Arce504 FEM - ++++

California Polytechnic State University
FEM for Building Structures, Winter Quarter 2010
Department of Architectural Engineering

Instructor: Ansgar Neuenhofer
Review: Illustration of structure stiffness matrix assembly process (ARCE 306)

Assume, each element has 2 nodes and 1 degree of freedom at each node, the rotation. Each quartet of crosses
represents the 2x2 element stiffness matrix of a member and is placed into the 6x6 structure stiffness matrix at the
appropriate location. When more than one element is connected to a node, we obtain the corresponding diagonal element of the stiffness matrix by adding the stiffness of all elements connected to that node.
xx
x
x
xxx
xxx
xxxxx x
xxx
xx
C:\calpoly\arce504\Handouts\Winter2010\HandoutsChapters1-3.doc
4/29/2010
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Statics and PVF for simple 3-D problem (loads act perpendicular to plane of structure)
Given:
E
= 29, 000 ksi
=150 in4 (tubular section)
= 0.3
= 2 I = 2 150 in 4 = 300 in 4
29, 000 ksi

E
=
= 11,150 ksi
2 (1 + ) 2 (1 + 0.3)
Problem: Find the displacement delta for the given loading.

Solution: The internal forces in the structure are the shear forceV , the bending moment M and the torsional
moment MT . The two moment diagrams are shown above. We ignore shear deformation, such that the virtual force
integral becomes
=
=
1
EI
MM dx + GJ MT MT dx
1
1
1
1
40 k-ft 8 ft 8 ft + 30 k-ft 6 ft 6 ft +
1 40 k-ft 8 ft 6 ft
4
3
29, 000 ksi 150 in /144 3
11, 500 ksi 300 in 4 /144
= 0.0402 ft + 0.080 ft = 0.120 ft = 1.44 in (ans )
4/29/2010
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INTRODUCTION
1.1
Key idea (finite vs. infinitesimal)
1.2
the key idea is the exact same as in ARCE 306, that is subdivide the structure into elements and nodes,
displacements and rotations (if they exist) are the unknowns, results in huge systems of algebraic equations
assemble element stiffness matrices in the exact same manner as learned in ARCE 306
what is different is that we use elements other than frame elements (e.g. membrane, plate or shell elements)
the finite element method generally provides an approximate solution whose accuracy increases as more
element, and hence unknowns, are used.
the idea of subdividing a structure into many elements would have languished had there not been the
spectacular development in digital data processing.
Hand vs. computer analysis of frame structure
1.2.1
Hand analysis
semicircular 2-pinned arch
Find N ,V , M @ location P
N
= A cos 30D + B sin 30D
= A sin 30D + B cos 30D
M = A r (1 cos 30D ) B r sin 30D
Note:
structure indeterminate to degree one

use three equilibrium equations and one compatibility equation to solve for reactions, then cut free body
and determine N ,V , M
process is difficult to automate, what for example if we had 3 pinned arch => statically determinate => four
EEQ, zero compatibility equation
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1.2.2

Computer analysis
node-element concept
linear connection between nodes
ui

vi

i

q = u
j
v
j

j

q 3 , Q3
q 6 ,Q6
q1,Q1
q 4 , Q4
q2 ,Q2
2 nodes, 3 dofs per node
q 5 ,Q5
subdivide structure into nodes and elements (probably straight), node-element concept, internal forces are N ,V , M
q:
vector of element nodal displacements
Q:
vector of element nodal forces
K:
element stiffness matrix
Q:
= Kq
(assume linear structural behavior)
The above equation is a force-displacement relation in matrix form, which forms the basis of electronic structural
analysis. In order to get K , we need
(1) stress-strain relation (constitutive relation)
(2) strain-displacement relation (kinematic relation)
(3) Equilibrium
Those three fundamental relations of structural analysis are part of the force method, the slope-deflection method,
the solution to the differential equation or any conventional method of structural analysis (see ARCE 302, ARCE
306), i.e. we can use any of these methods to derive K .
ALTERNATIVE: energy method (e.g. Rayleigh-Ritz method of ARCE 501)
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1.3

Membrane structure
node-element concept
shear wall
q 6 ,Q6
q 5 ,Q5
q 3 , Q3
q1,Q1
q 7 ,Q7
q 8 , Q8
q 4 , Q4
q2 ,Q2
it is problematic to model shear wall with frame elements

use area elements (or membrane elements), e.g. 4 node-element, 2 dofs per node
there are no nodal rotations (why?)
there are no internal forces are N ,V , M but stresses xx , yy , xy
q:
element nodal displacements
Q:
element nodal forces
K:
element stiffness matrix
Q:
= Kq
(assume linear structural behavior)
(8x1) = (8x8)x(8x1)
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Again, the above equation is a force-displacement relation at the element level in matrix form.
To get that relation, need (as before for frame elements)
(1) stress-strain relation (constitutive relation)
(2) strain-displacement relation (kinematic relation)
(3) Equilibrium
However, force method, slope-deflection method, differential equation do not work for this type of element
only option: energy method
Memorize:
energy principle for frame element:
energy principle for other types of elements (membrane, slab, shell, volume):
one option among many

only option
when energy principle is used to derive a matrix force-displacement relation that strategy is called finite element
method (FEM)
when other procedures are used to derive a matrix force-displacement relation that strategy is called (direct stiffness
method, matrix structural analysis, ARCE 306)
1.4
Historical Background
The finite element method is of dual nature. It was developed for stress analysis but soon researchers recognized the
mathematical foundation of the method and the finite element method was generalized for application in other fields.
Important people:
Zienkiewicz (University of Swansea, Wales, UK, General mechanics, 1960s),
Clough (UC Berkeley, Structural engineering 1960s),
Argyris (University of Stuttgart, Germany, Aerospace applications, 1950s)
Some software packages:
General purpose
ABAQUS
ANSYS
NASTRAN
LS-DYNA
Structural engineering
ETABS, SAP, RISA, LARSA and many more
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1.5

Fields of application of FEM
FEM is used in all areas of engineering and more and more so in medicine and even in the food industry, as
illustrated below.
4/29/2010
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Cost of computation
1984: 15,000,000 $ per GFLOP
2007: 0.42 $ per GFLOP
GFLOP = 1 Billion floating point operations per second
=> each year cost of computation has gone down by more than 50%
4/29/2010
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0.42 2007-1984
15106
0.42 23
=
=0.47
15106


REVIEW OF RAYLEIGH-RITZ METHOD AND TRANSITION TO FEM
2.1
Key idea
Assume displaced shape (trial functions) and use minimum potential energy to find the best solution among
the trial functions
Mathematically this step consists of finding the constants c of the trial functions
trial functions must satisfy geometric boundary conditions
if the set of trial functions contains the exact solution, then the method will find that solution
v(x )
EI
L
x
Example: Cantilever with uniformly distributed load

Problem: Use the Rayleigh-Ritz method to find the deflected shape and the moment diagram of the above cantilever
beam. Use both a quadratic and a cubic trial function.
Side-trip: Beam kinematics
curvature
angle of rotation of cross section
v :
angle of rotation of beam axis
pure shear
v = 0
= v
The concept of plane section remain plane leads

to
(x , y )
= y (x ) = y (x )
If the cross section is assumed to remain perpendicular to

the beam axis (i.e. if we ignore shear deformation), we have
(cross section not perpendicular to beam axis)

pure bending
(x , y ) =
N y v (x )
=v
= = v
v
= v
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(cross section perpendicular to beam axis)

2.2

Quadratic function
2.2.1
Trial function and kinematics
v(x )
= c x2
v (x )
= 2c x
v (x )
= 2 c = (x ) = curvature
2.2.2
Hookes law and minimum of potential energy
= Wi We
(2.1)
1
= (x ) M (x ) dx Pv
(L)
N
2 0
We

Wi
W
c
1
EI 2 (x ) dx + PcL2
2 0
1
EI 4c 2L + PcL2
2
= 4EIcL + PL2 = 0 c =
v(x ) =
M (x )
2.3
2.3.1
(2.2)
PL
4EI
PL 2
x
4EI
PL
PL
= EIv (x ) = EI
=
2EI
2
Cubic function
Trial function and kinematics
v(x )
= c1 x 2 + c2 x 3
v (x )
= 2 c1 x + 3 c2 x 2
v (x )
= 2 c1 + 6 c2 x = (x ) = curvature
(2.3)
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2.3.2

Hookes law and minimum of potential energy
We
= Pv(L) = P (c1L2 + c2L3 )
We
c1
We
c2
= PL2
Wi
1
EI 2 (x ) dx
2 0
1
2 c1 + 6 c2 x
EI
2 0
1
4 c12 + 24 c1c2 x + 36 c22 x 2 dx
EI
2 0
= PL3
dx
= EI 2c12L + 6 c1c2 L2 + 6 c22 L3
W
c1
W
c2
Wi We
c1
c1
Wi We
=
c2
c2
=
= EI (4c1L + 6c2L2 )
+PL2 = 0
= EI (6c1L2 + 12c2L3 ) +PL3 = 0
4L 6L2 c1 PL2
1 PL
1 P
, c2 =
EI 2
=
c1 =
2 EI
6 EI
6L 12L3 c2 PL3
1 PL 2 1 P 3
P
v(x )
x +
x =
=
3Lx 2 + x 3 )
(
2 EI
6 EI
6EI
P
PL3
v(L)
=
3L3 + L3 )
=
= exact
(
6EI
3EI
P
M (x )
= EIv (x ) = EI
(6L + 6x ) = P (L x )
6EI
(2.4)
Note than by using the chain rule we can simplify the calculation (we avoid calculating the square of the curvature)
Wi
c1
Wi
c2
(x )
(x )
2
EI (x )
dx = EI (x )
dx =
2
c1
c1
0
0
L
(x )
(x )
2
= EI (x )
dx = EI (x )
dx =
2
c2
c2
0
0
4/29/2010
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(2 c1 + 6 c2 x ) 2 dx
= 4c1L + 6c2L2
0
L
(2.5)
(2 c1 + 6 c2 x ) 6x dx = 6c1L
+ 12c2L3

2.3.3

Illustration of potential energy
W
c2
c2
c1
c1
Figure 2.1: Potential energy as a function of constants c1 and c2 (cubic trial function).
2.4
Numerical results
Normalized Deflection
quadratic
0.2
0.4
0.6
vexact (L) =
PL3
3EI
cubic
(exact)
0.8
v
vexact (L)
1
0
0.2
0.4
x /L
0.6
0.8
Figure 2.2: Normalized deflected shape for quadratic and cubic trial functions.
2.5
Summary
We have seen that we obtain a more accurate solution is to increase the degree of the polynomial of the trial functions. We have a second option: That is decrease the size of the element for which each trial functions is valid, that
is subdivide the beam into several elements and assume independent trial functions for each of those elements. In the
RR method with free constants c it is difficult to enforce the boundary conditions between adjacent elements. A natural way to enforce the boundary conditions is to express the trial function in terms of nodal parameters (displacement and rotation) rather the free constants as in the Rayleigh-Ritz method. This is the key idea of the finite element
method. We will demonstrate this concept in the next chapter using beam elements, the simplest family of finite elements.
4/29/2010
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BEAM FINITE ELEMENTS
3.1
Introduction
p
v(x )
EI
Figure 3.1: Sample beam.

