Pergsmon

0045-7949(95)00418-l
Compurers d Srrucrures Vol. 60. No. 4. pp. 643651, 1996
Copyright 9 1996 Elsewer Scmce Lid
Printed in Great Britain. All rights reserved
0045.7949/96 $I 5.00 + 0.00
THE MIXED FINITE ELEMENT SOLUTION OF CIRCULAR
BEAM ON ELASTIC FOUNDATION
A. Y. Akaz and F. Kadtoglu
Istanbul Technical University, Faculty of Civil Engineering, 80626 Maslak, Istanbul, Turkey
(Receitled 13 January 1995)
Abstract-In this study, circular beams with variable cross-sections on elastic foundations under arbitrary
loading are analyzed by the finite element method. The Winkler hypothesis is considered for the
foundation. With the developed circular finite element CR12, in which six independent variables are
chosen for each node, all kinds of boundary conditions can be taken into account. In this study the effects
of shear deformation and torsional effect of the foundation are included. Additionally, a special case finite
element formulation is given for straight bars on elastic foundations. Copyright c 1996 Elsevier Science
Ltd.
NOTATION
T, M
9. M
Y. 0J
s
C, D
t. n, b
i, j, k
x-
k,
internal force and moment vectors
distributed external force and moment
unit shear and rotation vectors
arc length along the curve
shear and bending rigidities
Frenet unit vectors
Cartesian unit vectors
subgrade reaction modulus
rotational reaction modulus
I, ITi, fi, T given boundary values
placement and classical strain energy methods are
used. Recently Ak6z ef al. developed a new finite
vectors
element formulation for three-dimensional bars using
the GPteaux differential [18]. Using a similar ap-
proach Kadloglu [I91 has studied circular beams on
Winkler foundations, and Omurtag and AkGz [20,21]
have studied helical beams with variable cross-
section, cylindrical and hyperbolic shells.
In this study, a mixed finite element formulation
for circular beams on Winkler foundations (CR12)
has been developed.
1. INTRODUCTION
The straight or circular beams on elastic foundations
have received considerable attention due to their wide
applicability in civil engineering. Because of its sim-
plicity, the Winkler hypothesis is extensively used by
researchers. A summary of foundation models intro-
duced by numerous investigators is given in Ref. [l].
Beams on elastic foundations have been investi-
gated by numerous researchers. Hetenyi [2] studied
straight beams on Winkler foundations and came up
with an exact solution. Closed form solutions to
various cases of beams on elastic foundations have
been proposed by various authors in Refs [3-51 and
the finite difference solution has been proposed by
Beaufait [6]. The finite element approach is used
extensively in the analysis of beams on elastic foun-
dation [7-l I]. Recently, an exact stiffness matrix for
beams on elastic foundations for the Winkler foun-
dation have been introduced [12]. The problem of
circular beams on an elastic foundation has been
treated by various authors and the closed form
solutions of differential equations are given and
numerical results have been tabulated for special
cases [13-l 51. Finite element formulations which are
based on displacement types have been developed to
solve this problem [16, 171. In these papers, the dis-
2. FIELD EQUATIONS AND FUNCTI ONAL
The field equations of bars for three-dimensional
case are given by Inan [27]:
dM
---
ds
equilibrium equations.
(1)
du
--
ds
w = 0,
kinematic equations, (2)
du
--txx-y=o,
ds
-M-Da =O,
>
constitutive equations. (3)
-T-Cy=O,
T-T==,
M-fi=O,
I
boundary condition.
(4)
n-6=0,
u-fi=o.
643
644 A. Y. Akijz and F. Kadioglu
Bending and shear rigidities are defined as follows:
k 0 0 -
GA
D- =
I
-
EI,
0 0
0 Lo
b
1
0 0
(5)
For a circular beam that is perpendicular to the plane
of a structure, its effective internal force component
is depicted in Fig. 1. Using eqns (l)-(5), scalar field
equations of circular beams on elastic foundations
are obtained as follows:
-s-qR +kRu,=O,
-z-M,+RT,-Rm,=O,
-z + M, - Rm, + k,RQ, = 0,
dQ, Mt
x-R,-RD,=O,
d%
dR+Q,-R2=0,

