LINEAR, STATIC FINITE ELEMENT ANALYSIS

MULTIMEDIA STUDY GUIDE

William J. Anderson The University of Michigan

Produced by Automated Analysis Corporation 2805 South Industrial Highway Ann Arbor, MI 48104

Copyright 1994 All Rights Reserved Automated Analysis Corporation Ann Arbor, MI 48104

ACKNOWLEDGEMENTS

The preparation of this finite element course required coordination with several groups. The MacNeal-Schwendler Corporation's Richard MacNeal and Bruce MacNeal allowed the use of materials and concepts from an earlier MSC/NASTRAN<B>video lecture series. Henry Fong and Mark Skidmore from MARC Analysis Research Corporation assisted with MARC lab problems. Dr. V. B. Venkayya from Wright-Patterson AFB helped with ASTROS concepts. Each of these three organizations has a University program to assist Universities in installing the commercial finite element program. My original attempt at finite element education using commerical codes was encouraged by Jeny Joseph (MacNeal-Schwendler), Louie Nagy (Ford Motor), Joe Eisley (University of Michigan) and Harry Schaeffer. It is relatively easier today to work with large codes at a university than it was 13 years ago. Doctoral students Michael Eldred, Jungsun Park and Michael Dungan have helped in the preparation of this material, particularly the laboratory sessions. Many unnamed students have contributed to this course by finding errors in the notes. They can feel good about being smarter . than the professor!

FOREWORD

The material in this course has been developed at The University of Michigan over the past 23 years, where I have taught Master's level finite element classes. The large class sizes dictated that I prepare the material in advance; it is difficult to teach extemporaneously to more than a hundred listeners, and errors in the material are difficult (and embarassing) to correct at the board. The course is based on virtual work and potential energy. Modeling concepts are emphasized because of their importance--the real problems in the field are to understand meshing, boundary conditions, reflective planes, multipoint constraints, convergence, thermal stress, etc. The course uses three commercial codes for laboratory sessions: MSC/NASTRAN~ MARC and ASTROS. These represent standard industry practice. MSC/NASTRAN is relatively strong for linear statics and dynamics , MARC is relatively strong for nonlinear problems and ASTROS is relatively stong for optimization. The course is intended to be even-handed with respect to all commercial codes, but in some areas of theory, it is necessary to choose a dominant method. Here, I often use the NASTRAN approach because of the importance of the various NASTRAN codes (COSMIC, MSC/NASTRAN, UAI and CSA). This occurs in partitioning of equations prior to solution, multipoint constraints and rigid body elements. The course is about 80/0 code-neutral, however. This is the first multimedia course presented with annotation of figures. The "LivePen" method was developed by Glen R. Anderson of Palo Alto, CA.. It allows the presentation of 30 hours of lectures on 5 CD-ROM discs, which is a compression and quality of material not previously possible. The material can be viewed on Macintos6M computers and Microsoft Windows computers. There are CD-ROM playback units that can handle 5 or 6 discs at once, and allow fast access of all information in the course. There is a window in which written text is scrolled, and this may help nonnative English speakers. Keyword look-up and figure selection is allowed for all940 figures in the study guide. A second series of 17 lectures on structural dynamics will be released in 1995. A third series on numerical acoustics will follow. William J. Anderson Ann Arbor, Michigan November 21, 1994

TABLE OF CONTENTS

CHAPTER

TITLE

1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. 17. 18. 19. 20. 21. 22. 23. 24. 25. 26. 27. 28. 29. 30.

Nomenclature Introduction Rod (Pin-Ended Truss) Element Constant-Strain Triangle Lab Problem 1: Membrane Case Study: 2-D Contact Problem Interpolation Virtual Work and Potential Energy Derivation of a Finite Element by Virtual Work Beam Element Case Study: Autohaul Trailer Lab Problem 2: Cantilever Beam Modification of Equations Linear, Static Equation Solvers Bandwidth and Wavefront Classical Plate Theory Plate Finite Elements Lab Problem 3: Plate Coordinate Systems Gauss Integration Isoparametric Elements Solid Elements Case Study: Hydraulic Valve Lab Problem 4: Gear Tooth Thermal Stress Axisymmetry Modeling Concepts Convergence Steady State Heat Conduction Steady State Heat Conduction (Continued) Dynamics and Nonlinear Problems

NOMENCLATURE
a
A

Value for constant strain in x direction, or dimension, or acceleration Area, or constant of integration Value for constant strain in y direction, or dimension Semi-bandwidth of a matrix, or constant of integration Strain matrix or damping matrix Scaling constant, used in shape function derivation, or constant of integration Flexibility matrix Strain-displacement matrix, or diagonal matrix Strain energy or Young's modulus Equilibrium matrix Nodal forces on element Force component Nodal forces on system Node (grid) numbers for beam (left and right ends) Shear modulus Stress-strain law in element Thickness of sheet material Transformation matrix relating nodal coordinate and generalized coordinates Second moments of area of beam cross-section, opposing deflection in principal planes 1 and 2, respectively Torsional stiffness or Jacobian Stiffness component, or spring stiffness Element stiffness System stiffness Length Line load (force /length) Lower triangular matrix Lower unit triangular matrix line segment

b
B

[B)

c
[C) [D)
E

[1:]
{f)

Fi
{F}

GA,GB G
[G]

[H)

k
[k]
[K]

L
{L} [L]

[Ll]

[m]

Element mass Moment component

[M]
{M}

System mass Moment resultants Newtons Shape function Pounds per square inch Pressure distribution Generalized coordinates Rotational degree of freedom Field displacement Nodal displacement for element Nodal displacement for system Strain energy Upper triangular matrix Upper, unit triangular matrix Coordinate transformation at a node Translational degree of freedom

[N]
psi p(x,y,z)
{q}

~
{u}

{ue}

{u}

u
[U]
[U 1]

[t]

[T]
{.Y}

Coordinate transformation for an element Traction on surface (force I area) Volume, or shear force in beam Nodal shear forces in beam Intermediate vector in Gauss elimination procedure Work Work potential Body force (force/volume)

v
{V} {X}

w
'HI
{X}

Greek symbols

'Y 8 A
E

{E}
K

S(x)

e
'A
A

v II P
{<P} [<P]

at

{a} "S. X ro roi

Dundurs variable in contact problems, or coefficient of thermal expansion (linear) Shear strain component Variational parameter Increment Direct strain component Strain vector (contains both direct and shear components) Dundurs' variable in contact problems Angle of twist along beam Rotation at node (in structural elements) Eigenvalue Shifted eigenvalue Poisson's ratio Potential energy Mass density Eigenvector Displacement function matrix Direct stress component Stress vector (contains both direct and shear components) Shear stress component Curvature Frequency of vibration, rad/ sec Natural frequency of vibration, rad/ sec

Subscripts

0 a e ext I
II III

Initial (reference) configuration Analysis set of degrees of freedom Element External State One: unloaded and undeformed State Two: loaded and in equilibrium State Three: virtually displaced from State Two

int
r

s v

Intemal Set which removes rigid body modes Surface Volume

Superscripts

-1
(i)

Inverse (of a matrix) ith iteration cycle Transpose (of a matrix) Wire Pliers
Overstrikes

T
w

Modified quantity

Velocity Acceleration

Additional Definitions "Elasticity" elements: Those elements derived from classical one, two and three-dimensional elasticity in which no rotations at a point are defmed. These include truss, axisymmetric, plane stress, plane strain and solid elements. "Structural" elements: Those elements derived from beam, plate and shell theory, in which rotational degrees of freedom are defined at nodes. These include all beam, plate and shell elements. "Detailed" nodal numbering: The scheme of nodal numbering where every degree of freedom is numbered and given a separate subscript. Computer programs report bandwidth in this notation. "Compact" nodal numbering: The scheme of nodal numbering where all degrees of freedom at a node are represented by a single symbol. This leads to a simpler notation for discussing assembly concepts, which depend primarily on nodal connectivity. This is a shorthand, nonphysical notation

I I I I I I I I I

I
I I I I I I

LECTURE 1

INTRODUCTION
COURSE OVERVIEW PERSONAL INTRODUCTION DEFINITION OF FINITE ELEMENT HISTORICAL REVIEW OF THE FINITE ELEMENT METHOD EMERGENCE OF F. E. A. AS STANDARD PRACTICE EXAMPLES OF PROJECTS COMMERCIAL PROGRAMS (PARTIAL LIS'}'
USA STRUCTURAL FEA PROGRAMS EUROPEAN STRUCTURAL FEA PROGRAMS STRUCTURALBOUNDARYELEMENTPROGRAMS FLUID FEA PROGRAMS

REFERENCES
Turner, M. J., Clough, R. W., Martin, H. C. and Topp, L. J., "Stiffness and Deflection Analysis of Complex Stn.Ictures," Journal of the Aeronautical Sciences, Vol. 23, No. 9, September, 1956, pp. 805-823. Williamson, F., "A Historical Note on the Finite Element Method, " Int. Journal for Numerical Methods in Engineering, 1980, pp. 930-934.

USA STRUCTURAL FEA PROGRAMS

(PARTIAL LIST)
ABAQUS ADINA ALGOR ANSYS ASTROS

Hibbitt, Karlsson and Sorensen, Inc., 1080 Main St., Pawtucket, RI 02860 (401) 727-4200 FAX: (401) 727-4208 ADINA R & D, Inc., 71 Elton Ave., Watertown MA 02172 (617) 926-5199 FAX: (617) 926-0238
150 Beta Drive, Pittsburgh, PA 15238-2932 (412) 967-2700 FAX: (412) 967-2781

Swanson Analysis Systems, Inc, P. 0. Box 65, Houston PA 15342-0065 (800) 937-3321 FAX: (412) 746-9494 United States Air Force, Wright-Patterson AFB OH
1.1

COSMOS/M

Structural Research and Analysis Corporation, 1661 Lincoln Blvd., Suite 200, Santa Monica CA, (213) 452-2158 FAX: (213) 399-6421 CSA Corp., Agoura Hills, CA, (818) 707-6060 CASA/GIFrS, Inc., 2761 North Country Club, Tucson, AZ 85716 USA, (602) 795-3884 FAX: (602) 795-3886 Structural Dynamics Research Corp., 2000 Eastman Dr., Milford, OH. (513) 576-2003 Celestial Software, 2150 Shattuck Ave, Suite 1200, Berkeley, CA 94704 (510) 843-0977 FAX: (510) 848-9849 Livermore Software Technology Corp., 2876 Waverley Way, Livermore CA 94550 (415) 449-2116 FAX: (415) 373-0588 MARC Analysis Research Corporation, 260 Sheridan Ave., Suite 309, Palo Alto 94306 USA (415) 329-6800 FAX: 415-323-5892 Rasna Corp., 2590 N. First Street, Suite 200, San Jose, CA 95131 (408) 922-6833 FAX (408) 922-7256 The MacNeal-Schwendler Corporation, 815 Colorado Blvd . Los Angeles, CA 90041, (800)-336-4858 FAX: (213)-259-3838 Structural Analysis, Inc., Austin, TX (800) 388-8134 Engineering Mechanics Research Corporation, P. 0. Box 696, Troy, MI 48099 (313) 689-0077 FAX: (313) 689-7479 PDA Engineering,2975 Red Hill Ave, Costa Mesa CA (714) 540-8900 STARDYNE.TITAN Corp., 20941 Devonshire St., Chatsworth CA 91311 (818) 773-8174 FAX: (818) 773-8915 Universal Analytics, Inc., 3625 Del Amo Blvd. Suite 370, Torrance CA 90503 310-214-2922 FAX: 310-214-3420

CSA/NASTRAN GIITS I-DEAS IMAGES LS/DYNA MARC MECHANICA MSC/NASTRAN mTAB/SAP386 NISA

PATRAN STARDYNE UAI/NASTRAN

EUROPEAN STRUCTURAL FEA PROGRAMS

ASAS ASKA BERSAFE CASTOR DIANA (PARfiAL LIST) WS/Atkins Engineering Sciences Ltd., Woodcote Grove, Ashley Road, EPSOM, Surrey KT18 5BW, England 0372-726140 IKO Software Service GmbH, Albstadtweg 10, D7000 Stuttgart, Germany (0711) 782131 FAX: (0711) 782131 Nuclear Electric plc, Berkeley Nuclear Labs, Berkeley, Glos., England Gl 13 9PB 0453 812341 FAX: 0453 812529 CETIM, PROGETIM -BP 60028- F-95971 Roissy CDG Cedex France 010/33-1-48-63-21-58 DIANA Analysis B. V., Kalfjeslaan 58, 2623 AJ Delft, The Netherlands. 31 15 62 79 23 FAX: 31 15 62 53 30
1.2

FAM LUSAS PAM-CRASH PERMAS SAMCEF SESAM

FEGS Ltd, Oakington, Cambridge CB4 5AF England 0223 237111 FAX: 0223 234192 FEA, Forge House, 66 High Street, Kingston Upon Thames, Surrey KT1 1HN, England, 081-541-1999 FAX: 081-549 9399 PSI/ESI, 20, rue Saarinen Silic 270, 94578 Rungis, Cedex, Paris, France. 33 (1) 49 78 28 00 INTES GmbH, Nobelstrasse 15, D-7000, Stuttgart 80, Germany, (49) 711 68783-0 FAX: (49) 711 68783-10 Belgium VERITAS SESAM SYSTEMS A. S., P. 0. Box 300, N-1322, Hovik, Norway, +47 2 47 89 96 Salvia Engineering AB, Ostra Ringiagen 4, S-722 14 Vasteras, Sweden +46-21 144050 FAX: +46-21 188890 FRAMASOFT, 10 rue Juliette Recamier, BP 3083 69398 LYON CEDEX 03, France 72 74 89 60 FAX: 72 74 89 99

SOLVIA SYSTUS

STRUCTURAL BOUNDARY ELEMENT PROGRAMS

(PARTIAL LIST) EASYBEA Computational Mechanics, 25 Bridge Street, Billerica MA 01821 (508) 667-5841 FAX: (508) 667-7582 Automated Analysis Corporation, 2805 S. Industrial, Ann ArborMI48105 (313)973-1000 FAX:(313)973-1190

COMET/BEA

FLUID FEA PROGRAMS

(PARriAL LIST) CENTRIC FIDAP Centric Engineering Systems Inc., 3801 E. Bay Shore Dr., Palo Alto, CA 94303 Fluid Dynamics International, 500 Davis Street, Suite 600, Evanston IL 60201 (708) 491-0200 FAX: (708) 869-6495 Swanson Analysis Systems, Inc, P. 0. Box 65, Houston PA 15342-0065 (800) 548-6866 COMCO, Inc. 7701 N. Lamar, Suite 200, Austin, TX 78752. PHLEX can also be used in structural/thermal problems. Fluent, Inc., Centerra Resource Park, 10 Cavendish Ct., Lebanon NH 03766 (800) 445-4454 FAX: (603) 643-3967
1.3

FLOTRAN

PH LEX
RAMPANT

I COURSE
GOALS:

OV~RVIEWI

To understand F. E. Theory To model structural systems To use commercial FEA codes Lectures, laboratories, case studies Engineers, physical scientists, mathematicians Introductory
1.4

APPROACH: FOR: LEVEL:

SUBJECT:

Finite element an~~ysis of linear, static systems Displacement, stress, strain

~~~~-~:

EFFECT

I PERSONAL INTRODUCTION
William J. Anderson
pe~rees_:

1958-1962 Caltech Iowa State U. 1957-1958 Iowa State U. 1953-1957

Ph. D. Aeronautics M.S. Aero Engr B.S. Aero Engr

full:time jo~~;

Univ. of Michigan USAF, Wright-Patterson

Prof. 1/Lt
1.5

1965-present 1962-1965

G)

~_y.mmer_ jops;

Boeing Airplane Co. Chance Vought Aircraft

~()llSU11jfl~g~

Seattle 1957 Dallas 1954, 55, 56

Ford, Chrysler, GM, Caterpillar Business Interests: President and Chairman of the Board of Automated Analysis Corporation, Ann Arbor Hobbies:
: xx x

Volleyball, downhill skiing, model aircraft and ships, woodworking, gardening @

IDEFINITION OF FINITE ELEMENTI

I A hypothetical subdivision of a structure or system, ! ! possessing a simple shape which can be analyzed. ;:
~ ~~ ---~""""'~~"'~~--...v~'N>.V."""''~!'... .? -"._.y.AJ~V~.A~.-.~ANV~~'-'""~".WW
.....

rFiNrfEELEMENr: -

l
..Il

The finite element method requires: a) development of individual elements, often with concepts from classical mechanics b) assembly of elements into structure or system c) solution of the assembly using modern numerical analysis and computing d) recovery of field variables (stress, strain) within the interior of the elements
1.6

o)
Line element (truss, beam, pipe, electrical resistor)

Two-dimensional element (membrane, plate, shell)

~-u~
fl

~~~
C>

~~~--,.--------....)

f2

(deformation of element greatly enlarged)

1.7

Solid element

HISTORICAL REVIEW OF THE FINITE ELEMENT METHOD

1696
1851

Gottfried Leibnitz Karl Schellbach Richard Courant

1943

1950's John Argyris

1956

Tumer, Martin, Clough and Topp

1.8

C ...,_____.F--~-.J:!,.~. ,.~~.
G ...,___ _ _ _ _ _ _
M

. _ . _ ~_ ~:.:,<:_,.~.~%. ;.: ;-~~--. ~- ---"-~---~ ,~.

__

... P

Brachistochrone solution. Leibnitz, 1696.

Closed curve in 3-D space

1.9

0 y_2 y_l
Yo

X
iiJIIa'

yl y2 y3

y4

'

!Y
Finite element mesh

1956 1960
I

1970
I

1990
I

r r~----Civil Structures ------~

L~------- Aerospace Structures

Nuclear - - - - - - - - ; . ; > Naval Architecture

---l>

r~----- Engineering Science L Mechanical

r~----- Engineering
------t>
-----l>

EMERGENCE OF FEAAS STANDARD PRACTICE

Electrical Engineering

r-1.10

L__ Aerospace Fluids

--t>

IEXAMPLES OF PROJECTS

Portable load ramp

Load cell (preliminary design)

1.11

Aircraft with trailing antenna

COMMERC~PROGRAMS (PART~ LIST)

USA STRUCTURAL FEA

PROGRAMS
ASTROS CSA/NASTRAN MSC /NASTRAN NASTRAN UAI/NASTRAN ANSYS ABAQUS
MARC

US Air Force, WP-AFB CSA Corp. MacNeal-Schwendler US Govemment, COSMIC Universal Analytics

Swanson Analysis Systems Hibbitt, Karlsson, Sorensen MARC Analysis Res. Corp. @
1.12

ALGOR COSMOS/M I-DEAS PATRAN GIFTS ADINA IMAGES MECHANICA

mTAB/SAP386

Algor, Inc. Structural Res. & Analysis Structural Dyn. Res. Corp. PDA Engineering U. of ARIZONA, H. Kamel ADINA R & D, Inc. Celestial Software RASNACORP. Structural Analysis, Inc. Engineering Mech. Res. Corp. Univ. Calif., Ed Wilson STARDYNE MIT

NISA
SAP IV, SAP6 STARDYNE

STRUDL

EUROPEANFEAPROG~S
ASAS ASKA BERSAFE CASTOR DIANA FAM LUSAS PAFEC PAM-CRASH PE~S Atkins, England IKOSS,Gennany Nuclear Electric, England CETIM, France DIANA Analysis, Netherlands FEGS Ltd., England FEA, England PAFEC Ltd., England PSI/ESI, France INTES,Gennany
1.13

RADIOSS

France

SAMCEF SESAM SOLVIA

SYSTUS

Belgium VERITAS SESAM SYS., Norway Solvia Engineering, Sweden

FRAMASOFT, France

STRUCTURAL BOUNDARY ELEMENT PROGRAMS

BEASY COMET/BEA

Computational Mechanics Automated Analysis Corp .

FLUID FEA PROGRAMS

Fluid codes include: CENTRIC;wFIDAP, FLOTRAN,FLUENT,PHLEX,RAMPANT, .. (PHLEX can be used in structures/thermal)
1.14

Has Bill been doing finite elements too long?

Has Ellen been eating too much broccoli?

1.15

I I I I I I I I I I I I I

I I

LECTURE2

ROD ELEMENT (PIN-ENDED TRUSS)

GENERAL TWO-NODED ELEMENT OVERVIEW OF TWO-NODED ELEMENTS ROD ELEMENT ASSEMBLY PROCESS OTHER SIMPLE LINE ELEMENTS PROBLEM SESSION
1. 2. 3. 4. 5. SOLUTION OF ROD ASSEMBLY STIFFNESS AND ASSEMBLY OF SPRINGS ASSEMBLY OF RODS AND TRIANGLES VARYING-AREA ROD ELEMENT DISPLACEMENT AND SHAPE FUNCTIONS

INTERVIEW WITH ROBERT SCHMITZ

2.1

OVERVIEW OF 1WONODED ELEMENTS

~. >

~;
~

a:. .. ..;~~:< ------i:!:=.,.<:;::.....

~ ~~{

/----------~ ;=~;

.;

Forces and displacements at nodes are related. Examples: rod (pin-ended truss), torsional member, spring, beam, pipe, column, gap.
2.2

'

Examples of simple line elements:

~0-

- - -extension - --

--

-~

-torsion ---- -

-~

The NASTRANROD element combines these properties. Civil engineers call the extensional element the pinned-ended truss.

A general relation between nodes can violate equilibrium. (Examples: ELAS l and ELAS2 in NASTRAN.)

o-= fl
ul

Even though the stiffness is symmetric, the element can unbalance the structure. We need physical laws--equilibrium or energy conservation--to "tame" the relation. G)
2.3

IROD ELEMENTI
(~o----------~--------~o>

~~u1-~: ;..._ _ _-,.:oi!At""---_ _ _~--..~:_

fl f2

~X
Features: two nodes constant area A straight axis, loads aligned on axis element coordinate system, x Assume: linear elastic material
O"x = Ex

infinitesimal displacements ex= d~~)

Many engineers have trouble understanding displacement and strain. The displacements are infinitesimal (although enlarged, here). All geometry ideas are referred to the undeformed body.
~........ii}~

u(x)

~f.--.....----u-2-::.: : :"

In 1-D, strain is the slope of displacement:

u(x)

fu
0

l u(x)

I
L
2.4

The finite element sign convention is (+ ---j).

o--;:
fl

ul

The product of force and displacement is work. Equilibrium requires:

fl+ !2= 0
i. e.

!2=- fl

Engineering strain xis approximated:

Cx(x)-

/).f
L

:::::: u2- ul

Linear, elastic material:

Gx(x) = Eex(x)

= E(u2 ~ul)
Relate nodal forces to intemal stresses through free-body diagrams:

At the left end: At the right end:

2.5

Rearrange:

In matrix form:

ft}=[ EA/L { f2 -EA/L

or:

-EAIL]{Utl EA/ L u;J

{f} = [k]{u}

The "stiffness" matrix [k] is:

[k] =

EA[ 1-1] L -l 1

Comments
o
0

Stiffness terms kij are conductors of force. The electrical analogy is conductance. Each kij is the force at d. o. f. "i" due to a unit displacement at only d. o. f. ']". Theoreticians love stiffness. Experimentalists hate stiffness; they love flexibility cij (the displacement at a d. o. f. "i" due to a unit force at only d. o. f. ']"). @
2.6

!ASSEMBLY PROCESS

Use a topological approach, with truss elements. Distinguish element nodal displacements u ei from assembly nodal displacements u i.
~ Uel ~---- Ue2 ~----'~ U e3 ~-----"" Ue4

The assembly will have 3 coordinates:

~-~~:' u 1 ~--;::;:,:. u 2 ~.-..........:;:;: :;u 3

Embed into a 3-dimensional space:

{ .:0.~} [-0~~ -:0~-~ ~0] ~:. ;~

=
- <.:04

{.~J :.~l ~0 ,,.~.:-~ -~

=[
2
j

-r..'
/....

2
Ue,_1
.;

K--, ..

where:
{\. J -

r - E1A1

Ll

~-- ~ .... -

~:, - E2A2 L
2

Set ue 3 = ue 2 Both equations are of the form:

't~
~' A'

~ .. _,

t' ' . >; 1{ Z} - H

~- ~
... ,''),

s...;~.,j

Add the two matrix equations:

t . /1
f ~).. s

+ ft .I ~J: )

- t .t- -~

.r~:

1 {Z} + rt ~: -:. . )'!{Z}

_ f

2.7

Use distributivity: .r ;t~- + f }/'l = (f r;; ~l + rrJ}){Z}

t.
.>. ~ --~

t..

...6...

~-- _ ;.:

--~

a..~---

The stiffness matrices add "term-by-term." { )( + 17} = [_p= + (} ] {Z} The rod elements are assembled:

{ r~J 1, }-[-~{i ~~kl-~ -~] ~e~, ,

-- ,., f J
V

> ,-~ :

! ":'

, ,_ . :

: ,,. :.

~k., q , ..::..

~ '

..:

!<"
A

, ....

L.

u~

e2
;_, '

,:,

"

sum of / nodal forces

sum of / stiffnesses

independent d.o.f.

Surviving d.o.f. are the assembly coordinates. We need to clarify what the forces are. @
F.~r~~ ~q~ilil:Jrat~g~H . Cl-t H Cl- ~99.~

Do a mental experiment at a pinned joint:

:r
L forces on the pin
= 0

f2+!3=:T

The equations for the assembled system become:

{;}=[-J: kt~~2 -~~] ~:~

., -4 ',:::,
n _:

C,::

2.8

Renumber, using notation for the assembly:

{F} = [K]{u}

Comments Do this process 2 or 3 .times to develop intuition. Thereafter, use assembled notation only. Nodes are actually "welds," not pinned joints. The rod element is an "elasticity" element.

OTHER SIMPLE LINE ELEMENTS

Torsion:

Heat conduction:

Electrical resistor:

2.9

Pipe fluid flow:

IPROBLEM SESSION)
ProbleDl 1. Solution of Rod Assen1bly Find the displacements in the rod assembly:
~ ul ~~-~==~,. . u2 ~----=~=::,. . . u3

1
II

CD
4

';

7to0oN
4

E 1A 1 1L 1= 1.0X10 N/mm

E 2 A 2 1L 2 = 2.0X10 N/mm

Solution The assen1bled equation of equilibrium is:

104 [-~0 -2 -~ -~]{~2}={ l~ } 2 1000

U3
2.10

Postmultiplication of a matrix by a zero cancels a column: Simplify:

1o
4 -

3 -2 -2 2

_1

0 ]{ ~ . } {
u2 =
u3

J~}

1000

-1 104 [ 3 -2 -2 2

o]{u~} u; =

F1 } 0 1000

The first equation is partitioned out and set aside. This will allow solution for the reaction, later. -. , 10 4
!-~1

=-

U2

Solve for displacements:

3 104 [ -2 2

2]{u2} _{1000 0 }
u3 -

Adding the two equations gives: 4 10 u 2 = 1000

u 2 =0.10 mm

The upper equation gives:

u3 =

~u2 = 0.15 mm

If desired, one can retum to the neglected equation to get the force of constraint:
F1 =-10 4 u 2
= -1000 N
~--------:::;;:-:--0
~~---:::;;,,,. 0 .1 0 ~-~--~~::;;,,. .

1000N .. (o

(o
2.11

Q)

0.15 mrn .- 1000 N

ProbleDl 2. Stiffness & Asse111bly of Springs

A linear, elastic coil spring is to be treated as a single finite element with 4 d.o.f. The spring is 200 mm long and 40 mm in outside diameter. It is made of steel wire of l mm diameter.
u1
u
2
-~--~-~:::;,.._.
t:~-'

-~::;-...;,-x.......

Two experiments have been carried out to provide stiffness data. The left end of the spring is clamped.

...___~= ~:= =" u 3 = 1 mm -~---~-::====>-:::==~ u = 0 rad

4

...___.~ = ............~ =='~ u 3 - 0 mm

-----:=:~==...~===,.....

u = 1 rad
4

Assume the spring remains linear. A) Using elastic symmetry, geometric symmetry and equilibrium concepts, construct the stiffness matrix for this spring. B) If two such identical spring elements are joined in series, find the stiffness matrix for the assembled system. @
2.12

Solution A) The first experiment gives:

-.A.._,Y.YA~~Vl.YNtiY'.....,.I!N'-Y

k1.3

-100

k23

0 1 0

-50

!3 !4

Hence: k 13 = -100 k 23 =-50 The second experiment gives: -50 -100 kl4 0 -50 k24 0 - -100
0 1

!3 !4

kt4 =-50

k24 =-100

From equilibrium: !3 =-ft The first experiment yields: -100 -50 0 -50 -100 0

k33
k 43

-100 -50
1()0

50

Hence: k 33 = 100 k 43 =50 The second experiment yields: -100 -50 0 -50 -50 -100 0 -100 100 k34 0 50 50 k44 1 lfJO Hence: k44 =100
2.13

Due to elastic symmetry, k

-100
-5()

ij

=k

ji:

-50
-10()

-100 -50 -50 -100 100 50 50 100

(regardless of body shape)

Due to geometric symmetry, the forces are identical in the following two experiments:
. . . .\::~ ~:

Omm~mm . ............... Orad Orad

--1.~~

::::~:::..:

::-~::;~~:::;.......... ..-.;:::;::...........

-1mm~Omm :;:*............... Orad Orad

. . ..........

~:::::-:::::::

Exp. 1':

-100 -50 -1 -50 -100 0 k2.1. -100 -50 100 50 0 -50 -100 50 100 0
k11

-100 -50 100 50

Hence:

kll

= 100

k21

=50

@ @
-.~::!:-> -:;:::=~~;::::.

Likewise, the forces are identical in:

~~~~

Om~Omm ;;::<.. 0 rad 1 rad

~~

-::~:::::::::Y..

. .:::~~;:;:::.-- :::::::

Om~Omm ....... -1 rad 0 rad

Exp. 2':

100 k12 -100 -50 0 50 k ~~ -50 -100 -1 L..:..., -100 -50 100 50 0 -50 -100 50 100 0
k21

-100 -50 100 50

=50

k22 =

100

The final stiffness matrix:

100 50 -100 -50 50 100 -50 -100 -100 -50 100 50 -50 -100 50 100
2.14

B) Consider two springs in series:

The assembled stiffness matrix is:

0 0 100 50 -100 -50 0 0 50 100 -50 -100 200 100 -100 -50 -100 -50 200 -50 -100 -50 -100 100 100 50 0 0 -100 -50 0 50 100 0 -50 -100

ProbleiD 3. Asse111bly of Rods and Triangles

Assemble the stiffness matrix for the planar structure. Use symbols for the triangle and rod stiffnesses.
,,

;,
'-./

'".N'rtNY'a~~~"'it/'..'NV''t

Solution

............

a a a

a a+ - =,. a
;.;~

a a a+ li
, ~

0 0
8

0
...~~

..:.

0 0

0 0 0

0
-~ ..l y

(j

:::

0 0

0 0 f3 + l) f3 f3 {3 f3 + '/ {3
;1

f3
2.15

f3

f3

ProbleDl 4. Varying-Area Rod Elen1ent

Find the exact stiffness matrix for a two-noded, varying area element:

1A(x) = A 0 (l + Bxl L) . ~.~~ E __ x____----~.T . . ~;.

Use an equilibrium method. You will not get a polynomial for the solution. Solution Stress in the element is force over area:
(J=--~--

!2

fl
~o--------<0 ~

A 0 (1 + Bx/ L)

Strain equals stress over Young's modulus:

e(x)

!2 - = -(J = - - E

EA 0 (l + Bx/ L)

Displacement is integrated, from the left end:

u(x) = [e(i)di + u 1
0

f = J0

!2

EA 0(l + Bi/ L)

dx + u1
X

= !2

Lln(l+Bil L) +u 1 EA 0 B 0
~

f2 L =--ln(l+Bx/L) +u 1 EA 0 B
2.16

Evaluate the displacement at the right end:

u(L)

!2 Bln(l L =u 2 = EAo +B) +u1

Solve for nodal force in terms of nodal displacements:

h = (u2 -ul)
By equilibrium:
II=-

EA 0

ln(l +B)
B

h = (ul-u2)T ln(l+ B)

EAo

Express in matrix form:

{~~}= [k]{:~} = E1o In(l! B)[-~ -iJ{:J /@

Problem. 5. Displace111ent & Shape Functions The displacement function for a two-noded line element is: u (x ) = q + q x
1
2

"Shape functions" for a two-noded line element are:

u(x)=[l-x/L

x/L]{~J

Relate the constants q 1 and q 2 to the nodal displacements u 1 and u 2 . Solution Evaluate the field displacement at the nodes:
'itX-.V..;)i WJI. )o())::O:,O

u(0)=u 1 =q 1 +q 2 0
u(L)= u 2 = q 1 + q 2 L
2.17

q 1 =u 1

LECTURES

CONSTANT STRAIN TRIANGLE

OVERVIEW ELASTICITY REVIEW

A. B. 3-D 2-D

DERIVATION
A. B. C. EQUILIBRIUM STRAIN-NODAL DISPlACEMENT RElATION STIFFNESS

STIFFNESS, IN ELEMENT COORDINATES ASSEMBLY COMMENTS PROBLEM SESSION

1. ASSEMBLY OF TRIANGLES 2. BOUNDARY CONDITIONS 3. DEFLECTION OF A TRIANGLE 4. TRIANGULAR BRACKET UNDER TIP LOAD 5. DETAILS OF STIFFNESS DERIVATION

3.1

IoVERVIEW I
The aircraft industry of the 1950's needed new methods for stress and vibration analysis. Aeroelasticity lagged. Membrane theory was (and is) used for wings. The birth of practical FEA: Turner, Clough, Martin and Topp, "Stiffness and Deflection Analysis of Complex Structures," Journal of the Aeronautical Sciences, Sept. 1956. Rectangle and triangle elements were presented.

3.2

IEIASTICI'IY .REVIEW]
A. 3-D
stressstrain strain-

displ.

<== [G]

<==

{Ux}
Uy
Uz

[D]

equilibrium

equations

B. 2-D

d:l. {Ux}
[D]
Uy

strain-

equiJibriurn

equations

t : ................

~-x

plane stress: plane strain:

3.3

h~O
h~oo

The mappings needed for plane stress are the stress-strain (constitutive) law:

{ax} cr
r
y xy

vE

- vE

l!v2

I-v2

1-v2 E 1-v2

\....

0
v

~ { ~~} G Y.xy
,)

[G] and the strain-displacement law:

Ex

a
0

ey

Yxy

}=

(}X

a {Ux}
Uy

dx
[D]

nodal forces

stress

strain

field dis pl.

nodal dis pl.

We desire a total mapping, from end to end!

{!} = [ ?][GID][ ?]{u}

" v ,

{!} = [k]{u}
3.4

A. EQUILIBRIUM
Develop a mapping from intemal stresses to nodal forces:

{/} = (~]{ cr}

This is risky because the element is statically indeterminate. Consider a sheet of metal with a constant cry stress. We will superpose cases, later.

+
/

+
/
/ /

'

- ---

- --

' ' ' ' - ...._ '

'

Create free-body diagrams in an exploded view:

ayh(x 3 -x1) ayh(x2 -x3 )

' ' ' 4

3.5

Break each concentrated load into two pieces:

3

C8
'

Consider f4 , say:

14=

cryc.x{-x 3 )h
2
-

cryvr{-x 1)h
2

O"y(x 1-x 3)h

Use the notation:

X=X-X l) l 1

and fill in the terms in the [E] matrix:

ft

!4
fs

!2 !3

16
\..

XI3h

[~]
v

{~;}

.J

The entire matrix can be constructed this way. Finding the terms due to shear is difficult. One must deal with both horizontal and vertical forces in the f. b. d. (See Problem 5.)
3.6

B. DISPLACEMENT RELATIONS
Tumer, et. al., assumed constant strain:
{ a } [D] b =
c

{ux}
Uy

ul
=

[?]

u2

strain

u6 field displ. nodal displ.

To get field displacements, one must integrate:

{c

dydx There are three equations in two unknowns! This requires the concept of "compatibility." @

~} = ~ 1 {:x} a a
y

The first strain-displacement equation is:

a= dux

ax

The fundamental theorem of integral calculus:

ux(x,y) = fadx+ f(y)

=ax+ f(y)

arbitrary function

The second strain-displacement equation is:

b

-ey
J
=by+ g(x)
3.7

- auy

uy(x,y) = bdy + g (x) ""--

arbitrary function

Can we choose f(y) and g(x) so as to have a unique displacement field? This is the compatibility question; in general you cannot! The third equation requires:
c=-x+-

au auy ay ax

Insert the previous solutions:

c = dy(a.x+ f(y ))+dx (by+ g(x))

_ df(y) dg(x) c- dy + dx

This can only be true if all three terms are constant: , say. c = A + c-A

We can evaluate the constants of integration:

df(y) _A dy -

==> ==>

f (y) = Ay + B
g(x)=(c-A)x+C

dg(x) _ A dx -cux
Uy

Insert these into the earlier displacements:

= ax + f(y) = ax + Ay + B
=by+ g(x) = by+ (c-A) X+ C
a

Put this in matrix form:

{::}=[~
\.....

0 0 y X

y 1 0 b -x 0 1 c
-......r
./

[c/J]
3.8

"""--,_ generalized coordinates

There is now an intermediate vector {q}:

a

b
c

[?]

generalized coordinates {q} l

A B

<==

u1 u2

u6

nodal displ.

The remaining mapping is found by a trick. Evaluate the field displacement at the nodes:
ux(x 1,y 1)

=u1 =ax 1
. . .

+ Ay 1+ B
by 1 +cx 1-Ax 1

uy(x 1,y 1)=u 2 =

. . .

+C

+ c {,;;;\
\!;

Put this in matrix form:

u1 u2 x1

0
y1

u3
u4 u5

x2

0
y2

0
x3

u6

0
y3

0
'-

1 0 a x1 -x 1 0 1 b 0 c y2 1 0 x2 -x 2 0 1 A y3 1 0 B 0 x3 -x 3 0 1 c _,y ............,_. 0
y1

[H]
The relation must be inverted:
-1

{q}

{q}=[H] {u}

One can invert [H] in sY!_Ilbol form using Mathematica, Maple, etc.
3.9

C. STIFFNESS
a

b
c

[Hfl
=

A B

ul u2 u3 u4

us
u6

The equilibrium form of stiffness is:

[k]=[!E][G][D][l/>][H]
-1

STIFFNESS, IN ELEMENT COORDINATES

Tumer, et. al. originally used an element coordinate system:
=

(O,y3)

Use the shorthand notation x 21 In these coordinates, [k] is:

3.10

=x 2 - x 1.
@

[k]=
y3 x2l vx 2
X21

@
VX2 Xzl x2
2

--

--

y3 Xzl vx 2
X21

1 --

vx

Xzl

-v

xlx2 Y3X2l
vx 1 X21

0 0
0 0

-v xl Y3

Eh 2(1- v 2 )

_ _h
X21 1 -X21 vx

Y3X2l _vx 2
X21

x2 Y3

Y3
X21 vx 1 x21

xlx2 Y3X21

x2

Y3X2l

0
-v

0
x2 Y3

0
v

0
Y3

0
X21

XI

Y3

(continued)

x2
2

x2
X21

Y3X2l x2
X21

xlx2 -x2 X21 Y3X2l - xl

X21

--

x2

Y3

0 0
0

Y3
X21

-Y3 X21

X21

-1

xlx2

+Gh 2

Y3 X21
- x2
X21

- XI -

x2 Xt

xl

X21 Y3X21 X21

y3
1
X21

xl -

-Y3 -1
0

Y3
X21

X21

0 0
0

x2

Y3
0

Xt

Y3
0

1
0

Y3
0

3.11

IASSEMBLYI

aaaa aaaa aaaa aaaa

a a a a

ex a ex
a

aacta aaact

e t a aa

"Compact" notation uses node numbering:

F1 F2
K11 K12

K21

K22

K15 K25

F3 - . F4
Fs K51

K52

Kss

: li!llllillil!:!lil,i.lillllll:
a
a

a
a+JJ
f-J:
t:{
{'t

.{ .......

0 Ff
!/
i

[K] =

0 0
a

/3 +
'1/
~
l

0 0
'V
i
I
.",~

0 a+ JF-...J:

."',<'

,,.

i3 + ,r,
.. .

a+ /3
s

t!

i3 + ""/
~

a+ /3: +

. . . . I'
~

>'

3.12

(COMMENTSI
Think of element stiffness as conductors of force. Think of interelement boundaries as welds (in addition to nodes as welds!). Compact notation simplifies assembly. Use of constant strain elements in 2-D and 3-D causes error when stress reversal across an element is required (as in a single layer of elements through a beam thickness).

IPROBLEM SESSIONI@
ProbleiD 1. Assembly of triangles

Consider a two-dimensional assembly made of three constant-strain triangles. Using the symbols ~ [J 0 , show the form of the stiffness matrix.

3.13

Solution The element~ connects nodes 1, 2, and 4. The element o connects nodes 2, 3, and 5. The element 0 connects nodes 4, 5, and 6.

ProbleiD 2. Boundacy conditions

Consider a (poor) finite element model of a cantilever beam, as shown. Show the known components of displacement and force that appear in the equilibrium equation:
[K]{u}

= {F}

~- x

t
3.14

jlOOON (225 lb)

Solution Complete the nodal numbering. The displacements at the wall are constrained. The forces are given on the outboard nodes.
u4 u6

0 0 0 0

FI F2 F3

us
ul

u6 u7
Ug

F4 0 0 0 -1000

/
Proble111 3. Deflection of a triangle Consider an equilateral triangle made of steel of thickness 10 mm. The sheet is clamped at the bottom edge. A vertical load of 1000 N acts at the top. Use a single constant strain element to estimate the deflections at the upper vertex.
E = 207,000 MPa
V=

lOOON

0.3

3.15

-1 w--~__...,;._~ The equation of equilibrium is:

X

Solution Use the special element coordinate system:

_t __ _
173.2 mm

A fortuitous uncoupling in the fifth and sixth coordinates has occurred!

The fifth equation yields:

u 5 =0

The sixth equation yields:

Ehx;I u6 = 1000 2(1- v )y3

2000(1- v 2 ) y 3 U6=----~ Ehx 21 2000(1- 0.3 2 )(173.2) 207,000 (10 )(200)

= 0.00076 mm

The single element solution has no shear deformation.

3.16

ProbleDl 4. Triangular bracket under tip load

Model the right triangle with one triangular element. Find the deflection under the load.

E = 2.068x105 MPa v = 0.3 4 G= E - 2.068x10 2(l+V) 2(1+0.3)

= 7 95
.
X

104 MPa

Solution Establish a coordinate system at the lower left comer: Equilibrium:

k33 k34 k43 k44

0
u3 u4

F1 F2

0 -1000
Fs F6

3.17

Y3
Eh x2I 2 2(1-v) ~
X21

u3}-{ 0 } u -1000
4

The first equation immediately gives: u3 = 0 The second equation gives:

u4 -

2( -1000) x 21

Ghy 3 7. 95x10 4 (10)(100) = -0.00252 mm

2( -1000)(100)

This model yields only shearing deformation.

Problem. 5. Details of stiffness derivation

Find the [~] matrix for the constant strain triangle with general coordinate system.
---::.
~

r xyh(x3 - x 1)
.....
!
:

r xy h(x2 - x3 )
.

~i ~

""-"

('(')! ~!

,--...,_
N ~

~'

I
('(')

...s::

~ '-"'

3.18

Propose that the concentrated forces match the total distributed load on the opposite face:
~
~ .
~

rxyh(x 3-x1)

I
(x 3 - x 1)/2

--.---r
'
(y3-Yl)/2

"-" :
~!

~'

1. ..1 ." rxyh(y3-Yl)

Forces balance in the x andy directions. How about moment equilibrium? L M z ? 0 (-:. . .=;"'
rxyh(x 3- x 1 )[(y 3 - y 1) I 2]- rxyh(y 3- y 1) [(x 3 - x 1 ) /2] == 0

Yes! The same holds for the other f. b. d.

Using the notation x 1J .. = x.1

y23

~andy .. J 1J

= y.1 y.: J

0
x32

X32 Y23 xl3

Y31 X21 Y12

0
[~]=-

h y3l 2 0
Y12

0
xl3

0
X21

The [H] matrix found earlier can be inverted and the stiffness found:
[k] = [!E] [ G] [D] [ l/J] [H]
3.19

-1

I I I I I I I I I I I I
I I I I I I

LECTURE4

LAB PROBLEM 1:

MEMBRANE

PROBLEM STATEMENT

PHYSICAL MODELING

FINITE ELEMENT MODELING

DATA SET

RESULTS

COMMERCIAL SOLUTION REFERENCE

Popov, E. P. "Mechanics of Materials," Prentice-Hall, 2nd Ed., 1976, pp. 48-50. (Maximum stress at top and bottom of hole in infinite strip with 30o/o hole: 326 MPa.)

4.1

IPROBLEM STATEMENTI
A sheet of aluminum measures 1000 mm x 1000 Inm x 1 mm (thick). It has a circular hole of 300 Inm diameter which is centered. An extemal stress of 100 MPa acts on the two vertical sides. Find the most severe stresses .

.. ... ....
....

... ... ...

.....

...

...
....

0
4.2

.... lOOMPa
.... .... ..,..

.... (14,500 psi)

...
...

_____ ___ __

..

