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Ch#2 Stiffness Method PDF
Ch#2 Stiffness Method PDF
k
T 1 2 T x̂
dˆ1x dˆ2 x
L
k
1 2
MS5019 – FEM 4
z Step 2 Select a Displacement Functions
uˆ = a1 + a2 xˆ (2.2.2)
⎧a ⎫
uˆ = [1 xˆ ] ⎨ 1 ⎬ ( 2.2.3)
⎩a 2 ⎭
MS5019 – FEM 5
⎛ dˆ − dˆ ⎞
uˆ = ⎜⎜ 2 x 1x ⎟⎟ xˆ + dˆ1x (2.2.7)
⎝ L ⎠
MS5019 – FEM 6
In matrix form, we express Eq. (2.2.7) as
⎡ xˆ xˆ ⎤ ⎧⎪ dˆ1x ⎫⎪
uˆ = ⎢1 − ⎨ ⎬ ( 2.2.8)
⎣ L L ⎥⎦ ⎪⎩dˆ2 x ⎪⎭
⎧⎪ dˆ ⎫⎪
or uˆ = [N1 N 2 ]⎨ 1x ⎬ ( 2.2.9)
⎪⎩dˆ2 x ⎪⎭
xˆ xˆ
Here N1 = 1 − and N 2 = (2.2.10)
L L
are called the shape function because the Ni’s express the shape of the
assumed displacement function over the domain of the element when
the ith element degree of freedom has unit value and all other dof are
zero.
MS5019 – FEM 7
In the case, N1 dan N2 are linear functions that have the properties that
N1 = 1 at node 1 and N1 = 0 at node 2, whereas N2 = 1 at node 2 and
N2 = 0 at node 1. Also, N1 + N2 = 1 for any axial coordinate along the
bar.
MS5019 – FEM 8
z Step 3 Define the Strain-displacement and Stress-strain
Relationships
MS5019 – FEM 9
MS5019 – FEM 10
Now expressing Eq. (2.2.16) in a single matrix equations yields
⎧⎪ fˆ1x ⎫⎪ ⎡ k − k ⎤ ⎧⎪ dˆ1x ⎫⎪
⎨ˆ ⎬=⎢ ⎥⎨ ⎬ (2.2.17)
⎪⎩ f 2 x ⎪⎭ ⎣− k k ⎦ ⎪⎩dˆ2 x ⎪⎭
This relationship holds for the spring along the xˆ axis. For our basic
definition of a stiffness matrix and use of Eq. (2.2.1) applied to Eq. (2.2.17),
we obtain
⎡k − k⎤
kˆ = ⎢
k ⎥⎦
(2.2.18)
⎣− k
as the stiffness matrix for a linear spring element. We observe that kˆ is
a symmetric square matrix.
MS5019 – FEM 11
MS5019 – FEM 13
1 2
1 3 2
x
F3 x F2 x
k1
MS5019 – FEM 14
Using Eq. (2.17) the element stiffness matrix for each element cam be
expressed
for element 1
⎧ f1x ⎫ ⎡ k1 − k1 ⎤ ⎧ d1x ⎫
⎨ ⎬=⎢ ⎨ ⎬
k1 ⎥⎦ ⎩d 3 x ⎭
(2.3.1)
⎩ f 3 x ⎭ ⎣− k1
and for element 2,
⎧ f3 x ⎫ ⎡ k2 − k 2 ⎤ ⎧d 3 x ⎫
⎨ ⎬=⎢ ⎨ ⎬
k 2 ⎥⎦ ⎩d 2 x ⎭
(2.3.2)
⎩ f 2 x ⎭ ⎣− k 2
Furthermore, element 1 and 2 must remain connected at common node
3 throught the displacement. This is called the continuity or
compatibility requirement. The compatibility requirement yields
(superscript refers to the element number.)
d 3(1x) = d 3( 2x ) = d 3 x (2.3.3)
MS5019 – FEM 15
Based on the sign convention for element nodal forces given in Figure 2-1,
we can write nodal equilibrium equations at node 3, 2, and 1 as
F3 x = f 3(x1) + f 3(x2 ) (2.3.4)
F2 x = f 2(x2 ) (2.3.5)
F1x = f1(x1) (2.3.6)
Where F1x results from the reaction at the fixed support. To further
clarify the resulting Eqs. (2.3.4) – (2.3.6), free-body diagrams of each
element and node (using the established sign conventions for element
nodal forces) are shown in Figure 2-4.
