Professional Documents
Culture Documents
The TL Plane
Beam Element:
Formulation
10–1
Chapter 10: THE TL PLANE BEAM ELEMENT: FORMULATION 10–2
TABLE OF CONTENTS
Page
§10.1. Introduction 10–3
§10.2. Beam Models 10–3
§10.2.1. Basic Concepts and Terminology . . . . . . . . . . . 10–3
§10.2.2. Beam Mathematical Models . . . . . . . . . . . . 10–4
§10.2.3. Finite Element Models . . . . . . . . . . . . . . 10–5
§10.2.4. Shear Locking . . . . . . . . . . . . . . . . 10–7
§10.3. X -Aligned Reference Configuration 10–8
§10.3.1. Element Description . . . . . . . . . . . . . . . 10–8
§10.3.2. Motion . . . . . . . . . . . . . . . . . . . 10–9
§10.3.3. Displacement Interpolation . . . . . . . . . . . . . 10–10
§10.3.4. Strain-Displacement Relations . . . . . . . . . . . 10–11
§10.3.5. *Consistent Linearization . . . . . . . . . . . . . 10–12
§10.3.6. *Rigid Body Motion Check . . . . . . . . . . . . 10–12
§10.4. Arbitrary Reference Configuration 10–13
§10.4.1. Strain-Displacement Matrix . . . . . . . . . . . . 10–14
§10.4.2. Constitutive Equations . . . . . . . . . . . . . . 10–15
§10.5. Strain Energy 10–15
§10.6. Internal Force Vector 10–16
§10.7. Tangent Stiffness Matrix 10–16
§10.7.1. Material Stiffness Matrix . . . . . . . . . . . . . 10–16
§10.7.2. Eliminating Shear Locking by RBF . . . . . . . . . 10–17
§10.7.3. Geometric Stiffness Matrix . . . . . . . . . . . . . 10–19
§10.8. Commentary on Element Performance 10–22
§10.9. Derivation Summary 10–22
§10. Notes and Bibliography
. . . . . . . . . . . . . . . . . . . . . . 10–22
§10. Exercises . . . . . . . . . . . . . . . . . . . . . . 10–23
10–2
10–3 §10.2 BEAM MODELS
§10.1. Introduction
In the present Chapter the standard formulation of Total Lagrangian (TL) kinematics is used to
derive the finite element equations of a two-node Timoshenko plane beam element. This derivation
is more typical of the general case. It is still short, however, of the enormous complexity involved,
for instance, in the FEM analysis of nonlinear three-dimensional beams or shells. In fact the latter
are still doctoral thesis topics.
In the formulation of the bar element in Chapter 8, advantage was taken of the direct expression of
the axial strain in terms of reference and current element lengths. That shortcut bypasses the use
of displacement gradients, and allows the reference configuration to be arbitrarily oriented. The
simplification works equally well for straight bars in three-dimensional space.
A more systematic but lengthier procedure is unavoidable with more complicated elements. The
procedure requires going through the displacement gradients to construct a strain measure. Some-
times this measure is too complex and must be simplified while retaining physical correctness. Then
work-conjugate stresses are introduced and paired with strains to form the strain energy function
of the element. Repeated differentiations with respect to node displacements yield the expressions
of the internal force vector and tangent stiffness matrix. Finally, a transformation to the global
coordinate system may be required in some cases.
In addition to giving a better picture of the general procedure just outlined, the beam element
illustrates the treatment of rotational degrees of freedom.
10–3
Chapter 10: THE TL PLANE BEAM ELEMENT: FORMULATION 10–4
reference configuration
motion
current configuration
In practical structures beam members can take up a great variety of loads, including biaxial bending,
transverse shears, axial forces and even torsion. Such complicated actions are typical of spatial
beams, which are used in three-dimensional frameworks and are subject to forces applied along
arbitrary directions.