IPHYSICAL , M ODELINGI
The sheet and loading lie in a plane, and will be considered a two-dimensional, plane-stress problem. Buckling will not be considered. The material will be assumed linear elastic, withE= 68,950 MPa and v = 0.3. Strains will be assumed to be infinitesimal, so that linear elastic theory applies. Stresses at the top and bottom of the hole should be high in tension, those on the horizontal axis high in +3 compression. If the plate were infinitely large, the stress concentration factors would be +3, -1.

0-1

Exploit symmetry by modeling only 1 I 4 of 0 the structure. Vertical and horizontal reflective planes of symmetry are cut, and the first quadrant solved. The reflective planes are modeled by greased surfaces--no shear forces.
zero forces zero force.--------- zero zero displacement ~1~
I

t
zero displa9ement

force
.........~ ... - 100 MPa

~~

~-

_..... zero force

4.3

FINITE ELEMENT MODELING

Use two 8-noded plane stress elements. In some codes (NASTRAN) the shell element is used and only in-plane stresses considered.
3. 5 ' 8

- 10

All nodes are constrained in d.o.f. 3,4,5,6. Also:

~<!10-- 1 -----e----~---~--~ 8333 N
o =- ....,

..
.,~\

.\

'~~~

1 -:

33333 N

o----o------o

8333 N

The loads are apportioned by a method called "equivalent nodal loads" (studied later). This distribution causes the same amount of work to be done as the original distributed loads. @
4.4

IMSC /NASTRAN DATAl

Use two QUADS shell

elements. The numbering scheme is:

1\ file management stateme11t:

assign output2='p1.f12',unit=12
~rhe

execu tive co:r1trol state:r11e:r1ts are:

.Q -~---~~ ~-? -..A..-:.s:.lf -~"'' u.-'~ ~
,,j,_

ID ANDERSON,MEMBRANE TIME 5 ~"'-~. .._ , , i?i~-~~- <~l""'Y;~npr:<' ...-h(-,~('f.:)~-~ <..-.., .t<:., <-t.UJt,_,z_ U. SOL 10 1 CEND
t~.- '- . ~..ti ~-"'

-->~

1<--j- f,pt~~-:.<r' /'CI~'>hnl-:,-:.<fi,(Y-~ <'- '--~~--- t3.>.J/'

The case control commands

cu~e:

TITLE=PLANE STRESS. PLATE WITH HOLE. ECHO=BOTH DISPLACEMENT=ALL STRESS=ALL ELFORCE=ALL SPCFORCES=ALL SUBCASE 1 LOAD= 50 SUBTITLE= EDGE LOADING OF 100 MPA

The bulk data e11tries are:

BEGIN BULK PARAM,AUTOSPC,YES PARAM,POST,-1 GRDSET,,,,,,,3456
4.5

GRID, 1,,0.0,150. 0. ,13456 GRID, 2, 1 0.0 1 325. 1 0., 1 13456 GRID/ 3 11 0.0 1 500. 1 0. 11 13456 GRID 1 4, 57.4 1 138.6 1 0.0 GRID 1 5, 1 250.0,500.0 1 0.0 GRID 6,,106.1,106.1 0.0 GRID, 7,,303.0,303.0 0.0 GRID, 8,,500.0,500.0 0.0 GRID, 9 ,138.6, 57.4 0.0 GRID,10 ,500.0,250.0 0.0 GRID/11 1 1 150.0,0. 1 0. 11 23456 GRID,l2 1 ,325.0,0. 1 0. 1 1 23456 GRID,13,,500.0,0.,0. 23456 CQUAD8 1 1,29 1 1 1 6 1 8 1 3 1 4 1 7 1 +A1001 +A1001 5,2 CQUAD8,2 1 29 1 6,11 1 13 1 8 1 9 1 12 1 +A1002 +A1002,10,7
1 1

1 1
1

11

PSHELL,29,13 1.0 MAT1,13,68950., 0.3 FORCE 50 8 0 1 . 0 8 3 3 3 . 0 . 0 . FORCE,50,l0 1 0 1 1.0 1 33333. 1 0. 1 0. FORCE 1 50 1 13 1 0 1 l.0 1 8333. 1 0. 1 0. END DATA
1 1
I I I I I I I

MSC /NASTRAN output includes a diagnostic

message:
***USER INFORMATION MESSAGE 5293 FOR DATA BLOCK KLL LOAD EPSILON EXTERNAL WORK SEQ. NO.
- 1.7 45 43 13 E- 15 2.2748490E+04

EPSILONS LARGER THAN .001 ARE FLAGGED WITH ASTERISKS

4.6

V E C T 0 R D I S P L A C E M E N T POINT T -ci:l..ST~:l(:t<::::t::rrl : : :_:=t"I.t: T2 1 ID ,.,\. -3.126035-01 .0 1 '<\... ..., .~4. 319586-01 2 .0 ._:._=~ ~: .-: :_:_:~: . _ ~-~ !: _ _ ; \.. .. .. 3 0 3.055194E-01 -2.977902E-01 4 2.896056E-01 -2.985195E-01 5 5.517983E-01 -2.186938E-01 6 7. 5.421658E-01 -1.359472E-01 6.710781E-01 -7.273364E-02 8 7.343332-01 -1.161699E-01 9 3.664567-02 9.142293E-01 10 7.836932E-01 .0 11 12 9 .@ 13 1 . l_J 1 , _) 1 ~ t 0 J 0 dtSplac~enterz.t
\ \_ /)

......... ;...:t

~-

( ) { '': : : ..<_ :_.:.

~-

.... __

---

= ..

. . .:_ _. _

.4;~;;?~~?; ~.highestx

STRESSES

IN

QUADRILATERAL

ELEMENTS

(QUADS)

ELEFIBRE MENT GRID- STRESSES IN ELEMENT COORD ID ID DISTANCE NORMAL-X NORMAL-Y

1 CEN/8.5 1 6 8 3 .5 .5 .5 .5 1.270514E+02 1.328913E+01 2.736594E+02 3.312088E+01 1.115914E+02 2.749037E+00 8.532588E+01 7.374386E+00 3.762882E+01 9.912206E+00 1.040726E+0 6.760434E+01

PRINCIPAL STRESSES MAJOR MINOR

1.365000E+02 2. 73850,1E+02 3.840520E+00

VON MISES
1.346208E+02 2.589606E+02 1.635533E+02 1.105713E+02 4.486930E+01 9.315877E+01 1.655113E+02 9.975479E+01 9.728526E+01 1.300757E+02

3.292986E+01

1.456410E+02 -3.130056E+01 1.043090E+02 -1.160869E+01 4.574183E+01 1.799190E+00

2 CEN/8.5 6 11 13 8 .5

8.784944E+01 -9.837841E+00 1.455324E+02 -3.451486E+01 9.086280E+00 1.118010E+02 -9.490080E+01 6.537780E+01

5.639891E+01 5.461864E+01

.5 -9.457706E+01 8.762540E+00 .5 .5 7.903316E+01 9.814568E+01 7.740310E-01 1.088905E+02

1.229330E+02 -1.326844E+01

4.7

A very useful diagnostic tool is the table of single-point constraint forces:

FORCES OF SINGLE-POINT CONSTRAINT

POINT ID. Tl 1 -1.344028E+04 2 -3. 520335E+04 3 -1.355373E+03 11 .0 12 .0 13 .0

T2 .0 .0 .0
3.562568E+03 2.218100E+03 -5. 780667E+03

The horizontal forces should equal the live load. The vertical forces should add to zero.

IMARC DATAl
The MARC solution will use element #26, which is an 8-noded quadrilateral, plane-stress element.

The Mt\RC data set follo\vs:

TITLE TITLE TITLE SIZING ELEMENTS END

BILL ANDERSON 18 JUNE 1993 LABORATORY 1: PLANE STRESS

400000 26

~
4.8

POST 7,,,1,,,,,,,3 11 12 13 14 15 16 17 PRINT NODE

1

TOTA,LOAD,REAC,STRESS 1 TO 13 POINT LOAD

3

COMMENT THE FOLLOWING CARD SETS ARE FROM LOAD ID 8333.000 0.0 0.0 0.0 0.0
8

67
0.0 0.0 0.0

33333.00 10 8333.000 13 FIXED DISP

2

0.0 0.0

0.0 0.0

0.0 0.0

0.0 0.0

0.0 2 11 12 0.0 13

1 1 2 3 CONNECTIVITY 2 1 26 1 2 26 6 COORDINATES 6 13 1 0.0 2 0.0 3 0.0 4 57.40000 5 250.0000 6 106.1000 7 303.0000 8 500.0000 9 138.6000

6 11

3
8

13

4 9 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0

7 12

5 10

2 7

150.0000 325.0000 500.0000 138.6000 500.0000 106.1000 303.0000 500.0000 57.40000

4.9

10 500.0000 11 150.0000 12 325.0000 13 500.0000 ISOTROPIC

1

250.0000 0.0 0.0 0.0

0.0 0.0 0.0 0.0

13 68950.00 1 TO GEOMETRY
1

0.300000 2

1.000000 1 TO END OPTION

Forces of constraint are gi,ren by MARC:

reaction forces at fixed boundary cond. residual load correction elsewhere Fx Fv ~s~~n 7.4607J0E-13 -J.. '-!U. 1 -31819. 1.15108E-12 2 -2710.2 8.00071E-12 3 -6.78568E-12 1.66835E-11 4 5 -2.29079E-11 -4.60432E-12 1.45519E-11 -2.50111E-12 6 7 -7.27596E-12 -1.31024E-11 8 -3.63798E-12 8.38440E-12 -9.83391E-12 2.26237E-11 9 O.OOOOOE+OO 1.73372E-12 10 8.37730E-12 4168.1 11 12 -9.57812E-12 331.99 13 2.54659E -11 -4~nn n
.... _,. v ', ., v

4.10

MARC nodal displace111ents are:

t
1 2 3 4 5 6 7 8 9

o t a 1
llx

d i

s p 1 a c e m e n t
lly

O.OOOOOE+OO O.OOOOOE+OO O.OOOOOE+OO

.26795 .30327 .49542 .54236 .66967 .67005 .90403 .74899 .88902 1.0862

-.30280 -.38876 -.25785 -.29324 -.17710 -.14108 -7.53630E-02 -8.92153E-02 1.95447E-02

10
11

12 13

O.OOOOOE+OO O.OOOOOE+OO O.OOOOOE+OO

1v1ARC gi\res <:lveraged stresses at

g e n e r

tht~

nodes:
!xy

a l i

z e d
O'y

s t

r e s s e s 3 . 3 6-82 11.484 14.690 -26.165 9.7889 -31.378 -9.0459 2.5393 -23.052 -9.5745 -16.316 -16.881 -16.048

1 2 3
4

5 6 7
8 9

10 11 12 13

118.67 75.915 228.67 90.166 154.03 117.52 115.70 62.853 107.72 18.944 66.343 100.69

44.138 9.6650 8.9647 18.644 4.8227 -25.046 -17.296 -4.9284 -56.917 23.204 13.291 51.291
4.11

IASTROS DATAl
ASTROS data are compatible with COSMIC NASTRAN. Eight QUAD4 elements are used. Stresses are given at element centroids.
3
8

=
:=

Yt

.46
~

9
X

u - - - - - - e : : l: o :: - - - o

11

12

13

The solution control data set is:

ASSIGN DATABASE LABl SHAZAM NEW SOLUTION TITLE=PLANE STRESS. PLATE WITH HOLE. QUAD4 ELEMENTS ANALYZE BOUNDARY STATICS ( MECH = 67 ) LABEL = EDGE LOADING OF 100 MPA PRINT DISP = ALL, STRE=ALL,:> C:sPCF=ALL, FORC=ALL END

4.12

BEGIN BULK GRDSET,,,,,,,3456 GRID,1,,0.,150.,0.,,13456 GRID,2,,0.,325.,0.,,13456 GRID,3,,0.,500.,0.,,13456 GRID,4,, 57.4,138.6,0. GRID,5,,250.0,500.0,0. GRID,6,,106.1,106.1,0. GRID,7,,303.0,303.0,0. GRID,8,,500.0,500.0,0. GRID,9, ,138.6, 57.4,0. GRID,10,,500.0,250.0,0. GRID,l1,,150.0,0.,0., ,23456 GRID,12,,325.0,0.,0.,,23456 GRID,13,,500.0,0.,0.,,23456 GRID,14,,191.2,325.0,0. GRID,15,,325.0,191.2,0.

CQUAD4,1,23, 1, 4,14, 2 CQUAD4,2,23, 2,14, 5, 3 CQUAD4,3,23, 4, 6, 7,14 CQUAD4,4,23,14, 7, 8, 5 CQUAD4,5,23, 6, 9,15, 7 CQUAD4,6,23, 7,15,10, 8 CQUAD4,7,23, 9,11,12,15 CQUAD4,8,23,15,12,13,10 PSHELL,23,33,1.0 MAT1,33,68950.,,0.3 FORCE,67, 8,0,1.0,12500.,0.,0. FORCE,67,10,0,1.0,25000.,0.,0. FORCE,67,13,0,1.0,12500.,0.,0. END DATA

4.13

D I S P L A C E M E N T

V E C T 0 R

POINT
ID. T1 1 O.OOOOOE+OO
2 3 4 5 6 7 8

higl1est y tr!:H1s1atiort O.OOOOOE+OO O.OOOOOE+OO

2.66893E-01 2.81451E-01 4.91263E-01 5.37876E-01 6.49603E-01 6.60877E-01 9.05554E-01 7.42397E-01 8.97654E-01 1.09730 +00 3.3185 -01 7.199 E-01
T2 j -3.34656E-01 j -4. 09657E-01 %''/'
-4~61371E-01

9 10 11 12 13 14 15

-2.75759E-01 -3.05265E-01 -1.80527E-01 -1.51545E-01 -6.59406E-02 -8.62224E-02 3.94969E-02

O.OOOOOE+OO O.OOOOOE+OO O.OOOOOE+OO

-2.70140E-01 -7.11940E-02

l1ighest x. translation

I**** FORCES OF SPC ****I

RFORCE

6 REAL COMPONENTS OF FORCE GRIDID RFORCE(6)

LOADTYPE(8)

SPC SPC SPC SPC SPC SPC

....

-1.98096E+04 0.00000E+00 1 -2.32470E+04 0.00000E+00 2 -6.94344E+03 O.OOOOOE+OO 3 0.00000E+00 4.37528E+03 11 0.00000E+00 -1.88103E+02 12 0.00000E+00 -4.18718E+03 13 6 ENTRIES SELECTED
4.14

ASTROS QUAD4 stresses are at the centroids:

STRESSES IN QUADRILATERAL PLATES {QUAD 4)
ELEMENT ID STRESSES IN STRESS COORD SYSTEM NORMAL-Y NORMAL-X PRINCIPAL STRESSES MINOR MAJOR

1 1.76202E+02 2 9.81255E+01 3 1.11903E+02 4 1.00198E+02 5 3.70150E+01 6 7.29598E+00 7 -1.95447E+01 8 2.19141E+01

2.82597E+01 4.55065E+00 2.41621E+01 2.17170E-01 4.79309E+01 1.01452E+02 4.68318E+01 9. 21864E+.0 1

1.82107E+02 9.87565E+01 1.48391E+02 1.04919E+02 1.11826E+02 1.08647E+02 6.08855E+01 9.46749E+01

2.23551E+01 3.91964E+00 -1.23259E+01 -4.50385E+00 -2.68805E+01 1.00578E-01 -3.35984E+01 1.94256E+01

IRESULTSI
mesh is shown, using

4.15

Deflection under load is shown with PATRAN postprocessing: @

0.48 mm w r - - - - - - - - - -- - - - - - - - - - /
~

/
/
/ / /

/ /

/
/ / /

----~==<

1.13 mm

Forces of single-point-constraint are, inN:

1,355 2.,710
t) ~943
~~ , ------~~------~

35,203 31,819. 23,247

13,440 15,470
19 ~.81()

MSC/NASTRAN

NLt\RC

The SPC's balance the live loads.

3,563 4,168
4.16

2,218 5,781 332 4~5()0 (- 188) '4. : ..~ 87

t.

Principal stresses, in MPa:

90

119 : ;:

136

:. 1o" .. !
88

MSC/NASTRAN
MA~RC

112
::::
::::

::::

19 ~-69

66

101

The highest predicted tensile stress is 2 7 4 MPa. The highest compressive stress is 94 MPa.

COMMERCIAL SOLUTION
,.

A "commercial" solution has been done, using

finer mesh, with MSC /NASTRAN. This provides a more accurate solution to judge the simple models.

Two hundred QUADS elements were used, with 1280 d.o.f.

4.17

,..,
00 00
~

00
~

u
t= c
~

ro

111.

145.
120

Cl.i 8

94.0

.
~

><

68.4
42.8 17.2

-8.45

378.

-8.45
418

5?. 8

43.0

COMPARISON OF RESULTS @ MAXIMUM STRESSES AND DISPLACEMENTS

min max principal principal stress stress

MPa MSC /NASTRAN MARC ASTROS MPa

max
X

dis pl.

mm
1.1318 1.0862 1.0973
1.1631

274 274 182 391

4.19

-95 -69 -34 -176

Commercial
(MSC/NAS, 1280)

I I I I I I I I I

I I I I I I I I

LECTURES

CASE STUDY: 2-D CONTACT PROBLEM

PHYSICAL PROBLEM CLASSICAL CONTACT THEORY GEOMETRIC STRAIN METHOD FEASTUDY CONCLUSIONS REFERENCES
1. Williams, M. L., "Stress Singularities Resulting from Various Boundary Conditions in Angular Corners of Plates in Extension," Journal of Applied Mechanics, Dec. 1952, pp., 526-528. 2. Bogy, D. B., "On the Problem of Edge-Bonded Elastic Quarter-Planes Loaded at the Boundary," International Journal of Solids and Structures, Vol. 6, 1970, pp. 1287-1313. 3. Dundurs, J and Lee, M. S., "Stress Concentration at a Sharp Edge in Contact Problems," Journal ofElasticity, Vol. 2, No.2, June 1072, pp. 109-112. 4. Comninou, M., "Stress Singularity at a Sharp Edge in 'Contact Problems with Friction," Journal of Applied Mathematics and Physics (ZAMP), Vol. 27, 1979' pp. 493-499. 5. Sub, M. W., "Geometric Strain Method for Shape Optimization," Ph. D. Thesis, The University of Michigan, Ann Arbor, MI,1989. 6. Sub, M. W., Anderson, W. J., and McDonald, J. P., "Application of Geometric Strain Method to Shape Optimization of Spring Retainer Design," Computer Aided Optimum Design of Structures: Applications; Proceeding of the First Conference (OPTI-89), Southampton, UK, June, 1989, pp 189-198. 7. Park, J. S., "Selected Problems in Structural Optimization," Ph. D. Thesis, The University of Michigan, Ann Arbor, MI, 1993.

5.1

IPHYSICAL PROBLEMI
The linear theory of elasticity admits singular solutions (infinite stress) at reentrant comers:

This also can happen when bodies contact, and at abrupt change in materials:

5.2

CLASSICAL CONTACT THEORY

Consider a simple case, a wedge contacting a frictionless plane.

The stress singularity is characterized by a radial stress in the local region with:
K

G)

O"r=1-p r
-+------r

K is the "stress intensity factor" and p indicates

the strength of the singularity at r

= 0:

If pis less than 1.0, the stress is singular. If p lies between 1.0 and 0.0, the stress is singular, but the displacement is "integrable." If p is negative, the problem is hopeless (has infinite displacement!)
5.3

Williams, Dundurs, Bogy, Comninou, Lee, et. al. have studied this problem. Dundurs showed that the elastic constants are described by two variables, a and ~ Only a interests us:
a = ( G 1 I G 2 )( K"1 + 1)- ( K"z + 1) (G2/G1)(K1 +l)+(K2 +1)

where:

90
80

en en
K 1

70

=3-4v1 =3-4v2

~ ~
(1)

60 ~50
30

K2

"'0 " <U(>-

OO"'' 40

No Power Singularity

The singularity is controlled by a (no friction).

20
10 0

-1 -0.8 -0.6 -0.4 -0.2 0

0.2 0.4 0.6 0.8

GEOMETRIC STRAIN METHOD

o o

A shape optimization method

o
o

o e

Developed by Suh, Anderson, McDonald and Park. (Ref. 1, 2, 3) Independently developed by others in England and USA at slightly later time Also called "biological growth" method Basic idea: a live body will grow in a way to reduce stress (e.g. bone) The cross-section of a member will be scaled up to reduce stress (optimality criterion)
5.4

Consider a 2-D body lying in the xy plane. Locate the principal stress directions at a typical point. A small rectangle of material is isolated, aligned with principal coordinates.

1112

I
I~
illl

=-

.. 1

The sides of the rectangle will be resized by

Ill{= cr2 1cr2

Jill

Ill~

=I

(jl I (}1

11112

This leads to a "geometric strain" which is defined:

Gl G2

=(Ill~ -/lll) I Ill I= I{}2 lcr2o 1-1

=(Ill~- /112) I /112 =I

5.5

(jl

I (}Io

1-1

The goal of the geometric redesign is to achieve a fully-stressed state in a design region nf. Tractions are prescribed on the rt portion of the boundary; displacements are prescribed on the r u boundary .

.Z

1o .... y

IFEASTUDYI
Consider three contact problems:
0 0

contact of elastic wedge and elastic plane contact of elastic wedge and rigid plane contact of bonded elastic wedge and plane

In each case, we will start with a singular baseline design, and progress to an optimum redesign that has constant stress along the wedge surface. Load will be held constant, and the shape of the wedge is optimized. The wedge/half-space will be modeled by plane strain.
5.6

The baseline design for the elastic wedge and half-space with identical properties yields a singularity: No friction.

"??3.

~--<

71.5.

@
An enlargement of the

lC.?

region near the singularity shows more detail:

5.7

Optimal redesign of elastic wedge and elastic half-space with equal properties. No friction.

An enlargement of the comer for the optimal design.

283 .

271.

284.

1v..:...,
lSO.
13~~-

0 ')

118.

5.8

Baseline design for the Signorini problem (rigid half-plane). No friction.

G4S.
l"'!"f

0.:
~

E .;l?. 587.

~
~ --

...........

b
cr.;
~
~ --

55G .
~:~2~~ .

::/:;

1)
~

t85.
4G!.\.
'~ ~:! ~~1 .

~
~

cc
~
~

.. .:..,)
c.~

4 ~

0-n
~

403.
3?~3,

~~ -t2.

!"""'t

~ i-<

312,
281.
2~1.

crj

::2

220.

An enlargement

of the singular region of the baseline Signorini design (rigid half-plane).

5.9

325.

The optimum Signorini solution has a wedge angle of 90 degrees: No friction.

0.:
~
~

32:3. : 320.

4~

l-<
~

300.

29:3.
295.

"i-<

Cj
~

23'3.

2:90.

Enlargement of contact point for Signorini optimum design (rigid halfspace).

@
5.10

.....

,.... .

Baseline design for the bonded wedge and half plane. Identical materials. Singular solution.

Enlargement of singular region for bonded wedge and identical half-space.

482. 423.

4.2G
5.11

Optimum redesign for bonded wedge/ half space. Identical materials.

Enlarg contact . : .: . optimum :. wedge/ plane. Id~ - ~~~-~- ~~m_:: :.::. :.: : : : : : : :: : : : : : : materials-m: -.: : HH:{/{'H::{::-:n-::::::r:::?::::_':::-::;:;-::;:;:;:;:.:-.-.,:,:::::;:;:
:m:-;::: :-: : : :::

281.

238. 214.

.:. (:C ::.

-=cs

1.4~.
121~

5.12

ICONCLUSIONSI
The geometric strain method has been shown to be useful for redesign of contact problems, where the goal is to eliminate stress singularities. Cases presented were plane strain studies. Specific optimum shapes are found for each elastic wedge/contacting body problem. These shapes may be useful in certain design situations.

5.13

I I I

I I I I I I I

I I

LECTURE6

INTERPOLATION
OVERVIEW
A. DEFINITIONS B. EX~LESOFnnERPOLATION C. SOLIDS, SURFACE, CURVES AND POINTS D. TRICKS FOR CREATING SURFACES FROM CURVES

FUNDAMENTAL THEOREM OF ALGEBRA PASCAL'S TRIANGLE INTERPOLATION IN FEA DISPLACEMENT FUNCTIONS 1-D SHAPE FUNCTIONS
A. LINEAR INTERPOLATION B. QUADRATIC INTERPOLATION C. CALCULATION OF SHAPE FUNCTIONS

2-D SHAPE FUNCTIONS PROBLEM SESSION

1. SIX-NODED TRIANGLE

2. PLANE STRESS SQUARE 3. CONSTANT STRAIN TRIANGLE

REFERENCE
Hamming, R. W., "Numerical Methods for Scientists and Engineers, " Second Edition, McGraw-Hill, Inc., 1973, pp. 332 and 329.

6.1

IOVERVIEWI
A. DEFINITIONS
Interpolation: The process of estimating a function in the interior of a region bounded by known values of the function.
f(x)

I
/
~
X

-- a

~~~

? 1f(b)

f(x) Extrapolation: The process of estimating ~ functional values exterior / jf(a) f(b)f to a region of known --+--li-------:----___,.__ X values. a b

------

6.2

Interpolation can use (Hamming): o function values only o values of derivatives o differences of function values e arbitrarily placed samples

Uses of interpolation: o fit experimental data o exact fit to polynomial o approximate fit to higher degree polynomial or transcendental function Interpolation and numerical integration are closely related:

B. EXAMPLES OF

INTERPOLATION

6.3

C. SOLIDS 2 SURFACES, CURVES AND POINTS

One equation One linear equation Two simultaneous eqns. Two linear simult. eqns. Three simultaneous eqns. Three linear simult. eqns.

surface (usually) plane (always) curve(s) (maybe) str. line (usually) point(s) (maybe) point (usually)

(~)

6.4

2-D (PLANAR)

SPAC~

One One 'I'wo 'I'wo

equation linear equation simultaneous eqns. simult. linear eqns.

curve (usually) straight line (always) point(s) (maybe) point (usually)

1-D (LINEAR) SPACE

One equation One linear equation

point (usually) point (always)

D. TRICKS FOR CREATING SURFACES FROM CURVES

Given the equation of a line:
f 1 (x,y)

y
\ \~'
~

=0
--"' \

one can write:

z

= Cf 1 (x,y)

This creates a surface \ x passing through the curve in the xy plane. Given several equations of lines in the xy plane, set z = Cf 1 (x,y)f 2 (x,y) This surface passes through both curves.
6.5

--~
...-~~

'-,
~

FUNDAMENTAL

THEOREM OF ALGEBRA
A polynomial p(x) has exactly n roots (zeroes), counting repeated and complex roots.
p ( x ) = qo + qlx+ q2x + q3x +. +qnx
2 3
n

Consider the quadratic:

p~)
I
i

\
~.:.
\ j

..f

I
X

\ .J
~=
'::\~~
:c~..
,/

-+----c~

,,::::.::.:.':: .)

\ .....,.._,..<",,/

IPASCAL'S TRIANGLE I
In two dimensions, one can group the polynomial terms in a triangular pattem:
1
X

x2

.xy

y2

x3 x4
x5 x4y x3y

2 xy

xy 2 y 3 x2y2 xy3 y4 xy4 y5

x3y2 x2y3

6.6

In three dimensions, a tetrahedron results:

A horizontal slice at the cubic level would appear: z3

xz 2
X Z

yz 2 y2z xy2 y3

x3

x2y

INTERPOLATION INFEA
The "displacement method" in FEA either: assumes the strain field {} (Tumer), or assumes displacement functions [], or assumes shape functions [N]:

{!}

[G]
{o}
=

[D]

[ ~]

[H]
=

-1

{e}

{u} = {q}

{ue}

~ '==rNlA
nodal forces stresses strains
[B]=~ general. displ. coord.
6.7

nodal displ.

A. LINEAR INTERPOLATION
Linear interpolation is used for trigonometric and logarithm tables.
0

Find sin 24

Extrapolation: o 10 20 3o 4o so /(24) =/(20) + 0.4 [/(30)- /(20)] Interpolation: f(24)=0.6f(20)+0.4f(30) The coefficients (in red) can be interpreted in terms of length ratios:
f(x)

6.9

This generalizes to an arbitrary point x:

f(x)

f(x) = : ;~ :
1 '---y---J

f(xi)+ ;r -_:; f(x-)

2 1 '---y---J

"inverse lever law" ''shape functions"

1V1(x)j(x 1) + l\f2(.x)j(x2)

Linear shape functions can exactly represent linear functions:

@)

N(x)

f(x)

6.10

B. QUADRATIC INTERPOLATION
To "fit" a parabola, one requires 3 points.
f(x) = N 1(x)f(x 1)

+ N 2(x)f(x 2 ) + N 3 f(x 3)
f(x)

N(x)

~(X ). ~ N 1 (x)1 , .. 1

x 11

x?.

-~T { v\rl . ,. \ / -1 ~3,./'l-_. J\_J\3/~

/ x3

C. CALCULATION OF SHAPE FUNCTIONS

Today, shape functions are preferred to displacement functions. We can create shape functions by summation or by product methods. The product method is usually easier . .
SUMMATION FORM

For the three-noded rod element, assume:

N 1 (x) =a+ bx+cx 2

6.11

The shape function must be unity at the home node and zero at other nodes.
N1 (0)=1 N1(L/2) = 0

N 1(L)=O

This yields 3 simultaneous equations:

1 =a
0 =a+ b(L/2) +c(L2 I 4) 0= a+bL+cL2

which can be solved for the constants a, b, c. This approach applies to elements with many d. o. f., but involves large sets of equations. @
PRODUCT FORM

One can exploit the zeroes of the function by using the product ("factored") form of the polynomial. For the same rod element:
N 1(x) = C(x- L/2 )(x- L)

The zeroes are "built-in," but we must find the amplitude scale C:
N 1(0) = 1 = C(-LI 2)(-L)

1
:

~~--.,,_<~'<-.

.......

....,.1'.;.-.~ .

~- e=~

.o),o. -

C=21L
L

N 1(x) = 2 2 (x- L/2)(x- L)

The product form is easier to use, in general.

6.12

12-DSHAPE FUNCTIONS)
The constant-strain triangle is straight-sided, and can be solved by a product form which causes zero functional val~es along lines.
ft(x,y)=y=O
b f2(x,y)=y-b+ax=O

co,br-3 Y,o
0

ty

'f..~

Q.:t-~

f 3 (x,y)=x=O

(0,0)

1
Q .;: -

----~ : . . . . .:.:.~ :.-

y =0

2 (a,O)

The first shape function can be represented by

N 1(x, y) = Cf2 (x, y)

b =C(y-b+ax)

We must scale this function to pass through unity over 1 node 1: N1(0,0)=1 = C(O-b+ ~0)

C=-1
b b N 1(x,y)=-J; (y-b+ax)

IN1 (x,y)=l-~-t I
Likewise:
N 2 ( x, y) = Cx N 2 (a,0)=1=Ca

C=l a
X

6.13

Finally,
N 3 (x, y) = Cy
1

N3 (0,b)=l=Cb

C=l
b

The eight-noded quadrilateral is another example: We will develop shape functions as we need Q them. We will typically use the product form.@

IPROBLEM SESSIONI
ProbleDl 1. Six-noded triangle
Propose a shape function N 4 (x,y) for the plane strain triangle shown. The midside nodes are located exactly at the midpoints.
y

6.14

Solution a Plane strain problems have 2 d.o.f. per node.

o

Shape functions for u(x,y) are the same as for v(x,y). Use shape functions repetitively, i.e., N 4 (x,y) serves both u and v. Consider the displacement function:
2 N4(x, y) = ql + q2x + q3y + q4x + qsxy + q6i

It takes at least a complete quadratic to pass through the 6 points needed to form N 4 (x,y).

A product form is desired. Choose

which will cause zero values on the two lines.

f..<;;~::;~:::::~::~:s:~:::::w
.::~::~:::::::::,.-:::::;~~~:::~ (~;::~::~:::~~?~=~
A;

~=~:~::::~~:::~::~::::::::::::

The constant is found:

Finally,

6.15

ProbleDl 2. Plane stress square Consider the plane stress square with the special coordinates shown. Find the shape functions for it.
(-1,1) .: 4
Y~

3~

(1,1)

(-1,-1)

1 ~~ ---2 --t::~~ (1,-1)

Solution Four nodes in two dimensions require a quadratic form, though probably not a complete quadratic (only four generalized coordinates). Use the product form.

N 1(X, y) = 1- X)( 1- y) N1(-1,-1)= 1 =C(-1-1)(-1-1)

c(

@.

1-y=O
\;'ll

4
0

C=! 4

NI(x,y)= !(1-x)(l-y)

II

L
!:-..,

~
I
~

II

1 1+y=O

2
~:-

N 2 (x, y) = C(1 + x)(l- y) N 2 (1,-1) = C(1 + 1)(1- ( -1)) 1 C=-

By similar reasoning:
N 3 (x, y)
N 4 (x, y)

=! =!

(1 + x)(l + y)
(1- x)(l + y)

@ (Important for "isoparametric" elements)

6.16

ProbleDl 3. Constant strain triangle Develop the shape functions for the threenoded, constant strain triangle shown.
y

(2.,2.)
-::

(1.,1.)

(3.,1.)

~-----------------x

Solution Establish the equations for the lines that bound the element.

N 1(x,y)= C(4-x-y) N 1(1,1)

(0,4)

= 1 = C ( 4 -1-1)
C=l 2
><~ ) -~
1'1..3

"

l tx,y=2
;;.....,.......,..,...

rN-c . ) .. ic4. .. . ..

-x-yl

N 2 (x, y) = C(x- y)

N2 (3,1) =1=C(3-1)

C=~
,~~~~.

iN2 (x. y) = 2(x- y)

N 3 (x, y)

= C(l- y)

N3 (2,2) = 1 = C(1- 2) C=-1 N 3 (x, y) = y-I l

:-.w~~.w~N'_..,.,.,._..,.,.....,.._.

.....,..._....,...,.~._.__.,."'JY'~~

6.17

I I I I I I I I I I
I I I I I I I I

LECTURE7

VIRTUAL WORK AND POTENTIAL ENERGY

VIRTUAL WORK
A. MECHANICAL EQUILBRIUM B. SKETCHES C. DEFINITIONS

Stress-Strain Law Strain-Displacement Law Equilibrium Position Virtual Displacement Work Virtual Work
D. VIRTUAL WORK THEOREM E. MODIFIED VIRTUAL WORK THEOREM

POTENTIAL ENERGY
A. VARIATIONAL OPERATOR B. ENERGY-CONSERVING LOADS C. LINEAR ELASTIC MATERIAL D. POTENTffiLENERGYTHEOREM

Comments

PROBLEM SESSION
1. 2. 3. 4. VIRTUAL WORK FOR SPRING POTENTffiL ENERGY FOR SPRING VIRTUAL WORK FOR ROD EXISTENCE OF FORCE POTENTIAL

7.1

!VIRTUAL WORKI
A. MECHANICAL EQUILIBRIUM
There are three interchangeable statements of equilibrium: Newton's laws (principally F=ma) Hamilton's principle Virtual work All are for statics and dynamics. We are interested only in nonrelativistic, nonthermal problems.
7.2

.., }'"'

B. SKETCHES

Elastic problems (including nonlinear cases) are govemed by 3laws: Stress-strain (constitutive) Strain -displacement Load -deflection One should sketch the general properties of these relations in every problem.
(j

~~ds/
u

C. DEFINITIONS
Stress-Strain Law Nonlinear elasticity:
(j

{a} = ..fun.ction ( { e})

A linear version of this law can be applied in a local region:

{ Ci } ::::: [ (; ] ( { ~E } - { -E~ } ) ~f~- {_ {) }
0 0
7.3

Strain~ l)ispla.c~rJ.lJ~n ~. ~~~

a geometric law can be hardening, softening, or can bifurcate Green's strain tensor often used to characterize

/)~(~
CD-~_../'//
,<_,.,..~-

c
0

Equilibrium Position There is a unique unloaded position I. The static loads are applied and the body moves to the equilibrium position II.

7.4

Virtual Displacement
o

an infinitesimal displacement away from the equilibrium position, from state II to state III must be consistent with geometric constraints causes increment of strain
F

e
o

Work Work is defined in an incremental way:

IL1Work =(Force) (L1Displacement)

Never say: ~-~Work= (Force) (Displacement) and then increment: L\Work = (Force)(L\Displ.) + (L\Force)(Displ.)
~

Real work

complementary work

The wrong way to define work creates ficticious work, caused by a change in force. @
7.5

Question: What is the "Misplacement" in the definition of work done by a force on a body? Answer: The displacement is that of the body. A force can do work on a body without the force moving! A person can stand by an escalator and squeeze the moving rail. The frictional force does work on the escalator, but does no work on the man (the man does not move). The energy from the escalator's motor is released in heat. This is typical of sliding forces. Work depends on the coordinate system.

Virtual Work Virtual work is the work done by external and internal forces during a virtual displacement (II ~III). Work done by external forces:
L\

wext = LFi

L\ui

/I--?III

II II--?III

Work done by internal forces: --not easy concept for us--

@
7.6

D. VIRTUAL WORK THEOREM

Ll W internal
[[~[[[

+ LlWexternal
[[~[[[

=0

This theorem is easy to demonstrate for rigid bodies:

If the forces are equal, then no net work is done if the door rotates (infinitesimally). @

E. MODIFIED VIRTUAL WORK THEOREM

An important case occurs when the material is

energy conserving. The system is elastic, but not necessarily linear. One can then show:
Ll W internal
[[~[[[

- Ll U
[[--?[[[

This is put in the virtual work theorem, repeated here: Ll W internal + Ll W external - 0
[[~[[[

[[--7[[[

to yield:

-LlU
[[~[[[

~ W external
[[~[[[

7.7

@) I

~----------~--u

.du

virtual strain energy

L1 U
II~III

extemal virtual work

dWext =
II~III

J (stress) (d strain) dV
V II
II~III

_LF. du.
l l

II

II~III~

!POTENTIAL ENERGY I@
A. VARIATIONAL OPERATOR
We now change

our viewpoint from an incremental to a variational operator notation. The increment was ~ , whereas we will now use an operator 8 . Both act only on displacement-like quantities.

~u(x)

~----~--------X

7.8

B. CONSERVATNELOADS
Restrict the class of problems to linear elastic systems with energy conserving extemalloads. Energy conserving loads can be derived from a potential field: {F} = -{V} 'J1) The gradient operator {V} is an ordered set of derivatives with respect to the underlying displacement coordinates. In finite elements, this means with respect to nodal coordinates:

~u1 {V}'J1/= dp2

a
a

U{u 1,u2, ,un)

dUn

Put our work ideas together:

~Wexternal = (Forces)(~Displ)
II -4 III II II II II -4 III II II

= (Forces) 8(Displ)
= 8[(Forces)(Displ)] = 8(- 'J1})

where

II

'J1): -(Forces)(Displ)
II II

'J1/is the "force potential" or "work potential." Forces in Ware constant (in this example). The operation s'J1/varies only displacements.
7.9

C. LINEAR ELASTIC MATERIAL

For a linear, elastic system:
AU
II--7 III

= f(stress)(!lstrain)dV
V II II --7 III

= f(stif.fness)(strain)(!lstrain)dV
V II II-7III

=
=

Jc stiffness)( strain) 8(strain) dV

V II II

8(1 fcstif.fness)(strain)(strain)dV) 2
V II II
\....._

_./

""'V"

strain energy at equilibrium Hence:

fMJ. . . -:5([1)1
II
)

I II--7 III

D. POTENTIAL ENERGY THEOREM

Repeat the modified virtual work theorem:
- ~U + ~Wexternal = 0
II-? III II--7 III

Convert to the operator terms we found:

-8(U)+ 8(II

W'J=O
II

8(U + '/11) = 0
II II

"potential energy"

IT=
II

U+U'
II II

7.10

8(1})=0

I
I

lThe Pote~ti~-e~f;_l~a~ticl
Isystem exposed to conservative loads is
1 "stationary"
I

L..-~,.-.:

(has a zero first variation) at the static equilibrium position.

~
1

...,.,..,..-.~~w.''""""'"''",.,.,...,......,,.._..,.."'-."'...,......_.N.w.~v..v..,..-'._...,.......,.....,....,..... . ,...,....w..,.....,.,.........w..-..".-...........-...........................:~

Comments
. ........

' ' 7'' ' '

The method can be extended to dynamics and for nonconservative loads. The method is useful for convergence proofs.~
@

IPROBLEM SESSIONI@
ProbleDl 1. Virtual work for spring Consider the simple spring with load at end, as shown. No gravity acts. Use the modified virtual work theorem to prove that F=ku without making that assumption in the derivation. The strain energy at any displacement u is of the form
U(u)=-ku
2

In particular,
U(u+t\u)= ~k(u+L\u)
7.11
2
~

~u

Solution The modified virtual work theorem:

LlWext = LlU
"'-----v---'

II--7 III

"'-----v---'

II--7 III

Work on both sides of the equation:

Filu = U-U
II II--7 III

Filu =2k(u+l1u) -2ku

III 1

II
2 1 2

=02+~u+~kju2-,th>
~ '

F~u = ~u

higher order

Because ilu is arbitrary: and finally: l i ~A'~

(F-

ku)~u

=0

~N~Jit.YoN..............,,..,...J

/@

ProbleiD 2. Potential energy for spring Consider the simple spring with load at end, as shown. No gravity acts. Use the potential energy theorem to prove that F=ku without making that assumption in the derivation. The strain energy at any displacement u is of the form 1 2
U(u) =- ku
2

Solution The work potential is

fJ1) -Fu
This can be checked by
F= -V 11/:

~
~t u

-1u

(-Fu) = F
7.12

The potential energy is:

11=U+11/

11 =~ku

- Fu

The first variation of potential energy is zero at equilibrium:

811 = 8 C1 ku2 -

Fu) = 0

ku8u- F8u=O (ku - F )8u = 0

Because Bu is arbitrary:
L. . - .....
~

F-ku

il

Sketches of the energy balances are shown. These are typical for a single d. o. f. structure. The potential energy is negative at equilibrium.

7.13

Problem. 3. Virtual work for rod

A rod element has a load of 100 N acting on its

free end, as shown. The body reaches equilibrium. A subsequent virtual displacement of -0.1 mm is then imposed. a) How much total virtual work is done during the virtual displacement? b) How much virtual work is done by the external loads? c) How much virtual strain energy is created?
EA/L = 100 N/mm

f2

Solution a) The question is answered exactly by the statement of the virtual work theorem:
~Wext +~Wint ==0
II-:; III II-:; III
Ill II

b) From the definition of work:

~ wext
II--:; III

= !2 ~u2
II II--:; III
~u II--:; III

= (100 N)(-0.1 mm)

=-10 Nmm

c) Use the modified virtual work theorem:

~U =~Wext =-10
]/~III ]/~III

Nmm

/@

7.14

ProbleDl 4. Existence of force potential @ Does a force potential exist for the case of the wing shown, when acting with a single degreeof-freedom (pitch) and when acting with two degrees-of-freedom (pitch and plunge)?

~Sa
z
77>77

Single d. o. f.

Two d. o. f.

Solution For the single degree-of-freedom system, the relevant force is pitching moment M, and the relevant displacement is angle of attack a.
M=eL
= eCL qSa
a

Does there exist a Wsuch that:

M=-

fa U{a)

Choose Check:

7.15

For the two d. o. f. system, the relevant force @ and displacement are: { ~}

1} {

Is there a 'Jt(a,z) such that:

{1} . - ~a
dz

'ffla,z)

Do indefinite integration on the two equations:

U{a, z) =- JM(a,z)da+ const1 =

-~eCLaqSa 2 +

f(z)

U{a,z) =- JL(a,z)dz +const2 = -eCLaqSaz+ g(a) No force potential exists because: - ~eCLaqSa + f(z) =1:- -eCLaqSaz + g( a) The force potential is "not integrable."
2

Comment: The matrix form of the aerodynamic stiffness [KA] is nonsymmetric:

\..---v----J [ KA]

The aerodynamic stiffness is a "circulatory" matrix, and can lead to flutter. Energy can be extracted from the airstream to cause growing oscillations, until failure occurs.

7.16

LECTURES

DERIVATION OF A FINITE ELEMENT BY VIRTUAL WORK

GENERAL DERIVATION
A. B. C. D. E. MOTIVATION DERIVATION FOR CONCENTRATED FORCES DERIVATION FOR DISTRIBUTED FORCES DERIVATION FOR INITIAL STRESS AND STRAIN COMMENTS

ROD(TRUSS) ELEMENT
A. STIFFNESS B. EQUIVALENTNODALLOADS

PROBLEM SESSION
1. 2. 3. 4. CONSTANT STRAIN TRIANGLE EQUIVALENT NODAL LOADS FOR ROD STIFFNESS OF HYPOTHETICAL ELEMENT FOUR-NODED TRIANGLE

8.1

IGENERAL DERIVATIO~
A. MOTIVATION
Most finite elements are statically indeterminate. Energy methods work well for such redundant structures. Some problems to be considered later will be nonlinear. Therefore, choose the virtual work theorem. We will predict the displacement field better than the stress field.
8.2

B. DERIVATION FOR CONCENTRATED FORCES

Consider a linear, elastic, energy conserving element.
(~u)
II~III

=(8u) =8(u)
II~III

II

f.1

Our vectors and transformation matrices:

{!}

[G]

[D]

[<l>]

-1

[H]

{a}<= {e} <= {u} <=

{q} <=

{ue}

[N] [B]

correspond to a desert island with many chasms and bridges:

8.3

The modified virtual work theorem: 8Wext- 8U = 0

II--7 III II--7 III

For a finite element:

{8u}T{/}II-7III II

I{8e{ {o"}dV = 0
V II-7III II
. nodal dzsplacement

Simplify the integral.

inter'!-az__ w.-v { e} strazn

= [B] { u} . .=~:~~-~---

{8} = [B]{8u}
{a}= [G][B][u]

Insert {8e}T and {a}:

{8u}T{f}- I {8u}T [B{ [G][B]{u}dV = 0
II--7 III II V II--7 III II

{8u}T{f} - {8u}T I[B]T[G][B]dV {u} = 0

II--7 III II II--7 III V II

II~III

{8u}T({f}- [B]T [G][B]dV{u}) = 0

l II

II

{/}- J[B]T[G][B]dV{u} ={0}

II V
[k]

II

[k]{u}= {/}I
..

:....~-......,..,.....~~""""""""'""

::

8.4

Equivalent forms for [k] are:

[k]

f[B]T[G] [B] dV
v
1 1

= f [N{[D]T[G][D][N]dV v = [Hf TJ [ </>]T[D{ [G][D] [ </>] dV[Hf v

C. DElliVATIONFOR DISTRIBUTED FORCES

Generalize to the case of distributed loads: Volumetric: {X(x,y,z)} Surface: { q-'( x, y, z)}
Line: { . (x, y, z)}

Use modified virtual work theorem.

8
wext- 8 II---? III II---? III

=0

Repeat the prevous derivation, but add external force terms.

8.5

{Ouf {/} + J{ou{{}dl+ {8u{{q"JdS+ {8u{{x}dV

l

J s

J
v

-J {De{ {a}dV= 0 v
Relate to nodal coordinates by using:
{8u} = [N]{8u}

{8u{

l{f} + f[N{{}dl + J [N]T{q'}dS+ J [N]T{X}dV 't l s v

-t[B]T[G] [B]
[k]

dV{u~= 0
~

Put these in the standard form:

[k]{u} = {f} + [N{{}dl + [N]T{q} dS+ [N]T{..t} dV
l
\.. v
J \...

J s

J v

\..--v--/

[k]{u}={f}ext + {f}enl
.

{f}enl+
'I

{f}enl
X

8.6

D. DERIVATION FOR
INITIAL STRESS AND STRAIN
Prestrain -- Thermal stress -- Artifice in nonlinear cases Prestress -- Artifice in nonlinear cases Redo the derivation, using the general stress-strain law:
{ o"} = [Gl({t:}-{t:o}) + { O"o}
BU = I{Bt:{{O"}dV v

= I([B]{Bu}{ ([G]({t:}- {t:o}) + {O"o})dV

v

BU

= {Bu{ I [B{ [G][B]dV{u}

Iv [B{ [G]{t:o}dV +{Buf I [B]T {0" }dV v

-{Bu{
0

Combine this with our earlier energy statement:

[k]{u} = {f} + {/} + {/}
ext

enl L

where

enl T

+ {/} + {/} + {/}

enl X enl

co

enl

ao

~---~""""""'~V..W>.~W.V.~..,.._YN.NY.~V..WNWW,o0AN'oW.VN.MN'o~

{f}enl = I [B]T[G]{t:0 }dV

j
~

co

{/}~ =-~B{{O"o~--~
8.7

E. COMMENTS
o
o

5 equivalent nodal load types. commercial codes automatically do the integration for many types of volume, surface, line and thermal loads. e. n. 1. concept replaces lumped load concept.

e
e
o

e. n. 1. are also called "work equivalent loads." c0 is used more often than a . 0 automatic integration of e. n. 1. sometimes assumes that "midside" nodes are placed exactly at midside. Do so, as default.

IROD (TRUSS) ELEMENT!

Consider the two-noded rod element:

Evaluate:
[k]

= I[N]
v

[D] [G][D][N]dV

{/}

enl
L

frN{{.} dl
1

where:
{(x)} = 0(x/L)

8.8

Shape functions are the heart of the calculation:

{u(x)} = [N 1(x)
N 2 (x)]{ ~~}

The first shape function must satisfy:

0
L

Hence:
N 1(x)=l-x/L

Likewise:

N 2(x)= x/L
{u(x)} = [1- x/L

x/L ]{~~}

For one-dimensional elasticity:

{O"x} = [E]{cx}

{Cx} = [!}u(x)}

This means:
[G]

=[E]
[B]

[D]=[f.J
x/L]

The strain-nodal displacement law becomes:

= [D][N] =

[t}l- x/L
l/L]
8.9

=[-l!L

A. STIFFNESS
[k]

f [B{[G] [B] dV v
1 1

[k] = {[- /

f }E][-l!L
2 2

1 /L ]Adx

[k]=A fr-l!L][-EIL JoL 11 L

EIL]dx

EIL =A o -EIL2
2

f[ -A[ fEIL dx -fEIL dx

2

-EIL ] EIL 2 dx -fEIL dx] fEIL 2 dx

2

[k] = [ EAIL -EAIL

= EA[

-EAIL EAIL
1

-1

1 -1]

This is the identical stiffness found by equilibrium.

B. EQUIVALENT NODAL LOADS

{/}
enl
.,

J[l- xiLILJ{.o(x/L)}dx
X

J o
L

{xI L - (xI L) }dx 0 (x/L) 2

8.10

J(x!L-(x/L) 2 )dx
{/}
enl
L,

= .o o

f(x/L)
3L

2 dx

=..Co 2 L

1 x 2 1x 3 L ----2
0

1 x3 L 3 L2 o

=..Co{~~~}
= .0

L{1 I 3}
2/3

1/3
D&a(o

2/3

total force

IPROBLEM SESSION I
Proble111 1. Constant strain triangle
A unit displacement is given in the horizontal direction at node 1 in a right triangle plane stress element. Find the strain Ex .
y

(O,b)

1 (0,0)

~ -=-,,.,

-----4::.--- X

8.11

Solution
The displacement is in the form of a shape function. That is seen to be: y X
(O,b)

1----==0

N 1(x,y)= C(l- b- a)

1
(0,0)

Evaluate the constant:

N1(0,0) =1 = C(1) C=1

The strain relation is:

{e}= [D][N]{u}

In summation form (where

2 6
l)

= Ex):
(i==l-3)

e ==
l

j=l k=l

L L DNkuk J
1:
2

The only u component is u

1
j=l

= L DuNj/ 1)

dx 0 [D]=

[N] = [ 1_y_x b a 0
8.12

.J
@

= ( - )(1- - - - ) x dx b a

(}

- --

1 a

The result is constant Ex strain over the element. This illustrates the concept of a constant strain element.

v1

Proble111 2. Equivalent nodal loads for rod Find the equivalent nodal loads for the load cases shown for a two-noded rod. @
Lol=:_:~l
(0

0)

(0

.
L

Ll

1-----L/2=1
...

1-

~L/3~

o)

Dimensions on L 0 = F/L and on L 1 =F. Hint: For the concentrated load use the Dirac delta function 8(x-x0 ), which takes zero values away from the reference point x 0 , but has the unit integral: r~ d
Ju(x-x 0 ) x=1
-oo

(The Dirac delta is discussed on page 15.21.)

8.13

Solution The e.n.l. for the distributed load:

{f}enl =

L/2

t [1 ~;{L]
x-X

Ladx

x2 L

2L L/2 2L

2L L/2

_ . {
0

L/8} 3L/8

co
(.........

0)

= LgL{~}

Equivalent nodal loads for the concentrated load:

f {f}enl=J
0

[1-x/L x/L J
0

1 8 (x-2x/3)dx

fo- xl L) 8(x- 2L/3) dx

f(x/L) 8(x-2L/3) dx
0
(0

L1
11
e)

=1

{ 1/3} 2/3
(G

.. 0)

8.14

Problein 3. Stiffness of hypothetical eleinent A hypothetical element has

1

[Hf

=[-~0 g ~] 1 -1

[ l/J] = [1 y X]

[DJ=[-fx]
[G] = [Q]

The element volume is V 0 . a) What is the stiffness matrix for the element? b) Is there a rigid body mode present? @

Solution This problem must have three d.o.f. because [H] is a 3x3 matrix. Both x and y are involved, so the problem likely has a scalar field variable and has 3 nodes. There is a "rigid body mode," as seen from the [<1>] matrix, which has a constant term. The shape function matrix is:
[N] =[ l/J][H]
=
-1

[1 y

0 0] 0 x{-i 1 -11
@

= [1- y X y- X]
8.15

The strain matrix is:

[B]

=[D] [N]

=[fxJl-y
= [0 1 -1]
The stiffness matrix is:
[k]

y-x]

=I [B{[G][B] dV
v

=I[ ?][Q][O 1 -1] v

-1

dV

=I[ ?][o
v -1

Q -Q]dv

0 Q 0 -Q OJ dV =I [0
v 0 -Q

[k]

= Yo Q

0 0 0] 0 [0
1 -1 -1 1

Comment: The problem was posed for a hidden geometry: y

(0,1) .;

.;: (1,1)

8.16

Proble:m 4. Four-noded triangle A plane stress isosceles triangle has been proposed, including an intemal node.

a) Will the shape functions be linear? Why? b) Propose the simplest possible set of shape functions.

3 (O,b)

c) What are the equivalent nodal loads at node 3 for a constant body force Tx? (T y- 0.) Dimensions on the load are force I area. d) Is the element conforming (displacement compatible with neighboring elements)? Why? Solution a) The shape functions must be quadratic rather than linear. A linear polynomial in 2- D has only 3 coefficients, and the 4-noded element has 4 d.o.f., requiring 4 coefficients.
N 1(x, y) = Cx(x- a)

N 1(-a, 0) = 1 = C(-a)(-a- a)= C2a 2

IN1(x, y) = ~

2a

2 (x- a)

1
~

I
2

N 2 (x,y)= Cx(x+a)

x+a=O

N 2 (a,O) = 1 = Ca(a +a)= C2a

IN 2 (x, y) = L"-~

~~

2 q, ~y~----~J

2 (x+a)

I
8.17

"

N3 (x, y) = Cy(y- b I 3)
N3(0,b) = 1 = Cb(b- b/ 3) =

c 2 b2
3

y =b/3

3 [;3(x,y)= ~ 2b
;r
~

Y2 ~b/;i

y=O

~ ~

N4 (x, y) = Cy(y- b)
N4(0,bt 3) = 1 =

c~ (~-b)=- c~ b 2
y=O
~~-~-

~~------~~-9.y-~~ - -- - - ~sl

!. .

~ N4 (x,y)=- (b-y) ~

..

7b. ...... ........... !

N2

These are put into the shape function matrix:

[N]=[N1 0 N 2 0 N1 0 0
N3

N3

N4

N4

OJ

c) The equivalent nodal loads are basically given in terms of an area integration:
{f}
enl

AREA

JJ [N]T{Tx(x, y)}dAREA
Ty(x, y)

tf6 .,. fs

In summation convention:

~= fJ
AREA

}:_NjiTjdAREA (i=1-8)
j=l

where j=l means j x and j=2 means j y. Because T 2

=0

~ = fJ
AREA

N li 1'1dAREA

f5 =

JJ N

15 (T)dAREA

AREA

f6 =
8.18

If N 16 (Ty) dAREA

AREA

3v ( y - /J I 3) J . .

[N]= [
(2x8)

b a-aylb

2b2

fs=J

y(y-~/ 3 )(Tx)dxdy
2b

0 -a+ay/b

Txab 12

TxA
12

d) The element cannot be conforming because each side is controlled by only two nodes. The displacement field is quadratic and the diplacements on a side cannot be uniquely 1 determined by the information on that side. v

8.19

I I
I I I I I I I I I I I I I I I I

LECTURE 9

BEAM ELEMENT

CLASSICAL BEAM THEORY

A. ASSUMPTIONS B. PHYSICAL MODELING

FINITE ELEMENT BEAM THEORY

A. B. C. D. COORDINATES SHAPE FUNCTIONS STIFFNESS MATRIX EXAMPLE: UNIFORM LOAD

EXTENSIONS OF THEORY TO 3-D

A. BENDING IN XZ PLANE B. AXIAL EFFECTS C. TORSION

DEEP AND THIN-WALLED BEAMS PROBLEM SESSION

1. 2. 3. CANTILEVER WITH END DEFLECTIONS BEAM-ROD ASSEMBLY BEAM WITH SPRING AT TIP

INTERVIEW WITH PETER GRIMLEY

9.1

CLASSICAL BEAM THEORY

A. ASSUMPTIONS
Consider <l straight, slender prismatic bar lying in the xy Jllane. It is assumed to bend only in the xy plane. There are no axial or torsional forces. The bar has a "compact" cross-section, that is, a 11early solid section.

9.2

'

~~

The Euler-Bemoulli-Navier approach for flexure concentrates on the deflection of-the centroidal axis under the assumptions: o linear, elastic material e infinitesimal deflections and slopes o plane sections initially perpendicular to the beam axis remain plane and perpendicular to the axis after deformation. e stresses and strains do not depend on z. These assumptions are accurate for beams with length/height ratios of 10:1 or greater. One can analyze thin-walled tubing if the cross section is closed and not more than 2: 1 in depth/width.

B. PHYSICAL MODELING
End moments bend the neutral (centroidal) axis to a circular arc. At a distance y above the neutral axis, a fiber undergoes strain: e (x ) = l(y)-1(0)
X

,y

f(Q) (R-y)~e -R~e

=--

y R

9.3

From differential geometry, the exact expression for curvature (positive upward) is: y . . , . --.,,..,.,.... 2 l/'\R d v
1

= [l+(tJ]~

dx

J)CJ

f'

~------- x

Because we restrict the beam to small slopes: y

The strai11-curvature relation becomes:

d2v Ex(x,y) = -y-2

R-x 2

dx

The cross-section of the beam is so small that the stresses shown are negligible. The case for a y is not obvious, since the upper and lower surfaces <~an be loaded. In practice, howeve~, cry is typicall:y 100 times smaller than crx.

y
z ~~) x

t
l

9.4

Plane sections remain plane and perpendicular to the neutral axis:

By definition of shea.! ~~ p~ p~gular change:

: rxy ~
~
~.,...._.~

=:::::

~~

: 1

..

XY!

Deformations are symmetric about the xy plane:

z A

(bottom
view)

Therefore:

Five components of stress and strain are zero. The strain energy density
[J = ~ [CYxe x + ,/yey + 9'zez +
0 0

rxyh + ~z Yyz + rzx/zx]

reduces to

U =-(Jxx

1 2

All of the energy stored in the beam is in uniaxial stress and strain.The beam acts as a bundle of fibers, maintained in relative position by shear forces, but "locked" in shear strain. The only stress-strain relation of interest is:
rO-~"<-O"'-'>---.--. _,~_,.~.-oo>O<oO<oooo.-~<oO<.<o>O<OOO<~>"--~>Os

. . ..

ICJx(x,y)= Eex(x,y)
9.5

~.,.,.~....,.,..-..v./\/V-.~'YVII'Ihv,.-.-......,._._.,..,......._ v~....., .......,V\NV'._.,........,....-.;v.,.,-.,...i::

FINITE ELEMENT BEAM THEORY

A. C<)ORDINATES
For a un:i form beam with end loads:
EI d v(x) =0 dx4 When integrated, v(x) will be a cubic, with four constants of integration. The finite element must have 4 nodal degrees of freedom:
V
4

AA

VB
A
j

co

. r~"~eA ! ~
_...,.,.....)

i ....,.~$-~

o) j
__.,..,./',/

e
B

The beam. problem simplifies to:

VA MA VB MB
ax 0 0
"rxy

0
"rzx

Ex Ey ez 0 Yyz

{ u(x, v(x) w(x, y, z)

y,z)}

ql q2 q3

q4

eA VB eB

VA

Because energy:

c~nly

0 axial stress and strain contribute

{ ax(x,y )}= [E] {Ex(x ,y)}

Axial straln is found from lateral deflection:

{ Cx( X, y)} = [ -y

Jx J{v( x)}
@
9.6

2 2

The flow chart simplifies to:

~:
MB

VA

[E] {ax}

[-y 1:2]
<=

[t/J]

q 1 [H]-

VA

<= {ex}

{v(x)} <=

It

:~
q4

<=

~;
(JB

~[N:]~

[B]~

The displacement function is assumed:

{v(x)} = q1 + q2x+ q3x2+q4x3

ql
=[1 x x 2 x 3 ] q 2

q3 q4

Nodal displacements are related to field variables:

VA

=v(O)

VB=

v(L)

(JA=dx(O)

dv

(JB

dv =dx(L)

These equations are put in matrix form:

VA

(}A
VB

(}B

1 0 0 0 0 1 0 0 1 L L2 L3 0 1 2L 3L 2
[H]

ql q2 q3 q4

@
9.7

The [H] llnatrix is inverted:

L3

@
3L - L 2 -2 L

[Hrl=_!_
L

0
-3L 2

-2L2 L

0 L3

0 0

0 0

B. SHAPE FUNCTIONS
Shape functions can now be found as an intermediate step to finding stiffness:
[N]= [l/J][H]- 1

=~[L3 -3Lx 2 +2x; L3 x-2L2 x 2 +Lx~

L

The four shape functions for the simple beam:

N(x)

1.0 .

The amplitude of the rotational shape functions N 2 and N 4 depends on the length scale and has been arbitrarily chosen here (L = 6). @
9.8

B. STIFFNESS MATRIX
The strain matrix becomes:
[B]

=[D][N] = [-y fx J[N]

2

= _ _L[-6L+ 12x -4L2 + 6Lx

L2

'

6L-12x -2/3- 6Lx] '

Stiffness:
[k]=

0 area

t If

[B{[G] [B] dydzdx

naturally involves the term which we identify as the moment of inertia (second moment of area):
I=ffy2dA
area

Stiffness in flexure of a beam in the xy plane:

12 6L -12 6L EI 6L 4L2 -6L 2L2 [k] = L3 -12 -6L 12 -6L 6L 2L2 -6L 4L2

Equivalent nodal loads for a beam are:

{f}e.n.l. = f[N]T{..C}dx
L

and the equation of equilibrium is:

[k ]{U} = {f} + {f}e.n.l.
L
9.9

D. EXAMPLE: UNIFORM LOAD

Find the 1~otations at the ends of a beam under uniform lc:>ad:

p(x) = 10 N/mm (57.1lb/in)

