)
c 41 = 0
(43)
}
+ { c 2 2 + c 23 2 + c 2 4 3 }h j1
+ {1 + c3 2 + c3 3 2 + c3 4 3 }y j
+ { c 4 2 + c 4 3 2 + c 4 4 3 } h j ,
Y() = + c1 2 + c13 2 + c1 4 3 y j1
0 < <1
(44)
}
+ { c 2 2 + 2c 23 + 3c 2 4 2 }h j1
+ { c3 2 + 2c3 3 + 3c3 4 2 } y j
+ { c 4 2 + 2c 4 3 + 3c 4 4 2 } h j ,
0 < <1
(45)
{ c12 } y j1 + { c2 2 }h j1 + { c3 2 }y j + { c4 2 } h j
(46)
{ c12 } y j1 + { c2 2 }h j1 + { c3 2 }y j + { c4 2 } h j = h j
(47)
c12 = 0
(48)
c2 2 = 0
(49)
c32 = 0
(50)
c 4 2 = 1
(51)
10
}
+ { c 23 2 + c 2 4 3 }h j1
+ {1 + c3 3 2 + c3 4 3 }y j
+ { + c 4 3 2 + c 4 4 3 } h j ,
Y() = + c13 2 + c1 4 3 y j1
0 < <1
(52)
The slope equations becomes
} y j1 + { 2 c2 3 + 3c2 4 2 }h j1
+ { 2 c3 3 + 3 c3 4 2 }y j + { 1 + 2 c 4 3 + 3 c 4 4 2 } h j ,
0 < <1
(53)
Y(1) = c13 + c1 4 y j1 + c 2 3 + c 2 4 h j1
+ 1 + c 3 3 + c3 4 y j + 1 + c 4 3 + c 4 4 h j
(54)
Boundary condition (36) requires
{ c13 + c14 }y j1 + { c2 3 + c2 4 }h j1
+ { 1 + c3 3 + c 3 4 } y j + { 1 + c 4 3 + c 4 4 } h j
= y j1
(55)
c13 + c1 4 = 1
(56)
c13 = c1 4 + 1
(57)
c2 3 + c2 4 = 0
(58)
c2 3 = c2 4
(59)
11
1 + c33 + c3 4 = 0
(60)
c33 = 1 c3 4
(61)
1 + c4 3 + c4 4 = 0
(62)
c4 3 = 1 c4 4
(63)
{ [1 c14 ] 2 + c14 3} y j1
+ { [ c 2 4 ] 2 + c 2 4 3 } h j1
+ {1 + [ 1 c3 4 ] 2 + c3 4 3 } y j
+ { + [1 c 4 4 ] 2 + c 4 4 3 } h j ,
Y ( ) = +
0 < <1
(64)
The slope equation becomes
{[ ]
}
+ { 2 c 2 4 + 3 c 2 4 2 } h j1
+ { 2 [ 1 c 3 4 ] + 3 c3 4 2 } y j
+ { 1 + 2 [1 c 4 4 ] + 3 c 4 4 2 } h j ,
Y ' () = + 2 1 c1 4 + 3 c1 4 2 y j1
0 < <1
(65)
12
{ [
]
}
{
}
+ { 2 [ 1 c 3 4 ] + 3 c3 4 } y j
+ { 1 + 2 [1 c 4 4 ] + 3 c 4 4 } h j
Y ' (1) = + 2 1 c1 4 + 3 c1 4 y j1
+ 2 c 2 4 + 3 c 2 4 h j1
(66)
Boundary condition (38) requires
{ [
]
}
{
}
+ { 2 [ 1 c3 4 ] + 3 c 3 4 } y j
+ { 1 + 2 [1 c 4 4 ] + 3 c 4 4 } h j = h j1
+ 2 1 c1 4 + 3 c1 4 y j1
+ 2 c 2 4 + 3 c 2 4 h j1
(67)
{ [ 2 2c14 ] + 3 c14 } y j1
+ { 2 c 2 4 + 3 c 2 4 } h j1
+ { [ 2 2c3 4 ] + 3 c3 4 } y j
+ { 1 + [ 2 2 c 4 4 ] + 3 c 4 4 } h j = h j1
(68)
2 + c1 4 = 0
(69)
c1 4 = 2
(70)
c 2 4 = 1
(71)
2 + c3 4 = 0
(72)
c3 4 = 2
(73)
13
1 + c 44 = 0
(74)
c 44 = 1
(75)
{[1 ( 2)] 2 2 3} y j1
+ { [ ( 1)] 2 13 } h j1
