Stiffness

3/29/2014 Stiffness Method 1
Stiffness Method

Definition:
For an element, a stiffness matrix

is a matrix such that

where relates local coordinates

And nodal displacements

to local forces of a single element.
k
=
k
, y
, x

notation denotes
local coordinates
Boldface type indicates matrices.
x
Spring Element
1
2
k
L
x
x 1 x 1
d
, f
x 2 x 2
d
, f

Definitions
node
k - spring constant
direction
coordinate
local x
freedom of ree deg d
force nodal local f
x 1
x 1
freedom of ree deg d
force nodal local f
x 2
x 2
node
Examples of Stiffness
Uniaxial Bar k = AE/L
Circular Torsion k = GJ/L
One-dimensional heat conduction
k = AK
xx
/L
One-dimensional fluid flow (porous
medium) k = AK
xx
/L
Stiffness Relationship for a
Spring
)
`
=
)
`
x 2
x 1
22 21
12 11
x 2
x 1
d
k k
k k
f

Steps in Process
1. Discretize and Select Element Type
2. Select a Displacement Function
3. Define Strain/Displacement and
Stress/Strain Relationships
4. Derive Element Stiffness Matrix & Eqs.
5. Assemble Equations and Introduce B.C.s
6. Solve for the Unknown Degrees of Freedom
7. Solve for Element Stresses and Strains
8. Interpret the Results
General Steps
Outlined on Previous Slide
Derive Stiffness Matrix
Illustrate Usage for Spring Assemblies
Step 1 - Select the Element
Type
1
2
k
L
x
T
T
x 1
d
x 2
d

Step 2 - Select a Displacement
Function
Assume a displacement function
Assume a linear function.

Number of coefficients = number of d-o-f
Write in matrix form.

u
a a u
2 1
+ =
)
`
=
2
1
a
a
x
1 u

x 1 2 2 2 1
1 x 1 2 1
d
L a d
) L ( a a ) L ( u
a d
) 0 ( a a ) 0 ( u
+ = = + =
= = + =
u
Express as function of and
x 1
d
x 2
d
L
d
a
x 1 x 2
2

=
Solve for a
2 :

x
a a u
2 1
+ =
Substituting back into:
Yields:
x 1
x 1 x 2
d
L
d
+
|
|
.
|
\
|

=
In matrix form:
L
x
N and
L
x
1 N
: Where
d
N N u
L
x
L
x
1 u
2 1
x 2
x 1
2 1
x 2
x 1
= =
)
`
=
)
`
=
Shape Functions
N
1
and N
2
are called Shape Functions or
Interpolation Functions. They express the
shape of the assumed displacements.
N
1
=1 N
2
=0 at node 1
N
1
=0 N
2
=1 at node 2
N
1
+ N
2
=1

1 2
N
1

L
1 2
N
2

L
1 2
N
1

N
2

L
Step 3 - Define
Strain/Displacement and
Stress/Strain Relationships
x 1 x 2
d
) 0 ( u
) L ( u
k T
T - tensile force o - total elongation
Deformed Linear Spring
Element
1
2
k
L
x 1
d
x 2
d

Step 4 - Derive the Element
Stiffness Matrix and Equations
x 1 x 2 x 2
x 2 x 1 x 1
x 1 x 2 x 2
x 1 x 2 x 1
x 2
x 1
d
k f
k f
k f
T
d
k f
T
T f
T f
=
=
= =
= =
=
=
(

=
)
`

=
)
`
k k
k k
k
k k
k k
f
x 2
x 1
x 2
x 1
Step 5 - Assemble the Element
Equations to Obtain the Global
Equations and Introduce the B.C.
=
=
=
=
N
1 e
) e (
N
1 e
) e (
f
F
k
K
Note: not simple addition!
Step 6 - Solve for Nodal
Displacements
! Solve Then
F d K
: Obtain
=
Step 7 - Solve for Element
Forces
Once displacements at each
node are known, then substitute
back into element stiffness equations
to obtain element nodal forces.
Two Spring Assembly
k
1

