Lecture 2

The Finite Element Method
Lecture 2; 1-dimensional spring systems

(modified 2010-01-18)
1

Lecture 2
1-dimensional spring systems
(Ch. 2 in the book)
(modified 2010-01-18)
2
With a 1-dimensional spring system we here mean

springs in series

where the individual springs are

linear, i.e. expose linear force-elongation relations
1
k
2
k
1
2
Note that the identity of a spring is indicated by a ring-symbol (in the book
an underlining is used), while its stiffness is referred to as k
(modified 2010-01-18)
3
Why study (linear) spring systems?

You are familiar with springs, since you have met them in a number of
courses

By using what you already know (e.g. equilibrium), we may find a matrix
formulation which has the same structure as an FE-formulation for a
general elastostatic problem of Solid Mechanics
(modified 2010-01-18)
4
Example problem

Let us first, in order to have something to compare with, in the
"traditional" way determine the spring forces and spring elongations in the
example below. We will later on solve the same problem by a structured
FE-treatment.
1
1
2 3
4
3
2
F
F
k
k k
(modified 2010-01-18)
5
Example problem; cont.

In order to solve our problem, we need to look at equilibrium,
constitutive relations and compatibility.
First, make free body diagrams of the nodes/connection points 2 and 3,
resp., and study equilibrium (T denotes a spring force)
1
1
2 3
4
3
2
F
F
k
k k
2
F
2
T
1
T
0
1 2
= + T F T
3
F
3
T
2
T
0
2 3
= T F T
A statically indeterminate
problem
(2 eq. & 3 unknowns)
(modified 2010-01-18)
6

The constitution tells us (linear springs)
1
1
2 3
4
3
2
F
F
k
k k
3 3 2 2 1 1
, , o o o k T k T k T = = =
where denotes the spring elongation. We now have 5 eq. for 6
unknowns, which we fix by compatibility
0
3 2 1
= + + o o o
Let us now do some calculations (see the next page)
(modified 2010-01-18)
7

1
1
2 3
4
3
2
F
F
k
k k
F T T T + = =
2 3 1
By equilibrium
3 3
2
3 1 2
F
T T
F
T = = =
With the left expressions inserted into the right one we get
0
3 2 1
= + + T T T
By constitution and compatibility
The elongations are finally found by inserting the obtained spring forces
into the constitutive relations (only a scaling with k)
(modified 2010-01-18)
8
Structured analysis of spring systems

Let us now focus on a general structured FE approach for spring
systems, which contains the following steps

I. Find, for each spring, a relation between the spring loading and the
spring displacements

II. Find, for the spring structure, a relation between the structural loading
and the structural displacements

III. Solve the structural problem for the given loading and restraints, and
calculate entities such as spring forces and spring elongations

Let us now see how this is done!
(modified 2010-01-18)
9
Step I

Find, for each spring, a relation between spring loading and the

(modified 2010-01-18)
10
Spring equilibrium

Let us now study equilibrium for an arbitrary spring in a spring system as
illustrated below, where the index e refers to the element number, where
the spring nodes/end points are labeled n1e and n2e, resp., and where
the spring loading is described by the forces f1e and f2e, resp.
e
k
e
e
n
1
e
n
2
e
f
1
e
f
2
x
Note that the forces are defined positive in the positive x-direction!
(modified 2010-01-18)
11
Spring equilibrium; cont.

Let us make an imaginary cut in the spring, insert the spring force Te, and
study equilibrium for each part of the spring
e
n
1
e
n
2
e
f
1
e
f
2
e
T
0
1
= +
e e
T f 0
2
= +
e e
f T
On matrix form we thus have
e
e
e
T
f
f
)
`
=
)
`
1
1
2
1
(modified 2010-01-18)
12

Let us now proceed and look at the spring deformation, where the
elongation (as before) is labeled e, while the displacement of its end
nodes are called d1e and d2e; resp.
e
n
1
e
n
2
e
d
1 e
d
2
Obviously
e e e
d d
1 2
= o
or, on matrix form
| |
)
`
=
e
e
e
d
d
2
1
1 1 o
(modified 2010-01-18)
13

Since the springs are linear, we have
e e e
k T o =
(modified 2010-01-18)
14
Transformation diagram

We thus have got the following, so called, transformation diagram
e
T
e
o
{ }
e
f
{ }
e
d
e
k
{ }
)
`
=
e
e
e
f
f
f
2
1
| |
T
1 1
| | 1 1
{ }
)
`
=
e
e
e
d
d
d
2
1
spring loading
(modified 2010-01-18)
15
Transformation diagram; cont.