In this chapter we demonstrate the basics of the finite element method using the simple beam above. The analytical
solution for the deflected shape v(x ) and moment diagram M (x ) is given by
wL3x
(7 + 10 2 3 4 )
360EI
wLx
=
(1 2 )
6
=
v(x )
M (x )
x
L
(3.1)
In what follows we use the finite element method to analyze the beam numerically. Using different beam elements
we show that the finite element method generally yields approximate results only. The accuracy of the approximate
solution depends both on the number of elements used (the density of the mesh) and on the properties of the
elements (the degree of the trial function).
3.2
Conventional four degree-of-freedom beam element

EI
vi
vj
Figure 3.2: Beam element with four degrees of freedom.

3.2.1
Shape functions
The four nodal parameters allow us to interpolate the deflection by a cubic polynomial. As in the Rayleigh-Ritz
method, we start by using free constants c .
v() = c1 + c2 + c3 2 + c4 3 = 1 2
1
2
v () = (c2 + 2c3 + 3c4 )
L
3 c
Next, we use the four boundary conditions
4/29/2010
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x
L
(3.2)


v(0) = vi
v (0) = i
(3.3)
v(1) = v j
v (1) = j
to express the nodal parameters q in terms of the free constants c

vi

i

v j

j
1 0
0 1
L
=
1 1
0 1
0
0
1
2
L
0
c
1
0 c
2

1 c3
3 c4
L
(3.4)
or
q = Gc
(3.5)
with
vi

i
q = v
j

j
(3.6)
We substitute the inverse of this relation

c1

c2

c3

c4
1
0
0
0 vi

0

0
0
L
i
=

3 2L 3 L v j
L
2 L j
2
or
c = G1 q
into Eq. (3.2) and obtain

v( )
= 1 2
3 G1q = N() q
(3.7)
with
N( ) =[1 3 2 + 2 3
L( 2 2 + 3 )
3 2 2 3
L( 3 2 )]
x
L
(3.8)
where N is a 4x1 row vector of shape functions. Note that the concept of shape functions for beam elements is to fit
a curve between two points at which both the ordinate ( q1, q 3 ) and the slope ( q 2 , q 4 ) are known (four data items
define a cubic polynomial).
4/29/2010
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1.2
Deflection
1
0.8
N1
0.6
N2
0.4
N3
N4
0.2
0
0.2
0
0.2
0.4
0.6
0.8
Figure 3.3: Shape functions for beam element with four degrees of freedom.
3.2.2
Strain-displacement transformation vector
In structural analysis of beams, we work with a generalized strain, the curvature. In linear structural analysis (small
displacement theory) and ignoring shear deformation, the curvature (x ) is the second derivative of the deflected
shape v(x ) , thus
( ) =
d2v( )
d2
1 d2
=
N
q
=
N( ) q = B( ) q
(
)
L2 d 2
dx 2
dx 2
x
L
(3.9)
The 4x1 vector

B( ) =
1 d2
N( ) =
L2 d 2
1
1
1
(4 + 6 ) 2 (6 12 )
(2 + 6 )
2 (6 + 12 )
L
L
L
L
(3.10)
is commonly referred to as strain-displacement transformation vector since it relates the strain (curvature) and nodal
displacements q .
3.2.3
Hookes law
The law of linear elasticity (HOOKE) relates the curvature, the generalized strain for beam elements, to the bending
moment (the corresponding generalized stress)
M ( )
= EI ( ) = EI B( ) q
(3.11)
3.2.4
Minimum potential energy
The internal energy stored in a beam element (neglecting shear deformation) is
L
Wi
1
dV
2 0
1
1
yE y dV = yE y dA dx
2 0
2 0
1
= 2EI dx
2 0
1
E dV
2 0
L
1
= B(x ) q B(x ) qEI dx
2 0
1
qT BT (x ) B(x ) q EI dx
2 0
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(3.12)


Note that
(y ) = y
(3.13)
and
dA = I
(3.14)
The external work done on a beam element is the work done by the nodal forces along the nodal displacements and
the work done by external element loading along the element displacements (if element loading is present).
L
We
= qT Q + v(x ) p(x ) dx
0
L
= qT Q + N(x ) q p(x ) dx
(3.15)
0
L
= qT Q + qT NT (x ) p(x ) dx
0
T
= q Q+q F
with
L
F=
(x ) p(x ) dx
(3.16)
The vector F contains forces applied to the nodes that are equivalent (in an energy sense) to the element loading. It
is thus often referred to as vector of equivalent nodal forces.
Note that the potential energy is now a function of the nodal displacements q , in the Rayleigh-Ritz method it is a
function of the free constants c . Taking derivative with respect to q yields
W
q 1
W
= q2 =
q
#
qn
L
T
(x ) EI B(x ) q Q F
B (x ) EI B (x ) dx
T
12
3
L
= EI
12
6
L3
L2
6
2
2
L
L
12
6
L3
L2
4
symm.
L
6
L2
4
L
(3.17)
4/29/2010
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k11 =
B1(x ) EI B1(x ) dx
0
1
B1() EI B1() L d
0
1
1
(6 12 ) EI 2 (6 12 ) L d
L2
L
1
EI 1 1
= 3
(6 12 )3
0
L 12 3
=
=
EI
L3
(6 12)
(3.18)
12 EI
L3
3.2.5
Equivalent nodal forces
As an example, we calculate the first component of the vector of equivalent nodal forces F due to a trapezoidal load
with intensities pi and p j .
p
j
pi
F4
F2
F3
F1
L
Figure 3.4: Beam element with trapezoidal loading.
F1 =
N ( ) p( ) L d
1
= (1 3 2 + 2 3 ) pi + (p j pi ) L d
= (1 3 2 + 2 3 ) pi + ( 3 3 + 2 4
) (p j pi ) L d
(3.19)
1 3 2
3 2
= 1 + pi + + (p j pi ) L
3 4
2 4 5
7
3
= pi + p j L
20
20
The complete vector of equivalent nodal forces for the four-degree-of-freedom beam element is
21pi 9p j
L
3
p
2
p
+
(
)
i
j
L
F=
60 9pi 21p j
L (2pi + 3p j )
(3.20)
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3.3

Higher order beam element (three nodes, five degrees of freedom)

EI
vi
vk
L /2
vj
L /2
Figure 3.5: Beam element with five degrees of freedom.

3.3.1
Shape functions
We derive the shape functions using the procedure of the previous section.
v(x )
= c1 + c2 + c3 2 + c4 3 + c5 4
v (x )
v(0)
1
(c2 + 2c3 + 3c4 2 + 4c5 3 )
L
= vi
v (0)
= i
v(0.5) = vk
v(1)
= vj
v (1)
= j
vi

i

vk

v
j

j

1 0
0 1
L
1
= 1
1 1
1
0
L
c1

c2

c3

c
4
c5

0
0
0
0 vi
1

0

0
0
0
L
L vk
= 11 4L 16 5
5L 32 14 3L v j
18

8 2L 16 8 2L j
1
4
1
1
8
1
2
L
3
L
c
0 1
c2
1 c
3
16 c
1 4
c5
4
or
q = Gc
c = G1 q
1 11 2 + 18 3 8 4 T
2
3
4
( 4 + 5 2 ) L
N = 16 2 32 3 + 16 4
2
3
4
5 + 14 8
2 3 3 + 2 4 L
(
)
(3.21)
(3.22)
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1.2
1
N1
Deflection
0.8
N2
0.6
N3
0.4
N4
0.2
N5
0
0.2
0
0.2
0.4
0.6
0.8
Figure 3.6: Shape functions for beam element with five degrees of freedom.
3.3.2
22 + 108 96 2 T
2
(8 + 30 24 ) L
1
2
B = 2 32 192 + 192
2
10 + 84 96
2 18 + 24 2 L
)
(
3.3.3
Element stiffness matrix
K=
3.3.4
(3.23)
316
EI
BT (x ) EI B(x ) dx = 3
5L
94 L
- 512
196
36 L2
-128 L
34 L
1024
symm.
- 512
316
- 34 L
-6 L2
128 L
-94 L
36 L2
(3.24)
The 5x1vector F of equivalent nodal forces for the five-degree-of-freedom beam element is
13pi p j
Lp
i
L 16p 16p
F=
i
j
60
pi 13p j
Lp
(3.25)
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3.4

Higher order beam element (three nodes, six degrees of freedom)

EI
vi
vk
L /2
vj
L /2
Figure 3.7: Beam element with six degrees of freedom.

3.4.1
Shape functions
v(x )
= c1 + c2 + c3 2 + c4 3 + c5 4 + c6 5
v (x )
v(0)
1
(c2 + 2c3 + 3c4 2 + 4c5 3 + 5c6 4 )
L
= vi
v (0)
= i
v(0.5)
= vk
v (0.5) = k
v(1)
= vj
v (1)
= j
vi

i

vk

k

v j

j

1 0
0 1
1
1
2
=
1
0
L
1 1
c1

c2

c3

c4

c5

c
6
0
0
0
0
0 vi
1

0

0
0
0
0
L
16
7
8L
L vk
23 6L

=
k
66
13
32
32
34
5
L
L
L
68 12L 16 40L 52 8L v j

24
4L
0
16L 24 4L j
1
4
1
L
1
1
8
3
4L
1
1
16
1
2L
1
2
L
3
L
4
L
0 c1
c
1 2
c
32 3 or
5 c4
16L c5
1 c6

5
q = Gc
4/29/2010
- 20 -
(3.26)
c = G1 q


1 23 2 + 66 3 68 4 + 24 5 T
( 6 2 + 13 3 12 4 + 4 5 ) L
16 2 32 3 + 16 4
N=
2
3
4
5
+
8
32
40
16
(
)
7 2 34 3 + 52 4 24 5
( 2 + 5 3 8 4 + 4 5 ) L
(3.27)
1.2
1
Deflection
N1
0.8
N2
0.6
N3
0.4
N4
0.2
N5
N6
0
0.2
0
0.2
0.4
0.6
0.8
Figure 3.8: Shape functions for beam element with six degrees of freedom.
3.4.2
46 + 396 816 2 + 480 3 T
2
3
(12 + 78 144 + 80 ) L
2
32
192
192
B= 2
L (16 + 192 480 2 + 320 3 ) L
14 204 + 624 2 480 3
(2 + 30 96 2 + 80 3 ) L
(3.28)
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3.4.3

