Introduction to FEM

The Direct Stiffness Method Part I

IFEM Ch 2 Slide 1

Introduction to FEM

The Direct Stiffness Method (DSM)

Importance: DSM is used by all major commercial FEM codes A democratic method, works the same no matter what the element:

Bar (truss member) element, 2 nodes, 4 DOFs

Quadratic thin-plate element, 6 nodes, 12 DOFs

Tricubic brick element, 64 nodes, 192 DOFs

Obvious decision: use the truss to teach the DSM

IFEM Ch 2 Slide 2

Introduction to FEM

Model Based Simulation

(a simplification of diagrams of Chapter 1)

IDEALIZATION

DISCRETIZATION

SOLUTION

Physical system

Mathematical model

FEM

Discrete model

Discrete solution

Solution error Discretization + solution error Modeling + discretization + solution error

VERIFICATION & VALIDATION

IFEM Ch 2 Slide 3

Introduction to FEM

Idealization Process
(a) Physical System member support joint

IDEALIZATION
(b) Idealized Sytem: FEM-Discretized Mathematical Model

; ; ;

IFEM Ch 2 Slide 4

; ; ;

Introduction to FEM

DSM: Breakdown Steps

FEM model:

;; ;;
Remove loads & supports: Disassemble:

;; ;;
battens longerons diagonals longerons

Localize: Generic element:

IFEM Ch 2 Slide 5

Introduction to FEM

DSM: Assembly & Solution Steps

Form elements: Globalize:
battens longerons diagonals longerons

Merge:

Apply loads and supports:

; ;
Solve for joint displacements:

; ;
IFEM Ch 2 Slide 6

; ;

; ;

Introduction to FEM

The Direct Stiffness Method (DSM) Steps Starting with: Idealization Breakdown (Chapter 2)

Disconnection
Localization Member (Element) Formation

Assembly & Solution (Chapter 3)

Globalization Merge Application of BCs Solution Recovery of Derived Quantities

IFEM Ch 2 Slide 7

Introduction to FEM

A Physical Plane Truss

Typical of those used for building roofs and short span bridges. member support joint

Too complicated to do by hand. We will use a simpler one to illustrate DSM steps

IFEM Ch 2 Slide 8

Introduction to FEM

The Example Truss: Physical and Pin-Jointed Idealization

3

Idealization as Pin-Jointed Truss and FEM Discretization

; ;
IFEM Ch 2 Slide 9

; ;

Introduction to FEM

The Example Truss - FEM Model: Nodes, Elements and DOFs

fy3 , uy3 3(10,10)
E (3) = 100, A(3) = 2 2, (3) L = 10 2, (3) = 3/20 45o E (2) = 50, A(2) = 1, (2) L = 10, (2) = 1/5

fx3 , ux3

y
fx1 , ux1 1(0,0) fy1 , uy1
45 o

(3)

(2) fx2 , ux2 2(10,0) fy2 , uy2

(1)
(1)

E (1) = (1)

50, A = 2, L = 10, (1) = 1/5

IFEM Ch 2 Slide 10

Introduction to FEM

The Example Truss - FEM Model BCs: Applied Loads and Supports (Saved for Last)
f y3 = 1
3

fx3 = 2

(3)

(2)

;; ;;
1

IFEM Ch 2 Slide 11

;; ;;
2

(1)

Introduction to FEM

Master (Global) Stiffness Equations

f=
Linear structure: fx1 K x 1x 1 f y 1 K y 1x 1 f K x 2 = x 2x 1 f K y 2 y 2x 1 f K x3 x 3x 1 f y3 K y 3x 1

fx1 f y1 fx2 f y2 fx3 f y3 K x 1y1 K y1y1 K x 2y1 K y2y1 K x 3y1 K y3y1

ux1 u y1 u x2 u= u y2 u x3 u y3 K x 1x 2 K y 1x 2 K x 2x 2 K y 2x 2 K x 3x 2 K y 3x 2 K x 1y2 K y1y2 K x 2y2 K y2y2 K x 3y2 K y3y2 K x 1x 3 K y 1x 3 K x 2x 3 K y 2x 3 K x 3x 3 K y 3x 3 K x 1y3 ux1 K y1y3 u y1 K x 2y3 ux2 K y2y3 u y2 K x 3y3 u x 3 K y3y3 u y3

Nodal forces

Master stiffness matrix

or

f = Ku

Nodal displacements

IFEM Ch 2 Slide 12

Introduction to FEM

Member (Element) Stiffness Equations

f = Ku
xi xi f K xi yi xi K fyi = fx j K x j xi fy j K
y j xi

xi yi K yi yi K x j yi K y j yi K

xi x j K yi x j K xjxj K yjx j K

xi y j u K xi yi y j u K yi x jyj u xj K u yj yjyj K

IFEM Ch 2 Slide 13

Introduction to FEM

First Two Breakdown Steps: Disconnection and Localization

3 3

Remove loads and supports, _ _ (3) and disconnect pins y x (3) y

y
_ (1)

x (2) (3) y (2) x (1) (1) 2

_
_

(2)