A counter-clockwise trip in the transf. diag. will give us the so called
spring stiffness [k]e, which relates the spring displacements to the spring
loading
e
T
e
o
{ }
e
f
{ }
e
d
e
k
| |
T
1 1
| | 1 1
{ } | |{ }
e e e e e e
d k k T f

1 1
1
1
1
1
1
1
)
`
=
)
`
=
)
`
= o
| |
e
k
(modified 2010-01-18)
16
Transformation diagram; cont.

The complete transf. diag. for the spring thus takes the form
e
T
e
o
{ }
e
f
{ }
e
d
e
k
| |
T
1 1
| | 1 1
| |
e
k
{ } | | { } | |
(

= =
1 1
1 1
,
e e e e e
k k d k f
c.f. Eqs. (2-6) and (2-7) in the book
(modified 2010-01-18)
17
Step II

Find, for the spring structure, the relation between the structual
loading and the structural displacements
(modified 2010-01-18)
18
Structural loading and structural displacements

For the spring structure, we introduce structural nodes, with associated
structural loads and structural displacements, according to the example
below
1
1
1
F
2 3
4
3
2
3
F
2
F
4
F
1
D
4
D 3
D
2
D
(modified 2010-01-18)
19
1
1
1
F
2 3
4
3
2
3
F
2
F
4
F
1
D
4
D 3
D
2
D
Structural loading and structural displacements; cont.

We introduce the structural load matrix {F} and the structural
displacement matrix {D} as illustrated below
{ } | | { } | |
T T
D D D D D F F F F F
4 3 2 1 4 3 2 1
, = =
(modified 2010-01-18)
20
1
1
1
F
2 3
4
3
2
3
F
2
F
4
F
1
D
4
D 3
D
2
D
The structural problem

What we now seek is a relation between the structural load matrix {F} and
the structural displacement matrix {D}, which will take the form
{ } | |{ } D K F =
c.f.. Eq. (2-9) in the book
Note that we here, in contrast to the book, use small letters for spring
related quantities, and capital letters for structural quantities.
(modified 2010-01-18)
21
The structural problem; cont.

In the transformation diagram we thus have to find
e
T
e
o
{ }
e
f
{ }
e
d
e
k
| |
T
1 1
| | 1 1
| |
e
k
{ } D
{ } F
?
| |? K
?
(modified 2010-01-18)
22
1
1
1
F
2 3
4
3
2
3
F
2
F 4
F
1
D
4
D 3
D
2
D
The relation between spring disp. and structural disp.

We fix this by so called connectivity matrices (unique for each spring).
For spring 1 we get
1 1 = e
n
1 1 = e
f
1 2 = e
n
1 2 = e
f
1 1 = e
d
1 2 = e
d
=
)
`
=
=
4
3
2
1
1 2
1 1
0 0 1 0
0 0 0 1
D
D
D
D
d
d
e
e
{ } { } D C d
1 1
] [ =
(modified 2010-01-18)
23
1
1
1
F
2 3
4
3
2
3
F
2
F 4
F
1
D
4
D 3
D
2
D
The relation between spring disp. and structural disp.; cont.

For spring 2 we get
2 1 = e
n
2 1 = e
f
2 2 = e
n
2 2 = e
f
2 1 = e
d
2 2 = e
d
=
)
`
=
=
4
3
2
1
2 2
2 1
0 1 0 0
0 0 1 0
D
D
D
D
d
d
e
e
{ } { } D C d
2 2
] [ =
(modified 2010-01-18)
24
1
1
1
F
2 3
4
3
2
3
F
2
F 4
F
1
D
4
D 3
D
2
D

For spring 3 we get
3 1 = e
n
3 1 = e
f
3 2 = e
n
3 2 = e
f
3 1 = e
d
3 2 = e
d
=
)
`
=
=
4
3
2
1
3 2
3 1
1 0 0 0
0 1 0 0
D
D
D
D
d
d
e
e
{ } { } D C d
3 3
] [ =
(modified 2010-01-18)
25
e
T
e
o
{ }
e
f
{ }
e
d
e
k
| |
T
1 1
| | 1 1
| |
e
k
{ } D
{ } F
| |
e
C
?
| |? K

Thus,
(modified 2010-01-18)
26
The relation between spring loads and structural loads

Let us now continue, and study the relation between spring loads and
structural loads. If looking closely at the structural nodes, and using
Newtons 3:rd law and the previously defined spring loads, we get the
following situation
1
1
F
4
3
2
3
F
2
F
4
F
1 1 = e
f
3 2 = e
f
3 1 = e
f
2 2 = e
f
2 1 = e
f
1 2 = e
f
1 2 3
Equilibrium implies
0
1 1 1
=
= e
f F
0
2 1 1 2 2
=
= = e e
f f F 0
3 2 4
=
= e
f F
0
3 1 2 2 3
=
= = e e
f f F
(modified 2010-01-18)
27
The relation between spring loads and structural loads; cont.

