CHAP 4 FINITE ELEMENT ANALYSIS OF

BEAMS AND FRAMES

FINITE ELEMENT ANALYSIS AND DESIGN

Nam-Ho Kim

1
 INTRODUCTION
We learned Direct Stiffness Method in Chapter 2
Limited to simple elements such as 1D bars
In Chapter 3, Galerkin Method and Principle of Minimum
Potential Energy can be applied to more complex elements
we will learn Energy Method to build beam finite element
Structure is in equilibrium when the potential energy is minimum
Potential energy: Sum of strain energy and potential of
applied loads
Potential of
Interpolation scheme: P =U+V applied loads
Strain energy
v(x) = {q}
N(x)

Beam Interpolation Nodal

deflection function DOF
2
 BEAM THEORY
Euler-Bernoulli Beam Theory
can carry the transverse load
slope can change along the span (x-axis)
Cross-section is symmetric w.r.t. xy-plane
The y-axis passes through the centroid
Loads are applied in xy-plane (plane of loading)

y y
Neutral axis
Plane of loading
x z
A
L
F F

3
 BEAM THEORY cont.
Euler-Bernoulli Beam Theory cont.
Plane sections normal to the beam axis remain plane and normal to
the axis after deformation (no shear stress)
Transverse deflection (deflection curve) is function of x only: v(x)
Displacement in x-dir is function of x and y: u(x, y)

dv
u du0 d2 v dv
u(x,y) = u0 (x) - y e xx = = -y 2 q=
dx
x dx dx dx
y
y(dv/dx)
Neutral axis

x y q = dv/dx
L
F v(x)

4
 BEAM THEORY cont.
Euler-Bernoulli Beam Theory cont.
u du0 d2 v
e xx = = -y 2
Strain along the beam axis: e0 = du0 / dx
x dx dx
Strain exx varies linearly w.r.t. y; Strain eyy = 0
Curvature: -d v / dx
2 2

Can assume plane stress in z-dir basically uniaxial status
d2 v
s xx = Ee xx = Ee0 - Ey 2
dx
Axial force resultant and bending moment
d2 v
P= s xx dA = Ee 0 dA - E 2 ydA P = EAe 0
A A
dx A
d2 v
d2 v 2 M = EI 2
M = - ys xx dA = -Ee 0 ydA + E 2 y dA dx
A A
dx A

EA: axial rigidity

Moment of inertia I(x)
EI: flexural rigidity
5
 BEAM THEORY cont.
Beam constitutive relation
We assume P = 0 (We will consider non-zero P in the frame element)
Moment-curvature relation:

d2 v
M = EI 2 Moment and curvature is linearly dependent
dx
Sign convention +Vy
+M y +M
+P x +P

+Vy

Positive directions for applied loads

y
p(x)

x C1 C2 C3

F1 F2 F3 6
 GOVERNING EQUATIONS
Beam equilibrium equations
dVy dVy
fy = 0 p(x)dx + Vy + dx dx - Vy = 0 dx
= -p(x)

dM dx dM
-M +
M+ dx - ( pdx ) + Vy dx = 0 Vy = -
dx 2 dx
4
Combining three equations together: EI d v = p(x)
Fourth-order differential equation dx 4

p
d Vy
Vy + dx
dx

dM
M Vy M+ dx
dx

dx 7
 STRESS AND STRAIN
Bending stress
d2 v d2 v
s xx = -Ey 2 M = EI 2
dx dx

M(x)y
s xx (x, y) = -
I Bending stress

This is only non-zero stress component for Euler-Bernoulli beam

Transverse shear strain

u v
v v dv
g xy = + =- + =0 u(x,y) = u0 (x) - y

y x
x x dx
Euler beam predicts zero shear strain (approximation)
VQ
t
Traditional beam theory says the transverse shear stress is xy =
Ib
However, this shear stress is in general small compared to
the bending stress

8
 POTENTIAL ENERGY
Potential energy P =U+V
Strain energy
Strain energy density
2 2
1 1 1 d2 v 1 2 d2 v
U0 = s xx e xx = E( e xx ) = E - y 2 = Ey 2
2

