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CONTENTS
S.NO TOPIC PAGE NO
1.1 INTRODUCTION 1
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1.1.5 Applications of FEM in Engineering 2
3.1 INTRODUCTION 54
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3.5 STRAIN – STRESS RELATION 60
3.5.1 Plane stress conditions 61
3.5.2 Plane strain conditions 61
3.6
APPROXIMATIONS
s.c
GENERALIZED COORDINATES APPROACH TO NODEL
65
INTRODUCTION
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4.1 88
4.1.1 Fundamentals of Vibration 88
4.1.2 Causes of Vibrations 88
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5.2 APPLICATION TO HEAT TRANSFER 2-DIMENTIONAL 112
5.2.1Strong Form for Two-Point Boundary Value Problems 112
5.2.2Two-Point Boundary Value Problem With
s.c 112
Generalized Boundary Conditions
5.2.3 Weak Form for Two-Point Boundary Value Problems 114
TEXT BOOKS:
1. P.Seshu, “Text Book of Finite Element Analysis”, Prentice-Hall of India Pvt. Ltd. New
Delhi, 2007.
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Approximation of the area of a circle:
“Element” Si
i
s.c R
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Why Finite Element Method?
Design analysis: hand calculations, experiments, and computer simulations
FEM/FEA is the most widely applied computer simulation method in engineering
Closelyintegrated with CAD/CAM applications
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1. Force Method – Internal forces are considered as the unknowns of the problem.
2. Displacement or stiffness method – Displacements of the nodes are considered as the
unknowns of the problem.
1.1.3 General Steps of the Finite Element Analysis
Discretization of structure
Numbering of Nodes and Elements
Selection of Displacement function or interpolation function
Define the material behavior by using Strain – Displacement and Stress – Strain
relationships
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FEM - a numerical tool)
EI −qo =0
Solution: assume a trial function
Let u(x) = a0+a1x+a2x2+a3x3+a4x4…..
Apply 1st boundary condition
x=0, u(x)=0
0=a0+0
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a0=0
a4=
Substitute a4values in u(x)
u(x) = [x4-4Lx3+6L2x2]
Result:
Final solution u(x) = [x4-4Lx3+6L2x2]
Problem 2
The differential equation of a physical phenomenon is given by
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=a1(2x-1)+1
=2 1
y=0.83 x2+0.17x
Problem 3
Find the deflection at the center of a simply supported beam of span length l subjected to
uniform distributed load throughout its length as shown using (a) point collection method (b) Sub-
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EI - = 0, 0≤ ≤
Ci
EI =0 at x=0 and x=
Where, EI =
y= a sin /
1.3 THE GENERAL WEIGHTED RESIDUAL STATEMENT
The analysis in Section as applied to the model problem provides an attractive perspective to the
solution of certain partial differential equations: the solution is identified with a “point”, which
minimizes an appropriately constructed functional over an admis- sible function space. Weak
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(variational) forms can be made fully equivalent to respective strong forms, as evidenced in the
discussion of the weighted residual methods, under certain smoothness assumptions. However, the
equivalence between weak (variational) forms and variational principles is not guaranteed: indeed, there
exists no general method of construct-
s.c
ing functionals I [u], whose extremization recovers a desired weak (variational) form. In this
sense, only certain partial differential equations are amenable to analysis and solution by
variational methods.
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Vainberg’s theorem provides the necessary and sufficient condition for the equivalence of a
weak (variational) form to a functional extremization problem. If such equivalence holds, the functional
is referred to as a potential.
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Theorem (Vainberg)
Consider a weak (variational) form
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Then, the necessary and sufficient condition for the above weak form to be derivable from a
potential in N is that
Dδu1 G(u, δu2) = Dδu2 G(u, δu1) ,
Namely that Dδu1 G(u, δu2) be symmetric for all δu1, δu2 = U0 and all u = N .
Preliminary to proving the above theorem, introduce the following two lemmas:
In the above derivation, note that operations and |ω=0 are not interchangeable (as they
both refer to the same variable ω), while lim∆ω→0 and |ω=0 are interchangeable, conditional upon
sufficient smoothness of I [u].
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f(ω) := I[u + ω δu] .
It follows that
F = df f (ω + ∆ω) − f (ω)
dω = lim ∆ω
= lim
∆ω→0
∆ω→
0
s.c
I [u + ω δu + ∆ω δu] − I [u + ω δu]
∆ω
= Dδu I [u + ω δu] ,
In weighted residual method the polynomial and trigonometric series are used as trial function.
This trial function is a single composite function and it is valid over the entire solution domain this
assumed trial function solution should match closely to the exact solution of the differential equation
and the boundary conditions, it is nothing but a process of curve fitting. This curve fitting is carried
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out by piecewise method i.e., the more numbers of piece leads better curve fit. Piecewise method can
be explained by the following simple problem.
We know that the straight line can be drawn through any two points.
Let, ƒ(x)=sin is the approximated function for straight line segments.
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Two nodes: i, j
Nodal displacements: ui, uj (in, m, mm)
Nodal forces: fi, fj (lb, Newton) Spring constant (stiffness): k (lb/in,
N/m, N/mm)
Linear
F Nonlinear
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k
k F/
s.c
(> 0) is the force needed to produce a unit stretch.
We only consider linear problems in this introductory course. Consider the equilibrium of
forces for the spring.
At node 1 we have
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fi F k(u j ui ) kui kuj
and at node j,
fj F k(u j ui ) kui kuj
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In matrix form,
k k ui fi
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k k uj fj
or, where
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Note:
That k is symmetric. Is k singular or non singular? That is, can we solve the
equation? If not, why?
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ME2353 Finite Element Analysis
Problem 4
To find the deformation of the shape
X
K1 K2
u1F1 u2F2 u3F3
1 2 3
For element 1,
k1 k 1 u2 f1 2
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k1 k1 u3 f2 2
element 2,
2
k2 k2 u2 s.c f
2
k2 k2 u3 f
where fI at node 2 F2
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M is the (internal) force acting on local node i of element Consider the quilibrium of
forces at node
Checking the Results
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Element dimensionality:
The geometric shape of element can be represented as a line, area, or volume. The one-
dimensional spring element is defined geometrically as:
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Spring law
The spring is assumed to be linear. Force (f) is directly proportional to deformation (Δ) via the
spring constant k, i.e.
s.c
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Degrees of freedom are displacements and/or rotations that are associated with a node. A one-
dimensional spring element has two translational degrees of freedom, which include, an axial
(horizontal) displacement (u) at each node.
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Element formulation
There are various ways to mathematically formulate an element. The simplest and limited
approach is the direct method. More mathematically complex and general approaches are energy
(variation) and weighted residual methods.
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ME2353 Finite Element Analysis
The direct method uses the fundamentals of equilibrium, compatibility and spring law from a
sophomore level mechanics of material course. We will use the direct method to formulate the one-
dimensional spring element because it is simple and based on a physical approach.
The direct method is an excellent setting for becoming familiar with such basis concepts of
linear algebra, stiffness, degrees of freedom, etc., before using the mathematical formulation
approaches as energy or weighted residuals.
Assumptions
Spring deformation
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f=kΔ
Weightless Member:
Element has no mass (weightless).
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Node Location:
The geometric location of nodes I and J cannot coincide, i.e., xi ≠ xj. The length of the element
is only used to visually see the spring.
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ME2353 Finite Element Analysis
Example, uI = 1, uJ = 0.
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s.c
tas
Spring element has one rigid body mode.
The axial displacement (u) is continuous through the assembled mesh and is described by a
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linear polynomial within each element. Each element in the mesh may be described by a different
linear polynomial, depending on the spring rate (k), external loading, and constraints on the element.
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Inter-Element Deformation
The deformation (Δ) is piecewise constant through the assembled mesh and is described by a
constant within each element. Each element in the mesh may be described by a different constant,
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depending on the spring constant (k), external loading, and constraints on the element.
The internal axial force (f) is piecewise continuous through the assembled mesh and is
described by a constant within each element. Each element in the mesh may be described by a different
constant, depending on the spring constant, external loading, and constraints on the element.
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ME2353 Finite Element Analysis
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s.c
tas
da
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ME2353 Finite Element Analysis
A body is considered rigid if it does not deform when a force is applied. Consider rigid and
non-rigid bars subjected to a gradually applied axial force of increasing magnitude as shown.
The reader should note the following characteristics of rigid and non-rigid (flexible) bodies:
Force Magnitude - Even if forces are large, a rigid body does not deform. A non-rigid body will
deform even if a force is small. In reality, all bodies deform.
Failure - A rigid body does not fail under any load; while a non-rigid body will result either in
ductile or brittle failure when the applied load causes the normal stress to exceed the breaking
(fracture) stress b of the material. Brittle failure occurs when the applied load on the non-rigid
bar shown above causes the breaking strength of the bar to be exceeded.
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Material - The material is not considered in a rigid body. Since a rigid body does not deform (
= 0) this is equivalent to an infinite modulus of elasticity. In contrast the modulus of elasticity
for a non-rigid material is finite, e.g., for steel, Esteel = 30 x 106 psi. (200 GPa). For rigid and
non-rigid bars the material laws are:
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Rigid body motion occurs when forces and/or moments are applied to an unrestrained mesh
(body), resulting in motion that occurs without any deformations in the entire mesh (body). Since no
strains (deformations) occur during rigid body motion, there can be no stresses developed in the mesh.
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A rigid body in general can be subjected to three types of motion, which are translation,
rotation about a fixed axis, and general motion which consists of a combination of both translation and
rotation. These three motion types are as follows:
Translation - If any line segment on the body remains parallel to its original direction during
the motion, it is said to be in translation. When the path of motion is along a straight line, the motion is
called rectilinear translation, while a curved path is considered as a curvilinear translation. The
curvilinear motion shown below is a combination of two translational motions, one horizontal motion
and one vertical motion.
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ME2353 Finite Element Analysis
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Rotation About a Fixed Axis - If all the particles of a rigid body move along circular paths,
except the ones which lie on the axis of rotation, it is said to be in rotation about a fixed axis.
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General Motion - Any motion of a rigid body that consists of the combination of both
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translations
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There are six rigid body modes in general three-dimensional situation; three translational
along the x, y, and z axes and three rotational about x, y, and z axes. Illustrations of these rigid body
modes are presented as follows:
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ME2353 Finite Element Analysis
Translational Rotational
Rigid Body Modes Rigid Body Modes
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Problem 6
A single 1-D 3-noded quadratic bar element has 3 nodes with local coordinates as shown in
Figure
e
s.c
1 u1 2 u2 3 u3 Note that node 2 is at the midpoint of
the element.
tas
l
x0 x xl
2
Let the field variable u have values u1 , u2 and u3 at nodes 1, 2 and 3, respectively.
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at x 0, u u1 u1 a a u1
u3 4u2 3u1
l l l2 b
at x , u u2 u2 a b +c
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l
2 2 4 solving
2
at x l , u u3 2
u1 a bl cl c 2 u3 2u2 u1
l
Substituting the values of a, b and c in equation (1) and collecting the coefficients of u1 , u2 and u3
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ME2353 Finite Element Analysis
x x2 x 2x N1 3 x
N1 1 3 2 2 1 1 4 2
l l l l x l l
x x2 x x N 2 4 x
Where N2 4 4 2 4 1 8 2
l l l l x l l
x x2 x 2x N 3 1 x
N3 2 2 1 4 2
l l l l x l l
3 x
l 4 l 2
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4 x
B 8 2
T
l l
1 x
l 4 l2
D E for a bar element (1-D case - only axial stress x and strain x exist x E x )
s.c
l l
volume
dV Adx A dx
0 0
since the cross-sectional area A is constant for the total length of the bar.
