Beruflich Dokumente
Kultur Dokumente
of Mechanical Engineering
COURSE MATERIAL
UNIT I INTRODUCTION 9
Historical Background – Mathematical Modeling of field problems in Engineering – Governing
Equations – Discrete and continuous models – Boundary, Initial and Eigen Value problems– W eighted Residual
Methods – V ariational Formulation of B oundary Value P roblems – RitzTechnique – Basic concepts of the
Finite Element Method.
TEXT BOOK:
1. Reddy. J.N., “An Introduction to the Finite Element Method”, 3rd Edition, Tata McGraw-Hill,
2005
2. Seshu, P, “Text Book of Finite Element Analysis”, Prentice-Hall of India P vt. Ltd., New Delhi,
2007.
REFERENCES:
1. Rao, S.S., “The Finite Element Method in E ngineering”, 3rd Edition, Butterworth Heinemann,
2004
2. Logan, D.L., “A first course in Finite Element Method”, Thomson Asia P vt. Ltd., 2002
3. Robert D. Cook, David S. Malkus, Michael E. Plesha, Robert J. Witt, “Concepts and
Applications of Finite Element Analysis”, 4th Edition, W iley Student Edition, 2002.
COURSE OBJECTIVE
Course Outcome
1.Develop the governing equations for systems governed using differential equation.
2.Develop elemental stiffness matrices for spring, truss, beam ,plane stress and plane strain
problems
3.Apply suitable boundary conditions to solve complex engineering problems
4.Apply shape function formulations in linear, quadratic, and cubic for interpolation.
5.Apply Global ,Local, natural coordinates for isoparametric elements
6.Recognise possible source of errors in FEA
Prepared by Verified By
M.VISWAM HOD
AP/ MECH
Approved by
PRINCIPAL
UNIT I
“Element” Si
i
R
Discretization of structure
Numbering of Nodes and Elements
Selection of Displacement function or interpolation function
Define the material behavior by using Strain – Displacement and Stress – Strain
relationships
Derivation of element stiffness matrix and equations
Assemble the element equations to obtain the global or total equations
Applying boundary conditions
M.I.E.T/Mech/ III /FEA
M.I.E.T. ENGINEERING COLLEGE/ DEPT. of Mechanical Engineering
Solution for the unknown displacements computation of the element strains and stresses
from the nodal displacements
Interpret the results (post processing).
(L)=0, (L)=0,
0=a0+0
a0=0
nd
Apply 2 boundary condition
x=0, =0
a1=0
rd
Apply 3 boundary condition
x=L, =0
2
a2=-[3a3L+6a4 L ]
th
Apply 4 boundary condition
x=L, =0
a3=-4a4L
2 2 3
= a4[6 L (2x)-12 Lx + 4x ]
=24 a4
−qo =0
R= EI
a4=
Substitute a4 values in u(x)
2
u(x) = [x4-4Lx3 +6L x2]
Result:
2
Final solution u(x) = [x4-4Lx3 +6L x2]
Proble m 2
The differential equation of a physical phenomenon is given by
+ = 4, 0 ≤ ≤1
EI - 0
After understanding the basic techniques and successfully solved a few pro blem
general weighted residual statement can b e written as
The better result will be obtained by considering more terms in polynomial and trigonometric series.
Two nodes: i, j
Nodal displacements: u i, u j (in, m, mm)
Linear
F Nonlinear
Note:
That k is symmetric. Is k singular or non singular? That is, can we solve the
equation? If not, why?
Proble m 4
To find the deformation of the shape
X
K1 K2
u1 F1 u2 F2 u3F3
1 2 3
For element 1,
k k u f
1 1 2 1
2
k k u f2
1 1 3 2
element 2,
k2 k2 u2 f 22
k2 k2 u3 f
where f
I at node 2 F2
M is the (internal) force acting on local node i of element Consider the quilibrium of
forces at node
Checking the Results
The finite element method can be used to solve a variety of problem types in engineering,
mathematics and science. The three main areas are mechanics of materials, heat transfer and fluid
mechanics. The one-dimensional spring element belongs to the area of mechanics of materials,
since it deals with the displacements, deformations and stresses involved in a solid body subjected
to external loading.
Element dimensionality:
The geometric shape of element can be represented as a line, area, or volume. The one-
dimensional spring element is defi ned geometrically as:
Spring law
The spring is assumed to b e linear. Force (f) is directly proportional to deformation (Δ) via the
spring constant k, i.e.
Degrees of freedom are displacements and/or rotations that are associated with a node. A one-
dimensional spring element has two translational degrees of freedom, whi ch include, an axial
(horizontal) displacement (u) at ea ch node.
Element formulation
There are various ways to mathematically formulate an element. The simplest and limited
approach is the direct method. More mathematically complex and general ap proaches are energy
(variation) and weighted residual methods.
The direct method is an excellent setting for becoming familiar with such basis concepts of
linear algebra, stiffness, degrees of freedom, etc., before using the mathematical formulation
approaches as energy or weighted residuals.
Assumptions
Spring deformation
f= k
Spring Behaviour:
Spring Stiffness:
Spring stiffness k is always positive, i.e., k>0, for a physical linear system.
Nodal Force Direction:
Loading is uniaxial, i.e., the resultant force is along the element. Spring has no resistance to
lateral force.
Weightless Member:
Node Location:
The geometric location of nodes I and J cannot coincide, i.e., x i ≠ xj. The length of the element
is only used to visually see the spring.
Example, uI = 1, uJ = 0.
Inter-Element Deformation
The deformation (Δ) is pi ecewise constant through the assembled mesh and is described by a
constant within each element. Ea ch element in the mesh may be described by a different constant,
depending on the spring constant ( k), external loading, and constraints on the elem ent.
The internal axial force (f) is piecewise continuous through the ass embled mesh and is
described by a constant within eac h element. Each element in the mesh may be de scribed by a
different constant, depending on the spring constant, external loading, and constraints on th e element.
A body is considered rigi d if it does not deform when a force is applied. Consider rigid and
non-rigid bars subjected to a graduually applied axial force of increasing magnitud e as shown.
The reader should note the followiing characteristics of rigid and non-rigid (flexib le) bodies:
Force Magnitude - Even if forces are large, a rigid body does not deform. A non-rigid body will
deform even if a force is s mall. In reality, all bodies deform.
Failure - A rigid body does not fail under any load; while a non-rigid bod y will result either in
ductile or brittle failure w hen the applied load causes the normal stress t o exceed the breaking
(fracture) stress b of the material. Brittle failure occurs when the applied load on the non-rigid
bar shown above causes the breaking strength of the bar to be exceeded.
Material - The material is not considered in a rigid body. Since a rigid bod y does not deform (
= 0) this is equivalent to an infinite modulus of elasticity. In contrast the modulus of elasticity
6
for a non-rigid material is finite, e.g., for steel, Esteel = 30 x 10 psi. (20 0 GPa). For rigid and
non-rigid bars the material laws are:
A rigid body in general can be subjected to three types of motion, w hich are translation,
rotation about a fixed axis, and general motion which consists of a combination o f both translation and
rotation. These three motion types are as follows:
Translation - If any line segment on the body remains parallel to its ori ginal direction during
the motion, it is said to be in translation. When the path of motion is along a strai ght line, the motion is
called rectilinear translation, while a curved path is considered as a curvilinear translation. The
curvilinear motion shown below is a combination of two translational motions, o ne horizontal motion
and one vertical motion.
Rotation About a Fixe d Axis - If all the particles of a rigid body mov e along circular paths,
except the ones which lie on the axis of rotation, it is said to be in rotation ab out a fixed axis.
General Motion - Any motion of a rigid body that consists of the combination of both
translations
There are six rigid bo dy modes in general three-dimensional situati on; three translational
along the x, y, and z axes and three rotational abo ut x, y, and z axes. Illustratio ns of these rigid body
modes are presented as follows:
Translational Rotational
Rigid Body Modes Rigid Body Modes
Proble m 6
A single 1-D 3-noded quadratic bar element has 3 nodes with local coordinates as shown in
Figure
e
u
1 u 2 2 3 u Note that node 2 is at the midpoint of
1 3
the element.
x0 x l xl
2
2
The chosen approximation function for the field variable u is u a bx cx
Let the field variable u have values u1 , u2 and u3 at nodes 1, 2 and 3, respectively.
at x 0, u u1 u1 a a u1
l l 2 b u3 4u 2 3u1
at x l , u u u 2 a b +c l
2
2 solving
2 4
2
2 u 3 2u 2 u 1
2
at x l , u u3 u a bl cl c
1 l
Substituting the values of a, b and c in equation (1) and collecting the coefficients of u1 , u 2 and
u3 u N1u1 N 2 u 2 N 3u3
2 x 2 x N 1 3 4 x
N 13 x 2x 1 1
2
1 l l
l l x l l2
N x x x N 2 4
x2 4 1 8 x2
Wh ere 2 4 l 4 l 2 x l
l l l
2 x 2 x N 3
N x 2 x 1
1 4 x
3 l l2 l l x l l2
Derivation of stiffness matrix for 1-D 3-noded quadratic bar element:
3 x
l 4 l 2
T 4 x
B 8 2
l
l
1 x
4 2
l l
D E for a bar element (1-D case - only axial stress x and strain x exist x E x )
dV Adx A dxsince the cross-sectional area A is constant for the total length of the bar.
l l
volume 0 0
3 x
l 4 l 2
l 4 x 3 x 4 x 1 x
k A 8 2 E 4 2 8 2 4 2 dx
0 l l l l l l l l
1 x
4 2
l l
3 x 3 x 3 x 4 x 3 x 1 x
4 2 4 2 4 2 8 2 4 2 4 2
l l l l l l l l l l l l
l 4 x 3 x 4 x 4 x 4 x 1 x
k AE 8 2 4 2 8 2 8 2 8 2
4 2 dx
0 l l l l l l l l l l l l
1 x 3 x 1 x 4 x 1 x 1 x
4 2 4 2 4 2 8 2 4 2 4 2
l l l l l l l l l l l l
k BT D B dV
Volume
To determine K11 :
0 l l l l
l 0 l3 l
3
l
4
Integrating and applyin g limit we get,
l 9 24 x 16 x 2 9x 24 x 2 16 x 3 l 9l 24 l 2 16l3
AE 2 4
K
11 3 4 dx AE 2 3 AE 2 3 4
0 l l l l 2l 3 l 0 l 2l 3l
9 12 16 27 36 16 AE
AE 7
K
11 AE
l l 3 l 3 l 3l
K 7 AE
11
3l
To determine K 12 and K 21 :
l l
K AE 3 4 x 4 8 x dxAE 12 24 x 16 x 32x 2 dx
12 2 2 2 3 3 4
0 l l l l
3 l
0 l l l l
12 x 40 x 2 32x
K
12 AE
2 3 4
l 2l 3l0
3 l 2 3
K 12 x 40 x 2 32 x 12l 40l 32l 12 20 32
12 AE 2 3 4 AE 2 3 4 AE AE
l 2l 3l 0 l 2l 3l l l 3l
K
12 AE 8 K21
3l
To determine K 13 and K 31 :
2
K AE 3 4 x 1 4 x dx AE l 32 12 x 4 x 16x
l
dx
13 2 2 3 3 4
0 l l l l 0 l l l l
2 2 3 l 2 3
l 3 16 x 16 x 3 x 16 x 16 x 3l 16 l 16 l 3 8 16
K13 AE dx AE AE AE
2 3 4 2 3 4 2 3 4
0 l l l l 2l 3 l 0 l 2l 3 l l l 3l
K AE 9 24 16 AE 1 K
13 31
3l 3l
To determine K 22
l
K AE l
4 8 x 4 8 x dx AE 16 32 x 32 x 64x 2 dx
22 2 2
2 3 3 4
0 l l l l 0
l ll l
64 x 2 3 l
l 16 64 x 16 x 64 x 2 64 x
AE 2 3 4
K
22 4 dx AE 2 3
0 l l l l 2l 3l 0
2 3
K AE 16l 64l 64l AE 16 32 64 AE 48 96 64 AE 16
22 2 3 4
l 2l 3l l l 3l 3l 3l
K 22 16 AE
3l
To determine K 23 and K 32
l 4 24 x 32 x 2 4 x 24 x 2 32x 3 l
AE 2 3 4 dx 2 4
K
23 AE 3
0 l l l l 2l 3 l 0
2 3 12 36 32 AE
K AE 4l 24l 32l AE 4 12 32 AE 8
23 2 3 4
l 2l 3l l l 3l 3l 3l
K 8AE K
23 32
3l
To determine K 33
l
4 x 1 4 x
12 4 3x 4 x 16x
2
l
K 33 AE
1
dx AE 3 dx
2 2 4
l l l l l l l l
0 0
2
K AE l 4 8 x 1 4 x dx AE l 4 16 x 8 x 32x dx
23 2 2 2 3 3 4
0 l l l l 0 l l l l
l 1 8 x 16 x 2 x 8 x2 16x 3 l
AE 2 4 dx AE
K
33 3 2 3 4
0 l l l l 2l 3 l 0
Kl 8l
2 3
16l 1 4 16 3 12 16 AE
33 AE 2 2l 3 3l 4 AE l AE
3l 3l 7
M.I.E.T/Mech/ III /FEA
M.I.E.T. ENGINEERING COLLEGE/ DEPT. of Mechanical Engineering
l
l 3l
K 7 AE
33 3l
7 8 1
k AE
Assembling, we get 8 16 8
3L
1 8 7
Potential energy is the capacity to do the work by the force acting on deformable bodies; the
forces acting on a body may be classified as external force s and internal forces. External forces are the
applied loads while internal force is the stresses developed in the body. Hence the total potential
energy is the sum of internal and external potential energy.
