Finite Element Formulation

by Force Equilibrium
 1)) The Concept
p of Shape
p Function

linear interpolating function u ( x) = ax + b

 Determination of linear interpolating function

u ( x) = ax + b

Node#1 d1 = ax1 + b

Node#2 d 2 = ax2 + b

d1 − d 2
a= d1 − d 2 d1 x2 − d 2 x1
x1 − x2 u= x+
x1 − x2 x2 − x1
d1 x2 − d 2 x1
b=
x2 − x1
 Displacement field inside element
x2 − x x1 − x
u ( x) = d1 + d2
x2 − x1 x1 − x2

Shape function or interpolating function

2 ⎧ d1 ⎫
u = N1 ( x)d1 + N 2 ( x)d 2 u = ∑ N i ( x)di u = [ N1 N2 ] ⎨ ⎬
i =1 ⎩d 2 ⎭

x2 − x x1 − x
N1 ( x) = N2 =
x2 − x1 x1 − x2
Characteristics of shape Function u = N1 ( x)d1 + N 2 ( x)d 2

x2 − x x1 − x
N1 ( x) = N2 =
x2 − x1 x1 − x2

∑ N ( x) = 1
i =1
i

⎧1 if i= j
Ni ( x j ) = ⎨
⎩ 0 if i≠ j
 Ex. Shape function with origin of coordinate at x1

x2 − x x1 − x
N1 ( x) = N2 =
x2 − x1 x1 − x2
Element length
g : L

N1 ( x) = 1 − x / L N2 = x / L
u = N1 ( x)d1 + N 2 ( x)d 2
2
u = ∑ Ni ( x)di
i =1

⎧ d1 ⎫
u = [ N1 N2 ] ⎨ ⎬
⎩d 2 ⎭
 N1 ( x) = 1 − x / L N2 = x / L

Ans. u = 33.3μ m, σ = −200 MPa

2) Spring Element Revisited

AE
k=
L
Displacement interpolation
⎧ d1 ⎫
u = [ N1 N2 ] ⎨ ⎬ N1 ( x) = 1 − x / L N2 = x / L
⎩d 2 ⎭

Strain-displacement

du ⎡ 1 1 ⎤ ⎧ d1 ⎫ d 2 − d1
ε= = ⎢− ⎥ ⎨ ⎬ or
dx ⎣ L L ⎦ ⎩d 2 ⎭ L

St
Stress-strain
t i
E ⎧ d1 ⎫ E
σ = Eε = [ −1 1] ⎨ ⎬ or (d 2 − d1 ) constant stress
L ⎩d 2 ⎭ L
 Internal and External Force Equilibrium
internal force at a node#1

ˆf = Aσ = AE [ −1 1] ⎧⎨ d1 ⎬⎫ ⎧ d1 ⎫
or k [ −1 1] ⎨ ⎬ or k (−d1 + d 2 )
1,int
L ⎩d 2 ⎭ ⎩d 2 ⎭

k = AE / L
external force fˆ1

equilibrium of node #1

fˆ1 + fˆ1,int = 0

fˆ1 + k (−d1 + d 2 ) = 0

k (d1 − d 2 ) = fˆ1
 internal force at a node#2

ˆf = Aσ = AE [ −1 1] ⎧⎨ d1 ⎬⎫ ⎧ d1 ⎫
or k [ −1 1] ⎨ ⎬ or k (− d1 + d 2 )
2,int 2
L ⎩d 2 ⎭ ⎩d 2 ⎭
k = AE / L
external force fˆ2

Equilibrium of node #2
fˆ2 − fˆ2,int = 0

fˆ2 − k (−d1 + d 2 ) = 0

k (−d1 + d 2 ) = fˆ2
k (d1 − d 2 ) = fˆ1

k (−d1 + d 2 ) = fˆ2

⎡k − k ⎤ ⎧⎪ dˆ1 ⎪⎫ ⎪⎧ fˆ1 ⎪⎫
⎢ −k ⎥ ⎨ ⎬=⎨ ⎬
⎣ k ⎦ ⎩⎪dˆ2 ⎭⎪ ⎩⎪ fˆ2 ⎭⎪
 3) Euler Beam Elements

Sign
g Conventions

EIv′′ = M , EIv′′′ = V , EIv′′′′ = q

V = dM / dx
d , q = dV / dx
d
External forces are defined only at the nodes q=0

EIv′′′′ = q v ( x ) = a1 x 3 + a2 x 2 + a3 x + a4

The deformed shape of a beam deflection is described by the transverse

displacement and slope.

