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The elements are connected at common nodes and/or along common edges
to form continuous structures. Nodal compatibility is then enforced during the
formulation of the nodal equilibrium equations for two-dimensional elements. If
proper displacement functions are chosen, compatibility along common edges is
also obtained.
Page 244
Page 245
Page 246
Page 247
{ }
= x y xy
Recall, the relationships for principal stresses in two-dimensions are:
1 =
2 =
x +y
2
y
2
+ x
+ xy = max
2
x + y
2
x y
2
2
+ xy = min
Also, p is the principal angle which defines the normal whose direction is
perpendicular to the plane on which the maximum or minimum principle stress
acts.
tan 2 p =
xy
x y
Page 248
x =
u
x
y =
v
x
xy =
u v
+
y x
{ }
= x
y xy
Page 249
For plane stress, the stresses z, xz, and yz are assumed to be zero. The
stress-strain relationship is:
x
E
y =
2
1
xy
where
0
x
1
1
0
y
0 0 0.5(1 ) xy
1
E
[D ] =
1
0
2
1
0 0 0.5(1 )
is called the stress-strain matrix (or the constitutive matrix), E is the modulus
of elasticity, and is Poissons ratio.
For plane strain, the strains z, xz, and yz are assumed to be zero. The
stress-strain relationship is:
x
1
E
1
y =
(
)(
)
+
1
2
0
0
xy
where
1
E
[D ] =
1
(1 + )(1 2 )
0
0
x
0 y
0.5 xy
0
0
0
0.5
x 2 y 2
2 y 2 xy
2v 2v 1 +
+
=
x 2 y 2
2
2v
2u
2
xy
y
Page 250
Discretize the thin plate into a set of triangular elements. Each element is
define by nodes i, j, and m.
Page 251
di
{d } = d j
d
m
where the nodes are ordered counterclockwise around the element, and
u
{d i } = i
v i
Therefore:
ui
v
i
u
{d } = j
v j
u m
v m
Step 2 - Select Displacement Functions
{ } =
i
u( x, y )
v ( x, y )
The functions u(x, y) and v(x, y) must be compatible with the element type.
Step 3 - Define the Strain-Displacement and
Stress-Strain Relationships
x =
u
x
y =
v
x
xy =
u v
+
y x
For plane stress, the stresses z, xz, and yz are assumed to be zero. The
stress-strain relationship is:
x
E
y =
2
1
xy
0
1
x
1
0
y
0 0 0.5(1 ) xy
Page 252
For plane strain, the strains z, xz, and yz are assumed to be zero. The
stress-strain relationship is:
x
1
E
1
y =
(
)(
)
+
1
1
2
0
0
xy
x
y
0.5 xy
0
0
Using the principle of minimum potential energy, we can derive the element
stiffness matrix.
{f } = [k ]{d }
This approach is better than the direct methods used for one-dimensional
elements.
Step 5 - Assemble the Element Equations and
Introduce Boundary Conditions
{F } = [K ]{d }
where {F} is the equivalent global nodal loads obtained by lumping distributed
edge loads and element body forces at the nodes and [K] is the global structure
stiffness matrix.
Step 6 - Solve for the Nodal Displacements
Once the element equations are assembled and modified to account for the
boundary conditions, a set of simultaneous algebraic equations that can be
written in expanded matrix form as:
Step 7 - Solve for the Element Forces (Stresses)
Page 253
u( x, y ) a1 + a2 x + a3 y
=
v ( x, y ) a 4 + a5 x + a6 y
{ } =
i
Page 254
y
ui
uj
(xi, yi)
(xm, ym)
(xj, yj)
A linear function ensures that the displacements along each edge of the element
and the nodes shared by adjacent elements are equal.
