Finite element method for structural dynamic

and stability analyses

Module-2

Finite element analysis of dynamics of planar trusses

and frames

Lecture-5: 2D beam elements, Reference system, Assembly of

matrices, imposition of BCS and final equations of motion.

Prof C S Manohar
Department of Civil Engineering
IISc, Bangalore 560 012 India

1
 Lu  x, t   F  x, t 
BCs+ICs u  x, t 
OR
Min A=  Ldt

Recall Element

Mesh
Mesh  

2
 u  x, t  is approximated

FINITE in terms of
u x , t ; i  1, 2, , N
  i 
 r

    i ; i  j  i  j i : Elements
 i 1
xi : Nodes
 Within an element
ELEMENT  i  1, 2, ,N
u  x, t  is approximated
 Ne
as u e  x, t    N ie  x  uie  x, t 
 i 1

An approximate numerical method


METHOD  to obtain solutions to PDE-s or
 variational problems
 3
 Axially vibrating rod element
Recall
y y

x z
AE, m, l , c
u1  t  u2  t 

P1  t  1 u  x, t  2
P2  t 

 x x
u  x, t   u1  t  1    u2  t 
 l l
4
Recall

Element level equation of motion

ml  2 1   u1  AE  1 1  u1   P1 
        
6 1 2  u2  l  1 1  u2   P2 

 Mu  Ku  P

5
 Euler-Bernoulli beam element
y, v y

x, u z
EI , m, l , c
• Bending in the x-y plane
• x-axis coincides with the centroidal axis of the beam
• No coupling exists between bending and torsion

v
u  x, y , t    y ; v  v  x , t 
x
u  2v
 xx   y 2
x x
u v v v
2 xy     0
y x x x 6
 1
V
2v  xx xx dx
L L
1 1
   E xx2 dxdA T     v 2  x, t  dxdA
20A 20A
2
  v
L 2 L
1 1
   E   y 2  dxdA   mv 2  x, t  dx with m=   dA
2 0 A  x  20 A
2
1
L
 v
2
   
2
EI z  2 
dx with I y dA
 x 
z
20 A

L  T t   V t 
2
1
L
1
L
 v 2
  mv  x, t  dx   EI z  2  dx
2

20 20  x  7
 u1  t  , P1  t  u3  t  , P3  t 

 

u2  t  , P2  t  u4  t  , P4  t 

2-noded element with 2 dofs per node

v  x, t   u1  t  1  x   u2  t  2  x   u3  t  3  x   u4 t  4  x 

8
v  x, t   u1  t  1  x   u2  t  2  x   u3  t  3  x   u4  t  4  x 
ui  t  ; i  1, 2,3, 4 : Generalized coordinates
i  x  ; i  1, 2,3, 4 : Trial functions
v  0, t   u1  t 
 v  0, t   u1  t  1  0   u2  t  2  0   u3  t  3  0   u4  t  4  0 
Take 1  0   1; 2  0   0; 3  0   0; 4  0   0
v  0, t   u2  t 
 v  0, t   u1  t  1  0   u2  t  2  0   u3  t  3  0   u4  t  4  0 
Take 1  0   0; 2  0   1; 3  0   0; 4  0   0

9
v  l , t   u3  t 
 v  l , t   u1  t  1  l   u2  t  2  l   u3  t  3  l   u4  t  4  l 
Take 1  l   0;2  l   0;3  l   1; 4  l   0
v  l , t   u 4  t 
 v  l , t   u1  t  1  l   u2  t  2  l   u3  t  3  l   u4  t  4  l 
Take 1  l   0;2  l   1;3  l   0;4  l   1
This ensures that we have satisfied the requirements on
displacements at x  0 & x  l

10
Let us consider the equillibrium of
the beam under the action of support displacements
ui  t  ; i  1, 2,3, 4
 1  0   1; 2  0   0; 3  0   0; 4  0   0
d 41
 EI 4  0; 1  0   1; 1  0   0; 1  l   0; 1  l   0
dx
2 3
x x
 1  x   ax3  bx 2  cx  d  1  x   1  3 2  2 3
l l
Similarly, we get
x 2 x3
2  x   x  2  2 ;
l l
x2 x3
3  x   3 2  2 3 ;
l l
x 2 x3
4  x     2 11
l l
 1