F1x F3 x F2 x
Figure 2-4 Nodal forces consistent with element forces sign convention
MS5019 – FEM 16
Application of Newton’s third law for each node and element gives
F3 x = −k1d1x + k1d 3 x + k 2 d 3 x − k 2 d 2 x
F2 x = −k 2 d 3 x + k 2 d 2 x ( 2 .3 .7 )
F1x = k1d1x − k1d 3 x
In matrix form, Eqs. (2.3.7) are expressed by
⎧ F3 x ⎫ ⎡k1 + k 2 − k2 − k1 ⎤ ⎧d 3 x ⎫
⎪ ⎪ ⎢ ⎪ ⎪
⎨ F2 x ⎬ = ⎢ − k 2 k2 0 ⎥⎥ ⎨d 2 x ⎬ (2.3.8)
⎪F ⎪ ⎢ − k k1 ⎥⎦ ⎪⎩ d1x ⎪⎭
⎩ 1x ⎭ ⎣ 1 0
F = Kd (2.3.10)
⎧ F1x ⎫ ⎧ d1x ⎫
⎪ ⎪ ⎪ ⎪
where ⎨ F2 x ⎬ is called the global nodal force vector , ⎨d 2 x ⎬ is called
⎪F ⎪ ⎪d ⎪
⎩ 3x ⎭ ⎩ 3x ⎭
the global nodal displacement vector , and
⎡ k1 0 − k1 ⎤
K=⎢ 0⎢ k2 − k 2 ⎥⎥ (2.3.11)
⎢⎣− k1 − k 2 k1 + k 2 ⎥⎦
is called the total or global stiffness matrix.
MS5019 – FEM 18
2.4.Assembling the Total Stiffmess Matrix by
Superposition (Direct Stiffness Method)
This method is based on “proper superposition” of the individual
element matrices making up a structure.
Referring to the-spring assemblage of Section 2.3, the element stiffness
matrices are given in Eqs. (2.3.1) and (2.3.2) as
d1x d3 x d3x d2x
⎡k − k1 ⎤ ⎡k − k2 ⎤
k (1) = ⎢ 1 ⎥ k ( 2) = ⎢ 2 ⎥ (2.4.1)
⎣− k1 k1 ⎦ ⎣− k 2 k 2 ⎦
Here the d ix ' s written above the column in the k ' s indicate the degrees
of freedom associated with each element.
MS5019 – FEM 19
for element 1
⎡ 1 0 − 1⎤ ⎧d1x ⎫ ⎧ f1x ⎫
(1) (1)
⎪ ⎪ ⎪ ⎪
k1 ⎢⎢ 0 0 0 ⎥⎥ ⎨d 2(1x) ⎬ = ⎨ f 2(x1) ⎬ (2.4.2)
⎢⎣− 1 0 1 ⎥⎦ ⎪⎩d 3(1x) ⎪⎭ ⎪⎩ f 3(x1) ⎪⎭
MS5019 – FEM 20
for element 1
⎡0 0 0 ⎤ ⎧d1x ⎫ ⎧ f1x ⎫
( 2) (2)
⎪ ⎪ ⎪ ⎪
k 2 ⎢⎢0 1 − 1⎥⎥ ⎨d 2( 2x) ⎬ = ⎨ f 2(x2 ) ⎬ (2.4.3)
⎢⎣0 − 1 1 ⎥⎦ ⎪⎩d 3 x ⎪⎭ ⎪⎩ f 3 x ⎪⎭
( 2 ) ( 2 )
⎪ ⎪ ⎪ ⎪ ⎪ ⎪
k1 ⎢⎢ 0 0 0 ⎥⎥ ⎨d 2(1x) ⎬ + k 2 ⎢⎢0 1 − 1⎥⎥ ⎨d 2( 2x) ⎬ = ⎨ F2 x ⎬ (2.4.5)
⎢⎣− 1 0 1 ⎥⎦ ⎪⎩d 3(1x) ⎪⎭ ⎢⎣0 − 1 1 ⎥⎦ ⎪⎩d 3( 2x ) ⎪⎭ ⎪⎩ F3 x ⎪⎭
MS5019 – FEM 21
MS5019 – FEM 23
Consider the second and third of Eqs. (2.5.5), written in matrix form,
we have
⎡ k2 − k 2 ⎤ ⎧d 2 x ⎫ ⎧ F2 x ⎫
⎢− k k + k ⎥ ⎨d ⎬ = ⎨ F ⎬ (2.5.6)
⎣ 2 1 2 ⎦⎩ 3x ⎭ ⎩ 3x ⎭
We have now effectively partitioned off the first column and row of K
and the first row of d and F to arrive at Eq. (2.5.6).