; ;

; ;
IFEM Ch 2 Slide 14

These steps are conceptual (not actually programmed as part of the DSM)

Introduction to FEM

The 2-Node Truss (Bar) Element

Equivalent spring stiffness k s = EA / L

_ _ fyi, u yi _ _ fxi , uxi _ y _ _ fyj, u yj _ _ fxj , uxj

_ x

i
F L

j
F d

IFEM Ch 2 Slide 15

Introduction to FEM

Truss (Bar) Element Formulation by Mechanics of Materials (MoM)

F = ks d = EA d, L F = fx j = fxi , xi d=u xj u

1 f xi EA 0 fyi = 1 fx j L 0 fy j
from which

0 0 0 0 0 0 0 0

Exercise 2.3 1 0 u xi 0 0u yi Element stiffness equations in local 1 0 u xj coordinates 0 0 u yj

1 0 1 0 0 0 0 0

1 EA 0 K= 1 L 0

Element stiffness matrix in local coordinates

IFEM Ch 2 Slide 16

Introduction to FEM

Where We Are So Far in the DSM

Disconnection Breakdown (Chapter 2) Localization

we are done with this ...

Member (Element) Formation

we finish Chapter 2 with

Assembly & Solution (Chapter 3)

Globalization Merge Application of BCs Solution Recovery of Derived Quantities

IFEM Ch 2 Slide 17

Introduction to FEM

Globalization: Displacement Transformation

uyj
_

uyj

uxj

y y
uyi
_

x
_

uxj

u yi

uxi uxi

i Node displacements transform as

u xi = u xi c + u yi s , u x j = u x j c + u y j s,

u yi = u xi s + u yi c u y j = u x j s + u y j c

in which

c = cos

s = sin

IFEM Ch 2 Slide 18

Introduction to FEM

Displacement Transformation (cont'd)

In matrix form uxi _ u yi _ uxj _ uyj
_

c s = 0 0

s c 0 0

0 0 c s

0 0 s c

uxi uyi uxj uyj Note: global on RHS, local on LHS

or

_e

Te u e

IFEM Ch 2 Slide 19

Introduction to FEM

Globalization: Force Transformation

_

fyj

fyj

fxj

j
fyi
_

fxj

fyi

fxi

fxi
_

Node forces transform as f xi c s 0 s c 0 f yi = 0 0 c fx j 0 0 s fyj or

0 0 s c

f_xi f_yi f_x j fyj

Note: global on LHS, local on RHS

= (T ) f

_ e T e

IFEM Ch 2 Slide 20

Introduction to FEM

Globalization: Congruential Transformation of Element Stiffness Matrices

K ue = f

u e = T e ue

f e = ( T e) T f e

Exercise 2.8

K e = ( T e )T K T e c2 sc 2 c sc sc s2 sc s 2 c2 sc c2 sc sc s 2 sc s2

e e A E e K = Le

IFEM Ch 2 Slide 21

Introduction to FEM

The Example Truss - FEM Model (Recalled for Convenience)

fy3 , uy3 3(10,10)
E (3) = 100, A(3) = 2 2, (3) L = 10 2, (3) = 3/20 45o E (2) = 50, A(2) = 1, (2) L = 10, (2) = 1/5

fx3 , ux3

y
fx1 , ux1 1(0,0) fy1 , uy1
45 o

(3)

(2) fx2 , ux2 2(10,0) fy2 , uy2

(1)
(1)

E (1) = (1)

50, A = 2, L = 10, (1) = 1/5

Insert the geometric & physical properties of this model into the globalized member stiffness equations

IFEM Ch 2 Slide 22

Introduction to FEM

We Obtain the Globalized Element Stiffness Equations of the Example Truss

f (1) u (1) 1 0 1 0 x1 x1 (1) (1) f y1 uy 0 0 0 0 1 = 10 (1) f (1) 1 0 1 0 ux2 x2 0 0 0 0 f y(1) u (1) 2 y2 u (2) f (2) 0 0 0 0 x2 x2 (2) (2) u y 2 In the next class f y2 0 1 0 1 f (2) = 5 0 0 0 0 u (2) we will put these to good use x3 x3 (2) (2) 0 1 0 1 f y3 u y3 (3) f (3) 0.5 0.5 0.5 0.5 u x 1 x1 u (3) f y(3) 0 . 5 0 . 5 0 . 5 0 . 5 1 y1 = 20 (3) f (3) 0 . 5 0 . 5 0 . 5 0 . 5 ux3 x3 (3) 0.5 0.5 0.5 0.5 fy u (3) 3 y3

IFEM Ch 2 Slide 23