1

CHAP 4 FINITE ELEMENT ANALYSIS OF

BEAMS AND FRAMES
2
INTRODUCTION
We learned Direct Stiffness Method in Chapter 2
Limited to simple elements such as 1D bars
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
Interpolation scheme:
( ) ( ) { } v x x =
(

N q
Beam
deflection
Interpolation
function
Nodal
DOF
Potential of
applied loads
Strain energy
U V H= +
3
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)
L
F
x
y
F
Plane of loading
y
z
Neutral axis
A
4
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)
y
y(dv/dx)
u = dv/dx
v(x)
L
F
x
y
Neutral axis
0
( , ) ( )
dv
u x y u x y
dx
=
2
0
2
xx
du u d v
y
x dx dx
c
c
= =
c
dv
dx
u =
5
BEAM THEORY cont.
Euler-Bernoulli Beam Theory cont.
Strain along the beam axis:
Strain c
xx
varies linearly w.r.t. y; Strain c
yy
= 0
Curvature:
Can assume plane stress in z-dir basically uniaxial status
Axial force resultant and bending moment
2
0
2
xx
du u d v
y
x dx dx
c
c
= =
c
0 0
/ du dx c =
2 2
/ d v dx
2
0
2
xx xx
d v
E E Ey
dx
o c c = =
2
0
2
2
2
0
2
xx
A A A
xx
A A A
d v
P dA E dA E ydA
dx
d v
M y dA E ydA E y dA
dx
o c
o c
= =
= = +
} } }
} } }
Moment of inertia I(x)
0
2
2
P EA
d v
M EI
dx
c =
=
EA: axial rigidity
EI: flexural rigidity
6
BEAM THEORY cont.
Beam constitutive relation
We assume P = 0 (We will consider non-zero P in the frame element)
Moment-curvature relation:
Sign convention
Positive directions for applied loads
2
2
d v
M EI
dx
= Moment and curvature is linearly dependent
+P +P
+M +M
+V
y
+V
y
y
x
p(x)
F
1
F
2
F
3
C
1
C
2
C
3
y
x
7
GOVERNING EQUATIONS
Beam equilibrium equations
Combining three equations together:
Fourth-order differential equation
y
y
dV
V dx
dx
yyy
dM
M dx
dx
y
V
M
dx
p
0 ( ) 0
y
y y y
dV
f p x dx V dx V
dx
| |
= + + =
|
\ .
_
( )
y
dV
p x
dx
=
( )
0
2
y
dM dx
M M dx pdx V dx
dx
| |
+ + + =
|
\ .
4
4
( )
d v
EI p x
dx
=
y
dM
V
dx
=
8
STRESS AND STRAIN
Bending stress
This is only non-zero stress component for Euler-Bernoulli beam
Transverse shear strain
Euler beam predicts zero shear strain (approximation)
Traditional beam theory says the transverse shear stress is
However, this shear stress is in general small compared to
the bending stress
2
2
xx
d v
Ey
dx
o =
2
2
d v
M EI
dx
=
( )
( , )
xx
M x y
x y
I
o =
0
xy
u v v v
y x x x

