Professional Documents
Culture Documents
Vable
8-1
M. Vable
Rayleigh Ritz
Rayleigh Ritz method is an approximate method of finding displacements that is based on the theorem of minimum potential energy. The method is restricted to conservative systems that may be linear or non-linear. Potential energy function (): = U W U is the strain energy W is the work potential of a force. Internal virtual work: W int = U External virtual work: W ext = W Virtual work principle: W int W ext = U W = = 0 The zero virtual variation in the potential energy function occurs where the slope of the potential energy function with respect to the parameters defining the potential function is zero. The parameters defining the potential function are the generalized displacements. The zero slope condition can occur where the potential function is: maximumUnstable equilibrium saddle pointNeutral equilibrium minimumStable equilibrium
8-2
M. Vable
u(x) =
Ci fi ( x )
i=1
8-3
M. Vable
Displacement Approximation: u ( x ) =
n
Ci fi ( x )
i=1
du = dx
Cj d x
df j
1 U A = U a dx = -2
0 L
j=1 k=1
df j df k C j C k EA dx d x d x
0
8-4
M. Vable
j=1 k=1
C j C k K jk
px(x) axial distributed force Fq concentrated axial forces applied at m xq points The work potential of these forces can be written as:
L m
WA =
px ( x )u ( x ) dx +
0 q=1 m L
Fq u ( xq )
WA =
L
Cj px ( x )fj ( x )
j=1 0 m
dx +
Fq Cj fj ( xq )
q = 1j = 1
Define: R j =
px ( x )fj ( x )
0
dx +
q=1 n
F q f j ( x q ) ---Load Vector
Cj Rj
j=1 n n
1 A = U A W A = -2
j=1 k=1
C j C k K jk
Cj Rj
j=1
8-5
M. Vable
1 A = U A W A = -2
j=1 k=1
C j C k K jk
Cj Rj
j=1
A Ci C j
= 0 i = 1, n
1 -2
j=1 k=1
C j
C + Cj K Ci k C i jk i = j ij
C k
j=1
Ci Rj
= 0
Note:
C j
1 = Ci 0
Kij Cj
j=1
= Ri
i = 1, n or [ K ] { C } = { R }
1 A = -2
j=1
Cj Rj
j=1
1 C j R j = -- 2
Cj Rj
j=1
8-6
M. Vable
Cj Rj
j=1
at equilibrium
More the degree of freedom, lower is the potential energy (more negative), higher is the strain energy stored in the structure. With greater degree of freedom the structure becomes less stiff and hence can store more energy. In FEM mesh refinement schemes try to get a more uniform distribution of strain energy across the structure.
8-7
M. Vable
Displacement Approximation:v ( x ) =
Ci fi ( x )
i=1
Work Potential: py(x) Fq Mq distributed load concentrated transverse forces applied at m1 xq points concentrated transverse forces applied at m2 xq points
L m1 m2
WA =
py ( x ) ( x ) dx +
0 L q=1
Fq v ( xq ) +
q=1
Mq
dv (x ) dx q
Rj =
py ( x )fj ( x )
0
dx +
q=1
Fq fj ( xq ) +
q=1
Mq
df j dx
( xq )
8-8
M. Vable
8.6 For the beam shown in Fig. P8.6 determine one and two parameter Rayleigh-Ritz displacement solution using the approximation for the bending displacement given below. Calculate the potential energy function for the one and two parameters.
v(x) =
Ci sin -------2L
i=1
ix
8-9
M. Vable
i=1
(i)
where, n is the number of elements (structural members). This perspective of reducing the complexity of analysis of large structures to analysis of simple individual members (elements) is what makes the finite element method such a versatile and popular analysis tool in structural (and engineering application) analysis.
Definition 1 Nodes are points on the structure at which displacements and rotations are to be found or prescribed. Definition 2 Element is a small domain on which we can solve the boundary value problem in terms of the displacements and forces of the nodes on the element. Definition 3 The discrete representation of the structure geometry by elements and nodes is called a mesh. Definition 4 The process of creating a mesh (discrete entities) is called discretization. Definition 5 Interpolation function is a kinematically admissible displacement function defined on an element that can be used for interpolating displacement values between the nodes. Definition 6 The mesh, boundary conditions, loads, and material properties representing the actual structure is called a model. Definition 7 Element stiffness matrix relate the displacements to the forces at the element nodes. Definition 8 Global stiffness matrix is an assembly of element stiffness matrix that relates the displacements of the nodes on the mesh to applied external forces.