For homogenous BC, Eq. (2.5.6) could have been obtained directly by
deleting the row and column of Eq. (2.5.4) corresponding to the zero-
displacement degree of freedom. Here row 1 and column 1 are deleted
because d1x = 0. However, F1x is not necessary zero and must be
determined as follows.
MS5019 – FEM 26
After solving Eq. (2.5.6) for d 2 x and d 3 x , we have
⎡ 1 1 1⎤
+
− k 2 ⎤ ⎧ F2 x ⎫ ⎢ k 2 k1 k1 ⎥ ⎧ F2 x ⎫
−1
⎧d 2 x ⎫ ⎡ k 2
⎨ ⎬=⎢ ⎥ ⎨ ⎬=⎢ ⎥
1 ⎥ ⎨⎩ F3 x ⎬⎭
(2.5.7)
⎩d 3 x ⎭ ⎣− k 2 k1 + k 2 ⎦ ⎩ F3 x ⎭ ⎢ 1
⎢⎣ k1 k1 ⎥⎦
Using Eq. (2.5.7) in the first of Eqs. (2.5.5), we obtain the reaction F1x as
F1x = −k1d 3 x (2.5.8)
We can express the unknown nodal force at node 1 (the reaction force) in
terms of applied nodal forces F2 x and F3 x by using Eq. (2.5.7) for d 3 x sub -
stituted into Eq. (2.5.8). The results is
F1x = − F2 x − F3 x (2.5.9)
MS5019 – FEM 27
MS5019 – FEM 28
Non-homogeneous BC
Next, we consider the case of non-homogenous BC. Hence, some of the
specified displacements are non-zero. For simplicity’s sake, let d1x = δ,
where δ is a known displacement, in the Eq. (2.4.6). We now have
⎡ k1 0 − k1 ⎤ ⎧ δ ⎫ ⎧ F1x ⎫
⎢ 0 ⎪ ⎪ ⎪ ⎪
⎢ k2 − k 2 ⎥⎥ ⎨d 2 x ⎬ = ⎨ F2 x ⎬ (2.5.10)
⎪ ⎪ ⎪
⎢⎣− k1 − k 2 k1 + k 2 ⎥⎦ ⎩d 3 x ⎭ ⎩ F3 x ⎭⎪
Considering the second and third of Eqs. (2.5.11) because they have
known right - side nodal forces F2 x and F3 x
0δ + k 2 d 2 x − k 2 d 3 x = F2 x
(2.5.12)
− k1δ − k 2 d 2 x + (k1 + k 2 )d 3 x = F3 x
Transforming the known δ to the right side of Eqs. (2.5.12) results in
k 2 d 2 x − k 2 d 3 x = F2 x
(2.5.13)
− k 2 d 2 x + (k1 + k 2 )d 3 x = k1δ + F3 x
Rewritting Eqs. (2.5.13) in matrix form, we have
⎡ k2 − k 2 ⎤ ⎧d 2 x ⎫ ⎧ F2 x ⎫
⎢− k ⎨ ⎬=⎨ ⎬
k1 + k 2 ⎥⎦ ⎩d 3 x ⎭ ⎩k1δ + F3 x ⎭
(2.5.14)
⎣ 2
MS5019 – FEM 30
Note for homogenoue BC.
When dealing with non-homogeneous BC, one cannot initially delete
row 1 and column 1 of Eq. (2.5.1)), corresponding to the non-
homogeneous BC, as indicated by the resulting Eq. (2.5.14). Had we
done so, the k1δ term in Eq. (2.5.14) would have been neglected,
resulting in an error in the solution for the displacement.