~~~---~,--~,--~~--~~--~
~-------(3-9.3-7-in-)--------~1
E/=10 10 N mm2 1000mm

V=0.3

Solution First solve~ for [k] and then {f} enl:

.Lo

12 6000 6 == lO 600 0 4 X 10 k] [ -1 2 -6000 6000 2x 10 6

{f}enl
.Lo

-12 6000 6 -6000 2 X 10 12 -6000 -6000 4 x10 6

= J[N{{lo}dx
0

5000

833000 5000 -833000

9.10

5000N
833000 ( Nmm
10

5000N
01 )

833000 Nmm

We must solve: 6000 6000 12 -12 6 6000 4x10 -6000 2x10 6 10 -12 -6000 12 -6000 6 6000 2x10 -6000 4xi0 6
-

0
()A

eB
VA

5000 833000 0 + 5000 VB -833000 @ 0

One partitions out the 1st and 3rd equations and sets them aside to be solved for reactions later. The 2nd and 4th equations yield:
{ 8

A} = { 0. 0417 } rad
-0.0417

(JB

Reactions are found from equations 1 and 3:

{~~}={-~~~~}

2.4o<r

L_ .~-----------5000 N
9.11

1"'2.40
@

5000 N

IE~I'ENSION TO 3-DI
Include bc~nding about both principal planes, torsion artd axial extension:

4yelem
1

I u5 t

u2i
=

ll

tLx

z elem

Our work in the xy plane becomes:

u2
u6 u8
U12

/2 /6

!s f 12

BENDING IN THE XZ PLANE

Displacerr.tents involved are u 3 , u 5 , u 9 , u 11. The coordinate system is awkward in this plane, leading to an inherent conflict in the finite element and classical beam sign conventions.
dw(O)
lis=-

dx

__ dw(L)
u11-

dx

115

~~;.;~::.W

l*:f"j

~z
0. :

u ------.-....EE-e i.: ~ X
11
-::::i
v-..-.

9.12

The stiffness in the xz plane is:

12 -6L -12 E/2 -6L 4L2 6L L3 -12 6L 12
-6L 2L
2

-6L

u3

2L2

u5
Ug
U11

6L
4L
2

6L

AXIAL TENSION AND COMPRESSION

---~~~.:~C)OI.

ocze

;:.

.II!

oee::

. A .t:<<>. . . . . . . . .

~.

The line element (truss) stiffness applies. We don't include buckling.

EA[ 1-1]{ul}={t L -1 1 u J
7

1}

TORSION

Use the same logic as for the axial line element.

_.A:;:::-~$~
...,.,.,..~->

G = shear modulus J = torsional rigidity

4 GJ[ 1 -1]{u }_{f 4} L u1o - f1o

-1 1
9.13

COORDINATE SYSTEM FOR BEAMS

The beam. element requires an element coordinate system to locate the principal axes of interia.
NASTRAN codes use two planes defined by the shear center axis and a user-defined vector {v}:
z
elem

Yelem

'~X y

'

9.14

DEEP AND
THIN-WALLED BEAMS
DEEP BEAM
'( . . ... '"'
' (YX/0"~-:hX<O

THIN-WALLED AND OPEN CROSS SECTIONS

IPROBLEM SESSION I
ProbleDl 1. Cantilever with end deflections
A cantilever beam is forced (by end loading

not shown) to take a tip deflection of +2 mm and a tip rotation of +0.1 radian. What is the shear force generated by the wall on the beam? Show its direction.
lOOOmm

-1

~-t=~=~::::::~:.I.~
9.15

0.1 radian

The bending stiffness is:

Solution One elen1ent yields an exact solution:

u2( 1ul
li/ -12

u4
6L

c1 u3

L3

11

11

_12/( 2)+ 6EI (O 1) = F L3 L2 I

D --

r1

(12)10 (2) (6)10 (0.1) 9 + 6 10 10 =+57,600 N (upward)

I'

= -2 400 + 60 000
' '

ProbleDl 2. Bea.Dl-rod assen1bly

Consider the cantilever beam and rod as shown. They are (~onnected by a pin. A 1.0 00 N load acts at 45 degrees to the pin. Find the horizontal deflection (only) at the pinned joint.

mm

9.16

Solution There are 7 important d.o.f. in the problem. Beam flexure in the xy plane has a 4x4 stiffness matrix. Rod extension has a 2x2 matrix. Four of the d.o.f. are constrained at the walls. The fifth and sixth equations uncouple.
xbeam .

EtA I
LI

0
(12Et/1
LI3

0 0 0

+ E2A2)

0
_ 6Etli L 12 4Etli LI

L2 6Etlt L 12 E2A2 L2 -

0
L12

ll4 us ll6 0

0 0 0

F1 F2 F3 707 707 0 F1

(121/1 + E2A2)u
L13

6E1/1u = 707
6

L2

+4Elh u - 0 - 6E1/1 u L 2 5 L1 61

(300,000+125,000)u 5 =707,000
:~:=~{
;;:j;?'

beam ,./ /

rod //

~~

1 u5
9.17

= 1.66 mm ;
:

---~__.._.,-

Problelll 3. Beam. with spring at tip

A cantile,rer beam is supported at its tip by a spring with constant k = 10,000 N/mm. What is the tip deflection under a load of 5000 N?

yt
..-- - -- - - 2 000 mm- - - 10,000 N/mm
2

E = 68,000 N/mm

Izz= 2x10 mm

Solution The full system has 5 d. o. f. Three of those are "grour1ded" (zero) and their equations are partitioned out. ,.----1 u u _Tu 4 3
1
u2 (._.: .: ;.;,... 0 ~
c >:=~::;:...

usf 6
0 0
t

!.i. . J
1

:.............................._...,_.!

F2

-5000

r..::.E.;:::J
9.18

The reduced set of equations is:

[l~Ji; k

f[:]{::} ={-5~00}

10000 -20,4oq]{u3} = {-5000} [ 20.4+ -20,400 2. 72x10 u4 0 Use Cramer's rule: -5000 -20400 0 2. 72x10 7
10020.4 -20400 -20400 2.72x10 7 =-0.500 mm

9.19

I I I I I I I I I I I I I I I I I I I

LECTURE 10

CASESTUDY: AUTOHAULTRAJLER

INTRODUCTION

SIDEWALL ANALYSIS--RAIL USE

A. B. C. D. PHYSICAL MODELING FINITE ELEMENT MODELING RESULTS CONCLUSIONS

KINGPIN ANALYSIS--RAIL USE

A. PHYSICAL MODELING B. FINITE ELEMENT MODELING AND RESULTS C. CONCLUSIONS

10.1

[NTRODUCTIONI
Open frame trailers carry new automobiles from factory to dealership. Most trailers are welded from cold-rolled tubular steel. The "low boy," trailer is made of hot-rolled structural steel shapes. A major manufacturer is Traffic Transport Engineering of Romulus, Michigan. Their presider1t is Bud Stuart.

It was proposed to modify an existing design for use <ln rail cars, in a "unit train" running from San Francisco to Los Angeles and back.
10.2

The trailers are attached to truck tractor or to a rail car by a "fifth wheel," involving a "kingpin" and a suitable pivot point on the truck or a stanchion on the rail car.

00

00

Rail-car loading. Two trailers/flatcar.

,f16o
00 . 00

''Low-boy'' trailers.

Loading a trailer on a rail car.

10.3

G)

SIDEWALL ANALYSIS RAIL USE

A. PI-IYSICAL MODELING
The automobiles are carried in "tracks" that have been proven through field use.
c~

ffi

~tracks_)

!]

The tracks are supported by pivots and pins.

10.4

Each side of the trailer is statically determinate. If one pin is pulled out, the structure collapses. (The driver is not asked to drive two pins because of misalignment problems.) Automobiles are raised by hydraulic jacks:

t hyPraulic Jack
Once in place, the hydraulic jack is released and a pin carries the entire load, during travel.

The tracks were modeled by rigid bars:

10.5

The rear suspension was first modeled with a rotatioil constraint, but later was modeled as a "whiffle-tree:"

The trailer travels "over-the-road," is lifted onto the railcar, and travels on the railcar. Loads are given by American Association of Railroads, Standards: "Field Impact Tests of Loaded Open-Top Cars." These standards require a test of a loaded car by rolling it into a parked gondola car full of lirr1estone rock, at 4, 6, and 8 mph, (1.8, 2.7, 3.6 m/sec), forward and backward. For design purposes, static equivalent loads were chosen for the lifting and railcar loads: load case support system load direction
1

corner lift on wheels

" " "
10.6

lgJ lgJ
2g~

2
3

2g-7 lgt 2gf-

B.FINITE ELEMENT MODELING

The location of the side members is curious:

Auto supports for 7 autos are shown:

C. RESULTS
Sidewall deflections for the comer lift:
II

\-----r~r--

1 I

Belly Droop= 0.4"

aMAX
10.7

= 18,300 psi

Loaded Trailer. Front Impact.

Belly droop

= 0.5"

Loaded Trailer. Front Impact and Gravity.

-\

Belly Droop = 0. 9 "

10.8

Loaded Trailer. Rear Impact and Gravity.

The rear impact is less severe than the front.

D. CONCLUSIONS
Sidewall deflections are acceptable, for both lifting and specified loading on the railcar.
A high stress region in the front of the trailer

was found and reinforced.

A high-stressed eccentric joint was found. It

is recommended that all joints be "aligned:"

10.9

KINGPIN ANALYSIS
RAIL USE
A. PI-IYSICAL MODELING

The kingpin is welded into a plate in the front of the trailer.

assembly kingpin

Front view of kingpin area:

The head of the kingpin is plate-like and the shaft is beam-like. Loading c~ases are specified by: American Association of Railroads Standards "Field In1pact Tests of Loaded Open-Top Cars"

and
SAE Jl3~3 "Fifth Wheel Kingpin Performance" The critical (SAE) load was 210,000 lb r::::::::;=r=-= (934,000 ~N) at the kingpin tip. _..,_JJ.
10.10

B. FINITE ELEMENT MODELING AND RESULTS

The tubes were modeled by Euler-Bemoulli beams with offset distance:

JJ

The baseline design was meshed:

20,000 lb . I
I

@
~

\I

'
/
~

,/
J
-"'""

~-

85 ' 000 lb.

.. 105,000 lb.

I~"""= ~.X'J

The apron plate surrounding the kingpin is highly stressed.

140,000 psi (966 MPa) _..-/'

10.11

The sec,ond design involved a longitudinal reinforc: i ng bar over the head of the kingpin.

20,000 lb

l_.
--

t. .. '

\I

'

y
~

\
~
....... ~

"
/

85,000 lb.

......-

I I I -.

"
105,000 lb.

"

..

The side view of Design #2:

.. LSI
I

I I I

I I

~4!1111! ... tlJ IHIII~

Deformation of Design #3, with several reinforcir1g bars:

10.12

Design #4 used three longitudinal reinforcing bars and a cover plate:

tz

r-- 3"~
1"

3"
cover plate
1"

3"

thick plate

A top view of Design #4:

tx

Cover Plate

I -1-

10.13

A fifth ciesign was proposed, but not used:

steel tube

I i
!
::::::;:::;::::;:;:::;::::J
I
I
_I

plate doubler
1:::::::::::::::::::::::::
I

apron plate

!
l

-~- kingpin

C. CONCLUSIONS
The redesign of the kingpin area was needed. Design
#4~

was chosen, and proven by field test.

A better way is needed to "capture" the kingpin;

it is a very stiff structure embedded in a flexible structure. (A new design for the kingpin has been relea.sed by the manufacturer in which an integral flcmge is added.)
l
~

10.14

LECTURE 11

LAB PROBLEM 2: CANTILEVER BEAM

PROBLEM STATEMENT

PHYSICAL MODELING

FINITE ELEMENT MODELING

DATA

RESULTS

REFERENCES

1. Oden, T., and Ripperger, "Mechanics of Elastic Structures," 2nd Ed., McGraw-Hill Book Co., 1981, p. 228. 2. Roark, R. J. and Young, W. C. "Formulas for Stress and Strain, 5th Ed., McGraw-Hill Book Co., 1975, pp. 96. (Deflection at tip of beam: 1.031 mm).

11.1

ROBLE
f
j

STATEMENT

Find the stress an deflection in a steel cantilever beam with rettangular cross section:
5000N
(1124lb)

~ 2000 N
1

1 1

449. 6 lb)

~-y 150mm
~

1000 mm 1000 mm 1000 mm (39.37 in)

11.2

E =207,000 MPa V=0.3

IPHYSICAL MODELINGI
The beam is slender, with length/height= 30 (need 10 or more to qualify) . Use Euler-Bernoulli theory: no shear flexibility. Principal planes of inertia are xy and xz planes. Loads are in xz plane--displacements will also be in xz plane. It is difficult to predict whether the tip will move up or down. Guess!

FINITE ELEMENT MODELING

Use simple, Euler-Bernoulli beam elements. Use only 3 elements; get an exact answer! (Loads are at nodes; cubic shape functions.) Establish element coordinates:

G)

v = (1,1,0)
z

b astc coordinates

4.

y
X

GA
11.3

GB

The vector V and be beam axis establish Plane 1. Plane 2 Passes through the beam axis and is orthogt nal to Plane 1: Z elent Y elem
Plane 2 lane 1

Constrain d.o.f. 12~456 at node 1. Constrain d.o.f. 12f6 at nodes 2,3,4. Add forces to nodes 2 and 3. I

~......pc!_CD_t----4:!~~ooo ~
1
X

()

t2000N

The sign conventiods for finite elements and beam theory are in f onflict. Consider intemal forces and moment~ in a single beam element:
I

~. .lv1I . . . ttv2
~ ' ~ ~
. . . . . . . -!:::;.-..-.....

it .

MzB

YzB

'~=r-~~ B V YB

Both the FE (red) an~ classical (blue) forces must be interpreted in a given problem.
11.4

To obtain stresses in the BAR element, give the coordinates of 4 points on the cross-section: (-75,50) c : (75,50)

(-75,-50)

~~---~(75,-50)

IMSCLNASTRAN DATAl
Use 3 BAR ("simple" Euler-Bemoull~) elements. A flle 111anagement statement is:
asslgn output2='LAB2.0P2' ,new,unit=12,unformatted
I

The e.xecut.ive co:n.t rol statem.e:n.ts a.re:

ID ANDERSON,PROBLEM2 TIME 1 SOL 101 CEND

The case co11trol commru1ds crre:

TITLE=CANTILEVER BEAM WITH POINT LOADS ECHO= SORT DISPLACEMENT=ALL
11.5

STRESS=ALL ELFORCES=ALL SPCFORCES=ALL SUBCASE 1 LOAD= 50 SUBTITLE= 5000 N DOWN AND 2000 N UP

The bull{. data en

BEGIN BULK PARAM,AUTOSPC,Y S PARAM, POST, -2
1

GRDSET,,,,,,,12 ~ 6

GRID,1,,

0.0, ~ .0,0.0,,123456

GRID,2,,1000.0, ~ .0,0.0

GRID,3,,2000.0, y .O,O.O GRID,4,,3000.0, ? .0,0.0

I

CBAR,l,29,1,2,l.O,l.O,O.O
CBAR,2,29,2,3,1. ~ ,1.0,0.0

CBAR,3,29,3,4,1. ,1.0,0.0 PBAR,29,12,1.5E+ 4,2.81E+7,1.25E+7,,,, ~ C +P1029 + Pl 0 2 9 , 7 5 . , 50 . , - 5 . 50 . , -7 5 . , -50 . , 7 5 . , :::> C-50. MAT1,12,2.07E+05 \ ,0.3 FORCE,50,2,0,1.0 0.,0.,-5000. FORCE,50,3,0,1.0 10.,0.,2000. END DATA

11.6

The MSC /NASTRAN results are:

D I

@
R

s
T2 .0 .0 .0 .0

LA C E M EN T T3
0

v E C T 0
R1 .0 .0 .0 .0 R2

POINT ID. T1 .0 1 .0 2 3 .0 .0 4

-S.326673E-17 4.508857E-01 1.030596E+00

.0 -1.932367E-04 -5.797101E-04 -5.797101E-04

R3 .0 .0 .0 .0

FORCES POINT ID TYPE T1

1 G .0

OF T2
.0

SINGLE - POINT T3 3 .. 000000E+03 R1 0

CONSTRAINT R2 -1 . 000000E+06 R3 .0

FORCES IN BAR ELEMENTS ELEMENT ID. 1 2 3 .0 .0 .0 BEND-MOMENT END-A

PLANE 2

(CBAR) - SHEAR PLANE 1 PLANE 2

BEND-MOMENT END-B
PLANE 1 PLANE 2

PLANE 1

-l.OOOOOOE+06 2.000000E+06 1.862645E-09 I N SA2 SB2

.0 .0 .0

2.000000E+06 9.313226E-10 1.862645E-09

.0 -3.000000E+03 .0 2.000000E+03 .o .0 C BAR AXIAL STRESS .0 .0 .0

S T R E S S E S ELEMENT ID. 1 SAl SBl

BAR

ELEMENTS SA3 SB3 SA4 SB4 -4.000E+00 S .. OOOE+OO S .. OOOE+OO 3.725E-15 7.450E-15 7.450E-15

4.000E+00 -8.000E+00 -3.725E-15

4.000E+00 -8.000E+OO
-8.000E+00 -3.725E-15

-4.000E+00 8.000E+00
8.000E+00 3.725E-15

2 -S.OOOE+OO

3 -7.450E-15 -7.450E-15

-7.450E-15 -7.450E-15

7.450E-15 7.450E-15

The displacements and stresses are all exact, and will be plotted later.
11.7

C DATA

TITLE BIL ANDERSON, JIM BROWELL TITLE 18 UNE 1993 TITLE LAB RATORY 2: BEAM SIZINC}, 600000 ELEMENTS,S ELASTIC SHELL SECTION,3 END

POST
6

11 12 13 14 15 16 PRINT NODE
1

REAC TOT A LOAD \ 1 TO 4 PRINT ELEMENT, NODE 1

I I

11.8

STRESS 1 TO 3
1

1 TO 3 POINT LOAD
$

THE FOLLOWING CARD SETS ARE FROM => <=LOAD ID 67 0.0 -5000.000
2

0.0
3

2000.000

FIXED DISP
1

$ THE FOLLOWING CARD SETS ARE FROM -:::> C:Bc ID 1

0.0 1 2 1 CONNECTIVITY
3 3

0.0

0.0

5 2 5 3 5 COORDINATES 2 4
1

1
2

3 4

2
3 4

0.0 1000.000 2000.000

3000.000

0.0 0.0 0.0 0.0

11.9

T 0 T A L

D I S P L A C E M E N T S

1 o.ooooo

ol ooooo

-l.oooooE-28
1.93386E-04 5 80158E 04

2 -1.81300E-10 1 [ 83170E-08 3 -6.04332E-11 o \ 4~12~

4 -6.04332E-11 1 { 6~i4~

s:ao15BE=04

TOTAL EQUIVALENT \NODAL FORCES (DISTRIBUTED PLU~ POINT LOADS)

1 2 3 4

0.00000 0.00000 0.00000 0.00000

0.00000 0.00000 0.00000 0.00000

11.10

REACTION FORCES AT FIXED BOUNDARY CONDITIONS, RESIDUAL LOAD CORRECTION ELSEWHERE

. . . nnn r) 1 -1.49241E-04 4.44768E-04 1.22070E-04 2 3 -2.95527E-04 1.77529E-03 1.18585E-10 -1.89736E-03 4

_") \., ,.J ....; \.

0.12500 1.1353 0.86703

VALUES

Stresses are:
TRESCA MISES MEAN PRINCIPAL INTENSITY INTENSITY ELEMENT 1 NODE SECTION THICKNESS AVERAGE MEMBRANE STRESS 3.815E-08 MOMENT 6.659E+01 LAYER 1 STRESS 3. 995E+00 LAYER 2 STRESS 3.750E-08 LAYER 3 STRESS 3.995E+00 NORMAL MINIMUM INTERMEDIATE MAXIMUM INTENSITY O.OOOE+OO O.OOOE+O O 1 NODAL PT. COORDINATE= 0.100E+03

3.815E-08-1.272E-08-3.815E-08 O.OOOE+OO 0.000E+00-3.815E-08 6.659E+01-2.220E+01-6.659E+01 0.000E+00 0.000E+00-6.659E+01 3. 995E+00-1. 332E+00 ._:_..

~-:=:::::.~:-:~ -: ::: .:_~

0. OOOE+OO 0. OOOE+OO -- ?. . ~1 9S J:~+ CJC

3.750E-08-1.250E-08-3.750E-08 O.OOOE+OO 0.000E+00-3.750E-08 3.995E+00 1.332E+00 O.OOOE+OO 0.000E+00 _._ ->:_ :.::::: ......~
.9 9:=~ :> o:-;

TRESCA

MISES

MEAN

PRINCIPAL

VALUES

INTENSITY INTENSITY ELEMENT 2 NODE SECTION THICKNESS AVERAGE MEMBRANE MOMENT 1.333E+02 LAYER 1 STRESS 7.997E+00 LAYER 2 STRESS 2.500E-08 LAYER 3 STRESS 7.997E+00 ELEMENT 3 NODE SECTION THICKNESS AVERAGE MEMBRANE MOMENT 7.584E-05 LAYER 1 STRESS 4.550E-06 LAYER 2 LAYER 3 STRESS 4.550E-06

NORMAL MINIMUM INTERMEDIATE MAXIMUM 1 INTENSITY 2 NODAL PT. COORDINATE= 0.100E+04 0.000E+00 0.100E+03

1.333E+02 4.443E+01 0.000E+00 O.OOOE+OO 1.333E+02 1.333E+02 7.997E+00 2.666E+00 0.000E+00 O.OOOE+OO 7.997E+00
7.99 7 E~ O a

2.500E-08 8.333E-09 O.OOOE+OO O.OOOE+OO 2.500E-08 2.500E-08 7.997E+00-2.666E+00-7.997E+00 O.OOOE+OO O.OOOE+OO 3 NODAL PT. COORDINATE= = 0.100E+03 0.200E+04
- 7 . 997E ~OO

0.000E+00

7.584E-05-2.528E-05-7.584E-05 O.OOOE+OO O.OOOE+OO

-7 ..

534f~-G 5

4.550E-06-1.517E-06-4.550E-06 0.000E+00 0.000E+00-4.550E-06 4.550E-06 1.517E-06 O.OOOE+OO O.OOOE+OO 4.550E-06

A~

~#:, ~.: 0 f~ - - C; ~;

11.11

OS DATA
Use 3 BAR elemen~s.
I

,..,.., ................_

z.~.v

The solution contrpl data set is:

ASSIGN DATABASE LAB2 SHAZAM NEW SOLUTION TITLE=CANTILEVEk BEAM WITH POINT LOADS ANALYZE 1 '" BOUNDARY STATICS ( MEC = 50 ) LABEL = 5000 N DOWN AND 2000 N UP PRI:NT DISP ALL STRE=ALL =:::, I C:FORC=ALLI SPCF=ALL END
:I:
I I

BEGIN BUJ~K GRDSET 11 1111 124 GRID 1 1 11 0.0 10.0 10.0 11 123456 GRID 12 11 1 000.0 10.0 10.0 GRID 13 11 2000.0 10.0 10.0 GRID 14 11 3000.0 10.010.0 CBAR 1 l 129 1l 12 1 l.0 1l.OIO.O CBAR 12 129 12 13 1 l.0 11.0 10.0 CBAR 13 129 13 14 1 1.0 11.0 10.0
t

PBAR 1 29 1 12 1 1.5E+0 ~ 1 2.81E+7 1 1.25E+7 1111 ~

+P1029 + P1 0 2 9 7 5 . 50 . -7 . 50 . -7 5 . -50 . 7 5 . c -50. MAT1 12 2.07E+05 0.3

I I I I I I I
I

I::>

FORCE 1 50
I

12 10 11.0 1 . 0. 1 -5000.
1
I I I I I

FORCE 50 3 0 1 . 0 END DATA

0 . 2000 .
I

11.12

ASTROS results are:

D I S P L A C E M E NT POINT Tl ID. 1 O.OE+OO 2 O.OE+OO 3 O.OE+OO 4 O.OE+OO T2 O.OE+OO O.OE+OO O.OE+OO O.OE+OO T3
V

E C T 0 R R2 O.OOOOOE+OO -1.93237E-04 -5.79710E-04 -5.79710E-04 R3 O.OE+OO O.OE+OO O.OE+OO O.OE+OO

O.OOOOOE+OO
4.71845E-16 4.50886E-01 1.03060E+00

Rl O.OE+OO O.OE+OO O.OE+OO O.OE+OO

B A R ) I N E L EM E NT s S T R E s S E s BAR AXIAL SA4 SAl ELEMENT SA3 SA2 STRESS SB4 ID. SBl SB2 SB3 1 4.000000E+00 4.000000E+00 -4.000000E+00 -4.000000E+00 -O.OE+OO -8.000000E+00 -8.000000E+00 8.000000E+00 8.000000E+00 2 -7.999999E+00 -7.999999E+00 -3.000000E-06 -3.000000E-06 3 7.999999E+00 3.000000E-06 7.999999E+00 -O.OE+OO 3.000000E-06

4.000000E-06 4.000000E-06 -4.000000E-06 -4.000000E-06 -O.OE+OO -1.162500E-05 -1.162500E-05 1.162500E-05 1.162500E-0 5

F 0 R C E S

I N

B A R

E L E ME N T S
PLA..~E

( B A R )

ELEMENT BEND-1-!0MENT END-A ID. PLANE 1 PLANE 2 1 2 3

BEND-MOMENT END-B PLANE 1 PLANE 2

SHEAR -

AXIAL

1 PLANE 2 FORCE TORQUE

0.0 -1.000000E+06 0.0 0.0 2.000000E+06 0.0 0.0 -l.OOOOOOE+OO 0.0

2.000000E+06 0.0 -3.000000E+03 7.500000E-01 OeO 1.999999E+03 2.906250E+00 0.0 -3.906250E-03

0.0 0.0 0.0

0.0 0.0 0.0

11.13

RSULTS
The deflection is,
and
1-D~::AS:
.....
-

sing MSC/NASTRAN
-
-

............ , .

........ --

,, .....

........

...
-

........
-

X ------------------- :=-~

: . - : .=.:. -

Displacements, in
wl

m, are:
w2

w3

w4

MSC/NAST MARC ASTROS

0.0 0.0 0.0

- .327E-17

.831E-08

0.4509 0.4512 0.4509

1.0306 1.0314 1.0306

Intemal moment
106

d shear:

MSC/NASTRAN ~-----~~~---------------~-M_A_RC_ : __~ X

~':s~.s~r~~ft{)

s.

-106 " 2000 ~ 1000 -

MSC/NASTRAN
!vlA.RC

~ z~ o 1-----+\- + - - - - - f - - - - + - - . ~~-1000 ~ I
r/J

-2000 -3000

r-

t-----+----' :
I
11.14

Stresses in the bar from FEA programs:

4 MPa
~ ~~

4 MPa

-4 MPa

n-_,.

