CHAP 4 FINITE ELEMENT ANALYSIS OF

BEAMS AND FRAMES

INTRODUCTION

• We learned Direct Stiffness Method in Chapter 2

– Limited to simple elements such as 1D bars
• we will learn Energy Method to build beam finite element
– Structure is in equilibrium when the potential energy is minimum
• Potential energy: Sum of strain energy and potential of
applied loads
• Interpolation scheme:   U V Potential of
applied loads
Strain energy
v( x)   N( x)   {q}

Beam Interpolation Nodal

deflection function DOF

2
 BEAM THEORY
• Euler-Bernoulli Beam Theory
– can carry the transverse load
– slope can change along the span (x-axis)
– Cross-section is symmetric w.r.t. xy-plane
– The y-axis passes through the centroid
– Loads are applied in xy-plane (plane of loading)

y y
Neutral axis
Plane of loading
x z
A
L
F F

BEAM THEORY cont.

• Euler-Bernoulli Beam Theory cont.
– Plane sections normal to the beam axis remain plane and normal to
the axis after deformation (no shear stress)
– Transverse deflection (deflection curve) is function of x only: v(x)
– Displacement in x-dir is function of x and y: u(x, y)

dv u du0 d 2v dv
u ( x, y )  u0 ( x)  y xx   y 2

dx x dx dx dx
y
y(dv/dx)
Neutral axis

x y
= dv/dx
L
F v(x)

4
 BEAM THEORY cont.
• Euler-Bernoulli Beam Theory cont. u du0 d 2v
xx   y 2
– Strain along the beam axis: 0  du0 / dx x dx dx
– Strain xx varies linearly w.r.t. y; Strain yy = 0
– Curvature: d 2v / dx 2
– Can assume plane stress in z-dir basically uniaxial status
d 2v
 xx  E xx  E 0  Ey 2
dx
• Axial force resultant and bending moment
d 2v
P    xx dA  E 0  dA  E 2  ydA P  EA 0
A A
dx A
d 2v
2
d v 2 M  EI 2
M    y xx dA   E 0  ydA E
dx 2 A
y dA dx
A A

EA: axial rigidity

Moment of inertia I(x)
EI: flexural rigidity
5

BEAM THEORY cont.

• Beam constitutive relation
– We assume P = 0 (We will consider non-zero P in the frame element)
– Moment-curvature relation:
d 2v
M  EI 2 Moment and curvature is linearly dependent
dx
• Sign convention +Vy
+M y +M
+P x +P

+Vy

– Positive directions for applied loads

y
p(x)

x C1 C2 C3

F1 F2 F3 6
 GOVERNING EQUATIONS
• Beam equilibrium equations
 dVy  dVy
 y
f  0  p ( x ) dx  y dx dx   Vy  0
V   p( x)
  dx

 dM  dx dM
M  M dx    pdx  Vy dx  0 Vy  
 dx  2 dx
d 4v
– Combining three equations together: EI 4  p ( x)
– Fourth-order differential equation dx

p
dVy
Vy dx
dx
dM
M Vy M dx
dx

dx 7

STRESS AND STRAIN

• Bending stress
d 2v d 2v
 xx   Ey 2 M  EI 2
dx dx
M ( x) y
 xx ( x, y )   Bending stress
I

– This is only non-zero stress component for Euler-Bernoulli beam

• Transverse shear strain
u v v v dv
 xy   0 u ( x, y )  u0 ( x)  y
y x x x dx
– Euler beam predicts zero shear strain (approximation)
VQ
– Traditional beam theory says the transverse shear stress is  xy 
Ib
– However, this shear stress is in general small compared to
the bending stress

8
 POTENTIAL ENERGY
• Potential energy   U V
• Strain energy
– Strain energy density
2 2
1 1 1  d 2v  1 2  d 2v 
U 0   xx xx  E ( xx )  E   y 2   Ey  2 
2

2 2 2  dx  2  dx 
– Strain energy per unit length
2 2
1 2  d 2v  1  d 2v 
U L ( x)   U 0 ( x, y, z ) dA   Ey  2  dA  E  2   y dA
2

A A
2  dx  2  dx  A
2
1 d v 2 Moment of
U L ( x)  EI  2  inertia
2  dx 
– Strain energy
2
L 1 L  d 2v 
U   U L ( x) dx   EI  2  dx
0 2 0  dx 

POTENTIAL ENERGY cont.

