ME 599 Computational Solid and Structural Mechanics

Chapter 3. FEA Preliminaries

The DSM is used by all major commercial finite element codes
Works the same for every element

Truss element Tricubic brick element

2 nodes, 4 DOFs 64 nodes, 192 DOFs
Therefore, we will use the truss element to teach the DSM

Direct Stiffness Method (DSM) steps

Disconnection
Breakdown Localization
Member (Element) Formation

Globalization
Assembly & Merge
Solution Application of BCs
Solution
Recovery of Derived Quantities

3.1
 What we are going to solve….
The Example Truss: Physical Model
(loads not shown)

The Example Truss: FEM Model

(nodes, elements and DOFs)

3.2
 Master (Global) Stiffness Equations
 f x1   u x1 
Nodal f  Nodal u 
 y1   y1 
forces  f x 2  displacements  u x 2 
f =  u= 
 f y 2   u y 2 
 f x3  u x3 
   
 f y 3   u y 3 

Linear structure f = Ku
 f x1   K x1 x1 K x1 y 1 K x1 x 2 K x1 y 2 K x1 x 3 K x1 y 3   u x 1 
  
 f y 1   K y1 y1 K y1 x 2 K y1 y 2 K y1 x 3 K y1 y 3   u y1 
 f x 2   K x2 x2 K x2 y2 K x2 x3 K x 2 y 3   u x 2 
 =  
 y2  
f K y2 y2 K y 2 x3 K y 2 y 3  u y 2 
 f x3   sym K x3x3 K x3 y3  u x3 
    
 y 3  
f K y 3 y 3   u y 3 
Global stiffness matrix

Elemental (Local) Stiffness Equations

 f xi  u xi 
  u 
Nodal f  Nodal  yi 
f =  yi  u= 
forces displacements
 f xj  u xj 
 f yj  u yj 
   
Linear structure f = Ku
 f xi   K xixi K xiyi K xixj K xiyj  u xi 
    
 f yi   K yiyi K yixj K yiyj  u yi 
 =  
 f xj   K xjxj K xjyj  u xj 

 f yj   sym K yjyj  u yj 
  
3.3
Step 1&2: Disconnection & Localization

Step 3: Element Formulation

The 2-node Truss (Bar) Element

Truss-(Spring) Element Formulation (MofM Approach)

Consider a spring

F = ks d F = f 2 = − f1 d = u 2 − u1

3.4
We have two equations with two unknowns u1 and u 2
f1 = k s (u1 − u2 )
f 2 = k s (u2 − u1 )
We write this in matrix form as:
 f1   k s − k s   u1 
   =  u 
 2  s
f − k k s  2 

Force vector Displacement vector

Stiffness matrix
Consider two springs in series
f1 f2 f3

f2(1) f2(2)

u1(1) u2(1) u2(2) u3(2)

For element 1 we have For element 2 we have

 f1(1)   k s1 − k s1   u1(1)   f 2 ( 2 )   k s 2 − k s 2  u2 ( 2 ) 
 (1)  =    (1)   ( 2)  =    ( 2) 
 2   s1
f − k k s1  u 2   3   s2
f − k k s 2  u 3 

Now join the two elements

(1) (2)
equilibrium requires that f2 + f2 = f2
(1) (2)
compatibility requires that u2 = u2 = u2
We really have the following 3 equations with 3 unknowns
f1 = k s1 (u1 − u 2 )
f 2 = k s1 (u2 − u1 ) + k s 2 (u 2 − u3 )
f 3 = k s 2 (u 3 − u 2 )

3.5
In matrix from:
 f1   k s1 − k s1 0   u1 
    
 f 2  =  − k s1 k s1 + k s 2 − k s 2  u 2 
f   0 − ks 2 k s 2  u3 
 3 
Extension to truss element

EA
F = ksd = d, F = f xj = − f xi , d = u xj − u xi
L

 f xi 
0  xi 
u
 f  EA  1 0 −1
 yi  0 0 0 0 u yi  f = Ku
f = − 1 0 1 0 u xj 
 xj  L  0 0 u 
 f yj   0 0
 yj 

Elemental stiffness matrix

in local coordinates

3.6
Step 4: Globalization
Displacement transformation

u xi  θ θ u xi 
Local  cos sin
u yi  − sin θ cos θ 0 0  u yi  Global
 0 0 
u  =  0 0 cos θ sin θ  u xj 
   0
xj
− sin θ cos θ  u 
 yj 
u  0
 yj 
u = Tu
Force transformation

 f xi   f xi 
Global  f yi   cos θ − sin θ 0 0   f  Local
 sin θ cos θ 0 0   yi 
f =  0 0 cos θ − sin θ   f xj 
   0
xj
sin θ cos θ   
 f yj  
0
 f yj 
v
f =T f T

