[K]{U} = {F}
[K] = Stiffness or Property Matrix
{U} = Nodal Displacement Vector
{F} = Nodal Force Vector
du d d[N ]
Strain : e k ( x )u k {d } [ B]{d }
dx k dx dx
Stress - Strain Law : Ee E[ B]{d }
edV P u
i i Pj u j fudV
L Pi L
{δd }T A[ B]T E[ B]dx{d} {δd }T {δd }T A[ N ]T fdx
Pj
0 0
L L
T T
A[ B] E [ B]dx{d } {P } A[ N ] fdx
0 0
L
[ K ] A[ B]T E[ B]dx Stiffness Matrix
0
Pi L
[ K ]{d } {F } {F } A[ N ]T fdx Loading Vector
Pj
0
ui
{d } Nodal Displacem ent Vector
u j
Element Equation
Linear Approximation Scheme, Constant Properties
1
L L L 1 1 AE 1 1
[ K ] A[ B] E[ B]dx AE[ B] [ B] dx AE
T T
1 L L
L 1 1
0 0
L
L
x
P1 L P1 L
P1 Af o L 1
{F } A[ N ] fdx Af o
T L
dx
2
P 2
P x P 2 1
0 0
2
L
u1
{d } Nodal Displacem ent Vector
u2
AE 1 1 u1 P1 Af o L 1
[ K ]{d} {F }
L 1 1 2 2
u P 2 1
One-Dimensional Bar Element
Axial Deformation of an Elastic Bar
Virtual Strain Energy = Virtual Work Done by Surface and Body Forces
V
ij eij dV Ti n ui dS Fi ui dV
St V
edV P u
i i Pj u j fudV
Linear Approximation Scheme
ui uj
x (local coordinate system)
(1) L (2)
u(x)
Approximate Elastic Displacement
u1 a1
u a1 a 2 x
u2 a1 a 2 L
x
u u1 x x (1) (2)
u u1 2 x 1 u1 u2
L L L
1 ( x )u1 2 ( x )u2 1(x) 2(x)
u1 x x u1
u 1 2 1 [ N ]{d }
u2 L L u2 1
[ N ] Approximat ion Function Matrix
x
{d } Nodal Displacem ent Vector (1) (2)
k(x) – Lagrange Interpolation Functions
Quadratic Approximation Scheme
u1 u2 u3
x
(1) (2) (3)
L
Approximate Elastic Displacement u(x)
u1 a1
L L2
u a1 a 2 x a3 x 2
u2 a1 a 2 a3
2 4 x
u3 a1 a 2 L a3 L2
(1) (2) (3)
u 1 ( x )u1 2 ( x )u2 3 ( x )u3
2(x)
u1 3(x)
1(x)
u 1 2 3 u2 [ N ]{d }
u3 1
Element Equation
x
7 8 1 u1 F1 (1) (2) (3)
AE
8 16 8 u2 F2
3L
1 8 7 u3 F3
Lagrange Interpolation Functions
Using Natural or Normalized Coordinates
1 , i j
i ( j )
0 , i j
1
1 (1 )
2
(1) 1 1 (2) 1
2 (1 )
2
1
1 (1 )
2
2 (1 )(1 )
(1) (2) (3)
1
3 (1 )
2
9 1 1
1 (1 )( )( )
16 3 3
27 1
2 (1 )(1 )( )
16 3
27 1
(1) (2) (3) (4) 3 (1 )(1 )( )
16 3
9 1 1
4 ( )( )(1 )
16 3 3
Simple Example
P
A1,E1,L1 A2,E2,L2
Take Zero Distribut ed Loading
1 2
f 0
(1) (2) (3)
Global Equation Element 1 Global Equation Element 2
1 1 0 U 1 P1 0 0 0 U1 0
(1)
A1 E1
1 1 0 U 2 P2(1)
A2 E 2
0 1 1 U 2 P1( 2 )
L1 L2
0 0 0 U 3 0 0 1 1 U 3 P2( 2 )
A1,E1,L1 A2,E2,L2
1 2
(1) (2) (3)
Reduced Global System Equation
Boundary Conditions A1 E1 A1 E1
L 0
U1 0 1 L1 0 P1