• Potential energy of applied loads
NF NC
dv( xi )
V    p( x)v( x) dx   Fv
i ( xi )   Ci
L

0
i 1 i 1 dx
• Potential energy
2
1 L  d 2v  NF NC
dv( xi )
  U V   EI  2  dx   p( x)v( x) dx   Fv 
L
i ( xi )  Ci
2 0  dx  0
i 1 i 1 dx

– Potential energy is a function of v(x) and slope

– The beam is in equilibrium when  has its minimum value



0
v

v* v 10
 RAYLEIGH-RITZ METHOD
1. Assume a deflection shape
v( x)  c1 f1 ( x) c2 f 2 ( x)..... cn f n ( x)
– Unknown coefficients ci and known function fi(x)
– Deflection curve v(x) must satisfy displacement boundary conditions
2. Obtain potential energy as function of coefficients

(c1 , c2 ,...cn )  U V
3. Apply the principle of minimum potential energy to determine
the coefficients

11

EXAMPLE – SIMPLY SUPPORTED BEAM

• Assumed deflection curve p0
x
v( x)  C sin
L
E,I,L
• Strain energy
2
1 L  d 2v  C 2 EI  4
U   EI  2  dx 
2 0  dx  4 L3
• Potential energy of applied loads (no reaction forces)
L L
x 2p L
V    p( x)v( x)dx    p0C sin dx   0 C
0 0
L 
• Potential energy   U V  EI 3 C 2  2 p0 L C
4

4L 
d  EI  4 2 p0 L 4 p0 L4
• PMPE:  C 0  C 
dC 2 L3  EI  5

12
 EXAMPLE – SIMPLY SUPPORTED BEAM cont.
• Exact vs. approximate solutions
p0 L4 p0 L4
Capprox  Cexact 
76.5EI 76.8EI

• Approximate bending moment and shear force

d 2v 2 x 4 p0 L2 x
M ( x)  EI 2   EIC 2 sin  sin
dx L L 3 L
d 3v 3 x 4p L x
Vy ( x)   EI 3   EIC 3 cos   02 cos
dx L L  L

• Exact solutions v( x)  1  p0 L x  p0 L x 3 p0 x 4 
3

EI  24 12 24 
p0 L p
M ( x)   x 0 x2
2 2
pL
Vy ( x)  0  p0 x
2 13

EXAMPLE – SIMPLY SUPPORTED BEAM cont.

1.0
• Deflection 0.8
v(x)/v_max

0.6

0.4
v-exact
0.2
v-approx.
0.0
0 0.2 0.4 x 0.6 0.8 1
Error increases

x
0.00
0 0.2 0.4 0.6 0.8 1
• Bending -0.02
Bending Moment M(x)

-0.04

moment -0.06
-0.08

-0.10
M_exact
-0.12
M_approx
-0.14
0.6
V_exact
0.4
V_approx
Shear Force V(x)

• Shear force 0.2

0.0

-0.2

-0.4

-0.6
0 0.2 0.4 x 0.6 0.8 1
14
 EXAMPLE – CANTILEVERED BEAM
–p0

• Assumed deflection C
v( x)  a bx c1x 2 c2 x3 E,I,L
F
• Need to satisfy BC
v(0)  0, dv(0) / dx  0 v( x)  c1 x 2 c2 x3
L
• Strain energy U  EI  2c1 6c2 x 2 dx
2 0

• Potential of loads
L
dv
V  c1 , c2       p0  v( x)dx  Fv( L)  C ( L)
0
dx
 p0 L3   p0 L4 
 c1   FL  2CL  c2 
2
 FL3  3CL2 
 3   4 

15

EXAMPLE – CANTILEVERED BEAM cont.

