Chap 12 Beam

F.E.M.
- Chapter 12
Beam elements and Frame structures
J.-P. Ponthot
University of Liège - Belgium
January 3, 2022
Introduction
F.E.M. - Chapter 12 - Beam elements and Frame structures 2 / 68

Definition
A beam is a structural member designed

to resist primarily transverse loads

Common support conditions
● Simply supported beam
● Cantilever beam

Plane beam terminology
y,v y,v
t(x) Beam cross
section
x,u z
Neutral
axis
Neutral Symmetry
surface plane
L
● t(x) = applied (transverse) load

● u and v are respectively horizontal and vertical displacements
● Beam cross section assumed to be symmetric w.r.t. z coordinates

Bending of a beam basis
Transverse loads are transported to supports (mostly) by flexural action.
In the figure below, stresses due to shear force T are neglected.
Neutral b
surface
Curvature = χ
Compressive
stress
h
Tensile
stress
Internal efforts : Z CrossZ section properties :
Bending moment: M = σxx ydA I= y 2 dA Area=A
ZA A
bh3
Shear force: T = τxy dA Rectangle: I = Inertia=I
ZA 12
πd4
Normal force: N= σxx dA Circle: I = d=diameter
A 64

Euler-Bernoulli beam : Assumptions
● Small displacement assumption
● No transverse shear strain ⇒ Plane sections remain plane (Bernouilli 1705!)

⇒ No strain energy associated to shear.
⇒ Assumption : v = v(x)
● Horizontal displacement not taken into account in the global model! u(x, 0) ≃ 0

MoM for a beam (1)

dv
Kinematics : 1st order θ= << 1 Small displacements !
dx
v = v(x), basic unknown
θ
dv
u(x, y) = −yθ = −y
dx
∂u d2 v
v = xθ εxx (x, y) = = −y 2
∂x dx
and
∂v
εyy = =0
∂y

u = -yθ 1 ∂u ∂v 1
εxy = + = (−θ + θ) = 0
2 ∂y ∂x 2
θ = Cross section rotation = Slope.

MoM for a beam (2)
Vertical displacement v = v(x)
dv
Slope/Rotation θ(x) =
dx ρ
d2 v 1
Curvature χ(x) = 2 = (small slope)
dx ρ(x)
d2 v y
Strain εxx (x, y) = −yχ(x) = −y 2 = −
dx ρ(x)
Stress σxx (x, y) = Eεxx (x, y) = −Eyχ(x)
Stress profile
N.B. :
● In case of pure bending (T = N = 0) ⇒ χ and ρ = constant
● ρ is the radius of curvature
● Both ρ(x) and χ(x) do NOT depend on coordinate y (while σxx and εxx DO) ⇒
easier to use in the model which becomes 1D
● As we will see later, the curvature χ(x) will be a key kinematic quantity
● As model is 1D, Poisson’s ratio plays no role.

MoM for a beam (3)
Equilibrium :
t (x)
T+dT
M T M+dM
dx
N.B. : As dx is infintesimal, t(x) should be represented as a constant.

Z
Horizontal translation: N (x) = σxx dA = 0 → neutral axis goes through
A center of gravity
dT (x) (Sign has been changed.
Vertical translation: = t(x)
dx It is just a convention.)
dM (x)
Rotation: =T
dx d2 M (x)
⇒ = t(x)
dx2

MoM for a beam (4)
Constitutive law :
σxx (x, y) = Eεxx (x, y) = −Eχ(x)y

Z Z
2 (sign has been changed.
so M (x) = σxx y dA = Eχ(x) y dA
A It is just a convention)
| A {z }
I
bh 3
where I = (second moment of) inertia I = for a rectangle
12
d2 v M (x) y d2 v
⇒ M (x) = E I χ(x) = E I 2 and thus σxx (x, y) = = E 2y
dx I dx

Equilibrium : strong form
d2 M (x) d2 v
From 2
= t(x) and M (x) = EI 2
dx dx
One gets

d2 d2 v
EI = t(x)
dx2 dx2
For a prismatic beam (E I = cst):
d4 v
E I 4 = t(x)
dx
4th order differential equation !
Strong form for equilibrium.

