w45-7949189 $3.00 + 0.

00
8 1989 Fwgamon Ftesd plc

STIFFNESS MATRIX OF PARABOLIC BEAM ELEMENT

J. P. M~QUIS~ and T. M. WAN@
tNew Mexico Engineering Research Institute, University of New Mexico, Albuquerque,
NM 87125, U.S.A.
IDepartment of Civil Engineering, University of New Hampshire, Durham, NH 03824, U.S.A.

(Received I1 February 1988)

Abstract-The stiffness coefficient matrix is derived for a parabolic beam element of constant section.
Effects of flexural, axial and shear deformation are taken into account. A numerical example is presented
to illustrate the application of the parabolic beam element.

1. INTRODUCTION the present investigation, the derivation of stiffness

matrix for a parabolic beam element of constant
Curved beams have been used in a variety of engi-
cross-section is presented. The effects of flexural, axial
neering structures. For structures involving curved
and shear deformation are all taken into account. A
members, the members can be approximated by a
numerical example is given to illustrate the applica-
series of straight beam elements and the solution is
tion of the parabolic beam element.
approximate. Its accuracy can be improved as the
numbers of elements are increased. However, the
2. DERIVATION OF STIFFNESS MATRIX
number of unknowns in large problems may increase
to the point at which capacity limitations on the Consider a para~lic beam element of constant
computer are encountered. A curved beam can be cross-section in local coordinates as shown in Fig. 1.
accurately defined as a single element by using curved Nodes are located at the end points. Positive nodal
beam coefficients. The significantly reduces the forces and moments are indicated. The displacement
amount of numerical work and improves the accu- u is always tangential and the ~spla~ment tt is radial
racy of the solution. and positive inward. Coordinate S lies along the arc
The stiffness matrix for the circular beam element of the parabola.
considering the effect of flexural deformation was The equation of a parabola is given by
studied by MartinIll. Yamada and Ezawa[2] pre-
sented stiffness matrix of the curved finite elements x2 = 4aY, (1)
for the analysis of circular arches. The stiffness matrix
of finite ring elements under the in-plane forces using where II is the distance from the vertex to the focus
polynomial displacement functions was derived by and 4u is the latus rectum. The tangent to the curve
Meek [3] for inextensional and extensional deforma- in parametric coordinates is defined as
tions. He showed that failures in earlier attempts to
use polynomial displacement functions for curved dy/dx = y’ = tan 0. (2)
elements were due not to the neglect of rigid body
motions, but to the neglect of coupling between Differentiating eqn. (1) with respect to x, one has
normal and tangential displacements. Davis et al. [4]
formulated element stiffness of curved beams under Y’ = x/(2a). (3)
the normal-to-plane forces using the differential
equation approach. Recently, Palaninathan and From eqns (2) and (3) one obtains
Chandrasekharan [S] introduced the stiffness matrix
of order 12 x 12 for a circular beam element. Effects x = 2a tan 8. (4)
of transverse shear and tangential thrust forces were
considered. Substituting eqn. (4) into eqn. (1) yields
A11 the studies mentioned above were limited to
members of circular shapes. For noncircular curved y=atanZtX (9
members, Wang and Merrill [6] derived the expres-
sions of stiffness coefficients for curved beam ele- Eqns (4) and (5) are the parametric equations of the
ments having center lines in the form of cycloids, parabola.
catenaries, ellipses and sines, considering the effect of The radius of curvature at any point may be
flexural deformation. The purpose of this paper is expressed as
to consider curved beams of parabolic shapes. In R = [I + (y’)33’2/y”. (6)

CAS 31,&c 863

864 and T. M. WANG
J. P. MARQUIS

Fig. 1. Curved beam element with positive displacements and forces.

Introducing eqns (4) and (5) into eqn. (6) one has M = - A4. + P,[(x - x,)sin an - (y - y,)cos a,]

R = 2a(l + tan* ~9)“~= 2a sec3 0. (7) + Q,Kx - x,kos a, + (Y - y,)sin 4, (14)

The radius of curvature at the origin 0, R,, is deter-
mined by putting 0 = 0 in eqn. (7) which gives
R0 = 2a.
From eqns (7) and (8) one obtains
R = R, sec3 8.
The strain energy U stored in the beam of length
1 can be written as [7]
where the subscript n refers to node 1 or to node 2
of the parabolic beam element. The angle a, is
negative when the node n is in the negative quadrant
(8) and positive when the node n is in the positive
quadrant, and x, y, x, and y, are defined by eqns (4)
and (5).
Using the relations of eqns (4) and (5), eqns
(9) (12)-(14) give the expressions for N, V and M as
follows:
N = - P,(sin a” sin 0 + cos a, cos 0)

