MANE 4240 & CIVL 4240 Introduction to Finite Elements

Reading assignment: Chapter 2: Sections 2.1-2.5 + Lecture notes Summary:

Introduction to the Stiffness (Displacement) Method: Analysis of a system of springs

Prof. Suvranu De

Developing the finite element equations for a system of springs using the direct stiffness approach Application of boundary conditions Physical significance of the stiffness matrix Direct assembly of the global stiffness matrix Problems

FEM analysis scheme Step 1: Divide the problem domain into non overlapping regions (elements) connected to each other through special points (nodes) Step 2: Describe the behavior of each element Step 3: Describe the behavior of the entire body by putting together the behavior of each of the elements (this is a process known as assembly)

F1x k1

F2x k2

F3x

Problem Analyze the behavior of the system composed of the two springs loaded by external forces as shown above Given F1x , F2x ,F3x are external loads. Positive directions of the forces are along the positive x-axis k1 and k2 are the stiffnesses of the two springs

F1x k1

F2x k2

F3x

F1x x 1 d1x

k1

F2x 2

k2

F3x 3

Element 1

Solution Step 1: In order to analyze the system we break it up into smaller parts, i.e., elements connected to each other through nodes F1x 1 Node 1 d1x Element 1 k1 F2x 2 d2x Element 2 k2 F3x 3 d3x x

Node 1

d2x

Element 2

d3x

Solution Step 2: Analyze the behavior of a single element (spring)

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Unknowns: nodal displacements d1x, d2x, d3x,

Two nodes: 1, 2 Nodal displacements: d1x d 2x Nodal forces: f1x f 2x Spring constant: k

Behavior of a linear spring (recap)

F k 1 d k d k

x F

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Local (x , y ,z) and global (x,y,z) coordinate systems

F = Force in the spring d = deflection of the spring k = stiffness of the spring Hookes Law F = kd

 f1x
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f 2x

Note T 1. The element stiffness matrix is symmetric, i.e. k = k 2. The element stiffness matrix is singular, i.e.,

Hookes law for our spring element

det ( k ) = k 2 k 2 = 0
Eq (1) The consequence is that the matrix is NOT invertible. It is not possible to invert it to obtain the displacements. Why? The spring is not constrained in space and hence it can attain multiple positions in space for the same nodal forces e.g.,

f 2x = k (d 2x d1x )

Force equilibrium for our spring element (recap free body diagrams)

f1x + f 2x = 0 = f = k (d d ) f1x 2x 2x 1x
Collect Eq (1) and (2) in matrix form

Eq (2)

f =kd
Element force vector Element stiffness matrix Element nodal displacement vector

f1x k - k d1x = f 2x - k k d 2x
f k d

f1x 2 - 2 1 - 2 = = f 2x - 2 2 2 2 f1x 2 - 2 3 - 2 = = f 2x - 2 2 4 2

Solution Step 3: Now that we have been able to describe the behavior of each spring element, lets try to obtain the behavior of the original structure by assembly Split the original structure into component elements 1
(1) (1) f1x d1x

To assemble these two results into a single description of the response of the entire structure we need to link between the local and global variables. Question 1: How do we relate the local (element) displacements back to the global (structure) displacements? F1x k2 F2x F3x k1 x

Element 1 k1

Element 2 2
(1) (1) f 2x d 2x

2
(2) (2) f1x d1x

k2

3
(2) (2) f 2x d 2x

1 Node 1 d1x Element 1

2 d2x Element 2

3 d3x

f1x k1 - k1 d1x (1) (1) (1) = (1) f 2x - k1 k1 d 2x

(1) f (1) k (1) d

(2) f1x k 2 (2) = f 2x - k 2

f
( 2)

(2) - k 2 d1x (2) k 2 d 2x

k
( 2)

(2)

Eq (3)

Eq (4)

(1) d1x = d1x (2) d (1) = d1x = d 2x 2x d (2) = d

2x 3x

Eq (5)

