Finite Element Method –An Introduction

(One Dimensional Problems)

by
Tarun Kant
tkant@civil.iitb.ac.in
www.civil.iitb.ac.in/~tkant

Department of Civil Engineering

Indian Institute of Technology Bombay
Powai, Mumbai – 400076

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 Elastic Spring

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 Elastic Spring

One Spring: 2 degrees of freedom (dofs)

We wish to establish a relationship between
nodal forces and nodal displacements as:

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 Elastic Spring

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 Elastic Spring

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Linear response – superpose two independent solutions

In matrix form,

Nodal force vector;

Nodal displacement vector
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 Two Springs

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 Two Springs

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 Two Springs

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 Two Springs

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 Two Springs

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 Some Properties of K
1. Sum of elements in any column is 0 equilibrium
2. K is symmetric
3. singular : no BC’s
4. All terms on main diagonal positive.
If this were not so, a +ive nodal force Pi could
produce a corresponding –ive ui.
5. If proper node numbering is done, K is banded.

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 An Alternative Procedure

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where,
1, 2, 3 :Global and Local node numbers
1 , 2 :Element numbers

Our aim is to compute a 3x3 K matrix of the two spring

assemblage

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Continuity (Compatibility) conditions

Equilibrium of nodal forces

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 Direct Stiffness Method
-Assembly

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 Axial Rod

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 Axial Rod

Where k = stiffness of spring

Direct Method – Simple ‘discrete’ elements

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 Variational Method
-Energy Method

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 Strains

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Constitutive Relation

Minimum Potential Energy

The Total Potential Energy pi is given by:

where, U is strain energy stored in the body during deformation and

W is the work done by the external loads
We have established

In the above, we have discretized displacement and strain expressions

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Variational Statement

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Uniform Load

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 Axial Rod
To determine Governing Equation,
1. Equilibrium equation:

2. Strain-displacement relation:
3. Constitutive relation:

Using the above relations, we have

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 Weighted Residual Method

We need to minimize the weighted residue in order to develop

our appropriate method

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Thus, we obtain the discrete governing equation.

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 Transformation
• Local Coordinate

p1 A, E, L p2 x
u1 u2

 AE  AE 
 p1   L L   u1 
   
 p2    AE AE   u2 
 L L 

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 Transformation (contd.)
In many instances it is convenient to introduce
both local and global coordinates.
The local coordinates are always chosen to
represent an individual element. Global
coordinates on other hand, are chosen for the
entire system.
Usually, applied loads, boundary conditions, etc.
are described in global coordinates

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Stiffness Equation in Local Coordinates
in Expanded Form
Y
Q2 , V2
y x
q2 , v2 p2
u2
2 P2 , U2
q1 , v1
P 1 , U1 θ x
p1 1
u1 Q1 , V1
We have introduced q1 and q2 and v1 and v2
q1 and q2 do not exist since a truss element can
not withstand a force normal to its axis.
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Stiffness Equation in Local Coordinates
in Expanded Form (Contd.)
Y
Q2 , V2
y x
q2 , v2 p2
u2
2 P2 , U2
q1 , v1
P 1 , U1 θ x
p1 1
u1 Q1 , V1
 p1  1 0 1 0   u1 
  0  
q
 1   AE  0 0 0   v1 
 p2  L  1 0 1 0   u2 
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 q2  0 0 0 0   v2  39
Stiffness Equation in Local Coordinates
in Expanded Form (Contd.)
In a compact form the matrix equation in a local
coordinates can be expressed as

p  ku
in which,
p   p1 q2 
t
q1 p2
u   u1 v1 u2 v2 
t

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 Transformation of Coordinates
Transformation is required when local
coordinates for description of elements change
from element to element, e.g.,
5 4 10
2 6
3 8
4 9 6 – Nodes
1 6 11 11 –
Elements
2 7
1 5
3
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 Transformation of Coordinates
(Contd.)
Y
Q2 , V2
y x
q2 , v2 p2
u2
2 P2 , U2
q1 , v1
P 1 , U1 θ x
p1 1
u1 Q1 , V1

At Node -1 At Node - 2
p1  P1 cos   Q1 sin  p2  P2 cos   Q2 sin 
q  - P1 sin   Q1 cos 
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q2  - P2 sin   Q2 cos 
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 Transformation of Coordinates
(Contd.)

Let sin   s and cos   c,

then combining the above equations, we can write,

 p1   c s 0 0   P1 
   Q 
q
 1  s c 0 0  1 
 p2   0 0 c s   P2 
    
 2 
q 0 0  s c   Q2 

in compact form :
p  T .P
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 Transformation of Coordinates
(Contd.)
in which,
p   p1 q2 
t
q1 p2
P   P1 Q1 Q2 
t
P2
and T is called transformation matrix , which transforms
the global nodal forces, P into local nodal forces , p.
Since, displacements are also vectors like forces,
a similiar transformation rule exists for them too, i.e.,
u=TU
in which,
u   u1 v1 u2 v2 
t

U  U1 V1 U 2 V2 
t
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 Transformation of Coordinates
(Contd.)

We can also write

P = T -1 p

Since T is an orthogonal matrix,

T -1 = T t

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Stiffness Equation in Global Coordinates
P = T tp
= T tk u
= T tk T U
=KU
in which,
K  T t kT
 c2 cs c 2 cs 
 2
AE  cs s 2
cs  s 

L  c 2 cs c 2 cs 
 2 
 cs  s
2
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Stiffness Equation in Global Coordinates
(Contd.)

 c2 cs c 2 cs 
 2
AE  cs s 2
cs  s 
K
L  c 2 cs c 2 cs 
 2 
 cs  s
2
cs s 
This is stiffness matrix of the truss element as shown in the
figure with reference to the global X , Y coordinates.
The above formulation for K first appeared in :
Turner MJ, Clough RW, Martin HC and Topp LJ (1956),
Stiffness and deflection analysis of complex structures,
J. Aeronautical Sciences, 23(9), 805 - 824.
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Stiffness Equation in Global Coordinates
(Contd.)
A derivation of K without involving transformation matrix, T
is given in,
Martin HC (1958), Truss analysis by stiffness consideration,
Trans. ASCE,123, 1182 - 1194.

End

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