Mechanical Vibrations Chapter 5

The Finite Element Method

2
The finite element method

wi Principle:
vi
Subdivision of the structure into a
ui finite number of elements of simple
geometry with well-identified
z y structural behaviour (bar, beam,
membrane, plate, shell, 3-D solid, …)
x

Conditions for the interpolation functions of the displacement field:

1. Interpolation in terms of piecewise continuous functions

(generally of polynomial type).

2. The intensity parameters of these functions (i.e. the generalized

coordinates) are local values of the displacement field.

Kinematically admissible F.E. approach

3
The bar in extension

Generation of a bar element

L
x
u(x,t)
element
u1(t) , u2(t) are the connector
e
u1(t) u2(t) degrees of freedom, namely the
axial displacements at the nodes
shape functions


Displacement field in the element: u ( x, t )  u1 (t )  1 ( x)  u2 (t )  2 ( x)

Kinematic conditions: u (0, t )  u1 (t ) and u (, t )  u2 (t )

x x
 1 ( x)  1  and  2 ( x ) 
 
4
The bar in extension

In matrix form, u ( x, t )  Φe ( x) q e (t ) x  element e

 u1 (t ) 
Φ e ( x)  1  x  x  q e (t )   
u2 (t )

Kinetic energy

1  1 T    1 T
Te   m u dx  q e   m
2
mΦ TT
Nee Φ dx  q e  q e M e q e
Nee dx
2 0 2  00  2

m  2 1  Elementary mass matrix

where Me 
6 1 2 (consistent mass matrix)
5
The bar in extension

Strain energy

u ( x, t )  Φe ( x) q e (t ) x  element e
2 2
1
1   du 
du 1 1    d Φ
d TT
N ddΦNe e  1 T
 e  E 0AE A   dxdx
Vint,Ve int,   qqe e  E0 EA A
TT e e dxqqee  qe K e qe
dx
2 02  dx dx  2 2  0 dxdx dxdx  2

E A  1  1
where Ke  Elementary stiffness matrix
  1 1
6
The bar in extension

Virtual work of external forces

 generalized loads

 Vext , e   qTe p e (t )
P1(t) P2(t)

  P1 (t ) 
p e (t )   Φ X ( x, t ) dx  
T
e 
0
 P2 (t )

X0  1  P1 (t ) 
For a uniform load X 0 per unit length: pe    
2 1  P2 (t )

P1 and P2 are the sum of applied external loads and inner forces
(interaction with neighbouring elements)
7
The bar in extension

e  1 1
T
Remark: we verify that the rigid body mode u is such that:

K e ue  0

The mass associated to the rigid body mode yields the total mass of the
element

uTe M e u e  m 

The mass matrix is said to be consistent in the sense that it is obtained

from the same displacement approximation as the stiffness matrix.
8
The bar in extension

Hamilton’s principle applied to the single element e

t2  1 T 1 T  t2
      e p e dt  0
T
 q e M e q
 e q e K e q e dt q
t1
2 2  t1

Equilibrium equation at element level

e  K e q e  p e
Me q

where pe contains the a priori unknown reaction forces between element e

and its neighbours.
9
Assembly process

u0 u1 u2  uN-1 uN

Collecting the (N+1) nodal displacements in the vector

qT  u0 u1 u2  u N 

the displacements corresponding to element e may be found using

qe  Le q
Localization operator
2 x (N+1) Boolean matrix
Example:

0 0 0 0  0  0 1 0 0  0 
L1    L2   
 0 1 0 0  0   0 0 1 0  0 
10
Assembly process