dub
dB+RR,-R$=O.
b
,A-
____-----
7
t
4l
5
n
b
(6)
Fig. I. Circular beam under perpendicular to the plane of
the structure.
-ub = -ii,,
0 = A,
-a,= -fit,
M,= A&,
T, = fb,.
(7)
Equations (6), (7) are also used for the straight beams
taking R + 00. For the sake of simplicity these
equations are not derived here. However, to derive a
very simple beam FE formulation, the field equations
can be written as follows:
2
-+;+kv -q =O,
-$-~~=O.
(8)
In these equations displacement v and the bending
moment M are conserved, which are important for
engineering purposes.
Field equations can be written in operator form as
Ly-f=O,
Q=Ly-f,
(9)
are given explicitly in matrix form of the operators in
the Appendix. Q is a potential if the equality
<dQ(y, 91, Y*> = <dQ(y, Y*), Y> (10)
is satisfied [23], where dQ(y, 9) is the Gateaux deriva-
tive of Q and the inner product of two vectors. It can
be shown that the operator for the circular beam eqn
(6) and straight beam eqn (8) satisfy eqn (10). There-
fore the functional corresponding to the field
equations is obtained as [23]
I(Y) =
s
<Q(sY> Y), Y> ds, (11)
0
where s is a scalar quantity. Using the notation given
in Fig. 1, the functional I(y) for circular beams on
Finite element solution of circular beam 645
elastic foundations can be obtained after a few ma-
nipulations as
+ [tTb - b)> Ublc, + [tn - 2,3 n,l,
+ [CM, - &i,,> fi,], + b&r Tble
(12)
The functional for the straight beam can be obtained
in a similar manner [24,25] as
I(y) = $+, Z?] + [M, c] - [q, c]
-&w41+ -[(T-Q,Gl
- [(M - k), clc
- [C, T], - [I:, M],
(13)
The brackets with the cr index are valid on the
boundary where the dynamic boundary conditions
are prescribed and similarly the brackets with the t
index are valid on the boundary where the geometric
boundary conditions are prescribed. The functionals
reduce the classical beam energy for a specific case.
3. FI NI TE ELEMENT FORMULATI ON
Tb= T,,y,+ Tb,y:>
The basic vectorial quantities are expressed in
Frenet coordinate as follows:
4 = 4i YY, -f s; v: (17)
Also, to take into account different rigidities with
variable cross-sections, as defined in eqn (S), they will
be expressed in terms of interpolation functions as
follows:
u=u,t+u,n+u,b,
Fig. 2. Linear interpolation element for circular beam.
T= r,t+ r,,n+ T,b,
M=M,t+M,n+M,b.
(14)
For the sake of simplicity the following symbols will
be adopted for the above vertical components which
are active for the circular beam:
u, = 0, U, == 0, Ub = M,
R, = 6, R, = d, fib = 0,
T,=O, T,-0, Tb=Q,
M,=B, M,=M, Mh=O.
(15)
To derive the finite element formulations first the
interpolation function must be chosen. The linear
interpolation function satisfies both compatibility
and completeness requirements [26].
y )@I-01,
,
y JW-0,)
L
J
L
(16)
where adopted notation is depicted in Fig. 2. A11
known external and unknown internal quantities
have been expressed by the interpolation functions as
follows:
n,=u,,ly,+ub,y:.
1
- = A, Y, + A, Y,,
1
EA
- = Y, Y, + Y, Y,,
GJ
&=K,Y,+K. (18)
All expressions of unknown and known quantities
in terms of interpolation functions are inserted into
eqn (12), and after extremization of this functional
with respect to twelve nodal variables the 12 obtained
element equations are given in Table I. During the
T
a
b
l
e

1
.