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3 x
l 4
l2
l
4 x 3
k A 8 2 E 4 2 4
x x 1 x
8 2 4 2 dx
0
l l l l l l l l
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1 x
l 4 l2
3 x 3 x 3 x 4 x 3 x 1 x
l 4 l 2 l 4 l 2 4 2 8 2 4 2 4 2
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l l l l l l l l
4 x
k AE 8 2
x 4 x 4 x 4 x 1
l
x 3
4 2 8 2 8 2 8 2 4 2 dx
0
l l l l l l l l l l l l
1 x
Ci
x 3 x 1 x 4 x 1 x 1
4 2 4 2 4 2 8 2 4 2 4 2
l l l l l l l l l l l l
k B D B dV
T
Volume
N1 N 2 N 3 3 x 4 x 1 x
B 4 2 8 2 4 2
x x x l l l l l l
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ME2353 Finite Element Analysis
To determine K 11 :
3 4 x 3 4 x
l l
9 12 x 12 x 16 x 2
K11 AE 2 2 dx AE 2 3 3 4 dx
0
l l l l 0
l l l l
l
9 24 x 16 x 2
l
9 x 24 x 2 16 x 3 9l 24l 2 16l 3
K11 AE 2 3 4 dx AE 2 4 AE 2 3 4
0
l l l l 2l 3 3l 0 l 2l 3l
9 12 16 27 36 16 AE
K11 AE AE
l l 3l 3l 3l 7
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7 AE
K11
3l
l
12 x 40 x 2 32 x 3 12l 40l 2 32l 3 12 20 32 36 60 32
K12 AE 2 4
AE 2 3 4 AE AE
l 3l
3
l 2l 3l 0 l 2l 3l l 3l
AE
K12 8 K 21
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3l
To determine K 13 and K 31 :
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l
3 4 x 1 4 x
l
3 12 x 4 x 16 x 2
K13 AE 2 2 dx AE 2 3 3 4 dx
0
l l l l 0
l l l l
l
3 16 x 16 x 2
l
3 x 16 x 2 16 x 3 3l 16l 2 16l 3 3 8 16
K13 AE 2 3 4 dx AE 2 3 4 AE 2 3 4 AE
0
l l l l 2l 3l 0 l 2l 3l l l 3l
9 24 16 AE
K13 AE
3l 3l 1 K 31
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ME2353 Finite Element Analysis
To determine K 22
l
4 8 x 4 8 x
l
16 32 x 32 x 64 x 2
K 22 AE 2 2 dx AE 2 3 3 4 dx
0
l l l l 0
l l l l
l
16 64 x 64 x 2
l
16 x 64 x 2 64 x 3
K 22 AE 2 3 4 dx AE 2 3
4
0 l l l l 2l 3l 0
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16 AE
K 22
3l
To determine K 23 and K 32
0
4 24 x 32 x 2
l
l l l l
s.c
4 x 24 x 2 32 x 3
K 23 AE 2 3 4 dx AE 2
2l 3
4
3l 0
l
8 AE
K 23 K 32
da
3l
To determine K 33
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l
1 4 x 1 4 x
l
1 4 x 4 x 16 x 2
K33 AE 2 2 dx AE 2 3 3 4 dx
0
l l l l 0
l l l l
l
4 8 x 1 4 x
l
4 16 x 8 x 32 x 2
K 23 AE 2 2 dx AE 2 3 3 4 dx
0
l l l l
Ci
0
l l l l
l
1 8 x 16 x 2
l
x 8 x 2 16 x 3
K 33 AE 2 3 4 dx AE 2 3 4
0
l l l l 2l 3l 0
l 8l 2 16l 3 1 4 16 3 12 16 AE
K33 AE 2 3 4 AE AE
l l 3l 3l 7
l 2l 3l 3l
7 AE
K33
3l
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ME2353 Finite Element Analysis
7 8 1
AE
Assembling, we get k 8 16 8
3L
1 8 7
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energy is the sum of internal and external potential energy.
Consider a spring mass system let its stiffness be k and length L, due to a force P let it extend
by u
The load P moves down by distance u. hence it loses its capacity to do work by P u. the
s.c
external potential energy in this case is given by.
H = -P u
Average force =
tas
The energy stored in the spring due to strain = Average force x Deflection
= xu
da
= K u2
= U+H
= +
In principle of virtual work =
=0
Hence we can conclude that a deformable body is in equilibrium when the potential energy is
having stationary value.
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ME2353 Finite Element Analysis
Hence the principle of minimum potential energy states among all the displacement equations
that internal compatibility and the boundary condition those that also satisfy the equation of
equilibrium make the potential energy a minimum is a stable system
Problem 7
k1 k2 P k
3
x
1 2 3 4
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Given: For the spring system shown above,
k1 100 N / mm,
k 2 200 N / mm, s.c
k 3 100 N / mm
P 500 N, A
u1 0 p
tas
u4 0 p
l
y
Find: (a) The global stiffness matrix
da
Solution:
t
(a) The element stiffness matrices are
h
e
100 100
Ci
k 1 (N/mm) (1)
100 100
200 200
k 2 (N/mm) (2)
200 200
100 100
k 3 (N/mm) (3)
100 100
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ME2353 Finite Element Analysis
u1 u2 u3 u4
100 100 0 0
0 100 100
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which is symmetric and banded.
Equilibrium (FE) equation for the whole system is
100 100 0 0 u1 F1
100 300
s.c 200 0 u2 0
(4)
0 200 300 100 u3 P
tas
0 0 100 100 u4 F4
300 200 u2 0
(5)
200 300 u3 P
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u3 3P / 500
st th
(c) From the 1 and 4 equations in (4), we get the reaction forces
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200 200 ui fi
200 200 uj fj
Problem 8
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4 k4
F1
k1 1
4 1
s.c 2
k2 k3 F2
tas
2
For the spring system with arbitrarily numbered nodes and elements, as
shown above, find the global stiffness matrix.
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Solution:
First we construct the following
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1 4 2
2 2 3
3 3 5
4 2 1
Which specifies the global node numbers corresponding to the local node numbers for
each element? Then we can write the element stiffness matrices as follows
u4 u2 u2 u3
k1 k1 k2 k2
k k 2
k1 k1 k2 k2
u3 u5 u2 u1
k3 k3 k4 k4
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k 3 k 4
k3 k3 k4 k4
Finally, applying the superposition method, we obtain the global stiffness matrix as
follows
s.c
We may note that N1 and N2 obey the definition of shape function that is the shape
function will have a value equal to unity at the node to which it belong and zero value at other
nodes.
tas
u1 u2 u3 u4 u5
da
k4 k4 0 0 0
k4 k1 k2 k4 k2 k1 0
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K 0 k2 k2 k3 0 k3
0 k1 0 k1 0
Ci
0 0 k3 0 k3
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ME2353 Finite Element Analysis
Problems (I set)
1. A simply supported beam subjected to uniformly distributed load over entire
span. Determine the bending moment and deflection at midspan by using Rayleigh –
Ritz method and compare with exact solutions.
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2. A bar of uniform cross section is clamed at one end and left free at another end
and it is subjected to a uniform axial load P. Calculate the displacement and stress in
a bar by using two terms polynomial and three terms polynomial. Compare with
exact solutions.
1.
s.c
1.9 ADVANTAGES OF FINITE ELEMENT METHOD
FEM can handle irregular geometry in a convenient manner.
2. Handles general load conditions without difficulty
tas
3. Non – homogeneous materials can be handled easily.
4. Higher order elements may be implemented.
UNIT II
ONE DIMENSIONAL FINITE ELEMENT ANALYSIS
2.1 ONE DIMENSIONAL ELEMENTS
Bar and beam elements are considered as One Dimensional elements. These
elements are often used to model trusses and frame structures.
Bar is a member which resists only axial loads. A beam can resist axial,
lateral and twisting loads. A truss is an assemblage of bars with pin joints and a frame
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is an assemblage of beam elements.
Types of Loading
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(1) Body force (f)
It is a distributed force acting on the surface of the body. Unit is Force / Unit
area. But for one dimensional problem, unit is Force / Unit length. Ex: Frictional
resistance, viscous drag and Surface shear.
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CO – ORDINATES
(A) Global co – ordinates,
(B) Local co – ordinates and
(C) Natural co –ordinates.
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Natural Co – Ordinate (ε)
Integration of polynomial terms in natural co – ordinates for two dimensional
elements can be performed by using the formula,
s.c
Shape function
N1N2N3 are usually denoted as shape function. In one dimensional
problem, the displacement
tas
u = Ni ui =N1 u1
For two noded bar element, the displacement at any point within the
element is given by,
da
u = Ni ui =N1 u1 + N2 u2
For three noded triangular element, the displacement at any point
within the element is given by,
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u = Ni ui =N1 u1 + N2 u2 + N3 u3
v = Ni vi =N1 v1 + N2 v2 + N3 v3
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1. It is a symmetric matrix,
2. The sum of elements in any column must be equal to zero,
3. It is an unstable element. So the determinant is equal to zero.
Problem (I set)
1. A two noded truss element is shown in figure. The nodal displacements are
u1 = 5 mm and u2 = 8 mm. Calculate the displacement at x = ¼, 1/3 and ½.
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1. Consider a three bar truss as shown in figure. It is given that E = 2 x 10 5
N/mm2. Calculate
(a) Nodal displacement,
(b) Stress in each member and
(c) Reactions at the support. Take Area of element 1 = 2000 mm2, Area of
s.c
element 2 = 2500 mm2, Area of element 3 = 2500 mm2.
tas
da
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Types of beam
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1. Cantilever beam,
2. Simply Supported beam,
3. Over hanging beam,
4. Fixed beam and
5. Continuous beam.
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2.2 LINEAR STATIC ANALYSIS( BAR ELEMENT)
Most structural analysis problems can be treated as linear static problems, based on the
following assumptions
A beam element is defined as a long, slender member (one dimension is much larger
than the other two) that is subjected to vertical loads and moments, which produce vertical
displacements and rotations. The degrees of freedom for a beam element are a vertical
displacement and a rotation at each node, as opposed to only an horizontal displacement at
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Degrees of Freedom
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Assumptions
Forces and moments can only be applied at the nodes of the beam element, not
between the nodes. The nodal forces and moments, , are related to the nodal displacements
and rotations, through the element stiffness matrix, .
Constant Load
The loads that are applied to the beam element are assumed to be static and not to
vary over the time period being considered, this assumption is only valid if the rate of change
of the force is much less than the applied force (F >> dF/dt). If the loads vary significantly,
(if the variation in load is not much less than the applied force) then the problem must be
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considered as dynamic.
Weightless Member
The weight (W) of the beam is neglected, if it is much less than the total resultant
forces (F) acting on the beam. If the weight of the beam is not neglected, then its effects must
s.c
be represented as vertical forces acting at the nodes, by dividing up the weight and lumping it
at the nodes, proportionally according to it's placement along the beam.
Prismatic Member
The beam element is assumed to have a constant cross-section, which means that the
tas
cross-sectional area and the moment of inertia will both be constant (i.e., the beam element is
a prismatic member). If a beam is stepped, then it must be divided up into sections of
constant cross-section, in order to obtain an exact solution. If a beam is tapered, then the
beam can be approximated by using many small beam elements, each having the same cross-
da
section as the middle of the tapered length it is approximating. The more sections that are
used to approximate a tapered beam, the more accurate the solution will be.
The moment of inertia is a geometric property of a beam element, which describes the
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beams resistance to bending and is assumed to be constant through the length of the element.
The moment of inertia can be different along different axes if the beam element is not
symmetric, we use the moment of inertia (I) of the axis about which the bending of the beam
occurs
Ci
Where (Iz) refers to the moment of inertia, resisting bending about the "z" axis and (Iy) about
the "y" axis.
A beam is assumed to be a slender member, when it's length (L) is more than 5 times
as long as either of it's cross-sectional dimensions (d) resulting in (d/L<.2). A beam must be
slender, in order for the beam equations to apply, that were used to derive our FEM
equations.
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The Beam Bends without Twisting.
It is assumed that the cross-section of the beam is symmetric about the plane of
s.c
bending (x-y plane in this case) and will undergo symmetric bending (where no twisting of
the beam occurs during the bending process). If the beam is not symmetric about this plane,
then the beam will twist during bending and the situation will no longer be one-dimensional
and must be approached as an unsymmetric bending problem (where the beam twists while
tas
bending) in order to obtain a correct solution.
cross section will move uniformly and remain plane to the beam centerline. In other words,
plane sections remain plane and normal to the x axis before and after bending.
Axially Rigid
vil
The one-dimensional beam element is assumed to be axially rigid, meaning that there
will be no axial displacement (u) along the beams centriodal axis. This implies that forces
will only be applied perpendicular to the beams centriodal axis. The one-dimensional beam
element can be used only when the degrees of freedom are limited to vertical displacements
Ci
(perpendicular to the beams centriodal axis) and rotations in one plane. If axial displacements
are present then a one-dimensional bar element must be superimposed with the one-
dimensional beam element in order to obtain a valid solution.
