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Chapter 3
1D Spring/Truss Elements
Fall, 2006
1
What is Finite Element Method?
P P
undeformed deformed
X2 X2
X1 X1
Given P, what is u?
For linear elasticity, we want to find an approximate solution by:
[K]{u}={P} Linear equations
[K] is a matrix that shows the relationship between {u} and {P}.
3
Model the interface as
2 springs
F 1 2
F
3 4 5
Spring constant k
Displacements at each node?
Spring element = Truss element 4
Coordinate System
y
ŷ x̂
ẑ
Global Coordinate: (xyz)
5
1D Spring/Truss Element
x̂
1 2
In a spring element,
x̂
1 2
6
Single Spring Element
x̂
1 2
(
fˆ2 x = − fˆ1x = k dˆ2 x − dˆ1x )
fˆ1x = kdˆ1x − kdˆ2 x
7
Two Spring Elements
dˆ1x dˆ3 x dˆ2 x
k1 k2
3 2 x̂
1
① ②
F1x F3 x F2 x
Fix is the external force on the i-th node.
1 3 3 2
① ②
8
Two Spring Elements
Force balance at each node
1 3 3 2
① ②
9
Two Spring Elements
Global Stiffness Matrix
For element ① For element ②
⎧⎪ fˆ1(x1) ⎫⎪ ⎡ k1 − k1 ⎤ ⎧⎪ dˆ1x ⎫⎪ ⎧⎪ fˆ3(x2) ⎫⎪ ⎡ k 2 − k 2 ⎤ ⎧⎪dˆ3 x ⎫⎪
⎨ ˆ (1) ⎬ = ⎢ ⎨ ⎬ ⎨ ˆ ( 2) ⎬ = ⎢ ⎥ ⎨ˆ ⎬
⎪⎩ f 3 x ⎪⎭ ⎣− k1 k1 ⎥⎦ ⎪⎩dˆ3 x ⎪⎭ ⎪⎩ f 2 x ⎪⎭ ⎣− k 2 k 2 ⎦ ⎪⎩d 2 x ⎪⎭
10
Two Spring Elements
Global Stiffness Matrix
⎧ F1x ⎫
⎪ ⎪
⎨ F2 x ⎬ Global (external) nodal force matrix
⎪F ⎪
⎩ 3x ⎭ ⎡ k1 0 − k1 ⎤
⎢ 0 k2 − k 2 ⎥⎥ Global stiffness
⎢ matrix
⎢⎣− k1 − k2 k1 + k 2 ⎥⎦
⎧ dˆ1x ⎫
⎪ˆ ⎪
⎨d 2 x ⎬ Global nodal displacement matrix
⎪ dˆ ⎪
⎩ 3x ⎭
11
Global Stiffness Matrix
Direct Stiffness Method
12
Global Stiffness Matrix
Direct Stiffness Method
⎪ ⎪ ⎪ (1) ⎪ ⎪ ( 2) ⎪
⎨ F2 x ⎬ = ⎨ f 2 x ⎬ + ⎨ f 2 x ⎬
⎪ F ⎪ ⎪ f (1) ⎪ ⎪ f ( 2) ⎪
⎩ 3x ⎭ ⎩ 3x ⎭ ⎩ 3x ⎭
⎡ k1 0 − k1 ⎤ ⎧ dˆ1x ⎫ ⎡0 0 0 ⎤ ⎧ dˆ1x ⎫
⎢ ⎥ ⎪ˆ ⎪ ⎢ ⎥ ⎪ˆ ⎪
= ⎢ 0 0 0 ⎥ ⎨d 2 x ⎬ + ⎢ 0 k 2 − k 2 ⎥ ⎨d 2 x ⎬
⎢⎣− k1 0 k1 ⎥⎦ ⎪dˆ3 x ⎪ ⎢⎣0 − k 2 k 2 ⎥⎦ ⎪dˆ3 x ⎪
⎩ ⎭ ⎩ ⎭
⎡ k1 0 − k1 ⎤ ⎧ dˆ1x ⎫
⎪ˆ ⎪
= ⎢⎢ 0 k2 ⎥
− k 2 ⎥ ⎨d 2 x ⎬
⎢⎣− k1 − k2 k1 + k 2 ⎥⎦ ⎪dˆ3 x ⎪
⎩ ⎭
13
Global Stiffness Matrix
Properties of Global Stiffness Matrix
⎧ F1x ⎫ ⎡ k1 0 − k1 ⎤ ⎧ dˆ1x ⎫
⎪ ⎪ ⎢ ⎥ ⎪ˆ ⎪
⎨ F2 x ⎬ = ⎢ 0 k2 − k 2 ⎥ ⎨d 2 x ⎬
⎪ F ⎪ ⎢− k − k2 k1 + k 2 ⎥⎦ ⎪ dˆ3 x ⎪
⎩ 3x ⎭ ⎣ 1 ⎩ ⎭
1. The product of the i-th row of the global stiffness matrix and the
global displacement matrix gives the external force on the i-th DOF
of the system.
