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finite element theory
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STRUCTURAL ENGINEERING CV3403
Dynamics
Plates
Finite Element Analysis
Stability
1
Dr P. Mergos
Few element stiffness matrices can be formulated by the direct method as the case for bars and beams.
Now we will use a more general method to formulate element stiffness matrices. This method is called the formal stiffness matrix approach.
Applying the formal stiffness matrix approach, we can define stiffness matrices for more types of elements like for example the triangular or rectangular element subjected to plane stress.
We will deal with displacement-based elements that are based on pre-determined displacement fields. The displacement fields cannot always be known (like for prismatic bars and beams without distributed loads). So they need to be approximated.
Finite Element Analysis (FEA)
Introduction
Structural Engineering (CV3403)
One dimensional elements
2
The basic steps for the formal stiffness matrix approach are:
1. Identify the problem
2. Select a suitable element displacement field function
3. Relate element displacement field to nodal displacements
4. Relate element strain field to nodal displacements
5. Relate element stress field to nodal displacements
6. Relate element end forces to nodal displacements
We will follow these steps for all finite element types
Finite Element Analysis (FEA)
Formal stiffness matrix approach
Structural Engineering (CV3403)
One dimensional elements
3
Here, we define an appropriate co-ordinate and node numbering system for the element.
After defining the degrees of freedom of the element, the nodal displacement (d.o.f.) vector {d} and nodal forces vector {r} can be established.
The stiffness matrix of the element [k] (we assume for simplicity here that local and global co-ordinate systems coincide) is defined by the following equation
Hence, in order to determine [k] we have to relate element end forces {r} to element nodal displacements {d}.
Finite Element Analysis (FEA)
1. Identify the problem
Structural Engineering (CV3403)
rdk ][
One dimensional elements
4
Finite Element Analysis (FEA)
1. Identify the problem bar element
Structural Engineering (CV3403)
We assume a prismatic bar element of length L elastic modulus E and cross section area A
Nodes are allowed to displace only in the axial direction u1 and u2.
Corresponding element end forces are F1 and F2
The nodal d.o.f. and force matrices are:
2
1}{
F
Fr
2
1}{
u
ud
One dimensional elements
5
Finite Element Analysis (FEA)
1. Identify the problem beam element
Structural Engineering (CV3403)
2
2
1
1
}{
M
F
M
F
r
2
2
1
1
}{
v
v
d
Description
We assume a 2D prismatic beam element along axis X of length L elastic modulus E, cross section area A and moment of inertia about the centroidal axis parallel to Z axis I.
The 2D beam element has one node at each end with 2 nodal d.o.f which are lateral translation v and rotation about Z-axis . In total, the beam element has 4 nodal d.o.f.
Assumptions
We assume the Euler-Bernoulli beam theory. Hence, we ignore shear deformations (Timoshenko beam theory) and we consider only bending deformations.
The nodal d.o.f. and force matrices are:
One dimensional elements
v
v1 v2
1
2
v
EI
EI
6
Here we select a continuous function that approximates the element displacement field and satisfies boundary conditions at the nodal d.o.f.
This procedure is called interpolation
In almost all cases we use polynomials which are continuous and single-valued.
Hence, if {u(x)} is the displacement field that we want to interpolate over the element and x is the distance, we have:
Where:
n=1 linear interpolation, n=2 quadratic interpolation, n=3 cubic interpolation
Since we want to define coefficients i (i=0n), the number of these coefficients should be equal to the element d.o.f. (boundary conditions).
Finite Element Analysis (FEA)
2. Select element displacement field function
Structural Engineering (CV3403)
One dimensional elements
u(x) = o + 1 x + 2x2 ++ nx
n = i xin
i=0 {u x } = X {} (1)
X = 1 x x2xn and = o 1 2nT (2)
7
Interpolation in finite elements is piecewise. This means that displacement field is smooth inside the element but may not be smooth between two adjacent elements.
Cm represents the level of continuity of piecewise interpolations. It means that the m-th derivative of the displacement field is inter-element continuous.
It is required that derivatives of u of order m are included as d.o.f. if we want the field to be Cm
C0 elements ensure only displacement continuity. They are used to model plane bodies.
C1 elements ensure displacement and slope continuity. They are used to model beams, plates and shells.
Finite Element Analysis (FEA)
2. Select element displacement field function
Structural Engineering (CV3403)
displacement
x
Elements boundary
C1
C0
Element 1 Element 2
slope
x
Elements boundary
C0
C1
Element 1 Element 2
C0
One dimensional elements
8
The bar element has two d.o.f.
