FINITE ELEMENT METHOD

DEPARTMENT OF CIVIL AND HYDRAULIC ENGINEERING

Dr. Lokmane Abdeldjouad

 Beam Elements

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #2

 Simple Plane Beam Element

L: Length

I: Moment of inertia of the cross-sectional area

E: Elastic modulus

𝑣 = 𝑣(𝑥) Deflection (lateral displacement) of the neutral axis

𝑑𝑣
𝜃= Rotation about the z-axis
𝑑𝑥

𝐹 = 𝐹(𝑥) Shear force

𝑀 = 𝑀(𝑥) Moment about z-axis

𝑑2 𝑣
Elementary Beam Theory : 𝐸𝐼 2 = 𝑀(𝑥) (36)
𝑑𝑥

𝑀𝑦
𝜎=− (37)
𝐼

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #3

 Direct Method

Using the results from elementary beam theory to compute each column of the stiffness matrix.

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #4

 Direct Method

Element stiffness equation (local node : i, j or 1, 2):

𝑣𝑖 𝜃𝑖 𝑣𝑗 𝜃𝑗 𝑣𝑖 𝐹𝑖
𝐸𝐼
12 6𝐿 −12 6𝐿 𝜃𝑖 𝑀𝑖
6𝐿 4𝐿2 −6𝐿 2𝐿2 𝑣𝑗 = 𝐹𝑗 (38)
𝐿3
−12 −6𝐿 12 −6𝐿 𝜃𝑗 𝑀𝑗
6𝐿 2𝐿2 −6𝐿 4𝐿2

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #5

 Formal Approach

Apply the formula:

𝐿 𝑇
k= 0
B 𝐸𝐼B𝑑𝑥 (39)

To derive this, we introduce the shape functions:

𝑥2 𝑥3
𝑁1 𝑥 = 1 − 3 2 + 2 3
𝐿 𝐿

𝑥2 𝑥3
𝑁2 𝑥 = 𝑥 − 2 + (40)
𝐿 𝐿2

𝑥2 𝑥3
𝑁3 𝑥 = 3 −2
𝐿2 𝐿3

𝑥2 𝑥3
𝑁4 𝑥 = − +
𝐿 𝐿2

Then, we can represent the deflection as:

𝑣𝑖
𝜃𝑖
𝑣 𝑥 = Nu = 𝑁1 𝑥 𝑁2 𝑥 𝑁3 𝑥 𝑁4 𝑥 𝑣𝑗 (41)
𝜃𝑗
FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #6
 Formal Approach

which is a cubic function. Notice that:

𝑁1 +𝑁3 = 1

𝑁2 +𝑁3 𝐿 + 𝑁4 = 𝑥

which implies that the rigid body motion is represented by the assumed deformed shape of the beam.

𝑑2 𝑣 𝑑2
Curvature of the beam is: = Nu =Bu (42)
𝑑𝑥 2 𝑑𝑥 2

where the strain-displacement matrix B is given by:

𝑑2 6 12𝑥 4 6𝑥 6 12𝑥 2 6𝑥
B= N = 𝑁1" (𝑥) 𝑁2" (𝑥) 𝑁3" (𝑥) 𝑁4" (𝑥) = − 𝐿2 + 𝐿3
− +
𝐿2 𝐿2
−
𝐿3
− +
𝐿2
(43)
𝑑𝑥 2 𝐿 𝐿

Strain energy stored in the beam element is:

𝑇
1 1 𝐿 𝑀𝑦 𝑇 1 𝑀𝑦 1 𝐿 𝑇 1 1 𝐿 𝑑2 𝑣 𝑑2 𝑣
𝑈= 𝜎 𝑇 𝜀𝑑𝑉 = − − 𝑑𝐴𝑑𝑥 = 𝑀 𝑀𝑑𝑥 = 𝐸𝐼 𝑑𝑥
2 𝑣 2 0 𝐴 𝐼 𝐸 𝐼 2 0 𝐸𝐼 2 0 𝑑𝑥 2 𝑑𝑥 2

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #7

 Formal Approach

𝐿 𝐿
1 1
𝑈= (Bu)𝑇 𝐸𝐼(Bu)𝑑𝑥 = u𝑇 B𝑇 𝐸𝐼B𝑑𝑥 u
2 2
0 0

𝐿 𝑇
We conclude that the stiffness matrix for the simple beam element is: k = 0
B 𝐸𝐼B𝑑𝑥