+ {1 + [ 1 2] 2 + 2 3 } y j
+ { + [1 ( 1) ]2 + ( 1)3 } h j ,
Y ( ) = +
0 < <1
(76)
{
} { 2 3}h j1
+ {1 3 2 + 2 3 } y j + { + 2 2 3 } h j ,
Y() = + 3 2 2 3 y j1 +
0 < <1
(77)
Recall
= j x/h
(78)
Thus
d = dx / h
(79a)
h d = dx
(79b)
d
= 1 / h
dx
(80)
d
d d
=
dx dx d
(81)
Note
14
{
} { 2 3}h j1
+ {1 3 2 + 2 3 } y j + { + 2 2 3 } h j ,
Y( x ) = + 3 2 2 3 y j1 +
(82)
{ [ 6 6 2 ] y j1 + [2 32 ] h j1
+ [ 1 6 + 6 2 ] y j + [ 1 + 4 3 2 ] h j },
d
Y( x ) = { 1 / h}
dx
(83)
d2
dx 2
{ }{ [ 6 12 ] y j1 + [2 6 ] h j1
Y( x ) = 1 / h 2
+ [ 6 + 12 ] y j + [ 4 6 ] h j ,
( j 1)h x jh , = j x / h, 0 < < 1
(84)
Now Let
Y( x ) = L T
a,
( j 1)h x jh , = j x / h
(85)
where
L1 = 3 2 2 3
(86)
L 2 = 2 3
(87)
L 3 = 1 3 2 + 2 3
(88)
L 4 = + 2 2 3
(89)
15
a=
y j1 h j1
yj hj
]T
(90)
d2
dx 2
1
Y( x ) = L" T
h2
( j 1)h x jh , = j x / h
a,
( j 1)h x jh , = j x / h
(91)
(92)
2 3
L=
2
3
1 3 + 2
+ 2 2 3
(90)
6 6 2
2 3 2
L' =
2
6 + 6
1 + 4 3 2
(91)
6 12
2 6
L" =
6 + 12
4 6
(92)
16
Recall
EI
d2
( x )
dx 2
d2
Y( x )
dx 2
2
dx
( x ) Y( x ) dx = 0
(93)
The essence of the Galerkin method is that the test function is chosen as
( x ) = Y( x )
(94)
Thus
EI
d2
Y( x )
dx 2
d2
Y( x )
dx 2
2
dx
[Y( x )] 2
dx = 0
(95)
Change the integration variable using equation (79b). Also, apply the integration limits.
h EI
2
d2
1
1
d
Y
(
x
)
Y
(
x
)
d h 2 [Y( x )] 2 d = 0
0 dx 2
0
dx 2
(96)
h EI
1
1
T
2 L"
0 h
h 2
0 [L
1
1
T
2 L"
h
][
a LT
d = 0
(97)
17
T
{ [ L"
1
1
EI
0
h3
h 2
] [ L" T a ] }d
0 [L
1
][
a LT
d = 0
(98)
T
T
{ [ a L" ] [ L"
1
1
EI
0
h3
h 2
0 [ a
1
T L
] } d
][ L T a ]
d = 0
(99)
1
1
EI
0
h3
a T L" L" T
}d
h 2
0 {
1
a T L LT
} d = 0
(100)
T }d h 2 1 { L LT } da = 0
{
L
"
L
"
EI 1
a T
3
h 0
T }d h 2 1 { L LT } d = 0
{
L
"
L
"
EI 1
h3 0
(101)
(102)
j = 1, 2, ..., n
(103)
where
{ L"
EI 1
K j =
h3 0
L" T d
18
(104)
M j = h
T
0 { L L } d
1
6 12 [ 6 12
2 6
T
L" L" =
6 + 12
4 6
2 6
(105)
6 + 12
4 6]
(106)
L " L "T =
(6 12 )(6 12 )
(6 12 )(2 6) (6 12 )( 6 + 12 ) (6 12 )(4 6)
(2 6)(2 6) (2 6 )( 6 + 12 )
(2 6 )(4 6)
( 6 + 12 )( 6 + 12 ) ( 6 + 12 )(4 6)
(4 6)(4 6)
(107)
Note that only the upper triangular components are shown due to symmetry.
