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2. Discrete Systems
Dr J. Srinivasa Rao
Department of Mechanical Engineering
RGUKT Nuzividu, Nuzividu-521202, Krishna Dist., AP
hierarchy of Complexity
Discrete
Continuum
Continuous
Linear
System
Nonlinear
Time
Time
invariant
Time Static
variant
Force
equilibrium
Dynamic 1D
equilibrium
Space
•Transient 2D
•Steady State 3D Scalar field
Field
•Solid
mechanics
•Fluid
mechanics
•Thermo
mechanics
•Electro
mechanics
Vector field
•Solid
mechanics
•Fluid
mechanics
Hierarchy of discrete systems
Thermo
mechanics
Scalar field
Electro
mechanics
1D Field
Solid
mechanics
Vector field
Fluid
mechanics
Continuous Static Scalar field
equilibrium Dimension
Continuum Nonlinear 2D Field
Discrete System Time invariant Force Vector field Solid
Properties equilibrium Transient mechanics
Linear Time impact Dynamic
Time variant equilibrium Scalar field
Steady State
3D Field
Vector field Solid
mechanics
Hierarchy of Continuous systems
Bars
Solid mechanics
Cables
Pipe flow
Seepage
Electro
mechanics Electro statics
Process
Element formulation Assembly Solution
Post-process
determining quantities of Convergence test Refinement if necessary
interest
Direct FEM to Discrete Systems
Discrete Spring systems
Systems
Torsional systems
Structural Systems
Heat transfer networks
Fluid flow networks
Electrical networks
Bar element application
Beam element applications
Difference between bar and beam
Bar element
Beam element
Truss or bar elements
• A bar element - 1D
u u1
2
2
1
Global node 2 is the common node
of element 1 and element 2
Sign convention
e 0
e
if the element is in tension u u
e e
u u
2 1
e 0 if it is in compression u u
e e e e e
0
2 1 2 1
If it is in free length u u
e
2
e
1
Elemental equations
• Equations
F p A A E
2
e e e e e e e
e e
e k u2 u1
AE e e e e
l
F1 F2 0
e e
F F k u u
1
e
2
e e e
1
e
2
Elemental equations
F k u u
1
e e e
1
e
2
F k u u
2
e e e
2
e
1
• In matrix form
F e 1
e
1 u e
k
1 1
1 1 u
e e
F 2 2
Elemental equations
• In matrix form
F k
e e
k e
u
e
e
1 1
• Or F K U
e e e
F k
e e e
2 k u
2
e
• F is element external force vector
e
• K is element stiffness matrix and
• Ue is element nodal displacement vector
Assembly-Example
• For element 2
F1(2) k (2) k u2
(2)
0 0 0 0 u1
F (1) 0 k (1) (1)
2 k u2
• For element 1
F1(1) 0 k (1) k u3
(1)
• global nodes 3 and 2
F (2)
k (2)
k (2)
0 u1
(2)
2
• For element 2
F k
(2) (2)
1
k 0 u2
• Global nodes 2 and 1
0 0 0 0 u3
Assembly – add matrix equations
0 F2(2) k (2) k (2) 0 u1
(1) (2) (2)
F2 F1 k k (2) k (1) k (1) u2
F1(1) 0 0 k (1) k (1) u3
r1 k k (2) 0 u1 (1)
(2)
• For element 1 F k
(1) (1)
k u
(1) (1)
(1)
1 1
(1)
F k
(1) (1)
2 k u 2
• For element 2
F1(2) k (2) k (2)
u1(2)
(2) (2) (2)
F2 k k (2) u2
Gathering matrix for displacements
• Gathering elemental displacements to global displacements
u1 u1
u 0 0 1
(1)
u 0 1 0
(2)
1 1
(1) u 2 (2) u 2
u 0 1 0 u
2 u 1 0 0 u
2
3 3
Equations for assembly
• Elemental displacements to global displacements
u1 u1
u 0 0 1
(1)
u 0 1 0
(2)
1 1
(1) u 2 (2) u 2
u 0 1 0 u
2 u 1 0 0 u
2
3 3
• Element 1 U
(1)
L U
(1)
Element 2 U
(2)
L U
(2)
• General element U LU
e e
• U e Element displacement vector
e
• U Global displacement vector • L Element gathering matrix
Scattering matrix for forces
• Scattering element nodal forces to global nodal forces
F (1) 0 1 F1 F1
2
1 0 F (1)
(2)
2 F (1) F 1
F1 1 0 2
(1) 0
0 0 2
• Element 1 F (1) L(1)T F (1) Element 2F (2) L(2)T F (2)
• General element F e LeT F e • F e Element global force vector
eT
• F Elemental force vector
e •L Element scatter matrix
Equations for assembly
• For a general element
F1e k e k u1
e
e
e e e e F K U
e e e
F2 k k u2
F K LU
e e e
L F L K LU
eT e eT e e
F K U
e e
n n
F K U
1
e
1
e
F = KU
Assembly – add matrix equations
0 F2(2) k (2) k (2) 0 u1
(1) (2) (2)
F2 F1 k k (2) k (1) k (1) u2
F1(1) 0 0 k (1) k (1) u3
r1 k k (2) 0 u1 (1)
(2)
K E k (2)
K EF k (2) 0 U E u1 RE r1
K E k (2)
K EF k (2) 0 U E u1 RE r1
U F K F 1 FF K EF
T
UE
10
u2
1
u2 k k
(2) (1)
k 4 k (2)
(1)
k (2)
u (1) 4 k
(2)
3 k (1)
k 10 0
u3 10 1 1
k (1) k (2)
Solution of reactions
K E k (2) K EF k (2) 0 U E 4 / k (2) RE r1
10
k (2) k (2) k (1) k (1) k (2) 4
K EF T
KF (1)
UF FF
10 1 1
(1)
0 k k 10
k (1) k (2)
RE K EU E K EFU F r1 6
Up coming
• 1D truss another example
• 1D problems in other fields
• 2D and 3D truss analysis
Thank you