Finite Element Method (FEM)

Module Code:

Lecture on direct approach to 1D problem , 15 September 2019

By: Dr. Mesay Alemu Tolcha

Faculty of Mechanical Engineering, JiT, Ethiopia.

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Direct Method/ Linear Spring Element

• We analyse the Direct Stiffness Method here, since it is a good

starting point for understanding the finite element formulation.
• We consider first the simplest possible element a 1-dimensional
elastic spring which can accommodate only tensile or
compressive forces.
u1 u2 u3 u4
F
1 K 2 3 K3 4
1 K2

u1 u2 u2 u3
(1) (2) (2)
f2 f2 f3
K1 K2
Figure 1: Linear Spring Element
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Direct Method/ Linear Spring Element...

u3 u4 Equation (1) and (2) can be

written as,
(3)
f3 F
K1 u1 − K1 u2 = R
K3
(1)
−K1 u1 + K1 u2 = f2
R=Reaction force
fi j =Internal force at node i in In matrix form,
spring j " #( ) ( )
K1 −K1 u1 R
F=Applied force = (1)
−K1 K1 u2 f2
Considering spring 1,
R = K1 (u1 − u2 ) (1) Similar equations can be written
for Spring 2,
and
(2)
" #( ) ( )
(1)
f2 = K1 (u2 − u1 ) (2) K2 −K2 u2 f2
= (2)
−K2 K2 u3 f3
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Direct Method/ Linear Spring Element...

And for Spring 3,

" #( ) ( )
(3)
K3 −K3 u3 F3
=
−K3 K3 u4 F

The above three equations can be written in expanded form to

facilitate assembly as,
Spring 1,
    
K1 −K1 0 0 u 1 
 
 R 

   (1) 
 1 K1 0 0 u2
−K
f2
    
=
 0 0 0 0 
 

u3   0 
 
   
0 0 0 0 u4 0
 

For Spring 2 also same (let’s try )

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Direct Method/ Linear Spring Element...

Spring 3,
    
0 0 0 0 
 u1  
 0 
   
0 0 0 0  u2
    0
=

3)
0 0 K3 −K3  
 

 u 3 
 
f3  

    
0 0 −K3 K3 u4 F


The above three equations can be assembled as

    
K1 −K1 0 0 
 u 1 



 R 


   (1) 2) 
−K K + K
 1 1 2 −K2 0  u2
    f2 + f2 
= (2) (3)
 0 −K2 K2 + K3 −K3  
 

 u3  f3 + f3 
 
    
0 0 −K3 K3 u4
 
 F 

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Direct Method/ Linear Spring Element...

The last equation will be modified by imposing known constraints

and loads. The displacement at fixed end is zero, (u1 = 0). The
(1) (2)
first raw of the equation is not needed. f2 and f2 are action and
(2)
reaction forces, i.e. their sum is zero. The same is true for f3 and
(3)
f3 . The final form of the equation will be,
    
K1 + K2 −K2 0  u2 
   0 
 −K2 K2 + K3 −K3  u3 = 0
 
 
    
0 −K3 K3 u4 F


This can be written in compact form as,

[K ] {u} = {f }
Where, [K ] is called stiffness matrix, {u} is displacement vector
and {f } is force vector.
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Direct Method/ Linear Truss Element...

Truss Element

u1 u2 u3

F
L1 L2
L
u1 u2 u2 u3
(1) (2)
R f2 f2 F
L1 L2

Figure 2: Linear Truss Element

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Direct Method/ Linear Truss Element...

Stress developed in Element 1 is

(1)
f2 u2 − u1
σ= = Eǫ = E
A1 L1
(1) EA1
⇒ f2 = (u2 − u1 )
L1
And the reaction force, R, will be,
EA1
R= (u1 − u2 )
L1
Where E is modulus of elasticity of the material and A is average
cross-sectional area of the element. In matrix form,
" #( ) ( )
EA1 1 −1 u1 R
= (1)
L1 −1 1 u2 f2

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Direct Method/Linear Truss Element...

For Element 2, " #( ) (

(2)
)
EA2 1 −1 u2 f2
=
L2 −1 1 u3 F
Assembly of equations of the two elements gives,
    
K1 −K1 0  u1 
   R 

−K1 K1 + K2 −K2  u2 = 0
 
 
   
0 −K2 K2 u3 F
 

EA1 EA2
Where K1 = L1 and K2 = . Applying the known displacement
L2
u1 = 0, the assembled equation will be modified to,
" #( ) ( )
−K1 K1 + K2 −K2 u2 0
=
0 −K2 K2 u3 F

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Direct Method/Linear Truss Structure

This structure has 10 elements and 7 nodes. Where truss elements

support only axial force.

Figure 3: Truss Structure

FEM can be used to determine stress (force) induced in each

element and displacements of joints.
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Direct Method/Linear Truss Structure...

Figure 4: Truss Structure under Equilibrium

From Static equilibrium, we can derive the following relations,

R1x + R2x = 0
R1y + R2y = F
R1x L4 = (L1 + L5 + L9 )F
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Direct Method/Linear Truss Structure...