Consider a spring mass system let its stiffness be k and length L, due to a force P let it extend
by u
The load P moves down by distance u. hence it loses its capacity to do work by P u.
the external potential energy in this case is given by.
H = -P u
Average force =
The energy stored in the spring due to strain = Average force x Deflection
= xu
2
= Ku
2
Total potential energy in the spring = Ku -Pu
= U+H
=+
In principle of virtua l
Hence we can conclude that a deformable body is in equilibrium when the potential energy
is having stationary value.
Hence the principle of minimum potential energy states among all the displacement equations
that internal compatibility and the boundary condition those that also satisfy the equation of
equilibrium make the potential energy a minimum is a stable system
Proble m 7
k1 k2 P k
3
x
1 2 3 4
k1 100 N / m m,
k
2 200 N / m m,
k 3 100 N / mm
P 500 N,
u
10
l
u 40
i
Find: (a) The global stiffness matrix
(b) Displacements of nodes 2 and 3
(c) The reaction forces at nodes 1 and 4
(d) the force in the spring 2
Solution: t
100 100
k
1 (N/mm) (1)
100 100
200 200
k2 (N/mm) (2)
200 200
100 100
k3 (N/mm) (3)
100 100
u u u u
1 2 3 4
100 100 0 0
0 100 100
u1 F1
100 100 0 0
0 0 100 100 u4 F4
300 200 u2 0
(5)
200 300 u3 P
Solving Eq.(5), we obtain
2
u2 (6)
P / 250 (mm)
3
u3 3 P / 500
st th
(c) From the 1 and 4 equations in (4), we get the reaction forces
200 200 ui fi
200 200 u j fj
Proble m 8
4 k4
F1
k1 1
2
4 1 k2 k3 F2
For the spring system with arbitrarily numbered nodes and elements, as
shown above, find the global stiffness matrix.
Solution:
First we construct the following
Ele ment Connectivity Table
Which specifies the global node numbers corresponding to the local node numbers for
each element? Then we can write the element stiffness matrices as follows
u u u u
4 2 2 3
k1 k1 k2 k2
k k 2
k1 k1 k2 k2
u3 u5 u2 u1
k k k
3 3 4
k
4
k3 k 4
k k
k k
3 3 4 4
Finally, applying the superposition method, we obtain the global stiffness matrix as
follows
We may note that N1 and N2 obey the definition of shape function that is the shape
function will have a value equal to unity at the node to which it belong and zero value at other
nodes.
u1 u2 u3 u4 u5
k4 k4 0 0 0
k4 k1 k2 k4 k2 k1 0
K0 k2 k2 k3 0 k3
0 k1 0 k1 0
0 0 k3 0 k3
Problems (I set)
1. A simply supported beam subjected to uniformly distributed load over entire span.
Determine the bending moment and deflection at midspan by using Rayleigh –
Ritz method and compare with exact solutions.
2. A bar of uniform cross section is clamed at one end and left free at another end
and it is subjected to a uniform axial load P. Calculate the displacement and stress
in a bar by using two terms polynomial and three terms polynomial. Compare with
exact solutions.
1.9 ADVANTAGES OF FINITE ELEMENT METHOD
1. FEM can handle irregular geometry in a convenient manner.
2. Handles general load conditions without difficulty
3. Non – homogeneous materials can be handled easily.
4. Higher order elements may be implemented.
UNIT II
Bar and beam elements are considered as One Dimensional elements. These
elements are often used to model trusses and frame structures.
Bar is a member which resists only axial loads. A beam can resist axial, lateral
and twisting loads. A truss is an assemblage of bars with pin joints and a frame is an
assemblage of beam elements.
Types of Loading
(1) Body force (f)
It is a distributed force acting on the surface of the body. Unit is Force / Unit
area. But for one dimensional problem, unit is Force / Unit length. Ex: Frictional
resistance, viscous drag and Surface shear.
CO – ORDINATES
(A) Global co – ordinates,
(B) Local co – ordinates and
(C) Natural co –ordinates.
Natural Co – Ordinate (ε)
Integration of polynomial terms in natural co – ordinates for two dimensional
elements can be performed by using the formula,
Shape function
N 1N2N 3 are usually denoted as shape function. In one dimensional
problem, the displacement
u = N i ui =N1 u1
For two noded bar element, the displacement at any point within the
element is given by,
u = N i ui =N1 u1 + N2 u2
For three noded triangular element, the displacement at any point
within the element is given by,
u = Ni ui =N1 u1 + N2 u2 + N3 u3
v = Ni vi =N1 v1 + N2 v2 + N3 v3
Shape function need to satisfy the following
(a) First derivatives should be finite within an element; (b) Displacement should
be continuous across the element boundary
Polynomial Shape function
Polynomials are used as shape function due to the following reasons,
(1) Differentiation and integration of polynomials are quite easy.
(2) It is easy to formulate and computerize the finite element equations.
(3) The accuracy of the results can be improved by increasing the order of
Types of beam
1. Cantilever beam,
2. Simply Supported beam,
3. Over hanging beam,
4. Fixed beam and
5. Continuous beam.
Degrees of Freedom
Degrees of freedom are defined as the number of independent coordina tes necessary to
specify the configuration of a system. The degrees of freedom for a general situation consists of
three translations in t he x, y, and z directions and three rotations abou t the x, y, and z axes. A
one-dimensional beam element has four degrees of freedom, which include, a
vertical displacement and a rot ation at each node.
Assumptions
Forces and moments can only be applied at the nodes of the beam element, not
between the nodes. The nodal forces and moments, , are related to the noda l
displacements and rotations, through the ele ment stiffness matrix, .
Constant Load
The loads that are appli ed to the beam element are assumed to be stat ic and not to
vary over the time period being considered, this assumption is only valid if the r ate of
change of the force is much less than th e applied force (F >> dF/dt). If the loads vary
significantly, (if the variation in load is not much less than the applied force) then the pro
blem must be considered as dynamic.
Weightless Member
The weight (W) of the beam is neglected, if it is much less than the total resultant
forces (F) acting on the beam. If the weight of the beam is not neglected, then its effects
must be represented as vertical forces acting at the nodes, by dividing up the weight and
lumping it at the nodes, proportionally according to it's placement along the beam.
Prismatic Member
The beam element is assumed to have a constant cross-section, which m eans that the
cross-sectional area and the mom ent of inertia will both be constant (i.e., the be am element is a
prismatic member). If a bea m is stepped, then it must be divided up into sections of constant
cross-section, in order to obtain an exact solution. If a beam is tape red, then the beam can be
approximated by us ing many small beam elements, each having the same cross-section as the
middle of the tap ered length it is approximating. The more sections that are used to
approximate a tapered be am, the more accurate the solution will be.
Where (Iz) refers to the moment of inertia, resisting bending about the "z" axis and (Iy)
about the "y" axis.
A beam is assumed to be a slender member, when it's length (L) is moree than 5
times as long as either of it's cross-sec tional dimensions (d) resulting in (d/L<.2). A beam
must be slender, in order for the beam equations to apply, that were used to derive our FEM
equations.
Axially Rigid
The one-dimensional bea m element is assumed to be axially rigid, mean ing that
there will be no axial displacement ( u) along the beams centriodal axis. This implies that
forces will only be applied perpendicular to the beams centriodal axis. The one -dimensional
beam element can be used only when the degrees of freedom are limited to vertical
displacements (perpendicular to the beams centriodal axis) and rotations in one plane. If
axial displacements are present then a one-dimen sional bar element must be superimposed
w ith the one-dimensional beam element in ordder to obtain a valid solution.
Homogenous Material
A beam element has the s ame material composition throughout and there fore the same
mechanical properties at every position in the material. Therefore, the modulus of elasticity E is
constant throughout the beam element. A member in which the material properties varies from
one point to the next in t he member is called inhomogenous (non-homo genous). If a beam is
composed of different ty pes of materials, then it must be divide up into elements that are each
of a single homogeneous material, otherwise the solution will not be exact.
Isotropic Material
A beam element has the same mechanical and physical properties in all directions,
i.e., they are independent of dir ection. For instance, cutting out three tensile test specimens,
one in the x-direction, one in t he y-direction and the other oriented 45 degre es in the x-y
plane, a tension test on each s pecimen, will result in the same value for th e modulus of
elasticity (E), yield strength and ultimate strength . Most metals arre considered
isotropic. In contrast fibrous m aterials, such as wood, typically have properties that are
directionaly dependant and are generally considered anisotropic (not isotropic).
It is assumed that the b eam element is initially straight and unstressed. It is also
assumed that the material does n ot yield, therefore the beam will be straight af ter the load is
released. These assumptions me an that the beam must be made of an elastic material, one
which will return to it's original size and shape when all loads are removed, if not stressed past
the materials elastic or proportional limit. It is also assumed that the beam is not stressed past
the proportional limit, at w hich point the beam will take a permanent set and will not fully
return to it's original size an d shape, when all loads are removed. Below th e proportional limit
an elastic material is in the linear elastic range, where the strain ( ) varies linearly with
the applied load and the stress ( ) varies linearly according to: , where E is the
modulus of elasticity.
Rigid body motion occurs when forces and/or moments are applied to an unrestrained
mesh (body), resulting in motio n that occurs without any deformations in th e entire mesh
(body). Since no strains (defor mations) occur during rigid body motion, there can be no
stresses developed in the mesh. In order to obtain a unique FEM solution, rigid body motion
must be constrained. If rigid b ody motion is not constrained, then a singul ar system of
equations will result, since the determinate of the mesh stiffness matrix is equal to zero (i.e.,
).
There are two rigid body modes for the one-dimensional beam element , a translation
(displacement) only and a rotation only. These two rigid body modes can occu r at the same
time resulting in a displacement and a rotation simultaneously. In order to e liminate rigid body
motion in a 1-D beam elem ent (body), one must prescribe at least two no dal degrees of
freedom (DOF), either two displacements or a displacement and a rotation. A DOF can be equal
to zero or a non-zero know n value, as long as the element is restrained fro m rigid body motion
(deformation can take pl ace when forces and moments are applied) .
For simplicity we will in troduce the rigid body modes using a mesh c omposed of a
single element. If only translatio nal rigid body motion occurs, then the displaceement at local
node I will be equal to the displacement at local node J. Since the displacem ents are equal
there is no strain developed in t he element and the applied nodal forces cause the element to
move in a rigid (non-deflected) vertical motion (which can be either up as show n below or it
can be in the downward directio n depending on the direction of the applied force s).