A plane beam resists primarily loading applied in one plane and has a cross section that is symmetric
with respect to that plane. Plane frameworks, such as the one illustrated in Figure 10.1, are
assemblies of plane beams that share that symmetry. Those structures can be analyzed with two-
dimensional idealizations.
A beam is straight if the longitudinal direction is a straight line. A beam is prismatic if its cross
section is uniform. Only straight, prismatic, plane beams will be considered in this Chapter.
2 This angle suffices if the cross section remains plane, an assumption verified by both theories described here.
10–4
10–5 §10.2 BEAM MODELS
θZ (X) ≡ θ(X)
Current
current configuration cross section
Y, y
motion uY (X)
X, x
uX (X)
motion
remain plane and normal to the deformed longitudinal axis. This rotation occurs about a neutral
axis parallel to Z that passes through the centroid of the cross section.
Timoshenko Model. This model corrects the BE theory with first-order shear deformation effects.
The key assumption is that cross sections remain plane and rotate about the same neutral axis, but
do not remain normal to the deformed longitudinal axis. The deviation from normality is produced
by a transverse shear stress that is assumed to be constant over the cross section.
Both the BE and Timoshenko models rest on the assumptions of small deformations and linear-
elastic isotropic material behavior. In addition both models neglect any change in dimensions of the
cross sections as the beam deforms. Either theory can account for geometrically nonlinear behavior
due to large displacements and rotations, as long as the other assumptions hold.
10–5
Chapter 10: THE TL PLANE BEAM ELEMENT: FORMULATION 10–6
θ1 θ1
Y, y uY2 uY2
uY1 uY1
X, x
uX1 uX2 uX1 uX2
1 2 1 2
Figure 10.4. Two-node beam elements have six DOF, regardless of which model is used.
10–6
10–7 §10.2 BEAM MODELS
ds
Figure 10.5. Illustrates total and BE section rotations θ and ψ, respectively, in the plane beam Timoshenko
model. The mean shear distortion angle is γ = θ − ψ, but we take γ̄ = −γ = θ − ψ as shear strain measure, to
match usual sign conventions of structural mechanics. For elastic deformations of engineering materials |γ̄ | << 1.
Typical values for |γ̄ | would be O(10−3 ) radians whereas rotations ψ and θ may be much larger, say 1-2 radians.
The magnitude of γ̄ is grossly exaggerated in the Figure for visualization convenience.
This simplicity is even more important in geometrically nonlinear analysis, as strikingly illustrated
by the elements contrasted in Figure 10.6. Although as pictured there both elements have six
degrees of freedom, the internal kinematics of the Timoshenko model is far simpler.
10–7
Chapter 10: THE TL PLANE BEAM ELEMENT: FORMULATION 10–8
(a) (b)
C 1 element
with same DOFs
1 2 1 2
Figure 10.6. Contrasting kinematics of 2-node beam FEM models based on (a) BE beam theory, and (b)
Timoshenko beam theory. These are called C 1 and C 0 beam elements, respectively, in the FEM literature.
Remark 10.1. As a result of the application of the aforementioned devices the beam element behaves like a BE
beam although the underlying model is Timoshenko’s. This represents a curious paradox: shear deformation
is used to simplify the kinematics, but then most of the shear will be removed to restore the correct physical
behavior.3 As a result, the name “C 0 element” is more appropriate than “Timoshenko element” because
capturing the actual shear deformation is not the main objective.
Remark 10.2. The two-node C 1 beam element is used primarily in linear structural mechanics. It is in fact
the beam model used in the IFEM course [220, Chapter 12].) This is because some of the easier-construction
advantages cited for the C 0 element are less noticeable, while no artificial devices to eliminate locking are
needed. The C 1 element is also called the Hermitian beam element because the shape functions are cubic
polynomials specified by Hermite interpolation formulas.