14
Global Stiffness Matrix
Properties of Global Stiffness Matrix
⎧ F1x ⎫ ⎡ k1 0 − k1 ⎤ ⎧ dˆ1x ⎫
⎪ ⎪ ⎢ ⎥ ⎪ˆ ⎪
⎨ F2 x ⎬ = ⎢ 0 k2 − k 2 ⎥ ⎨d 2 x ⎬
⎪ F ⎪ ⎢− k − k2 k1 + k 2 ⎥⎦ ⎪ dˆ3 x ⎪
⎩ 3x ⎭ ⎣ 1 ⎩ ⎭
Cannot find a solution because
15
Boundary Conditions
⎧ F1x ⎫ ⎡ k1 0 − k1 ⎤ ⎧ 0 ⎫
⎪ ⎪ ⎢ ⎥ ⎪ˆ ⎪
⎨ F2 x ⎬ = ⎢ 0 k2 − k 2 ⎥ ⎨d 2 x ⎬
⎪ F ⎪ ⎢− k − k2 k1 + k 2 ⎥⎦ ⎪⎩ dˆ3 x ⎪⎭
⎩ 3x ⎭ ⎣ 1
F1x = 0 +0 − k1dˆ3 x
F2 x = 0 + k 2 dˆ2 x − k dˆ
2 3x
F3 x = 0 − k dˆ 2 2x + (k1 + k 2 )dˆ3 x
16
Boundary Conditions
F1x = 0 +0 − k1dˆ3 x
F2 x = 0 + k 2 dˆ2 x − k dˆ2 3x
F3 x = 0 − k dˆ 2 2x + (k1 + k 2 )dˆ3 x
⎧ F1x ⎫ ⎡ k1 0 − k1 ⎤ ⎧ 0 ⎫
⎪ ⎪ ⎢ ⎪ ⎪
⎨ F2 x ⎬ = ⎢ 0 k2 − k 2 ⎥⎥ ⎨dˆ2 x ⎬
⎪ F ⎪ ⎢− k − k2 k1 + k 2 ⎥⎦ ⎪⎩ dˆ3 x ⎪⎭
⎩ 3x ⎭ ⎣ 1
⎡ k2 − k2 ⎤
det ⎢ ⎥ ≠0
⎣− k 2 k1 + k 2 ⎦
17
Boundary Conditions
⎧ F1x ⎫ ⎡ k1 0 − k1 ⎤ ⎧ 0 ⎫
⎪ ⎪ ⎢ ⎪ ⎪
⎨ F2 x ⎬ = ⎢ 0 k2 − k 2 ⎥⎥ ⎨dˆ2 x ⎬
⎪ F ⎪ ⎢− k − k2 k1 + k 2 ⎥⎦ ⎪⎩ dˆ3 x ⎪⎭
⎩ 3x ⎭ ⎣ 1
F1x = 0 + 0 − k1dˆ3 x
F2 x = 0 + k 2 dˆ2 x − k 2 dˆ3 x (dˆ ˆ
2 x , d3x )
F3 x = 0 − k 2 dˆ2 x + (k1 + k 2 )dˆ3 x
18
Boundary Conditions
(dˆ ˆ
2 x , d3x ) F1x = 0 + 0 − k1dˆ3 x
⎧ F1x ⎫ ⎡ k1 0 − k1 ⎤ ⎧ 0 ⎫
⎪ ⎪ ⎢ ⎪ ⎪
⎨ F2 x ⎬ = ⎢ 0 k2 − k 2 ⎥⎥ ⎨dˆ2 x ⎬
⎪ F ⎪ ⎢− k − k2 k1 + k 2 ⎥⎦ ⎪⎩ dˆ3 x ⎪⎭
⎩ 3x ⎭ ⎣ 1
19
Global Stiffness Matrix & Direct Stiffness Method
1 2 3
⎡ k1 0 − k1 ⎤ F1x 1
[K ] = ⎢⎢ 0 k2 − k 2 ⎥⎥ F2 x 2