E
l
e
m
e
n
t

m
a
t
r
i
x

%

f
i

,

Q
j
M
ti
M
W

T
b
,

T
b
,

Y
,
=

I
/
G
J
,

Y
,

=

1
/
G
J
,

X
,

=

I
/
E
l
,

A

,

=

l
I
E
I
,

K
,

=

I
/
G
A
;

K
,

=

I
/
G
A

,

k
L

k
L

-
T

7

0
.
5

-

f

0
.
5

%
t

k
L

3

0
.
5

0
.
5

+

i

%

L

L

L

-
-

0
.
5
;

L

L

0
.
5

3
R

6
R

3
R

6
R

0
,
;

%

a
,
=

-
L
(
Y
,
/
4
+

Y
,
/
1
2
)
;

b
,

=

-
L
(
X
,
/
4
+
X
,
/
1
2
)
;

c
,
=

-
L
(
K
,
/
4
+
K
,
/
1
2
)

a
2
=

-
L
(
Y
,

+

Y
,
)
/
1
2
;

b
2
=

-
L
(
X
,

+
X
,
)
/
1
2
;

c
2

=

-
L
(
K
,

+

K
,
)
/
1
2

a
,

=

-
L
(
Y
,
/
l
2
+

Y
,
/
1
4
)
;

6
,

=

-
L
(
X
,
/
1
2
+

X
,
/
4
)
;

c
,
=

-
L
(
K
,
/
1
2
+

K
,
/
4
)