3 The FEM analysis of plates and shells is also rife with such “two wrongs make a right” paradoxes.
4 For a plane prismatic beam, the neutral axis at a particular section is the intersection of the cross section plane X =
constant with the plane Y = 0.
10–8
10–9 §10.3 X -ALIGNED REFERENCE CONFIGURATION
(a) (b)
L _
Y, y θ(X)
θ=ψ−γ 2
ψ 2
x P(x,y)
xC C(xC ,yC ) C C(X+uX ,uY )
y
1 uYC 1
yC uYP
uY (X) = uYC
X uXC uX (X)=uXC
X
P0 (X,Y) uXP
Y X, x C0(X)
1 C0(X,0) 2 1 2
C0
L0
Figure 10.7. Lagrangian kinematics of C 0 beam element with X -aligned reference configuration: (a)
plane beam moving as a 2D body; (b) reduction of motion description to 1D as measured by coordinate X .
In the current configuration those quantities become A, I and L, respectively, but only L is frequently
used in the TL formulation. The material remains linearly elastic with elastic modulus E relating
the stress and strain measures defined below.
As in the previous Chapter the element identification superscript e will be omitted to reduce clutter
until it is necessary to distinguish elements within structural assemblies.
The element has the six degrees of freedom depicted in Figure 10.4. These degrees of freedom and
the associated node forces are collected in the node displacement and node force vectors
u X1 f X1
uY 1 fY 1
θ1 fθ 1
u= , f= . (10.2)
u X2 f X2
uY 2 fY 2
θ2 fθ 2
The external loads applied to the nodes will be assumed to be conservative.
§10.3.2. Motion
The kinematic assumptions of the Timoshenko model element have been outlined in §10.2.2.
Basically they state that cross sections remain plane upon deformation, but not necessarily normal
to the deformed longitudinal axis. In addition, changes in cross section geometry are neglected.
To analyze the Lagrangian kinematics of the element shown in Figure 10.6(a), we study the motion
of a particle originally located at P0 (X, Y ) in the reference configuration. The particle moves to
P(x, y) in the current configuration. The projections of P0 and P on the neutral axis, along the
cross sections at C 0 and C are called C0 (X, 0) and C(xC , yC ), respectively. The exact kinematics is
10–9
Chapter 10: THE TL PLANE BEAM ELEMENT: FORMULATION 10–10
x u X + X + 12 Y γ 3 cos θ − Y (1 + 12 γ 2 + 24 7
γ 4 ) sin θ
= (10.4)
y u Y + Y (1 + 12 γ 2 − 24
7
γ 4 ) cos θ + 12 Y γ 3 sin θ
If we assume the shear distortion is very small, setting γ → 0 in (10.4) gives the simplified
Lagrangian description of the motion
x X + u X − Y sin θ
= , (10.5)
y u Y + Y cos θ
in which u X , u Y and θ are functions of X only. This form can be also directly obtained from the last
of (10.3) by replacing 1− cos γ by 0. This concludes the reduction to a one-dimensional model, as
sketched in Figure 10.7(b).
For future use it is convenient to define an “extended” internal displacement vector w, and its X
derivative:
u X (X ) dw du X /d X uX
w = u Y (X ) , w = = du Y /d X = u
Y , (10.6)
θ(X ) dX dθ/d X θ
1 + u X = s cos ψ, u Y = s sin ψ, s = = (1 + u
X )2 + (u
Y )2 , (10.7)
dX
in which ds is the differential arclength in the current configuration; see Figure 10.5. If u
X and u
Y
are constant over the element,
s
= L/L 0 , 1 + u
X = L cos ψ/L 0 , u
Y = L sin ψ/L 0 . (10.8)
Remark 10.3. Replacing 1 − cos γ by zero in (10.3) is equivalent to saying that Y (1 − cos γ ) can be neglected
in comparison to other cross section dimensions. This is consistent with uncertainties in cross section changes.
