CHAP 4 FINITE ELEMENT ANALYSIS OF

BEAMS AND FRAMES

INTRODUCTION
We learned Direct Stiffness Method in Chapter 2
Limited to simple elements such as 1D bars

we will learn Energy Method to build beam finite element

Structure is in equilibrium when the potential energy is minimum

Potential energy: Sum of strain energy and potential of

applied loads
Potential of
  U V
Interpolation scheme:
applied loads
v( x)   N( x)   {q}

Strain energy

Beam
Interpolation Nodal
deflection
function
DOF

BEAM THEORY
Euler-Bernoulli Beam Theory

can carry the transverse load

slope can change along the span (x-axis)
Cross-section is symmetric w.r.t. xy-plane
The y-axis passes through the centroid
Loads are applied in xy-plane (plane of loading)

y
Neutral axis
Plane of loading
x

z
A

BEAM THEORY cont.

Euler-Bernoulli Beam Theory cont.
Plane sections normal to the beam axis remain plane and normal to
the axis after deformation (no shear stress)
Transverse deflection (deflection curve) is function of x only: v(x)
Displacement in x-dir is function of x and y: u(x, y)

dv
u ( x, y )  u0 ( x)  y
dx

u du0
d 2v
xx 

y 2
x dx
dx

dv
dx

y(dv/dx)

Neutral axis
x
L

= dv/dx

y
v(x)

BEAM THEORY cont.

Euler-Bernoulli Beam Theory cont.
Strain along the beam axis: 0  du0 / dx

u du0
d 2v
xx 

y 2
x dx
dx

Strain xx varies linearly w.r.t. y; Strain yy = 0

Curvature: d 2v / dx 2
Can assume plane stress in z-dir
basically uniaxial status

d 2v
 xx  E xx  E 0  Ey 2
dx

Axial force resultant and bending moment

d 2v
P    xx dA  E 0  dA  E 2  ydA
dx A
A
A
M    y xx dA   E 0  ydA E
A

P  EA 0
d 2v
M  EI 2
dx

d v 2
y dA
dx 2 A

EA: axial rigidity

EI: flexural rigidity

Moment of inertia I(x)

BEAM THEORY cont.

Beam constitutive relation
We assume P = 0 (We will consider non-zero P in the frame element)
Moment-curvature relation:

d 2v
M  EI 2
dx

Moment and curvature is linearly dependent

Sign convention

+M

+Vy

y
x

+P

+M
+P

+Vy

Positive directions for applied loads

y
p(x)
x

C1
F1

C2
F2

C3
F3

GOVERNING EQUATIONS
Beam equilibrium equations
dVy 

0
(
)
f


p
x
dx

V

 y
 y dx dx   Vy  0



dVy
dx

dM 
dx

dx    pdx  Vy dx  0
M  M
dx
2



  p( x)

Vy  

dM
dx

d 4v

Combining three equations together: EI 4  p ( x)

dx
Fourth-order differential equation

p
Vy

dVy
dx

Vy

dx

dM
dx
dx

dx

STRESS AND STRAIN

Bending stress
d 2v
 xx   Ey 2
dx

 xx ( x, y )  

d 2v
M  EI 2
dx
M ( x) y
I

Bending stress

This is only non-zero stress component for Euler-Bernoulli beam

Transverse shear strain

 xy 

u v
v v
 0
y x
x x

u ( x, y )  u0 ( x)  y

dv
dx

Euler beam predicts zero shear strain (approximation)

VQ
Traditional beam theory says the transverse shear stress is  xy 
Ib
However, this shear stress is in general small compared to
the bending stress

POTENTIAL ENERGY
Potential energy   U V
Strain energy
Strain energy density
2

1
1
1 
d 2v 
1 2  d 2v 
2
U 0   xx xx  E ( xx )  E   y 2   Ey  2 
2
2
2 
dx 
2
 dx 

Strain energy per unit length

1 2  d 2v 
1  d 2v 
U L ( x)   U 0 ( x, y, z ) dA   Ey  2  dA  E  2 
2
2  dx 
 dx 
A
A

1 d v
U L ( x)  EI  2 
2  dx 
2

 y dA
2

Moment of
inertia

Strain energy
2

1 L  d 2v 
U   U L ( x) dx   EI  2  dx
0
2 0
 dx 
L

POTENTIAL ENERGY cont.