-----u->-4 MPa

Check this by classical beam theory:

a
X

= _

Mz
/2

(-10 )(+50) _ Nhnm2 4 1.25x107 6

__ (-10 )( -50) __ N/mm2 4 1.25x 107 -

SPECIAL TOPICS FOR BEAM ELEMENTS

A. OFFSET, NEUTRAL AXIS, SHEAR CENTER, MASS, TAPER
@

(0,0,0)

11.15

B. END RE EASE CONCEPT @

Finite elements cturaljoints are welded unless "released." Beam elements can have end forces and mo ents set to zero to model pinned ends, slots universal joints, etc. Consider a long be with two special ends:

NASTRAN usage:

CBAR
+15

I
1

1256

C. CROSS-S CTION TROUBLE

For compact crossassumpti<)n about" thin-walled tubing, can warp. See Ode ections, the Euler-Bemoulli lane sections" is valid. For owever, the cross-section & Ripperger.

Thin-walled tubing ,lso tends to collapse, causing "c~rippling." Nature is perverse in that the walls will move a way to reduce the area moments of inertia!
} ending

)> torsion
11.16

LECTURE 12

MODIFICATION OF EQUATIONS

SOLUTION PROCESS STANDARD FORM MULTIPOINT CONSTRAINTS SYMMETRIES

A. B. C. D. E. REFLECTIVE SYMMETRY ROTATIONAL SYMMETRY DIHEDRAL SYMMETRY TRANSlATIONAL SYMMETRY AXISYMME'IRY

BOUNDARY CONDITIONS FOR REFLECTIVE SYMMETRY

A. "EI.ASTICI1Y' ELEMENTS B. STRUCTURAL ELEMENTS

RIGID BODY MODES

A. DEFINITION B. RULES OF THUMB C. SUPPRESSION OF RIGID BODY MODES

MECHANISMS NODAL SINGULARITIES PROBLEM SESSION

1. 2. 3. 4. RIGID BODY AND ElASTIC MOTION SYMMETRIC, QUADRilATERAL ELEMENT TEETER TOITER ANTISYMMETRIC LOADS

12.1

SOLUTI NPROCESS
Topological layou (mesh) [K]{u}= {F}
.,

50,000 49,950 45,000

[K]{u}= {F}
Apply SPC's:
v
II II

[K]{u}= {F}
ode.-<> :: \..,~A ~j.,.
t~)J:)tirrdze
~;,.

()1h ~~~rcl\.;~:t11~c;J1t:

l)a.t1(lvliclth .
v

[K]{u}={F} 44,994
[K]{tt} = {F}
li

44,994

Sol\re: Recover forces. strcsf es:

{u} = [K] {F}

'l ll ...;.)'

-1

{ F} ,{cr} ,{c}
12.2

...

ISTANDARD FORMI
We desire the standard form:

1]{111}- {2} 2 2 6 2 3 [5 1 2 7 u 4
u2
-

where [K] is real, symmetric and positive definite, all the forces are known, and all the displacements are unknown. Unfortunately, most physical problems are "mixed boundary value problems" where some forces and some displacements are known:
5 2 1]{ u .... [ 2 6 2 U'> 1 2 7 4

1} -{2 3}
-

F'3

The physical problem (repeated here):

[ ~ ~ ~]{~~}
127 4

={ ; }
_ f /3

can be put in standard form by partitioning:

~ ~ ]{~~} ={~ ~ &~!~}

F3 = lu 1 +2u 2 +7(4)

or by solving "in place:"

[ ~ ~ ~]{~~} = {~ ~ g~~!~}
0 0 1 u3 4
12.3

or by a "penalty" pproach:

[ ~ ~ ~ ]{~!} u;
1 2 7x108

={

~ 7x4x10
/;3

8)

or by Lagrange m ltipliers:

= { ~} [ ~1 ~]{~!} 7 Zl;
A,(u 3 -4)=0

Partitioning allows solution of the smallest set of equations. Lagr~ge multipliers are good for nonlinear effect (e.g. contact problems).
I

MU TIPOINT CON TRAINTS

Definitior1: A multi oint constraint (MPC) is a linear, homogeneo s, algebraic relation between two or mo e degrees of freedom:
LRU=O . J J
J

These are used sing y to represent an inclined plane or slot, in gro ps to represent rigid body behavior, etc. Example:
Uzi-Uzz=O

12.4

How can one MPC relation remove two variables (one force and one displacement) from the problem?

K 21 ' 22 K 22' 22

K 21 ' 21 K 22 ' 21

Each MPC implicitly implies a second, hidden relation that allows no work to be done by reaction forces (a holonomic constraint):
{u}T {F}= 0

Example:

{:~:} ~// {~~~}

!SYMMETRIES

A. REFLECTIVE SYMMETRY
A body has a reflective plane if the half of the

body behind the plane is identical to a mirror image of the front half.

In structural mechanics, one can exploit the symmetry if one has symmetry of: geometry material displacement boundary conditions
12.5

It is not necessary~r the loads to be symmetric. They can be deco posed into symmetric and antisymmetric com onents, and two problems (half-size) solved. ~

antisymmetric load

+
B. ROTATIO AL SYMMETRY
The body has a strai ht axis of symmetry. A fundamental region an generate the entire body by n replications, eq ally spaced about the axis:

/~
n=2 n=3 n=4

The NASTRAN cod s have a strong rotational (cyclic) symmetry ca ability. @

12.6

C. DIHEDRAL SYMMETRY
Combine rotational and reflective symmetry. One only needs to model half of one cyclic region. There are multiple reflective planes.

D.TRANSLATIONAL SYMMETRY
The fundamental pattern is repeated on a straight line:
~ ~ ~'-----1~'-----1~'------..<

E. AXISYMMETRY
A subcase of rotational (cyclic) symmetry:
o o
e
o

straight axis of rotation. body is swept out by rotation of one segment. lathe pieces are examples. can have skew due to winding process for shells, and material anisotropy.

12.7

BOUND Y CONDITIONS FOR REFLECTIVE SYMMETRY A. "ELASTI ITY" ELEMENTS

Consider elements at have only translational degrees of freedom elasticity elements).

t3
!
!

t.:P'Y

~X

3
1____,__..,.
~

'
j

, ~--------+-~1----'t

Symmetric B. C.
T1 = 0 F2 = 0 F3 = 0

Antisymmetric B. C.:

It is easiest to find e antisymmetric conditions as the complement f the symmetric case.

12.8

B. STRUCTURAL ELEMENTS
~---t"'lr.

Symmetric B. C.
~~~:-... . ..

(01'! !Jo)i.~~:\>7~W.:

IRIGID BODY MODESI

A. DEFINITION
A rigid body mode is a displacement field which

causes no strain energy. An elastic body undergoes neither direct nor shear strain. In contrast, straining modes cause strain energy to be developed. Straining modes can, however, include some rigid body motion. Elastic bodies in three dimensions have 6 rigid body modes, 3 translations and 3 rotations: surge (skid) roll sideslip pitch plunge yaw
12.9

Bodies <~ons desk telephone,

to move in 2-D, such as a ve only 3 rigid body modes.

There are two tran lations and one rotation. If the receiver falls off, one has a "mechanism." A broken spring cause a 1nechani a dial phone, would also

The axisymmetric c4se is special and must be handled carefully. he NASTRAN codes embed axisymmetry into a 3-D space. Other codes restrict the sp ce, typically to the xz plane. If the element is a s ecial axisymmetric element restricted to the xz lane, there is only one rigid body mode---transla ion in the z direction.
Hoop stresses prevent both x translation and rotation in the xz plane as rigid body modes.
I
\

\ z

@
12.10

B. RULES OF THUMB
BODY CONSTRAINED TO LIE IN:
3-D 2-D

SUB CASE

#OF RIGID BODY MODES

6

plane stress plane strain axisymmetry

3
1 1

1-D

Codes vacy widely in how two-dimensional cases are handled. Some codes (SAP) treat 2-D with special elements. Other codes (NASTRAN ) embed plane stress and plane strain into 3-D.

C. SUPPRESSION OF RIGID BODY MODES

Consider a vehicle in flight which is to be stress analyzed. The analyst must constrain 6 degrees of freedom to remove 6 rigid body modes. If this is not done, the static analysis will fail!

z
1
-~ x

Node 2 (beam/plate elements): (easy) I ~-----T~ 2 _,T_3 ~'-R~ 1 ,_R~ o __~~--~] 1 -,T~ 2 _,R~ 3 ___
12.11

Node 1 (solid): Node 3 (solid): Node 4 (mem Node 1 (solid): Node 3 (solid):

T 1 , T2, T3
T2 , T3 e): T 2 = 0

=0

=0
(good)

s because it does not This last attempt rigid body mode and it constrain the r from nose to tail! This prevents elastics also "grounds" liv loads in the longitudinal directior1:
3

L1
MEC ISMS

Problem with load r Beams were free to beams w---+-----~ >plates Joining elasticity ele ents to structural elements causes problems: beam 'truss
12.12

NODAL SINGULARITIES
If no stiffness acts in a degree of freedom at a node, the stiffness matrix is singular. This type of singularity can be "sniffed out" by a computer code, by forming an eigenvalue problem at each node and searching for principal directions of stiffness, and their values. In the NASTRAN codes, there is an AUTOSPC feature which removes these singularities.

6!A
3
0

!7

l2 /

5 v/
4

~--~

IPROBLEM SESSION!
Proble111 1. Rigid body and elastic Dlotion Solve for the elastic deflections of a beam which is "guided" at its two ends. The guides allow free translation, but no rotation. Neglect the force of gravity.
4000N

2000N
El= 1013 N/mm
I I I

:.._1000 mm ... :4 1000 mm~

L=1000 mm
12.13

Solution There is a transla onal rigid body mode present. Unless r oved from the static elastic solution, it will de troy the solution procedure. The body is in equ ibrium, so the rigid body mode is not an im ortant part of the solution. Use a half-model, sing the vertical plane of symmetry at mids an, and assuming the center is fixed in s ace (removing the r.b.m.).
u4 . --~~- u2 (/r.~ _ ___,___-i~........ / ~- - - - - - - - - - - - - - '::;:;:;.....

01 + :.

4u3

\.:::::::.,...

By symmetry, u 4 = . By setting u 3 = 0, the rigid bod~r translati nal mode is removed.

12 6L 12 6L u 1 2 EI 6L 4L 6L 2L2 0 I] -12 -6L l2 -6L 0 6L 2L2 -6L 4L2 0

The first equation ncouples, yielding:

( 10139Nm 2)12u1 = 2000 N 10 mm 2000 N u ---4 --1 -12 x10 N/mm

= 0.0167 mm

(up)

12.14

Proble:m 2. Syn1:metric quadrilateral ele:ment A hypothetical, two-dimensional, linear, elastic finite element has four nodes. It has a reflective plane that passes through the x axis.
2mm
i>-

I
~ x

200 N

I.--~~;$:" 1 mm

Nodes 1, 2, and 4 are held stationary, and node 3 is loaded with 200 N at 45 as shown. Displacements (shown) result. Find as many kij values as possible. @

Solution The 2-D quadrilateral has 8 d.o.f. It could be plane strain, plane stress or axisymmetry (not stated). The experiment elds:
ot

xe:: :

.. :!b. :>: ...

. xu..

fl
~

0
0

0 4 k 55 k 56 1 - 141.4 k65 k66 2 141.4 0 !1 0 fs Elastic symmetry gives k 56 = k 65 , hence:

k 55(1) + k 56(2) = 141.4

/3

k56 (1) + k66 (2) = 141.4

12.15

We have 2 equati, ns in 3 unknowns. Need more information, perhaps using symmetry. Consider a menta experiment, with the same boundary conditi ns and a horizontal load . at the right node: .=jl ~ u6 There will be no v rtical ~ : ---displacement u 6 :

k 55 56 k 56 66
I

us
0 0 0

0 0 0 0 -

ft

!2

!3 !4
!s
0

!1
fs

The sixth equation ives: hence:

k 56 u 5 = 0

The earlier two equ tions now give:

~)

k55(1)

~) = 141.4

k66(2) = 141.4

k 55 =141.4 N /mm

k 66 = 70.7 N lmm

By a. d.ditional symm~try arguments, one can prove. k1a_ = k21 = 0 ,

1 2t
kl

= k61 = 0
12.16

6f

k2 = ks2 =0

ProbleDl 3. "Teeter totter"

Two children are sitting on a teeter totter. They weigh 150 N 250.N and 250 N. Make a finite element model to find the exact stresses and deflections in the 1200 l-2000mm beam. mm mm Solution The model will need only three elements for an exact solution. A rigid body rotation must be

~1 ..

_JJ
-. .. ..-.. .:::::::

rem~d~~~u-1
........: : ,: :~ -.

_____

u_~~~~r-3___u_6~ (~7
\

::::::.-.-.....

..... ;~::::::...

Arbitrarily set u 4 = 0 to constrain the r. b. m. This centers the teeter totter horizontally.

,!:\.,\
12 L3
X X
1

-o

One could also have set u 1 , u 2 , u 5 , u 6 , u 7 , or u 8 to zero to remove the r. b. m.

6 L2
X X
1

12 L 3
X
1

6 L2
X
1

0 0
X X X X X X

0 0
X
X

0 0 0 0

0 0 0 0

X X X X

X X X X

0 0 0 0
X X X
X
12.17

0 0 0 0
X X X
X

u1 u2

0 0

0 0

X X X
X

us
u6 u7

0 0 -

Ug

-150 0 F3 F4 -250 0 0 0

/
@

ProbleD14. m.etric loads A bracket is forme from two beams. It has a reflective plane of ymmetry passing through the x axis. Explai the "traditional" use of symmetry, includ g a) proper b. c. at e reflective plane !f b) how to handle e load c) recovering resul sin the ''image'' Solution \ The loading is antiJ metric with respect to the lane. We will model the top half of the bracket, d apply antisymmetric b. c. at the cut edg . The problem is planar, so out-of-plane displa ements are constrained. @

a,b) In a general3- imensional problem, the antisymmetric cond tions at the cut edge would Q>e: +!f/2
Tx =
= \ 0 F~=Mx=M=O

1'z

R~

The forces are interi r ones that are released wh n the structure is cut, and don't account for external oads. The displacement co dition at the cut edge is: u 4 =0 The interior force F 5 d moment M 6 are zero, but the exterior live lEad causes: F5 = -!!{2
I

12.18

c) To recover the displacements and stresses in the image half, use the results in the real half (upper) and change the signs on all quantities. Interpret results in upper half, and then imagine the results as reflected in the image. This process is equivalent to drawing the image half, using left-handed coordinates, and using the results of the real half with signs changed. ~ This process is error-prone; many engineers refuse to use symmetry concepts and instead model the entire structure! An additional problem is that graphics systems often cannot present the image results, so there is no automated way to visualize the answers. /

12.19

I I

I I I
I I I I I I I

I I I I I
I

LECTURE 13

LINEAR, STATIC EQUATION SOLVERS

TYPES OF SOLVERS FREDHOLM ALTERNATIVES LINEAR, STATIC EQUATION SOLVERS
A. DIRECT METHODS B. ITERATION METHODS C. ADVANTAGEOF~GULARFORM

GAUSS ELIMINATION
A. B. C. D. E. PROCEDURE DECOMPOSITION FORMULA FORWARD SOLUTION BACK SUBSTITUTION EXAMPLE

GAUSS-SEIDEL ITERATION JACOBI ITERATION PROBLEM SESSION

1. 2. CHOLESKI DECOMPOSITION GAUSS-SEIDEL ITERATION

13.1

ITYPES OF SOLVERS
o o
o

Static stress:

[K]{u} = {F}

Eigenvalue: [A]{u}+ A[B]{u} = {0} Transient dynamic:

[M]{li} + [B]{u} + [K]{u} = {F(t)}

Each of these can be linear or nonlinear. Transient problems are solved by marching forward in time. We consider only static stress problems in this lecture series.
13.2

FRED H OLM ALTERNATIVES

r iKi{~i-- iFi ..
~

Det [K] "# 0

'_] Det [K] = 0

f(K]{u}

---~---J

[K]{~

{p}]
-\ .. --

"

~__j

{p}l

.nn--

x~

{F} :t~{O} {F} = {0}

, . , :: ,( ..._.., ..... . ,...., -

l {F} :t~{O} {F} .= {0} ~: ,C..~ . 1 . C ..,.2, : ..., .... ,. -~=---~~m;

~~

![K]{u}={F}!:: :j[K]{u}={o} l j[K]{u}={F}II[K]{u}={o}j .

~

stress-A= =: :-

analysis

trivial {u}=O

v:

. eigelJ:vallie: pathological problem

;b"""""""'))-T~~

~::

LINEAR STATIC EQUATION SOLVERS

Consider the standard form:
[K]{u} = {F}

where [K] is nxn, real, symmetric and positive definite. {u} is unknown. {F} is known. Positive definite means: {u}T [K]{u} > 0 for all {u} :t 0 Any displacement causes strain energy. The general concept for solution is:
{u} = [K]- 1{F}

but this is not actually done!

13.3

G)

A. DIRECT METHODS
Elimination Cramer's rule Gauss elimination Cholesky decomposition
[K] [K]

=[L][L]T

Gauss-Doolittle decomposition

=[LI][D][LI]T

Wavefront Dissection

B. ITERATION METHODS
Jacobi Southwell relaxation
Ne~on-Raphson

Gauss-Seidel Chaotic

GV

C. ADVANTAGEOF TRIANGULAR FORM

If one is lucky enough to obtain:

one can solve from top to bottom:

lx=7
2x+3y=8 4x+ 5y+ 6z = 12 y= ![8- 2(7)] 3

z = ![12- 4(7)- 5(-2)]

6
13.4

IGAUSS ELIMINATIONI
A. PROCEDURE
Consider a linear static stress problem:
[K]{u} = {F}

where [K] is an nxn, real symmetric matrix and is positive definite. Decomposition T
~v....~=--
Xb ...

>..........

::0: ~~~ ..-:.:.

[ K]

=[L

] 1

[D] [L 1]
dll

where:
[Ld=

1
121 131

0 1
132

0 0 1

0
d22

. . . .

[D]=

0 0

Forward Solution
~~~ -<1(

: . . . . . :..< . . . . . . . . .

.. :.....

Create an intermediate vector {X}:

[L 1][D][L1]T{u}
\..

= {F}

[L 1]{X} = {F}

Solve for {X}. (Easy!) Back Substitution Use the definition for {X}:
[D][L 1]T{u} ={X}

Solve for {u}.

(Easy!)
13.5

B. DECOMPOSITION FORMULA
K11 K12 K13 K21 K22 K23 K_31 K_32 K_33 : ..

0 121 1
131

. .

. .

. .

0 ... d 11 d11121 d11131 ... 0 ... 0 d22 d22132 ... 0 0 132 1 ... d33

. . .

This a matrix equation, with (n+l)n/2 independent relations. Unravel by looking at the first column of [K]:
K11 = d11
K21 = d11l21 l21=K21/d11

K31 = d11l31

l31=K31Id11

The recursion formula is:

rz.1
:

K ~1/d1"~1-~~,.....-~c-i -2 ~)Ym~,
l ' ' '

i~

~~w.J

The [K] matrix decomposes according to regions:

The solution proceeds column-wise from the left. Storage space is saved by writing the newlyfound d ii and 1ij terms on top of the [K] matrix.
13.6

The recursion formula for region 3 is:

~~
}

'-1
l

Idu = Ku - L l ik dkk I L . . . . . . . . . . . . ~==~-,XQ~I

wm1
~

This is the expensive part of the equation solver. It requires on the order of n 3 floating point operations (flops) for a full matrix.

C C C C C C

SUBROUTINE DCOMP(N, K) THIS SUBROUTINE DECOMPOSES AN NxN SYMMETRIC, POSITIVE DEFINITE MATRIX [K] INTO THE PRODUCT [L1] [D] [L1]AT. THE MATRIX [11] IS RETURNED TO THE MAIN PROGRAM IN THE LOWER LEFT PORTION OF [K] . THE MATRIX [D] IS RETURNED ON THE DIAGONAL OF [K] . REAL K(100,100}, SUM INTEGER I, KK, K1, J, N DO 50 J = 1, N DO 50 I = J, N SUM = K(I,J} K1 = J - 1 IF (J .EQ. 1) GO TO 20 DO 10 KK = 1, K1 10 SUM = SUM - K(J,KK) * K(I,KK) * K(KK,KK) 20 IF (I .NE. J) GO TO 40 IF (SUM .LE. 0.0) WRITE (6,30) 30 FORMAT (' DECOMPOSITION HAS FAILED. NEGATIVE TERM 1 ON MAIN DIAGONAL') IF (SUM .LE. 0.0) RETURN K(I,J) = SUM GO TO 50 40 K(I,J) = SUM I K(J,J) 50 CONTINUE RETURN END

13.7

C. FORWARD SOLUTION
[LI]{X} = {F}
1 0 12I 1 13I . 132 0 0 1
1n3

. .

. .

0 0 . . ~3 .

XI x2

FI
F2
-

F_3

. .

1ni

1 n2

1 xn

Fn

XI= FI X2=F2-12IXI X3= F3-13IXI-132X2

f~...........w.....,.~.~

'!V'!NtN'."J'oN'tt.Y't,...~~NJ'...,.,Y.WN.VN.-.v.V'NNV'NV'tl'~...

w,.,..,.,.,/'.N'S

l-I

! X.=
~
~

F.- Ll.kXk
l

k=I

(i=l,2;,n)

I
-~

D. BACK SUBSTITUTION
[D][LI]T {u} ={X} dii dii12I
d22

0 0 0

dii1n-II ' ~21n-I,2

dn-I,n-I

dii1ni ~21n2
dn-I,n-I1n,n-I dnn

UI u2
-

XI x2 xn-I
xn

0 0

un-I
un

IUn = Xn/dnn l
t .:.;..._..-;.;.:..;..x.:.::;.;.:.:.;.: -oto:..:..

-.:.:.-.e:o :~-=~

13.8

This leads to the recursion formula:

r'W.Wo'hWJV'WJYWV.'hY''''h"YNN'WJWW...W.W~Y.WN''.VU.V,Wo".V,JW"

,.....,,_,_,................MNo"o"NhV'V"""'hVJYUo"V"WNhW.Y........,,Wo"N""~

I Xi-diik~!fiuk I ui= du

l
(i=n,n-1,-,1)

::t!YVN',..v.w ..-.v....,..,.....,..~,...,,.,..,.N,..,.,.,,..~~..-.-.wNN.w~.,..,..,..~,~,...,..,.,.,..,~..,~<l'lfV'.,W.W..,..,.,,,..,.._.,..:v_.N,...,.,.,,.........,....,.w,.,.,,.,.J

C C C C C

c c

SUBROUTINE SOLVE(N, K, F, U) THIS SUBROUTINE SOLVES THE LINEAR ALGEBRAIC SET OF EQUATIONS [K]{U} = {F} WHERE [K] IS AN NxN, REAL, SYMMETRIC, POSITIVE DEFINITE MATRIX AND {U} AND {F} ARE VECTORS WITH N COMPONENTS. THIS SOLVER PRESUMES [K] HAS BEEN DECOMPOSED AND STORED AS IN DECOMP
II II

10 20

30 40

REAL U(100) F(100), K(100,100), SUM INTEGER KK, K1, K2, I, N DO 20 I = 1, N SUM = F(I) K1 = I - 1 IF (I .EQ. 1) GO TO 20 DO 10 KK = 1, Kl SUM = SUM - K(I,KK) * U(KK) U(I) = SUM DO 40 I1 = 1, N I = N - I1 + 1 SUM = U(I) K2 = I + 1 IF (I .EQ. N) GO TO 40 DO 30 KK = K2, N SUM= SUM- K(KK,I) * U(KK) * K(I,I) U(I) = SUM I K(I,I) RETURN END
I

13.9

E. EXAMPLE
PROBLEM

SOLUTION

Factorize the stiffness matrix:

[~ ~

1 0 10

6] = [z~1 ? ~ ][do d~::1 ~~~~!~]

1
131 132

d33

Of the n 2 equations, n(n+l)/2 are independent. Solve in columnwise fashion in [K]:

-;..:.~...-..-

......:<-".-;.o"".OO:;..:.o:~x:ex~:.;..-.-;.;:::;

1 z31=
13.10

10 =

l31dlll31

+ l32d22l32 + d33

The decomposition is: Solve and then

[~ g~~J ~ _1 ~][g ~ ~][g ~ -~]

=[

[L1]{X}

= {F}

The forwar[id?ohgb].o{1r}eld{:i}
1 -2 1

x3

31

intermediate / vector Solve from top to bottom:

2(8) + X2 = 12

'original loads

rxl. sl
&..:~~~:

X2 = 12- 16

~
1(8) + (-2)(-4) + x3 = 31 X3 = 31 - 16

13.11

The back substitution is:

[D][L 1] {u} ={X}
l'

[g

! f]{~~}={1~}

Solve from bottom to top:

u 2 + (-2)(3) = -4

u 1 + (2)(2) + (1)(3) = 8

The final solution is:

{u}={i}

GAUSS-SEIDEL ITERATION
Treat the problem as an "input-output" type.
[K]{u} = {F}

Use an additive decomposition:

13.12

b;!ACOBI ITERATION!
[K]{u} = {F}

Iteration methods might not converge. They are good for nonlinear problems. The most popular is Newton-Raphson.

IPROBLEM SESSIONI
ProbleDl 1. Cholesky decon1position Solve the set of equations

[~ ~]{ ~~} = t~}

by using a Cholesky decomposition. Solution

13.13

2 = 121111 = 121(1) 6=

zit + zi2 =(2)2 + zi2

1 2 1 o 2 [2 6 = 2~ 0~

The decomposed stiffness is:

J[

Il

The forward solution becomes:

1Xl+OX2=5
2X1 +.J2X2 =14 2(5)+.J2X2 =14

I Xl= 5! LNAYA~V.W'-'J
!x~ --2~l
..

l . . . . .,_..~~~.v .v....-..v.vN.~

The back substitution is: ,J2u2 = 2,J2

u 1 +2(2) = 5

The solution, by Cholesky decomposition, is:

j
13.14

Problem. 2. Gauss-Seidel iteration

Solve the following set of equations by GaussSeidel iteration. How many iterations are needed for 1% accuracy?

2} 12 1]{x1} {5 5 0 [2 1 0 10 12
x2 -

x3

Solution Assume the initial solution:

f . ......(i) ...... ,..... .

~

~ X1
~

--1 -

5x2<1)
(1)

=5-(2)(-1)=7

IxJI) = 1.4
~

10x3 =12-(1)(-1)=13

!x3
~

(l)-

1. 3

The second iteration follows:

13.15

0 o]{x
10

1}( ) { x2 =

x3
(2)
X1

2 1]{-1 }(l) 2 } [0 5 - 0 0 0 1.4

12 0 0 0
1.3

x2
X3

= }

{-2.100}

1.840
1.410
x2

xl

x3

-7.738 4.095 10 5.206 20 -10.514 5.593 30 -11.482 5.728 40 -11.819 5.775 50 -11.937 110 -11.999887 5. 799955 It takes about 42 iterations to get

1.974 2.251 2.348 2.382 2.394 2.399989 1o/o accuracy!

13.16

LECTURE 14

BANDWIDTH AND WAVEFRONT

OVERVIEW BANDWIDTH FACTORIZATION FLOATING POINT OPERATIONS BANDWIDTH OPTIMIZATION WAVEFRONT COMPUTER COSTS PROBLEM SESSION
1. BANDWIDTH FOR 2-D PROBLEM 2. BANDWIDTH OF A STAIR RAILING 3. WAVEFRONT OF A RING STRUCTURE

REFERENCES
1. Melosh, R. J., and Bamford, R. M., "Efficient Solution of Load-Deflection Equations," Joumal of the Structural Division, ASCE, Vol. 95, 1969, pp. 667-676. 2. Irons, B. M., "A Frontal Solution Program," Int. Joumal for Numerical Methods in Engineering, Vol. 2, 1970, pp. 5-32. 3. Zienkiewicz, 0. C., and R. L. Taylor, ''The Finite Element Method," Third Edition, McGraw-Hill, N.Y., 1988, pp. 89-90.

14.1

IOVERVIEW)

Storage optimization is actually more important than solution optimization. Floating-point operations cost 1/3 of total. o Occupancy of high-speed memory costs 2/3. We need to work harder on storage than on solvers! Finite element matrices are "sparse:"

.. .. .. . .. . ..... . .
. . . .... .. .. .. ... . . . . . ... ....
sparse

. .. .. .

. ..... .

"skyline"
14.2

banded

B = (D+ 1) ndof
greatest difference in nodal numbering ____/ within a single element

\___

number of d.o.f. per node

Triangular factorization doesn't spoil bandwidth: . .. ... .. . 0 ..-::-. :-. 0 0 .. > 0 9'\}: = ~::. 0 0 =:\

IFACTORI~TION I

~ ~J~~Xl~~
0 0 0 0 0000
0 0 0

but "smokestacks" tend to fill during process:

000000

oxooo

14.3

Prove: factorization does not destroy bandwidth .

. . . . . . .. . .. . .. .. .. . . . . .... . .. . . .. .. . . . . .. . . . . . .. . .. . . . .. . . . . . . . . . . . .. . . . . ...... .. . ... . . .. . . . . .. . .. . .. . . .. .. . .. .. .. . .. .. . . .. . . . . . . . . . . . . . . . .. ... ... .. . ......
::::::::

Consider a term lil' lying "below the band:"

lil =

lj{(1 d11
(= 0)

(= 0)

Now consider successive terms on the "ith" row:

}'ij ' k=1 J

J.. = - - - - l)

,./- l "kdkk/Lk l{
d ..
]]

. 1

All terms are zero until one reaches the band.

- ...''

''

FLOATING POINT OPERATIONS

In the [L 1][D][L1]T decomposition,
.

@,
'-.p.

NB terms _____,/

:ij

kru
=

k= 1 J ~

i lkdkk lik
dii

~B products
if banded

0~ ~

Because there are NB terms, each requiring B operations,

14.4

For the forward solution:

i-l

xi=

N terms

Fj-

L
k=l

lik xk

~ B products, if banded
.l:hS
N

(i = 1,2,. , N)

.F~l.. (.J1--\S o :

For back substitution:

xi- dii
U= l

L
11

lkiuk

Nterms~

J.~i+l
\:

(i= N,N-1,-,1)

B products, if banded

Hence, for linear, static analysis:

(j)

IBANDWIDTH OPTIMIZATIONI .
First nodenumbering scheme:
1
~

==

6
X X

6-----1
X
X

~'

X X X 0 X 0 X X X 0 0 0 X X 0 X X 0 0 X 0 X X X 0 0 X 0
14.5

0 0

X~ X X 0
X

0
X

X X X 0 X

0 0 X 0
X X

Second node-numbering scheme:

1
=

3
:

5
::

7
:

If this had been a large problem, the CPU time would have been proportional to NB2:
CPU2 =
CPU1

N2 B~ N1B 1

= 4 2 = 0.44
6

For such small problems, however, "overhead" (input-output, assembly, etc.) would make the problems indistinguishable.

@
14.6

IWAVEFRONT OPTIMIZATION

The method was due to Irons and Melosh. It is basically Gauss elimination in a preferred order, based on element topology. Wavefront methods are useful on computers that have dynamic storage allocation. @
~ k?.t =..:
!3.'~l
=
>~

-: ~

~-:

..__~~

~-~

11
~

r1 LJ

f""'j

!""'!

n n l--1 -'

L1 Ll

< j i :..-......>

ul u2 u3 u4

)"""~

LJ

i..............,~

)"'

Fl F2 F3 F4

First element-numbering scheme: 1 3 7 4

=

"'
~

::

~~

CD
l-~

G)
~
~::.

@
~

8
element

5
active

dropped

1 2
3

1,2,3,8 2,3,4,5,6,7 2,3,5,7

1,8 4,6 2,3,5,7

Maximum wavefront = 6 RMS wavefront = 4. 76

14.7

Second element-numbering scheme:

1
.:.

3 ;

7
~

4
.o:;.

CD
4:~

~
-~
:

G)
~:-

8
element 1

2 active 1 ,2,3,8

dropped 1,8

2 3

2,3,5,7 4,5,6,7

2,3 4,5,6,7

Maximum wavefront= 4 RMS wavefront = 4.00

ICOMPUTER COSTSI ~
A. EFFECT OF DIMENSION
Compare CPU costs for 1-D, 2-D and 3-D, at the same accuracy.
CPU TIME oc NB 2

For 20 elements along a line (1-D):

T oc (21)2 2
00000000000000000000

oc84

00100100000000010010 00100100000000000000

For a 20x20 pattern in 2-D:

T oc (882)46 2

oc 1,866,312
14.8

00000000000010000000 00100000000000000000 00000000000010000000 00000000000010000000 00000000000010000000 00000000000010000000 00000000000000000000 00000000000010000000 00000000100000000000 00000000000010000000 00000000000000000000 ODOODOOOOOOOOODOODOO ODOOOOOOOOOOIODOODOO OODODOOOOOODOOOOODOO

ooooooooooooeooooooo ooooooooooooeooeoooo ooooooooooooeooooooo

oooo~oooooeooooooo

In 3-D:
T
ex:

(27, 783)(1392) 2 5.383 x10 10

oc

In order to maintain the same accuracy, the CPU time jumps as 102, 106, 1010! For large problem sizes, the CPU cost could jump by a factor of 10,000 for each jump in dimension. One solution is to use fewer, isoparametric elements. Also, one can lower accuracy. @

B. EFFECT OF PROBLEM SIZE

Consider a sequence of increasingly large problems, with the same mesh approach.
NB 2 Bandwidth is a function of N (in 2-D and 3-D).

CPU TIME

oc

In 1 - D :
f CPU

B= 2
~~A~.O.X~----

0000000

TIME

oc

N1
<-X .a'! .:(J

0000000000000

00000000000000000000

In 2-D:
~

B=.JN
oc oc

CPU TIME
~ CPU :-

N(-JN)
N i
:-:

&..-...:e:-)IC!o;.:....-.:~-~<0~---...x-:-J

TIME

2~

t---.JN ~

ooooooooo . ooooooooo

00000000000

00000 00000 00000 00000 00000

00000000000 00000000000 00000000000 00000000000 00000000000 00000000000 00000000000 00000000000

00000000000000000000 00000000000000000000 00000000000000000000 00000000000000000000 00000000000000000000 00000000000000000000 00000000000000000000 00000000000000000000 00000000000000000000 00000000000000000000 00000000000000000000 00000000000000000000 00000000000000000000 00000000000000000000 00000000000000000000
000000000000000000~ 000000000000000000~

00000000000000000000 00000000000000000000 00000000000000000000

14.9

In 3-D:
CPU TIME
oc

B=N3
2

N(N 3)
1 ~1
-~

r '"

--
TIME

I CPU ~
. 0:: . .

oc

N3
. . :s. .

:oo:oo:o::: ....

. . . . .

~ ::::::::::~.~ 3 ~J N
oooeoooooo~
0000000000 0000000000

ooeo ooeo

j_

0000000000, 0000000000 0000000000

oooeoooooo

C. EXAMPLES FOR CPU TIME

359 d.o.f. 4load cases 1364 d.o.f. 2load cases 4836 d.o.f. 6 modes

28% 4
2

18% 10
6

2% 0 0

4% 4 4

6%

42% 4 3

78
85

Commercial problems today average 35,000 d.o.f. and decomposition is over 95o/o of time.
14.10

IPROBLEM SESSIONI
ProbleDl 1. Bandwidth for 2-D probleDl

Find the minimum bandwidth of the plane stress problem shown. The material is sheet aluminum, with a triangular hole (shaded). Express your answer in detailed notation.

Solution o There are 11 nodes. o Number through the "thin" direction, if any. o Keep track of the largest difference, D. 0 Plane stress has 5 ~-----~--o 11 2 d.o.f. per node.
~w.w.v.v.-.-.~~-.-.v.

Several tries have produced:

10

The largest D is 4. Hence: B = (4 + 1)2 = 10 (detailed notation) /

14.11

ProbleDl 2.

Band~dth

of a stair railing

A wooden stair railing has a horizontal rail

with circular spindles at regular intervals. All joints are considered clamped, by virtue of embedding the rail and spindles in the surrounding structure.

Consider bending of the railing for the case of a human hand pushing down at an arbitrary position on the rail. An exact solution in the xy plane is to be found. The worst case of deflection and stress are required. a) What is the minimum bandwidth of the total set of assembled equations (before single point constraints at the wall and floor are applied)? Explain your reasoning. b) What is the minimum bandwidth of the "reduced" set of equations (after the single point constraints are applied, the equations are partitioned and only the active degrees of freedom remain)? Explain your reasoning. fori\
@
14.12

Solution The joints between rail and spindles require 3 d.o.f., as do the joints at the floor. There may be an additional node due to the loading, probably at .the last bay toward the free end .
. 4 - ...

ff~-~
2 ;1 ; 14
ir~

1~ 4
i
h.;

~~ ~:f~i-4--Cf~ cf~

l=.

1.
.il?:

a) The beam system is embedded in a 2-D space. The largest difference D in nodal numbering is 2.

@
@

B=(D+On

= (2 + 1)3
B= 9
(detailed notation)

b) If the nodes at the floor and wall are partitioned out, the remaining structure is a simple 1-D string of elements:

B=(D+1)n
=(1+1)3

B=6
14.13

(detailed notation) /

ProbleDl 3. Wavefront of a ring structure The finite element model of a ring-like structure is to be solved by a wavefront solver. The problem is plane stress. What is the minimum rms wavefront in compact notation?

Solution It is not obvious how to number. For best wavefront, one usually tries to make a continuous wave pass through the structure as in our first suggested scheme:

element #active #nodes nodes dropped

1 2 3

4 5 6 7 8

4 6 6 6 6 6 6 4

0
2 2 2 2 2 ' 2

This scheme has a repetitive pattem, with 2 extra nodes carried along. The rms wavefront:
wrms

=~N~/ri ~=

.!(4 2 +6 ++4 8
14.14

2 )

= 5.57

A second numbering scheme, nu~bering clockwise around the body, gives the same wavefront table as the first scheme.

wrms =

5.57

Both numbering schemes are optimal.

14.15

LECTURE 15

CLASSICAL PLATE THEORY

FLEXURE
ASSUMPTIONS SIGN CONVENTION FOR S1RUCTURES SIGN CONVENTION FOR PLATES PLANE SECTIONS ARGUMENT REDUCTION FROM 3-D TO PLATE THEORY FORCE RESULTANTS Shear Resultants Moment and Twist Resultants Summary of Force Resultants G. MOMENT-CURVATURE LAW H. EQUILIBRIUM DERIVATION I. PLATE EQUATION SUMMARY J. BOUNDARY CONDITIONS K. STRESS RECOVERY L. STRAIN ENERGY A. B. C. D. E. F.

STRETCHING PROBLEM SESSION

1. 2. 3. PlATE WITH CONCENTRATED LOAD PlATE WITH DISTRIBUTED LOAD PlATE BENDING, GALERKIN'S METHOD

REFERENCES
1. Timoshenko, S'., "Theory of Plates and Shells," McGraw-Hill Book Co., New York, 1940. 2. MSC/NASTRAN User's Manual, Vol. 1., The MacNealSchwendler Corp., Los Angeles, 1992.

15.1

FLEXURE I

A. ASSUMPTIONS

shearing deformation) ~
15.2

(not possible)

B. SIGN CONVENTION FOR STRUCTURES

The viewer is in the first octant and looks toward the origin. The surfaces of a rectangular prism which are seen are "positive" surfaces, upon which positive force resultants cause positive displacements, slopes and curvatures. Positive moments cause compression in the top fiber of beams and plates. This is Timoshenko's sign convention for beams and the NASTRANconvention for plates. This differs from classical elasticity where positive components point along the positive axes.

C. SIGN CONVENTION FOR PLATES

15.3

z
A

Positive shears cause positive displacements and slopes. They also cause compression in the top fibers.

I
Positive moments cause positive displacements and slopes. They cause compression in the top fibers.
15.4

Positive twists cause positive displacements and slopes. They cause compression in the top fibers.

D. PLANE SECTIONS CONCEPT

Bending of the midplane is governed by the z component w 0 (x,y). No stretching: u 0(x,y) = 0

~
(_

. - ~r-IT--

;J
~

-..w:: -.A'~i.,. .~. . -,..v7'. _. _. ~.-:-fL.....,.......,.,.,.,...w.I-...

w...w..-.>A..-..,..,....,_..,..,......"'_.v.,..,.,N<,.,.>:.....w-.- ..-.-.w...w...,

.:. ..........~

15.5

Likewise, in the y,z plane:

( ) z vx,y,z-

-- aw0ay (x,y)

The perpendicularity assumption gives:

rzx (x, y, z) = 0 Yyz(x,y,z) = 0

Because the plate is so thin, no stresses build up through the cross section. This stress is negligible even when the plate is laterally loaded by p(x,y):
(jz-

The lateral displacement due to bending is large compared to the expansion or contraction due to Poisson ratio effects:
w(x,y,z)= w 0 (x,y)

E. REDUCTION FROM 3-D TO PLATE THEORY

The isotropic strain-stress law in 3-D is:
ex ey ez Yxy

-v -v E E E -v _l -v E E E -v -v _l_
1

0 0

0
0

0 0

~z zx

E 0
0 0
"-

E
0 0

E 0

0
1

0 0
1

0 0
0
-

0
0
~

G 0

G 0

CJx O"y CJz Txy Tyz 'rzx

1
..,/

[C]
15.6

The general strain-displacement law in 3-D is:

dx
Bx By

a
0

()y

a
0

0
0

rxy - a a
Yyz

cz

ffz

{u(x, y, z)} v (x, y, z)

w(x, y, z)

rzx
\....

dy dx

dz

iz
0
v

dx

a ay a

[D]

For thin plates:

Yyz=O
1

@
Yzx=O
(j_

=0

ex ey ez Yxy 0 0

-v -v E E E 0 -v 1 -v 0 E E E -v -v _l_ 0
E 0 E 0 E 0
0
1

0 0 0 0
ax ay 0 rxy !"yz
'l'zx

0 0 0
1

0 0

0
0

0
0

G
0

0
-

This leads to:

ez =-~(CJx+CJy)
15.7

The plane sections arguments have led to:

a
0
0

ax

0
dy
0

- a a
dy

a dz
0
()

~
dz

~
dz

-zdWo(x, y) ax -z awo(x,y) ay w(x,y,z)

dj
dx
e = -z()2wo(x,y)

e -- ()2wo(x,y)
x -

()x2

~------------------------~~
The stress-strain law becomes that of plane stress! Each layer through the thickness of the plate acts in plane stress and az = 0.
E Cx v cy - - E
0
1

rxy- -2z dxay

Y
W0

()y2

_v
E 0
-1

0 0
-1

Gx Gy
'!xy

Yxy

This is inverted to get:

1 Gx E ay -1y2 v
'!xy

v
1

0
15.8

G(1- v 2 )

0 0

ex cy
Yxy

Stresses are related to displacements:

F. FORCE RESULTANTS
Shear Resultants The shear force on width ~y is found:

Vx =

-h/2

12

rzx~ydz

The ''running'' shear per unit width is: Vx =~= rzxdz

v r2
uy
-h/2

Likewise:

vy =

r;yzdz
-h/2
15.9

Moment and Twist Resultants Mx is found by integrating crx through the thickness.

Mx=Likewise:

r~xzdz
. h/2

-h/2

My=- Jcryzdz
-h/2

Sumn1~

of Force Resultants:
h/2

Vx=

J rzxdz
-h/2 h/2

vy = Jryzdz
-h/2 h/2

Mx =- J crxzdz
-h/2 h/2

M y =-

Ja . y zdz

-h/2 h/2

Mxy =-

Jrxy zdz
15.10

-h/2

G. MOMENT-CURVATURE LAW
At this point, we understand the shear-stress and the moment-stress relationships. We can now develop moment-curvature relations, but have to leave shear-curvature relations until later. (They are found from equilibrium.)
hf2

Mx =- Jaxzdz
-h/2

~J:(- 1 ~~2[ a;;o+ va;;2o] )zdz

X

=1-Ev2[a;~o+va;w~J J2z2dz y -h/2

-

Mx

r d~o + vd2wo] h3 -~ dx 2 dy 2 12
Ti'

[J2wo J2wo] - 12(1- v2) dx2 + v dy2

- . Eh3
We define bending rigidity D:
Eh 3 D= 12(1-

v2)
[()2wo J2wo]

The other two formulas are likewise derived:

Mx-D dx2 +v dy2

[J2wo

J2wo]

My=D dy2 + v dx2

d2wo - (1 MxyD - v) dxdy

15.11

H. EQUILIBRIUM DERIVATION
Free body diagram with differential forces on an infinitesimal plate section:
Vy+dVy Mxy+dMxy My+dMY

We sum forces in the z direction,

L Fz = 0

( da~ dx )dy+ (
I
~
x

aa;
a
ay

dy )dx + p(x, y)dxdy = 0

........,...w~.vu.,...v..w.w.-.1

Cancel the dxdy terms:

r~a ~v =~wv.

-v-w.w.,..r.w..w~.-.-~.-

Y + p(x,y)

Y./-,J',..tV"hVh.-.-.v.~V.-J'-.r.l"tt'~.-.

ax

=0

..w..r..v...-..,.,J'...,.,.,.-.-h.r...-.,.,.vaa.,.,.J'a._,.y,..,..,.,..-,.,.,.,..,.,.-.v.J'""J'.V.h:

15.12

A similar relation is found by summing moments about a centroidal x axis:

~:paM~-:;--~~ - aX ay y j[ [j
....................w.-..-..-.......-....-...-.' " "".-."."""""" " "

We now have three equations for plate equilibrium in terms of resultant forces.