c c c c
= + = + =
c c c c
0
( , ) ( )
dv
u x y u x y
dx
=
Bending stress
xy
VQ
Ib
t =
9
POTENTIAL ENERGY
Potential energy
Strain energy
Strain energy density
Strain energy per unit length
Strain energy
U V H= +
2 2
2 2
2 2
0
2 2
1 1 1 1
( )
2 2 2 2
xx xx xx
d v d v
U E E y Ey
dx dx
o c c
| | | |
= = = =
| |
\ . \ .
2 2
2 2
2 2
0
2 2
1 1
( ) ( , , )
2 2
L
A A A
d v d v
U x U x y z dA Ey dA E y dA
dx dx
| | | |
= = =
| |
\ . \ .
} } }
Moment of
inertia
2
2
2
1
( )
2
L
d v
U x EI
dx
| |
=
|
\ .
2
2
2
0 0
1
( )
2
L L
L
d v
U U x dx EI dx
dx
| |
= =
|
\ .
} }
10
POTENTIAL ENERGY cont.
Potential energy of applied loads
Potential energy
Potential energy is a function of v(x) and slope
The beam is in equilibrium when H has its minimum value
0
1 1
( )
( ) ( ) ( )
C F
N N
L
i
i i i
i i
dv x
V p x v x dx Fv x C
dx
= =
=
_ _
}
2
2
2
0 0
1 1
( ) 1
( ) ( ) ( )
2
C F
N N
L L
i
i i i
i i
dv x d v
U V EI dx p x v x dx Fv x C
dx dx
= =
| |
H = + =
|
\ .
_ _
} }
H
v
v
*
0
v
cH
=
c
11
RAYLEIGH-RITZ METHOD
1. Assume a deflection shape
Unknown coefficients c
i
and known function f
i
(x)
Deflection curve v(x) must satisfy displacement boundary conditions
2. Obtain potential energy as function of coefficients
3. Apply the principle of minimum potential energy to determine
the coefficients
1 1 2 2
( ) ( ) ( )..... ( )
n n
v x c f x c f x c f x = + +
1 2
( , ,... )
n
c c c U V H = +
12
EXAMPLE SIMPLY SUPPORTED BEAM
Assumed deflection curve
Strain energy
Potential energy of applied loads (no reaction forces)
Potential energy
PMPE:
p
0
E,I,L
( ) sin
x
v x C
L
t
=
2
2 2 4
2 3
0
1
2 4
L
d v C EI
U EI dx
dx L
t | |
= =
|
\ .
}
0
0
0 0
2
( ) ( ) sin
L L
p L x
V p x v x dx p C dx C
L
t
t
= = =
} }
4
2
0
3
2
4
p L EI
U V C C
L
t
t
H = + =
4 4
0 0
3 5
2 4
0
2
p L p L d EI
C C
dC L EI
t
t t
H
= = =
13
EXAMPLE SIMPLY SUPPORTED BEAM cont.
Exact vs. approximate solutions
Approximate bending moment and shear force
Exact solutions
4 4
0 0
approx exact
76.5 76.8
p L p L
C C
EI EI
= =
2 2 2
0
2 2 3
3 3
0
3 3 2
4
( ) sin sin
4
( ) cos cos
y
p L d v x x
M x EI EIC
dx L L L
p L d v x x
V x EI EIC
dx L L L
t t t
t
t t t
t
= = =
= = =
3
3 4
0 0 0
2
0 0
0
0
1
( )
24 12 24
( )
2 2
( )
2
y
p L p L p
v x x x x
EI
p L p
M x x x
p L
V x p x
| |
= +
|
\ .
= +
=
14
EXAMPLE SIMPLY SUPPORTED BEAM cont.
Deflection
Bending
moment
Shear force
0.0
0.2
0.4
0.6
0.8
1.0
0 0.2 0.4 0.6 0.8 1 x
v
(
x
)
/
v
_
m
a
x
v-exact
v-approx.
-0.14
-0.12
-0.10
-0.08
-0.06
-0.04
-0.02
0.00
0 0.2 0.4 0.6 0.8 1
x
B
e
n
d
i
n
g

M
o
m
e
n
t

M
(
x
)
M_exact
M_approx
-0.6
-0.4
-0.2
0.0
0.2
0.4
0.6
0 0.2 0.4 0.6 0.8 1 x
S
h
e
a
r