2 2 2 dx 2 dx

Strain energy per unit length 2 2

1 2 d2 v 1 d2 v 2
UL (x) = U0 (x,y,z)dA = Ey 2 dA = E 2 y dA
A A
2 dx 2 dx A
2
1 d2v Moment of
UL (x) = EI 2 inertia
2 dx

2
L 1 L d v
2
U =
Strain U (x)dx
0 energy
L =
2
0
EI 2 dx
dx

9
 POTENTIAL ENERGY cont.
Potential energy of applied loads
NF NC
L dv(xi )
V = -p(x)v(x)dx - Fv(x
i i) - Ci
0
i=1 i=1 dx
Potential energy
2 NC
1 L d v 2
L
NF
dv(xi )
P = U+ V = EI 2 dx - p(x)v(x)dx - Fv(x
i i ) - Ci
2 0 dx 0
i=1 i=1 dx

Potential energy is a function of v(x) and slope

The beam is in equilibrium when P has its minimum value
P

P

=0
v

v* v 10
 RAYLEIGH-RITZ METHOD
1. Assume a deflection shape
v(x) = c 1f1(x) + c 2 f2 (x)..... + c n fn (x)

Unknown coefficients ci and known function fi(x)

Deflection curve v(x) must satisfy displacement boundary conditions
2. Obtain potential energy as function of coefficients
P (c 1,c 2 ,...c n ) = U + V

3. Apply the principle of minimum potential energy to determine

the coefficients
P
P P
= =L = =0

c1 c2
cn

11
 EXAMPLE SIMPLY SUPPORTED BEAM
Assumed deflection curve p0
px
v(x) = C sin
L
E,I,L
Strain energy
2
1 d v
L C2EIp 4
2
U= EI 2 dx =
2 0
dx 4L3
Potential energy of applied loads (no reaction forces)
L L
px 2p L
V = -
p(x)v(x)dx = -
p0Csin dx = - 0 C
0 0
L p
Potential energy EIp4 2 2p0L
P = U+ V = C - C
4L3
p
PMPE: dP EIp4 2p0L 4p0L4
= C- =0 C=
3
dC 2L p
5
EIp

12
 EXAMPLE SIMPLY SUPPORTED BEAM cont.
Exact vs. approximate deflection at the center
p0L4 p0L4
Capprox = Cexact =
76.5EI 76.8EI

Approximate 2bending moment and shear force

dv p2 px 4p0L2
px
M(x) = EI = -EIC sin =- sin
dx 2
L L2
p L 3

d3 v p3 px 4p L px
Vy (x) = -EI 3 = -EIC 3 cos = - 20 cos
dx L L p L
1 p0L3 pL p
v(x) = x - 0 x3 + 0 x 4
Exact solutions EI 24 12 24
p0L p
M(x) = - x + 0 x2
2 2
pL
Vy (x) = 0 - p0 x
2
13
 EXAMPLE SIMPLY SUPPORTED BEAM cont.
Deflection

Error increases
Bending
moment

Shear force

14
 EXAMPLE CANTILEVERED BEAM
p0

Assumed deflection C
v(x) = a + bx + c1x 2 + c 2 x 3 E,I,L
Need to satisfy BC F

v(0) = 0, dv(0) / dx = 0 v(x) = c1x 2 + c 2 x 3

L
Strain energy U = EI ( 2c + 6c x ) 2 dx
2
1 2
0

Potential of loads
L
dv
V ( c1,c 2 ) = -
( -p0 ) v(x)dx - Fv(L) - C (L)
0
dx
p0L3 p0L4
= c1 - FL - 2CL + c 2
2
- FL3 - 3CL2
3 4

15
 EXAMPLE CANTILEVERED BEAM cont.
Derivatives of U: U
L

c1
= 2EI (
( 2c1 + 6c 2 x ) dx = EI 4Lc1 + 6L2c 2 )
0
L
U

c2
= 6EI (
( 2c1 + 6c 2 x ) xdx = EI 6L2c1 + 12L3c 2 )
0

PMPE: P = 0 p0L3

c1 (
EI 4Lc1 + 6L c 2 = -
2
)3
+ FL2 + 2CL
P p0L4

c2
=0
(
EI 6L c1 + 12L c 2 = -
2 3

4
) + FL3 + 3CL2

Solve for c1 and c2: c = 23.75 10-3, c = -8.417 10-3

1 2

Deflection curve: v(x) = 10 -3 ( 23.75x 2 - 8.417x 3 )

