Introduction to FEM

Variational Formulation of Plane Beam Element

12

IFEM Ch 12 Slide 1

Introduction to FEM

A Beam is a Structural Member Designed to Resist Primarily Transverse Loads

IFEM Ch 12 Slide 2

Introduction to FEM

Transverse Loads are Transported to Supports by Flexural Action

Neutral surface

Compressive stress

Tensile stress

IFEM Ch 12 Slide 3

Introduction to FEM

Beam Configuration
Spatial (General Beams) Plane (This Chapter)

Beam Models
Bernoulli-Euler Timoshenko (more advanced topic: described in Chapter 13 but not covered in course)

IFEM Ch 12 Slide 4

Introduction to FEM

Plane Beam Terminology

y, v q(x) x, u Neutral surface y, v Beam cross section Neutral axis Symmetry plane

IFEM Ch 12 Slide 5

Introduction to FEM

Common Support Conditions

;;;;;; ;;;;;; ;;;;;;

Simply Supported

Cantilever

IFEM Ch 12 Slide 6

Introduction to FEM

Basic Relations for Bernoulli-Euler Model of Plane Beam

u(x, y ) v(x, y ) y v(x) x = v(x) = y v v(x) = y v(x)

2v u d 2v = y 2 = y 2 = y e= x x dx d 2v = Ee = E y 2 = Ey dx

M=EI
Plus equilibrium equation M'' = q (replaced by MPE principle in FEM)

IFEM Ch 12 Slide 7

Introduction to FEM

Kinematics of Bernoulli-Euler Beam

Cross section

P'(x+u,y+v) y, v

=dv/dx = v' v(x,y)=v(x,0)

y x P(x,y)

x, u

IFEM Ch 12 Slide 8

Introduction to FEM

Tonti Diagram for Bernoulli-Euler Model of Plane Beam (Strong Form)

Prescribed end displacements

Displacement BCs

Transverse displacements

Distributed transverse load

v(x) = v'' M = EI
Constitutive

q(x)

Kinematic

M''=q Equilibrium

Curvature

(x)

Bending moment

Force BCs

M(x)

Prescribed end loads

IFEM Ch 12 Slide 9

Introduction to FEM

Total Potential Energy of Beam Member

=UW
Internal External

U=
=

1 2

x x ex x d V =
V L

L 1 2 0

M d x =

L 1 2

EI
0

2v x2

dx

1 2

E I 2 dx

Internal energy due to bending

W=
0

qv d x

External energy due to transverse load q

IFEM Ch 12 Slide 10

Introduction to FEM

Degrees of Freedom of Plane Beam Element

2 v2 v1 1
v ue = 1 v2 2
1

IFEM Ch 12 Slide 11

Introduction to FEM

Physical Interpretation of C1 Continuity

(deflections grossly exaggerated for visibility) interpenetration (a) (b) gap

v(x)

v(x)

Piecewise cubic interpolation provides required C1 continuity

Piecewise linear interpolation gives unacceptable C 0 continuity

IFEM Ch 12 Slide 12

Introduction to FEM

Bernoulli-Euler Kinematics of Plane Beam Element

P'(x+u,y+v) y, v

2 v2

v1 1

E, I

2
x

x, u

P(x,y)

IFEM Ch 12 Slide 13

Introduction to FEM

Shape Functions in Terms of Natural Coordinate

e e e v e = [ Nv1 N1 Nv2

v1 e N2 ] 1 = N ue v2 2 =
e Nv2() = 1 4

Introduce the natural (isoparametric) coordinate

e Nv1() = 1 (1 ) (2 + ) 4 2 e N1() = 1 8

2x

1
2

(1 + ) (2 )
2

(1 )2 (1 + )

e N2() = 1 (1 + ) (1 ) 8

Plots on next slide

IFEM Ch 12 Slide 14

Introduction to FEM

Beam Element Shape Function Plots

v1 = 1
e Nv1()

e Nv1() =

1 4

(1 ) (2 + )
2

1 = 1
e N1()

e N1() =
e Nv2()