F
o
r
c
e

V
(
x
)
V_exact
V_approx
E
r
r
o
r

i
n
c
r
e
a
s
e
s
15
EXAMPLE CANTILEVERED BEAM
Assumed deflection
Need to satisfy BC
Strain energy
Potential of loads
F
C
p
0
E,I,L
2 3
1 2
( ) v x a bx c x c x = + + +
(0) 0, (0) / 0 v dv dx = =
2 3
1 2
( ) v x c x c x = +
( )
2
1 2
0
2 6
2
L
EI
U c c x dx = +
}
( ) ( )
1 2 0
0
3 4
2 3 2
0 0
1 2
, ( ) ( ) ( )
2 3
3 4
L
dv
V c c p v x dx Fv L C L
dx
p L p L
c FL CL c FL CL
=
| | | |
= +
| |
\ . \ .
}
16
EXAMPLE CANTILEVERED BEAM cont.
Derivatives of U:
PMPE:
Solve for c
1
and c
2
:
Deflection curve:
Exact solution:
( ) ( )
( ) ( )
2
1 2 1 2
1 0
2 3
1 2 1 2
2 0
2 2 6 4 6
6 2 6 6 12
L
L
U
EI c c x dx EI Lc L c
c
U
EI c c x xdx EI L c L c
c
c
= + = +
c
c
= + = +
c
}
}
1
2
0
0
c
c
cH
=
c
cH
=
c
( )
( )
3
2 2
0
1 2
4
2 3 3 2
0
1 2
4 6 2
3
6 12 3
4
p L
EI Lc L c FL CL
p L
EI L c L c FL CL
+ = + +
+ = + +
3 3
1 2
23.75 10 , 8.417 10 c c

= =
( )
3 2 3
( ) 10 23.75 8.417 v x x x

=
( )
2 3 4
1
( ) 5400 800 300
24
v x x x x
EI
=
17
EXAMPLE CANTILEVERED BEAM cont.
Deflection
Bending
moment
Shear force
E
r
r
o
r

i
n
c
r
e
a
s
e
s
0.0
0.0
0.0
0.0
0.0
0 0.2 0.4 0.6 0.8 1 x
v
(
x
)
/
v
_
m
a
x
v-exact
v-approx.
-100.00
0.00
100.00
200.00
300.00
400.00
500.00
0 0.2 0.4 0.6 0.8 1 x
B
e
n
d
i
n
g

M
o
m
e
n
t

M
(
x
)M_exact
M_approx
200.0
300.0
400.0
500.0
600.0
0 0.2 0.4 0.6 0.8 1 x
S
h
e
a
r

F
o
r
c
e

V
(
x
)
V_exact
V_approx
18
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
distributed load
F
1
F
2
C
2
C
1
p(x)
x
19
FINITE ELEMENT INTERPOLATION cont.
Nodal DOF of beam element
Each node has deflection v and slope u
Positive directions of DOFs
Vector of nodal DOFs
Scaling parameter s
Length L of the beam is scaled to 1 using scaling parameter s
Will write deflection curve v(s) in terms of s
v
1
v
2
u
2
u
1
L
x
1
s = 0
x
2
s = 1
x
1 1 2 2
{ } { }
T
v v u u = q
1
1
, ,
1
,
x x
s ds dx
L L
ds
dx Lds
dx L

= =
= =
20
FINITE ELEMENT INTERPOLATION cont.
Deflection interpolation
Interpolate the deflection v(s) in terms of four nodal DOFs
Use cubic function:
Relation to the slope:
Apply four conditions:
Express four coefficients in terms of nodal DOFs
2 3
0 1 2 3
( ) v s a a s a s a s = + + +
2
1 2 3
1
( 2 3 )
dv dv ds
a a s a s
dx ds dx L
u = = = + +
1 1 2 2
(0) (1)
(0) (1)
dv dv
v v v v
dx dx
u u = = = =
1 0
1 1
2 0 1 2 3
2 1 2 3
(0)
1
(0)
(1)
1
(1) ( 2 3 )
v v a
dv
a
dx L
v v a a a a
dv
a a a
dx L
u
u
= =
= =
= = + + +
= = + +
0 1
1 1
2 1 1 2 2
3 1 1 2 2
3 2 3
2 2
a v
a L
a v L v L
a v L v L
u
u u
u u
=
=
= +
= + +
21
FINITE ELEMENT INTERPOLATION cont.
Deflection interpolation cont.
Shape functions
Hermite polynomials
Interpolation property
2 3 2 3 2 3 2 3
1 1 2 2
( ) (1 3 2 ) ( 2 ) (3 2 ) ( ) v s s s v L s s s s s v L s s u u = + + + + + +
2 3
1
2 3
2
2 3
3
2 3
4
( ) 1 3 2
( ) ( 2 )
( ) 3 2
( ) ( )
N s s s
N s L s s s
N s s s
N s L s s
= +
= +
=
= +
1
1
1 2 3 4
2
2
( ) [ ( ) ( ) ( ) ( )]
v
v s N s N s N s N s
v
u
u