⎢⎣− k1 − k2 k1 + k 2 ⎥⎦ F3 x 3
20
Global Stiffness Matrix & Direct Stiffness Method
1 … i … j … N
⎡ ⎤ 1
⎢ ⎥ …
⎢ ⎥
⎢ K ij ⎥ i
⎢ ⎥
[K ] = ⎢ ⎥ …
⎢ ⎥ j
⎢ ⎥
⎢ ⎥ …
⎢ ⎥
⎣ ⎦ N
N by N matrix
K ii K jj K ij
21
Global Stiffness Matrix & Direct Stiffness Method
⎡ k1 0 − k1 ⎤ ⎡0 0 0 ⎤
⎢ 0 0 0 ⎥⎥ ⎢0 k
⎢ ⎢ 2 − k 2 ⎥⎥
⎢⎣ − k1 0 k1 ⎥⎦ ⎢⎣0 − k 2 k 2 ⎥⎦
⎡ k1 0 − k1 ⎤ ⎡0 0 0 ⎤ ⎡ k1 0 − k1 ⎤
⎢ 0 0 0 ⎥ + ⎢0 k − k 2 ⎥⎥ [K ] = ⎢⎢ 0 k2 − k 2 ⎥⎥
⎢ ⎥ ⎢ 2
⎢⎣− k1 0 k1 ⎥⎦ ⎢⎣0 − k 2 k 2 ⎥⎦ ⎢⎣− k1 − k2 k1 + k 2 ⎥⎦
22
Global Stiffness Matrix & Direct Stiffness Method
1 ① 3 3 ② 2
Element number
1 3 2 3
⎡k11(1) ⎡ k2 − k2 ⎤ 2 ⎡k 22 ⎤
⎡ k1 − k1 ⎤ 1 k13(1) ⎤
( 2) ( 2)
k 23
⎢− k ⎢ ( 2) ( 2) ⎥
⎢− k
⎣ 1 k1 ⎥⎦ ⎢ (1) (1) ⎥ ⎣ 2 k 2 ⎥⎦ ⎣k 23 k33 ⎦
3
3
⎣k13 k33 ⎦
23
Global Stiffness Matrix & Direct Stiffness Method
1 2 3 1 2 3
⎡ k11(1) 0 k13(1) ⎤ 1 ⎡0 0 0 ⎤ 1
⎢ ⎥ ⎢0 k ( 2 ) ( 2) ⎥
⎢ 0 0 0 ⎥ 2
⎢ 22 k 23 ⎥ 2
⎢ k13(1) (1) ⎥
0 k 33 ⎢⎣0 k 23
( 2) ( 2)
⎥⎦ 3
⎣ ⎦ 3 k 33
⎡k11(1) 0 k13(1) ⎤
⎢ ( 2) ( 2) ⎥
⎢ 0 k 22 k 23 ⎥
⎢k13(1) ( 2)
k 23 (1)
k33 + k33 ( 2) ⎥
⎣ ⎦
24
Global Stiffness Matrix & Direct Stiffness Method
i j
N by N matrix ⎡kii( I ) kij( I ) ⎤
⎢ (I ) ⎥
1 … i … j … N ⎣⎢kij k (jjI ) ⎦⎥
⎡ ⎤ 1
⎢ ⎥ …
⎢ ⎥
⎢ ⎥ i
[K ] = ⎢⎢ ⎥
⎥ …
⎢ ⎥ j
⎢ ⎥
⎢ ⎥ …
⎢ ⎥
⎣ ⎦ N
25
Global Stiffness Matrix & Direct Stiffness Method
Example
k1 k2 k3 k4 k5 k6
1 2 3 4 5 6 7
26
27