For non-homogeneous BC, we must, in general, transform the terms
associated with the known displacement to the right-side force matrix
before solving for the unknown nodal displacements. This was illustrated
by transforming the k1δ term of the second row of Eqs. (2.5.12) to the
right-side of the second row of Eqs. (2.5.13).
Finally, we could solve for the displacement in Eq. (2.5.14) in a manner
similar to that used to solve Eq. (2.5.6).
MS5019 – FEM 31
Some properties of the stiffness matrix (that are also applicable to the
generalization of the finite element method).
1. K is symetric, as is each of the element stiffness matrices.
2. K is singular and thus no inverse exists until sufficient BC are
imposed.
3. The main diagonal terms of K are always positive. Otherwise, a
positive nodal force Fi could produce a negative displacement di – a
behavior contrary to the physical behavior of any actual structure.
Example 2.1
MS5019 – FEM 32
2.6.Potential Energy Approach
One of the alternative methods often used to derive the element
equations and the stiffness matrix for an element is based on the
principle of minimum potential energy (POMPE).
Adantages of the POMPE:
1. More general than previous method (equilibrium equations of nodal and
element).
2. More adaptable for the determination of element equations for
complicated elements (those with large numbers of dof) such as plane
stress/strain element, the axisymetric stress element, the bending plate
element, and the 3D solid stress element).
3. Only applicable for elastic materials (principle of virtual work is
applicable for any material behavior).
4. Has lack of physical insight.
MS5019 – FEM 33
π p =U +Ω (2.6.1)
MS5019 – FEM 35
Ω = − Fx (2.6.8)
Therefore substituting Eqs. (2.6.6) and (2.6.8) into (2.6.1),
the TPE becomes
π p = 12 kx 2 − Fx (2.6.9)
∂π p ∂π p ∂π p
δπ p = δd1 + δd 2 + L + δd n (2.6.10)
∂d1 ∂d 2 ∂d n
MS5019 – FEM 38
The principles states that equilibrium exists when the di define a
structure state such that δπp = 0 for arbitrary admissible variations
δdi from the equilibrium state. An admissible variation is one in
which the displacement field still satisfies the BC and inter-element
continuity.
To satisfy δπ p = 0 (for δd i ≠ 0), all coefficients associated with
the δd i must be zero independently. Thus
∂π p ∂π p
= 0 (i = 1,2,3, L, n) or =0 (2.6.11)
∂d i ∂{d }
where n equations must be solved for the n values of di that define
static equilibrium state of the structure.
MS5019 – FEM 39
Equation (2.6.11) shows that for our purposes throughout this text,
we can interpret the variation of πp (δπp) as a compact notation
equivalent to differentiation of πp with respect to the unknown nodal
displacements for which πp is expressed.
z We now derive the spring element equations and stiffness matrix
using the POMPE by analyzing a linear single-dof spring as shown
in Figure 2-6.
k
1 2
fˆ1x fˆ2 x
L
MS5019 – FEM 40
Using Eq. (2.6.9), the TPE becomes
( 2
)
π p = 12 k dˆ2 x − dˆ1x − fˆ1x dˆ1x − fˆ2 x dˆ2 x (2.6.12)
where dˆ2 x − dˆ1x is the deformation of the spring in Eq. (2.6.9).
Simplifying Eq. (2.6.12), we obtain
( )
π p = 12 k dˆ22x − 2dˆ2 x dˆ1x + dˆ12x − fˆ1x dˆ1x − fˆ2 x dˆ2 x (2.6.13)
Minimization of π p with respect to each nodal displacement
requires that
∂π p 1
∂dˆ
( )
= 2 k − 2dˆ2 x + 2dˆ1x − fˆ1x = 0
1x
(2.6.14)
∂π p 1
∂d
ˆ
( )
= 2 k 2dˆ2 x − 2dˆ1x − fˆ2 x = 0
2x
MS5019 – FEM 41
Example 2.5
MS5019 – FEM 43
Reference:
1. Logan, D.L., 1992, A First Course in the Finite Element
Method, PWS-KENT Publishing Co., Boston.
2. Imbert, J.F.,1984, Analyse des Structures par
Elements Finis, 2nd Ed., Cepadues.
3. Zienkiewics, O.C., 1977, The Finite Eelement Method,
3rd ed., McGraw-Hill, London.
MS5019 – FEM 44