SKMM

3033
Finite Element Method Topic 4(a):
Bending of Prismatic Beams

During the last lecture By the end of the lecture:

To formulate global element s0ness for plane trusses The students are expected:
To solve plane truss problems using FEM
To assemble the s0ness matrix and load vector for a beam element
To assemble the global s0ness matrix for a beam structure

 What is a beam? What is a beam?
A beam is a structural element that primarily carries bending (exure or
transverse) loading.
Beams generally carry ver0cal forces but they can also sustain horizontal loads
(e.g. due to an earthquake).
Beams are characterized by:
a) shape of cross-sec0on
b) length,
c) material
d) type of supports
Beams are used in the construc0on sectors are typically made of steel,
reinforced concrete, or wood.

A steel I-beam used in a roof construc0on

What is a beam? Types of beams

The most common types of steel beam is the I-beam or wide-ange
beam or a universal beam.
They are commonly used in steel-framed buildings and bridges.
 Types of beams Beam Analysis
y
p Pm
Mk

origin
x In FEM, we are interested mainly in:

m 1. Loading condi,on
k
2. Displacement, q
3. S0ness matrix, k
L
C-channel

Angled beams

Hollow sec0on

Beam Analysis Beam Analysis

y y
p Pm p Pm
Mk Mk
origin

origin
x In FEM, we are interested mainly in: x In FEM, we are interested mainly in:

m 1. Loading condi,on m 1. Loading condi,on
k k
2. Displacement, q 2. Displacement, q
3. S0ness matrix, k 3. S0ness matrix, k
L L

Distributed load, p (N/m) Concentrated load, P (N)

 Beam Analysis Beam Analysis
y y
p Pm p Pm
Mk Mk
origin

origin
x In FEM, we are interested mainly in: In FEM, we are interested mainly in:

m 1. Loading condi,on m 1. Loading condi0on
k k
2. Displacement, q 2. Displacement, q
3. S0ness matrix, k 3. S0ness matrix, k
L L

Concentrated moment, M (Nm)

Beam Analysis Beam Analysis

y y
p Pm p Pm
Mk Mk
origin

origin
In FEM, we are interested mainly in: In FEM, we are interested mainly in:

m 1. Loading condi0on m 1. Loading condi0on
k k
2. Displacement, q 2. Displacement, q
3. S0ness matrix, k 3. S0ness matrix, k
L L

v
Deforma(on along neutral axis:
v' Beam Equa,ons:
v=ver(cal deec(on
v=rota(on or slope
My My d 2v M
v Stress: = Strain: = = Curvature: =
Neutral axis I E EI dx 2 EI
x
 FEA - Beams FEA - Beams
y y
p Pm p Pm
Mk Mk
origin

origin
Element Connec0vity Table
m m
k k
Element Nodes
L L
1 1 2

2 2 3

3 3 4

4 4 5
1 2 3 4 5 6
1 2 3 4 5 1 2 3 4 5 5 5 6

FEA - Beams
y
p Pm
Mk
Each node has 2 degrees of
origin

freedom
m
k
One is the transverse
displacement Element Analysis
L
The other is the slope or
rota0on (Beam element)
Q1 Q3 Q5 Q7 Q9 Q11
Q2 Q4 Q6 Q8 Q10
Q12

1 2 3 4 5 6
1 2 3 4 5
 Beam Element Beam Element
q1 v q3 q1 v q3
v' q4 Natural Coordinate: v' q4 Shape Func,ons:
q2 q2

For a 2-noded beam element, we Beam element has 4 degrees of
1 2 assume: 1 2 freedom
x x Appropriate to sue cubic func0on
x1 = 1 to describe displacement eld
le le

x2 = +1 v = a1 + a2 x + a3 x 2 + a4 x 3
x
= 2 1 v' = a2 + 2a3 x + 3a4 x 2
le
Find a1, a2, a3 and a4
Note: All direc0ons shown
Similar to 1-D bar element
produces posi0ve deforma0ons

Beam Element Beam Element

q1 v q3 q1 v q3
v' q4 Shape Func,ons: v' q4 Shape Func,ons:
q2 q2

Beam element has 4 degrees of Beam element has 4 degrees of
1 2 freedom 1 2 freedom
x Appropriate to sue cubic func0on x Appropriate to sue cubic func0on
to describe displacement eld to describe displacement eld
le le