This rigid body mode can be suppressed by prescribing a vertical nodal displace ment.
If rotational rigid body m otion occurs, then the rotation at local node I will be equa l
to the rotation at local node J (i.e., in magnitude and direction). In this situation th e nodal
forces and/or moments applied to the element, cause the element to rotate as a rigid body
(either clockwise as shown below or c ounterclockwise depending on the direction o f the
applied forces and/or moments).
This rigid body mode can be suppressed by prescribing a nodal translation or rotation.
Dependent
Unstable and
Equations
Unstable Dependent
Equations
Dependent
Unstable
Equations
Independen
Stable None
t Equations
Independen
Stable None
t Equations
A single 1-d 2-noded c ubic beam element has two nodes, with two degrees of
freedom at each node (one vertic al displacement and one rotation or slope). The re is a
total of 4 dof and the displacement polynomia l function assumed should have 4 terms, so
we choose a cubic polynomial for the vertical deflection. Slope is a derivative of the
vertical deflections.
2
The slope dv b 2cx 3dx … … … … … … … ..(2)
dx
at x 0, v v1 v1 a a v1
at x 0, 1 1 b b 1
3 1
c l 2 v 2 v 1 l 2 1 2
2 3
at x l , v v2 v 2 a bl cl +dl
solving
at x l , 2 b 2cl 3dl
2
d 2 v 1 v 2 1 1 2
2 3 2
l l
Substituting the values of a , b, c and d in equation (1), and collecting the coefficients
of v1 ,1 , v2 ,2 we obtain
v N1 v1 N 2 1 N 3 v3 N4 2
where
N 1 3 x2 2x3 , N x 2 x x ,
2 3
1 l2 l3 2 l l2
N 3x 2 2 x 3 , N x 2 x32
2 3 l l
3 l l 4
dx R
R
2
x R dx
v N 1v1 N 2 1 N 3v2 N 4 2
2 2
d v d
x y 2 y 2 N 1v1 N 21 N 3v 2 N4 2
dx dx
v 1
d N 4 1
2 2 2 2
d Nd N 2
d N3
x y dx 2 dx v
1
2 2 2
dx dx
2
2
B a
x B a
We Know that,
K B T D B dv
v
2
d N
2 1
dx
d 2 N 2
2 2 2
dx 2 d N
2
d N2 d N3 d N
K y 2
E y 2
1
2 2 2
4
dv
volume d N3 dx dx dx dx
2
dx
d 2 N 4
2
dx
2 2 2 2 2 2 2 2
d N d N d N d N d N d N d N
1 1 4
2 2 2
2
1 3 1
2 2 2 2
dx dx dx dx dx dx dx
2 2 2 2
d N d N d N 2 2
2 d N 2 d N3 d 2 N 2 d 2 N 4
2 2
2
2
1
2 2 2 2
dx dx dx dx
d N 4 2
2 2 2 2
d N 4 d N d N d 2 N 2 d N 4 d 2 N
2
2 2 2 2 2
1 4 3
2 2
dx dx dx dx dx dx dx
Where, 0 l y 2 dA I
d N
2
2 1
dx
d 2 N 2
2 2 2 2 2
K EI v dx d Nd2 N 1
2
2
d N 3
d N 4
dx
0 d N3
2 dx dx dx 2
dx 2
2
dx
d N 4
2
2
dx
Where,
dN 6x 6x 2 d2 N 6 12x
N 13 x 2 x
2 3 1 1
2 3 2 32 2 3
1 l l dxl l l l dx
dN 4x 3x 2 d2 N 4 6x
N x 2 x x 3
2 2 1 2
2 2 2 2
2 l l dxll dx l l
3 2 2
N 3 x 2 3 x dN 3 6 x 6 x d N 3 6 12x
2 3 2 3 2 2 3
3l l dx l l dx l l
3 2
N x x 2 d N 4 3 x 2 x d N 4 6 x 2
2 2 2 2
4l l dx l l dx l l
6
12x
3
2
l l
4 6x
2
l l 6 12 x 4 6 x 6 12 x 6 x 2
K EI 0 6 12x
l
l 2 l 3 2 2
l l 3
l l 2 dx
l l
2 3
l l
6 x 2
2
l l
l l l
K 12EI
1
1 l3
l 6 12 x 4 6x
K EI
12 0 2 3 2 dx
l l l l
6l 12 x 4l 6x
l
K EI
12 0 3 2 dx
l l
2 2
24l 48 xl 36 xl 72x
l
K EI
12 0 5 dx
l
24l 2 84 xl 72x 2
l
K EI
12 0 5 5 5 dx
l l l
l 2 3 l
24 xl 2 84 x l 72x
K EI
12 0 5 5 5
l 2l 3l 0
K EI 24 42 24
12 2 2 2
l l l
K 6EI2
12 l
l 2l 3l 0
K EI 36 72 48
13
l3
K 13 12EI
l3
612 x 6 x
l 2
K EI
14 0 2 3 2 dx
l l l l
6l 12 x 6 x 2l
l
K EI
14 0 3 2 dx
l l
2 2
12l 36 xl 2 4 xl 72x
l
K EI
14 0 5 dx
l
2
12l 2 60 xl 72x
l
K EI
14 0 5 5 5 dx
l l l
2 2 3 l
12 xl
l 60 x l 72x
K EI
14 0 5 5 5
l 2l 3l 0
K EI 30 12 24
14 2
l
K 6EI
14 l2
4 6 x 6 12x
l
K EI
21 0 2 2 3 dx
l l l l
K 6EI
21 l2
K EI
l 4 6 x 4 6x
22 0 2 2 dx
l l l l
4l 6 x 4l 6x
l
K EI
22 0 2 2 dx
l l
2 2
16l 2 4 xl 24 xl 36x
l
K EI
22 0 4 dx
l
l 2 2
16l 48 xl 36x
K EI
22 0 4 4 4 dx
l l l
2 2 3 l
16 xl 48 x l 36x l
K EI
22 0 4 4 4
l 2l 3l 0
K
16 24 12
22 EI
l
K 4EI
22
l
K 6EI
23 l 2
l 4 6 x 6 x 2
K EI
24 0 2 2 dx
l l l l
l 4l 6 x 6 x 2l
K EI
24 0 2 2 dx
l l
2 2
8l 24 xl 12 xl 36x
l
K EI
24 0 4 dx
l
2
8l 36 xl 36x
l 2
K EI
24 0 4 dx
l
l 2 3 l
8 xl 2 36 x l 36x
K EI
24 0 4 4 4
l 2l 3l 0
18 12 8
K
24 EI
l
K 2EI
2
4
l
l 6 12 x 6 12x
M.I.E.T/Mech/ III /FEA
M.I.E.T. ENGINEERING COLLEGE/ DEPT. of Mechanical Engineering
K EI
31 0 2 3 2 3 dx
l l l l
K 12EI
3
31 l
l 6 12 x 4 6x
K EI
32 0 2 3 2 dx
l l l l
K 6EI
2
32 l
6 12 x 6 12x
l
K EI
33 0 2 3 2 3 dx
l l l l
l 6l 12 x 6l 12 x
K EI
33 0 3 3 dx
l l
2 2
l 36l 72 xl 72 xl 144x
K EI
33 0 6 dx
l
36l 144 xl 144x 2
2
l
K EI
33 0 6 dx
l
2 2 3 l
l 36 xl 144 x l 144x
K EI
33 0 6 6 6
l 2l 3l 0
36 72 48
K
33 EI 3
l
K 12EI
3
33 l
6 12 x 6 x 2
l
K EI
34 0 2 3 2 dx
l l l l
l 6l 12 x 6 x 2l
K EI
34 0 3 2 dx
l l
l 2 2
12l 2 4 xl 36 xl 72x
K EI
34 0 5 dx
l
2 2
12l 60 xl 72x
l
K EI
34 0 5 dx
l
l 2 3 l
12 xl 60 x 2 l 72x
K EI
34 0 5 5 5
l 2l 3l 0
12 30 24
K
34 EI 2
l
K 6EI
34 l2
6 x 2 6 12x
l
K EI
41 0 2 2 3 dx
l l l l
K 6EI
2
41 l
l 6 x 2 4 6 x
K EI
42 0 2 2 dx
l l l l
K 2EI
42
l
l 6x 2 6 12 x
K EI
43 0 2 2 3 dx
l l l l
K 6EI
43 l2
6 x 2 6 x 2
l
K EI
44 0 2 2 dx
l l l l
l 6 x 2l 6 x 2l
K EI
44 0 2 2 dx
l l
2 2
4l 12 xl 12 xl 36x
l
K EI
44 0 4 dx
l
2 2
4l 24 xl 36x
l
K EI
44 0 4 dx
l
2 2 3 l
4 xl 24 x l 36x
l
K EI
44 0 4 4 4
l 2l 3l 0
K EI 12 4 12
44
l
K 44 4EI
l
Therefore K is
12 6 12 6
3 2 3 2
l l l l
6 4 6 2
2
K
2
EI l l l l
12 6 12 6
l 3 l2 l3 l2
6 2 6 4
l 2 l l2 l
2.6 BEAM ELEMENT
M1
1 2 M 2
v1 v2 F F
1
Nodal “displacements” Nodal “forces” 2
1st vertical
degree v shear force at node F
displacement at 1 i or v1 i or F1 1
of i
freedom no de i corres-
2 nd pond-
slope or rotation at bending moment at
degree of 2 i or 1 ing to M i or M 1 2
no de i no de i
freedom
v F
3 rd vertical 3 j or v2 shear force at node j or F2 3
degree of displacement at i
freedom no de j
4th slope or rotation at bending moment at
degree of 4 j or 2 M j or M 2 4
no de j no de j
freedom
The stiffness term k ij indicates the force (or moment) required at i to produce a unit
deflection (or rotation) at j, while all other degrees of freedom are kept zero.
Sign conventions followed
Upward forces are positive and upward displacements are positive.
Initially you have a horizontal beam element. Since v2 2 0 , we can fix node j. To produce
an upward deflection at node i (i.e., allowing first degree of freedom to occur), apply an upward
force k11 (first suffix indicates the force or moment DoF and the second suffix
3
k11L
the displacement or rotational DoF). v1 upwards. Refer table for 3EI
displacement DoF number and force DoF number. Now the beam configuration is given by
Figure 1. We can observe from the figure that the slope at node i is not zero. To make the
slope at i equal to zero, we need to apply a counter-clockwise moment k 21 . Refer Figure 2.
k 2 1 L2
But this moment k21 will produce a downward deflection at node i. Refer Figure
2EI
3. In order to have a resultant unit upward displacement at node i, upward displacement
produced by force k 11 must be greater than the downward displacement produced by the
3 2
k 11 L k 21L
moment k21 . i.e., 1…..(1).At the same time, the negative slope produced at
3 EI 2EI
node i by the force k 11 must be cancelled by the positive slope produced by the moment k 21 .
2
i.e., k 1 1 L k 21 L ….(2). Solving these two equations, k 11 and k21 are found. The fixed end
2EI EI
reaction force and the reaction moment are assumed to be acting upwards and
counterclockwise, respectively. Now use force equilibrium equation to find fixed end
Initially you have a horizontal beam element. Since v2 2 0 , we can fix node j. To produce
a counterclockwise (positive) rotation or slope at node i (i.e., allowing second degree of
k 22 L
freedom to occur), apply a counterclockwise moment k 22 . 1 . Refer Figure 1. This
EI
2
mo ment k 22 wil l pr od uce a do wn war d deflecti on k 2 2 L . This do w n ward deflectio n sh oul d be
2EI
canceled by applying an upward force k12 at node i. The upward deflection produced by k12 is
k12 L3 k 22 L2 k12 L3
. Refer Figure 2. Equating these two deflections …(1) But this upward
3EI 3EI 2 EI
k L2
force k 12 will also produce a negative slope at node i which is . Refer Figure 3. Hence 12
2EI
the rotation produced by k 22 should be greater than that produced by k 12 so that the resultant
2
k 2 2 L k12 L
rotation is 1 radians. 1 ….(2). Solving these two equations, k 12 and k 22 are
EI 2EI
found. The fixed end reaction force and the reaction moment are assumed to be acting
upwards and counterclockwise, respectively. Now use force equilibrium equation to find
k k k
fixed end reaction force 32 … F y 0 12 32 0 and moment equilibrium
k
equation about no de i tofin d fixed end reaction moment 42 ....