a1
a
2
a + a x + a3 y 1 x y 0 0 0 a3
{i } = 1 2
=
a 4 + a5 x + a6 y 0 0 0 1 x y a 4
a5
a6
To obtain the values for the as substitute the coordinated of the nodal points into
the above equations:
u i = a1 + a2 x i + a3 y i
u j = a1 + a2 x j + a3 y j
u m = a1 + a2 x m + a3 y m
v i = a 4 + a5 x i + a 6 y i
v j = a 4 + a5 x j + a6 y j
v m = a 4 + a5 x m + a 6 y m
Solving for the as and writing the results in matrix forms gives:
u i 1 x i
u j = 1 x j
u 1 x
m
m
y i a1
y j a2
y m a3
{a} = [x ] {u}
1
Page 255
[ x ]1 =
i
2A
i
where
1 xi
2A = 1 x j
1 xm
j m
j m
j m
yi
yj
ym
i = x j y m y j xm
i = y j ym
i = xm x j
j = xi y m y i xm
j = ym yi
j = xi xm
m = xi y j y i x j
m = yi y j
m = x j xi
j m ui
j m u j
j m um
and
i
a4
1
a5 =
i
2
A
a
i
6
j m v i
j m v j
j m v m
Page 256
We will now derive the displacement function in terms of the coordinates x and y.
a1
{u} = [1 x y ]a2
a
3
Substituting the values for a into the above equation gives:
i j m ui
1
{u} = [1 x y ] i j m u j
2A
i j m um
i u i + j u j + mu m
y ] i u i + j u j + mu m
i u i + j u j + mu m
u ( x, y ) =
1
( i + i x + i y ) ui + ( j + j x + j y ) u j + ( m + m x + m y ) um
2A
1
( i + i x + i y ) v i + ( j + j x + j y ) v j + ( m + m x + m y ) v m
2A
v ( x, y ) = Ni v i + N j v j + Nmv m
where
Ni =
1
( i + i x + i y )
2A
Nj =
1
( j + j x + j y )
2A
Nm =
1
( m + m x + m y )
2A
v ( x, y ) Ni v i + N j v j + Nmv m
{ } =
i
Page 257
Ni
{ } =
0
0
Ni
Nj
0
Nj
ui
v
i
0 uj
Nm v j
um
v m
Nm
{ } = [N ]{d }
where
Ni
0
[N ] =
0
Ni
0
Nj
Nj
0
Nm
0
0
Nm
Ni
Nm
1
1
x
y
m
1
x
y
x
x x
v
{ } = y =
y
xy u v
+
y x
Page 258
(N i u i + N j u j + N m u m )
= u,x =
x
x
u,x = Ni ,xui + N j ,xu j + Nm,xum
where the comma indicates differentiation with respect to that variable. The
derivatives of the interpolation functions are:
1
( i + i x + i y ) = i
2 A x
2A
Therefore:
Ni ,x =
N j ,x =
Nm ,x =
2A
m
2A
u
1
( i ui + j u j + mum )
=
x 2 A
In a similar manner, the remaining strain terms are approximated as:
v
1
=
( iv i + jv j + mv m )
y 2 A
u v
1
( i ui + iv i + j u j + jv j + mum + mv m )
+
=
y x 2 A
x x
i
1
v
{ } == y =
=
0
2
y
A
xy u v
i
+
y x
i
i
j
j
ui
v
0 i
u
m j
v
m j
um
v m
or
{ } = [Bi
Bj
di
Bm ] d j
d
m
Page 259
where
j 0
i 0
1
1
[Bi ] = 0 i
[B j ] = 0 j
2A
2A
j j
i i
These equations can be written in matrix form as:
m
1
[Bm ] = 0
2A
m
0
m
m
{ } = [B ]{d }
Stress-Strain Relationship: The in-plane stress-strain relationship is:
x
x
y = [D ] y
xy
xy
where [D] for plane stress is:
0
1
[D ] =
1
0
2
1
0 0 0.5(1 )
and [D] for plane strain is:
1
E
[D ] =
1
(1 + )(1 2 )
0
0
0
0
0.5
Page 260
The total potential energy is defined as the sum of the internal strain energy U
and the potential energy of the external forces :
p = U + b + p + s
where the strain energy is:
U=
1
{ } T { }dV
2V
U=
1
{ } T [D]{ }dV
2V
or
where {} is the general displacement function, and {X} is the body weight per
unit volume.
The potential energy of the concentrated forces are:
p = {d }T {P }
where {P} are the concentrated forces, and {d} are the nodal displacements.