Let us develop equilibrium equations in terms of the deflection of the middle surface w 0 (x,y). Solve for shears in terms of moments and use the moment curvature relations: At this point, we will follow conventional practice and drop the subscript on w 0 (x,y).
V = _ dM:x _ dMxy
X

ax

ay

=-Dldx3 + v dxdi - D(l- v) dxdy 2

(d w

dw )

a3 w

15.13 .

The second shear-moment relation gives:

=-

aMy

ay

---

aMxy

ax

3 3 3 w a w J a w a =-D ( 3 +v 2 -(1- v)D ay ax ay ax 2ay

The equation of equilibrium in the z direction:

avx avy
4 4 a a -D w_D w

dx + dy + P = 0

will lead to the final result:

ax4

4 4 a w a w -D -D +p=O 4 2 2 2 2 ax ay ay ax ay

This equation describes the infinitesimal deflection of plates, with no midplane stretching. @
15.14

I. PLATE EQUATION SUMMARY

Equation of equilibrium for flexure:
Eh w 2 12(1-v2 ) dx4 + ax 2dy 2 +
3

(a

a4 w a4 w) al = p(x,y)
D

Bending rigidity:

Eh 3 ( - v 2) 12 1

The biharmonic operator:

4 v =(;x: +

2 a::ay2 +

;;4)
Lagrange, ~2
1811
~

The bending equation becomes:

rvv4w(.x, y)
L.w.v.v.-~-w~-.v~

p(;,;)! ,.w.~J

J. BOUNDARY CONDITIONS@
y

~----------===

~/consideration

edge under

~-------------~~--x

On x=a, consider:

clamped edge (c) simply-supported edge (ss) free edge (f )

15.15

physical quantity deflection slope moment shear twist

w(a, y)

c ss f
0 0
0

dx (a,y)
()2 D~dx2 + v dy2 w(a,y) ()2 -D dx ()x2+ dy2_ w(a,y)

aw

()2]

d [ ()2

a2 D(I- v) dxdy w(a,y)

-D dx3 + (2-v) dxdy2 w(a ,y)
[ ()3 ()3

-~(twist)

shear

K. STRESS RECOVERY
One typically solves a plate problem in terms of displacements. One must then find the stresses from this displacement information:
zE O"x--1- V2 dx 2 +

[d2wo V a2wo] dy2

2 2

~ v
xextreme

-+h -

[d d -2(1-v) ax2 ay2

E
2

w 0+v~ w0]

Likewise:
~a
~
;:

6M .,
Y extreme - -

-+

h2

Y ~

~
:;

15.16

Shearing stresses rxz and ryz are assumed to be parabolic through the plate thickness. Their maxi.mum value is at the middle surface:

~ t" - A -; \IX ~~ ~y~ ~ extreme 2 h extreme - 2 h I -- - _ .,_ . - . . -.. -- - - _ .,..,-- . . .. . .,_ .-. - - - . _,.,.,....,~-="-"W J
XZ YZ
jj

.......,,.,..,._,.,,....

L. STRAIN ENERGY
Strain energy is needed for potential energy solutions, such as Rayleigh-Ritz. There are two ways to find the strain energy expression, integrating stress-strain, or integrating moment-curvature. Use stress and strain; integrate over volume.
U

i J{o}T
v
2

{e}dV
()2w

=1

zE ()2w + v ()2w 1-v2 dx2 af2 v d2 w + d w _ zE

1- v2 Jx2
()y2

-zdx2 d2w

-z ay2

dV

-1+ vdxiJy
15.17

zE

()2w

- zdxdy

2 ()2w

U=

1 -

2 ~A 1Jz 12
3

2 z2 dz JJ

\..._

_______
=-y-

[(a2 )2 + ./. ::l....:..~- ;2 -:.) ( a2 w ) --.....::..::......::._. _~ ~ + a 2 , . . " y V2 a 2 + 2(1- v)(a 2 w 'f dxdy axay)
W

. . ., .~- .

("'l

~.. ;.; { ')' ;: :.. . " ?:.t /

-~.~~!..
~-. ..~.

.....;~ . . .:. .

u ...,.

Vj

,~

We need to make a perfect "square" by working on the blue term. Add and subtract a term. @

U = 1 Jf D
2
A

[(adx2 w) + 2 d d + (a 'f dx2 dy2 dy2)

2
2

+ 2(1- v)(d 2 w

2 'f2(1- v)d w d w ]dxdy axay) ax2 ay2

U =1 !Jz{(v2w Y+ 2(1- v{($~f~--------------

___________
/

~:~ ~:~ )]dxdy

twisting terms

It can be shown that the twisting terms vanish if the plate has zero deflection (simplysupported or clamped) on all boundaries.
15.18

The same expression for strain energy can be found by integrating moment-curvature:

IsTRETCHING I
z
A

l }

Nx+dNx

N yx

= N xy because there are no body moments

15.19

In-plane equations of equilibrium:

dNx dNxy ax + ay = -Fx(x,y) aNxy aNY Jx + Jy =-Fy(x,y)

This is a plane stress problem. Boundary conditions involve displacements and forces:
u(x,y) v(x,y) Nx(x,y) NyCx,y) Nxy(x,y)

Under this infinitesimal deflection theory, one can superpose the plate stretching solution and bending solution.

IDIRAC DELTAI

Concentrated loads are hard to handle without the concept of the Dirac delta function. It is a hypothetical function that goes to infinity at a certain point, yet has a unit integral.
B(x-x 0 )

The delta function is useful to help represent concentrated loads:

p(x,y) = 508(x- xo)8(y- Yo)

Two important integrals: (0 < x 0 < L)

{D(x-x 0 )dx= 1
0

Jocx-x 0 )f(x)dx= f(x 0 )

0
15.20

IPROBLEM SESSIONI
Proble111 1. Plate with concentrated load

A steel plate measures lm x lm x 5 mm. It is simply supported on all four edges. A 50 N load acts downward at its center. What is the maximum deflection? What are the bending stresses at the center? The answer can be approximate (+30%).
E = 208,000 MPa v = 0.3 D= Eh3 12(1- v2)

SON

5 mm

= 2.38x10 6

N mm

Solution Use a one-term potential energy solution. Assume: w(x,y) = Csin ~x sin~ Strain energy:

U= ~ fn[(V 2w(x,y)f+
A
2 ""\, /

+2(1-v)~(~l=.~if-w<x, Y))] dA
~~7

~0

dx2

()y2

U = 1 JD(()2w(x, y) + ()2w(x,y))2 dA
2A
dx2 ()y2

U= 1 JD (-c a TC~ sin rex sin rcy 2 a a

A
15.21

C rc2 sin nx sin ny ) dA

Ja r u = 12 4n c sin nx dx Jsin !E. dy 2 o a o a

4
2

a4

\..

V'

\..

V'

Dn4c2

a/2

a/2

--2a2

The work potential:

U'= - FCsin ~sin~

=
-FC

Potential energy:

IT=U+U'
f"'MN'.Y .MI'.w.v.'WN'"'"'v
>MM

I IT=
8
:-:-x .. ..

4. ..

,.w......_....._.._.,,.......,,....,.....,"'"''.vMN>.-..a

~ ro:: )' ;.;r: ..: "';"': <

n C2 2a2

FC
..

I
ot>-Jt.

The minimum potential energy occurs at:

diJ=O dC

L (Dn4 c2-Fc) = o
dC
2a2

n4Dc- F=O
a2

C= Fa2 n4D _ (-50 N)(lOOO, mm) 2 n4 2.38x10 6 N mm

The deflection is:

=- 0.216

mm

w(x,y) = -0.216 sin(~) sin(

d)

The maximum deflection is at the center:

w(0.5,0.5) = -0.216 mm
15.22

Use the stress definition directly in terms of middle surface deflection: 2 a _ _ zE [ d w0 d2 w 0] x (1- v2) Jx2 + v dy2 The maximum ax (and cry) will be at the extreme fiber. At the top surface: 2 2 a _ h E [ d w0 d w0 ] xmax-- 2(1-v2) Jx2 + v Jy2 There will be compression on the top fiber and tension on the bottom.

ax
max

=-(2.5)2.08X105(-n.2-vn2) (-0.216)sin nsin n 0. 91 (1000) 2 2 2 = -1.58 MPa (compression on top) /

Proble111 2. Plate with distributed load @ Consider the same plate as in Example 1, but with a distributed load over a "footprint" of 200 mm by 400 mm, as shown. This is a common load, as in the case of a vehicle wheel.
The load totals 50 N as before. How are the maximum deflection and stress affected by the load distribution?

l-400 ~ 200 ~400 ....J 1 mm 1mm1 mm 1

300mm

t 400mm
t
300mm
15.23

'

'

Solution Use a one-term potential energy solution. Assume: w(x,y) = Csin ~x sin'; Strain energy (as before):
4 2

U= 2a2
Work potential:

Dn C

'l1/ = .

fJp(x,y)w(x,y)dA
A

=-

400300

00]00

(-6.25x 10-4 MPa)Csin n; sin

1C

1dxdy

'111=- 6.25x10-4C J sin ~xdx

-

1po

6jo
400

sin
-

dy MPa
~

(cos 0. 7 1r- c~s 0. 3 1r) -

'

300

~'

=-6.25x10-4 C 1 =-46.01C N

2:

~ ( c~s 0 . 6 1r -

cos 0 .4 1r)

(-1.1756)(-0.6180)

II= U+ '111 = ~:: c 2 -46.01C

diT=O
dC

2 C=-46.01a2= -146.0N(1000mm) =-Q. 19 Smm n 4D (2.38x10 6 )n4 From this, both displacement and stress are 1 8% lower than for the concentrated load. v @
15.24

ProbleDl 3. Plate bending, Galerkin solution A two-term Galerkin solution is to be used for a uniform plate with concentrated load. All four edges are simply-supported.
2 w(x' y) =c 1sin nxsin ny+c 2 sin 2a nxsin 2a ny a a

~-----3~~4----~~~/
~4

_L_

"

__________ /

z
~1~~---------a----------~

Find the deflection under the load and show which assumed term contributes the most.

Solution Plate equation:

........-....-..-..-.....-...........-....-..-..-..

D\7 4 w( x, y) = p(x, y)

=- F8(x- 3 t)8(y- :)

Use a series form for the solution:

2

w(x, y) =Lei sin

i=I

.
:

sin ~
a

Use two weights:

a/2 a 2
4

sin jnxsin 2rry

a
2 2 ; ' dxdy

(j= 1,2)

f f LciD(Y sin i~xsin ;']sin j~x sin

=- f

0 0 i=l a/2 a

F8(x-

~a)8(y- :) sin j~x sin 2;(' dxdy

15.25

(j= 1,2)

0 0

yr4 sin inx sin 2ny

a a

( a4 +2 a2
ax4

a2 + a4 )sin inx sin 2ny ax2 ay2 ay4 a a

Hence:
2

(e:t+ 2(i:)2(2:)2+ ean)4 )sin i~x sin 2:;

2
4

v~.:Ci (e:t+2(i:) ~:l+ean) ). z=1

!sin inx sin jnx dx a a
0

r2.
0

2ny . 2ny d Sln--astn--a y

=- F

J8(x- :::) sin j~x dx fo(y- ~)sin 2:;' dy

/~
Slll4-

(j= 1,2)

i 3 n --v-(0 . 707 , -

1)

sin~= 1 2

where:

J
0

sin inx sinjnx dx =

a a
2 a a

!!:_

8 ..
V

sin 2 1rY sin 2 1rY dy

=4 a

The equation for j= 1 is:

Dc{(~)'~2(~) (2:);_(1:) )~: +Dc2( )o) :=-0.707F

The equation for j=2 is:

Dc1 (

)o): +Dc2(~an)'~2(2l) 0:) +(1:))~:

2
2
15.26

=F

The equations have uncoupled because the assumed modes are orthogonal.
25n4 Dc 1 =-0.707F 8a2

64n4 D - F 8a2 c2-

Deflection coefficients are:

0.00232a 2F 0.226a 2F ---n4D D

0.125 a2 F

0.00128 a 2F D

Evaluate the deflection under the load:

=0.707c 1 -c 2
=

O. 707 ( _

0.00~32a F )-( 0.00~28 a

0.00128 a 2F D

F)

0.00164 a 2F D

The first mode contributes 28% more deflection than the second mode.

w(3j,~) = -0.00292 aDF

15.27

I I I I I I I I I I I I I I I I

I I

LECTURE 16

PLATE FINITE ELEMENTS

OVERVIEW MZC RECTANGLE. FLEXURE PLATE STRETCHING COMBINED BENDING AND STRETCHING TIUNSHELLS THICK SHELLS PROBLEM SESSION
1. TRIANGULAR PLATE BENDING ELEMENT 2. CONSTRAINTS ON CANTILEVER PLATE

REFERENCE
1. Zienkiewicz, 0. C., "The Finite Element Method," 3rd Ed., McGraw-Hill Book Co., 1977. 2. Hughes, T. J. A., "The Finite Element Method," Prentice-Hall, Inc., New Jersey, 1987 (pp. 2-9).

16.1

IOVERVIEWI
The Kirchhoff-Love and the Mindlin theories are the dominant plate formulations. The Kirchhoff-Love theory Oust reviewed) is the generalization of Euler-Bemoulli beam theory, with plane sections remaining plane and perpendicular to the neutral surface. The Mindlin theory allows shearing deformation. Continuity required for the neutral surface at inter-element boundaries is C 1 for K-L and Co for Mindlin. We will use Kirchhoff-Love theory to illustrate a plate element because it is the dominant theory used today for linear problems and because it is far easier to teach!
16.2

MZC RECTANGLE. FLEXURE.

Use moment resultants and curvatures as "generalized" stress and strain. This allows calculation of strain energy as an area integral rather than a volume integral. Use 12 d.o.f.:

FI
Mx Ml yl

[G]
Mx My

[.l)]

F2

XX
{==

Mxy

Xy Xxy

{==

{w(x,y)}

8y4

My4

Generalized stress-strain:

() { Xy Xx} C>
IJxy Xxy

Generalized strain-dis pl.:

16.3

The displacement function is chosen, with 12 generalized coordinates:

w(x, y) = ql + q2x+ q3y+ q4x2 + q5xy +q6y2

+ q7x + qgx y+ q9xy + q1oY +qiix y+ qi2.xy

This is not a complete quartic, but is a "geometrically isotropic" subset:

A key concept in both beam and plate theories

is to relate the nodal rotations to derivatives of the neutral surface deflection:

exl

=~;(xi ,yl)

=q2+2q4xl+qsYt+3q7xt+2q8xlyl+q9yl +3qllxl + Y1

BY!=-~; (xl'yl)
As in beam

theory, the yz plane has a better sign convention than the xz!

6(A ..l
._,~~~.,....~~>...

-(~ ---~~-------
16.4

/f?Ovl .

The angular definitions yield:

~11
By4

- [

:~
ql2

The symbolic inversion of [H] was done by Zienkiewicz and Cheung. We now have all the mappings!
[k]

=I [B]T[G] [B] dA
A

= [Hf T

I[t/J {[n{ [GHDH t/J l dA [Hf

A

Calculating the stiffness is a matter of multiplying out the terms.

The stiffness for an orthotropic, 4 noded, rectangular plate (MZC) element is:
[K]

= 60~b [L]~x(Kl]+ Dy[K2]+ D1[K 3]+Dxy[K4 ]) [L]

[L~

For an isotropic plate,

3 Eh Dx= D =12(1-v2)

D1=

VD
16.5

Dxy = (1- v) D

60 0 0 30 0 20 30 0 15 0 0 0

60 0 0

(symm.)

b2 15 0 10 30 0 20 K=1 a2 -60 0 -30 -30 0 -15 60

0 0 0 30 0 10 15 -30 0 -15 -60 0 0 0 0

15 0

0 0 0 0 0 5 -30 0 20 0 -30 30 0 -15 60 0 0 0 0 0 0 0 30 0 10 -15 0 10 -30 0 20

60 -30 20 0 0 0 -60 30 0 60 -30 10 0 30 0 0 0 0

(symm.)

JS=

:2
2

20 0 0

30 -15 0 -30 -15 0 60 -15 10 0 15 5 0 -30 20 0 0 -30 15 -15 5 0 0 0 30 0 15 0 0 0 0 15 0 -60 30 0 60 10 0 -30 10 0 30 20 0 0 0 0 0 0 0 0

16.6

30 -15

0 15 -15 0 -30 0 -15 30 0 0 15 0 -15 15 0 30 0 0 0 15 30

(symm.)

0 15 0 0 0 30

0 K3= -30 15 0 0 0 0 0

0 0 0 -15 0 0 0 0 -15 15 0 0 0 0 -30 -15 0 -30 0 15 30 0 -15 0 0 0 0 0 15 0 0 0 0 0 15 0 0 -15 -15 0

84
-6 8 8 6 0 -84 6 -6 -2
K4=

-6 84
0
6 6 8
0 8

(symm.)

-6 84 6 6 84

-8 6 -6 84 -8 0 -6
0

6
2

84 -6
-6

0
-6

-2 -6
0 2

8 6 84

6 -84 -6 -6 -84 6

2
0

-6

-6 -8 0 -6 -2 0 6 8 6 0 -2 6 0 -8 -6 0 8
16.7

IPLATE STRETCHINGI
The in-plane stretching of plates is modeled by plane-stress elements. -

COMBINED FLEXURE AND STRETCHING

For the linear plate element, the flexural element and the plane stress (stretching) element are superimposed.

The "drilling" rotation is not constrained.

ITHIN SHELLS I
Examples: Automobile fenders Aircraft skins Pressure vessels Piping Many FEA programs have thin shell elements. (e.g. QUADS in MSC/NASTRAN). Analysts often prefer to use many flat plate elements (e.g. QUAD4 in MSC/NASTRAN) to create a faceted surface that represents the curved shell. Lateral loads are converted to membrane loads at intersections:

Q})

16.8

ITHICK SHELLS I
Most FEA programs suggest using solid elements. The 8-20 noded hexagonal element is best. Even the 8 noded (brick) element allows shear deformation:

r-----------,

The 20 noded-hexagonal solid allows parabolic distortion through the thickness:

c :

:l

For good accuracy, one needs about 7layers of 8 noded solid elements to model a thick shell, or 4 layers of 20 noded sold elements

16.9

IPROBLEM SESSIONI@
ProbleDl 1. Triangular plate bending elem.ent

Consider the creation of a triangular plate bending element that uses a complete quintic polynomial. How many nodes would you use, and what degrees of freedom would you use at each node? Solution The quintic (5th degree polynomial) has 21 terms:

w(x,y) = ql + q2x+ q3y+ q4x

3 2 2

+ qsxy+ q6y
3
3

+q?x +qsx y+qgxy +qtoY +qllx

4 5 3 2 2

+ ql2x y+ ql3x Y + ql4xy + q15Y

4 3 2 2 3

4 4 5

+ ql7x y+ ql8x Y + q19x Y + q2oxy + q21Y One way is to use a 7 noded triangle with one interior node to be condensed out. Another way is to use an extra twisting d.o.f. at each of the vertex nodes (or each of the midside nodes). Olson and others used the latter. 3 3 2
+ql6x
=

dW 4 CtCJY ,

16.10

Problem. 2. Constraints on cantilever plate Consider a plate with stiffener. The plate elements use Kirchhoff-Love theory and the beam elements use Euler-Bemoulli theory. What are the single point constraints required at each node? No automatic single point constraint capability does this work for you. The wall acts as clamp. The stiffener is modeled with a standoff / distance from the plate; the plate nodes are adequate to z model the entire X 9 3 6 system. Solution The wall constrains all 6 degrees of freedom. The beam elements provide stiffness in all six degrees of freedom, and the stiffener cannot become a mechanism. The plates have the drilling singularity.

~
1 2

NODES
1
X

4
X

7
X X
X

X
X X X X

X X X X X

3
4

X X

5 6

X
16.11

I I I I

I I I I I I I I I I I I

LECTURE 17

LABORATORY 3 PLATE

PROBLEM STATEMENT

PHYSICAL MODELING

FINITE ELEMENT MODELING

DATA SETS

RESULTS

17.1

IPROBLEM STATEMENTI
Consider a flat plate, cantilevered from a wall, with a support at midspan. The support is hinged to the plate, but the plate is continuous.
lOOON (225 lb)

t ~~========~~========~'
nt:n
17.2

..

The plate is aluminum, 10 mm thick. =68950 MPa (10 7 psi) V= 0.3

I

JT
500mm (19.69 in)
mm

y{~~~-x----------------~~ ~
>,;.,..->

l--soo --1-soo -1
mm

Find the deflections under the loads.

IPHYSICAL MODELINGI
The material is thin and flat--use KirchhoffLove plate theory. o Loading is normal to the plate middle surface. o Assume small deflections and slopes. o Assume the material remains linearly elastic. ___..._The response will therefore be pure flexure (no tension/ compression of middle surface). e B. C. at the wall constrain all d.o.f. 0 B. C. at the midspan support constrain all d.o.f. except rotation about y axis. o There is a reflective plane, with antisymmetric loads.
a

17.3

IF. E. MODELINGI
Use 6 quadrilateral (QUAD4) elements. We won't exploit the reflective plane.
.:
~-

:::

3
t.:...,

9
:-:

12
:

5
X

8
7

11
10

~1

...

4
=

.'-:-~

Constrain d.o.f. 6 (drilling d.o.f.) at every node. Constrain 123456 at wall (nodes 1,2,3).

Constrain 12346 at hinge (nodes 4,5,6).

There is a "defect" in the Kirchhoff-Love theory; the plate has no stiffness in the drilling d.o.f. (rotation about axis normal to plate). 6

1drilling :o.
~

.,..f._ _ _ _ _..,..

3 1 2./ . JL:::. _,___..

1 4 The plate contributes to only 5 of the 6 d.o.f. beams ............. 6 plane stress .... 2 truss ............... 1 spring .......... 1-6 solid ................ 3
17.4

IMSC /NASTRAN DATAl

Use 6 QUAD4 plate elements. Model the entire plate, rather than exploiting the reflective plane and antisyrnmetric loads.
Tl~e

file

manageme1~t

state111ent is:

assign output2='lab3.f12' ,unit=12

~rhe

executt,le co:r1trol state111e:r1ts

a~re:

ID ANDERSON,PROBLEM3 TIME 5 SOL 101 CEND

The case control com111ands are:

TITLE=PLATE PROBLEM 3. QUAD4'S. ECHO= SORT DISPLACEMENT=ALL STRESS=ALL ELFORCE=ALL SPCFORCES=ALL SUBCASE 1 LOAD= 67 SUBTITLE= 1000 N TWIST FORCES

The bulk data entries are:

BEGIN BULK PARAM,POST,-1 PARAM,AUTOSPC,YES GRDSET,,,,,,,6
17.5

GRID,1,, 0.0, 0.0,0.0,,123456 GRID,2,, 0.0,250.0,0.0,,123456 GRID,3,, 0.0,500.0,0.0,,123456 GRID,4,,500.0, 0.0,0.0,,12346 GRID,5,,500.0,250.0,0.0,,12346 GRID,6,,500.0,500.0,0.0,,12346 GRID,7,,750.0, 0.0,0.0 GRID,8,,750.0,250.0,0.0 GRID,9,,750.0,500.0,0.0 GRID,10,,1000.0, 0.0,0.0 GRID,11,,1000.0,250.0,0.0 GRID,12,,1000.0,500.0,0.0 CQUAD4,1,25, 1, 4, 5, 2 CQUAD4,2,25, 2, 5, 6, 3 CQUAD4,3,25, 4, 7, 8, 5 CQUAD4,4,25, 5, 8, 9, 6

CQUAD4,5,25, 7,10,11, 8 CQUAD4,6,25, 8,11,12, 9 PSHELL,25,17,10.,17 MAT1,17,68950.,,0.30 FORCE,67,10,0,1.0,0.,0.,-1000. FORCE,67,12,0,1.0,0.,0., 1000. END DATA
RESULTS FOR MSC/NASTRAN .... .... v- .
~ ~ -

0 P 0 R C E S POINT T2 ID. Tl .o 1 .0 2 .0 .0 .0 3 .0 4 .o .0 .0 .0 5 6 .0 .0

S I N G L E - P 0 I N T

C d N S T R A I N T
R2 1.289496E+05 7.275958E-11 -1.289496E+05 .0 .0

T3 -5.216671E+02 -3.979039E-13 5.216671E+02 1.397020E+03 -5.456968E-12 -1.397020E+03

Rl -8.151046E+01 -2.119272E+03 -S.151046E+01 -3.204230E+03 -5.363275E+04 -3.204230E+03

.o

R3 .0 .0 .0 .0 .0 .0

17.6

The nodal displacements are:

D I S P L A C EM E NT POINT ID. TYPE 1 G 2 G 3 G 4 G G 5 6 G 7 G 8 G G 9 10 G 11 G 12 G T1 T2 .0 .o .0 .0 .o .0 .0 .0 .0 .0 .0 .0 .0 .0 .0 .0 .0 .0 .0 .0 .0 .o .0 .0 VE C T 0 R R2 .0 R3 .0

.o

T3

.0 .0 .0 .0 .0 -3.607327E+00 -9.464651E-15 3.607327E+00

-1~056213E+01

R1 .0 .0 .0 .0 .0

.o

.o
.0 .0 .0 .0 .0 .0 .0 .0 .0 .0

.o

-4.479750E-14 1.056213E+Ol

1.316494E-02 1.543007E-02 1.316494E-02 4.166487E-02 4.171428E-02 4.166487E-02

.0 1.032742E-03 1.127570E-17 -1.032742E-03 2.644067E-02 7.865887E-17 -2.644067E-02 2.824721E-02 1.778092E-16 -2.824721E-02

The maximum displacements are at the tips under the loads: +10.56 mm.

S T R E S S E S ELEMENT

I N

QUADRILATERAL ( QUAD 4 ) PRINCIPAL MAJOR 5.188910E-02 5.605145E-01 5.605145E-01 5.188910E-02 5.183512E+00 2.797917E+01 2.797917E+01 5.183512E+00 2 .. 9301S9E+Ol 2.880151E+01 2.880151E+01 2 .. 930189E+01 STRESSES MINOR -5.605145E-01 -5.18891t>E-02 -5.188910E-02 -5.605145E-01 -2.797917E+01 -5.183512E+00 -5.183512E+00 -2.797917E+01 -2.880151E+Ol -2.930189E+01 -2.9301S9E+Ol -2.880151E+01

E L E ME N T S

FIBRE ID.DISTANCE NORMAL-X 1 -5.0 -3.912503E-01 5.0 3.912503E-01 2 -5.0 3.912503E-01 5.0 -3.912503E-01 3 -5.0 -1.873651E+01 5.0 1.873651E+01 4 -5.0 1.873651E+01 5.0 -1.873651E+01 5 -5.0 -8.426877E-01 8.426877E-01 5.0 6 -5.0 8.426877E-01 5.0 -8.426877E-01

VON MISES 5.881782E-01 5.881782E-01 5.881782E-01 5.881782E-01 3.089876E+01 3.089876E+01 3.089876E+01 3.089876E+01 5.031964E+01 5.031964E+Ol 5.031964E+Ol 5.031964E+Ol

17.7

IMARC DATAl
TITLE BILL ANDERSON, JIM BROWELL TITLE 18 JUNE 1993 TITLE LABORATORY 3: PLATE SIZING 400000 ELEMENTS 75 SHELL SECT 3 END

POST
14,1111

11 12 13 14 15 16
17

1 1 1 1 1 1
1
-~~'l ' On

A1ises stre,ys

11 12 13 14 15 16 17

3 3 3 3 3 3 3

~~-

vot;. !"1tfise.-.' stre.. 'iS

17.8

POINT LOAD
2

COMMENT 0.0 10

THE FOLLOWING CARD SETS ARE FROM LOAD ID 0.0 -1000.000 0.0 0.0 0.0 1000.000 0.0 0.0

67

0.0 0.0

0.0 12 FIXED DISP

2

THE FOLLOWING 0.0 1 3 4 3 1 COMMENT THE FOLLOWING 0.0 0.0 1 2 4 3 4 5 6 CONNECTIVITY 0.0 2 2
6

COMMENT

CARD SETS ARE FROM BC ID 0.0 0.0 0.0 5 6 CARD SETS ARE FROM BC ID 0.0 0.0 0.0
6

100 0.0 200

1
2 3 4

5
6

75 75 75 75 75 75

1
2 4 5

5
6 8 9

2
3 5 6 8 9

5 7
8

7
8

10 11

11 12

COORDINATES 3 12
1 2

3
4

5 6
7 8 9

10 11 12

0.0 0.0 0.0 500.0000 500.0000 500.0000 750.0000 750.0000 750.0000 1000.000 1000.000 1000.000

0.0 250.0000 500.0000 0.0 250.0000 500.0000 0.0 250.0000 500.0000 0.0 250.0000 500.0000

0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0

17.9

ISOTROPIC
1

17 68950.00 1 TO GEOMETRY
1

0.300000 6

10.00000 1 TO END OPTION

************************************************* ************************************************* PROGRAM SIZING AND OPTIONS REQUESTED AS FOLLOWS

ELEMENT TYPE REQUESTED************************* NUMBER OF ELEMENTS IN MESH********************* NUMBER OF NODES IN MESH************************ MAX NUMBER OF ELEMENTS IN ANY DIST LOAD LIST*** MAXIMUM NUMBER OF BOUNDARY CONDITIONS********** LOAD CORRECTION FLAGGED OR SET***************** NUMBER OF LISTS OF DISTRIBUTED LOADS*********** STRESSES STORED AT ALL INTEGRATION POINTS****** TAPE NO.FOR INPUT OF COORDINATES + CONNECTIVITY NO.OF DIFFERENT MATERIALS 17 MAX.NO OF SLOPES MAXIMUM ELEMENTS VARIABLES PER POINT ON POST TP NtU~ER OF POINTS ON SHELL SECTION ************* OPTION FOR TERMINAL DEBUG********************** NEW STYLE INPUT FORMAT WILL BE USED************ MAXIMUM NUMBER OF SET NAMES IS***************** END OF PARAMETERS AND SIZING ************************************************* *************************************************

75

6 12 0 33
3
5 5 33 3

10

17.10

T 0 T A L

D I S P L A C E M E N T S

1 0.00000 2 0.00000 3 0.00000 4 0.00000 5 0.00000 6 0.00000 7 -3.5251 8 -6.80645E-08 9 3.5251

1 ()

0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 1.25360E-02 1.56905E-02 1.25360E-02 1 ,,, r . l Ll. .:.4.29441E-02 .. u .1..... 0 '-- "" 11-7.37754E-08 4.18335E-02 c.. ru 4 1 ; 1 c} 0 4.29441E-02 f" .,; LJ

0.00000 0.00000 0.00000 4.53590E-05 7.13134E-12 -4.53590E-05 2.80873E-02 2.78225E-10 -2.80873E-02 2.85027E-02 -2.28548E-10 -2.85026E-02

@ REACTION FORCES AT FIXED BOUNDARY CONDITIONS, RESIDUAL LOAD CORRECTION ELSEWHERE FZ MX MY 1 -501.20 -3.5800 1.25286E+05 2 -7.62939E-05 -93.081 2.34375E-02 3 501.20 -3.5800 -1.25286E+05 4 1395.2 -2658.1 2.3203 5 3.95203E-03 -47564. 0.67969 6 -1395.2 -2657.0 -0.86719 7 9.94263E-02 -2.4609 -10.259 8 -1.86768E-02 -8.7617 -0.12891 9 -3.29590E-02 -6.2891 8.6796 10 -0.19495 -11.791 -12.568 11 1.39008E-02 -21.048 -0.80469 12 0.15045 -9.2317 9.5460
17.11

Stresses are given at Gauss points, e.g.:

ELEMENT 5 POINT 1

INTEGRATION PT. COORDINATE=0.803E+03 0.528E+02 0.0E+00 SECTION THICKNESS - 0.100E+02

P R I N C I P A L V A L U E S MINIMUM INTERMEDIATE MAXIMUM

LAYER 1 . ,,, J u c: ~l E, - 5 ? x7 ..~P+nl S TR ES S - . , r ''~ E ~ LAYER 3 ~ ~7~E-~1 cr~E --I.J.) ~~ ts .J -t-U -- 2 :J:Jj STRESS --~.
''I
''1
_,

l :_, ___ .J _ _ ; :

''1

--

--.. -<.,J..,J

_,

("\ '"\
,,..'.

.1

-=

''

.t.

IASTROS DATA)
Use 6 QUAD4 elements. ~I'he solution control data set is:
ASSIGN DATABASE LAB3 SHAZAM NEW SOLUTION TITLE=PLATE PROBLEM 3. QUAD4 ELEMENTS. ANALYZE BOUNDARY STATICS ( MECH = 67 ) LABEL = QUAD4 ELEMENTS WITH => C::1000 N FORCES. PRINT DISP =ALL, STRE=ALL,~ <= FORC=ALL, SPCF=ALL END
17.12

BEGIN BULK GRDSET I I I I I I I 6 GRID 11 11 0.0 1 0.0 1 0.0 11 123456 GRID 12 11 0.0 1 250.0 1 0.0 11 123456 GRIDI31 I 0.01500.010.011123456

GRID 14 11 500.0 1

0.0 10.0 11 12346

GRID 1 5 11 500.0 1 250.0 1 0.0 11 12346 GRID 1 6 1 ,500.0 1 500.0 1 0.0 11 12346 GRID 1 7 1 1 750.0 1 0.0 10.0 GRID 1 8 11 750.0 1 250.0 1 0.0 GRID 1 9 11 750.0 1 500.0 1 0.0 GRID 1 10 11 1000.0 1 0.0 1 0.0 GRID 1 11 11 1000.0 1 250.0 1 0.0 GRID 1 12 11 1000.0 1 500.0 1 0.0

CQUAD4 1 1 1 25 1 1 1 4 5 1 CQUAD4 1 2,25 1 2, 5 1 6 CQUAD4 1 3 1 25 1 4 71 8 CQUAD4 1 4 1 25 1 5 1 8 9 CQUAD4 1 5 1 25 1 7 1 10 1 11 1 CQUAD4 1 6 1 25 1 8 1 11 1 12 1 PSHELL 1 25 1 17 1 10. 1 17 MAT1 1 17 1 68950. 11 0.30
1
1

2 3
5

6 8 9

FORCE 1 67 110 1 0 11.0 10. 1 0. 1-1000. FORCE 1 67 112 10 11.0 10. 1 0. 1 1000.
ENDDATA

17.13

The ASTROS displacements are:

D I S P L A C E M E N T POINT ID. T1 1 O.OE+OO 2 O.OE+OO O.OE+OO 3 4 O.OE+OO 5 O.OE+OO 6 O.OE+OO 7 8.2E-18 8 -4.7E-19 9 -8.6E-18 10 9.7E-18 11 -2.5E-19 12 -1.0E-17 VECTOR

(?:)

"'..

- ...

T2 O.OE+OO O.OE+OO O.OE+OO O.OE+OO O.OE+OO O.OE+OO 1.6E-17 1.4E-17 1.5E-17 3.1E-17 3.1E-17 3.1E-17

T3 O.OOOOOE+OO O.OOOOOE+OO O.OOOOOE+OO O.OOOOOE+OO O.OOOOOE+OO O.OOOOOE+OO -3.78832E+00 -6.82565E-13 3.78832E+00 -1.09757E+Ol -1.67155E-12
1~09757E+01

R1 O.OOOOOE+OO O.OOOOOE+OO O.OOOOOE+OO O.OOOOOE+OO O.OOOOOE+OO O.OOOOOE+OO 1.33112E-02 1.68439E-02 1.33112E-02 4.45431E-02 4.27327E-02 4.45431E-02

R2 O.OOOOOE+OO O.OOOOOE+OO O.OOOOOE+OO 1.08191E-03 1.45457E-15 -1.08191E-03 2.86563E-02 3.64726E-15 -2.86563E-02 2.84602E-02 4.12344E-15 -2.84602E-02

,..,....... ..
~

The forces of constraint are:

%~~.9!

**** FORCES OF SPC ****

RFORCE=6 REAL COMPONENTS OF FORCE LOADTYPE(8) GRIDID RFORCE(6)
MX

FZ

MY

1 -4.5139E+02 -8.5391E+01 1.1290E+05 2 -6.7188E-ll -2.2201E+03 1.2180E-08 3 4.5139E+02 -8.5391E+01 -1.1290E+05 4 1.3672E+03 -6.4551E+01 0.0000E+00 5 1.1959E-10 -3.9540E+04 O.OOOOE+OO 6 -1.3672E+03 -6.4551E+01 0.0000E+00
17.14

Su..esses at the ce11troids of the ele111ents are:

S T R E S S E S I N QUADRI LATERAL ELE STRESSES IN STRESS COORD SYSTEM MENT FIBER SHEAR-XY NORMAL-Y ID DISTANCE NORMAL-X 2.86914E-01 -4.09878E-01 -1.22963E-01 1 -5. 1.22963E-01 -2.86914E-01 4.09878E-Ol 5. 2.86914E-01 1.22963E-01 4.09878E-01 2 -5. 5. -4.09878E-01 -1.22963E-01 -2.86914E-01 1.58833E+01 -2.00899E+01 -3.59120E+00 3 -5. 3.59120E+00 -1.58833E+01 2.00899E+01 5. 1.58833E+01 3.59120E+00 2.00899E+01 4 -5. 5. -2.00899E+01 -3.59120E+00 -1.58833E+01 3.02948E+01 1.34949E+00 5.40096E-01 5 -5. 5. -5.40096E-01 -1.34949E+00 -3.02948E+01 3.02948E+01 -5.40096E-01 -1.34949E+00 6 -5. 1.34949E+00 -3.02948E+01 5.40096E-01 5. P L A T E S (QUAD4

PRINCIPAL STRESSES MINOR MAJOR 5.43595E-02 -5.87200E-01 5.87200E-01 -5.43595E-02 5.87200E-01 -5.43595E-02 5.43595E-02 -5.87200E-01 6.05720E+00 -2.97383E+01 2.97383E+01 -6.05720E+00 2.97383E+01 -6.05720E+00 6.05720E+00 -2.97383E+01 -2.93527E+01 3.12423E+01 -3.12423E+01 2.93527E+01 -3.12423E+01 2.93527E+01 -2.93527E+01 3.12423E+01

!RESULTS

The mesh, using MSC/NASTRAN and PATRAN is:

17.15

The lateral deflection is:

lz <-y 'x
PLATE PROBLEM 3. QUAD4'S. 1008 N TWIST FORCES

MAXIMUM DEFLECTION
W12

MSC /NASTRAN: MARC: ASTROS: COMMERCIAL:

10.56 mm 10.60 mm 10.98 mm 12.18 mm

From MSC/NASTRANand PATRAN, the lateral deflection w(x,y) is, in mm:

1

10.6 9. 15

7.74 6.33 4.93

3.52

2.11 . 704 -.704 -2.11

PLATE PROBL ~---;~--dUAD4 'S. 1008 N TWI~T FORCES

10

'. l1

12

17.16

.._,

The forces of constraint are:

522N 501 N

~ 1397

11395
l 1367

MSC/NASTRAN
MAR<~

The SPC moments are:

82 4
82 4

128,900 N mm 125,286
.,.,. _ ...... ,... , .. _,. .. ~ ~ ../ ~,~~~ }~ ~
' . .:-. ,N,.,"~ ........ , ... .... J>

3204 2657

Zo~

- ~53,630

47,564

125,286
.112~9()()

65
MSC/NASTRAN
Iv1t\RC

17.17

From the MSC /NASTRAN solution and PATRAN postprocessing, the direct stress on the lower surface is, in MPa:

9.79

8.48 7.18 5.87 4.57 3.26

1. 96

. 653 . - .653
-1.96

PLATE PROBLEM 3. QUAD4'S. 1888 N TWIST FORCES

-3.26 -4.57 -5.87 . -7.18 -8.48

-9.79

The coarse mesh makes the plot very rough.

From MSC/NASTRANand PATRAN, the

first principal stess on the upper surface is:

PLATE PROBLEM 3. QUAD4'S. 1000 N TWIST FORCES

MARC = 28.7 MPa

17.18

LECTURE

IS

COORDINATE SYSTEMS
OVERVIEW

EXAMPLES
COORDINATE SYSTEMS
A. B. C. NODAL COORDINATES ELEMENT COORDINATES MATERIAL COORDINATES

2-D COORDINATE TRANSFORMATIONS

A. MOTIVATION B. OVERVIEW C. ROTATIONAL TRANSFORMATION D. FORCE TRANSFORMATION IN 2-D E. STIFFNESS TRANSFORMATION IN 2-D

2-D EXAMPLE: ROD 3-D COORDINATE TRANSFORMATIONS

PROBLEM SESSION
1. DEFLECTION OF A DERRICK 2. EULER-BERNOULLI BEAM 3. ROD STIFFNESS (INVERSE PROBLEM)

18.1

loVERVIEWI
FEA codes have a default coordinate system which is a right-hand Cartesian system. Users create additional coordinate systems to conveniently: o enter geometric data e apply boundary conditions e prepare material properties e exploit special dimensional properties
~.

generate elements e perform solution o interpret results

e
18.2

~t,

'-- reflective planes)

(axisymmetry,

z
I

IEXAMPLESI

'
X

'z

Rectangular (Cartesian)

Cylindrical

~
Spherical Curvilinear

IcooRDINATE SYSTEMS I
A. NODAL COORDINATES
A nodal coordinate system is required to:
o

identify location of nodes orient displacements, constraints

Each node has 6 d.o.f. at the outset. There are several universal notations:
u1, u2, u3,

e1' e2, e3
z
!

3,6

1, 2, 3, 4, 5, 6

Tt, T2, T3, Rl, R2, R3

u21 X ' u21 y 'u21 z, e21 X ' 821 y ' 821 Z
18.3

~... 1,4

2,5

~:X

There are several kinds of nodal coordinates:

BASIC COORDINATE SYSTEM o underlying R. H. Cartesian coordinate system 0 exists as default LOCAL COORDINATE SYSTEMS
o
0

defined by the user for parts of the structure exploit special geometry features (e.g. holes) Cartesian (rectangular) Cylindrical z Spherical
z

+
basic

~... x

~y
X

local, rectangular

GLOBAL COORDINATE SYSTEM

The "global" coordinate system is the union of all the local coordinate systems (ip. green).

l
0

i
~

local coordinate systems

{u}

global

18.4

B. ELEMENT COORDINATES
Each element type needs a special coordinate system to represent stresses, forces and section properties.
Yelem

beam quadrilateral hexahedron

C. MATERIAL COORDINATES
The material coordinate system is aligned with principal material directions in nonisotropic materials. It can be defined in relation to the basic coordinates or special local coordinates. NASTRANusage: material coordinates are defined on connection or property cards. y material HEXA defaults to element coordinates. QUAD4 and QUADS default to system aligned 't with Gl-G2 e side of element. G2
18.5

--.1.__

2-D COORDINATE ~ TRANSFORMATIONS

A. MOTIVATION
Suppose one tried to assemble:
Xelem Yelem

A disaster! --we need a new coordinate system.

B. OVERVIEW
Notation: We use matrix notation, which suppresses the base vectors: {::} The full notation does not hide base vectors: ii = ul el + u2 e2 Translations: A translation of the base vectors does not change Cartesian components ui. Rotations: A rotation of the base vectors does change components ui in Cartesian, cylindrical and spherical components. @
18.6

C. ROTATIONAL TRANSFORMATION

Convert a vector expressed in global coordinates to one in element coordinates:

l.t 1 ,

J5! {}t)t~.!

,c<;>s a

11 2 ~, ~ ..;.,~~n
,5 t(,. - , .1 (

In matrix form:

u {u2

1}

_
elem

[
\....

c~sa
-stna
v

sin a ]{u1}
cosa u2
/

global

[t]
This is done, node by node:
utA u2A ulB u2B
~.

t(aA)

- - - - r - - - 0
~

0
t(an)

~
~-

- - _..,.

t.
T

ulc

- - - - r - - - - ~ulc 0 i 0 ~ t(ac) I - - -- . . . r - . . . . -- -i-- -- ...... - -r--

elem

0 ~ - - - r

utA u2A ulB u2B

s.

global

18.7

{u}elem

= [T]{u}global
1

One can show that [T] is "orthogonal:"

[Tf =[T]T

A necessary condition for this is: Det[T] = 1

D. FORCE TRANSFORMATION

Forces are physical vectors that transform the same way as displacements:
{f}elem = [T]{J}global

E. STIFFNESS TRANSFORMATION

Consider equilibrium in element coordinates: {j}elem = [k] elem {U}elem Use the transformations for {f} and {u}:
[T]{J}global

= [k ]elem[T]{u }global
-1

{!}global = [T] [k]elem [T]{u}global

= [T]T[k]elem[T]{u}global
' I

This defines stiffness in global coordinates.

