Beams and Frames

 beam theory can be used to solve simple

beams
 complex beams with many cross section
changes are solvable but lengthy
 many 2-d and 3-d frame structures are
better modeled by beam theory
 One Dimensional Problems
The geometry of the problem is three dimensional, but the
variation of variable is one dimensional
y
u(x)
Contract Stretch
x P
u(x)

px
kx du + P
dx (x=l)=0 y
px

v(x) x v(x)

Variable can be scalar field like

temperature, or vector field like
d 4v displacement.
kx + P(x)=0
dx 4 For dynamic loading, the variable can
be time dependent
 Element Formulation
– assume the displacement w is a cubic polynomial in
v(x)  a1  a 2 x  a 3x 2  a 4 x 3
a1, a2, a3, a4 are the undetermined coefficients
L = Length
I = Moment of Inertia of y
the cross sectional area qj

E = Modulus of Elsaticity qi q(x)

v = v(x) deflection of the qj
vj
neutral axis vi
Fi, vi
qi v(x) Fj,vj
= dv/dx slope of the x Mj,qj

elastic curve (rotation of x

the section Mi,qi

i j

F = F(x) = shear force L, EI

M= M(x) = Bending
moment about Z-axis
` a1   a1 
a  a 
3  2 2  2
  
v(x)  1 x x x   ; (x)  0 1 2x 3x  
2

a 3  a 3 

a 4 
 
a 4 


dv
x  0, v(0)  v1;  1
dx x 0

dv
x  L, v(L)  v 2 ;  2
dx x L

 v i  1 0 0 0  a1 
   0 1 0 0  a 2 
 i 
v     
 j  1 L L2 L3  a 3 
  j  0 1 2L 3L2  a 4 
  
 Applying these boundary conditions, we get
{d}  [P(x)]{a}
{a}  [P(x)]1{d}
a 1  v1 ; a 2  1
1
a3  2
( 3v1  2L1  3v 2  L2 )
L

Substituting coefficients ai back into the original equation

for v(x) and rearranging terms gives
a1 
a 
3  2

v(x)  1 x x x  
2

a 3 

a 4 

  The interpolation function or shape function is given by

3x 2 2x 3 2x 2 x 3
v(x)  (1  2  3 )v1  (x   2 )1
L L L L
3x 2 2x 3 x2 x3
( 2  3 )v 2  (   2 )2
L L L L
dN1
(x=0) = 0
dx
N1(x=L) =1
 v1  N1=1
 L 
 
v   N1 (x) N 2 (x) N 3 (x) N 4 (x)   1   [N]{d}
dN1
(x=L) = 0
dx
 v2 
 L2  N2=1
strain for a beam in bending is defined by the curvature, so

d 2 v d 2 [N]
dv
du u(x) = y

 y 2  {d}  y[B]{d}
dx

2
 Hence dx dx dx y

N A

 12x 6 6x 4 6 12x 6x 2 
[B]   3  2  2  3  2
dv
dx
 L L h 
3 2 3
L L L L L x

Internal virtual energy U e =    dv

T

ve

substitute    E  in above eqn.

U e =     E dv
T

ve

 = y  B  d
U e =   d  B  E  Bd y 2dv
T T

ve
 External virtual workdue to body force
w =   d(x) bdv    d  N  b y dv
T T T
e
b
ve ve

External virtual work due to surface force

w =   d(x) pdv    d  N  p y ds
T T T
e
s
s s

External virtual work due to nodal forces

w   d P , P
e
c
T
    = P , M , P ,....
e e T
yi i yj

From virtual work principle Ue  We

 

e  e y      
 dT (   BT  E  B y 2dv d   dT    N T b dv    N T p dv  Pe
y


v v s 

 e  
  K  Ue  F
e
where
 K     BT  D B y 2dv  Element stiffness matrix
 e
ve

 e
e
 
y
s
   
F    N T b dv    N T p ds  Pe  Total nodal force vector
y
v
 the stiffness matrix [k] is defined
L