Potential energy of applied loads
NF

NC

i 1

i 1

V    p( x)v( x) dx   Fv
i ( xi )   Ci
L

dv( xi )
dx

Potential energy
2

NC
NF
L
dv( xi )
1 L  d 2v 
  U V   EI  2  dx   p( x)v( x) dx   Fv

(
x
)
C

i
i
i
0
2 0  dx 
dx
i 1
i 1

Potential energy is a function of v(x) and slope

The beam is in equilibrium when  has its minimum value



0
v
v*

10

RAYLEIGH-RITZ METHOD
1. Assume a deflection shape

v( x)  c1 f1 ( x) c2 f 2 ( x)..... cn f n ( x)

Unknown coefficients ci and known function fi(x)

Deflection curve v(x) must satisfy displacement boundary conditions

2. Obtain potential energy as function of coefficients

(c1 , c2 ,...cn )  U V
3. Apply the principle of minimum potential energy to determine
the coefficients

11

EXAMPLE SIMPLY SUPPORTED BEAM

p0

Assumed deflection curve

v( x)  C sin

x
L

E,I,L

Strain energy
2

1 L  d 2v 
C 2 EI  4
U   EI  2  dx 
2 0
4 L3
 dx 

Potential energy of applied loads (no reaction forces)

L
L
2p L
x
V    p( x)v( x)dx    p0C sin dx   0 C
L

0
0
4
Potential energy   U V  EI 3 C 2  2 p0 L C

4L
2 p0 L
4 p0 L4
d  EI  4
PMPE:

0  C 
C

dC
2 L3
EI  5
12

EXAMPLE SIMPLY SUPPORTED BEAM cont.

Exact vs. approximate solutions
Capprox

p0 L4

76.5EI

Cexact

p0 L4

76.8EI

Approximate bending moment and shear force

4 p0 L2
d 2v
2
x
x
M ( x)  EI 2   EIC 2 sin
sin

dx
L
L
L
3
4p L
d 3v
3
x
x
Vy ( x)   EI 3   EIC 3 cos
  02 cos
dx
L
L
L

3
Exact solutions v( x)  1  p0 L x  p0 L x 3 p0 x 4 
EI  24
12
24 

p0 L
p
x 0 x2
2
2
pL
Vy ( x)  0  p0 x
2
M ( x)  

13

EXAMPLE SIMPLY SUPPORTED BEAM cont.

1.0

Deflection

0.8

v(x)/v_max

0.6
0.4
v-exact

0.2

v-approx.

0.0
0

0.2

0.4

Bending Moment M(x)

Bending
moment

0.6

0.8

0.2

0.4

0.6

0.8

-0.04
-0.06
-0.08
-0.10

M_exact

-0.12

M_approx

Error increases

0.00
-0.02

x
x

-0.14
0.6

V_exact

Shear force

Shear Force V(x)

0.4

V_approx

0.2
0.0
-0.2
-0.4
-0.6
0

0.2

0.4

0.6

0.8

14

EXAMPLE CANTILEVERED BEAM

p0

Assumed deflection

v( x)  a bx c1x 2 c2 x3

E,I,L

Need to satisfy BC
v(0)  0, dv(0) / dx  0

v( x)  c1 x 2 c2 x3

L
Strain energy U  EI  2c1 6c2 x 2 dx
2 0

Potential of loads
L

V  c1 , c2       p0  v( x)dx  Fv( L)  C
0

dv
( L)
dx

 p0 L3

 p0 L4

2
 c1 
 FL  2CL  c2 
 FL3  3CL2 
 3

 4

15

EXAMPLE CANTILEVERED BEAM cont.

L
Derivatives of U: U  2 EI 2c 6c x dx  EI 4 Lc 6 L2c
 1
2
 1 2 

c1

U
 6 EI   2c1 6c2 x  xdx  EI  6 L2c1 12 L3c2 
c2
0
L

PMPE:


0
c1

0
c2

p0 L3
EI  4 Lc1 6 L c2   
FL2 2CL
3
p0 L4
2
3
EI  6 L c1 12 L c2   
FL3 3CL2
4
2

Solve for c1 and c2: c1  23.75 103 , c2  8.417 103

Deflection curve: v( x)  103  23.75 x 2  8.417 x3 
Exact solution: v( x) 

1
5400 x 2  800 x3  300 x 4 

24 EI
16

EXAMPLE CANTILEVERED BEAM cont.