Exact solution: v(x) = 1 ( 5400x 2
- 800x3 - 300x 4 )
24EI

16
 EXAMPLE CANTILEVERED BEAM cont.
Deflection

Error increases
Bending
moment

Shear force

17
 FINITE ELEMENT INTERPOLATION
Rayleigh-Ritz method approximate solution in the entire beam
Difficult to find approx solution that satisfies displacement BC
Finite element approximates solution in an element
Make it easy to satisfy displacement BC using interpolation technique
Beam element
Divide the beam using a set of elements
Elements are connected to other elements at nodes
Concentrated forces and couples can only be applied at nodes
Consider two-node bean element
Positive directions for forces and couples
Constant or linearly F1 F2
distributed load
C1 C2
x

p(x)
18
 FINITE ELEMENT INTERPOLATION cont.
Nodal DOF of beam element
Each node has deflection v and slope q
Positive directions of DOFs
Vector of nodal DOFs {q} = {v1 q1 v 2 q2 }T
Scaling parameter s
Length L of the beam is scaled to 1 using scaling parameter s

v1 v2
x - x1 1 q1 q2
s= , ds = dx, x
L L
ds 1 L
dx = Lds, =
dx L x1 x2
s=0 s=1
Will write deflection curve v(s) in terms of s

19
 FINITE ELEMENT INTERPOLATION cont.
Deflection interpolation
Interpolate the deflection v(s) in terms of four nodal DOFs
Use cubic function: v(s) = a0 + a1s + a2s2 + a3s3
Relation to the slope:
dv dv ds 1
q= = = (a1 + 2a2s + 3a3s2 )
dx ds dx L
Apply four conditions:
dv(0) dv(1)
v(0) = v1 = q1 v(1) = v 2 = q2
dx dx

Express four coefficients in terms of nodal DOFs

v1 = v(0) = a0
a0 = v 1
dv 1
q1 = (0) = a1 a1 = Lq1
dx L
v 2 = v(1) = a0 + a1 + a2 + a3 a2 = -3v1 - 2Lq1 + 3v 2 - Lq2
dv 1 a3 = 2v1 + Lq1 - 2v 2 + Lq2
q2 = (1) = (a1 + 2a2 + 3a3 )
dx L
20
 FINITE ELEMENT INTERPOLATION cont.
Deflection interpolation cont.
v(s) = (1 - 3s2 + 2s3 )v1 + L(s - 2s2 + s3 )q1 + (3s2 - 2s3 )v 2 + L( -s2 + s3 )q2
v1
q

v(s) = [N1(s) N2 (s) N3 (s) N4 (s)] 1 v(s) =
N {q}

v 2

q2
Shape functions 1.0

N1 N3
N1(s) = 1 - 3s2 + 2s3 0.8

N2 (s) = L(s - 2s2 + s3 ) 0.6

N3 (s) = 3s2 - 2s3 0.4

N4 (s) = L( -s2 + s3 ) 0.2 N2/L

Hermite polynomials 0.0

0.0 0.2 0.4 0.6
N4/L 0.8 1.0

Interpolation property -0.2

21
 FINITE ELEMENT INTERPOLATION cont.
Properties of interpolation
Deflection is a cubic polynomial (discuss accuracy and limitation)
Interpolation is valid within an element, not outside of the element
Adjacent elements have continuous deflection and slope
Approximation of curvature
Curvature is second derivative and related to strain and stress v
1
q
d2 v 1 d2 v 1 1
= = [ - 6 + 12s, L( - 4 + 6s), 6 - 12s, L( -2 + 6s)]
dx 2 L2 ds2 L2 v 2
2
q2
dv 1
2
= 2 B {q}
B: strain-displacement vector
dx L 14 41

d2 v 1 T
= 2
B is linear function of s and,2 thus, q
the

{B T
} and stress
strain
dx L 14 41
Alternative expression:

22
 FINITE ELEMENT INTERPOLATION cont.
Approximation of bending moment and shear force
d2 v EI
M(s) = EI 2 = 2
B {q}
Linear
dx L
dM d3 v EI
Vy = - = -EI 3 = 3 [ -12 -6L 12 -6L]{q} Constant
dx dx L
Stress is proportional to M(s); M(s) is linear; stress is linear, too
Maximum stress always occurs at the node
Bending moment and shear force are not continuous between
adjacent elements

23
 EXAMPLE INTERPOLATION
v2
Cantilevered beam v1

Given nodal DOFs

q2
{q} = {0, 0, - 0.1, - 0.2}T q1
L
Deflection and slope at x = 0.5L
Parameter s = 0.5 at x = 0.5L
Shape functions: N1( 21 ) = 1 , N2 ( 21 ) = L , N3 ( 21 ) = 1 , N4 ( 21 ) = - L
2 8 2 8
Deflection at s = 0.5:
v( 21 ) = N1( 21 )v1 + N2 ( 21 )q1 + N3 ( 21 )v 2 + N4 ( 21 )q2
1 L 1 L v Lq
= 0 + 0 + v 2 - q2 = 2 - 2 = -0.025
2 8 2 8 2 8

Slope
dv 1at
dvs =1
0.5:dN dN2 dN3 dN4
= v= 1
+ q + v + q
dx L ds L ds
1 1 2 2
ds ds ds
1 1
( ) ( )
= v1 ( -6s + 6s2 ) + q1 1 - 4s + 3s 2 + v 2 (6s - 6s 2 ) + q2 -2s + 3s 2 = -0.1
L L 24
 EXAMPLE
A beam finite element with length L
L3 L2
v1 = 0, q1 = 0, v 2 = , q2 =
3EI 2EI L
F
Calculate v(s)
v(s) = N1(s)v1 + N2 (s)q1 + N3 (s)v 2 + N4 (s)q2

v(s) = (3s2 - 2s3 )v 2 + L( -s2 + s3 )q2

Bending moment

d2 v EI d2 v EI
M(s) = EI 2 = 2 2 = 2 [ (6 - 12s)v 2 + L( -2 + 6s)q2 ]
dx L ds L
EI L3 L2
= 2 (6 - 12s) + L( -2 + 6s)
L 3EI 2EI

= L(1 - s) = (L - x) Bending moment cause by unit force at the tip
25
 FINITE ELEMENT EQUATION FOR BEAM
Finite element equation using PMPE
A beam is divided by NEL elements with constant sections
Strain energy
Sum of each elements strain energy
NEL x(2 ) NEL
e
LT ( e)
U = UL (x)dx =
( e) UL (x)dx = U
0 x1
e=1 e=1

Strain energy of element (e)

2 2
1 d2 v
( e)
x2 EI 1 1 d2 v
U(
e)
= EI dx = 3 2 ds
x1( ) 2 2
e
dx L 0 2 ds

y p(x)

C1 x C3 C4 C5
C2
2 3 5
1 4

F1 F2 F3 F4 F5
x1( 1) x2( 1) = x1( 2) x2( 2) = x1( 3) x2( 3) = x1( 4) x2( 4)
26
 FE EQUATION FOR BEAM cont.
Strain energy cont.
Approximate curvature in terms of nodal DOFs
2
d2 v d2 v
d2 v ( e ) T T ( e)
=
2 2 2 = { q } }
B
B { q
ds
ds ds
14 4
1 14 4 1

Approximate element strain energy( e)in terms of nodal DOFs

1 ( e) T
EI 1 T ( e) 1 ( e) T ( e) ( e)
U = {q } 3
(e)
B

B ds {q } = {q } [k ]{q }
2 L
0
2

Stiffness matrix of a beam element

-6 + 12s

L( -4 + 6s)
EI 1
( e)
[k ] = 3
L 6 - 12s
0
[ -6 + 12s L( -4 + 6s) 6 - 12s L( -2 + 6s)] ds


L( -2 + 6s)

27
 FE EQUATION FOR BEAM cont.
Stiffness matrix of a beam element

12 6L -12 6L Symmetric, positive semi-definite

6L 4L2 -6L 2L2
EI
[k ( ) ] = 3 Proportional to EI
e

L -12 -6L 12 -6L

2
Inversely proportional to L
6L 2L -6L 4L
2

Strain energy cont.