M 0 k k L k 0.
i 22 32 42
k k k 6EI
22 22
12 2
k L
42 k 4EI
k
12
k
32
22
L
Figure 1. Figure 4.
k 6EI
32 2
L
2EI
k
22 1 rad k
42 L
k
k 12
12 Figure 2. Figure 3.
Initially you have a horizontal beam element. Since v1 1 0 , we can fix node i. To
produce an upward deflection at node j (i.e., allowing third degree of freedom to occur),
apply an upward force k 33 .
3
k 33 L
v2 upwards. Now the beam configuration is given by Figure 1. We can observe
from 3EI
the figure that the slope at node j is not zero. To make the slope at j equal to zero, we need to
apply a clockwise moment k43 . Refer Figure 2. But this moment k43 will produce a downward
k 43 L2
deflection at node j. Refer Figure 3. In order to have a resultant unit upward
2EI
displacement at node j, upward displacement produced by force k 33 must be greater than the
3 2
k L k L
do wnwar d displacement produced by the moment k43 . i.e.,
33
1…..(1). At the
43
3EI 2EI
same time, the positive slope produced at node j by the force k 33 must be cancelled by the
2
negative slope produced by the moment k 43 . i.e., k 33 L k 4 3 L ….(2). Solving these two
2EI EI
equations, k 33 and k43 are found. The fixed end reaction force and the reaction moment are
assumed to be acting upwards and counterclockwise, respectively. Now use force equilibrium
equation to find fixed end reaction force k 13 … Fy 0 k 13 k33 0 and moment
equilibrium equation about node i to find fixed end reaction moment k23 ....
M 0 k k L k 0.
i 23 33 43 k
43
k
23
k 12EI
k k 13 3
13 33 L
k Figure 4. 6EI
k 23
Figure 1. 33
L2
k 33
12EI
k
43 L3
k
6EI
43
1unit
k L 2
43
k
Figure 2. 33
Figure 3.
Initially you have a horizontal beam element. Since v1 1 0 , we can fix node i. To produce a
counterclockwise (positive) rotation or slope at node j (i.e., allowing fourth degree of freedom
k 44 L
to occur), apply a counterclockwise moment k44 . 2 . Refer Figure 1. This moment k44 will
EI
2
produce a upward deflection k 4 4 L . This upward deflection should be canceled by applying a
2EI
3
do w n ward fo rce k at node j. The downward deflection produced by k is k 3 4 L . Refer Figure
34 34
3EI
2 3
k 44 L k L
2. Equating these two deflections 3 4 …(1) But this downward force k 34 will also
2 EI 3EI
2
k 34 L
produce a negative slope at node j which is . Hence the rotation pro duced b y k 44 s ho uld be
2EI
k L 2
greater than t hat pr od uced b y k 3 4 so that t he resulta nt rotat io n is 1 radia ns. 44 k 3 4 L 1 ….(2)
EI 2EI
Refer Figure 3. Solving these two equations, k 34 and k 44 are found. The fixed end reaction force
and the reaction moment are assumed to be acting upwards and counterclockwise, respectively.
Now use force equilibrium equation to find fixed end reaction force k 14 …
k k
F y 0 14 34 0and moment equilibrium equation about node i to find fixed end
reactio n m o ment k .... M 0 k k L k 0.
24 i 24 34 44
k k k 6EI
24 44
14 2
k L
44
k k
2EI
k 24
L
34
Figure 1. 14 Figure 4.
k 2
6EI
34 L
k k
4EI
34 34
k
k L
44
1 44
Figure 3.
Figure 2.
Problem
Find the slopes at the supports and support reaction forces and support reaction moments for
-4 4
the beam shown in Figure. Take E=210 GPa, I = 2×10 m . Daryl Logan P4-24 page 208.
5kN
m
5m 4m
2
Finite element representation of the problem
v2
qL
Force kN qL kN
q kN 2 2
m
Lm 2 2
M o ment qL kN m qL kN m
12 12
for element 1,
12.5 kN
5 m kN 12.5 kN
10.416667 kN m
5
10.416667 kN m
m
for element 2,
10 kN 10 k N
5 kN
m
4m
6.66667 kN m 6.66 66 7 kN m
4 4 6 kN 4 4 2
F
F 1 12.5 1 12.5 Support reaction mo ments at all simply
M
1 10.416667 0 10.416667 supported ends are zero. M 1 M 2 M 3 0
F
2 12.5 10 F 2 22.5 All support reaction forces are unkno wns.
0
M
2 10.416667 6.66667 3.75
F 10 F 10
2
3
2
M 6.66667 0 6.66667
support applied forces
reactions
v1 v 2 v 3 0 1 ? 2 ? 3 ?
Eliminating the first, third and fifth rows and columns of the stiffness matrix, the reduced
matrix becomes
Substituting these values in the assembled matrix to find the support reactions, we find
1
4
5
F 12. 5 10, 080 3.59623 10 10, 080 9.92 10
2
22.5
10, 080
4
5, 670 9.92 5
15, 7501.0913 10 4
F 3.59623 10 10
3
5 4
F 10 15, 750 9.92 10 15, 750 1.09 13 10
kN
It is verified that the total applied load
5 5m 45kN is equal to the sum of the support
m
reaction forces (9.875+28.406+6.71869 = 45 kN).
Element 1
F1
(1)
10, 080 3.59623 10 4 10, 080 9.92 105 2.624832 kN
M1
(1)
33, 600 3.59623 10 4 16,800 9.92 105 10.416 kN-m
F2
(1)
10, 080 3.59623 10 4 10, 080 9.92 105 2.624832 kN M
2
(1)
16,800 3.59623 104 33, 600 9.92 105 2.70816 kN-m
Element 2
42, 000 9.92 10 21, 000 1.0913 104 6.45813 kN-m F2(1)
5
15, 750 9.92 10 5 15, 750 1.0913 104 3.2811975 kN M 2(1)
21, 000 9.92 105 42, 000 1.0913 104 6.66667 kN-m
PROBLEM
-4 4
Given that E=210 GPa and I=4×10 m , cross section of the beam is constant.
Determine the deflection and slope at point C. calculate the reaction forces and moments.
1kN
A 20 kN-m C
B
3m 3m
Solution:-
2 4 6
1 3 5
M1 M2 M3
F1 F2 F3
Degree of freedom of displacement and rotation:-
Ѳ1 Ѳ2 Ѳ3
v1 v2 v3
Stiffness matrix for element 1 and 2:-
12 EI 6 EI 12 EI 6EI
3 2
l l l 3 l 2
6 EI 4 EI 6 EI 2EI
2
1 l l l 2 l
2
K K
12 EI 6 EI 12 EI 6EI
l 3 l 2
2
l l3
6 EI 2 EI 6 EI 4EI
2
l l l 2 l
12 18 12 18
K K 6
1 2
18 36 18 18
12 18 12 18
18 18 18 36
Assemblin g:-
1 1
F 12 18 12 18 0 v
18 0
0
M
36 18 18
0
F 1 1
F
0
0 121812 v 1 8
3 3
3 3
M 0 0 18 18 18 36
Boundary condition:-
F 2 6 24 0
3 .1 1 0
m
2 0 7 2
Deflection and slope at point c:-
-4
V2 = -1.34×10 m = -0.134 mm
-5
Ѳ2 = 8.96×10 rad
Reaction forces and moments:-
F
2 12 18
m
2 18 18
6
3.1 10
12 18
F
3 18 18
m
3
F1 =10000N
M1 =12500N-m
F3 =0
M3 = -2500N-m
12,500N-m 17,500N-m
10,000N 10,000N
2,500N-m 2500N-m
0 0
10kN
12.5kN-m 20kN-m
2.5kN-m
10kN
u c1 c2 x c3 y
In order to find the three unknowns c1 , c2 and c3 , we apply the boundary conditions
at x1 , y 1 , u u1 u c1 c2 x 1 c3 y1 y
at x 2 , y 2 , u u 2 u c1 c2 x 2 c3 y2
at x3 , y 3 , u u3
3 (x 3 ,y3 )
u c1 c2 x 3 c3 y3
Writing the above three equations in matrix form u3
u 1 x y c u2
u 1
1
1 1
2
x
1
y c
u
2 2
2 2 (x2 ,y2 )
u 1 x y c 1
3 3 3 3 1 (x 1,y1)
We need to find c 1 , c2 and c3
x
c 1 x y 1 u
c 1 1
x
1 1 1
2 2
y
2
u
2
c 1 x y u
3 3 3 3
1 x y 1
1 1 1 1 2 3 2 A
1 x y where and
2 2A 3
2 1 2 1 2 3
1 x y
3 3 1 2 3
i x j y k x k y j i y j y k i x j xk
1 x 2 y3 x3 y 2 1 y 2 y 3 1 x 2 x 3
2 x3 y1 x 1 y3 2 y3 y 1 2 x 3 x 1
3 x1 y 2 x 2 y1 3 y1 y 2 3 x 1 x 2
c2 A u
3 1 2 3 3
u N1 u 1 N 2 u 2 N 3 u 3
where N i 1 i i x i y , i 1, 2,3
2A
y
4 (0,b) 3 (a,b)
x
1 (0,0) 2 (a,0)
x
u x , y c1 c 2 x c 3 y c 4x y ………………(1)
This polynomial contains four linearly independent terms and is linear in x and y, with a
bilinear term in x and y. The polynomial requires an element with four nodes. There are two
possible geometric shapes: a triangle with the fourth node at the centroid of the triangle or a
rectangle with nodes at the vertices.
A triangle with a fourth node at the center does not provide a single-valued variation of u at
inter-element boundaries, resulting in incompatible variation of u at inter-element boundaries and is
therefore not admissible.
The linear rectangular element is a compatible element because on any side, the single
variable u varies only linearly and there are two nodes to uniquely define it.
Here we consider an approximation of the form given in eqauation (1) and use a rectangular
element with sides a and b. For the sake of convenience we choose a local coordinate system
x , y to derive the interpolation functions.
In order to find the three unknowns c1 , c2 and c3 , we apply the boundary conditions
at 0, 0, u u1 u c1
at a , 0 , u u 2 u c1 c2 a
at a , b , u u3 u c 1 c 2 a c3 ab
at 0, b , u u3 u c1 c4 b
Solving for c 1 , c 2 , c3 and c 4
y
uu u u
c u, c u 2 u1 , c u 4 u1 , c4 1 2 3 4 ,
1 1 1 3
a b
u
3 x1 , y1 3
v1
u v
1 x1 , y1 1 2
u2
2 x2 , y2
x
Figure shows a 2-D two-variable linear triangular element with three nodes and the two dof at each
node. The nodes are placed at the corners of the triangle. The two variables (dof) are displacement
in x-direction (u) and displacement in y-direction (v). Since each node has two dof, a single element
has 6 dof. The nodal displacement vector is given by
u
1
v
1
u
2
U v
2
u
3
u x , y c1 c2 x c3 y
v x , y c4 c5 x c6 y
c1
c
2
u 1 x y 0 0 0 c3
v 0 0 0 1 x y c4
c
5
c
6
M.I.E.T/Mech/ III /FEA
M.I.E.T. ENGINEERING COLLEGE/ DEPT. of Mechanical Engineering
Using steps we had developed for the 2-D single-variable linear triangular element, we can write
c
1 1 2 3 u
1 u 1
2 3 2
c 2A
u
2
1
2 3 3
c
3
1 3 v
1 2 v
1
c 1 2 3 2
v
4
2 A 3 3
2
1
c
5 1
c
6
and using the interpolation functions we had developed for the 2-D single-variable linear
triangular element, we can write
u x , y N1u1 N 2 u 2 N 3 u3
v x , y N1v 1 N 2 v 2 N 3 v 3
where
1 x y ,
N i i i i i 1, 2,3
2A
u 1
v
1 2 3 1
u x, y N0 N 0 N 0
u
2
Writing the above equations in matrix for m v
x,y
0N
1 0 N 2 0 N
3
v2
The
u
3
v
3
U N a
strains associated with the two-dimensional element are given by
u N
i
x x
x v i
0 0 0
x x v
x x x x x u x 2
3 u
3
v
3
u 1
v
v 1
v NN N
1
N N N 3 u
2
N1v 1 N 2 v 2 N 3 v 3 2 1
3 v
2 0 1
0 2 0
y y y y y y y y
v
v 2
3 u
3
v
3
u v N N 1 N 2 N 2 N 3
N1 u 1 N 2 u 2 N 3 u 3 N 1 v1 N 2 v 2 N 3 v3 1
y x y x y x y x y
u
1
v
1
N u 2
u
v2 3 v3
3
x
N N 2 N 3 u1 u1
1
D
x x
y D y
xy
xy
D B a
6 6 63 33 36
The stiffness matrix is given by K B T
D B dV t B T
D B dxdy.