• Derivatives of U: U  2 EI 2c 6c x dx  EI 4 Lc 6 L2c
L

 1 2 
c1
 1 2
0

U
L
 6 EI   2c1 6c2 x  xdx  EI  6 L2c1 12 L3c2 
c2 0

• PMPE: 0 EI  4 Lc1 6 L c2   
2 p0 L3
FL2 2CL
c1
3
 p0 L4
c2
0 EI  6 L c1 12 L c2   
2 3
FL3 3CL2
4

• Solve for c1 and c2: c1  23.75 103 , c2  8.417 103

• Deflection curve: v( x)  103  23.75 x 2  8.417 x3 
• Exact solution: v( x) 
1
24 EI
 5400 x 2  800 x3  300 x 4 

16
 EXAMPLE – CANTILEVERED BEAM cont.
0.0

• Deflection 0.0

v(x)/v_max
0.0

0.0 v-exact
v-approx.
0.0
0 0.2 0.4 x 0.6 0.8 1

Error increases
500.00

400.00 M_exact
Bending Moment M(x)
• Bending 300.00
M_approx

moment 200.00

100.00

0.00

-100.00
0 0.2 0.4 x 0.6 0.8 1

600.0

• Shear force
500.0
Shear Force V(x)

400.0

300.0 V_exact
V_approx
200.0
0 0.2 0.4 x 0.6 0.8 1
17

FINITE ELEMENT INTERPOLATION

• Rayleigh-Ritz method approximate solution in the entire beam
– Difficult to find approx solution that satisfies displacement BC
• Finite element approximates solution in an element
– Make it easy to satisfy displacement BC using interpolation technique
• Beam element
– Divide the beam using a set of elements
– Elements are connected to other elements at nodes
– Concentrated forces and couples can only be applied at nodes
– Consider two-node bean element
– Positive directions for forces and couples
– Constant or linearly F1 F2
distributed load C1 C2
x

p(x)
18
 FINITE ELEMENT INTERPOLATION cont.
• Nodal DOF of beam element
– Each node has deflection v and slope

– Positive directions of DOFs

– Vector of nodal DOFs {q}  {v1
1 v2
2}T
• Scaling parameter s
– Length L of the beam is scaled to 1 using scaling parameter s
v1 v2
x  x1 1
1
2
s , ds  dx, x
L L
ds 1 L
dx  Lds, 
dx L x1 x2
s=0 s=1

• Will write deflection curve v(s) in terms of s

19

FINITE ELEMENT INTERPOLATION cont.

• Deflection interpolation
– Interpolate the deflection v(s) in terms of four nodal DOFs
– Use cubic function: v( s)  a0 a1s a2 s 2 a3s 3
– Relation to the slope: dv dv ds 1

   (a1 2a2 s 3a3 s )
2

dx ds dx L
– Apply four conditions:
dv(0) dv(1)
v(0)  v1 
1 v(1)  v2 
2
dx dx
– Express four coefficients in terms of nodal DOFs
v1  v(0)  a0
a0  v1
dv 1

1  (0)  a1 a1  L
1
dx L
v2  v(1)  a0 a1 a2 a3 a2  3v1  2 L
1 3v2  L
2
dv 1 a3  2v1 L
1  2v2 L
2

2  (1)  (a1 2a2 3a3 )
dx L
20
 FINITE ELEMENT INTERPOLATION cont.
• Deflection interpolation cont.
v( s)  (1  3s 2 2s3 )v1 L( s  2s 2 s 3 )
1 (3s 2  2s 3 )v2 L(s 2 s 3 )
2
 v1
!
!
! !
v( s )  [ N1 ( s ) N 2 ( s ) N 3 ( s) N 4 ( s)] " 1 # v( s)   N  {q}
v
! 2!
!
$
2 !
%
• Shape functions 1.0

N1 ( s )  1  3s 2 2 s 3 0.8 N1 N3

N 2 ( s )  L( s  2 s 2 s 3 ) 0.6

N 3 ( s )  3s 2  2 s 3 0.4

N 4 ( s )  L( s 2 s 3 ) 0.2 N2/L

– Hermite polynomials 0.0

0.0 0.2 0.4 0.6 N4/L 0.8 1.0

– Interpolation property -0.2

21

FINITE ELEMENT INTERPOLATION cont.

