The Finite Element Method for the Analysis of

Non-Linear and Dynamic Systems

Prof. Dr. Eleni Chatzi

Lecture 4 - 22 October, 2015

Institute of Structural Engineering Method of Finite Elements II 1

2D Axisymmetric, Plane Strain and Plane Stress Elements

2D Elements in Large Displacements

The principles presented for the bar element can be straightforwardly extended to
further classes of elements, such as the 2D Axisymmetric, Plane Strain and Plane
Stress Elements.
Once again, we may start from the decomposition of the incremental strains. Let
us assume a TL formulation, where we have calculated the displacement t0 u at
time step t and we implement an increment 0 u to proceed to the target time step
t + t. For the TL the reference time is 0, indicated by the lower right index. It
is reminded here, that for the UL formulation, the reference time would be the
time of the previous step t. The strain is decomposed into a linear and a
nonlinear part, 0 ij =0 eij +0 ij , where:
3
!
1 X t t
0 eij = 0 ui,j +0 uj,i + 0 uk,i 0 uk,j +0 uk,i 0 uk,j
2
k=1
3
!
1 X
0 ij = 0 uk,i 0 uk,j
2
k=1

ui
where, it is reminded that 0 ui,j =
0 xj
Institute of Structural Engineering Method of Finite Elements II 2
2D Axisymmetric, Plane Strain and Plane Stress Elements

2D Elements in Large Displacements

In contrast to the bar element where only components 0 e11 and 0 11 were
relevant,
For the case of 2D plane stress and plane strain elements we also have
components 12 & 22 appearing in the governing equations.
Note that in the plane stress problem, the transverse normal strain component 33
is generally nonzero because of Poissons ratio effects. This strain does not enter
the governing equations as unknown, however, because the associated stress 33
is zero. Then:
t t 1
(0 u1,1 )2 + (0 u2,1 )2

0 e11 =0 u1,1 +0 u1,1 0 u1,1 +0 u2,1 0 u2,1 & 0 11 =
2
0 e22 & 0 22 are similar
1 1 t t t t

0 e12 = (0 u1,2 +0 u2,1 ) + 0 u1,1 0 u1,2 +0 u2,1 0 u2,2 +0 u1,2 0 u1,1 +0 u2,2 0 u2,1
2 2
1

0 12 = [ u u
0 1,1 0 1,2 + 0 2,1 0 u2,2 ]
u
2

For axisymmetric elements, component 33 additionally enters the governing

equations.
Institute of Structural Engineering Method of Finite Elements II 3
2D Axisymmetric, Plane Strain and Plane Stress Elements

2D Elements in Large Displacements

The previous relationships lead to the formulation of the corresponding

strain-displacement matrices, t0 BL , t0 BN L , which in turn lead to the
calculation of the corresponding stiffness components:
Z
t t T t 0
0 KL = 0 BL 0 C0 BL d V
0V

Z
t t T
0 KN L = 0 BN L 0 St0 BN L d0 V
0V

Important Note
In what follows the symbol h is used in pace of N to denote the shape
functions, in order to be consistent with the notation used in the Course
Book (K.J. Bathe)

Institute of Structural Engineering Method of Finite Elements II 4

2D Axisymmetric, Plane Strain and Plane Stress Elements

2D Elements - Shape Functions

The nodal point coordinates determine the spatial configuration of the

element at time 0 and t using:
Xn n
X
0
x1 (r) = hk 0 xk1 0 x2 (r) = hk 0 xk2
k=1 k=1
n
X n
X
and t
x1 (r) = hk t xk1 t
x2 (r) = hk t xk2
k=1 k=1
t
Pn k
t
Isoparametric Elements ui (r) = k=1 hk ui , i=1,2
Institute of Structural Engineering Method of Finite Elements II 5
2D Axisymmetric, Plane Strain and Plane Stress Elements