Total potential energy : weak form
Z Z
1 here 1D 1
Internal energy : U= σ : ε dV = σ ε dV
2 V(t) 2 V
since ε = εxx = −yχ and σ = σxx = Eεxx = −yEχ ( and εxy = εyy = 0)
(Euler-Bernoulli beam → no strain energy associated to shear !! Since εxy = 0 but
τxy 6= 0) Z Z LZ
1 2 2 1
⇒U = Ey χ(x) dV0 = Ey 2 χ(x)2 dAdx
2 V0 2
Z L Z L0 A
2
2
1 2 1 d v
= EIχ(x) dx = EI dx
2 0 2 0 dx2
Work done by external forces (assuming body forces are negligible):
Z L
P= v(x)t(x)dx
0
where t(x) = applied load and v(x) = vertical displacement
N.B. As u(x) = 0 by assumption, there is no work associated to loads parallel to
neutral surface.
Corresponding variational principle
Exact solution :
→ min (U − P) ∀v kinematically admissible

v
with
Z L 2
1 d2 v
U = EI dx
2 0 dx2
Z L
P = v(x)t(x) dx
0
Note : Maximum order of derivation is 2 in the variational principle! (4 in the

strong form)
Finite element approximation: v(x) will be approximated by a polynomial

Discretization process :
Beam element

Preliminary remark : Essential boundary conditions
Remark :
d4 v
Strong form E I 4 − t(x) = 0
dx
d4
4
(...)
dx
2p = 4 → p=2
N.B. p is the maximum order of derivation found in the variational principle.

⇒ ESSENTIAL BOUNDARY CONDITIONS IN THE VARIATIONAL PRINCIPLE
→ Basic unknown and its (p − 1) derivatives

dv
→ Here: v and =θ
|{z} dx
|{z}
displacement
slope

Discretization (1)
d2 v
Assume vertical displacement v : 2
= χ(x) should be non trivial !
dx
d 2v
→ Minimum : v(x) = α0 + α1 x + α2 x2 ⇒ χ = 2 = cst
dx
so we prefer :  
α0
α 1 
v(x) = α0 + α1 x + α2 x2 + α3 x3 ⇒ v(x) = P a = 1 x x2 3
x  
α 2 
with 4 internal parameters (α0 , α1 , α2 , α3 ) α3
⇒ Need for 4 connectors
Note :
We are working at element level so the e notation (for element) is implicit !

Discretization (2)
Degrees of freedom : Generalized displacements v (displacement) and θ (rotation)
θ2
θ1  
v1
v2  θ1 
q= 
v1 v2 
θ2
1 2
L
Beam element with 2 nodes, and 2 DOF’s (v and θ) per node.

Discretization (3)
Assumed displacement: v(x) = α0 + α1 x + α2 x2 + α3 x3
Identification with connectors:
v1 = v(x = 0) ⇒ v1 = α0
v2 = v(x = L) ⇒ v2 = α0 + α1 L + α2 L2 + α3 L3
dv
θ1 = ⇒ θ1 = α 1
dx x=0
dv
θ2 = ⇒ θ2 = α1 + 2α2 L + 3α3 L2
dx x=L

Discretization (4)
Identification with connectors : matrix form q = Qa

 
  
v1 1 0 0 0
 
α0 L2 0 0 0
0 L 2 0 0 
 α1  ⇒ Q−1 = 1
θ1  0 1 0 0    
 = −3 −2L 3 −L
v2  1 L L2 L3  α2  L2  
2 2
θ2 0 1 L L2 α3 1 − 1
L L
leads to a = Q−1 q with:
α0 = v1
α1 = θ1
1
α2 = 2
(−3v1 + 3v2 − 2θ1 L − θ2 L)
L
1
α3 = 3
(2v1 − 2v2 + θ1 L + θ2 L)
L

Discretization (5)
Assumed displacement :
v(x) = α0 + α1 x + α2 x2 + α3 x3
α0 = v1
α1 = θ1
with :
α2 = 1/L2 (−3v1 + 3v2 − 2θ1 L − θ2 L)
α3 = 1/L3 (2v1 − 2v2 + θ1 L + θ2 L)
leads to
N1 N3
z }| {
z }| {
3x2 2x3 3x2 2x3
v(x) = v1 1 − 2 + 3 +v2 2
− 3
L L L L
⇒ 2
2x 2 x 3 x x 3
+ θ1 x − + 2 +θ2 − + 2
L L L L
| {z } | {z }
N2 N4
Where N1 , N2 , N3 , N4 are the shape functions