L " L "T =
(6 12 )(6 12 )
(6 12 )(2 6) (6 12 )( 6 + 12 ) (6 12 )(4 6)
(2 6)(2 6) (2 6 )( 6 + 12 )
(2 6 )(4 6)
( 6 + 12 )( 6 + 12 ) ( 6 + 12 )(4 6)
(4 6)(4 6)
(108)
19
L " L "T =
(6 12 )(6 12 )
(6 12 )(2 6) (6 12 )( 6 + 12 ) (6 12 )(4 6)
(2 6)(2 6) (2 6 )( 6 + 12 )
(2 6 )(4 6)
( 6 + 12 )( 6 + 12 ) ( 6 + 12 )(4 6)
(4 6)(4 6)
(109)
L " L "T =
36 144 + 1442 12 60 + 722
4 24 + 36 2
36 + 144 144 2
12 + 60 722
36 144 + 1442
24 84 + 722
8 36 + 362
24 + 84 722
16 48 + 362
(110)
Kj =
EI
h3
36 144 + 144 2 12 60 + 72 2
1
4 24 + 362
0
36 + 144 144 2
12 + 60 722
36 144 + 1442
24 84 + 722
8 36 + 36 2
d
24 + 84 722
16 48 + 36 2
(111)
20
Kj =
EI
h3
36 72 2 + 483 12 30 2 + 243
4 12 2 + 123
36 + 72 2 48 3
12 + 30 2 24 3
36 72 2 + 48 3
24 42 2 + 243
8 18 2 + 123
24 + 42 2 243
16 24 2 + 123
(112)
Kj =
EI
h3
36 72 + 48 12 30 + 24 36 + 72 48
4 12 + 12 12 + 30 24
36 72 + 48
24 42 + 24
8 18 + 12
24 + 42 24
16 24 + 12
(113)
EI
K j =
h3
12 6 12
4 6
12
6
2
6
(114)
21
3 2 2 3 3 2 2 3
2 3
T
LL =
2
3
1 3 + 2
+ 2 2 3
2 3
1 3 2 + 2 3
+ 2 2 3
(115)
L LT =
) (3 2 2 3 )(2 3 ) (3 2 2 3 )(1 3 2 + 2 3 ) (3 2 2 3 )( + 2 2 3 )
(2 3 )2
(2 3 )(1 3 2 + 2 3 ) (2 3 )( + 2 2 3 )
(1 3 2 + 2 3 )2 (1 3 2 + 2 3 )( + 2 2 3 )
( + 2 2 3 )2
2 2 3 2
3
(116)
a 22 a 23
T
LL =
a 33
a14
a 24
a 34
a 44
(117)
a11 = 9 4 125 + 46
(118)
a12 = 3 4 55 + 26
(119)
a13 = 3 2 23 9 4 + 125 46
(120)
22
a14 = 33 + 8 4 75 + 26
(121)
a 22 = 4 25 + 6
(122)
a 23 = 2 3 3 4 + 55 26
(123)
a 24 = 3 + 34 35 + 6
(124)
a 33 = 1 6 2 + 43 + 9 4 125 + 46
(125)
a 34 = + 2 2 + 23 8 4 + 75 26
(126)
a 44 = 2 43 + 64 45 + 6
(127)
Recall
M j = h
T
0 { L L } d
1
M j , 11 = h
(128)
4
5
6
0 { 9 12 + 4 }d
1
4
9
M j , 11 = h 5 26 + 7
7 0
5
(129)
(130)
4
9
M j , 11 = h 2 +
7
5
(131)
13
M j, 11 = h
35
(132)
156
M j , 11 = h
420
(133)
23
M j , 12 = h
4
5
6
0 { 3 5 + 2 }d
1
(134)
5
2
3
M j , 12 = h 5 6 + 7