Rearrange eqn (2)

x = 0, v = q1, v' = q2
x = le, v = q3, v' = q4 a1 = q1 x = le, v = q3, v' = q4 q4 q2 3a4le2
a3 =
q3 = q1 + q2le + a3le2 + a4le3 (1) a2 = q2 q3 = q1 + q2le + a3le2 + a4le3 (1) 2le
q4 = q2 + 2a3le + 3a l 2 (2) q4 = q2 + 2a3le + 3a l 2 (2)
4 e 4 e
 Beam Element Beam Element
q1 v q3 q1 v q3
v' q4 Shape Func,ons: v' q4 Shape Func,ons:
q2 q2

Beam element has 4 degrees of Beam element has 4 degrees of
1 2 freedom 1 2 freedom
x Appropriate to sue cubic func0on x Appropriate to sue cubic func0on
to describe displacement eld to describe displacement eld
le le
Displacement eld:
Subs0tute to eqn (1)
Subs0tute a1, a2, a3 and a4 to v
x = le, v = q3, v' = q4 q q 3a4le2 2 3
q3 = q1 + q2le + 4 2 le + a4le 3q 2q 3q q 2q q 2q q
2le
q3 = q1 + q2le + a3le2 + a4le3 (1) v = q1 + q2 x + 21 2 + 2 3 4 x 2 + 3 1 + 22 3 3 + 24 x 3
2q q 2q q le le le le le le le le
(2) a4 = 3 1 + 22 3 3 + 24
q4 = q2 + 2a3le + 3a4le2 le le le le 3x 2x 2 3 2x x
2 3 3x 2x
2 3 x2 x3
3q1 2q2 3q3 q4 v = 1 2 + 3 q1 + x + 2 q2 + 2 3 q3 + + 2 q4
a3 = + 2 le le le le le le le le
le2 le le le

Beam Element Beam Element

q1 v q3 q1 v q3
v' q4 Shape Func,ons: v' q4 Shape Func,ons:
q2 q2

Beam element has 4 degrees of Beam element has 4 degrees of
1 2 freedom 1 2 freedom
x Appropriate to sue cubic func0on x Appropriate to sue cubic func0on
to describe displacement eld to describe displacement eld
le le
Convert to Natural Coordinate

le ( +1)
x = Displacement eld:
2
3 3 + 2 l 3 2 +1 3 + 3 + 2 l 3 + 2 1
v = q1 + e q2 + q3 + e q4
3x 2x
2 3 2x x 2 3x 2x
3 x x
2 3 2 3
4 2 4 4 2 4
v = 1 2 + 3 q1 + x + 2 q2 + 2 3 q3 + + 2 q4
le le le le le le le le
 Beam Element Beam Element
q1 v q3 q1 v q3
v' q4 Shape Func,ons: v' q4 Shape Func,ons:
q2 q2

Beam element has 4 degrees of Beam element has 4 degrees of
1 2 freedom 1 2 freedom
x Appropriate to sue cubic func0on x Appropriate to sue cubic func0on
to describe displacement eld to describe displacement eld
le le
Displacement eld: Displacement eld:
3 3 + 2
H1 = q1
4 le l le l
v = H1q1 + H 2 q2 + H 3q3 + e H 4 q4 v = H1q1 + H 2 q2 + H 3q3 + e H 4 q4
3 2 +1
2 2 le le q2 2 2
Also known as H2 = v = H1 H2 H3 H4
4
Hermite Shape 2 2 q3
Func0ons 3 + 3 + 2
H3 = q4
4
+ 1
3 2
v = {H }{q}
H4 =
4

