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Beams and Frames
Beams and Frames
Beams are slender members used for supporting transverse loading. Beams with cross sections symmetric with respect to loading are considered.
M = y I = / E d 2 v / dx 2 = M / EI
1 2 2 U = EI d v / dx dx 20
1 2 2 ' = EI d v / dx dx pvdx pm vm M k vk 20 m k 0
Where-p is the distributed load per unit length -pm is the point load at point m. -Mk is the moment of couple applied at point k -vm is the deflection at point m -vk is the slope at point k.
Galerkins Approach
p M V+dV M+dM V dx Here we start from equilibrium of an elemental length. dV/dx = p dM/dx =V
d 2 v / dx 2 = M / EI
d2 d 2v 2 p = 0 EI 2 dx dx
For approximate solution by Galerkins approach-
d d 2 v 2 p dx = 0 dx 2 EI dx
Integrating the first term by parts and splitting the interval 0 to L to (0 to xm), (xm to xk) and (xk to L) we getd vd d d v EI dx 2 dx 2 dx pdx + dx EI dx 2 0 0 0
L 2 2 l 2 xm
d d v d v d d v d EI 2 EI 2 EI 2 dx dx x dx dx 0 dx dx
2 2 2
m
xk
=0
xk
Further simplifying-
d 2v d 2 EI 2 dx pdx pm m M k 'k = 0 dx dx 2 m k 0 0
L L
and M are zero at support..at xm shear force is pm and at xk Bending moment is -Mk
FINITE ELEMENT FORMULATION Beam is divided in to elementseach node has two degrees of freedom. Degree of freedom of node j are Q2j-1 and Q2j Q2j-1 is transverse displacement and Q2j is slope or rotation. Q1 Q2 Q3 Q4 Q5 Q6 Q7 Q8 Q9 Q10
e1
e2
e3
e4
Q = [Q1, Q2 , Q3 KQ10 ]
Local coordinatesq1 q2 e q3 q4
T
q = [q1 , q2 , q3 , q4 ] = [v1 , v , v2 , v ]
' 1 ' 2
The shape functions for interpolating v on an element are defined in terms of from 1 to 1. The shape functions for beam elements differ from those defined earlier. Therefore, we define Hermite Shape Functions
Slope=0 1
H1
Slope=0 Slope=1 Slope=0
H2
Slope=0
H3
Slope=0
Slope=1
Slope=0
H4
H i = ai + bi + ci 2 + d i 3 K i = 1,2,3,4
The condition given in following table must be satisfied.
H1 =-1 1 =1 0
H1 H2 0 0 0 0
H2 H3 1 0 0 1
H3 H4 0 0 0 0
H4 0 1
1 2 H1 = (1 ) (2 + ) 4 1 2 H 2 = (1 ) ( + 1) 4 1 2 H 3 = (1 + ) (2 + ) 4 1 2 H 4 = (1 + ) ( 1) 4
dv v( ) = H1v1 + H 2 d
dv + H 3v3 + H 4 d 1
1 2 2 U e = EI d v / dx dx 2e dv 2 dv = dx le d
2
and
d v 4 d v = 2 dx le d 2
T
Where-
d 2H d 2 q
d 2H d 2
3 1 + 3 le 3 1 + 3 le = , , , 2 2 2 2 2 2
Note that-
2 2 1 d = 3
d = 0 d = 2
1
12 6le 12 6le 2 2 EI 6le 4le 6le 2le ke = 3 le 12 6le 12 6le 2 2 6le 2le 6le 4le
It can be seen that it is a symmetric matrix.
Load vectorWe assume the uniformly distributed load p over the element.
ple 1 pvdx = 2 1 Hd q le
Substituting the value of H we get-
le
pvdx = f
e
eT
le Ple/2 e 2
Ple/2 Ple
2/12
-Ple2/12
The point loads Pm and Mk are readily taken care of by introducing the nodes at the point of application.
1 T = Q KQ QF 2
T T
BOUNDARY CONSIDERATIONS Let Qr = a.single point BC Following Penalty approach, add 1/2C(Qr-a)2 to C represents stiffness which is large in comparison with beam stiffness terms. C is added to Krr and Ca is added to Fr to getKQ = F These equations are solved to get nodal displacements. Ca C Dof =(2i-1) C Ca Dof = 2i
12 6le 12 6le q1 ple 2 R1 R 6le 4le2 6le 2le2 q2 ple2 12 2 EI = 3 + 12 6le 12 6le q3 ple 2 R3 le 2 R4 6le 2le2 6le 4le2 q4 ple 12
V1 = R1
V2 = -R3
M1 = -R2
M 2 = R4
1 l 2 additional term = 0 sv dx 2 v = Hq 1 = q T s H T H dx q 2 e e
1 = q T kes 2 e where kes is stiffness matrix for elastic foundation 156 22le 54 13le 2 2 sle 22le 4le 13le 3le s ke = 420 54 13le 156 22le 13le 3le2 22le 4le2
PLANE FRAMES
Plane structure with rigidly connected members. Similar to beams except that axial loads and deformations are present. We have 2 displacements and 1 rotation at each node. 3 dof at each node. q =[q1, q2, q3, q4, q5, q6]T
q6 (q6)
Y X
q2 q1 q1 q3 (q3)
q2
Y X
l,m are the direction cosines of local coordinate system. XY l = cos() m =sin() We can see from the figure thatq3 = q3 q3 = q6 which are rotations with respect to body.
q = Lq Where-
l m 0 L= 0 0 0
m 0 0 0 0 l 0 0 0 0 0 1 0 0 0
0 0 l m 0 0 0 m l 0 0 0 0 0 1
q2, q3,q5 and q6 are beam element dof while q1andq4 are like rod element dof.
Combining two stiffness and rearranging at proper locations we get element stiffness matrix as EA l e 0 0 k 'e = EA le 0 0 EA 0 le 6 EI le2 4 EI le 0 12 EI le3 0 0 0 EA le 6 EI le2 0 12 EI 6 EI 3 le le2 6 EI 2 EI 2 le le 0 0 12 EI 6 EI 0 2 3 le le 6 EI 4 EI 2 le le 0 0
0 12 EI le3 6 EI le2
6 EI le2
2 EI le
Strain energy of an element is given byUe = 1 T 'e q' k q' 2 1 = q T LT k 'e Lq 2 by Galerkin ' s approach , = T LT k 'e Lq
Y Y X
KQ = F