Discretization (6)
Equivalently, in matrix form : v(x) = P a = P Q−1 q = N q
  
L2 0 0 0 v1
0 L 2 0 0  
2 3
1    θ1 
v(x) = 1 x x x
L2 −3 −2L 3 −L

 v2 
2 2
1 − 1 θ2
L  L
v1
 θ1 
v(x) = N1 (x) N2 (x) N3 (x) N4 (x)  v2 
 = Nq
θ2
with shape functions
3x2 2x3 2x2 x3

N1 (x) = 1 − 2 + 3 N2 (x) = x − + 2
L L L L
3x2 2x3 x2 x3
N3 (x) = 2 − 3 N4 (x) = − + 2
L L L L

Shape functions
So that,
4
X
v(x) = N I qI where qT = (v1 θ1 v2 θ2 )
|{z}
local
I=1 generalized displacement
displacement
with shape functions for x ∈ [0, L]:

3x2 2x3
N1 (x) = 1 − L2 + L33
2
N2 (x) = x − 2xL + x
L2
3x2 2x3 → Hermitian interpolation is recovered !
N3 (x) = L2 2
− L3
x x3
N4 (x) = − L + L2
4
X
NI (x) 6= 1
I=1
One also has v(x) = N q with N = [N1 N2 N3 N4 ]

Natural coordinate ξ
Introduce the natural (isoparametric)

coordinate :
1 N1
2x
ξ= −1 ξ ∈ [−1, 1]
L
N2
N1 (ξ) = 1
(1 − ξ) 2 (2 + ξ) tg q=1
4
1 2
N2 (ξ) = 8 L(1 − ξ) (1 + ξ) N3 1
1 2 (2 − ξ)
N3 (ξ) = 4 (1 − ξ)
N4 (ξ) = − 18 L(1 + ξ)2 (1 − ξ)
N4 tg q=1
4
X x=-1 x=1
NI (ξ) 6= 1
I=1
Moreover, shape functions do NOT have the same dimensions. So it makes no

sense to sum them up.

Curvature (1)
 
d2 v(x) d2 [N q] d  dN (x) dq  d2 N (x)
χ(x) = 2
= 2
=  q + N (x) =
2
q
dx dx dx  dx dx
|{z}
 dx
=0
 
2 v1
d N1 d2 N2 d2 N3 d2 N4  θ 1
 def
χ(x) = 2 2 2 2
  = B(x)q
v2 
|{z} dx dx dx dx
local θ2
curvature
B = Curvature-displacement matrix (1 × 4)
So we can get curvature from displacement interpolation.

Curvature (2)
We can express B in terms of ξ by applying the chain rule:
df df (ξ) dξ 2 df (ξ) 2x 2
= = with ξ = − 1 → dξ = L dx
dx dξ dx L dξ L
2

d f 2 d df (ξ) 4 d2 f (ξ)
2
= = 2
dx L dx dξ L dξ 2
Here f ≡ NI with I = 1, . . . , 4

1 ξ ξ
⇒ B(ξ) = 6 3ξ − 1 −6 3ξ + 1
L L L

Beam stiffness matrix
Internal strain energy

Z L 2
1 d2 v
U= EI 2
dx
2 0 dx
2 2
d2 v d v T B T Bq
Discretization: = Bq ⇒ = q It is a scalar !
dx2 dx2
Z
1 L
⇒ U = EI qT B T Bq dx
2 0
1 T
= q K q
2 |{z}
Stiffness matrix
Z L
with K = EI B T B dx
0

Beam consistent loading
Work done by external forces

Z Local displacement
L z}|{
P= v(x) t(x) dx
0 |{z}
Applied load
Discretization: v(x) = N q (N.B. v(x) is a scalar, but we will use

v(x)T = qT N T = v(x) to have compatible dimensions in matrix products).
g
Z z
Z }| {
L L
⇒ P = qT N T t(x) dx = qT N T t(x) dx
0 0
= qT1×4 g4×1
| {z }
Consistent loading
Z L Z L
T
with g4×1 = N t(x) dx or gI = NI t(x) dx I = 1, 4
0 0