=
`


)
( ) { } v s =
(

N q
-0.2
0.0
0.2
0.4
0.6
0.8
1.0
0.0 0.2 0.4 0.6 0.8 1.0
N
1
N
3
N
2
/L
N
4
/L
22
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
B is linear function of s and, thus, the strain and stress
Alternative expression:
If the given problem is linearly varying curvature, the approximation is
accurate; if higher-order variation of curvature, then it is approximate
1
2 2
1
2 2 2 2
2
2
1 1
[ 6 12 , ( 4 6 ), 6 12 , ( 2 6 )]
v
d v d v
s L s s L s
v dx L ds L
u
u



= = + + +
`


)
2
2 2
4 1
1 4
1
{ }
d v
dx L

=
(

B q
B: strain-displacement vector
2
2 2
4 1
1 4
1
{ }
T T
d v
dx L

( =

B q
23
FINITE ELEMENT INTERPOLATION cont.
Approximation of bending moment and shear force
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
2
2 2
( ) { }
d v EI
M s EI
dx L
= =
(

B q
3
3 3
[ 12 6 12 6 ]{ }
y
dM d v EI
V EI L L
dx dx L
= = = q
Linear
Constant
24
EXAMPLE INTERPOLATION
Cantilevered beam
Given nodal DOFs
Deflection and slope at x = 0.5L
Parameter s = 0.5 at x = 0.5L
Shape functions:
Deflection at s = 0.5:
Slope at s = 0.5:
{ } {0, 0, 0.1, 0.2}
T
= q
L
v
1
v
2
u
2
u
1
1 1 1 1
1 2 3 4 2 2 2 2
1 1
( ) , ( ) , ( ) , ( )
2 8 2 8
L L
N N N N = = = =
1 1 1 1 1
1 1 2 1 3 2 4 2 2 2 2 2 2
2 2
2 2
( ) ( ) ( ) ( ) ( )
1 1
0 0 0.025
2 8 2 8 2 8
v N v N N v N
L L v L
v
u u
u
u
= + + +
= + + = =
( ) ( )
3 1 2 4
1 1 2 2
2 2 2 2
1 1 2 2
1 1
1 1
( 6 6 ) 1 4 3 (6 6 ) 2 3 0.1
dN dv dv dN dN dN
v v
dx L ds L ds ds ds ds
v s s s s v s s s s
L L
u u
u u
| |
= = + + +
|
\ .
= + + + + + + =
25
EXAMPLE
A beam finite element with length L
Calculate v(s)
Bending moment
3 2
1 1 2 2
0, 0, ,
3 2
L L
v v
EI EI
u u = = = =
1 1 2 1 3 2 4 2
( ) ( ) ( ) ( ) ( ) v s N s v N s N s v N s u u = + + +
2 3 2 3
2 2
( ) (3 2 ) ( ) v s s s v L s s u = + +
| |
2 2
2 2
2 2 2 2
3 2
2
( ) (6 12 ) ( 2 6 )
(6 12 ) ( 2 6 )
3 2
(1 ) ( )
d v EI d v EI
M s EI s v L s
dx L ds L
EI L L
s L s
L EI EI
L s L x
u = = = + +
(
= + +
(

