(BDA 31003)
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What is Axial/Torsional Element
This type of element has only one (1) single degree of freedom in each node
𝐴𝐸
𝑘=
𝐿
translation
A : cross section
E: elasticity
L: length of element
rotation
Element 2
Element 1
1 2
1 2
Lecture Module 3 BDA31003 3
Stiffness, Displacement and Force
1 k 2
f1 u1 u2 f2
𝑓1 = 𝑘𝑢1 − 𝑘𝑢2
𝑓2 = 𝑘𝑢2 − 𝑘𝑢1
𝑘 −𝑘 𝑢1 𝑓1
=
Rearrange the equation in matrix −𝑘 𝑘 𝑢2 𝑓2
𝑘 𝑢 = 𝑓
𝐴𝐸 1 −1 𝑢1 𝑓1
=
𝐿 −1 1 𝑢2 𝑓2
𝐴𝐸 1 −1
𝑘 =
𝐿 −1 1
𝑢𝑖 𝑢𝑗
𝐴𝐸 1 −1 𝑢𝑖
𝑘𝑒 = 𝑢𝑗
𝐿 −1 1
𝑘𝑖𝑖 𝑒 𝑘𝑖𝑗 𝑒
𝑘𝑒 =
𝑘𝑗𝑖 𝑒 𝑘𝑗𝑗 𝑒
𝐾 = 𝑘1 + 𝑘 2 + 𝑘 3 + ⋯ + 𝑘 𝑛
Arrange the structural stiffness matrix into a complete static matrix equation
[K]{u} = {f}
1 e1 2 e2 3 e3 4
𝑢1 𝑢2 𝑢3 𝑢4
𝐴1 𝐸1 𝐴2 𝐸2 𝐴3 𝐸3
𝐿1 𝐿2 𝐿3
𝑢1 𝑢2 𝑢3 𝑢4
In the system there are 4 nodes and every node has 1 DOF, the static equation will be:
𝑢1 𝑢2 𝑢3 𝑢4
𝑢1 𝑢1 𝐹1
𝑢2 𝑢2 𝐹2
=
𝑢3 𝑢3 𝐹3
𝑢4 𝑢4 𝐹4
𝐾 𝑢 = 𝐹
Lecture Module 3 BDA31003 11
Assemble Elements
stiffness matrix
1 e1 2 e2 3 e3 4
𝑢1 𝑢2 𝑢3 𝑢4
𝑢1 𝑢2 𝑢1 𝑢2
𝐴1 𝐸1 1 −1 𝑢1 a1 b1 𝑢1
Element e1 𝑘𝑒1 = =
𝐿1 −1 1 c1 d1
𝑢2 𝑢2
𝑢1 𝑢2 𝑢3 𝑢4
𝑢1
𝑢2
𝐾1 =
𝑢3
𝑢4
𝑢1 𝑢2 𝑢3 𝑢4
𝑢2 𝑢3 𝑢2 𝑢3
𝐴2 𝐸2 1 −1 𝑢2 a2 b2 𝑢
Element e2 𝑘𝑒2 = = 2
𝐿2 −1 1 c2 d2
𝑢3 𝑢3
𝑢1 𝑢2 𝑢3 𝑢4
𝑢1
𝑢2
𝐾2 =
𝑢3
𝑢4
𝑢1 𝑢2 𝑢3 𝑢4
𝑢3 𝑢4 𝑢3 𝑢4
𝐴3 𝐸3 1 −1 𝑢3 a3 b3 𝑢
Element e3 𝑘𝑒3 = = 3
𝐿3 −1 1 c3 d3
𝑢4 𝑢4
𝑢1 𝑢2 𝑢3 𝑢4
𝑢1
𝑢2
𝐾3 =
𝑢3
𝑢4
𝑢1 𝐾 =
𝑢2 𝑢1 𝑢2 𝑢3 𝑢4
𝐾2 =
𝑢3 𝑢1
𝑢4 𝑢2
𝑢3
𝑢1 𝑢4
𝑢2
𝐾3 =
𝑢3 The same cells +
𝑢4 Unoccupied remains 0
Lecture Module 3 BDA31003 15
Assemble Elements
force vector
1 e1 2 e2 3 e3 4
𝑢1 𝑢2 𝐹2 𝑢3 𝑢4 𝐹4
0 𝑢1
Element e1 𝑓𝑒1 =
−𝐹2
𝑢2
𝑢1
𝐹1 = −𝐹2 𝑢2
𝑢3
𝑢4
𝑢1 𝑢2 𝐹2 𝑢3 𝑢4 𝐹4
0 𝑢2 Force at node 2
Element e2 𝑓𝑒2 =
0 has been defined by e1
𝑢3