1
2
k
2

1
2
3
x
F
3x
F
2x

)
`

=
)
`
)
`

=
)
`
x 2
x 3
2 2
2 2
x 2
x 3
x 3
x 1
1 1
1 1
x 3
x 1
d
k k
k k
f
: 2 element For
d
k k
k k
f
: 1 element For
Elements 1 and 2 remain connected
at node 3. This is called the continuity
or compatibility requirement.
x 3
) 2 (
x 3
) 1 (
x 3
d d d
) 1 (
x 1
x 1
) 2 (
x 2
x 2
) 2 (
x 3
) 1 (
x 3
x 3
f
F
f
F
f
F
matrix force Global Assemble
=
=
+ =
3
2
1
1
2
F
1x

) 2 (
x 2
f
) 2 (
x 3
f
) 1 (
x 3
f
) 1 (
x 1
f
F
2x

F
3x

Nodal forces consistent with
element force sign convention.
d K F
or
d
d
d
k k k k
k k 0
k 0 k
F
F
F
: form matrix in
d k d k F
d k d k F
d k d k d k d k F
x 3
x 2
x 1
2 1 2 1
2 2
1 1
x 3
x 2
x 1
x 3 1 x 1 1 x 1
x 2 2 x 3 2 x 2
x 2 2 x 3 2 x 3 1 x 1 1 x 3
=
(
(
(
=
+ =
+ + =
(
(
(
(
2 1 2 1
2 2
1 1
3
2
1
3
2
1
0
0
k k k k
k k
k k
d
d
d
F
F
F
x
x
x
x
x
x
: Matrix Stiffness Global
: Matrix nt Displaceme Global : Matrix Force Global
Assembly of [K] -
An Alternative Look.
k
1

1
2
k
2

1
2
3
x
F
3x
F
2x

Assembly of [K]
(

=
(

=
2 2
2 2 ) 2 (
x 2 x 3
1 1
1 1 ) 1 (
x 3 x 1
k k
k k
] k [
d
k k
k k
] k [
d

Expand Local [k] matrices to
Global Size
(
(
(
(
(
(
) 2 (
x 3
) 2 (
x 2
) 2 (
x 1
) 2 (
x 3
) 2 (
x 2
) 2 (
x 1
2
) 1 (
x 3
) 1 (
x 2
) 1 (
x 1
) 1 (
x 3
) 1 (
x 2
) 1 (
x 1
1
f
f
f
d
1 1 0
1 1 0
0 0 0
k
f
f
f
d
1 0 1
0 0 0
1 0 1
k
Force Equilibrium
x 3
x 2
x 1
) 2 (
x 3
) 2 (
x 2
) 1 (
x 3
) 1 (
x 1
F
F
F
f
f
0
f
0
f
(
(
(
(
(
(
(
(
x
x
x
x
x
x
x
x
x
F
F
F
d
d
d
k
d
d
d
k
3
2
1
) 2 (
3
) 2 (
2
) 2 (
1
2
) 1 (
3
) 1 (
2
) 1 (
1
1
1 1 0
1 1 0
0 0 0
1 0 1
0 0 0
1 0 1
(
(
(
x 3
x 2
x 1
x 3
x 2
x 1
2 1 2 1
2 2
1 1
F
F
F
d
d
d
k k k k
k k 0
k 0 k
x 3
x 2
x 1
) 2 (
x 3
) 2 (
x 2
) 2 (
x 1
) 1 (
x 3
) 1 (
x 2
) 1 (
x 1
d
d
d
d
Compatibility
Boundary Conditions
Must Specify B.C.s to prohibit rigid
body motion.
Two type of B.C.s
Homogeneous - displacements = 0
Nonhomogeneous - displacements =
nonzero value

1
2
Let d be the uncontrained or free displacements
and let d be the constrained or specified displacements.
11 12 1 1
21 22 2 2
11 1 12 1 2
2 21 22 1 2
K K d F
K K d F
K d F K d
F K d K d
(

(
=
` `
(

(
) )
=
= +
Partitioning
k
1

1
2
k
2

1
2
3
x
F
3x
F
2x

x 3 1 x 1
x 3
x 2
x 3
x 2
2 1 2
2 2
x 3
x 2
x 1
x 3
x 2
2 1 2 1
2 2
1 1
d k F
F
F
d
d
k k k
k k
F
F
F
d
d
0
k k k k
k k 0
k 0 k
=
)
`
=
)
`
(
(
(