Homogenous Material
A beam element has the same material composition throughout and therefore the same
mechanical properties at every position in the material. Therefore, the modulus of elasticity E
is constant throughout the beam element. A member in which the material properties varies
from one point to the next in the member is called inhomogenous (non-homogenous). If a
beam is composed of different types of materials, then it must be divide up into elements that
are each of a single homogeneous material, otherwise the solution will not be exact.
Isotropic Material
A beam element has the same mechanical and physical properties in all directions,
i.e., they are independent of direction. For instance, cutting out three tensile test specimens,
one in the x-direction, one in the y-direction and the other oriented 45 degrees in the x-y
plane, a tension test on each specimen, will result in the same value for the modulus of
elasticity (E), yield strength and ultimate strength . Most metals are considered
isotropic. In contrast fibrous materials, such as wood, typically have properties that are
directionaly dependant and are generally considered anisotropic (not isotropic).
It is assumed that the beam element is initially straight and unstressed. It is also
assumed that the material does not yield, therefore the beam will be straight after the load is
om
released. These assumptions mean that the beam must be made of an elastic material, one
which will return to it's original size and shape when all loads are removed, if not stressed
past the materials elastic or proportional limit. It is also assumed that the beam is not stressed
past the proportional limit, at which point the beam will take a permanent set and will not
fully return to it's original size and shape, when all loads are removed. Below the proportional
s.c
limit an elastic material is in the linear elastic range, where the strain ( ) varies linearly with
the applied load and the stress ( ) varies linearly according to:
modulus of elasticity.
, where E is the
must be constrained. If rigid body motion is not constrained, then a singular system of
equations will result, since the determinate of the mesh stiffness matrix is equal to zero (i.e.,
).
vil
There are two rigid body modes for the one-dimensional beam element, a translation
(displacement) only and a rotation only. These two rigid body modes can occur at the same
time resulting in a displacement and a rotation simultaneously. In order to eliminate rigid
body motion in a 1-D beam element (body), one must prescribe at least two nodal degrees of
Ci
freedom (DOF), either two displacements or a displacement and a rotation. A DOF can be
equal to zero or a non-zero known value, as long as the element is restrained from rigid body
motion (deformation can take place when forces and moments are applied) .
For simplicity we will introduce the rigid body modes using a mesh composed of a
single element. If only translational rigid body motion occurs, then the displacement at local
node I will be equal to the displacement at local node J. Since the displacements are equal
there is no strain developed in the element and the applied nodal forces cause the element to
move in a rigid (non-deflected) vertical motion (which can be either up as shown below or it
can be in the downward direction depending on the direction of the applied forces).
This rigid body mode can be suppressed by prescribing a vertical nodal displacement.
If rotational rigid body motion occurs, then the rotation at local node I will be equal to
the rotation at local node J (i.e., in magnitude and direction). In this situation the nodal forces
and/or moments applied to the element, cause the element to rotate as a rigid body (either
clockwise as shown below or counterclockwise depending on the direction of the applied
forces and/or moments).
om
s.c
This rigid body mode can be suppressed by prescribing a nodal translation or rotation.
Dependent
Unstable and
Equations
Dependent
Unstable
Equations
Dependent
Unstable
Equations
Independen
Stable None
t Equations
Independen
Stable None
t Equations
om
2.4 1-D 2-NODED CUBIC BEAM ELEMENT MATRICES
A single 1-d 2-noded cubic beam element has two nodes, with two degrees of
s.c
freedom at each node (one vertical displacement and one rotation or slope). There is a total of
4 dof and the displacement polynomial function assumed should have 4 terms, so we choose
a cubic polynomial for the vertical deflection. Slope is a derivative of the vertical
deflections.
tas
The vertical displacement v a bx cx 2 dx 3 …………………..(1)
dv
The slope b 2cx 3dx 2 …………………..(2)
dx
da
at x 0, v v1 v1 a a v1
vil
at x 0, 1 1 b b 1
3 1
2 2
c v v1 21 2
at x l , v v2 v2 a bl cl 2 +dl 3 l l
solving
at x l , 2 2 b 2cl 3dl 2 2 1
d 3 v1 v2 2 1 2
Ci
l l
Substituting the values of a, b, c and d in equation (1), and collecting the coefficients of
v1 , 1 , v2 , 2 we obtain
where
x2 x3 x 2 x3
N1 1 3 2 , N2 x 2 ,
l2 l3 l l2
x2 x3 x 2 x3
N3 3 2 2 3 , N4 2
l l l l
om
y s.c dx R
x
R y R
y d2y
y 2
tas
R R dx
d 2v d2
x y y N1v1 N 21 N3v2 N 4 2
dx 2 dx 2
vil
v1
d N1
2 2
d N2 2
d N3 d N 4 1
2
x y
dx 2 v2
Ci
2
dx dx 2 dx 2
2
B a
x B a
We Know that,
K B D B dv
T
d 2 N1
2
dx
d 2 N2
2 d 2N d 2 N2 d 2 N3 d 2 N4
K y dx2 E y 2 1 dv
volume d N3 dx dx 2 dx 2 dx 2
dx 2
2
d N4
dx 2
om
d 2 N 2 d 2 N1 d 2 N 2 d 2 N1 d 2 N 3 d 2 N1 d 2 N 4
1
2 2 2 2
dx dx dx
2 2 2
dx dx dx dx
2 2
d N 2 d N1
2
d 2 N2 d 2 N 2 d 2 N3 d 2 N2 d 2 N4
dx 2 dx 2 2 2 2 2 2
2 dx dx dx dx dx
K E 0 y 2
l
v
dx dx
2
d N2 3 d N2 1
s.c
d 2 N3 d 2 N 2
2
dx dx
2
d 2 N3
dx
2
2
d 2 N3 d 2 N 4
dx 2
dx 2
dAdx
2
d 2 N 4 d 2 N1 d 2 N 4 d 2 N 2 d 2 N 4 d 2 N3 d 2 N4
dx 2 dx 2 2 2 2
tas
2 2
dx dx dx dx dx
l
Where, 0
y 2 dA I
da
d 2 N1
2
dx
d 2 N2
v dx 2 d N
vil
2
d 2 N2 d 2 N3 d 2 N4
K EI 0 d 2 N dx 2 1
dx
3
dx 2 dx 2 dx 2
dx 2
2
d N4
Ci
dx 2
Where,
3x 2 2 x3 dN1 6 x 6 x 2 d 2 N1 6 12 x
N1 1 2 3 2 3 2 3
l l dx l l dx 2 l l
2 x 2 x3 dN 2 4 x 3x 2 d 2 N 2 4 6 x
N2 x 2 1 2 2
l l dx l l dx 2 l l
3x 2 3x3 dN 3 6 x 6 x 2 d 2 N 3 6 12 x
N3 2 3
l2 l3 dx l2 l3 dx 2 l l
x3 x 2 dN 4 3 x 2 x d 2 N4 6x 2
N4 2
l2 l dx l2 l dx 2 l l
6 12 x
l2 l3
4 6 x
2
l 6 12 x 4 6 x 6 12 x 6 x 2
K EI 0
l l
2 l 3 l l 2 l 2 l 3 l 2 l dx
6 12 x l
om
2 3
l l
6x 2
2
l l
l 6
0
l
12 x 6 12 x
K11 EI 2 3 2 3 dx
l l l
s.c
l 6l 12 x 6l 12 x
tas
K11 EI dx
0
l3 l3
l 36l 72 xl 72 xl 144 x
2 2
K11 EI dx
0
l6
da
l
36 xl 2 144 x 2l 144 x3
K11 EI 6
l 2l 6 3l 6 o
Ci
36 72 48
K11 EI 3 3 3
l l l
12EI
K11
l3
l 6 12 x 4 6 x
K12 EI 2 3 2 dx
0
l l l l
l 6l 12 x 4l 6 x
K12 EI dx
l3 l
0 2
l 24l 48 xl 36 xl 72 x
2 2
K12 EI dx
0
l5
l 24l 84 xl 72 x 2
2
K12 EI 5 5 5 dx
0
l l l
l
l 24 xl 84 x 2l 72 x3
2
K12 EI 5 5
0
l 2l 5 3l 0
om
24 42 24
K12 EI 2 2 2
l l l
6EI
K12
l2 s.c
l 6 12 x 6 12 x
K13 EI 2 3 2 3 dx
0
l l l l
tas
l 6l 12 x 6l 12 x
K13 EI dx
l3 l
0 3
l 36l 72 xl 72 xl 144 x
2 2
K13 EI dx
da
0
l6
l
l 36 xl 144 x 2l 144 x3
2
K13 EI 6
3l 6 0
vil
0
l 2l 6
36 72 48
Ci
K13 EI
l3
12EI
K 13
l3
l 6 12 x 6 x 2
K14 EI 2 3 2 dx
0
l l l l
l 6l 12 x 6 x 2l
K14 EI dx
l3 l
0 2
l 12l 36 xl 24 xl 72 x
2 2
K14 EI dx
0
l5
l 12l 60 xl 72 x 2
2
K14 EI 5 5 5 dx
0
l l l
l
12 xl 2 60 x 2l 72 x3
l
K14 EI 5 5
0
l 2l 5 3l 0
30 12 24
K14 EI
l2
om
6EI
K14
l2
l 4 6 x 6 12 x
K 21 EI 2 2 3 dx
K 21
0
6EI
l l l l s.c
l2
tas
l 4 6 x 4 6 x
K 22 EI 2 2 dx
0
l l l l
l 4l 6 x 4l 6 x
K 22 EI
da
dx
l l
0 2 2
l 16l 2 24 xl 24 xl 36 x 2
K 22 EI dx
l4
vil
0
l 16l 48 xl 36 x 2
2
K 22 EI 4 4 4 dx
0
l l l
Ci
l
l16 xl 2 48 x 2l 36 x3
K 22 EI 4 4
0
l 2l 4 3l 0
16 24 12
K 22 EI
l
4EI
K 22
l
l 4 6 x 6 12 x
K 23 EI 2 2 3 dx
0
l l l l
l 4l 6 x 6l 12 x
K 23 EI dx
l l
0 2 3
l 24l 36 xl 48 xl 72 x
2 2
K 23 EI dx
0
l5
l 24l 84 xl 72 x
2 2
K 23 EI dx
0
l5
om
l
l 24 xl 2 84 x 2l 72 x3
K 23 EI 5 5
0
l 2l 5 3l 0
24 42 24
K 23 EI
l2 s.c
6EI
K 23
l2
tas
l 4 6x 6x 2
K 24 EI 2 2 dx
0
l l l l
l 4l 6 x 6 x 2l
K 24 EI dx
da
l l
0 2 2
l 8l 24 xl 12 xl 36 x
2 2
K 24 EI dx
0
l4
vil
l 8l 36 xl 36 x
2 2
K 24 EI dx
0
l4
Ci
l
l 8 xl 2 36 x 2l 36 x3
K 24 EI 4 4
0
l 2l 4 3l 0
18 12 8
K 24 EI
l
2EI
K 24
l
l 6 12 x 6 12 x
K 31 EI 2 3 2 3 dx
0 l l l l
12EI
K 31
l3
l 6 12 x 4 6 x
K 32 EI 2 3 2 dx
0 l l l l
6EI
K 32
l2
om
l 6 12 x 6 12 x
K 33 EI 2 3 2 3 dx
0 l l l l
l 6l 12 x 6l 12 x
K 33 EI dx
l l
0 3 3
K 33 EI
0
2
l6
s.c
l 36l 72 xl 72 xl 144 x
2
dx
tas
l 36l 144 xl 144 x
2 2
K 33 EI dx
0
l6
l
36 xl 2 144 x 2l 144 x3
l
K33 EI 6
3l 6 0
da
0
l 2l 6
36 72 48
K 33 EI
l3
vil
12EI
K 33
l3
Ci
l 6 12 x 6 x 2
K 34 EI 2 3 2 dx
0 l l l l
l 6l 12 x 6 x 2l
K 34 EI dx
l l
0 3 2
l 12l 24 xl 36 xl 72 x
2 2
K34 EI dx
0
l5
l 12l 60 xl 72 x
2 2
K34 EI dx
0
l5
l
12 xl 2 60 x 2l 72 x3
l
K34 EI 5 5
0
l 2l 5 3l 0
12 30 24
K 34 EI
l2
6EI
K 34
l2
om
l 6x 2 6 12 x
K 41 EI 2 2 3 dx
0
l l l l
6EI
K 41
l2 s.c
l 6x 2 4 6 x
K 42 EI 2 2 dx
0
l l l l
tas
2EI
K 42
l
l 6x 2 6 12 x
K 43 EI 2 2 3 dx
da
0
l l l l
6EI
K 43
l2
vil
l 6x 2 6x 2
K 44 EI 2 2 dx
0
l l l l
Ci
l 6 x 2l 6 x 2l
K 44 EI dx
l l
0 2 2
l 4l 12 xl 12 xl 36 x
2 2
K 44 EI dx
0
l4
l 4l 24 xl 36 x
2 2
K 44 EI dx
0
l4
l
l 4 xl 2 24 x 2l 36 x3
K 44 EI 4 4
0
l 2l 4 3l 0
12 4 12
K 44 EI
l
4EI
K 44
l
Therefore K is
12 6 12 6
om
l3 l2 l3 l2
6 4 6 2
2 l2 l
K EI l l
12 6 12 6
l3 l2 l3 l2 s.c
6 2 6 4
2
l l l2 l
become the nodes of the beam element. The bending deformation is measured as a transverse
(vertical) displacement and a rotation (slope). Hence, for each node, we have a vertical
displacement and a rotation (slope) – two degrees of freedom at each node. For a single 2-
noded beam element, we have a total of 4 degrees of freedom. The associated “forces” are
vil
1 M1
2 M2
v1 v2 F1 F2
Ci
1st
vertical
degree vi or v1 shear force at node Fi or F1
displacement at 1 1
of i
node i corres-
freedom
2nd pond-
slope or rotation at bending moment at
degree of 2 i or 1 ing to M i or M 1 2
node i node i
freedom
3rd vertical 3 v j or v2 shear force at node F j or F2 3
degree of displacement at i
freedom node j
4th
slope or rotation at bending moment at
degree of 4 j or 2 M j or M 2 4
node j node j
freedom
The stiffness term kij indicates the force (or moment) required at i to produce a unit
deflection (or rotation) at j, while all other degrees of freedom are kept zero.
