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Large+Deformation+Beam Cable+Element+With+Implicit+Kinematic+Model
Large+Deformation+Beam Cable+Element+With+Implicit+Kinematic+Model
Abstract: This paper proposes a 3D 2⁃node element for beams and cables. Main improvements of the element
are two new interpolation functions for beam axis and cross⁃sectional rotation. New interpolation functions
employ implicit functions to simulate large deformations. In the translational interpolation function, two
parameters which affect lateral deflection geometry are defined implicitly through nonlinear equations. The
proposed translational interpolation function is shown to be more accurate than Hermitian function at large
deformations. In the rotational interpolation function, twist rate is defined implicitly through a torsional
continuity equation. Cross⁃sectional rotation which is strictly consistent to beam axis is obtained through separate
bending rotation interpolation and torsional rotation interpolation. The element model fully accounts for geometric
nonlinearities and coupling effects, and thus, can simulate cables with zero bending stiffness. Stiffness matrix
and load vector have been derived using symbolic computation. Source code has been generated automatically.
Numerical examples show that the proposed element has significantly higher accuracy than conventional 2⁃node
beam elements under the same meshes for geometrically nonlinear problems.
Keywords: large deformation analysis; 2⁃node interpolation functions; consistent rotational interpolation;
implicit functions; symbolic computation
CLC number: TU323.3 Document code: A Article ID: 1005⁃9113(2013)06⁃0001⁃08
Received 2013-04-22.
Sponsored by the National Natural Science Foundation of China ( Grant No. 91215302) .
Corresponding author: Shi⁃Yi Liu. E⁃mail: liushiyi_ha@ 163.com.
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Journal of Harbin Institute of Technology ( New Series) , Vol.20, No.6, 2013
0
2 Translational Interpolation Function -1
Y
following cubic Bézier curve:
-3
u( r) = (1 - r) 3 e0 + 3 (1 - r) 2 r c0 +
-4
-5
3(1 - r) r 2 c1 + r 3 e1 , 0 £r £1 (1) 0 2 4 6 8 10
where u ( r ) is a point on beam axis; r is the parametric X
Y
u(r) = (1 - r)2(1 + 2r) e0 + (3 - 2r) r2 e1 +
0
-2
inaccurate bending geometries and axial stretch which -3
is defined as η ( r ) = du / dr . In order to improve 0 2 4 6 8 10
accuracy of Eq. ( 3) , this paper uses two equations to X
{ ∑ i = 0 η2 ( ri ) ( 3 - i ) / 6 = ∑ i = 0 η2 ( ri ) w i ,
3 3
functions
elastic bending deformations are also given for in local coordinate system (CS) of cross⁃sections at two
comparison. The values of λ 0 and λ 1 in the presented ends of the element. Let τ k ( r ) , ζ k ( r ) , k ( r ) ( k = 0,
interpolation function in different boundary conditions 1 ) denote x , y , z directions in local CS of cross⁃
are: ( a) λ 0 = λ 1 = 0.4055L , ( b) λ 0 = λ 1 = 0.5L, and sections on the first ( k = 0) and the second ( k = 1)
( c) λ 0 = 0.4368L,λ 1 = 0.3364L . It is shown in Fig.1 halves of the element. τ ek and τ k are normals of cross⁃
that the presented interpolation function has much sections. Hereinafter, we use k = 0 to indicate quantities
higher accuracy than Hermitian function under large at the first end ( r = 0 ) or on the first half ( 0 £r £1 / 2 )
element⁃level deformations. of the element; and k = 1 to indicate the second end
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Journal of Harbin Institute of Technology ( New Series) , Vol.20, No.6, 2013
( r = 1 ) or the second half ( 1 / 2 £r £1 ) of the element. therefore, they can be solved very efficiently. It should
3D rotations of cross⁃sections are represented in rotation be made clear that presented interpolation functions do
matrix form as: not separately consider initial and deformation
A ek = [ τ ek ζ ek k] ,
e
displacements. All coordinates and rotations are
( k = 0,1 ) described in the global CS. Hence, presented
Ak ( r ) = [ τ k ( r ) ζ k ( r ) k (r) ] ,
interpolation functions can be applied directly to large
(5) deformations. Interpolation functions depend only on
where A ek are rotations of cross⁃sections at two ends; absolute values of nodal coordinates and rotations.
A k ( r ) are rotations of cross⁃sections on the first and Therefore, element state does not need to be updated
second halves of the element. incrementally for linear material models.