3.7
Element stiffness matrix transformation

f e = K e ue
ue = Tu e f e = TT f e
K e = TT K e T
 c2 sc − c 2 − sc 
EA  sc s 2
− sc − s 2
Ke =
L  − c − sc2 c sc 
2 2
 − sc − s s 2 
 sc
Recall the truss problem that we are trying to solve
The elemental stiffness matrices are for
Element 1
 f x1(1)   u x1(1) 
 (1)   1 0 − 1 0  (1) 
 y1 
f  0 0 0 0   u y1 
 (1)  = 10 − 1 0 1 0 u (1) 
f 
 x2   0 0 0 0  x 2 (1) 
 f y 2 
(1)
u y 2 
Element 2
 f x 2 ( 2)  u x 2 ( 2 ) 
 ( 2)  0 0 0 0   ( 2 ) 
 f y2  0 1 0 − 1 u y 2 
 ( 2)  = 5 0 0 0 0  u ( 2 ) 
f 
 x3  0 − 1 0 1   x 3 ( 2 ) 
 f y 3 
( 2)
u y 3 
Element 3
 f x1 ( 3 )   u x1( 3) 
 ( 3)   0 .5 0 .5 − 0 . 5 − 0 . 5   ( 3 ) 
 y1 
f  0 .5 0 .5 − 0 . 5 − 0 . 5   u y 1 
 ( 3)  = 20 − 0 . 5 − 0 . 5 0 .5 0 .5   u ( 3 ) 
f 
 x3   − 0.5 − 0.5 0.5 0.5   x 3 ( 3) 
 f y 3 
( 3)
u y 3 

3.8
 Step 5: Assembly
1. Compatibility
The joint displacement of all the members meeting at a
joint must be the same
2. Equilibrium
The sum of all the forces exerted by all the members that
meet at a joint must balance the external forces acting on
that joint
Expanded element stiffness matrices
 f x1(1)  1 0 − 1 0 0 0  u x1(1) 
 (1)  0  (1) 
 f y1   0 0 0 0 0  u y1 
 f (1)  − 1 0 1 0 0 0 u x 2 (1) 
 (1) 
x2
= 10   
 f y2  0 0 0 0 0 0 u y 2 (1) 
Element 1 0
 f x 3 (1)  0 0 0 0 0 u x 3 (1) 
 (1)    
 y 3 
f  0 0 0 0 0 0 u y 3 (1) 
 f x1( 2 )  0 0 0 0 0 0   u x1 
( 2)

 ( 2)    
 f y1  0 0 0 0 0 0   u y1( 2 ) 
 f ( 2 )  0 0 0 0 0 0  u x 2 ( 2 ) 
 ( 2)  =  
x2

 f y 2  0 0 0 5 0 − 5 u y 2 ( 2 ) 
Element 2  f x 3 ( 2 )  0 0 0 0 0 0  u x 3 ( 2 ) 
 (2)    
 f y 3  0 0 0 5 0 5  u y 3 ( 2 ) 
 f x1( 3)   10 10 0 0 − 10 − 10   u x1 
(3)

 ( 3)    
 f y1   10 10 0 0 − 10 − 10   u y1( 3) 
 f ( 3)   0 0 0 0 0 0  u x 2 ( 3) 
 ( 3)  =  
x2

 f y2   0 0 0 0 0 0  u y 2 ( 3) 
Element 3  f x 3 ( 3)   − 10 − 10 0 0 10 10   u x 3 ( 3) 
 ( 3)    
 f y 3   − 10 − 10 0 0 10 10  u y 3 ( 3) 

3.9
Reconnecting members
1. Enforce compatibility rule
 u x1(1)   u x1( 2 )   u x1( 3)   u x1 
 (1)   ( 2 )   ( 3)   
 u y1   u y1   u y1   u y1  Drop the
u (1)  u ( 2 )  u ( 3)  u x 2  element index
 (1)  =  ( 2 )  =  ( 3)  =  
x2 x2 x2
from the nodal
u y 2  u y 2  u y 2  u y 2  displacements
u x 3(1)  u x 3( 2 )  u x 3( 3)  u x 3 
 (1)   ( 2 )   ( 3)   
u y 3  u y 3  u y 3  u y 3 
2. Enforce equilibrium rule
(sum of the forces at each node)
 f x1(1)   f x1( 2 )   f x1( 3)   f x1 
 (1)   ( 2 )   ( 3)   
 f y1   f y1   f y1   f y1 
 f (1)   f ( 2 )   f ( 3)   f x 2 
 (1)  +  ( 2 )  +  ( 3)  =  
x2 x2 x2

 f y2   f y2   f y2   f y2 
 f x 3(1)   f x 3( 2 )   f x 3( 3)   f x 3 
 (1)   ( 2 )   ( 3)   
 f y 3   f y 3   f y 3   f y 3 

