inite Element Analysis

Dr. Latha Nagendran

Professor
AU-FRG I.C.C

BEAM ELEMENTS

Beam in Bending-Continued
Considering the equilibrium of vertical
forces and moments, we have the
governing equation:
Fy 0
Q Q dQ qdx 0
dQ
q( x) 0 1
dx
M 0
M Qdx M dM
dM
Q 2
dx
8

dM
Sub Q
in eqn. 1
dx
d dM

q( x) 0
dx dx
2
d M
q( x) 0
2
dx
2
d w
Now M EI
2
dx
2
2

d
d w
EI
q( x) 0
2
2
dx
dx

Governing Differential Equation

d 4 w(x)
EI
q(x);
q is the distributed loading
4
dx
Boundary
conditions
could
involve
specification of any of the following variables
w transverse displacement
dw

Slope
dx
d 2w
M EI 2 Moment
dx
3
d w
Q EI 3 Shearforce
dx
10

Boundary conditions
w

transverse displacement

dw

dx

Slope

Primary
variables

d w
M EI 2 Moment
dx
d 3w
Q EI 3 Shearforce
dx

Secondary
variables

11

Possible loads
Distributed load (uniform or non-uniform),
Transverse loads, Transverse moments or
combination loading in transverse direction

12

Shape functions for beam element

Sign conventions

13

w (x) a0 a1 x a2 x a3 x (1)
2

w (x) 1

x2

a0
a
1

x3

(2)

a2
a3

(x) a1 2a2 x 3a3 x (3)

2

(x) 0

2x

3x

a0
a
1

a2
a3

(4)
14

At x=0 w=w1 and = 1

At x=l w=w2 and = 2
at x 0

w1 a0 a1 0 a2 0 a3 0
1 0 a1 2a2 0 3a3 0

xl

w2 a0 a1l a2l a3l

2 0 a1 2a2l 3a3l

15

 w1 1
0
1

1
w
2

2 0

1
a0
0
a
1

1
a
2

a3
0

0
1

0
0
2

2l

0
1
l
1

0
0
2
l
2l

0 a0

0 a1

3
l a2
2
3l a3

0
0
3
l
3l 2

w1

1

w2
2
16

w (x) 1 x

x2

w(x) N 1

1 0
0 1
x3
1 l

0 1

N2

N3

0
0
l2
2l

0
0
l3
3l 2

w1

1

w2
2

w1

1
N4

w2
2
17

 3x 2
N 1 1 2
l

2x3
3
l

2x 2
N 2 x
l
3x 2
N 3 2
l
x2
N 4
l

x3
2
l

2x3
3
l

x3
2
l

These shape functions are based on

Hermitian polynomials
18

N1 & N2 associated with displacement

N2 & N4 associated with slopes
19

Ritz Weak Formulation

d 4 w( x)
0 EI dx 4 q( x) v( x)dx 0 v( x) is the weighting function
l

d 4 w( x)
0 EI dx 4 v( x)dx 0 q( x)v( x)dx 0

Integration by parts,
d 4 w( x)
dv EI
dx 4

u v(x);

d w
v( x) EI 3
dx

d 3 w( x)
v EI
dx 3

d 3 w dv
EI 3
dx q( x)v( x)dx 0
dx dx
20

d 2v
and du =
dx 2

dv
Now u =
,
dx

d w
and v = EI 2
dx

d w
dv = EI 3 ,
dx

d w
v( x) EI 3
dx

dv
d w

EI
2
dx
dx

d 2 w d 2v
EI
dx q ( x)v( x)dx 0
2
2
dx dx

Rearranging,
dv
d wd v
d w
0 EI dx 2 dx 2 dx 0 q( x)v( x)dx dx EI dx 2
l

d w
v( x) EI 3
dx

21

 dv
d wd v
d w
0 EI dx 2 dx 2 dx 0 q( x)v( x)dx dx EI dx 2

dv
d wd v
d w
0 EI dx 2 dx 2 dx 0 q( x)v( x)dx dx EI dx 2

Slope Moment

d w
v( x) EI 3
dx

d w
v( x) EI 3
dx

Shear force

Displacement

22

d wd v
0 EI dx 2 dx 2 dx

q(x)v(x)dx
0

M(l)(l) M(0)(0) Q(l)w(l) Q(0)w(0)

Strain Energy

= Work Done by UDL +

Work done by moment +
Work done by shear

force
23

 From the quadratic functional we see that

specification of
w
and
dw/dx=
constitutes
the
essential
boundary
conditions.
Specification of Q and M
natural boundary conditions

constitutes the

Since a quadratic functional exists

minimizing it will lead to the equilibrium
equations in either the direct form or in the
variational (weak) form
24

Substituting for w(x) and v(x) as given below

w1

1
w( x) N 1 N 2 N 3 N 4

w2
2
ie

w( x) N 1 w1 N 21 N 3 w2 N 4 2
and
v( x) N 1 , N 2 , N 3 , N 4
25

Substituting for the displacement in the

weak form of the equation, and taking the
weighting functions as the shape functions,
we get a system of 4 equations in 4
unknowns.

