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CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 1/34

Chapter 4b – Development of Beam Equations

Learning Objectives
• To introduce the work-equivalence method for replacing
distributed loading by a set of discrete loads
• To introduce the general formulation for solving beam
problems with distributed loading acting on them
• To analyze beams with distributed loading acting on
them
• To compare the finite element solution to an exact
solution for a beam
• To derive the stiffness matrix for the beam element with
nodal hinge
• To show how the potential energy method can be used
to derive the beam element equations
• To apply Galerkin’s residual method for deriving the
beam element equations

Beam Stiffness
General Formulation
We can account for the distributed loads or concentrated loads
acting on beam elements by considering the following
formulation for a general structure:
F = Kd - F0

where F0 are the equivalent nodal forces, expressed in


terms of the global-coordinate components.
These forces would yield the same displacements as the
original distributed load.
If we assume that the global nodal forces are not present
(F = 0) then:
F0 = Kd
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 2/34

Beam Stiffness
General Formulation
We now solve for the displacements, d, given the nodal
forces F0.
Next, substitute the displacements and the equivalent nodal
forces F0 back into the original expression and solve for the
global nodal forces.
F = Kd - F0
This concept can be applied on a local basis to obtain the local
nodal forces in individual elements of structures as:
f = kd - f0

Beam Stiffness
Example 5 - Load Replacement
Consider the beam shown below; determine the equivalent
nodal forces for the given distributed load.

The work equivalent nodal forces are shown above.


Using the beam stiffness equations:  wL 
  2 
 f1y   12 6L 12 6L  v1   wL2 
m   4L2 6L 2L2   1   12 

 1  EI  6L    
  3 
 f2 y  L  12 6L 12 6L  v 2   wL 

m2   
 6L 2L2 6L 4L2  2   2 
 wL2 
 
 12 
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 3/34

Beam Stiffness
Example 5 - Load Replacement
Apply the boundary conditions: v1  1  0

 12 6L 12 6L  v1 

EI  6L 4L 2
6L 2L2   1 
 
L3  12 6L 12 6L  v 2 
 
 6L 2L2 6L 4L2  2 

We can solve for the displacements


 wL   wL4 

 2  EI  12 6L  v 2  v 2   8EI 
 2  3      3 
 wL  L  6L 4L2  2  2   wL 

 12   6EI 

Beam Stiffness
Example 5 - Load Replacement
In this case, the method of equivalent nodal forces gives the
exact solution for the displacements and rotations.
To obtain the global nodal forces, we will first define the
product of Kd to be Fe, where Fe is called the effective
global nodal forces. Therefore:
 wL 
 2 
 F 1y 
e
 12 6L 12 6L   0   5wL2 
 e   
 2  
 M 1  EI  6L 4L 6L 2L   0   12 
2

 e  3  wL4    
F 2 y  L  12 6L 12 6L   8EI    wL 
 M e 2   2 
 6L 2L 6L 4L   wL 6EI   2 
2 3

 wL2 
 
 12 
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 4/34

Beam Stiffness
Example 5 - Load Replacement
Using the above expression and the fix-end moments in:
 wL   wL   wL 
 2   2   
     2
 F1y   5wL2   wL2   wL 
M   
 1 12   12   2 
F = Kd - F0     
F
  
2 y wL   wL   0 
 M2   2   2   
 wL2   wL2   
     0 
 12   12   

 F  0  F  wL
y 1y
2
wL L
 M  0 

1  wL 
2 2

Beam Stiffness
Example 6 - Cantilever Beam
Consider the beam, shown below, determine the vertical
displacement and rotation at the free-end and the nodal
forces, including reactions. Assume EI is constant
throughout the beam.

We will use one element and replace the concentrated load


with the appropriate nodal forces.
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 5/34

Beam Stiffness
Example 6 - Cantilever Beam
The beam stiffness equations are:  P
2 
 f1y   12 6L 12 6L  v1   PL 
m   

 1  EI  6L 4L2 6L 2L2   1   8 
  3     
 f2 y  L  12 6L 12 6L  v 2   P 

m2   
 6L 2L2 6L 4L2  2   2 
 PL 
 
 8 
Apply the boundary conditions: v1  1  0

 12 6L 12 6L  v1 

EI  6L 4L2 6L 2L2   1 
 
L3  12 6L 12 6L  v 2 
 
 6L 2L2 6L 4L2  2 

Beam Stiffness
Example 6 - Cantilever Beam
The beam stiffness equations become:
 P  5PL3 
 2  EI  12 
6L  v 2  v 2   48EI 
  3      2 
 PL  L  6L 4L2  2  2   PL 