Discretization of the TPE
To sum up, we have
TPEexact = U − P
1 T
TPEFEM = q K q − qT g
2
With q T = [v1 θ1 v2 θ2 ]
Z L Z 1
T L
K= EI B B dx = EI B T B dξ
0 2 −1
Z L Z 1
T L
g= N (x)t(x) dx = N T (ξ)t(ξ) dξ
0 2 −1
• Exact solution : min(U − P) ∀v kinematically admissible

v
• FEM solution : min( 12 q T Kq − q T g) v = N q is a polynomial
q
TPE is minimum when Kq = g

Element stiffness
For a prismatic beam (E I = cst)

 2 2

36ξ 6ξ(3ξ − 1)L −36ξ 6ξ(3ξ + 1)L
Z 1 2 L2 −6ξ(3ξ − 1)L 2 − 1)L2 
EI  (3ξ − 1) (9ξ
K = 3

2
dξ
2L −1  36ξ −6ξ(3ξ + 1)L
sym (3ξ + 1)2 L2
4
X
  N.B. KIJ 6= 0
12
6L −12 6L
EI  4L 2 −6L 2L2  J=1
K =   All DOF’s do NOT have the same
L3  12 −6L
exact nature (displacement and ro-
sym 4L2
tation) so they do NOT have the
same units, and summing them
● Symmetric makes no sense !
● det K = 0

Internal Forces
    
T1 12 6L −12 6L v1
 M1  EI  4L 2 −6L 2L2   θ1 
Fint  T2  = Kq = L3 
=    
12 −6L  v2 
M2 sym 4L2 θ2
STATIC KINEMATIC
T → shear v → vertical displacement

M → moment θ → rotation
P = q T g = v 1 T 1 + θ 1 M1 + v 2 T 2 + θ 2 M2

Consistent loading: Uniform loading
For UNIFORM load t = cst

     1 2

g1 N1 4 (1 − ξ) (2 + ξ)
Z 1 Z 1
g2  L N2  1  1 L(1 − ξ)2 (1 + ξ) 
g =   81
g3  = 2
   t(ξ) dξ = tL  dξ
N3  2
2 4 (1 + ξ) (2 − ξ)
 
−1 −1
g4 N4 − 18 L(1 + ξ)2 (1 − ξ)
 1 
2
 L 
tL  12
 
g = 
 21 
L
− 12

Consistent loading: Concentrated loading
For CONCENTRATED load P , applied at x = x∗

 
    3x2 2x3
g1 N1 1 − L2 + L3
Z L Z L 2x2 x3 
g2  N2   x − L + L2 
g= =   P δ(x∗ ) dx = P  2 3  δ(x ∗
) dx
g3  N3  3x 2x
0 | {z } 0  L2 2
− L3 
g4 N4 Dirac delta x x3
function − + 2 L L
If the loading is applied :

in the middle, on the left, on the right,
i.e. x∗ = L2 i.e. x∗ = 0 i.e. x∗ = L
 1     
2 1 0
 L  0 0
 8     
g=P  1  g=P  g=P 
 2  0 1
− L8 0 0

Check for Rigid
Body Modes

Check for Rigid Body Modes (1)
Vertical translation
α α
1 2
v1 = v2 = α
θ1 = θ2 = 0
      
T1 12 6L −12 6L α 0
M1  EI  6L 4L2 −6L 2L2   0  0
 T2  = L3 −12 −6L 12 −6L α = 0 OK!
→      
M2 6L 2L2 −6L 4L2 0 0

Check for Rigid Body Modes (2)
Rotation
θ1 = θ2 = α
and
2 −αL
α αL v1 = −v2 = 2 (rotation around center)
-αL or v1 = 0 ; v2 = αL (rotation around node 1)
2
1 or v1 = −αL ; v2 = 0 (rotation around node 2)
     −αL  
   
T1 12 6L −12 6L 2 0 −αL 0
M1  EI  6L 4L2 −6L 2L2   α   α  α  0
→ =    αL     =   OK!
 T2  L3 −12 −6L 12 −6L  2  αL 0  0
M2 6L 2L2 −6L 4L2 α α α 0

Eigenvalues and eigenmodes (1)
● We already know that we have two eigenvalues equal to zero. They correspond
to rigid body modes.
● What are the two other eigenvalues ?
● What are the two other eigenmodes ?
● As all the components of q do not have the same physical units (displacements
and rotations), we have to rephrase the problem.
● We will write
 1 
L2
0 0 0
(i) (i) (i)
 0 1 0 0 
Kν = λ M ν with M =   0 0 12 0 

L
0 0 0 1
with λ(i) → Eigenvalues n˚i (no sum on i)

ν (i) → Eigenmodes n˚i
M → Pseudo identity matrix (similar to mass matrix in dynamics !)