Such changes would depend on the normal stress as well as Poisson’s ratio effects. The motion (10.5) has the
virtue of being purely kinematic (i.e., no material properties appear) and of leading to (exactly) eY Y = 0.
10–10
10–11 §10.3 X -ALIGNED REFERENCE CONFIGURATION
w = u
Y = 0 −1 0 0 1 0 1 = N
u. (10.10)
L0 u
θ
0 0 −1 0 0 1 X2
uY 2
θ2
1 + u
X − Y κ cos θ − sin θ
F = ∂ X ∂Y = , (10.11)
∂y ∂y u
Y − Y κ sin θ cos θ
∂ X ∂Y
in which primes denote derivatives with respect to X , and κ = θ
is the curvature. The displacement
gradient matrix is
u X − Y κ cos θ − sin θ
G=F−I= , (10.12)
u
Y − Y κ sin θ cos θ − 1
From the definition (7.16), the plane portion of the Green-Lagrange (GL) strain tensor follows as
eX X eX Y
e= = 12 (FT F − I) = 12 (G + GT ) + 12 GT G. (10.13)
eY X eY Y
e X X = (1 + u
X ) cos θ + u
Y sin θ − Y κ − 1, (10.15)
in which all quantities appear linearly except θ . The nonzero axial and shear strains will be arranged
in the strain vector
e1 eX X (1 + u
X ) cos θ + u
Y sin θ − Y θ
− 1 e − Yκ
e= = = = .
e2 2e X Y −(1 + u
X ) sin θ + u
Y cos θ γ
(10.16)
10–11
Chapter 10: THE TL PLANE BEAM ELEMENT: FORMULATION 10–12
e = (1 + u
X ) cos θ + u
Y sin θ − 1, γ = −(1 + u
X ) sin θ + u
Y cos θ, κ = θ
,
(10.17)
characterize axial strains, shear strains and curvatures, respectively. These are collected in the
following generalized strain vector:
e
h= γ . (10.18)
κ
Because of the assumed linear variation in X of u X (X ), u Y (X ) and θ(X ), e and γ only depend on
θ whereas κ is constant over the element. Making use of (10.8) one can express e and γ in the
geometrically invariant form
L cos γ̄ L sin γ̄
1 + e = s
cos(θ − ψ) = , γ = −s
sin(θ − ψ) = (10.19)
L0 L0
In theory one could further reduce e to L/L 0 and γ to L γ̄ /L 0 , but those “simplifications” would
actually complicate the strain variations taken in the following Section.
§10.3.5. *Consistent Linearization
The derivation of the consistent linearization (10.15) s based on the following study, known in continuum
mechanics as a polar decomposition analysis of the deformation gradient. Introduce the matrix
cos α − sin α
Ω(α) = , (10.20)
sin α cos α
which represents a two-dimensional rotation (about Z ) through an angle α. Since Ω is an orthogonal matrix,
ΩT = Ω−1 . The deformation gradient (10.11) can be written
s
0 −Y θ
0
F = Ω(ψ) + Ω(θ) . (10.21)
0 0 0 1
where s
is defined in (10.7) Premultiplying both sides of (10.21) by Ω(−θ ) gives the modified deformation
gradient
s cos(θ − ψ) − Y θ
0
F̄ = Ω(−θ )F = (10.22)
−s
sin(θ − ψ) 1
Now the GL strain tensor 2e = FT F − I does not change if F is premultiplied by the orthogonal matrix Ω
T
because FT ΩT ΩF = FT F. Consequently 2e = F̄ F̄ − I. But if the strains remain small, as it is assumed in
the Timoshenko model, the following are small quantities:
(i) s
− 1 = (L/L 0 ) − 1 because the axial strains are small;
(ii) Y θ
= Y κ because the curvature κ is of order 1/R, R being the radius of curvature, and |R| >> |Y |
according to beam theory because Y can vary only up to the cross section in-plane dimension;
(iii) γ̄ = ψ − θ, which is the mean angular shear deformation.