Applying the result in (43) and carrying out the integration, we arrive at the same stiffness matrix as given
in (38).
Combining the axial stiffness (bar element), we obtain the stiffness matrix of a general 2D beam element:
𝑢𝑖 𝑣𝑖 𝜃𝑖 𝑢𝑗 𝑣𝑗 𝜃𝑗
𝐸𝐴 𝐸𝐴
0 0 − 0 0
𝐿 𝐿
12𝐸𝐼 6𝐸𝐼 12𝐸𝐼 6𝐸𝐼
0 0 −
𝐿3 𝐿2 𝐿3 𝐿2
6𝐸𝐼 4𝐸𝐼 6𝐸𝐼 2𝐸𝐼
k= 0 0 − 2
𝐿2 𝐿 𝐿 𝐿
𝐸𝐴 𝐸𝐴
− 0 0 0 0
𝐿 𝐿
12𝐸𝐼 6𝐸𝐼 12𝐸𝐼 6𝐸𝐼
0 − − 0 −
𝐿3 𝐿2 𝐿3 𝐿2
6𝐸𝐼 2𝐸𝐼 6𝐸𝐼 4𝐸𝐼
0 0 − 2
𝐿2 𝐿 𝐿 𝐿

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #8

 3D Beam Element

The element stiffness matrix is formed in the local (2D) coordinate system first and then transformed into
the global (3D) coordinate system to be assembled.

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #9

 Examples

Example 1

Given: The beam shown above is clamped at the two ends and acted upon by the force P and
moment M in the mid-span.

Find: The deflection and rotation at the center node and the reaction forces and moments at the
two ends.

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #10

 Examples

Solution 1

Element stiffness matrices are:

𝑣1 𝜃1 𝑣2 𝜃2
𝐸𝐼 12 6𝐿 −12 6𝐿
k1 = 3 6𝐿 4𝐿2 −6𝐿 2𝐿2
𝐿
−12 −6𝐿 12 −6𝐿
6𝐿 2𝐿2 −6𝐿 4𝐿2

𝑣2 𝜃2 𝑣3 𝜃3
𝐸𝐼 12 6𝐿 −12 6𝐿
k2 = 3 6𝐿 4𝐿2 −6𝐿 2𝐿2
𝐿
−12 −6𝐿 12 −6𝐿
6𝐿 2𝐿2 −6𝐿 4𝐿2

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #11

 Examples

Solution 1

Global FE equation is :

𝑣1 𝜃1 𝑣2 𝜃2 𝑣3 𝜃3
12 6𝐿 −12 6𝐿 0 0 𝑣1 𝐹1𝑌
𝐸𝐼 6𝐿 4𝐿2 −6𝐿 2𝐿2 0 0 𝜃1 𝑀1
𝐿3
−12 −6𝐿 24 0 −12 6𝐿 𝑣2 = 𝐹2𝑌
6𝐿 2𝐿2 0 8𝐿2 −6𝐿 2𝐿2 𝜃2 𝑀2
0 0 −12 −6𝐿 12 −6𝐿 𝑣3 𝐹3𝑌
0 0 6𝐿 2𝐿2 −6𝐿 4𝐿2 𝜃3 𝑀3
Loads and constraints (BC’s) are : 𝐹2𝑌 = −𝑃;𝑀2 = 𝑀; 𝑣1 = 𝑣3 = 𝜃1 = 𝜃3 = 0

𝐸𝐼 24 0 𝑣2 −𝑃
Reduced FE equation : 𝐿3 𝜃2 =
0 8𝐿2 𝑀
𝑣2 𝐿 −𝑃𝐿 2
Solving this we obtain : 𝜃 = 24𝐸𝐼
2 3𝑀

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #12

 Examples

Solution 1

From global FE equation, we obtain the reaction forces and moments :

2𝑃 + 3𝑀
𝐹1𝑌 −12 6𝐿 𝐿
𝑀1 𝐸𝐼 −6𝐿 2𝐿2 𝑣2 1 𝑃𝐿 + 𝑀
= 3 𝜃2 =
𝐹3𝑌 𝐿 −12 −6𝐿 4 2𝑃 − 3𝑀
𝑀3 6𝐿 2𝐿2 𝐿
−𝑃𝐿 + 𝑀

Stresses in the beam at the two ends can be calculated using the formula

𝑀𝑦
𝜎 = 𝜎𝑥 = −
𝐼

Note that the FE solution is exact according to the simple beam theory, since no distributed
𝑑2 𝑣
load is present between the nodes. Recall that : 𝐸𝐼 𝑑𝑥 2 = 𝑀(𝑥)