continuity of vertical displacement and cross sectional rotation

unique
i translation
t l ti and
d rotation
t ti att a common node
d

d.o.f at a node dy β
 Determination of interpolating function
β1 x β2
v ( x ) = a1 x 3 + a2 x 2 + a3 x + a4
d1 y L d2 y v '(( x ) = 3a1 x 2 + 2a2 x + a3
v ( 0) = d 1 y d1 = a4
a1 ( d1 y , β1 , d 2 y , β 2 y , L )
v '(0) = β1 β1 = a3
a2 ( d1 y , β1 , d 2 y , β 2 y , L )
v( L) = d 2 y d 2 y = a1 L3 + a2 L2 + a3 L + a4 a3 ( d1 y , β1 , d 2 y , β 2 y , L)
a4 ( d1 y , β1 , d 2 y , β 2 y , L)
v '( L) = β 2 β 2 = 3a1 L + 2a2 L + a3
2
 interpolating function
v ( x ) = a1 ( d1 y , β1 , d 2 y , β 2 y , L ) x 3 + a2 ( d1 y , β1 , d 2 y , β 2 y , L) x 2
+ a3 ( d1 y , β1 , d 2 y , β 2 y , L) x + a4 ( d1 y , β1 , d 2 y , β 2 y , L)

v( x ) = N1 ( x, L) d1 y + N 2 ( x, L) β1 + N 3 ( x, L) d 2 y + N 4 ( x, L) β 2

v ( x ) = [ N ] {d }
⎧ d1 y ⎫
⎪β ⎪
⎪ 1⎪
[N ] = [N1 N2 N3 N4 ] {d } = ⎨ ⎬
⎪d 2 y ⎪
⎪⎩ β 2 ⎪⎭
interpolating function for displacement

v ( x ) = [ N ] {d }

(
N1 ( x) = 2 x − 3 x L + L / L
3
)
2 3 3

N ( x) = (x L − 2 x L + xL ) / L
2
3 2 2 3 3

N ( x ) = (− 2 x + 3 x L ) / L
3
3 2 3

N ( x) = (x L − x L ) / L
4
3 2 2 3
 y
Strain-Displacement ε =− ≈ −v′′
ρ
Stress-Strain σ = Eε

Internal and external force equilibrium M = − ∫ σ ydA

A

EIv′′ = M , EIv′′′ = V v ( x ) = [ N ] {d }

m1 x m2

f1 y L f2 y
 Mechanics of Materials

m1 x m2 M (0) x M ( L)
f1 y L f2y L
V (0) V ( L)

EIv′′ = M , EIv′′′ = V

3 (
12d1 y + 6 Lβ1 − 12d 2 y + 6 Lβ 2 )
EI
f1 y = V (0) = EIv '''(0) =
L
EI
(
m1 = − M (0) = − EIv ''(0) = 3 6 Ld1 y + 4 L2 β1 − 6 Ld 2 y + 2 L2 β 2
L
)
EI '''( L) = 3 ( −12d1 y − 6 Lβ1 + 12d 2 y − 6 Lβ 2 )
EI
f 2 y = −V ( L) = − EIv
L
EI
(
m2 = M ( L) = EIv ''( L) = 3 6 Ld1 y + 2 L2 β1 − 6 Ld 2 y + 4 L2 β 2
L
)
 Relation between nodal displacements and nodal forces

[ k ] {d } = { f }

⎡ 12 6 L −12 6 L ⎤
{ f } = ⎡⎣ f1y
T
⎢ f2 y m2 ⎤⎦
−6 L 2 L2 ⎥⎥
2 m1
EI ⎢ 4 L
[ k ] = 3 ⎢ sym 12 −6 L ⎥
L
{d} = ⎡⎣d1y β1
T
⎢ 2 ⎥ d2 y β2 ⎦⎤
⎣ 4L ⎦
4L
Distributed Loads
E i l t?
Equivalent
Determination of equivalent concentrated forces

Why Fixed-fixed B.C.’s ?

