Documente Academic
Documente Profesional
Documente Cultură
Copyright 1976
Offshore Technology Conference on behalf of the American Institute of Mining, Metallurgical, and Pe~roleutrJ
Engineers; Inc. (Society of Mining Engineers, The Metallurgical Society and Society of Petroleum. Engrnee~s),
American Association of Petroleum Geologists, American Institute of Chemical Engineers, American SocIety
of Civil Engineers, American Society of Mechanical Engineers, Institute of Electrical and Electronic~ En-
gineers, Marine Technology Society, Society of Exploration Geophysicists, and Society of Naval ArchItects
and Marine Engineers. .
This paper was prepared for presentation at the Eighth Annual Offshore Technology Conference, Houston,
Tex., May 3-6, 1976. Permission to copy is restricted to an abstract of not more than 300 words. //Iustrations
may not be copied. Such use of an abstract should contain conspicuous acknowledgment of where and by
whom the paper is presented.
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268 IMPROVED FINITE ELEMENTS FOR ANALYSIS OF WELDED TUBULAR JOINTS OTe 2642
"hotspots" in and near the welds used in finite elements in tubular joint analysis is
these complex connections has also been ex- a new class of three-dimensional isoparamet-
tremely difficult to evaluate. The calcula- ric elements in which nodal points are de-
tion of these high local stresses, usually fined on inner and outer surfaces of the
characterized in terms of stress concentra- shell. Using these curved elements, the
tion factors, has been especially important actual structure can be modeled as a true
for fatigue considerations. A convenient and three-dimensional system, and the major
efficient method of stress analysis of such kinematic constraints associated with reduc-
joints is the widely used finite element tion to a two-dimensional idealization are
method [4,5J. Over the past few years, the eliminated. Until very recently, however,
finite element method has been implemented in three-dimensional isoparametric elements
special purpose computer programs for the only gave satisfactory results for thick
analysis of simple K and T joints, and an shell structures. Fortunately, the perform-
extension of this method to the analysis of ance of these elements for thin shell analy-
grouted and ungrouted tubular joints using sis has recently been greatly improved by
new element formulations is the subject of introducing appropriate incompatible dis-
this paper. placement modes and using reduced integra-
tion techniques [6J. Applying these newly
In order to effectively apply the finite ele- developed elements to the effective analysis
ment method to tubular joints analysis, of tubular joints has therefore only
several theoretical and practical require- recently become possible.
ments must be considered. Three important
considerations are (1) the choice of finite An important limitation of flat plate ele-
element properties; (2) finite element mesh ments used in the analysis of shells, is re-
generation; and (3) the computational effi- lated to the rotational degree of freedom
ciency of the computer program used in the about the normal to the surface tangent
analysis. These three topics are discussed plane at a node. This degree of freedom is
briefly in this section for purposes of des- not present in flat plate bending formula-
cribing the motivations for the present tions but is present in a curved shell.
study. Elements originally formulated for plate
bending applications, like the element in
1.1 Finite Element Types KJOINT, do not possess this "sixth" degree
of freedom so that in applying them to the
In the past, many finite element formulations analysis of shells, artificial constraints
used for thin shell analysis have been must be introduced to prevent rotations
developed as a combination of flat plate about the surface normal. These constraints
bending and plane stress elements. These generally have very minor effects on analy-
combination elements treat bending and mem- tical results except at nodal points where
brane actions as uncoupled; a consequence elements intersect at an angle, such as a
of the basic Kirchhoff assumptions used in branch-to-chord connection. For these nodes,
formulating the bending element properties. the surface tangent plane is not unique and
A widely used computer program for tubular the proper choice of constraint direction is
joint analysis, KJOINT makes use of such not clear. Moreover, since the normals to
elements [4J. each of the candidate tangent planes at the
intersection nodes will have significant
Among other limitations, these essentially components in the other plane, some con-
two-dimensional elements neglect the varia- straint on the important in-plane rotational
tion of displacement through the thickness degrees of freedom of one or both connected
direction of the shell and the effects of elements will result no matter which normal
transverse shear distortion. In addition, rotation is constrained. Greste has selec-
since the combined plate bending/plane stress ted rotation about the normal to the chord
element is flat, the geometry of a curved tangent plane for constraint in KJOINT.