• Properties of interpolation
– Deflection is a cubic polynomial (discuss accuracy and limitation)
– Interpolation is valid within an element, not outside of the element
– Adjacent elements have continuous deflection and slope
• Approximation of curvature
– Curvature is second derivative and related to strain and stress  v1
!
!
d 2v 1 d 2v 1 ! 1!
  [ 6 12 s , L ( 4 6 s ), 6  12 s , L ( 2 6 s )] " #
dx 2 L2 ds 2 L2 ! v2 !
d 2v 1 !
$
2 !
%
2
  B
2    {q } B: strain-displacement vector
dx L 14 41
– B is linear function of s and, thus, the strain and stress
2
– Alternative expression: d v 1  T  T
 q {B }
dx 2 L2  14  41
– If the given problem is linearly varying curvature, the approximation is
accurate; if higher-order variation of curvature, then it is approximate 22
 FINITE ELEMENT INTERPOLATION cont.
• Approximation of bending moment and shear force
d 2v EI
M ( s)  EI 2  2 B  {q} Linear
dx L
dM d 3v EI
Vy     EI 3  3 [12 6 L 12 6 L]{q} Constant
dx dx L
– Stress is proportional to M(s); M(s) is linear; stress is linear, too
– Maximum stress always occurs at the node
– Bending moment and shear force are not continuous between adjacent
elements

23

EXAMPLE – INTERPOLATION
v2
v1
• Cantilevered beam
• Given nodal DOFs

2
{q}  {0, 0,  0.1,  0.2}T
1
L
• Deflection and slope at x = 0.5L
• Parameter s = 0.5 at x = 0.5L
1 L 1 L
• Shape functions: N1 ( 12 )  , N 2 ( 12 )  , N3 ( 12 )  , N 4 ( 12 )  
2 8 2 8
• Deflection at s = 0.5:
v( 12 )  N1 ( 12 )v1 N 2 ( 12 )
1 N 3 ( 12 )v2 N 4 ( 12 )
2
1 L 1 L v L

  0  0  v2  
2  2  2  0.025
2 8 2 8 2 8
• Slope at s = 0.5:
dv 1 dv 1  dN1 dN dN dN 4 
   v1
1 2 v2 3
2 
dx L ds L  ds ds ds ds 

 v1 (6s 6s 2 )
1 1  4 s 3s 2  v2 (6 s  6 s 2 )
2  2 s 3s 2   0.1
1 1
L L 24
 EXAMPLE
• A beam finite element with length L
L3 L2
v1  0,
1  0, v2  ,
2 
3EI 2 EI L
F
• Calculate v(s)
v( s)  N1 ( s)v1 N 2 (s)
1 N3 (s)v2 N 4 (s)
2

v( s)  (3s 2  2s3 )v2 L(s 2 s 3 )

2

• Bending moment
d 2v EI d 2v EI
M ( s )  EI 2  2 2  2 & (6  12s )v2 L(2 6s )
2 '
dx L ds L
EI ( L3 L2 )
 2 (6  12s ) L(2 6s)
L  3EI 2 EI 
 L(1  s )  ( L  x) Bending moment cause by unit force at the tip
25

FINITE ELEMENT EQUATION FOR BEAM

• Finite element equation using PMPE
– A beam is divided by NEL elements with constant sections
• Strain energy
– Sum of each element’s strain energy
NEL x2  NEL
e