+Q,(-cosa,sin8 +sina,cos@ (15)

V = P,(cos a, sin 6 - sin a, cos 0)

where E is the modulus of elasticity, G the shear
modulus, I the moment of inertia of the cross-section, - Q,(sin a, sin f3 + cos a, cos 0) (16)
A the cross-sectional area, 9 the shear coefficient,
d.s = R d6 the differential arc length of the beam,
M = -M,, + P,[(tan 6 - tan 8,,)2 a sin a#
h4 the bending moment, IN the axial force, and V
the shear force. Substituting eqn. (9) into eqn. (lo),
- (tan* e - tan* e,ja cos a,]
one has

%
s
u=-$$ M2sec3ede
I
+ Q,[(tan 0 - tan 8,)2a cos a,,

+ (tan2 e - tan* e,)a sin a.]. (17)

N* set* 0 dtI

.1
+cE The 6 x 6 order matrix for the parabolic beam
s,
element takes the form
rl% v* sec3 e de. (11)
+2AG, s UI

&I ’ 42 VI
The axial force, shear force and bending moment
at any section S in terms of the nodal forces can be $1
obtained by the equilibrium conditions. Thus l =
_- (18)
112
Ncose+ Vsine+P,cosbl,-Q,,sina,=O (12)
K2, i K22 02

N sin 6 + V cos 0 + P, sin a, + Q,, cos a,, = 0 (13) $2

 Stiffness matrix of parabolic beam element 865

The force-displacement relationship can be obtained After carrying out the detailed mathematical mani-
in the following manner. pulations and integrations of eqns (19), the following
Applying Castigliano’s theorem to eqn. (11) gives matrix equation for the displacements at node 1 can
the displacements at node 1 (n = 1) as be obtained:

u’=ap,=EI
atr R.
sz,
‘=
Mgsec30
ap,
d6
(20)

The terms of the flexibility coefficients in eqn.

=2 av (20) are grouped according to the bending, axial
V-sec’tl d0 and shear components of each coefficient, and are
s oL, ap,
denoted by the superscripts m, p and q, respect-
au R~ ~2 aM ively, as
u’ =ae,=EI s oL,Mde,Sec3e de Y

fi, =_I-; +R, +_0,

&
+AE 9 (19 f,z =f;i +.f:* +f?*

rlRo .h =f;;
+Ac >
(21)
f22 =f li +f 42+f $2

f23 =fI;

+ % 0L2
NEsec3e
AE s dl, aM,

qR, ava2
d0

in which
h3 =f;; J

VaM sec3 0 d0
+AG s 2( I
%
f ;1= - [Da* cost a, + 4Hu2 sin* a,
where N, V and it4 are defined by eqns (15)-(17), EI
and
- 4Ju* sin a, cos a,]:‘::,
aM
F = (tan 8 - tan 0,)2a sin a, Ro
1 f;i = Er [-Da* sin a, cos a, + 2Ju*(sin* a,

- (tan* 0 - tan2 0,)a cos tl,,

- cos* a,) + 4Hu2 sin a, cos a,]::::,
aN
-= -sin CI,sin 0 - cos cI, cos 8,
ap,
f G = :I [a cos a,@4 - tan2 a,B3)
av
- = cos c(, sin 0 - sin GI,cos 6,
ap, - 2u sin a,@2 - tan a,B3)]:::;,
dM
aQ = (tan 0 - tan 0,)2a cos CI,
I f z = 2 [Da2 sin2 a, + 4Juz sin a, cos a,

+ (tan2 e - tan2 e,ja sin a,,

+ 4Hu* cos* a,]::,“:,
aN
-5 -cos cc,sin 6 + sin tx,cos 0,
aQ, f I; = $I [-a sin a,@4 - tan* a,B3)
av
aQI = -sin tl, sin e - cos ~4,cos 0,
- 2u cos a,@2 - tan a,B3)]:::;,

dM aN av
m= -1, a=o, m=o.
866 J. P. MAICQUIS
and T. M. WANG

m0=fst2c3e--~ce,
fp, = >E [sin’ a,B6 + cos2a,@9 - 2B 11 + 813)

Bll =+sec30 tan0 -tsec@ tan0

+2sina,cosa,(B12-BlO)]~~~:,
-t ln(sec e + tan e),

f~~=~~[sina,cosa,(B6-B9+2Bll-B13)
Bl2=fsed&

+ (sin2 a, - cos2 a,)(BlO - Bl2)]iI”,f B13=asec30 tane+%secetanB

+ f ln(sec e + tan e),

fs2 = $E [sin2 a,@9 - 2Bll + B13) + cos2 a,B6
D = BS - 2 tan2 a,B4 + tan4a,B3,
+ 2 sin a, cos a#10 - Bl2)]::&
H = B4 - 2 tan a,B2 + tan2 a,B3,
rl&
f4, = AG [cos’ a,B6 - 2 sin a, cos a,B7
J = B 1 - tan a,B4 - tan2a,B2 + tan3a,B3.