Internal forces/stresses

Figure 5: Exploded View of the Truss Structure

Nodal Equilibrium
Each node in the truss structure has to be under static equilibrium.
Nodes 1 and 3 are considered as examples.
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Direct Method/Linear Truss Structure...

Node 1
(2)
R1x + f1 cos(θ) = 0
(2)
R1y + f1 sin(θ) = 0
Node 3
(3) (2) (6) (7)
−f3 − f3 cos(θ) + f3 cos θ + f3 =0
(4) (2) (6)
−f3 − f3 sin(θ) − f3 sin(θ) = 0

(2)
f1 f3
(3) 3 (7)
f3
R1x 1 (1)
f1 (2)
f3 (6)
f3
(4)
R1y f3
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Direct Method/Linear Truss Structure...

Truss before and after loading

v2
u2
U2y

Displacement of node 1 2
y U2x

After loading
U1y
v1

Before loading
u1

u1 = Axial displacement of node 1

1 x v1 = Normal displacement of node 1
U1x
U1x = Normal displacement of node 1
U1y =Component of node 1 displacement in global y-direction
Figure 6: Truss Nodal Displacement. u1 is responsible for deformation of the truss
while v1 is for its rotation.
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Direct Method/Linear Truss Structure...

Load and desplacement relationships

(1) u4
f2
2
2
u3
u1y u2
u1
θ θ
v1
1 1 u
(1) 1 u1x 1
f1
Figure 7: Load and desplacement relationships

u1 which is responsible for deformation of the truss element is

related to the global displacement components, U1x and U1y , of
node 1 is given by, 15/22
Direct Method/Linear Truss Structure...

u1 = U1x cos(θ) + U1y sin(θ) = U1 cos(θ) + U2 sin(θ)

Similarly for node 2,
u2 = U2x cos(θ) + U2y sin(θ) = U3 cos(θ) + U4 sin(θ)

Force-deformation relationship in the element will be,

(1) A1 E
f ( 1)1 = −f2 = [(U3 − U1 ) cos(θ) + (U4 − U2) sin(θ)]
L1
In general, for truss element e with nodes i and j , the
force-displacement relationship will look like,
(e) (e)
fj = fi = k (e) [(U2j−1 − U2i −1 ) cos(θ) + (U2j − U2i ) sin(θ)]

Let try for other nodes % as

 AE (e)
where k (e) = L ,
assignment
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Direct Method/Linear Truss Structure...

Illustration
F6 U6
P (2)
θ (2) F4 F3
3 F3 F2
(2)
F5 U 4 U5
3 3
2 (1) 2 U3
F3
y y y

θ (1) F2 (1) U2
F1 F1
x x x
1 1 1 U1
Figure 8: Truss Structure for Illustration

• Node 1,
(1)
−f1 cos θ (1) + F1 = 0

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Direct Method/Linear Truss Structure...

(1)
−f1 sin θ (1) + F2 = 0

• Node 2,
(2)
−f2 cos θ (2) + F3 = 0
(2)
−f2 sin θ (2) + F4 = 0

• Node 3,
(2) (1)
−f3 cos θ (2) − f3 cos θ (1) + F6 = 0
(2) (1)
−f3 sin θ (2) − f3 sin θ (1) + F6 = 0

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Direct Method/Linear Truss Structure...

Force-deformation relations
• Element 1
h i
(1) (1)
f3 = −f1 = k (1) (U5 − U1 ) cos θ (1) + (U6 − U2 )sinθ (1)
• Element 2
h i
(2) (2)
f3 = −f2 = k (2) (U5 − U3 ) cos θ (2) + (U6 − U4 )sinθ (2)

• Combining Nodal Equilibrium and force-deformation relations

h i
k (1) (U1 − U5 ) cos θ (1) + (U2 − U6 ) sin θ (1) cos θ (1) = F1
h i
k (1) (U1 − U5 ) cos θ (1) + (U2 − U6 ) sin θ (1) sin θ (1) = F2

• let find for other relation like F3 , F4 , F5 , F6

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Direct Method/Linear Truss Structure...

This can be written in the standard matrix notation form as,

    
k11 k12 k13 k14 k15 k16  U 1 
   F1 

   
 21 k22 k23 k24 k25
k k26   U2  F2 
 
 
 

  
 

 U  F 
 
 k31 k32 k33 k34 k35 k36  3 3


 k
 =
 41 k42 K43 k44 k45 k46  U  
 4  
F 
 4 
 k51 k52 k53 k54 k55 k56   U5  F5 
  
 
 
  
 

 
    
k61 k62 k63 k64 k65 k66 U6 F6


Or, in compact form,

[K ] {U} = {F }
Since U1 , U2 , U3 and U4 are known boundary conditions, the first
four rows will be removed from the above equation and finally
" #( ) ( )
k55 k56 U5 F5 − k51 U1 − k52 U2 − k53 U3 − k54 U4
=
k65 k66 U6 F6 − k61 U1 − k62 U2 − k63 U3 − k64 U4 20/22