Hence, equations (3) and (4) may be rewritten as

f1x k1 - k1 d1x (1) (1) = f 2x - k1 k1 d 2x

(2) f1x k 2 (2) = f 2x - k 2

0 0 0 f (2) 1x = 0 k 2 f (2) 0 - k 2x 2
( 2) e f

- k 2 d 2x k 2 d 3x
0 d1x k 2 d 2x k 2 d 3 x
d

Question 2: How do we relate the local (element) nodal forces back to the global (structure) forces? Draw 5 FBDs F1x k2 F2x F3x k1 x 1 A
B

Or, we may expand the matrices and vectors to obtain

d1x

2 C d2x
2

D3

d3x
3
(2) f1x (2) f 2x
F3x

(1) f1x k1 (1) f 2x = - k1 0 0

(1) e f

k1 0 d1x k1 0 d 2x 0 0 d 3x
(1 ) e k d

F1x

(1) f1x

(1) f 2x

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F2x

(2)e k

Eq (6)
k (1) e f d
(1) e

Eq (7)

Expanded element stiffness matrix of element 1 (local) Expanded nodal force vector for element 1 (local) Nodal load vector for the entire structure (global)

(1) At node 1 : F1x - f1x = 0 (1) (2) At node 2 : F2x - f 2x f1x = 0 At node 3 : F - f (2) = 0
3x 2x

In vector form, the nodal force vector (global)

(1) F1x f1x (1) (2) F = F2x = f 2x + f1x F f (2) 3x 2x

Recall that the expanded element force vectors were

But we know the expressions for the expanded local force vectors from Eqs (6) and (7)

(1) e (1)e ( 2 ) e = k (2)e d f = k d and f

Hence

F=f

(1) e

+f

( 2)e

=k

(1)e

d +k

(2)e

(1) e f

(1) f1x 0 (2) (1) ( 2 ) e = f1x = f 2x and f 0 f (2) 2x (1) e ( 2 ) e F = F2x = f + f F 3x

1x

d = k

(1)e

+k

(2)e

F=Kd F = Global nodal force vector d = Global nodal displacement vector K = Global stiffness matrix = sum of expanded element stiffness matrices

Hence, the global force vector is simply the sum of the expanded element nodal force vectors F

For our original structure with two springs, the global stiffness matrix is

The system equations

F=Kd k1 k1 + k 2 - k2

imply

k1 K = - k 1 0 k1 = - k 1 0

k 1 0 0 0 k 1 0 + 0 k 2 0 0 0 - k 2
(1) e k (2)e k

0 k2 k2

F1x k1 F2x = - k1 F 0 3x

0 d1x k 2 d 2x k 2 d 3x

k1 k1 + k 2 - k2

0 k2 k2

F1x = k1d1x k1d 2x F2x = -k1d1x + (k1 + k 2 )d 2x k 2 d 3x F3x = -k 2 d 2x + k 2 d 3x

These are the 3 equilibrium equations at the 3 nodes.

NOTE 1. The global stiffness matrix is symmetric 2. The global stiffness matrix is singular

F1x 1 A

k1 d1x

F2x
B2 C d2x
2

k2

F3x
D3

x d3x
3

Notice that the sum of the forces equal zero, i.e., the structure is in static equilibrium. F1x + F2x+ F3x =0
F3x

F1x

(1) 1x

(1) 2x

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F2x

(2) 1x

(2) f 2x

Given the nodal forces, can we solve for the displacements? To obtain unique values of the displacements, at least one of the nodal displacements must be specified.