V
T
 2

[k]   [B] E[B]dV   dAy E  [B]T [B]dx
A 0

 12 6L 12 6L 
 2 
EI  6L 4L 6L 2L 
2
 3
L  12 6L 12 6L  dA
 2 
y
 6L 2L 6L 4L 
2

To compute equivalent nodal force vector

for the loading shown

Fe     N T p y ds
s py w
From similar triangles
py w w L
x
 ; p y  x; ds = 1  dx
x L L
 3x 2 2x 3 2x 2 x 3 3x 2 2x 3 x2 x3 
 N   (1  2  3 ) (x   2 ) ( 2  3 ) (  2 ) 
 L L L L L L L L 
Fe     N T p y ds
s
vi vj
 3x 2 2x 3   3wL 
(1  L2  L3 )    20 
    qi +ve directions qj
 
2
2x 2 x 3   wL 
 (x  L  L2 )   wx   30 
Fe     2    dx   
L  3x 2x 3   L   7wL 
(  3 )
 L2 L   20 
 2 3   wL2 
(  x  x )   
 L L2  
 20 

Equivalent nodal force due to

Uniformly distributed load w
v1 v2
v3
1 2 3
v3

v4
Member end forces

For element 1
70 70
 V1  12 18 -12 18  0   70 
M  18 36 -18 18  0   70 
 1    
   1555.6     70
V
 2   -12 -18 12 -18   0   70  139.6
 M 2   
18 18 -18 36  0.00249   139.6 

 V1  12 18 -12 18  0   46.53 46.53 46.53

M  18 36 -18 18   0.00249  139.6 
 1      
   1555.6  
  
 V2  -12 -18 12 -18    0.01744   46.53 
 M 2    0
18 18 -18 36  0.007475 0  139.6
 v1 v2 v3

1 2 3

v1 1 v2 2
v2 2 v3 3
 V1  12 6 -12 6   v1 
M  6 4 -6 2   
  1
  1 
 V2  5  -12 -6 12+12 -6+6 -12 6   v 2 
   8x10   
M
  2 6 2 -6+6 4+4 -6 2  2 
 V3   -12 -6 12 -6  v 3 
    
 3 
M  6 2 -6 4  3 
Boundary condition
v1 , 1 , v 2 , v 3  0
Loading Condition
M 2  1000; M 3  1000
8 2  2   1000 
8x105     
 2 4 
 3  1000.0 
 4 -2   1000   2.679x10 
4
 2  1
  5   1000.0    4 

 3 28*8x10  -2 8   4.464x10 
Final member end forces
f    k d  {FEMS}
For element 1
 V1  0  12 6 -12 6  0   1285.92 
 M  0    
 1  

5 6 4 -6 2  0   428.64 
      8X10   
 V2  0  -12 -6 12 -6  0  1285.92 
 M 2  0   
6 2 -6 4 
4   2.679x10   857.28  1285.92 1285.92

428.64 857.28
 V1  6000  12 6 -12 6  0  6856.8 
 M  1000   
 1  

5 6 4 -6 2   2.679x104  856.96 
    8X10   
V
 2   6000  -12 -6 12 -6  0   51 43.2 
 M 2   1000   
6 2 -6 4 
4   4.464x10  0  5143.2
6856.8

856.96 0
 Guided Support
Find slope at joint 2 and deflection at 20 KN 20kN/m
 
joint 3. Also find member end forces 
EI EI
2m 2m 6m
EI=2 x 10 4kN-m2
v v v

Global coordinates  
q q q


 
 
 

20 KN 20kN/m
Fixed end reactions (FERs)


m


m 

m


m



m 

m

Action/loads at global 



coordinates 

m


For element 1
f1  12 24 -12 24   v1 
m   24 64 -24 32   1 
 1  1X104   
 
f 2  43 -12 -24 12 -24   v 2 
 m 2   
 24 32 -24 64   2 
v1 1 v 2 2
For element 2
f1  12 36 -12 36   v1 
m  36   
 1  1X104 
144 -36 72
  1 
 
f
  2 6 3
-12 -36 12 -36  v2 
 m 2   
36 72 -36 144   2 
v2 2 v3 3
 F1  1875 3750 -1875 3750   v1 
 M  3750 10000 -3750 5000   
   1
 1 
 F2  -1875 -3750 1875+555.56 -3750+1666.67 -555.56 1666.67   v 2 
   
