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ME 5040 FEM 1
Section 2
Stiffness (Displacement) Method
Truss Elements
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Outline
Finite Element Formulation Direct Method
Nodal equilibriums
Element and global stiffness matrices
Superposition of stiffness matrix
System equation and boundary conditions
Displacements, reaction forces, stresses, and strains
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Introduction
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nodes 3 and 2.
The x-axis is the global axis of the assemblage.
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For element 2:
Elements 1 and 2 must remain connected at common
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Homogenous Boundary
Conditions
Where is the homogenous boundary condition for
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Nonhomogeneous Boundary
Conditions
Consider the case where there is a known
displacement, , at Node 1
Let 1 =
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expressed as:
Therefore, the total potential energy of a spring is:
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In matrix form:
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Lift bridge truss over the Illinois River (By Daryl L. Logan)
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past chapters:
Thus the local stiffness matrix for a linear-elastic bar
element is:
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Nodal Equilibriums
Element Stiffness Matrices
1 1
L1 1 1
[K1 ] = E1 A1
1 1
1 1
[K 2 ] = E2 A2
L2
Nodal Equilibriums at
E1 A1 1 1 u1 f1
=
L1 1 1 u2 f 2
E2 A2
L2
1 1 u2 f 3
1 1 u = f
3 4
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Introduction
u1 k1=E1A1/L1 u2
2 2
? ? ? u3 F3 P
1
Superposition
? ? ? u1 F1
?K1? ? u = F
2 2
? ? ? u3 F3
? ? ? u1 F1
? ? ? u = F
2 2
K
? ? 2? u3 F3
u2 k2=E2A2/L2 u3
2
Nodal Forces
f1
1
k1=E1A1/L1 f
2
1
f3
2
k2=E2A2/L2 f
4
2
F1 f1
F2 = f 2 + f 3
F f
3 4
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Introduction
EA
K1
[K ] = ?
?
? = 1 1
L1
K2
?
?
?
0
E1 A1
L1
E1 A1 E2 A2
+
L1
L2
E2 A2
L2
E2 A2
L2
E2 A2
L2
0
Recall
k1
[K ] = k1
0
k1
k1 + k 2
k2
0
k 2
k 2
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Introduction
A1
A2
L1
EA2/L2
EA1/L1
x
1
L2
1
1
2
2
[K 2 ] = E2 A2
L2
1 1 u2
1 1 u
3
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Introduction
[K ] = 0
0
0
0
0 u1
0 u 2
0 u3
Add [K2]
Add [K1]
EA1 L1
[K ] = 0
EA1 L1
EA1 L1
[K ] = 0
EA1 L1
0
EA2 L2
EA2 L2
0
0
0
EA1 L1 u1
u2
0
EA1 L1 u3
EA1 L1
u1
u2
EA2 L2
EA1 L1 + EA2 L2 u3
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Introduction
Alternative Approach
Expanding element stiffness matrices
1
L1 1 1
[K1 ] = E1 A1
1 1
[K 2 ] = E2 A2
L2 1 1
1
u1 E1 A1
0
=
u3
L1
1
0
u3 E2 A2
0
=
u2
L2
0
0 1 u1
0 0 u2
0 1 u3
0 0 u1
1 1 u2
1 1 u3
[K ] = [K1 ] + [K 2 ] = 0
EA1 L1
0
EA2 L2
EA2 L2
EA1 L1
u1
u2
EA2 L2
EA1 L1 + EA2 L2 u3
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Introduction
Node 1
Node 2
Node 3
Node 4
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Node 1
Node 2
Node 3
Node 4
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u( x ) = a0 + a1 x
u(0) = a0 = u1
u( L) = a0 + a1L = u2
u2
2
u( x ) = u1 +
u2 u1
x
L
u( x ) = (1 x L)u1 + ( x L)u2
x
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x2 x1
x x
N2 = 1
x1 x2
2
u( x ) = N i ui
i =1
2
x
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Introduction
( x2 x1 )( x3 x1 )
( x x )( x3 x )
N2 = 1
( x1 x2 )( x3 x2 )
( x x )( x2 x )
N3 = 1
( x1 x3 )( x2 x3 )
3
u( x ) = N i ui
i =1
x
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Introduction
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FE Formulation by MTPE
Principle of Minimum Total Potential Energy (MTPE)
Of all the geometrically possible shapes that a body can
assume, the true one, corresponding to the satisfaction of
stable equilibrium of the body, is identified by a minimum
value of the total potential energy
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Introduction
Strain
energy
L
L
d 0
Ue =
0 d dV = L A 0 Ed dy = L A 1 EA 2 dy
0 0
0 2 0
0
1 L
1 EA 2
= EA
L
L=
2 L
2 L
2
Introduction
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W = Fju j
j =1
= W = F j u j
j =1
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Introduction
i =1
j =1
= U + = U W = U i Fju j
U
F
u
=
i
j j u1 = 0
j =1
u1
i =1
n
= U i F j u j u2 = 0
u2
j =1
i =1
...
m
n
= U F u u = 0
n
i j j
un
i
j
=
1
=
1
Minimum
at
/x=0
x
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Introduction
u1
k1
u2
k2
u3
1
1
2
2
k1 (u2 u1 ) + k 2 (u3 u2 ) + (R1u1 Pu3 )
2
2
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Introduction
= k1 (u2 u1 ) + R1 = 0
u1
k1u1 k1u2 + 0 u3 = R1
= k1 (u2 u1 ) k 2 (u3 u2 ) = 0
u2
= k 2 (u3 u2 ) P = 0
u3
0 u1 k 2u2 + k 2u3 = P
k1
k1 + k 2
k2
0 u1 R1
k 2 u2 = 0
k 2 u3 P
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Introduction
u1
u1
k=EA/L
u2
f2
Nodal Forces
k=EA/L
f1
Nodal Displacements
(U + )
=
= k (u2 u1 ) f 2 = 0
u2
u2
1 1 u1 f1
k
u = f
1
1
2 2
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Introduction
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x y plane
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Performing the derivation yields the explicit stiffness matrix for a bar
arbitrarily oriented in the x y plane
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5.11
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To evaluate the strain energy for a bar, we consider only the work
done by the internal forces during deformation.
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Letting the volume of the element approach zero and then integrating
for the whole bar we get:
We can observe from this integral that the strain energy is the area
under the stress/strain curve.
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Where the first term is body forces, the second term is surface
loading or traction, and the third term is nodal concentrated forces
moving through nodal displacements
Combining both potential energy factors we get:
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It can be seen that we have derived the identical bar stiffness matrix
as earlier:
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Collocation Method
Requires that the error or residual function, R, be forced to zero
at as many points as there are unknown coefficients
Subdomain Method
Requires that the integral of the error or residual function over
some selected subintervals to be set to zero
Least Squares Method
Requires the integral of the error function squared to be
minimized with respect to each of the unknown coefficients
Galerkins Method
Requires the error to be orthogonal to some weighting functions
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Flowchart for
Solution of
ThreeDimensional
Truss Problems
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