K u f

 K u f
2

d Ni d N j
K ij EI
dx
2
2
dx
dx
0
l

f j q(x)N j (x)dx
0

w1

1
where u

w2
2

Stiffness Matrix for beam element

2
l
2
d
Nj
d Ni
K ij EI
dx
2
2
dx
dx
0

3x 2
N 1 1
2
l

N 2 x

3x 2
N 3
2
l

N 4

2x 3

3
l

x3
2x 2
2
l
l

2x 3

3
l

x3
x2
2
l
l

28

dN 1
dx

d 2 N1
6
12x
2
2
dx
l
l3

6x 6x 2
2 3
l
l

dN 2
4x
3x
1
2
dx
l
l
dN 3
6x 6x 2
2 3
dx
l
l
dN 4
2x
3x

2
dx
l
l

d 2 N2
4
6x
2
2
dx
l
l
d 2 N3
6
12x
2
2
dx
l
l3
d 2 N4
2
6x

2
2
dx
l
l

29

d N1 d N1
K 11 EI
dx
2
2
dx
dx
0

K 11 EI
0

6 12 x
2 3
l
l

dx

EI
12 3
l
30

d N1 d N 2
K 12 EI
dx
2
2
dx
dx
0

EI

6 12x
2 3
l
l

EI
6 2 K 21
l
0

4
6
dx
l
l2

K 13 EI
0

6 12x
2 3
l
l

6 12x

3 dx
2
l
l

EI
12 3 K 31
l
6EI
K 14 2 K 41
l

4EI
K 22
l

6EI
K 23 2 K 32
l
32

2EI
K 24
K 42
l

12EI
K 33 3
l
6EI
K 34 2 K 43
l

4EI
K 44
l

6l
12
6l
2
4l
EI
e
StiffnessMatrix K 3
l 12 6l

2
2l
6l

12
6l
12
6l

6l
2l 2

6l
2

4l

Now the load vector is given by

l

f j q(x)N j (x)dx
0

34


3x 2 2x 3
f 1 q(x)N 1(x)dx q(x) 1 2 3 dx
l l
0
0

ql

2
2
3

2x x
2 dx
f 2 q(x)N 2(x)dx q(x) x

l
l

0
0

ql

12

35


f 3 q(x)N 3(x)dx q(x)
0
0

ql

3x 2 2x 3
2 3 dx

l
l

2
3

2x x
2 dx
f 4 q(x)N 4(x)dx q(x) x

l
l

0
0

ql

12

Load Vector is given by

ql

l/6

1
l/6

Hence the element stiffness and load vector

for the beam element are given by
6l
12
6l
2
4l
EI
e
StiffnessMatrix K 3
l 12 6l

2
6l
2l

ql

1 R

l/6 0

1 0
l/6 M

12
6l
12
6l

6l
2
2l

6l
2

4l

Beam Element
For a classical beam element,

w( x) N1 N 2 N 3

w 1

1
N4
w 2
2
2

d N1 d N 2 d N3
du d dw
dw
xx z z 2 z
2
2
2
dx dx dx
dx
dx
dx
dx

w 1

2
d N 4 1

2
dx w 2
2

40

Example 1: Cantilever Beam subjected to

point load at the tip

Boundary conditions for this beam are

At x 0, w1 0 and 1 0
d 3w
d 2w
At x l, EI 3 P and EI 2 M 0
dx
dx
41

The Equilibrium Equation is given by

12

6l
2

EI 6L 4l
l 3 12 6l
2
6l
2l

12

6l

6L

2l

12

6l

6l

4l

w1

1

w2

R
M

2 O

Imposing the essential Boundary conditions

we can strike off columns 1 & 2 & Rows 1 & 2
which leaves us with

EI 12

3
l 6l

6l

2
4l

w2 P

2 O
42

Which gives the equations.

12EI
6EI
w2 2 2 P
3
l
l
6EI
4EI
2 w2
2 0
l
l
Solving for 2 & w2 we get
2

Pl
Pl
2
and w2
2 EI
3EI
43

Example 2: Simply supported beam with

uniformly distributed load

The above beam can be idealized by using one

element. The entire beam need not be
modeled.