+ sin2a,BS]~:~;, Solving eqn. (20) for the nodal forces gives

jj2 = z [sin a, cos a,(B8 - B6)

{;I=[:; it; ~~~]{;~}=KrI{;~}. (22)

+ (sin2 a, - cos2 a,)B7]: 1:;)

in which the coefficients of the stiffness matrix [K,,]
Ma
fI2= AG [sin* a,B6 + 2 sin a, cos a,B7 are given as

+cos*a,B8]~::;, b, = -cc43 + wi3Ywl3)

k,, = W/T
and where
k,, = l/T
Bl =$sec’e -fsed8, (23)
k,, = W-Z + wh,(hh3 - h2h3)l/z

B2 = i sec36,
k23 = hs(fi1h3 - h2.h3)/z

B3 = f set 0 tan 8 + f ln(sec 0 + tan e),

k33 = <f:,h, - fi,f,3f22)/z i
B4=asec3fl tan0 -+sectI tan0
and where
- g ln(sec e + tan e),
w = (fi&43 - h3f23)/(h3h2 - fl2h3)r

B5=~sec5etan8-gsec3etane
T = fi3 - hJi3lA3 - Wh,.h3/h3 - fi2h

+&sece tan0 +hln(sectI +tantI).

z = TfXfkhz-_fi2fish
B6 = f set e tan 8 -t ln(sec 0 + tan e),
The forces at node 2 in terms of the forces at node
B7=sece, 1 can be determined by imposing equilibrium con-
ditions. Thus, introducing a2 for 0 in eqns (19-047)
88 = ln(sec 0 + tan f3), yields the following matrix equation:

B9=isec30 tan0 -isece tan0

+ t ln(sec e + tan e),

 Stiffness matrix of parabolic beam element 867

where The only remaining unknown submatrix in eqn.

(18) is [K,d. Following the same procedure as used in
c1 = -sin a, sin a2 - cos a, cos a2, developing eqn. (20), the displacements at node 2 are
given by
c2 = sin a, cos a2 - cos a, sin a2,

c, = 0,

c, = sin a2 cos a, - sm a, cos a2,

The terms of the flexibility coefficients in eqn. (27) are
c5 = Cl,
given by the expressions in eqn. (21) for n = 2.
Solving eqn. (27) for the nodal forces one
c, = 0,
obtains
c, = 2a sin a,(tan a2 - tan a,)

- a cos al(tan2 a2 - tan2a,),

cg = 2a cos a,(tan a2 - tan al)

The expressions for the coefficients of [Ku] take the
+ a sin al(tan2 a2 - tan2 a,), same form as the expressions in eqns (23) and are
given as
c,= -1.
,
Substituting eqn. (22) into eqn. (24), one obtains ku = -(fss + W&)l(~lf46)

k,, = W/T

k,, = l/T’
> (29)

where [K2,] is a submatrix of the total stiffness

matrix given in eqn. (18). In addition, [K,J is also k,, =fti(fMfs-h5feW
known since [K,d = [K2,]r, the transpose of [K2,],
according to the Maxwell-Betti reciprocal theorem. kss=(f:sfe-f44f46fSW' J
Therefore

1
where
k, ka k3 ’
V&l= K2,1T = k,, k2 k,, (26)
w’ = (h5fs6 -f4ahJ(f~fs5 -.f45”&4*
[ k,, ka k,,

where T’ =fM -fddfi - Wfetf5df&x -f45),

ka = c&l, + c&,2 9
Z’ = Tfia(f&5 -h5Jd.

