Beams and Frames
beam theory can be used to solve simple
beams
complex beams with many cross section
changes are solvable but lengthy
many 2-d and 3-d frame structures are
better modeled by beam theory
One Dimensional Problems
The geometry of the problem is three dimensional, but the
variation of variable is one dimensional
y
u(x)
Contract Stretch
x P
u(x)
px
kx du + P
dx (x=l)=0 y
px
v(x) x v(x)
Variable can be scalar field like
temperature, or vector field like
d4v displacement.
kx + P(x)=0
dx4 For dynamic loading, the variable can
be time dependent
Element Formulation
– assume the displacement w is a cubic polynomial in
v(x) a1 a 2 x a 3x 2 a 4 x 3
a1, a2, a3, a4 are the undetermined coefficients
L = Length
I = Moment of Inertia of y
the cross sectional area qj
E = Modulus of Elsaticity qi q(x)
v = v(x) deflection of the qj
vj
neutral axis vi
Fi, vi
qi v(x) Fj,vj
= dv/dx slope of the x Mj,qj
elastic curve (rotation of x
the section Mi,qi
i j
F = F(x) = shear force L, EI
M= M(x) = Bending
moment about Z-axis
` a1
a
a 1
a
3 2 2 2
v(x) 1 x x x ; (x) 0 1 2x 3x
2
a 3 a 3
a 4 a 4
dv
x 0, v(0) v1; 1
dx x 0
dv
x L, v(L) v 2 ; 2
dx x L
v i 1 0 0 0 a1
0 1 0 0 a 2
i
v
j 1 L L2 L3 a 3
j 0 1 2L 3L2 a 4
Applying these boundary conditions, we get
{d} [P(x)]{a}
{a} [P(x)]1{d}
a 1 v1 ; a 2 1
1
a 3 2 ( 3v1 2L1 3v 2 L2 )
L
Substituting coefficients ai back into the original equation
for v(x) and rearranging terms gives
a1
a
2
v(x) 1 x x 2
x3
a 3
a 4
The interpolation function or shape function is given by
3x 2 2x 3 2x 2 x 3
v(x) (1 2 3 )v1 (x 2 )1
L L L L
3x 2 2x 3 x2 x3
( 2 3 )v 2 ( 2 )2
L L L L
dN1
(x=0) = 0
dx
N1(x=L) =1
v1 N1=1
L
v N1 (x) N 2 (x) N 3 (x) N 4 (x) 1 [N]{d}
dN1
(x=L) = 0
dx
v2
L2 N2=1
strain for a beam in bending is defined by the curvature, so
d 2 v d 2 [N]
dv
du u(x) = y
dx
y 2 2
{d} y[B]{d}
Hence dx dx dx y
N A
12x 6 6x 4 6 12x 6x 2 dv
[B] 3 2 3
2 2
3 3
2 dx
L L L L L L L h x
T
Internal virtual energy U e = dv
e
v
substitute E in above eqn.
U e = E dv
T
e
v
= y B d
U e = d B T E B d y2dv
T
ve
External virtual workdue to body force
b dv d N b y dv
T T
w = d(x)
e T
b
ve ve
External virtual work due to surface force
p dv d N T p y ds
T T
w = d(x)
e
s
s s
External virtual work due to nodal forces
w d
e
c
T
P , P = P , M , P ,....
e e T
yi i yj
From virtual work principle U e W e
e e
s
d T ( B T E B y2dv d d T N T b dv N T p dv Pe
y y
v v
e
K Ue F
e
where
K B T D B y2dv Element stiffness matrix
e
ve
e
e
y s
y
F N T b dv N T p ds Pe Total nodal force vector
v
the stiffness matrix [k] is defined
L
V
T
2
[k] [B] E[B]dV dAy E [B]T [B]dx
A 0
12 6L 12 6L
2
EI 6L 4L 6L 2L
2
3 dA
L 12 6L 12 6L
y
2
6L 2L 6L 4L
2
To compute equivalent nodal force
vector for the loading shown
Fe N py ds
T
s py w
From similar triangles
py w w L
x
; p y x; ds = 1 dx
x L L
3x 2 2x 3 2x 2 x 3 3x 2 2x 3 x2 x3
N (1 2 3 ) (x 2 ) ( 2 3 ) ( 2 )
L L L L L L L L
Fe N p y ds
T
s
vi vj
3x 2 2x 3 3wL
(1 L2 L3 ) 20
2
i +ve directions j
2x 2 x 3 wL
(x L L2 ) wx 30
Fe 2 dx
L 3x 2x 3 L 7wL
( 3 )
L2 L 20
2 3 wL2
( x x )
L L2
20
Equivalent nodal force due to
Uniformly distributed load w
v1 v2
v3
1 2 3
v3
v4
Member end forces
For element 1
70 70
V1 12 18 -12 18 0 70
M 18 36 -18 18 0 70
1
1555.6 70
V
2 -12 -18 12 -18 0 70 139.6
M 2
18 18 -18 36 0.00249 139.6
V1 12 18 -12 18 0 46.53 46.53 46.53
M 18 36 -18 18 0.00249 139.6
1
1555.6
V2 -12 -18 12 -18 0.01744 46.53
0
M 2 18 18 -18 36 0.007475 0 139.6
v1 v2 v3
1 2 3
v1 1 v2 2
v2 2 v3 3
V1 12 6 -12 6 v1
M 6 4 -6 2
1
1
V2 5 -12 -6 12+12 -6+6 -12 6 v 2
8x10
M
2 6 2 -6+6 4+4 -6 2 2
V3 -12 -6 12 -6 v 3
M
3 6 2 -6 4 3
Boundary condition
v1 , 1 , v 2 , v 3 0
Loading Condition
M 2 1000; M 3 1000
8 2 2 1000
8x105
2 4
3 1000.0
4 -2 1000 2.679x10
4
2 1
5 1000.0 4
3 28*8x10 -2 8 4.464x10
Final member end forces
f k d {FEMS}
For element 1
V1 0 12 6 -12 6 0 1285.92
M 0
1
5 6 4 -6 2 0 428.64
8X10
V2 0 -12 -6 12 -6 0 1285.92
M 2 0 1285.92 1285.92