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #13

 Examples

Solution 1

𝑑𝑀
And: 𝑑𝑥 = 𝑉 (𝑉: shear force in the beam)

𝑑𝑉
= 𝑞 (𝑞: distributed load on the beam)
𝑑𝑥

𝑑4 𝑣
Thus : 𝐸𝐼 𝑑𝑥 4 = 𝑞(𝑥)

If 𝑞 𝑥 = 0, then exact solution for the deflection 𝑉 is a cubic function of x, which is what
described by our shape functions.

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #14

 Equivalent Nodal Loads of Distributed Transverse Load

This can be verified by considering the work done by the distributed load q.

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #15

 Examples

Example 2

Given: A cantilever beam with distributed lateral load p as shown above.

Find: The deflection and rotation at the right end, the reaction force and moment at the left
end.

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #16

 Examples

Solution 2

The work-equivalent nodal loads are shown below :

𝑃𝐿 𝑃𝐿2
where : 𝑓 = ;𝑚 =
2 12

12 6𝐿 −12 6𝐿 𝑣1 𝐹1𝑌
𝐸𝐼 6𝐿 4𝐿2 −6𝐿 2𝐿2 𝜃1 𝑀1
Applying the FE equation, we have : 𝐿3 𝑣2 =
−12 −6𝐿 12 −6𝐿 𝐹2𝑌
6𝐿 2𝐿2 −6𝐿 4𝐿2 𝜃2 𝑀2

Load and constraints (BC’s) are : 𝐹2𝑌 = −𝑓;𝑀2 = 𝑚; 𝑣1 = 𝜃1 = 0

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #17
 Examples

Solution 2

𝐸𝐼 12 −6𝐿 𝑣2 −𝑓
Reduced equation is : 𝐿3 2 𝜃2 =
−6𝐿 4𝐿 𝑚

𝑝𝐿4
𝑣2 2
𝐿 −2𝐿 𝑓 + 3𝐿𝑚
− 8𝐸𝐼
Solving this, we obtain : 𝜃 = 6𝐸𝐼 = (A)
2 −3𝐿𝑓 + 6𝑚 𝑝𝐿3
−
6𝐸𝐼

These nodal values are the same as the exact solution. Note that the deflection 𝑣(𝑥) (for 0 < 𝑥
<0) in the beam by the FEM is, however, different from that by the exact solution. The exact
solution by the simple beam theory is a 4𝑡ℎ order polynomial of 𝑥, while the FE solution of v is
only a 3𝑟𝑑 order polynomial of 𝑥.
𝑝𝐿4
𝑣2 2
𝐿 −2𝐿 𝑓
− 6𝐸𝐼
If the equivalent moment m is ignored, we have : 𝜃 = 6𝐸𝐼 = (B)
2 −3𝐿𝑓 𝑝𝐿3
−
4𝐸𝐼
FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #18
 Examples

Solution 2

The errors in (B) will decrease if more elements are used. The equivalent moment m is often
ignored in the FEM applications.The FE solutions still converge as more elements are applied.

From the FE equation, we can calculate the reaction force and moment as :
𝑃𝐿
𝐹1𝑌 𝐿3 −12 6𝐿 𝑣2 2
= 𝜃2 =
𝑀1 𝐸𝐼 −6𝐿 2𝐿2 5𝑃𝐿2
12
where the result in (A) is used. This force vector gives the total effective nodal forces which
include the equivalent nodal forces for the distributed lateral load p given by :
𝑃𝐿
−
2
𝑃𝐿2
−
12

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #19

 Examples

Solution 2

The correct reaction forces can be obtained as follows :

𝑃𝐿 𝑃𝐿
− 𝑃𝐿
𝐹1𝑌 2 2
= − = 𝑃𝐿2
𝑀1 5𝑃𝐿2 𝑃𝐿2
− 2
12 12

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #20

 Examples

Example 3

Given : 𝑃 = 50 kN ; k= 200 kN/m ; 𝐿 = 3 m ; 𝐸 = 210 GPa ; 𝐼 = 2 × 10−4 m4

Find: Deflections, rotations and reaction forces.