18.8

(8)

12-D EXAMPLE: TRUSSI

Consider a planar truss assembly:

tY

Find the global stiffness matrix for this truss: u 2{lem. \..,.,.~u

lelem

The truss stiffness in element coordinates is:

EA/L [k] 0 elem- -EA/L 0 0 -EA/L 0 0 0 0 0 EA/L 0 0 0 0

The transformation matrix is:

cos a sin a 0 0 0 0 [T] = -sin a cos a 0 0 cos a stna 0 0 -sin a cos a 0.866 0.5 0 0 -0.5 0.866 0 0 0 0 0.866 0.5 0 -0.5 0.866 0
18.9

The global stiffness is:

[k]
1 a1 go b

= [ T(30){ [k] elem [ T(30)]

In Synibolic form, one has:

cos 2a cos a sin a -cos 2a -cos a sin a EA cos a sina sin 2a -cosa sina -sin2a [k] = -L -cos 2a -cos a sin a cos 2a cos a sin a global . . 2 . . 2 -cos a stna -s1n a cos a stna s1n a

For our case of a = 30:

0. 75 = EA 0.433 L -0.75 -0.433 0.433 -0.75 -0.433 0.25 -0.433 -0.25 -0.433 0. 75 0.433 -0.25 0.433 0.25

Solution check The truss should be stiffer in the horizontal than the vertical direction:
~....,..~V.v.N'V'A..,..,...,.,..,..~

..........,...,.,..,,.....,.,.......,.....,...

unit displacement horizontally

unit displacement vertically ~

~
~~
:

-:::::-

knglobal

= T (0. 75)

EA

k22global

EA =-r(0 25 )

This checks our intuition. The solution and the constraints are in global coordinates. To recover element results: {u}elem

= [T(30)] {u}global
18.10

3-D COORDINATE TRANSFORMATIONS

o

a difficult topic angle changes do not commute in 3-D there exist singular directions the problem is related to flight mechanics, where one compares body coordinates to a reference coordinate system z

o
e

t /y

~X

IPROBLEM SESSIONI
ProbleiD 1. Deflection of a derrick
A derrick is used to lift heavy loads. It is

modeled as a planar truss structure. Each boom has the property: EA = 10 10 N What is the elastic deflection of the tip of the derrick due to the tip load?

10 m

18.11

Solution Number the trusses so that their common node is the last one. The u2 included angles then fit the rule for mapping from element to global stiffnesses: The first element has elastic forces:
ul u2

cos 2 30 cos30sin30 us cos30sin30 sin 2 30 u6

The second element has elastic forces:

u3

cos 45 cos45sin45 us cos45sin45 sin 2 45 u6

u4

The assembly becomes:

10 8

0 0 (3. 75+ (2.165+ 0 0 3. 536) 3.536) (1.25+ 0 0 (2.165+ 3.536) 3.536)

18.12

0 0 0 0

us u6

Fl F2 F3 F4 0 -10,000

[ 7.286 5. 701

5.701J{u5} { 0 } 4. 786 u 6 - -10- 4

Use Cramer's rule: 0 5. 701

u _ -104

5 - 7.286 5. 701

4.786 _ 5.701X105.701 2.369 4. 786

= 0 . 241

===

mm

0 7.286 5.701 -10-4 - 5.701X10- 4 = -0 308 mm 2. 369 2. 369 ====

Problelll 2. Euler-Bernoulli be8lll

Consider an Euler-Bemoulli beam in flexure in the xy plane. No axial stiffness (nor loads) are included. The stiffness matrix for # 1, #2, and #6 coordinates at nodes A and B is:
0 0
[k]= EI 0

3 0 0 0

0 0 12 6L 6L 4L2 0 0 -12 -6L 6L 2L2

0 0 0 0 -12 6L 0 -6L 2L2 0 0 0 0 12 -6L 0 -6L 4L2

!Y !

l l t. .............~

18.13

A) Develop the nodal coordinate transformation

matrix [t] relating the element system to the basic (underlying) system. B) Find the diagonal stiffness term k 11 at node A referred to the basic coordinate system. Solution
''ltl'lh'YV'....v.-.w.A..........~.........w.v.

A) The rotational degree of freedom is not

affected by a rotation of the coordinate system 2 in -D: [cos a sin a OJ [t]= -s~a co~a ~ B) The stiffness is:
[k]b aszc . = [T{ [k] ezem [T]
'e:!J

~25

cos a -sin a 0 sin a cos a 0

-

0 0 0

0 0 0 0

0 0 0 1 0 cosa -sina 0 [k] elem [T] 0 sina cosa 0 1 0 0 0 0 0 0

.kelem T . mz mn nJ

0 0 0

Use summation form to ease calculation:

k~~sic = L L T
lJ
m n

The Tm 1 and Tn 1 terms are zero form, n > 2.

2 2 . k baszc =~ ~ T kelem T 11 .... .... m1 mn nl m=l n=l

18.14

The terms k!e: are zero for i = 1 and j = 1. Hence:

kbasic 11

= T21 k22
= 10.85

elem T21

(1;)

tY
,___-~~x

ProbleDl 3. Rod stiffness (inverse probleDl)

A rod element is embedded in 2-D space. If the stiffness matrix in basic (underlying) coordinates has a term k 41 = -4.5xl06 N/mm, what is the stiffness EA/L of the rod?
u4 Jl~
l <

==

~~3=.-.--

u3

y
L ...............~.

u2

~~38
~

18.15

Solution The stiffness in basic coordinates is related to the stiffness in element coordinates, where the parameter EA/L appears:
cos 2a cosa sina -cos 2a -cosa sina E4. cos a sina sin 2a -cos a sina -sin2a [k] . JL~ -cos 2a -cos a sin a cos 2a cos a sin a baste o. o 2 2 -cos38 stn38 -stn a cos a sina sin a

k41 =-Efcos38sin38=-4.5x10 6 N/mm

EA _ 4.5 x10 6 L - cos38sin38

=9.28x10 6 N/mm

/@

18.16

LECTURE 19

GAUSS INTEGRATION

NUMERICAL INTEGRATION
A. TRAPEZOIDAL RULE B. SIMPSON'S RULE

GAUSS INTEGRATION GAUSS INTEGRATION IN 1-D

A. METHOD FOR FINDING WEIGHTS AND ABSCISSAE B. ONE-POINT GAUSS INTEGRATION C. EXAMPLES OF ONE-POINT INTEGRATION D. 1WO-POINT GAUSS INTEGRATION E. NUMERICAL EXAMPLE

RADAU AND

LOBATTO INTEGRATION

NONSYMMETRIC FORM GAUSS INTEGRATION IN 2-D

A. BEST PROCEDURE, THEORETICALLY B. EXPEDIENT PROCEDURE

FINITE ELEMENT APPLICATIONS PROBLEM SESSION

1.
NONSYMM~CDOMMN

2. SPECIAL-PURPOSE GAUSS INTEGRATION 3. THREE-POINT INTEGRATION 4. INTEGRATION FOR BEAM ELEMENT

19.1

NUMERICAL INTEGRATION
Consider the integration of a real function of a real variable f(x): f(x) ~

Replace the common (Riemann) integral with a finite sum: /sample points

f(x)dx = .J wi f(xi)
i=l
19.2

(~~~~

"-weights

Hamming says that numerical integration involves:

1) Values f(xi) at fixed points

2) Differences f(xi) - f(x j) 3) Derivatives 4) f(xi) at specially chosen xi (not equally spaced Gauss integration is the fourth type.

A. TRAPEZOIDAL RULE
f(x)

Use n evenly spaced sample points:
Xn

JJ(x)dx=i(JCxt)+ f(x:U]Llx + HJCx2)+ j(x3)]Llx

+ + [f(xn_l) + f(xn)]

=~x f(xt)+Llxf(~+ +Llxf(Xiz-t)+~x fC.xn)

19.3

B. SIMPSON'S RULE
f(x)

x1
Xn

x2

xn

An odd number of evenly spaced sample points:

X

ff(x)dx= Llx[f(x 1)+4 f(x 2)+ j(x3)]

1

++ x[f(xn-2)+4 f(xn-1)+ f(xn)]

3

Weights have the pattern:

Llx[l, 4, 2, 4, ~' ... , 2, 4 ,1]
3 3 3 3 3 3 3 3

!GAUSS INTEGRATION!
e
e

a very efficient method sample points are located for accuracy

f(x)

Rather than look at

ft(x)dx,
a

,.,

b
;-

consider the symmetric form:

-1

ft(~)d~

_,..,.

-1
19.4

+1

GAUSS INTEGRATION IN 1-D

A. METHOD FOR FINDING WEIGHTS AND ABSCISSAE
Expand a function in a Taylor's series: f( g) = a+ bq, + cq, 2 + dq, 3 + eq, 4 + Integrate ''term by term:"
=a J(l)d/;
-1

+b

fc /;)d/; +c fc /;
-1

)d/; + ...

-1

Require each polynomial term to be exactly integrated, up to a certain degree.

(V

Use n sample points to get 2n (total) weights and abscissae as parameters. Use "defining equations" to find weights and abscissae. Get 2n equations in 2n unknowns.

B. ONE-POINT GAUSS INTEGRATION

Assume:
f(~)
.,.,.,-.

fj( /;)d/; = Wtf(/;1)

-1

---+1

-1

We need two defining equations.

19.5

First defining equation:

fcl)dS = w1JCS1)
-1

2 = w 1(1)

-1

Second defining equation:

-1

fc~)dS = w1JCS1)
0=
w1;1

The solution w 1 = 2,

~1

=0

leads to:

ft(S)dS
-1

=2f(O)

l-tef~~t~ss

C. EXAMPLES OF ONE-POINT INTEGRATION

The formula
-1

can be used to exactly integrate linear functions, such as: ~~ 3

!C S) = 3 + S

Kc,y:::

Jc3 + S)dS = 2f(O)

-1

-1

= 2(3)

= 6 ......,_Gauss, exact
19.6

The one-point formula can be used to approximate a higher-degree integration:

f(~)

-1

The one-point formula underestimates! Conclusions For n sample points: 1) get exact results up to degree 2n-l 2) get approximate results for polynomials above degree 2n-l, for transcendental functions, and for experimental data.
... . . . . . .'(I(:O"""
" )" '"" ")'" ")O "<)'" " )IX,J( " )O "" ~~

@
@

D. TWO-POINT GAUSS INTEGRATION

Consider the two-point integration formula:
-1

rj(g)d~ =wlf(~l) +wzf(~z)

= wl(l) + wz(l)
1

Defining equations are:

f(~)

f(l)d~
-1

-1

~(~)d~ w~( ~1) + ~z( ~z)

=

12= w+ w ;-1 (1)

-1

f(~)

fo-w1 (W+-w2 (~-;)l (2)

~........~.........,~.,......w.--.-............,.._.......-.w.V\iV......,.~~.....-.~

19.7

-1

fg 2 dg = w g? +w2g; 1
1 2 J= 2 J= 2 j (3) ~ 3 = w1'='1 + w2'='2 ~
~-=-->.< .>1!
11!1! <~-

f(~)

< . . . . . . . . . . . . . . . !.

-1

Jg3dg = wlgi +w2g~

-1

Four nonlinear equations in four unknowns. Assume symmetry of sample points:

Equation 1 is solved for w 2 :

w 2 =2-w1

This and (4') are put in (2):

0=w 1 ~ 1 +(2-w 1 )(-~1)

= 2;1Cw 1 -1)

The choice of ~ 1 = 0 is not useful, therefore:

W1=l

Hence:
~=

w 2 =1

g? +(-g1)2
g2 = -0.577350~1
19.8

~~-;1-=-~-~-0--.5-7-7"""""""'350269

Hence:

]J(S)dS = /(0.577350) + /(-0.577350)

-1

1\vo-point Gauss integration is exact for a cubic.

E. NUMERICAL EXAMPLE
Consider Use Gauss integration to find the exact value of:
-1

I( S +i S
3

~ S)dS

1.0
0.5
0

f(~)

~~~~~~~ :~~:~~~~

~2

~1

-0.5

Jf(S)dS = /(0.577350) + /(-0.577350)

-1
19.9

f<~3 +; ~2-~ ~)d~

-1

= (0.577350) 3 + l (0. 577350)2 3

i<O. 577350)

+< -o. 577350) + l c-o. 577350) 2 = 0.166667

ic -o. 577350)

The analytical answer is:

_{c~3+l~2-~~)d~ =~4+A~3-?6~2l:

=i

There is no algorithm error in the two-point formula applied to a cubic, only round-off error.

RADAU AND LOBATIO INTEGRATION

R1\I)AU One endpoint is used as a sample point. Example:
~

........
-1

..,....,--

----

_ _. __

--,..,..

LOBATIO Both endpoints are used:

,..,.,.., .........
-1
19.10

..,....,

______ ._,..,.. _...__.1

ll\TONSYMMETRIC FORMI
Consider:
ff(x)dx
a

-~
x=

The linear mapping:

b; a+ b 2a~
= -1
x=b, ~=+1

-1

stretches and translates the x coordinate into the~ coordinate.

dx = b - ad~
2

when x = a , ~

ff(x)dx
a

= Jf(x(~))b-ad~
_1

= b-a L',w; f(x;) 2 .

l

The integral can now be evaluated in physical coordinates:

f(x)
__.,-

....., ,.
.........
XI
~

x2
19.11

GAUSS INTEGRATION IN 2-D

A. BEST PROCEDURE, THEORETICALLY
We wish an approximate form:
r----+------,

11

Jtj(g, 1J)dgd1]= i W;j(g;, T]j)

-1-1

i =1

The general polynomial integrand is:

f(~,1J)=a+b~+(1J+d; +e~1J+ !11

2

@
e e

+ g~ +

;:3

h;:2 ;: 2 ~ 1J+ P~17

+ q1J +

get 3 defining equations per sample point need 2 sample points for quadratic, 4 for cubic, 5 for quartic, 7 for quintic not done this way in practice

B. EXPEDIENT PROCEDURE
Use 1-D ideas repetitively. An example is:

JJcg
-1-1

+ 1]2 )dgd1]=

-1

J[ wi(g[ + 1] )]d1J
2
i=1

~I -~-~ I
~

= ~ wX ~ Wi(g?+ 17])]
J=l
2

I
1

~~ I
1

z=l

- _,- - t-

r--

2 L L wjwi( ;i2 + 11 j)

j=1 i=1

Ideas such as this are used in practice.

19.12

FINITE ELEMENT APPLICATIONS

Two important integrals in finite elements are stiffness and equivalent nodal loads:

f [Bf [GJ [BJIJ< S, 7J, S')ldSd7JdS v f [N{ {F}

dSPACE
SPACE

These are often integrated by Gauss integration.

Typical nodal pattems are:

4-noded quadrilateral

4-noded rectangle

triangle, Radau (Olson)

solid, hexagonal

@
19.13

IPROBLEM SESSIONI
Problelll 1. Two-point Gauss integration A polynomial
f(x)=l+x 3 -3x
4

is defined over the region [2, 10]. You wish to get an approximate value of the integral

J~(x)dx
2

Use two-point Gauss integration. Does this give an exact answer?

Solution The solution will not be exact because it would take 3 sample points to exactly integrate a quartic (5 constants involved). The formula for the unsymmetric domain is:

Solve for the physical sample points:

x1 =

f b; b;
a

f(x)dx=

b-a [wif(x 1)+w 2 f(x 2)] 2

a+

a g1 = 10; 2 +( 10; 2 )0.577350 = 8.309401

':t2

Xi=

b+a

2 +
I

b-aJ=

=6+4(-0.577350)
e I
I I

=3.690599
e
I

6
19.14

10

f(x 1) = 1 +8.3094013 - 3(8.309401)4

= -13,727.378
f(x 2 ) = 1 + 3. 690599 - 3(3. 690599)
3 4

= -505.28789
We now have all the required numbers:
jf(x )dx = 4(-13,727.378- 505. 28789)
2

= -56,930. 665
10
2

The analytical solution is:

~ 4 3 5 jj(x)dx=x+lx -sx
2

=-57,476.800

The Gauss integration is 0.95o/o low.

ProbleiD 2. Special-purpose Gauss fonnula

Develop a special-purpose Gauss integration formula for functions f(~) which are 5th degree polynomials, but have no constant or linear terms. Use the fewest sample points possible. Use the symmetric domain. j(g) = cg 2 + dg 3 +e;4 + jg 5 Show the defining equations. Solve for abscissae and weights. Solution There need to be four defining equations for an exact solution, hence, we need two abscissae. @
19.15

-1

ft(~)d~ = Wtf(~I) +w2j(~2)

f(~)

The defining equations need exactly integrate only the quadratic, cubic, quartic and quintic terms.
-1

~~2d~ = Wt~I2 +w2~i

-1

f(~)

-1

J~3d~=wl~i +w2~~
: ... : ....:. ... . . :. . '3 ':. :. : ""' . .. 3" "8 I0 = w1g1 + w2g2 I (2)
~ ~

-1
~

I~ 4d~ = wl~{ + w2~i

r
~

w1g14 + w2 -

~24l
~.VNN.J

(3)

-1

J ~5d~ = wl~i + w2~i

L . .-,. . ...,__..,..,. . . . . . . . ~"""""""'-"'""J

~~-. ~~il~~2~i

(4)

Assume symmetry:

19.16

Equation 1 yields:

~ = wlg12+ wlg~ = 2wlg~

Equation 3 yields:
; =

wlg{ + wlg{ = 2wlgi

Divide Eqn. 3' by Eqn. 1': g~ = ~ gl = .JD.6 = 0. 7745967

~2 = -0.7745967

Solve Eqn. 1' for the weight:

w1 =

(also w 2 = 9 )

.j
@Y

Hence:

ftcg)dg = ~ f(O. 7745967) + ~

-1

f( -0. 7745967)

ProbleDl 3. Three-point integration

Integrate the function
j(g)=6+12g 3 +4g 6

over the interval [-1, 1] using Gauss integration and 3 sample points. Is your answer exact or not? Why? Solution
1

f f( g)dg = 0. 555556 f(O. 774597) + 0. 888889 f(O)

-1

+ 0. 555556 f( -0. 774597)

The three-point solution will not be exact; four points are needed to exactly integrate a sixthdegree polynomial. @
19.17

f(O. 774597) = 6 + 12(0. 774597) 3 + 4(0. 774597) 6 = 12.441105 f(O) = 6

f( -0. 774597) = 6 + 12( -o. 774597) 3 + 4( -0. 774597) 6
= 1.286899
1

f f( ~)d~ = (0. 555556)(12.441105) + (0.888889)( 6)

-I

+ (0. 555556)(1. 286899)

= 12.960009

Proble111 4. Integration for beam. ele111ent

Suppose you wish to use Gauss integration for the x dimension (only) in a two-noded EulerBemoulli beam element derivation. a) How many Gauss points are needed for an exact solution for the stiffness matrix? b) How many Gauss points are needed for exact equivalent nodal loads, up to parabolic load distributions?

~ ff

tt t
19.18

--~

Solution a) The shape functions for the two-noded Euler-Bemoulli beam are cubic. The stiffness integral is of the form:

fM, (x)Nj(x)dx "

Since N(x) is cubic, two derivatives are linear and the integration has a quadratic integrand. number of points= (polynomial degree+ 1)/ 2 = 1.5 (decimal) = 2 (integer) b) Because N(x) is cubic and the loading is quadratic, the integrand is quintic and 3 Gauss points are needed. f r

J [N]
0

{L(x)}dx

v'

ProbleiD 5. Lobatto integration You are asked to exactly integrate a series of cubic functions on the domain where ~ ranges from -1 to +1. Use Lobatto integration and develop the approach from first principles. Compare your results with Simpson's integration rule. f(~) Solution __. A cubic has 4 constants, hence +l 4 defining equations -1 are needed.
~-.. ..-..V.""-~*.JII."'.A.J'I'.YAWJ'....

....._---

s
@

2 3 /(S)=cl +c2S+c3S +c4S Lobatto integration uses both endpoints as sample points.
19.19

We need 3 abscissae to get 4 defining equations:

Jf( ~)d~= wlf(-1) + W2 f( ~2) + W3 /(1)

-1

The defining equations become:

-1 1 -1

J(1)d~= 2 = w1(1) + w2(1) + w3(1)

J(~)d~= 0 = w1( -1) + w2 ( ~2 ) + w 3 (1)

J(~2)d~= ~ = wl(-1)2 +w2(~2)2+w3(1)2

-1

J(~3)d~= 0 = wl(-1)3 + w2( ~2)3 + w3(1)3

-1

We need to solve 4 equations in 4 unknowns. A shortcut is to realize that symmetry requires:

~2 =0

and to eliminate the cubic equation. The first 3 equations are: 2= w +w +w

1 2 3

0=-w1

~=

+w3
+w3
w3

wl

The The The The

2nd and 3rd equations give: 2nd equation gives: 1st equation yields: integration formula is:

=1 I 3 w1 = 1 I 3

w 2 =41 3

Llf(~)d~ =

1Jc-n + jJc o) + 1Jco

/

which is the same as Simpson's rule!

19.20

LECTURE20

ISOPARAMETRIC ELEMENTS

INTERPOLATING INDEPENDENT VARIABLES

ISOPARAMETRIC ROD ELEMENT ISOPARAMETRIC QUADRILATERAL PROBLEM SESSION

1. ISOPARAMETRIC MAPPING 2. EIGHT-NODED QUADRilATERAL 3. PARABOLIC LINE ELEMENT

20.1

INTERPOLATING INDEPENDENT VARIABLES

A. REVIEW
To evaluate f(x):
f(x)
f(x)

=f(x 1) + f(x)(x-x 1)
I

Calculate slope by differencing:

f(x)

=f(xl)

+ [f(x0- f(x l)J(x- xl)

x2-xl
20.2

These two shape functions can exactly interpolate an arbitrary linear function f(x):
f(x}, ..

f(x)
_

N1

___..._~..____

7,
_

>.::,,.

,.,~.,: '<

N2

___,;,;,;,__ X

xl

x2

B. INTERPOLATE X
Consider the outrageous idea of interpolating the independent variable x:
x = N 1 (x)x 1 + N 2 (x) x2

Combine terms, using a common denominator:

= x(x 2 =
X

x 1)

x2- xl

20.3

Con1ments: ""
..

o o
o

obtained identity not as crazy as it seems concept generalizes good for cases with 2 sets of independent coordinates (mapping) this example is "isoparametric" can also get superparametric: geom. > field subparametric: geom. < field

ISOPARAMETRIC ROD ELEMENT

Map the rod element onto the double unit line:
I -1

I 1

~ ~

Define~:

We can also interpolate u (x):

u(x) = (1- S)u1+

J(1 + S)u

20.4

Convert the rod element formulation to

[k] =
1

coord.:

fl
X]

B(x)]T [G(x)][B(x)] A dx

= f [B(x@){[G(x@)][B(x@)]IJIAd ~
-1

where:
1
[G]

= dx =
d~

- xl

+ X2

= X2- xl = L 2 2 2

= [E]
=

[D]

[A_] =

dx

[_4_ !15_] - [ 2 A_] d~ dx L d~

G)

Shape functions:

[N(~)]=[~(l- ~) ~(1 +~)]

Hence:
[B] = [D][N]

= [i~J[~o- ~) = [Finally,
[K] =
1 J

~C1 + ~)]

i iJ
1 L [E]

(as with x variable)

-I

[-v. ] [-l
YL
-1

l] ~ Ad~

= EA[
L

1 -1]
1
20.5

ISO PARAMETRIC QUADRILATERAL

Consider the mapping needed to create a plane-stress quadrilateral. Use straight sides; this requires only linear mapping.

Find the stiffness matrix for plane stress:

[K]= f[B{[G][B]dV v
A

=hf [B{ [G][D][N]dxdy

Evl( 1- v2)
El(l-v2)

where:
El( 1- v2)

0
0 G

[G] = Evi(J-v2) 0

[D]

= ~

ax ~
20.6

1
dx

dy

Invent a

(~,

T\) coordinate system:

II.;.

'-:-

Interpolate x, using
x

~,

11 as parameters:

= N1(g, 1])x1 + N2(g, 1])x 2

+ N3(~, 1J)X3 + N4(~, 1J)X4

Interpolate y the same way, and summarize:

x
y

=i~Nf(~, 1J)xi

=i'!:INi(~, 1J)Yi

The first shape function must satisfy:

N 1(-1, -1) = 1 N 1(1, -1) = 0

N1 (1, 1)

=0 N 1(-1,1) = 0
20.7

The first shape function would look like:

N 1(x,y)

Use a product approach for Ni. Choose:

N 1(g, 17) = const(l- ~)(1- 17)

Evaluate the constant:

N 1( -1, -1) = 1 = const(2)(2)
:::::>

const = 4

NI(~,7J)=!(l-~)(1-7J)

{ xy} = [! (1 - ~0)(1 -17)

1 0 4 (1 - ;)(1 - 17)

(1 +

~)(1 0

11)
xl

Y1

(1 +

~)(1 + 11)

0
(1- g)(l + 11)

:2
x2

Y4

These are the "serendipity" shape functions. Field variables are interpolated the same way: ux = LNi(~, 1J)ui
i=I,3,5

Uy =

LNi(;, 17)Ui
i=2,4,...
20.8

Our goal is to convert:

[K]

= h If [B(x, y)]T [G(x, y)ID(x, y)][N(x, y)]dxdy

A

into:
-1-1

cc1r1st~ (l.ertv~lttves

hI f[B( g' 1J) f [G(g' 1J)][D(g: 7J)][N(g' 1J )]I J ldgd1J

We know:

We need

!x and Jy:

2__ =~ ag +_1_ a11

ax ag ax a11 ax

Our procedure requires:

ag - dx ag + dy ag

a _ a ax a ay
d _ d dx + d dy

d1i - dX dri

dy dij

The derivatives can be found, for example:

t~ =!gC;1Nicg.77)xi)
= .Lijtxi
z=1
~

4 ()N.

20.9

Hence, if

[J]-l exists:

~X = [1(g, ry)]

T-l

t,t;
d~

ay

a11
0

-I-1

hi dg + 122 dry
-1 Ta

-1 T

-1

121

dg + 122 dry
0

-1 Ta

1u dg + 112 dry

-1 Ta

-1 Ta

l (1 - g)(l - ry)
o

l (1 + g)(l - ry)
o

lo-g)CI-ry)
0
(1 - g)(l + 17)
20.10

...l

Numerically integrate:
Integrand(~' 11)

11

,... ""

IPROBLEM SESSIONI
Probletn 1. IsoparaiDetric Dlapping A rectangular finite element in two dimensions is given. It is to be numerically integrated using a mapping to the double unit square. A) To what (-1,3) ~ ~,~ (1,3) point (x,y) does y

c;.11) =co.s,o.2)
correspond? B) What is the value of I J I ?

x ~

(0.5,0.2)
(-1,-3 ) .w-~-~': (1,-3)
20.11

Solution A) The general mapping is:

x(;, 1J) =

L Ni(;, 1J)xi
i

y(;, 17) =

L Nf(;, 1J)Yi
i

Hence

x(~, 17) = (1- ~)(1- 17)x1 +

+ (1 +
x(O. 5, 0. 2) =

J
l

(1 +

~)(1-77)x2
11)X4

~)(1 + 11)X3 + ~ (1- ~)(1 +

1 (1- 0.5)(1- 0. 2)( -1) + 1 (1 + 0.5)(1- 0. 2)(1) 4 4

(1 + 0. 5)(1 + 0. 2)(1) + (1- 0.5)(1 + 0.2)( -1)

x(0.5,0.2) = 0.5

y(~, 17) =

l (1- ~)(1l

1J) y1 + (1 +
3

l (1 + ~)(1 + 17) y + l (1- ~)(1 + 17) y

~)(1- 17)y2

1 (1-0.5)(1-0.2)(-3)+ 4 1 (1+0.5)(1-0.2)(-3) y(0.5,0.2)= 4

+ (1 + 0. 5)(1 + 0. 2)(3) +! (1- 0. 5)(1 + 0. 2)(3) y(0.5,0.2)

= 0.6
(0.5,0.6)
A .....,..___
~- ~ ~
G--:18&---

yj

20.12

B) The IJacobian I has the interpretation of the area ratio (A 01ctl~ewl, which corrects for the change in coordinates in the integration. By inspection, this ratio is 3.0. Let us calculate IJ I in a formal way. dx dx

-dn

III=

~;
a;

d:

(Jij

The first component to find is:

dg =7dfxi

dx

dNi

(-1)(1-7])xl +

l
1

(1)(1- 1J)x2 +

(1 )(1 + 7])x 3+

(-1 )(1 + 1J)x4

=- 4(1-7])(- 1)+ 4(1-7])(1)+ 4(1+7])(1)- 4( 1 +7])(- 1)

=1+1+_.1_+_.1_ 4 4 4 4
=1

Next:
1 1 1 1 = -- (1-77)( -3) +- (1-77)( -3) +- (1 + 77)(3)-- (1 + 17)(3)
=

4 0

20.13

an -7 an xi
=! (-1)(1- g)x 1+ ~ (-1)(1- g)x2 + ~(1)(1+g)x3 + ~(l)(l+g)x4
=0

ax-~ aNi

ay

an=
=3.0 Finally,

7an Yi
g)y4

aNi

= !(-1)(1-g)yl+ ~(-1)(1-g)h

+ ~(1)(1+g)y3+ ~(1)(1+

III=

1.0 0 = 3.0 0 3.0

which agrees with the area ratio!

ProbleDl 2. Eight-noded quadrilateral

An eight-noded plane stress quadrilateral is to

be mapped onto a parent element: A) Would a displacement function

u(x, y) =

qo + qlg + q2 n+ q3g 2+ q4gn + qsgn 2

+q6g3 + q1g21J+ qgg1J2 + qg1J3

be suitable for this case?

y

>
20.14

B) Describe serendipity-type shape functions

for this quadrilateral. The functions need only need be cubic (no higher). Solution A) No, the suggested displacement function has 10 generalized coordinates, and we only need 8, because there are only 8 nodes. One could arbitrarily drop out the q 6 and q 9 terms, or altematively, drop q 7 and q 8 . B) Consider a midside node. If one multiplies the equations for the three red lines shown, one has a product form for the shape 8 function.
C=)

@
This gives: N8 ( g, 77) = C(1- 7J)(1- g)(1 + 17) The constant is easily found to be 1/2.
Likewise
N7 (g, 71) = ~ (1 + g-77)(1-:- g)(1 + 77)

I
7
"'\=

11

I
0

/
:;.

II
~

I
~

~----~s~----~~~

7J+1=0

20.15

ProbleDl 3. Parabolic line elen1ent

Create a special parabolic line element using isoparametric concepts. The element lies on the x axis. A) Find the mapping that maps the element onto the parent element on the ~axis. Use a quadratic relation for this. B) What is the physical coordinate x 1 corresponding to the Gauss point ~ 1 on the right?
Gaus~
b

points
s
\ . .... .~: ;:,.,
0

'e

6-

2.4 3

,..~~v/1
0

-1

s ~

s~~nn

A) The goal of isoparametric mapping is to project a complicated element onto a simple domain where the shape functions are easy. Hence, map the point x = 2.4 onto ~ = 0.0, as well as mapping the endpoints to + 1.0.
x(~) = N1 (~)x 1 + N2 (~)x 2 + N3 (~)x 3

We know the quadratic shape functions:

N](!;)=

~c;-1)
......
<-'

So-

1\1,~{ = ."'., $. ( ~:: + 1) ..,, c'\ .,./

. ..
.

L,

20.16

The mapping is:

x(~)=~(~-l)x + (1-~ 2 )x 2 + ~(~+l)x 3 1 2 2

B) Find the location of the right Gauss point in physical coordinates x. The right Gauss point is known to be at ~ 1 = 0.5773.
x( ~)

= O. 5773 (0.5773 -1)(1. 0) + (1- 0.5773 2 )(2.4)

2

. + O.
= 2.844

5773
2

(0.5773 + 1)(3. 0)

/
e c e o

-1

o~

20.17

I I

LECTURE21

SOLID ELEMENTS

THEORY FOR SOLID ELEMENT

A. B. C. D. E. ELEMENT SHAPES ELASTICI'IY THEORY CONSTANT-STRAIN TETRAHEDRON HEXAHEDRON ZERO-ENERGY MODES

HEXA ELEMENT

PENTA ELEMENT APPLICATIONS NEEDING CONSTRAINTS SUBSETS OF GLOBAL DISPLACEMENTS MULTIPOINT CONSTRAINT (MPC) CONCEPT RIGID ELEMENTS IN MSC/NASTRAN PROBLEM SESSION
1. 2. ENERGY IN SOLID ELEMENT CUBE MADE OF POROUS MATERIAL

21.1

THEORY FOR SOLID 0 ELEMENTS

A. ELEMENT SHAPES

TETRAHEDRON

WEDGE

HEXAHEDRON

TETRA (4-10)

PENTA (6-15)
21.2

HEXA (8-20)

{f}

For general anisotropy :

Gil G12 [G]= GI3 GI4 GI5 GI6 G22 G23 G24 G25 G26 G33 G34 G35 G36 G44 G45
G46

SYM

Gss
Gs6
G66

For orthotropic materials:

Gil GI2 [G]= GI3 G22 G23 G33

SYM 0 0 0

0 0 0

0 0 0

G44

0 0

G55

G66

The number of elastic constants is reduced from 21 to 9.

WOOD
CRYSTALS LAMINATES
21.3

G)

For isotropic materials:

1-v

[G] =(1 +vX1-2v)

v v
0 0 0

1-v

SYM

v
0 0 0

1-v

0
0

1-2v 2 1-2v 0 2 1-2v 0 0 2

Strain - dis:Qlacement law:

dx
0
0

dY
0
()

[D] =

dY dx
0

a a a
0

dz
0
()

di dY

dz

9x

This does not depend on material.

21.4

C. CONSTANT - STRAIN TETRAHEDRON

o

e o

Four faces Four nodes Can be developed as an analog to Tumer's triangle. u(x,y,z) = q 1 + q 2x + q 3y +
v(x,y,z)

q4 z

= q 5 + q 6x + q1 y + q 8z w(x,y,z) = q9 + qlox +qlly +ql2z

[ k]

The polynomials are "complete" linear forms. The elementary F.E. )heo:ry applies:

= j [B]T[G] [B] dv
vol

{/} [N{{F}dSPACE 1 en space

The integration can be made easier with "natural" coordinates.

=4

These coordinates themselves are interpolating functions for linear elements:

u(V1, V2 , V3 , "4) =

L Vi ui

21.5

D. HEXAHEDRON
Six faces o Eight node version o Eight- Twenty node version o lsoparametric formulation and numerical integration are common o Need enough integration points to avoid zero- energy deformation modes (Cook). o Need to recover shear stresses carefully to avoid error as solid approaches shell (MacNeal). e Bruce Irons' 20-noded isoparametric formulation is widely adopted.
0

E. ZERO-ENERGY MODES
"Elasticity" elements consider only translations (not rotations ) at nodes. Gauss points might lie at unfortunate spots:
~

'

v
I

I
I

LINEAR

LINEAR

PARABOLIC

21.6

[~EXA ELEMENT)
Transform to ~' 17, ~space:

::

==

z =;

L~x

.=:=~/Y

(-1, -1, -1) (1, -1, -1)

For 8 noded element: 1) Use 2x2x2 array of Gauss points 2) Evaluate shear strain at special shear points. Transfer values to Gauss points.

For 9 to 20 noded elements: 1) Use 3x3x3 array of Gauss points 2) Evaluate shear strains at 2x2x2 array of Gauss points and extrapolate to 3x3x3 array using the isoparametric shape functions for the 2x2x2 array.

>
3x3x3 Gauss points 2x2x2 Gauss points
21.7

"These procedures are necessary to relieve intemal constraints on the strains which destroy accuracy when the element is used to model thin shells.'' (R.H. MacNeal) The MSC /NASTRAN HEXA ELEMENT: 1) can use anisotropic materials (MAT9) 2) has heat transfer capability 3) has differential stiffness 4) provides stresses in the material coordinate system, which can be the element coordinate system (default), basic coordinates, or any other user defined MSC /NASTRAN coordinate system (Recommendation: don't use default!).

IPENTA ELEMENTI
o e e o

a companion of the HEXA has all of the HEXA capabilities has isoparametric formulation with numerical integration is mapped onto a right triangular prism. has two integration schemes 6 point (for 6 nodes) 9 point (for 7-15 nodes)

!'
l

. 1J

21.8

a shear correction is introduced to permit the distance between the two triangular faces to become small:

For the 6 noded PENTA 1) Use 6 Gauss points 2) Use 3 special points for transverse shear strain For the 7-15 noded PENTA 1) Use 9 Gauss points 2) Use 6 special points for Ez, 'Yyz, 'Yzx

APPLICATIONS NEEDING CONSTRAINTS

1) Planes of symmetry

@
2) Generalized plane strain

~::::::::~
3) Cyclic symmetry

',tit<

21.9

SUBSETS OF GLOBAL DISPLACEMENTS

urn

~~

us

= =}ua- }uf}un Ug

Urn are removed by MPC (multi-point constraint).

lis are removed by SPC (single-point constraint). lio are omitted by static or dynamic condensation. ur are suppressed to remove rigid body modes.

@ @

MULTIPOINT CONSTRAINT (MPC) CONCEPT

To model rigid bodies and to impose rigid constraints between d.o.f., use a linear, homogeneous relation:
LA.u.=O
. J J J

Typically, the first d.o.f. mentioned is eliminated in terms of the other d.o.f. Nonhomogenous constraints are created by using scalar points and setting them nonzero.
21.10

RIGID ELEMENTS IN MSC /NASTRAN

RBAR ELEMENT
Defines a rigid linkage between two grid points. Up to 6 d.o.f. at each end can be related.
RBAR RBAR 17 EID 21 GA 22 GB

.....

123456 CN1\ CNB CMA CI\1B

Them-set of d.o.f. are eliminated. The n -set define the rigid body motion.

RBE 1 ELEMENT
o

o o
o

a general rigid constraint element allows connection of an arbitrary number of grid points requires ann-set controlling the 6 rigid body modes allows a very general distribution of n-set and m-set d.o.f.; lengthy input.

21.11

RBE2 ELEMENT
o

o o

a general rigid constraint element allows connection of an arbitrary number of grid points then-set is defined at only one grid compact data entry

RBE2 EID GN CM GMl GM2 GM3 GM4 GM5 +NEXT +NEXT GM6 GM7 GM8

RBE3 ELEMENT
o o

a weighted average constraint element specifies up to 6 d.o.f. (may be at different grid points) to be weighted averages of other d.o.f. These 6 d.o.f. are put in m-set (eliminated)

EXAMPLE (Schaeffer) Transfer loads from a reference grid point to grid point around the periphery.
21.12

!PROBLEM SESSIONI
ProbleiD 1. Energy in solid eleiDent An 8-noded hex element has all nodes but #4 held fixed. Node #4 is displaced 1 mm in the x direction only, requiring a live load:
4 Fx Fy 4 -{100} 50 N ..,C::,__---~ -::

F'z4

25

Node 4 is then given a virtual displacement of -0.001 mm in the z direction (only).

,z

JL!x

~ -= 1

___

2~

A) What is the total strain energy in the

element at the equilibrium position? B) What is the virtual work done by the extemal forces during the virtual displacement? C) What is the virtual strain energy absorbed by the element during the virtual displacement? Solution The equilibrium equation is:

k10,10

k 11 '10 k 12,10

0 1 0 0 0
21.13

F1

100 50 25

F24

Solve the lOth, 11th and 12th equations: k 10 ,10 = 100 N lmm
k 11,10 = 50 N lmm
25 N lmm A) The strain energy is:
k 12,10

UII

=; {u}~
0

[k]{u}II

Oil

klO,lO

1
Oil

(1) k10, 10(1) = 50 N mm

@ @

B) The extemal virtual work is:

Fl

= Lo o -o.o1 o oJ 25
= (-0.01)(25)
=-0.25 N mm

F2

C) By the modified virtual work theorem: LlWext = LlU

'--y---1

II-..:, III
~

II-..:, III

LlU

= -0.25

N mm

Il-7/II
21.14

ProbleDl 2. Cube Dlade of porous 111aterial

A cube of porous material behaves as a linear elastic solid with zero Poisson's ratio. An experiment is carried out for the cube, clamped on the bottom surface. The results of the experiment are studied with an 8-noded finite element.

The cube is subjected to the loads shown. The only nonzero displacement is u 15 = 0.001 mm. The other loads shown on the top surface are those reactions needed to hold the vertices at zero displacement. There are no horizontal forces at any of the nodes, including the reactions at the base. Find as many ~j as possible.
lOOON lOON 200N 200N

0.001 mm

@
21.15

Solution The experiment defines many ki,IS (and by symmetry, k 15,i).

0 0 0 0 0

0 .001 0 0 0 0

!3
0 1000 0 -200 0 0

@
106 N/mm -10 5 N/mm

k 15,15 = 1000 N I 0. 001 mm =

k 18,1 5 = 200N/0.001 mm =-2x10 5 N/mm

k2 1,15

= lOON/0.001 mm =
5 k151s = k1s15 =-2x10 ' ' 5 k15 21 = k2115 = -10 ' ' 5 k15,24 = k 24 ,1 5 =-2x10

k 24 ,~ 5 = 200N/0.001 mm =-2x10 5 N/mm

N/mm N/mm N/mm

The zero reaction forces and zero applied loads lead to ki,IS = k 15 ,i = 0
(i = 1,2,4,5, 7,8, 10, 11,13,14,16,17,19,20,22,23)

A total of 39 coefficients are found. If isotropic, probably all could be found.

21.16

LECTURE22

CASE STUDY: HYDRAULIC VALVE

HYDRAULIC VALVE
A. B. C. D. E. F. G. H. I. CUSTOMER PHYSICAL PROBLEM COST AND TIME ESTIMATES PHYSICAL MODELING FINITE ELEMENT MODELING RESULTS TECHNICAL CONCLUSIONS MANAGEMENT CONCLUSIONS ADDITIONAL, LATER RESULTS

SCALING LAWS
A. PRESSURE LOADING B. GRAVITATIONAL LOADING

22.1

!HYDRAULIC VALYEI
A. CUSTOMER
HYDRECO

A UNIT OF GENERAL SIGNAL 9000 E. MICHIGAN AVE KALAMAZOO MI 49003

JIM GLIDDEN Vice Pres./Engr. LANSON BECKER Manufacturer of Hydraulic Pumps & Valves
22.2

B. PHYSICAL PROBLEM
/
/ /

/ /

/ /

/ /

o e
e

o
o

Valve housing is a single piece casting, made of gray iron. Housing has 3 bores. Used on heavy equipment (road graders, ... ) Casting is cracking during fatigue test. Fails at mold line (some offset present) Intemal pressure is 3000 psi. Want to extend to 5000 psi.

GOAL: Analyze housing and propose a redesign. Consider stresses and displacements

22.3

C. COST/TIME ESTIMATES
F.E.A.
FIRST CASE CALENDAR 1 mo. TIME TOTAL $5,000 COST ADDITIONAL CASE FIRST CASE

EXPERIMENTAL
ADDITIONAL CASE

1 wk.
$1 ,000

6 mo.

6 mo.

$10,000 $10,000

D. PHYSICAL MODELING
e
a o

e e o

a solid body linear, elastic material small displacements pressure loading 5 planes of reflective symmetry 2 moving planes of reflective symmetry

3 fixed planes of syn1metry z

Moving plane

I ;
~

r <

2 moving planes of symmetry

'9A9h9A9A:
22.4

Gray cast iron . E =18,000,000 psi (124,000 MPa)

v

= 0.3

Consider a switch to malleable iron E = 24,000,000 psi (166,000 MPa)

v = 0.3
o

Consider a change in length scale by a factor of 1 /2 to 2.

E. FINITE ELEMENT MODELING

o

The problem has been solved by both SAP6 and by MSC/NASTRAN. Explain MSC/NASTRAN. Use 8-20 noded HEXA elements (88). e Use PLOAD4 cards for pressure on exposed surfaces. e Use SPC on GRID cards for 3 fixed reflective planes of symmetry. a Use RBE2 cards for 2 moving reflective planes of symmetry. e Calculate unresolved forces (projected on lllirror image bodies) and apply with FORCE card on d.o.f. remaining in "n" set on RBE2 card.
22.5

The finite element mesh is:

22.6

HEXA elements: 88 1364 D.o.f.: 547 Grids: 1700 sec, before reseq. Decomp time: 1279 sec, after reseq. $175, commercial rates. CPU cost:

z
X

top view
~~ r\-

.J ~
..........,

!'...

~~

~,

~~ ~
v

r~~

end view
22.7

F. RESULTS (3000 psi)

Epsilon= 3xiQ-13 (a measure of precision) Strain energy= 1.09 in lb (124 N mm) Holes become elliptical (as expected) Max. deflections - 0.0005 in (0.013 mm) Max. principal stresses =22,000 psi (152 MPa)

The displacement field shows circular holes becoming elliptical.

22.8

13,000 psi
(90 MPA)

22,600 psi
(156 MPA)

22,400
(154)

14,000
(97)

14,900
(103)

(BACK VIEW) MAXIMUM PRINCIPAL STRESS

Stresses at bottom of channel (psi):

-6000, 3050
~.---~ =

10400,9810, 9420 15100, 18000, 5820, 5470

(The mesh is too coarse for accurate values in this area.)

22.9

G. TECHNICAL CONCLUSIONS
0

e
e
0

Points of highest stress were found. They coincide with fatigue crack. Stress were higher than expected. Displacements were higher than expected. Certain column-like regions should be straightened:

BAD

GOOD

BETTER

H. MANAGEMENT CONCLUSIONS
0

e
0

Actual cost: $6200 Actual calendar time: 5 weeks Good technology. Hard to convert to design "rules of thumb" Had a good data base for further work.
I

I. LATER RESULTS
Runs cost as little as $450. e Changing to malleable iron doesn't change stresses. a Geometric scaling doesn't change stresses.
0

22.10

e o

Adding material to post helps. Adding material to top and bottom of housing is not cost effective. Some 14 runs were made in total.

ISCALING LAWSI
A. PRESSURE LOADING
Force- L2

~
t---L~

EB Ee
,...
2L
... I

Direct stress:
() =
p A

-22.11

L2 L2

Bending stress:
0'=

Me _ (PL)c _ L2LL L4 I I

B. GRAVITATIONAL LOADING
Force- L3 Direct stress:
cr = _E_ -

L3 L2

Bending stress: cr = Me _ (PL)c _ L3LL _ L

I I

L4

we can't have bigger elephants till they get stronger bones! @

C. CONCLUSION:

22.12

LECTURE23

LAB PROBLEM 4:

GEAR TOOTH

PROBLEM STATEMENT

PHYSICAL MODELING

FINITE ELEMENT MODELING

DATA SETS

RESULTS

23.1

IPROBLEM STATEMENTI
Consider a steel spur gear, made from flat steel plate. The outside radius is 110 mm and the "pitch" radius is 100 mm. E = 207,000 MPa v = 0.3

---4~ 10 nun
23.2

What are the extreme von Mises stresses in a gear tooth under the following two loads?

Compare the stresses for the two cases. These load cases correspond to an aligned pair of gears, and a misaligned pair. Also, when gears are. new, they may need to "wear in."

Coordinates for the gear tooth are:

--J~!t~Jl-- --circle

.102 8._ 100 ~

110 108 106 104 8

98 .s 96] 94 8 92 ~ 90 88

12 10 8 6 4 2 0
y coordinate, mm
23.3

86

IPHYSICAL MODELINGI
e

The gear tooth is a three-dimensional body, because the three dominant dimensions are almost equal. Treat it as a solid body. loads are in the y direction.

o For ease of modeling, assume the contact

0

Extend the model into base of tooth, beyond expected high stress region. Consider the base of the tooth as clamped. Assume linear elastic material and small deflections. Check this later.

IF. E.

MODELINGI

Use two solid elements. Estimate accuracy by comparing nodal stresses from adjacent elements.

23.4

Equivalent nodal loads are found by integrating along the line load path:

{!}=

f [N(99.6,-1.8,z{ 6~0 dz
-5

fl

!44
f47
0 0
0 0
-

1000
0 0 4000 0 0 1000
lOOON

4000N

!so f6o

This is the quadratic, or "Simpson's" rule. G)

IMSC/NASTRAN DATAl

Use two 20noded HEXA elements with connectivity:

019
G5
Cil5

G12
_..o

__A-

G4

G3

Connectivities:
3,5,7,1, 5,17,19,13, 4,6,8,2, 110,11,12,9, 16,18,20,14 15, 17, 19, 13, 7,29,31,25, 6, 18,20, 14,*2,23,24,21,t8,30,32,26
23.5

A file 111anagement statement:

assign output2='LAB4.0P2',new,unit=12, unformatted

The exec"Lttive control stateir1er1ts are:

ID ANDERSON,PROBLEM4 TIME 5 SOL 101 CEND

The case control coiiliilands are:

ECHO=SORTED DISPLACEMENT=ALL STRESS=ALL SPCFORCES=ALL ELFORCE=ALL

SUBCASE 1 LOAD=21 SUBCASE 2 LOAD=22

The bulk data entries are:

BEGIN BULK PARAM,POST,-2 PARAM,AUTOSPC,YES GRDSET,,,,,,,456 GRID,1,,86.50,12.70,5.00,,123456 GRID,2,,86.50,0.0,5.00,,123456 GRID,3,,86.50,-12.70,5.00,,123456 GRID,4,,86.50,-12.70,0.0,,123456 GRID,5,,86.50,-12.70,-5.00,,123456 GRID,6,,86.50,0.0,-5.00,,123456 GRID,7,,86.50,12.70,-5.00,,123456
23.6

GRID,8,,86.50,12.70,0.0,,123456 GRID,9,,93.00,8.70,5.00 GRID,l0,,93.00,-8.70,5.00 GRID,ll,,93.00,-8.70,-5.00 GRID,l2,,93.00,8.70,-5.00 GRID,l3,,99.60,7.80,5.00 GRID,l4,,100.00,0.0,5.00 GRID,l5,,99.60,-7.80,5.00 GRID,l6,,99.60,-7.80,0.0 GRID,l7,,99.60,-7.80,-5.00 GRID,l8,,100.00,0.0,-5.00 GRID,l9,,99.60,7.80,-5.00 GRID,20,,99.60,7.80,0.0 GRID,21,,105.00,5.70,5.00 GRID,22,,105.00,-5.70,5.00 GRID,23,,105.00,-5.70,-5.00 GRID,24,,105.00,5.70,-5.00

GRID,25,,110.00,3.50,5.00 GRID,26,,110.00,0.0,5.00 GRID,27,,110.00,-3.50,5.00 GRID,28,,110.00,-3.50,0.0 . GRID,29,,110.00,-3.50,-5.00 GRID,30,,110.00,0.0,-5.00 GRID,31,,110.00,3.50,-5.00 GRID,32,,110.00,3.50,0.0 CHEXA,l,30,3,5,7,1,15,17,+Al +Al,l9,13,4,6,8,2,10,11,+A2 +A2,12,9,16,18,20,14 CHEXA,2,30,15,17,19,13,27,29,+Bl +Bl,31,25,16,18,20,14,22,23,+B2 +B2,24,21,28,30,32,26 PSOLID,30,31,0 MAT1,31,2.07E5,,0.3
23.7

FORCE,21,15,0,1.0,0.,1000.,0. FORCE,22,15,0,1.0,0.,6000.,0. FORCE,21,16,0,1.0,0.,4000.,0. FORCE,21,17,0,1.0,0.,1000.,0. END DATA

The data were entered on an Apollo 3500 workstation and the run submitted through a network to a Hewlett-Packard 700 workstation. Results for displacements follow.

SUBCASE 1

D I

S P L A C E M E N T

V E C T 0

13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32

-3.021185E-03 1.725656E-04 3.671078E-03 3.830102E-03 3.671078E-03 1.725656E-04 -3.021185E-03 -3.107081E-03 -2.287620E-03

-2.287620E-03 -1.326429E-03 6.016385E-04 2.096687E-03 1.809686E-03 2.096687E-03 6.016385E-04 -1.326429E-03 -1.276241E-03

6.925300E-03 8.207047E-03 1.078616E-02 1.081868E-02 1.078616E-02 8.207047E-03 6.925300E-03 6.963037E-03 1.053944E-02 1.107019E-02 1.107019E-02 1.053944E-02 1.273195E-02 1.317402E-02 1.293621E-02 1.279123E-02 1.293621E-02 1.317402E-02 1.273195E-02 1.276665E-02
23.8

1.089157E-04 3.226746E-04 5.329577E-04 -3.848918E-17 -5.329577E-04 -3.226746E-04 -1.089157E-04 -7.930044E-17 -6.990795E-07 2.797945E-04 -2.797945E-04 6.990795E-07 1.981639E-04 -9.562496E-05 -1.351982E-04 -1.837723E-16 1.351982E-04 9.562496E-05 -1.981639E-04 -2.255743E-16

SUBCASE 2 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32

D I S P L ACEMENT

VECTOR -4.030569E-03 -1.422255E-03 1.032596E-02 7.308815E-03 6.180907E-03 -1.031911E-03 -5.690398E-03 -4.662068E-03 -6.341968E-03 4.727034E-03 3.447913E-03 -6.600303E-03 -6.569131E-03 -2.816546E-03 -2.435198E-03 -7.938867E-04 -1.471236E-04 -3.153600E-03 -6.588367E-03 -6.830011E-03

-1.522059E-03 7.970349E-04 3.806829E-03 3.642006E-03 2.984460E-03 -3.818055E-04

-4 ~ 384f;:16E-i]2;.

-3.037014E-03 -9.022470E-04 4.127733E-03 1.983507E-03 -3.469355E-03 -5.559830E-04 2.247461E-03 3.452979E-03 1.629195E-03 1.188325E-03 -7.570790E-04 -2.100891E-03 -1.113537E-03

7.160452E-03 1.387754E-02 2 .. 594546E-02 9.509350E-03 7.340994E-04 3.647954E-03 4.210754E-03 7.545148E-03 1.421410E-02 1.682306E-02 5.926699E-03 5.796329E-03 1.709548E-02 1.744876E-02 1.552363E-02 1.308611E-02 6.501771E-03 . 7.233304E-03 8.689580E-03 1.211220E-02

SUBCASE 1 STRESSES IN HEXAHEDRON SOLID ELEMENTS ------CORNER POINT STRESSES--------ELE GRID NORMAL PRINCIPAL VONMISES MENT

1 15 17

X y

z
X

z
2 15
X

3.247527E+01 -1.019972E+02 1.207871E+00 3.247527E+01 -1.019972E+02 1.207871E+00 -6.527668E-01 -9.447925E+01 -6.475156E+00 -6.527668E-01 -9.447925E+01 -6.475156E+00

A 6.460155E+01 1.725774E+02 B -1 .. 312817E+02 C -1.633880E+00 A 6.460155E+01 1.725774E+02 B -1.312817E+02 c -1.633880E+00 A 1.337905E+01 1.117319E+02 B -1.073635E+02 c -7.622745E+00 A 1.337905E+01 1.117319E+02 B -1 .. 073635E+02 c -7.622745E+00

z
17
X y

Average minimum principal stress: -119 MPa Average von Mises stress: 142 MPa
23.9

SUBCASE2 STRESSES IN HEXAHEDRON SOLID ELEMENTS ------CORNER POINT STRESSES--------VONMISES ELE GRID NORMAL PRINCIPAL MENT

m
1 15 17 2 15 17
X
y

z
X y

z
X y

z
X y

-9.783768E+00 -4.481932E+02 2.662371E+01 5.878863E+01 1.483216E+02 6.972133E+01 -2.824837E+01 -3.729665E+02 4.365237E+01 3.985226E+01 1.231419E+02 5.648651E+01

1.531718E+02 6.305997E+02 2.186662E+02 1.919591E+02 1.170095E+01 4.646441E+01 7.118484E+01 4.959503E+02 -4 . 484840E+02 1.973675E+01 1.923505E+02 2.038985E+02 -4.303397E+01 7.016408E+01

B -5.499731E+02

c -3.455197E+01
A

c
A

c
A

Average minimum principal stress: -499 MPa Average von Mises stress: 563 MPa

IMARC DATAl
Use two #21 solid elements. The nodes are connected in this sequence:
G8 G5
. (}15

(119

Gl2~

.-e

G4

G3

23.10

TITLE TITLE TITLE SIZING ELASTIC ELEMENTS END POST

7

BILL ANDERSON, BACHAR ALJUNDI 2 JULY 1993 LABORATORY 4: SPUR GEAR TOOTH
400000

21
1

11 12 13 14 15 16 9

PRINT NODE
1

TOTA,LOAD,REAC,STRESS 1 TO 32 POINT LOAD

1

COMMENT 0.0 15 0.0 16

THE FOLLOWING CARD SETS ARE FROM LOAD ID 1000.000 0.0 0.0 0.0 4000.000 0.0 0.0 0.0

21 0.0 0.0

0.0 1000.000 0.0 0.0 0.0 0.0 17 FIXED DISP 1 COMMENT THE FOLLOWING CARD SETS ARE FROM BC ID 100 0.0 0.0 0.0 1 2 3 1 2 4 3 7 5 6 8 CONNECTIVITY 2 21 1 7 3 5 1 15 17 19 13 4 6 ::::> <: 8 2 16 18 20 14 10 11 12 9 17 21 2 15 27 19 13 29 31 25 16 18 ::> c::::: 2 0 14 28 30 32 26 22 23 24 21

23.11

COORDINATES 32 6 1 86.50000 2 86.50000 3 86.50000 4 86.50000 5 86.50000 6 86.50000 7 86.50000 8 86.50000 9 93.00000 10 93.00000 11 93.00000 12 93.00000 13 99.60000 14 100.0000 15 99.60000 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 99.60000 99.60000 100.0000 99.60000 99.60000 105.0000 105.0000 105.0000 105.0000 110.0000 110.0000 110.0000 110.0000 110.0000 110.0000 110.0000 110.0000

12.70000 0.0 -12.70000 -12.70000 -12.70000 0.0 12.70000 12.70000 8.700000 -8.700000 -8.700000 8.700000 7.800000 0.0 -7.800000 -7.800000 -7.800000 0.0 7.800000 7.800000 5.700000 -5.700000 -5.700000 5.700000 3.500000 0.0 -3.500000 -3.500000 -3.500000 0.0 3.500000 3.500000
23.12

5.000000 5.000000 5.000000 0.0 -5.000000 -5.000000 -5.000000 0.0 5.000000 5.000000 -5.000000 -5.000000 5.000000 5.000000 5.000000 0.0 -5.000000 -5.000000 -5.000000 0.0 5.000000 5.000000 -5.000000 -5.000000 5.000000 5.000000 5.000000 0.0 -5.000000 -5.000000 -5.000000 0.0

ISOTROPIC
1

31 206800.0 1 TO GEOMETRY
1

0.300000 2

1 TO END OPTION POINT LOAD

1

COMMENT THE FOLLOWING CARD SETS ARE FROM LOAD ID 22 0.0 6000.000 0.0 =>

c::::=o.o

o.o

o.o

15

CONTINUE

Tl1e 1--esults include nodal displace111ents:

SUBCASE 1 T 0 T A L 13 14 15 16 17 18 19 20 D I S P L A C E M E N T S y z X -2.99916E-03 6.88567E-03 1.00834E-04 1.81506E-04 8.20943E-03 3.18793E-04 3.62712E-03 1.07440E-02 5.71783E-04 3.77793E-03 1.07692E-02 2.11850E-09 3.62712E-03 1.07440E-02-5.71779E-04 1.81506E-04 8.20943E-03-3.18794E-04 -2.99916E-03 6.88567E-03-1.00832E-04 -3.07840E-03 6.93749E-03 9.40661E-10
23.13

21 22 23 24 25 26 27 28 29 30 31 32

-2.23730-03 1.05125E-02-6.17717E-06 3~09846E-03 1.10322-02 2.58904-04 ~3 . ,. c_:::::~:~=E -<1: 61~~ -- 03 1.10322-02-2. 58900E-04 -2.23730-03 1.05125E-02 6.17642-06 -1.28404E-03 1.27212E-02 1.10437E-04 6.02995E-04 1.30845E-02-7.31406E-05 2.07415E-03 1.28662E-02-1.02124E-04 1.81989E-03 1.27444E-02 1.58906E-10 2.07415-03 1.28662E-02 1 .02125-04 ~OP4~~ ~ . .).t~J- rJL 7 31427E - 05 6.02996 -04 J. ~~ -1.28404-03 1.27212-02-1.10438-04 -1.26696E-03 1.27143E-02-2.14446E-10

SUBCASE 2 T 0 T A L 15 16 17 22 23 27 28 29

D I S P L A C E M E N T S y z X ;84 l ~ C~ r)9.85038E-03 }.t:.: -- ;._ ~ 3.48013E-03 2 . ~ 3.61965-03 9.56697E-03 7.12179-03 3.28183-03 1.35515E-03 5.99426-03 3.79613E-03 1.71328E-02 4.99996E-03 2.02774E-03 5.86051E-03 3.56897-03 3.16523-03 1.59602E-02-1.06632E-03 1.69326-03 1.28264E-02-1.07498E-04 9.46777-04 6.82969E-03 2.02396E-04

23.14

NODAL STRESS - ALIGNED

v a 1 u e s p r i n c i p a 1 mises minimum intermediate maximum intensity 9 10
11

12 13 14 15 16 17 18 19 20 21 22 23 24

78.616 111.52 111.52 78.616 42.296 57.485 104.35 95.291 104.35 57.485 42.296 40.576 19.219 37.624 37.624 19.219

-73.415 -24.861 -24.861 -73.41 -40.770 -57.519 -94.746 -91.004 -94.746 -57.519 -40.770 -38.652 -5.0742 -31.129 -31.129 -5.0742

-.78602 3.6316 3.6316 -.78602 -3.3889 -4.1354 -6.6263 -6.6847 -6.6263 -4.1354 -3.3889 -1.1705 2.7987 3.2493 3.2493 2.7987

10.063 98.142 98.142 10.063 5.1412 3.3370 20.486 12.377 20.486 3.3370 5.1412 4.4351 16.831 9.0640 9.0640 16.831

NODAL STRESS-MISALIGNED
mises p r i n c i p a 1 v a 1 u e s intensity minimum intermediate maximum
9

100 .. 39
274~69

-63~610
-150~97 -24~130

29~307

42~877 165~96

10 11 12 13 14 15 16 17 18
19 20 21 22 23 24

-3 .. 3503
44~839

123 ..
102~71

-114~55

-52 .. 805
-32~210

102 .. 23
181~54

-104 .. 10
-216~85
-321~55

356.72
131~40

58~169

-65 . 600 7.1311

-33~757

43~711

-47 .. 327 -30.377 16 .. 875 43 .. 150 -19,.644

-10 .. 081 36,.305 14 .. 279
15~353 -~52766

118 .. 06 4 .. 0178 12 . 935 -25 .. 288 76.361 85 .. 932 74 . 239 15,.267

42 .. 669 42,.964 39 .. 652 34,.408 36 .. 726

68 .. 181
59~949

-34 .. 320
-20~037

51 .. 904 131 .. 54

-20 .. 057 -105 .. 62

46 .. 531
44~186

-15 .. 431 -30,.551

-16,.171
23.15

19,.034

IASTROS DATAl
Use two IHEX2 elements with connectivity:
GIS GI3
Gil

G5 G3

The soltttion cor1trol data set is:

ASSIGN DATABASE LAB4 SHAZAM NEW SOLUTION TITLE=SPUR GEAR TOOTH MODELED BY HEXA ELEMENTS. ANALYZE BOUNDARY STATICS ( MECH = 21 ) LABEL = GEAR TOOTH UNDER 600 N/MM LINE LOAD. PRINT DISP=ALL, STRE=ALL, FORC=ALL, SPCF=ALL STATICS ( MECH = 22 ) LABEL = GEAR TOOTH UNDER 6000 N CONCEN. LOAD. PRINT DISP=ALL, STRE=ALL, FORC=ALL,SPCF=ALL END

Tl1.e bt1lk data set is:

BEGIN BULK GRDSET,,,, ,,,456

23.16

GRID,l,,86.50,12.70,5.00,,123456 GRID,2,,86.50,0.0,5.00,,123456 GRID,3,,86.50,-12.70,5.00,,123456 GRID,4,,86.50,-12.70,0.0,,123456 GRID,5,,86.50,-12.70,-5.00,,123456 GRID,6,,86.50,0.0,-5.00,,123456 GRID,7,,86.50,12.70,-5.00,,123456 GRID,8,,86.50,12.70,0.0,,123456 GRID,9,,93.00,8.70,5.00 GRID,l0,,93.00,-8.70,5.00 GRID,ll,,93.00,-8.70,-5.00 GRID,l2, ,93.00,8.70,-5.00 GRID,l3,,99.60,7.80,5.00 GRID,l4,,100.00,0.0,5.00 GRID,l5,,99.60,-7.80,5.00 GRID,l6,,99.60,-7.80,0.0

GRID,l7,,99.60,-7.80,-5.00 GRID,l8,,100.00,0.0,-5.00 GRID,l9,,99.60,7.80,-5.00 GRID,20,,99.60,7.80,0.0 GRID,21,,105.00,5.70,5.00 GRID,22,,105.00,-5.70,5.00 GRID,23,,105.00,-5.70,-5.00 GRID,24,,105.00,5.70,-5.00 GRID,25,,110.00,3.50,5.00 GRID,26,,110.00,0.0,5.00 GRID,27,,110.00,-3.50,5.00 GRID,28,,110.00,-3.50,0.0 GRID,29,,110.00,-3.50,-5.00 GRID,30,,110.00,0.0,-5.00 GRID,31,,110.00,3.50,-5.00 GRID,32,,110.00,3.50,0.0
23.17

ec .;;
y

...,...J:._r-r:;t..,. ........" l. ~-1 L:AL

~""'~..-.,.,. ,T..: t~ . . ,_ ,_... .11n c:.rt, __ . . . - J. :1 _L. l

'1\J"]\ Cr'r-IT'I 7\ "1'\J" I .1.' .L-'.,..) l. L~... .t"U'

J.. ;::;

. : .-.

-...: I'"' f..- - elJ. - t. Cl_:_ _e 1.

f.....-' .... ..:... 01 t1

TTE'~7 -,., n .L~A

CIHEX2,1,30,1,2,3,4,5,6,+Al +Al,7,8,9,10,11,12,13,14,+A2 +A2,15,16,17,18,19,20 CIHEX2,2,30,13,14,15,16,17,18,+B1 +B1,19,20,21,22,23,24,25,26,+B2 +B2,27,28,29,30,31,32 PIHEX,30,31,0 MAT1,31,2.07E5,,0.3 FORCE,21,15,0,1.0,0.,1000.,0. FORCE,22,15,0,1.0,0.,6000.,0. FORCE,21,16,0,1.0,0.,4000.,0. FORCE,21,17,0,1.0,0.,1000.,0. END DATA

ASTROS results:
**SUMMARY OF AUTOMATIC RESEQUENCING** METHOD SELECTED NONE CRITERION RMS WAVEFRONT AFTER BEFORE 20 20 BANDWIDTH 384 384 PROFILE 20 20 MAXIMUM WAVEFRONT 12.000 12.000 AVERAGE WAVEFRONT 13.153 13.153 RMS WAVEFRONT 32 NUMBER OF GRID POINTS 31 MAXIMUM NODAL DEGREE ELEMENTS PROCESSED 2 CIHEX2 2 TOTAL ELEMENTS **NO RESEQUENCING OF GRID-POINT DATA**
23.18

SUBCASE 1 D I S P L A C E M E N T T2 POINT ID. T1 6.87901E-03 13 -2.99627E-03 8.20150E-03 14 1.81333E-04 1.07336E-02 15 3.62362E-03 1.07588E-02 16 3.77 4 2BE - 03 1.07336E-02 17 3.62362E-03 8.20150E-03 18 1.81333E-04 6.87901E-03 19 -2.99627E-03 6.93078E-03 20 -3.07543E-03 1.05023E-02 21 -2.23514E-03 1.10215E-02 22 3.09547E-03 1.10215E-02 23 3.09547E-03 1.05023E-02 24 -2.23514E-03 1.27089E-02 25 -1.28281E-03 1 . 30718E-02 26 6.02412E-04 1.28537E-02 27 2.07215E-03 1.27321E-02 28 1.81814E-03 1.28537E-02 29 2.07215E-03 30 6.02412E-04 1.30718E-02 31 -1.28281E-03 1.27089E-02 1.27020E-02 32 -1.26574E-03

VECTOR

T3 1.00735E-04 3.18485E-04 8.96093E-17 -3.18485E-04 -1.00735E-04 -2.65087E-17 -6.16896E-06 2.58649E-04 -2.58649E-04 6.16896E-06 1.10332E-04 -7.30709E-05 -1.02024E-04 1.41570E-16 1.02024E-04 7.30709E-05 -1.10332E-04 5.08379E-17

SUBCASE 2 D I S P L A C E M E N T POINT ID. T1 T2 7.49445E-03 13 -1.72820E-03 14 8.52527E-04 1.38828E-02 15 3.47678E-03 2 .. 48169E-02 16 3.61616E-03 9.55771E-03 17 3.27866E-03 1.35384E-03 18 -4.61217E-04 3.54839E-03 19 -4.12347E-03 3.96428E-03 20 -2.99420E-03 7.45384E-03 21 -7.41248E-04 1.41999E-02 22 3v79245E-03 1.71162E-02 23 2.02578E-03 5.85485E-03 24 -3.38530E-03 5.69057E-03 25 3.65341E-05 1.68888E-02 26 2.13585E-03 1.73123E-02 27 3.16216E-03 1.59448E-02 28 1.69162E-03 1.28140E-02 29 9.45870E-04 6.82309E-03 30 -6.22668E-04 7.46013E-03 31 -2.23698E-03 8.63793E-03 32 -1.20099E-03 1.21780E-02
23.19

VECTOR

T3 -4.61180E-03 -1.16420E-03
7.11491E-03 5.98848E-03 -9.03632E-04 -6.03393E-03 -5.19854E-03 -6.21537E-03 4.99514E-03 3.56554E-03 -6.56663E-03 -6.54059E-03 -3.05085E-03 -1.06527E-03 -1.07370E-04 2.02217E-04 -3.09845E-03 -6.38599E-03 -6.61780E-03

.,.....,..~-...

{ ?. --:/} SUBCASE 1: STRESSES IN 20-NODED SOLID ELEMENT ( IHEX2 ) MEAN OCTAHEDR.Ai:::.:::..:>' ELEMENT STRESS --CENTER AND CORNER POINT STRESSES ID. POINT NORMAL PRINCIPAL STRESS SHEAR STRESS 1 15 X 8.805312E+00 A 4.310242E+01 3.653325E+01 7.868285E+01 Y -1.113043E+02 B -1.436572E+02 z -7.100762E+00 c -9.045020E+00 1 16 X 1.171149E+01 A 4.200758E+01 3.458708E+01 7.705680E+01 y -1.097193E+02 B -1.400154E+02 z -5.753422E+00 c -5.753427E+00 1 17 X 8.805218E+00 A 4.310225E+01 3.653337E+01 7.868287E+01 y -1.113045E+02 B -1.436573E+02 Z -7.100868E+00 c -9.045044E+00

2 2 2

3 X -1.091393Et00 y -8.562617E+01 z -2.366378E+00 4 X -9.612938E+00 y -8.855809E+01 z -5.802444E+00 5 X -1.091312E+00 y -8.562617E+01 z -2.366363E+00

A 1.281254E+01 B -9.698936E+01

2.969464E+01 3.465783E+01 2.969461E+01

4.813128E+01 4.742296E+01 4.813129E+01

c c

-4.907094E+00 -5.802436E+00 1.281259E+01 -9.698933E+01 - 4.907087E+00

A 3.344736E+00 B -1.015158E+02 A
B

(;}~[~~~) SUBCASE 2: STRESSES IN 20-NODED SOLID ELEMENT (IHEX2) .................. ELEMENT STRESS OCTAHEDRAL --CENTER AND CORNER MEAN POINT STRESSES 1 15 X -3.017008E+01 A 1.629278E+02 1.473530E+02 2.916142E+02 y -4.221561E+02 B -5.377648E+02 z 1.026724E+01 c -6.722198E+Ol 1 16 X 5.033059E+01 A 1.533314E+02 -2.562039E+01 1.027524E+02 y -5.254855E+01 B -9.827264E+01 z 7.907909E+01 c 2.180239E+01 1 17 X 3.595124E+01 A 1.388956E+02 -6.883413E+01 5.493555E+01 y 1.124937E+02 B 4.727376E+00 z 5.805749E+01 c 6.287943E+01

2
2

3 X -2.423781E+01 y -3.149848E+02 z 4.419801E+01 4 X 2.293410E+01 y -3.824123E+01 z 7.515233E+01 5 X 2.471633E+01 y 8.136563E+01 z 4.534855E+01

1.264328E+02 9.834150E+01 2.283589E+02 B -4.115497E+02 c -9.907625E+00 A 1.135053E+02 -1.994841E+01 7.989239E+01 B -8.168916E+01 c 2.802911E+01 A 1.041717E+02 -5.047683E+01 4.296539E+01 B -1.001492E+00 c 4.826026E+01

23.20

IRESULTSI
The mesh is:

The displacements of the aligned and misaligned load cases, by I-DEAS:

Note that the maximum displacement on the aligned load case is not under the load.
23.21

MAXIMUM Y DISPLACEMENT IN GEAR TOOTH aligned load MSC/NASTRAN

MARC

misaligned load 0.02595

0.02484 ()' ()2l~-82

0.01317
0.013fJ8

Good agreement! The maximum displacement is higher for the misaligned teeth by a factor of 1.9!

The von Mises stress for the aligned gear teeth is (MSC/NASTRAN & I-DEAS):

23.22

The von Mises stress for the offset contact is shown (MSC /NASTRAN and I-DEAS ):
-450.58

~99. ~

3:3? . 59

276.1214

~ ~:~: I
@

I
:-::::

~ :~~~
460.66
~99 . ~
:3~7 . 59

I-DEAS provides discrete contour drawings; misaligned case, von Mises stress:

276.~ I'
21-4.49
152 . 94

.: .:JI
23.23

MAXIMUM STRESS IN GEAR TOOTH (von Mises) aligned load

MSC /NASTRAN
MAI~C

misaligned load
563
357

142
104

The maximum von iVIises stress is higher for the misaligned teeth by a factor of 3. 7! We must not "chase" the singular stress!

23.24

LECTURE24

THERMAL STRESS
OVERVIEW THERMAL EXPANSION IN ROD
THERMAL STRAIN
A. 3-D SOLID B. 2-D PLANE STRESS C. 2-D PLANE STRAIN

NUMERICAL EXAMPLE
A. B. C. D. E. F. 1WO-NODED ROD STRESS-STRAIN LAW EQUATIONS OF EQUILIBRIUM EQUIVALENT NODAL LOADS FREE EXPANSION FULLY CONSTRAINED CASE

FUSION REACTOR COMMENTS

A. SPECIFYING TEMPERATURE B. MESH GENERATION C. USE OF TEMPERATURE FOR PRELOAD

PROBLEM SESSION
1. THERMAL STRESS IN ROD 2. THERMAL DISPLACMENT IN SYSTEM 3. EQUIVALENT NODAL LOADS IN TRIANGLE

24.1

ITHERMAL STRESS I
Ten1perature causes: - n1echanical expansion - changes in material properties Ten1perature changes occur in - high speed flight -engines - catalytic converters Treat as initial strain or initial stress:
{a}= [G]({}- { 0 })- {a0}
24.2

Use initial strain only:

{a}= [G]({e}-{e0 })

We showed earlier that:

{/} =f [B{[G] {e0 }dV

eo
enl VOL

Identify {c0} as the strain caused by free thermal expansion. Example: Line element (ROD)
{e0 (x)} ={a(x)~T(x)}

.
COOL HOT

Thermal strain is positive when ilT is positive. Easy! Whether the temperature field causes any stress depends on the temperature distribution and b. c.:
,.,
"rD
~

.;:

rr;:

:r.

...

24.3

THERMAL EXPANSION IN ROD ELEMENT

The element is uniformly heated, then loaded. Plot 3 relations:

!THERMAL STRAIN!
A. 3-D SOLID
For material coordinates in principal directions:
Zmat

Ex 0 E

{eo}=

Yo Ez o rxyo

a 1ilT a 2ilT a 3ilT

Xffiat

~z o r zxo

0 0 0

t;r
24.4

k .......~x

ORTHOTROPIC SOLID

B. 2-D PLANE STRESS

Ex 0

{eo}=

cy

a 1LiT a 2 LiT
0

Ymat

~at

Yxy

C. 2 - D PLANE STRAIN
a 1 ~T

= (1 + v) a 2 b,.T
0

This strain is greater than in plane stress. The body is captured in the z direction and thermal expansion "spills" over into x andy directions (Poisson ratio effect).
24.5

In coordinates other than material, one gets, e.g.:

ex {eo}= ey

rxy

a 211T ,..., a 311T

,...,

fi 1 11T

in the case of plane stress. Get thermal shear strain. This is so awkward that nobody does it!

li\tUMERI CAL EXAMPLE

A. 1WO - NODED ROD

AlurninuiTI:

E = v = a= L = 100 mm A= 1000 rnm2 11T = 100 oc

68,900 MPa 0.3 -5

2.2lxl0 mm/mmoc

.
24.6

B. STRESS - STRAIN LAW

{ax}= [E] ({ex}- {x 0 })
= [68,900
3

MPal({s}-{2.21 x10
~

})

ailT

C. EQ'NS OF EQUILIBRIUM

D. EQUIVALENT NODAL LOADS

/1} =f { f
2 enl

[B]T[G]{0}dV

Eo=

t[-~}E]{aLlT}Adx
150,000

={-EAailT} EAailT

={-150,000}
150,000 N ,..
f__ 1 _ ____,'l
24.7

... 150,000 N

An intermediate result, prior to applying

Inechanicalloads and b. c. is:

{

!2

/ 1}

+{-150,000} _ _N_[ 1 -1]{u 1 150,000 N- 68900mm -1 1 u)

1

The equivalent nodal loads cause the saine free mechanical expansion as the heat would have.

E. FREE EXPANSION CASE

, _____ e) ~~ ._
Set u 1= 0, f 2 = 0:

~~} + {- ~~~:~~~}= 68,900[-~ - ~]{~J

= 0.22 rnn1.
f2

The second equation gives u 2

crx

24.8

F. FULLY CONSTRAINED CASE

The element is fixed at both ends and heated. Solve for mechanical reactions at ends:

{;J
Hence
150,000 N

+ {-

~;~:~~~}= 68,900[-: !1} ={ 150, 000} { !2 -150,000

-: ]{

~}
@

....(_)_ _ _ _ _ 1. .

150,000N

Thermal and mechanical loading:

Note: The ten1peratures are used at the start of the problen1, to calculate equivalent nodal loads. They are used again, at the end, to recover stresses.
24.9

!FUSION REACTOR!
There are three major ways to control fusion: Pellet fusion (Inertial confinen1ent) Tokamak (toroidal magnet) Hybrid The pellet approach was pioneered by KMS Fusion, Ann Arbor, MI. A 10 m spherical chamber was designed:

Ill ~ , . , Ill Ill ;f?,, Ill