Element stiffness matrix

L
(x ) EI B(x ) dx
5092
EI
=
symm.
35 L3
3.4.4
1138 L
- 3584
332 L2
-896 L
7168
1920 L
-1508
320 L2
- 242 L
0
1280 L2
- 3583
-1920 L
5092
242 L
38 L2
896 L
320 L2
-1138 L
332 L2
(3.29)
The 6x1vector F of equivalent nodal forces for the six-degree-of-freedom beam element is
79pi 19p j
L (5pi + 2p j )
112pi 112p j
L
F=
420 L (8pi 8 p j )
19p 79p
i
j
L (2pi + 5p j )
(3.30)
4/29/2010
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3.5

Numerical results
In this section we summarize the results of the finite element analysis of the beam with trapezoidal load. We use the
three beam elements derived before and subdivide the beam into n elements of equal length.
3.5.1
Conventional four degree-of-freedom beam element
0
1
n =1
Deflection
n =2
n=4
4
exact
5
6
1000EI
pL4
7
0
0.2
0.4
x
L
0.6
0.8
0
10
Moment
20
30
n =1
40
n =2
50
n=4
60
n=8
70
80
0
exact
1000M
pL2
0.2
0.4
x
L
0.6
0.8
Figure 3.9: Normalized deflected shape and moment diagram for four-degree-of-freedom element for different
number of elements used.
.
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3.5.2

Five degree-of-freedom beam element
0
1
n =1
Deflection
exact
3
4
5
6
1000EI
pL4
7
0
0.2
0.4
x
L
0.6
0.8
0.6
0.8
10
Moment
0
10
n =1
20
n =2
30
n=4
40
exact
50
60
70
0
1000M
pL2
0.2
0.4
x
L
Figure 3.10: Normalized deflected shape and moment diagram for five-degree-of-freedom element for different
number of elements used.
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3.5.3

Six degree-of-freedom beam element
0
1
Deflection
2
3
n = 1(exact)
4
5
1000EI
pL4
6
7
0
0.2
0.4
x
L
0.6
0.8
0.6
0.8
Moment
10
20
n = 1(exact)
30
40
50
60
1000M
pL2
70
0
0.2
0.4
x
L
Figure 3.11: Normalized deflected shape and moment diagram for six-degree-of-freedom element.
3.6
Summary
The finite element method modifies the classical Rayleigh-Ritz method in the sense that the former uses trial function that only apply over a certain domain, the element. If the number of elements is large enough we obtain satisfactory solutions even with low order trial functions. For example, we obtain accurate results for the moment diagram using the beam element with four degrees of freedom (cubic shape (trial) function) if we subdivide the beam
into eight elements (magenta curve in Figure 3.9). Using the beam element with five degrees of freedom (fourth order shape functions) we can achieve comparable level of accuracy with only two elements (see green curve in Figure
3.10). Again (already addressed in HW 2 solution) we point to the important phenomenon that the internal forces as
derivatives of the displacements are always less accurate than the displacements.
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Gauss Integration
4.1
General Remarks
In finite element analysis, the element stiffness matrix is obtained by evaluating an integral. For line element (also
termed 1-D elements, like rod, truss, beam, frame), we integrate over the length of the element, since the integration
over the cross section has already been carried out by using cross section properties like the area A and the second
moment of inertia I . For 2D elements, the integral is over the area of the element, for volume elements we integrate
over the volume. In finite element analysis, the integrand usually becomes quite complicated and it is not possible to
solve the integrals in closed form. We have to use numerical procedures in these situations. In finite element calculations, simple numerical integration schemes such as the trapezoidal rule or Simpsons formula do not work very well.
The Gauss numerical integration scheme or Gauss quadrature, has becomes the standard tool to calculate element
stiffness matrices. We derive the Gauss formula for one-dimensional integrals in the following section and then easily
extend it to two and three-dimensional integrals.
4.2
Gauss numerical integration in one dimension
As in other numerical integration schemes, the basic idea is to represent the integral in the following form
1
I =
f (g ) dg = f (gi ) wi
(4.1)
i =1
in which gi are the n sample points at which we evaluate the integrand. These location are commonly referred to as
Gauss points. The coefficients wi are the corresponding weights. Thus, to calculate I , we evaluate the integrand at
each of several Gauss points gi (the sample points) to obtain ordinates f (gi ) . We multiply each f (gi ) by an appropriate weight and add.
4.2.1
Two Gauss points

1
I =
f (g ) dg f (gi ) wi = f (g1 )w1 + f (g2 )w2
(4.2)
i =1
We determine the four unknowns (two Gauss points and two weights) by requiring that the formula give the exact
result if the integrand is equal to the first four terms in a polynomial, hence
1
f (g ) = 1
f (g ) dg = 1dg = 2
w1 + w2
=2
f (g ) dg = g dg = 0
g1w1 + g2w2
=0
1
1
f (g ) = g
1
1
1
1
f (g ) = g
1
1
2
f (g ) dg = g dg = 3
1
1
2
f (g ) = g 3
g12w1
+ g22w2
(4.3)
2
=
3
f (g ) dg =
dg = 0
g13w1 + g23w2 = 0
Solving the previous four simultaneous nonlinear equations, we obtain

w1 = w2 = 1
g1 =
1
3
g2 =
1
3
(4.4)
Hence
1
I =
f (gi ) wi = f (
f (g ) dg
i =1
1
1
)1 + f ( )1
3
3
(4.5)
Using Gauss integration with two points gives us the exact result up to a polynomial of order three. For other functions the results will be approximate.
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26

4.2.2
Three Gauss points

1
I =

f (gi ) wi = f (g1 )w1 + f (g2 )w2 + f (g 3 )w 3

f (g ) dg
i =1
(4.6)
We determine the four unknowns by requiring that the formula give the exact result if the integrand is equal to the
first four terms in a polynomial, hence
1
f (g ) = 1
f (g ) dg =
1
1
w1 + w2 + w 3
f (g ) dg = g dg = 0
f (g ) = g
1
1
f (g ) = g 2
1
1
f (g ) dg = g
dg = 0
f (g ) dg = g
dg =
f (g ) dg = g
dg = 0
dg =
1
1
1
1
1
1
f (g ) = g 5
2
3
1
1
f (g ) = g 4
=2
g1w1 + g2w2 + g2w 3 = 0
f (g ) dg = g
1
1
f (g ) = g
1dg = 2
1
1
1
1
2
5
g12w1 + g22w2 + g 32w 3 =
g13w1
+ g23w2
+ g 33w 3
2
3
(4.7)
=0
g14w1 + g24w2 + g 34w 3 =
2
5
g15w1 + g25w2 + g 35w 3 = 0
Solving the previous five simultaneous equations, we obtain

5
9
w1 =
g1 =
8
9
w3 =
g2 = 0
g3 =
w2 =
3
5
5
9
(4.8)
3
5
Hence
1
I =
f (x ) d x f (gi ) wi = f (
i =1
3 5
8
3 5
) + f (0) + f ( )
5 9
9
5 9
(4.9)
Using Gauss integration with three points gives us the exact result up to a polynomial of order five. For other functions the results will be approximate.
The table below lists the GAUSS points and corresponding weights for n = 1,2, 3, 4 . See any book on numerical
analysis for more extensive tabulations.
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27

# of GAUSS points
n =1

weights w
2.000000000
n =2
0.577350269
0.577350269
1.000000000
1.000000000
n=3
(4.10)
0.774596669
0.000000000
0.774596669
0.555555555
0.888888889
0.555555555
n=4
0.861136311
0.339981043
0.861136311
0.339981043
0.347854845
0.652145154
0.347854845
0.652145154
4.2.3
Example
We calculate the integral
1
I = x + 1 dx
1
(4.11)
The analytical solution is

1
3
2
I = x + 1 dx = (x + 1)2
3
1
=
1
3
2
(1 + 1)2 0 = 1.88562
3
(4.12)
A numerical solution using a single GAUSS points yields

1
I = x + 1 dx 0 + 1 2 = 2.00000
1
(4.13)
Using two GAUSS points gives

1
I =
(x + 1) dx 0.57735 + 1 1 + 0.57735 + 1 = 1.90604
(4.14)
The result is more accurate than that obtained with one GAUSS point.
If we use three GAUSS points the result is
I =
1
x + 1 dx 0.774596 + 1 0.55556 + 0 + 1 0.88889 + 0.774596 + 1 0.55556 = 1.89273 (4.15)
1
The result is more accurate than that obtained with two GAUSS points. As shown before, a numerical integration with
n GAUSS points gives the exact solution if the integrand is a polynomial of degree 2n 1 or smaller. Consequently,
if the integrand is a polynomial, we can always find a number of GAUSS points, such that the integral is evaluated
exactly. If f (g ) is not a polynomial, as is the case in the example above, the GAUSS integration yields an approximate
solution whose accuracy increases as more GAUSS points are used.
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28


4.2.4
Integration limits other than -1/1
In order to use the Gauss integration procedure for integration limits other than -1 and 1, we have to use coordinate
transformation as illustrated below by an example.
6
say I =
sin x dx
2
= ax + b
y(2) = 1 = 2a + b
y(6) = 1
= 6a + b
1
2
= 2
1
x 2 x = 2y + 4 dx = 2 dy
2
sin x dx =
sin (2y + 4) 2 dy
4.3
Gauss numerical integration in two dimensions
When the region of integration is a 2x2 square, the one-dimensional Gauss formula easily extends to two dimensions.
1 1
I =
(g1, g2 ) wi w j
f (g1, g2 ) dg1 dg2 =
i =1 i =1
(4.16)
1 1
Usually the number of integration points along the two directions is the same such that m = n .
4.3.1
Example
Evaluate the integral
1 1
I =
(x
y +xy ) dx dy
2 2
1 1
We find an exact solution by using two Gauss points in both directions.