Instead,

taking

advantage

of

symmetry we can model one half of the beam

44

The boundary conditions in this case are

d 2w
At x 0, w1 0 and EI 2 0
dx
d 2w
At x l , 2 0 and EI 2 0
dx
The stiffness matrix is given by
6l 12 6l w1
12
1 R

6l
l/6 0
2
2

4l

6l
2l
EI
fl
1

3
l 12 6l 12 6l w2
2 1 0

2
2
l/6 M
2l
6l 4l 2
6l
45

Where R is the reaction at left end and M is the

moment at mid section.
The reduced stiffness matrix after imposing
Boundary conditions are given by
6l
12
6l
2
4
l
EI
l 3 12 6l

2
6
l
2
l

4
l
EI
3
l 6l

12 6l w1
1 R
l /6 0
6l 2l 2 1
fl

12 6l w2
2 1 0
2
l / 6 M
6l 4l 2

6l

12

1
fl l / 6 0

2 1 0
w2
46

4EI1 6EIw2
fl
2

l
L
12
6EI1 12EIw2 fl
2

3
l
l
2
8EI1 12EIw2
fl

2
3
l
l
6
fl
1
3EI

5 fl
w1
24 EI

47

Substitute l L 2
We get

fl
1
24EI

5fL
w1
384EI

48

Example 3: Fixed Fixed beam with central

load

The above beam can be modeled taking

advantage of symmetry as a single element

49

Boundary conditions:

At x 0, w1 0 and 1 0
3

d w
P
At x l , 2 0 and EI 3
dx
2
Deleting 1st , 2nd and 4th rows and columns
of the stiffness matrix the equilibrium
equation is given by

50

6l
12
6l
2
4
l
EI
l 3 12 6l

2
6
l
2
l

12
6l
12
6l

6l
2l 2

6l
2
4l

w2
2

w1

1

R
M

P / 2
M

Deleting 1st , 2nd and 4th rows and

columns of the stiffness matrix the
equilibrium equation is given by
51

EI
P
12 3 w2
l
2
P l3
or w2
2 12EI
Pl 3

24 EI
L
Substituti ng l we get
2
3
PL
w2
192EI

Downwards

52

EXAMPLE 4: The beam shown in fig is fixed at

both ends and supported between the ends
with a simple support that allows rotation.
Compute the rotation and reaction at the
supports. Also determine the moments and
shear forces.

53

The given beam can be discretized into two

elements as shown below

The stiffness matrix & equations are given by

Element 1
6L 12 6L
12
6L 4L2 6L 2L2
EI

3
L 12 6L 12 6L

2
2
6L 2L 6L 4L

w1

1

1
L/6
fL

2 1
w2
2
L/6

Element 2
6(2L)
12
6(2L)
12
6(2L) 4(2L)2 6(2L) 2(2L)2
EI

12
6(2L)
(2L)3 12 6(2L)

2
2
6(2L) 2(2L) 6(2L) 4(2L)

w1 0
0
1

w2 0
2 0
55

The global stiffness matrix is a (6 x 6) matrix.

Boundary conditions are
w1 = w 2 = w 3 = 1 = 3 = 0
The global equations now reduces to one
equation and one unknown, 2 [Remove 1st, 2nd,
3rd, 5th, & 6th rows & columns].

EI
fL
2
2
4L 2L 2
3
L
12
3
fL
or 2
74 EI

56

Now to compute reactions and moments for

each span we utilize the local stiffness matrix
for that span. Let the reactions and moments
for the span 1-2 be R1, M1, R2 and M2.
6L 12 6L
12
6L 4L2 6L 2L2
EI

L3 12 6L 12 6L

2
2
6L 2L 6L 4L

fL
0 2

f L3

72EI

1 R1
L/6 M 1

1 R2
L/6 M 2
57

Solving we get
2

7 fL
fL
5 fL
WL
1
R1
; M1
; R2
;M2
12
9
12
36

R2 represents the reaction at node 2 which is

the sum of shear forces at 2 nd node of
element (1) and that at the 1 st node of element
(2). Thus R2 = R12 + R22.
The stiffness matrix for element (2) can be
used to compute R22, M2, R3 and M3.
58

12L
12
12L
12
12L 16L2 12L 8L2
EI

12
12L
8L3 12 12L

2
2
12L 16L
12L 8L

Solving we get
fL
fL
2
R2
R3
48
48
2
2
fL
fL
M2
M3
36
72
1
2
R2 R2 R2

0 R2
2
3
fL

M2
72EI

0 R3
0 M 3

59

VIBRATION OF BEAMS
The 2 Noded Beam element can be used to
determine the natural frequency of transverse
vibration.

