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Note: There are two displacement components at a given node i, denoted by Q2i-1
and Q2i.
4.3 Local & Global Coordinate Systems
In local coordinate (x’), every node
has one degree of freedom, while in
global coordinate (x, y), every node
has two degrees of freedom.
q q1 q2 q3 q4
T
4.4 Relation Between Coordinate Systems
Consider a deformed truss member as shown. We can now establish a
relationship between {q’} and {q} as follows:
4.5 Transformation Matrix
To eliminate the θ terms from previous equations, we define direction
cosines, such that,
q'1 q1 l q2 m
q'2 q3 l q4 m
q' Lq
Note:
Coordinates (xi, yi) are based on local coordinate system.
4.7 Element Stiffness Matrix
A truss element is a one-dimensional (bar) element, when it is viewed in local
coordinate system. Thus, element stiffness matrix for a truss element in local
coordinate,
1 1
k 'truss k bar Ae Ee
1 1
le
The internal strain energy in the truss element for the 1-D element is,
U e q k q
1 T e
2
Thus, the internal strain energy in the truss element, in local coordinate system is,
U 'e
1
q'T k 'truss q'
2
Substituting {q’} = [L]{q}, we get,
2
1 T
2
T
q L k 'truss L q
4.7 Element Stiffness Matrix
In the global coordinates system,
U e q k trussq
1 T
2
Since internal strain energy is independent of coordinate system, Ue = U’e. Since,
U 'e
1 T
2
q LT k 'truss L q
Therefore,
l2 lm l 2 lm
m2 lm m 2
k truss k 2
AE lm
le l lm l2 lm
2
lm m m
2
lm
Example 4.1
Write the element stiffness matrix for each element . Use: E = 180 GPa; d = 15
mm for all members.
Solution
2 2
Node x y
1 0 0
Nodal Coordinate
Data 2 0.4 0.6
3 0.8 0
Element 1:
1 2 3 4
0.31 0.46 0.31 0.46 1
k 1 1.767 10 4
180 10
9
0.46 0.69 0 .46 0 .69
2
Element 2:
1 2 5 6
1 0 1 0 1
k
2 1.767 10 4
180 10
9
0 0 0 0 2
0.8 1 0 1 0 5
0 0 0 0 6
Element 3:
3 4 5 6
0.31 0.46 0.31 0.46 3
k 3 1.767 10 4
180 10
9
0 .46 0.69 0.46 0 .69
4
0.72 0.31 0.46 0.31 0.46 5
0.46 0 .69 0 .46 0.69 6
4.8 System of Linear Equations
The system of linear equations for a single plane truss element in local coordinate
system can be expressed as,
k q f
where {q} is nodal displacement vector and {f} is nodal force vector, in the global
coordinate direction. Substituting, we get,
l2 lm l 2 lm q1 f1
AE lm m2 lm m 2 q2 f 2
le l 2 lm l 2
lm q3 f 3
2
lm m
2
lm m q4 f 4
Note:
To assemble the global stiffness matrix, a local-global nodal connectivity will be
required.
Example 4.2
Reconsider Exercise 4-1.
a) Assemble global system of linear equations for the structure.
b) Apply the boundary conditions.
c) Write the reduced system of linear equations.
1 2 3 4 5 6
1.681 0.639 0.431 0.639 1.25 0 1
0.639 0.958 0.639 0 .958 0 0 2
0.431 0.639 0.861 0.431 0.639
K 1.767 104 180 109
0.639 0 . 958 0 1.
0
917 0.639 0. 958
3
4
1.25 0 0.431 0.639 1.681 0.638 5
0 0 0.639 0.958 0.638 0.958 6
Boundary Conditions:
Q1 = Q2 = Q6 = 0
(homogeneous type)
Example 4.2
Solution (cont.)
Q1 Q2 Q6 0 (homogeneou s type)
Example 4.2
Solution (cont.)
EBq'
EBLq
Expanding the [B] and [L] matrices,
q1
l m 0 0 q 2
E 1 1
1
le 0 0 l m q3
q4
q1
q
E l m l m 2
1
le q3
q4
Example 4.3
Reconsider Exercise 4-2.
a) Determine the unknown nodal displacements at B and C.
b) Compute the stresses in the member AC and BC.
Thus, the nodal displacements at B (at Node 2) and C (at Node 3) are,
Q3 2.14 mm
Q4 0.209 mm
Q5 0.628 mm
Example 4.3
Solution (cont.)
b) Recall, Element le l m
1 0.72 0.56 0.83
2 0.8 1 0
3 0.72 0.56 -0.83
q1 0
q
2 180 10
9
0
2 E l m l m 1 0 1 0
1
3
le q
5 0 .8 0.628 10
q6 0
141.3 M Pa
Example 4.3
Solution (cont.)
q3
q
3 E
1
l m l m 4
le q5
q6
2.14 10 3
3
180 109 0.209 10
0.56 0.83 0.56 0.83 3
0.72 0. 628 10
0
255.05 M Pa
Example 4.4
The plane truss shown in figure is
composed of members having a
diameter of 16 mm and modulus of
elasticity E = 193 GPa. Given the
yield strength, σy of material is 205
MPa.
Node x y
1 0 0
Nodal Coordinate
Data 2 0.4 0
3 0 0.9
Example 4.4
Solution (cont.)
Element le l m
1 0.4 1 0
Direction Cosines
2 0.985 0.406 -0.914
3 0.9 0 -1
Example 4.4
Solution (cont.)
l2 lm l 2 lm
m2 lm m 2
k truss k 2
AE lm
le l lm l2 lm
2
lm m m
2
lm
1 2 3 4
1 0 1 0 1
0.4 1 0 1 0 3
0 0 0 0 4
Example 4.4
Solution (cont.)
