DISCRETE SYSTEMS

DYNAMICS
The finite element involves the transformation of a continuous system (infinite degrees of freedom) into a discrete system (finite degrees of freedom). It is instructive therefore to examine the behaviour of simple discrete systems and associated variational methods as this provides real insight and understanding into the more complicated systems arising from the finite element method.

Spring-mass systems
A possible representation for the above 1-D problem is If A x = A then it may be reasonable to assume that

( )

F1 (t )

m1

m2 & 1 (t ), & & 1 (t ) u 1 (t ), u u

F2 (t )

k=

EA AL and m 2 = m 1 = m = . L 2

& 2 (t ), & & 2 (t ) u 2 (t ), u u

A free-body diagram for each of the masses gives

m1 0

&1 k (u 2 u 1 ) = F1 and m 2 & & 2 + k (u 2 u 1 ) = F2 or in matrix form m1 & u u &1 k k u 1 F1 0 & u 0 m && + Ku = F . The matrix 1 = + succinctly written as Mu is known & 2 k k u 2 F2 m 2 & u 0 m2
An alternative form exists called the

as a lumped-mass matrix, with mass located along the principal diagonal only.

consistent-mass matrix, which has mass located off the principal diagonal, i.e. a matrix of the form

m11 m 21

m12 . The m 22

theory above provides no indication about how the mass should be distributed for accurate representation of the rod.

& m 1 u 1 2 1 1 &1 &2 + m2u m1 u Observe that the kinetic energy for the above system is T = 2 = &2 2 2 u 0

0 u &1 1 T = u & Mu & u m2 & 2 2

A more sophisticated approach is required, similar to the principle of virtual work, which in dynamics is replaced by Hamiltons principle. Hamiltons principle requires an understanding of variational calculus.

Hamiltons Principle
Let us consider the use of variational calculus in a dynamical setting. Hamilton suggested that we should consider the variation
t2

of the following integral

L dt = (T V)dt , where T is kinetic energy, V is the total potential energy and L = T V is

t1 t1 t2

t2

called the Lagrangian. Hamilton's principle states that of all possible motions the dynamics of the system extremises the integral of the difference between the total kinetic energy and the total potential energy. Hence we consider

Ldt = (T - V )dt = Wa dt .
t1 t1 t1

t2

t2

Note that the work term Wa is not explicit in the above statement; if the virtual work is developable from a potential it could be included in V the total potential energy. However, if there is any dissipation during the motion caused by friction, viscosity, strain rate effect or hysteresis, then the virtual work done by these forces is not convertible to an energy-potential. Thus, for non-conservative systems, that component of virtual work, which is not developable from a potential, must be included in the last term of the above equation. Our focus is on the form

(T Wse )dt = Wa dt
t1 t1

t2

t2

Note that if Wa = Fu then we have

t2 t2 2 L d L d L L udt = W dt = Fudt , which results in =F. + a u dt u & & dt u u t t t1 t1 t1 1 1 & & & ( ) K K L u , u , , u , u , u , , u and W = F u In general if 1 2 n 1 2 n a 1 1 + F2 u 2 + L + Fn u n , then Hamiltons principle gives

Ldt = u

t2

L & u

t2

Lagranges equations of motion, i.e.

d L &i dt u

L u = Fi , where, i = 1 : n . i
1 1 & 2 ku 2 mu 2 2

k m x

F(t ) u (t )

Example
Consider the following single degree of freedom spring-mass system:

T=

1 1 & 2 , V = Wse = ku 2 , mu 2 2

Wa = Fu Thus, L = T Wse =

Lagranges equation of motion gives

d L L d & ) + ku = m& & + ku = F u = (mu & u dt dt u

It is of interest to develop this equation from Hamiltons principle, i.e.

Ldt =
t1

t2

t2

t2 t2 1 & 2 ku 2 dt = (T Wse )dt = (mu & u & kuu )dt = mu 2 t1 t1 t1 t t2 t2 t2

& u t 2 (m& & + ku )udt = Wa dt = Fu dt = mu u

1

t1

t1 t2

t1

Let

u (t 1 ) = u (t 2 ) = 0 ; then this equation gives

& + ku = F , which is & + ku F)udt = 0 , and consequently m& u u (m&

t1

precisely the equation obtained with direct application of Newtons 2nd law.

Example
Consider a bar of constant cross section subdivided into three elements.

l1 F1 (1)
[1] x (2)

l2
(3) [2]

l3

(4) F4 [3]

Consider further, the following series of masses and springs representing the 3-element rod. u3 u1 u2 k k
1 2

k3 4

u4

1
1

m1
F1

m2
F2

m3
F3

m4
F4

where the masses are

Al 3 Al 1 A A , m2 = and (l 1 + l 2 ) , m 3 = (l 2 + l 3 ) , m 4 = 2 2 2 2 EA EA EA , k2 = , k3 = . the spring stiffnesses are k 1 = l1 l2 l3 1 1 1 1 2 2 2 2 &1 &2 &2 &2 + m2u T = (m1 u k 1 (u 2 u 1 ) + k 2 (u 3 u 2 ) + k 3 (u 4 u 3 ) 2 + m 3 u 3 + m 4 u 4 ) and Wse = 2 2 2 2 d L L = Fi gives Simple matter to check that the identity &i dt u u i m1 =
m1 0 0 0 0 m2 0 0 0 0 m3 0 & k u 0 & 1 1 & 2 k1 u 0 & + &3 0 u 0 & &4 u m4 0 & k1 k1 + k 2 k2 0 0 k2 k2 + k3 k3 0 u 1 F1 0 u 2 = F2 , i.e. Mu && + Ku = F . k 3 u 3 F3 k3 u 4 F4

Note that T =
t2 t2

1 T 1 & T Mu & , Wse = u T Ku , Wse = u T Ku and Wa = u T F . & Mu & , T = u u 2 2

t2 t2 t2 t2 t1

Hamiltons principle gives

& T Mu & dt u T Kudt = u T Mu & Ldt = Tdt Wse dt = u

t1 t1 t2 t1 t1 t2 t1 t2

&&dt u T Mu
t1

t2

t2

u
t1

Kudt =

&& + Ku )dt = u T Fdt u T (Mu && + Ku - F )dt = 0 Mu && + Ku = F = 0 u T (Mu

t1 t1 t1