Mechanics of Materials : indeterminate system

reaction forces
Equivalent concentrated loads
Equivalent concentrated forces for a beam with linearly
distributed loads
Mechanics of Materials : indeterminate system
 Energy Method

q ( x) x x q0 x 3
M ( x) = m2 + f 2 y x − ⋅ = m2 + f 2 y x − 2
L 3 3L
2
1 ⎛ q0 x ⎞
L 2 L 3
M ( x)
U =∫ dx = ∫ ⎜ 2
m + f 2y x − 2 ⎟
dx
0
2 EI 2 EI 0 ⎝ 3L ⎠

∂U
δ= =0
Displacement ∂F2
F2 y , M 2
B C ’s at node #2
B.C.s ∂U
θ= =0
∂M 2
Force equilibrium
∑F
x =0
F1 , M 1
∑F
y =0
Reactions

f1 y = − F1 , m1 = − M 1

E i l t
Equivalents
f 2 y = − F2 y , m2 = − M 2
Example
2D Beam Element with Axial Flexibility

nodal d.o.f. dx , d y , β

⎧ f1x ⎫ ⎧ d1x ⎫
⎪f ⎪ ⎪d ⎪
⎪ 1y ⎪ ⎪ 1y ⎪
⎪⎪ m1 ⎪⎪ ⎪⎪ β1 ⎪⎪
{f}=⎨ ⎬ {d } = ⎨ ⎬
⎪ f2 x ⎪ ⎪d2 x ⎪
⎪ f2 y ⎪ ⎪d 2 y ⎪
⎪ ⎪ ⎪ ⎪
⎩⎪ m2 ⎭⎪ ⎩⎪ β 2 ⎭⎪
 { f } = [ k ] {d }
Beam
⎧ f1 y ⎫ ⎡ k11b k12b k13b k14b ⎤ ⎧ d1 y ⎫ bending
⎪m ⎪ ⎢ b ⎥⎪
β ⎪ flexibility
⎪ 1⎪ ⎢ ⎥ ⎪⎨ 1 ⎪⎬
b b
k21 k23 k24
⎨ ⎬=⎢
⎪ f 2 y ⎪ ⎢ sym k33b k34b ⎥ ⎪d 2 y ⎪
⎪⎩ m2 ⎪⎭ ⎢⎣ b ⎥⎪
k44 ⎥⎦ ⎩ β 2 ⎪⎭

⎧ f1x ⎫ ⎡ 0 0 0 0 0 0 ⎤ ⎧ d1x ⎫
⎪f ⎪ ⎢ k b
k b
0 k13b k14b ⎥⎥ ⎪⎪ d1 y ⎪⎪
⎪ 1y ⎪ ⎢ 11 12

⎪⎪ m1 ⎪⎪ ⎢ b
k21 b
0 k23 b
k24 ⎥ ⎪⎪ β1 ⎪⎪
⎨ ⎬=⎢ ⎥⎨ ⎬
⎪ f2 x ⎪ ⎢ 0 0 0 ⎥ ⎪d2 x ⎪
⎪ f 2 y ⎪ ⎢ sym k33b k34b ⎥ ⎪d 2 y ⎪
⎪ ⎪ ⎢ b ⎥⎪ ⎪
⎪⎩ m2 ⎭⎪ ⎣⎢ k44 ⎦⎥ ⎩⎪ β 2 ⎭⎪
 { f } = [ k ] {d } Beam
axial
⎧ f1x ⎫ ⎡ k a − k a ⎤ ⎧ d1x ⎫ flexibility
⎨ ⎬=⎢ a a ⎥⎨ ⎬
⎩ f 2 x ⎭ ⎣ −k k ⎦ ⎩d 2 x ⎭