6 2 -6 4 2.679x10 857.28
4
428.64 857.28
V1 6000 12 6 -12 6 0 6856.8
M 1000
1 5 6 4 -6 2 2.679x10 4 856.96
8X10
V
2 6000 -12 -6 12 -6 0 51 43.2
M 2 1000
6 2 -6 4 4.464x10 0
4 5143.2
6856.8
856.96 0
Guided Support
Find slope at joint 2 and deflection 20 KN 20kN/m
at joint 3. Also find member end
forces EI EI
2m 2m 6m
EI=2 x 10 4kN-m2
v v v
Global coordinates
20 KN 20kN/m
Fixed end reactions (FERs)
m
m m
m
m m
Action/loads at global
coordinates m
For element 1
f1 12 24 -12 24 v1
m 24 64 -24 32 1
1 1X104
f 2 43 -12 -24 12 -24 v 2
m 2
24 32 -24 64 2
v1 1 v 2 2
For element 2
f1 12 36 -12 36 v1
m 36 144 -36 72 1
1 1X104
f
2 6 3
-12 -36 12 -36 v 2
m 2
36 72 -36 144 2
v2 2 v3 3
F1 1875 3750 -1875 3750 v1
M 3750 10000 -3750 5000
1
1
F2 -1875 -3750 1875+555.56 -3750+1666.67 -555.56 1666.67 v 2
M
2 3750 5000 -3750+1666.67 10000+6666.67 -1666.67 3333.33 2
F3 -555.56 -1666.67 555.56 -1666.67 v 3
M 3 1666.67 3333.332 -1666.67 6666.67 3
Boundary condition
v1 , 1 , v 2 , 3 0
Loading Condition
M 2 50; F3 60
16666.67 -1666.67 2 50
-1666.67 555.56 v 60
3
2 1 555.56 1666.67 50 0.019714
1666.67 16666.67 60 0.16714
v
3 6481481.5
Final member end forces
f k d {FEMS}
12/08/21 26
For element 1
f1 10 12 24 -12 24 0 63.93
m 10 24 64 -24 32 0 88.57
1 1X104
f
2 10 43 -12 -24 12 -24 0 83.93
m 2 10
24 32 -24 64 0.019714 207.14
For element 2
f1 60 12 36 -12 36 0 120
m 60 36 144 -36 72 0.019714 207.14
1 1X104
f
2 60 6 3
-12 -36 12 -36 0.16714 0
m 2 60 152.85
36 72 -36 144 0
y’
q’2 q’5
q’1
q’4 x’
q’3 q’6
displacement in local coordinates
AE AE
L 0 0 0 0
L
0 12EI 6EI 12EI 6EI
0
L3 L3 L3 L3
6EI 4EI 6EI 2EI
0 0 3
L3 L3 L L3
[k]
AE AE
0 0 0 0
L L
12EI 6EI 12EI 6EI
0 0 3
L3 L3 L3 L
0 6EI 2EI 6EI 4EI
0 3
L3 L3 L L3
If f ' member end forces in local coordinates then
f' k ' q '
q {q1 ,q 2 ,q 3,q 4 ,q 5 ,q 6}
are forces in global coordinate direction
At node i
q1' q1 cos q 2 sin
q '2 q1 sin q 2 cos
q '3 q 3
l cos ; m sin
using conditions q' [L]{q}; and f' [L]{f}
Stiffness matrix for an arbitrarily oriented beam element is given by
k L T k ' L
Grid Elements
f = GJ/l
a’
JG JG
L
L q xi f i
JG JG q xj f j
L L
qxi’ fi qxj’ fj
GJ GJ
L 0 0 0 0
L
0 12EI 6EI 12EI 6EI
0
L3 L3 L3 L3
6EI 4EI 6EI 2EI
0 0 3
L3 L3 L L3
GJ GJ
0 0 0 0
L L
12EI 6EI 12EI 6EI
0 0 3
L3 L3 L3 L
0 6EI 2EI 6EI 4EI
0 3
L3 L3 L L3
If f ' member end forces in local coordinates then
f' k ' q '
C 0 -s 0 0 0
0 1 0 0 0 0
-s 0 c 0 0 0
L
0 0 0 c 0 -s
0 0 0 0 1 0
0 0 0 --s 0 c
k L T
k ' L
Beam element for 3D analysis
y’
q’8
q’2
q’11
q’5
q’7
q’1 x’
q’6 q’10
q’4
q’12
q’3 q’9
displacement in local coordinates
z’
if axial load is tensile, results from beam
elements are higher than actual results
are conservative
if axial load is compressive, results are less
than actual
– size of error is small until load is about 25% of
Euler buckling load
for 2-d, can use rotation matrices to get
stiffness matrix for beams in any
orientation
to develop 3-d beam elements, must also
add capability for torsional loads about the
axis of the element, and flexural loading in
x-z plane
to derive the 3-d beam element, set up the
beam with the x axis along its length, and y
and z axes as lateral directions
torsion behavior is added by superposition
of simple strength of materials solution
JG JG
L L xi Ti
JG JG T
xj j
L L
J = torsional moment about x axis
G = shear modulus
L = length
xi, xj are nodal degrees of freedom of
angle of twist at each end
Ti, Tj are torques about the x axis at each
end
flexure in x-z plane adds another stiffness
matrix like the first one derived
superposition of all these matrices gives a
12 12 stiffness matrix
to orient a beam element in 3-d, use 3-d
rotation matrices
for beams long compared to their cross
section, displacement is almost all due to
flexure of beam
for short beams there is an additional lateral
displacement due to transverse shear
some FE programs take this into account,
but you then need to input a shear
