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{ P } = [ k ]e { u } 2-1
Where { P } = known forces applied to the structure
[ k ]e = the element matrix [ kij ] where each [ kij ] term is
the force of a constraint at coordinate i due to a
unit displacement at j with all other displacements
held to zero
{ u } = the displacements obtained by solving equation
2-1
Proper boundary conditions must be applied to the the
single element model prior to solving equation 2-1 for {u}
Physically, the structure will take off when a load is
applied if the structure is not properly constrained
Interpretation of Element Stiffness
Matrix [ke]
[k]e describes how force is transmitted through the
element
For elastic problems, Maxwell’s Law requires that the
stiffness matrix be symmetric
Mathematically, this means that the matrix [k]e must be
square and it must satisfy the following relationship
kij = kji
This is reasonable since pulling end 1 of a spring a given
distance while holding end 2 fixed requires the same force
as pulling end 2 the same distance while holding end 1
fixed
A single term of the stiffness matrix kij is called a stiffness
coefficient. The units of kij are load/displacement. The
units of kij for a spring are force/length (e.g., lb/in, N/m)
Finite Element Simulation of a
Continuous Structure
Analyzing a complex engineering problem may be difficult
(if not impossible) without some simplifying assumptions
For finite element analysis, the complex structure is
divided into a series of separate (finite) elements which,
when combined into an assembly, approximate the
behavior of the complex structure
The complex structure is divided into discrete grid points
connected by elements
The motion of each grid point may be described by using
six independent degrees of freedom (DOFs.) A degree of
freedom is defined as an independent component of
translation or rotation at a grid point
A continuous structure has theoretically infinite number of
degrees of freedom
The concept of finite element is to approximate this
behavior by discretizing the structure to finite number of
degrees of freedom
Figure 2-1 illustrates the 6 dof used to determine the
motion of a grid point
Discretization of Continuous
Structure
“Displacement” is a general term describing a component
of translation or rotation
Figure 2-1
Single Element: With Axial load
carrying capability
Let’s look at a single ROD element that carries axial load
only
An example of this is a truss member of a bridge
connected by pin joints
• Figure 2-2
Note that MSC.Nastran ROD element can optionally carry
torsional load (not included in this example)
For this ROD element, equation 2-1 can be represented as
{ P } = [ k ]e { u } 2-2
or
P1 AE 1 -1 U1 2-3
P2 L -1 1 U2
{ u } = [ k ]e-1 { P } 2-4
DISP = ALL
FORCE = ALL
STRESS = ALL
Partial output from MSC.Nastran
Hand Calculation
Hand Calculation
Partial output from MSC.Nastran (cont.)
Hand Calculation
HAND CALCULATION
We have looked at the stiffness matrix of an individual
element. Now let’s look at the global stiffness of a real
structure.
A real structure can be modeled as a collection of
individual elements.
An assembly of elemental stiffness matrices representing
a structure is called the global stiffness matrix.
For the following two axial load carrying ROD elements:
ka 2 kb
1 3
100 200
U1 , P1 U2 , P2 U3 , P3
Global Stiffness Matrix
The individual element stiffness matrices for elements 100
and 200 can be represented as:
P1 ka -ka u1 P2 kb -kb u2
P2 -ka ka u2 and P3 -kb kb u3
Element 100
Element 200
ka -ka 0
-ka (ka+ kb) -kb
0 -kb kb
NxN
The stiffness characteristics of the rest of the aircraft are
obtained by assembling the individual stiffness to the
global stiffness matrix using the exact same procedure as
used by the two-element model.
The behavior of the structure is obtained by considering
the collective behavior of the discrete elements.
The user is responsible for the subdivision or
discretization of real-world structures.
A graphic preprocessor such as MSC.Patran or N4W
(FEMAP) is invaluable for generating real world structures.
In general, the finer the mesh, the more accurate the
model is at the expense of computational cost.
Computer resources (cpu time) used by MSC.Nastran (for
a problem with “N” dof)
Overhead (~ constant)
Stiffness matrix assembly (~ N)
Solution cost ( ~ N2, decreasing constantly with faster and faster
numerical methods and hardware)
Data recovery ( ~ N)
Note that the mesh density for the aircraft model is
probably too coarse. The coarse mesh makes it clearer
for the purpose of this presentation.