0.8
phi-1
phi-2
0.6 phi-3
phi-4
Trial functions

0.4

0.2

-0.2

-0.4
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
x

12
  x2 x2   x 2 x3 
 v  x, t   u1  t  1  3 2  2 2   u2  t   x  2  2 
 l l   l l 
 x2 x2   x 2 x3 
u3  t   3 2  2 2   u4  t     2 
 l l   l l 
2
 
l l 4
1 1
T  t    mv  x, t  dx   m  ui  t  i  x   dx
2

20 2 0  i 1 
1 ml
 [156u12  4l 2u22  156u32  4l 2u42  44lu1u2
2 420
108u1u3  26lu1u4  26lu2u3  6l 2u2u4  44lu3u4 ]
2 2
1  v 1  
l 2 l 4
V  t    EI  2  dx   EI   ui  t  i x   dx
0
2  x  0
2  i 1 
1 EI
 3
[12u1
2
 4l 2 2
u 2  12u3
2
 4l u4  12lu1u2  24u1u3
2 2

2 l
12lu1u4  12lu2u3  24l 2u2u4  12lu3u4 ] 13
L  T V
d  L
 L
   0; i  1, 2,3, 4
dt  ui
 ui
 MU  KU  P
 156 22l 54 13l   12 6l 12 6l 
 4l 2 3l 2   2
6l 2l 2 
ml  22l 13l EI  6l 4l
M &K  3
420  54 13l 156 22l  l  12 6l 12 6l 
 2   2
 13l 3l 2 22l 6l
2
4l   6l 2l 4l 
Remarks
M  element consistent mass matrix; M  M t
 K  element stiffness matrix; K  K t
Two noded beam element with two dofs per node
 K and M are non-diagonal
1 1
V  U  t  KU t  t  & T  U  t  MU t  t  14
2 2
Consistent mass matrix
 156 22l 54 13l 
 4l 2 3l 2 
ml  22l 13l
M
420  54 13l 156 22l 
 
 13l 3l 2 22l 4l 2 
Lumped mass matrix
1 0 0 0
0 0 0 0 
ml 
M
2 0 0 1 0
 
0 0 0 0

15
Example

u1  t  , P1  t  u3  t  , P3  t 

u2  t  , P2  t  u4  t  , P4  t 

u1  t   0; u2  t   0; u3  t   0; P4  t   0

7/24/2012 16
  156 22l 54 13l   0   12 6l 12 6l   0   R1 

ml  22l 4l 2 13l 3l 2   0  EI  6l 4l 2
 6l 2l 2   0   R2 
  3   
420  54 13l 156 22l   0  l  12 6l 12 6l   0   R3 
   
 13l 3l 2
22l 4l 2  u4   6l 2l 2
6l 4l 2  u4   0 

ml 2 EI 2
4l u4  3 4l u4  0
420 l
EI EI
1  20.49 4
; 1
Exact
 15.41
ml ml 4
Error: 32.98%

17
Example

u1  t  , P1  t  u3  t  , P3  t 

u2  t  , P2  t  u4  t  , P4  t 

u1  t   0; u3  t   0
P2  t   0; P4  t   0

18
  156 22l 54 13l   0   12 6l 12 6l   0   R1 

ml  22l 4l 2 13l 3l 2  u2  EI  6l 4l 2
 6l 2l 2  u2   0 
  3   
420  54 13l 156 22l   0  l  12 6l 12 6l   0   R3 
   
 13l 3l 2 22l 4l 2  u4   6l 2l 2
6l 4l 2  u4   0 

ml  4l 2 3l 2  u2  EI  4l 2 2l 2  u2  0 

  2   3  2 2  
420  3l 2 4l  u4  l  2l 4l  u4  0 

The remaining two equations govern the two unknown reactions:

 R1  ml  22l 13l  u2  EI  6l 6l  u2 

  13l    3  6l  
 2
R 420  22l  u4  l  6l  u4 
19
Natural frequecies
EI  4l 2
2l 2  u20  ml 2  4l 2 3l 2  u20 
3  2   2 2  
l  2l 2 4l  u40  420  3l 4l  u40 

 4 2  u20   4 3 u20  ml 4 2

 2 4  u     3 4  u  ;   420 EI
   40     40 

2 EI EI
4 
   , 6  1  10.95 4
& 2  50.20 rad/s 
7 ml ml
EI EI
4 
Exact
1  9.87 4
& 2  39.48
Exact
rad/s 
ml ml
Errors: 10.94% & 27.15% 20
 P t 

The members will be subjected

to both axial and bending
vibrations.