shell is only approximately modeled by them Depending on the branch-to-chord intersec-
as an assemblage of flat facets with nodal tion angle, this constraint influences the
points located at the midsurface of the computed hot spot stresses in the branch
shell. These elements have been success- and chord near the intersection of the com-
fully used in the analysis of simple "K" ponents, especially for cases where the
and "T" wel ded tubul ar joints for several branch loading includes applied bending
years. However, because of their two- moments. No such constraints are required
dimensional behavior, they are not well when a three-dimensional finite element is
suited to the analysis of the complex states used to model the important intersection
of stress in grouted or overlapped joints or region in tubular joints. Hence an
to the prediction of stresses in welds. An improvement in the accuracy of stress
alternative to the use of two-dimensional cODcentration factors and stress gradients
OTC 2642 C. Y. LIAW - R. W. LITTON - R. B. REIMER 269
may be expected for any joint configura- duces the most significant computing cost
tion and loading, when appropriate three- for most finite element analyses, and, for
dimensional isoparametric elements are used most equation-solving algorithms, this time
in an analysis. is proportional to the square of the band-
width of the stiffness matrix, any reduction
1.2 Mesh Generation in band-width that may be possible using a
minimizing nodal point numbering strategy or
Even for the simpl est "K" and "T" joints, a substructure technique can result in worth-
the effort required to develop a general while computer cost savings.
three-dimensional finite element mesh can be
significant. First, the geometry of the KJOINT utilizes both a minimizing nodal point
structure has to be described numerically, numbering strategy and a substructure pro-
including intersection curves between mem- cedure for solving equations. However, the
bers which may be overlapped and weld ~ro techniques used are restricted to analysis of
files. Then a mesh scheme has to be simple joint configurations. In recent years,
selected, taking into consideration the general computer programs for renumbering
degree of analysis accuracy desired and nodal points to reduce bandwidth have been
necessary refinements in regions of anti- developed [7J so that when used in conjunc-
cipated high stress gradients. The three- tion with an effective substructuring pro-
dimensional coordinates of all nodal points cedure, the computer costs associated with
then must be computed, the nodes and ele- finite element analysis of complex joint
ments must be appropriately n~mbered, and configurations may be reduced to practical
the node number connectivity for each ele- 1evel s.
ment listed. All this information has to
be prepared in a form suitable for use as Although it may be recognized that an effec-
input data for the stress analysis program. tive way to compute the stress distributions
It is certainly not feasible to prepare all in grouted connections and in welds is by
this data manually. means of a three-dimensional finite element
idealization, neither the appropriate finite
Greste [4] has developed a very convenient element formulations nor an efficient com-
finite element mesh generation scheme for puter program with mesh generation capability
simply connected T and K joints. Four has been available for this purpose until
different degrees of mesh fineness can be recently. In the following two sections,
selected and used in the program KJOINT. improved three-dimensional isoparametric
The program automatically subdivides the elements and efficient procedures for gener-
structure into several regions according ating meshes made up of these elements are
to the selected mesh pattern. Within each discussed more extensively. A brief de-
region, the method of conformal mapping is scription of a computer program which in-
applied to obtain the best possible element corporates the improved elements, the mesh
shapes in the developed two-dimensional generator and has substructure analysis
surface representing each member. Once the capability is then presented. Numerical
mesh and coordinates of nodes in the results comparing results from this proqram
developed surface are calculated, the data to those from the program KJOINT for a typi-
is transformed back to the three-dimensional cal ungrouted K joint are presented. The
coordinate system. Element connectivities capability of the improved elements and the
are also automatically generated in the pro- versatility of the new program are demon-
gram. Grest~'5 mesh generation approach in strated in the analysis of a grouted K-joint.
the program KJOINT requires very little The analyses of arbitrary joints, both
engineering effort and produces satisfac- grouted and ungrouted, are also discussed.
tory meshes for T and K joints. Similar
methods can also be applied to more complex 2. IMPROVED FINITE ELEMENTS FOR THIN
tubular joints. SHELL ANALYSIS
1.3 Numerical Efficiency A new, curved, three-dimensional isopara-
metric finite element formulation which is
The cost of computer time required to per- ideally suited to the analysis of welded
form a finite element analysis must be tubular joints, has recently been developed
reasonable in order for a computer program by Dovey [6J. In this application, the
to be considered a practical tool. When element permits the stress analysis of
three-dimensional elements with many grouted and ungrouted connections, the
degree? of freedom per element are used in direct evaluation of stresses in welds, and
an analysis, maintaining realistic computer because of improved modelling of weld zones
costs is especially difficult. Since the more precise calculations of stress concen-
time spent solving linear equations pro- tration factors in chords and branches.