8-10
M. Vable
Lagrange polynomials
Polynomial functions that yield function value at finite number of points. Linear Approximation: u ( x ) = C 1 + C 2 x
x x1
Node 1
u1 x2
Node 2
u2
Conditions: u ( x 1 ) = u 1
u ( x2 ) = u2
u ( x ) = u1 L1 ( x ) + u2 L2 ( x ) =
ui Li ( x )
i=1
L1(x) L2(x)
1
8-11
M. Vable
u1
Node 2
u2
Node 3
u3
x2 x3
n
Alternative Approach: u ( x ) =
n
ui Li ( x ) [
i=1
u ( xj ) =
i=1
ui Li ( xj ) = uj
1 Li ( xj ) = 0
i = j ij
L1 ( x ) = a1 ( x x2 ) ( x x3 ) L2 ( x ) = a2 ( x x3 ) ( x x1 ) L3 ( x ) = a3 ( x x1 ) ( x x2 )
8-12
M. Vable
Node 1 1
Node 2
Node 3
x x x
j = 1 ij
( x xj ) ------------------( xi xj )
i = 1, ( n + 1 )
u1 1
element 1
u2 2
element 2
u3 3
u1 1 2
u2
element 1
u3 3
u4
element 2
u5 4 5
Lagrange polynomials ensure that the function these are used to represent will be continuous at the element ends. The continuity of the derivative of the function cannot be ensured at the element end irrespective of the order of polynomials when Lagrange polynomials are used for representing the function.
8-13
M. Vable
Axial elements
Notation: superscript to designate quantities at element level and no superscript at the global level. actual structure. Displacements: u
(e) n
and u 3 l refer to displacement of node 3 for element 1 and 2. u 3 refers to displacement of node 3 on the
u3
(1)
(2)
i=1 (e)
ui Li ( x )
n ( e ) dL i ui dx n ( e ) dL i
(e)
i=1
Axial Stress: xx = E
i=1
ui
dx
n
(e)
( e ) dL i ui dx
i=1 (e) In Equations for Rayleigh-Ritz substitute:C i = u i and f i ( x ) = L i ( x ) L (e) ( e ) ( e ) dL j dL k Element stiffness matrix: K jk = E A dx dx dx 0
px ( x )Lj ( x ) dx + F1 Lj ( x1 ) + Fn Lj ( xn )
0
R1
(e)
(e)
(e)
For p x = 0
= F1
(e)
Rn
(e)
= Fn
(e)
Rj
(e)
= 0
j = 2, ( n 1 )
8-14
M. Vable
Fj
(e)
(e)
Assembly of global matrix and global load vector The governing criteria is that the displacement function at the node where two elements meet must be continuous i.e., be the same. Assume there is no distributed force i.e., p x = 0 Use two quadratic axial elements
x
A 1 2
P/2
B 3 4 C 5
P/2
1 2 Element 1 3 1 2 Element 2 3
(m)
ui
(m)
u i
(m)
(1)
u ( 1 ) 1 = u ( 1 ) 2 u ( 1 ) 3
u( 1 ) (1) 1 F 1 (1) u 2 0 ( 1 ) u ( 1 ) F 3 3
8-15
M. Vable
(2)
u ( 2 ) 1 = u ( 2 ) 2 u ( 2 ) 3
u( 2 ) (2) 1 F 1 (2) u 2 0 ( 2 ) u ( 2 ) F 3 3
x
A 1 2
P/2
B 3 4 C 5
P/2
1 2 Element 1 3 1 2 Element 2 3
u1 u1
(1) (2)
= u1 = u3
u ( 1 ) 1 = u ( 1 ) 2 u ( 1 ) 3 u 1 u 2 u 3 u 4 u 5
T T
u2 u2
(1) (2)
= u2 = u4
u3 u3
(1) (2)
= u3 = u5
(1)
u( 1 ) (1) 1 F 1 (1) u 2 0 ( 1 ) u ( 1 ) F 3 3 u1 F( 1 ) 1 u2 0 u3 F( 1 ) 3 u4 0 u5 0
(1)
0 0 0 0 0 0 0 0 0 0
8-16
M. Vable
(2)
u 1 u 2 u 3 u 4 u 5
0 0 0 0
0 0
(2) (2) (2)
0 0
(2) (2) (2)
0 0
(2) (2) (2)
0 0 K 11 K 12 K 13 0 0 K 21 K 22 K 23 0 0 K 31 K 32 K 33
u1 0 u2 0 (2) u3 F1 u4 0 (2) u5 F3
(1)
(2)
u 1 u 2 u 3 u 4 u 5
(1) K( 1 ) K( 1 ) K 13 0 0 11 12 (1) (1) (1) K 23 0 0 K 21 K 22 K( 1 ) K( 1 ) ( K( 1 ) + K( 2 ) ) K( 2 ) K( 2 ) 33 11 12 13 31 32 (2) (2) (2) 0 K 21 K 22 K 23 0 (2) (2) (2) 0 K 31 K 32 K 33 0
(1) u1 F1 u2 0 u3 F( 1 ) + F( 2 ) 1 3 u4 0 (2) u5 F3
The element stiffness matrix and element load components that add corresponds to the degree of freedom associated with the shared node of the elements.