A k ( r ) in Eqs. ( 5) can be expressed in terms of
A ek using rotation matrices B k and Ψk as: 4 Large Spatial Nodal Rotation
A k ( r ) = A ek B k ( r ) Ψk ( r ) , ( k = 0,1 ) (6)
where B k ( r ) is matrix of bending rotation whose axis is Nodal finite rotation is described by using
perpendicular to tangent of beam axis ; Ψk ( r ) is rotational pseudo⁃vector [7] which is the extension of
matrix of torsional rotation which is around tangent of infinitesimal rotational vector. According to Rodrigues’
beam axis. B k ( r ) can be given by [11] rotation formula, rotation matrix of a rotational pseudo⁃
Bk ( r ) = vector r can be expressed as
éê ν k,x - ν k,y - ν k,z ùú R = exp ( r × ) = I + ϑ× sin θ + ϑ2× ( 1 - cos θ )
(12)
ê ν k,y ν k,x + ν k,z / ( 1 + ν k,x ) - ν k,y ν k,z / ( 1 + ν k,x ) ú
2
Based on the presented translational and rotational To exactly reproduce axial force effects, L must be
interpolation functions, deformation geometry of the integrated with high accuracy. Therefore, 5⁃point
element can be determined. It should be noted that Gaussian quadrature rule is used to expand the
Eqs.(4) and ( 11) do not have theoretical solutions. integration in Eq.(13) .
Therefore, the values of implicit functions λ 0 , λ 1 and Curvatures about local y and z axes of the cross⁃
λ φ must be solved by using Newton’ s method. Eqs. section can be expressed as
︿ ︿
(4) and ( 11 ) consists of only 2 and 1 equations, ρ y = ρ·ζ, ρ z = ρ·
· 3·
Journal of Harbin Institute of Technology ( New Series) , Vol.20, No.6, 2013
where ζ and are local y and z directions in cross⁃ the calculation procedure so that the resulting graph
︿
can be converted into source code. The core aspect of a
sectional CS; ρ is a 3D curvature vector in global CS,
symbolic computation program is to define rules of
and can be expressed as
elementary algebra operations. These rules control the
︿ ( z″ y′ - y″ z′ x″ z′ - z″ x′ y″ x′ - x″ y′ ) T
ρ= creation and simplification of expression graphs. Based
( x ′2 + y ′2 + z ′2 ) η 0 on these rules, arbitrarily complex expressions can be
Curvatures and bending moments are integrated derived in an automated manner. We note that the
using 3⁃point Gaussian quadrature rule. symbolic computation method for stiffness matrix
Cross⁃sectional rate of twist ρ θ can be obtained derivation is universal. Once a displacement⁃based
based on implicit parameter λ φ , that element models are given, stiffness matrices of
ρθ = λ φ / L0 elements can be derived automatically by using the
Stress expressions are not given here since linear same symbolic computation program based on Eqs.
or non⁃linear material models can be integrated into the (15) and (16) .
elementmodel in systematic approaches [5] . An example Symbolic differentiation is also employed to obtain
of a single proposed element under large deformation the expressions of J and H r . Since second⁃order partial
boundary condition is shown in Fig.2. derivatives can be obtained by performing two first⁃
order differentiations successively, therefore, only first⁃
order differentiation method is explained here. In
symbolic differentiation, algebra expressions are
represented in the form of expression graph [13] .
Fig.2 Example deformation of a single proposed element Symbolic differentiation can be casted into Gaussian
elimination of intermediate vertices of the expression
6 Derivation of Stiffness Matrix and Load Vector graph [14] . The algorithm for intermediate vertices
by Using Symbolic Computation elimination in derivation the proposed element is based
on the Lowest Markowitz Degree⁃first ( LMD) heuristic
Based on thediscretized element model, the [15]
. The LMD heuristic can generate significantly more
incremental form of virtual energy can be expressed as: efficient derivative expressions than conventional
δΠ = f υ δυ,δ f υ = K υ δυ (14) forward or reverse differentiation methods. Hence, the
where υ is vector of strains at integration points; f υ is LMD heuristic can finally lead to more efficient source
vector of weighted stresses which are dual to υ from an code than conventional methods.
energy perspective; K υ is tangential stiffness matrix of There are 3 implicit functions λ0 , λ1 and λ φ in the
material at integration points. Based on Eqs. ( 14 ) , proposed kinematic model. To obtain accurate tangent
stiffness matrix and load vector of the element can be stiffness matrix, the derivatives of implicit functions
expressed as with respect to nodal DoFs x must also be considered.