Global Stiffness Matrix & Direct Stiffness Method
Example
⎡ k1 − k1 0 0 0 0 0 ⎤
⎢ −k k1 + k 2 − k2 0 0 0 0 ⎥
⎢ 1 ⎥
⎢ 0 − k2 k 2 + k3 − k3 0 0 0 ⎥
⎢ ⎥
⎢ 0 0 − k3 k3 + k 4 − k4 0 0 ⎥
⎢ 0 0 0 − k4 k 4 + k5 − k5 0 ⎥
⎢ ⎥
⎢ 0 0 0 0 − k5 k5 + k 6 − k6 ⎥
⎢ 0 − k6 ⎥
⎣ 0 0 0 0 k6 ⎦
28
Global Stiffness Matrix & Direct Stiffness Method
Physical Implication of K ij
The product of the i-th row of the global stiffness matrix and the global
displacement matrix gives the external force on the i-th DOF of the system.
⎧ ⎫ ⎡ ⎤ ⎧ d1 ⎫
⎪ ⎪ ⎢ ⎥ ⎪ ... ⎪
⎪⎪ ⎪⎪ ⎢ ⎥ ⎪⎪ ⎪⎪
⎨ Fi ⎬ = ⎢ K i1 ... K ij ... K iN ⎥ ⎨ d j ⎬ Fi = K i1d1 + ... + K ij d j + ... + K iN d N
⎪ ⎪ ⎢ ⎥⎪ ⎪
⎪ ⎪ ⎢ ⎥ ⎪ ... ⎪
⎪⎩ ⎪⎭ ⎢⎣ ⎥⎦ ⎪⎩d N ⎪⎭
29
Global Stiffness Matrix & Direct Stiffness Method
Physical Implication of K ij
d1 = d 2 = d j −1 = d j +1 = d N = 0 d j =1
Fi = K ij
So, Kij is equal to the reaction force on the i-th DOF due to
a unit displacement on the j-th DOF whereas all the other
DOFs are fixed.
30
Global Stiffness Matrix & Direct Stiffness Method
Physical Implication of K ij
km kn
i j
km kn
i j
31
Global Stiffness Matrix & Direct Stiffness Method
⎡ ⎤ ⎧ d1 ⎫ ⎧ F1 ⎫
⎢ ⎥⎪ d ⎪ ⎪ F ⎪
⎢ 0 ⎥⎪ 2 ⎪ ⎪ 2 ⎪
⎢ ⎥ ⎪ ... ⎪ ⎪ ... ⎪
⎢ ⎥⎪ ⎪ ⎪ ⎪
⎢ ⎥ ⎪ ... ⎪ = ⎪ ... ⎪
⎢ ⎥ ⎨ ... ⎬ ⎨ ... ⎬
⎢ ⎥⎪ ⎪ ⎪ ⎪
⎢ Symm. ⎥ ⎪ ... ⎪ ⎪ ... ⎪
⎢ ⎥ ⎪ ... ⎪ ⎪ ... ⎪
⎢ ⎥⎪ ⎪ ⎪ ⎪
⎢⎣ ⎥⎦ ⎪⎩d N ⎪⎭ ⎪⎩ FN ⎪⎭