~~~ ~~~
The nuclear energy comes from fusion of deuterium and tritium. A key is the absorption of neutron energy by the molten metal salt layers. The true temperature distribution is:

This was idealized by: ilT

- - - . . _ _ _.....

@
24.10

The assen1bly of hot and cold elen1ents:

HOT COLD

was replaced by an assembly with n1echanical loads:

The loads cancel at the interior junctions:

~

Ef

The problen1 became a mechanical wave propagation problem. Wave speed was found. Reflected waves cause tensile forces.

ICOMMENTSI

A. SPECIFYING TEMPERATURE
One can specify ten1perature in elen1ents or at nodes. The result is different:
T
~specified

at nodes

~specified

in elements

1::::::::::::::::::::::::::::1::::::::::::::::::::::::::::1::::::::::::::::::::::::::::1

24.11

B. MESH GENERATION
Does one refine the mesh in areas of high temperature gradient, or stress gradient, or both? Probably need to do both! Always need fine mesh in areas of high stress gradient. The temperature gradient creates a strain gradient, but this may or may not create a stress gradient.

111111111

C. USE OF TEMPERATURE FOR PRELOAD

Analysts often use a thermal load to represent a preload, such as in a pretensioned bolt. Typically, such a bolt is in tension, and applies compression to a relatively stiff structure.

The analyst makes the bolt "cold" to provide the tension. The structure compresses, relieving some of the prestress. An adjustnient in telllperature is needed, in a 2nd con1puter run.
24.12

IPROBLEM SESSIONI@
Problein 1. Thennal stress in rod A rod is constrained by two rigid walls. If the left half of the rod is heated 100 C and the right half is cooled 150 C, what is the stress distribution in the rod?

~
~

+100 C

-150 C

~
~

'"""'' '"'"' ' ' ' ' '"' ' ' '"' ' ' ' ' ' ' ' ' ' ' Hii!iH!i!i'>i'' "' ii!i!i!;!i!i!i!i!i!i!i!i'>!i!i!Hi

E==10 5 MPa

A== 1000 mm L== 200 mm

Solutio~

a == 1o-5 1 I C
k == 4. 0 x 10 3 J I mm sec C

Model the system with 2 rod elements, using equivalent nodal loads due to temperature.
ul
~;::::: .

- - - u2

~--0----::::::-:~

A typical rod element has:

E(e)A(e)[ 1 -1]{ui}=={ti}+{-EAa~Ti} L(e) -1 1 ui fi EA a~Ti

In our problem:
EA == 10 x 10 == 10 6 N/ L 100 mm
5 3

EAab..T1 =10 5 x10 3 x10-5 (100)=10 5 N EAab..T2 = 10 5 x 10 3 x 10-5 ( -150) = -1.5 x10 5 N
24.13

Equivalent nodal loads assemble in the san1e way as n1echanicalloads.

10

6[_~ -~]{~J={~~}+{-~~~}
[_~ -~] {~2}={JJ+{_~.~~~g~}

106

-~~~
0

2:?;6 -10 6 10 6

-~0 6

{2 = {~ }+ ;1~~ x1o 5
2}

F2

10 -1.5x10 5

The second equation gives:

u
2

2.5x 10 N 2x10 6 N/mm

= 0.125

mm

@
@

The center node moves to the right:

Equilibriulll says both rods are at the same stress. Mechanical (total) strain in the left rod is:
{
X

}=

AL = O.l 25 = 0 00125 L 100 .

Thermal strain is:

{cx0}= aAT =10-5 (100) = 0.001

Stress in the left (and right) rod is:

{crx}= 10 5 (0.00125 -0.001) = 25 MPa

24.14

Problem. 2. Therm.al displacem.ent in systetn A beam extends horizontally between two rigid walls as shown. The ends are effectively clan1ped. A rod is used to support the center of the beam; the rod is pinned to the continuous bean1. The rod is first cooled 200 t. The pinned connection is then loaded with a vertical load of 400 N. What is the deflection of the center of the bean1?
EAIL = 200 N/mm EA = 10 5 N a= 1o-s 1/C ~--,,,_
:::;~=:~.

400N

1--

2000 mm-----~1

Solution This is a planar problen1 with 7 relevant d.o.f. The boundary conditions constrain d.o.f. 1, 2, 5, 6 and 7, while symmetry of the system and loading will cause d.o.f. 4 to be zero, leaving only the rotational d.o.f. 3 unconstrained. We need to assen1ble the stiffness matrix, emphasizing d.o.f. 3.

T
3 ilf:

5 :!\~:
;::::::.:......

1 .!~ :
. . .*= ===

3 =~l~=
~-

2 (I-----400+-c_: :'.,i-~_r_. i_1,_ -- - - - - 6+l"

24.15

 -400

F3

thermal

e4EI+EA)
L3

u3

The equivalent nodal load for a rod is:

F3 } { F 7 thermal
{-

EAa~T}
EA a!1T
5

200N

= 10\10- )( -200){

-l}
200N

= 2oo{_f} N
The third equation of equilibrium is:

u3

= -200 I 440
= -0.45 mm

(downward)

200N 400N

j
24.16

Proble111 3. Equivalent nodal loads in triangle A three-noded constant-strain triangle element is pinned at the left node and on a roller at the right. The element is heated 100 C. What is the equivalent nodal load in the vertical direction at the top node due to the heat?
The element is aluminurn, 10 rnrn thick. Its base width 2a is 200 rnrn and its height b is 150 mm.
E = 68, 900 MPa V= 0.3 a=2.21xlo-5 l/C
(O,b)
.::

The shape function for this triangle is:

1 X y y 1 ~ _1_ rN(x y:\]= [ 2-2a-2b 0 2+2a-2b 0 b y ~ ,, 1~.L. 1 X YQ0 2- 2a- 2b 0 2 + 2a - 2b b

OJ

Solution Since only one force is needed, we should carefully look at the terms to calculate only the necessary ones. The basic equation is:
{f}enl prestrazn . = V [Bf[G]{C0 }dV

The desired cornponent of force is:

! 6 == h JL L Bj,6 Gj,kEo kdA

A j=1k=1
24.17

We only need to calculate 3 of the 18 terms in [B], corresponding to column 6 in [B].

[B] = [D][N]

~ ] - ~ dj : : : : : y~b
dx dydx
-

[G]

0 l/b 0
E l-v2 vE l-v2 vE l-v2 E
1-v2

0 0

The material law is:

@
The thermal prestrain is:
1 0 2 0 3 0

Yxy 0 0 All of the terms in the integral are constants, so the integral becomes merely an area integral. There are also a lot of zeroes:

= x By

0 0

= a~T

{1}
1

f6 = hA('(G11c1+ G12c2 + gt,c1)

+ B26 ( G21 cl + G22c2 + cl) +n)cl +c2 +G33c1))

= hA B 26 ( G21 1 +

G222)

24.18

j6

Ev + E ) a~T = hA(11b) ( 1-v 2 1-v 2

_I ,,i E~ = h( cp) (1/pJ (1 - v)~aAT

=(lOmm)(lOOmrri)( 68 ,000MPa )c2.21 x 10-5 C- 1)(100 C)
0.7

The vertical e. n. 1. at the vertex is:

!6

=215,000 N

>

24.19

I I I I I I I I I

I I I I I

LECTURE25

AX!SYMMETRY
OVERVIEW
A. B. C. D. E. F. GEOMETRY DISPlACEMENTS STRAINS STRESSES FORCES VECTOR RElATIONS

3-NODED TRIANGULAR ELEMENT

A. DISPLACEMENT INTERPOLATION B. STIFFNESS

4-NODED QUADRILATERAL RING ELEMENT

A. DISPlACEMENT INTERPOLATION B. STIFFNESS

6-NODED TRIANGLE LAME' PROBLEM

MSC/NASTRAN SOLUTION. LAME' PROBLEM. TRIAX6.

A. MODELING B. DATASET C. RESULTS

PROBLEM SESSION
1. 4-NODED QUADRILATERAL

25.1

lo~RVIEWI
A. GEOMETRY
0

two-dimensional body of revolution (lathe piece) ring element

B. DISPLACEMENTS
For axisymmetric loads:
and:
v (r,O,z) = 0 { u(r,
25.2

z)}={ w(r,z) u(r,z)}

C. STRAINS
er(r,z)

{c(r,z)}=

i.:{J(r,:::!

-~~- ~:li()(JI:;:~~

strain

ez(r,z) Yrz(r, z)

D. STRESSES
"H()Qpn stress

E. FORCES
0

Defined as total force around ring. Most codes require constant value around ring (severe limitation).

zt

;. ...........~

F. VECTOR RELATIONS
{!}

25.3

Stress-strain law:
{a}= [G]{c}

where:
1-v

v
1-v

[G]=

(1+v)(1-2v)

v v
1-v

v
0

v
0

0 0 0 1-2v

(the same as plane strain).

Strain-displacement law:
{}= [D]{u}

where

dr

1/r 0 [DJ= 0 a

didr
The hoop strain is interesting:
1 EfJ=rur

a a

dz

It depends only on radial displacement!

25.4

-NODED TRIANGU ___ ELEMENT

A. DISPLACEMENT INTERPOLATION
Assume linear displacement functions:
u(r,z) =ql+q2r+q3z w(r,z) =q4+q5r+q6z

u6

The displacement function:

leads to:
1
rl 0 r2 0 zl 0 z2 0 z3
0

[H]

=l/J(r2, z2) --l/>(r3' z3)

----

l/J ( rl' zl)

0
-

1
0

1 0 1 0

'i

'3

1 0 1

0 r2

0 zi 0 z2

0 13

0 z3

25.5

B. STIFFNEss
[K]

=J [B]T[G][B] dv
1

=J J[Hf
0 AREA
1

vol ;,,.,. .
~..,

T
[

l/J [D]T [G][D][ l{J][Hr rd8 dA

1

=2n [Hf T

J[l/J]T [D]T [G] [D][ l/J] rdA[Hf

1 [

AREA

We havt e all ingredients. In princ~iple, can integrate. In practice, numerical integration is used. Equivalent nodal loads:
{f} =
enl . . . ~...,..---;:;::- ~a [MJ

J.[Hf

lfJ{{_1(x,z)} dSPACE
@

4-NODED QUADI R ILATERAL RINGIELEMENT

A. DISPLACEMENT INTERPOLATION
o e e

U s,e isoparametric concept. Map to double unit square. Define shape functions in ~, 1J plane.
25.6

Nl( g, 1J) = (1- S)(l-7])

NlS, 1]) = Nl g, 1]) =

l l (1 + S)(1-7J)

(1 + S)(1 + 1J)

(-1 1) '
:

11

(1 1) '
=

NiS, 11)=! (1- S)(l +1])

1
:

2 '-:
(1, - 1)

(-1 -1) '

We can map both the independent and dependent variables:

r ='LN.(~, 11) r.l i l
z ='LN.(~, 11)z. i l l
u =2-N. (~, 11)u.
i
i
l l

u4
jl~:.
. :

w ='LN.(~, 11)w.
l l

u3
~~=:.:~

B. STIFFNESS
[ k]

=f [N{[D([G] [D] [N] dV VOL ' t I

Classical , A~s:yn1metric
25.7

This can be done analytically in the e directior1 and numerically in r, z directions.

[K] = 2n

JJ[N]T[D{[G][D][N]I II rdSd7J
in 3-D or 2-D or 1-D in 3-D

1 1

-I -1

Equivalent nodal loads

{/} = f [N]T{f}dSPACE
enl space

2nf [N]T{f(r,z)} rdAREA

AREA

In

g, 1J
enl

<~oord:
1 1

{/} = 2nf f [N]T{.1}1JI rdSd7J

-1-1

16-NODED TRIANGLEI
Many pe~ople feel the 6noded triangle is currentl:y the best axisymn1etric element. Some commercial codes allow harmonic loading in the azimuthal (8) direction. An alternate, even so, is to use a solid element (hexagonal) and cyclic symmetry, with gen.e ralloading.
25.8

ILAME'PROBLEMI
Consider the ring shown, a plane stress case. Pressures Pi and Po act. The flat surfaces are not loaded. The solution will also hold for the cylinder shown.

...:-...

~ .-.-.......

.......-----..----

:-..---.
.