5 6 3 4
0.165 0.371 0.165 0.371 5
5 6 1 2
0 0 0 0 5
2.0106 10 4 193 109 0 1
0 1 6
Element 3: k
3
0.9 0 0 0 0 1
0 1 0 1 2
Example 4.4
Solution (cont.)
Assemble the global stiffness matrix [K] for the entire truss structure.
1 2 3 4 5 6
2.5 0 2.5 0 0 0 1
0 1 .111 0 0 0 1.111 2
9 2.5 2.668 0.377 0.168 0.377
4
K 2.0106 10 193 10 0
0
0 0.377 0.848 0.377 0 .848
3
4
0 0 0.168 0.377 0.168 0.377 5
0 1.111 0.377 0.848 0.377 1.959 6
Example 4.4
Solution (cont.)
0 1
0 2
35 10 3
3
F 3
18 10 4
0 5
0 6
Example 4.4
Solution (cont.)
K Q F
2.5 0 2.5 0 0 0 Q1 0
0 1 .111 0 0 0 1 .111 Q 0
2
2.5 2.668 0.377 0.168 0.377 Q3 35 10
3
0
2.0106 10 4 193 109 3
0 0 0 .377 0.848 0. 377 0 . 848 Q4 18 10
0 0 0.168 0.377 0.168 0.377 Q5 0
0 1 .111 0.377 0 .848 0 .377 1.959 Q6 0
Example 4.4
Solution (cont.)
1.111 0 0 Q2 0
2.0106 10 4 193 109 0 2.668 0.377 Q 35 103
3
0 0.377 0.848 3
Q4 18 10
Element 1:
0
193 109 0
1 1 0 1 0 4
134.23 MPa
0.4 2.782 10
4.233 10 4
Element 2:
0
193 109 0
2 0.406 0.914 0.406 0.914 4
97.94 MPa
0.985 2.782 10
4.233 10
4
Example 4.4
Solution (cont.)
Element 3:
0
0
193 109
3 0 1 0 1 0 M Pa
0.9 0
0
Example 4.4
Discussion
The results showed that the maximum value of displacement was generated at
node 2, particularly in the y direction (Q4 = 4.233 x 10-4 m). The displacement of
the same node in the x direction, Q3 was just as minimal as -2.782 x 10-4 m. For
the stress outcomes, it was evident that element 1 was greatly stressed than the
others as the magnitude recorded was as high as -134.23 MPa. Element 2 and 3
exhibited lower stress levels which are -97.94 MPa and 0 MPa, respectively.
Cross-sectional Area: A1 A2 A3 A4 1 m2
Length: L1 40 m
L2 30 m
L3 402 302 50 m
L4 40 m
Example 4.5
Solution (cont.)
Node x y
1 0 0
Nodal Coordinate 2 40 0
Data
3 40 30
4 0 30
Direction Cosines
Element le l m
1 40 1 0
2 30 0 -1
3 50 0.8 0.6
4 40 1 0
Element 1: 1 2 3 4
1 0 1 0 1
0 0
k 1 29.5 10 6
1 0 0 2
40 1 0 1 0 3
0 0 0 0 4
Example 4.5
Solution (cont.) 5 6 3 4
0 0 0 0 5
0 1 0 1
Element 2: k 2 29.5 10 6
1
6
30 0 0 0 0 3
0 1 0 1 4
1 2 5 6
0.64 0.48 0.64 0.48 1
0.48
Element 3: k 3 29.5 10 6
1 0.36 0 .48 0 .36
2
40 1 0 1 0 5
0 0 0 0 6
Example 4.5
Solution (cont.)
Assemble the global stiffness matrix [K] for the entire truss structure.
1 2 3 4 5 6 7 8
22.68 5.76 15 0 7.68 5.76 0 0 1
5.76 4.32 0 0 5.76 4.32 0 0 2
15 0 15 0 0 0 0 0 3
29.5 10 1 0
6
0 0 20 0 20 0 0
K
4
Since the bar is subjected by two concentrated forces; 20,000 N at Node 2 and
25,000 N at Node 3. Therefore, the global force vector for the entire structure
is,
0 1
0 2
20000 3
F
0 4
0 5
25000 6
0 7
0
8
Example 4.5
Solution (cont.)
K Q F
22.68 5.76 15 0 7.68 5.76 0 0 Q1 0
5.76
4.32 0 0 5.76 4.32 0 0 Q2 0
15 0 15 0 0 0 0 0 Q3 20000
29.5 106 1 0 0 0 20 0 20 0 0 Q4 0
7.68 5.76 0
600 0 22.68 5.76 15 0 Q5 0
5.76 4.32 0 20 5.76 24.32 0 0 Q6 25000
0
0 0 0 15 0 15 0 Q7 0
0 0 0 0 0 0 0 0 Q8 0
Example 4.5
Solution (cont.)
3
Q
5 5.65 10 m
Q 22.25 10 3
6
Example 4.5
Solution (cont.)
5.65 10 3
3
29.5 106 22.25 10
Element 2: 2 0 1 0 1 3
21,880 Pa
30 27.12 10
0
3 5208 Pa
4 4167 Pa
Example 4.5
Solution (cont.)
Using the 1st, 2nd, 4th, 7th, and the 8th equations, we get,
R1 15833
R 3126
2
R4 21879 N
R 4167
7
R8 0