U   U L ( x)dx    e U L ( x)dx  U  e

LT

0 x1
e1 e1

– Strain energy of element (e)

2 2
 e x2 
e
1  d 2v  EI 1  d 2v 
1
U  EI  e  2 
dx  3 0 2  ds 2  ds
x1 2  dx  L
y p(x)

C1 x C2 C3 C4 C5
2 3 5
1 4

F1 F2 F3 F4 F5
x 11 x 21 x12 x 22 x1 3 x 23 x1 4 x 24 26
 FE EQUATION FOR BEAM cont.
• Strain energy cont.
– Approximate curvature in terms of nodal DOFs
2
 d 2v   d 2v  d 2v   e T
} B  B  {q  }
T
  q
e
 ds 2   ds 2  ds 2  {
     14 41 14 41

– Approximate element strain energy in terms of nodal DOFs

 e
1 e ( EI ) 1 e T e e
 {q  }T  3 e
1
0
T
U (e)

 B 
 
 B 
 ds  {q }  {q } [k ]{q }
2 L 2
• Stiffness matrix of a beam element
( 6 12s )
 
EI 1  L(4 6 s) 
e
[k ]  3  & 6 12s L(4 6 s) 6  12 s L(2 6 s) ' ds
L 0  6  12 s 
 
 L(2 6 s) 

27

FE EQUATION FOR BEAM cont.

• Stiffness matrix of a beam element

( 12 6 L 12 6 L )
 6 L 4 L2 6 L 2 L2  Symmetric, positive semi-definite
EI
[k   ]  3   Proportional to EI
e

L  12 6 L 12 6 L  Inversely proportional to L
 2 
 6 L 2 L 6 L 4 L 
2

• Strain energy cont.

NEL
1 NEL  e T  e   e 
U  U (e)
  {q } [k ]{q }
e1 2 e1
– Assembly
1
U  {Q s }T [K s ]{Q s }
2

28
 y EXAMPLE – ASSEMBLY
• Two elements
x 2EI EI
3 • Global DOFs
1 2
2L L {Qs }T  {v1
1 v2
2 v3
3}
F2 F3
v1
1 v2
2 v2
2 v3
3
( 3 3L 3 3L ) v1 ( 12 6 L 12 6 L ) v2
 2   2 
EI 3L 4 L 3L 2 L 
1 EI  6 L 4 L 6 L 2 L 
2
2 2
1  2
[k ]  3 [k ]  3
L  3 3L 3 3L  v2 L  12 6 L 12 6 L  v3
 2   2 
3L 2 L 3L 4 L 
2  6 L 2 L 6 L 4 L 
3
2 2

( 3 3L 3 3L 0 0 )
3L 4 L2 3L 2 L2 0 0 
 
EI  3 3 L 15 3 L 12 6 L 
[K s ]  3  
L 3L 2 L2 3L 8 L2 6 L 2 L2 
0 0 12 6 L 12 6 L 
 
0 0 6 L 2 L2 6 L 4 L2  29

FE EQUATION FOR BEAM cont.

• Potential energy of applied loads  F1
– Concentrated forces and couples !C !
ND !! 1 !!
V    Fi vi Ci
i  V   v1
1 v2 ......
ND  " F2 #  {Q s }T {Fs }
i 1 ! !
! !
– Distributed load (Work-equivalent nodal forces) ! $CND !%
x2  x2 
NEL e NEL e 1
V     e p( x)v( x) dx   V (e)
V (e)
  e p( x)v( x) dx  L (e)
 p(s)v(s) ds
x1 x1
e1 e1 0

1
L  p(s)  v N
1 N 2 v2 N 3
2 N 4  ds
(e) (e)
V 1 1
0

 1
  1
  1
  1

 v1  L( e )  p ( s ) N1ds 
1  L( e )  p ( s ) N 2 ds  v2  L( e )  p (s ) N 3ds 
2  L( e )  p (s ) N 4ds 
 0   0   0   0 
 v1F1
1C1 v2 F2
2C2
(e) (e) (e) (e)