-----

The theoretical solution for the Lame ' problem:

for the case p 0 = 0. Note that the sum of the two stresses is a constant. Comment: The Lame' solution for plane stress in a ring also holds for a long cylinder with unrestrained ends because plane sections remain plane!
25.9

The Lame'solution for plane stress in a ring also gives the correct stress for a long cylindt:~r with restrained ends. This is a plane ~;train problem!

if

The Lame 'problem is axisymmetric. Model a : r ing with dimensions as shown.

a b
E

Pi -

50mm llOmm lOOMPa 2.07 x 105 MPa

0.3

Find the stresses and displace1nents throughc>ut the ring. Assume plane stress (no forces onL faces of ring).
25.10

100 -+ 1v1Pa :::

MSC/NASTRAN SOLUTION. LAME' PROBLEM. TRIAX6. A. MODELING

The element is developed in the first quadrant of (r, z) plane. Use basic coordinate system. Use x, z components for grid coordinates. Assume azimuthal displacements v = 0. Use 7 point integration scheme recommended by National Bureau of Standards. @

The finite element model is:

..

15

16

17

18

19

20

21

==

14

t__.....
X

__......
~--~--~--~~--~--~--~

~~

4
25.11

B. D.ATASET
I

l\.

file m ; a nagement state111ent is:

co:n.t rol stateme:n.ts are:

assign output2='lame.f12',unit=12
~rhe e.xe~cutive

ID ANDE~RSON I LAMEPROB TIME 5 SOL 101 CEND

The case control oom111ands are:

TITLE=~rHICK-WALLED

l~SC/NASTRAN

RING MODELED BY TRIAX6 ELEMENTS.

ECHO=B<)TH

@)

DISPLAC~EMENT=ALL

STRESS==ALL ELFORC I~ =ALL

OLOAD=l~LL

S PCFORC~ES =ALL
SUBCASI~

1
TEST PROBLEM. AXISYMM:ETRIC.

LOAD= 50
SUBTITI~E=LAME'

OTJTI)T.Jl' (PLOT)
.:.

DT ; ...hF'>.T ../ . . ~E<T~ ,;. . ..J .f. .

:::.."1 }'f~

1'\J2. C..~T J. .< ..... !-.-

)..} .. J

:]'

../ .:..

:.:.: :

']'' 'l\ r (': :- :- TT') -r:~: . l. \l ,_ .. .:.. J \.. : .:...' .L.J

i. ),, : ..... J

n '[' .T

n
,_,

..

n
,_,

"

n
..,;

.t' .LAJ' .

,. ,... _..,

~"I'

D .Ldi~

,. ':\ E'':L ... . .., ('' . . . H' .t:L..f1.'

0 S?T 51
25.12

Tl~e

bulk data BEGIN BULK

1 1

e1~tries

are:

PARAM POST -1 GRDSET 1 1 1 1 1 1 1 2456 GRID 1 1 1 0 1 5 0 . 1 0 . 1 0 . = 1 * ( 1) 1 = 1 * ( 10 ) 1 == =(5) GRID 1 8 1 0 1 50. 1 0. 125. 11 23456 = 1 * ( 1) 1 = 1 * ( 10 ) =(5) GRID 1 15 1 0 1 50. 1 0. 1 50. = 1 * ( 1 ) = 1 * ( 1 0 ) 1 == =(5) CTRIAX6 11 130 1 1 12 1 3 110 117 1 9 =1*(1) 1=1*(2) 1*(2) 1*(2) 1*(2) 1*(2) 1*(2) =(1)
I= I=

CTRIAX6 1 4 130 1 15 1 8 11 1 9 117 116 =1*(1) 1=1*(2) 1*(2) 1*(2) 1*(2) 1*(2) *(2) =(1) MAT1 1 30 12.07E+5 11 0.3 PLOADX 1 50,100.,100.,15,8,1 END DATA
1

C. RESULTS
TT.r<ER Il\JFr\Pl'v1A'' TIQ'l\T '-.l.;.w.. ,_l\:
\....);.'::) j_

1VfEQC7\ r:!E ..... .l ~_,)...t.!:"l.,.J

LOAD SEQ. NO.

1

EPSILON 2.1151167E-15
25.13

EXTERNAL WORK 3.4535414E+04

POINT ID. TYPE Tl 8 G 0.0

r""' -.., 0 1... l ...PJrt
1
D~ .

T2 0.0

T3
LA.-.J

')

~2-c._Q
..L...:

.J

Rl R2 R3 0.0 0.0 0.0

Tl
1

T2

c 00 _;, .~+o 1 .h/~

T3 0.0

Rl 0.0

R2 3.92E+7

R3 0.0

The radi<il force resultant equals the entire pressure load on the inner radius of the ring:
Fradial = (pressure )(area )

(/\'\

= (100 N /mm 2 )(27t)(50 mm)(50 mm)

= 1.571 X 106
N

'(Y_}

Displacements, loads and reactions:

2.618xl05 N

1.047xl06 N

2.618xl05 N
~-*::::.....
~-~~:;::.

0.0438 mm
25.14

0.0277 mm

STRESSES IN TRIAX6 ELEMENTS STRESSES IN MATERIAL COORD SYSTEM AZIMUTHAL ELEMENT GRID RADIAL ID ID 1 1 -8.255891+01 1.585935E+02 3 -3.454276E+01 9.180396E+01 17 -3.380558E+01 9.249939E+01 2 3 5 19 5 7 21 -3.314767E+01 -1.173269E+01 -1.101427E+01 -1.082116E+01 5.503397E-01 7.369445E-01 9.240816E+01 6.539439E+01 6.586105E+01 6.579588E+01 5.225233E+01 5. 246037E+0 1

15 1 17 17 3 19 19 5 21

-9.326558E+01 -9.279537E+01 -2.461969E+01 -3.653429E+01 -3.560642E+01 -8.594191E+00 -1.217587E+01 -1.178196E+01 1.825760E+00

1.543958E+02 1.543106E+02 9.639660E+01 9.132994E+01 9.134811E+01 6.687474E+01 6.536322E+01 6.537327E+01 5.292275E+01

25.15

COMPRESSIVE RADIAL STRESS,

-88.6 ____.....=-93.3 -66.9 -40.3 -24.6 = -36.5 -25.4

aro MPa @
-6.5

-1.4 +1.8(T)

;: -12.7

CD
-34.5
=
=

-11.7
" 3
-

+0.5(T)

::.

3 ;) ~ 8"
D

1 6{)" . .3.

~ ~ - 1"'1 j ..

2'1 ~ "
k,.

-11.5

-5.0
# 126

-1.0

lV[SC/NASTRANTRIAX6

t:.

~1.1\.RC~

Radial stress in ring

. o
~
C\S

-125
-100

~
b
~

I~

MSC/NAS~~6 ~
Ntt\RC #126______________]

....

00 00 <1.)
~

-75

00
~

ro ro

-so
-25
0 0
20 40 60 80 100 120

"'C)

-~

Radial distance, r, mm
25.16

Azimuthal (hoop) stress in ring

0

150
C\S

+2.4%

:;E
t>
~
~
~

125

<D 100
"

Q)
r:/'1

75 50
25
+2.19(;

::r:

~ 0 0

r~-----~~-C/NAST~~@~RI~6 -~
. 11 MARC #126
-~'

20

40

60

80

100

120

Radial distance, r, mm

IPROBLEM SESSIONI@
ProbleDl 1. Four-noded quadrilateral
Calculate the stresses in a 4-noded quadrilateral element with an imposed displacement field. The element has a uniform radial displacement of 0.001 mm and contracts toward the centerline by -0.0003 mm. Find all six stress components.
z!~
!
i

! f

~---;; --

'

25.17

100 mm

_l_
Solution A 4-nocjed quadrilateral in 2-D will have a "bilinear" set of displacement functions:

= q1 +q2 r+q3 z+q4 rz w(x, y) = q5 + q6 r + q7 z+ q8rz

u(x,y)

The give: n displacement field is consistent with:

u(r,z)~O.OOl

w(r,z)

= -0.0003( ~) = -6.0x 10-6 z

(The con.s tants can be found formally by matching the displacement functions to the nodal displacements.) The strain-displ. relation for axisymmetry:

i
l/r

di

{u(r,

z)}

w(r,z)

25.18

Insert the given values for displacement:

0 0.001 I r -6x 10-6 0

ez
Yrz

The stress-strain law for axisymmetry is the same as for plane-strain:

1-v v v 0 0 CJr v 1-v v 0 0.001 I r CJe E v 1-v v 0 -6x1o-6 (1+v)(1-2v CJz 1-2v 0 0 0 0 rrz 2

CJr v( -6 x 10-6 + 0. 001 I r) CJe _ E v(-6x10- 6 )+(1- v)0.0011r CJz (1 + v)(1- 2v) (1- v)( -6 x 10-6 ) + vO. 001 I r

rn

The direct stresses all have a constant part and a part that diminishes with radius. The shear stress is zero.

25.19

LECTURE26

MODELING CONCEPTS
PHYSICAL MODELING FINITE ELEMENT MODELING SHEET METAL ELEMENT DISTORTION PLANE STRESS PLATE BENDING SOLIDS

26.1

1~!-IYSICAL MODELINGI
When yt>u are first given a proble:m, decide: What type of structure is it? What is it made of? What arte the boundary conditions? What arte the loads? How will the body deform? How will the body fail? Where will the body fail? How can you document the critical areas? What arte special features: symmetries, end releases, layered plates, anisotropic material?
26.2

FINITE . E LEMENT MODELING

The most important question is: How can the steepest stress gradients be :modeled? What elements should be used? How many elements should be used? Where can the mesh be coarse? Where must the mesh be refined? What special FEA tricks need to be used? (SPC, MPC, rigid elements, ... ) What resources are available for the model: -manpower -computer -pre/post processing?

You should make a small test run if you are using: -a new element -new loading types -a new solution sequence Try a warm-up problem with 2 or 3 elements. An example, for transient heat conduction, is:
~

bearing

--(~/L

A three-element model was first solved:

11,,___1_ _ _ l _ _

26.3

(SHEETMETALI
SPOT WELDS .,., ..
....

Use intermediate, unconnected nodes:

BOLTED~

CONNECTION Only cortstrain translational d. o. f. at connection. Rotations are not constrained.

0 0

MATING SURFACES
> :O' IQIOI,)')QIQI'

x- ~ x- X~Qa' ;;o >X< scoo-x:.;.: .,. :r

>v

Some co,mpanies choose to model one surface of sheet metal rather than the centerline, and choose to model the "mating" surface: Physical problem:

FE

modt~l

surface:
26.4

TOTAL DISPLACEMENT FOR BEAM UNDER END LOAD

LOAD= 1,000
MSC/NASTRAN V66

PLATE WITHOUT HOLE

TOTAL DISPLACEMENT FOR BEAM UNDER END LOAD MSC/NASTRAN V66

PLATE WITH HOLES

26.5

IE:Ij:EMENT DISTORTION!
Consider the following definitions for plate-like elemenLts in the undeformed shape:
aspect ratio, alb skew, 8 taper, d/t~ 2 directions warp, h/a
d

MSC/NASTRAN V66

WAD= 1000

PLATE WITH: HOLES - QUAD4 STRAIN ENERGIES

26.6

IPLANE STRESSI

tttttttt t

: . :-:.:-. . . .

. . <> . .

FIRST PRINCIPAL STRESS .. . GPSTRESS OPTION 4 NODES PER SIDE NASTRANV66

.. . . ............ : .. . - c:::.:'::> .. TENSILE SPECIMEN MODELED WITH CQUAD4

26.7

FIRST PRINCIPAL STRESS :i GPSTRESS OlPTION 10 NODES pgR EDGE MSC/NASTRAN V66

ly
---X z
TENSILE SPECIMEN MODELED WITH CQUAD4 ...

FIRST PRINCIPAL STRESS GPSTRESS OPriON 20 NODES PER SIDE NASTRANV66

TENSILE SPECI1\1EN MODELED :>>> .. @ .. . . ... WITH ..... . .. .CQUAD4>

26.8

FIRST PRINCIPAL GPSTRESS OPTION 30 NODES PER SIDE NASTRANV66

X
.

..

; ~ ::-: : :. :

TENSILE SPECIMEN

MODEL~I) \\liTH cQUAb4

. ..

GPSTRESS OPTION 40 NODES PER SIDE NASTRANV66

TENSILE SPECIMEN

MobtL~ri Wr;ffi 666~~ . . .. .

26.9

FIRST PRINCIPAL
HP1: 8*8*2 MESH 3:1/5:1 RATIO 5*8*2 MESH 1:1/5:1 RATIO

HP2:

. . . .: ..:: : : ::::.<
i

TENSILE SPECIMEN MODELED WITH CHk

IPLATE BENDINGI
Consider the effect of skew on bending:

~~~~~~~~~~ ~,6?S' Ill r111111111

I
t .........
X

"~

26.10

PERCENTAGE ERROR IN DISPLACEMENT ROO QIJA04 DOF/node = 3 using MSC/NASTRAN eo guAD1 i ii- iiiS
'V. ERROR OF DISPLACEMENT

~.m~~.

o Rn TRIA3

....... _
I

~ . --~ -5;-----~~~------~~~~~--------------~

. 0111--=---11110-----------~;;~~:::::=~l .... .
o ..........._

=-=--~

-.........

.........

-10~--------------------~~------------~~~

,.

-15;---------------------------------~~----~

.,.,.,.
0.18 0.20

-20~--~--~--~--~~--~--~--~--~--~--~

0.08

0.08

0.10

0.12

0.14

0.18

0.22

0.24

0.26

RECIPROCAL OF N X N MESH PER ELEMENT

ERROR AS A FUNCTION OF SKEWNESS AND MESH DENSI1Y

% ..... ert.Q.r

. 1~
~~- Q.f::$~-b.t$ lt$r snz.~

26.11

ISOLIDSI

2C

~v

2B~
~-~{=~~

displacement values ~ observed at this comer

Displacement :B1rror vs. Aspect Ratio.

MSC/Nl~STRAN

V. 65Dl 8-Noded HEXA

10e I 10 .................................................................................................................. .......................... . -- ...................................... ..............

. ..
:

:~:.::::::::::::::::::::::::::::::::::::::.:::::::.:::::::::::::::::::::::::::::::::::::\.::::::::::.: . :::::::::::::::::::::::::
-

ao -- ...................................... ...................
~

~
~

-~~~~~"~~~~~~~,~~

.. ,. ... -.

:: ::::::::::::::::::::::::::::::::::=:::=:::::::::::::::::=::=::::::::::::~::::::::::::::::::::::::::::::::::::::::::::::::~::v.:::: ..:::
................................................................................................................ .. ..... ...........................
.. ............................................................................................................................ ............. ....

- -

..

40 ................... - -

........................................ ............................ ... ............... ..... .

----- ------- --- ....... .....................

.............................---- ---..::::u:

---------- ...... ............... ... . ---- - .......

........................................................................................................................-.................... .
...................................................... ....... ........................................................... ........ .. ....... .. .. .

......................... ................ ................ ........................................................................ ..

....

ASPECT RATIO
26.12

Displacement Error vs. Aspect Ratio

MSC/NASTRAN V.66FX
Two 8-Noded HEXA's Warped Interface of 0.58
100 SID 10 70
50 40 30

- -- -

eo -

- - - - -- - -----. . ..... .. ..... . .. . ... .. .

. . ...

..

........ .

... ... ............... .................... ......... ..... ........ .... ........................... ....... . .............. ......... .................. ............... ...................

-1: . ...: .:. . :--:: :.: : : :: : : : ::. .:.: : : .:.:..: .: . : :.: : : : :- .:: : :: : : :: :.::.:: : : : .:: : : :
:: :::::.:::.::::::\1.:::: . ::::.: ::.:::.: ..:::::::.:..::::::::::::.:::::.:::::::::.:.:::.::::::.:.~:::::...::::::::::::::::::::::::::
-70 -10 ....................................................................................................................................
-~+-~~~~~~~~~~~~

20 10

... ....................................... ............................. ... ......................................... ........ ........ ..... .............. ..

values observed at this corner

: : : :_:: .:... :__ ::.- ..::.:::::v ::_::_::_:::::::::::::::::::::::::::::.:::::::::_ .::_::: ..:.: :::::::::::::_::::-:::.:::::::

-eo

ASPECT RATIO

- ...

Displacement Error vs. Aspect Ratio

MSC/NASTRAN V.66FX
Ten 10-Noded TETRA's Warped Interface of 0.58
100 - : r - - --- ----,r--r-r---r---r-~--, 90 .................................................................... .......... ................... ........................... .

eo ..... - ................... ....... ............. ........

........... ..... .......... ..

.. .. ........ .......... .. .

70 . .................... ...................... ......................... ............ .............................................. . 60 . ........................................ ............. ...... .... ......... ......... ........ ......... ..... .................

.. ..

GO .............................................................. .............................................................. . 40 ------- ............. ........................................ ........................................... ....... ............ ..

30 .................... ............ .................. .................................................................... .... .

~
~

~:

:::::::v ::::::.::.:: .: ::::::::.::.:::::... :::::::::: ..::::: ::~: :: :::::::::: ::::::::: :::::::: ::: ::::.:: :.: . ::::::

:~~ .:u : :.::::::::--::::..:--:::::::::::::....:::::::::::::::: . :::.::::: :::::::: :::::::::. ::::::::: :..... --:: :::::::::::: :: ::.:::--::...:: ~:::::..: :::W:::::.:.:.::::: ::::::.:: .:: ::::::::.::::::::: ::::::::: : ::::.: .::: ::::::::::
-50 ... .............................. ......................... ... : ......... .................................... .............. ..

0+ . ~~~~~~~~-4~~

RolJinson test using sets of tetral1edra \vitli \varped interface.

-eo ............................ ....................................................................................... ......... 70 ........ ...................................... .. ............ ..... .. .................................. ..... ............. ........ . -ao ............................................................... ..........................................
-SID - ... ......... ......... .. ..... ..... ........... .. ...... ..... ..... - .. ........ ...... . 100 r o....-rrr--~ ......-.--.- -rr- --.. 'r"TTTT
10 MD tOOO

ASPECT RATIO
26.13

I I I I I I I I I I I I I I I I I I I

LECTURE27

CONVERGENCE
CONVERGENCE THEORY
A. B. C. D. E. F. G. CAUCHY VS. ABSOLUTE DEPENDENCE ON MESH H VS P CONVERGENCE COVERGENCE CRITERIA MONOTONIC CONVERGENCE (MELOSH) PATCH TEST (IRONS) GOAL (SANDSTROM)

CASESTUDY:COMPRESSOR PROBLEM SESSION

1. HYPOTHETICAL ELEMENT 2. THE "AMOEBA" ELEMENT

27.1

CONVERGENCE
THEORY
A. CP.lUCHY VS ABSOLUTE

D. 0. F.
27.2

B. DEPENDENCE ON MESH
The accuracy of a mesh depends primarily on the number of d.o.f. It is influenced by the average size "h" of the elements, the polynomial degree "p" of the displacement field, and the quality of the mesh. For a sequence of F. E. models, the error in the displacement field is:
E= O(hp+- 1)

For linear displacement fields (Tumer triangle):

E= O(h
2 )

In the Tumer triangle, halving the mesh spacing reduces the error by a factor 1 I 4. The error in an elastic element (where stresses are first derivatives of displacement) is:
E=O(hP)

The error in structural elements (where stresses are second derivatives of displacement) is:
E=O(hp-l)

The stress in a Tumer triangle mesh has error:

E= O(h)

(slow convergence)

The stress in a space frame of Euler-Bemoulli elements has error: E= O(h 2 ) (fast convergence)
27.3

C. H VS. P CONVERGENCE
Element refinement, h
1
2
~

(=
(=0

{=

3
'

+c
e
0

+ 0 +e + .!efoq @efofe9
9 (!o!oo9
~
A(x) = A 0(1+x/L)
I I

'

+ +0, +++o+++'

4 ~:!

5 4:~eeo'

'

@e!ooo9
@

The "end-to end" system stiffness has error, for 2:1 area ratio: Element refinement, h
1 1
2 2
0j(i

3
!-j(i
9()

::
+3.97

c:

+0.121 etc
0

'

3 c~
4 Qo

+0.00368%
0

+0.00011 0 o/o

5 E8[o oo

' ' ' '

c ! 9 cC! ! 9 0 ! ~ O!! + 1..08 +0.492 +0.279% c~ + + Qoffa+ @o?ofeq

0

+O.o102

tro

'

!'

~o!oo' ~
Qioa!ooof

27.4

Consider a mesh refinement (h) case, with G) QUADS'S and MSC/NASTRAN, as in Lab 1:
2 elem. O"x = 274 MPa 20 d.o.f. O"y = -95 MPa
~__,__

ux = 1.133 mm uy =-0.480 mm

.......

16 elem. Ox= 428 MPa ux = 1.267 mm 112 d.o.f. O"y = -216 MPa uy =-0.569 mm 60 elem. Ox= 400 MPa ux = 1.187 mm 400 d.o.f. O"y = -184 MPa uy =-0.530 mm 200 elem. ax= 391 MPa ux = 1.163 mm 1280 d.o.f. O"y = -176 MPa uy =-0.510 mm

A similar mesh refinement with QUAD4's (stresses at centroid) yields maximum values:
8 elem. 24 d.o.f.

ax= 169 MPa ux = 1.097 mm O"y =-29 MPa uy =-0.461 mm ax= 352 MPa ux = 1.131 mm O"y =-146 MPa uy =-0.487 mm ax= 370 MPa ux = 1.148 mm Oy =-159 MPa uy =-0.498 mm

50 elem. 120 d.o.f. 200 elem. 440 d.o.f. 612 elem.

1292 d.o.f.

Ox= 381 MPa ux = 1.152 mm cry =-167 MPa uy =-0.501 mm

27.5

D. C<)NVERGENCE CRITERIA
Zienkiewicz and others state that for convergence to be guaranteed, one should have displacement functions that:
1. allow rigid body motion (with no strain)

3t

ITa.-0

2. allow constant strain modes

3. allow only finite strains at the interface between elements ("conformability")

[[]]

[0
E. MONOTONIC CONVERGENCE (MELOSH)

One can ~~uarantee monotonic convergence under certain conditions: If a) ele1nents satisfy the previous conditions on confor.mability, b) a sequence of solutions is made with nested grids, continually refined, and c) a ]potential energy formulation is used; Then dis]placements, strains, stresses and strain en<:~rgy will converge monotonically to the exact answer from below. Comment: as in the global Rayleigh- Ritz method, the finite element model is too stiff.
27.6

F. PATCH TEST (IRONS)

The preceding sufficent conditions for convergence (Melosh) are severe. It is now known that less severe conditions in the "patch test" are sufficient. This allows study of nonconforming elements which are convergent. If one creates an arbitrarily-shaped patch of elements with at least one internal node, and if one imposes displacement conditions around the boundary that are consistent with a constant strain field, and if the correct stress field is obtained, tl1.er1 the element will converge to the correct answer. This test is practical, because it is numerical.

Nonconforming elements can pass this test. The physical rationale is that no energy is lost at interelement boundaries. If one passes to infinitesimal size elements in the patch test, tl1e11 the test is both necessary and sufficient. Reference: Zienkiewicz, 0. C., "The Finite Element Method," 3rd Ed., McGraw-Hill, 1977 (pp. 35, 269, 372).
27.7

G. GOAL (SANDSTROM)
I

Problem Stateme11t
Effort Meter

L'
Analysis

50%

100<31

Accuracy Meter

Results

J'

50o/o

100%

CASE STUDY: COMPRESSOR

I

L. Peterson worked on a convergence study for a compressor, at General Electric.

I
\

One comJlressor stage was isolated.

27.8

'

I
/

The critical area was isolated:

Three mesh densities were studied:

The final choice would be used repeatedly, so efficiency was important.

II

III

27.9

AFINE /lVlASS model:

EFFEC11VE

ST~SSES:

MODEl.~

AREAl

AREA2

AREA3

AREA4

AREA5

STG. 2

55.85 54.06 50.29 49.53 53.30

42.79 45.28 44.42 44.28 48.11

14.13 13.48

14.00 12.22 13.06 13.36

-

28.85 31.98 33.44 34.44

-

LOCAL I LOCAL II LOCAL III

AFINE/Mi\SS

14.62
14.90
-

27.10

CONCLUSION

Local model II gave the most accuracy for the expense.

LOCAL %INCREASE TYPE MODEL MESH IN ACCURACY 0% (REF) I COARSE II III MEDIUM FINE
7% 9%

CPU COST $9.40 $20.34 $45.72

Use of this model is justified for parameter optimization. For a final validation of the design, a fine mesh would be used.

IPROBLEM SESSION I
ProbleDl 1. Hypothetical elen1ent Consider the hypothetical plane stress triangle shown. It is equilateral and has one degree of freedom per node, for a total of 3 d.o.f.
~~~ u3

Is this a useful element for general use? Discuss its good and bad features. Use commonly applied criteria for evaluation.
27.11

Solution This elerrtent is clearly bad. First of all, it will not assernble with neighboring elements to any use:

The nodes would not be able to move--each element would constrain the motion in a different ~direction. With only 3 d.o.f., the element could only represent 3 modes of motion. It appears that the elemt:~nt cannot have any of the required 3 rigid body modes.

The elem~ent could not pass the patch test. If the propc,sed constant strain field required any element to move with rigid body motion, it would in~;tead be locked in place.

t ~X
27.12

ProbleiD 2. The "aJlloeba" eleiDent

A hypothetical plane stress element is created,

in which 6, 10 and 15-noded versions exist. It is named the ''amoeba" element because of its ability to adjust boundaries to its neighbors. It is desired to compare the accuracy of the versions of the element by modeling a certain planar problem. The first mesh uses 100 of the 6 noded elements. The second mesh uses 49 of the 10 noded elements. The third mesh uses 16 of the 15 noded elements. Which model will have the least error in stress? Each mesh uses elements with similar distortion. You may wish to cast the error estimates into nondimensional form for easier comparison.

Solution
The 6-noded element can use a complete quadratic for displacement polynomials: u(x, y) = qo + qt x+ q2y+ q3x2 + q4 xy+ q5y2 The 1 0-noded element can use a complete cubic:
2 2 u(x, y) = qo + qtx+ q2y+ q3x + q4xy+ qsY

+q6x +q7x y+q8xy +q9y

The 15-noded element can use a complete quartic:

u( x,y) =qo+qlx+q2y+q3x +q4xy+q5y1-q6x +q7x Y
2 2 3 2 2 3 4 3 22 3 4

+qs.xy +q9y +qlox +qllx y+ql2x Y +ql3.xy +q14Y

27.13

We now compare stress error on the basis of @ element size and polynomial degree:

1 ( Ew oc "49

)3

1 oc 343

~~~~~---BEST

The best model uses 49 of the 10-noded elementE;. This was a race between p and h convergence, and neither won!

v1

27.14

LECTURE 28

STEADY-STATE HEAT CONDUCTION

OVERVIEW VARIATIONAL METHODS STEADY-STATE HEAT CONDUCTION LINE ELEMENT EXAMPLE: SOLDERING WITH HEAT SINK
PROBLEM SESSION
1. 2. SOLDERING TEMPERATURES THREE-NODED LINE ELEMENT

28.1

RVIEW
Important th problems include thermal stress and heat c duction. The two can be coupled easily in e direction, but the other direction is really ifficult!
rill~:I< ~1 1\l~- PI< ()Jj L.(:t:ivl S
crEIV1l)El~i\'IlJE<_E$ )
I
("'! l-f(""1s-o.;'(l(.,_ N _{~)Nr. [ :J.J~_j ,t _}:

HEi\T

large deformation, --- friction, etc.

28.2

rt.-r
I

We will view the heat conduction problem as a "field" problem. Other field problems are: stress pressure magnetic electromagnetic fluid flow, ..... One can derive field equations from equilibrium concepts energy (variational) methods weighted residual methods Integral formulations are desired because they "smooth" the field variables (derivatives tend to increase error).

VARIATIONAL METHODS

A "functional" is an integral in which the inte-

grand contains functions and their derivatives:

F('P) =

[[(a~~)J +2'P(x)}x
28.3

One can take derivatives ofF by 'I' but not by x!

The variational o~rator 8 : acts only on cdrtain dependent variables usually acts oJ the field variable, but might act on s t me derivatives has the same nroperties as a differential operator in regard to free interchange of integrals, sum ations and derivatives, and in regard t use_of the "chain rule."

J$x
Interchange is ossible because we have proper integral , finite sums and smooth functions.

Setting the first vration to zero

$F("lJ!) = 0

is equivalent to as ng for an extreme value of F w.r.t. the functi n '. When this is satisfied, the functional iss d to be "stationary" for the particular'* that is found. In heat conductiof . the operator 8 acts only on the temperaturre, and not on the heat flux.

28.4

STEADY-STATE HEAT CONDUCTION

DIRECT VARIATIONAL PROCEDURE

@
E

Divide the body into elements. Likewise, divide the functional:

U(u)

= LUe(u)
e=l

Shape functions in an element are:

UA

-LN(x,y,z) J UB u(x,y,z):
Up

=LNu . 1 J
1

A
28.5

Consider the potential as a function of all nodal temperatres:

U=Uu 1,u 2,u3, ,uN)

the~al

The variation of U elds:

Because the 8ui

~-

arbitrary:

au -o

f>=O
au :L a
I

auN -

au _ 0

I Go from a global tf a local argument:

dU:1

(i=1,2,N)

aCLUel= 0

"

The prolJlem has reduced to consideration of one elerr1ent at a til me! Assign concentrat d fluxes F k arbitrarily to one of tl1e element connecting the node k.
28.6

The thermal energy in a single element is:

Ue(uA,uB,-,Up)=

J{i[ kx(:x Ll\juJ + ki:y LNjuj y +kz(~LNjuj rJ

2

-QLJ\juj }dv+

fQLNj~ dA
s2

fiK(LNjuj-~)~A-Lfkuk
s3

This term is differentiated w.r.t. ui.

- fQNidS+ fK(Ll\juj-Ta)f\'ldSs2 s3

fi *- 0

( i =A B F) ' ' ' (j = A, B, , F)

( e = 1 2 E) ' ' '
28.7

Simplify. lnterch

ge

f, L, fx:
uj

~=j~

aue

F {

f [kxdx dNi a j dNi dNj ()N. dNj] } d.f + kydy dy +kz--;fz dz dV

~2
J=A

- f QNidV - \fQNidS + _{ { f KNiNjdS

v

s3

}~
*0

- fKTaNfdS - fi

s3

We can identify a

aue aue
dllp
:

~atrix form:
r
rk]{u} +
I

duA

[ k ]{u}- {!}

where the compon nts are:

k -- f [ k dNi Wj + k dNi dNi + k dNi dNj]dv x(JX dx Y dy dy zdz dz iie v

k s -l)e

f KNN.Js J
s3
l

/;ie --

J QNidV J QNidS + JKTaNidS + ~ v s s3

il

28.8

In matrix notation:

{]}=
total t1ux

jLNJ QdV+
v
volun1etric tlux

fLNJQdS + fKLNJ TadS+{!}

s2

surface flux

s3convection .

concentrated

flux

For assembly, embed in an NxN matrix:

au

a~
Finally:

dul

=a{u} =[K]{u}+[K ]{u}-tF} =0

5

au

auN
[K]{u} + [K ]{u} = {F}enl + {F}enl + {F}enl + {F} Q Q Ta
internal energy convection int1o\v inflo\v int1o\v inflo\\'

outtlov,r

ILINE ELEMENTI
Consider a two-noded, heat-conduction line element:
(o

e)

~ X
u(x) = [1- xl L x/ L

Assume a linear temperature field:

J{::}

The heat conduction stiffness is:

k ..
lJ

= jfka~ aNj Ad J ax ax X
0
28.9

Hence:
k 11 ={kfx( - x/L) x ax 0

~(1- x/L)Adx
=
Ak/L

=tk(-1
0

)(-1/L)Adx

k12 =

k21

=fk(-1 L) (1/L)Adx
0

=-Ak/L
=

k22 = tk(ll )(l!L)Adx

0

Ak /L

The heat conduc9 on matrix is:

[Ki=~[-~ -~] ----EXAMPL : SOLDERIN WITH HEAT SINK

The autl1or built a color TV, in which he damaged a diode by ov rheating it. He remembered that a ht~at sink (piers) could protect the component, and wond red how much longer one could solder with e sink than without.

28.10

A simple three-element model is made of the

diode lead and the pliers.

3 72 __...

..__ 0.25"

1. 5"

1
4

0.015"

5(10 ,.
2

't
II

*
el

72

~ 1 ---1~~1-~-1"
Thermal conductivities are: k pliers = 6 Oox10- 4 BTU/secFtn
kwire =

5.05x 10-3

"

The assembled heat conduction matrix is:

[K] =
2kw + kP -kw -kw kw 0 0 -kP 0 -kw 0 0 kw

-kP
-kw

kP
0

where kw= ~/L.v and kP = ~/Lp.

Partition and solve for u
1.

21.419 -0.892 -19.635 -0.892 106

-18:~~; 0.~
-0.892

92

19~635
0

u 1 = 89.8 F

u1 0 _ F2 ~ 500 72 F3 0.892 72 F4 (with pliers)

u 1 = 286.0 F
28.11

(without pliers) @

The flux: into the iode is found by forward multiplication: F4 == -0.000016 BTU/sec (with pliers) (without pliers) Conclus:i on: One ~an work 6 times longer on a solder<~d joint by\using pliers as a heat sink.
I

F4 == -0.000102 BTU/sec

TIME, t, sec

PROBLE~M
I

SESSION

Problem 1. Solde~ng temperatures Consider a solde g situation where the tip raises the center o a copper wire to 200 F, as shoWil. The is 5 inches long and is 0 oF at both ends. What is the heat flux into the wire?

1.-

5"-~-.1
28.12

Solution Use a simple two-element model:

e

CD

2
o

with: where

kw = kA/ L

Solve:

sec Cf in = 1.59 x10-7 BTU / Fsec

= 6 x 10-4

BTU n(0.005 in)

2.5 in

F2 = (200 <>p)(2kw)

= (400 <>p )(1. 59 x 10-7 BTU / F sec) = 6. 36 x 1o-5 BTU I sec /

Problem. 2. Three-noded line elem.ent
Consider a heat-conduction line element with 3 equally spaced nodes as shown. Find the heat conduction matrix term k 22 .
(0

0)

Solution

28.13

The definition for onduction in a rod is:

k
l)

=
0

k dNi dNj Adx

X

dX dX

For our specific c lse:

28.14

LECTURE 29

STEADY-STATE HEAT CONDUCTION (CONTINUED)

DISCUSSION OF VARIABLES CONSTANT- GRADIENT TRIANGLE

A. B. SPECIAL CASE GENERAL CASE

PROBLEM SESSION
1. 2. RIGHT-TRIANGLE ELEMENT GENERAL TRIANGLE

29.1

USSION
_LES
In classical heat c nduction , heat flux is often a vector quantity: In finite elelllent~volumetric heat flux Q is a sc ar, positive into a point. It is c led a heat 1 "load." Equivalent nodal fl es Fi are scalar at a node, p sitive inward:
29.2

(+)

{X}

.. f

{'I} {a} { E} {-L}

{rt}

u{:

work/vol

~'------work _ _____.+
tL--..----work

Lwork/space

_+

--------Jt
enl

Equivalent nodal loads were {/} = [N{ {x}dV. These concepts are not as obvious in heat conduction.

I v

G)

HEAT CONDUCTION NOTATION

For heat conduction in an element:

{Q}
{Q}
[k]

t ----work----------~~
L..-_

lwork/space

Equivalent nodal fluxes:

{ !} = [N{{Q}dV.
en1 V
29.3

DIMENSIONS AN
~

UNITS

For heat transfer:

Quantity
Di111e sion

temperature force lengtl1 time energy power

Fl'

Consiste:n t units oR, oF OK, oc lb N in m sec sec BTU J=Nm BTU/sec W=Nm/sec

ANALOGY BE1WEJN HEAT AND STRUCTURES

X
~

XXX

.,Y.N'.WN.

".!.Y.

~.v.-..t.

~..v.w"' .,..,..,..,..;:;.,.._,,~*';J!l,:!;e"e""

u...-.

1...-~~.-,.~S~'$.~:;~~-;s.~~X~~!::,

Symbol
{u}

Stn ctures
displc tcement ve ocity ace e.~ eration stij fness
1

I-Ieat Transfer temperature rate of change of temperature

{u}
{it}

thermal conductance heat capacity

[k]
[b]
[m]
{F}

ctrurpmg
II Lass

thermal load
29.4

appli edload

CONSTANT-GRADIENT TRIANGLE
The constant gradient heat-conduction G) triangle is analogous to the Tumer triangle.

A. SPECIAL CASE
y Consider the right ~ . (O,c) triangle shown. Calculate k 33 and find equivalent fluxes for the distrib- Qo~ uted flux. Assume isotropic material.

~~

~ ~~-----------~-(0,0)
(b,O)

We have the general law in two dimensions:

k =
IJ

J
AREA

[k

x(JX

a~ aNj +k aNiaNjl dA
dx
Ydvy dvyf

and need to find the shape functions, which are plane surfaces passing through 3 points, in each case:
NI(x,y)=l- b- c
X

y
1
~~

N 2 (x,y)= ~ N 3 (x,y)= ~
1
29.5

For the isotropic

k
33

aterial case, kx =~and

AREA

J k[dN3 dN3 + dN3 dN3JhdA dx ax dydy

dA
EA

kh -c2

khA - 2
c

_ khbc
c2 2

33-

- khb 2c

Find the equivale

nodal flux:

{!}enf = ~lfLNl{Q}dS
Q
2

= 1 [LN(O,y)]{Q 0 }dy =
I

Qo

J{l- 0ylc} dy
o
y/c

29.6

r =
fl

The equivalent nodal flux at a node has no vector sense--it is merely positive into the node and negative out of the node.

B. GENERAL CASE
Consider the triangle shown. The isotropic heat conduction matrix is calculated as:
b 2+ c 2 (a+b)
[k]=kh

(ab-c 2) (a+b)
(a2+c 2)

-b
-a
a+b

2c

(ab-c 2)

(a+b) -b

(a+b) -a

See Problem 2 for calculation of a typical term. The right triangle becomes a special case with a = 0.

(-a,O)
29.7

(b,O)

PROBLM SESSION
Problem 1. Rig t-triangle ele111ent
a 3-nod with a l1eat sourc Nodes 1 and 2 re erature does nod
Considt~r

d, constant flux triangle of 100 watts at node 3. ain at 0 C. What temp3 reach after a long time?

~ ,-100 watts
k = 10 J /mm sec C
h=1 mm
0 0

a
~----o---x

('l

1 200mm 2

Solution The steady state h r at conduction law is:

{0} {F~ kizb

O =
2c
U3

F }

100

Solve for temperat re at the top vertex:

_1 ,0 (2c) u 3 - khb
_1Q0(2)(200) - 1r (1)(200)

=2~C
29.8

Proble:m 2. General triangle

Consider the isotropic, 2-D heat conduction element shown, with kx = ky. The element is of thickness h. The base of the triangle is (a + b). If the temperature at node 1 is elevated one unit in temperature, while nodes 2 and 3 are held at zero temperature, what is the heat flux into node 2 required to maintain this situation?

(-a,O)

Solution The question is precisely as to the value of k 21 , i.e., the flux at node 2 is generated by a temperature of unity at node 1, only.
k
21

=J k(dN2 dN1 + dN2 dN1)dV

v

dx dx

dy dy

The element is a constant flux element, with linear shape functions.

N 1(x,y)= C(y-c+"bx)

N1( -a, 0) = 1 = C(O- c+ c(ba))

=-Cc(l+ b)
29.9

-1

c(l +b)

--(y-c+-x) c(l + ~) b

-1

We need derivative w.r.t. x andy:

The second shape unction is:

N2

C(y-c-~x)

Evaluate the const , t:

N 2 (b, 0)
I

= 1 = C(O- c- cg)
-1

Hence:

N 2 (x y)' -

c l c(l+bla) 1
!

(y-c-cx) (1+bla) a

and the derivatives are:

29.10

We can now integrate:

k
21

= f k(dN2 dN1 + dN2 dN1)dV

v

ax ax
1

ay ay

Because the derivatives are constants:

k21

= hkA[(alb

)(a~ b)+( c(l Jbla) )(c(l: albJJ

J

kh(a+b)c[ -1 ab 2 2 = 2 (a+b) +c (a+b) 2 _ khc [ -1 + ab 2 - 2 (a+b) c (a+b)

J
kzl =

2c

kh[ab- c

(a+ b)

.j

29.11

I I I I I I I I I I I I I

I I I I I

LECTURE SO

DYNAMICS AND NONLINEAR PROBLEMS

INTRODUCTION TO DYNAMICS INTRODUCTION TO NONLINEARITIES

30.1

DUCTION YNAMICS
In struct11ral cs, the displacement field is a func1ion of tim :
{u ={u(x,y,z,t)}

Nodal displacemen

become functions of time:

u}

={u(t)}

The spatial interpol tion is unchanged:

{ u( x, y, z,t } = [ N( x, y, z) ]{u(t)}

but this implies an elemeilt.

chronous motion within

30.2

A. TYPES OF FORCES IN DYNAMICS PROBLEMS

harmonic periodic transient stationary random random

t
--+------'-'

;1--~ - - -t ~~\1'~~;\dt
A~ v ~
t

B. TYPES OF RESPONSE IN DYNAMICS PROBLEMS

rigid body motion elastic motion

forced vibration

"free" vibration

30.3

Many dynamics p oblems are in the form:

[M]{li} + [ ]{u}+ [K]{u} = {F(t)}

This is the respon e problem. If damping and e emal forces are set zero, and if displaceme ts are assumed harmonic:
[B] =[C)]

{F}={O}

{ u(t)} = { ljJ }cos mt

one is left with the eigenv. .alue problem:

([K]- m2 [M]){cf> }= {0}

l"

RESPONSE

;${.

I
I
t;;..

frequency response I ans1ent . response

( eal eigenvalue analysis EIGENVALUE ~ l omplex eigenvalue analysis

1

30.4

E. MASS AND DAMPING

Consider an infinitesimal bit of material:

Structural forces can be oblique:

No one disputes that inertial forces are collinear with acceleration and that damping forces are collinear with acceleration.
.. } Pdv{u
~;;
~

.~-'?

Jlf{it}

.f

Ct~. ~~

J1"{.} U

No one argues with D'Alembert's interpretation of Newton's second law:

{F}inertial = -pdV{u}

There is a lot of argument about the magnitude of the damping force!

30.5

View the inertia ef ct as an extemal volumetric loading. Use equi ent nodal loads:

{j}e.n.l. = [[N]T{X}dV
=-

I p [N] {U}dV
T

The spatial interpo ation exploits the separatic>n of varia les:

{ u( x, y, z,

)}= [N ( x, y, z)]{u(t)} { u( X, y, Z, t)} = (N (X, y, z)]{u(t)}

{U(x, y,z,t)}= [N(x, y,z)]{ii(t)}

Inserting the

disc~ete form, one obtains:

{f}e.n.l.

~ -~[N]T[N]dV{ii}
-[m]{ii}

[m] ....___ consistent

mass mahix

Damping terms

e assumed in the form:

{f}e.n.Z. = -[b]{u}

From the static lat, with D'Alembert's help:

[k]{u}= f(t)}-[m]{ii}-[b]{u}

The newly found ~erms are moved to the left:

! [m]{ii}+[b]{U}+ [k]{u}= {f(t)} l ~__j

30.6

G. CONSISTENT MASS FOR TRIANGLE

The consistent mass for a Tumer triangle is:
1.2 0 1 0 1 0 0 2 0 1 0 1 [ ]= phA 1 0 2 0 1 0
m

12 0 1 0 2 0 1 1 0 1 0 2 0 ~0 1 0 1 0 2

Notice that, in total, the terms add to two times the triangle's actual mass--representing the inertia in two directions.

H. DIMENSIONS AND UNITS

There are two approaches to dimensions:
Gra\r:itational: F, L, T
I\~ r11~ -st:c~3

System Intemational: English: Structures (English):

Absolt1te: M, L, T

kg
Mg

11}~ ft.~ s~ec.~

tt)~ tr1~. s:;::.r:~=

slug slinch

System Intemational: English:

}~~;~;:: rr1 ~ .sf:>C~ ~

s1lJ.;~: Jl~ s:e:c~

30.7

N lb

INTRO UCTIONTO NONLI EARITIES

To this point, all four problems have been linear. What can go wrong with this?

Effect

. . ' , j
.

Effect
;

'--

Cause

Cause

CJx CJy CJz !'xy !'yz !'zx

st~e~sst~atn

~]

ex ey ez Yxy Yyz Yzx

straindispl. {
=

Ux} Uy
Uz

[/)]

~X

Constitutive law nonlinear elastic plasticity

~!ra~:~l(l~~-l?e~! _1(;1~~ large displacement large in-plane loads
u

!??~~?~~~~~!!~?..~~6
contact problems interference

!19n!&~C!f_1p~teJi~.

problems include:
F-.

Necking down of axial test specimen

0"--------J) .., F

Flaring a strain-hardening tube material

Inflation of a biological material (dura mater)

30.9

Geome~c :gon..~!~Jariti.~sinclude:
"--~
~ .....

..,

Deflecti<)n of an unstret<~hed wire under a weight

Euler b11ckling of a colLtmn

Attachment of a b~wed MILVAN container to a flat pallet (a cpntact problem):

I

B~d~ nonlin~~es include:

Interference of a b am with the end of a slot:

F

_,. .l~~

.ru contact

30.10