Deflection
v(x)/v_max

0.0
0.0
0.0
v-exact

0.0

v-approx.
0.0
0

0.2

0.4

0.6

0.8

Error increases

Bending
moment

Bending Moment M(x)

500.00

M_exact

400.00

M_approx

300.00
200.00
100.00
0.00
-100.00
0

0.2

0.4

0.6

0.8

Shear force

Shear Force V(x)

600.0

500.0

400.0

300.0

V_exact
V_approx

200.0
0

0.2

0.4

0.6

0.8

17

FINITE ELEMENT INTERPOLATION

Rayleigh-Ritz method approximate solution in the entire beam
Difficult to find approx solution that satisfies displacement BC

Finite element approximates solution in an element

Make it easy to satisfy displacement BC using interpolation technique

Beam element

Divide the beam using a set of elements

Elements are connected to other elements at nodes
Concentrated forces and couples can only be applied at nodes
Consider two-node bean element
Positive directions for forces and couples
F2
F1
Constant or linearly
distributed load
C1

C2

p(x)
18

FINITE ELEMENT INTERPOLATION cont.

Nodal DOF of beam element
Each node has deflection v and slope

Positive directions of DOFs

Vector of nodal DOFs {q}  {v1
1 v2

2}T

Scaling parameter s
Length L of the beam is scaled to 1 using scaling parameter s

x  x1
1
, ds  dx,
L
L
ds 1
dx  Lds,

dx L
s

v2

v1

x
L

x1
s=0

x2
s=1

Will write deflection curve v(s) in terms of s

19

FINITE ELEMENT INTERPOLATION cont.

Deflection interpolation
Interpolate the deflection v(s) in terms of four nodal DOFs
Use cubic function: v( s)  a0 a1s a2 s 2 a3s 3
Relation to the slope:
dv dv ds 1
2

Apply four conditions:

v(0)  v1

dx

dv(0)

1
dx

ds dx

v(1)  v2

(a1 2a2 s 3a3 s )

dv(1)

2
dx

Express four coefficients in terms of nodal DOFs

v1  v(0)  a0
1
dv

1  (0)  a1
dx
L
v2  v(1)  a0 a1 a2 a3

2 

1
dv
(1)  (a1 2a2 3a3 )
dx
L

a0  v1
a1  L
1
a2  3v1  2 L
1 3v2  L
2
a3  2v1 L
1  2v2 L
2
20

FINITE ELEMENT INTERPOLATION cont.

Deflection interpolation cont.
v( s)  (1  3s 2 2s3 )v1 L( s  2s 2 s 3 )
1 (3s 2  2s 3 )v2 L(s 2 s 3 )
2
 v1
!
!
! !
v( s)   N  {q}
v( s )  [ N1 ( s ) N 2 ( s ) N 3 ( s) N 4 ( s)] " 1 #
v
! 2!
!
$
2 !
%

Shape functions

1.0

N1 ( s )  1  3s 2 2 s 3

0.8

N 2 ( s )  L( s  2 s 2 s 3 )

0.6

N 3 ( s )  3s 2  2 s 3

0.4

N 4 ( s )  L( s 2 s 3 )

0.2

Hermite polynomials
Interpolation property

N1

N3

N2/L

0.0
0.0

0.2

0.4

0.6

N4/L

0.8

1.0

-0.2

21

FINITE ELEMENT INTERPOLATION cont.

Properties of interpolation
Deflection is a cubic polynomial (discuss accuracy and limitation)
Interpolation is valid within an element, not outside of the element
Adjacent elements have continuous deflection and slope

Approximation of curvature
Curvature is second derivative and related to strain and stress  v1

!
!
d 2v 1 d 2v 1
! 1!
[
6
12
s
,
L
(
4
6
s
),
6
12
s
,
L
(
2
6
s
)]









" #
dx 2 L2 ds 2 L2
! v2 !
!
d 2v 1
$
2 !
%

B
q
{
}


2
2  
B:
strain-displacement
vector
dx
L 14 41

B is linear function of s and, thus, the strain and stress

2
Alternative expression: d v 1  T  T

dx 2

q {B }
L2  14  41

If the given problem is linearly varying curvature, the approximation is

accurate; if higher-order variation of curvature, then it is approximate

22

FINITE ELEMENT INTERPOLATION cont.