Shape Functions

n = 4 nodes
1 1 1
ha1 = (1 + r)(1 + s), ha
2 = (1 r)(1 + s), ha
3 = (1 r)(1 s),
4 4 4
1
ha4 = (1 + r)(1 s)
4
n = 8 nodes
1 1 1
hb5 = (1 r2 )(1 + s), hb6 = (1 s2 )(1 r), N7b = (1 r2 )(1 s),
2 2 2
1
hb8 = (1 s2 )(1 + r)
2
1 b 1 b b 1 b 1 b b 1 b 1 b
hb1 = ha a a
1 h5 h8 , h2 = h2 h6 N7 , h3 = N3 h6 N7 ,
2 2 2 2 2 2
1 1
hb4 = N4a hb7 hb8
2 2
n = 9 nodes
hc9 = (1 r2 )(1 s2 ),
1
hci = hbi hc9 , i=1,2,3,4
4
1
hcj = Njb hc9 , i=5,6,7,8
2
Institute of Structural Engineering Method of Finite Elements II 6
2D Axisymmetric, Plane Strain and Plane Stress Elements

Institute of Structural Engineering Method of Finite Elements II 7

2D Axisymmetric, Plane Strain and Plane Stress Elements

Institute of Structural Engineering Method of Finite Elements II 8

2D Axisymmetric, Plane Strain and Plane Stress Elements

Institute of Structural Engineering Method of Finite Elements II 9

2D Axisymmetric, Plane Strain and Plane Stress Elements

Example
Establish the Total Lagrangian Strain - Displacement matrices for the
following element (assuming large displacements/large strains):

Institute of Structural Engineering Method of Finite Elements II 10

2D Axisymmetric, Plane Strain and Plane Stress Elements

Example
tu1
Nodal coordinates at time t: 2=0.5
tu1
t 1
u1 =1 t 1
u2 = 0.5 1=1

t 2 t 2
u1 =0 u2 = 0.5
t 3 t 3
u1 =0 u2 =0
t 4 t 4
u1 =1 u2 =0

In order to go from an isoparametricExample6.18

16.10.2009 representation of the system (hr,s ) to7 the
current coordinate system the Jacobian matrix is required. Since we are dealing
wit a TL formulation, this has to be calculated with respect to the initial
configuration (reference) at time 0.
The Jacobian for this 2D square element is defined in terms of the length of each
side:
t
x1 t x2
3
0
0
J = r r 2
=

3

t x1 t x2 0
s s 2

Institute of Structural Engineering Method of Finite Elements II 11

2D Axisymmetric, Plane Strain and Plane Stress Elements

Example - Linear Strain Displacement Matrix component t0 BL0

Using the 4 node 2D element shape functions and the relevant matrix we
obtain:

Institute of Structural Engineering Method of Finite Elements II 12

2D Axisymmetric, Plane Strain and Plane Stress Elements

Example - Nonlinear Strain Displacement Matrix component t0 BL1

We first need to calculate the following terms:

Institute of Structural Engineering Method of Finite Elements II 13

2D Axisymmetric, Plane Strain and Plane Stress Elements

Example - Linear Strain Displacement Matrix component t0 BL1

Institute of Structural Engineering Method of Finite Elements II 14

2D Axisymmetric, Plane Strain and Plane Stress Elements

Example - Nonlinear Strain Displacement Matrix component t0 BN L

Using the 4 node 2D element shape functions and the relevant matrix we
obtain:

Institute of Structural Engineering Method of Finite Elements II 15

The Beam Element in Large Displacements
The Beam Element in Large Displacements
Plane sections initially normal to the neutral axis remain plane
The longitudinal ( ) and the two shear stresses( , ) are the only non
zero ones.
A general 3D beam element would then be:

Institute of Structural Engineering Method of Finite Elements II 16

The Beam Element in Large Displacements
Along the lines of the truss element formulation we need to express the
coordinates of a random point within the beam element. Using (r, s, t) as
the Cartesian coordinates at a point within an element with N nodal
points, this is written:

N N N
X tX sX
t
xi = Nk t xki + ak Nk t Vtik + bk Nk t Vsik , i = 1, 2, 3
2 2
k=1 k=1 k=1