Sign conventions followed
Upward forces are positive and upward displacements are positive.
Counter-clockwise moments are positive and counter-clockwise rotations are positive.
om
Formulae required – cantilever beam subjected to concentrated load and moment.
P PL2 ML
M
2 EI EI
s.c
PL3
3EI
ML2
2 EI
tas
2.6.1 ELEMENT MATRICES AND VECTORS
Initially you have a horizontal beam element. Since v2 2 0 , we can fix node j. To produce
an upward deflection at node i (i.e., allowing first degree of freedom to occur), apply an
upward force k11 (first suffix indicates the force or moment DoF and the second suffix
vil
k11 L3
indicates the displacement or rotational DoF). v1 upwards. Refer table for
3EI
displacement DoF number and force DoF number. Now the beam configuration is given by
Figure 1. We can observe from the figure that the slope at node i is not zero. To make the
Ci
slope at i equal to zero, we need to apply a counter-clockwise moment k21 . Refer Figure 2.
k21 L2
But this moment k21 will produce a downward deflection at node i. Refer Figure
2 EI
3. In order to have a resultant unit upward displacement at node i, upward displacement
produced by force k11 must be greater than the downward displacement produced by the
k11 L3 k21 L2
moment k21 . i.e., 1 …..(1). At the same time, the negative slope produced at
3EI 2 EI
node i by the force k11 must be cancelled by the positive slope produced by the moment k21 .
k11 L2 k21 L
i.e., ….(2). Solving these two equations, k11 and k21 are found. The fixed end
2 EI EI
reaction force and the reaction moment are assumed to be acting upwards and
counterclockwise, respectively. Now use force equilibrium equation to find fixed end
reaction force k31 ….… Fy 0 k11 k31 0 and moment equilibrium equation about
node i to find fixed end reaction moment k41 .... M i 0 k21 k31 L k41 0 .
k41
k21
om
k21
1unit
k11 12 EI
L3
s.c
k21 6 EI
tas
L2
12 EI
k31 3
L
6 EI
da
k
41 L2
vil
Ci
Initially you have a horizontal beam element. Since v2 2 0 , we can fix node j. To produce
a counterclockwise (positive) rotation or slope at node i (i.e., allowing second degree of
k L
freedom to occur), apply a counterclockwise moment k22 . 1 22 . Refer Figure 1. This
EI
2
k L
moment k22 will produce a downward deflection 22 . This downward deflection should be
2 EI
canceled by applying an upward force k12 at node i. The upward deflection produced by k12 is
k12 L3 k L2 k L3
. Refer Figure 2. Equating these two deflections 22 12 …(1) But this upward
om
3EI 2 EI 3EI
k12 L2
force k12 will also produce a negative slope at node i which is . Refer Figure 3. Hence
2 EI
the rotation produced by k22 should be greater than that produced by k12 so that the resultant
k22 L k12 L2
rotation is 1 radians. 1 ….(2). Solving these two equations, k12 and k22 are
s.c
EI 2 EI
found. The fixed end reaction force and the reaction moment are assumed to be acting
upwards and counterclockwise, respectively. Now use force equilibrium equation to find
fixed end reaction force k32 … Fy 0 k12 k32 0 and moment equilibrium
tas
equation about node i to find fixed end reaction moment k42 ....
M i 0 k 22 k32 L k 42 0 .
k22 k12 6 EI
da
k22 L2
k42
k22 4 EI
k12 k32 L
Figure 1.
Figure 4.
6 EI
vil
k32 2
L
2 EI
k22 1 rad k
42 L
Ci
k12
k12 Figure 2. Figure 3.
Initially you have a horizontal beam element. Since v1 1 0 , we can fix node i. To produce
an upward deflection at node j (i.e., allowing third degree of freedom to occur), apply an
upward force k33 .
k33 L3
v2 upwards. Now the beam configuration is given by Figure 1. We can observe from
3EI
the figure that the slope at node j is not zero. To make the slope at j equal to zero, we need to
apply a clockwise moment k43 . Refer Figure 2. But this moment k43 will produce a downward
k43 L2
deflection at node j. Refer Figure 3. In order to have a resultant unit upward
2 EI
displacement at node j, upward displacement produced by force k33 must be greater than the
k33 L3 k43 L2
downward displacement produced by the moment k43 . i.e., 1 …..(1). At the
om
3EI 2 EI
same time, the positive slope produced at node j by the force k33 must be cancelled by the
k33 L2 k43 L
negative slope produced by the moment k43 . i.e., ….(2). Solving these two
2 EI EI
equations, k33 and k43 are found. The fixed end reaction force and the reaction moment are
s.c
assumed to be acting upwards and counterclockwise, respectively. Now use force equilibrium
equation to find fixed end reaction force k13 … Fy 0 k13 k33 0 and moment
equilibrium equation about node i to find fixed end reaction moment k23 ....
M k 23 k33 L k 43 0 .
tas
i 0
k43
k23
k13 12 EI
L3
da
k13 k33
Figure 4.
k33 k23 6 EI
Figure 1. L2
12 EI
k43 k33
L
vil
k43 6 EI
1unit k 2
43 L
Figure 2.
k33
Ci
Figure 3.
Initially you have a horizontal beam element. Since v1 1 0 , we can fix node i. To produce a
counterclockwise (positive) rotation or slope at node j (i.e., allowing fourth degree of freedom
k L
to occur), apply a counterclockwise moment k44 . 2 44 . Refer Figure 1. This moment k44 will
EI
k44 L2
produce a upward deflection . This upward deflection should be canceled by applying a
2 EI
k L3
downward force k34 at node j. The downward deflection produced by k34 is 34 . Refer Figure
3EI
2 3
k L k L
2. Equating these two deflections 44 34 …(1) But this downward force k34 will also
2 EI 3EI
k L2
produce a negative slope at node j which is 34 . Hence the rotation produced by k44 should be
2 EI
k L k L2
greater than that produced by k34 so that the resultant rotation is 1 radians. 44 34 1 ….(2)
EI 2 EI
Refer Figure 3. Solving these two equations, k34 and k44 are found. The fixed end reaction force
and the reaction moment are assumed to be acting upwards and counterclockwise, respectively.
om
Now use force equilibrium equation to find fixed end reaction force k14 …
F y 0 k14 k34 0 and moment equilibrium equation about node i to find fixed end
reaction moment k24 .... M i 0 k24 k34 L k44 0 .
s.c k24 k44 k14 6 EI
L2
k44 k24 2 EI
k34 L
tas
Figure 1. k14
Figure 4.
6 EI
k34 2
k34 k34 L
4 EI
k
44 L
da
1 k44
Figure 3.
Figure 2.
vil
Problem
Find the slopes at the supports and support reaction forces and support reaction moments for the
Ci
beam shown in Figure. Take E=210 GPa, I = 2×10-4 m4. Daryl Logan P4-24 page 208.
kN
5
m
5m 4m
2
Finite element representation of the problem
v2
qL qL
Force kN kN
kN 2 2
q
m
Lm qL2 qL2
Moment kN m kN m
12 12
for element 1,
12.5 kN 12.5 kN
5 m kN
om
5 10.416667 kN m 10.416667 kN m
m
for element 2,
10 kN 10 kN
kN
5
m
s.c
4m
6.66667 kN m 6.66667 kN m
tas
4 kN 4
EI 210 GPa 2 10 m 210 10 2 2 10 m 42000 kN-m2
4 6 4
v1 v2 v3 0 1 ? 2 ? 3 ?
om
10, 080 0
0 10.416667 10, 080
33, 600 10, 080 16,800 0 0 1
F2 22.5 4, 032 10, 080 4, 032 7,875 10, 080 15, 750 7,875 15, 750 0
0 3.75 10, 080 16,800 10, 080 15, 750 33, 600 42, 000 15, 750 21, 000 2
F3 10 0 0 7,875 15, 750 7,875 15, 750 0
0 6.66667
0 0
s.c 15, 750
21, 000 15, 750 42, 000 3
Eliminating the first, third and fifth rows and columns of the stiffness matrix, the reduced matrix
tas
becomes
Substituting these values in the assembled matrix to find the support reactions, we find
F 22.5 10, 080 3.59623 10 5, 670 9.92 10 15, 750 1.0913 10
2
4 5 4
kN
It is verified that the total applied load 5 5m 45kN is equal to the sum of the support
m
reaction forces (9.875+28.406+6.71869 = 45 kN).
om
10.416667 kN-m 2.70816 kN-m 6.45813 kN-m 6.66667 kN-m
2.624832 kN
s.c
2.624832 kN 3.2811975 kN 3.2811975 kN
F1(1) 10, 080 3.59623 104 10, 080 9.92 105 2.624832 kN
Element 2
F1(1) 15, 750 9.92 10 5 15, 750 1.0913 10 4 3.2811975 kN
Ci
M 1(1) 42, 000 9.92 10 5 21, 000 1.0913 10 4 6.45813 kN-m
F2(1) 15, 750 9.92 10 5 15, 750 1.0913 10 4 3.2811975 kN
M 2(1) 21, 000 9.92 10 5 42, 000 1.0913 104 6.66667 kN-m
PROBLEM
Given that E=210 GPa and I=4×10-4 m4, cross section of the beam is constant.
Determine the deflection and slope at point C. calculate the reaction forces and moments.