The

governing

equations

for

transverse vibration of a beam is given by

4

d w
d w
EI 4 2 0
dx
dt

(1)

This can be converted to a different form by

considering

60

w(t ) Wsinn t

dw
w(t )
Wn cos n t
dt
.

d w
2
2
w(t ) 2 W n sin n t w n
dt
..

d w
EI 4 wn2 0 2
dx

The weak form of this eqn. is given by

l

d wd v
2
0 EI dx 2 dx 2 dx 0 Aw( x)v( x)dxn 0

61

Substituting for w(x) and v(x) as given below

w( x) N 1

N2

N3

w1

1
N4

w2
2

ie
w( x) N 1 w1 N 21 N 3 w2 N 4 2
and
v( x) N 1 , N 2 , N 3 , N 4

d Ni d N j
K ij EI
dx
2
2
dx
dx
0
l

M ij AN i N j dx 0
0

The elemental matrixes are given by

6l
12
6l
2
4l
EI
Stiffness Matrix 3
l 12 6l

2
6l
2l

156
22l
Al
Mass Matrix M
420 54

13l

12 6l
2
6l 2l
12 6l
2
6l 4l

22l

54

4l 2
13l
3l 2

13l
156
22l

13l

3l 2
22l
2
4l
64

The Eigen Value problem is given by

K w M w 0
2
or K M n w 0
2
n

Here {w} gives the eigen vector or the vector

that defines the mode shape corresponding to
each eigen value n (Natural frequency).
Since w 0 K M 0
This equation can be solved for natural
frequencies.
2
n

65

Example 1
Natural Frequency of a fixed fixed Beam

Boundary conditions are w1 = 1 = 2 = 0.

Therefore the eigen value equation reduces
to the following.
66

6l
12
6l
2
4l
EI
K 3
l 12 6l

2
2l
6l
156
22
A
e
[M]
420 54

-13

12
6l
12
6l

6l
2
2l
6l
2
4l

22 54
-13
2
2
4
13 -3
13 156 -22
2
2
-3 -22 4

6l
12
6l
2
4l
EI
l 3 12 6l

2
6l
2l

6l
12

4l 2
EI 6l
l 3 12 6l

2
6l
2l

12 6l
156 22
6l 2l 2 A 22 4 2

12 6l 420 54
13

2
6l 4l 2
-13

-3

12 6l
156 22
6l 2l 2 A 22 4 2

12 6l 420 54
13
2

2
6l 4l
-13

-3

-13
13 -32 2
n 0
156 -22
2
-22 4
54

-13
13 -32 2
n 0
156 -22
2
-22 4
54

EI 156 A 2
12 3
n 0
l
420
Dividing throughout by 12 EI and solving for
3
l
n we get
5.68 EI
n 2
A
l

l
Substitute L
2

22.735
n
2
L

EI
A

Note:In such vibration problems if we require first

two natural frequencies then we shall have to
discretize the beam into two elements, which
will give 2 positive roots.
The lower frequency represents the first
(fundamental) natural frequency and the higher
the second natural frequency.
Substituting the natural frequencies we can
obtain the nodal displacements which
represents the mode shape.
70

Example 2: Natural frequency of cantilever

Beam

Boundary conditions for this beam are

At x 0, w1 0 and 1 0
3

d w
d w
At x l , EI 3 0 and EI 2 M 0
dx
dx
71

6l
12

4l 2
EI 6l
l 3 12 6l

2
6
l
2
l

12 6l
156 22
6l 2l 2 A 22 4 2

12 6l 420 54
13
2

2
6l 4l
-13

-3

-13
13 -32 2
n 0
156 -22
2
-22 4
54

EI
Dividing throughout by 3 and putting
l
4
A

420 EI

(12 15656) 4l ) (22l 6l) 0

2

Dividing throughout 4L2

(12 156 )(1 ) (11l 3l ) 0

2

12 12 156 156 121l 9 66 0

2

35 102 3 0
2

Solving for the roots of the above equation we

get when 1 = 0.03 and 2 = 2.88

when 1 = 0.03

3.55
n 2
l

EI
A

When 2 =2 .88

34.78
n 2
l

EI
A
74

75

Natural frequency of vibration of a simply

supported beam:

(2) Boundary Condition : w1 = 0 & 2 = 0

77

6l
12

4l 2
EI 6l
l 3 12 6l

2
6
l
2
l

12 6l
156 22
6l 2l 2 A 22 4 2

12 6l 420 54
13
2

2
6l 4l
-13

-3

-13
13 -32 2
n 0
156 -22
2
-22 4
54

Equilibrium Equation is

EI 4l

3
2
l 2l
2

2l Al 4l
2

420 3l
4l
2

2
n

3l
2
4l

Solving the above we get

10.94
n1 2
l

EI
A

50.12
n 2 2
l

EI
A

79

6l
12
6l
4l 2
EI
K 3
l 12 6l

2
6l
2l

156
22
A

[M] e
420 54

-13

ql

12
6l
12
6l

6l
2
2l

6l
2
4l

22 54 -13
4 2 13 -32
13 156 -22
2
2
-3 -22 4

1 R
l / 6 0

1 0
l / 6 M

80

81

82

83