1 1
2 2
2
2
(x y +xy ) dx dy = (g1i g2 j +g1i g2 j )wi w j
i =1 j =1
1 1
1 2 1 2 1 1
=

+

1 1
3
3
3
3
2
2
1 1
1 1
+
+
1 1
3
3
3 3
1 2 1 2 1
1
+
+
1 1
3
3
3
3
2
2
1 1
1 1
+ + 1 1
3 3
3 3
1 1 1 1 1 1 1 1 4
= + + + + + =
9 3 9 3 9 3 9 3 9
(4.17)
Analytical integration gives

I
1 1
1 1
2 2
3
(x y +xy ) dx dy = 3 x
1
2
1 1
2 1
4
=
y 2 + x 2 y dy = y 2 +0 dy = y 3
2 1
3
9 1 9
1
1
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- -
29


Introduction to plane stress and strain
5.1
General stress/strain state

zz
zx
z
zy
yz
xy
xx
xz
yx
yy
= axial stress
= shear stress
Figure 5-1: General state of stress.
5.2
Plane stress/strain state

y
yy
all stresses uniformly
distributed across
yx
xy = yx
xy
thickness t
xx
t
x
For finite element analysis we need to express the stresses in terms of the strains. However, as a starting point, it is
easier to write strains as a function of stress.
xx
yy
zz
xy
xz
yz
1
(xx yy zz )
E
1
= ( yy xx zz )
E
1
= ( zz xx yy )
E
2 (1 + )
1
xy
= xy =
G
E
2 (1 + )
1
xz
= xz =
G
E
2 (1 + )
1
yz
= yz =
G
E
=
(5.1)
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5.2.1
Plane stress
If the body (plate, slab, diaphragm) is thin, it is reasonable to assume that the following stress components are zero.
zz = xz = yz = 0
Hence
xx
yy
zz
xy
1
(xx yy )
E
1
= (yy xx )
E
1
= (xx yy ) 0
E
2 (1 + )
1
xy
= xy =
G
E
=
(5.2)
or in matrix notation

xx

yy

xy
0 xx
1

1
= 1
0 yy

E
0
0 2 (1 + ) xy
(5.3)
The inverse of this relation (stress as a function of strain) is

xx

yy

xy

0
1
xx

E
yy
1
0
=
2

1
0 0 1 (1 ) xy
(5.4)
5.2.2
Plane strain (rare in buildings)
If the body is very thick, it is reasonable to assume that the following strain components are zero.
zz = xz = yz = 0
(5.5)
Hence
xx
yy
zz
xy
1
(xx yy zz )
E
1
= (yy xx zz )
E
1
= (zz yy xx ) = 0 zz = xx + yy
E
2 (1 + )
1
= xy =
xy
G
E
=
(5.6)
or in matrix notation

xx

yy

xy
1 2
(1 + )
0
xx
1
1 2
0 yy
= (1 + )

E
0
0
2 (1 + ) xy
(5.7)
The inverse of this relation (stress as a function of strain) is
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xx

yy

xy
E (1 )
=
(1 + )(1 2 ) 1
1
1
0

xx

0
yy

1 2 xy
2 (1 )
0
(5.8)
plane strain
plane stress
Figure 5-2: Illustration of plane strain and plane stress ( x1, x 2 , x 3 are x , y, z ).
5.2.3
Summary of stress-strain relation in vector/matrix notation
d = xx yy
D = xx yy
1
E
C =
1 2
0
T
xy
T
xy
vector of stress
1
0
1
0
2
C =
1
(1 + )(1 2 )
0
0
5.2.4
vector of strain
Elasticity (constitutive) matrix for plane stress
(5.9)
0 Elasticity (constitutive) matrix for plane strain
1 2
2
0
In-plane vs. out-of-plane loading

out-of-plane loading (plate action)
in-plane loading (membrane action)
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32

5.3

Comparison Beam-General 2D Structural Element
y
d
xx
xx
L
L
General 2-D element
yy
yy +
M
y
I
Beam
dy
xy +
xy
xx =
xy
y
dy
w(x )
v(x )
xx
xy
yy
xx
dx
x
xy
dx
+
x
dy xx +
xy
M
depth d
EI
M+
V+
dx
M
dx
x
V
dx
x
dx
Figure 5-3: Comparison of Beam and General 2D Structural Element.
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33

5.4

Deriving differential equation
5.4.1
Equilibrium of differential element

yy
yy +
dy
xy +
xy
xy
y
dy
xx
xy
yy
xx
dx
x
xy
+
dx
x
dy xx +
xy
dx
Figure 5-4: Membrane stresses acting on differential element.

Writing equilibrium in the two directions gives
xy
dy t dx + X t dx dy = 0
= 0 = xx t dy + xx + xx dx t dy xy t dx + xy +
x
y
yy
xy
Fy = 0 = yy t dx + yy + y dy t dx xy t dy + xy + x dx t dy +Y t dx dy = 0
Fx
Deviding by dx dy t gives
xy
xx
+
+X
x
y
yy xy
Fy = 0 = y + x +Y
Fx
=0=
5.4.2
(5.10)
Statics yields two equations with three unknowns => statically indeterminate
X ,Y (force per volume) are so called body forces (Self weight, inertia)
Strain-displacement relation and compatibility condition
u
x
v
=
y
u v
=
+
y x
xx =
yy
xy
(5.11)
Eq. (5.11) involves three strain components but only two displacements, which means the three strain components
can't be independent. We can establish the relation between the strain components (the compatibility equation) by
taking derivative of the preceding strain-displacement relation which gives
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34

2 xx
y 2
2 yy
x
2 xy
x y
3u
x y 2
3v
x 2y
3u
3v
+
x y 2 x 2y

(5.12)
Hence
2 y
2 x
+
y 2
x 2
2 xy
3u
3v
+ 2
2
x y
x y
(5.13)
3u
3v
=
+
x y 2 x 2y
x y
or
2 yy
2 xy
2 xx
+
=
x y
y 2
x 2
(5.14)
We now have two equilibrium equations, one compatibility equation and three stress-strain relations (HOOKE), that
is six equations for the six unknowns xx , yy , xy , xx ,yy , xy . This allows us to write a set of three simultaneous
second order differential equations, either for the three strain components or the three stress components.
5.4.3
Airy-Stress Function and Differential Equation
Airy (1863) simplified the problem of finding the differential equation by introducing a stress function F from which
we can obtain the stress components by differentiation.
yy =
2F
x 2
xx =
2F
y 2
xy =
2F
(Xy + Yx )
x y
(5.15)
We can easily check that the stress function satisfies the equilibrium conditions
xy
xx
+
+X
x
y
y y xy
Fy = 0 = y + x +Y
Fx
=0=
(5.16)
from before
xy
xx
3F
3F
+
+X =
X +X = 0
x
y
x y 2 x y 2
yy xy
3F
3F
=
=
+
+
=
Y +Y = 0
0
F
Y
y
y
x
x 2y x 2y
Fx
=0=
ok
(5.17)
ok
Differentiating Hooke's law (strain as a function of stress)

xx
yy
xy
1
(xx yy )
E
1
= ( yy xx )
E
1
2 (1 + )
xy
= xy =
G
E
=
(5.18)
yields
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35

2xx
y 2
2yy
x
2 xy
x y
2yy
1 2xx
E y 2
y 2
2
2xx
1 yy
2
E x
x 2
2 (1 + ) xy
x y
E

(5.19)
Substituting Eq. (5.17) into the compatibility equation (5.14) gives
1
E
2
2
2
2
2
xx yy + yy xx + 2 (1 + ) xy = 0
2
2
2
y 2
x y
E
y
x
x
(5.20)
which we can write as (using Airy's function)
4F
4F
4F
4F
4F
=0
4
2
2 +
4
2
2 + 2 (1 + )
y
x y
x
x y
x 2y 2
(5.21)
or
4F
4F
4F
=0
4 +2
2
2 +
x
x y
y 4
(4th order linear, partial differential equation)
The challenge in the pre-finite element age was to solve this differential equation for different loading and support
conditions. After obtaining a solution for F , the stresses are given by Airy's function. The strains can then be derived
using Hooke's law and finally u and v by integrating the strains.
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The 4-node membrane element
6.1
Shape functions
Membrane elements have two degrees of freedom per node, the two translational displacements. We use membrane
elements to model structures whose out-of-plane stiffness is negligible, e.g. shear walls. Contrary to conventional
beam elements, which respond in a state of one-dimensional stress and strain, membrane elements are either in a state
of plane stress or plane strain. The simplest membrane element is the four-node rectangular element of side lengths
2a and 2b with 4x2=8 degrees of freedom. The vector of nodal displacements is
q 8 ,Q8
q 6 ,Q6
q 7 ,Q7
3 q 5 ,Q5
y, , v
x , , u
x
y
, =
a
b
1 1
1 1
a x a
2 q 3 , Q3
q1,Q1 1
q2 ,Q2
q 4 ,Q4
b y b
Figure 6.1: Four-node rectangular membrane element.

q
qu
qv
T
= u1 v1 u2 v4
T
T
= q1 q 3 q 5 q 7
= u1 u2 u 3 u 4
T
= q2 q 4 q 6 q 8
= v1 v2 v3 v4
(6.1)
The calculations for this element are easier if we select a local coordinate system with the origin at the center. We can
relate the global coordinates x and y to the local as given above.
As for the beam element before, we first derive the shape functions N i , i = 1...4 to interpolate the displacements
inside the element in terms of the nodal displacements. The difference is that we now have displacements along both
coordinate directions, that is u - and v displacements which are a function of both x and y .
4
u(, ) = N(, ) q u = Ni (, ) ui
i =1
(6.2)
v(, ) = N(, ) q v = Ni (, ) vi
i =1
or
u(, ) N 1 (, )
0
N 2 (, )
0
N 3 (, )
0
N 4 (, )
0

q
v(, ) = 0
N
(
)
0
N
(
)
0
N
(
)
0
N
(
)
1
2
3
4
(6.3)
Note that we need only four shape functions, since the shape functions for the u - and v displacements are identical.
In deriving the shape functions we start with the general expression for the deflected shape (the same we did for the
beam element). The four nodal values allow us to write a bilinear polynomial
= 1 cu
u(, )
= c1 + c2 + c3 + c4
v(, )
= c5 + c6 + c7 + c8 = 1 cv
(6.4)
Using the boundary conditions, we can write
C:\calpoly\arce504\Handouts\Winter2010\HandoutsChapter6-7.doc
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37

u(1, 1)
u(1, 1)
u(1,1)
u(1,1)

= u1
= u2
= u3
= u4
(6.5)
qu = G cu
with
(6.6)
1 1 1
1
1
1 1 1
G=
1
1
1
1
1 1
1 1
(6.7)
The inverse of this relation is

cu = G1qu
(6.8)
with
1
=
4
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
(6.9)
Substituting Eq. (6.8) into Eq. (6.4) yields the desired shape functions
N(, ) = 1 G1
(6.10)
with
N1 =
1
(1 ) (1 )
4
N2 =
1
(1 + ) (1 )
4
N3 =
1
(1 + ) (1 + )
4
N4 =
1
(1 ) (1 + )
4
(6.11)
or in short
Ni =
1
1 + i 1 + i
4
)(
i = 1...4
(6.12)
where i and i are the and coordinates of the four element nodes.
Element node
1
2
3
4
-1
1
1
-1
-1
-1
1
1
We verify that the shape function for node 1 evaluated at the four nodes follows the definition of a shape function.
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38

N1

1
(1 ) (1 )
4
=
=1, =1
=
=1, =1
=
=1, =1
=
=1, =1
1
(1 + 1)(1 + 1)
4
1
(1 1)(1 + 1)
4
1
(1 1)(1 1)
4
1
(1 + 1)(1 1)
4
= 1 ok
= 0 ok
= 0 ok
= 0 ok
Figure 6.2: Plot of shape function N 3 (, ) for four-node membrane element.