𝑢1
𝐹2 = 𝑢2
𝑢3
𝑢4
𝑢1 𝑢2 𝐹2 𝑢3 𝑢4 𝐹4
0 𝑢2
Element e3 𝑓𝑒3 =
𝐹4
𝑢3
𝑢1
𝐹3 = 𝑢2
𝑢3
𝐹4 𝑢4
𝑢1
−𝐹2 𝑢2 Combine all elements into
𝐹1 =
the structure
𝑢3
𝑢4 𝐹 = 𝐹1 + 𝐹2 + 𝐹3 +. . . + 𝐹𝑛
𝑢1 𝑢1
𝐹2 = 𝑢2 −𝐹2 𝑢2
𝐹3 =
𝑢3 𝑢3
𝑢4 𝑢4
𝐹4
𝑢1
𝐹3 = 𝑢2
𝑢3
𝐹4 𝑢4
Lecture Module 3 BDA31003 19
Constraints
I have now the static equation complete:
𝑢1
𝑢2 −𝐹2
=
𝑢3
𝑢4 𝐹4
I can solve the unknown displacement vector {u} No.... WAIT a minute
1 e1 2 e2 3 e3 4
𝑢1 𝑢2 𝑢3 𝑢4
𝑢1 = 0 𝑢4 = β
𝑢1 𝑢2 𝑢3 𝑢4
𝑢1
𝑢2 𝐹2
=
𝑢3
𝑢4 𝐹4
After constraints : 1 e1 2 e2 3 e3 4
𝑢1 = β1 𝑢2 𝑢3 𝑢4 = β4
The equations 𝑢1
must be modified 𝑢2 𝐹2
so that =
𝑢3
𝑢1 = β1 𝑢4 = β4 𝑢4 𝐹4
Lecture Module 3 BDA31003 23
Handling constraints
direct elimination method
1 e1 2 e2 3 e3 4
𝑢1 = β1 𝑢2 𝑢3 𝑢4 = β4
1 0 0 0 𝑢1 β1
0 𝐾22 𝐾23 0 𝑢2 𝐹2 − 𝐾21 β1 − 𝐾24 β4
𝑢3 =
0 𝐾32 𝐾33 0 𝐹3 − 𝐾31 β1 − 𝐾34 β4
After introducing constraints 𝑢4
0 0 0 1 β4
𝑢1 = β1 𝑢4 = β4
Then solve the simultaneous equation after 2 variables have been eliminated:
to find 𝑢2 and 𝑢3
𝑢1 = β1 𝑢2 𝑢3 𝑢4 = β4
Since C is a huge value compared to other items the equations can be written
𝐶 𝑢1 ≈ β1 𝐶 𝑢1 ≈ β1
𝐶 𝑢4 ≈ β4 𝐶 𝑢4 ≈ β4
➢ FEM modeling
➢ Analyse elemental stiffness matrix and force vector and save them
➢ in global storage
𝑢1 = 0
𝑓3 = −10
Element 1 𝑢1 𝑢2
1 −1 𝑢1 0 𝑢1
[𝑘1 ] = 2 {𝑓 1 } =
−1 1 𝑢2 0 𝑢2
Element 2 𝑢2 𝑢3
1 −1 𝑢2 0 𝑢2
[𝑘 2 ] = 1 {𝑓 2 } =
−1 1 𝑢3 −10 𝑢3
0 0 0 𝑢1 0 𝑢1
[𝐾] = 0 2 −2 𝑢2 {𝐹} = 0 𝑢
2
0 −2 2 𝑢3 −10
𝑢3
𝑢1 𝑢2 𝑢3
2 −2 0 𝑢1 0 𝑢1
[𝐾] = −2 2 0 {𝐹} = 0
0 0 0 𝑢2 𝑢2
0
𝑢3 𝑢3
𝑢1 𝑢2 𝑢3
2 −2 0 𝑢1 0 𝑢1
[𝐾] = −2 2 + 1 −1 {𝐹} = 0
𝑢2 𝑢2
0 −1 1 −10
𝑢3 𝑢3
𝑢1 𝑢2 𝑢3
2 −2 0 𝑢1 0 𝑢1
𝐾 = −2 2 + 1 −1 {𝐹} = 0
𝑢2 𝑢2
0 −1 1 −10
𝑢3 𝑢3
1 0 0 0
𝐾 = 0 2 + 1 −1 {𝐹} = 0 − −2 𝑢1