= =

L
F

Bending moment cause by unit force at the tip
26
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
Strain energy of element (e)
p(x)
F
1
F
2
F
3
C
1
C
2
C
3
y
x
F
4
F
5
C
4
C
5
1
2
3
4
5
1
1
x
1 2
2 1
x x
2
2
1
x
2 3
2 1
x x
3
3
1
x
3 4
2 1
x x
4
4
1
x
4
2
x
( )
( )
( )
2
1
0
1 1
( ) ( )
e
T
e
NEL NEL
L x
e
L L
x
e e
U U x dx U x dx U
= =
= = =
_ _
} }
( )
( )
( )
2
1
2 2
2 2
1
2 3 2
0
1 1
2 2
e
e
x
e
x
d v EI d v
U EI dx ds
dx L ds
| | | |
= =
| |
\ . \ .
} }
27
FE EQUATION FOR BEAM cont.
Strain energy cont.
Approximate curvature in terms of nodal DOFs
Approximate element strain energy in terms of nodal DOFs
Stiffness matrix of a beam element
( ) ( )
2
2 2 2
2 2 2
1 4 4 1
4 1 1 4
{ } { }
T
T
e e
d v d v d v
ds ds ds

| | | || |
= =
( (
| | |
\ . \ .\ .
q B B q
( )
( )
( ) ( ) ( ) ( )
1
( )
3
0
1 1
{ } { } { } [ ]{ }
2 2
e
T
e e e e e e T T
EI
U ds
L
(
= =
( (

(

}
q B B q q k q
( )
| |
1
3
0
6 12
( 4 6 )
[ ] 6 12 ( 4 6 ) 6 12 ( 2 6 )
6 12
( 2 6 )
e
s
L s
EI
s L s s L s ds
s L
L s
+
(
(
+
(
= + + +
(
(
+

}
k
28
FE EQUATION FOR BEAM cont.
Stiffness matrix of a beam element
Strain energy cont.
Assembly
( )
2 2
3
2 2
12 6 12 6
6 4 6 2
[ ]
12 6 12 6
6 2 6 4
e
L L
L L L L
EI
L L L
L L L L

(
(

(
=
(
(

k
Symmetric, positive semi-definite
Proportional to EI
Inversely proportional to L
( ) ( ) ( ) ( )
1 1
1
{ } [ ]{ }
2
NEL NEL
e e e e T
e e
U U
= =
= =
_ _
q k q
1
{ } [ ]{ }
2
T
s s s
U = Q K Q
29
EXAMPLE ASSEMBLY
Two elements
Global DOFs
F
3
F
2
y
x
1
2
3
2EI
EI
2L L
1 1 2 2 3 3
{ } { }
T
s
v v v u u u = Q
( )
1 1 2 2
1
2 2
1
1
3
2
2 2
2
3 3 3 3
3 4 3 2
[ ]
3 3 3 3
3 2 3 4
v v
L L v
L L L L
EI
L L L v
L L L L
u u
u
u

(
(

(
=
(
(

k
( )
2 2 3 3
2
2 2
2 2
3
3
2 2
3
12 6 12 6
6 4 6 2
[ ]
12 6 12 6
6 2 6 4
v v
L L v
L L L L
EI
L L L v
L L L L
u u
u
u

(
(

(
=
(
(

k
2 2
2 2 2 3
2 2
3 3 3 3 0 0
3 4 3 2 0 0
3 3 15 3 12 6
[ ]
3 2 3 8 6 2
0 0 12 6 12 6
0 0 6 2 6 4
s
L L
L L L L
L L L
EI
L L L L L L L
L L
L L L L

(
(

(
(
=
(

(
(
(

K
30
FE EQUATION FOR BEAM cont.
Potential energy of applied loads
Concentrated forces and couples
Distributed load (Work-equivalent nodal forces)
( )
1
ND
i i i i
i
V Fv Cu
=
= +
_
1
1
1 1 2 2
...... { } { }
T
ND s s
ND
F
C
V v v F
C
u u




