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10.1. INTRODUCTION
• Rayleigh-Ritz approach:
Ø Series of shape functions describe motion
Ø Rather than discrete DOF
• Advantages:
Ø Reduce number of system DOF’s
Ø Allows mass to be modeled realistically
♦ Not lumped at discrete locations
Ø Allows for properties and loads that vary arbitrarily
N
η( x, t ) = ∑ ψ (x ) Y (t )
i =1
i i
η( x, t ) = {ψ i ( x )}T {Yi (t )}
Ø Spatial variation → ψ i ( x )
Ø Time variation → Yi (t )
Y1(t) ψ1(x)
Y2(t) ψ2(x)
Y3(t) ψ3(x)
m* Y&&(t ) + c* Y& (t ) + k * Y (t ) = f * (t )
[m ] {Y&&} + [c ] {Y&} + [k ] {Y } = {f (t )}
* * * *
Ø Flexural rigidity = E I x (x )
Ø Dynamic equilibrium at displacements Yi (t ) ψ i ( x )
Ø Subjected to virtual displacements: δY ψ j ( x )
∫
kb*ij = E I x ( x ) ψ′i′( x ) ψ′′j ( x ) dx
∫
k g* ij = − P( x ) ψ′i ( x ) ψ′j ( x ) dx
m
k k*ij = ∑
p =1
k p ∆X ip ∆X jp
• Element mij* :
( )
♦ ψ xq = Shape function at M q
ψ i (xq ) ψ j (xq )
r
m = m( x ) ψ i ( x ) ψ j ( x ) dx +
*
ij ∫ ∑M
q =1
q
• Element cij* :
u
c = c( x ) ψ i ( x ) ψ j ( x ) dx +
*
ij ∫ ∑C
s =1
s ψ i ( xs ) ψ j ( xs )
• Forces:
Ø Distributed time-varying force: F ( x, t )
Ø Concentrated forces: Fw (t )
♦ ψ ( x w ) = Shape function at Fw (t )
v
f i = F ( x, t ) ψ i ( x ) dx +
*
∫ ∑ F (t ) ψ (x
w =1
w i w )
Yi (t ) = Φ i sin (ω t )
{Y (t )} = {Φ} sin (ω t )
• Eigenvalue problem:
Ø Free vibration → {f (t )} = {0}
*
( [k ] − ω [m ] ) {Φ} = {0}
* 2 *
Ø Eigenvector results:
♦ “N” DOF → N shape functions
♦ N natural frequencies (eigenvalues)
♦ N eigenvectors, {Φ}:
§ Shape of vibration mode
§ Relative contributions of shape functions, ψ i ( x )
Λ k ( x ) = Φ1k ψ1 ( x ) + Φ 2 k ψ 2 ( x ) + K + Φ N k ψ N ( x )
Λ k ( x ) = {ψ i ( x )} {Φ}k
T
Ø Amplitude is arbitrary
ηk ( x, t ) = Λ k ( x ) Z k (t ) = {ψ i ( x )} {Φ}k Z k (t )
T
η( x, t ) = {ψ i ( x )} [Φ ] {Z k (t )}
T
{Yi (t )} = [Φ ] {Z k (t )}
• Governing equations of motion:
Ø Generalized Mass: [ ]
M k* = {Φ}k m* {Φ}k
T
K = {Φ} [k ] {Φ}
* T *
Ø Generalized Stiffness: k k k
C = {Φ} [c ] {Φ}
* T *
Ø Generalized Damping: k k k
F = {Φ} {f (t )}
* T *
Ø Generalized Force: k k
η j ( x, t ) = Λ j ( x ) Z j (t ) = {ψ i ( x )} {Φ} j Z j (t )
T
Fk j = k ∆X j
• Mending moment:
Ø Proportional to curvature of displaced shape
Ø Bending moment, M(x): jth mode
d 2 η j ( x, t )
M( x ) = E I x = E I x Λ′′j ( x ) Z j (t )
dx 2
= E I x {ψ′i′( x )} {Φ} j Z j (t )
T
d 3 η j ( x, t )
V( x ) = E I x 3
= E I x Λ′′j′( x ) Z j (t )
dx
= E I x {ψ′i′′( x )} {Φ} j Z j (t )
T
FEQ j ( x ) = m( x ) ω2j Λ j ( x ) Z j (t )
= m( x ) ω2j {ψ ( x )} {Φ} j Z j (t )
T
PEQ j ( xM ) = M ω2j Λ j ( xM ) Z j (t )
= M ω2j {ψ ( xM )} {Φ} j Z j (t )
T
Ø Applied forces
♦ Concentrated nodal forces & moments
• Consistent formulation:
Ø Conceptually similar to Rayleigh-Ritz method
Ø FEM implementation:
♦ Shape functions ψ i ( x ) defined for single element only
♦ Definition of ψ i ( x ) : (Interpolation functions)
§ Value at 1 DOF =1.0 (displacement or rotation)
§ Value at other DOF = 0.0
1
η4
η3
L 1
1
x η2
η1
1
Interpolation Function: ψ 1 ( x) ψ 2 ( x) ψ 3 ( x) ψ 4 ( x)
• Axial DOF’s:
x
Ø Bottom end ψ 5 ( x ) = 1.0 −
L
x
Ø Top end ψ6 (x ) =
L
• Generalized properties:
Ø Calculated as for Rayleigh-Ritz method
Ø Consistent formulation: Generalized properties
♦ Stiffness, mass and force matrices use same interpolation
functions
• Uniform beam: Section 8.6
12E I 12E I 4E I
k11 = k22 = 3
; k12 = k21 = − 3
; k33 = k44 =
L L L
2E I 6E I
k34 = k 43 = ; k13 = k31 = k14 = k 41 =
L L2
6E I
k23 = k32 = k 24 = k42 = −
L2
• Coupled DOF:
Ø 4 flexural degrees of freedom
Ø 2 axial degrees of freedom will be coupled
Ø Flexural and axial DOF are uncoupled