6
7 0
5
(135)
3 5 3
M j, 12 = h +
5 6 7
(136)
11
M j , 12 = h
210
(137)
22
M j , 12 = h
420
(138)
M j , 13 = h
2
3
4
5
6
0 { 3 2 9 + 12 4 }d
1
(139)
9
4
1
M j, 13 = h 3 4 5 + 26 7
7 0
2
5
(140)
1 9
4
M j , 13 = h 1 + 2
7
2 5
(141)
9
M j , 13 = h
70
(142)
54
M j , 13 = h
420
(143)
24
M j , 14 = h
3
4
5
6
0 { 3 + 8 7 + 2 }d
1
(139)
3
8
7
2
M j, 14 = h 4 + 5 6 + 7
5
6
7 0
4
3 8 7 2
M j , 14 = h + +
4 5 6 7
(141)
13
M j , 14 = h
420
M j , 22 = h
(140)
(142)
4
5
6
0 { 2 + }d
1
(143)
1
1
1
M j , 22 = h 5 6 + 7
3
7 0
5
1 1 1
M j , 22 = h +
5 3 7
(144)
(145)
1
M j , 22 = h
105
(146)
4
M j , 22 = h
420
(147)
M j, 23 = h
2
3
4
5
6
0 { 3 + 5 2 }d
1
25
(148)
1
1
3
5
2
M j, 23 = h 3 4 5 + 6 7
4
5
6
7 0
3
(149)
1 1 3 5 2
M j , 23 = h +
3 4 5 6 7
(150)
13
M j , 23 = h
420
(151)
M j , 24 = h
3
4
5
6
0 { + 3 3 + }d
1
(152)
1
3
1
1
M j, 24 = h 4 + 5 6 + 7
5
2
7 0
4
(153)
1 3 1 1
M j , 24 = h + +
4 5 2 7
(154)
3
M j , 24 = h
420
(155)
M j, 33 = h
2
3
4
5
6
0 {1 6 + 4 + 9 12 + 4 }d
1
(156)
9
4
M j, 33 = h 2 3 + 4 + 5 26 + 7
5
7 0
9
4
M j, 33 = h 1 2 +1 + 2 +
5
7
26
(157)
(158)
156
M j , 33 = h
420
(159)
2
3
4
5
6
0 { + 2 + 2 8 + 7 2 }d
1
M j , 34 = h
(160)
1
2
1
8
7
2
M j , 34 = h 2 + 3 + 4 5 + 6 7
5
6
7 0
3
2
2
(161)
1 2 1 8 7 2
M j , 34 = h + + +
2 3 2 5 6 7
(162)
22
M j , 34 = h
420
M j , 44 = h
(163)
2
3
4
5
6
0 { 4 + 6 4 + }d
1
(164)
1
6
2
1
M j , 44 = h 3 4 + 5 6 + 7
5
3
7 0
3
1
6 2 1
M j , 44 = h 1 + +
5 3 7
3
4
M j , 44 = h
420
(165)
(166)
(167)
27
Recall
{ L"
EI 1
K j =
h3 0
M j = h
L" T d
(168)
T
0 { L L } d
(169)
12 6 12 6
4 6
2
EI
K j =
12 6
h3
(170)
156 22 54 13
4 13 3
h
Mj=
156 22
420
(171)
Example 1
Model the cantilever beam in Figure 1 as a single element using the mass and stiffness
matrices in equations (170) and (171). The model consists of one element and two nodes
as shown in Figure 3.
E1
N2
N1
Figure 3.
