Lecture 2 Bar and Beam

Elements
Yan Zhuge
CIVE 3011 Structural Analysis and
Computer Applications
19/07/2007

Element Types

Element Types

Element Types

Finite Element Analysis - The

Steps
1. Define the physical problem
2. Create the finite element model
define geometry, nodes, and elements.
define material properties, loading and
boundary conditions.

Finite Element Analysis - The

Steps
3. Perform the calculations. The software:

generate the stiffness matrix k of each element,

connect elements together, assemble the element k
matrices to obtain the "global" matrix K,
assemble loads into a global load vector R,
impose support conditions, and
solve the global equations KD=R for the vector D of
unknowns. In structural problem D contains
displacement components of the nodes.

4. Postprocess the information contained in D. In

stress analysis this means compute strains and
stresses.
6

Spring Element
The first step in FEM is the derivation of the
element stiffness matrix ke. This is illustrated
below by using a simple spring element
x
F1

2 F2

Two nodes: 1,2

Nodal displacement: u1, u2 (m, mm)
Nodal forces: F1, F2 (N)
Spring constant (Stiffness) k (N/m, N/mm)
7

Spring Element
We have:

F = k

with = u2 - u1

(1)

Consider the equilibrium of forces for the spring. At node 1, we have:

and at node 2,
In matrix form

F1 = F = k (u 2 u1 ) = ku1 ku 2

(2)

F2 = F = k (u2 u1 ) = ku1 + ku2

(3)

k
k

k u1 F1
=

k u2 F2

or

ku = F
Where k = (element) stiffness matrix
u = (element nodal) displacement vector
F = (element nodal) force vector

(4)
(5)

Bar Element
Consider a uniform prismatic bar:

L
A
E

length
cross-sectional area
elastic modulus
9

Stiffness matrix Direct method

Assume that the displacement in the bar is , then we have:

and

= FL / AE

(6)

F = ( AE / L)

(7)

For the respective cases in the above figure, we have:

AE
F11 = F21 =
u1
L

and

F12 = F22 =

AE
u2
L

(8)

where Fij is the force at node i (i = 1,2) associated

with displacement of node j (j = 1,2)
10

Stiffness matrix Direct method

Written the above expressions in matrix format:
F11
F
21

F12 1 F1
= or

F22 1 F2

AE 1 1 u1 F1
=

L 1 1 u 2 F2

(9)

where F1 and F2 are the resultant forces applied to the

bar at nodes 1 and 2
From the above matrix, we can see that the bar is acting like a spring in
this case, the element stiffness matrix for the bar is:

k
k=
k

k AE 1 1
=

k
L 1 1

(10)
11

Stiffness matrix A Formal

Procedure
We derive the same stiffness matrix for the bar
using a formal procedure which can be applied to
more complicated situations
For different types of element, the variation of
the displacement between the nodes must be
assumed first (what kind of behaviour can be
expected). This is called the displacement
function and is usually a polynomial whose order
depends on the number of degree of freedom
(d.o.f.) in the element. Degree of freedom is
number of components of the displacement
vector at a node.
12

Stiffness matrix A Formal

Procedure
Bar elements are used to model truss structures and any
other structures where axial effects predominate. Bar
element consists of 2 d.o.f. per element and hence the
displacement function can be assumed as:
u = 1 + 2 x

(11)

The FEM treats the nodal displacements as variables of

an interpolation function, usually a polynomial, to give
an analytical expression for displacement at any point
inside the element.
13

Stiffness matrix A Formal

Procedure
Eq. (11) can be written by expressing the i in terms of
nodal displacements u1 and u2:
at x = 0
at x = L

u = u1 = 1
u = u2 = 1+ 2L

replace 1 and 2 into eq. (11), we have:

x
x
u = (1 )u1 + u 2
L
L

(12)

Define two linear shape functions as follows:

N1 ( ) = 1

N 2 ( ) =

(13)

where

x
=
L

01
14

Stiffness matrix A Formal

Procedure
Each shape function Ni describes how u varies with x when
the corresponding d.o.f. ui is unity while the other is zero.
Re-write eq. (12) in matrix form:
L x
u=
L

x u1

L u 2

or

u = Nd

(14)

where N is the shape function matrix

d is the vector of element nodal d.o.f.

15

Stiffness matrix A Formal

Procedure
Axial strain x is given by
du d
=
N d = Bd
=
dx dx

(15)

where B is the element strain-displacement matrix

1
B =
L

1
L

(16)

Stress can be written as

= E = EBd

(17)
16

Stiffness matrix A Formal

Procedure
Consider the strain energy stored in the bar
U=

1 T
1

dV
( d T BT EBd )dV
=

2V
2V

1 T
T
= d ( B EB )dV d
2 V

(18)

The work done by the two nodal forces is

W=

1
1
1
F1u1 + F2u2 = d T F
2
2
2

(19)

For conservative system, we have

U=W

(20)

17

Stiffness matrix A Formal

Procedure
which gives

1 T
1
T
d ( B EB )dV d = d T F
2 V
2

(21)

Then we have

T
(
B
EB
)
dV

d = F
V

where

(22)

k = ( B T EB )dV

or

kd = F

(23)

(24)

is the element stiffness matrix

Equation (24) is a general result which can be used for
the construction of other types of elements.