 8   8EI 

To obtain the global nodal forces, we begin by evaluating the


effective nodal forces.  P 
 2 
 F e1y   12 6L 12 6L   0   
 e   2    3PL 
 M 1  EI  6L 4L 6L 2L   0 
2
 8 
 e  3  5 PL3   
F 2 y  L  12 6L 12 6L   48 EI  P 
 2
 M e 2   2 
 6L 2L 6L 4L    8 EI 

2 2
PL  PL 
 
 8 
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 6/34

Beam Stiffness
Example 6 - Cantilever Beam
Using the above expression in the following equation, gives:

 P   P   
 2  2  P 
 F1y       
M   3PL   PL   PL 
 1  8   8   2 
F = Kd - F0        
F2 y  P   P   0 
 M2   2  2   
 PL   PL   
F      0 
 8   8   
Kd = Fe F0 F

Beam Stiffness
Example 6 - Cantilever Beam
In general, for any structure in which an equivalent nodal
force replacement is made, the actual nodal forces acting on
the structure are determined by first evaluating the effective
nodal forces Fe for the structure and then subtracting off the
equivalent nodal forces F0 for the structure.

Similarly, for any element of a structure in which equivalent


nodal force replacement is made, the actual local nodal
forces acting on the element are determined by first
evaluating the effective local nodal forces for the element
and then subtracting off the equivalent local nodal forces
associated only with the element.
f = kd - f0
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 7/34

Beam Stiffness
Comparison of FE Solution to Exact Solution
We will now compare the finite element solution to the exact
classical beam theory solution for the cantilever beam
shown below.

Both one- and two-element finite element solutions will be


presented and compared to the exact solution obtained by
the direct double-integration method.

Let E = 30 x 106 psi, I = 100 in4, L = 100 in, and uniform load
w = 20 Ib/in.

Beam Stiffness
Comparison of FE Solution to Exact Solution
To obtain the solution from classical beam theory, we use the
double-integration method:
 M( x ) 
y    
 EI 
where the double prime superscript indicates differentiation
twice with respect to x and M is expressed as a function of x
by using a section of the beam as shown:


  Fy  0  V ( x )  wL  wx

wx 2 wL2
  M  0  M ( x )    wLx 
2 2
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 8/34

Beam Stiffness
Comparison of FE Solution to Exact Solution
To obtain the solution from classical beam theory, we use the
double-integration method:
 M( x ) 
y    
 EI 
w  x2 L2 
EI   2
y    Lx   dx dx
2

w  x 3 Lx 2 xL2 
y  
EI  6

2

2
 C1  dx

Boundary Conditions
y (0)  0 y (0)  0
w x 4
Lx 3
x L  2 2
y      C1x  C2
EI  24 6 4 
w  x 4 Lx 3 x 2L2 
y    
EI  24 6 4 

Beam Stiffness
Comparison of FE Solution to Exact Solution
Recall the one-element solution to the cantilever beam is:
 wL4 

v 2   8EI 
  3 
2   wL 

 6EI 
Using the numerical values for this problem we get:
 20 lb in 100 in  
4

 

v 2   8 30 
 10 6

psi 100 in 4
  0.0833 in 
    
2   20 lb in 100 in    0.00111 rad 
3

 4 
 
 6 30  10 psi 100 in 
6
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 9/34

Beam Stiffness
Comparison of FE Solution to Exact Solution
The slope and displacement from the one-element FE
solution identically match the beam theory values evaluated
at x = L.

The reason why these nodal values from the FE solution are
correct is that the element nodal forces were calculated on
the basis of being energy or work equivalent to the
distributed load based on the assumed cubic displacement
field within each beam element.

Beam Stiffness
Comparison of FE Solution to Exact Solution
Values of displacement and slope at other locations along the
beam for the FE are obtained by using the assumed cubic
displacement function.
1 1
L
   L

v ( x )  3 2 x 3  3 x 2L v 2  3 x 3L  x 2L2 2

The value of the displacement at the midlength v(x = 50 in) is:

v ( x  50 in )  0.0278 in

Using beam theory, the displacement at v(x = 50 in) is:

v ( x  50 in )  0.0295 in
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 10/34

Beam Stiffness
Comparison of FE Solution to Exact Solution
In general, the displacements evaluated by the FE method
using the cubic function for v are lower than by those of
beam theory except at the nodes.