(1) At node 1 : F1x - f1x = 0 F2x = -k1d1x + (k1 + k 2 )d 2x k 2 d 3x (1) (2) At node 2 : F2x - f 2x f1x = 0 = k1 (d1x d 2x ) + k 2 (d 2x d 3x ) (2) At node 3 : F3x - f 2x = 0 (1) (2) = f 2x + f1x (2) F3x = -k 2 (d 2x d 3x ) = f 2x

(1) F1x = k1 (d1x d 2x ) = f1x

Direct assembly of the global stiffness matrix Node element connectivity chart : Specifies the global node number corresponding to the local (element) node numbers Global F1x 1 d1x Local 1
(1) (1) f1x d1x

k1

F2x 2

k2

F3x 3

ELEMENT Node 1 Node 2 1 1 2 2 3

Local node number Global node number

Element 1

d2x

Element 2

d3x Element 2

Element 1 k1

2
(1) (1) f 2x d 2x

2
(2) (2) f1x d1x

k2

3
(2) (2) f 2x d 2x

Stiffness matrix of element 1

Stiffness matrix of element 2

- k1 d1x (1) k k = 1 - k1 k1 d2x

Global stiffness matrix d2x d3x d1x

d1x d2x

( 2) k k = 2 - k 2

d2x d3x

Example 2.1
22 3 4

- k 2 d2x k 2 d3x

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k1 K = - k 1 0

- k1 k1 + k 2 - k2

0 d1x - k 2 d2x k 2 d3x

Compute the global stiffness matrix of the assemblage of springs shown above d2x d3x d4x d1x 1000 0 0 d1x 1000
1000 1000+ 2000 ( ) K= 0 2000 0 0 2000 0 d2x ( 2000+3000) 3000 d3x 3000 3000 d 4x

Examples: Problems 2.1 and 2.3 of Logan

Example 2.3
3

Imposition of boundary conditions

Consider 2 cases Case 1: Homogeneous boundary conditions (e.g., d1x=0) Case 2: Nonhomogeneous boundary conditions (e.g., one of the nodal displacements is known to be different from zero) Homogeneous boundary condition at node 1

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Compute the global stiffness matrix of the assemblage of springs shown above
k1 K = -k1 0 -k1 k1 + k 2 + k 3 - ( k2 + k3 ) - ( k 2 + k3 ) ( k 2 + k3 ) 0

k1=500N/m 2

k2=100N/m

F3x=5N 3

Element 1 d1x=0

d2x

Element 2

d3x

System equations 0
0 d1x F1x 500 -500 -500 600 -100 d = 0 2x 0 -100 100 d 3 x 5 Global Stiffness Nodal Nodal load disp matrix vector vector Note that F1x is the wall reaction which is to be computed as part of the solution and hence is an unknown in the above equation

Eq(2) and (3) are used to find d2x and d3x by solving
600 100 d 2 x 0 100 100 d = 5 3x d 2 x 0.01 m = d3 x 0.06 m

NOTICE: The matrix in the above equation may be obtained from the global stiffness matrix by deleting the first row and column
0 500 -500 -500 600 -100 0 -100 100
600 100 100 100

Writing out the equations explicitly -500d 2x = F1x Eq(1) Eq(2) 600d 2 x 100d 3 x = 0
100d 2 x + 100d 3 x = 5

Eq(3)

Note use Eq(1) to compute F1x =-500d 2x = 5 N

Imposition of boundary conditionscontd.

NOTICE: 1. Take care of homogeneous boundary conditions by deleting the appropriate rows and columns from the global stiffness matrix and solving the reduced set of equations for the unknown nodal displacements. 2. Both displacements and forces CANNOT be known at the same node. If the displacement at a node is known, the reaction force at that node is unknown (and vice versa) Nonhomogeneous boundary condition: spring 2 is pulled at node 3 by 0.06 m) k2=100N/m k1=500N/m x 1 3 2 Element 2 Element 1 d3x=0.06m d1x=0 d2x

System equations 0
0 d1x F1x 500 -500 -500 600 -100 d = 0 2x 0 -100 100 d 3 x F3 x 0.06 Note that now F1x and F3x are not known.