18

Stiffness matrix A Formal

Procedure
Now we use equation (24) to re-calculate the element
stiffness matrix for the bar element:
k=

1 / L
AE 1 1
E [ 1 / L 1 / L ]Adx =

L 1 1
1/ L

(25)

which is the same as we derived using the direct method

The strain energy can be written as
U=

1 T
d kd
2

(26)
19

Example: Find the stresses in the two bar

assembly which is loaded with force P, and
constrained at the two ends, as shown in the
figure.

20

Notes to example
In this case, the calculated stresses in elements 1
and 2 are exact within the linear theory for for 1D
bar structures. It will not help if we further divide
element 1 or 2 into smaller finite elements.
For tapered bars, averaged values of the crosssectional areas should be used for the elements.
We need to find the displacements first in order
to find the stresses, since we are using the
displacement based FEM.
21

Beam Element
The beam element is used to model beams or frames where
flexural effects (shear forces and bending moments)
dominate. Beam element consists of 4 DOF per element and
a cubic variation in displacement has to be assumed in the
form:
v = 1 + 2 x + 3 x 2 + 4 x 3
(27)
I = moment of inertia of the crosssectional area
E = elastic modulus
v = v(x) lateral displacement
dv rotation about the z-axis
=
dx
F = shear force
M = bending moment about z-axis

22

Beam Element
Axial effect can be added on if necessary
Similar to bar element, eq. (27) can be written by expressing
the i in terms of nodal d.o.f. with z=dv/dx=2+23x+34x2
for example: x = 0, 1 = v1, 2 = z1
We can then derive the shape functions for beam element.
N 1 ( x ) = 1 3 x 2 / L2 + 2 x 3 / L3
N 2 ( x ) = x 2 x 2 / L + x 3 / L2
N 3 ( x) = 3x / L 2 x / L
2

N 4 ( x ) = x 2 / L + x 3 / L2

(28)
23

Beam Element
Then, we can represent the displacement as
v = [N 1

N2

N3

v1


N 4 ] z1 = Nd
v2
z 2

(29)

Curvature of the beam element is

d 2v d 2
= 2 N d = Bd
2
dx
dx

(30)

where strain-displacement matrix B is given by

6 12 x
B = 2 + 3
L
L

4 6x
+ 2
L L

6 12 x
3
2
L
L

2 6x
+ 2
L L

(31)

24

Beam Element
Strain energy stored in the beam element is
L

1 T
1 T T
U = dV = d B EIBdx d
2V
2 0

(32)

Can you prove this??

Based on eq (32) the stiffness matrix for the beam
element is:
L

k = BT EIBdx

(33)

25

Beam Element
Applying the result in (31) and carrying out the integration,
the expression of k is as follows
12 EI / L3

2
6
EI
/
L
k=
12 EI / L3

6 EI / L2

Stress

6 EI / L2
4 EI / L
6 EI / L2
2 EI / L

12 EI / L3
6 EI / L2
12 EI / L3
6 EI / L2

6 EI / L2

2 EI / L
6 EI / L2

4 EI / L

(34)

x = My/I

Bending moment M is computed from curvature d2v/dx2,

which in turn depends on nodal d.o.f. d.
d 2v
M = EI 2 = EIBd
dx

(35)

26

2D Beam Element
Combining the axial stiffness
0
AE / L
0
3
/
EI
L
12

0
6EI / L2
k=
0
AE / L
0
12EI / L3

6EI / L2
0

0
6 EI / L2

AE / L

4 EI / L

0
AE / L

0
6 EI / L2
2 EI / L

0
0

0
12EI / L3
6 EI / L2
0
12EI / L3
6EI / L2

0
u1
6 EI / L2 v1
2EI / L z1

0
u2
6EI / L2 v2

4EI / L z 2

27

Boundary conditions
In order to prevent the finite element model from
moving freely through space, each of the possible
degrees of freedom must be constrained
somewhere on the model. This can be done by
imposing boundary conditions at appropriate
nodal points on the model.
In general, displacement boundary conditions
simulate the actual supports of the structure.
Same as general structural analysis, there are
three basic types of supports: simply supported,
fixed and roller supports.
28

Boundary Conditions
The application of boundary conditions depends
on the type of structure being analysed and also
on the finite element program being used.
If the program supports 2D elements, then the
application of boundary conditions in the third
dimension for a 2D analysis is unnecessary. On
the other hand, programs that use 3D elements
for 2D problems require that all displacements in
the third dimension are zeroed.
29

Boundary Conditions
Engineering judgement must be applied in
determining what boundary conditions best
simulate the behaviour of the actual
structure. In some cases, it is necessary to
try the analysis using different boundary
conditions to determine which set of
conditions produces the worst case results.
30