b
,

b
2

b
,

Finite element solution of circular beam 647
e
xllI----
z
i
_i
V
L=Zj-q
.
Fig. 3. Linear interpolation element for straight beam.
It----J-+
Fig. 4. A simple beam on elastic foundation.
mathematical manipulations the following properties
of interpolation functions are used:
s
I
Y,!Yv;de =;, YiY;dQ = -f.
(19)
0,
The element equations are valid for circular beams on
elastic foundations with variable cross-sections. The
properties of the element equation are:
(I) The coefficient element matrix is symmetrical.
(2) They reduce to straight beam for R-rm.
(3) For a beam with constant cross-section
A,=A,, v,= y,, X,=x,, K,=k;.
(4) For special cases the size of the matrix reduces.
For straight beams the order of the matrix is 6 x 6.
(5) The numbers with hats are valid only when a
dynamic condition is given for the corresponding
node. Otherwise these numbers must be ignored.
0 5 10 15 20 25
N (Number of element)
Fig. 5. Displacement along the number of elements.
N (Number of element)
Fig. 6. Moment along the number of elements.
Fig. 7. Rotation along the beam axes
The load vector has 12 elements, which are defined
as follows:
ar
z&=
ar
_=. . .
afl,,
aI
_=...
ati,,
ar 1 ar 1
z=Ub,, =&=-b,,
ar
. . a,,,
ar
aM,,=.
- , h,,
aM,,-
(20)
,~,-,--TllTr-
L Cm)
0.0 0.5 1.0 1.5 2.0 2.5
,, (Length of element)
Fig. 8. Shear force along the beam axes.
648 A. Y. Akiiz and F. Kadroglu
,sw
60 7
k
Fig. 9. For sinusoidal distributed force, circular footing on
elastic foundation.
F 50
I
cc
25
r O
-25
0 lT/2 ll 3n/2 2n
Fig. 10. Bending moment along the circular beam axes.
Quantities with hats are singular known nodal values.
The concentrated external loads are taken into ac-
count by the Lagrange multipler method. The in-
clusion of boundary condition terms in the functional
plays a very important role in the applications as
mentioned by Akoz et al. [18].
Applying the similar approach to the functional
given in eqn (13) and using the notation presented
in Fig. 3 the following simple BM4 finite element
equation is obtained as
Fig.
kL 1 kL -1
T L 7 L
-1
1 -L -1 -L
L 527
--
L 6EI
kL -1 kL 1
YL3L
-1 -L 1 -L
-_
L 6EI z 3zi
300
200
100
0
-100
-200
-300
8
0 n/2 ll 3n/2 277
I I . Twisting moment along the circular beam axes.
-GO
-60 8
0 n/2 n 3n/2 2n
Fig. 12. Shear force along the circular beam axes.
PI pI PI
P
Fig. 13. Concentrated forces for circular beam.
4. APPLICATIONS
To test the efficiency and accuracy of the new
proposed finite element formulation BM4, BM8 and
CR12 for the beams on the Winkler type elastic
foundation, the following sample problems, for
which solutions are available in literature, are solved.
4.1. Example 1
The first example is a simple beam on elastic
foundation, which is supporting a concentrated load
P (Fig. 4). The geometry and material properties
are: P = 1000 kN, EZ = 45,000 kN m, L = 2 m,
k = 10 kN m-2. The theoretical solution of this
L
Mi
L L-
413 + 4, 6
0
L L
41 jj + q, j
0
q
Fig. 14. Fixed-ended semi-circular beam.
(21)
Finite element solution of circular beam 649
Table 2. Results of example 3
0
(deg-min)
9 0.03412 0 -61.829 0
0 * 0.03435 0 -61.288 -
+ 0.03436 0 -61.346 0
0.03692 0 121.775 37.5
22-30 : 0.03653 0 122.708
l 0.03652 0 122.853 37.5
9 : CR12; *: [13]; +: analytical.
Table 3. Results for fixed-ended semi-circular beam
Location Method
Deflection
(m)
Bending
moment
(t m)
Twisting
moment
(t m)
Shear
(t)
CR12 0 - 100.099 29.757 15.708
Fixed end ( 161 0 -99.981 29.489 15.707
Analytical 0 -100 29.756 15.707
[151 0 -100 29.756 15.708
CR12 0.0409 22.373 0 0
Mid-section [161 0.0404 27.585 0 0
Analytical 0.0403 21.324 0 0
1151 0. 0403 27. 324 0 0
problem is availabe in Ref. [27]. The displacement
and the bending moment at the middle point is
ch/?l cos E
2
T, = P
ch/?Z +cos fli
The finite element solution converges towards the
theoretical results when the element number is in-
creased. The convergence of the BM4 and BM8 is
shown in Figs 5 and 6. Rotation and shear force
distribution along the beam axes is depicted in Figs
7 and 8.