Approximation of bending moment and shear force
d 2v EI
M ( s)  EI 2  2 B  {q}
dx
L

Linear

dM
d 3v EI
Vy  
  EI 3  3 [12 6 L 12 6 L]{q}
dx
dx
L

Constant

Stress is proportional to M(s); M(s) is linear; stress is linear, too

Maximum stress always occurs at the node
Bending moment and shear force are not continuous between adjacent
elements

23

EXAMPLE INTERPOLATION
v1

v2

Cantilevered beam
Given nodal DOFs

1
{q}  {0, 0,  0.1,  0.2}T
L
Deflection and slope at x = 0.5L
Parameter s = 0.5 at x = 0.5L
1
L
1
L
Shape functions: N1 ( 12 )  , N 2 ( 12 )  , N3 ( 12 )  , N 4 ( 12 )  
2
8
2
8
Deflection at s = 0.5:
v( 12 )  N1 ( 12 )v1 N 2 ( 12 )
1 N 3 ( 12 )v2 N 4 ( 12 )
2
L
L
v L

1
1
  0  0  v2  
2  2  2  0.025
2

Slope at s = 0.5:

dN
dv 1 dv 1  dN1
dN
dN 4 

  v1

1 2 v2 3
2

dx L ds L  ds
ds
ds
ds 
1
1
 v1 (6s 6s 2 )
1 1  4 s 3s 2  v2 (6 s  6 s 2 )
2  2 s 3s 2   0.1
24
L
L

EXAMPLE
A beam finite element with length L
L3
L2
v1  0,
1  0, v2 
,
2 
3EI
2 EI

Calculate v(s)
v( s)  N1 ( s)v1 N 2 (s)
1 N3 (s)v2 N 4 (s)
2

v( s)  (3s 2  2s3 )v2 L(s 2 s 3 )

2

Bending moment
d 2v EI d 2v EI
M ( s )  EI 2  2 2  2 & (6  12s )v2 L(2 6s )
2 '
dx
L ds
L
EI (
L3
L2 )
 2 (6  12s )
L(2 6s)
3EI
2 EI 
L 
 L(1  s )  ( L  x) Bending moment cause by unit force at the tip
25

FINITE ELEMENT EQUATION FOR BEAM

Finite element equation using PMPE
A beam is divided by NEL elements with constant sections

Strain energy
Sum of each elements strain energy
LT

NEL

e1

e
x2 

NEL

U   U L ( x)dx    e U L ( x)dx  U  e

x1

e1

Strain energy of element (e)

 e

e
x2 

 EI  e
x1

1  d 2v 
EI
dx  3

2 
L
2  dx 

C1

p(x)
x

1
F1
x 11

1  d 2v 
0 2  ds 2  ds
1

x 21

F2

C2

C3

C4

x12

x 22

F3

x1 3

x 23

F4

x1 4

C5
5
F5
x 24

26

FE EQUATION FOR BEAM cont.

Strain energy cont.
Approximate curvature in terms of nodal DOFs
2

 d 2v   d 2v  d 2v 
T
e
 e T
q


{
} B  B  {q  }
 ds 2   ds 2  ds 2 
14
41
41
14

 


Approximate element strain energy in terms of nodal DOFs

(e)

1 e ( EI
 {q  }T  3
2
L

 e

1 e T e e

)
e
B
B
q
ds
{
}

{q } [k ]{q }








0

2
1

Stiffness matrix of a beam element

( 6 12s )


EI 1  L(4 6 s) 
e
[k ]  3 
& 6 12s
L 0  6  12 s 


 L(2 6 s) 

L(4 6 s) 6  12 s

L(2 6 s) ' ds

27

FE EQUATION FOR BEAM cont.

Stiffness matrix of a beam element
6 L 12 6 L )
( 12
 6 L 4 L2 6 L 2 L2 
EI
e

[k   ]  3 
L  12 6 L 12 6 L 

2
2 
 6 L 2 L 6 L 4 L 

Symmetric, positive semi-definite

Proportional to EI
Inversely proportional to L

Strain energy cont.