Then F̄ = I + L + higher order terms, where L is a first-order linearization in the small quantities s
− 1, Y θ
10–12
10–13 §10.4 ARBITRARY REFERENCE CONFIGURATION
u
X = cos θ R − 1, u
Y = − sin θ, θ R
= κ R = 0. (10.25)
e(1)
e(2)
X X = (1 + u X ) cos θ + u Y sin θ − Y κ − 1,
(10.26)
e(1)
e(2) (1)
X Y = e X Y − 2 cos θ (u Y − βY κ sin θ ).
e(1)
X X = 0, e(2)
X X = 2 sin θ R ,
2
e(1)
X Y = − 2 sin(2θ R ),
1
e(2)
X Y = 0. (10.27)
The angle φ = ψ +ϕ formed by the current longitudinal axis with X (see Figure 10.5) is determined
by
x21 y21
cos φ = cos(ψ + ϕ) = sin φ = sin(ψ + ϕ) = , (10.29)
L L
in which x21 = x2 − x1 , y21 = y2 − y1 and L may be obtained from the motion as
10–13
Chapter 10: THE TL PLANE BEAM ELEMENT: FORMULATION 10–14
_
// γY φ = ψ+ϕ_
θ2 ψ
// γX
ϕ
2(x 2 ,y2) // γX
_
// γY C
uY2
θ1
_
1(x1 ,y1) Xγ
uX2 ϕ
Y, y u Y1 // γX
_ 2(X2,Y2)
Yγ
X, x C0
uX1
1(X1,Y1)
Figure 10.8. Plane beam element with arbitrarily oriented reference configuration.
10–14
10–15 §10.5 STRAIN ENERGY
N
M
V
M0
N0
V0
C0
Figure 10.9. Beam stress resultants (internal forces) in the reference and current configurations.
Here N1 = (1 − ξ )/2 and N2 = (1 + ξ )/2 are abbreviations for the element shape functions
(caligraphic symbols are used to lessen the chance of clash against axial force symbols).
sX X s1 s1 + Ee1 s1 E 0 e1
s= = = 0 = 0 + = s0 + Ee, (10.34)
sX Y s2 s2 + Ge2 s2 0 G e2
in which E is the modulus of elasticity and G is the shear modulus. We introduce the prestress
resultants
N =
0 0
s1 d A, V =
0 0
s2 d A, M =
0
−Y s10 d A. (10.35)
A0 A0 A0
These define the axial forces, transverse shear forces and bending moments, respectively, in the
reference configuration. We also define the stress resultants
N = N 0 + E A0 e, V = V 0 + G A0 γ , M = M 0 + E I0 κ. (10.36)
These represent axial forces, tranverse shear forces and bending moments in the current configura-
tion, respectively, defined in terms of PK2 stresses. See Figure 10.9 for signs. These are collected
in the stress-resultant vector
z = [ N V M ]T . (10.37)
10–15
Chapter 10: THE TL PLANE BEAM ELEMENT: FORMULATION 10–16
As in the case of the TL bar element, the total potential energy = U − P is separable because
P = λqT u. The strain (internal) energy is given by
0 T 0
U= (s ) e + 2 e Ee d V =
1 T
(s1 e1 + s20 e2 ) + 12 (Ee12 + Ge22 ) d A d X̄ . (10.38)
V0 A0 L0
Carrying out the area integrals while making use of (10.34) through (10.37), U can be written as
the sum of three length integrals:
U= (N e +
0 1
2
E A0 e2 ) d X̄ + (V γ +
0 1
2
G A0 γ 2 ) d X̄ + (M 0 κ + 12 E I0 κ 2 ) d X̄ ,
L0 L0 L0
(10.39)
The three terms in (10.39) define the energy stored through bar-like axial deformations, shear
distortion and pure bending, respectively.