Vectors Vs and Vt define the orientation of the cross-section for the beam:
They are normal to the axis of the beam and to each other. The values a
and b define the size of the cross section of the beam.
The relative displacement components would be:

t
ui = t xi 0 xi
ui = t + t xi t xi are the incremental components

Institute of Structural Engineering Method of Finite Elements II 17

The Beam Element in Large Displacements

This leads to the following formulations

N N N
X tX sX
t
ui = Nk t uki + ak Nk (t Vtik 0 Vti
k
)+ k
bk Nk (t Vsi 0 Vsik )
2 2
k=1 k=1 k=1

N N N
X tX sX
and ui = Nk uki + ak Nk Vtik + bk Nk Vsik , i = 1, 2, 3
2 2
k=1 k=1 k=1

where
k
Vti = t + t Vtik t Vtik
k
Vsi = t + t Vsik t Vsik

Institute of Structural Engineering Method of Finite Elements II 18

The Beam Element in Large Displacements

We need to express the components Vtik , Vsik of the vectors Vtk , Vsk in
terms of the nodal rotational degrees of freedom per node k:

kT = xk yk zk
 

This in linear analysis would be written as:

k
Vtk = k t Vt
k
Vsk = k t Vs

but in the case of large displacements a second order Taylor approximation

needs to be used:
k 1 k
Vtk = k t Vt + k (k t Vt )
2
k 1 k
Vsk = k t Vs + k (k t Vs )
2

Institute of Structural Engineering Method of Finite Elements II 19

The Beam Element in Large Displacements
The finite element equations in this case are:

..

.
t
uk t + t
K = R tF (1)
k
..

.

Having solved Eqn (??) for uk , k , we obtain the approximations for the
nodal point displacement and direction vectors:
t + t
uk = t uk + uk
Z
k
t + t
Vt = t Vtk + dk Vtk
Vk
Z
k
t + t
Vs = t Vsk + dk Vsk
Vk

The above formulation corresponds to an iteration of the Newton-Raphson

method
Institute of Structural Engineering Method of Finite Elements II 20
The Beam Element in Large Displacements
Example:
Assume the following 2-node beam element. Evaluate the coordinate and
displacement interpolations and derivatives required for the setup of the
strain displacement matrices in the TL and UL formulation.

Institute of Structural Engineering Method of Finite Elements II 21

The Beam Element in Large Displacements
Example:
First we need to calculate the nodal coordinates at times t and 0 (t x1 , t x2 ),
(0 x1 , 0 x2 ). Using the corresponding geometries and the following formula:
N N N
X tX sX
t
xi = Nk t xki + ak Nk t Vtik + bk Nk t Vsik , i = 1, 2, 3
2 2
k=1 k=1 k=1

where Nk are linear shape functions, we obtain:

Institute of Structural Engineering Method of Finite Elements II 22

The Beam Element in Large Displacements

Example:
Hence, the displacement components are at time t given by the following
formula:
N N N
t
X tX sX
ui = Nk t uki + ak Nk (t Vtik 0 Vti
k
)+ bk Nk (t Vsi
k
0 Vsik ), i = 1, 2
2 2
k=1 k=1 k=1

hence:

Institute of Structural Engineering Method of Finite Elements II 23

The Beam Element in Large Displacements

Example:
For the calculation of the incremental displacements we will need to
calculate the rotational components Vsk (since Vtk = 0). Using the
following formula:

k 1 k
Vsk = k t Vs + k (k t Vs )
2
we get:
 
 e1 e2 e3  k cos(t k )
k 
k t Vs =  0 0  = k sin(t k )
t t
 sin( k ) cos( k ) 0  0

  2
 e1 e2 e3  k sin(t k )
k 
and k (k t
Vs ) =  0 0  = k2 cos(t k )
 k cos(t k ) k sin(t k ) 0  0

Institute of Structural Engineering Method of Finite Elements II 24

The Beam Element in Large Displacements
Example:
Then, the incremental displacements are given by

N N N
X tX sX
and ui = Nk uki + ak Nk Vtik + bk Nk Vsik , i = 1, 2
2 2
k=1 k=1 k=1

hence:

Institute of Structural Engineering Method of Finite Elements II 25

The Beam Element in Large Displacements

Example:

Finally, the required derivatives for the TL and UL formulation will be:

where we assumed t L = 0 L = L.