(1)
A1 E1 AE
2 2 U 2 0
A1 E1 A2 E 2
P2( 2 ) P
L1 L1 L2 L2
P2(1) P1( 2 ) 0 AE A2 E 2 U 3 P
0 2 2
L2 L2
A1 E1 A2 E 2 A2 E2
L L
L2 U 2 0 For Unifor m AE 2 1 U 2 0
1
A2 E 2 U 3 P L 1 1 U 3 P
2
2 2A E Properties A, E , L
L2 L2
PL 2 PL
Solving U 2 , U3 , P1(1) P
AE AE
Beam Approximation Functions
To approximate deflection and slope at each
node requires approximation of the form
w( x ) c1 c2 x c3 x 2 c4 x 3
u1
u d [ N ] d1 d2 d3 d4
[ B] [
{d } 2 ]
dx dx dx dx dx
u3
u4
6 3L 6 3L 1 6
L
2 EI 3L 2 L
2
3L L2 L L 2 fL
f [ N ]T dx f dx
L
[ K ] EI [ B] [ B]dx 3
T
0 L 6 3L 6 3L 0 0
3 12 6
2 4 L
3L L2
3L 2 L
6 3L 6 3L u1 Q1 6
2 EI 3L 2 L
2
3L L2 u2 Q2 fL L
L 6
3
3L 6 3L u3 Q3 12 6
3L L
2
3L 2 L2 u4 Q4 L
FEA Beam Problem
f Uniform EI
a b
1 2
(1) (2) (3)
Element 1
6 / a3 3 / a2 6 / a3 3 / a2 0 0 U1 6 Q1(1)
a (1)
3 / a
2
2/a 3 / a2 1/ a 0 0 U 2 Q2
6 / a 3 3/ a 2
6/a 3
3 / a2 0 0 U 3 fa 6 Q3(1)
2 EI
3 / a
2
1/ a 3 / a2 2/a 0 0 U 4 12 a Q4(1)
0 0 0 0 0 0 U 5 0 0
0 0 0 0 0 0 U 6 0 0
Element 2
0 0 0 0 0 0 U1 0
0
0 0 0 0 0 U 2 0
0 0 6/b 3
3/ b 2
6 / b3 3 / b 2 U 3 Q1( 2 )
2 EI
0 0 3 / b2 2/b 3 / b2 1 / b U 4 Q2( 2 )
0 0 6 / b3 3 / b2 6 / b3 3 / b 2 U 5 Q3( 2 )
0 0 3 / b2 1/ b 3 / b2 2 / b U 6 Q4( 2 )
FEA Beam Problem
1 2
(1) (2) (3)
Reduced System
6 / a 3 6 / b 3 3 / a 2 3 / b 2 6 / a3 3 / a 3 U1 6 0
2/a 2/b 3 / a2 1 / a U 2 fa a 0
2 EI
6 / a3 3 / a 2 U 3 12 0 0
0 0
2 / a U 4
k=AE/L
s sin , c cos
Frame Element
Generalization of Bar and Beam Element with Arbitrary Orientation
w1 w2
1
u1 2
u2
P1 P2
(1) L (2)
M2
M1
V1 V2
AE AE
L 0 0 0 0
L
12 EI 6 EI 12 EI 6 EI u P
0 0 1 1
L3 L2 L3 L2 w Q
0 6 EI 4 EI 6 EI 2 EI 1 1
0 2
L2 L L L 1 Q2
AE AE u2 P2
0 0 0 0
L L w2 Q3
2 2 Q4
12 EI 6 EI 12 EI 6 EI
0 0
L3 L2 L3 L
0 6 EI 2 EI
0
6 EI
2
4 EI
L2 L L L
Generalized coordinate
Natural coordinate
X1 X2
Shape
function
x x2
N1
x1 x 2
x x1
N2
x 2 x1
three noded element
five noded element
two dimensional element
• Although Lagrangian interpolation functions are for only one dimension, we
may extend the concept to two and three dimensions by forming the product of
the functions which hold good for the individual one dimensional coordinate
directions i.e.,
Nine noded element
End
Element stiffness in Constant Strain Triangle
Higher order Triangular Elements
Rectangular and Quadrilateral Elements
CST element:
k e B D B dV
T
V
V
ST