NEL

U  U

(e)

e1

1 NEL  e T  e   e 
  {q } [k ]{q }
2 e1

Assembly

1
U  {Q s }T [K s ]{Q s }
2
28

EXAMPLE ASSEMBLY

2EI

1
2L

v1

Two elements
Global DOFs

EI

{Qs }T  {v1
1 v2
2 v3
3}

v2

F2

F3

v2

v3

6 L 12 6 L ) v2
( 12
2
2 

EI  6 L 4 L 6 L 2 L 
2
 2
[k ]  3
L  12 6 L 12 6 L  v3

2
2 
 6 L 2 L 6 L 4 L 
3

3 3L ) v1
( 3 3L
2
2 

EI 3L 4 L 3L 2 L 
1
1
[k ]  3
3
3L  v2
L  3 3L

2
2 
3L 2 L 3L 4 L 
2

0
0 )
3 3L
( 3 3L
3L 4 L2 3L 2 L2
0
0 


3
3
L
15
3
L
12
6
L





EI
[K s ]  3 

L 3L 2 L2 3L 8 L2 6 L 2 L2 
0
0
12 6 L 12 6 L 


0
6 L 2 L2 6 L 4 L2 
0

29

FE EQUATION FOR BEAM cont.

Potential energy of applied loads

 F1
!C !
Concentrated forces and couples
ND
!! 1 !!
V    Fi vi Ci
i 
V   v1
1 v2 ......
ND  " F2 #  {Q s }T {Fs }
i 1
!
!
!
!
$CND !%
Distributed load (Work-equivalent nodal forces) !
NEL

e
x2 

NEL

V     e p( x)v( x) dx   V
e1

(e)

L

(e)

x1

(e)

(e)

e1

 p(s)  v N
1

e
x2 

  e p( x)v( x) dx  L
x1

(e)

 p(s)v(s) ds
0

1 N 2 v2 N 3
2 N 4  ds

1
1
1
1








 v1  L( e )  p ( s ) N1ds 
1  L( e )  p ( s ) N 2 ds  v2  L( e )  p (s ) N 3ds 
2  L( e )  p (s ) N 4ds 
0
0
0
0








(e)
(e)
(e)
(e)
 v1F1
1C1 v2 F2
2C2

30

EXAMPLE WORK-EQUIVALENT NODAL FORCES

Uniformly distributed load
pL
0
0
2
1
1
pL2
2
2
3
C1  pL  N 2 ( s ) ds  pL  ( s  2s s ) ds 
0
0
12
1
1
pL
F2  pL  N3 ( s) ds  pL  (3s 2  2s 3 ) ds 
0
0
2
1
1
pL2
2
2
3
C2  pL  N 4 ( s ) ds  pL  ( s s ) ds  
0
0
12
1

F1  pL  N1 ( s) ds  pL  (1  3s 2 2s 3 ) ds 

 pL
{F}  "
$ 2
T

pL2
12

pL
2

pL2

#
12 %

p
pL/2

Equivalent
pL/2

pL2/12

pL2/12
31

FE EQUATION FOR BEAM cont.

Finite element equation for beam

6 L 12 6 L )  v1
 F1
( 12
 pL / 2
! ! 2
2
2 !

! ! !
EI  6 L 4 L 6 L 2 L  !
1 ! ! pL /12 ! ! C1 !
" #"
# " #
3
L  12 6 L 12 6 L  ! v2 ! ! pL / 2 ! ! F2 !

2
2 
2
!
!
!

L
L
L
L
pL
6
2
6
4
/12 %! !$C2 !%



$ 2% $
One beam element has four variables
When there is no distributed load, p = 0
Applying boundary conditions is identical to truss element

At each DOF, either displacement (v or

) or force (F or C) must be
known, not both
Use standard procedure for assembly, BC, and solution
32

PRINCIPLE OF MINIMUM POTENTIAL ENERGY

Potential energy (quadratic form)
1
  U V  {Q s }T [K s ]{Q s }  {Q s }T {Fs }
2

PMPE
Potential energy has its minimum when

[K s ]{Q s }  {Fs }

[Ks] is symmetric & PSD

Applying BC
The same procedure with truss elements (striking-the-rows and
striking-he-columns)

[K ]{Q}  {F}

[K] is symmetric & PD

Solve for unknown nodal DOFs {Q}

33

BENDING MOMENT & SHEAR FORCE

Bending moment
d 2v EI d 2v EI
M ( s)  EI 2  2 2  2 B  {q}
dx
L ds
L

Linearly varying along the beam span

 v1
!
!
dM
d 3v
EI d 3v EI
! !
  EI 3   3 3  3 [12 6 L 12 6 L] " 1 #
Vy ( s )  
dx
dx
L ds
L
! v2 !
!
Constant
$
2 !
%

Shear force

When true moment is not linear and true shear is not constant, many
elements should be used to approximate it