2D beam elements
Energy: contributions from
21
both bending and axial oscillations.
 u2  t  , P2  t 
2D beam
element u5  t  , P5  t 

u1  t  , P1  t  u4  t  , P4  t 
 
EI , AE, m, l , c
u3  t  , P3  t  u6  t  , P6  t 
2-noded element with 3-dofs per node

y, v  x, t 

x, u  x, t 
22
 2 2
1
L
 u  1  u L 2
V  t    AE   dx   EI  2  dx
20  x  2 0  x 
L
T  t    m  u 2  v 2  dx
1
20
u  x, t   u1  t  1  x   u4  t  4  x 
v  x, t   u2  t  2  x   u3  t  3  x   u5  t  5  x   u6  t  6  x 
x x
1  x   1  ; 4  x  
l l
x2 x3 x 2 x3
2  x   1  3 2  2 3 ; 3  x   x  2  2 ;
l l l l
x2 x3 x 2 x3
5  x   3 2  2 3 ; 6  x     2
l l l l 23
 L  t   V  t   T  t   L  u1 , u2 , , u6 
d  L  L
   0; i  1, 2, ,6
dt  qi  qi
 Mu  Ku  0

140 0 0 70 0 0 
 0 156 22l 0 54 13l 

mL  0 22l 4l 2 0 13l 3l 2 
M  
420  70 0 0 140 0 0 
 0 54 13l 0 156 22l 
 2 
 0 13l 3l 2 0 22l 4l 
24
   l 2 l
2

  0 0   0 0 
 r r 
 0 12 6l 0 12 6l 
 2
EI  0 6l 4l 2 0 6l 2l  I
K 3  2 2 ;r 
l A
  l  l
0 
  r   
0 0 0
r 
 
 0 12 6l 0 12 6l 
 0 6l 2l 2 0 6l 4l 2 

25
Transformation from local to global coordinate system

x  X cos   Y sin 
y   X sin   Y cos 
Y  A  X , Y 
 x   cos  sin    X 
y

 A  x, yx     
 y    sin  cos    Y 
 Local Global

m  cos  ; n  sin 
X

x  m n  X  X 
    C 
 y   n m   Y  Y 
Local Global Global

 m n 1
C  Note: C t
 C
  n m 
26
 u5
u4
Local
u2
u6
u5
u1
u3 u4
u2 u6  u1   m n   u1 
Global     ;
u1 u2   n m  u2 
u3
u4   m n  u4 
    ;
u5   n m  u5 
u3  1 0  u3 
    
 6  0 1  u6 27
u
 u1   m n 0 0 0   u1 
0
u   n m 0 0 0 0  u2 
 2 
u3   0 0 1 0 0 0  u3 
   
u4   0 0 0 m n 0  u4 
u5   0 0 0 n m 0  u5 
    
u6   0 0 0 0 0 1  u6 

 m n 0
L 0   n m 0
u  T0 u; T0  
t t
 ; L   
 0 L  0 0 1 
 u  T0u
28
 1 t
T  t   u  t  Mu  t  1 t
V  t   u  t  Ku  t 
2 2
1 t t 1 t t
 u T0 MT0u  u T0 KT0u
2 2
1 t 1 t
 u Mu ;  u Ku
2 2
M  T0t MT0 K  T0 KT0
t

K  Element stiffness matrix in the transformed coordinate system

M  Element mass matrix in the transformed coordinate system

29
 P t 

How to analyze bulit-up

structures ?
How to assemble
the structural matrices?

The members will be subjected

to both axial and bending
vibrations.

2D beam elements
Energy: contributions from
30
both bending and axial oscillations.
 p  2; N  6
3
1 5

s 1 s2
2 4 6

1 3

2 s 1 4

1 3

2 s2 4 31
Analysis of bulit - up structures
Displacements at shared nodes must match.
Let
p =number of elements
N =total dof-s
U j ; j  1, 2, ,N
Nodal displacement vector  N 1 in global coordinate system for the structure.

U   U 
N
j j 1

u s  Nodal displacement vector  N s 1 in global coordinate system for the

s-th element
We write u s in terms of U  as
u s   As U 
N s 1 Ns N N 1
32
Example
U1 
 
 u1  1 0 0 0 0 0  U 2 
u  0 0  U 3 
 2 1 0 0 0
     Number of rows in As
u3  0 0 1 0 0 0  U 4 
u4     Number of rows in us
0 0 0 1 0 0  U 5 
s 1
  Number of columns in As
U 6 
 Number of rows in U
U1 
 