Note that for illustrational purposes we plot the value of the shape function along the vertical axis (in the 3-D drawing
above), the shape function, of course, interpolates the horizontal displacement.
It is interesting to ask whether these shape functions guarantee inter-element compatibility. In particular, if two
elements are compatible at common nodes, are they compatible between the nodes. The answer is yes since the
variation of the displacement along an element edge is linear. A linear function is completely defined in terms of two
parameters, the displacements at the two nodes.
6.2
Strain-displacement relation (Kinematic relation)
In a membrane problem we have three strain components, the two axial strains xx and yy and the shear strain xy .
From mechanics of materials we recall the strain-displacement relation for the membrane problem (two-dimensional
state of strain)
xx =
u
;
x
yy =
v
;
y
xy =
u v
+
y x
(6.13)
Figure 6.3: Strain-displacement relation.
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39


We collect the strain components in a vector

d = xx
yy
T
x y
(6.14)
Using the strain-displacement relation and the shape functions we can now interpolate the strain from the nodal displacement by taking the first derivatives of the shape functions with respect to x and y . We can write

xx
d = yy = B q

xy
(6.15)
with the strain-displacement matrix

N
1
x
B(, ) = 0
N 1
N 4
x
0
N 1
y
N 1
x
0
N 4
y
N 4
y
N 4
x
(6.16)
The matrix B is a 3x8-matrix since the four-node membrane element has three strain components and eight degrees of
freedom. Recall that for the conventional beam element with four degrees-of-freedom B was a 1x4 vector containing
the second derivative of the shape functions, because the beam element has only one (generalized) strain, the
curvature (the second derivative of the displacement), and four degrees of freedom.
Taking the derivative of the shape functions we obtain
1
1
B= 0
4
1
0
1
b
1
1
a
1+
b
0
1+
b
1
a
1+
a
0
1+
b
0
1+
b
1+
a
1+
a
0
1
b
b
1 +
a
0
(6.17)
Note that
N(, ) N(, ) 1
=
x
a
N(, ) N(, ) 1
=
y
b
(6.18)
Because of the bilinear form of the displacements the axial strain xx is constant in the x -direction and varies linearly
in the y -direction, the axial strain yy is constant in the y -direction and varies linearly in the x direction, and the shear
strain xy varies linearly in both directions (see Eq. 6.19).
u(x , y )
= c2 + c4y
x
v(x , y )
= c7 + c 8 x
yy (x , y ) =
y
u(x , y ) v(x , y )
+
= c 3 + c 4 x + c 6 + c 8y
xy (x , y ) =
y
x
xx (x , y ) =
(6.19)
Figure 6.4: Qualitative variation of strains xx , yy , xy in 4-node element.
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40

6.3
6.3.1

Stress-strain relation (constitutive relation)

Plane strain
For a membrane problem, the stress components are

xx
d = yy

xy
(6.20)
and the stress-strain relation for a linear isotropic material is

D = Cd
(6.21)
for the plane stress condition the elasticity matrix is
0
1
E
0
1
C=
1 2
0 0 1
(6.22)
where E is the modulus of elasticity and is Poissons ratio.
6.4
Equilibrium
As for the beam element, we use the principle of minimum potential energy to formulate equilibrium. The internal
work is work done by the stresses on the corresponding strains integrated over the volume of the element. The
membrane element has uniform thickness t such that the integral reduces to an integral over the area of the element.
Wi
Wi
q
1
xx (x , y )xx (x , y ) + yy (x , y )yy (x , y ) + xy (x , y )xy (x , y )dV
2
V
1
1
dT (x , y )D(x , y ) dV = qT BT (x , y ) C B(x , y ) q dV
2V
2V
(x , y )C B(x , y ) q dV =
(6.23)
(x , y )C B(x , y ) dV q
= Kq
with
(x , y )C B(x , y ) dV
t dA
= t BT (x , y )C B(x , y ) dA
dx dy
A
a b
= t
(6.24)
BT (x , y )C B(x , y ) dx dy
ad bd
a b
1 1
= abt
(, ) C B(, )d d
1 1
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41


The integral in the preceding equation is usually evaluated numerically (see GAUSS integration). Since the integrand
is a quadratic polynomial (the linear B - matrix is squared), two Gauss points in each direction are more than
sufficient for exact integration.
1 1
K = abt
(, ) C B(, ) d d
1 1
2
2
(6.25)
= t BT (i , j ) C B(i , j ) wi w j
i =1 j =1
The element stiffness matrices K are assembled using the same procedure we learned for other elements
After solving the system of equations
Kq = F
(6.26)
at the structure level, we return to the element level and calculate any element response we are interested in (strain,
stress, principal stress, principal directions etc). For example, we obtain the element stresses by first extracting the
element displacements q from the structure displacements and then using
D(, ) = C d(, ) = C B(, ) q
(6.27)
When we use the matrix method to analyze frame structure, we obtain the exact solution to the mechanical problem.
We satisfy all three fundamental equations exactly, the stress-strain relation, the strain-displacement and the equilibrium conditions. When using the matrix method for other structural elements (membrane, plate, shell and solid elements) this is no longer the case. The results are only approximate and the degree of accuracy depends on (1) the
number of elements and (2) the type of element used.
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42

6.5

Example
P = 1k
E, = 0
t = 1 ft
v
Figure 6.5: Cantilever for beam theory vs. four-node finite element comparison.
In this example, we use the four-node membrane element to model a simple cantilever and compare the results to
those of conventional beam theory.
PL3
3EI
M max
=
S
=
vbeam theory
max,beam theory
max,beam theory
20 k-ft
= 30 ksf
1
1 22 ft3
6
1k
V
= 1.5
= 1.5
= 0.75 ksf
A
1 2 ft2
=
V Qmax
I t
xx [ksf ]
0
30
0.2 Elements in
25
Axial Stress
Deflection
longitudinal direction
0.4 1
2
0.6 4
20
15
10
(a)
0.8 16
(b)
32
1
0
v /\vbeam theory
10
15
20
0
0
10
15
ft
20
(c)
xx [ksf ]
Figure 6.6:
(a) Deflection normalized with respect to result from beam theory for various numbers of elements used.
(b) Axial stress at top of section for various numbers of elements used.
(c) Contour plot of axial stress for analysis with four elements.
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43


Elements in
1, 2, 4
8, 16, 32
= xy [ksf]
= xy [ksf]
ft
Figure 6.7:
(a) Shear stress at neutral axis for various numbers of elements used.
(b) Contour plot of shear stress for analysis with four elements.
xx [ksf ]
= xy [ksf]
Figure 6.8: Contour plot of axial and shear stresses for analysis with 32 elements.
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44

6.6

Element characteristics (Shortcomings)
Figure 6.9: Shortcoming of four-node element (too stiff in bending).

from Robert D. Cook, Finite Element Modeling for Stress Analysis, John Wiley & Sons (1995).
As seen on the previous page, the shear stresses calculated with the conventional four-node element are erratic and
completely useless. The reason for this behavior is that the element cannot model a state of pure bending (despite its
ability to represent a strain xx that varies linearly with y ), i.e. it generates shear stresses even though shear stresses do
not exist. This is the well-known phenomenon of shear locking. Consider the figure above. We know from beam
theory that xy is absent, that plane sections remain plane and that the deformed top and bottom edges are circular
arcs. Hence a "correct" element should deform as shown in shown in Figure 6.9(b). The four-node element in pure
bending, however, deflects as shown in Figure 6.9(c). Sides rotate as shown by the dashed lines but top and bottom
edges remain straight. Therefore right angles are not preserved and as a consequence shear strain appears everywhere
in the element except along the y axis (the element center). We can see the same result by revisiting the general form
of the trial functions and the derivatives that gives us the strain components
u(, )
= c1 + c2 + c3 + c4
v(, )
= c5 + c6 + c7 + c8
xx
= c2 + c4
yy
= c7 + c 8
xy
= c 3 + c 4 + c6 + c 8
(6.28)
The constant c4 needs to be non-zero such that xx varies linearly with y , but c4 also appears in the expression for xy .
Consequently, an element that bends also develops shear strains, which makes the element too stiff in bending since it
resists an applied moment by spurious shear stresses.
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45


The 4-node membrane element with incompatible modes
7.1
General discussion
The key defect of the four-node rectangular element is its over-stiffness in bending. A remedy for this problem is to
expand the shape functions of the element by two terms that describe a state of constant curvature (displacement
quadratic). The extra terms allow the edges of the element to become curved.
4
u(, ) = N(, ) ui + (1 2 )c1 + (1 2 )c2

i =1
4
(7.1)
v(, ) = N(, ) ui + (1 2 )c3 + (1 2 )c4

i =1
The shear strain in the element us

xy =
4
4
v u
1 v 1 u
1 N(, )
1 N(, )
2
2
vi +
ui c2 c3
+
=
+
=
a b
a
b
a
x y
i =1
i =1
(7.2)
For pure bending the negative terms are equal in magnitude to positive terms produced by the summations (shape
functions of the original element)
This element is usually the default option for a four-node rectangular element in commercial software. The degrees of
freedom c1 -c4 are internal degrees of freedom. They are not connected to corresponding degrees of freedom in adjacent elements such that overlaps or gaps between adjacent elements occur. The internal degrees-of-freedom can be
eliminated at the element level by static condensation and thus do not show up in the structure stiffness matrix.
Because of the gaps or overlaps that develop, the shape functions associated with degrees of freedom c1 -c4 are incompatible. However, one can prove mathematically, that the gap converges to zero as the size of the elements
approach zero (i.e. with increasing number of elements).
u = c2 (1 2 )
u = c1 (1 2 )
y, , v
y, , v
x , , u
x , , u
v = c3 (1 2 )
y, , v
x , , u
v = c4 (1 2 )
y, , v
x , , u
Figure 7.1: Incompatible displacement modes for the four-node element
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46


xx [ksf ]
Elements in
1
2
4
8
16
ft
v / vexact
xx [ksf ]
Figure 7.2: Four-node element with incompatible modes

(a) Tip deflection normalized with respect to result from beam theory for various numbers of elements used.
(b) Axial stress at top of section for various numbers of elements used.
(c) Contour plot of axial stress for analysis with four elements.
= xy [ksf]
Elements in
1
2
4
= xy [ksf]
2 elements across depth
8
16
Figure 7.3: Four-node element with incompatible modes

(a) Shear stress at neutral axis for various numbers of elements used (two elements across depth).
(b) Contour plot of shear stress for analysis with four elements (eight elements across depth).
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47