28
L3 12 6 12 6 y 2 420
2
4 h 2
6
6
156 22 54 13 y1
22
4
13
3 h 1
54 13 156 22 y 2
4 h 2
13 3 22
(172)
6 12 6 y1
12
6
6
4
2 h 1
=
12 6 12 6 y 2
2
4 h 2
6
6
156 22 54 13 y1
22
4
13
3 h 1
54 13 156 22 y 2
4 h 2
13 3 22
(173)
where
L4 2
=
420 EI
(174a)
420 EI
=
L4
(174b)
(175)
1 = 0
(176)
The first two columns and the first two rows of each matrix in equation (173) can thus be
struck out.
29
(177)
The eigenvalues are found using the method in Reference 2.
1 0.029715
= 2.8846
(178a)
1 0.1724
2 1.6984
(178b)
The finite element results for the natural frequencies are thus
1
=
2
420 EI 0.1724
1.6984
L4
(179)
1
=
2
3.5331
L4 34.807
(180)
EI
The finite element results are compared to the classical results in Table 1.
Table 1. Natural Frequency Comparison, 1 Element
Finite Element
Model
Classical
Solution
Index
L4
EI
L4
EI
3.5331
3.5160
34.807
22.034
30
The classical results are taken from Reference 3. The finite element results thus overpredicted the natural frequencies. Nevertheless, good agreement is obtained for the first
frequency.
Example 2
Model the cantilever beam in Figure 1 with two elements using the mass and stiffness
matrices in equations (170) and (171). Let each element have equal length.
The model consists of two elements and three nodes as shown in Figure 4.
E1
N1
E2
N2
N3
Figure 4.
There are several keys to this problem. One is that h=L/2. The other is that node N2
receives mass and stiffness contributions from both elements E1 and E2. Thus, the
resulting global matrices have dimension 6 x 6 prior to the application of the boundary
conditions.
The local stiffness matrix for element 1 is
6 12 6 y1
12
EI 6
6
4
2 h 1
(L / 2)3 12 6 12 6 y 2
6
2
4 h 2
6
(181)
The displacement vector is also shown in equation (181) for reference.
31
EI 6
6
4
2 h 2
(L / 2 )3 12 6 12 6 y 3
6
2
4 h 3
6
(182)
3 h 1
4
13
(L / 2) 22
420 54 13 156 22 y 2
4 h 2
13 3 22
(183)
3 h 2
4
13
(L / 2) 22
420 54 13 156 22 y 3
4 h 3
13 3 22
(184)
EI 12 6 24
0 12 6 y 2
(L / 2 )3 6
6
2
0
8
2 h 2
0
0 12 6 12 6 y 3
6
0
6
2
4 h 3
0
0
0 y1
156 22 54 13
22
4
13 3
0
0 h 1
0
54 13 y 2
(L / 2) 2 54 13 312
=
3 h 2
8
13
420 13 3 0
0
0
54
13 156 22 y 3
0 13 3 22
4 h 3
0
(185)
32
(186)
1 = 0
(187)
The first two columns and the first two rows of each matrix in equation (185) can thus be
struck out.
54 13 y 2
0 12 6 y 2
312 0
24
EI 0
3 h 2
8
13
6
8
2 h 2 (L / 2) 2 0
(L / 2 )3 12 6 12 6 y 3 420 54 13 156 22 y 3
4 h 3
6
2
4 h 3
13 3 22
6
(188)
Let
(L / 2) 2
420
=
EI
(L / 2)3
(189)
(L / 2)(L / 2 )3 2
420
EI
(190)
L4 2
=
6720 EI
(191a)
6720 EI
=
L4
(191b)
33
0
0
8
13
8
2 h 2
3 h 2
6
=
54 13 156 22 y 3
12 6 12 6 y 3
4 h 3
2
4 h 3
6
13 3 22
6
(192)
The eigenvalues are found using the method in Reference 2. Equation (192) yields four
eigenvalues.
1 0.0018414
0.073481
2 =
3 0.84056
4 7.0810
(193a)
1 0.042912
2 0.27107
=
3 0.91682
4 2.6610
(193b)
The finite element results for the first two natural frequencies are thus
1
=
2
6720 EI 0.042912
0.27107
L4
1
EI 3.5177
=
L4 22.221
2
(194)
(195)
34
The finite element results are compared to the classical results in Table 2.