Beam Element Beam Element

q1 v q3 q1 v q3
v' q4 Shape Func,ons: v' q4 Shape Func,ons:
q2 q2

Beam element has 4 degrees of Beam element has 4 degrees of
1 2 freedom 1 2 freedom
x Appropriate to sue cubic func0on x Appropriate to sue cubic func0on
to describe displacement eld to describe displacement eld
le le
Slope: dH1 3 2 3
3 3 + 2 =
H1 = d 4
dv dv d 4
v' = = dH 2 3 2 2 1
dx d dx 3 2 +1 =
H2 = d 4
dv dH1 l dH 2 dH 3 l dH 4 dv dH1 l dH 2 dH 3 l dH 4 4
= q1 + e q2 + q3 + e q4 x = q1 + e q2 + q3 + e q4 dH 3 3 + 3
2
d d 2 d d 2 d d d 2 d d 2 d + 3 + 2
3
= 2 1 H3 = =
d 4

le 4
3 + 2 1 dH 4 3 + 2 1
2
d 2 H4 = =
= 4 d 4
dx le
 Beam Element
q1 v q3
v' q4 Shape Func,ons:
q2

Beam element has 4 degrees of
1 2 freedom

Take 5
x Appropriate to sue cubic func0on
to describe displacement eld
le

Slope:
2 3 2 3 3 2 2 1 2 3 2 + 3 3 2 + 2 1
v' = q1 + q2 + q3 + q4
le 4 4 le 4 4
q1

2
2 3 3 3 2 2 1 2 3 2 + 3 3 2 + 2 1 q2
v' =
le 4 4

le 4

4

q3


q4

Beam Element Beam Element

q1 v q3
Poten&al Energy Approach: =U + v' q4 Element S,ness Matrix, k
q2

Strain Energy Work Poten0al For beam element, the element

1 2
strain energy is given as:
x
le
2
For beam 1 d 2v
2
1 d 2v
element = EI 2 dx pv dx Pm vm M k vk' Ue = EI dx
2 L dx L m k
x 2 dx2
2
= 2 1
d v d dv d le
= . .
dx2 d dx dx d 2
=
dx le
 Beam Element Beam Element
q1 v q3 q1 v q3
v' q4 Element S,ness Matrix, k v' q4 Element S,ness Matrix, k
q2 q2

For beam element, the element For beam element, the element
1 2 1 2
strain energy is given as: strain energy is given as:
x x
le le
2
1 d 2v
Ue = EI dx


q1

2 dx2
2
d v 1 q2
d 2 v 2 d 2 3 2 3 3 2 2 1 2 3 2 + 3 3 2 + 2 1 = ( 6 le (3 1) 6 le (3 +1) )
= q1 + q2 + q3 + q4 dx2 le2 q3
dx2 le d le 4 4 le 4 4 q4

d 2v 1 1 1 1 d 2v 1
= 2 ( 6 ) q1 + (3 1) q2 2 ( 6 ) q3 + (3 +1) q4 = {B}{q}
dx2 le le le le dx2 le2

Beam Element Beam Element

2 2
1 1 Element S,ness Matrix, k 1 1 Element S,ness Matrix, k
Ue = EI 2 {B}{q} dx Ue = EI 2 {B}{q} dx
2 le 2 le
2 For beam element, the element 2 For beam element, the element
1 1 l strain energy is given as: 1 1 l strain energy is given as:
Ue = EI 2 {B}{q} e d Ue = EI 2 {B}{q} e d
2 le 2 2 le 2
2 2
1 1 1 d 2v 1 1 1 d 2v
T T
Ue = EI 3 {q} {B} {B}{q}d Ue = EI dx
T T
Ue = EI 3 {q} {B} {B}{q}d Ue = EI dx
2 2le 2 dx2 2 2le 2 dx2
1 T 1 T x 1 T 1 T
Ue = {q} EI 3 {B} {B}d {q} = 2 1 Ue = {q} EI 3 {B} {B}d {q}
2 2le le 2 2le T T
{B}{q} = {q} {B}
d 2 l
= dx = e d
dx le 2
 1
T
Beam Element Beam Element
{ B} {B}d
1

24 12le 24 12le
6

1 EI 12le 8l2
12le 4le2 Element S,ness Matrix, k
e( )
1 l 3 1 T e
=
1 6
(
6 le (3 1) 6 le (3 +1) d ) Ue =
2
{q}
2le3 24 12le 24 12le
{q}

l (3 +1) 12le 4le2 12le 8le2 For beam element, the element
e
strain energy is given as:
2 1 T
36 6 (3 1) le 36 2 6 (3 +1) le Ue = {q} ke {q}
2 2
2
1 6 (3 1) le (3 1) le 6 (3 1) le (3 1) (3 +1) le2 2
= d
1 d 2v
With Ue = EI
1