7n
61 u
IMPROVED FINITE ELEMENTS FOR ANALYSIS OF WELDED TUBULAR JOINTS OTC 2642
the subregion. For arbitrary joint confin- able to either number or not number the
urations, some engineering judgment is re- midside nodes of each element, depending
quired to develop a mesh that will accurately on the element type chosen. Since the mesh
model the behavior of the joint to be is mapped from a regular grid (figure 4a),
analyzed. In general, the outside and the nodal numbers of nodes connecting each
inside surfaces of a mesh will have the same element can be established in a systematic
geometry when developed. If different num- pattern. Element connectivity data is then
hers of nodes on the outside and inside of a easily generated automatically. The nodal
shell are desired, variable node elements coordinates of all nodes in the developed
can be used. However, the variable node surfaces are then transformed back to the
elements are generally less accurate in original three-dimensional space.
stress and displacement calculations, and
hence are not recommended for use in areas An additional mesh generation feature in
of high stress gradients. PMBSHELL is its ability to automatically
generate weld profile geometry according to
Within each subregion, coordinates of the AWS guidelines. Depending on the local
internal nodes are automatically calculated dihedral angle between tangent planes of
by mapping a rectangular grid in the W-plane, intersecting cylindrical surfaces, the co-
shown in Figure 4a, into the subregion ordinates of toe, root and intermediate nodal
shown in Figure 4b. This mapping proceeds points are automatically computed and the
using the nodal point coordinates at the appropriate weld element connectivities
boundary of the subregion as the boundary formed. Options are also provided for speci-
conditions for the two Laplace equations: fication of other weld profile geometries.
azxt:.=o SUBSTRUCTURING
ax with boundary con-
(2) 4
ditions, X= XB
; au2 au2 The technique of substructuring can signifi-
cantly increase the computational efficiency
of finite element programs in certain appli-
a2Y +34=0 with boundary con-
(3) cations. For tubular joint analysis, it is
ditions, Y = YB
~ av2 av2 most attractive [3,4] for multiple
branched structures where the branches
The subregion boundary nodal point coordi- very often have many degrees of freedom com-
nates which must be consistent with adja- pared to those at the branch-chord junctions.
cent subregion-s, are provided by the user.
In the actual discretized system, the above Substructuring involves dividing the com-
two Laplace equations can be solved by a plete structure system into several sub-
number of numerical techniques. In PMBSHELL, structures (each branch can be conveniently
the finite element method of analysis is taken as a substructure) and a main struc-
applied. The finite element solution of ture (the chord in this case).
the Laplace equations (2) and (3) is both
numerically efficient and more convenient For equation-solving purposes, each sub-
than a finite difference procedure. The structure is considered as a separate finite
principal advantage of this conformal element system, and its stiffness matrix is
mapping approach for computing nodal point formulated in the standard way. The tech-
coordinatesand hence element shapes within nique of static condensation is then
subregions is that more regularly shaped applied to each substructure system to re-
quadrilateralelements are formed [4]: It duce its many degrees of freedom to only
is well-known that poor performance is those mobilized at the connection to the
generally obtained with highly skewed, main structure. In essence, each substruc-
irregularly shaped elements. Other ad- ture is treated as a super finite element,
vantages of the conformal mapping mesh and its independent degrees of freedom
generation procedure is that numerical are those located only at the substructure
errors associated with manual data input junction . All stiffness and load effects
are minimized and the total engineering within each substructure are condensed to
time required to develop a suitable mesh is the junction degrees of freedom resulting in
very low. a reduced substructure stiffness matrix and
reduced load vectors. The assembled sys-
After all internal nodes are located for ternof equations and load vectors, including
each subregion, all subregions on the same contributions from all substructures and the
surface are combined to form a complete main structure, is then solved. The dis-
mesh for the branch or chord. Nodal point placements within each substructure are
numbers are also assigned automatically recovered by back-substituting the junction
at this time. Program options are avail- displacements into the original condensation
-1~ IMPROVED FINITE ELEMENTS FOR ANALYSIS OF WELDED TUBULAR JOINTS OTC 2642
.