Vo lu m e Area
where t is the thickness of the plate. The integrand B T D B is not a function of x and y and
hence can be taken outside the integral to yield
K tA B T D B
D matrix is the material constitutive matrix, either for the plane-stress case or for the plane-
strain case depending on the problem in hand.
u N1u1 N 2 u 2 N 3 u3 N 4 u4
x y
where N1 1 1
a b
x y
N2 1
a b
N 3 x y
ab
x y
N4 1
ab
3.5 STRAIN – STRESS RELATION
x x y z
EEE
EEE
y z x y
z y z
x
EEE
E E
EE
y x y
solving the above two equations
for x and y , we get
E
x1 2 x y and
E
y1 2 x y
E
xy G xy 2 1 xy
1 2 E
1 2 2 1 xy
1 1 E
1 2 2 1 x y
E 1
xy 1 2 2 xy
y
1 2 1 y
0
0
2
xy
xy
3.5.2 Plane strain conditions
E E E
y
x y 2 x y
E E E
rearranging the terms we get
x x 1 2 y 1
EE
y x 1 y 1 2
EE
mutiplying by X by and Y by 1 -
x x12 y2 1
E E
1 y x 1 1 y 1 1 2
E E
x 1 2 y 1 1 2
EE
adding the above two equations to eliminate x
x 1 y
y
1 1 1
2 2
E
x 1 y y 2 1 1 1 1
E
x 1 y y
1 2 1 1
E
x 1 y y 2 1 2 2
1 E
x 1 y
y E
1 1 2
similarly
1
E
x y
x
1 1 2
And as before
E
xy 2 1 xy
x
1 0 x
E
y
1 0 x
1 1 2 1 2
0 0 xy
xy 2
It is difficult to represent the curved boundaries by straight edges element a large number of
element may be used to obtain reasonable resembalance between original body and the
assemblage
Two-Dimensional Problems
Review of the Basic Theory
In general, the stresses and strains in a structure consist of six components:
t t
yz xy
y sx
t zx
sz
x
z
Under contain conditions, the state of stresses and strains can be simplified. A general
3-D structure analysis can, therefore, be reduced to a 2-D analysis.
t zx 0 (ez 0) (1)
Plane (2-D) Problems
Plane stress:
s t
z yz
y y
Plane strain:
A long structure with a uniform cross section and transverse loading along its
length (z-direction).
y y
p
x z
e
ex 1/ E n/ E 0 sx x 0
e
ey n/ E 1/ E 0 s y y 0
g t g
xy 0 0 1/ G xy xy 0
where e0 is the initial strain, E the Young’s modulus, n the Poisson’s ratio and G the
which means that there are only two independent materials constants for homogeneous
and isotropic materials.
We can also express stresses in terms of strains by solving the above equation,
The above relations are valid for plane stress case. For plane strain case, we
need to replace the material constants in the above equations in the following fashion,
n
n
1- n
For example, the stress is related to strain by
where a is the coefficient of thermal expansion, T the change of temperature. Note that if
the structure is free to deform under thermal loading, there will be no (elastic) stresses in the
structure.
ty
p
t
y x
St
Su
x
The boundary S of the body can be divided into two parts, Su and St. The boundary
conditions (BC’s) are described as, in which t x and t y are traction forces (stresses on the
boundary) and the barred quantities are those with known values.
In FEM, all types of loads (distributed surface loads, body forces, concentrated forces
and moments, etc.) are converted to point forces acting at the nodes.
Exact Elasticity Solution
The exact solution (displacements, strains and stresses) of a given problem must satisfy
the equilibrium equations, the given boundary conditions and compatibility conditions (structures
should deform in a continuous manner, no cracks and overlaps in the obtained displacement field)
The element connectivity table for the above domain is explained as table.
(1) 123
(2) 234
(3) 435
(4) 536
(5) 637
(6) 738
(7) 839
(8) 931
Constant Strain Triangular (CST) Ele ment
A three noded triangular element is known as constant strain triangular (CST)
element. It has six unknown displacement degrees of freedom (u1 v1, u2 v2, u3 v3 ).
Strain – Displace ment matrix [B] for CST element
q 0 q 0 q 0
1 0 1
r 0 r
2 3
0 r
1 v v v 0
v 1v v 0
0 0
v v 1v 0
0 0
E
0 0
Stress – Strain relationship matrix for two dime nsional plane stress
proble ms The normal stress z and shear stresses xz, yz are zero.
0
1
v
E
v 1 0
[D] = 1 v 2 1 v
0 0
2
Stress – Strain relationship matrix for two dime nsional plane strain
proble ms
Normal strain ez and shear strains exz, eyz are zero.
Stiffness matrix equation for two dime nsional element (CST
T
element) Stiffness matrix [k] = [B] [D] [B] A t
q 0 q 0 q 0
1 01
r 0 r
2 3
0 r
[B] =
2 A 1 2 3
r q r q r q
1 1 2 2 3 3
For plane stress problems,
1 v 0
E
[D] =
v 1 0
1 v 2 1 v
0 0
2
For plane strain problems,
Temperature Effects
Distribution of the change in temperature (ΔT) is known as strain. Due to the
change in temperature can be considered as an initial strain e 0.
σ = D (Bu - e0)
Galerkin Approach
T
Stiffness matrix [K]e = [B] [D][B] A t.
Force Vector {F} e = [K]e {u}
Proble m (I set)
1. Determine the shape functions N 1, N2 and N 3 at the interior point P for
the triangular element for the given figure.
The two dimensional propped beam shown in figure. It is divided into two CST
elements. Determine the nodal displacement and element stresses using plane stress
conditions. Body force is neglected in comparison with the external forces. Take,
Thickness (t) = 10mm,
5 2
Young’s modulus (E) = 2x10 N/mm ,
Poisson’s ratio (v) = 0.25.
3. A thin plate is subjected to surface traction as in figure. Calculate the global stiffness matrix.
Elasticity equations are used for solving structural mechanics pr oblems. These
equations must be satisfied if an exact solution to a structural mechanics pr oblem is to be
obtained. Thest are four basic sets of elasticity equations they are
TRUSS ELEMENT
Prismatic Member
If a truss structure is tapered, then it can be approximated by using maany small truss
elements, each having the sa me cross-section as the middle of the tapere d length it is
approximating. The more sec tions that are used to approximate a tapered truss, the more
accurate the solution will be.
Weightless Member
The weight (W) of the truss is neglected since it is assumed to be much less than the
total resultant forces (F) actin g on the truss. If the weight of the truss is not n eglected, then
its effects must be represented as vertical forces acting at the nodes. But sinc e truss element
is defined as two- force member it cannot have any vertical (shear) force, th us the member
weight has to be neglected. If shear forces exist, then a beam element must be used to model
the structure.
Nodal Forces
For one-dimensional truss element, forces (loads) can only be applied at the nodes of
the element, but not between the nodes. This is consistent with the FEM eq uations which
relate nodal forces to nodal displacements through the stiffness matrix.
Axially Loaded
For one-dimensional truss element, forces (loads) can only be applied at the centroid
of the element cross-sectional area.
A bar element can be subjected to either tensile or compressive forces. Tensile forces
can be applied to a bar of any cross-sectional area or member length, and failure is
associated with sudden fracture or general yielding. When compressive forces are applied to
a member, it can either fail due to crushing or buckling. Buckling is present when the
member bends and laterally deflects as shown on the right figure below.
Buckling is not accoun ted for in the formulation of the truss element. Members that
do not buckle are classified a s short columns and members that buckles are classified as
long columns. The structural response of a short column can be predicte d with a truss
element.
In the second case if a bar ele ment is subjected to a compressive force, the element will not
predict the buckling response . One should note that the above geometric ru le is a simple
guideline, however, in reality buckling depends not only on the member length and cross-
sectional area, but material pro perties and support conditions.
Isotropic Material
A truss element has the same mechanical and physical properties in all directtions, i.e., they are
independent of direction. F or instance, cutting out three tensile test specimens, one in the x-direction, one
in the y-dire ction and the other oriented 45 degrees in the x-y plane, a tension test on each specimen, will
result in the same mechanical values for the modulus of elasticity (E), yield strength y and ultimate
strength u. Most metals are considered isotropic. In contrast fibrous materials, such as
wood, typically have properties that are directionally dependant and ar e
generally considered anisotropic (not isotropic ).
The loads that are applied to t he truss element are assumed to be static and n ot to vary over
the time period being considerred. This assumption is only valid if the rate of change of the
force is much less than the applied force (F >> dF/dt), i.e., the loads are app lied slowly. If
the loads vary significantly, (i f the variation in load is not much less than the applied force)
then the problem must be considered as dynamic.
Poisson's ratio is a material pa rameter. Poisson's effect is when a uniform cr oss-section bar
is subject to a tensile load, and the axial stretching is accompanied by a con traction in the
lateral dimension. For one-dim ensional truss element., this effect is neglected for simplicity,
i.e., v = 0.
For one-dimensional element, although the force(s) are acting on only the c entroid of the
truss (bar) element, it is assu med that it has a uniform effect to the plane. Thus the cross
section will move uniformly and remain plane and normal to the axial axis before and after
loading.
Homogenous Material
A truss element has the sam e material composition throughout and therefore the same
mechanical properties at every position in the material. Therefore, the modulus of elasticity
E is constant throughout the tr uss element. A member in which the material properties
varies from one point to the next in the member is called inhomogenous (non- hom ogenous).
If a truss is composed of different types of materials, then it must be divide up int o elements
that are each of a single homogene ous material, otherwise the solution will not be exact.
The left figure shows a compo site bar composed of brass and aluminum. This structure can
be divided into two elements as shown on the right, one element for the brass with E1 = 15 x
6 6
10 psi and one for the alumin um with E2 = 10 x 10 psi.
Truss Frame
6.7.1 Derivation of stiffness matrix and finite element equation for a truss element.
There are two joints for an arbitrarily inclined single truss element (at an angle , positive
counter-clockwise from +ve x- axis). For each joint i, there are two degrees of freedom, i.e.,
a joint can have horizontal displacement ui and vertical displacement v i . Hence, for a
single truss element, there are 4 degrees of freedom. The nodal displacement degrees of
freedom and the nodal force de grees of freedom are shown in the following figgure.