From
Kν (i) = λ(i) M ν (i)
We can compute
T
ν (i) Kν (i)
λ(i) = (Rayleigh quotient)
ν (i) T M ν (i)
The eigenvalue problem is solved as
det (K − λM ) = 0
The solutions are

T
λ(1) = 0 ν (1) = [1 0 1 0]
T
λ(2) = 0 ν (2) = [0 1 L 1]
T
λ(3) = 2EI
L ν (3) = [0 −1 0 1]
T
λ(4) = 30EI
L ν (4) = [ 2L 1 −2L 1]

● The first two eigenmodes correspond to RBM.

● The third is a symmetric mode about rotation (no vertical displacement)
● The fourth is an antisymmetric mode
neutral fiber
Third mode Fourth mode

● Any deformation that is allowed by the beam finite element is a linear
combination of these 4 eigenmodes.

Application I :
Cantilever beam

Cantilever beam (with concentrated load) (1)
P
v1 v2
θ1 θ2
1 2
L
● Structural system
    
12 6L −12 6L v1 R1
EI  6L 4L 2 −6L 2L 2  θ 
  1  =  M1 
 

L3 −12 −6L 12 −6L v2   P 
6L 2L2 −6L 4L2 θ2 0
● Imposing boundary conditions

    
12 6L −12 6L v1 R1
EI  6L 4L 2 −6L 2L 2  θ 
  1  =  M1 
 

L3 −12 −6L 12 −6L v2   P 
6L 2L2 −6L 4L2 θ2 0

Cantilever beam (with concentrated load) (2)
3

12 −6L v2 L P
⇒ =
−6L 4L2 θ2 EI 0
| {z }
det=12L2
P L3 P L2
⇒ v2 = θ2 =
3EI 2EI
● Exact solution from MoM is recovered!

● From the two deleted equations, one can also find out that :
EI
R1 = (−12v2 + 6Lθ2 )
L3
EI 2

M1 = −6Lv2 + 4L θ2
L3
⇒ R1 = −P M1 = −P L

Cantilever beam (with distributed load) (1)
● Structural system
    
12 6L −12 6L v1 R1 + t̄L/2
EI  6L 4L 2 −6L 2L 2  θ  M1 + t̄L2 /12
 1
  =  
L 3  −12 −6L 12 −6L  v2   t̄L/2 
6L 2L2 −6L 4L2 θ2 −t̄L2 /12
● Imposing boundary conditions

    
12 6L −12 6L v1 R1 + t̄L/2
EI  6L 4L 2 −6L 2L 2  θ  M1 + t̄L2 /12
 1
  =  
L 3 −12 −6L 12 −6L   v2   t̄L/2 
6L 2L2 −6L 4L2 θ2 −t̄L2 /12

Cantilever beam (with distributed load) (2)
⇒
!

12 −6L

v2 L3 t̄L 1
2 = −L
−6L 4L θ2 EI 2
| {z } 6
det=12L2
t̄L4 t̄L3
⇒ v2 = θ2 =
8EI 6EI
● Exact solution from MoM is recovered!

● From the two deleted equations, one can also find out that :
t̄L2
R1 = −t̄L M1 = −
2

More applications

Doubly clamped beam (1)
Statically indeterminate problem !
Elem 1 Elem 2
3
    
12 6L −12 6L 0 0 v1 R1
 6L 4L2 −6L 2L 2 0 0   θ1  M1 
   

EI 
 −12 −6L 12 + 12 −6L + 6L −12 6L  v2   P 
  =  
3 2 2 2 2
L  6L 2L
 −6L + 6L 4L + 4L −6L 2L    θ2   0 
   
 0 0 −12 −6L 12 −6L v3   R3 
0 0 6L 2L2 −6L 4L2 θ3 M3
N.B. Here, we will count P and v2 positive downwards.