DARYL LOGAN P 171-172
1kN
20 kN-m
A C
B
om
3m 3m
Solution:-
2
s.c 4 6
tas
1 3 5
M1 M2 M3
vil
F1 F2 F3
Ci
Ѳ1 Ѳ2 Ѳ3
v1 v2 v3
Stiffness matrix for element 1 and 2:-
12 EI 6 EI 12 EI 6 EI
l3
l2 l3 l2
6 EI 4 EI 6 EI
2
2 EI
l2 l
K K
l l
1 2
12 EI 6 EI
2
12 EI 6 EI
2
l3 l l3 l
6 EI 2 EI 6 EI 4 EI
2 2
l l l l
12 18 12 18
36 18 18
6 18
K K
1 2
om
12 18 12 18
18 18 18 36
Assembling:-
F1
M
12
18
18 12
s.c 18 0 0 v1
1
36 18 18 0 0 1
F2
6 12 18 0 v2
tas
24 0 0
3.1
M2 18 18 0 72 18 18 2
F3 0 0 12 18 12 18 v3
3 18 18 36 3
da
M 0 0 18
Boundary condition:-
vil
F2 24 0 v2
3 .1 1 0
6
0
m2 7 2 2
F2 12 18
m 18 18
2 6
3.1 10
F
3 12 18
m3
18 18
F1=10000N
M1=12500N-m
om
F3=0
M3= -2500N-m
12,500N-m 17,500N-m
s.c
tas
10,000N 10,000N
2,500N-m 2500N-m
vil
0
Ci
10kN
12.5kN-m 20kN-m
2.5kN-m
10kN
om
s.c
tas
da
vil
Ci
UNIT III
TWO DIMENSIONAL FINITE ELEMENT ANALYSIS
3.1 INTRODUCTION
Two dimensional elements are defined by three or more nodes in a two dimensional
plane (i.e., x, y plane). The basic element useful for two dimensional analysis is the
triangular element.
om
Plane Stress and Plane Strain s.c
The 2d element is extremely important for the Plane Stress analysis and Plane
Strain analysis.
tas
Plane Stress Analysis:
It is defined to be a state of stress in which the normal stress () and shear
stress () directed perpendicular to the plane are assumed to be zero.
da
The physical domain considered is geometrically a 2-Dimensional domain, i.e., an area with
Ci
uniform thickness and the single variable can be one of pressure, temperature, etc. (a scalar
quantity, not a vector quantity). An example is the temperature distribution in a plate. At each
point there can be only one temperature. We consider such an area meshed with triangular
elements. Each triangular element has three nodes, (i.e., one node at each corner). Let us consider
one such element with coordinates x1 , y1 , x2 , y2 and x3 , y3 . The single variable (for example,
temperature) at these nodes 1, 2 and 3 are u1 , u2 and u3 , respectively. If so, then the unknown single
variable u (temperature) at any non-nodal point x, y in the 2-D domain can be expressed in terms
of the known nodal variables (temperatures) u1 , u2 and u3 .
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u c1 c2 x c3 y
In order to find the three unknowns c1 , c2 and c3 , we apply the boundary conditions
at x1 , y1 , u u1 u c1 c2 x1 c3 y1 y
at x2 , y2 , u u2 u c1 c2 x2 c3 y2
at x3 , y3 , u u3 u c1 c2 x3 c3 y3 3 (x3,y3)
Writing the above three equations in matrix form u3
u1 1 x1 y1 c1 u2
u2 1 x2 y2 c2 u1 2 (x2,y2)
om
u 1 x y3 c3 1 (x1,y1)
3 3
2 x3 y1 x1 y3 2 y3 y1 2 x3 x1
3 x1 y2 x2 y1 3 y1 y2 3 x1 x2
vil
c1 1 2 3 u1
Ci
1
c2 1 2 3 u2
c 2 A 3 u3
3 1 2
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y
4 (0,b) 3 (a,b)
x
1 (0,0) 2 (a,0)
x
om
Let us assume that the single variable can be expressed as
u x , y c1 c2 x c3 y c4 x y ………………(1)
s.c
This polynomial contains four linearly independent terms and is linear in x and y, with a
bilinear term in x and y. The polynomial requires an element with four nodes. There are two
possible geometric shapes: a triangle with the fourth node at the centroid of the triangle or a
rectangle with nodes at the vertices.
tas
A triangle with a fourth node at the center does not provide a single-valued variation of u at
inter-element boundaries, resulting in incompatible variation of u at inter-element boundaries and is
therefore not admissible.
da
The linear rectangular element is a compatible element because on any side, the single
variable u varies only linearly and there are two nodes to uniquely define it.
Here we consider an approximation of the form given in eqauation (1) and use a rectangular
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element with sides a and b. For the sake of convenience we choose a local coordinate system
x , y to derive the interpolation functions.
In order to find the three unknowns c1 , c2 and c3 , we apply the boundary conditions
Ci
at 0, 0 , u u1 u c1
at a, 0 , u u2 u c1 c2 a
at a, b , u u3 u c1 c2 a c3ab
at 0, b , u u3 u c1 c4b
Solving for c1, c2, c3 and c4
y
u u u u u1 u2 u3 u4
c1 u1 , c1 2 1 , c3 4 1 , c4 ,
a b ab
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3 x1 , y1 u3
v1
u1 v2
1 x1 , y1
u2
2 x2 , y2
om
x
Figure shows a 2-D two-variable linear triangular element with three nodes and the two dof at each
node. The nodes are placed at the corners of the triangle. The two variables (dof) are displacement
in x-direction (u) and displacement in y-direction (v). Since each node has two dof, a single element
s.c
has 6 dof. The nodal displacement vector is given by
u1
v
tas
1
u
U 2
v2
u3
da
v3
u x, y c1 c2 x c3 y
v x, y c4 c5 x c6 y
c1
c
2
u 1 x y 0 0 0 c3
v 0 0 0 1 x y c4
c5
c6
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Using steps we had developed for the 2-D single-variable linear triangular element, we can write
c1 1 2 3 u1
1
c2 1 2 3 u2
c 2 A 3 u3
3 1 2
c4 1 2 3 v1
1 v
c5 1 2 3 2
c 2 A 3 v3
6 1 2
om
and using the interpolation functions we had developed for the 2-D single-variable linear triangular
element, we can write
1
Ni i i x i y , i 1, 2,3
tas
2A
u1
v
1
da
u x, y N1 0 N2 0 N3 0 u2
Writing the above equations in matrix form v x, y 0 N1 0 N2 0 N 3 v2 The
u3
vil
v3
U N a
strains associated with the two-dimensional element are given by
Ci
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u
N i
x x i
v x
y and note that
N i
y i
xy u v y
y x
u1
v
u1 1
u N1 N 2 N 3 N1 N 2 N 3 u
N1u1 N 2u2 N 3u3 u2 0 0 0 2
x x x x x x x x v2
u3 u3
v3
om
u1
v
v1 1
v N1 N 2 N 3 N1 N 2 N 3 u2
N1v1 N 2 v2 N 3v3 v2 0 0 0
y y y y y y y y v2
s.c 3
v
u3
v3
u1
v
1
tas
u v N1 N1 N 2 N 2 N 3 N 3 u2
N1u1 N 2u2 N 3u3 N1v1 N 2 v2 N 3v3
y x y x y x y x y x v2
u3
v3
da
N1 N 2 N 3 u1 u1
0 0 0 v v
x x x x 1 1 0 2 0 3 0 1
N1 N 2 N 3 u2 u
y 0
vil
0 0 0 1 0 2 0 3 2
y y y v2 v
xy N 1 1 2 2 3 3 2
N1 N 2 N 2 N 3 N 3 u3 u3
1
y x y x y x v3 v3
Ci
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D
x x
y D y
xy xy
D B a
where t is the thickness of the plate. The integrand B D B is not a function of x and y and
T
om
K tA B D B
T
D matrix is the material constitutive matrix, either for the plane-stress case or for the plane-strain
case depending on the problem in hand.
x y
N3
ab
xy
N 4 1
ab
vil
x y
x z
Ci
E E E
y
y x z
E E E
y z
z x
E E E
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x
E
x y and
om
1 2
y
E
x y
1 2
xy G xy
E
21
xy
s.c
1 E 2
1 21
2 xy
tas
1 1 E
xy
1 2
21
E 1
xy xy
1 2
da
x
1 x
vil
0
E
1
y 0 y
1
2
1
xy 0 0 xy
2
Ci
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x
x
y 2 x
y
E E E
y x y 2 x
y
E E E
rearranging the terms we get
x y
x
E
E
1 2 1
y
y x 1
E E
1 2
mutiplying by X by and Y by 1 -
om
y 2
x x 1 2
E E
1
1 y x 1 1 y 1 1 2
E E s.c
y
x 1 2
E E
1 1 2
adding the above two equations to eliminate x
y
1 1 1 2
tas
x 1 y 2
E
y
x 1 y
E
2
1 1 1 1
da
y
x 1 y 1 2 1 1
E
x 1 y y
1
2
1 2 2
vil
x 1 y
y E
Ci
1 1 2
similarly
1 x y
x E
1 1 2
andas before
E
xy xy
21
writing x , y and xy in matrixform
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x 1 0 x
y
E 1 0 x
1 1 2 1 2 xy
xy 0 0
2
It is difficult to represent the curved boundaries by straight edges element a large number of
element may be used to obtain reasonable resembalance between original body and the
assemblage
Two-Dimensional Problems
Review of the Basic Theory
In general, the stresses and strains in a structure consist of six components:
om
sx , sy , s z , txy , t yz , tzx for stresses,
s.c sy
t yz t xy
tas
y sx
tzx
sz
x
da
z
Under contain conditions, the state of stresses and strains can be simplified. A general
vil
sz tyz
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y y
Plane strain:
om
A long structure with a uniform cross section and transverse loading along its
length (z-direction).
y y
s.c
tas
p
x z
da
vil
ex 1/ E n /E 0 sx ex 0
ey n /E 0 sy ey 0
1/ E
gxy 0 0 1/ G txy gxy 0
where e0 is the initial strain, E the Young’s modulus, n the Poisson’s ratio and G the
shear modulus. Note that,G =
( )
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which means that there are only two independent materials constants for homogeneous and
isotropic materials.
We can also express stresses in terms of strains by solving the above equation,
The above relations are valid for plane stress case. For plane strain case, we
need to replace the material constants in the above equations in the following fashion,
n
n
1- n
For example, the stress is related to strain by
om
where a is the coefficient of thermal expansion, T the change of temperature. Note that
if the structure is free to deform under thermal loading, there will be no (elastic) stresses in the
structure.
s.c
3.6 GENERALIZED COORDINATES APPROACH TO NODEL APPROXIMATIONS
ty
tas
p
y tx
St
da
Su
x
vil
The boundary S of the body can be divided into two parts, Su and St. The boundary
conditions (BC’s) are described as, in which tx and ty are traction forces (stresses on the boundary)
Ci
In FEM, all types of loads (distributed surface loads, body forces, concentrated forces
and moments, etc.) are converted to point forces acting at the nodes.
Exact Elasticity Solution
The exact solution (displacements, strains and stresses) of a given problem must satisfy the
equilibrium equations, the given boundary conditions and compatibility conditions (structures
should deform in a continuous manner, no cracks and overlaps in the obtained displacement field)
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om
s.c
The element connectivity table for the above domain is explained as table.
tas
Element (e) Nodes
(1) 123
(2) 234
(3) 435
(4) 536
da
(5) 637
(6) 738
(7) 839
(8) 931
vil
Constant Strain Triangular (CST) Element
Ci
Shape function for the CST element Shape function N1 = (p1 + q1x + r1y) / 2A
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om
v3
q1 0 q2 0 q3 0
s.c 1 0 r1 0 r2 0 r3
Strain – Displacement matrix [B] =
2A
r1 q1 r2 q2 r3 q3
Where, q1 = y2 – y3 r1 = x3 – x2
tas
q2 = y3 – y1 r2 = x1 – x3
q3 = y1 – y2 r3 = x2 – x1
Stress – Strain relationship matrix (or) Constitutive matrix [D] for two
da
dimensional element
1 v v v 0 0 0
vil
v 1 v v 0 0 0
v v 1 v 0 0
0
E
Ci
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Stress – Strain relationship matrix for two dimensional plane stress problems
The normal stress z and shear stresses xz, yz are zero.
1 v 0
E
v 1 0
[D] = 1 v 2
1 v
0 0
2
Stress – Strain relationship matrix for two dimensional plane strain
om
problems
Normal strain e z and shear strains exz, eyz are zero.
Stiffness matrix equation for two dimensional element (CST element)
s.c
Stiffness matrix [k] = [B]T [D] [B] A t
q1 0 q2 0 q3 0
1 0 r1 0 r2 0 r3
2A
[B] =
tas
r1 q1 r2 q2 r3 q3
For plane stress problems,
da
1 v 0
E
v 1 0
[D] = 1 v 2
1 v
0 0
vil
2
For plane strain problems,
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Temperature Effects
Distribution of the change in temperature (ΔT) is known as strain. Due to the
change in temperature can be considered as an initial strain e0.