⎧ f1x ⎫ ⎡ k a 0 0 −k a 0 0 ⎤ ⎧ d1x ⎫
⎪f ⎪ ⎢ ⎥⎪ ⎪
⎪ 1y ⎪ ⎢ 0 0 0 0 0 0 ⎥ ⎪ d1 y ⎪
⎪⎪ m1 ⎪⎪ ⎢ 0 0 0 0 0 0 ⎥ ⎪⎪ β1 ⎪⎪
⎨ ⎬=⎢ a ⎥⎨ ⎬
⎪ f 2 x ⎪ ⎢ −k 0 0 ka 0 0⎥ ⎪d2 x ⎪
⎪ f2 y ⎪ ⎢ 0 0 0 0 0 0 ⎥ ⎪d 2 y ⎪
⎪ ⎪ ⎢ ⎥⎪ ⎪
⎩⎪ m2 ⎭⎪ ⎢⎣ 0 0 0 0 0 0 ⎥⎦ ⎩⎪ β 2 ⎭⎪
 ⎧ f1x ⎫ ⎡ 0 0 0 0 0 0 ⎤ ⎧ d1x ⎫ ⎧ f1x ⎫ ⎡ k a 0 0 −k a 0 0 ⎤ ⎧ d1x ⎫
⎪f ⎪ ⎢ k11b k12b 0 k13b k14b ⎥⎥ ⎪⎪ d1 y ⎪⎪ ⎪f ⎪ ⎢ ⎥⎪ ⎪
⎪ 1y ⎪ ⎢ ⎪ 1y ⎪ ⎢ 0 0 0 0 0 0 ⎥ ⎪ d1 y ⎪
⎪⎪ m1 ⎪⎪ ⎢ b
k21 b
0 k23 b
k24 ⎥ ⎪⎪ β1 ⎪⎪ ⎪⎪ m1 ⎪⎪ ⎢ 0 0 0 0 0 0 ⎥ ⎪⎪ β1 ⎪⎪
⎨ ⎬=⎢ ⎥⎨ ⎬ ⎨ ⎬=⎢ a ⎥⎨ ⎬
⎪ f2 x ⎪ ⎢ ⎪ f 2 x ⎪ ⎢ −k
0 0 0 ⎥ ⎪d2 x ⎪ 0 0 ka 0 0⎥ ⎪d2 x ⎪
⎪ f 2 y ⎪ ⎢ sym k34b ⎥ ⎪ d 2 y ⎪ ⎪ f2 y ⎪ ⎢ 0
⎪ ⎪ ⎢
k33b 0 0 0 0 0⎥ ⎪d 2 y ⎪
b ⎥⎪ ⎪ ⎪ ⎪ ⎢ ⎥⎪ ⎪
⎪⎩ m2 ⎪⎭ ⎣⎢ k44 ⎥⎦ ⎩⎪ β 2 ⎭⎪ ⎪⎩ m2 ⎪⎭ ⎢⎣ 0 0 0 0 0 0 ⎥⎦ ⎪⎩ β 2 ⎪⎭

⎧ f1x ⎫ ⎡ k a 0 0 −k a 0 0 ⎤ ⎧ d1x ⎫
⎪f ⎪ ⎢ b ⎥⎪ ⎪
⎪ 1y ⎪ ⎢ k11b k12b 0 k13b d
k14 ⎥ ⎪ 1 y ⎪
⎪⎪ m1 ⎪⎪ ⎢ b
k21 0 b
k23 b ⎥
k24 ⎪⎪ β1 ⎪⎪
⎨ ⎬=⎢ ⎥⎨ ⎬
⎪ f2 x ⎪ ⎢ ka 0 0 ⎥ ⎪d2 x ⎪
⎪ f2 y ⎪ ⎢ sym k b b ⎥⎪
k34 d 2 y ⎪
⎪ ⎪ ⎢ 33
⎥⎪ ⎪
⎩⎪ m2 ⎭⎪ ⎢⎣ k44 ⎥⎦ ⎩⎪ β 2 ⎭⎪
b
General 2D Beam Element with Axial Flexibility

nodal d.o.f. dx , d y , β
Element equation of beam element with axial flexibility in reference to
local x-y coordinates

⎧ f1x ⎫ ⎡ k a 0 0 −k a 0 0 ⎤ ⎧ d1x ⎫
⎪f ⎪ ⎢ ⎥⎪ ⎪
⎪ 1y ⎪ ⎢ k11b k12b 0 k13b k14b ⎥ ⎪ d1 y ⎪
⎪⎪ m1 ⎪⎪ ⎢ b
k21 0 b
k23 b ⎥
k24 ⎪⎪ β1 ⎪⎪
⎨ ⎬=⎢ ⎥⎨ ⎬
⎪ f2 x ⎪ ⎢ ka 0 0 ⎥ ⎪d2 x ⎪
⎪ f2 y ⎪ ⎢ sym k33b k34b ⎥ ⎪d 2 y ⎪
⎪ ⎪ ⎢ ⎥⎪ ⎪
⎩⎪ m2 ⎭⎪ ⎢⎣ ⎥⎦ ⎩⎪ β 2 ⎭⎪
b
k44