Output from MSC.Nastran
You can request all kinds of outputs when running
MSC.Nastran. Some of them are:
Components of displacements at grid points
Element data recovery
• stresses
• strains
• strain energy
• internal forces and moments
Grid point data recovery
• applied loads
• force of constraints
• grid point forces
Model Verification
It is the user’s responsibility to verify the accuracy of the
results generated from the analysis.
Some minimum suggested checks to perform include
Generate plots to visually verify the geometry and connectivity
Verify overall response for the loadings applied
Verify that reaction loads balance applied loads
Perform hand checks and “bracket” results whenever possible
See the Proceedings of the 1986 MSC World Users’ Conference,
“MSC/NASTRAN Model Checkout” by the Jet Propulsion
Laboratory.
Modeling Guidelines
Engineering judgment about the behavior of the structure
is required before modeling process begins.
Recognize all load applications and reaction points.
Establish the primary load paths for bending, torsion,
shear, and axial loads.
Refine the mesh in regions where high stress gradients
are expected (or observed in a previous run). Increasing
the number of elements generally increases the accuracy.
Try to exploit symmetry in the structure.
Consider project budget and computer resources--
increasing the DOFs increases the computer resources,
modeling time, and output interpretation time.
Sensitivity studies should be performed with small models
to determine the relationships between number of
elements, solution accuracy, and modeling cost.
Always create a small, simple test model to check out
unfamiliar modeling techniques and procedures before
running expensive, real models.
You cannot afford not to spend the time with a small model.
In the long run, you will end up saving debugging time and have a
more accurate model.
MSC.Nastran knows nothing about units.
It is the user’s responsibility to maintain a consistent set of units.
The input units must be consistent in order to expect consistent
set of output units.
UNITS
An example using consistent sets of units
Overview of Finite Element
Solution Procedure
Matrix Structural Analysis
References
Finite Element Method References
Workshop 1
Figure 1-1
Model description
Connected by pin joints
Simply supported at left end, roller at right end
Treat it as two dimensional structure
Wood material
• A = 5.25 in2
• E = 1.76E6 psi
n = .3
• tension allowable =1900 psi
• compression allowable = 1900 psi
Apply point loads at grid points 2,4, and 6 as shown in Figure 1-1
Partial Input File for Workshop 1
F06 Output for Workshop # 1
Deformed Plot for Workshop 1
Deformed Shape Undeformed Shape
Workshop # 1 Solution File
Element Stiffness Matrix of BAR
Element
Now let’s look at the elemental stiffness matrix of a BAR
element.
For illustration purposes, just consider the shear and
moment in one plane (x-y plane, 2-D)
The element stiffness matrix for the BAR element for a 2-D
model including only the shear and moment in the x-y
plane is as follows:
$
Field Contents
Torsional Constants for Some
Typical Cross Sections
Calculation of the torsional constants of some typical
cross sections
Calculation of the torsional constants of some typical
cross sections (cont.)
Deformation Due to Transverse
Shear
The shear displacement V of the CBAR element is defined
as
V = ( Fz * L ) / ( K * A * G)
See Roark and Young, Formulas for Stress and Strain, 5th
ed., p. 185 for further details.
The orientation of the element coordinate system
determines:
The element reference planes (plane 1 and plane 2).
The orientation of the moment of inertia.
The stress data recovery coordinates.
For the following element coordinate system:
For this element coordinate system:
PBARL Definition
The format for the PBARL is as follows:
where
BAR Element Force Definition
Figure 2-1
Model description
Simply supported at left end, roller at right end.
Treat it as two dimensional structure.
Apply point loads at grid points 2,4, and 6 as shown in Figure 2-1.
Top (1,2,3,4) and bottom (9,10,11) are steel members and are welded
together.
Cross braces are made of wood and are connected with pin joints.
See Table 2-1 for element properties.
See Table 2-2 for material properties.
See Table 2-3 for cross-sectional properties.
Partial Input File for Workshop # 2
Incomplete Input File for
Workshop # 2 (cont.)
F06 Output for Workshop # 2
Deformed Plot for Workshop # 2
Deformed Plot Undeformed Plot
Solution File for Workshop # 2
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