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 Preface
An Introduction to Matrix Structural Analysis and Finite Element Methods Downloaded from www.worldscientific.com

This book is based on a course taught at Princeton University over the past 15
years to advanced undergraduate and graduate students in the civil and
mechanical engineering departments. The semester-long course consisted of
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weekly lectures, precepts, and problem sets, as well as written exams and a final
project. The original support materials were limited to overview lecture slides and
sample code; over time, precept and course notes were also developed. This book
combines these resources in a cohesive, stand-alone document accessible to
anyone with a basic understanding of statics, calculus, linear algebra, and coding.
Matrix Structural Analysis (MSA) and Finite Element Methods (FEM) are
typically classified as related but decoupled fields; this volume is unique in
presenting both subjects in a cohesive framework. In our investigation of MSA,
we derive formulations for truss, beam, and frame elements, which we use to
develop the overarching framework of matrix analysis. The FEM chapters build
on this foundation to develop numerical approximation techniques for solving
boundary value problems in steady-state heat and linear elasticity. Diligently
focused on coding, this book guides the reader from first principles to
implementable algorithms.
This intensive, code-centric approach prepares the student or practitioner to
critically assess the performance of commercial analysis packages and explore
advanced literature on the subject. The reader should engage actively with the
material by attempting to reproduce the presented code. Every algorithm is
provided as complete MATLAB® code, an object-oriented language which may
also be treated as pseudocode. New elements are validated using examples
presented with complete code and comprehensive results.

v
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 Acknowledgements
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We owe numerous people sincere gratitude for their contribution to the course
and the book it catalyzed. First and foremost, we are indebted to Allison B.
Halpern and Fabien Georget, who have served as dedicated instructors for the
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course and have provided their invaluable input to this book. Allison developed
considerable portions of the original precept notes, contributed to examples
presented in this text, and diligently edited the final manuscript. Fabien acted as a
reliable advisor during the writing process and provided keen review of the
book’s technical content. We thank David Luet for helping to develop a
predecessor to the code presented in this text. Our editors at WSPC, Steven Patt
and Rochelle Kronzek, have been very supportive throughout the preparation of
this document. We must also acknowledge our students, whose enthusiasm for
the material and earnest feedback shaped the pedagogical strategy behind this
book. We reserve the greatest gratitude for our families who have provided their
unwavering support for us in this endeavor as they have for countless others: to
my wife Carol and my children - JHP; to my parents Anna & Andrei and my
brother Misha - SB.

JHP & SB

vii
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 Contents
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Preface ................................................................................................................................................................ v
Acknowledgements ........................................................................................................................................ vii
Chapter 1: Setting Up....................................................................................................................................... 1
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1.1 Scope ................................................................................................................................................... 2

1.1.1 A Basic Structural Analysis Problem.......................................................................... 4
1.1.2 Questions of Determinacy ........................................................................................... 8
1.2 Presentation ..................................................................................................................................... 10
1.2.1 Graphic Conventions.................................................................................................. 11
1.2.2 Matrices ........................................................................................................................ 13
1.2.3 Code .............................................................................................................................. 16
Chapter 2: Truss Element .............................................................................................................................. 19
2.1 Deriving the Truss Element Stiffness Equation.......................................................................... 20
2.1.1 Constitutive Relationship .......................................................................................... 20
2.1.2 Kinematic Relationship .............................................................................................. 21
2.1.3 Equilibrium Relationship ........................................................................................... 22
2.1.4 Stiffness Matrix Formulation .................................................................................... 22
2.1.5 Rotating the Element .................................................................................................. 25
2.1.6 General Formulation .................................................................................................. 29
2.2 Solving the Same Problem ............................................................................................................. 30
2.3 Code Recipe ..................................................................................................................................... 33
Chapter 3: Global Stiffness Equation ........................................................................................................... 37
3.1 Assembling the Global Stiffness Equation .................................................................................. 38
3.2 Solving the Equation....................................................................................................................... 42
3.3 Implementation ............................................................................................................................... 44
3.3.1 Label Nodes, Elements, and Degrees of Freedom .................................................. 44
3.3.2 Generate Element Stiffness Matrices ........................................................................ 45
3.3.3 Assemble Active Stiffness Matrix and Active Force Vector ................................. 46
3.3.4 Solve for Unknown Displacements .......................................................................... 47
3.3.5 Post-Process to Find Element Forces and Reactions ............................................. 48
3.4 Instability and Singularity.............................................................................................................. 49
3.5 Reducing the Active Stiffness Matrix ........................................................................................... 52

ix
 x An Introduction to Matrix Structural Analysis and Finite Element Methods

Chapter 4: Matrix Analysis Code ................................................................................................................. 55