0 −1 1 −10 − 0 𝑢1
3 −1 𝑢2 0
= 𝑢2 = −5
−1 1 𝑢3 −10
𝑢3 = −15
0 0 0 𝑢1 0 𝑢1
[𝐾] = 0 0 0 {𝐹} = 0
0 0 0 𝑢2 𝑢2
0
𝑢3 𝑢3
𝑢1 𝑢2 𝑢3
2 −2 0 𝑢1 0 𝑢1
[𝐾] = −2 2 0 {𝐹} = 0
0 0 0 𝑢2 𝑢2
0
𝑢3 𝑢3
𝑢1 𝑢2 𝑢3
2 −2 0 𝑢1 0 𝑢1
[𝐾] = −2 2 + 1 −1 𝑢2 {𝐹} = 0 𝑢2
0 −1 1 𝑢3 −10 𝑢3
𝑢1 𝑢2 𝑢3
2 −2 0 𝑢1 0 𝑢1
𝐾 = −2 2 + 1 −1 {𝐹} = 0
𝑢2 𝑢2
0 −1 1 −10
𝑢3 𝑢3
1 0 0 0
𝐾 = 0 2 + 1 −1 {𝐹} = 0 − −2 𝑢1
0 −1 1 −10 − 0 𝑢1
3 −1 𝑢2 0
= 𝑢2 = −5
−1 1 𝑢3 −10
𝑢3 = −15
𝑢1 𝑢2 𝑢3
1030 −2 0 𝑢1 0 + 0 1030 𝑢1
𝐾 = −2 2+1 −1 𝐹 = 0
𝑢2 𝑢2
0 −1 1 −10
𝑢3 𝑢3
𝑢1 0
𝑢2 = −5
𝑢3 −15
3 4 c
b
2 1 a
1 2 5 u1
u2
u5
𝑢1 𝑎 𝑎
= 𝑢1 − 𝑢5 = 0
𝑢5 𝑐 𝑐
β1 𝑢𝑖 + β2 𝑢𝑗 = β0
𝑢2 𝑏 𝑏
= 𝑢2 − 𝑢5 = 0
𝑢5 𝑐 𝑐
β1 𝑢𝑖 + β2 𝑢𝑗 = β0
𝑢𝑖 𝑢𝑗
β1 2 β1 β2 𝑢𝑖
𝑎𝑑𝑑𝑖𝑡𝑖𝑜𝑛𝑎𝑙 =
β1 β2 β2 2 𝑢𝑗
δ𝑒 = 𝑢𝑗𝑒 − 𝑢𝑖𝑒
δ 𝑒
ϵ𝑒 = 𝑒
𝐿
𝑢1 𝑢2 𝑢3 𝑢4
𝐴2 𝐸 𝐴3 𝐸 𝐴4 𝐸
𝐿 𝐿 𝐿
● Thermal loading
𝑓𝑡𝑜𝑡 = 𝑓𝐿 + 𝑓𝑏 + 𝑓𝑡
𝑓𝑏𝑖 𝐿 2𝑏𝑖 + 𝑏𝑗
=
𝑓𝑏𝑗 6 𝑏𝑖 + 2𝑏𝑗
𝑓𝑡𝑖 −1
= 𝐸𝐴α 𝑡𝑗 − 𝑡𝑖
𝑓𝑡𝑗 1
𝐽𝐺 𝐸
𝑘= Shear Modulus 𝐺=
𝐿 2 1+ν
θ𝑖 θ𝑗
𝐽𝐺 1 −1 θ𝑖
𝑘𝑒 = Inertia polar or Torsional constant π𝑅4
𝐿 −1 1 θ𝑗 (for circular cross section) 𝐽=
2
(c) Element 2
θ1 θ2 θ3 θ4
[k2] = 0 0 0 0 θ1
0 1.96E+03 -1.96E+03 0 θ2
0 -1.96E+03 1.96E+03 0 θ3
0 0 0 0 θ4
(c) Element 3
θ1 θ2 θ3 θ4
[k3] = 0 0 0 0 θ1
0 0 0 0 θ2
0 0 5.89E+03 -5.89E+03 θ3
0 0 -5.89E+03 5.89E+03 θ4
(c) Total [K]
θ1 θ2 θ3 θ4
[K] = 1472.8125 -1472.8125 0 0 θ1
-1472.8125 3436.5625 -1963.75 0 θ2
0 -1963.75 7855 -5891.25 θ3
0 0 -5891.25 5891.25 θ4
T1 -80
T2 = 20
T3 -30
T4 0
Before constraint:
θ1 θ2 θ3 θ4 {θ} {T}
1472.8125 -1472.8125 0 0 θ1 θ1 -80
-1472.8125 3436.5625 -1963.75 0 θ2 x θ2 = 20
0 -1963.75 7855 -5891.25 θ3 θ3 -30
0 0 -5891.25 5891.25 θ4 θ4 0
θ1 -1.00E-01 -0.100149
θ2 -5.00E-02 -0.045831
θ3 -1.50E-02 -0.015277
Lecture Module 3 BDA31003 58