x
A 1 2
P/2
1 2 Element 1 3 1 2 Element 2 3
(1) (2)
(1) (2)
8-17
M. Vable
= RA
u 1 u 2 u 3 u 4 u 5
T
F3 + F1
(1)
(2)
= P
F3
(2)
= RC
R A 0 P 0 R C
(1) (1) (1) K 13 0 0 K 11 K 12 (1) (1) (1) K 23 0 0 K 21 K 22 K( 1 ) K( 1 ) ( K( 1 ) + K( 2 ) ) K( 2 ) K( 2 ) 33 11 12 13 31 32 (2) (2) (2) 0 K 21 K 22 K 23 0 (2) (2) (2) 0 K 31 K 32 K 33 0
u1 u2 u3 u4 u5
Incorporating the boundary conditions on displacements The stiffness matrix in is singular, which reflects the fact that the two element structure can move as a rigid body. u1 = 0 u 1 = 0 u5 = 0 u 5 = 0
0 u 2 = u 3 u 4 0
T (1) K( 1 ) K( 1 ) K 13 0 0 11 12 (1) (1) (1) K 23 0 0 K 21 K 22 K( 1 ) K( 1 ) ( K( 1 ) + K( 2 ) ) K( 2 ) K( 2 ) 33 11 12 13 31 32 (2) (2) (2) 0 K 21 K 22 K 23 0 (2) (2) (2) 0 K 31 K 32 K 33 0
0 R A u 2 0 u 3 P u 4 0 0 R C
or
T (1) K( 1 ) K 23 0 u u 2 22 2 0 = u K ( 1 ) ( K ( 1 ) + K ( 2 ) ) K ( 2 ) u P 3 32 33 11 12 3 u (2) ( 2 ) u 4 0 4 K 21 K 22 0
8-18
M. Vable
K 22
(1) (1)
K 23
(1)
(1) (2)
0
(2) (2)
K 32 K 33 + K 11 K 12 0 K 21
(2)
K 22
(1)
u2 0 u3 = P 0 u4
(1) (2) (2)
Reaction Forces: R A = K 12 u 2 + K 13 u 3 R C = K 31 u 3 + K 32 u 4
8-19
M. Vable
Element strain energy In Rayleigh-Ritz method we showed that the strain energy is half the work potential of the forces at equilibrium.
(e) 1 U A = -2
For p x = 0 R1
(e)
j=1
= Fn
uj Rj
Rj
(e) (e)
= F1
(e)
Rn
(e)
(e)
(e)
= 0
j = 2, ( n 1 )
un Fn
(e)
(e)
u1 N1
(e)
(e)
un Nn
(e)
(e)
F1
(e)
= N1
(e)
Fn
(e)
= Nn
(e) (e)
For p x = 0 N1 = Nn = N (e) (e) (e) (e) (e) 1 (e) (e) 1 (e) U A = -- ( u n N n u 1 N 1 ) = -- ( u n u 1 )N 2 2 Mesh Refinement Elements with high strain energy identify the region of the body where mesh should be refined. The h-method of mesh refinement reduces the size of element. The p-method of mesh refinement increases the order of polynomial in an element. The r-method of mesh refinement relocates the position of a node. Combinations: hr-method, hp-method, hpr-method
(e)
(e)
8-20
M. Vable
Coordinate transformation
yG (1) v G1 (1) v G3 (1) u G2 (1) u1 xG (1) u G3 (1) u3
(1) v G2 (1) u G1
(1) u2
The displacement vector in global orientation: D 1 The unit vector: e L = cos i + sin j Axial displacement: u 1
(1) (e) (e)
(e)
= u G1 i + v G1 j
(e)
(e)
(e)
= D 1 e L = u G1 cos + v G1 sin
(e) (e)
u G1 u G1 (e) (e) v G1 v G1 (e) u 1 u( e ) u( e ) cos sin 0 0 0 0 G2 (e) G2 u2 = 0 0 cos sin 0 0 (e) = [T] (e) v 0 0 0 0 cos sin v G2 (e) G2 u3 (e) (e) u G3 u G3 (e) (e) v G3 v G3 The [T] matrix in the above equation is 3 x 6 matrix relating the local and the global coordinate system. For n nodes on the element the matrix [T] would be n x 2n size.
8-21
M. Vable
(e)
(e) } = [ T ] uG
= { u
(e) T
} ([K
T
(e)
]{u
(e)
} {R
(e)
} ) or
(e)
Define:
[ KG ] = [ T ] [ K
(e)
][T]
T
(e) T (e) RG = [ T ] { R }
( e ) ( e ) ( e ) ( e ) = u G [ K G ] u G R G
Linear and quadratic axial elements We assume the following: ---the distributed load px is evaluated at the mid point of the element and has a uniform value po ---the cross-sectional area (A) is evaluated at the mid point of the element. ---the modulus of elasticity (E) is constant over the element.