7.2

Results for beam bending (conventional four-node element and four-node element
with incompatible modes)
t = 1 ft(thickness)
p = 0.1 k/ft
2ft
E = 3000 ksi
20 ft
1.5
1
0.5
(a)
0
0.5
1
1.5
1.5
(b)
1
0.5
0
0.5
1
1.5
Figure 7.4: (a) Axial stresses xx and (b) shear stresses xy using conventional four-node element, four elements along
length, one along depth (values from beam theory (values from beam theory are max = 7.5 ksf, max = 0.75 ksf ).
.
t = 1ft(thickness)
p = 0.1 k/ft
2ft
E = 3000 ksi
20 ft
6
4
2
0
(a)
2
4
6
1.5
(b)
0.5
0.5
1.5
Figure 7.5: (a) Axial stresses xx and (b) shear stresses xy using conventional four-node element, 16 elements along
length, one along depth (values from beam theory (values from beam theory are max = 7.5 ksf, max = 0.75 ksf ).
.
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48

t = 1 ft(thickness)
p = 0.1k/ft
2ft
E = 3000 ksi

20 ft
6
element with incompatible modes
4
2
0
(a)
2
4
6
0.3
(b)
0.2
0.1
0
0.1
0.2
0.3
Figure 7.6: (a) Axial stresses xx and (b) shear stresses xy using four-node element with incompatible modes, four
elements along length, one along depth (values from beam theory are max = 7.5 ksf, max = 0.75 ksf ).
t = 1 ft(thickness)
p = 0.1k/ft
2ft
E = 3000 ksi
20 ft
4
2
0
(a)
2
4
element with incompatible modes
0.6
0.4
(b)
0.2
0
0.2
0.4
0.6
Figure 7.7: (a) Axial stresses xx and (b) shear stresses xy using four-node element with incompatible modes, ten
elements along length, four along depth (values from beam theory are max = 7.5 ksf, max = 0.75 ksf ).
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49


HW#9: Frame/wall Behavior-Overturning resistance

= 1.00(reference)
IG
IG = 0
IC
IC
IG
IC
no frame action
IC
IG
IC
IC
MC
3
PH
2
= 0.250
IG =
some frame action
MC
3
PH
4
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50


= 0.0278
IG
IG =
IC
IC
IG
IC
IC
IG
significant frame
IC
IC
action
=
1
PH
4
3
PH
80
MC
= 0.00154 (41% flexure, 22% shear, 37% axial)
IG =
extreme frame
action
MC
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51

8
8.1

Mapped elements using isoparametric transformation

Mathematical Formulation
We use the so-called isoparametric formulation to transform elements of non-rectangular shape or curved sides to
the formulation of a unit square element in local coordinates und . In local coordinates, element sides are always
defined by = 1, = 1 . The physical coordinates of a point x , y within an element are defined as
4
x (, ) = N(, ) x = N (, ) x i
(8.1)
i =1
und
4
y(, ) = N(, ) y = N (, ) yi
(8.2)
i =1
in which x i and yi are the coordinates of the corner nodes and the four interpolation functions N i (or shape functions) are the same as those used for the interpolation of the displacements u(, ) and v(, ) within the element. The
name isoparametric thus derives from using the same functions to interpolate both the coordinates x (, ) and
y(, ) and the displacements u and v .
Figure 8.1: (a) Four-node plane isoparametric element in xy space. (b) Plane isoparametric element in space.
Shape functions N i and their derivatives are defined in local coordinates und . In order to calculate the strain,
however, we need the derivatives of the shape functions with respect to the global coordinates x and y . For rectangular elements we can easily calculate the global derivative by dividing by the element dimensions a and b (see B matrix in Eq. 6.17).
Also when integrating over the element, we need to express the area element dx dy as a function of d d , Again,
for rectangular elements, we simply have
d x dy = a b d d
(8.3)
Consider the derivative of a shape function N i with respect to the local coordinates and . Using the chain rule
gives
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52


N i
N i x N i y
=
+
x
y
(8.4)
N i
N i x N i y
=
+
x
y
or more general
N i x
=
N i x
y N i
N i
x
x
J
=
y N i
N i
y
y
(8.5)
The inverse of this relation is

N
N
i
i
= J1
N i
N i
(8.6)
Since the coordinates x and y are an explicit function of and , we can calculate the 2x2 Jacobian matrix
N i
xi
J=
N i
xi
N i N 1
yi

=
N i N 1
y
i

N 2
N 2
x1 y1
x 2 y2
(8.7)
As always, we obtain the element stiffness matrix as an integral over the element
1 1
K = t
1 1
C BT det Jd d = t BT (i , j ) C B(i , j ) det Jwi w j

i =1 j =1
where det J is the determinant of the Jacobian matrix. The integration is carried out numerically using two Gauss
points in each direction.
The Jacobian matrix J of the transformation is familiar in elementary calculus. For example, when an integral is
transformed from Cartesian coordinates into polar coordinates, dx dy is replaced by r dr d , in which J = r .
Figure 8.2: Mesh of quadrilateral elements of general shape.
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53

8.2

Some remarks on element shapes
When using mapped elements, we must do so in a way that no element has singular or near-singular Jacobian matrix. This is because we need to calculate the inverse of the Jacobian matrix and no inverse matrix exists if the matrix is singular and numerical instability may occur if the matrix is near singular (ill-conditioned). Numerical stability is guarantied if elements have compact and regular shape. The ideal triangular element is an equilateral triangle,
the best rectangle is a square.
from M. Asghar Bhatti, Fundamental Finite Element Analysis and Applications, John Wiley & Sons (2005).
Figure 8.3: Guidelines for mapped elements shapes.
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If the determinant of the Jacobian matrix is zero or near zero anywhere in the range of 1 < < 1, 1 < < 1 ,
the analysis becomes numerically unstable.
range of integration
1 < < 1
1 < < 1
GOOD
det(J)
det(J) 0
within range of integration
BAD
range of integration
det(J)
1 < < 1
1 < < 1
det(J) = 0
within range of integration
Figure 8.4: Contour plots of determinant of Jacobian matrix for a good and bad element.
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55

Higher order membrane elements
Eight-node, 16 dof element

4
x
y
, =
a
b
q 8 , Q8
1 1
x , , u
y, , v
q16 ,Q16
b
1 1
q13 ,Q13
q 7 ,Q7
y, , v
x , , u
1
a
q 5 ,Q5
q12 ,Q12
q11,Q11
q15 ,Q15
a x a
b y b
q 6 ,Q6
q14 ,Q14
9.1

2
q1,Q1
Figure 9.1: Eight-node (16-degree-of-freedom) rectangular membrane element.

u(, ) = c1 + c2 + c3 + c4 + c5 2 + c6 2 + c7 2 + c8 2
q 9 ,Q9
q10 ,Q10
q2 ,Q2
a
q 3 , Q3
q 4 , Q4
(8.8)
v(, ) = c9 + c10 + c11 + c12 + c13 2 + c14 2 + c15 2 + c16 2
This trial function yields quadratically varying displacements along the element edges uniquely defined by the displacements of the three nodes along the edge. In this context it is useful to recall the Pascal triangle from which we
can obtain the number of terms occurring in a polynomial in two variables x , y . For instance, first order polynomials
require three terms, second-order polynomials six terms, third order polynomials ten terms, etc.
1
x
x2
y2
xy
x3
x4
x 2y
x 3y
xy 2
x 2y 2
y3
xy 3
y4
Figure 9.2: Pascal's Triangle and the eight terms of trial function
The and coordinates of the element nodes are

Element node
1
2
3
4
5
6
7
8
-1
1
1
-1
0
1
0
-1
-1
-1
1
1
-1
0
1
0
qu = G c
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56


1 1 1 1 1
1 1 1
1
1
1
1
1
1
1
1
1
1 1 1
1
1
1
1 1
1 1 1 1
1 1
G =
0 1
0 0 1
0
0
1
1
1
0
0 1 0
0
0
0
1
0
0
1
0
0
0
0 1 0
0
0
1 1
(8.9)
After inverting G we obtain the eight shape functions

Ni
1
1 + i 1 + i i + i 1
4
i = 1...4
Ni
1
(1 2 ) 1 + i
2
i = 5, 7
Ni
1
(1 2 )(1 + i )
2
i = 6, 8
)(
)(
(8.10)
The figures below plot two typical shape functions, one for a corner node and one for a mid-side node. As for the
four-node element, a 3-D representation of the shape function plots the shape function along the vertical axis, the
displacement that the shape function describes, is, of course, in the horizontal direction (since we are dealing with
in-plane behavior).
0.8
1
0.8
0.6
0.8
0.6
0.6
0.4
0.4
0.2
0.2
0.4
0
0.2
0.2
0.2
0.4
0.4
1
0
0.5
0.6
0.8
0.5
0
0.5
0.2
0.5
1
1
1
0.8
0.6
0.4
0.2
0.2
0.4
0.6
0.8
Figure 9.3: Typical shape function for corner node ( N 1,..., N 4 ) of eight-node membrane element.
.
4/29/2010
57


0.9
0.8
0.8
0.6
0.7
0.4
0.6
0.2
0.5
0.2
0.4
0.2
0
1
0.3
0.4
0.2
0.6
0.1
0.8
0.8
0.6
0.4
0.5
1
0
0.5
0
0.5
0.5
1
1
1
0.8
0.6
0.4
0.2
0.2
0.4
0.6
0.8
Figure 9.4: Typical shape function for mid-side node ( N 5 ,..., N 8 ) of eight-node membrane element.
Nine-node, 18 dof Lagrange element

=
x
y
, =
a
b
7
y, , v
1 1
9
x , , u
1 1
9.2
a x a
b y b
Figure 9.5: Nine-node (18-degree-of-freedom) rectangular lagrange element.

1
x
x2
x3
x4
x 2y
x 3y
y2
xy
xy 2
x 2y 2
y3
xy 3
y4
Figure 9.6: Pascal's Triangle and the nine terms of trial function for Lagrange 9-node element
u(, ) = c1 + c2 + c3 + c4 + c5 2 + c6 2 + c7 2 + c8 2 + c9 2 2
(8.11)
v(, ) = c10 + c11 + c12 + c13 + c14 2 + c15 2 + c16 2 + c17 2 + c18 2 2
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Adding a ninth node at the element midpoint arranges the element nodes in a regular grid pattern. Finite elements
that share this characteristic are called LAGRANGE elements. The advantage of LAGRANGE finite elements is
that we can develop their shape function easily by a product of LAGRANGE polynomials. Without explicitly stating
so, we derived Lagrange polynomials in HW 3 when we developed the three shape functions for the rod element
with three nodes. The result was
2 3
0.5 1
= 2 ( 0.5)( 1) = 1 3 + 2 2
0 0.5 0 1
1 2 1 3
1 3
0
1
= 4 ( 1)
= 4 4 2
N 2 () = L2 () =
0.5 0 0.5 1
2 1 2 3
1 2
0 0.5
= 2 ( 0.5)
= + 2 2
N 3 () = L3 () =
1 0 1 0.5
3 1 3 2
N 1 ( ) = L1( ) =
(8.12)
or, more general

n
N i () = Li () =
(8.13)
j =1 i j
ij
=0
q1
= 0.5
q2
x , , u(x )
L /2
= 1.0
q3
0 x L, =
x
, 0 1
L
L /2
Figure 9.7: Three-node rod element considered in HW#3.