The potential energy of the distributed loads are:
s = { }T {T }dS
S
where {} is the general displacement function, and {T} are the surface tractions.
Then the total potential energy expression becomes:
p =
1
T
T
T
T
{d } [B]T [D][B]{d} dV {d} [N ]T { X }dV {d} {P} {d} [N ]T {T }dS
2V
V
S
Page 261
The nodal displacements {d} are independent of the general x-y coordinates,
therefore
1
T
T
T
T
{d} [B]T [D][B ]dV {d} {d} [N ]T { X }dV {d} {P} {d} [N ]T {T }dS
2
V
V
S
p =
{f } = [N ]
Therefore:
1
T
T
{d} [B]T [D][B]dV {d} {d} {f }
2
V
p =
{d }
= [B ]T [D ][B ]dV {d } {f } = 0
V
[B ]
[D][B ]dV {d } = {f }
Page 262
or
[k ] = tA [B ]T [D][B ]
where A is the area of the triangular element. Expanding the stiffness relationship
gives:
[k ii ] [k ij ] [k im ]
[k ] = [k ji ] [k jj ] [k jm ]
[k mi ] [k mj ] [k mm ]
where each [kii] is a 2 x 2 matrix define as:
[k ii ] = [Bi ]T [D][Bi ] tA
[k ij ] = [Bi ]T [D][B j ] tA
[k im ] = [Bi ]T [D][Bm ] tA
Recall:
i
1
[Bi ] = 0
2A
i
0
i
i
j
1
[B j ] = 0
2A
j
j
j
m
1
[Bm ] = 0
2A
m
0
m
m
The global stiffness matrix can be found by the direct stiffness method.
N
[K ] = [ k ( e ) ]
e =1
The global equivalent nodal load vector is obtained by lumping body forces
and distributed loads at the appropriate nodes as well as including any
concentrated loads.
N
{F } = {f ( e ) }
e =1
Page 263
{F } = [K ]{d }
where {d} is the total structural displacement vector.
In the above formulation of the element stiffness matrix, the matrix has been
derived for a general orientation in global coordinates. Therefore, no
transformation form local to global coordinates is necessary. However, for
completeness, we will now describe the method to use if the local axes for the
constant-strain triangular element are not parallel to the global axes for the whole
structure.
d = Td
f = Tf
k = T T kT
0 0
T =
0 0
0 0
0 0
0
0
0
0
S C
0 0
0
0
0
0 0
0 0
C S
S C
0
0
Page 264
Having solved for the nodal displacements, we can obtain strains and
stresses in x and y directions in the elements by using:
{ } = [B ]{d }
{ } = [D][B ]{d }
Assume plane stress conditions. All coordinates are shown on the figure. Let E =
30 x 106 psi, = 0.25, and t = 1 in. Assume the element nodal displacements
have been determined to be u1 = 0.0, v1 = 0.0025 in., u2 = 0.0012 in., v2 = 0.0, u3
= 0.0, and v3 = 0.0025 in. Determine the element stiffness matrix and the element
stresses.