F u j
vj jy v
j
F
y uj jx
Note that the deformations occurring in the truss members are so small that they are only
axial. The axial displacement of the truss can be resolved along horizontal x-axis and
vertical y-axis. But in our derivation, let us resolve the horizontal and vertical displacements
(in xy-axes) of a joint along and perpendicular to the truss member (in xy -axes). Refer to
the Figure in the next page. Note u i sin component acting towards negative y -direction
and all other components acting towards in +ve x - and y -directions.
ui cos
ui ui cos vi sin
ui
viu i sin v i cos
ui sin
u j u j cos v j sin
vi cos
v v u sin v cos
i
j j j
v i sin
It is important to note that the displacements vi and vj are both zero since there can be no
displacements perpendicular to the length of the member. Also T 1 T T
Similarly, we resolve forces along the length of the member (positive x direction)
and perpendicular to the length of the member (positive y direction)
F
ix
cos 0 ix
F
sin 0
sin cos 0 0 F
iy
F
F
iy
j x
F
F sin
jy 0 0 sin cos jy
F T F where T is the transformation matrix
The arbitrarily inclined truss member can be thought of as a simple bar element
oriented at the same angle . Hence, we can write the finite element equa tion for this
inclined bar element (in xy coordinate system) as
F 1 0 1 0 ui
F
ix
AE 0 0 0 0 v
i
iy
F jx L 1 0 1 0 uj
F
jy v
0 0 0 0 j
F k u
Substituting F and ufrom the previous equations, we can write
T F k T u
s cs s j
The change in length of the truss member is equal to the change in axial displacement of the truss
member in the xy co-ordinate system
u j ui
u j cos v j sin ui cos v i sin
u
v i
cos sin cos sin
i
u
j
v
j
v
j
e e
Stress in the truss element is given by E , i.e.,
u
v i
cos sin cos sin
e E
u
i
L j
v
j
Proble m
The two-element truss is subjected to external loading as shown in figure. Using the same node and element numbering as
shown in figure, determine the displacement components at node 3, the reaction components at nodes 1 and 2, and the element⁶
displacement, stresses and forces. The elements have modulus of elasticity E1 = E2 = 10×10
lb
2 and cross-sectional areas A1 = A2 = 1.5 in 2
in
300 lb
(0, 40) ② 3 500 lb
1 (40, 40)
2
(0,0)
① 2
2
1
2
For element 1
For element 2
3
v j
j u j
vi v
u j
i
uj
①
v
i 1 i 3
② j
F
iy
F
jy F
jx
1 F ix 3
i ② j
Fix c 2 c s c
2
u
F
i
c s
2
AE c s v
iy
s
2
i
F 2 u
cs c
jx L c
2
cs j
F
jy c s s
For element 1
6
A E1 . 5 1 0 1 0
4 5, 2 . 6 5
L 56.5685 5 1 65 2
1
0.5 0.5 0.5 0.5 1 1.325826 2 5 6
1.325826 1.325826
1.325826
K (1) AE 0.5 0.5 0.5 0.5 2 1.325826
105
L 0.5 0.5 0.5 0.5 5 1.325826 1.325826 1.325826 1.325826
1.325826 1.325826 1.325826
0.5 0.5 0.5 0.5 6 1.325826
1.325826 1.325826 1.325826
AE 1 .5 1 0 1 0 5 For element 2
6
0, 3 .7 5
L 40
3 4 5 6
1 0 1 0 3 3.75 0
K ( 2 )
A E 0
0 0 0 5
1 0
4
0 0
L 1 0 1 0 5 5 3 .7 0 3 . 75
0 0 0 0 6 0 0
y 3x 3
v
F 1.325 0 0 1.325 1.325 3
3y
61.325
u2 0 u20 u3
v1 0 v
2 0 v3
v2 0
st nd rd th u and v
Eliminating the 1 , 2 , 3 and 4 column to solve 3 3
500 10
5 5.075u 1.325v
①
300 10
5
1.325u
3
1.325v
3
F2 x 200 lb
v 1.731 10 3in F 0
3 2 y
For element 1
1
E
[u
5
cos 0 u
3
sin 0 ]
10 10
6
(0.5333
1) (0 0) 133.325
l
L 40 2 i
E ( u cos 45 u sin 45 )
L
( u cos 45 u sin 45
2 5 6 1 2
6
10 10 (0.5333 10
3 3
cos 45 ) (1.731 10 sin 45 ) 0
56.57
10 10
6 lb
0.0003771 0. 001224 283.03
2
56.57 in
PROBLEM
To illustrate how we can combine spring and bar element in one structure, we can
solve the two-bar truss supported by a spring as shown below. Both bars have E = 210 GPa
-4 2
and A = 5.0 x10 m . Bar one has a length of 5 m and bar two a length of 10 m. the spring
stiffness is k = 2000 kN/m.
25kN
2
5m 1
o
45
3 2
10m 1
3 k=2000 kN/m
Solution :
Given : E = 210 GPa
-4 2 N 6
m , L1 = 5 m, L2 = 10 m,K = 2 x 10 2
A = 5. 0 x10 m
NOT E : A s pring is c onside re d as a bar ele m e nt whose s tiffness is 2 x 10 6 N2
m
v
6
3 1
2
v1
3 u3 5 2 u1 1
1
F3Y
Forces
F2Y
F2X
2
8
v4
u4
4 7
F1Y
F3X 2 F1X
3 1
3
F4Y
4 F4X
lm=cos θ
sin =-0.5
1 2 3 4
K (1) 5 10 m 210 10 kN/m 1
2
0.5
0.5 0.5 0. 5
0.5 0. 5
0.5 0.5
4 2 6 2
5m 3 0.5 0.5 0.5 0.5
4 0.5 0.5 0.5 0.5
1 2 3 4
1 1 1 1 1
K (1)
105 10 2 1 5
1 1 1
3 1 1 1 1
4 1 1 1 1
Ele ment 2: O
180
θ=1800
2 2
l =cos θ =1 2
2 2
m =s in θ =0 x
3 1
lm=cosθ sinθ =0
1 2 5 6
K 510
(2)
m 21010 kN/m 2
1 1 0
0 0
1 0
0 0
4 2 6 2
10 m 3 1 0 1 0
4 0 0 0 0
1 2 5 6
1 1 0 1 0
52
K ( 2) 10510 0 0 0 0
5 1 0 1 0
6 0 0 0 0
Element 3:
θ=2700
2 2
l =cos θ =0
2 2
m =sin θ =1
lm=cosθ sinθ =0
1 2 7 8
1 0 0 0 0 6 7 8
K (3) 6
10 2 0 0 1
0 0 0 u1
1
7 0 0 0 0 0 0 20 v
1
8
0 1 0
1
0
0
0
0
0 u 2
0
v
2
STEP 3: Combination Of Finite Element Equations 0 0 0 u 3
1 2 3 4 5 0 0 0
v 3
F1X 1 210 105 105 105 105 4
0 0 0 u
F 2 105 125 105 105 0 4
1Y
F 3X
5 105
0 0 0 105
3Y
F 6 0 0
0 0 0
F
4X
7 0 0 0 0 0
4Y
F 8 0 20 0 0 0
STEP 4: Applying Boundary Conditions:
Since nodes 1, 2, and 3 are fixed, we have
u2 = v 2 = 0; u3 = v 3 = 0; u 4 = v4 = 0;
4Y 0 20 0 0 0
0 0 20 0
M.I.E.T/Mech/ III /FEA
M.I.E.T. ENGINEERING COLLEGE/ DEPT. of Mechanical Engineering
Reduced matrix:
0 5 210 105 u 1
25 10 105 125 v
1
On solving,
-3 -3
u1=-1.724 x 10 m v1=-3.4482 x 10 m
F3x = 18.102 kN F 3y = 0
L 0
0
(1) 51.2 MPa (Tensile)
Stress in element 2:
1.724
3
σ (1 ) E l m l m 10 3.4482
L 0
0
( 2)
36.2 MPa (Compressive)
PROBLEM
12 in 3 in 50000 lb
x
24 in
Solution
The beam structure looks very different from a spring. However, its behavior is
very similar. Deflection occurs along the x-axis only. The only significant difference
between the beam and a spring is that the beam has a variable cross-sectional area. An
exact solution can be found if the beam is divided into an infinite number of elements,
then, each element can be considered as a constant cross-section spring element, obeying
the relation F = ku, where k is the stiffness constant of a beam element and is given by k
= AE/L.
In order to keep size of the matrices small (for hand- calculations), let us divide the
beam into only three elements. For engineering accuracy, the answer obtained will be in
an acceptable range. If needed, accuracy can be improved by increasing the number of
elements.
As mentioned earlier in this chapter, spring, truss, and beam elements are line-
elements and the shape of the cross section of an element is irrelevant. Only the cross-
sectional area is needed (also, moment of inertia for a beam element undergoing a
bending load need to be defined). The beam elements and their computer models are
shown
Here, the question of which cross-sectional area to be used for each beam section
arises. A good approximation would be to take the diameter of the mid-section and use
that to approximate the area of the element.
k1 k2 k3
k1 k2 k3
1 2 3
1 2 2 3 3 4
Cross-sectional area
The average diameters are: d1 = 10.5 in., d2 = 7.5 in., d3 = 4.5. (diameters are taken at
the mid sections and the values are found from the height and length ratio of the
triangles shown in figure 2.10), which is given as
12/L = 3/(L-24), L = 32
24 in
12 ind1 d2 d3
3 in
Original Averaged 8 8 8 L- 24
Stiffness
6 7
k1 = A1 E/L1 = (86.59)(4 × 10 /8) = 4.3295 ×10
7
lb./in., similarly,
k2 = A 2 E/ L2 = 2.8125 ×10 6
lb./in.
k3 = A 3 E/ L3 = 7.95 ×10 lb./in.
(1) 7
[K ] = 43.295 × 10 1 -1
-1 1
Similarly,
(2) 6
[K ] = 28. 125 × 10 1 -1
-1 1
(3) 6
[K ] = 7.9500 × 10 1 -1
-1 1
43.295 -43.295 0 0
6
[Kg ] = -43.295 43.295+28.125 -28.125 0 10
0 -28.125 28.125+7.95 -7.95
0 0 -7.95 7.95
43.295 -43.295 0 0 u1 F1
6
10 -43.295 71.42 -28.1 25 0 u2 = F2
0 -28.125 36.07 5 -7.95 u3 F3
0 0 -7.95 7.95 u4 F4
Appl yin g the boun dary conditi ons: u 1 = 0, and F 1 = F 2 = F 3 = 0, F 4 = 5000 lb., results in
the reduced matrix,
71.42 -28.125 0 u2 0
6
10 -28.125 36.075 -7.95 u3 = 0
0 -7.95 7.9 5 u4 5000
Solving we get,
u2 0.0012
u3 = 0.002 9 in.
u4 0.009 2
The deflections u2 , u3 , and u 4 are only the approximate values, which can be
improved by dividing the beam into more elements. As the number of elements increases,
the accuracy will improve.
UNIT IV
4.1 INTRODUCTION
It provides the basic equations necessary for structural dynamical analysis and developed
both the lumped and the consistent mass matrix involved in the analysis of bar beam and spring
elements.
Any motion which repeats itself after an interval of time is called vibration or oscillation
or periodic motion
All bodies possessing mass and elasticity are capable of producing vibration.
o Unbalanced forces in the machine. These force are produced from within the
machine itself
o Elastic nature of the system.
o Self excitations produced by the dry friction between the two mating
surfaces. o External excitations applied on the system.
o Wind may causes vibrations
o Earthquakes may causes vibrations
Forced vibrations
Damped vibrations
Undamped vibrations
Longitudinal vibrations
Transverse vibrations
Torsional vibrations
z y
Mid surface 4
3
x
1 2
w w t w w
w1 , , w, ,
y 2
x 1 1 x 2 y 2
w w
DOF at each node:
w, v, .
y y
where Ni, Nxi and Nyi are shape functions. This is an incompatible element! The
stiffness matrix is still of the form
T
k = B EBdV ,
where B is the strain-displacement matrix, and E the stress- strain matrix.
Minding Plate Elements:
4-Node Quadrilateral 8-Node Quadrilateral
Triangular plate element (not available in ANSYS). Start with a 6-node riangular element,
z y 3
4 6
1 2
t 5 x
w w
DOF at corner nodes: w, , , , ;y
x
x y
z y 3
1 2
x
w w
At each node: w, x , y .
x y
Incompatible w(x,y); convergence is faster (w is cubic along each edge) and it is efficient.