f f
b S
Constant Strain Triangle (CST) : Simplest 2D finite element
v1
v3
1 u1
(x1,y1)v (x3,y3)
v2 u3
u 3
y (x,y)
u2
2 (x2,y2)
x
• 3 nodes per element
• 2 dofs per node (each node can move in x- and y- directions)
• Hence 6 dofs per element
The displacement approximation in terms of shape functions is
N1 0 N2 0 N3 0
N
0 N1 0 N2 0 N 3
Formula for the shape functions are
a1 b1 x c1 y
v1 N1
v3 2A
1 u1 a 2 b2 x c 2 y
(x1,y1) (x3,y3) N2
v2 v u3 2A
u a3 b3 x c3 y
y (x,y) 3 N3
2A
where u2
2 (x2,y2)
x
1 x 1 y1
A area of triangle det 1 x 2 y 2
1
2
1 x 3 y 3
a1 x 2 y 3 x3 y 2 b1 y 2 y 3 c1 x3 x 2
a 2 x3 y1 x1 y 3 b2 y 3 y1 c 2 x1 x3
a3 x1 y 2 x 2 y1 b3 y1 y 2 c3 x 2 x1
Properties of the shape functions:
2 1
2
x
1 at node ' i '
Ni
0 at other nodes
2. At every point in the domain
N
i 1
i 1
3
N x
i 1
i i x
3
N y
i 1
i i y
3. Geometric interpretation of the shape functions
At any point P(x,y) that the shape functions are evaluated,
A1
N1
A
A2
N2
A
P (x,y)
1 A3
A2 N3
A3 A A
y 1 3
2
x
Approximation of the strains
u
x
x
v
y Bd
y
xy u v
y x
DB d
IMPORTANT NOTE:
1. The displacement field is continuous across element
boundaries
2. The strains and stresses are NOT continuous across element
boundaries
Element stiffness matrix
According to variational principle, the
t
stiffness matrix is represented as,
k e B D B dV
T
V
A
f e N X dV e N T S dS
T T
V
ST
f f
b S
Element nodal load vector due to body forces
f b e N X dV t e N X dA
T T
V A
t N X dA
b1x
f Ae
1 a
fb1y
fb3y f t e N1 X b dA
1 fb1x b1 y A
f b 2 x t e N 2 X a dA
fb2y
Xb fb3x fb
A
y
Xa 3 f b 2 y t Ae N 2 X b dA
(x,y) f b3 x
fb2x t Ae N 3 X a dA
2 f b 3 y
t Ae N 3 X b dA
x
EXAMPLE:
t N X dA
f b1x Ae
1 a
tA
t e N 1 dA 3
f t e N1 X b dA
0
A
b1 y A 0
f b 2 x t e N 2 X a dA t N dA tA
fb Ae 2 3
A
e N T S dS
T
f S ST
EXAMPLE:
fS1y
fS3y t
T
f N T S dS
1 S l1 3 e
along 13
fS1x fS3x
y 3
2
x
Element nodal load vector due to traction
EXAMPLE:
fS2y f S t
T
e
N T S dS
l23 along 2 3
(2,2)
2 fS2x
y f S2 x t N 2 along 23 (1) dy 1
1
e
l23
TS
0 1 2
fS3y t 2 1 t
2
1 3 fS3x x
Similarly, compute
(0,0) (2,0)
f S2 y 0
f S3 x t
f S3 y 0
Recommendations for use of CST
4 x
3 in
Node x y
1 3 0 Nodal coordinates
2 3 2
3 0 2
4 0 0
Step 2: Compute strain-displacement matrices for the elements
Recall b1 0 b2 0 b3 0 with
b1 y2 y3 b2 y3 y1 b3 y1 y2
B 0 c1 0 c2 0 c3
1
2A c1 x3 x2 c2 x1 x3 c3 x2 x1