For bar elements, the level of continuity is C0
Hence, we can determine two polynomial coefficients and the displacement field should be of first order (linear interpolation)
The displacement field {u(x)} is the axial displacement u(x) over the element. We write
Where:
Finite Element Analysis (FEA)
2. Select element displacement field function bar element
Structural Engineering (CV3403)
One dimensional elements
u(x) = u x = o + 1 x = i xi1
i=0 {u x } = X {} (3)
X = 1 x and = o 1T (4)
9
The beam element has four d.o.f.
For beam elements, the level of continuity is C1
Hence, we can determine four polynomial coefficients and the displacement field should be of third order (cubic interpolation)
The displacement field {u(x)} is the transverse displacement v(x) over the element
Where:
Finite Element Analysis (FEA)
2. Select element displacement field function beam element
Structural Engineering (CV3403)
One dimensional elements
u x = v x = o + 1 x + 2 x2 + 3 x
3 = i xi3
i=0 {u x } = X {} (5)
X = 1 x x2 x3 and = o 1 2 3T (6)
10
Here we want to correlate displacement field {u(x)} with nodal d.o.f. vector {d}
{d} {u(x)}
By applying boundary conditions for every d.o.f. we get the following equation
Where [A] has as many rows as the element d.o.f. Combining Eqs. (3) and (7) we obtain:
In Eq. (8), [N] is the interpolation matrix and each element of it Ni is called shape function. Ni is the displacement field {u(x)} when nodal d.o.f. di=1 and all other d.o.f. dj=0 (ji).
In FEA, {d} is typically calculated by solving the structure system of equations [K]{D}={R}. Then, it can be used to define displacement field {u(x)}.
Finite Element Analysis (FEA)
3. Relate displacement field to nodal displacements
Structural Engineering (CV3403)
One dimensional elements
= = 1 {} (7)
() = [] 1 = {} where = X 1 (8)
11
The bar element is a case of C0 linear interpolation It is:
Hence the matrix [A] is:
Hence, N1=(L-x)/L and N2=x/L as shown in the figure
Finite Element Analysis (FEA)
Structural Engineering (CV3403)
x
u2
= 1 = 1 , = 1 = + 1 ,
= 0 1 = + 1 0 , = 2 = + 1
In matrix form, it is written as: 12
=1 01
1
[] =1 01
[]1=1
01 1
The interpolation matrix N=[N1 N2] becomes
x=0 x=L
u1
u(x)
x x=0 x=L
1
N1(x)
x x=0 x=L
N2(x) 1
= X 1 = 1 1 0
1
1
= [
] (9)
One dimensional elements
3. Relate displacement field to nodal displacements bar element
12
The bar element shape functions derived previously can be regarded as special cases of the Lagranges interpolation shape functions given by the following general function:
Finite Element Analysis (FEA)
Structural Engineering (CV3403)
x
u2
=1 2 [ ] ( )
1 2 [ ] ( )
In this formula, the terms in the brackets are omitted to obtain Nk and kn. For linear interpolation (previous bar element) n=2. For quadratic interpolation n=3 and so on. Lagranges interpolation is a C0 interpolation scheme. Hence, it is appropriate for bar elements and plane problems. On the other hand, if it is applied to beams it may drive to discontinuous slopes between adjacent elements. Substituting Lagranges formula for the previous bar element (n=2, x1=0, x2=L) we obtain
1 =2
2 1=
0= 1 /
2 =1
1 2=0
0 = /
x=0 x=L
u1
u(x)
x x=0 x=L
1
N1(x)
x x=0 x=L
N2(x) 1
One dimensional elements
3. Relate displacement field to nodal displacements bar element
13
In this case, we have for the lateral displacement (x):
Hence the matrix [A] is:
For this interpolation we used both displacements and slopes. This is called Hermitian interpolation and it is C1 interpolation.
Finite Element Analysis (FEA)
Structural Engineering (CV3403)
n = 3 X = 1 x x2 x3 , = o 1 2 3 T
v x = o + 1x + 2x
2 + 3x3 v x = 1 + 22x + 33x
2 (10) x = 0 v1 = o (11) x = 0 1 = 1 (12) x = L v2 = o + 1 L + 2L
2 + 3L3 (13)
x = L 2 = 1 + 22L + 33L2 (14)
In matrix form, it is written as: v11v22
=
1 0 1 0
01L1
0 0 L2
2L
0 0 L3
3L2
123
A =
1 0 1 0
01L1
0 0 L2
2L
0 0 L3
3L2
A 1 =
1 0
3
L2
2
L3
01
2
L1
L2
0 0
3
L
2
2
L3
0 0
1
L
1
L2
One dimensional elements
3. Relate displacement field to nodal displacements beam element
14
The equations and shapes of the shape functions Ni are shown in the figures.