M
  2 3750 5000 -3750+1666.67 10000+6666.67 -1666.67 3333.33   2 
 F3   -555.56 -1666.67 555.56 -1666.67   v 3 
    
 M 3   1666.67 3333.332 -1666.67 6666.67 3 
Boundary condition
v1 , 1 , v 2 , 3  0
Loading Condition
M 2  50; F3  60
16666.67 -1666.67  2   50 
-1666.67 555.56   v    60 
   3  
 2  1 555.56 1666.67   50   0.019714 
   1666.67 16666.67   60    0.16714 
 3
v 6481481.5     
Final member end forces
f   k d  {FEMS}

10/8/2019 26
For element 1
f1  10  12 24 -12 24  0   63.93 
 m  10   24 64 -24 32  0   88.57 
 1   1X104     
    
f
  
2 10  4 3
-12 -24 12 -24  0   83.93 
 m 2   10   
 24 32 -24 64   0.019714   207.14 

For element 2
f1  60  12 36 -12 36  0  120 
 m  60  36 72   0.019714  207.14 
 1   1X104 
144 -36

    
f
2   60  63 -12 -36 12 -36   0.16714  0 
 m 2   60     152.85 
36 72 -36 144  0
 y’
q’2 q’5

q’1
q’4 x’

q’3 q’6
displacement in local coordinates
  AE AE 
 L 0 0  0 0 
L
 
 0 12EI 6EI 12EI 6EI 
0 
 L3 L3 L3 L3 
 6EI 4EI 6EI 2EI 
 0 0  3 
[k]   L3 L3 L L3 
 AE AE 
 0 0 0 0 
 L L 
 12EI 6EI 12EI 6EI 
 0   0  3 
L3 L3 L3 L
 
 0 6EI 2EI 6EI 4EI 
0  3
 L3 L3 L L3 

If f ' member end forces in local coordinates then

f'  k 'q '
q  {q1,q2 ,q3 ,q 4 ,q5 ,q6}
are forces in global coordinate direction

At node i
q1'  q1 cos   q 2 sin 
q '2  q1 sin   q 2 cos 
q '3  q 3
l  cos ; m  sin 
using conditions q'  [L]{q}; and f'  [L]{f}
Stiffness matrix for an arbitrarily oriented beam element is given by
k    LT k ' L
 Grid Elements

f = GJ/l

q
a’
 JG JG 
 L 
L  q xi    f i 
    
  JG JG   q xj  f j 
 L L 
qxi’ fi qxj’ fj
 GJ GJ 
 L 0 0  0 0 
L
 
 0 12EI 6EI 12EI 6EI 
0 
 L3 L3 L3 L3 
 6EI 4EI 6EI 2EI 
 0 0  3 
 L3 L3 L L3 
 GJ GJ 
 0 0 0 0 
 L L 
 12EI 6EI 12EI 6EI 
 0   0  3 
L3 L3 L3 L
 
 0 6EI 2EI 6EI 4EI 
0  3
 L3 L3 L L3 

If f ' member end forces in local coordinates then

f'  k 'q '
 C 0 -s 0 0 0
0 1 0 0 0 0
 
-s 0 c 0 0 0
 L   
0 0 0 c 0 -s 
0 0 0 0 1 0
 
0 0 0 --s 0 c 

k    L k ' L
T
 Beam element for 3D analysis

y’
q’8
q’2
q’11
q’5
q’7
q’1 x’

q’6 q’10
q’4
q’12

q’3 q’9
displacement in local coordinates
z’
 if axial load is tensile, results from beam
elements are higher than actual  results
are conservative
 if axial load is compressive, results are less
than actual
– size of error is small until load is about 25% of
Euler buckling load
 for 2-d, can use rotation matrices to get
stiffness matrix for beams in any orientation
 to develop 3-d beam elements, must also
add capability for torsional loads about the
axis of the element, and flexural loading in
x-z plane
 to derive the 3-d beam element, set up the
beam with the x axis along its length, and y
and z axes as lateral directions
 torsion behavior is added by superposition
of simple strength of materials solution
 JG  JG
 L L   Ti
 JG JG    T
xi