k,, = c&l, + c&,,, All the submatrices of the parabolic beam element
as expressed by eqn. (18) are now known. In sum-
k,, = c,k,,+ c&,2-k,,,
mary, [K,,] is given by eqn. (22), [K,J = [K2,]’ by
eqn. (26), and [K2J by eqn. (28).
42 = c,k,z+ 422,

k, = c&u + c&,2 3

3. NUMERICAL EXAMPLE
k, = c&,2+ c&2,- k,, 1

Consider a clamped parabolic curved beam of span

ka = c&l, + c&z 9
length L = 40 ft and height h = 2 ft and subjected to
a vertical concentrated load at the mid-span as shown
k,, = c&,3+ c&2,, in Fig. 2. The beam has a constant rectangular
cross-section, and its depth, cross-sectional area and
kc.3
= c&,3+ c&2,- k3,. moment of inertia are given as d = 6 in., A = 6 in2
868 J.P. MARQUIS and T.M. WANG

L=40 ff

Fig. 2. Clamped parabolic curved beam with a concentrated load at mid-span.

and I = 18 in4. The modulus of elasticity is taken as From eqns (8) and (9) one has
E = 30,000 k/in*. The end reactions and the vertical
displa~etnent and internal moment at the mid-span R. = 100 ft and R = 100 sec3 t? ft.
will be determined for the two cases. Case 1 will
consider the effect of flexural deformation, and Since R % beam depth, the effect of shear deforma-
case .2 will consider the effects of axial and flexural tion can be neglected. Thus the flexibility coefficients
deformation. due to shear, fq, given in eqns (21) are neglected.
Figure 3 shows that the curved beam is idealized Introducing values of E, A, I and a into the
by two discrete parabolic beam elements inter- approp~ate expressions of the stiffness coefficients
connected at the node. The local coordinates at each yields the element stiffness matrix for each element as
node are tabulated in the appendix. The boundary conditions
are
(x, 9YJ = (- W2h
u~=u~=c#,=O and u~=z.+==(~~=O.

Using eqn. (28) for element 1 and eqn. (22) for

element 2 and combining them leads to the system of
(x3 t Y,) = (20,2). (30) equations for each case as follows:

1~
i
The distance from the vertex to the focus of the p2 k:fk:l k:s+k:z k:b+k:s u,
parabolic beam elements and the angle a at each Q2 = k:,+kf, k:,+k:, k:,+k:, 23 ,
node, from eqns (1) and (4), are i)[
JQf2 k:c, + k:, k:e i-k:, k&+ k:s 42

(33)
fJ= $/(4Y,) (31)
where the superscripts in the square matrix denote the
cc,= tan-‘(x/2a). (32) element number. Inverting eqn. (33) gives

Substituting eqns (30) into eqns (31) and (32),

one obtains a = 50 ft, a, = - 11.30”, u2 = 0” and (34)
af = 11.31”.

Fig. 3. Finite element model of a parabolic curved beam.

 Stiffness matrix of parabolic beam eiernent 869

where the square matrix for case 1 and case 2 are

given respectively as

1
I.613573124 x IO-& 0 -0.2235410249 x IO--$
0 67.~~~ x 10-6 0
-0.2235410249 x lO-6 0 0.0557021203 x 1O-6
and

2.2858368~ x 1O-6 0 -0.2231251372 x 1O-6

0 1.230991255 x 10-4 0
-0.2231251372 x 1O-6 0 0.05570~4621 x 10-Q 1.

Since the curved beam shown in Fig. 3 is sym- iw, = 108.0261 k-in,
metrical about the y-axis, thus uz = r#, = 0. Substitut-
ing the known displa~ments and load at the nodal F,, = 44.2447 k,
point 2 into eqn (34) yields uz = lOf& The reactions
at the fixed ends and the internal moment at node 2 FYI= - 5.0000 k.
can be determined by substituting the known dis-
placements at the nodes into eqns (18) and (33) By symmetry, the reactions at node 3 are
using the element stifiness matrices as given in the
Appendix. ~ompouents of force paraliel to the local
coordinate axes will be determined from the fol~owjng
system of equations:

4. CONCLUSIONS
{~~=~~” ;;: ~~{~~~ (35)
The stiffness matrix for a parabolic beem element
of constant section has been derived which takes into
where the square matrix is the transpose of the account the ef%ets of flexural, axial and shear defor-
transformation matrix for the parabolic beam ele- mation. A numerical example is given to illustrate the
ment. The results obtained for each case are given as application of the parabolic beam element and the
follows: rest&s of forces and moments for ease 1 check with
the known solution f8]. The approach presented in
C&e I {flexural only) the derivation of the stiffness coe&ients for the
parabolic beam element can also be applied to other
vz = fOfd= 6.7006 x 10m4in, noncircular beam elements. With some modifications,
the present study may be extended to curved beams
iw, = k&u* - - 225.4237 k-in, of variable moment of inertia.