30
EXAMPLE – WORK-EQUIVALENT NODAL FORCES
• Uniformly distributed load
1 1 pL
F1  pL  N1 ( s) ds  pL  (1  3s 2 2s 3 ) ds 
0 0 2
1 1 pL2
C1  pL  N 2 ( s ) ds  pL  ( s  2s s ) ds 
2 2 3
0 0 12
1 1 pL
F2  pL  N3 ( s) ds  pL  (3s 2  2s 3 ) ds 
0 0 2
1 1 pL2
C2  pL  N 4 ( s ) ds  pL  ( s s ) ds  
2 2 3
0 0 12
 pL pL2 pL pL2
{F}  "
T
 #
$ 2 12 2 12 % p
Equivalent
pL/2 pL/2

pL2/12 pL2/12
31

FE EQUATION FOR BEAM cont.

• Finite element equation for beam

( 12 6 L 12 6 L )  v1  pL / 2  F1
 2 ! ! ! 2 ! ! !
EI  6 L 4 L 6 L 2 L  !
1 ! ! pL /12 ! ! C1 !
2

" #" # " #

L  12 6 L 12 6 L  ! v2 ! ! pL / 2 ! ! F2 !
3

 2 
! ! !
 6 L 2 L2
6 L 4 L

$ 2% $  pL2
/12 %! !$C2 !%

– One beam element has four variables

– When there is no distributed load, p = 0
– Applying boundary conditions is identical to truss element
– At each DOF, either displacement (v or
) or force (F or C) must be
known, not both
– Use standard procedure for assembly, BC, and solution
32
 PRINCIPLE OF MINIMUM POTENTIAL ENERGY
• Potential energy (quadratic form)
1
  U V  {Q s }T [K s ]{Q s }  {Q s }T {Fs }
2
• PMPE
– Potential energy has its minimum when

[K s ]{Q s }  {Fs } [Ks] is symmetric & PSD

• Applying BC
– The same procedure with truss elements (striking-the-rows and
striking-he-columns)

[K ]{Q}  {F} [K] is symmetric & PD

• Solve for unknown nodal DOFs {Q}

33

BENDING MOMENT & SHEAR FORCE

• Bending moment
d 2v EI d 2v EI
M ( s)  EI 2  2 2  2 B  {q}
dx L ds L
– Linearly varying along the beam span
• Shear force  v1
!
!
dM d 3v EI d 3v EI ! !
Vy ( s )     EI 3   3 3  3 [12 6 L 12 6 L] " 1 #
dx dx L ds L ! v2 !
– Constant !
$
2 !
%
– When true moment is not linear and true shear is not constant, many
elements should be used to approximate it
My
• Bending stress  x  
I
• Shear stress for rectangular section
1.5Vy  4 y 2 
 xy ( y )  1 2 
bh  h 
34
 EXAMPLE – CLAMPED-CLAMPED
y
BEAM
• Determine deflection & x
slope at x = 0.5, 1.0, 1.5 m 1 2 3
• Element stiffness matrices 1m 1m
F2 = 240 N
v1
1 v2
2
v2
2 v3
3
( 12 6 12 6 ) v1
 6 ( 12 6 12 6 ) v2
4 6 2 
1  6
[k ]  1000 
(1)  4 6 2 
2
 12 6 12 6  v2 [k ]  1000 
(2) 
   12 6 12 6  v3
 6 2 6 4 
2  
 6 2 6 4 
3

( 12 6 12 6 0 0 )  v1  F1
! !
 6 4 6 2 0 0  !
1 ! ! C1 !
  ! !
!
 12 6 24 0 12 6  v2 ! !240 !
1000  " #  " 0 #
 6 2 0 8 6 2  !
2 ! ! !
 0 !
0 12 6 12 6  v3 ! ! F3 !
 ! ! ! !
 0 0 6 2 6 4  $
3 % $ C3 %
35

EXAMPLE – CLAMPED-CLAMPED BEAM cont.