K = ∂2 Π / ∂ x 2 = J T K υ J + f υr H r ,f = ∂Π / ∂x = J T f υ Let z denote a set of implicit functions which are defined
(15) through a set of equations g ( z,x ) = 0. Partial
where x is 12 nodal DoFs; J and H r are the first and derivatives of z with respect to x can be given by
second⁃order partial derivatives matrices of υ with ∂z / ∂x = - ( ∂g / ∂z ) - 1 ( ∂g / ∂x ) = - D gz- 1 D gx (17)
respect to x , that In derivation of second⁃order partial derivatives
J ij = ∂ υ i / ∂ x j , [ H r ] ij = ∂2 υ r / ( ∂ x i ∂ x j ) (16) matrices, the derivatives of D gz- 1 in Eq. ( 17 ) are
Exact expressions of stiffness matrix and load required. These derivatives can be obtained through the
vector can be derived according to Eqs. ( 15 ) and following differential expression:
( 16 ) , where the most important step is the d D gz- 1 = - D gz- 1 ( d D gz ) D gz- 1
computation of the first and second⁃order partial It should be noted that symbolic computation is
derivatives matrices. Because the expressions of strains employed only in property matrices derivation phase.
υ have been given previously, the derivation can be Once expressions of property matrices are obtained,
performed automatically by using symbolic C ++ source code can be generated so that symbolic
computation. Symbolic computation was performed by computation is no longer required when the element is
using a Computer Algebra System ( CAS) developed by used. Symbolic computation program used in this paper
the authors. The difference between numeric and is developed by using aforementioned methods.
symbolic computation is that numerical computation Expressions of stiffness matrix and load vector obtained
takes floating⁃point values and results in floating⁃point through symbolic computation are not given here
values, while symbolic computation takes variable and because they are in the form of small elementary
expression objects and results in graphs of objects. operations which are very difficult to express.
Symbolic computation keeps track of all operations in Eqs.(4) and (11) which define implicit functions
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Journal of Harbin Institute of Technology ( New Series) , Vol.20, No.6, 2013
λ 0 , λ 1 and λ φ should be solved at each iteration of the stiffness matrix and load vector calculation time. 10000
incremental solution. Because these two equations are elements with linear elastic material model are tested
nonlinear, they should be solved by using Newton’ s on a same PC. Time costs are shown in Table 1. It can
method. Initial values of λ 0 and λ 1 can be chosen as be seen that the proposed element is computationally
L 0 / 3. Initial value of λ φ can be chosen as 0. more complex than Hermitian beam element based on
In order to investigate computational complexity of Co⁃rotational formulation, while is less complex than 2⁃
the proposed element which employs new interpolation node and multi⁃node beam elements which are based
functions, the element is compared to 4 beam elements on Timoshenko formulation.
in ADINA ( http: / / www. adina. com ) in terms of
Table 1 Calculation times of stiffness matrix and load vector of 10000 different elements
ADINA
Element Proposed
BEAM 2⁃node ISOBEAM 3⁃node ISOBEAM 4⁃node ISOBEAM
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Journal of Harbin Institute of Technology ( New Series) , Vol.20, No.6, 2013
Hermitian interpolation functions and are based on Co⁃ solution. In comparison, the errors of ADINA BEAM,
rotational formulation; ( 2) and ( 5) are Timoshenko OpenSees DBE and ANSYS BEAM188 are 3. 5%, 4.
beam elements with independent translational and 7% and 77.3%, respectively. It is also shown that
rotational interpolation functions. It should be noted convergence speed of the proposed element is slightly
that the 4⁃node ISOBEAM element has 4 nodes and 24 higher than 4⁃node ISOBEAM for rotation angle, but is
DoFs, while other 4 compared elements and the marginally lower than 4⁃node ISOBEAM for horizontal
proposed element have only 2 nodes and 12 DoFs. displacement. Thus, convergence speed of the
When this example ismodeled with 50 elements, proposed element and 4⁃node ISOBEAM have no
the proposed element and other 5 compared elements significant differences. However, DoF number of the
give almost the same results, i. e. horizontal proposed element is only half of that of 4⁃node
displacement of the movable end is about - 0.394( m) , ISOBEAM element. Computational efficiency of the
rotation angle of the movable end is about 0.777( rad) . proposed element is also significantly higher than 4⁃
Therefore, these two results can be used as reference node ISOBEAM element, as shown in Table 2.