σ = D (Bu - e0)
Galerkin Approach
om
s.c
Problem (I set)
tas
1. Determine the shape functions N1, N2 and N3 at the interior point P for the
triangular element for the given figure.
da
vil
Ci
The two dimensional propped beam shown in figure. It is divided into two CST
elements. Determine the nodal displacement and element stresses using plane stress
conditions. Body force is neglected in comparison with the external forces.
Take, Thickness (t) = 10mm,
Young’s modulus (E) = 2x105 N/mm2,
Poisson’s ratio (v) = 0.25.
3. A thin plate is subjected to surface traction as in figure. Calculate the global stiffness matrix.
om
s.c
tas
da
vil
these displacement solutions, stresses and strains are calculated for each element. In
structural problems, the unknowns (displacements) are represented by the
components of vector field. For example, in a two dimensional plate, the unknown
quantity is the vector field u(x, y), where u is a (2x1) displacement vector.
Elasticity equations are used for solving structural mechanics problems. These
equations must be satisfied if an exact solution to a structural mechanics problem is to be
obtained. Thest are four basic sets of elasticity equations they are
TRUSS ELEMENT
om
freedom for a one-dimensional truss (bar) element is axial (horizontal) displacement at each
node.
s.c
Assumptions for the One-Dimensional Truss Element
tas
Prismatic Member
If a truss structure is tapered, then it can be approximated by using many small truss
elements, each having the same cross-section as the middle of the tapered length it is
approximating. The more sections that are used to approximate a tapered truss, the more
accurate the solution will be.
Weightless Member
The weight (W) of the truss is neglected since it is assumed to be much less than the
total resultant forces (F) acting on the truss. If the weight of the truss is not neglected, then
its effects must be represented as vertical forces acting at the nodes. But since truss element
is defined as two-force member it cannot have any vertical (shear) force, thus the member
weight has to be neglected. If shear forces exist, then a beam element must be used to model
the structure.
Nodal Forces
For one-dimensional truss element, forces (loads) can only be applied at the nodes of
the element, but not between the nodes. This is consistent with the FEM equations which
om
relate nodal forces to nodal displacements through the stiffness matrix.
Axially Loaded
For one-dimensional truss element, forces (loads) can only be applied at the centroid
s.c
of the element cross-sectional area.
Buckling is not accounted for in the formulation of the truss element. Members that
do not buckle are classified as short columns and members that buckles are classified as
Ci
long columns. The structural response of a short column can be predicted with a truss
element.
In the second case if a bar element is subjected to a compressive force, the element will not
predict the buckling response. One should note that the above geometric rule is a simple
guideline, however, in reality buckling depends not only on the member length and cross-
sectional area, but material properties and support conditions.
om
Isotropic Material
A truss element has the same mechanical and physical properties in all directions, i.e., they
are independent of direction. For instance, cutting out three tensile test specimens, one in the
x-direction, one in the y-direction and the other oriented 45 degrees in the x-y plane, a
s.c
tension test on each specimen, will result in the same mechanical values for the modulus of
elasticity (E), yield strength y and ultimate strength u. Most metals are considered
isotropic. In contrast fibrous materials, such as wood, typically have properties that are
directionally dependant and are generally considered anisotropic (not isotropic).
tas
Constant (Static) Load
The loads that are applied to the truss element are assumed to be static and not to vary over
the time period being considered. This assumption is only valid if the rate of change of the
da
force is much less than the applied force (F >> dF/dt), i.e., the loads are applied slowly. If
the loads vary significantly, (if the variation in load is not much less than the applied force)
then the problem must be considered as dynamic.
vil
Poisson's ratio is a material parameter. Poisson's effect is when a uniform cross-section bar
is subject to a tensile load, and the axial stretching is accompanied by a contraction in the
Ci
lateral dimension. For one-dimensional truss element., this effect is neglected for simplicity,
i.e., v = 0.
For one-dimensional element, although the force(s) are acting on only the centroid of the
truss (bar) element, it is assumed that it has a uniform effect to the plane. Thus the cross
section will move uniformly and remain plane and normal to the axial axis before and after
loading.
A truss element has the same material composition throughout and therefore the same
mechanical properties at every position in the material. Therefore, the modulus of elasticity
E is constant throughout the truss element. A member in which the material properties varies
from one point to the next in the member is called inhomogenous (non-homogenous). If a
truss is composed of different types of materials, then it must be divide up into elements that
are each of a single homogeneous material, otherwise the solution will not be exact.
The left figure shows a composite bar composed of brass and aluminum. This structure can
be divided into two elements as shown on the right, one element for the brass with E 1 = 15 x
106 psi and one for the aluminum with E2 = 10 x 106 psi.
om
s.c
TRUSS ELEMENT (OR SPAR ELEMENT OR LINK ELEMENT)
Truss Frame
tas
Concentrated loads, uniformly distributed
Only concentrated loads act.
loads, moments, all can act.
Loads can be applied at the joints and/or
da
member). rotations).
6.7.1 Derivation of stiffness matrix and finite element equation for a truss element.
There are two joints for an arbitrarily inclined single truss element (at an angle , positive
counter-clockwise from +ve x-axis). For each joint i, there are two degrees of freedom, i.e.,
a joint can have horizontal displacement ui and vertical displacement vi . Hence, for a
single truss element, there are 4 degrees of freedom. The nodal displacement degrees of
freedom and the nodal force degrees of freedom are shown in the following figure.
u j
vj F jy vj
y uj F jx
y x y x
Fiy
vi ui
Fix vi
ui x
Note that the deformations occurring in the truss members are so small that they are only
axial. The axial displacement of the truss can be resolved along horizontal x-axis and
vertical y-axis. But in our derivation, let us resolve the horizontal and vertical displacements
om
(in xy-axes) of a joint along and perpendicular to the truss member (in xy -axes). Refer to
the Figure in the next page. Note ui sin component acting towards negative y -direction
and all other components acting towards in +ve x - and y -directions.
s.c
ui cos
ui ui cos vi sin
ui
vi ui sin vi cos
ui sin
tas
u j u j cos v j sin
vi cos
vi vj u j sin v j cos
da
vil
vi sin
u cos sin 0 0 ui
v
i sin cos 0 0 vi
u j 0 0 cos sin u j
vj 0 0 sin
cos v j
u T u where T is the transformation matrix
It is important to note that the displacements vi and vj are both zero since there can be no
displacements perpendicular to the length of the member. Also T T
1 T
Similarly, we resolve forces along the length of the member (positive x direction)
and perpendicular to the length of the member (positive y direction)
The arbitrarily inclined truss member can be thought of as a simple bar element
oriented at the same angle . Hence, we can write the finite element equation for this
inclined bar element (in xy coordinate system) as
om
Fix 1 0 1 0 ui
F
iy AE 0 0 0 0 vi
F jx L 1 0 1 0 u j
s.c
F jy
0 0 0
0 vj
F k u
tas
Substituting F and u from the previous equations, we can write
T F k T u
da
T T F T k T u
1 1
vil
Fjy
cs s
2
cs s 2 v j
where c cos 2 and s sin 2 .
om
cos sin cos sin vi
e
L u j
v j
Stress in the truss element is given by e E e , i.e.,
e E
s.c
cos sin cos
ui
sin vi
L u j
v j
tas
Problem
The two-element truss is subjected to external loading as shown in figure. Using the
same node and element numbering as shown in figure, determine the displacement
da
components at node 3, the reaction components at nodes 1 and 2, and the element
displacement, stresses and forces. The elements have modulus of elasticity E1 = E2 = 10×10⁶
lb
and cross-sectional areas A1 = A2 = 1.5 in 2
vil
2
in
1 (40, 40)
2
(0,0)
②
3
5
① 2
om
1
2
For element 1
3
vj
s.c For element 2
j
tas
uj
vi
vj
ui
da
uj
①
vi 1 3
i ② j
vil
b. Nodal forces
i
Ci
element 1 element 2
Fiy
Fjy
Fjx
1 Fix
3
i ② j
SCE 78 Department of Mechanical Engineering
FINITEFELEMENT EQUATION
ix
Fix c2 cs c2 cs ui
Fiy AE cs s2 cs s2 vi
F uj
L c2 cs c2 cs
jx
2
F v
jy cs s2 cs s j
For element 1
AE 1 .5 1 0 1 0 6 lb
om
4 5, 2 .6 5 1 6 5 1 0 5 2
L 5 6 .5 6 8 5 in
1 2 5 6
0.5 0.5 0.5 0.5 1 1.325826 1.325826 1.325826 1.325826
AE 0.5 0.5 0.5 0.5 5 2 1.325826
s.c 1.325826 1.325826 1.325826
K 10
(1)
A E 1 .5 1 0 1 0 6 For element 2
tas
0, 3 .7 5 1 0 5
L 40
3 4 5 6
da
1 0 1 0 3 3 .7 5 0 3 .7 5 0
0 4 0
AE 0 0 0 0 0 0
K 105
(2)
L 1 0 1 0 5 3 .7 5 0 3 .7 5 0
0 0 0 0 6 0 0 0 0
vil
F3 x 5 0 0 lb F1 x
F3 x 500 lb
F3 y 3 0 0 lb F1 y
F3 y 300 lb
u1 0 F2 x
u1 0 v1 0 F2 y
u2 0 u2 0 u3
v1 0 v2 0 v3
v2 0
om
F1x 1.325826 1.325826 0 0 1.325826 1.325826 0
F1 y 1.325826 1.325826 0 0 1.325826 1.325826 0
F 0 0 s.c 3.75 0 3.75 00
2 x 105
F2 y 0 0 0 0 0 00
1.325826 1.325826 3.75 0 5.0751826 1.325826 u3
500
300
1.325826 1.325826 0 0 1.325826 1.325826 v3
tas
u3 and v3
Eliminating the 1st, 2nd, 3rd and 4th column to solve
da
4
u3 5.33 10 in F1 y 300 lb
F2 x 200 lb
3
v3 1.731 10 in F2 y 0
For element 1
E
2 (u 5 cos 45 u 6 sin 45 ) ( u1 cos 45 u 2 sin 45 )
L
10 10 6
(0.5333 10 3 cos 45 ) (1.731 10 3 sin 45 ) 0
56.57
10 10 6 lb
0.0003771 0.001224 283.03 2
56.57 in
om
PROBLEM
To illustrate how we can combine spring and bar element in one structure, we can
solve the two-bar truss supported by a spring as shown below. Both bars have E = 210 GPa
s.c
and A = 5.0 x10-4 m2. Bar one has a length of 5 m and bar two a length of 10 m. the spring
stiffness is k = 2000 kN/m.