 u1  0 0 1 0 0 0  U 2 
u  0 0 0  U 3 
 2 0 1 0
    
u3  0 0 0 0 1 
0 U 4 
u4    
0 0 0 0 0 1 U5
s 2
 
U 6  33
 p
T  t    Ts  t 
s 1
p
  u s  M  s u s
1 t

s 1 2

   A M   A U 
p
1 t
 U
t
s s s
s 1 2

  
1 t  p t 
 U  U  As  M  s  As  U
t

2  s 1 
1
 
t
 U M U
2
p
M    As  M  s  As
t

s 1

34
 p
V  t    Vs  t 
s 1
p
  u s  K  s u s
1 t

s 1 2
p
  U   As  K  s  As U 
1 t t

s 1 2


t  p 
 U   U   As  K  s  As  U 
1 t t

2  s 1 
1
 
t
 U K U
2
p
K    As  K  s  As
t

s 1

35
 p
M    As  M  s  As  Global mass matrix
t

s 1
p
K    As  K  s  As  Global stiffness matrix
t

s 1

Global equation of motion

MU  KU  P  t 

36
 5
u  x, t    ai  t  i  x 
i 1

1 2 3 4 5

1  x

 2  x

1
 3  x

1
 4  x

 5  x
1

37
 l
1
T  t    mu 2  x, t  dx
20
4 xer
1
   mue 2  x, t  dx
e 1 2 xel

4 xer
1
   m ue1  t  e1  x   ue 2  t  e 2  x   dx
2

e 1 2 xel

4
  Te  t 
e 1
4
V  t    Ve  t 
e 1
4
L   Te  t   Ve  t  
e 1

38
 Generalized forces

f  x, t 

a
v  x, t 
u1  t  u3  t 

b 

u2  t  u4  t 

P1  t  P3  t 

c

P2  t  P4  t 
39
Let  v  x, t   a virtual displacement. We can write
4
 v  x, t     ui  t  i  x 
i 1
4 l
  Pi  t   ui  t    f  x, t   v  x, t  dx
i 1 0

 4 
l
 f  x, t    ui  t  i  x   dx
0  i 1 
4  l

   Pi  t    f  x, t  i  x  dx  ui  t   0
i 1  0 
Since  ui  t  , i  1, 2,3, 4 are arbitrary
l
 Pi  t    f  x, t  i  x  dx, i  1, 2,3, 4
0
40
Example: f  x, t   q  t 
l
 Pi  t    qi  x  dx, i  1, 2,3, 4
0

q t  l q t  l q t  l q t  l
P1  t   ; P2  t   ; P3  t   ; P4  t   
2 12 2 12

Example: f  x, t   P  t    x  a 
l
Pi  t    P  t    x  a  i  x  dx, i  1, 2,3, 4
0

a

l
P1  t   1  3 2  2 3  P  t  ; P2  t   1  2 2  3 3  P  t 
P3  t    3 2  2 3  P  t  ; P4  t     2   3  P  t  41
 Transformation of force vector
from local to global
P5 coordinate system
P4
Local
P2
P6
P5
P1
P3
P4
P2 P6
Global
P1
P3
Fs  t   T Fs  t 
s
t

42
 P t 

Force vector for

the built-up structure

p
F  t     As Fs  t 
s 1

Fs  t   Tst Fs  t 
43
 Global structure equation of motion
MU  CU  KU  F  t 

Boundary condtions
 u g  t  
 q1   Specified support motions 
U t     
U I  N  q 1   Unknown nodal displacements 
Consider u g  t   0.
 0q1 
 U t   
U I  N  q 1 
   
44
  M 00 M 0I   K 00 K0 I  C00 C0 I 
M   ;K    ;C    ;
M I 0 M II  KI 0 K II  C I 0 CII 
 F0  t    Unknown reactions 
F t     
 FI  t   Applied equivalent nodal forces 
Global equation of motion
 M 00 M 0 I   0  C00 C0 I   0   K 00 K 0 I   0   F0  t  
M            
 I0 M II  U I  CI 0 CII  U I   K I 0 K II  U I   FI  t  

M 0 IU I  C0 IU I  K 0 IU I  F0  t   Equations for unknown reactions 

M IIU I  CIIU I  K IIU I  FI  t   Equations for unknown displacements 
Number of equations=q   N - q   N
Unknowns: q reactions  F0  t   and  N - q  displacements U I  t   .
45
Reduced structure equation of motion
M IIU I  CIIU I  K IIU I  FI  t 
Or simply, the governing equation of motion
MU  CU  KU  F  t 
U  0   U 0 ;U  0   U 0

46
P t 

47
 Summary
Element level EOM 
 M s us  Cs us  K s us  Fs  t 
in local coordinate system 
M sU s  CsU s  K sU s  Fs  t 
Element level EOM 
 U s  Tst us ; M s  Tst M sTs ; K s  Tst K sTs ;
in global coordinate system 
Cs  Tst CsTs
Global EOM after assembly  MU  CU  KU  F  t 
of structural matrices and  p p
             K  s  As
t t
 M A s 
M  A s
; K A s 
before imposing boundary  s 1
s
s 1

condtions  p p
C    As C  s  As ; F  t     As Fs  t 
t

s 1 s 1

Equations for unknown 

 M 0 IU I  C0 IU I  K 0 IU I  F0  t 
reactions 
M IIU I  CIIU I  K IIU I  FI  t 
Equations for unknown 
 MU  CU  KU  F  t 
displacements 
U  0   U 0 ;U  0   U 0 48