c1 b1 c2 b2 c3 b3
(1) T (1) T
k At B D B (3)(0.5)B
(1) (1) (1)
DB
0.9833 0.5 0.45 0.2 0.5333 0.3
1.4 0.3 1 .2 0.2 0.2
0.45 0 0 0.3
10 7
1 .2 0 .2 0
0.5333 0
0.2
u1 v1 u2 v2 u4 v4
( 2) T ( 2) T
At B D B (3)(0.5)B
( 2) ( 2) ( 2)
k DB
0.9833 0.5 0.45 0.2 0.5333 0.3
1.4 0.3 1 .2 0.2 0.2
0.45 0 0 0.3
10 7
1 .2 0 .2 0
0.5333 0
0.2
u3 v3 u4 v4 u2 v2
Step 4: Assemble the global stiffness matrix corresponding to the
nonzero degrees of freedom
Notice that
u3 v3 u4 v4 v1 0
f 2 y 1000 f S2 y
3
x2 9
50 50 225 lb
2 0 2
Hence
f 2 y 1000 f S2 y
1225 lb
Solve to get
u1 0.2337 10 in
4
4
2
u 0.1069 10 in
v 0.9084 10 4 in
2
Step 7: Compute the stresses in the elements
In Element #1
(1) D B(1) d (1)
With
u1 v1 u2 v2 u4 v4
(1) T
d
0.2337 104 0 0.1069 104 0.9084 104 0 0
Calculate
114.1
(1) 1391.1 psi
76.1
In Element #2
( 2 ) D B( 2 ) d ( 2 )
With
u3 v3 u4 v4 u2 v2
( 2)T
d
0 0 0 0 0.1069 104 0.9084 104
Calculate
114.1
( 2) 28.52 psi
363.35
94
Shape functions construction
Consider a rectangular element
u1 y, v
v displacements at node 1
1
4 (x4, y4) 3 (x3, y3)
u2
displacements at node 2 (u4, v4) (u3, v3)
u2
de fsy
u3 2b fsx
u3 displacements at node 3
2a
u4
u displacements at node 4 1 (x1, y1) 2 (x2, y2)
4 (u1, v1) (u2, v2)
x, u
95
Shape functions construction
4 (1, +1) 3 (1, +1)
y, v (u4, v4) (u3, v3)
4 (x4, y4) 3 (x3, y3)
(u4, v4) (u3, v3)
fsy
2b fsx 2b
2a
1 (x1, y1) 2 (x2, y2) 2a
(u1, v1) (u2, v2) 1 (1, 1) 2 (1, 1)
(u1, v1) (u2, v2)
x, u
x a, y b
N1 0 N2 0 N3 0 N4 0
U ( x , y ) N ( x , y ) d e where
h
N
0 N1 0 N2 0 N3 0 N 4
Node 1 Node 2 Node 3 Node 4
(Interpolation) 96
Shape functions construction
N 1 14 (1 )(1 )
N 2 14 (1 )(1 )
N 3 14 (1 )(1 )
N j 14 (1 j )(1 j )
N 4 14 (1 )(1 ) 4 (1, +1) 3 (1, +1)
(u4, v4) (u3, v3)
N i N1 N 2 N 3 N 4
i 1 Partition of
[(1 )(1 ) (1 )(1 ) (1 )(1 ) (1 )(1 )]
1
4 unity
14 [2(1 ) 2(1 )] 1 97
Strain matrix
1a 0 1
a 0 1
a 0 1
a 0
1 1 1 1
B LN 0 b 0 b 0 b 0 b
1 1
a
1
b
1 1 1 1
a
1
b a b a b
98
Element matrices
x a, y b dxdy = ab dd
Therefore,
1 1
k e hB cB d A
T
abh B T cB d d
1 1
A
h 1 1
m e N N dV
T
d x N N dA h N N dA
T T
abh N T N d d
0 1 1
V A A
99
Element matrices
f sx
f e [N ]
T
dl
23 f
sy
l
101
CASE STUDY
24 bilinear,
1 41 0.0139
quadrilateral
96 bilinear,
2 129 0.0180
quadrilateral
144 bilinear,
3 185 0.0197
quadrilateral
24 quadratic,
4 105 0.0191
quadrilateral