solutions of this example. Deformation geometry solved 7.3 Numerical Example 3: Twisting of Circular
with a single proposed element is shown in Fig. 6. Band
Displacements of the movable end obtained using A circular band is twisted through an angle θ at
different elements are given in Fig.7( a) and ( b) . one end of a diameter and – θ at the other end of the
diameter, as shown in Fig.8. One end of the diameter
is movable in x direction. Exact solutions of this
example have been given by Pai et al. [11] . Therefore,
the same material properties and dimensions are used
Fig.6 Deformation solved with a single element as in that paper. They are
E = 6.895 × 10 10 Pa,ν = 0.3,
b = 0.00635 m, h = 0.002117 m,r = 0.127 m
where ν is Poisson ratio; b is width of cross⁃section; h is
m)
-0
.05 Pro
posedelement
(
ADINABEAM
nt
∫
ANSYSBEAM44
pa
l
GJ = G ( y 2 + z 2 + y g z - z g y ) dydz =
ANSYSBEAM18 8
s
i
-0
.25
ld
Refe
rence:-0.
393
a
A
nt
1 192h ¥ 1 nπb ö
∑
o
z
-0
.35
Gbh 3 ç 1 - 5 tanh
æ
ri
2h ø
Ho
3 π b n = 1,3,5,… n 5
÷
è
Initial curvature of the circular band is modeled
-0
.45
2 4 6 8 1
0
by using a non⁃zero reference bending curvature with
Nu mbe rofe lement
s
( a) Horizontal displacement
the proposed element. The required end twisting
0.
80 moments for different twisting angles are solved by
using 6, 10 and 15 proposed elements to model the half
d)
0.
78
e(
0.
76
for half circle are also displayed in Fig.9. Fig.10 shows
o
i
the front view, left view and top view for different
tt
a
Prop
osede l
emen
t
o
0.
74
gr
ADINABEAM
magnitudes of twisting when 6 proposed elements are
n
4-nodeISOBEAM
i
OpenSeesDBE
0.
72
Be
ANSYSBEAM44
ANSYSBEAM188 circular band transforms into a small circle with a
diameter of 1 / 3 of its original size when the band is
Refer
ence:0.
777
0.
70
2 4 6 8 10
Numbe
rofe
lements twisted by 360°. The small circle can stay without
( b) Bending rotation angle external force because the required moment is 0 for that
Fig.7 Numerical solutions of horizontal displacement and twisting magnitude. It can be seen that the solutions
bending rotation angle of movable end obtained with 15 proposed elements for half circle agree
well with exact solutions, e. g. the difference between
It is shown that, under the same mesh, the maximum twisting moments is about 1%. In
accuracy of the proposed element is significantly higher comparison, there is about 7. 8% error in maximum
than those of other compared 2⁃node elements. For twisting moment obtain by Goto et al [16] . This is due to
example, when 1 element is used, rotation angle error the fact that they use the truncated expressions in their
of the proposed element is 1.7% comparing to reference solution method.
· 6·
Journal of Harbin Institute of Technology ( New Series) , Vol.20, No.6, 2013
0.
45
-θ 0.
35
)
r
33
f
ix
ed
z
_
EI
6pr
opo
sede
leme
nts
-M 0.
25
(
MR/
θ 10pr
opo
sede
leme
nts
x y
15pr
opo
sede
leme
nts
0.
15
mo
vab
le 200
(Go
toe
tal
.)
el
eme
nts
M
Ex
acts
olu
tio
n(Pa
ieta
l.
)
0.
05
Ang
leo
ftwi
st Fr
ontv
iew(
x-o
-z) Le
tfv
iew(
y-o
-z) To
pvi
ew(
x-o
-y)
z z
30
??2 x
y
x y
60
??2
90
??2
12
0??2
15
0??2
18
0??2
Fig.10 Deformations of circular band for different twisting magnitudes solved using 6 proposed elements for half circle
7.4 Numerical Example 4: Sagging of Soft Cable Maximum deflections ( at middle point ) obtained
A soft cable having an initial length of L 0 = 10.0 m with 10 proposed elements and 100 truss elements are 1.