taken as 3000 ksi with Poissons ratio of 7. Transformation and printout of stresses
0.17. With reference to this figure, it is in and near welds (including transverse
apparent that if the grout elements remain punching shear in chords) in special
bonded to the inside surface of the chord local coordinate systems the orienta-
sleeve and the outside surface of the inner tions of which are specified by the
pin, significant reductions in chord stresses . user (see figure 3).
will be realized over the ungrouted casefl
The maximum shear and tensile normal bond An example three-dimensional mesh plot for
stresses on the outside surface of the a complex joint is shown in figure 9. A
grout were calculated to be 1500 and plot of principal stresses on a developed
1174 psi respectively. These stresses were view of a chord is shown in figure 10.
experienced directly below the tension
branch. The maximum principal tensile 6. SUMMARY AND CONCLUSIONS
stress at the surface of the grout was cal-
culated to be 644 psi. For this 0.50 inch The use of recently developed three-
grout thickness, these stresses are above dimensional isoparametric finite elements in
what may be considered the !yield point the analysis of welded tubular connections
of most cement grouts at least in the can provide accurate modelling of the highly
immediate vicinity of the maximum tension stressed zones near the welds. Hence, it
branch. An analysis which accounts for appears likely that stress concentration fac-
the loss of stiffness in grout elements ex- tors and stress gradients that are obtained
periencing high tensile stresses would un- using these elements will be more reliable
doubtedly result in less substantial reduc- than those computed using flat plate finite
tion in chord stresses for the grouted elements. A comparison of analytical results
case. The effect of grout thickness on for a K-joint indicated that the most signi-
these results should also be determined by ficant differences in computed stresses
parametric studies. occurred near the welds and were believed
related to the constraint of the sixth
The effects of grouting on the maximum prin- degree of freedom necessary when flat plate
cipal stresses in the welds are shown in elements are used in shell analysis.
figure 8. From this figure the dramatic
reduction of stress at the toe of the weld As demonstrated in an example application,
for the grouted case is clearly evident. the three-dimensional elements are ideally
suited to the analysis of grouted connections.
The input/output options of PMBSHELL pro- The results of this analysis indicated high
vide many printing and plotting capabilities bond stresses are experienced in the grout
both for mesh layout and for ease of inter- near the branch intersection zones. Para-
pretation of analytical results. They metric studies should be performed to inves-
include: tigate the limits and extent of possible
grout unbending and to determine the effect
1. Finite element mesh plots of each of unbending on the computed stress concen-
component of the connection on its tration factors.
developed plane with nodal points
and elements numbered. The practical application of three-dimensional
elements to the analysis of arbitrary joints
2. Finite element mesh plot ofcom- requires a computer program with:
plete structure in three dimensions.
1. Very general mesh generation
3. Plot of deformed shape of structure capability
in loaded state. 2. High computational efficiency
3. Extensive input and output data
4. Plots of surface principal stresses handling options.
or Von Mises stress (inside or out-
side surfaces) on developed views Such capabilities are especially important
of components. because of the possible complexities of
three-dimensional meshes with weld profile
5. Plots of resultant shear and normal modelling, the large number of linear equa-
stresses on surfaces of grout layers. tions that must be solved, and because of the
quantity of stress and displacement informa-
6. Printout of global stresses, princi- tion that can be produced with three-
pal stresses, Von Mises stresses dimensional elements. The program PBMSHELL
and surface stresses of elements. was developed specifically for the analysis
of tubular joints and is an example of the
type of program that is necessary if the
274 IMPROVED FINITIE ELEMENTS FOR ANALYSIS OF WELDED TUBULAR JOINTS OTC 2642
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