My

Bending stress  x  
I
Shear stress for rectangular section
1.5Vy  4 y 2 
 xy ( y ) 
1 2 
bh 
h 

34

y
EXAMPLE CLAMPED-CLAMPED
BEAM

Determine deflection &

slope at x = 0.5, 1.0, 1.5 m
Element stiffness matrices

v1

v2

x
1

2
1m

6 12 6 ) v1
( 12
 6
4 6 2 
1
(1)

[k ]  1000 
 12 6 12 6  v2


2 6 4 
2
 6

1m
F2 = 240 N

v2

v3

6 12 6 ) v2
( 12
 6
4 6 2 
2
(2)

[k ]  1000 
 12 6 12 6  v3


2 6 4 
3
 6

6 12 6
0
0 )  v1
 F1
( 12
! !
 6
4 6 2
0
0  !
1 ! ! C1 !
!
!


!
!
!240 !
 12 6 24 0 12 6  v2
1000 
" #  " 0 #
2
0
8 6 2  !
2 ! !
!
 6
!
!
!
 0
F3 !
0 12 6 12 6  v3
!

! ! !
0
6
2 6 4  $
3 % $ C3 %
 0

35

EXAMPLE CLAMPED-CLAMPED BEAM cont.

Applying BC
( 24 0 ) v 2
240
1000 

"
#
"
#

 0 8  $
2 % $ 0 %

v2  0.01

2  0.0

At x = 0.5

s = 0.5 and use element 1

v( 12 )  v1 N1 ( 12 )
1 N 2 ( 12 ) v2 N3 ( 12 )
2 N 4 ( 12 )  0.01 N3 ( 12 )  0.005m

( 12 ) 

dN3
1
v
2
L(1)
ds

 0.015rad
s  12

At x = 1.0

either s = 1 (element 1) or s = 0 (element 2)

v(1)  v2 N 3 (1)  0.01 N 3 (1)  0.01m

(1) 

dN 3
1
v
(1) 2
L
ds

 0.0 rad
s 1

v(0)  v2 N1 (0)  0.01 N1 (0)  0.01m

(0) 

1
dN1
v
(2) 2
L
ds

 0.0 rad
s 0

Will this solution be accurate or approximate?

36

EXAMPLE CANTILEVERED BEAM

One beam element
No assembly required
Element stiffness

p0 = 120 N/m

EI = 1000 N-m2

L = 1m

6 12 6 ) v1
( 12
 6
4 6 2 
1


[K s ]  1000
 12 6 12 6  v2


2 6 4 
2
 6

C = 50 N-m

Work-equivalent nodal forces

 1  3s 2 2 s 3
 F1e
 1/ 2
 60
!
!
! !
!
! !
!
2
3
1 !( s  2 s s ) L !
! C1e !
! L /12 ! ! 10 !
" #  p0 L 0 "
# ds  p0 L "
#"
#
2
3
F
1/
2
60
s
s
3
2

2
e
! !
!
!
!
! !
!
!$C2 e !%
!$ ( s 2 s 3 ) L !%
!$ L /12!% !$10!%
37

EXAMPLE CANTILEVERED BEAM cont.

FE matrix equation
6 12 6 )  v1
( 12
 F1 60
 6
4 6 2  !!
1 !! !! C1 10 !!
" #  "
1000 
#
 12 6 12 6  ! v2 ! ! 60 !


2 6 4  !$
2 !% $!10  50 %!
 6

Applying BC

(12 6 )  v2
 60
1000 

#
" # "
 6 4  $
2 % $60 %

v2  0.01m

2  0.03 rad

Deflection curve: v( s)  0.01N3 ( s)  0.03N 4 ( s)  0.01s 3

Exact solution: v( x)  0.005( x 4  4 x3 x 2 )

38

EXAMPLE CANTILEVERED BEAM cont.

Support reaction (From assembled matrix equation)
1000  12v2 6
2   F1 60

F1  120 N

1000  6v2 2
2   C1 10

C1  10 N m

Bending moment
EI
B  {q}
L2
EI
 2 & (6 12 s)v1 L(4 6 s)
1 (6  12 s)v2 L(2 6 s)
2 '
L
 1000[0.01(6  12s )  0.03(2 6 s)]
 60s N m

M ( s) 

Shear force
EI
&12v1 6 L
1  12v2 6 L
2 '
L3
 1000[12  (0.01) 6(0.03)]
 60 N

Vy  

39

EXAMPLE CANTILEVERED BEAM cont.