is fixed at two ends, as shown in Fig. 11. An end 90715 m and 1.90721 m, respectively. Therefore,
undergoes a horizontal offset of δL = 1.0 m, as shown in 1.9072 m can be viewed as reference solution. Maximum
Fig.11. Axial stiffness of cross⁃section is EA = 3.9270 × deflection given by theoretical catenary solution which
10 8( Pa· m 2 ) . Mass of cable per unit length is M = does not consider axial deformation is 1.9071 m. The
15.512 ( kg / m) . Bending stiffness of the cable equals deflection solved with 1 proposed element is 1.8439 m,
0. Gravity acceleration is g = 9.8( m / s2 ) . Free sagging which has 3. 3% difference compared to reference
of the cable is solved by using the proposed element solution. When 2 proposed elements are used, the
and truss element. It should be noted that, because solution is 1.9162 m which has only 0.47% difference
exact deformation geometry is simulated, the proposed compared to reference solution. These results show that
element can fully account for geometric coupling effects the proposed element also has very high convergence
among tension, bending rotation and deflection. speed when simulating soft cable. Fig. 12 shows cable
Therefore, stiffness matrix of the proposed element will deflections given by 1 proposed element, 4 truss
not be singular even if cross⁃sectional bending stiffness elements and theoretical catenary solution. Curves are
equals zero when axial force exists. sagging shapes of the cable.
· 7·
Journal of Harbin Institute of Technology ( New Series) , Vol.20, No.6, 2013
4t
russele
me nt
s
(3) :95-106.
Y(
-1.
0 Ca
tenaryso
luti
on
-2.
0 [ 5] Taucer F, Spacone E, Filippou F C. A Fiber Beam⁃Column
0 2 4 6 8 Element for Seismic Response Analysis of Reinforced
X(
m)
Concrete Structures. Berkeley: Earthquake Engineering
Fig.12 Numerical and theoretical solutions of cable sagging Research Center, College of Engineering, University of
under gravity( Bending stiffness of cable is zero) California, 1991.
[6] Pai P F, Anderson T J, Wheater E A. Large⁃deformation
8 Conclusions tests and total⁃Lagrangian finite⁃element analyses of flexible
beams. International Journal of Solids and Structures,
2000,37(21) :2951-2980.
This paper has proposed a 3D 2⁃node Euler⁃
[7] Crisfield M, Galvanetto U, Jelenic′ G. Dynamics of 3⁃D co⁃
Bernoulli beam / cable element which has 12 DoFs for rotational beams. Computational Mechanics, 1997,20( 6) :
large deformation analysis. Two implicit functions are 507-519.
employed in modeling of element axis geometry [8] Bathe K J. Finite Element Procedures. New Jersey: Prentice
( translational interpolation function ). The proposed Hall, 1996.
model of element axis has higher accuracy than [9] Chapelle D, Bathe K J. The Finite Element Analysis of
conventional Hermitian interpolation function under Shells⁃Fundamentals. New York: Springer, 2010.
large deformations. Cross⁃sectional rotation is [10] Friedman Z, Kosmatka J B. An improved two⁃node Timoshenko
beam finite element. Computers & Structures, 1993, 47
determined through bending rotation interpolation and
(3) :473-481.
torsional rotation interpolation. Rate of twist is also [11] Pai P, Palazotto A. Large⁃deformation analysis of flexible
defined as an implicit function so that arbitrary torsional beams. International Journal of Solids and Structures,
deformations can be simulated. Tangent stiffness matrix 1996,33(9) :1335-1353.
and load vector of the proposed element have been [12] Wen R, Suhendro B. Nonlinear curved⁃beam element for
generated automatically by using symbolic computation. arch structures. Journal of Structural Engineering, 1991,
Numerical examples have shown that the proposed 117(11) :3496-3515.
[13] Griewank A. A mathematical view of automatic differentiation.
element has very high accuracy for uniform and non⁃
Acta Numerica, 2003,12(1):321-398.
uniform deformations and is significantly superior to [14] Tadjouddine E M. Vertex⁃ordering algorithms for automatic
conventional 2⁃node beam element models. It has also differentiation of computer codes. The Computer Journal,
been shown that the element has high convergence 2008,51(6) :688-699.
speed when modeling soft cable with zero bending [15] Albrecht A, Gottschling P, Naumann U. Markowitz⁃type
stiffness. A disadvantage of the proposed element is that heuristics for computing Jacobian matrices efficiently.
its stiffness matrix is computationally more complex than Proceedings of the Computational Science⁃ICCS. Saint
that of a co⁃rotational Hermitian beam element. Petersburg, Russia / Melbourne, Australia: Springer,
2003. 575-584.
References [16] Goto Y, Matsuura S, Hasegawa A, et al. A new formulation
of finite displacement theory of curved and twisted rods.
[1] Neuenhofer A, Filippou F C. Evaluation of nonlinear frame Proceedings of Japan Society of Civil Engineers, Structural
finite⁃element models. Journal of Structural Engineering, Engineering / Earthquake Engineering, 1985,2(2):119-129.
1997,123(7) :958-966.
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