The internal force vector can be obtained by taking the first variation of the internal energy with
respect to the node displacements. This can be compactly expressed as
δU = N δe + V δγ + M δκ d X̄ = z δh d X̄ =
T
zT B d X̄ δu. (10.40)
L0 L0 L0
Here h and B are defined in equations (10.23) and (10.33) whereas z collects the stress resultants
in C as defined in (10.35) through (10.37). Because δU = p T δu, we get
p= BT z d X̄ . (10.41)
L0
This expression may be evaluated by a one point Gauss integration rule with the sample point at
ξ = 0 (beam midpoint). Let θm = (θ1 + θ2 )/2, ωm = θm + ϕ, cm = cos ωm , sm = sin ωm ,
em = L cos(θm − ψ)/L 0 − 1, γm = L sin(ψ − θm )/L 0 , and
−c −sm − 12 L 0 γm cm sm − 12 L 0 γm
1 m
Bm = B|ξ =0 = sm −cm 21 L 0 (1 + em ) sm −cm 12 L 0 (1 + em ) (10.42)
L0
0 0 −1 0 0 1
10–16
10–17 §10.7 TANGENT STIFFNESS MATRIX
This integral is evaluated by the one-point Gauss rule at ξ = 0. Denoting again by Bm the matrix
(10.42), we find
KM = BmT SBm d X̄ = KaM + KbM + KsM (10.47)
L0
10–17
Chapter 10: THE TL PLANE BEAM ELEMENT: FORMULATION 10–18
How good is the nonlinear material stiffness (10.49)-(10.50)? If evaluated at the reference config-
uration aligned with the X axis, cm = 1, sm = em = γm = 0, and we get
E A0
L0 0 0 − ELA0 0 0
0
G A0
0
L0
1
2
G A0 0 − GLA0
1
2
G A0
0
0 1 E I0 + 1 G A L
G A0 0 − E I 0 + − 12 G A0
1
G A L
2 L0 4 0 0 L0 4 0 0
KM = EA
− 0 0 0 E A 0 0 0
L L0
0
0 G
− L 0 A − 2 G A0
1
0 G A 0 − 1
G A
0 L0 2 0
0 1
2
G A0 − ELI0 + 14 G A0 L 0 0 − 12 G A0 E I0 + 1 G A L
L0 4 0 0
0
(10.51)
This is the well known linear stiffness of the C 0 beam. As noted in the discussion of §10.2.4, this
element does not perform as well as the C 1 beam when the beam is thin because too much strain
energy is taken by shear. The following substitution device, introduced by MacNeal,5 removes
that deficiency in a simple way. The shear rigidity G A0 is formally replaced by 12E I0 /L 20 , and
magically (10.51) becomes
EA
L
0 0 0 − ELA0 0 0
0 0
0 12E I0 6E I0 − 12E3 I0 6E I0
L 30 L 20
0
L 20
L0
6E I0 4E I0
0
L0 0 − 2I0
6E 2E I0
L0
L 20 L0
K̂ M =
E A0 E A0
.
(10.52)
− L 0 0 0 0
0 L0
0 − 12E3 I0 − 6E2I0 0 12E I0 6E
− 2 I 0
L0 L0 L 30 L0
0 6E I0 2E I0 0 − 6E2I0 4E I0
L 20 L0 L0 L0
This is the well known linear stiffness matrix of the C 1 (Hermitian) beam based on the Bernoulli-
Euler model. That substitution device is called the residual bending flexibility (RBF) correction.6
Its effect is to get rid of the spurious shear energy due to the linear kinematic assumptions. If the
RBF is formally applied to the nonlinear material stiffness one gets K̂ M = KaM + K̂ Mb , where KaM
is the same as in (10.50) (because the axial stiffness if not affected by the substitution), whereas
6 RBF can be rigurously justified through the use of a mixed variational principle, or through a flexibility calculation.