36 2
6 (3 1) le 36 2 6 (3 +1) le
dx
6 3 +1 l
( 2
) e (3 +1) (3 1) le 6 (3 +1) le
2
(3 +1) le2 12 6le 12 6le 2 dx2

24 12l 24 12le EI 6le 4le2 6le 2le2
e
ke = 3
12le 8le2 12le 4le2 le 12 6le 12 6le
=
24 12le 24 12le 6le 2l2
6le 4le2
12l 4le2 12le 8le2 e
e

Beam Element Beam Element

p
Load vector: Distributed load, p 3 3 + 2 1 3
H1 =
1
3 + 2
4

H d =
1
4
d = 1
1
1
le
2 pv dx 3 2 +1
H2 =
1
1 1 3
+1
2
1
L
4


H 2 d = 4
d =
3
1 1
x
= 2 1 + 3 + 2
3 1 1
3 + 3 + 2
pv dx le H3 = 3H d = 4 d = 1
L 4 1 1
d 2 l
1 = dx = e d 3 + 2 1 1 3
= p H1
le
H2 H3
le
H4
l
{q} e d dx le 2
1
+ 2 1 1
1 2 2 2 H4 =
4


H 4 d = 4
d =
3
1 1
1 le le
ple le le v = H1 H2 H3 H4 {q}
=
2
H1
2
H2 H3
2
H 4 d {q} 2 2
1
 Beam Element Beam Element

Load vector: Distributed load, p Load vector: Distributed load, p

pv dx
L

=
1
p H1
le
H2 H3
le
H4
l
{q} e d
pv dx 1
le
2 pv dx

1 2 2 2 L L

pl le l q1 q2 q3 q4
= e 1 1 e {q} ple ple
2 6 6 2 2

ple ple2 ple ple2 ple ple2 ple ple2

ple 2
pl ple 2
pl
{ fe } = pl 2 { fe } =
= e
e
{q} 2 12 2 12 ple2 e 2 12 2 12
2 12 2 12 12
12
= { fe }{q}

Reaction Forces Reaction Forces

1
Bending Moment at Fixed End M = EI {B}{q} Shear Force at Fixed End
2
d v 1 le2
= {B}{q} d 2v dM 1d dM
dx2 le2 M = EI 2 = EI 2 {B}{q} V=
dx dx le dx dx
With:

x
(
{B} = 6 le (3 1) 6 le (3 +1) ) 1 d 2 d
= 2 1
le
M = EI 2 {B}{q} { B} = . { B}
le dx le d d 2 l
= dx = e d
dx le 2
 Reaction Forces
d d
d
{ B} =
d (
6 le (3 1) 6 le (3 +1) ) Element Shear Force

d
(
{B} = 6 3le 6 3le
d
)
V=
dM Assembly of Global
dx Stiffness Matrix
dM 1 2 d
= EI 2 . {B}{q} 6
dx le le d V = EI
le3
(2 le 2 le ){q}
dM 2
dx
( 6 3l
= EI 3
le
e 6 3le ){q}
dM 6
= EI ( 2 l 3 e 2 le ){q}
dx l e

Global Stiffness Matrix Global Stiffness Matrix

p p
Assemble the global Assemble the global
s0ness for the beam s0ness for the beam
structure given using 2 structure given using 2
beam elements. beam elements.

L L Element Connec0vity Table L L Element Connec0vity Table

Element Nodes Element Nodes

1 1 2 1 1 2
Q1 Q3 Q5
2 2 3 Q2 Q4 Q6 2 2 3

1 1 2 2 3 1 1 2 2 3
 Global Stiffness Matrix Global Stiffness Matrix
Problem consists of 3 nodes, each with 2 degrees of freedom p
Therefore, s0ness matrix size is 6X6 Assemble the global
s0ness for the beam
Q1 Q2 Q3 Q4 Q5 Q6 structure given using 2
beam elements.
k11 k12 k13 k14 k15 k16 Q1
For element 1:
L L
k21 k22 k23 k24 k25 k26 Q2
Q1 Q2 Q3 Q4