Form master (global) stiffness equations

f = f (1) + f ( 2 ) + f ( 3) = (K (1) + K ( 2 ) + K ( 2 ) )u = Ku

Thus,
 f x1   20 10 − 10 0 − 10 − 10   u x1 
f    u 
   y 1 10 10 0 0 − 10 − 10   y1 
 f x 2   − 10 0 10 0 0 0  u x 2 
 =  
f
 y2   0 0 0 5 0 − 5  u y 2 
 f x 3   − 10 − 10 0 0 10 10  u x 3 
    
 f y 3   − 10 − 10 0 − 5 10 15  u y 3 

3.10
 Step 6: Apply Boundary Conditions

Applying Displacement Boundary Conditions:

u x1 = u y1 = u y 2 = 0
Remove the rows and columns associated with zero displacements
 f x1   20 10 − 10 0 − 10 − 10   0 
f    0 
 y1   10 10 0 0 − 10 − 10  
 f x 2   − 10 0 10 0 0 0  u x 2 
 =  
f
 y2   0 0 0 5 0 − 5  0 
 f x 3   − 10 − 10 0 0 10 10  u x 3 
    
 y 3  
f − 10 − 10 0 − 5 10 15  u y 3 
Reduced master (global) stiffness equations and include force
boundary conditions
 f x 2  10 0 0  u x 2  0 
      
 f x 3  =  0 10 10  u x 3  = 2 
 f   0 10 15  u  1 
 y3     y3   
ˆ uˆ = fˆ
K
Solve this using Gauss elimination
ˆ ˆ −1
(or simply invert K using Mathematica K f = uˆ )

3.11
 Step 7: Solution
 0 
 0 
 
u x 2   0   0 
    u= 
 u x 3  =  0 .4   0 
u  − 0.2   0.4 
 y3   
 
− 0.2 

Step 8: Post-processing
Compute nodal forces and reactions

 20 10 − 10 0 − 10 − 10   0  − 2
 10 10 0 0 − 10 − 10   0  − 2 
    
 − 10 0 10 0 0 0   0   0 
Ku = f =   = 
 0 0 0 5 0 − 5  0  1 
 − 10 − 10 0 0 10 10   0.4   2 
    
 − 10 − 10 0 − 5 10 15  − 0.2  1 

Reaction forces

3.12
Compute member internal forces (axial forces in trusses)
1. Extract the u(e) from u
2. Transform to local (element) displacements
u ( e ) = Tu ( e )
3. Compute elongation
d ( e ) = u xj − u xi
(e) (e)

4. Compute axial force

E (e) A(e) (e)
p (e)
= (e)
d
L
Prescribed initial displacements

Recall we had
 20 10 − 10 0 − 10 − 10   u x1   f x1 
 10 10 0 0 − 10 − 10  u   f 
   y1   y1 
 − 10 0 10 0 0 0  u x 2   f x 2 
   =  
 0 0 0 5 0 − 5  u y 2   f y 2 
 − 10 − 10 0 0 10 10  u x 3   f x 3 
    
 − 10 − 10 0 − 5 10 15  u y 3   f y 3 

3.13
and now we also have
u x1 = 0, u y1 = −0.5 u y 2 = 0.4
Put the boundary conditions in:
 20 10 − 10 0 − 10 − 10   0   f x1 
 10 10 0 0 − 10 − 10   − 0 .5   f 
    y1 
 − 10 0 10 0 0 0   u x 2   0 
  = 
 0 0 0 5 0 − 5  0 . 4   f y2 
 − 10 − 10 0 0 10 10   u x 3   2 
    
 − 10 − 10 0 − 5 10 15   u y 3   1 
and remove rows 1,2,and 4 (keep the columns for now)
 0 
 − 0 .5
 − 10 0 10 0 0 0   0 
 − 10 − 10 0  
 u x 2   
 0 10 10    = 2 
0 . 4
 − 10 − 10 0 − 5 10 15    1 
 u x3   
 
 u y 3 
Use the effect of the known displacements to change the force
vector and allow us to delete the extra columns
10 0 0  u x 2   0 
 0 10 10  u  = 2 − 5
   x3   
 0 10 15  u y 3  1 − 3 
Solution:
 0 
 − . 05 
u x 2   0   
     0 
 u x 3  =  − 0 .5  u= 
u   .2   0 .4 
 y3     − 0 .5 
 
 0 . 2 

3.14
 Thermal effects

e = d/L d = u xj − u xi

u xj − u xi σ
d= = + α∆T
L E

EA
(u xj − u xi ) = Aσ + EAα∆T = p m + p t = F
L

3.15
 u xi 
u 
F=
EA
[− 1 0 1 0] yi 
L u xj
 
u yj 

 f xi   f xi m   f xi t   f xi m  − 1
   m  t  m 0
 f yi   f yi   f yi   f yi   
  =  m  +  t  ==  m + EA α ∆ T  =
 f xj   f xj   f xj   f xj  1
 f yj   f yj m   f yj t   f yj m   0 
       
1 0 − 1 0 u xi 
  
EA  0 0 0 0 u yi 
=  
L − 1 0 1 0 u xj 
 
0 0 0 0 u yj 

Matrix Form of elemental stiffness equations

Ku − f t = f m

Ku = f m + f t = f Effective
force vector

The same approach is used to treat other initial forces

(thermal, prestress, moisture, lack of fit, residual stress)

3.16