This is always true for beams subjected to some form of


distributed load that are modeled using the cubic
displacement function.

The exception to this result is at the nodes, where the beam


theory and FE results are identical because of the work-
equivalence concept used to replace the distributed load by
work-equivalent discrete loads at the nodes.

Beam Stiffness
Comparison of FE Solution to Exact Solution
The beam theory solution predicts a quartic (fourth-order)
polynomial expression for a beam subjected to uniformly
distributed loading, while the FE solution v(x) assumes a
cubic (third-order) displacement behavior in each beam all
load conditions.

The FE solution predicts a stiffer structure than the actual one.

This is expected, as the FE model forces the beam into


specific modes of displacement and effectively yields a
stiffer model than the actual structure.

However, as more elements are used in the model, the FE


solution converges to the beam theory solution.
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 11/34

Beam Stiffness
Comparison of FE Solution to Exact Solution
For the special case of a beam subjected to only nodal
concentrated loads, the beam theory predicts a cubic
displacement behavior.

The FE solution for displacement matches the beam theory


solution for all locations along the beam length, as both v(x)
and y(x) are cubic functions.

Beam Stiffness
Comparison of FE Solution to Exact Solution
Under uniformly distributed loading, the beam theory solution
predicts a quadratic moment and a linear shear force in the
beam.

However, the FE solution using the cubic displacement


function predicts a linear bending moment and a constant
shear force within each beam element used in the model.
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 12/34

Beam Stiffness
Comparison of FE Solution to Exact Solution
We will now determine the bending moment and shear force
in the present problem based on the FE method.

M ( x )  EIy   EI
d 2 Nd 
 EI
 d N d
2

dx 2 dx 2
M ( x )  EI Bd

 12 x   4 6 x   6 12 x   2 6 x  
B    L2 
6
   3     2 
 L3   L L2   L2 L   L L 
 6 12 x   4 6x 
M  EI   2  3  v1     2  1
 L L   L L 
 6 12 x   2 6x  
  2  3  v 2     2  2 
L L   L L  

Beam Stiffness
Comparison of FE Solution to Exact Solution
We will now determine the bending moment and shear force
in the present problem based on the FE method.

Position MFE Mexact

X=0 -83,333 lb-in -100,000 lb-in

X = 50 in -33,333 lb-in -25,000 lb-in

X = 100 in 16,667 lb-in 0


CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 13/34

Beam Stiffness
Comparison of FE Solution to Exact Solution
The plots below show the displacement, bending moment ,
and shear force over the beam using beam theory and the
one-element FE solutions.

Beam Stiffness
Comparison of FE Solution to Exact Solution
The FE solution for displacement matches the beam theory
solution at the nodes but predicts smaller displacements
(less deflection) at other locations along the beam length.
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 14/34

Beam Stiffness
Comparison of FE Solution to Exact Solution
The bending moment is derived by taking two derivatives on
the displacement function. It then takes more elements to
model the second derivative of the displacement function.

Beam Stiffness
Comparison of FE Solution to Exact Solution
The shear force is derived by taking three derivatives on the
displacement function. For the uniformly loaded beam, the
shear force is a constant throughout the singIe-element
model.
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 15/34

Beam Stiffness
Comparison of FE Solution to Exact Solution
To improve the FE solution we need to use more elements in
the model (refine the mesh) or use a higher-order element,
such as a fifth-order approximation for the displacement
function.

Beam Stiffness
Beam Element with Nodal Hinge
Consider the beam, shown below, with an internal hinge. An
internal hinge causes a discontinuity in the slope of the
deflection curve at the hinge and the bending moment is
zero at the hinge.
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 16/34

Beam Stiffness
Beam Element with Nodal Hinge
For a beam with a hinge on the right end:
[K ] [K12 ]
11

 f1y   12 6L 12 6L   v 1 
m   4L2  6L 2L2   1 
 1  EI  6L  
  3
 f2 y  L  12 6L 12 6L  v 2 
m2   
 6L 2L 2
 6L 4L2  2 