Thus
or
1 1 1 =
=
e
f F
2 1 1 2 2 = =
+ =
e e
f f F
3 2 4 =
=
e
f F
3 1 2 2 3 = =
+ =
e e
f f F
)
`
(
(
(
(
+
)
`
(
(
(
(
+
)
`
(
(
(
(
=
=
=
=
=
=
3 2
3 1
2 2
2 1
1 2
1 1
4
3
2
1
1 0
0 1
0 0
0 0
0 0
1 0
0 1
0 0
0 0
0 0
1 0
0 1
e
e
e
e
e
e
f
f
f
f
f
f
F
F
F
F
or, actually
{ } | | { }
=
=
el no
e
e
T
e
f C F
1
(modified 2010-01-18)
28
e
T
e
o
{ }
e
f
{ }
e
d
e
k
| |
T
1 1
| | 1 1
| |
e
k
{ } D
{ } F
| |
e
C
| |
=
el no
e
T
e
C
1
| |? K
The relation between spring loads and structural loads; cont.

Thus
(modified 2010-01-18)
29
The structural problem

By an anti-clockwise trip in the transf. diag. we get
e
T
e
o
{ }
e
f
{ }
e
d
e
k
| |
T
1 1
| | 1 1
| |
e
k
{ } D
{ } F
| |
e
C
| |
=
el no
e
T
e
C
1
{ } | | | | | | { } D C k C F
el no
e
e e
T
e

=
=1
| | K
(modified 2010-01-18)
30
e
T
e
o
{ }
e
f
{ }
e
d
e
k
| |
T
1 1
| | 1 1
| |
e
k
{ } D
{ } F
| |
e
C
| |
=
el no
e
T
e
C
1
| | K
The structural problem; cont.

{ } | |{ }
| | | | | | | |
| |
(
=
=
=
1 1
1 1
1
e e
el no
e
e e
T
e
k k
C k C K
D K F
external loads
internal loads
(modified 2010-01-18)
31
Step III

Solve the structural problem for given loading and restraints,
and calculate entities such as spring forces and
spring elongations

Let us see what this looks like in our example!

(modified 2010-01-18)
32
Example problem

Find the spring forces and spring elongations in the example below
1
1
2 3
4
3
2
F
With the connectivity matrices previously found, we get
(see the next page)
F
k
k k
(modified 2010-01-18)
33
| | | | | | | |
(

(
(
(
(
+
(

(
(
(
(
+
+
(

(
(
(
(
=
=
1 0 0 0
0 1 0 0
1 1
1 1
1 0
0 1
0 0
0 0
0 1 0 0
0 0 1 0
1 1
1 1
0 0
1 0
0 1
0 0
0 0 1 0
0 0 0 1
1 1
1 1
0 0
0 0
1 0
0 1
1
k k
k C k C K
el no
e
e e
T
e
(modified 2010-01-18)
34
| |
(
(
(
(

=
1 1 0 0
1 2 1 0
0 1 2 1
0 0 1 1
k K
We thus have to solve
(
(
(
(

4
3
2
1
4
3
2
1
1 1 0 0
1 2 1 0
0 1 2 1
0 0 1 1
F
F
F
F
D
D
D
D
k
= F
= 0
= 0
= - F
= ?
= ?
= ?
= ?
(modified 2010-01-18)
35
The unknown displacements D2 and D3 are now found by solving the
equation system one gets when eliminating all rows and columns
associated with locked displacements
(
(
(
(

4
3
2
1
4
3
2
1
1 1 0 0
1 2 1 0
0 1 2 1
0 0 1 1
F
F
F
F
D
D
D
D
k
= F
= 0
= 0
= - F
= ?
= ?
= ?
= ?
implying
k
F
F
F
k D
D
F
F
D
D
k
3 1
1
2 1
1 2
3
1
2 1
1 2
3
2
3
2
)
`
=
)
`
=
)
`
)
`
=
)
`

(modified 2010-01-18)
36
The spring elongations are then found by (c.f. the transformation
diagram)
| || | { } D C
e e
1 1 = o
which for instance gives
| |
k
F
k
F
e
3 3
0
1
1
0
0 0 1 0
0 0 0 1
1 1
1
=
=
=
o
Finally, the spring forces are found by (c.f. the transformation diagram)
| || | { }) 1 1 ( D C k k T
e e e e e
= = o
implying
3
1
F
T
e
=
=
As before :)
(modified 2010-01-18)
37
The way used for finding the structural problem described above
(assembling the spring stiffnesses by using connectivity matrices)
constitutes the general structured way to describe FEM.