= =
(
`




)
Q F
( )
( )
2
1
( )
1 1
( ) ( )
e
e
NEL NEL
x
e
x
e e
V p x v x dx V
= =
= =
_ _
}
( )
( )
2
1
1
( ) ( )
0
( ) ( ) ( ) ( )
e
e
x
e e
x
V p x v x dx L p s v s ds = =
} }
( )
1
( ) ( )
1 1 1 2 2 3 2 4
0
1 1 1 1
( ) ( ) ( ) ( )
1 1 1 2 2 3 2 4
0 0 0 0
( ) ( ) ( ) ( )
1 1 1 1 2 2 2 2
( )
( ) ( ) ( ) ( )
e e
e e e e
e e e e
V L p s v N N v N N ds
v L p s N ds L p s N ds v L p s N ds L p s N ds
v F C v F C
u u
u u
u u
= + + +
| | | | | | | |
= + + +
| | | |
\ . \ . \ . \ .
= + + +
}
} } } }
31
EXAMPLE WORK-EQUIVALENT NODAL FORCES
Uniformly distributed load
pL/2 pL/2
pL
2
/12
pL
2
/12
p
Equivalent
1 1
2 3
1 1
0 0
( ) (1 3 2 )
2
pL
F pL N s ds pL s s ds = = + =
} }
2
1 1
2 2 3
1 2
0 0
( ) ( 2 )
12
pL
C pL N s ds pL s s s ds = = + =
} }
1 1
2 3
2 3
0 0
( ) (3 2 )
2
pL
F pL N s ds pL s s ds = = =
} }
2
1 1
2 2 3
2 4
0 0
( ) ( )
12
pL
C pL N s ds pL s s ds = = + =
} }
2 2
{ }
2 12 2 12
T
pL pL pL pL
=
`
)
F
32
FE EQUATION FOR BEAM cont.
Finite element equation for beam
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 u) or force (F or C) must be
known, not both
Use standard procedure for assembly, BC, and solution
1 1
2 2 2
1 1
3
2 2
2 2 2
2 2
12 6 12 6 / 2
6 4 6 2 / 12
12 6 12 6 / 2
6 2 6 4 / 12
v F L L pL
C L L L L pL
EI
v F L L pL L
C L L L L pL
u
u

(
(

(
= +
` ` `
(

(


) ) )
33
PRINCIPLE OF MINIMUM POTENTIAL ENERGY
Potential energy (quadratic form)
PMPE
Potential energy has its minimum when
Applying BC
The same procedure with truss elements (striking-the-rows and
striking-he-columns)
Solve for unknown nodal DOFs {Q}
1
{ } [ ]{ } { } { }
2
T T
s s s s s
U V H = + = Q K Q Q F
[ ]{ } { }
s s s
= K Q F
[ ]{ } { } = K Q F
[K
s
] is symmetric & PSD
[K] is symmetric & PD
34
BENDING MOMENT & SHEAR FORCE
Bending moment
Linearly varying along the beam span
Shear force
Constant
When true moment is not linear and true shear is not constant, many
elements should be used to approximate it
Bending stress
Shear stress for rectangular section
2 2
2 2 2 2
( ) { }
d v EI d v EI
M s EI
dx L ds L
= = =
(

B q
1
3 3
1
3 3 3 3
2
2
( ) [ 12 6 12 6 ]
y
v
dM d v EI d v EI
V s EI L L
v dx dx L ds L
u
u



= = = =
`


)
x
My
I
o =
2
2
1.5
4
( ) 1
y
xy
V
y
y
bh h
t
| |
=
|
\ .
35
EXAMPLE CLAMPED-CLAMPED BEAM
Determine deflection &
slope at x = 0.5, 1.0, 1.5 m
Element stiffness matrices
F
2
= 240 N
y
x
1 2
1 m
3
1 m
1 1 2 2
1
1 (1)
2
2
12 6 12 6
6 4 6 2
[ ] 1000
12 6 12 6
6 2 6 4
v v
v
v
u u
u
u

(
(

(
=
(
(

k
2 2 3 3
2
2 (2)
3
3
12 6 12 6
6 4 6 2
[ ] 1000
12 6 12 6
6 2 6 4
v v
v
v
u u
u
u