4.1 Defining the Element Functions ................................................................................................... 56
4.1.1 Element Functions ...................................................................................................... 56
4.1.2 Element Definition Function .................................................................................... 56
4.2 Defining the Inputs ......................................................................................................................... 58
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4.2.1 Nodal Coordinates ...................................................................................................... 58

4.2.2 Element Connectivity ................................................................................................. 60
4.2.3 Element Properties ...................................................................................................... 60
4.2.4 Index of Degrees of Freedom for BCs ...................................................................... 61
4.2.5 Applied Force Vector ................................................................................................. 62
4.2.6 Prescribed Displacement Vector .............................................................................. 62
4.3 Generate Numbers and Indices .................................................................................................... 63
4.3.1 Generate Numbers ...................................................................................................... 63
4.3.2 Generate Indices .......................................................................................................... 64
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4.4 Generate Element Stiffness Matrices............................................................................................ 67

4.5 Assemble Active Stiffness Matrix and Force Vector.................................................................. 68
4.5.1 Assemble Active Stiffness Matrix ............................................................................. 68
4.5.2 Assemble Active Force Vector .................................................................................. 71
4.6 Solve Unknown Displacements .................................................................................................... 74
4.7 Post-Processing ............................................................................................................................... 75
4.7.1 Global Displacement Vector ..................................................................................... 75
4.7.2 Reactions and Global Force Vector .......................................................................... 75
4.7.3 Internal Forces ............................................................................................................. 76
4.8 The Complete Analysis Function ................................................................................................. 77
4.9 Defining the Inputs ......................................................................................................................... 79
Chapter 5: Beam and Frame Elements ........................................................................................................ 81
5.1 Bending Behavior ............................................................................................................................ 81
5.1.1 Constitutive Relationship .......................................................................................... 82
5.1.2 Kinematic Relationship .............................................................................................. 82
5.1.3 Equilibrium Relationship ........................................................................................... 84
5.2 Stiffness Formulation ..................................................................................................................... 85
5.2.1 Deriving the Beam Stiffness....................................................................................... 87
5.2.2 Frame Stiffness Formulation ..................................................................................... 90
5.2.3 Rotating the Frame Element in 2D ........................................................................... 90
5.2.4 Rotating the Frame Element in 3D ........................................................................... 92
5.2.5 Rotating the Beam Element in 2D ............................................................................ 97
5.3 Hinge................................................................................................................................................. 98
5.4 Code Modifications ...................................................................................................................... 100
5.4.1 Modifications to the Element Definition Function ............................................. 100
5.4.2 Beam Element ............................................................................................................ 100
5.4.3 Frame Element........................................................................................................... 101
5.5 Example .......................................................................................................................................... 103
5.6 Loads between Nodes ................................................................................................................... 106
5.7 Reducing the Active Stiffness Matrix ......................................................................................... 110
 Contents xi

Chapter 6: Numerical Approximation ...................................................................................................... 111

6.1 Exact Solution to the BVP (Strong Form) ................................................................................. 113
6.2 Approximate Solution to the BVP (Weak Form) .................................................................... 116
6.3 The Variational Principle (VP) ................................................................................................... 118
6.3.1 Finding the Total Potential Energy ........................................................................ 118
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6.3.2 Minimizing the Potential ......................................................................................... 121

6.4 Method of Weighted Residuals (MWR) .................................................................................... 122
6.4.1 Galerkin Method ....................................................................................................... 123
6.4.2 Collocation Method .................................................................................................. 123
6.5 Evaluating the Approximations .................................................................................................. 125
6.6 Approaching the Exact Solution ................................................................................................. 126
6.7 Setting up a Framework for FEM ............................................................................................... 128
Chapter 7: Steady-State Heat Conduction ................................................................................................ 131
7.1 Strong Form of the BVP............................................................................................................... 131
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7.1.1 Governing Differential Equations .......................................................................... 132

7.1.2 Boundary Conditions ............................................................................................... 134
7.2 Derivation of the Stiffness Equation Using the VP.................................................................. 135
7.3 Basis and Shape Functions........................................................................................................... 138
7.3.1 Shape Functions in the Physical Domain .............................................................. 141
7.3.2 Shape Functions in the Parent Domain ................................................................. 145
7.3.3 Mapping between Domains..................................................................................... 147
7.3.4 Element Stiffness Equation ...................................................................................... 149
7.4 1D Rod Element ............................................................................................................................ 151
7.5 2D Triangle Element .................................................................................................................... 152
7.6 Numerical Integration.................................................................................................................. 156
7.7 2D Quad Element.......................................................................................................................... 160
7.8 Applying Boundary Conditions.................................................................................................. 162
7.8.1 Essential Boundary Conditions............................................................................... 163
7.8.2 Natural Boundary Conditions................................................................................. 163
7.8.3 Quadratic Applied Fluxes ........................................................................................ 166
7.9 Code Modifications ...................................................................................................................... 167
7.9.1 Generate Shape Functions ....................................................................................... 167
7.9.2 Generate Gauss Integration Points......................................................................... 168
7.9.3 Modifications to the Element Definition Function ............................................. 169
7.9.4 Heat Element ............................................................................................................. 169
7.9.5 Integrating the Force Vector ................................................................................... 170
7.9.6 Mapping between Domains..................................................................................... 171
7.10 Example .......................................................................................................................................... 172
7.10.1 Meshing Algorithm................................................................................................... 173
7.10.2 Main Script ................................................................................................................. 175
7.10.3 Results ......................................................................................................................... 176
Chapter 8: Linear Elasticity ......................................................................................................................... 185
8.1 Strong Form of the BVP............................................................................................................... 185
8.1.1 Governing Equations ................................................................................................ 186
 xii An Introduction to Matrix Structural Analysis and Finite Element Methods