To avoid the inversion of [A] one can use the definition of shape function Ni=the displacement field when d.o.f. di=1 and all other d.o.f. are zero. By Eqs. (11-14) and for N1, we obtain:
= 0 1 = = 1
= 0 1 = 1 = 0
= 2 = 1 + 22 + 3
3 = 0
= 2 = 22 + 332 = 0
Solving the system of the last two equations we obtain that
2 = 3
2 3 = 2/
3
Finally, we substitute in Eq. (10) to get the shape function N1=v. We can do the same for all Ni
1 = 1 32/2 + 23/3
Finite Element Analysis (FEA)
Structural Engineering (CV3403)
The interpolation matrix becomes = X 1 = 1 2 3
1 0
3/2
2/3
01
2/L
1/2
0 0
3/2
2/3
0 0
1/
1/2
= [1 2 3 4]
One dimensional elements
3. Relate displacement field to nodal displacements beam element
1=v
2=v
3=v
4=v
1
v1=1
v2=1
2
v
v
v
v
15
Cook 2002
Here we want to define strain field {(x)} from the displacement field {u(x)}
{d} {u(x)} {(x)}
The strains {(x)} at any point within an element can be obtained from the displacement field by differentiation. The exact form of differentiation depends on the type of the problem being examined. For example, for the bar element strains correspond to first order derivatives of the displacements, while for the beam element the strain field is associated with curvatures which correspond to second order derivatives of the lateral displacement field v(x)
If is the matrix correlating {(x)} with {u(x)} we can write
() = () (15)
Combining Eqs. (8) and (15) we obtain
() = = (16)
Where [B]=[] is the so called strain matrix relating directly element strain field {(x)} to nodal displacement vector {d}
Finite Element Analysis (FEA)
4. Relate strain field to nodal displacements
Structural Engineering (CV3403)
One dimensional elements
16
For the bar element, the strain displacement relationship is
() =
= () (17)
Where
=
(18)
Hence, matrix [B] becomes
[B]=[] =1
2
=
1
1
(19)
Finite Element Analysis (FEA)
4. Relate strain field to nodal displacements bar element
Structural Engineering (CV3403)
One dimensional elements
17
For the beam element, the strain that we examine is the curvature
(x) =d2v
dx2= v(x) (20)
Where
=2
2 (21)
Hence, matrix [B] becomes
B = [] =21
2 22
2 23
2 24
2=
6
2+12
3
4
+6
2
6
212
3
2
+6
2 (22)
Finite Element Analysis (FEA)
4. Relate strain field to nodal displacements beam element
Structural Engineering (CV3403)
One dimensional elements
18
Here we relate internal stresses {(x)} to the element strain field {(x)}
{d} {u(x)} {(x)} {(x)}
The stress {(x)} at any point within an element can be obtained from the strain {(x)} at the same point by applying the theory of elasticity.
If [D] is the constitutive matrix then we obtain in the general case
(x) = D ( (x) - (x) ) = D (x) + (x) (23)
Where (x) = { x } and {(x)} is the initial strain vector.
The previous equation can be written also as
(x) = D 1 (x) + (x) (24)
Combining Eq. (16) and (23) we get
(x) = D B {} + (x) (25)
Finite Element Analysis (FEA)
5. Relate stress field to nodal displacements
Structural Engineering (CV3403)
One dimensional elements
19
For bar elements, we obtain by applying Hookes law (= ) that [D]=E
where E is the modulus of elasticity.
Hence, we can write
(x) = E B {} + (x)
(x) =
+ (x) (26)
Finite Element Analysis (FEA)
5. Relate stress field to nodal displacements bar elements
Structural Engineering (CV3403)
One dimensional elements
20
For beams, we obtain by Euler-Bernoulli beam theory that M=I . Hence [D]=EI
where E is the modulus of elasticity and I is the moment of inertia about the centroidal axis parallel to Z axis
Hence, we can write
(x) = B {} + (x)
(x) = 6
2+12
3
4
+6
2
6
212
3
2
+6
2 {} + (x) ) (27)
Finite Element Analysis (FEA)
5. Relate stress field to nodal displacements beam elements
Structural Engineering (CV3403)
One dimensional elements
21
In this section we will relate nodal loads to nodal displacements. To serve this goal we will apply the principle of virtual work. This principle is equivalent to equilibrium.