Homogeneous B.C.s
Delete row and column corresponding
to B.C.
Solve for unknown displacements.
Compute unknown forces (reactions)
from original (unmodified) stiffness
matrix.
Nonhomogeneous B.C.s
o
(
(
(
x 3
x 2
x 1
x 3
x 2
2 1 2 1
2 2
1 1
F
F
F
d
d
k k k k
k k 0
k 0 k
)
`
+ o
=
)
`
+

x 3 1
x 2
x 3
x 2
2 1 2
2 2
F k
F
d
d
k k k
k k
Transfer terms associated with known
d-o-f to RHS.
Solve for unknown displacements.
Compute unknown forces (reactions)
from original (unmodified) stiffness
matrix.
Properties of [K] Matrix
Symmetric - both element [k] and global [K]
[K] is singular. Must apply B.C. to prohibit
rigid body motion.
Terms on main diagonal are positive K
ii
and
k
11

EXAMPLE: Three Spring Assembly
1
1
3
2
2
x
3
4
5000 lb
k
1
=1000 lb/in k
3
=3000 lb/in
k
2
=2000 lb/in
3000 3000
3000 3000
k
2000 2000
2000 2000
k
1000 1000
1000 1000
k
) 3 (
) 2 (
) 1 (
(
(
(
(
+
+

=
3000 2000 2000 3000 0
2000 2000 1000 0 1000
3000 0 3000 0
0 1000 0 1000
K
(
(
(
(
x 4
x 3
x 2
x 1
x 4
x 3
x 2
x 1
F
F
F
F
d
d
d
d
5000 2000 3000 0
2000 3000 0 1000
3000 0 3000 0
0 1000 0 1000
)
`
=
)
`
(
(
(
(

= =
5000
0
d
d
5000 2000
2000 3000
F
F
F
F
d
d
d
d
5000 2000 0 0
2000 3000 0 0
0 0 0 0
0 0 0 0
0 d d
x 4
x 3
x 4
x 3
x 2
x 1
x 4
x 3
x 2
x 1
x 2 x 1
(
(
(
(
=
=
5000
0
9 . 4090
1 . 909
F
F
F
F
F
F
F
F
11
15
11
10
0
0
5000 2000 3000 0
2000 3000 0 1000
3000 0 3000 0
0 1000 0 1000
in
11
15
d
in
11
10
d
x 4
x 3
x 2
x 1
x 4
x 3
x 2
x 1
x 4
x 3
)
`
=
)
`
)
`

1 . 909
1 . 909
f
11
10
0
1000 1000
1000 1000
x 3
x 1
x 3
x 1
Element 1
1
3
x
909.1 lb
909.1 lb
1
)
`
=
)
`
)
`

1 . 909
1 . 909
f
11
15
11
10
2000 2000
2000 2000
x 4
x 3
x 4
x 3
Element 2
3
4
x
909.1 lb
909.1 lb
2
)
`
=
)
`
)
`

9 . 4090
9 . 4090
f
0
11
15
3000 3000
3000 3000
x 2
x 4
x 2
x 4
Element 3
4
2
x
4090.9 lb
3
4090.9 lb
EXAMPLE
Nonhomogeneous B.C.
x
o
1
2 3 4
k=200 kN/m
k
k k k
1
2 3
4
5
(

= = = =
200 200
200 200
k k k k
) 4 ( ) 3 ( ) 2 ( ) 1 (
(
(
(
(
(
(

=
200 200 0 0 0
200 400 200 0 0
0 200 400 200 0
0 0 200 400 200
0 0 0 200 200
K
(
(
(
(
(
(

x 5
x 4
x 3
x 2
x 1
x 5
x 4
x 3
x 2
x 1
F
F
F
F
F
d
d
d
d
d
200 200 0 0 0
200 400 200 0 0
0 200 400 200 0
0 0 200 400 200
0 0 0 200 200
(
(
(
(
(
(