By summing all the elements of the system, one has

t2 N  1 T 1 T  t2 N
 
t1
 
e 1  2
q e M e q
 e 
2
q e K e q e

dt  t1
e 1
 q e p e dt  0
T

Using qe  Le q

1 T  N T
t2  1 T N
 
   q   L e M e L e  q  q   L K e L e  q  dt
T
e
2  e1  2   
t1
e 1

T  
N
   q   L e p e  dt  0
t2
T
t1
 e1 


t2
t
1

1 T
2
1 T
 t2
q M q  q K q dt    qT p
2 t1
g dt  0
11
Assembly process

In practice

m  2 1  E A  1  1
Me  Ke 
6 1 2   1 1

Element 1 u0 (fixed)
Element 2 u1
Element 3 u2
 
Element N-1
Element N
u N 1
uN
12
Assembly process

 2 1 
 1 2  1 0 
 
E A 1 2   Stiffness matrix
K
    1 
 
 0  1 2  1
 
  1 1

 4 1 
 1 4 1 0 
 
m  1 4   Mass matrix
M
6    1 
 
 0 1 4 1
 
 1 2
13
Truss frames

5 5 6

4 8
6 
y 7 9
1 2 3 4
o x 1
structural 2 3
axes   

V2 u2 u1  U1 cos   V1 sin 
u2  U 2 cos   V2 sin 
U2 U1 
V1 u1
0   V1 
  u1  cos  sin  0
    
u2   0 0 cos  sin   U 2 
U1
V2 
q eL  R q eS
14
Truss frames

1 T 1 T
Strain energy: Vint,e  q eL K eL q eL  q eS K eS q eS
2 2
q eL  R q eS

The transformation on the stiffness matrix is thus

K eS  R T K eL R

 cos 2  
Sym.
 
E A  cos  sin  sin 2  
K e, S 
   cos 2   cos  sin  cos 2  
 2 
 cos  sin   sin 2  cos  sin  sin  
15
Truss frames

Kinetic energy:
1 
 
1 
 
Te   m u  v dx   m U 2  V 2 dx
2 0
2 2
2 0

The mass matrix is invariant under frame transformation

2 
0 2 
m  
M e, S 
6 1 0 2 
0 1 0 2
 
16
Truss frames

Assembly process
q7 5 q9
structural q6 q8
axes 4 8
y 6
7 9
q2 q4
o x 1 q1 q3 q5
2 3

a. Vector of structural displacements

qT  U 2 V2 U 3 V3 U 4 U 5 V5 U 6 V6 
 q1 q2 q3 q4 q5 q6 q7 q8 q9 
17
Truss frames

b. Localization table of each element

position of the degree of freedom qe,j

locel (e, j ) 
in structural vector q

element locel table

q7
1 0 0 1 2
5 q9
2 1 2 3 4
q6 q8 3 4 5 0
3
4 8
6 4 0 0 6 7 
7 9
5 6 7 8 9
q2 q4 6 8 9 5 0
1 q1 2 q3 3 q5 7 1 2 6 7 
8 1 2 8 9
9 3 4 8 9
18
Truss frames

c. Construction of the elementary stiffness and mass matrices

K eS M eS

d. Assembly of the structural matrices using the localization vectors

K M

e. Solution of the eigenvalue problem

K q  2 M q
19
Truss frames

Results

r m 2 mode 1
r
2 EA
1 3.428  10 2
2 5.810  10 2
3 8.901 10 2
2
mode 2
4 12.15  10
5 19.47  10 2
6 23.42  10 2
7 23.96  10 2 mode 3
8 24.67  10 2
9 33.27  10 2
20
Beams in bending without shear deflection

Generation of a beam element (no pre-stress)

z, w L
p ( x, t )
x

w2
w1 Y1 Y2 connectors
w

x x

0 1 

2
1 L  w
2
Vint   E I  2  dx
2 0  x 
21
Beams in bending without shear deflection

Approximation of the displacement field in the element:

w( , t )  w1 1 ( )   1  2 ( )  w2  3 ( )  2  4 ( )

w( , t )  Φe ( ) q e (t )

1 (0)  1 1' (0)  0 1 (1)  1' (1)  0

di
where i 
'
Kinematic conditions : 2 (0)  0 2' (0)   2 (1)  2' (1)  0 d
3 ( )  1 (1   ) 4 ( )  2 (1   )

Third-order Hermitian polynomials

22
Beams in bending without shear deflection

So we get the matrix of shape functions

1  3  2  2  3 
 2 
   1    
Φe ( ) 
T
  2 3  2   
 
     1 
2

associated with the element degrees of freedom

qTe  w1  1 w2  2 
23
Beams in bending without shear deflection

Kinetic energy (neglecting rotational energy)