8-22
M. Vable
Linear: u
(e)
(e)
(e)
[K
(e)
EA ] = ------- 1 1 L 1 1
(e) (e)
Quadratic: u
( x ) = u 1 L 1 ( x ) + u 2 L2 ( x ) + u3 L3 ( x )
u( e ) 1 (e) { u } = u( e ) 2 (e) u3
[K
(e)
F( e ) 1 1 po L { R } = --------- 4 + 0 6 1 F( e ) 3 } ([K
(e)
= { u
(e) T
]{u
(e)
} {R
(e)
})
8-23
M. Vable
Steps in FEM procedure 1. Obtain element stiffness and element load vector. 2. Transform from local orientation to global orientation. 3. Assemble the global stiffness matrix and load vector. 4. Incorporate the external loads 5. Incorporate the boundary conditions. 6. Solve the algebraic equations for nodal displacements. 7. Obtain reaction force, stress, internal forces, strain energy. 8. Interpret and check the results. 9. Refine mesh if necessary, and repeat the above steps.
8-24
M. Vable
8.8 A rectangular tapered aluminum bar (Eal = 10,000 ksi, = 0.25) is shown in Figure 8.8. The depth of the tapered section varies as: h ( x ) = 4 0.04x .Find the stress at point B, displacement at point C and the strain energy in each element using the following FEM model: one linear element in AB and one quadratic element in BC.
1 in
4 in A 10 in
B x
h(x)
P = 10 kips
50 in
Fig. P8.8
8-25
M. Vable
8.10 A force F= 20 kN is applied to the roller that slides inside a slot as shown in Fig. P8.10. Both bars have an area of cross-section of A = 100 mm2 and a Modulus of Elasticity E = 200 GPa. Bar AP and BP have lengths of LAP= 200 mm and LBP= 250 mm respectively. Determine the displacement of the roller and the reaction force on the roller using linear elements to represent each bar.
B
110o A P
Fig. P8.10
8-26
M. Vable
dv dx
must be
continuous at all points on the beam including the element ends. Lagrange polynomials cannot be used for representing v because it would result in slope being discontinuous at the element end irrespective of the order of polynomial. Deflection Approximation: v ( x ) = C 1 + C 2 x + C 3 x + C 4 x v ( x1 ) = v1 Conditions: v ( x2 ) = v2
(e) (e) (e) (e) dv ( x1 ) = 1 dx (e) dv ( x2 ) = 2 dx (e) (e) (e) 2 3
8-27
M. Vable
df 1 ( e ) df 2 ( e ) df 3 ( e ) df 4 (e) dv ( x1 ) = ( x 1 )v 1 + ( x 1 ) 1 + ( x 1 )v 2 + ( x 1 ) 2 dx dx dx dx dx = 1 df 1 dx
.
(e)
( x1 ) = 0
df 2 dx
( x1 ) = 1
df 3 dx
( x1 ) = 0
df 3 dx
( x1 ) = 0
zero slope
f1(x) f2(x)
x zero slope
8-28
M. Vable
Assume: the area moment of inertia (I) is evaluated for the cross-section at the mid point of the element. the modulus of elasticity (E) is constant over the element. (e) v1 (e) 1 (e) {v } = (e) v 2 (e) 2 Element Load Vector From Rayleigh-Ritz the load vector is:
L m1 m1
6 [K
(e)
3L
2
3L
2
2EI ] = -------3 L
3L 2L 3 L L 6 3 L 6 3 L 3L L
2
3 L 2L
Rj =
py ( x )fj ( x )
0
L
dx +
q=1
Fq fj ( xq ) +
q=1
Mq
df j dx
( xq )
Assume point forces and moments can only be applied at element end nodes.
(e) Rj
py ( x )fj ( x ) dx + F1 fj ( x1 ) + F2 fj ( x2 ) + M1
0
(e)
(e)
( e ) df j
dx
( x1 ) + M2
( e ) df j
dx
( x2 )
8-29
M. Vable
the distributed load py is evaluated at the mid point of the element and has a uniform value po. (e) F1 6 (e) p0 L L M1 (e) { R } = --------- + 12 6 ( e ) F2 L (e) M2 Positive directions for displacements, slopes, nodal forces and moments.
(e) 1
(e) v1
(e) M2
(e) F2
(e)
= { v
(e) T
} ([K
(e)
]{v
(e)
} {R
(e)
})
8-30
M. Vable
8.23 Using a single beam element for AB and a single beam element for BC in Fig. P8.23, determine (a) the slope at B and C (b) reaction force and moment at A.
w
A
x L
2L
Fig. P8.23
8-31