4.2. Example 2
In the second example, the special loads have been
taken into account, which is of interest in relation to
the missile interconnect structure.
m, (0) =m, cos e,
q(8) = -T cos 0.
The theoretical solution of this problem is given by
Rodriguez [14] in Fig. 9. For the numerical solution,
the geometry and material properties are:
m, =45 t m-*, R = 7.5 m, E=2 x 107tmm2,
k = 10,500 t rne2, k, = 875 t m-*, El = 360,000 t m-.
The theoretical and CR12 results for Mn, Mf and Tb
are given in Figs 10-12. As is seen in these figures
the CR12 results are perfect in agreement with
Rodriguez [ 141.
Table 4. Results of example 5
(degymin) Method
9 - 2. 6456 0. 0 - 440. 066 75. 0
0 99 -2.6454 0.0 -439.988 75. 0
4 - 2. 6140 0. 0 - 437. 763 75. 0
9 - 1. 7053 - 59. 580 62. 114 26. 838
22- 30 99 - 1.7053 - 59.233 62.112 26.841
@ - 1.7087 - 58.926 61.258 26.517
9 -1.0220 0 195. 433 0
45 99 -1.0223 0 195. 369 0
5, - 1. 0007 0 192. 176 0
9: CR12 (k, = 0); 99 : CR12 (k, #O); 4 : [15].
650
A. Y. Aktiz and F. Kadioglu
Fig. 15. Circular footing on elastic foundation.
4.3. Example 3
In the third example, the circular beam on an
elastic foundation is studied. The concentrated forces
act as eight symmetrically different points, see Fig. 13.
The geometry and material properties are R = 25 ft,
E=3x106psi, b=h=30in, P=75t, k=15001b
ine2. The numerical results are tabulated in Table 2.
A comparison shows good agreement with the ana-
lytical solution.
4.4. Example 4
A fixed-ended semi-circular beam with a uniformly
distributed vertical load is analyzed using the CR12
finite element. The problem is illustrated in Fig. 14.
The following numerical data are used: q = 1 t mm,
A =0.7854m2, R = lOm, /I = 1.2, v = 0.3, EZ =
0.98 x lo5 t m-l, GJ = 0.82 x IO5 t me-*, GA//3 =
0.6 x lo6 t. By using twenty elements, the results are
displayed and compared with the analytical solution
and also with the results available in the litera-
ture [15, 161 in Table 3.
4.5. Example 5
A ring foundation with four symmetrically applied
concentrated loads is solved with the following geo-
metrical and materials properties: P= 150K,
R = 25.031 ft, b = h = 30 in, E = 3000K in2, G =
1250K in-*, k = 216K ft-I, k, = 112SK ftt2. The
quadrant of the ring is analyzed using five elements.
In this analysis shear deformation effects were con-
sidered. The numerical results are displayed Table 4
and compared with the results of Haktanir and
Kiral[15].
5. CONCLUSION
CR12 finite element formulation has been devel-
oped for the circular beams on elastic foundations.
The effect of shear deformation and the torsional
effect of foundations are included. Using the pro-
posed method the beams of variable cross-sections
and all kinds of boundary conditions can be ana-
lyzed.
The effect of shear deformation is taken into
account, and the element may be used for relatively
deep beams. At the same time this formulation can be
used for wide and relatively thin structures due to the
fact that this formulation is free from locking effects.
Because of the properties of the new functionals
obtained by the Gateaux differential, it is possible to
generate element matrices easily.
The properties of element matrices play a central
role in the solution with this mixed formulation, as
there is no need for a back-up substitution process.
Internal forces and moments are the basic unknown
for engineering purposes. By using the CR12 finite
element formulation they can be calculated indepen-
dently. This avoids additional computer time. The
proposed CR12 is tested by solving various simple
problems with solutions that are available in litera-
ture. Numerical results for test problems show good
agreement with the analytical solution. The formu-
lation presented is general in nature and the method
therefore may be utilized for general geometry.
1.
2.
3.
4.
5.
6.
I.
8.
9.
10.
Il.
12.
13.
14.
15.
16.
17.
18.
19.
20.
REFERENCES
A. D. Kerr, Elastic and viscoelastic foundation models.
J. appl. Mech. Trans. ASME 31, 491498 (1964).
