Direct Stiffness - springs

Direct Stiffness - springs

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)

Summary: 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

Direct Stiffness - springs

Direct Stiffness - springs

F1x k1

F2x k2

F3x

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

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

k1

F2x 2

k2

F3x 3

d1x

Element 1

Element 2

d2x

d3x

Unknowns: nodal displacements d1x, d2x, d3x,

 Direct Stiffness - springs

F1x 1
Node 1

k1

F2x 2

k2

F3x 3

d1x

Element 1

Element 2

d2x

d3x

Step 2: Analyze the behavior of a single element (spring) Two nodes: 1, 2 d Nodal displacements: d 1x 2x f Nodal forces: f 1x 2x Spring constant: k

Direct Stiffness - springs

2002 Brooks/Cole Publishing / Thomson Learning

2002 Brooks/Cole Publishing / Thomson Learning

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

Direct Stiffness - springs

Behavior of a linear spring (recap) x k 1 d k d k F

Direct Stiffness - springs

f 1x
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f 2x

Hookes law for our spring element

= k (d d ) f 2x 2x 1x

Eq (1)

Force equilibrium for our spring element

+f =0 f 1x 2x ) f1x = f 2x = k (d 2x d 1x

Eq (2)

Collect Eq (1) and (2) in matrix form

Hookes Law F = kd

F = Force in the spring d = deflection of the spring k = stiffness of the spring

=k d f
Element force vector Element stiffness matrix Element nodal displacement vector

k - k d f 1x 1x = k k f 2x d 2x -4 1 24 3 1 2 3 1 2 3
f k d

 Direct Stiffness - springs

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

Direct Stiffness - springs

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 Element 1 Element 2

) = k2 k2 = 0 det ( k
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

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

k1

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

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

k2

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

e.g.,
2 - 2 1 - 2 f 1x = = f 2x - 2 2 2 2 2 - 2 3 - 2 f 1x = = f 2x - 2 2 4 2

(1) (1) k1 - k1 d f 1x 1x (1) (1) = k1 f 2x d 2x 1 - k 1 4 24 3 1 2 3 1 2 3

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

(2) (2) k 2 - k 2 f d 1x 1x = (2) (2) - k 2 k 2 f 2x d 2x 142 43 1 2 3 1 2 3 (2)

(2) f k (2) d

Eq (3)

Eq (4)

Direct Stiffness - springs

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

Direct Stiffness - springs

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

k1
Element 1

F2
x

k2
Element 2

F3
x

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

Element 1

(2) k2 f 1x (2) = f 2x - k 2
2
(2) (2) d f 1x 1x

- k 2 d 2x k2 d 3x
3
(2) (2)d f 2x 2x

x d3x

1 d Node 1 1x

2 d2x

Element 2

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

k1

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

k2

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

2x 3x

Eq (5)

Or, we may expand the matrices and vectors to obtain

 Direct Stiffness - springs

Direct Stiffness - springs

(1) k1 k1 0 d f 1x 1x d (1) f 2x = - k1 k1 0 2x 0 0 d 3x 0 0 1 3 244 3 2 1 2 3 144

(1) e f (1) e k d

Question 2: How do we relate the local (element) nodal forces back to the global (structure) forces? Draw 5 FBDs

Eq (6)

F1x 1 A d1x

k1

F2x
B2 C

k2 d2x
2

F3x
D3

x d3x
3

0 d1x 0 0 0 f (2) 1x = 0 k 2 k 2 d 2x f (2) 0 - k d 3x k2 2x 2 1 3 1 2 3 144 244 3 2

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

Eq (7)

F1x

(1) f 1x

(1) f 2x

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F2x

(2) f 1x

(2) f 2x

F3x

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

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

3x 2x

Direct Stiffness - springs

(1) F1x f 1x (1) (2) F = F2x = f 2x + f1x F f (2) 3x 2x (1) f 0 Recall that the expanded 1x (1) e ( 2)e (2) (1) and f = f1x element force vectors were f = f 2x 0 f (2) 2x

Direct Stiffness - springs

In vector form, the nodal force vector (global)

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

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

Hence

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

(1) e + f ( 2)e = k (1)e d + k (2)e d = (1)e + k (2)e F=f k d

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

F=Kd

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

 Direct Stiffness - springs

For our original structure with two springs, the global stiffness matrix is
0 k 1 k 1 0 0 0 K= - k 1 k 1 0 + 0 k 2 k 2 0 0 k2 k2 0 1 0 4 1 44 244 3 4 244 3
(1) e k ( 2)e k

Direct Stiffness - springs

The system equations

F1x F2x = F 3x k1 - k 1 0

F=Kd
k1 k1 + k 2 - k2

imply
0 k2 k2 d 1x d 2x d 3x

- k2 NOTE 1. The global stiffness matrix is symmetric 2. The global stiffness matrix is singular

k1 = - k 1 0

k1 k1 + k 2

0 k2 k2

F1x = k 1d 1x k 1d 2x F2x = -k 1d 1x + ( k 1 + 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.