In a hand calculation situation, it is often easier to use the procedure
described below (not using connectivity matrices), which also is the way
described in the book.

Also when considering implementation in a computer code it is
generally too expensive to work with connectivity matrices (both with
respect to computational time and memory allocation)
(modified 2010-01-18)
38
The contribution to [K] from element 1, which we here call [K]1, is
| |
(

=
1 1
1 1
1
k k
1 1 = e
d
1 1 = e
d
1 2 = e
d
1 2 = e
d
= D1
= D1
= D2
= D2
| |
(
(
(
(

=
0 0 0 0
0 0 0 0
0 0 1 1
0 0 1 1
1
k K
1
D
3
D
4
D
2
D
2
D
3
D
4
D
1
D
(modified 2010-01-18)
39

| |
(

=
1 1
1 1
2
k k
2 1 = e
d
2 1 = e
d
2 2 = e
d
2 2 = e
d
= D2
= D2
= D3
= D3
| |
(
(
(
(

=
0 0 0 0
0 1 1 0
0 1 1 0
0 0 0 0
2
k K
1
D
3
D
4
D
2
D
2
D
3
D
4
D
1
D
(modified 2010-01-18)
40

| |
(

=
1 1
1 1
3
k k
3 1 = e
d
3 1 = e
d
3 2 = e
d
3 2 = e
d
= D3
= D3
= D4
= D4
| |
(
(
(
(

=
1 1 0 0
1 1 0 0
0 0 0 0
0 0 0 0
3
k K
1
D
3
D
4
D
2
D
2
D
3
D
4
D
1
D
(modified 2010-01-18)
41
The resulting structural stiffness is found by adding all contributions
(giving the same result as before)
| | | |
(
(
(
(
+
+

=
=
=
1 1 0 0
1 ) 1 1 ( 1 0
0 1 ) 1 1 ( 1
0 0 1 1
3
1
k K K
e
e
(modified 2010-01-18)
42
An alternative treatment of our example problem by
taking advantage of the symmetry
1
1
2 3
4
3
2
F
F
k
k k
1
1
2
2
F
k
k 2
3
Decreasing the
length by two,
increases the
stiffness by two!
(modified 2010-01-18)
43

| |
(

=
1 1
1 1
1
k k
1 1 = e
d
1 1 = e
d
1 2 = e
d
1 2 = e
d
= D1
= D1
= D2
= D2
| |
(
(
(

=
0 0 0
0 1 1
0 1 1
1
k K
1
D
3
D
2
D
2
D
3
D
1
D
(modified 2010-01-18)
44

| |
(

=
1 1
1 1
2
2
k k
2 1 = e
d
2 1 = e
d
2 2 = e
d
2 2 = e
d
= D2
= D2
= D3
= D3
| |
(
(
(
=
1 1 0
1 1 0
0 0 0
2
2
k K
1
D
3
D
2
D
2
D
3
D
1
D
(modified 2010-01-18)
45
(
(
(

3
2
1
3
2
1
2 2 0
2 3 1
0 1 1
F
F
F
D
D
D
k
We thus have to solve
= F
= 0
= ?
= ?
= ?
= 0
and gets
(
(
(

3
2
1
3
2
1
2 2 0
2 3 1
0 1 1
F
F
F
D
D
D
k
k F D 3 /
2
=
= F
As before :)
(modified 2010-01-18)
46
The spring stiffness matrix [k]e and the structural stiffness matrix [K] are
symmetric and singular (can not be inverted).

However, if we have prevented rigid body motions, we may solve the
structural problem (the reduced stiffness matrix obtained by removing
rows and columns associated with locked displacements is not singular).

One may finally also note that the sum of all components in a row or
column of [k]e or [K] is always zero.
Some final comments

Lecture 2

Transféré par

Informations du document

Description originale:

Copyright

Formats disponibles

Partager ce document

Partager ou intégrer le document

Options de partage

Avez-vous trouvé ce document utile ?

Ce contenu est-il inapproprié ?

Droits d'auteur :

Formats disponibles

Lecture 2

Transféré par

Droits d'auteur :

Formats disponibles

The Finite Element Method

Lecture 2; 1-dimensional spring systems

Vous aimerez peut-être aussi