[K 21 ] [K 22 ]
The moment m2 is zero and we can partition the matrix to
eliminate the degree of freedom associated with 2 .
f1   K11 K12   d1  f1  K11d1  K12d 2
    
f2  K21 K22  d2  f2  K 21d1  K 22d 2

Beam Stiffness
Beam Element with Nodal Hinge
For a beam with a hinge on the right end:

v1   f1y 
 f1y   12 6L 12 6L   v 1  d1   1  f1  m1 
m   4L2  6L 2L2   1  v  f 
 1  EI  6L    2  2y 
  3
 f2 y  L  12 6L 12 6L  v 2 
m2   
 6L 2L 2
 6L 4L2  2  d2   2  f2   m2 

d 2  K 22 1  f2  K 21d1 

f1  K11d1  K12d 2  K11d1  K12 K 22 1  f2  K 21d1  


m2  0
fc  kc d1 fc  f1  K12K 22 1f2 kc  K11  K12K 22 1K 21
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 17/34

Beam Stiffness
Beam Element with Nodal Hinge
We can condense out the degree of freedom by using the
partitioning method discussed earlier.

kc  K11  K12K 22 1K 21

 12 6L 12  6L 
EI   EI  2  1
kc  3 6L 4L2 6L  3  2L  2 6L 2L2  6L 
L   L
6L  4L
 12 6L 12  
Therefore, the condensed stiffness matrix is:
 1 L 1
3EI 
kc  3 L L2 L 
L  
 1 L 1 

Beam Stiffness
Beam Element with Nodal Hinge
The element force-displacement equations are:
 f1y   1 L 1 v1 
  3EI  L L2 L    
m1   3   1
f  L  1 L 1  v 2 
 2y 
Expanding the element force-displacement equations and
maintaining m2 = 0 gives:

 f1y   1 L 1 0   v1 
m   L L2 L 0   1 
 1  3EI   
  3
 f2 y  L  1 L 1 0  v 2 
m2   
0 0 0 0  2 
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 18/34

Beam Stiffness
Beam Element with Nodal Hinge
Once the displacements d1 are found, d2 may be computed:
 m2  0 v1  
  
d 2  K 22 1
 f2  K 21d1  2   K 22 1
 m2   K 21  1  
 v  
  2 

In this case, d2 is 2 (the rotation at right side of the element


at the hinge.

Beam Stiffness
Beam Element with Nodal Hinge
For a beam with a hinge on the left end:

 f1y   12 6L 12 6L   v 1 
m   4L2  6L 2L2   1 
 1  EI  6L  
  
 f2 y  L  12  6L 6L  v 2 
3
12
m2   
 6L 2L 2
6L 4L2  2 

Rewriting the equations to move 1 and m1 to the first row:

 m1   4L2 6L 6L 2L2   1 


f    
 1y  EI  6L 12 12 6L   v 1 
    
 f2 y  L  6L 12 6L  v 2 
3
12
m2   2 
 2L 6L 6L 4L2  2 
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 19/34

Beam Stiffness
Beam Element with Nodal Hinge
For a beam with a hinge on the left end:
[K ] [K12 ]
11

 m1   4L2 6L 6L 2L2   1 


f    
 1y  EI  6L 12 12 6L   v 1 
  3  
 f2 y  L  6L 12 12 6L  v 2 
m2   2 
 2L 6L 6L 4L2  2 
[K 21 ] [K 22 ]
The moment m1 is zero and we can partition the matrix to
eliminate the degree of freedom associated with 1 .
f1   K11 K12   d1  f1  K11d1  K12d 2
    
f2  K21 K22  d2  f2  K 21d1  K 22d 2

Beam Stiffness
Beam Element with Nodal Hinge
For a beam with a hinge on the right end:

 m1   4L2 6L 6L 2L2   1  d1  1 f1  m1


f    
 1  EI  6L 12 12 6L   v 1  v1 
      f1y 
 f2  L  6L 12 6L v 2  d2   v 2 
 f2    f2 y 
3
12
m2   2    m 
 2L 6L 6L 4L2  2   2  2

d1  K111  f1  K12d 2 

f2  K 21d1  K 22d 2  K 22d 2  K 21 K111  f1  K12d 2  


m1  0
fc  kc d 2 fc  f2  K 21K 1
f
11 1 kc  K 22  K 21K111K12
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 20/34

Beam Stiffness
Beam Element with Nodal Hinge
We can condense out the degree of freedom by using the
partitioning method discussed earlier.