A virtual displacement is an imaginary and very small change in the configuration of the system.
We assume that a virtual displacement takes place relative to the equilibrium configuration when all loads have been fully applied.
During this small displacement it is assumed that loads and stresses remain constant.
According to this principle, during every virtual displacement imposed on the element, the total work done by external forces should be equal to the total internal work done by the stresses.
We designate as {d} the arbitrary virtual nodal displacement vector that causes the virtual displacement field {u(x)} and corresponding strain field {(x)}.
Furthermore, we assume that external body forces {F} act in the volume of the element V and surface tractions {} on the surface of the element S and concentrated nodal forces {P} at the nodes of the element.
Finite Element Analysis (FEA)
6. Relate end loads to nodal displacements
Structural Engineering (CV3403)
One dimensional elements
22
The principle of virtual work gives, Eq. (27)
= (x) = + + (27)
If {} are initial strains, then it holds {}=[D]({}-{}).
By substituting {(x)} and {(x)} from Eq. (16) and (25) respectively and taking into
account that {d} is not a function of the coordinates, we obtain that
[] x x = + + (28)
Since {d} is arbitrary we can eliminate it from both sides and we finally obtain
( []) {d} = + + + [] x (29)
Eq. (29) is equivalent to the node equilibrium equation:
P + {re} r = 0 r = + = + (30)
Where {P} are the external loads applied directly to the nodes, {re} are the equivalent loads applied to the nodes due to the external loads distributed over the element and {r} are the loads applied to the member ends due to element deformation.
Finite Element Analysis (FEA)
6. Relate end loads to nodal displacements
Structural Engineering (CV3403)
One dimensional elements
23
According to this observation, we obtain:
r = = []) d = [] (31)
re = + + [] x (32)
With Eq. (31) we can determine the stiffness matrix of the element and with Eq. (32) the equivalent nodal loads {re} due to body forces {F} (e.g. gravity loads), surface tractions {} and due to initial element strains {o}.
It is worth noting that Eq. (32) provides consistent equivalent nodal loads, which means that these loads are determined by the use of the same shape functions as the ones used for the element stiffness matrix.
It is also noted that in the case of more than one elements Eqs. (27)-(30) are valid when a summation symbol for all elements is applied before these equations.
Finite Element Analysis (FEA)
6. Relate end loads to nodal displacements
Structural Engineering (CV3403)
One dimensional elements
24
In the following figure the complete procedure applied to determine the element stiffness matrix is presented.
Finite Element Analysis (FEA)
Element stiffness matrix determination - overview
Structural Engineering (CV3403)
One dimensional elements
{d} {r}
{} {}
kinematic
constitutive
equilibrium
stiffness
= D {}
= {}
= {}
= ( []) d
25
For the prismatic bar element with area A, Eq. (30) becomes:
= ( 1
1
1
1
)
= (
1
1
1
1
)
0 =
1/ 1/1/ 1/
(33)
More analytically, for example, for the stiffness matrix coefficient k12
12 = 1
1
=
0 /2 = /
0
Finite Element Analysis (FEA)
Element stiffness matrix bar element
Structural Engineering (CV3403)
One dimensional elements
26
For the prismatic beam element with flexural rigidity EI, Eq. (30) becomes:
= ( )
0 = (34)
Where B is given by Eq. (22)
More analytically, for example, for the stiffness matrix coefficient k34
34 = 6
212
3
2
+6
2 =
12
3+60
4 722
5 = 6
0/2
0
Finite Element Analysis (FEA)
Element stiffness matrix beam element
Structural Engineering (CV3403)
One dimensional elements
L
EI
L
EI
L
EI
L
EIL
EI
L
EI
L
EI
L
EIL
EI
L
EI
L
EI
L
EIL
EI
L
EI
L
EI
L
EI
4626
612612
2646
612612
22
2323
22
2323
v1
1
v2
2
27
For the prismatic bar element with area A and elastic modulus E, Eq. (32) becomes:
For the load P acting at a distance L/3 from point 1:
re = =
=3=
3
3
=2/3/3
For the distributed load q(kN/m):
re = = 1
() =
+1
( + 1)( + 2)
+1
( + 2)
For an initial imperfection L:
re L = [] x =
1
1
/ =
1
1
=
11
For uniform temperature change T (=thermal expansion coefficient, e.g. for concrete 10-5 per degree Celsius)
re T = [] x =
1
1
= 1
1
= 11
For all of the above: = re P + re + re L + re T
Finite Element Analysis (FEA)
Element equivalent nodal loads bar element
Structural Engineering (CV3403)
One dimensional elements
1 2
u2 u1 L/3 2L/3
P q=xb
28
For the prismatic beam element with rigidity EI, Eq. (32) becomes:
For the uniform distributed load q(kN/m):
re = = () =
/2
2/12/2
2/12
For example: re(4) = q 2
+3
2
0=
3
3+4
42 0= 2/12
For a temperature difference between the bottom and top surface of a section with height h:
re T = [] x =
=
0101
For all of the above:
= re + re T
Finite Element Analysis (FEA)
Element equivalent nodal loads beam element
Structural Engineering (CV3403)
One dimensional elements
1 2
v2 v1
L
q
1 2
29
Finite Element Analysis (FEA)
The 3-node bar element - introduction
Structural Engineering (CV3403)
The 2-node bar element developed previously displays constant axial strain along its length. Hence, it cannot be accurate when distributed forces act inside the element length.