8.1.2 Boundary Conditions ............................................................................................... 195

8.2 Stiffness Derivation Using the VP .............................................................................................. 196
8.2.1 Indexing with Degrees of Freedom ........................................................................ 199
8.2.2 Element Stiffness Equation ...................................................................................... 200
8.3 Replicating the Truss Element .................................................................................................... 200
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8.4 2D Triangle Element .................................................................................................................... 202

8.5 2D Quad Element.......................................................................................................................... 204
8.6 Applying Boundary Conditions.................................................................................................. 205
8.7 Stress Recovery .............................................................................................................................. 206
8.7.1 Stress Smoothing ....................................................................................................... 207
8.8 Code Modifications ...................................................................................................................... 210
8.8.1 Modifications to the Element Definition Function ............................................. 210
8.8.2 Elastic B-matrix ......................................................................................................... 210
8.8.3 Elastic Element .......................................................................................................... 211
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8.8.4 Stress and Strain Extraction..................................................................................... 212

8.8.5 Principal Stresses ....................................................................................................... 213
8.8.6 Stress Smoothing ....................................................................................................... 213
8.9 2D Cantilever Example ................................................................................................................ 215
8.9.1 Exact Solution ............................................................................................................ 217
8.9.2 Main Script ................................................................................................................. 218
8.9.3 Results ......................................................................................................................... 219
8.9.4 Plane Strain Modification ........................................................................................ 224
Chapter 9: Plate and Shell Elements .......................................................................................................... 227
9.1 Two Theories on Bending ........................................................................................................... 228
9.2 Strong Form of the BVP............................................................................................................... 232
9.2.1 Governing Equations ................................................................................................ 232
9.2.2 Boundary Conditions ............................................................................................... 241
9.3 Stiffness Derivation Using the VP .............................................................................................. 242
9.4 Plate Quad Element ...................................................................................................................... 247
9.5 Shell Quad Element ...................................................................................................................... 248
9.5.1 Rotating the Shell ...................................................................................................... 249
9.6 Code Implementation .................................................................................................................. 251
9.6.1 Modifications to the Element Definition Function ............................................. 252
9.6.2 Plate B-matrices ......................................................................................................... 252
9.6.3 Rotating a Planar Element ....................................................................................... 253
9.6.4 Plate Element ............................................................................................................. 253
9.6.5 Shell Element ............................................................................................................. 254
9.7 Plate Example ................................................................................................................................ 255
9.7.1 Exact Solution ............................................................................................................ 256
9.7.2 FEM Implementation ............................................................................................... 258
9.7.3 Results ......................................................................................................................... 260
9.8 Shell Example................................................................................................................................. 266
9.8.1 Implementation ......................................................................................................... 268
9.8.2 Results ......................................................................................................................... 270
 Contents xiii

Appendix A: Code Supplement .................................................................................................................. 273

A.1 Element Definition Function ...................................................................................................... 273
A.2 Internal Forces ............................................................................................................................... 274
Appendix B: Nomenclature ........................................................................................................................ 277
B.1 Symbols........................................................................................................................................... 277
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B.1.1 Subscripts and Superscripts ..................................................................................... 277

B.1.2 Matrices ...................................................................................................................... 278
B.1.3 Vectors ........................................................................................................................ 279
B.1.4 Scalar Variables ......................................................................................................... 280
B.1.5 Diacritical Marks ....................................................................................................... 282
B.2 Code ................................................................................................................................................ 282
B.2.1 Functions .................................................................................................................... 282
B.2.2 Scripts.......................................................................................................................... 284
B.2.3 Counters ..................................................................................................................... 284
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B.2.4 Numbers ..................................................................................................................... 284

B.2.5 Indices ......................................................................................................................... 285
B.2.6 General Variables ...................................................................................................... 285
References and Further Reading ................................................................................................................ 289
Index ............................................................................................................................................................... 291