kc  K 22  K 21K111K12

 12 12 6L   6L 
EI   EI   1
kc  3 12 12 6L  3 6L  2 6L 6L 2L2 
L   L
 2L2  4L
 6L 6L 4L2   
Therefore, the condensed stiffness matrix is:
 1 1 L 
3EI 
kc  3 1 1 L 
L  
 L L L2 

Beam Stiffness
Beam Element with Nodal Hinge
The element force-displacement equations are:
 f1y   1 1 L   v 1 
  3EI  1 1 L  v 
 f2 y   3   2
m  L  L L L   1 
2 
 2

Expanding the element force-displacement equations and


maintaining m1 = 0 gives:

 f1y  1 0 L1 v1 


m  0 0 00   1 
 1  3EI   
  3
 f2 y  L L 0 L L  v 2 
m2   
 1 0 L 1  2 
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 21/34

Beam Stiffness
Beam Element with Nodal Hinge
Once the displacements d2 are found, d1 may be computed:
 m1  0  v 1  
  
d1  K 11
1
 f1  K12d 2  1  K 11
1
 m1  K12 v 2  
   
  1 

In this case, d1 is 1 (the rotation at right side of the element


at the hinge.

Beam Stiffness
Beam Element with Nodal Hinge
For a beam element with a hinge at its left end, the element
force-displacement equations are:
 f1y   1 1 L   v 1 
  3EI  1 1 L  v 
 f2 y   3   2
m  L  L L L  2 
2 
 2
Expanding the element force-displacement equations and
maintaining m1= 0 gives:

 f1y  1 0 1 L   v 1 
m  0 0 0 0   1 
 1  3EI   
  3
 f2 y  L  1 0 1 L  v 2 
m2   
L 0 L L2  2 
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 22/34

Beam Stiffness
Example 7 - Beam With Hinge
In the following beam, shown below, determine the vertical
displacement and rotation at node 2 and the element forces
for the uniform beam with an internal hinge at node 2.
Assume EI is constant throughout the beam.

Beam Stiffness
Example 7 - Beam With Hinge
The stiffness matrix for element 1 (with hinge on right) is:
 f1y   1 L 1 0   v1 
m   L L2 L 0   1 
 1  3EI   
  3
 f2 y  L  1 L 1 0  v 2 
m2   
0 0 0 0  2 

v1 1 v2 2

 f1y   1 a 1 0   v1 
m   0   1 
 1  3EI  a a a
2

  3  
 f2 y  a  1 a 1 0  v 2 
 
m2  0 0 0 0  2 
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 23/34

Beam Stiffness
Example 7 - Beam With Hinge
The stiffness matrix for element 2 (with no hinge) is:
 f2   12 6L 12 6L  v 2 
m   4L2 6L 2L2  2 
 2  EI  6L  
  3
 f3  L  12 6L 12 6L  v 3 
m3   
 6L 2L 2
 6L 4L2  3 

v2 2 v3 3

 f2   12 6b 12 6b  v 2 
m   2
6 b 2b 2  2 
 2  EI  6b 4b
 
  
 f3  b  12 6 b 6b  v 3 
3
12
m3   
 6b 2b 2 6 b 4b 2  3 

Beam Stiffness
Example 7 - Beam With Hinge

The assembled equations are: Element 1

 a33 3
 a33 0 0 0
 f1y   3
a2
 v1 
m   a2
3
 3
0 0 0  
a a2
 1  3  3 6 
 1
 f2 y  12
 3 6
 12
b 2  v 2 
 a3 a2 b3 a3 b2 b3
   EI  2 
m
 2 0 0 6 4
 6

b  2
 b2 b b2

 f3 y   0 0  12  b62 12
 b62  v 3 
  
b3 b3
 
 
m 4 3 
3
 0 0 6
b2
2
b  b
6
2 b
Element 2
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 24/34

Beam Stiffness
Example 7 - Beam With Hinge
The boundary conditions are: v1  v 3  1  3  0

 a33 3
 a33 0 0 0
 f1y   3
a2
  v01 
m   a2
3
a  a32 0 0 0   0 
  1
 3  3 6 
 1
 f2 y 
3
 12 6
 12
b  v 2 
 a3 a2 a3 b3 2 3 2