NEL
1 NEL ( e) T ( e) ( e)
U = U (e)
= {q } [k ]{q }
e=1 2 e=1
Assembly

1
U= {Q s } T [Ks ]{Q s }
2

28
y EXAMPLE ASSEMBLY
Two elements
x 2EI EI
3
Global DOFs
1 2
2L L {Qs }T = {v1 q1 v 2 q2 v3 q3 }
F2 F3
v1 q1 v2 q2 v2 q2 v3 q3
3 3L -3 3L v1 12 6L -12 6L v 2
3L 4L2 -3L 2L2 q1 2
EI 6L 4L -6L 2L q2
2
( 1) EI ( 2)
[k ] = 3 [k ] = 3
L -3 -3L 3 -3L v 2 L -12 -6L 12 -6L v 3
2 2
3L 2L2
- 3L 4L q2 6L 2L2
-6L 4L q3

3 3L -3 3L 0 0
3L 4L2 -3L 2L2 0 0

EI -3 -3L 15 3L -12 6L
[K s ] = 3
L 3L 2L2 3L 8L2 -6L 2L2
0 0 -12 -6L 12 -6L
2
0 0 6L 2L2
-6L 4L 29
 FE EQUATION FOR BEAM cont.
Potential energy of applied loads
F1
Concentrated forces and couples C
ND

1

V = -( Fv i i)
= - q q = - T
i i + C q V v
v
1 1 2 ...... F
ND 2 { Q s } {Fs }
i=1 M

CND
Distributed load (Work-equivalent nodal forces)
1
NEL x(2 ) NEL
x(2 )
e e

V = -
( e) p(x)v(x)dx = V(e) V(e) =
( )
e
p(x)v(x)dx = L(e)

p(s)v(s)ds
x1 x1
e=1 e=1 0

1
V (e)
=L(e)
p(s) ( v N
1 1 + q1N2 + v 2N3 + q2N4 ) ds
0

(e) 1 (e) 1 (e) 1 (e) 1

= v1 L p(s)N1ds + q1 L L
p(s)N2ds + v 2 L
p(s)N3ds + q2 p(s)N4ds
0 0 0 0
= v1F1(e) + q1C1(e) + v 2F2(e) + q2C(e)
2

30
EXAMPLE WORK-EQUIVALENT NODAL FORCES
Uniformly distributed load
1 1 pL
F1 = pL N (s)ds = pL (1 - 3s + 2s )ds =
2 3
0 1 0 2
1 1 pL2
C1 = pL N (s)ds = pL
2
(s - 2s + s )ds =
2 3
0 2 0 12
1 1 pL
F2 = pL N3 (s)ds = pL (3s2 - 2s3 )ds =
0 0 2
1 1 pL2
C2 = pL N (s)ds = pL
2
( -s + s )ds = -
2 3
0 4 0 12

pL pL2 pL pL2
{F} =
T
-
2 12 2 12 p
Equivalent
pL/2 pL/2

pL2/12 pL2/12
31
 FE EQUATION FOR BEAM cont.
Finite element equation for beam

12 6L -12 6L v1 pL / 2 F1
2 2
EI 6L 4L -6L 2L q1 pL / 12 C1
2

= +
3
L -12 -6L 12 -6L v 2 pL / 2 F2
2
6L
2L2
-6L 4L q
2 -pL2
/ 12 C2

One beam element has four variables

When there is no distributed load, p = 0
Applying boundary conditions is identical to truss element
At each DOF, either displacement (v or q) or force (F or C) must be
known, not both
Use standard procedure for assembly, BC, and solution
32
 PRINCIPLE OF MINIMUM POTENTIAL ENERGY
Potential energy (quadratic form)
1
P = U+ V = {Qs } T [Ks ]{Qs } - {Qs } T {Fs }
2
PMPE
Potential energy has its minimum when

[K s ]{Q s } = {Fs } [Ks] is symmetric & PSD

Applying BC
The same procedure with truss elements (striking-the-rows and
striking-he-columns)
[K ]{Q } = {F } [K] is symmetric & PD

