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We will discuss how to transform the element stiffness matrix (1D) to the structure's global coordinates system (2D) for the truss.
have
all
been
done
Degrees of freedom: there are four degrees of freedom for truss element (two displacements for each truss joint).
For the above truss structure, it has 8 d.o.f., 1 through 5 represent unconstrained d.o.f. and 6 through 8 represent constrained d.o.f.. Due to the constraints, the displacements here are zero.
Yan Zhuge
3-1
Displacement and force transformation In this section, we will transform the member forces q and displacements d defined in the local coordinates into a global x, y coordinates. Sign convention:
y = cos y =
yF yN = L
yF y N ( xF x N ) 2 + ( y F y N ) 2
(1)
(3)
d N x d = 0 F
y
0
(4)
or
d = TD (5) From the above derivation, T transforms the four global (x,y) displacements D into the two local (x') displacements d. T is referred to as the displacement transformation matrix.
Lecture Notes: Finite Element Analysis Yan Zhuge 3-3
(6)
(8)
or
Q = TTq (9) TT transforms the two local (x') forces q into the four global (x,y) force components Q. This force
Lecture Notes: Finite Element Analysis Yan Zhuge 3-4
The matrix k is the member's stiffness matrix in global coordinates. Since TT, T and k' are known, we have
x y k= 0 0 0 0 AE 1 1 x x L 1 1 0 y
Yan Zhuge
y
0
0 y
(14)
3-5
x y 2 y x y 2 y
2 x x y
2 x x y
x y 2 y x y 2 y
(15)
The location of each element in this 4 x 4 symmetric matrix is referenced with each global degree of freedom. Structure stiffness matrix Once all the member stiffness matrices are formed in global coordinates, we can then assemble them in the proper order so that the structure stiffness matrix K for the entire truss can be found. This can be done by designating the rows and columns of the matrix by the four code numbers Nx, Ny, Fx, Fy. The structure stiffness matrix will then have an order that will be equal to the highest code number assigned to the structure, which represents the total d.o.f. of the structure.
Yan Zhuge
3-6
Example 1: Determine the structure stiffness matrix for the two-member truss shown in the figure.
(16)
where:
Yan Zhuge
3-7
Qk, Dk = known external loads and displacements; the load here exist on the truss as part of the problem, and the displacements are generally specified as zero due to support constraints. Qu, Du = unknown loads and displacements; the loads here represent the unknown support reactions, and the displacements are at joints where motion is unconstrained in a particular direction. Expanding Eq.(16) yields:
Qk = K11 Du + K12 Dk Qu = K 21 Du + K 22 Dk
(17)
Most often Dk = 0 since the supports are not displaced, we can re-write the above eq. Qk = K11Du (18)
As Qk is the matrix for the known applied external loads, Eq. (18) can be re-arranged as follows:
Du = [K 11 ] Qk
1
(19)
From this eq. we obtain a direct solution for all the unknown joint displacements. Substituting this result into Eq. (16) with Dk = 0 yields Qu = K21Du
Lecture Notes: Finite Element Analysis Yan Zhuge
(20)
3-8
From eq. (20) the unknown support reactions can be determined. The member forces can be determined using eq. (10) (q = k'TD) Expanding this equation yields:
qN AE 1 1 x q = L 1 1 0 F DNx 0 DNy D y Fx DFy
y
0
(21)
Since qN = -qF for equilibrium, only one of the forces has to be found. We have:
D Nx D Ny y D Fx D Fy
qF =
AE x L
(22)
If the computed result using Eq. (22) is positive, the member is in tension, if negative, the member is then in compression.
Yan Zhuge
3-9
Loading Conditions Most finite element programs support the following types of static loads:
Nodal forces and moments (concentrated loads) Accelerations and gravity loads Pressure loads Line or distributed loads Thermal loads (nodal temperatures) Enforced displacements.
While various types of load inputs are possible, the loads are ultimately converted to nodal forces by the finite element program. Many programs allow you to define pressure loads as force per area. However, the program will convert this pressure to an equivalent set of nodal forces. Accelerations and gravity loads can be used to apply equivalent dynamic acceleration forces to a structure in a static analysis. The mass density of the finite element mode must be nonzero for accelerations or gravity to have any effect. Finite element programs usually allow multiple load cases to be performed using static analysis.
Lecture Notes: Finite Element Analysis Yan Zhuge 3-10
This means that a series of different loading conditions can be applied without having to reassemble the stiffness matrix of the model. In addition, post processing routines may allow the results of different load cases to be combined. When defining loads and pressures, care must be taken that the correct loading direction is specified. The global and local coordinate systems that have defined and the element coordinate system specified by the program must all be considered. Equivalent Nodal Loads of Distributed Load
Uniformly distributed axial load q (N/mm, N/m) can be converted to two equivalent nodal forces of magnitude qL/2. This can be verified by considering the work done by the load q. In an assembly of bars, if two elements are connected, the
Lecture Notes: Finite Element Analysis Yan Zhuge 3-11
receives
total
force
For the beam element, a uniformly distributed transverse force is replaced by nodal loads that consist of forces and moments. If elements of equal length and equal distributed load are assembled, moment loads cancel at nodes shared by two elements.
Note that no loads are needed at the supported ends of the structures. As a general rule, load applied to a restrained d.o.f. may be omitted because such a load is reacted directly by the support rather than acting to deform the structure.
Yan Zhuge
3-12