• Applying BC
( 24 0 ) v 2 240 v2  0.01
1000   " #  " #
 0 8  $
2 % $ 0 %
2  0.0

• At x = 0.5 s = 0.5 and use element 1

v( 12 )  v1 N1 ( 12 )
1 N 2 ( 12 ) v2 N3 ( 12 )
2 N 4 ( 12 )  0.01 N3 ( 12 )  0.005m
1 dN3

( 12 )  v2  0.015rad
L(1) ds s  12

• At x = 1.0 either s = 1 (element 1) or s = 0 (element 2)

v(1)  v2 N 3 (1)  0.01 N 3 (1)  0.01m v(0)  v2 N1 (0)  0.01 N1 (0)  0.01m
1 dN 3 1 dN1

(1)  v
(1) 2
 0.0 rad
(0)  v
(2) 2
 0.0 rad
L ds s 1 L ds s 0

Will this solution be accurate or approximate?

36
 EXAMPLE – CANTILEVERED BEAM
p0 = 120 N/m
• One beam element
• No assembly required
EI = 1000 N-m2
• Element stiffness C = –50 N-m
L = 1m
( 12 6 12 6 ) v1
 6 4 6 2 
1
[K s ]  1000  
 12 6 12 6  v2
 
 6 2 6 4 
2
• Work-equivalent nodal forces
 F1e  1  3s 2 2 s 3  1/ 2  60
! ! !
1 !( s  2 s s ) L !
! ! ! ! !
! C1e ! ! L /12 ! ! 10 !
2 3

" #  p0 L 0 " # ds  p0 L " #" #

F
! !2 e ! 3s 2
 2 s 3
! ! 1/ 2 ! ! 60 !
!$C2 e !% !$ ( s 2 s 3 ) L !% !$ L /12!% !$10!%

37

EXAMPLE – CANTILEVERED BEAM cont.

• FE matrix equation
( 12 6 12 6 )  v1  F1 60
 6 4 6 2  !!
1 !! !! C1 10 !!
1000  " #  " #
 12 6 12 6  ! v2 ! ! 60 !
 
 6 2 6 4  !$
2 !% $!10  50 %!
• Applying BC
(12 6 )  v2  60 v2  0.01m
1000  " # "  #
 6 4  $
2 % $60 %
2  0.03 rad

• Deflection curve: v( s)  0.01N3 ( s)  0.03N 4 ( s)  0.01s 3

• Exact solution: v( x)  0.005( x 4  4 x3 x 2 )

38
 EXAMPLE – CANTILEVERED BEAM cont.
• Support reaction (From assembled matrix equation)
1000  12v2 6
2   F1 60 F1  120 N
1000  6v2 2
2   C1 10 C1  10 N m
• Bending moment
EI
M ( s)  B  {q}
L2
EI
 2 & (6 12 s)v1 L(4 6 s)
1 (6  12 s)v2 L(2 6 s)
2 '
L
 1000[0.01(6  12s )  0.03(2 6 s)]
 60s N m
• Shear force
EI
Vy   &12v1 6 L
1  12v2 6 L
2 '
L3
 1000[12  (0.01) 6(0.03)]
 60 N 39

EXAMPLE – CANTILEVERED BEAM cont.

• Comparisons
0.000 0.000
FEM FEM
-0.002 Exact -0.005 Exact

-0.010
-0.004
-0.015
v

-0.006
-0.020
-0.008 -0.025
Deflection Slope
-0.010 -0.030
0 0.2 0.4 x 0.6 0.8 1 0 0.2 0.4 x 0.6 0.8 1
10 0
FEM FEM
0 -20
Exact Exact
-10
-40
-20
Vy

-60
M

-30
-80
-40
-100
-50 Bending moment Shear force
-60 -120
0 0.2 0.4 x 0.6 0.8 1 0 0.2 0.4 x 0.6 0.8 1