25kN
tas
2
5m 1
da
o
45
3 2
10m 1
vil
3 k=2000 kN/m
4
Ci
Solution :
Given : E = 210 GPa
N
A = 5.0 x10-4 m2 , L1 = 5 m, L2 = 10 m, K = 2 x 106
m2
N
NOTE: A spring is considered as a bar element whose stiffness is 2 x 106 2
m
v63 1
v12
u3 5
3 2 u1 1
1
om
3 8
v4
Forces u4 7
4
F2Y
2
s.c F2X
F3Y 1
F1Y
tas
F3X
3 2 F1X
1
da
3
F4Y
F4X
4
vil
Element 1:
θ=1350 2
l2=cos2θ =0.5
m2=sin2θ =0.5 1 135O
1 2 3 4
1 0.5 0.5 0.5 0.5
5 10 4
m 2
210 10 kN/m
6 2
2 0.5 0.5 0.5 0.5
K
(1)
3 1 1 1 1
om
4 1 1 1 1
Element 2:
180O
θ=1800
l2=cos2θ =1
m2=sin2θ =0 3
s.c 2
1
x
lm=cosθ sinθ =0
tas
1 2 5 6
1 1 0 1 0
5 10 4
m 2
210 10 kN/m 6 2
2 0 0 0 0
K
da
(2)
10 m 3 1 0 1 0
4 0 0 0 0
vil
1 2 5 6
1 1 0 1 0
0 0 0
5 2 0
K 105 10
(2)
5 1 0 1 0
Ci
6 0 0 0 0
Element 3:
θ=2700
l2=cos2θ =0
m2=sin2θ =1
lm=cosθ sinθ =0
7 0 0 0 0
8 0 1 0 1
1 2 3 4 5 6 7 8
F1 X 1 210 105 105 105 105 0 0 0 u1
F 105 125 105 105 20 v
om
1 Y 2 0 0 0 1
F2 X 3 105 105 105 105 0 0 0 0 u2
F2Y 5 4 105 108 105 105 0 0 0 0 v2
10 s.c
F3 X 5 105 0 0 0 105 0 0 0 u3
F3Y 6 0 0 0 0 0 0 0 0 v3
F4 X 7 0 0 0 0 0 0 0 0 u4
tas
F 8 0 20 20 v
4Y 0 0 0 0 0 4
u2 = v2 = 0; u3 = v3 = 0; u4 = v4 = 0;
vil
0 0 0 1
F2 X 105 105 105 105 0 0 0 0 0
F2Y 105 108 105 105 0 0 0 0 0
10
5
105
F3 X 0 0 0 105 0 0 0 0
F3Y 0 0 0 0 0 0 0 0 0
4X
F 0 0 0 0 0 0 0 0 0
F 0 20 20 0
4Y 0 0 0 0 0
Reduced matrix:
om
Find the reactions at supports by substituting the known nodal values
F2x = -18.104 kN F2y = 18.1041 kN
F4x = 0
Stress in element 1:
1.724
tas
E 3 3.4482
σ (1) l m l m10
L 0
0
da
Stress in element 2:
1.724
E 3 3.4482
l m l m10
Ci
σ (1)
L 0
0
PROBLEM
A circular concrete beam structure is loaded as shown. Find the deflection of points
at 8”,16”, and the end of the beam. E = 4 x 106 psi
12 in 3 in 50000 lb
x
24 in
Solution
The beam structure looks very different from a spring. However, its behavior is
om
very similar. Deflection occurs along the x-axis only. The only significant difference
between the beam and a spring is that the beam has a variable cross-sectional area. An
exact solution can be found if the beam is divided into an infinite number of elements,
then, each element can be considered as a constant cross-section spring element, obeying
the relation F = ku, where k is the stiffness constant of a beam element and is given by
k = AE/L. s.c
In order to keep size of the matrices small (for hand- calculations), let us divide the
beam into only three elements. For engineering accuracy, the answer obtained will be in
tas
an acceptable range. If needed, accuracy can be improved by increasing the number of
elements.
As mentioned earlier in this chapter, spring, truss, and beam elements are line-
elements and the shape of the cross section of an element is irrelevant. Only the cross-
da
sectional area is needed (also, moment of inertia for a beam element undergoing a
bending load need to be defined). The beam elements and their computer models are
shown
vil
Here, the question of which cross-sectional area to be used for each beam section
arises. A good approximation would be to take the diameter of the mid-section and use
that to approximate the area of the element.
Ci
k1 k2 k3
k1 k2 k3
1 2 3
1 2 2 3 3 4
Cross-sectional area
The average diameters are: d1 = 10.5 in., d2 = 7.5 in., d3 = 4.5. (diameters are taken at the
mid sections and the values are found from the height and length ratio of the triangles
shown in figure 2.10), which is given as
12/L = 3/(L-24), L = 32
24 in
om
12 in d1 d2 d3
s.c 3 in
Original Averaged 8 8 8 L- 24
tas
L
Stiffness
da
-1 1
Similarly,
43.295 -43.295 0 0
[Kg] = -43.295 43.295+28.125 -28.125 0 106
0 -28.125 28.125+7.95 -7.95
0 0 -7.95 7.95
om
43.295 -43.295 0 0 u1 F1
6
10 -43.295 71.42 -28.125 0 u2 = F2
0 -28.125 36.075 -7.95 u3 F3
0 0 -7.95 7.95 u4 F4
s.c
Applying the boundary conditions: u1 = 0, and F1 = F2 = F3 = 0, F4 = 5000 lb., results in
tas
the reduced matrix,
71.42 -28.125 0 u2 0
6
10 -28.125 36.075 -7.95 u3 = 0
0 -7.95 7.95 u4 5000
da
Solving we get,
u2 0.0012
u3 = 0.0029 in.
vil
u4 0.0092
The deflections u2, u3, and u4 are only the approximate values, which can be
improved by dividing the beam into more elements. As the number of elements increases,
Ci
UNIT IV
DYNAMIC ANALYSIS USING ELEMENT METHOD
4.1 INTRODUCTION
It provides the basic equations necessary for structural dynamical analysis and developed
both the lumped and the consistent mass matrix involved in the analysis of bar beam and spring
elements.
Any motion which repeats itself after an interval of time is called vibration or oscillation or
periodic motion
om
All bodies possessing mass and elasticity are capable of producing vibration.
o Unbalanced forces in the machine. These force are produced from within the machine
itself
o Elastic nature of the system.
s.c
o Self excitations produced by the dry friction between the two mating surfaces.
o External excitations applied on the system.
tas
o Wind may causes vibrations
o Earthquakes may causes vibrations
Forced vibrations
Damped vibrations
Ci
Undamped vibrations
Longitudinal vibrations
Transverse vibrations
Torsional vibrations
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ME2353 Visit : Civildatass.com Finite Element Analysis
z y
Mid surface 4
3
om
x
1 2
w w t w w
w1 , , w2 , ,
x 1 y s.c
1 x 2 y 2
w(x, y) N xi ( w N yi ( w
Ni wi )i )i ,
i 1 x y
vil
where Ni, Nxi and Nyi are shape functions. This is an incompatible element! The
stiffness matrix is still of the form
Ci
k = BTEBdV ,
where B is the strain-displacement matrix, and E the stress- strain matrix.
Minding Plate Elements:
4-Node Quadrilateral 8-Node Quadrilateral
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Triangular plate element (not available in ANSYS). Start with a 6-node riangular element,
z y 3
4 6
om
1 2
t 5 x
xz
yz
nodes to reduce the DOF (using relations in (15)). Obtain:
vil
z y 3
Ci
1 2
x
At each node: w, x w w
, y .
x y
Incompatible w(x,y); convergence is faster (w is cubic along each edge) and it is efficient.
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Test Problem:
P
y
C
L
L
x L/t = 10, = 0.3
om
ANSYS 4-node quadrilateral plate element.
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ME2353 Visit : Civildatass.com Finite Element Analysis
Example:
Sea shell, egg shell (the wonder of the nature); Containers, pipes, tanks;
Car bodies;
Roofs, buildings (the Superdome), etc.
Forces in shells:
om
s.c
Example: A Cylindrical Container.
tas
da
vil
internal forces:
Ci
p
p
membrane stresses
dominate
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ME2353 Visit : Civildatass.com Finite Element Analysis
Shell Theory:
Thin shell theory
Shell theories are the most complicated ones to formulate and analyze in mechanics
(Russian’s contributions).
Engineering Craftsmanship Demand strong analytical skill
Shell Elements:
om
plane stress element plate bending element
s.c
tas
flat shell element
w
v
vil
u x
y
Ci
Q4 or Q8 shell element.
Curved shell elements:
z
i w
v
i u x
y
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F
Roof Pinched Cylinder
om
F2
F R F
b
A
s.c A F L
F1
F
tas
Pinched Hemisphere
m - mass
f=f(t)
m k - stiffness
c c - damping
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ME2353 Finite Element Analysis
Free Vibration:
f(t) = 0 and no damping (c = 0)
Eq. (1) becomes
mu ku
(meaning: inertia force + stiffness force = 0)
Assume:
om
2
Uù m sin( ùt) kU sin( ùt) 0
2
i.e., w m k U 0.
2
w m k 0,
s.c
For nontrivial solutions for U, we must have
tas
which yields
k
w .
m
da
This is the circular natural frequency of the single DOF system (rad/s). The cyclic frequency
(1/s = Hz) is
vil
w
f ,
2p
Ci
u = U s in w t
U
t
U
T=1/f
om
With non-zero damping c, where
wd w.
Equation of Motion
Mu
Cu Ku f (t) , (8)
M mass matrix,
om
C damping matrix,
K stiffness matrix,
f forcing vector.
Mass Matrices
da
1
2 2
u1 u2
Element mass matrix is found to be
Ci
rAL
0
m 2
0 rAL
2
diagonal atrix
m rNT NdV
V
om
rAL 22L 4L2 13L 3L2 Q1
420 54 13L 156 22L v2
13L s.c 3L2 22L 4L2 Q2
tas
Units in dynamic analysis (make sure they are consistent):
Choice I Choice II
t (time) s s
da
L (length) m mm
m (mass) kg Mg
vil
Let f(t) = 0 and C = 0 (ignore damping) in the dynamic equation (8) and obtain
Ku
Mu 0
u (t ) u sin( w t ),
u(t ) w u cos( w t ),
(t )
u 2 w t ),
w u sin(
om
2
K w M u 0
Solutions? s.c
This is an n-th order polynomial of from which we can find n solutions (roots) or
eigenvalues
tas
i (i = 1, 2, …, n) are the natural frequencies (or characteristic frequencies) of the
structure (the smallest one) is called the fundamental frequency. For each gives one
solution (or eigen) vector
da
2
K w i M ui 0.
vil
u i (i=1,2,…,n) are the normal modes (or natural modes, mode shapes, etc.).
Ci
u iT Ku j 0,
u iT M u j 0, for i ¹j,
if wi w j . That is, modes are orthogonal (or independent) to each other with respect to K and
M matrices.
Note:
om
Magnitudes of displacements (modes) or stresses in normal mode analysis have no physical
meaning.
s.c
i = 0 there are rigid body motions of the whole or a part of the structure. apply this to check
the FEA model (check for mechanism or free elements in the models).
Lower modes are more accurate than higher modes in the FE calculations (less spatial variations
tas
in the lower modes fewer elements/wave length are needed).
Example:
da
v2
r, A, EI q2
vil
1 2
L
Ci
2
K wM
EI 12
K 3
L
EVP: 12 156l 6L
22Ll
2 0,
6L 22Ll 4L 2
4L l
2 4
in which l w rAL / 420 EI .
Solving the EVP, we obtain,
1
2 v2 1
w1 3.533 EI
om
, ,
4 1.38
rAL q2 1 L
#3 #2
1
2 v2 1
w2 34.81 EI
#1 4 , .
s.c 7.62
rAL q2 2 L
Exact solutions:
1 1
tas
2 2
w1 3.516 EI w2 22.03 EI
4 , 4 .
rAL rAL
da
with
1 , 2 , 1 & 2 (damping ratio) being selected.
Damping ratio
om
Modal Damping
s.c
Incorporate the viscous damping in modal equations.
tas
Modal Equations
Use the normal modes (modal matrix) to transform the coupled system of
dynamic equations to uncoupled system of equations.
da
We have
2 i 1,2,..., n
K M
i u 0i , (18)
vil
T
u i K u j 0,
T for i j,
u i M u j 0,
and
u iT M u i 1,
for i = 1, 2, …, n.
u iT K u i i
2
,
SCE 103 Department of Mechanical Engineering
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ME2353 Finite Element Analysis
Ö(n n ) u 1 u 2 L u n
M &z& C z& K z f ( t ).
om
T
Pre-multiply by , and apply (20):
&z& C z& z p ( t ),
where C I
s.c (proportional damping),
p T
f (t ) .
tas
Using Modal Damping
z 1 (t) z 2 (t) M
z n (t)
Ci
2 ( t ),
i z i p
&z&i 2 i i z& i i = 1,2,…,n. (24)
i
Equations in (22) or (24) are called modal equations. These are uncoupled, second-
order differential equations, which are much easier to solve than the original dynamic
equation (coupled system).
To recover u from z, apply transformation (21) again, once z is obtained from (24).
Notes:
Only the first few modes may be needed in constructing the modal matrix (i.e.,
could be an n m rectangular matrix with m<n). Thus, significant reduction in the
size of the system can be achieved.