We can obtain shape functions for the nine-node membrane element and in fact for any element with a regular grid
pattern of nodes by multiplying a Lagrange polynomial in by a Lagrange polynomial in . Say we are looking for
the shape function of node 1 (strictly speaking degree of freedom 1). For that node, the coordinates are = 1 ,
and = 1 . We thus multiply the
5
2
1 5 1 2
8 4
Li =1() =
1 0 1 1
Li =1( ) =
N 1 (, )
0 1
1
= ( 1)
1 0 1 1 2
1
= ( 1)
2
=
= Li =1( ) Li =1 () =
(8.14)
1
( 1) ( 1)
4
Note that we have used 0 1 for the three-node rod element in Hw#3. Here we are using 1 1 .
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Figure 9.8: Typical shape function for corner node ( N 1,..., N 4 ) of nine-node membrane element.
Figure 9.9: Typical shape function for mid-side node ( N 5 ,..., N 8 ) of nine-node membrane element.
Figure 9.10: Shape function for center node ( N 9 ) of nine-node membrane element.
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10 Introduction into plate bending

10.1 Introduction
Lx
Ly
(a)
(b)
Figure 10.1: Slabs ( Lx / Ly = 2 ). (a) Supported on two edges. (b) Supported on four edges.
My = w
Ly 2
[k-ft/ft]
M x 0]
max =
5
wLy 4
384EI
max = 0.77
(a)
5
wLy 4
384EI
(b)
Figure 10.2: Deflected shape of slab ( Lx / Ly = 2 ). (a) Supported on two edges. (b) Supported on four edges.
C:\calpoly\arce504\Handouts\Winter2010\HandoutsChapter10-.doc
4/29/2010
61


10.2 Plate modeled as grid of beams

10.2.1
Plate supported along two edges
M y,max
wL2y
= 0.125
max
=1
0
0 =
5
wL4y
384 EI
My
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62

10.2.2
Plate supported along four edges ( Lx / Ly = 1 )

J = 0,
M x ,max
wL2y
M y,max
wL2y

Lx
= 1.0
Ly
J 0,
Mx
= 0.077
M x ,max
wL2y
My
= 0.077
M y,max
wL2y
Lx
= 1.0
Ly
Mx
= 0.041
My
= 0.041
MT
max
= 0.63
0
0 =
max
= 0.33
0
5
wL4y
384 EI
4/29/2010
0 =
5
wL4y
384 EI
63

10.2.3

Plate supported along four edges ( Lx / Ly = 1.5, Lx / Ly = 2.0 )

J 0,
Lx
= 1.5
Ly
M x ,max
wL2y
M x ,max
wL2y
= 0.033
= 0.028
Mx
Mx
M y,max
wL2y
M y,max
wL2y
= 0.078
= 0.10
My
My
MT
max
= 0.63
0
0 =
5
wL4y
384 EI
4/29/2010
max
= 0.81
0
0 =
64
5
wL4y
384 EI

10.2.4

Plate supported along four edges ( Lx / Ly = 1.0 ), edge beams in y -direction
rigid edge beam

My
My
stiff edge beam
Mx
Mx
As the edge beam becomes stiffer, the plate moments M x and the moment in the beam increase since more load is
transferred along the x -direction. The plate moments M y correspondingly decrease. The total moment transferred
at y = Ly / 2 is always M y,tot = wLx L2y / 8 .
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10.3 Analysis using plate elements

M y,max = 0.8 0.125 w Ly 2 = 0.10 w Ly 2
M y,max = 0.125 w Ly 2
3
5
2
5
1
5
0
Figure 10.3: Moments M y of slab ( Lx / Ly = 2 ). (a) Supported on two edges. (b) Supported on four edges.
M x ,max = 0.025wLy 2
5
2
5
1
5
0
Figure 10.4: Moments M x of slabs supported on four edges ( Lx / Ly = 2 ).

M y,max
max = 0.31
= M x ,max
= 0.295 0.125 w Ly 2
5
wLy 4
384EI
= 0.0369 w Ly 2
Figure 10.5: Deflected shape and moments of slab ( Lx / Ly = 1 ) supported on four edges.
4/29/2010
66

min

max
Figure 10.6: Twisting moments and principal moments of square plate under uniform load.
4/29/2010
67


10.4 Differential equation for plate bending

10.4.1
Introduction
10.4.2
Key assumptions
Plane mid-surface
constant thickness t
t Lx , t Ly (thin plate)
all applied forces act perpendicular to un-deformed mid-surface
w t ( w = vertical deflection ), out-of-plane and membrane loading are decoupled
sections remain plane and perpendicular to mid-surface, i.e. ignore shear deformation
points on the mid-surface displace only in z -direction ( u = v = 0 )
material isotropic and homogeneous, elastic and time-independent
10.4.3 Load resisting behavior of plates

Under distributed load, the plate takes on a deflected shape w(x , y ) . Plate strips experience bending and twisting
moments. Often, we ignore the twisting moments which put us on the safe side both for deflection and bending
moments.
10.4.4
Equilibrium for differential element

mxy +
mxy
y
my +
mx
mxy
vx
dy
my
y
B
x
vy
vy +
dy
y
v
v x + x dx x
x
mxy +
mx +
vy
my
dy
mxy
x
dx
dy
= up
x = down
m x
dx
x
y
mxy
dx
Figure 10.7: Differential element with internal forces applied.
p(x , y ) = area load [psf] , constant over element

as for beams, internal forces are stress resultants (integral of stresses over thickness)
all internal forces are per unit length, i.e. need to be multiplied by dx , dy when formulating equilibrium
bending moments: mx generate stresses in x -direction
shear forces: qx generates mx
Five internal force act on the element mx , my , mxy , vx , vy
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68


vy
v
dy + vy dx
V = 0 = p dx dy + vx x dx + vx dy + vy
x
y
vy
vx
+
= p(x , y )
x
y
M AB = 0 =
p dx dy
dx
vy
mx
mx
dx
+ vx dx dy + vy +
+ mx +
dy vy dx
dx mx dy + mxy
dy + mxy dx (10.1)
y
x
y
2
2
mxy
mx
+
= vx
x
y
M BC = 0
my
y
mxy
x
= vy
By differentiating the second and third equation and substituting into the first equation we can eliminate the two
shear forces to arrive at
vy
2mxy
2my
vx
2mx
2
+
=
+
+
= p(x , y )
x
y
x y
x 2
y 2
(10.2)
10.4.5 Strain-displacement relation

As for membrane problems, we have
x =
u
x
y =
v
y
xy =
u v
+
y x
(10.3)
The two displacements u and v depend on w through the plane section remain plane and perpendicular to the midsurface kinematics
u(x , y ) = z
w(x , y )
x
v(x , y ) = z
w(x , y )
y
(10.4)
Hence
x (x , y ) = z
2w(x , y )
x 2
y (x , y ) = z
2w(x , y )
y 2
xy (x , y ) = 2z
2w(x , y )
x y
(10.5)
10.4.6 Hookes law

As for membrane problems
x
y
xy
E
(x + y )
1 2
E
=
(y + x )
1 2
E
xy
=
2 (1 + )
=
(10.6)
Substituting the expressions for the strains, we obtain

4/29/2010
69

x
E
(x + y )
1 2
Ez 2w
2w
1 2 x 2
y 2
E
(y + x )
1 2
Ez 2w
2w
1 2 y 2
x 2
E
xy
2 (1 + )
Ez 2w
1 + x y
xy =

(10.7)
t /2
mx =
z x dz
EI 2w
2w
+ 2
2
2
1 x
y
z y dz
2w
EI 2w
1 2 y 2
x 2
EI 2w
EI
2w
(1 )
=
2
1 + x y
x y
1
t / 2
t /2
my =
t /2
t /2
mxy =
t /2
z xy dz
Substituting the preceding expression (moments as a function of the vertical deflection w ) into the equilibrium
condition, yields
2mxy
2my
2mx
EI
2
+
+
=
x y
1 2
x 2
y 2
4w
4w
4w
4w
4w
+ 2 2 + 2 (1 ) 2 2 + 4 + 2 2
4
x y
x y
y
x y
x
EI 4w
4w
4w
2
=
+
+
1 2 x 4
x 2 y 2
y 4
(10.8)
= p(x , y )
The differential equation for plate bending is thus

p(x , y )
4w
4w
4w
+2 2 2 + 4 =
4
k
x
x y
y
k=
EI
1 2
(10.9)
Note that we have ignored shear deformation in the derivation of the differential equation. This is a good
approximation if the plate is thin. The theory that leads to the above differential equation is thus referred to as thinplate theory developed by Kirchhoff in the 1850s.
4/29/2010
70


Figure 10.8: Stresses acting on differential element of a homogenous, linearly elastic plate.
Figure 10.9: "Plane sections remain plane"kinematics.
4/29/2010
71

4/29/2010

72


10.5 More introduction

10.5.1
Types of two-way slabs
(a) Flat plate
(c) Flat slab
Figure 10.10: Types of two-way slabs (from James G. MacGregor: Reinforced Concrete, Mechanics and Design)
4/29/2010
73

10.5.2

Flexural behavior of slabs supported on isolated columns

Lx / 4
Lx / 2
Lx / 4
Ly
1/2 column strip middle strip 1/2 column strip
0.041 w L2y
0.122 w L2y
0.034 w L2y
0.053 w L2y
Ly
Equilibrium (assume constant moment across strip):

M y,tot
= (0.041 + 0.034) 0.5 Lx + (0.122 + 0.053) 2 0.25 Lx wLy 2
1
= w Ly 2Lx
8
Figure 10.11: Moments in a slab supported on isolated columns (from James G. MacGregor: Reinforced Concrete,
Mechanics and Design)
Myy
wL2y
Moments Myy
45
40
0.05
35
0
30
ft
25
0.05
20
0.1
0.122 0.041
15
0.053 0.034
0.122 0.041
10
0.15
0.2
0
10
15
20
25
ft
30
35
40
45
Figure 10.12: Deflected shape and bending moments in flat slab ( M yy causes stresses yy )
4/29/2010
74


10.6 Plate finite element formulation

10.6.1 Introductory remarks
Because the plate is flat and we assume the displacements are small, the bending of the plate is uncoupled from inplane behavior (membrane behavior). If the plate is not flat membrane and bending forces are coupled as in a shell
of folded plate structure. Large displacements also couple the two modes of response. We commonly distinguish between thin and thick plates. In thin plates, the transverse shear strain is assumed to be zero. Thin plate theory is commonly referred to as Kirchhoff theory. In thick plate theory we account for shear deformation. Thick plate theory is
usually referred to as Mindlin plate theory.
10.6.2 Trial functions, shape functions and B-matrix for thin plate element
For thin plate the potential energy of the plate is determined from the in-plane strains xx , yy , xy . We can determine
these three strains entirely by the vertical deflection w(x , y ) . The starting point for a thin plate finite element is thus
a trial function for the vertical deflection w(x , y ) .
1
x
x2
x3
x4
y2
xy
x 2y
xy 2
x 3y
y3
x 2y 2
xy 3
y4
Figure 10.13: Pascal's Triangle and the eight terms of trial function
The conventional plate element is the four nodes quadrilateral element with three degrees-of-freedom per node thus
a total of 12 degrees-of-freedom.
w(, ) = c1 + c2 + c3 + c4 2 + c5 + c6 2 + c7 3 + c8 2 + c9 2 + c10 3 + c11 3 + c12 3
(10.10)
q 7 ,Q7
q 9 ,Q9
q 8 , Q8
q10 ,Q10
2b
q11,Q11
q12 ,Q12
E , , t
y,
q 6 ,Q6
x,
q 4 ,Q4
2
q 5 ,Q5
q1,Q1
q2 ,Q2
q 3 , Q3
2a
Figure 10.14: Conventional four-node/twelve degree-of-freedom finite element for plate bending.
4/29/2010
75