Comparisons
0.000

0.000
FEM
Exact

-0.002

FEM
Exact

-0.005
-0.010

-0.004

-0.015

-0.006

-0.020

-0.008

-0.025

Deflection
0

0.2

0.4

0.6

0.8

10

0.2

0.4

0.6

0.8

0
FEM
Exact

FEM
Exact

-20

-10

-40

Vy

-20

Slope

-0.030

-0.010

-30

-60
-80

-40

-100

Bending moment

-50
-60

Shear force

-120
0

0.2

0.4

0.6

0.8

0.2

0.4

0.6

0.8

40

PLANE FRAME ELEMENT

Beam
Vertical deflection and slope. No axial deformation

Frame structure
Can carry axial force, transverse shear force, and bending moment
(Beam + Truss)

Assumption

v1

Axial and bending effects

are uncoupled
Reasonable when deformation
u2
is small

3 DOFs per node

{ui , vi ,
i }

u2

1
2

p
F

v2

u2

Need coordinate transformation like plane truss

v2
u1

u1

v1

v2

u1

v1

41

PLANE FRAME ELEMENT cont.

Element-fixed local coordinates x  y
Local DOFs {u , v ,
}
Local forces { f x , f y , c }
Transformation between local and global coord.
 f x1
( cos *
! f !   sin *
! y1 ! 
! c1 !  0
" #
! fx 2 !  0
! fy2 !  0
! ! 
$ c2 %  0

sin * 0
0
cos * 0
0
0
1
0
0
0 cos *
0
0  sin *
0
0
0

0
0 )  f x1
0
0  ! f y1 !
! !
0
0  ! c1 !
" #
sin * 0  ! f x 2 !
cos * 0  ! f y 2 !
! !
0
1  $ c2 %

Local coordinates

{f }  [T]{f }
{q}  [T]{q}

v1
y

u1
1

v2

u2

1
Global coordinates
42

PLANE FRAME ELEMENT cont.

Axial deformation (in local coord.)
 f x1
EA ( 1 1)  u1

" # " #
L  1 1  $u2 % $ f x 2 %

Beam bending
6 L 12 6 L )  v1
 f y1
( 12
! ! !
2
2 !

EI  6 L 4 L 6 L 2 L  !
1 ! ! c1 !
" #" #
L3  12 6 L 12 6 L  ! v2 ! ! f y 2 !

2
2 
 6 L 2 L 6 L 4 L  $!
2 !% !$ c2 !%

Basically, it is equivalent to overlapping a beam with a bar

A frame element has 6 DOFs

43

PLANE FRAME ELEMENT cont.

Element matrix equation (local coord.)
0
( a1
 0
12a2

6 La2
 0

0
 a1
 0 12a2

6 La2
 0

0
6 La2
4 L2 a2
0
6 La2
2 L2 a2

a1
0
0 12a2
0 6 La2
a1
0
0
12a2
0 6 La2

0 )  u1
 f x1
! ! ! !
6 La2  ! v1 ! ! f y1 !

2 L2 a2  !
1 ! ! c1 !
" #  " #
0  ! u2 ! ! f x 2 !
6 La2  ! v2 ! ! f y 2 !
! ! ! !
4 L2 a2  $
2 % $ c2 %

EA
L
EI
a2  3
L
a1 

[k ]{q}  {f }

Element matrix equation (global coord.)

[k ][T]{q}  [T]{f }

[T]T [k ][T]{q}  {f }

[k ]{q}  {f }

[k ]  [T]T [k ][T]

Same procedure for assembly and applying BC

44

PLANE FRAME ELEMENT cont.

Calculation of element forces

Element forces can only be calculated in the local coordinate

Extract element DOFs {q} from the global DOFs {Qs}
Transform the element DOFs to the local coordinate {q}  [T]{q}
Then, use 1D bar and beam formulas for element forces

AE
 u2  u1 
L
EI
Bending moment M ( s)  2 B  {q}
L
EI
Shear force Vy ( s )  3 [12 6 L 12
L
Other method:  V
6L
( 12
y1
!
!
2

!  M 1 ! EI  6 L 4 L
"
# 3

V
! y 2 ! L  12 6 L

2
!$ M 2 !%
 6L 2L
Axial force P 

6 L]+q,
12 6 L )  v1
6 L 2 L2  !!
1 !!
" #
12 6 L  ! v2 !

6 L 4 L2  !$
2 !%

45