Institute of Structural Engineering Method of Finite Elements II 26

The Beam Element in Large Displacements
Example:
Also, the Jacobian will be:

And the associated displacement derivatives are:

These will be used to derive the strain-displacement matrices B and finally the
stiffness matrix K
Institute of Structural Engineering Method of Finite Elements II 27
Special Considerations-Geometric Stiffness
An alternate approach to the Large Displacement Problem for practical
considerations (namely truss, beam problems)

A cable, when subjected to a large tension force, has an increased lateral stiffness.
If a long rod is subjected to a large compressive force, and is on the verge of
buckling, we know that the lateral stiffness of the rod has been reduced
significantly and a small lateral load may cause the rod to buckle. This general
type of behavior is caused by a change in the geometric stiffness of the
structure. This stiffness is a function of the load in the structural member and
can be either positive or negative.

Institute of Structural Engineering Method of Finite Elements II 28

Special Considerations-Geometric Stiffness
Cable Element
The fundamental equations for the geometric stiffness for a rod or a cable are
very simple to derive. Consider the horizontal cable, of length L with an initial
tension T. If the cable is subjected to lateral displacements, vi and vj , at both
DYNAMIC ANALYSIS OF STRUCTURES
ends, as shown, then additional forces, Fi and Fj , must be developed for the
cable element to be in equilibrium in its displaced position.

Fi
Deformed Position
T Fj

vi T
i j vj
T T
L

Note that we haveFigure 11.1.

assumed Forces
all forces andActing on a Cable
displacements Elementin the up
are positive
direction. We have also made the assumption that the displacements are small
Taking moments
and do not changeabout point j in
the tension in the
the cable.
deformed position, the following equilibrium
equation can be Institute
written: of Structural Engineering Method of Finite Elements II 29
Special Considerations-Geometric Stiffness
Taking moments about point j in the deformed position, the following
equilibrium equation can be written:
T
Fi = (vi vj )
L
And from vertical equilibrium the following equation is apparent:

Fi = Fj

Combining the above the lateral forces can be expressed in terms of the lateral
displacements by the following matrix equation:
    
Fi T 1 1 vi
= or symbolically, FG = KG v
Fj L 1 1 vj
Note that the 2 2 geometric stiffness, KG , matrix is not a function of the mechanical
properties of the cable and is only a function of the elements length and the force in the
element. Hence, the term geometric or stress stiffness matrix is introduced as opposed
to the mechanical stiffness matrix which is based on the physical properties. The
geometric stiffness exists in all structures; however, it only becomes important if it is
large compared to the mechanical stiffness of the structural system.
Institute of Structural Engineering Method of Finite Elements II 30
Special Considerations-Geometric Stiffness
Beam Element
In the case of a beam element with bending properties in which the deformed
shape is assumed to be a cubic function due to the rotations i and j at the
ends, additional moments Mi and Mj are developed. The force-displacement
relationship is given by the following equation:

Fi 36 3L 36 3L vi
2 2
Mi T 3L 4L 3L L i or FG = KG v

Fj = 30L 36 3L

36 3L vj
Mj 3L L2 3L 4L2 j
The well-known elastic force deformation relationship, for a prismatic beam
without shearing deformations, is

Fi 12 6L 12 6L vi
2 2
Mi EI
6L 4L 6L 2L i or FE = KE v

Fj = L3 12 6L

12 6L vj
Mj 6L 2L2 6L 4L2 j
Therefore, the total forces acting on the beam element will be:
FT = FE + FG = [KE + KG ]v = KT v

Institute of Structural Engineering Method of Finite Elements II 31

Special Considerations - Geometric Stiffness

Conclusion - Geometric Stiffness

In the case of constant (dead) loads where T is usually constant the

calculation of the large displacement effect for cable and beam
elements is performed by the addition in the FEM code of an
appropriate extra geometric stiffness term.

Institute of Structural Engineering Method of Finite Elements II 32