40
 PLANE FRAME ELEMENT
• Beam
– Vertical deflection and slope. No axial deformation
• Frame structure
– Can carry axial force, transverse shear force, and bending moment
(Beam + Truss)
• Assumption
v1 v2
– Axial and bending effects u1
are uncoupled u2
1

– Reasonable when deformation p

2

is small u2 u2

• 3 DOFs per node v2

2
F
2 1 3
v2
2
{ui , vi ,
i }
• Need coordinate transfor- 2 3

mation like plane truss u1

u1
1 4
v1 v1
1 1 41

PLANE FRAME ELEMENT cont.

• Element-fixed local coordinates x  y
• Local DOFs {u , v ,
} Local forces { f x , f y , c }
• Transformation between local and global coord.
 f x1 ( cos * sin * 0 0 0 0 )  f x1
! f !   sin * cos * 0 0 0 0  ! f y1 !
! y1 !  ! !
! c1 !  0 0 1 0 0 0  ! c1 !
" # " #
! fx 2 !  0 0 0 cos * sin * 0  ! f x 2 !
! fy2 !  0 0 0  sin * cos * 0  ! f y 2 ! Local coordinates
! !  ! ! v2
$ c2 %  0 0 0 0 0 1  $ c2 % u2
y x 2
{f }  [T]{f } 2
v1 u1 *
{q}  [T]{q}
y
1
1

x Global coordinates
42
 PLANE FRAME ELEMENT cont.
• Axial deformation (in local coord.)
EA ( 1 1)  u1  f x1

" # " #
L  1 1  $u2 % $ f x 2 %

• Beam bending
( 12 6 L 12 6 L )  v1  f y1
 2 ! ! ! !
EI  6 L 4 L 6 L 2 L  !
1 ! ! c1 !
2

" #" #
L3  12 6 L 12 6 L  ! v2 ! ! f y 2 !
 2 
 6 L 2 L 6 L 4 L  $!
2 !% !$ c2 !%
2

• Basically, it is equivalent to overlapping a beam with a bar

• A frame element has 6 DOFs

43

PLANE FRAME ELEMENT cont.

• Element matrix equation (local coord.)
( a1 0 0 a1 0 0 )  u1  f x1
 0 ! ! ! !
12a2 6 La2 0 12a2 6 La2  ! v1 ! ! f y1 ! EA
  a1 
 0 6 La2 4 L2 a2 0 6 La2 2 L2 a2  !
1 ! ! c1 ! L
 " #  " # EI
 a1 0 0 a1 0 0  ! u2 ! ! f x 2 ! a2  3
 0 12a2 6 La2 0 12a2 6 La2  ! v2 ! ! f y 2 ! L
 ! ! ! !
 0 6 La2 2 L2 a2 0 6 La2 4 L2 a2  $
2 % $ c2 %

[k ]{q}  {f }
• Element matrix equation (global coord.)
[k ][T]{q}  [T]{f } [T]T [k ][T]{q}  {f } [k ]{q}  {f }

[k ]  [T]T [k ][T]

• Same procedure for assembly and applying BC

44
 PLANE FRAME ELEMENT cont.
• Calculation of element forces
– Element forces can only be calculated in the local coordinate
– Extract element DOFs {q} from the global DOFs {Qs}
– Transform the element DOFs to the local coordinate {q}  [T]{q}
– Then, use 1D bar and beam formulas for element forces

AE
– Axial force P   u2  u1 
L
EI
– Bending moment M ( s)  2 B  {q}
L
EI
– Shear force Vy ( s )  3 [12 6 L 12 6 L]+q,
L
• Other method:  V ( 12 6L 12 6 L )  v1
y1
! !  6 L 2 L2  !!
1 !!
!  M 1 ! EI  6 L 4 L
2

" # 3 " #

! y 2 ! L  12 6 L
V 12 6 L  ! v2 !
!$ M 2 !%  
 6L 2L
2
6 L 4 L2  !$
2 !%
45