First, we calculate the element s and s as:
i = y j y m = 0 1 = 1
i = xm x j = 0 2 = 2
j = y m y i = 0 ( 1) = 2
j = xi xm = 0 0 = 0
m = y i y j = 1 0 = 1
m = x j xi = 2 0 = 2
Page 265
i
i
j
j
0
1 0 2 0 1 0
1
0 2 0 0 0 2
m =
2(2)
2 1 0 2 2 1
m
1
30 10 6
[D ] =
0 . 25
1 ( 0 . 25 ) 2
0
0 . 25
1
0
0 . 375
0
0
Substitute the above expressions for [D] and [B] into the general equations for
the stiffness matrix:
[k ] = tA [B ]T [D][B ]
1 0 2
0 2 1
1
0.25
0
1 0 2 0 1 0
6
1
(2)30 10 2 0
1
0 2 0 0 0 2
1
0
k=
0.25
4(0.9375) 2 0 2
2(2)
0
0
0.375
2 1 0 2 2 1
1 0 2
0 2 1
Performing the matrix triple product gives:
1.25
0.25
2 1 .5
0.5
2.5
1.25 4.375 1 0.75 0.25 3.625
lb
2
1
4
0
2
1
k = 4 10 6
0
1.5
1.5
0.75 in
1.5 0.75
0.5 0.25 2
1.5
2 .5
1.25
Page 266
{ } = [D][B ]{d }
0.0
0.0025 in
x
0.25
0
1
1 0 2 0 1 0
6
30 10
1 0 2 0 0 0 2 0.0012 in
0.25
1
0
y =
2(2)
0.0
0.9375 0
2 1 0 2 2 1
0
0.375
xy
0.0
0.0025 in
The stresses are:
x 19,200 psi
y = 4,800 psi
15,000 psi
xy
Recall, the relationships for principal stresses and principal angle in twodimensions are:
1 =
2 =
p =
x + y
2
x + y
2
x y
+
2
2
+ xy = max
x y
2
2
+ xy = min
2 xy
1
tan 1
2
x
y
Therefore:
2
19,200 + 4,800
19,200 4,800
2
1 =
+
+ ( 15,000 ) = 28,639 psi
2
2
19,200 + 4,800
19,200 4,800
2
1 =
+ ( 15,000 ) = 4,639 psi
2
2
p =
1
2( 15,000 )
tan 1
= 32.3 o
2
19,200 4,800
Page 267
{f } = [N ]
Body Force
{fb } = [N ]T { X }dV
V
where
Xb
Yb
{X} =
where Xb and Yb are the weight densities in the x and y directions, respectively.
The force may reflect the effects of gravity, angular velocities, or dynamic inertial
forces.
The integration of the {fb} is simplified if the origin of the coordinate system is
chosen at the centroid of the element, as shown in the figure below. With the
origin placed at the centroid, we can use the definition of a centroid.
x dA = 0
A
y dA = 0
A
Page 268
1
( i + i x + i y )
2A
Nj =
1
( j + j x + j y )
2A
Nm =
1
( m + m x + m y )
2A
x dA = y dA = 0
i
and
2A
3
The body force at node i is given as:
i = j = m =
{fbi } =
tA X b
3 Yb
fbmy
Yb
Surface Force
{fs } = [N ]T {T }dS
S
Page 269
Lets consider the example of a uniform stress p acting between nodes 1 and 3
on the edge of element 1 as shown in figure below.
{T } = px =
N
0
[N ]T = 2
0
N
2
N3 0
0
N
3
evaluated at x=a
t L
N
0 p
{fs } = 2
dy dz
0
N
2 0
0 0
N3 0
0 N3
evaluated at x=a
Page 270
L
N2 p
{fs } = t dy
0
0
N3 p
0
The interpolation function for i = 1 is:
Ni =
1
( i + i x + i y )
2A
For convenience, lets choose the coordinate system shown in the figure below.
Recall:
i = x j y m y j xm
with i = 1, j = 2, and m = 3, we get
1 = x 2 y 3 y 2 x3
If we substitute the coordinates of the triangle show above in the above equation
we get:
Page 271
1 = 0
Similarly, we can find:
1 = 0
1 = a
N2 =
L(a x )
2A
N3 =
Lx ay
2A
Page 272
0
1
E
[D] =
1
0
(1 + )(1 2 )
0
0
0.5
Substituting the appropriate definition into the above triple product gives:
i 0
0
i
j 0
tE
[k ] =
4 A(1 + )(1 2 ) 0 j
m 0
0 m
i
i
1
j
1
j
0
0
m
m
i
0
i
0
0
0.5
i
i
j
j
m
m
Page 273
The stiffness matrix is a function of the global coordinates x and y, the material
properties, and the thickness and area of the element.
Finite Element Solution of a Plane Stress Problem
Consider the thin plate subjected to the surface traction shown in the figure
below.
Assume plane stress conditions. Let E = 30 x 106 psi, n = 0.30, and t = 1 in.
Determine the nodal displacements and the element stresses.
Discretization
This level of discretization will probably not yield practical results for
displacement and stresses: however; it is useful example for a longhand solution.