(
(

(
=
(
(

k
1 1
1 1
2
2
3 3
3 3
12 6 12 6 0 0
6 4 6 2 0 0
240 12 6 24 0 12 6
1000
0 6 2 0 8 6 2
0 0 12 6 12 6
0 0 6 2 6 4
F v
C
v
F v
C
u
u
u
(
(

(
(
=
` `
(

(

(

(

) )
36
EXAMPLE CLAMPED-CLAMPED BEAM cont.
Applying BC
At x = 0.5 s = 0.5 and use element 1
At x = 1.0 either s = 1 (element 1) or s = 0 (element 2)
2
2
24 0 240
1000
0 8 0
v
u
(
=
` `
(
) )
2
2
0.01
0.0
v
u
=
=
1
2
1 1 1 1 1 1
1 1 1 2 2 3 2 4 3 2 2 2 2 2 2
3 1
2 2 (1)
( ) ( ) ( ) ( ) ( ) 0.01 ( ) 0.005m
1
( ) 0.015rad
s
v v N N v N N N
dN
v
L ds
u u
u
=
= + + + = =
= =
2 3 3
3
2
(1)
1
(1) (1) 0.01 (1) 0.01m
1
(1) 0.0rad
s
v v N N
dN
v
L ds
u
=
= = =
= =
2 1 1
1
2
(2)
0
(0) (0) 0.01 (0) 0.01m
1
(0) 0.0rad
s
v v N N
dN
v
L ds
u
=
= = =
= =
Will this solution be accurate or approximate?
37
EXAMPLE CANTILEVERED BEAM
One beam element
No assembly required
Element stiffness
Work-equivalent nodal forces
C = 50 N-m
p
0
= 120 N/m
EI = 1000 N-m
2
1
1
2
2
12 6 12 6
6 4 6 2
[ ] 1000
12 6 12 6
6 2 6 4
s
v
v
u
u

(
(

(
=
(
(

K
2 3
1
2 3
1
1
0 0
2 3
0
2
2 3
2
1/ 2 60 1 3 2
/ 12 10 ( 2 )
1/ 2 60 3 2
/ 12 10 ( )
e
e
e
e
F
s s
C L s s s L
p L ds p L
F
s s
C L s s L
+

+

= = =
` ` ` `

+
) ) ) )
}
L = 1m
38
EXAMPLE CANTILEVERED BEAM cont.
FE matrix equation
Applying BC
Deflection curve:
Exact solution:
1 1
1 1
2
2
12 6 12 6 60
6 4 6 2 10
1000
12 6 12 6 60
6 2 6 4 10 50
v F
C
v
u
u
+ (
(
+

(
=
` `
(

(


) )
2
2
12 6 60
1000
6 4 60
v
u
(
=
` `
(

) )
2
2
0.01
0.03
v
u
=
=
m
rad
3
3 4
( ) 0.01 ( ) 0.03 ( ) 0.01 v s N s N s s = =
4 3 2
( ) 0.005( 4 ) v x x x x = +
39
EXAMPLE CANTILEVERED BEAM cont.
Support reaction (From assembled matrix equation)
Bending moment
Shear force
( )
( )
2 2 1
2 2 1
1000 12 6 60
1000 6 2 10
v F
v C
u
u
+ = +
+ = +
1
1
120N
10N m
F
C
=
=
| |
2
1 1 2 2
2
( ) { }
( 6 12 ) ( 4 6 ) (6 12 ) ( 2 6 )
1000[ 0.01(6 12 ) 0.03( 2 6 )]
60 N m
EI
M s
L
EI
s v L s s v L s
L
s s
s
u u
=
(