P, = k f,vz
= 46.8938 k,

Q, = k:e = 4.2797 k,
Ml = k;,vz = 149.1626 k-in,
F,, = P, cos ctl - Q, sin a1 = 46.8225 k,
FYI=P,sincl,+Q,cosa,=
Case 2 (flexural and axial)
q = 12.3099 x lop4 in,
&&= - 246.154 1 k-in,
P, = 44.3660 k,
Q1 = 3.7742 k,
1.
turul Analysis. McGraw-Hill, New York (1966).
a. Y. Yamada and Y. Ezawa. On curved finite elements for
the anidysis of circular a&es. ht. .J. NWTW.Methods
EngRg 11, 1635-16% (1977).
3. H. R. Meek, An accurate polynomial displa~~t func-
tion for finite ring elements. Compur. Sww. l&265-269
(1979).
-5.OOOOk. 4. R. Davis, R. D. Henshell and G. W. Warburton, Curved
beam finite elements for coupled bending and torsional
vibration. Earth. Engng S&t. Dyn. 1, i65-175 (1972).
s. R. Palaninathan and P. S. Chandrasekharan. Curved
beam element stiffness matrix formulation. ‘C&J~~.
Struct. 21, 663-669 (1985).
6. T. M. Wang and T. F. Merrill, Stiffness coefficients of
noncircular curved beams. J. Stntct. Engng, ASCE
M(7), 1689-1699 (1988).
7. H. L. Langhaar, Energy Methods in Applied Mechanics.
John Wiley, New York (1962).
8” V. Leontovieh, Frames and Arches. McGraw-Hill, New
York (1959).
 APPENDIX
z
0

Eiement s@ness matrices

Case 1 (flexural deformation)

-0.6981888165 x IO6 0.6826736260 x 10’ 0.2768422291 x 10’ -0.6980187928 x 106 0.6998443575 x IO5 -0.2812235843 x 10’
0.7139890905 x lo4 0.3266651306 x lo6 -0.6834190436 x 10% 0.6387092262 x 104 -0.2193615689 x la6
0.1995248247 x lo* -0.2778725704 x 10’ 0.2226107657 x lo6 -0.6689649352 x 10’
0.6978666896 x lo6 -0.6987799714 x SO5 0.28OOW66 x 10’
0.7462017812 x 104 -0.3364231093 x lo6

L Symmetry 0.2021572838 x IO8

0.6978666896 x IO6 0.6987799714 x lo5 0.2800644467 x lo7 -0.6980187928 x lo6 0.6834190436 x 10s -0.2778725704 x 107
0.7462017812 x 104 0.3364231093 x lo6 -0.6998443575 x lo* 0.6387092262 x 104 -0.2226107657 x 106
0.2021572838 x IO* -0.2812235843 x IO7 0.2193615689 x lo6 -0.6689649352 x 10’
0.6981888165 x lo6 -0.6826736260 x IO5 0.2768422291 x 10’
0.7139890905 x lo4 -0.3266651306 x lo6

1 Symmetry 0.1995248247 x lO*

Case 2 (flexural and axial deformation)

-0.3593421743 x IO6 0.3511377767 x IO5 0.1422207106 x 10’ -0.3592503705 x 106 0.3604090659 x 105 -0.1450015796 x lo’-
0.3896062064 x IO4 0.1949480289 x lo6 -0.3519597247 x 105 0.3065975196 x lo4 -0.8607873666 x lo5
0.1460404547 x lop -0.1432821259 x IO7 0.8775549107 x 10’ -0.1277653117 x IO’
[Kc’]=
0.3591764691 x lo6 -0.3594230374 x lo5 0.1438738898 x 10’
0.4061767278 x 104 -0.1999643480 x IO6
Symmetry 0.1473936309 x lo8

.0.?591764691x IO6 0.3594230374 x 105 0.1438738898 x 10’ -0.3592503705 x lo6 0.3519597247 x IO5 -0.1432821259 x 10’
0.4061767278 x IO4 0.1999643480 x lo6 -0.3604090659 x 106 0.3065975196 x I@ -0.8775549107 x lo5
0.1473936309 x 108 -0.1450015796 x IO7 0.8607873666 x 10’ -0.1277653117 x f07
m= 0.3593421743 x lo6 -0.3511377767 x IO5 0.1422207106 x 10’
0.3896062064 x IO4 -0.1949480289 x IO6
Symmetry 0.1460404547 x lo8