Modal equations are best suited for problems in which higher modes are not
important (i.e., structural vibrations, but not shock loading).
om
Ku E u
Harmonicloading
(25)
s.c
Modal method: Apply the modal equations,
2 sin t,
&zi 2 i i Zk i i zi pi i=1,2,…,m. (26)
tas
These are 1-D equations. Solutions are
2
p i i
zi (t) sin( t
2 2 2
da
(1 ) (2i )
zi
i i
where
vil
ci ci
/i i , damping ratio
cc 2m i
Ci
f(t)
om
t
u(t)
s.c
t
tas
Compute responses by integrating through time:
u1
da
u n u n+1
u2
vil
t0 t1 t2 t n t n+1
B. Modal Method
Ci
First, do the transformation of the dynamic equations using the modal matrix before the
time marching:
Then, solve the uncoupled equations using an integration method. Can use, e.g.,
10%, of the total modes (m= n/10).
Uncoupled system, Fewer equations,
No inverse of matrices,
More efficient for large problems.
Mechanism, rigid body motion means = 0. Can use this to check FEA models
to see if they are properly connected and/or supported.
Input for FEA: loading F(t) or F( ) can be very complicated in real applications
and often needs to be filtered first before used as input for FEA.
Examples
om
Impact, drop test, etc.
PROBLEM
Figure 2.4
Solution:
da
Element 1:
1 2
[K(1)] = 10 -10 1
Ci
-10 10 2
Element 2: 2 3
[K(2)] = 15 -15 2
-15 15 3
Element 3: 3 4
(3)
[K ] = 20 -20 3
-20 20 4
SCE 107 Department of Mechanical Engineering
1 2 3 4
1 10 -10 0 0 10 -10 0 0
2 -10 10 + 15 -15 0 = -10 25 -15 0
3 0 -15 15 + 20 -20 0 -15 35 -20
4 0 0 -20 20 0 0 -20 20
om
F1 10 -10 0 0 u1
F2 = -10 25 -15 0 u2
F3 0 -15 35 -20 u3
F4 0 0 -20 20 u4
0 25 −15 2
da
= =
3 −15 35 3
PROBLEM
In the spring structure shown, k1 = 10 N/mm, k2 = 15 N/mm, k3 = 20 N/mm, k4 = 25 N/mm, k5 = 30
N/mm, k6 = 35 N/mm. F2 = 100 N. Find the deflections in all springs.
Ci
k1
k3
k2 F2 k6
k4
k5
Solution:
Here again, we follow the three-step approach described earlier, without specifically
mentioning at each step.
Element 1: 1 4
[K(1)] = 10 -10 1
-10 10 4
Element 2: 1 2
[K(2)] = 15 -15 1
-15 15 2
om
Element 3: 2 3
[K(3)] = 20 -20 2
-20 20 3
Element 4:
(4)
[K ] =
2 s.c
3
25 -25 2
-25 25 3
Element 5: 2 4
tas
(5)
[K ] = 30 -30 2
-30 30 4
Element 6: 3 4
[K(6)] =
da
35 -35 3
-35 35 4
vil
1 2 3 4
25 -15 0 -10
[Kg] = -15 90 -45 -30
0 -45 80 -35
-10 -30 -35 75
F1 25 -15 0 -10 u1
F2 = -15 90 -45 -30 u2
F3 0 -45 80 -35 u3
F4 -10 -30 -35 75 u4
om
100 90 -45 u2
Which 0 = -45 80 u3 gives
Deflections:
s.c
Spring 1: u4 – u1 = 0
tas
Spring 2: u2 – u1 = 1.54590
Spring 3: u3 – u2 = -0.6763
Spring 4: u3 – u2 = -0.6763
da
Spring 5: u4 – u2 = -1.5459
Spring 6: u4 – u3 = -0.8696
vil
Ci
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ME2353 Finite Element Analysis
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UNIT V
APPLICATIONS IN HEAT TRANSFER &FLUID MECHANICS
5.1 ONE DIMENSIONAL HEAT TRANSFER ELEMENT
In structural problem displacement at each nodel point is obtained. By
using these displacement solutions, stresses and strains are calculated for each
element. In structural problems, the unknowns are represented by the
components of vector field. For example, in a two dimensional plate, the
unknown quantity is the vector field u(x,y),where u is a (2x1)displacement
vector.
Heat transfer can be defined as the transmission of energy from one
region another region due to temperature difference. A knowledge of the
om
temperature distribution within a body is important in many engineering
problems. There are three modes of heat transfer.
They are: (i) Conduction
(ii) Convection
s.c
(iii) Radiation
5.1.1Strong Form for Heat Conduction in One Dimension
with Arbitrary Boundary Conditions
tas
Following the same procedure as in Section, the portion of the
boundary where the temperature is prescribed, i.e. the essential boundary is
denoted by T and the boundary where the flux is prescribed is recommended
da
q = ¼ ; q \ T ¼ 0:
With the unit normal used in , we can express the natural boundary
condition as qn ¼ q. For example, positive flux q causes heat inflow (negative
Ci
We again multiply the first two equations in the strong form by the weight
function and integrate over the domains over which they hold, the domain for the
differential equation and the domain q for the flux boundary condition, which
yields ws dx with w ¼
Recalling that w ¼ 0 on T and combining with gives
om
5.2 APPLICATION TO HEAT TRANSFER TWO-DIMENTIONAL
The equations developed in this chapter for heat conduction, diffusion and
s.c
elasticity problems are all of the following form:
Þ ¼ 0 on :
da
E(n-l) ( k-uð) uÞ ¼ 0 at x ¼ l;
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where ¼ k is the spring constant. If the spring stiffness is set to a very large
value, the above boundary condition enforces ¼ u; if we let k ¼ 0, the above
boundary condition corresponds to a prescribed traction boundary. In practice,
such generalized boundary conditions are often used to model the influence of
the surroundings. For example, if the bar is a simplified model of a building and its
foundation, the spring can represent the stiffness of the soil.
u(l)
uk
- ku(l) t
om
An example of the generalized boundary for elasticity problem.
There are two approaches to deal with the boundary condition . We will
call them the penalty and partition methods. In the penalty method, the
vil
þ f ¼ 0 on ;
In the partition approach, the total boundary is partitioned into the natural
boundary, and the complementary essential boundary, The natural boundary condition has
the generalized form defined by The resulting strong form for the partition method is
summarized in.
In this section, we will derive the general weak form for two-point boundary value
problems. Both the penalty and partition methods described in will be considered. To
obtain the general weak form for the penalty method, we multiply the two equations in the
strong by the weight function and integrate over the domains over which they hold: the
domain for the differential equation and the domain for the generalized boundary
om
condition.
x1
y
s.c 2
x1
x N1 0 N2 0 N3 0 N4 0 y2
tas
u
y 0 N1 0 N2 0 N3 0 N 4 x3
y3
da
x4
y 4
vil
J 11 J 12
Ci
J ;
J 21 J 22
N 2 N 3 N 4
N1 0
0 0 0
N 2 N 3 N 4
J 22 J 12 0 N1 0
B 1
0 0 0 0
J 0 0 J 21 J 11
N1 N 2 N 3 N 4
J 21 J 11 J 12 0 0 0 0
J 22
0 N1 N 2 N 3 N 4
0 0 0
1 v v 0
E
[D] v 1 0
om
(1 v )
2
1 v , for plane stress conditions;
0 0
2
E 1 v v
s.c 0
[D] v 1 v 0 , for plane strain conditions.
(1 v)(1 2v) 1 2v
0 0
2
tas
Equation of element force vector
F e [N ] ;
Fx T
da
Fy
N – Shape function, Fx – load or force along x direction,
vil
The Gauss quadrature is one of the numerical integration methods to calculate the
definite integrals. In FEA, this Gauss quadrature method is mostly preferred. In
this method the numerical integration is achieved by the following expression,
1 n
f (x)dx w f (x )
1 i 1
i i
1 x1 = 0.000 2.000
2 1
x1, x2 = 0.577350269189
om
3 1.000
5
s.c
x1, x3
3
0.774596669241 0.555555
3 5 9
x2=0.000 8
0.888888
9
tas
Problem (I set)
x
1
1. Evaluate I cos
1
2
dx , by applying 3 point Gaussian quadrature and
Ci
x 1
1
1
2
I 3e x dx , using one point and two point
x 2
2. Evaluate
om
4. A four noded rectangular element is in figure. Determine (i) Jacobian
matrix, (ii) Strain – Displacement matrix and (iii) Element Stresses. Take
E=2x105N/mm2,υ= 0.25, u=[0,0,0.003,0.004,0.006, 0.004,0,0]T, Ɛ= 0, ɳ=0.
Assume plane stress condition. s.c
tas
da
vil
The problem of linear elastostatics described in detail in can be extended to include the
Ci
∇ · σ + f = ρü in Ω × I ,
σn = t̄ on Γq × I ,
u = ū on Γu × I ,
u(x1 ,x2 ,x3 , 0) = u0 (x1 ,x2 ,x3 ) in Ω ,
v(x1 , x2 ,x3 ,0) = v0 (x1 ,x2 ,x3 ) in Ω ,
where u = u(x1 , x2 , x3 , t) is the unknown displacement field, ρ is the mass density, and I
= (0, T ) with T being a given time. Also, u0 and v0 are the prescribed initial displacement
and velocity fields. Clearly, two sets of boundary conditions are set on Γu and Γq ,
respectively, and are assumed to hold throughout the time interval I . Likewise, two sets of
initial conditions are set for the whole domain Ω at time t = 0. The strong form of the
resulting initial/boundary- value problem is stated as follows: given functions f , t̄, ū , u0 and
v0 , as well as a constitutive equation for σ, find u in Ω × I , such that the equations are
satisfied.
A Galerkin-based weak form of the linear elastostatics problem has been derived in Sec-
tion In the elastodynamics case, the only substantial difference involves the inclusion
R
om
of the term Ω w · ρü dΩ, as long as one adopts the semi-discrete approach. As a result, the
weak form at a fixed time can be expressed as
Z Z Z Z
w · ρü dΩ + ∇s w : σ dΩ = w · f dΩ + w · t̄ dΓ .
Ω Ω Ω Γ
s.c
Following the development of Section 7.3, the discrete counterpart of can be written as
Z Z Z w · t̄ dΓ .
h
wh · ρu¨h dΩ + ǫ(wh ) · Dǫ(uh ) dΩ wh · f dΩ +
=
tas
Following a standard procedure, the contribution of the forcing vector Fint,e due to
interele- ment tractions is neglected upon assembly of the global equations. As a result, the
da
Mu + Kû = F ,
vil
where û is the global unknown displacement vector1 . The preceding equations are, of course,
subject to initial conditions that can be written in vectorial form as û(0) = û0 and v̂(0) = v̂0
Ci
.
The most commonly employed method for the numerical solution of the system of cou-
pled linear second-order ordinary differential equations is the Newmark method. This
method is based on a time series expansion of û and û˙ := v̂. Concentrating on the time
interval (tn ,tn+1 ], the Newmark method is defined by the equations
1 2
ûn+1 = ûn + v̂n ∆tn + [(1 − 2β)ân + 2βân+1 ]∆tn ,
2
v̂n + [(1 − γ)ân + γân+1 ]∆tn ,
v̂n+1 =
It is clear that the Newmark equations define a whole family of time integrators.
It is important to distinguish this family into two categories, namely implicit and explicit
integrators, corresponding to β > 0 and β = 0, respectively.
The overhead “hat” symbol is used to distinguish between the vector field u and the
solution vector ûemanating from the finite element approximation of the vector field u.
The general implicit Newmark integration method may be implemented as follows: first,
solve (9.18)1 for ân+1 , namely write
om
ân+1 = (ûn+1 − ûn − v̂n ∆tn ) ân
β∆t2n
Then, substitute (9.19) into the semi-discrete form (9.17) evaluated at tn+1 to find that
M +K
n
ûn+1 = Fn+1s.c .
After solving for ûn+1 , one may compute the acceleration ân+1 from and the velocity
tas
v̂n+1 from.
Finally, the general explicit Newmark integration method may be implemented as follows:
starting from the semi-discrete equations evaluated at tn+1 , one may substitute û n+1from
to find that
da
If M is rendered diagonal (see discussion in Chapter 8), then ân+1 can be determined
without solving any coupled linear algebraic equations. Then, the velocities bˆv n+1 are
immediately computed from (9.18)2 . Also, the displacements û n+1 are computed from
indepen-dently of the accelerations ân+1 .
Ci