M. Hetenyi, Beams on Elastic Foundafion. University of
Michigan Press, Ann Arbor, MI (1946).
A. Dodge, Influence functions for beams on elastic
foundations. J. struct. Dia. ASCE 90, 63-101 (1964).
C. K. Miranda and K. Nair, Finite beams on elastic
foundations. J. s~rucf. Div. AXE 92, 131-142 (1966).
B. Y. Ting, Finite beams on elastic foundation with
restraint. J. strut. Dial. ASCE 108, 61 l-621 (1982).
F. W. Beaufait, Numerical analysis of beams on elastic
foundations. J. strut. Diu ASCE 103, 205-209 (1977).
Y. K. Choung and D. K. Nag, Plates and beams on
elastic foundations and nonlinear behaviour. Geotech-
nique 18, 250-260 (1968).
R. D. Cook, Concepts and Applications of Finite Element
Analysis. Wiley, New York (1981).
F. Miyahara and J. G. Ergatoudis, Matrix analysis of
structure foundation interaction. J. sfruct. Div. ASCE
102, 251-265 (1976).
G. A. Mohr, A contact stiffness matrix for finite element
problems involving external elastic restraint. Comput.
Struct. 12, 189-191 (1980).
H. Malter, Numerical solution for beams on elastic
foundation. ASCE 125, 757-791 (1960).
M. Eisenberger and D. Z. Yankelevsky, Exact stiffness
matrix for beams on elastic foundation. Cornput. Strucf.
21, 135551359 (1985).
E. Volterra, Bending of a circular beam resting on
elastic foundation. J. appl. Mech. 19, 14 (1952).
D. A. Rodriguez, Three-dimensional bending of a ring
on an elastic foundation. J. appl. Mech. 28, 461463
(1961).
V. Haktanir and E. Kiral, Statical analysis of elastically
and continuously supported helicoidal structures by the
transfer and stiffness matrix methods. Compur. Struct.
49, 663-677 (1993).
S. Dasgupta and D. Sengupta, Horizontally curved
isoparametric beam element with or without elastic
foundation including effect of shear deformation. Com-
put. Struct. 29, 967-973 (1988).
M. R. Banan, G. Karami and M. Farshad, Finite
element analysis of curved beams on elastic foundation.
Cornput. Sfruct. 32, 45553 (1989).
A. Y. Akoz, M. H. Omurtag and A. Dogruoglu, The
mixed finite element formulation for three-dimensional
bars. Int. J. Solidr Struct. 28, 225-234 (1991).
F. Kadtoglu, Straight and circular beams on elastic
foundation. M.Sc. thesis, Technical University of Istan-
bul (1994).
M. H. Omurtag and A. Y. Akiiz, The mixed finite
element solutions of helical beams with variable cross-
Finite element solution of circular beam 651
section under arbitrary loading. Compur. Strucr. 43,
325-331 (1992).
21. M. H. Omurtag and A. Y. Ak6.q Mixed finite element
formulation of eccentrically stiffened cylindrical shells.
Compur. Struct. 42, 751-768 (1992).
22. M. Inan, General theory of elastic bars (in Turkish).
Technical University of Istanbul (1966).
23. J. D. Oden and J. N. Reddy, Variarional Method in
Theoretical Mechanics. Springer, Berlin (1976).
24. A. Y. Akiiz. A new functional for bars and its appli-
cations. In: IV. National Applied Mechanics Meeting
(1985).
25. M. Damgaci, Beams on elastic foundation. Graduation
Thesis. Technical University of Istanbul (1991).
26. N. Heubner, The Finite Elemeni Method for Engineers.
Wiley, New York.
27. M. Inan, Strength of MateriaD. 1.T.U. Publications
(in Turkish) (I 988).
APPENDIX
Q operator for a circular beam on elastic foundation in Table Al.
Q operator for a straight beam on elastic foundation in Table A2.
Table Al. Q operator for circular beam on elastic foundation
kR 0 0
0 0 0
0 0 0
0 -1
d
de
R
0
0
0
0
0
0
0
0
0
d
de
0
d
de
0
0
0
1
0
0
0
0
0
0
0
0
0
0
k
- d2/dz
0
I----
0
0
0
0 0 -$ 0 0 0
d
0 -- R 0
d6
0 0
d
-de 1 0 0 0 0
0 0 0 -R 0 0 0 0
0 0 0 0 -R 0 0 0
0 0 0 0 0 -R
-1 0 0 D, 0 0
0 -I 0 0 D, 0
0 0 -1 0 0 c,
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0
0 0
0 0
0 0
0 0
0 0
0 0
__~___
0 0
0 0
0 0
0 0
0 -I
-1 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 I
0 I 0
-I 0 0
0 0 0
0 0 0
Table A2. Q operator for straight beam on elastic foundation
- d2/dz
- I /EI
_-__---
0
0
0
0
I
,
I____-
I
0 0 0 0
0 0 0 0
0 0 0 I
0 0 -I 0
0 1 0 0
-1 0 ---------I 0 0
0'
0
0
0
0
0
0
0
0
i
0
0
0
0
0
qR -
0
0
n, R