1 
1 T 1 
Te 
 
 A w dx  q e   m( ) Φe Φe d  q e
2 T

2 0 2  0 

1 T 1
Te  q e M e q e where
2 
M e   m( ) ΦTe Φe d
0

 156 22  54  13  
 22  4  2
13   3 2 
m  
Elementary mass matrix: Me 
420  54 13  156  22  
 13   3  2  22  4  2 

 24
Beams in bending without shear deflection

Strain energy
w( , t )  Φe ( ) q e (t )   element e

  w  d 1 T  1  d 2Φe  
2 T
1 1 2
1  d Φe 
2
Vint, e   E I  2  3  q e 3 0 E I ( )  d 2    d q e
2 
2 0     2   d  

T
1 T 1 1  d Φe 
2
 d 2Φ e 
Vint,e  q e K e q e where K e  3
2  0 E I ( )  d 2   2 
 d 
 d

 12 6   12 6 
 2 2
E I  6  4  6  2  
Elementary stiffness matrix: Ke  3
  12  6  12  6  
 6  2 2  6  4 2 
 
25
Beams in bending without shear deflection

It is easily verified that the stiffness matrix has one translational rigid body
mode:

uT(1)  1 0 1 0

and one rotational rigid body mode:

   
u T
( 2)   1 1
 2 2 

which are associated to the translation and rotatory inertias:

m 3
u M u (1)  m 
T
(1) and uT( 2 ) M u ( 2 ) 
12
26
Beams in bending without shear deflection

Virtual work of external forces

generalized loads

 Vext , e   qTe p e (t )

1
p e (t )    ΦTe ( ) p ( , t ) d
0

p0    
For a uniform load p0 per unit length: p  1  
T
e 1
2  6 6
27
The beam clamped at both ends

Two finite element model

w2
1 Y2 2
1 2 3
 
Localization vectors: element 1: {0 0 1 2} element 2: {1 2 0 0}

Assembled mass and stiffness matrices

E I 24 0  m  312 0 
K  2 M
3  0 8   420  0 8  2 

Solution of the eigenvalue problem ( L  2 )

EI
 12  516.92 qT(1)  1 0
m L4
EI
2
 2  6720 qT( 2)  0 1
m L4
28
The beam clamped at both ends

Three finite element model

w2 w3
Y2 Y3

1 1 2 2 3 3 4
  
Localization vectors
element 1 : {0 0 1 2} element 2 : {1 2 3 4} element 3 : {3 4 0 0}

Assembled mass and stiffness matrices

 24 0 12 6    312 0 54 13  
 2 2  2 2
EI 0 8   6  2  m  0 8  13   3 
K 3   M 
  12 6  24 0  420  54 13  312 0 
   
2 2 2 2
 6  2  0 8    13  3  0 8  
29
The beam clamped at both ends

Solution of the eigenvalue problem ( L  3 )

EI
 12  504.67 qT(1)  1 1.061  1  1.061 
m L4
EI
 22  3956.9 qT( 2)  1  0.798   1  0.798  Symmetric modes
m L4
EI
 23  21405 qT(3)  1  15.39  1 15.39 
m L4
EI
 24  84537 qT( 4)  
m L4
m L4
Comparison of the results  2
r
EI
r 2 elements 3 elements exact
1 516.92 504.67 500.55
2 6 720.0 3 956.9 3 803.1
3  21 405.0 14 620.0
4  84 537.0 39 944.0
30
Three-dimensional beam element

Element generation (without shear deflection)

y
Local x 2
axes
v u
y O’x : neutral axis
x z
Z w
1 z O’y, O’z : principal inertia axes
Y
O’
O X 3
Structural axes

In the context of the kinematic Bernoulli assumptions for beams with no

shear deflection



1    2
v 
2
  2
w 
2
 u 
2
  
2

Vint,e  E I    E I y  2   E A    G J x  x
  dx
z  2 
2   x   x   x   x  
0 
31
Three-dimensional beam element