Table 2. Natural Frequency Comparison, 2 Elements
Classical
Finite Element
Solution
Model
Index
L4
EI
L4
EI
3.5177
3.5160
22.221
22.034
(196)
3 0.0001383
4 0.00053121
(197)
35
1
2 =
3
4
1 0.00067017
2 0.0041999
=
3 0.01176
4 0.023048
(198)
0.00067017
0.023048
1
2 =
3
4
(199)
3.5160
EI 22.035
L4 61.698
120.92
(200)
The finite element results are compared to the classical results in Table 3.
Table 3. Natural Frequency Comparison, 16 Elements
Classical
Finite Element
Solution
Model
Index
L4
EI
3.5160
L4
EI
3.5160
22.035
22.034
61.698
61.697
120.92
120.90
36
Displacement
L
x
Figure 5.
Displacement
L
x
Figure 6.
37
Displacement
L
x
Figure 7.
Displacement
L
x
Figure 8.
38
Reference
1. L. Meirovitch, Computational Methods in Structural Dynamics, Sijthoff & Noordhoff,
The Netherlands, 1980.
2. T. Irvine, The Generalized Eigenvalue Problem, 1999.
3. W. Thomson, Theory of Vibration with Applications, Second Edition, Prentice-Hall,
New Jersey, 1981.
4. K. Bathe, Finite Element Procedures in Engineering Analysis, Prentice-Hall, New
Jersey, 1982.
39
APPENDIX A
Energy Method
The total strain energy P of a beam is
2
d2y
1 L
P=
EI
dx
2
2 0
dx
(A-1)
T=
1 2 L
n [ y ]2 dx
0
2
(A-2)
Again let
Y( x ) = L T
a,
( j 1)h x jh , = j x / h
1
d
Y( x ) = L' T a ,
dx
h
d2
1
Y( x ) = L" T
dx 2
h2
( j 1)h x jh , = j x / h
a,
( j 1)h x jh , = j x / h
d = dx / h
(A-3)
(A-4)
(A-5)
(A-6)
{ L"
EI 1
K j =
h3 0
L" T d
40
(A-7)
M j = h
{ L L T } d
(A-8)
The total strain energy is set equal to the total kinetic energy per the Rayleigh method. The
result is a generalized eigenvalue problem.
For a system of n elements,
K j 2 M j = 0 ,
j = 1, 2, ..., n
(A-9)
where
12 6 12 6
4 6
2
EI
K j =
12 6
h3
(A-10)
156 22 54 13
4 13 3
h
Mj=
156 22
420
(A-11)
41
APPENDIX B
(B-1)
12 6h
4h 2
EI
Kj =
h3
12
6h
6h 2h 2
12 6h
4h 2
(B-2)
4h 2 13 3h 2
h
Mj=
156 22h
420
4h 2
42
(B-3)
APPENDIX C
Free-Free Beam
Repeat example 1 from the main text with a single element but with free-free boundary
conditions.
L3 12 6 12 6 y 2 420
6
2
4 h 2
6
156 22 54 13 y1
22
3 h 1
4
13
54 13 156 22 y 2
4 h 2
13 3 22
(C-1)
6 12 6 y1
12
6
6
4
2 h 1
=
12 6 12 6 y 2
6
2
4 h 2
6
156 22 54 13 y1
22
3 h 1
4
13
54 13 156 22 y 2
4 h 2
13 3 22
(C-2)
where
L4 2
=
420 EI
(C-3)
420 EI
=
4
L
(C-4)
43
The eigenvalues are found using the method in Reference 2. Equation (C-1) yields four
eigenvalues.
1 0
0
2 =
3 1.7143
4 20
(C-5)
1 0
2 0
=
3 1.3093
4 4.4721
(C-6)
The finite element results for the first four natural frequencies are thus
1
2 =
3
4
1
2 =
3
4
420 EI 0
L4 1.3093
4.4721
EI
L4
0
0
26.833
91.652
44
(C-7)
(C-8)
The finite element results are compared to the classical results in Table C-1.
L4
EI
L4
EI
26.833
22.373
91.652
61.673
45