Solve for unknown nodal DOFs {Q}

33
 BENDING MOMENT & SHEAR FORCE
Bending moment
d2 v EI d2 v EI
M(s) = EI 2 = 2 2 = 2 B {q}

dx L ds L
Linearly varying along the beam span
Shear force v1
q
dM d3 v EI d3 v EI
Vy (s) = - = -EI 3 = - 3 3 = 3 [ - 12 -6L 12 -6L] 1
dx dx L ds L v 2
Constant
q2
When true moment is not linear and true shear is not constant, many
elements should be used to approximate it
Bending stress sx = - My
I
Shear stress for rectangular section

1.5Vy 4y 2
t xy (y) = 1- 2

bh h
34
 y
EXAMPLE CLAMPED-CLAMPED BEAM
Determine deflection & x
slope at x = 0.5, 1.0, 1.5 m 1 2 3
Element stiffness matrices 1m 1m
F2 = 240 N
v1 q1 v2 q2
v2 q2 v3 q3
12 6 -12 6 v1
6 12 6 -12 6 v 2
4 -6 2 q1 6
[k ] = 1000
(1) 4 -6 2 q2
-12 -6 12 -6 v 2 [k ] = 1000
(2)
-12 -6 12 -6 v 3
6 2 -6 4 q2
-6 4 q3
6 2

12 6 -12 6 0 0 v1 F1

6 4 -6 2 0 0 q1 C1


-12 -6 24 0 -12 6 v2 240
1000 =

6 2 0 8 - 6 2 q2 0
0 0 -12 -6 12 -6 v 3 F3

0 0 6 2 - 6 4 q3 C3
35
 EXAMPLE CLAMPED-CLAMPED BEAM cont.
Applying BC
24 0
v2 240 v 2 = 0.01
1000 =
q 0
0 8
2 q2 = 0.0

At x = 0.5 s = 0.5 and use element 1

v( 21 ) = v1N1( 21 ) + q1N2 ( 21 ) + v 2N3 ( 21 ) + q2N4 ( 21 ) = 0.01N3 ( 21 ) = 0.005m
1 dN3
q( 21 ) = v 2 = 0.015rad
L(1) ds s= 21

At x = 1.0 either s = 1 (element 1) or s = 0 (element 2)

v(1) = v 2N3 (1) = 0.01N3 (1) = 0.01m v(0) = v 2N1(0) = 0.01N1(0) = 0.01m
1 dN3 1 dN1
q(1) = v 2 = 0.0rad q(0) = v = 0.0rad
L(1) ds s =1 L(2) 2
ds s=0

Will this solution be accurate or approximate?

36
 EXAMPLE CANTILEVERED BEAM
p0 = 120 N/m
One beam element
No assembly required
Element stiffness EI = 1000 N-m2
C = 50 N-m
L = 1m
12 6 -12 6 v1
6 4 -6 2 q1
[K s ] = 1000
-12 -6 12 -6 v 2

6 2 -6 4 q2
Work-equivalent nodal forces

F1e 1 - 3s2 + 2s3 1/ 2 60

C
1e 1 (s - 2s2 + s3 )L L / 12 10
= p0L ds = p0L =
F2e 3s - 2s
2 3
1/ 2 60
0


C2e
( - s 2
+ s 3
)L -L / 12 -10

37
 EXAMPLE CANTILEVERED BEAM cont.
FE matrix equation
12 6 -12 6 v1 F1 + 60
6 4 -6 2 q1 C + 10
1000 =


1

-12 -6 12 -6 2 60
v

6
2 -6 4 q2 -10 - 50
Applying BC

12 -6
v 2 60 v 2 = -0.01m
1000 =
-6 4 q2
-60 q2 = -0.03 rad

Deflection curve: v(s) = -0.01N (s) - 0.03N (s) = -0.01s3

3 4
Exact solution: v(x) = 0.005(x 4 - 4x 3 + x 2 )