(without shear deflection)

y
Local x 2
axes
v u
y
x z
Z w
Y 1 z
O’
O X 3
Structural axes

Element degrees of freedom (expressed in local axes)

qTeL  u1 v1 w1  x1  y1  z1 u2 v2 w2  x 2  y 2  z 2 

v w
with z  and  y  
x x
32
Three-dimensional beam element

(without shear deflection)

1 T
Vint,e  q eL K eL q eL K eL  
2

 

Te 
1
2

m u  v  w dx 
2 2 2

1
2
m rt 2  x2 dx
0 0

1 T
Te  q eL M eL q eL M eL  
2
33
Three-dimensional beam element

Coordinate transformations (without shear deflection)

z2
local W2 y2
z1 axes 2 V2
y x
W1 U2
Z z
x2
1 V1 y1
Y   
U1 Directions ex , e y , ez
O x1 3
X   X 2  X 1 Y2  Y1 Z 2  Z1 
1. ex   
      
 d3  d 2 
2. e y    where d i   X i  X 1 Yi  Y1 Z i  Z1 
d3  d 2
  
3. ez  ex  e y
34
Three-dimensional beam element

(without shear deflection)

4. Rotation operator describing the frame transformation

     
xxi   e X  ex eY  ex eZ  ex  XXi  XXi 
              i  1, 2
yyi   e X  ey eY  e y eZ  e y  Yi   R eYYi
zz         ZZ  ZZ
 i   eX  ez eY  ez eZ  ez   i   i 
35
Three-dimensional beam element

(without shear deflection)

5. Coordinate transformations

 ui  U i   xi   X i 
        i  1, 2
 vi   R e Vi  and  yi   R e  Yi 
w  W     
 i  i  zi   Zi 

Element degrees of freedom (expressed in structural axes)

R e 0 0 0
0 Re 0 0 
q eL  Te q eS Te  
0 0 Re 0
 
0 0 0 Re 

qTeS  U1 V1 W1  X 1  Y 1  Z 1 U 2 V2 W2  X 2  Y 2  Z 2 
36
Three-dimensional beam element

(without shear deflection)

Stiffness and mass matrices of the element expressed in structural axes

K eS  TeT K eL Te and M eS  TeT M eL Te

37
Example: Three-dimensional portal frame

Properties of vertical beams:

3
A  5.14 10 m 2
J x  1.73 107 m 4
b 6
I y  6.90 10 m 4
I z  8.49 105 m 4

b Properties of horizontal beams

A  5.68 103 m 2 J x  1.76 107 m 4

a 4
I y  1.20 10 m 4
I z  7.30 106 m 4
a
The material is steel:
Z
X E  2.1 1011 N / m 2   0.3   7.8 103 kg / m3
Y
a  5.49 m b  3.66 m
38
Example: Three-dimensional portal frame

Mode 1 (3.08 Hz) Mode 2 (4.65 Hz)

7
6 6

5
4 4

3
2 2

1
0
0
6
6 4 4
4
4 2
2 2
2
0 0
0 0

Mode 3 (7.87 Hz) Mode 4 (8.23 Hz)

7
7
6
6
5
5
4
4
3
3
2
2
1
1
6 0
0
4 6 4
4 4
2 2 2
2
0 0 0 0
39
Beams in bending with shear deformation

A solution to build a more efficient finite element model is to use statically

admissible elements i.e. to build a model with a statically exact stiffness
matrix.

 12 6  12 6 
 6  (4   )  2  6  (2   )  2 
EI 
Ke  3
 (  1)  12 6  12 6  
 2
 6  ( 2   )  2
 6  (4   )  

12 E I
with the definition of the shear parameter:  
k  A G 2
40
Beams in bending with shear deformation

In which case, the model has to be complemented with a mass matrix

which is not consistent in the variational sense.

M e  M trans  M rot

 156 22  54  13  
 4 2 13   3  2 
m   22 
M trans 
420  54 13  156  22  
 
  13   3  2
 22  4  2 

 36 3   36 3  
2  2
mr  3  4  2
 3    
M rot 
30   36  3  36  3  
 2
 3   3 4  
2