Test Problem:
L
y
L
x
L/t = 10, = 0.3
Mesh wc (
2
2 2 PL /D)
4 4 0.00593
8 8 0.00598
16 16 0.00574
: 0.00565
Exact Solution :
0.00560
Example:
Sea shell, egg shell (the wonder of the nature); Containers, pipes, tanks;
Car bodies;
Roofs, buildings (the Superdome), etc.
Forces in shells:
internal forces:
p
p
membrane stresses
dominate
Shell Theory:
Thin shell theory
Shell theories are the most complicated ones to formulate and analyze in mechanics
(Russian’s contributions).
Engineering Craftsmanship Demand strong analytical skill
Shell Elements:
w
v
u x
Q4 or Q8 shell element.
Curved shell elements:
z
i w
v
iu x
F
Roof Pinched Cylinder
F2
F R F
b
A
A F L
F1
F
Pinched Hemisphere
m - mass
f=f(t)
m k - stiffness
c c - damping
Free Vibration:
f(t) = 0 and no damping (c = 0)
Eq. (1) becomes
mu ku
(meaning: inertia force + stiffness force = 0)
Assume:
2
Uù m sin( ù t) kU sin( ù t) 0
2
i.e., w m kU 0.
2 0
w m k ,
which yields
k
w .
m
This is the circular natural frequency of the single DOF system (rad/s). The cyclic
frequency (1/s = Hz) is
w
f ,
2p
u=Usin wt
U
t
U
T=1/f
2
wd w 1 x ,
where x c
(damping ratio).
cc
wd w.
Equation of Motion
Mu Cu Ku f (t) , (8)
M mass matrix,
C damping matrix,
K stiffness matrix,
f forcing vector.
= Applied forces
Mass Matrices
rAL
rAL 1 r,A,L 2
1
2 u u 2
1 2
Element mass matrix is found to be
rAL
0
2
m
0 rAL
2
diagonal atrix
T
m rN NdV
V
V
156 22L 54 13L 1
2 2
rAL 22L4L 13L 3L Q 1
v
420 54 13L 156 22L 2
2 2 Q
13L 3L 22L 4L 2
Choice I Choice II
t (time) s s
L (length) m mm
m (mass) kg Mg
2 2
a (accel.) m/s mm/s
f (force) N N
3 3
r (density) kg/m Mg/mm
Let f(t) = 0 and C = 0 (ignore damping) in the dynamic equation (8) and obtain
Mu Ku 0
u (t ) u sin( w t ),
u(t ) w u cos( w t ),
w t ),
u(t ) w 2 u sin(
where u is the vector of nodal displacement amplitudes.
2
K w M u 0
Solutions?
This is an n-th order polynomial of from which we can find n solutions (roots)
or eigenvalues
2
0
K w i M ui .
ui (i=1,2,…,n) are the normal modes (or natural modes, mode shapes, etc.).
T
ui Ku j 0,
T
ui Muj 0 , for i ¹j,
if wi wj . That is, modes are orthogonal (or independent) to each other with respect to K and
M matrices.
Note:
i = 0 there are rigid body motions of the whole or a part of the structure. apply this to
check the FEA model (check for mechanism or free elements in the models).
Lower modes are more accurate than higher modes in the FE calculations (less spatial
variations in the lower modes fewer elements/wave length are needed).
Example:
v
2
r, A, EI q2
1 2
L
2
K w M
EI 12
K 3
L
l 2 4
in whic h w rAL / 420 EI .
Solving the EVP, we obtain,
21 1
EI v2
w1 3. 533 , ,
4
rAL q2 1 1.38 L
#3 #2 1
2
w EI v2 1
34 .81
#1 2 4 , .
rAL q2 2 7.62 L
Exact solutions:
1 1
2 2
EI EI
w1 3.516 , w2 22.03 .
4 4
rAL rAL
with
1, 2, 1 & 2 (da m ping ratio) being se lecte d.
Damping ratio
Modal Damping
Modal Equations
Use the normal modes (modal matrix) to transform the coupled system of
dynamic equations to uncoupled system of equations.
We have
2 i 1,2,..., n
K M u 0, (18)
i i
u T K u 0,
i j
for i j,
0,
u TM u
i j
and
1,
uT Mu for i = 1, 2, …, n.
i i
,
2
i
Ö u u L u
(n n ) 1 2 n
M z&&
C z& K z f ( t ).
T
Pre-multiply by , and apply (20):
z& &
C z& z p ( t ),
p T f(t)
.
z1 (t ) z2 (t ) M
zn (t )
2
z&& i 2 i i z&i i zi p ( t ), i = 1, 2, …, n. (24)
i
Equations in (22) or (24) are called modal equations. These are uncoupled, second-
order differential equations, which are much easier to solve than the original dynamic
equation (coupled system).
To recover u from z, apply transformation (21) again, once z is obtained from (24).
Notes:
Only the first few m odes may be needed in constructing the mod al matrix (i.e.,
could be an n m rectangular matrix with m<n). Thus, significant reduction in the
size of the system ca n be achieved.
Modal equations are best suited for problems in which higher mode s are
not important (i.e., structural vibrations, but not shock loading).
Ku Eu
Harmonicloading
(25)
&
z
k
Z
2 z p
sin t,
i 2 i i i i i i i=1, 2, …, m. (26)
These are 1-D equations. Solutions are
2
p i i
zi (t) sin( t
(1 2) 2 (2 )2
zi
i i i
where
c
ci i
/ , damping ratio
i i
cc 2m i
f(t)
t
u(t)
u
1
u u
n n+1
u
2
t t t
0 1 2
t
n t
n+1
B. Modal Method
First, do the transformation of the dynamic equations using the modal matrix before the
time marching:
Then, solve the uncoupled equations using an integration method. Can use, e.g.,
10%, of the total modes (m= n/10).
Uncoupled system, Fewer equations,
No inverse of matrices,
More efficient for large problems.
Mechanism, rigid body motion means = 0. Can use this to check FEA models to
see if they are properly connected and/or supported.
Input for FEA: loading F(t) or F( ) can be very complicated in real applications
and often needs to be filtered first before used as input for FEA.
Examples
Impact, drop test, etc.
PROBLEM
k1 k2 k3
o o o o
1 2 3 4
Figure 2.4
Solution:
Element 1:
(1) 1 2
[K ] = 10 -10 1
-10 10 2
Element 2: 2 3
(2)
[K ]= 15 -15 2
-15 15 3
Element 3: 3 4
(3)
[K ]= 20 -20 3
-20 20 4
1 2 3 4
1 10 -10 0 0 10 -10 0 0
2 -10 10 + 15 -15 0 = -10 25 -15 0
3 0 -15 15 + 20 -20 0 -15 35 -20
4 0 0 -20 20 0 0 -20 20
F1 10 -10 0 0 u1
F2 = -10 25 -15 0 u2
F3 0 -15 35 -20 u3
F4 0 0 -20 20 u4
The known boundary conditions are: u1 = u4 = 0, F3 = P = 3lb. Thus, rows and columns 1 and 4 will
drop out, resulting in the following matrix equation,
0 25 −15 = 2
=
3 −15 35 3
k1
k3
k2 F2 k6
k4
k5
Solution:
Element 1: 1 4
(1)
[K ] = 10 -10 1
-10 10 4
Element 2: 1 2
(2)
[K ]= 15 -15 1
-15 15 2
Element 3: 2 3
(3)
[K ]= 20 -20 2
-20 20 3
Element 4: 2 3
(4)
[K ]= 25 -25 2
-25 25 3
Element 5: 2 4
(5)
[K ]= 30 -30 2
-30 30 4
Element 6: 3 4
(6)
[K ]= 35 -35 3
-35 35 4
1 2 3 4
25 -15 0 -10
[Kg] = -15 90 -45 -30
0 -45 80 -35 -
10 -30 -35 75
F1 25 -15 0 -10 u1
F2 = -15 90 -45 -30 u2
F3 0 -45 80 -35 u3
F4 -10 -30 -35 75 u4
100 90 -45 u2
Which 0 = -45 80 u3 gives
Deflections:
Spring 1: u4 – u1 = 0
Spring 2: u 2 – u 1 = 1.54590
Spring 3: u 3 – u 2 = -0.6763
Spring 4: u 3 – u2 = -0.6763
Spring 5: u 4 – u2 = -1.5459
Spring 6: u 4 – u3 = -0.8696
UNIT V
(iii) Radiation
q= ¼ ;q\ T ¼ 0:
With the unit normal used in , we can express the natural boundary
condition as qn ¼ q. For example, positive flux q causes heat inflow
(negative q ) on the left boundary point where qn ¼ q ¼ q and heat outflow
(positive q ) on the right boundary point where qn ¼ q ¼ q.
We again multiply the first two equations in the strong form by the weight
function and integrate over the domains over which they hold, the domain for the
differential equation and the domain q for the flux boundary condition, which
yields ws dx with w ¼
Recalling that w ¼ 0 on T and combining with gives
Þ ¼ 0 on :
E(n- l) ( k-uð) uÞ ¼ 0 at x ¼ l;
u(l)
uk
- ku(l) t
þ f ¼ 0 on ;
In the partition approach, the total boundary is partitioned into the natural
boundary, and the complementary essential boundary, The natural boundary condition
has the generalized form defined by The resulting strong form for the partition method is
summarized in.
In this section, we will derive the general weak form for two-point boundary value
problems. Both the penalty and partition methods described in will be considered. To obtain
the general weak form for the penalty method, we multiply the two equations in the strong by
the weight function and integrate over the domains over which they hold: the
domain for the differential equation and the domain for the generalized boundary
condition.
x y 3
4
y
4
J J
J 11 12 ;
J J
21 22
N 4
0
N1 N 2 N 3
0 0 0
N N N N 4
1 J J 0 0 0 0 0
B 22
1 2 3
0 0 0 N 4
N
E 1 v
4
v 0
[D]
2 v 1 0
(1 v ) 1 v , for plane stress conditions;
0 0
2
v v 0
1
E
[D] v 1v 0
(1 v)(1 2v) 1 2v , for plane strain conditions.
0 0
2
Equation of element force vector
F [ N ]
e
T
F
x
F ;
y
Points xi wi
n
1 x1 = 0.000 2.000
2
x1, x2 = 1 0.577350269189
3 1.000
5
3 0.555555
x1, x3 0.774596669241 9
3 5 8
0.888888
x2=0.000 9
0.3478548451
4 x1, x4= 0.8611363116
0.6521451549
x2, x3= 0.3399810436
Proble m (I set)
x
1. Evaluate I 1 cos dx , by applying 3 point Gaussian quadrature and
2
1
compare with exact solution.
1 x 2 1
2. Evaluate I x dx
3e , using one point and two point
1 x 2
Gaussian quadrature. Compare with exact solution.
3. For the isoparametric quadrilateral element shown in figure, determine
the local co –ordinates of the point P which has Cartesian co-ordinates (7, 4).
The problem of linear elastostatics described in detail in can be extended to include the effects
of inertia. The resulting equations of motion take the form
∇ · σ + f = ρu¨ in Ω × I ,
¯
σ
n = t on Γ q × I ,
u = u¯ on Γu × I ,
u(x1 ,x2 ,x3, 0) = u0 (x1,x2 ,x3 ) in Ω ,
in Ω ,
v(x1 , x2 ,x3 ,0) = v0 (x1 ,x2 ,x3 )
where u = u(x1 , x2 , x3 , t) is the unknown displacement field, ρ is the mass density, and I =
(0, T ) with T being a given ti me. Also, u0 and v0 are the prescribed initi al displacement and
velocity fields. Clearly, two sets of boundary conditions are set on Γ u and Γq , respectively, and
are assumed to hold throughout the time interval I . Likew ise, two sets of initial conditions are
set for the whole domain Ω at time t = 0. The stron g form of the
¯
w · ρu¨ dΩ + w · f dΩ + ¯
Ω
Following the development of Section 7.3, the discrete counterpart of can be written as
Z Z Z ¯
w h · ρu¨h dΩ + ǫ(w h ) · Dǫ(uh ) dΩ w h · f dΩ + w h dΓ .