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #21

 Examples

Solution 3

The beam has a roller (or hinge) support at node 2 and a spring support at node 3. We use two
beam elements and one spring element to solve this problem.
𝑣3 𝑣4
The spring stiffness matrix is given by : k𝑠 = 𝑘 −𝑘
−𝑘 𝑘
Adding this stiffness matrix to the global FE equation (see Example 1), we have :
𝑣1 𝜃1 𝑣2 𝜃2 𝑣3 𝜃3 𝑣4
12 6𝐿 −12 6𝐿 0 0 0 𝑣1 𝐹1𝑌
4𝐿2 −6𝐿 2𝐿2 0 0 0 𝜃1 𝑀1
𝐸𝐼 24 0 −12 6𝐿 0 𝑣2 𝐹2𝑌
𝐿3 8𝐿2 −6𝐿 2𝐿2 0 𝜃2 = 𝑀2
12 + 𝑘 ′ −6𝐿 −𝑘 ′ 𝑣3 𝐹3𝑌
4𝐿2 0 𝜃3 𝑀3
𝑆𝑦𝑚 𝑘′ 𝑣4 𝐹4𝑌

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #22

 Examples

Solution 3

𝐿3
in which : 𝑘′ = 𝑘 is used to simply the notation.
𝐸𝐼

We now apply the boundary conditions : 𝑣1 = 𝜃1 = 𝑣2 = 𝑣4 = 0 ;

𝑀2 = 𝑀3 = 0 ; 𝐹3𝑌 = −𝑃

Deleting the first three and seventh equations (rows and columns), we have the following
reduced equation :

𝐸𝐼 8𝐿
2
−6𝐿 2𝐿2 𝜃2 0
−6𝐿 12 + 𝑘 ′ −6𝐿 𝑣3 = −𝑃
𝐿3
2𝐿2 −6𝐿 4𝐿2 𝜃3 0
Solving this equation, we obtain the deflection and rotations at node 2 and node 3.

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #23

 Examples

Solution 3

𝜃2 𝑃𝐿2 3
𝑣3 = − ′ ) 7𝐿
𝜃3 𝐸𝐼(12 + 7𝑘
9

The influence of the spring k is easily seen from this result. Plugging in the given numbers, we
can calculate :
𝜃2 −0,002492 rad
𝑣3 = −0,01744 m
𝜃3 −0,007475 rad

From the global FE equation, we obtain the nodal reaction forces as :

𝐹1𝑌 −69,78 kN
𝑀1 −69,78 kN.m
=
𝐹2𝑌 116,2 kN
𝐹4𝑌 3,488 kN

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #24

 Examples

Solution 3

Checking the results: Draw free body diagram of the beam

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #25

 FE Analysis of Frame Structures

Members in a frame are considered to be rigidly connected. Both forces and moments can be
transmitted through their joints. We need the general beam element (combinations of bar and
simple beam elements) to model frames.

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #26

 Examples

Example 4

Given : 𝐸 = 30 × 109 Pa ; 𝐼 = 65 × 10−3 m4 ; 𝐴 = 6,8 × 10−3 m2

Find: Displacements and rotations of the two joints 1 and 2.

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #27

 Examples

Solution 4

For this example, we first convert the distributed load to its equivalent nodal loads.

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #28

 Examples

Solution 4

In local coordinate system, the stiffness matrix for a general 2D beam element is :
𝑢𝑖 𝑣𝑖 𝜃𝑖 𝑢𝑗 𝑣𝑗 𝜃𝑗
𝐸𝐴 𝐸𝐴
0 0 − 0 0
𝐿 𝐿
12𝐸𝐼 6𝐸𝐼 12𝐸𝐼 6𝐸𝐼
0 0 −
𝐿3 𝐿2 𝐿3 𝐿2
6𝐸𝐼 4𝐸𝐼 6𝐸𝐼 2𝐸𝐼
k= 0 0 − 2
𝐿2 𝐿 𝐿 𝐿
𝐸𝐴 𝐸𝐴
− 0 0 0 0
𝐿 𝐿
12𝐸𝐼 6𝐸𝐼 12𝐸𝐼 6𝐸𝐼
0 − 3 − 2 0 − 2
𝐿 𝐿 𝐿3 𝐿
6𝐸𝐼 2𝐸𝐼 6𝐸𝐼 4𝐸𝐼
0 0 − 2
𝐿2 𝐿 𝐿 𝐿