= + + + + + +
= +
=
B q
| |
1 1 2 2
3
12 6 12 6
1000[ 12 ( 0.01) 6( 0.03)]
60N
y
EI
V v L v L
L
u u = + +
= +
=
40
EXAMPLE CANTILEVERED BEAM cont.
Comparisons
-0.010
-0.008
-0.006
-0.004
-0.002
0.000
0 0.2 0.4 0.6 0.8 1 x
v
FEM
Exact
-0.030
-0.025
-0.020
-0.015
-0.010
-0.005
0.000
0 0.2 0.4 0.6 0.8 1 x
u
FEM
Exact
-60
-50
-40
-30
-20
-10
0
10
0 0.2 0.4 0.6 0.8 1 x
M
FEM
Exact
-120
-100
-80
-60
-40
-20
0
0 0.2 0.4 0.6 0.8 1 x
V
y
FEM
Exact
Deflection
Slope
Bending moment Shear force
41
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
Axial and bending effects
are uncoupled
Reasonable when deformation
is small
3 DOFs per node
Need coordinate transfor-
mation like plane truss
F
p
1
2 3
4
1
u
2
u
1
v
2
v
11
22
1
u
2
u
1
v
2
v
11
22
1
u
2
u
1
v
2
v
11
22
1
2 3
{ , , }
i i i
u v u
42
PLANE FRAME ELEMENT cont.
Element-fixed local coordinates
Local DOFs Local forces
Transformation between local and global coord.
1
2
|
x
y
Local coordinates
Global coordinates
x
y
1
u
2
u
1
v
2
v
11
22
x y
{ , , } u v u
{ , , }
x y
f f c
1 1
1 1
1 1
2 2
2 2
2 2
cos sin 0 0 0 0
sin cos 0 0 0 0
0 0 1 0 0 0
0 0 0 cos sin 0
0 0 0 sin cos 0
0 0 0 0 0 1
x x
y y
x x
y y
f f
f f
c c
f f
f f
c c
| |
| |
| |
| |
(
(

(
(
=
` ` (
(
(
(
) )
{ } [ ]{ } = f T f
{ } [ ]{ } = q T q
43
PLANE FRAME ELEMENT cont.
Axial deformation (in local coord.)
Beam bending
Basically, it is equivalent to overlapping a beam with a bar
A frame element has 6 DOFs
1 1
2 2
1 1
1 1
x
x
f u
EA
f u L
(
=
` `
(

) )
1 1
2 2
1 1
3
2 2
2 2
2 2
12 6 12 6
6 4 6 2
12 6 12 6
6 2 6 4
y
y
v L L f
L L L L c EI
v L L L f
L L L L c
u
u
(
(

(
=
` `
(

(

) )
44
PLANE FRAME ELEMENT cont.
Element matrix equation (local coord.)
Element matrix equation (global coord.)
Same procedure for assembly and applying BC
1 1 1 1
2 2 2 2 1 1
2 2
2 2 2 2 1 1
1 1 2 2
2 2 2 2 2 2
2 2
2 2 2 2 2 2
0 0 0 0
0 12 6 0 12 6
0 6 4 0 6 2
0 0 0 0
0 12 6 0 12 6
0 6 2 0 6 4
x
y
x
y
a a f u
a La a La f v
La L a La L a c
a a f u
a La a La f v
La L a La L a c
u
u
(
(

(
(
=
` `
(

(

(

(

) )
1
2
3
EA
a
L
EI
a
L
=
=
[ ]{ } { } = k f q
[ ][ ]{ } [ ]{ } = k T q T f [ ] [ ][ ]{ } { }
T
= T k T q f
[ ]{ } { } = k q f
[ ] [ ] [ ][ ]
T
= k T k T
45
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 {Q
s
}
Transform the element DOFs to the local coordinate
Then, use 1D bar and beam formulas for element forces
Axial force
Bending moment
Shear force
Other method:
{ } [ ]{ } = q T q
( )
2 1
AE
P u u
L
=
2
( ) { }
EI
M s
L
=
(

B q
{ }
3
( ) [ 12 6 12 6 ]
y
EI
V s L L
L
= q
1 1
2 2
1 1
3
2 2
2 2
2 2
12 6 12 6
6 4 6 2
12 6 12 6
6 2 6 4
y
y
V v L L
M L L L L
EI
V v L L L
M L L L L
u
u
(
(


(
=
` `
+ (

(

) )