· t
=
i nt,e
Following a standard proced ure, the contribution of the forcing vector F due to interele-
ment tractions is neglected upon assembly of the global equations . As a result, the equations is
give rise to their assembled counterparts in the form
Mu + Kuˆ = F,
1
where uˆ is the global unknown displacement vector . The preceding equat ions are, of course, subject to
initial conditions t hat can be written in vectorial form as uˆ(0) = uˆ 0 and vˆ(0) = vˆ 0
.
The most commonly emp loyed method for the numerical solution of t he system of cou-
pled linear second-order ordi nary differential equations is the Newmark m ethod. This
ˆ
method is based on a time series expansion of ˆu and u˙ := v.ˆ Concentrating on the time
interval (tn ,t n+1 ], the New mark method is defined by the equations
1 2
u
ˆn+1 = ˆun + vˆn ∆tn + [(1 − 2β)aˆn + 2βaˆn+1]∆t n ,
2
ˆv n + [(1 − γ)aˆ n + γaˆ n+1 ]∆t n ,
v
ˆn+1 =
It is clear that the Newmark equations define a whole family of time inte grators.
It is important to distinguish this family into two categories, namely implicit and explicit
integrators, corresponding to β > 0 and β = 0, respectively.
The overhead “hat” symbol is used to distinguish between the vector field u and the solution
vector uˆemanating fr om the finite element approximation of the vector field u.
The general implicit Newmar k integration method may be implemented as follows: first,
solve (9.18)1 for aˆn+1 , namely write
aˆn+1
= 2 (uˆ n+1 − ˆ n −ˆ n ∆
uvt n ) ˆa
n
β∆ t n
Then, substitute (9.19) into the semi-discrete form (9.17) evaluated at tn+1 to find that
If M is rendered diagonal (see discussion in Chapter 8), then aˆ n+1 can be determined
ˆ
without solving any coupled linear algebraic equations. Then, the velocities bv n+1 are immediately computed
from (9. 18) 2. Also, the displacements uˆ n+1 are computed from indepen-dently of the acceleratio ns aˆ n+1 .
QUESTION BANK
PART A QUESTIONS WITH ANSWERS
UNIT 1
1. What is meant by finite element?
A small units having definite shape of geometry and nodes is called finite element.
2. What is meant by node or joint?
Each kind of finite element has a specific structural shape and is inter- connected with
the adjacent element by nodal point or nodes. At the nodes, degrees of freedom are
located. The forces will act only at nodes at any others place in the element.
3. What is the basic of finite element method?
Discretization is the basis of finite element method. The art of subdividing a structure
in to convenient number of smaller components is known as discretization.
4. What are the types of boundary
conditions? Primary boundary conditions
Secondary boundary conditions
5. State the methods of engineering
analysis? Experimental methods
Analytical methods
Numerical methods or approximate methods
6. What are the types of element?
7. 1D element
2D element
3D element
8. State the three phases of finite element
method. Preprocessing
Analysis
Post Processing
9. What is structural problem?
Displacement at each nodal point is obtained. By these displacements solution
stress and strain in each element can be calculated.
10. What are the methods are generally associated with the finite element analysis?
Force method
Displacement or stiffness method.
11. Explain stiffness method.
Displacement or stiffness method, displacement of the nodes is considered as the
unknown of the problem. Among them two approaches, displacement method is
desirable.
12. What is meant by post processing?
Analysis and evaluation of the solution result is referred to as post processing.
Postprocessor computer program help the user to interpret the result by
displaying them in graphical form.
13. Name the variation
methods. Ritz method.
Ray-Leigh Ritz method.
14. What is meant by degrees of freedom?
When the force or reaction act at nodal point node is subjected to deformation. The
deformation includes displacement rotation, and or strains. These are collectively
known as degrees of freedom
15. What is meant by discretization and assemblage?
The art of subdividing a structure in to convenient number of smaller components
is known as discretization. These smaller components are then put together. The
process of uniting the various elements together is called assemblage.
16. What is Rayleigh-Ritz method?
It is integral approach method which is useful for solving complex structural
problem, encountered in finite element analysis. This method is possible only if
a suitable function is available.
17. What is Aspect ratio?
It is defined as the ratio of the largest dimension of the element to the smallest
dimension. In many cases, as the aspect ratio increases the in accuracy of the
solution increases. The conclusion of many researches is that the aspect ratio
UNIT 2
Global axes are defined for the entire system. They are same in direction for all
the elements even though the elements are differently oriented.
26. Distinguish between potential energy function and potential energy functional
If a system has finite number of degree of freedom (q1 ,q2,and q3), then the
potential energy expressed as,
π = f (q1 ,q2 ,and q3)
It is known as function. If a system has infinite degrees of freedom then the potential
energy is expressed as
dy d 2y
f x , y , , ....dx
2
dx dx
27. What are the types of loading acting on the structure?
Body force (f)
Traction force (T)
Point load (P)
28. Define the body force
A body force is distributed force acting on every elemental volume of the
body Unit: Force per unit volume.
Example: Self weight due to gravity
29. Define traction force
Traction force is defined as distributed force acting on the surface of the
body. Unit: Force per unit area.
Example: Frictional resistance, viscous drag, surface shear
30. What is point load?
Point load is force acting at a particular point which causes displacement.
31. What are the basic steps involved in the finite element
modeling. Discretization of structure.
Numbering of nodes.
32. Write down the general finite element equation.
F K u
33. What is discretization?
The art of subdividing a structure in to a convenient number of smaller components is
known as discretization.
34. What are the classifications of
coordinates? Global coordinates
Local coordinates
Natural coordinates
35. What is Global coordinates?
The points in the entire structure are defined using coordinates system is known as
global coordinate system.
36. What is natural coordinates?
A natural coordinate system is used to define any point inside the element by a set
of dimensionless number whose magnitude never exceeds unity. This system is very
useful in assembling of stiffness matrices.
37. Define shape function.
Approximate relation φ (x,y) = N 1 (x,y) φ1 + N2 (x,y) φ 2 + N3 (x,y) φ3
Where φ1, φ2, and φ3 are the values of the field variable at the nodes N 1, N2 , and
N3 are the interpolation functions.
N1, N2, and N3 are also called shape functions because they are used to express
the geometry or shape of the element.
38. What are the characteristic of shape function?
It has unit value at one nodal point and zero value at other nodal points. The sum of
shape function is equal to one.
39. Why polynomials are generally used as shape function?
Differentiation and integration of polynomial are quit easy.
The accuracy of the result can be improved by increasing the order of the
polynomial. It is easy to formulate and computerize the finite element equations
40. How do you calculate the size of the global stiffness matrix?
Global stiffness matrix size = Number of nodes X Degrees of freedom per node
UNIT 3
41. Write down the expression of stiffness matrix for one dimensional bar element.
AE 1 1
K
l 1 1
42. State the properties of stiffness
matrix It is a symmetric matrix
The sum of elements in any column must be equal to zero
It is an unstable element. So the determinant is equal to zero.
43. Write down the expression of stiffness matrix for a truss element.
u
1
u 1 l m 0 0 u 2
u 0 0l mu
2 3
u
4
44. Write down the expression of shape function N and displacement u for one
dimensional bar element.
U= N1u1+N2u2
N1= 1-X / l
N2 = X / l
45. Define total potential energy.
Total potential energy, π = Strain energy (U) + potential energy of the external forces
(W)
46. State the principle of minimum potential energy.
Among all the displacement equations that satisfied internal compatibility and the
boundary condition those that also satisfy the equation of equilibrium make the
potential energy a minimum is a stable system.
47. Write down the finite element equation for one dimensional two noded bar element.
AE 1 1
K
l 1 1
48. What is truss?
A truss is defined as a structure made up of several bars, riveted or welded together.
49. States the assumption are made while finding the forces in a
truss. All the members are pin jointed.
The truss is loaded only at the joint
The self weight of the members is neglected unless stated.
50. State the principles of virtual energy?
A body is in equilibrium if the internal virtual work equals the external virtual work
for the every kinematically admissible displacement field
51. What is essential boundary condition?
Primary boundary condition or EBC Boundary condition which in terms of f ield
variable is known as Primary boundary condition.
UNIT 4
61. Write down the stiffness matrix equation for two dimensional CST elements.
T
Stiffness matrix K B D B At
T
B -Strain displacement D -Stress strain matrix B-Strain displacement matrix
62. Write down the stress strain relationship matrix for plane stress conditions.
1 0
E
0
1 12 1 0
1 2
0 0
2
63. What is axisymmetric element?
Many three dimensional problem in engineering exhibit symmetry about an axis of
rotation such type of problem are solved by special two dimensional element called
the axisymmetric element
64. What are the conditions for a problem to be axisymmetric?
The problem domain must be symmetric about the axis of revolution
All boundary condition must be symmetric about the axis of revolution
All loading condition must be symmetric about the axis of revolution
65. Give the stiffness matrix equation for an axisymmetric triangular
T
element. Stiffness matrix K B D B 2rA
1 1
N1 1 1 N2 1 1
4 4
1
N3 1 1 1 1
N4
1
4 4
68. Write down Jacobian matrix for 4 noded quadrilateral e lements.
J J
J 11 12
J 21 J 22
69. Write down stiffnes matrix equation for 4 noded isoparametric quadrilateral elements.
If the number of nodes used for defining the geometry is more than of nodes used
for defining the displacement is known as super parametric element
71. Define sub parametric element.
If the number of nodes used for defining the geometry is less than number of nodes
used for defining the displacement is known as sub parametric element.
72. What is meant by Isoparametric element?
If the number of nodes used for defining the geometry is same as number of nodes
used for defining the displacement is known as Isoparametric element.
73. Is beam element an Isoparametric element?
Beam element is not an Isoparametric element since the geometry and displacement
are defined by different order interpretation functions.
74. What is the difference between natural coordinate and simple natural
coordinate?
L1 = 1-x/l
L2 = x/l
75. What is Area coordinates?
L1 = A1/A L2 = A2/A L3 = A3/A
76. What is simple natural coordinate?
A simple natural coordinate is one whose value between -1 and 1.
77. Give example for essential boundary conditions.
The geometry boundary condition are displacement, slope.
UNIT 5
86. During discretization, mention the places where it is necessary to place a node?
Concentrated load acting point Cross-
section changing point Different
material inter junction point
Sudden change in point load
87. What is the difference between static and dynamic analysis?
Static analysis: The solution of the problem does not vary with time is known as
static analysis
Example: stress analysis on a beam
Dynamic analysis: The solution of the problem varies with time is known as
dynamic analysis
Example: vibration analysis problem.
88. What is meant by discretization and assemblage?
The art of subdividing a structure in to convenient number of smaller components is
known as discretization. These smaller components are then put together. The
process of uniting the various elements together is called assemblage.
89. What is Rayleigh-Ritz method?
It is integral approach method which is useful for solving complex structural
problem, encountered in finite element analysis. This method is possible only if a
suitable function is available.
90. What is Aspect ratio?
It is defined as the ratio of the largest dimension of the element to the smallest
dimension. In many cases, as the aspect ratio increases the in accuracy of the solution
increases. The conclusion of many researches is that the aspect ratio should be close
to unity as possible.
91. What is essential boundary condition?
Primary boundary condition or EBC, Boundary condition which in terms of field
variable is known as Primary boundary condition
92. Natural boundary conditions.
Secondary boundary natural boundary conditions which are in the differential
form of field variable is known as secondary boundary condition.
93. How do you define two dimensional elements?
Two dimensional elements are define by three or more nodes in a tw o dimensional
plane. The basic element useful for two dimensional analysis is the triangular
element.
94. State the principles of virtual energy?
A body is in equilibrium if the internal virtual work equals the external virtual work for
the every kinematically admissible displacement field. .