1D MODELS

Logan; chapter 2

1
 DEFINITION OF SPRING ELEMENT

k
What is the relation between forces acting on spring ends and displacements of these ends? Or, using FEA
terminology, what is the relation between nodal displacements and forces acting on these nodes?

To formulate this relation we must first assume displacement pattern in-between nodes. Lets assume linear
displacement:

We assume linear displacement along the length

of element. This is our displacement
interpolation function.

0xL

The displacement function has as many coefficients as the element has degrees of freedom, in this case 2
2
 DEFINITION OF SPRING ELEMENT

We now want to express displacement u along the element as a function of nodal displacements

This is the relation between nodal displacements and displacements along the
length of elements (i.e. in-between nodes)
3
 DEFINITION OF SPRING ELEMENT

The same can be written in matrix form:

where

are called shape functions

4
 DEFINITION OF SPRING ELEMENT

k
Lets say that element experiences force T
This force causes nodal displacements
and

Relation between force and nodal displacements

Force acting on node 1

Force acting on node 2

This matrix relates nodal displacements of spring

element to forces acting on nodes of that element.

This matrix is called element stiffness matrix

5
 DEFINITION OF SPRING ELEMENT

Element stiffness matrix describes relation between nodal

loads and nodal displacement of an element.

This is matrix is:

Square
Symmetric
Singular (determinant equals zero)
Positive Diagonal Terms 6
 ONE SPRING

THIS IS CALLED A BAR ELEMENT

1 . 2 .
F2

Find displacements of point 2; find reactions in point 1 when force F 2 is acting on node 2
This problem lends itself well toward discretization with one spring element:

1 . . 2
0 F Reaction

F2
F2

7
 TWO SPRINGS IN SERIES
k1 k2

1 . . 3 2 .
F3

Find displacements of point 3; find reactions in points 1 and 2

This problem lends itself well toward discretization with two spring elements:

Solution steps

1. Formulate stiffness matrix for individual elements

2. Expand individual stiffness matrices so that they are associated

with all degrees of freedom in the system

3. Assemble global stiffness matrix

4. Solve for displacements and reaction forces 8

 TWO SPRINGS IN SERIES

Relation between nodal displacements and forces in element 1

Relation between nodal displacements and forces in element 2

or

9
 TWO SPRINGS IN SERIES

Relation between nodal displacements and forces in element 1int he expanded form

expanded

Relation between nodal displacements and forces in element 2 in the expanded form

expanded

10
 TWO SPRINGS IN SERIES
Expanded matrices of elements 1 and 2 can now be added to form the global stiffness matrix

Relation between nodal displacements and nodal forces has been formed:

Global stiffness matrix Vector of nodal Vector of nodal

displacements loads

These matrixes been expanded before global stiffness matrix could be assembled.

The process in which individual matrices are expanded and then added to form global
stiffness matrix is called Direct Stiffness Method also known as the displacement method
11
or matrix stiffness method
 TWO SPRINGS IN SERIES

The process in which individual matrices are expanded and then

added to form global stiffness matrix is called

Direct Stiffness Method

also known as the displacement method or matrix stiffness method

12
 TWO SPRINGS IN SERIES

In our case node 1 and node 2 are fixed:

This is A set of three equations with three unknowns: d3 , F 1 , F2

13
 THREE SPRINGS IN SERIES

k1 k2 k3

1 . . 3 4 . 2 .
F1 F2
Find displacements of points 3 and 4; find reactions in points 1 and 2.
This problem lends itself well toward discretization with three spring elements.

Solution steps

1. Formulate stiffness matrix for individual elements

2. Expand individual stiffness matrices so that they are associated

with all degrees of freedom in the system

3. Assemble global stiffness matrix

4. Solve for displacements and reaction forces 14

 THREE SPRINGS IN SERIES

Note that:

Therefore these matrixes must be expanded before global stiffness matrix can be assembled.

15
 THREE SPRINGS IN SERIES

Stiffness matrix of element 1 before expansion

k1 k2 k3

And after expansion

1 . . 3 4 . 2 .
F1 F2

16
 THREE SPRINGS IN SERIES

Stiffness matrix of element 2 before expansion

k1 k2 k3

And after expansion

1 . . 3 4 . 2 .
F1 F2

17
 THREE SPRINGS IN SERIES

Stiffness matrix of element 3 before expansionk k2 k3

1

1 . . 3 4 . 2 .
And after expansion F1 F2

18
 THREE SPRINGS IN SERIES

Stiffness matrices can now be added to assemble global stiffness matrix

Therefore, the relation between all nodal displacements and all nodal forces is:

Vector of nodal loads

Vector of nodal
Global stiffness matrix 19
displacements
 THREE SPRINGS IN SERIES

Known nodal displacements (displacements boundary conditions):

d1=0 d2=0
Known nodal loads (force boundary conditions):
f3 = - F1 f4 = F2

This is a set of four linear algebraic equations with fours unknowns:

d3 , d 4 nodal displacements

f1, f 3 reaction forces

20
 THREE SPRINGS IN SERIES/PARALLEL

Before expansion:

Element 1

Element 2

Element 3

21
 THREE SPRINGS IN SERIES/PARALLEL

And after expansion

22
 STIFFNESS MATRIX CHARACTERISTICS

Symmetric
This means that kij = kji. This is always the case when the displacements are directly
proportional to the applied loads.

Square
The number of rows are equal to the number of columns in the matrix.

Singular
The element stiffness matrix is singular (the determinate of the matrix is equal to zero)
since no constraints (prescribed displacements and/or rotation) have been applied.

Positive Diagonal Terms

All the terms in the main diagonal (upper left to lower right) must be positive. If k ii is
negative then the force and it's corresponding displacement would be oppositely
directed, which is physically unreasonable. If kii = 0, then the displacement would
produce no reaction force resisting it, which would imply that the structure is unstable.
23
WHY IS STIFFNESS MATRIX SYMMETRIC?

BETTIS THEOREM* (RECIPROCITY THEOREM)

Bettis theorem, discovered by Enrico Betti in 1872 states that for all linear

elastic structures subject to two sets of forces Pi and Qi, the work done by

the set P though the displacement produced by set Q is equal to the work

done be the set Q through displacements produced by set P.

*A theorem is a statement which has been proved on the basis of previously established statements,
such as other theorems, and previously accepted statements, such as axioms

24
WHY IS STIFFNESS MATRIX SYMMETRIC?

Bettis theorem example

Consider a beam on which two points 1 and 2 have been defined. First we
apply force P at point 1 and measure the vertical displacement of point 2.
Then we remove force P and apply force Q at point 2.
Bettis reciprocity theorem states that:

P Q1 Q P 2
P Q

1 2

P1 Q1

25
WHY IS STIFFNESS MATRIX SQUARE?

Number of unknowns equals the number of equations

26
WHY IS STIFFNESS MATRIX SINGULAR?

Displacement boundary conditions have not yet been defined

27
WHY ARE ALL TERMS ON THE MAIN DIAGONAL MUST BE POSITIVE?

Negative terms would indicate negative stiffness.

Zero terms would indicate no stiffness in given direction.

28
 Sequential numbering
1 2 3 4
1 2 3 4 5

Element
stiffness
k=10N/mm

Bandwidth = 3
29
 Out of sequence numbering
1 2 3 4
1 5 3 4 2

Element
stiffness
k=10N/mm

Bandwidth = 5
30