   EI 
b b
2 
m2  0 0 6 4
 b2
6

b  2
 b2 b

 f3 y   0 0  12  b62 12
 b62  v03 
  
b3 b3
  0 
m3  4 
 0 0 6
b2
2
b  b62 b
3

Beam Stiffness
Example 7 - Beam With Hinge
After applying the boundary conditions the global beam
equations reduce to:

 a 3 b 3P 
 3 12 6    
 a3  b3 b2  v 2  P  v 2   3 b  a EI 
3 3
 
EI         
 6 4  2   0  2   a 3 b 2P 
 b 2 b  
 2 b3  a3 EI 
  
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 25/34

Beam Stiffness
Example 7 - Beam With Hinge
The element force-displacement equations for element 1 are:

   b3P 
 0   b3  a3 
   f1y   
 f1y   1 a 1  
  3EI       ab3P 
m1   3  a a a   m1    3 3 
2
0 
f  a  1 a 1  
 2y   
 f   b  a 
3 3
abP
  2 y   b3P 
 
 3  b3  a3  EI   3 3 
   b a 

Beam Stiffness
Example 7 - Beam With Hinge
The slope 2 on element 1 may be found using the condensed
matrix:  m2  0 v 1  
1   
d 2  K 22  f2  K 21d1  2 element1  K 22  m2   K 21  1  
1

 v  
  2 
  
  
  0 
a  EI  
2 1  0  3  6a 2a 2 6a   0 
4EI  a  
 
3 3
abP

  3  b  a  EI  
3 3


a 2b3P
2 1  
 
2 b 3  a 3 EI
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 26/34

Beam Stiffness
Example 7 - Beam With Hinge
The element force-displacement equations for element 2 are:
 a3P 
 a 3 b 3P   b3  a3 
 
 f2 y   12 6b 12 6b   3  
b3  a 3 EI  
 f2 y  


   2  m   0
m2  EI  6b 4b 6b 2b   
2
a 3 b 2P   2 
  3     
 f3 y  b  12 6b 12 6b   2
 2
 
b3  a3 EI   f3 y   a P 
3

m3   6b 2b 6b 4b  
2
 m3   b 3  a 3 
 0   3 
 0   ba P 
 b 3  a 3 

Beam Stiffness
Example 7 - Beam With Hinge
Displacements and rotations on each element.

a3 b3P v 3  3  0
v1  1  0 v2  
1
 
3 b3  a3 EI
3

2 2

2 3
a 3 b 2P
2 1  
abP
2 2 

2 b3  a3 EI   
2 b3  a 3 EI
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 27/34

Beam Stiffness
Potential Energy Approach to Derive
Beam Element Equations
Let’s derive the equations for a beam element using the
principle of minimum potential energy.

The procedure for applying the principle of minimum potential


energy is similar to that used for the bar element.

The total potential energy p is defined as the sum of the


internal strain energy U and the potential energy of the
external forces :

p  U  

Beam Stiffness
Potential Energy Approach to Derive
Beam Element Equations
The differential internal work (strain energy) dU in a one-
dimensional beam element is:
U   21  x  x dV
V

For a single beam element, shown below, subjected to both


distributed and concentrated nodal forces, the potential
energy due to forces (or the work done these forces) is:
2 2
    Ty v dS   Piy v i   mi i
S i 1 i 1
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 28/34

Beam Stiffness
Potential Energy Approach to Derive
Beam Element Equations
If the beam element has a constant cross-sectional area A,
then the differential volume of the beam is given as:
dV  dA dx

The differential element where the surface loading acts is


given as: dS = b dx (where b is the width of the beam
element).

Therefore the total potential energy is:


2
 p    21  x  x dA dx   Ty vb dx    Piy v i  mi i 
x A x i 1

Beam Stiffness
Potential Energy Approach to Derive
Beam Element Equations
d 2v
The strain-displacement relationship is:  x   y
dx 2
We can express the strain in terms of nodal displacements
and rotations as:
 12 x  6L 6 xL  4L2 12 x  6L 6 xL  2L2 
 x  y 
L3 L3 L3 L3  d 
 

 x   y [B]d
12 x  6L 6 xL  4L2 12 x  6L 6 xL  2L2 
[B ]   
 L3 L3 L3 L3 
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 29/34