As usual, we determine the shape function by using the boundary conditions

= c1 + c2 + c3 + c4 2 + c5 + c6 2 + c7 3 + c8 2 + c9 2 + c10 3 + c11 3 + c12 3
w(, )
y (, )
x (, )
w
w
y
w
=
x
=
1
(c3 + c5 + 2c6 + c8 2 + 2c9 + 3c10 2 + c11 3 + 3c12 2 )
b
1
= (c2 + 2c4 + c5 + 3c7 2 + 2c8 + c9 2 + 3c11 2 + c12 3 )
a
( = 1, 1)
= w1
= q1
= y 1
= q2
= x 1
= q3
= 1)
= w2
= q4
= 1)
= y 2
= q5
= 1)
= x 2
= q6
= 1)
= w3
= q7
= 1)
= y 3
= q8
= 1)
= x 3
= q9
( = 1, = 1)
= w4
= q10
= y 4
= q11
= x 4
= q12
w
( = 1, = 1)
y
w
( = 1, = 1)
x
w
( = 1,
w
( = 1,
y
w
( = 1,
x
w
( = 1,
w
( = 1,
y
w
( = 1,
x
w
w
( = 1, = 1)
y
w
( = 1, = 1)
x
(10.11)
(10.12)
or
q = Gc
with
Note: x is defined as the node rotation about the y -axis (degrees of freedom 3, 6, 9 and 12). y is defined as the
node rotation about the x -axis (degrees of freedom 2, 5, 8 and 11).
4/29/2010
76

1
(0
(0
( 0
( 0
G =
1
(0
(0
(0
(0

1
0
1
0 -1 -2
0
1
2
3 -1 -3)
b
1
-1
0
2
1
0 -3 -2 -1
0
3
1)
a
1 -1
1 -1
1
1 -1
1 -1 -1 -1
1
0
1
0
1 -2
0
1 -2
3
1
3)
b
1
0
3
1)
-1
0 -2
1
0 -3
2 -1
a
1
1
1
1
1
1
1
1
1
1
1
1
0
1
0
1
2
0
1
2
3
1
3)
b
1
0 -3 -1)
-1
0 -2 -1
0 -3 -2 -1
a
-1
1
1 -1
1 -1
1 -1
1 -1 -1
1
0
1
0 -1
2
0
1 -2
3 -1 -3)
b
1
-1
0
2 -1
0 -3
2 -1
0 -3 -1)
a
-1
-3
-3
1 1
1
G =
8
0
0
-1
-1
-1
1
-1
-1
0
1
-1
0
0
1
1
0
-1
-1
1
1
1
-1
0
-1
-1
0
0
1
0
2
3
-3
0
-4
0
-1
0
0
1
1
1
-1
1
1
-1
0
-1
-1
0
0
-1
1
0
1
b
-1
-1
1
2
1
3
-1
3
-1
0
-1
4
0
0
-1 -1
1
0
0
0
0 -1
1 -1
0 -1
a
-1
-1
-1
-1
0
-1
1
0
0
1
1
0
1
(10.13)
2 -1 -1
-3
1
1
3 -1 -1
0
0
1
-4
1
1
0
1
0
1
0 -1
0
0
1
0 -1
0
-1
1
0
1
0 -1
1 -1
0
a
b a
1
1
1
-1
1
0
-1
-1
0
0
-1
0
(10.14)
w(, ) = c1 + c2 + c3 + c4 2 + c5 + c6 2 + c7 3 + c8 2 + c9 2 + c10 3 + c11 3 + c12 3

= 1 2
= 1 2
= N(, ) q
3 c
3 1
G q
(10.15)
The first shape function (with respect to the vertical displacement of node 1) is thus
N 1 (, ) =
1
2 3 3 + 4 + 3 + 3 3 3
8
4/29/2010
(10.16)
77


Figure 10.15: Shape function N 10, N 11, N 12 (for w 4, 4y , 4x ) of conventional plate element.
The strain vector d consists of the two curvatures and the twist, the vector D of internal forces consists of the two
bending moments and the twisting moment. The elasticity matrix C relates the two quantities (compare Eq. 10.7)
2w
x 2
2w
d=
2
y
2w
2
x y
m
xx
D = myy
mxy
1
0
Et
1
C=
0
2
12 (1 )
0 0 1
D = Cd
(10.17)
The displacement-to-strain transformation matrix B(x , y ) is thus

2N
1
x 2
2N
1
B(x , y ) =
2
y
2
N1
2
y y
"
2
N 12
" 2
2
y
"
2N 12
x 2
2N 12
y 2
(10.18)
The 12x12 element stiffness matrix is given by

K=
(x , y ) C B(x , y ) dA
(10.19)
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78


10.6.3 Trial functions, shape functions and B-matrix for thick plate element
In the finite element formulation for thick plates, we must use independent trial function for the vertical deflection
w(x , y ) of the plate and the two rotations. x (x , y ) and y (x , y ) . Since there are four degrees-of-freedom for each of
the three quantities, we can write
w(, )
= c1 + c2 + c3 + c4
x (, )
= c5 + c6 + c7 + c8
y (, )
= c9 + c10 + c11 + c12
(10.20)
The set of four shape functions is the same for all the three quantities and is given by (same as those used for the 4node membrane element)
1
(1 ) (1 )
4
N1 =
N3
N2 =
1
= (1 + ) (1 + )
4
N4
1
(1 + ) (1 )
4
(10.21)
1
= (1 ) (1 + )
4
or in short
Ni =
1
1 + i 1 + i
4
)(
i = 1...4
(10.22)
where i and i are the and coordinates of the four element nodes.
w(, )
= N(, )q w
x (, )
= N(, )q x
y (, )
= N(, )q y
T
q w = q1 q 4 q 7 q10
T
q x = q2 q 5 q 8 q11
T
q y = q 3 q 6 q 9 q12
(10.23)
Note that the curvature is no longer the second derivative of the vertical deflection but the first derivative of the
rotation since the rotation is no longer equal to the first derivative of the deflection. For thick plates, the vector of
strains is
y
xx
yy
d = xy = x + y
y
x
xz

w
yz y +

x
w
x +
mxx
myy
D = mxy
v
x
vy
Et
0
C=
2
12 (1 )
0
4/29/2010
0 1
0
0 0
0
0
0 0
0 0 + kGt 0
0
0 0
0
0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 1 0
0 0 0 1
D = Cd
79


z, w
y
w
y
w
y
y, v
= y z
yz =
v w
w
+
= y +
z
y
y
Figure 10.16: Cross section kinematics of thick plate. Cross section angle of rotation does not equal slope of midsurface.
4/29/2010
80


10.7 Loads, stresses, forces and moments

As in beam theory, axial stresses xx and yy vary linearly with z and generate bending moments M x and M y . Shear
stress xy also varies linearly and generates a twisting moment M xy . Normal stress zz is considered negligible in
comparison to the other stress components.
t /2
Mx =
Qx =
t /2
z xx dz
My =
t /2
z yy dz
t / 2
t / 2
t /2
t /2
t / 2
xz dz
Qy =
M xy =
xy z dz
t / 2
(10.24)
yz dz
t / 2
Figure 10.17: Stresses acting on differential element of a homogenous, linearly elastic plate.
4/29/2010
81


Introduction to Kirchhoff plate theory (thin plate theory)

The key assumption behind classical plate bending theory is that a line that is straight and normal to the midsurface
before loading remains straight and normal to the midsurface after loading.. Thus transverse shear strains are
assumed to be zero.
xx = z
2w
x 2
yy = z
2w
y 2
xy = 2z
2w
x y
(10.25)
We neglect normal stress zz in plate theory

xx
E
= z
yy
1 2

2w
1 x 2
1 2w

y 2
xy = 2zG
2w
x y
(10.26)
or
xx

yy

xy
2w
1
x 2
0
2
E
w
= z
1
0
2
y
1 2
0 0 1 2
w
x y
(10.27)
Figure 10.18: Differential slice of a plate of thickness t . (A) Before loading. (b) After loading, according to
Kirchhoff theory.
Figure depicts the stresses .Like the stresses in a beam, they vary linearly with z . Transverse shear stresses
(sometimes also referred to as "through-thickness shear stresses" also exist even though the corresponding shear
deformation is neglected. The stresses in Eq.?? gives rise to bending moments M x and M y and twisting
moments M xy
4/29/2010
82

xx

yy

xy

2w
1
x 2
0
2
E
w
= z
1
0
2
y
1 2
0 0 1 2
w
x y
t /2
Mx =
t / 2

xy = 2zG
t /2
z xx dz
My =
2w
x y
t /2
z yy dz
M xy =
t / 2
xy z dz
t / 2
4/29/2010
83


10.8 Parametric studies

p
E , t,
Lx
Ly
Figure 10.19: Rectangular plate (supported on all four sides) under uniform load.
10.8.1 One-way slabs
In the following we investigate the load carrying behavior of a slab whose span length in one direction is much
shorter than that in the other direction, say Lx / Ly > 2 . These labs are commonly referred to as one-way slabs.
Moments Mxx
2
1.5
1
0.5
0
0
10
Moments Myy
0
0.02
0.04
0.06
0.08
0
2
1.5
0.2
1
0.5
0.4
0
0
10
Moments Mxy
2
4/29/2010
0.2
84
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1

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California Polytechnic State University

FEM for Building Structures, Winter Quarter 2010

Department of Architectural Engineering

Review: Illustration of structure stiffness matrix assembly process (ARCE 306)

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= 29, 000 ksi

=150 in4 (tubular section)

29, 000 ksi

Problem: Find the displacement delta for the given loading.

= 0.0402 ft + 0.080 ft = 0.120 ft = 1.44 in (ans )

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Department of Architectural Engineering

Hookes law and minimum of potential energy

= Pv(L) = P (c1L2 + c2L3 )

= EI 2c12L + 6 c1c2 L2 + 6 c22 L3

= EI (6c1L2 + 12c2L3 ) +PL3 = 0

California Polytechnic State University

Department of Architectural Engineering