= = =
= =
=
x 5
x 1
x 4
x 3
x 2
x 4 x 3 x 2
x 5
x 1
F
0
0
0
F
02 . 0
d
d
d
0
200 200 0 0 0
200 400 200 0 0
0 200 400 200 0
0 0 200 400 200
0 0 0 200 200
0 F F F
m 02 . 0 mm 20 d
0 d
(
(
(

0
0
0
02 . 0
d
d
d
0
200 400 200 0 0
0 200 400 200 0
0 0 200 400 200
x 4
x 3
x 2
(
(
(

m 015 . 0
m 01 . 0
m 005 . 0
d
d
d
4
0
0
d
d
d
400 200 0
200 400 200
0 200 400
x 4
x 3
x 2
x 4
x 3
x 2
(
(
(
(
(
(

kN 0 . 1
kN 0 . 0
kN 0 . 0
kN 0 . 0
kN 0 . 1
F
F
F
F
F
F
F
F
F
F
02 .
015 .
01 .
005 .
0
200 200 0 0 0
200 400 200 0 0
0 200 400 200 0
0 0 200 400 200
0 0 0 200 200
x 5
x 4
x 3
x 2
x 1
x 5
x 4
x 3
x 2
x 1
)
`
=
)
`
)
`
=
)
`

kN 0 . 1
kN 0 . 1
f
005 .
0
200 200
200 200
x 2
x 1
x 2
x 1
Element 1
1
2
x
1.0 kN
1
1.0 kN
Three Spring Assembly
k
1

k
2

k
3

P
1
2
3
1
2
2
2
3
4
x
Rigid Bar
(3)
4x
4x
(2)
3x
3x
(3)
2x
(2)
2x
(1)
2x
(1)
1x
1x
(3)
2x
(2)
2x
(1)
2x
4x 3x 1x
f F
f F
f f f P
f F : m equilibriu Nodal
d d d : ity Compatibil
0 d d d : B.C.
=
=
+ + =
=
= =
= = =
1
F
1x

(1)
1x
f
1
(1)
1x
f
(1)
2x
f
1
2
Free Body Diagram
P
(1)
2x
f
(3)
2x
f
(2)
2x
f
Free Body Diagram
3
(3)
4x
f
2
(2)
3x
f
3
3x
F
2
2
4
4x
F
3
4
Free Body Diagram
(
(
(
(
+ +

x 4
x 3
x 2
x 1
x 4
x 3
x 2
x 1
3 3
2 2
3 2 3 2 1 1
1 1
F
F
F
F
d
d
d
d
k 0 k 0
0 k k 0
k k k k k k
0 0 k k
Matrix Form of Stiffness Equations
(
(
(
(
+ +

x 4
x 3
x 1
x 2
3 3
2 2
3 2 3 2 1 1
1 1
F
F
P
F
0
0
d
0
k 0 k 0
0 k k 0
k k k k k k
0 0 k k
Applying B.C.
3 2 1
x 2
x 2 3 2 1
x 4
x 3
x 1
x 2 3 2 1
k k k
P
d
P d k k k
F
F
P
F
0
0
d
0
0 0 0 0
0 0 0 0
0 0 k k k 0
0 0 0 0
+ +
=
= + +
(
(
(
(
+ +
x 2 2 x 3
x 2 2 x 2
x 2 1 x 1
d k F
d k F
d k F
Solving for Global Forces
Potential Energy Approach
Equilibrium at minimum potential
energy.
Total potential energy defined as the
sum of internal strain energy U and
potential energy of external forces O.
t
p
= U + O
x
F
k
System
k
x
F
Force-Deformation Curve
Fx kx
2
1
Fx
Fx
2
1
x ) kx (
2
1
kx
2
1
U
dx x k U
dx x k dU
x k F
dx F dU
2
p
2
= t
= O
= = =
=
=
=
=
0
dx
dG
: that such x of value as defined
point neutral a or minimum,
maximun, be can value Stationary
) x ( G G
=
=
Stationary Value
x
G
maximum
minimum
neutral
Stationary Values
p
p p
i p n 2 1 p p
minimize to used is
) as denoted ( of variation First
}) d ({ ) d , , d , d (
t
ot t
t = t = t
Stationary Value
Principle of Minimum Potential Energy:
Equilibrium occurs when the d
i
define
a state such that ot
p
= 0 for arbitrary
admissible variations in od
1
from the
equilibrium state
Admissible Variations in Displacements
An admissible variation is one in which the
displacement field satisfies the boundary
conditions and inter-element continuity.
x
u
Admissible Displacements
Actual Displacement Function
Admissible Displacement Function
u+ ou
ou
0
d
, , 0
d
, 0
d
0
d
d
d
d
d
d
n
p
2
p
1
p
p
n
n
p
2
2
p
1
1
p
p
=
c
t c
=
c
t c
=
c
t c
= ot
o
c
t c
+ o
c
t c
+ o
c
t c
= ot
For Admissible Variations