deformation constant (value associated with
geometry of cross section)
limitations:
– same assumptions as in conventional beam and
torsion theories
no better than beam analysis
– axial load capability allows frame analysis, but
formulation does not couple axial and lateral
loading which are coupled nonlinearly
– analysis does not account for
» stress concentration at cross section changes
» where point loads are applied
» where the beam frame components are connected
Finite Element Model
Element formulation exact for beam spans
with no intermediate loads
– need only 1 element to model any such
member that has constant cross section
for distributed load, subdivide into several
elements
need a node everywhere a point load is
applied
need nodes where frame members connect,
where they change direction, or where the
cross section properties change
for each member at a common node, all
have the same linear and rotational
displacement
boundary conditions can be restraints on
linear displacements or rotation
simple supports restrain only linear
displacements
built in supports restrain rotation also
– restrain vertical and horizontal displacements
of nodes 1 and 3
– no restraint on rotation of nodes 1 and 3
– need a restraint in x direction to prevent rigid
body motion, even if all forces are in y
direction
cantilever beam
– has x and y linear displacements and rotation of node 1
fixed
point loads are idealized loads
– structure away from area of application
behaves as though point loads are applied
only an exact formulation when there are
no loads along the span
– for distributed loads, can get exact solution
everywhere else by replacing the distributed
load by equivalent loads and moments at the
nodes
Computer Input Assistance
preprocessor will usually have the same
capabilities as for trusses
a beam element consists of two node
numbers and associated material and
physical properties
material properties:
– modulus of elasticity
– if dynamic or thermal analysis, mass density
and thermal coefficient of expansion
physical properties:
– cross sectional area
– 2 area moments of inertia
– torsion constant
– location of stress calculation point
boundary conditions:
– specify node numbers and displacement
components that are restrained
loads:
– specify by node number and load components
– most commercial FE programs allows
application of distributed loads but they use
and equivalent load/moment set internally
Analysis Step
small models and carefully planned element
and node numbering will save you from
bandwidth or wavefront minimization
potential for ill conditioned stiffness matrix
due to axial stiffness >> flexural stiffness
(case of long slender beams)
Output Processing and Evaluation
graphical output of deformed shape usually
uses only straight lines to represent
members
you do not see the effect of rotational
constraints on the deformed shape of each
member
to check these, subdivide each member and
redo the analysis
most FE codes do not make graphical
presentations of beam stress results
– user must calculate some of these from the stress
values returned
for 2-d beams, you get a normal stress normal to
the cross section and a transverse shear acting on
the face of the cross section
– normal stress has 2 components
» axial stress
» bending stress due to moment
– expect the maximum normal stress to be at the
top or bottom of the cross section
– transverse shear is usually the average
transverse load/area
» does not take into account any variation across the
section
3-d beams
– normal stress is combination of axial stress,
flexural stress from local y- and z- moments
– stress due to moment is linear across a section,
the combination is usually highest at the
extreme corners of the cross section
– may also have to include the effects of torsion
» get a 2-d stress state which must be evaluated
– also need to check for column buckling