EI k31 k32 k33 k34 k35 k36 Q3 k11 k12 k13 k14 Q1
K= 3 Q1 Q3 Q5

EI k21 k22 k23 k24

Q2
L k41 k42 k43 k44 k45 k46 Q4 k1 = 3
L k31 k32 k33 k34

Q3
Q2 Q4 Q6
k41 k42 k43 k44 Q4
k51 k52 k53 k54 k55 k56 Q5

k61 k62 k63 k64 k65 k66 Q6 1 1 2 2 3

Global Stiffness Matrix Global Stiffness Matrix

p Problem consists of 3 nodes, each with 2 degrees of freedom
Assemble the global Therefore, s0ness matrix size is 6X6
s0ness for the beam
structure given using 2 Q1 Q2 Q3 Q4 Q5 Q6
Element 1
beam elements. k11 k12 k13 k14 k15 k16 Q1
For element 2:
L L
k21 k22 k23 k24 k25 k26 Q2
Q3 Q4 Q5 Q6

k33 k34 k35 k36 Q3 EI k31 k32 k33 k34 k35 k36 Q3
Q1 Q3 Q5

EI k43 k44 k45

k46 Q4 K= 3
k2 = 3
L k53 k54 k55

k56 Q5
L k41 k42 k43 k44 k45 k46 Q4
Q2 Q4 Q6
k63 k64 k65 k66 Q6

k51 k52 k53 k54 k55 k56 Q5

1 1 2 2 3 k61 k62 k63 k64 k65 k66 Q6

Element 1
 Global Stiffness Matrix Global Stiffness Matrix
p Q1 Q2 Q3 Q4
Assemble the global k11 k12 k13 k14
Q1
s0ness for the beam EI k21 k22 k23 k24 Q2
structure given using 2 k1 = 3
L k31 k32 k33 k34 Q3
beam elements. Q4
k41 k42 k43 k44
Given:
L L
6le 6le

12 6le 12
12 6L 12 6L k15 k16
12 6le 12

2

EI 6le 4le 6le 2le2 6L 4L2 6L 2L2 k25 k26 EI 6le 4l2
e 6le 2le2
ke = 3 ke = 3
le 12 6le 12 6le le 12 6le 12 6le
Q1 Q3 Q5 EI 12 6L 12 6L k35 k36
6le 2le2 6le 2
4le K= 3 6le 2le2 6le 2
4le
Q4 Q6
L 6L 2L2 6L 4L2 k45 k46
Q2
k51 k52 k53 k54 k55 k56

k61 k62 k63 k64 k65 k66
1 1 2 2 3

Global Stiffness Matrix Global Stiffness Matrix

Q1 Q2 Q3 Q4 Q3 Q4 Q5 Q6
k33 k34 k35 k36 Q3
k11 k12 k13 k14 Q1 Q1 Q2 Q3 Q4 Q5 Q6

k21 k22 k23 k24 Q2 EI k43 k44 k45 k46 Q4
EI k2 = 3
k1 = 3 k56 Q5
L k31 k32 k33 k34 Q3 L k53 k54 k55 12 6L 12 6L 0 0 Q1
k41 k42 k43 k44 Q4

k63 k64 k65 k66 Q6

6L 4L2 6L 2L2 0 0 Q2
EI 12 6L 24 0 12 6L Q3
12 6L 12 k16 6L k15
12 6le 12 6le K= 3

4le2 2le2
L 6L 2L2 0 8L2 6L 2L Q4
6L 4L2 6L 2L2 k25 k26 EI 6le 6le
ke = 3
le 12 6le 12 6le 0 0 12 6L 12 6L Q5
EI 12 6L 12 +12 6L + 6L 12 6L
K = 3 6le 2l2
6le 4le2 0 0 6L 2L2 6L 4L2 Q6
L 6L 2L2 6L + 6L 4L2 + 4L2 k45 2L e

k51 k52 12 6L 12 6L

k61 k62 6L 2L2 6L 4L2
 By the end of the lecture:

All of you are expected to be able:

To assemble the s0ness matrix and load vector for a beam element
To assemble the global s0ness matrix for a beam structure
Thank You