1 8

(1 )2 (1 + ) (1 + ) (2 )
2 2

v2 = 1 2 = 1

e Nv2() =

1 4

= 1

e N2()

e N2() = 1 (1 + ) (1 ) 8

=1

IFEM Ch 12 Slide 15

Introduction to FEM

Getting Curvatures from the Displacement Interpolation

0

d 2 v(x) d 2 N e d 2 ue = = u +N 2 2 2 dx dx dx e e e e d 2 Nv1 d 2 N1 d 2 Nv2 d 2 N2 = dx2 dx2 dx2 dx2

v1 1 v2 2

d 2 N ue = dx2
def

= B ue

B is the 1 x 4 curvature-displacement matrix constructed in next slide

IFEM Ch 12 Slide 16

Introduction to FEM

Curvatures from Displacements (Cont'd)

To construct B, apply the chain rule
d f (x) d f () d 2 d f() = = dx d dx d 0 d 2f (x) d (2/ ) d f () 2 d = + dx 2 dx d dx

d f () 4 d 2 f() = 2 d d

to differentiate the shape functions. Result is

B=

3 1 6

3 + 1

IFEM Ch 12 Slide 17

Introduction to FEM

Element Stiffness and Consistent Node Forces

Varying the element TPE
e

1 2

ue

K ue ue

fe

we get
1

=
0

E I BT B d x =

E I BT B
1

1 2

fe =
0

NT q d x =

NT q
1

1 2

IFEM Ch 12 Slide 18

Introduction to FEM

Analytical Computation of Prismatic Beam Element Stiffness

("prismatic" means constant EI)

K
e

36 2

EI = 3 2

1
1

6(3 1)` (3 1) 2
2

36 2 6(3 1) 36 2

d 6(3 + 1) (9 2 1) (3 + 1) 2
2 2

6(3 + 1)

symm 12 EI = 3 symm 6 4 2 12 6 12

6 2 2 6 4 2

IFEM Ch 12 Slide 19

Introduction to FEM

Mathematica Script for Symbolic Computation of Prismatic Plane Beam Element Stiffness
ClearAll[EI,l,]; B={{6*,(3*-1)*l,-6*,(3*+1)*l}}/l^2; Ke=(EI*l/2)*Integrate[Transpose[B].B,{,-1,1}]; Ke=Simplify[Ke]; Print["Ke for prismatic beam:"]; Print[Ke//MatrixForm];
Ke for prismatic beam:
EI l EI l EI l EI l EI l EI l EI l EI l EI l EI l EI l EI l EI l EI l EI l EI l

Corroborates the result from hand integration.

IFEM Ch 12 Slide 20

Introduction to FEM

Analytical Computation of Consistent Node Force Vector for Uniform Load q

1 ( 1 ) 2 (2 + ) 4 1 1 ( ) 2 ( 1 + ) d 8 1 1 4 ( 1 + ) 2( 2 ) 1 1 ( 1 + ) 2 ( 1 ) 8

f =
e

1 1 q 2 1

N d = 1 q 2 =q

1 2 1 12 1 2 1 12

"fixed end moments"

IFEM Ch 12 Slide 21

Introduction to FEM

Mathematica Script for Computation of Consistent Node Force Vector for Uniform q
ClearAll[q,l,] Ne={{2*(1-)^2*(2+), (1-)^2*(1+)*l, 2*(1+)^2*(2-),-(1+)^2*(1-)*l}}/8; fe=(q*l/2)*Integrate[Ne,{,-1,1}]; fe=Simplify[fe]; Print["fe^T for uniform load q:"]; Print[fe//MatrixForm];
fe^T for uniform load q:
lq l q lq l q

Force vector printed as row vector to save space.

IFEM Ch 12 Slide 22