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #29

 Examples

Solution 4

Element ConnectivityTable

Element Node i (1) Node j (2)

1 1 2
2 3 1
3 4 2

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #30

 Examples

Solution 4

For element 1, we have :

𝑢1 𝑣1 𝜃1 𝑢2 𝑣2 𝜃2
141,7 0 0 −141,7 0 0
0 0,784 56,4 0 −0,784 56,4
′
k1 = k1 = 104 × 0 56,4 5417 0 −56,4 2708
−141,7 0 0 141,7 0 0
0 −0,784 −56,4 0 0,784 −56,4
0 56,4 2708 0 −56,4 5417
For elements 2 and 3, the stiffness matrix in local system is :
𝑢𝑖′ 𝑣𝑖′ 𝜃𝑖′ 𝑢𝑗′ 𝑣𝑗′ 𝜃𝑗′
212,5 0 0 −212,5 0 0
0 2,65 127 0 −2,65 127
′ ′ 4
k2 = k3 = 10 × 0 127 8125 0 −127 4063
−212,5 0 0 212,5 0 0
0 −2,65 −127 0 2,65 −127
0 127 4063 0 −127 8125
where i = 3, j = 1 for element 2 and i=4, j=2 for element 3.
FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #31
 Examples

Solution 4

In general, the transformation matrix T is :

𝑙 𝑚 0 0 0 0
−𝑚 𝑙 0 0 0 0
0 0 1 0 0 0
T=
0 0 0 𝑙 𝑚 0
0 0 0 −𝑚 𝑙 0
0 0 0 0 0 1
We have : 𝑙 = 0 ; 𝑚 = 1 for both elements 2 and 3. Thus :
0 1 0 0 0 0
−1 0 0 0 0 0
0 0 1 0 0 0
T=
0 0 0 0 1 0
0 0 0 −1 0 0
0 0 0 0 0 1

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #32

 Examples

Solution 4

Using the transformation relation : k = T𝑇 k′ T

we obtain the stiffness matrices in the global coordinate system for elements 2 and 3 :
𝑢3 𝑣3 𝜃3 𝑢1 𝑣1 𝜃1
2,65 0 −127 −2,65 0 −127
0 212,5 0 0 −212,5 0
4
k2 = 10 × −127 0 8125 127 0 4063
−2,65 0 127 2,65 0 127
0 −212,5 0 0 212,5 0
−127 0 4063 127 0 8125
And
𝑢4 𝑣4 𝜃4 𝑢2 𝑣2 𝜃2
2,65 0 −127 −2,65 0 −127
0 212,5 0 0 −212,5 0
k3 = 104 × −127 0 8125 127 0 4063
−2,65 0 127 2,65 0 127
0 −212,5 0 0 212,5 0
−127 0 4063 127 0 8125
FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #33
 Examples

Solution 4

Assembling the global FE equation and noticing the following boundary conditions :

𝑢3 = 𝑣3 = 𝜃3 = 𝑢4 = 𝑣4 = 𝜃4 = 0 ; 𝐹1𝑋 = 3000 N ; 𝐹2𝑋 = 0 ;

𝐹1𝑌 = 𝐹2𝑌 = −36000 N ; 𝑀1 = −864000 N.m ; 𝑀2 = 864000 N.m

we obtain the condensed FE equation :

144,3 0 127 −141,7 0 0 𝑢1 3000
0 213,3 56,4 0 −0,784 56,4 𝑣1 −36000
127 56,4 13542 0 −56,4 2708 𝜃1 −864000
104 × 𝑢2 =
−141,7 0 0 144,3 0 127 0
0 −0,784 −56,4 0 213,3 −56,4 𝑣2 −36000
0 56,4 2708 127 −56,4 13542 𝜃2 864000

Solving this, we get :

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #34

 Examples

Solution 4
𝑢1
𝑣1
𝜃1
𝑢2 =
𝑣2
𝜃2

To calculate the reaction forces and moments at the two ends, we employ the element FE
equations for element 2 and element 3. We obtain :

𝐹3𝑋 𝐹4𝑋
𝐹3𝑌 = et 𝐹4𝑌 =
𝑀3 𝑀4

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #35

 Examples

Solution 4

Check the results:

Draw the free-body diagram of the frame. Equilibrium is maintained with the calculated forces and
moments.

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad #36

 THANK YOU

FINITE ELEMENT METHOD – Dr. Lokmane Abdeldjouad [End of Slide] #37