Element equation of beam element with axial flexibility in reference to

global X-Y coordinates

⎧ f1 X ⎫ ⎡ ⎤ ⎧ d1 X ⎫

?
⎪f ⎪ ⎢ ⎥⎪d ⎪
⎪ 1Y ⎪ ⎢ ⎥ ⎪ 1Y ⎪
⎪⎪ mZ ⎪⎪ ⎢ ⎥ ⎪⎪ β1Z ⎪⎪
⎨ ⎬=⎢ ⎥⎨ ⎬
⎪ f 2Y ⎪ ⎢ d
⎥ ⎪ 2X ⎪
⎪ f 2Y ⎪ ⎢ ⎥ ⎪ d 2Y ⎪
⎪ ⎪ ⎢ ⎥⎪ ⎪
⎪⎩ mZ ⎪⎭ ⎣ ⎦ ⎪⎩ β 2 Z ⎪⎭
Coordinates transformation for which ?
 Coordinates transform for translation of node only

⎧ d1x ⎫ ⎡ c s 0 0 ⎤ ⎧ d1 X ⎫
⎪d ⎪ ⎢ ⎥⎪ ⎪
⎪ 1 y ⎪ ⎢ − s c 0 0 ⎥ ⎪ d1Y ⎪
⎨ ⎬= ⎨ ⎬
d
⎪ ⎪ 2 x ⎢ 0 0 c s ⎥ ⎪ d 2 X ⎪
⎢ ⎥
⎪⎩d 2 y ⎪⎭ ⎣ 0 0 − s c ⎦ ⎪⎩ d 2Y ⎪⎭

⎧ d1x ⎫ ⎡ c s 0 0 0 0 ⎤ ⎧ d1 X ⎫
⎪ d ⎪ ⎢−s c 0 0 0 0 ⎥⎥ ⎪⎪ d1Y ⎪⎪
⎪ 1y ⎪ ⎢
⎪⎪ β1 ⎪⎪ ⎢ 0 0 0 0 0 0 ⎥ ⎪⎪ β1 ⎪⎪
⎨ ⎬=⎢ ⎥⎨ ⎬
⎪d2 x ⎪ ⎢ 0 0 0 c s 0⎥ ⎪d 2 X ⎪
⎪d 2 y ⎪ ⎢ 0 0 0 − s c 0 ⎥ ⎪ d 2Y ⎪
⎪ ⎪ ⎢ ⎥⎪ ⎪
⎪⎩ β 2 ⎪⎭ ⎣ 0 0 0 0 0 0 ⎦ ⎪⎩ β 2 ⎪⎭
 General 3D Beam Element

{dl } = ⎡⎣ d1x
T
d1 y d1z β1x β1 y β1z d2 x d2 y d2 z β2x β2 y β 2 z ⎤⎦

{ fl } = ⎡⎣ f1x
T
f1 y f1z m1x m1 y m1z f2 x f2 y f2 z m2 x m2 y m2 z ⎤⎦
 Information required for the construction of stiffness matrix of
3D beam element in local coordinates

length L
axial flexibility EA
[ kl ]12×12
torsional flexibility GJ
bending flexibilities EI y EI z EI yz
 Coordinates transformation for which ?

{dl } = ⎡⎣ d1x
T
d1 y d1z β1x β1 y β1z d2 x d2 y d2 z β2x β2 y β 2 z ⎤⎦

{ fl } = ⎡⎣ f1x
T
f1 y f1z m1x m1 y m1z f2 x f2 y f2 z m2 x m2 y m2 z ⎤⎦
 Coordinate transformation of vector components in 3D

⎧vx ⎫ ⎡ a11 a12 a13 ⎤ ⎧v X ⎫

⎪ ⎪ ⎢ ⎪ ⎪
⎨v y ⎬ = ⎢ a21 a22 a23 ⎥⎥ ⎨ vY ⎬
⎪ ⎪ a33 ⎦⎥ ⎩⎪ vZ ⎭⎪
⎩ vz ⎭ ⎣⎢ a31 a32

{vl } = [ a ]{vG }

aiJ = cos θiJ

Angles with the axes θ xX , θ xY , θ xZ , ..

Coordinates of end nodes x1 , x 2

 [ kG ] = [T ] [ kl ][T ]
T

⎡ ⎤
⎢ ⎥
⎢ ⎥
⎢ ⎥
⎢ ⎥
⎢ ⎥

?
⎢ ⎥
⎢ ⎥
[T ] = ⎢⎢ ⎥
⎥
⎢ ⎥
⎢ ⎥
⎢ ⎥
⎢ ⎥
⎢ ⎥
⎢ ⎥
⎢ ⎥
⎢⎣ ⎥⎦12×12
Use of Different Types of Elements