Doubly clamped beam (2)

EI 24 0 v2 P
=
L3 0 8L2 θ2 0
→θ2 = 0 OK by symmetry
P L3
v2 =
24EI
N.B.
EI P
R1 = R3 = 3 (12v1 + 6Lθ1 − 12v2 + 6Lθ2 ) = −
L 2
EI 2 2
PL
M1 = −M3 = 3 6Lv1 + 4L θ1 − 6Lv2 + 2L θ2 = −
L 4

Simply supported beam (1)
1 Elem 1 Elem 2 3
    
12 6L −12 6L 0 0 v1 R1
 6L 4L2 −6L 2L2 0 0    θ1   0 
   

EI 
−12 −6L 24 0 −12 6L  v 2   P 
  =  
3 2 2 2
L  6L 2L
 0 8L −6L 2L    θ2   0 
   
 0 0 −12 −6L 12 −6L v3  R3 
0 0 6L 2L2 −6L 4L2 θ3 0
→ Solve the 4 × 4 matrix

 2 1 −1 −1 
 
θ1  3L2 4L 12L2 3L2   0 
 1 1 −1 
v2  L 3 
 4L 0  
P
 = 6 4L  
θ2  EI  −1 0
1 −1 0
 
θ3  12L2 6L2 12L2  0
−1 −1 −1 2
3L2 4L 12L2 3L2
P L2 P L3
θ1 = −θ3 = θ2 = 0 v2 =
4EI 6EI
● EXACT SOLUTION
● Also NOTE THE SYMMETRY

Reactions :
EI
R1 = 3
(12v1 + 6Lθ1 − 12v2 + 6Lθ2 )
L
EI
= 3 (6Lθ1 − 12v2 )
L
EI 6 12 P L3 −P
= 3 − =
L 4 6 EI 2
EI
R3 = 3 (−12v2 − 6Lθ2 + 12v3 − 6Lθ3 )
L
EI
= 3 (−12v2 − 6Lθ3 )
L
EI 12 6 P L3 −P
= 3 − + =
L 6 4 EI 2
Check : R1 + R3 + P = 0 ! Ok
Simply supported beam : Alternative solution (1)
1
P/2
Elem 1
1 Elem 1 Elem 2 3
symmetry
use symmetry plane
−→
    
12 6L −12 6L v1 R1
EI  6L 4L 2 −6L 2L 2  θ 
  1 =  0 
 
 SYMMETRY → θ2 = 0
L3 −12 −6L 12 −6L v2  P/2
6L 2L2 −6L 4L2 θ2 M2

EI 4L2 −6L θ1 0
=
L3 −6L 12 v2 P/2

Simply supported beam : Alternative solution (2)
!

θ1 L 3 1

12 6L
0
= P
v2 EI 12L2 6L 4L2
2
P L2
→θ1 = → exact solution
4EI
P L3
v2 =
6EI

Simply supported beam : distributed load (1)
1
t
t
1 Elem 1 Elem 2 3
use symmetry
−→
    
12 6L −12 6L v1 R1 + t̄L/2
EI  4L 2 −6L 2L2  θ   t̄L2 /12 
 1
  =  
L3  12 −6L v2   t̄L/2 
4L2 θ2 −t̄L/12

EI 4L2 −6L θ1 t̄L L/6
=
L3 −6L 12 v2 2 1

Simply supported beam : distributed load (2)
3
L!
θ1 L 1 t̄L 12 6L
= 6
v2 EI 12L2 2 6L 4L2 1
t̄L3
→θ1 = → exact solution
3EI
5 t̄L4
v2 =
24 EI

2D Beam-column element

Plane beam-column element (1)
Consider a 2D beam-column element in local system:

● Beam → Bending
● Column (or Bar) → Extension
   
ux2 θz2 u1x F 1x
u1y   F 1y 
   
ux1 θz1  θ1z  M1z 
q=
u2x 
 g= 
 F 2x 
uy1 uy2
   
y
u2y   F 2y 
1 x E, A, Izz cst 2 θ2z M2z
L
expressed in the local system x, y.