F1x 1 A d1x

k1

F2x
B

k2

F3x
D3

x d3x
3

2
F1x (1) f 1x (1) f 2x (2) f 1x (2) f 2x

Direct Stiffness - springs

2 C d2x

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

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F2x

F3x

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

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

Direct assembly of the global stiffness matrix Global F1x 1 d1x Local 1
(1) d (1) f 1x 1x

Direct Stiffness - springs

k1

F2x 2

k2

F3x 3

Node element connectivity chart : Specifies the global node number corresponding to the local (element) node numbers ELEMENT Node 1 Node 2 1 2 1 2 2 3 Local node number Global node number

Element 1

d2x

Element 2

d3x

Element 1 k1

Element 2 k2

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

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

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

Stiffness matrix of element 1

Stiffness matrix of element 2

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

d1x

d1x d2x

( 2) = k 2 k - k 2
d2x

d2x d3x

Example 2.1

22

- k 2 d2x k2 d3x

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Compute the global stiffness matrix of the assemblage of springs shown above

Global stiffness matrix Examples: Problems 2.1 & 2.3 of Logan

d3x

d1x

d2x

d3x

d4x

k1 K= - k 1 0

- k1 k1 + k 2 - k2

0 d1x - k2 d2x k2 d3x

1000 1000 1000 1000+ 2000 ( ) K= 0 2000 0 0

0 0 2000 0 ( 2000+3000) 3000 3000 3000

d1x d2x d3x d4x

Imposition of boundary conditions

Example 2.3
3

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 k2=100N/m k1=500N/m 1 2 Element 2 Element 1 d1x=0 d2x

2002 Brooks/Cole Publishing / Thomson Learning

Compute the global stiffness matrix of the assemblage of springs shown above

F3x=5N 3 d3x

k1 K = -k1 0

-k1 k1 + k 2 + k 3 - ( k 2 + k3 )

0 - ( k 2 + k 3 ) ( k 2 + k3 )

0
0 d1x F1x 500 -500 -500 600 -100 d = 0 2x 0 -100 100 d3 x 5
Global Stiffness matrix Nodal disp vector Nodal load vector

System equations

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 0.01 m 2x = 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

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 Writing out the equations explicitly

-500d 2x = F1x 600d 2 x 100d3 x = 0 100d 2 x + 100d3 x = 5

Eq(1) Eq(2) Eq(3)

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

 Direct Stiffness - springs

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)

Imposition of boundary conditionscontd.

Nonhomogeneous boundary condition: spring 2 is pulled at node 3 by 0.06 m) k1=500N/m 2 Element 1 d1x=0 d2x Element 2 k2=100N/m 3 d3x=0.06m

Direct Stiffness - springs

System equations

Direct Stiffness - springs

Now use only equation (2) to compute d2x

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

0 d1x F1x 500 -500 -500 600 -100 d = 0 2x -100 100 0 d3 x F3 x 0.06 Note that now F1x and F3x are not known.

Writing out the equations explicitly

-500d 2x = F1x

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

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 did Step 1: Divide the problem domain into non overlapping regions (elements) connected to each other through special points (nodes) Element

This consists of the following steps 1. Write the force-displacement relations of each spring in expanded form

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

Step 3: Describe the behavior of the entire body (by assembly).

nodal

e = k e d f

Global nodal displacement vector

Recap of what we didcontd. 2. Relate the local forces of each element to the global forces at the nodes (use FBDs and force equilibrium). Finally obtain

Recap of what we didcontd. Apply boundary conditions by partitioning the matrix and vectors

F = f
F=Kd

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

Where the global stiffness matrix

K22d2 = F2 K21d1
Compute unknown nodal forces

K = k

F1 = K11d1 + K12d2

Physical significance of the stiffness matrix F1x k2 F2x F3x k1 1 d1x Element 1 2 d2x 3 Element 2 d3x

The first equation is x

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

Columns of the global stiffness matrix

Force equilibrium

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

k11 K= k 21 k 31

k12 k 22 k 32

k13 k 23 k 33

What if d1=1, d2=0, d3=0 ?

F1 = k11 F2 = k 21 F3 = k 31

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

While nodes 2 and 3 are held fixed Force along node 1 due to unit displacement at node 1 Force along node 2 due to unit displacement at node 1 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

In general

k ij
F1 1 d1

= Force at node i due to unit displacement at node j keeping all the other nodes fixed

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

This is an alternate route to generating the global stiffness matrix e.g., to determine the first column of the stiffness matrix k1 F2 2 Element 1 d2 Element 2 k2 F3 3 d3 Set d1=1, d2=0, d3=0 x

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

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

(1) = k (d (1) d (1) ) = k (0 1) = k f 2x 1 2x 1x 1 1 (1) = f (1) = k f 1x 2x 1

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

Force equilibrium at node 1 F1

(1) = k F1 =f 1x 1 (1) f 1x

Hence the first column of the stiffness matrix is

F1 k1 F2 = k1 F 0 3

Force equilibrium at node 2 F2

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

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 F1 = k1d1 = k1=k11 F2 = -F1 = -k1=k21 F3 = 0 =k31 Check that
F1 k1 F2 = k1 + k2 F k 2 3

Of course, F3=0

Steps in solving a problem

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

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