  xj   j 
 L L 
J = torsional moment about x axis
 G = shear modulus
 L = length
 xi, xj are nodal degrees of freedom of
angle of twist at each end
 Ti, Tj are torques about the x axis at each
end
 flexure in x-z plane adds another stiffness
matrix like the first one derived
 superposition of all these matrices gives a
12  12 stiffness matrix
 to orient a beam element in 3-d, use 3-d
rotation matrices
 for beams long compared to their cross
section, displacement is almost all due to
flexure of beam
 for short beams there is an additional lateral
displacement due to transverse shear
 some FE programs take this into account,
but you then need to input a shear
deformation constant (value associated with
geometry of cross section)
 limitations:
– same assumptions as in conventional beam and
torsion theories
no better than beam analysis
– axial load capability allows frame analysis, but
formulation does not couple axial and lateral
loading which are coupled nonlinearly
– analysis does not account for
» stress concentration at cross section changes
» where point loads are applied
» where the beam frame components are connected
Finite Element Model

 Element formulation exact for beam spans

with no intermediate loads
– need only 1 element to model any such
member that has constant cross section
 fordistributed load, subdivide into several
elements
 need a node everywhere a point load is
applied
 need nodes where frame members connect,
where they change direction, or where the
cross section properties change
 for each member at a common node, all
have the same linear and rotational
displacement
 boundary conditions can be restraints on
linear displacements or rotation
 simple supports restrain only linear
displacements
 built in supports restrain rotation also
– restrain vertical and horizontal displacements
of nodes 1 and 3
– no restraint on rotation of nodes 1 and 3
– need a restraint in x direction to prevent rigid
body motion, even if all forces are in y
direction
 cantilever beam

– has x and y linear displacements and rotation of node 1

fixed
 point loads are idealized loads
– structure away from area of application
behaves as though point loads are applied
 onlyan exact formulation when there are no
loads along the span
– for distributed loads, can get exact solution
everywhere else by replacing the distributed
load by equivalent loads and moments at the
nodes
Computer Input Assistance

 preprocessor will usually have the same

capabilities as for trusses
 a beam element consists of two node
numbers and associated material and
physical properties
 material properties:
– modulus of elasticity
– if dynamic or thermal analysis, mass density
and thermal coefficient of expansion
 physical properties:
– cross sectional area
– 2 area moments of inertia
– torsion constant
– location of stress calculation point
 boundary conditions:
– specify node numbers and displacement
components that are restrained
 loads:
– specify by node number and load components
– most commercial FE programs allows
application of distributed loads but they use
and equivalent load/moment set internally
Analysis Step

 small models and carefully planned element

and node numbering will save you from
bandwidth or wavefront minimization
 potential for ill conditioned stiffness matrix
due to axial stiffness >> flexural stiffness
(case of long slender beams)
Output Processing and Evaluation

 graphical output of deformed shape usually

uses only straight lines to represent
members
 you do not see the effect of rotational
constraints on the deformed shape of each
member
 to check these, subdivide each member and
redo the analysis
 most FE codes do not make graphical
presentations of beam stress results
– user must calculate some of these from the stress
values returned
 for 2-d beams, you get a normal stress normal to
the cross section and a transverse shear acting on
the face of the cross section
– normal stress has 2 components
» axial stress
» bending stress due to moment
– expect the maximum normal stress to be at the
top or bottom of the cross section
– transverse shear is usually the average
transverse load/area
» does not take into account any variation across the
section
 3-d beams
– normal stress is combination of axial stress,
flexural stress from local y- and z- moments
– stress due to moment is linear across a section,
the combination is usually highest at the
extreme corners of the cross section
– may also have to include the effects of torsion
» get a 2-d stress state which must be evaluated
– also need to check for column buckling