Beam Stiffness
Potential Energy Approach to Derive
Beam Element Equations
The stress-strain relationship in one-dimension is:
 x   [E ] x 
where E is the modulus of elasticity. Therefore:

 x    y [E ][B]d   x   y [B]d

The total potential energy can be written in matrix form as:

 p    21  x   x  dA dx   bTy v  dx  d  P
T T T

x A x

Beam Stiffness
Potential Energy Approach to Derive
Beam Element Equations
If we define, w  bTy as a line load (load per unit length) in the
y direction and the substitute the definitions of x and x the
total potential energy can be written in matrix form as:
L L
E 2
p    y d  [B ]T [B ] d  dA dx   w d  [N ]T dx  d  P 
T T T

0 A
2 0

Use the following definition for moment of inertia: I   y 2dA


A

Then the total potential energy expression becomes:


L L
EI
p   d  [B ]T [B ]d  dx   w d  [N ]T dx  d  P
T T T

0
2 0
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 30/34

Beam Stiffness
Potential Energy Approach to Derive
Beam Element Equations
Differentiating the total potential energy with respect to the
displacement and rotations (v1, v2, 1 and 2) and equating
each term to zero gives:
L L
EI  [B ]T [B ] dx d    w [N ]T dx  P   0
0 0
L

The nodal forces vector is: f    w [N ]T dx  P


0

L
The elemental stiffness matrix is: k   EI  [B]T [B] dx
0

Beam Stiffness
Potential Energy Approach to Derive
Beam Element Equations
Integrating the previous matrix expression gives:
L

k   EI  [B]T [B] dx
0

 12 6L 12 6L 
 4L2 6L 2L2 
EI  6L
k   L3  12 6L 12

6L 
 
 6L 2L2 6L 4L2 
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 31/34

Beam Stiffness
Galerkin’s Method to Derive Beam Element Equations

The governing differential equation for a one-dimensional


beam is:
 d 4v 
EI  4   w  0
 dx 
We can define the residual R as:
  d 4v 
L

0  EI  dx 4   w  Ni dx  0 i  1, 2, 3, and 4
 
If we apply integration by parts twice to the first term we get:
L L

 EI v xxxx  Ni dx   EI v xx   Ni ,xx  dx  EI Ni v xxx    Ni ,x  v xx 


L

0
0 0

where the subscript x indicates a derivative with respect to x

Beam Stiffness
Galerkin’s Method to Derive Beam Element Equations

Since v  [N ] d  , then the second derivative of v with respect


to x is:
12 x  6L 6 xL  4L2 12 x  6L 6 xL  2L2 
v xx   3
L3 L3 L3  d 
 L 
or
v x x  [B ] d 

Therefore the integration by parts becomes:


L L

  N  EI [B] dx d    N w dx  N V   N  m  d 
L
i , xx i i i ,x 0
0
0 0

i  1, 2, 3, and 4
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 32/34

Beam Stiffness
Galerkin’s Method to Derive Beam Element Equations

The above expression is really four equations (one for each


Ni) and can be written in matrix form as:
L L

 [B] EI [B] dx d     [N ] w dx  [N ]x m  [N ] V
T T T T L

0
0 0

The interpolation function in the last two terms can be


evaluated:
[N ] x  x  0   [0 1 0 0] [N ]x  x  L   [0 0 0 1]

[N ]  x  0   [1 0 0 0] [N ]  x  L   [0 0 1 0]

Beam Stiffness
Galerkin’s Method to Derive Beam Element Equations

Therefore, the last two terms of the matrix form of the Galerkin
formulation become (see the figure below):

i  1  V (0) i 2  m(0)

i 3  V (L ) i 4  m( L )
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 33/34

Beam Stiffness
Galerkin’s Method to Derive Beam Element Equations

When beam elements are assembled, as shown below:

Two shear forces and two moments form adjoining elements


contribute to the concentrated force and the concentrated
moment at the node common to both elements.

Beam Stiffness
Problems:

7. Verify the four beam element equations are contained in


the following matrix expression.
L L
EI  [B ] [B ] dx d    w [N ]T dx  P   0
T

0 0

8. Do problems 4.10, 4.12, 4.18, 4.22, 4.40 and 4.47 in


your textbook.
CIVL 7/8117 Chapter 4 - Development of Beam Equations - Part 2 34/34

Beam Stiffness
Problems:

9. Work problem 4.36 in your using the SAP2000.

Attempt to select the lightest standard W section to


support the loads for the beam.

The bending stress must not exceed 160 MPa and the
allowable deflection must not exceed (L = 6 m)/360

End of Chapter 4b

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