10–18
10–19 §10.7 TANGENT STIFFNESS MATRIX
12sm2 −12cm sm 6a1 L 0 sm −12sm2 12cm sm 6a1 L 0 sm
−12cm sm 12cm2 −6cm a1 L 0 12cm sm −12cm2 −6cm a1 L 0
b EI 6a L s −6cm a1 L 0 a2 L 20 −6a1 L 0 sm 6cm a1 L 0 a3 L 20
K̂ M = 3 1 0 2m
L 0 −12sm 12cm sm −6a1 L 0 sm 12sm2 −12cm sm −6a1 L 0 sm
12cm sm −12cm2 6cm a1 L 0 −12cm sm 12cm2 6cm a1 L 0
6a1 L 0 sm −6cm a1 L 0 a3 L 20 −6a1 L 0 sm 6cm a1 L 0 a2 L 20
(10.53)
in which a1 = 1 + em , a2 = 4 + 6em + 3em2 and a3 = 2 + 6em + 3em2 .
1 1 L 20
replace by + (10.54)
G A0 G As 12E I0
where G As is the actual shear rigidity; that is, As is the shear-reduced cross section studied in Mechanics
of Materials. The result of (10.54) is the C 1 Hermitian beam corrected by shear deformations computed
from equilibrium considerations. (This beam is derived in Chapter 13 of IFEM Notes [220].) If the shear
deformation is negligible, the right hand side of (10.54) is approximately L 20 /(12E I0 ), which leads to the
substitution used above.
The geometric stiffness KG comes from the variation of B while the stress resultants in z are kept
fixed. To get a closed form expression it is convenient to pass to indicial notation, reverting to
matrix notation later upon “index contraction.” Let the entries of KG , B, u and z be denoted as
K Gi j , Bki , u j and z k , where indices i, j and k range over 1–6, 1–6, and 1–3, respectively. Call
A j = ∂B/∂u j , j = 1, . . . 6. Then using the summation convention,
∂ Bki j
K Gi j δu j = δB z d X =
T
δu j z k d X = Aki z k d X δu j , (10.55)
L0 L0 ∂u j L0
whence
j
K Gi j = z k Aki d X̄ , (10.56)
L0
Note that in carrying out the derivatives in (10.56) by hand one must use the chain rule because B
is a function of e, γ and θ , which in turn are functions of the node displacements u j . To implement
this scheme we differentiate B with respect to each node displacement in turn, to obtain:
10–19
Chapter 10: THE TL PLANE BEAM ELEMENT: FORMULATION 10–20
∂B 1 0 0 N1 sin ω 0 0 N2 sin ω
A1 = = 0 0 N1 cos ω 0 0 N2 cos ω ,
∂u X 1 L0 0 0 0 0 0 0
∂B 1 0 0 −N1 cos ω 0 0 −N2 cos ω
A2 = = 0 0 N1 sin ω 0 0 N2 sin ω ,
∂u Y 1 L0 0 0 0 0 0 0
∂B N1 sin ω − cos ω −N1 L 0 (1 + e) − sin ω cos ω −N2 L 0 (1 + e)
A3 = = cos ω sin ω −N1 L 0 γ − cos ω − sin ω −N2 L 0 γ ,
∂θ1 L0 0 0 0 0 0 0
(10.57)
∂B 1 0 0 −N1 sin ω 0 0 −N2 sin ω
A4 = = 0 0 −N1 cos ω 0 0 −N2 cos ω ,
∂u X 2 L0 0 0 0 0 0 0
∂B 1 0 0 N1 cos ω 0 0 N2 cos ω
A5 = = 0 0 −N1 sin ω 0 0 −N2 sin ω ,
∂u Y 2 L0 0 0 0 0 0 0
∂B N2 sin ω − cos ω −N1 L 0 (1 + e) − sin ω cos ω −N2 L 0 (1 + e)
A6 = = cos ω sin ω −N1 L 0 γ − cos ω − sin ω −N2 L 0 γ .