Now use only equation (2) to compute d2x

600d 2 x = 100(0.06) d 2 x = 0.01m

Now use Eq(1) and (3) to compute F1x =-5N and F3x=5N

Writing out the equations explicitly

-500d 2x = F1x Eq(1) 600d 2 x 100(0.06) = 0 Eq(2) 100d 2 x + 100(0.06) = F3 x Eq(3)

Recap of what we didcontd. Recap of what we did Step 1: Divide the problem domain into non overlapping regions (elements) connected to each other through special points (nodes) Element 2. Relate the local forces of each element to the global forces at the nodes (use FBDs and force equilibrium). Finally obtain

F = f
F=Kd

Step 2: Describe the behavior of each element ( f = k d )

nodal displacement vector

Step 3: Describe the behavior of the entire body (by assembly). This consists of the following steps 1. Write the force-displacement relations of each spring in Global expanded form

Where the global stiffness matrix

K = k

e f = ke d

nodal displacement vector

Recap of what we didcontd. Physical significance of the stiffness matrix Apply boundary conditions by partitioning the matrix and vectors F1x 1 k1 F2x 2 k2 F3x 3 d3x x

K11 K12 d1 F1 K K d = F 21 22 2 2
Solve for unknown nodal displacements

K22d2 = F2 K21d1
Compute unknown nodal forces

Element 2 Element 1 d1x d2x In general, we will have a k11 stiffness matrix of the form K = k 21 (assume for now that we do not k 31 know k11, k12, etc) The finite element force-displacement relations:
k11 k 21 k 31 k12 k 22 k 32

k12 k 22 k 32

k13 k 23 k 33

F1 = K11d1 + K12d2

k13 d1 F1 k 23 d 2 = F2 k 33 d 3 F3

Physical significance of the stiffness matrix The first equation is Force equilibrium

Physical significance of the stiffness matrix In general Force at node due displacement at node j k ij = keeping all theiother to unit fixed nodes This is an alternate route to generating the global stiffness matrix e.g., to determine the first column of the stiffness matrix F1 1 d1 Element 1 k1 F2 2 d2 Element 2 k2 F3 3 d3 Set d1=1, d2=0, d3=0 x

k11d1 + k12 d 2 + k13d 3 = F1 equation at node 1

Columns of the global stiffness matrix What if d1=1, d2=0, d3=0 ? While nodes 2 and 3 are held fixed

F1 = k11 Force along node 1 due to unit displacement at node 1 F2 = k 21 Force along node 2 due to unit displacement at node 1 F3 = k 31 Force along node 3 due to unit displacement at node 1

Similarly we obtain the physical significance of the other entries of the global stiffness matrix

Find F1=?, F2=?, F3=?

Physical significance of the stiffness matrix For this special case, Element #2 does not have any contribution. Look at the free body diagram of Element #1

Physical significance of the stiffness matrix Force equilibrium at node 1 F1

(1) F1 =f1x = k1 (1) f1x

(1) 1x

d (1) 2x
k1
(1) 2x (1) 1x

(1) f1x
f
(1) 2x

(1) f 2x

Force equilibrium at node 2 F2

(1) f 2x (1) F2 =f 2x = k1

= k1 (d d ) = k1 (0 1) = k1

F1 = k1d1 = k1=k11 F2 = -F1 = -k1=k21 F3 = 0 =k31

(1) (1) f1x = f 2x = k1

Of course, F3=0

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Physical significance of the stiffness matrix Hence the first column of the stiffness matrix is
F1 k1 F2 = k1 F 0 3

Physical significance of the stiffness matrix To obtain the third column of the stiffness matrix, calculate the nodal reactions at nodes 1, 2 and 3 when d1=0, d2=0, d3=1 Check that
F1 0 F2 = k2 F k 3 2

To obtain the second column of the stiffness matrix, calculate the nodal reactions at nodes 1, 2 and 3 when d1=0, d2=1, d3=0 Check that
F1 k1 F2 = k1 + k2 F k 2 3

Steps in solving a problem Step 1: Write down the node-element connectivity table linking local and global displacements Step 2: Write down the stiffness matrix of each element Step 3: Assemble the element stiffness matrices to form the global stiffness matrix for the entire structure using the node element connectivity table Step 4: Incorporate appropriate boundary conditions Step 5: Solve resulting set of reduced equations for the unknown displacements Step 6: Compute the unknown nodal forces

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