Nonlinear FEM

The TL Timoshenko Beam Element: Formulation

10

NFEM Ch 10 Slide 1

Nonlinear FEM

TL Beam Element Application

reference configuration

motion

current configuration

NFEM Ch 10 Slide 2

Beam Terminology

Nonlinear FEM

Z (X) (X)
current configuration Current cross section

Y, y
motion

u Y (X) X, x u X (X)

reference configuration

Reference cross section

NFEM Ch 10 Slide 3

Nonlinear FEM

Reduction To One Dimensional Model

current configuration

finite element idealization of current configuration

motion

reference configuration

finite element idealization of reference configuration

NFEM Ch 10 Slide 4

Nonlinear FEM

Beam Mathematical Models

2 2

C 1 (BE) model

C 0 (Timoshenko) model

Y; y
uY 1

uY 2 uY 1 uX 1

uY 2

X; x
uX 1 uX 2

uX 2

NFEM Ch 10 Slide 5

Nonlinear FEM

Timoshenko Beam Kinematics

normal to reference beam axis X

_ =
direction of deformed cross section

normal to deformed beam axis

90
o

_ // X (X = X)

ds
Note: _ in practice << ; typically 0.1% or less. Magnitude of is grossly exaggerated in the figure for visualization convenience.

NFEM Ch 10 Slide 6

Nonlinear FEM

Comparing The Two Models Over Individual Finite Element

2-node C 1 (cubic) element for Euler-Bernoulli beam model: plane sections remain plane and normal to deformed longitudinal axis 2-node C 0 linear-displacement-and-rotations element for Timoshenko beam model: plane sections remain plane but not normal to deformed longitudinal axis

C 1 element
with same DOFs

NFEM Ch 10 Slide 7

Nonlinear FEM

Element Kinematic Details

L

Y, y
x xC y yC X
o

C
uYP uYC 1

1 uXC uXP Y
1
o

X, x
2

Lo

NFEM Ch 10 Slide 8

Nonlinear FEM

Degrees of Freedom of Beam Element (they are model independent)

u X1 uY 1 1 u= u X2 uY 2 2 f= f X1 fY 1 f1 f X2 fY 2 f 2

NFEM Ch 10 Slide 9

Nonlinear FEM

Element Formulation Path

Node Displacements u

Eqs (10.5), (10.8)

Element displacement field w = [uX , uY , ]T

Eq. (10.9)
Displacement gradients w' = [u' , u' , ' ] X Y
T

Eq. (10.15)
Generalized strains h = [ e , , ]
T

Eq. (10.29)
Stress resultants z = [ N ,V, M ]T

Strain energy U _ T T dX u = p T B u vary U: U = L z 0 Eq. (10.34)

vary p: p =

L0

Internal forces p _ (B T z + BT z) dX u = (KM + KG ) Eq. (10.40)

Tangent stiffness matrix K = KM + KG

NFEM Ch 10 Slide 10

The Longest Trip Begins With The First Step

Element motion in Lagrangian description

Nonlinear FEM

Extended displacement vector

NFEM Ch 10 Slide 11

Nonlinear FEM

Isoparametric Interpolation Of Extended Displacements

NFEM Ch 10 Slide 12

Nonlinear FEM

Deformation Gradient and Displacement Gradient Tensors

NFEM Ch 10 Slide 13

Nonlinear FEM

Green-Lagrange Strains
Tensor form:

Tensor component form:

These are geometrically exact, but unwieldy. Simplifications are necessary - those are detailed in Chapter 10.

NFEM Ch 10 Slide 14

Nonlinear FEM

Simplified Strain Field

Axial strain is linearized with respect to displacements using a technique called polar decomposition. The result is

We can characterize axial strains, shear strains and bending strains

Collected in the generalized strain vector

NFEM Ch 10 Slide 15

Nonlinear FEM

Geometrically Invariant Form of Axial and Shear Strains

Using this invariant form we can pass to a beam element arbitrarily oriented in the reference configuration

NFEM Ch 10 Slide 16

Nonlinear FEM

Arbitrary Reference Configuration

_ // Y
2 2(x2 ,y2) = +

_ // X // X

_ // Y
1 1(x1 ,y1)

C
uY 2

_ X
2(X2, Y2 ) uX 2

Y, y X, x

_ Y

uY 1

C0
uX
1(X1, Y1 )

NFEM Ch 10 Slide 17

Nonlinear FEM

What Remains To Be Done

The remaining steps include: PK2 stresses and stress resultants Strain energy Internal force Tangent stiffness: material + geometric Improving element performance

There is a lot of algebra left, even for this relatively simple element. A computer algebra system (CAS) can really help, especially to avoid algebra errors

NFEM Ch 10 Slide 18

Flowcharted Steps (again)

So far we have worked up to here
Node Displacements u

Nonlinear FEM

Eqs (10.5), (10.8)

Element displacement field w = [uX , uY , ]T

Eq. (10.9)
Displacement gradients w' = [u' , u' , ' ] X Y
T

Eq. (10.15)
Generalized strains h = [ e , , ]
T

Eq. (10.29)
Stress resultants z = [ N ,V, M ]T

Strain energy U _ T T dX u = p T B u vary U: U = L z 0 Eq. (10.34)

The remaining is a lot of matrix algebra: 1-2 months by hand, ~1 week with a CAS

vary p: p =

L0

Internal forces p _ (B T z + BT z) dX u = (KM + KG ) Eq. (10.40)

Tangent stiffness matrix K = KM + KG

NFEM Ch 10 Slide 19

Energy and Internal Forces

Strain energy of beam element

Nonlinear FEM

Vary to get internal force

Evaluate by one point Gauss quadrature:

NFEM Ch 10 Slide 20

Nonlinear FEM

Tangent Stiffness: Material Component

Vary internal force to get tangent stiffness

Material stiffness matrix

Evaluate by one point Gauss quadrature:

NFEM Ch 10 Slide 21

Material Stiffness Subcomponents

Material stiffness subcomponents due to axial, bending and shear:

Nonlinear FEM

in which

NFEM Ch 10 Slide 22

Material Stiffness "Unlocking"

Eliminating "shear locking" by MacNeal's Residual Bending Flexibility (RBF) device:

Nonlinear FEM

is formally replaced by

in shear material stiffness

Bending and shear components merge into a modified bending stiffness:

in which

and

NFEM Ch 10 Slide 23

Geometric Stiffness

Nonlinear FEM

The geometric stiffness comes from the variation of strain-displacement matrix B while stress resultants (axial forces, shear forces and bending moments) are kept fixed:

After tons of algebra (see Notes) one arrives at

which evaluated by one point Gauss rule gives the closed form

NFEM Ch 10 Slide 24