∂θ2 L0 0 0 0 0 0 0
as the entries of three 6 × 6 “weighting matrices” W N , WV and W M that isolate the effect of the
stress resultants z 1 = N , z 2 = V and z 3 = M. The first, second and third row of each A j becomes
the j th column of W N , WV and W M , respectively. The end result is
0 0 N1 sin ω 0 0 N2 sin ω
0 0 −N1 cos ω 0 0 −N2 cos ω
1 N1 sin ω −N1 cos ω −N12 L 0 (1 + e) −N1 sin ω N1 cos ω −N1 N2 L 0 (1 + e)
WN =
L0 0 0 −N1 sin ω 0 0 −N2 sin ω
0 0 N1 cos ω 0 0 N2 cos ω
N2 sin ω −N2 cos ω −N1 N2 L 0 (1 + e) −N2 sin ω N2 cos ω −N22 L 0 (1 + e)
(10.59)
0 0 N1 cos ω 0 0 N2 cos ω
0 0 N1 sin ω 0 0 N2 sin ω
1 N1 cos ω N1 sin ω
−N1 L 0 γ
2
−N1 cos ω −N1 sin ω −N1 N2 L 0 γ
WV =
L0 0 0 −N1 cos ω 0 0 −N2 cos ω
0 0 −N1 sin ω 0 0 −N2 sin ω
N2 cos ω N2 sin ω −N1 N2 L 0 γ −N2 cos ω −N2 sin ω −N22 L 0 γ
(10.60)
and W M = 0. Notice that the matrices must be symmetric, since KG derives from a potential. Then
KG = (W N N + WV V ) d X̄ = KG N + KGV . (10.61)
L0
10–20
10–21 §10.7 TANGENT STIFFNESS MATRIX
Node Displacements u
Eq. (10.9)
Eq. (10.15)
Generalized strains h = [ e , γ, κ ]
T
Internal forces p
vary p: δp = ∫ L0
_
(B T δz + δBT z) dX δu = (KM + KG )
Eq. (10.40)
Figure 10.10. Roadmap for the derivation of the TL plane beam element.
Again the length integral should be done with the one-point Gauss rule at ξ = 0. Denoting again
quantities evaluated at ξ = 0 by an m subscript, one obtains the closed form
0 0 sm 0 0 sm
0 0 −cm 0 0 −cm
Nm sm −cm − 2 L 0 (1 + em ) −sm cm − 2 L 0 (1 + em )
1 1
KG =
2 0 0 −sm 0 0 −sm
0 0 cm 0 0 cm
sm −cm − 12 L 0 (1 + em ) −sm cm − 12 L 0 (1 + em )
(10.62)
0 0 cm 0 0 cm
0 0 sm 0 0 sm
Vm cm sm − 2 L 0 γm −cm −sm − 2 L 0 γm
1 1
+ .
2 0 0 −cm 0 0 −cm
0 0 −sm 0 0 −sm
cm sm − 12 L 0 γm −cm −sm − 12 L 0 γm
10–21
Chapter 10: THE TL PLANE BEAM ELEMENT: FORMULATION 10–22
7 In the sense that one must use more elements to get equivalent accuracy.
10–22
10–23 Exercises
EXERCISE 10.1
[A+C:20] Show that the displacement field that generates the measures e(1) (2)
X Y and e X Y given in (10.27) simulta-
neously as GL strains is
x X + u X − Y sin θ
= . (E10.1)
y u Y + Y cos θ + 2X sin θ
Show that if this displacement field is selected, all GL strains exactly vanish for an arbitrary RBM.
EXERCISE 10.2
[A:20] Obtain the linearized strain e X X associated with the field (E10.1) using the polar decomposition of its
deformation gradient tensor.
EXERCISE 10.3
[A+C:30] (Research level) Rederive p and K matrix for the displacement field (E10.1), using the exact GL
strain e X X .
10–23