in Displacements
0
d
or
n , , 3 , 2 , 1 i 0
d
p
1
p
=
c
t c
= =
c
t c
For Admissible Variations

in Displacements
x
F
k = 500 lb/in
x
k
F
0 x
x
Fx
kx
2
1
U
U
p
p
2
p
in lb 1000
in 00 . 2 x
0 1000 x 500
x
0
x
p
p
p
x 1000 x 250
2
p
= t
Deformation Potential Energy
-4.00 8000
-3.00 5250
-2.00 3000
-1.00 1250
0.00 0
1.00 -750
2.00 -1000
3.00 -750
4.00 0
-2000
0
2000
4000
6000
8000
10000
-4.00 -2.00 0.00 2.00 4.00 6.00 8.00
x
PE
EXAMPLE
1
1
3
2
2
x
3
4
5000 lb
k
1
=1000 lb/in k
3
=3000 lb/in
k
2
=2000 lb/in
x 2
) 3 (
x 2
x 4
) 3 (
x 4
x 4
) 2 (
x 4
x 3
) 2 (
x 3
x 3
) 1 (
x 3
x 1
) 1 (
x 1
2
x 4 x 2 3
2
x 3 x 4 2
2
x 1 x 3 1
3
1 e
) e (
p p
d f d f
d f d f d f d f
d d k
2
1
d d k
2
1
d d k
2
1

+ +
= t = t
=
0 f f d k d k d k d k
d
0 f f d k d k d k d k
d
0 f d k d k
d
0 f d k d k
d
) 3 (
x 4
) 2 (
x 4
x 4 3 x 2 3 x 3 2 x 4 2
x 4
p
) 2 (
x 3
) 1 (
x 3
x 3 2 x 4 2 x 1 1 x 3 1
x 3
p
) 3 (
x 2
x 4 3 x 2 3
x 2
p
) 1 (
x 1
x 1 1 x 3 1
x 1
p
= + =
c
t c
= + =
c
t c
= =
c
t c
= + =
c
t c
+
+
+
+
=
(
(
(
(
(
(
+
+

x
x
x
x
x x
x x
x
x
x x
x x
x
x
x
x
x
x
F
F
F
F
f f
f f
f
f
f f
f f
f
f
d
d
d
d
k k k k
k k k k
k k
k k
4
3
2
1
) 3 (
4
) 2 (
4
) 2 (
3
) 1 (
3
) 3 (
2
) 1 (
1
) 3 (
4
) 2 (
4
) 2 (
3
) 1 (
3
) 3 (
2
) 1 (
1
4
3
2
1
3 2 2 3
2 2 1 1
3 3
1 1
0
0
0 0
0 0

Stiffness

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Stiffness

Uploaded by

Copyright:

Available Formats

3/29/2014 Stiffness Method 1

3/29/2014 Stiffness Method 3

3/29/2014 Stiffness Method 5

freedom of ree deg d

force nodal local f

force nodal local f

3/29/2014 Stiffness Method 8

3/29/2014 Stiffness Method 11

3/29/2014 Stiffness Method 12

3/29/2014 Stiffness Method 21

3/29/2014 Stiffness Method 35

3/29/2014 Stiffness Method 44

For Admissible Variations

For Admissible Variations

You might also like