38
 EXAMPLE CANTILEVERED BEAM cont.
Support reaction (From assembled matrix equation)
1000 ( -12v 2 + 6q2 ) = F1 + 60 F1 = -120N
1000 ( -6v 2 + 2q2 ) = C1 + 10 C1 = -10N
m
Bending moment
EI
M(s) = B {q}
2

L
EI
= 2 [ ( -6 + 12s)v1 + L( -4 + 6s)q1 + (6 - 12s)v 2 + L( -2 + 6s)q2 ]
L
= 1000[ -0.01(6 - 12s) - 0.03( -2 + 6s)]
= -60s N m
Shear force
EI
3 [
Vy = - 12v1 + 6Lq1 - 12v 2 + 6Lq2 ]
L
= -1000[ -12 ( -0.01) + 6( -0.03)]
= 60N
39
 EXAMPLE CANTILEVERED BEAM cont.
Comparisons

Deflection Slope

Bending moment Shear force

40
 PLANE FRAME ELEMENT
Beam
Vertical deflection and slope. No axial deformation
Frame structure
Can carry axial force, transverse shear force, and bending moment
(Beam + Truss)
Assumption
v1 v2
Axial and bending effects
u1
are uncoupled q1 u2
Reasonable when deformation q2
u2 p u2
is small
3 DOFs per node v2 F v2
q2 2 1 3 q2
{ui , v i , qi }
Need coordinate transfor- 2 3
mation like plane truss
u1 u1
1 4
v1 v1
q1 q1 41
 PLANE FRAME ELEMENT cont.
Element-fixed local coordinates x - y
Local DOFs {u,v, qLocal
} forces {fx , fy , c}
Transformation between local and global coord.
fx1 cos f sin f 0 0 0 0 fx1
f
y1 - sin f cos f 0 0 0 0 fy1


c1 0 0 1 0 0 0
c1
=
fx2 0 0 0 cos f sin f 0 fx2 Local coordinates
fy2 0 0 0 - sin f cos f 0 fy2 v2
u2
c2 0
0 0 0 0 1c 2 y
x q2
v1 2
u1 f
{ f } = [T ]{f }
y
{q} = [ T ]{q} q1 1

x Global coordinates
42
 PLANE FRAME ELEMENT cont.
Axial deformation (in local coord.)

EA 1 -1u1 fx1
=
L -1 1
u2 fx 2

Beam bending

12 6L -12 6L v1 fy1
6L 4L2 -6L 2L2 q c
EI 1 1
=
3
L -12 -6L 12 -6L v 2 fy 2
2
-
q2
c
2
6L 2L 6L 4L 2

Basically, it is equivalent to overlapping a beam with a bar

A frame element has 6 DOFs

43
 PLANE FRAME ELEMENT cont.
Element matrix equation (local coord.)
a1 0 0 -a1 0 0 u1 fx1
0 f
12a2 6La2 0 -12a 2 6La 2 v1 y1 EA
a1 =
0 6La2 4L2a2 0 -6La 2 2L a 2
2
q1 c
L
=
1

-a1 0 0 a1 0 0 u2 fx2 EI
a2 = 3
0 -12a2 -6La2 0 12a2 -6La 2 v 2 fy2 L

0 6La2 2L2a2 0 -6La 2 2
4L a 2 q2 c
2

[k]{q} = { f }
Element matrix equation (global coord.)

[k ][T ]{q} = [T ]{f } [T ]T [k ][T ]{q} = {f } [k ]{q} = { f }

[k] = [T]T [k ][T]

Same procedure for assembly and applying BC
44
 PLANE FRAME ELEMENT cont.
Calculation of element forces
Element forces can only be calculated in the local coordinate
Extract element DOFs {q} from the global DOFs {Qs}
Transform the element DOFs to the local coordinate {q} = [ T ]{q}
Then, use 1D bar and beam formulas for element forces

AE
Axial force P = ( u2 - u1 )
L
EI
M(s) = 2 B {q}

Bending moment L
EI
Vy (s) = 3 [ -12 -6L 12 -6L] { q}
Shear force L
- Vy1
Other method:
12 6L -12 6L v1
-M
1 EI 6L 4L
2
-6L 2L2 q1
= 3


+ Vy2 L -12 -6L 12 -6L v 2
M
2 6L 2L2
-6L 4L2 q2
45