In the following, we examine again a prismatic bar element of length L elastic modulus E and cross section area A.
However, the bar element consists of 3 nodes with displacements in the axial direction u1, u2.and u3.
For simplicity, we assume that the intermediate node is at the middle point of the bar. The formulation can easily be modified for other locations of the intermediate node.
Corresponding element end forces are F1, F2 and F3
The nodal d.o.f. and force matrices are:
3
2
1
}{
F
F
F
r
3
2
1
}{
u
u
u
d
One dimensional elements
u1 u3
u2
F1 F2 F3
x
1 2
3
L/2 L/2
30
Finite Element Analysis (FEA)
The 3-node bar element displacement field
Structural Engineering (CV3403)
One dimensional elements
This bar element has three d.o.f. This means that we can determine three polynomial coefficients i
The displacement field {u(x)} is the axial displacement u(x) over the element. We write
Where:
u(x) = u x = o + 1 x + 2 2 = i x
i2i=0 {u x } = X {}
X = 1 x x2 and = o 1 2T
The boundary conditions are:
= 0 1= + 1 0 + 2 0, = /2 2 = + 1 /2 + 2
2/4 = 3 = + 1 + 2
2
In matrix form, it is written as: 123
=1 0 01 /2 2/4
1 2
12
[] =1 0 01 /2 2/4
1 2
u1 u3
u2
F1 F2 F3
x
1 2
3
L/2 L/2
31
Finite Element Analysis (FEA)
The 3-node bar element displacement field
Structural Engineering (CV3403)
One dimensional elements
The interpolation matrix is then calculated by:
Where:
1 = 2
2
3
+ 1 , 2 = 4
2
+ 4
, 3= 2
2
,
= 1 2 3 = X 1
The interpolation functions can also be calculated by their
definition. For example for N1 we can solve the following
system of equations to obtain and o, 1, and 2. = 0 1 = + 1 0 + 2 0, = 0 = + 1 + 2
2 = /2 0 = + 1 /2 + 3
2/4
The interpolation functions are presented in the figures: They can also be calculated from Lagranges interpolation function (e.g. for N2):
2 =x1 x x3 x
(1 2)(3 2)=0 x x
(0 2)(
2)= 4
2
+ 4
[N1]
1 2 3
[N3]
1 2 3
[N2]
1 2
3
1
1
1
32
Finite Element Analysis (FEA)
The 3-node bar element strain field
Structural Engineering (CV3403)
One dimensional elements
For the bar element, the strain displacement relationship is
() =
= ()
Where:
=
Hence, matrix [B] becomes
[B]=[] =1
2
3
Where: 1
=4x
L23
L
2
=
8x
L2+4
L
3
=4x
L21
L
33
Finite Element Analysis (FEA)
The 3-node bar element element stiffness matrix
Structural Engineering (CV3403)
One dimensional elements
The stress field is then determined by applying Hookes law. Hence, if we ignore initial stresses, we can write
(x) = D B x = []
We observe that both strains and stresses can vary linearly along the element. We recall that for the 2-node bar element strains and stresses are constant within the element.
For the prismatic 3-node bar element with area A, the stiffness matrix is 3x3 and is calculated as:
= ( [] ) =EA ( )
0 =
3
7 8 18 16 81 8 7
34