CIVL 7117 Finite Elements Methods in Structural Mechanics
Page 274
The tensile traction forces can be converted into nodal forces as follows:
fs1x
1
1 5,000 lb
f
0
0
0
s1y
0
{fs } = f =
=
=
2 0
2
0
0
s 2y
fs 3 x
1
1 5,000 lb
0
fs 3 y
0
0
1y R1y
1y
F2 x R2 x
d 2 x
0
F2 y R2 y
d 2 y
0
=
= [K ] = [K ]
F
lb
5,000
x
3
d 3 x
d 3 x
F3 y 0
d 3 y
d 3 y
F4 x 5,000 lb
d 4 x
d 4 x
F4 y 0
d 4 y
d 4 y
where [K] is an 8 x 8 matrix before deleting the rows and columns accounting for
the boundary supports.
Assemblage of the Stiffness Matrix
Page 275
bh
2
A=
(20)(10)
= 100 in.2
2
i
i
j
j
m
m
i = y j y m = 10 10 = 0
i = xm x j = 0 20 = 20
j = y m y1 = 10 0 = 10
j = xi xm = 0 0 = 0
m = y i y j = 0 10 = 10
m = xi x j = 20 0 = 20
10
0
0
0
0
10
10 0
0
20 1
in
20 10
0.91
0
0 0.35
CIVL 7117 Finite Elements Methods in Structural Mechanics
Page 276
Therefore:
0
20
0
0
20 0
0
1 0.3
0
0
30(106 ) 10
T
[B ] [ D ] =
0
0.3 1
200(0.91) 0
0
10
0
0 0.35
10 0
20
20 10
0
Simplifying the above expression gives:
7
0
0
3.5
7
3.5
0
0
6
20
3
30(106 ) 10
T
[B ] [ D ] =
200(0.91) 0
0
10
3
20
6
The element stiffness matrix is:
[k ] = tA[B ]T [D][B ]
therefore:
0
6
6
(0.15)(10 ) 10
tA[B ]T [D][B ] = 1(100)
0.91
0
10
0
20
3
0
3
20
0
0
1
20
0
200
20 0
7
0
0
3.5
7
3.5
10
0
0
0
0
10
10 0
0
20
20 10
Page 277
0
75,000
[k ] =
0.91 70
140
70
v1
u3
v3
0
400
60
0
60
400
0
60
100
0
100
60
u2
70
0
0
35
70
35
140
60
100
70
240
130
v2
70
400
60
35
130
435
A=
(20)(10)
= 100 in.2
2
i = y j y m = 0 10 = 10
i = xm x j = 20 20 = 0
j = y m y1 = 10 0 = 10
j = xi xm = 0 20 = 20
m = yi y j = 0 0 = 0
m = xi x j = 20 0 = 20
0
0
20
0
20
0
1
in
Page 278
0.91
0
0 0.35
Therefore:
0
10 0
0
10
1 0.3
0
6
10
0
20
30(10 )
[B ]T [D] =
0
0.3 1
200(0.91) 0
20 10
0
0 0.35
0
0
20
20
0
0
Simplifying the above expression gives:
10
0
6
30(10 ) 10
[B ]T [D] =
200(0.91) 0
6
3
0
3
20
0
20
0
3.5
7
3.5
7
therefore:
10
0
6
(0.15)(10 ) 10
tA[B ]T [D][B ] = 1(100)
0.91
0
6
3
0
3
20
0
20
0
3.5
7
3.5
7
Page 279
10
0
10 0
1
20
0
0
0
200
0
10 20 10
Simplifying the above expression gives:
u1
100
0
75,000 100
[k ] =
0.91 60
0
60
Element 1:
v1
u4
v4
u3
0
20
0
v3
0
100 60
60
70
0
35
70
240 130 140 60
130 435
70
400
140 70
140
0
60
400
0
400
0
35
70
35
70
0
u1
v1
u2
v2
u3
v3
0
28 14
0
14
28
0
80
12 80 12
0
28 12 48 26 20 14
12
7
375,000 14 80 26 87
[k ] =
0.91 0
12 20 12
20
0
14
7
0
7
14 0
0
0
0
0
0
0
0
0
0
0
0
0
Element 2:
0
0
20
u1
v1
0
20
0
7
0
0
0
375,000 0
[k ] =
0.91 0
14
12 0
20 14
12 7
u2
v2
u3
v3
u4
0
0
u4
v4
12
12
20
14
14
v4
0
0
0
0
0
0
0
0
28
0
28 14
0
80
12 80
28 12
48 26
14 80 26 87
Page 280
v1
u2
v2
u3
v3
u4
v4
0
0
28 14
26 20 12
48
0
87
12 80 26
0
14
7
0
0
28 12 48 26 20 14
80 26 87
12
0
0
7
375,000 14
[k ] =
0.91 0
48
0
26 20 12
28 14
26
0
14
7
0
87
12
80
20 14
0
0
48 26
28 12
0
0
14 80 26 87
12 7
0
87
12 80 26
0
14
7 d1y
1
y
R2 x
0
0 d 2 x
28 12 48 26 20 14
0
0 d 2 y
R2 y 375,000 14 80 26 87 12 7
=
0.91 0 26 20 12 48
0
28 14 d 3 x
5,000 lb
0
14
0
87
12 80 d 3 y
26
7
20 14
0
0
48 26 d 4 x
28 12
500 lb
12
7
0
0
14
80
26
87
d 4 y
87 12 80 d3 y
375,000 0
=
0.91 28 12
5,000
48 26 d 4 x
lb
14 80 26 87 d 4 y
CIVL 7117 Finite Elements Methods in Structural Mechanics
Page 281
609.6
4.2
in
663.7
104.1
The exact solution for the displacement at the free end of the one-dimensional
bar subjected to a tensile force is:
PL
(10,000)20
=
= 670 10 6 in
6
AE 10(30 10 )
1
i
0
E
{ } =
1
0
0
2 A(1 2 )
0 0 0.5 (1 ) i
i
i
j
j
d ix
d
iy
0
d jx
m
d jy
m
d mx
d my
Element 1:
1
1 0 3
0
E
{ } =
1
0
2
0 1 0
2 A(1 )
0 0 0.5 (1 ) 1 1 3
3 0
3 2
d1x
d
1y
0
d3 x
2
d3 y
2
d 2 x
d 2 y
Page 282
x
0 0
0
1 0.3
6
6
30(10 )(10 )
0.3 1
0 0
20
y =
0.96(200)
0
0 0.35 20 0
xy
10
0
0
0
0
10
0.0
0.0
10 0
609.6
0
20
4.2
20 10
0.0
0.0
y = 301 psi
2.4 psi
xy
Element 2:
1
1 0 4
0
E
{ } =
1
0
2
0 1 0
2 A(1 )
0 0 0.5 (1 ) 1 1 4
x
0 10
1 0.3
6
6
30(10
)(10
)
0.3 1
0 0
y =
0.96(200)
0
0 0.35 0
xy
0
0
10
4 0
4 3
d1x
d
1y
0
d 4 x
3
d4y
3
d 3 x
d3 y
10
0
20
0
20 10
0
0
20
0.0
0.0
663.7
20
104.1
0
609.6
4.2
y = 1.2 psi
2.4 psi
xy
CIVL 7117 Finite Elements Methods in Structural Mechanics
Page 283
995 1.2
995 + 1.2
2
s1 =
+
+ ( 2.4) = 995 psi
2
2
995 1.2
995 + 1.2
2
2 =
+ ( 2.4) = 1.1 psi
2
2
2( 2.4)
p = tan 1
0o
2
995 + 1.2
Page 284
Problems
16.
Do problems 6.5, 6.6, 6.9, 6.10, and 6.13 on pages 301 - 306 in your
textbook A First Course in the Finite Element Method by D. Logan.
17.
Rework the plane stress problem given on page 291 in your textbook A
First Course in the Finite Element Method by D. Logan using SAP2000 to
do analysis. Start with the simple two element model. Continuously refine
your discretization by a factor of two each time until your FEM solution is in
agreement with the exact solution for both displacements and stress. How
many elements did you need?
Page 285