K → 6 × 6 stiffness matrix
   
1 0 0 −1 0 0 0 0 0 0 0 0

 0 0 0 0 0


 12 6L 0 −12 6L  
EA  2 2
0 0 0  + EI
0 4L 0 −6L 2L 

K=   
L  1 0 0 3 0 0 0 
 L

  
 0 0  12 −6L
sym 0 sym 4L2
| {z } | {z }
Bar contribution Euler-Bernoulli beam contribution

Consider a 2D beam-column element in global system:
2 (x 2 , y2 )
   
L
u1x F1x
u1y   F1y 
   
 θ1z  M1z 
y x
α q=
u2x 
 g= 
 F2x 
   
u2y   F2y 
y
1 (x 1 , y1 ) θ2z M2z
x

u1x c s 0 0 0 0 u1x
    
u1y  −s c 0 0 0 0 u1y 

    
    
 θ1z   0 0 1 0 0 0  θ1z 
    
q=  =  =T q
u2x   0 0 0 c s 0 u2x 
    
    
u   0 0 0 −s c 0u2y 
 
 2y   
θ2z 0 0 0 0 0 1 θ2z
where c = cos α and s = sin α
K 6×6 → global axes

K = TT K T
K 6×6 → local axes

Application II :
Trussed frame structure

Trussed frame structure (1)
E = 30 Gpa
A = 0,02 m²
I zz = 0,0004 m
4
y
E = 200 GPa
A = 0,003 m²
Two element types:
3m
E = 200 Gpa
A = 0,001 m² ● Beam-column
x
4m 4m
● Bar
E = 200 Gpa
A = 0,001 m²
FEM idealization ● Nodes 1, 3 and 4 have

3 DOF’s each.
Beam-column (1) Beam-column (2)
1 3 4 ● Node 2 has 2 DOF’s.
Bar (4)
Bar (3) Bar (5)


1 3 3 4
3 1 (1, 2, 3) 3 (6, 7, 8) 4 (9, 10, 11)
1 4
Bar (4)
Assembly
Bar (3) Bar (5)
2 2 2 2 (4, 5)
● Global DOF’s numbers are written in green (displacement) and red (rotation)
in parenthesis after node number (in blue)
● DOF’s 3, 8 and 11 are rotational DOF’s and MUST not be considered for bar
elements (no stiffness associated in rotation for a bar element)


1 3 3 4
3 1 (1, 2, 3) 3 (6, 7, 8) 4 (9, 10, 11)
1 4
Bar (4)
Assembly
Bar (3) Bar (5)
2 2 2 2 (4, 5)
Element Type Nodes Index

1 Beam-Column {1,3} (1,2,3,6,7,8)
2 Beam-Column {3,4} (6,7,8,9,10,11)
3 Bar {1,2} (1,2,4,5)
4 Bar {2,3} (4,5,6,7)
5 Bar {2,4} (4,5,9,10)

Stiffness matrices
Beam-column (1) :
index
❄
150 0 0 0 0 1

−150
 0 22.5 45 0 −22.5 45 2
0 45 120 0 60 3
 
−45
K (1) =

0 0 150 0 0 6

−150
 0 −22.5 −45 0 22.5 −45 7
0 45 60 0 −45 120 8
Beam-column (2) :
150 0 0 0 0 6
 
−150
 0 22.5 45 0 −22.5 45 7
0 45 120 0 60 8
 
−45
K (2) =

0 0 150 0 0 9

−150
 0 −22.5 −45 0 22.5 −45 10
0 45 60 0 −45 120 11
Bar (3) :  
25.6 −19.2 −25.6 19.2 1
−19.2 14.4 19.2 2
−14.4 
K (3) =
−25.6 19.2 25.6 −19.2 4
19.2 −14.4 −19.2 14.4 5

Stiffness matrices
Bar (4) :  
0 0 0 0 4
 0 200 0 −200  5
K (4) =
 0

0 0 0 6
0 −200 0 200 7
Bar (5) :  
25.6 19.2 −25.6 −19.2 4
 19.2 14.4
K (5) =
−19.2  5
−14.4 
−25.6 −19.2 25.6 19.2  9
−19.2 −14.4 19.2 14.4 10
Structural Stiffness Matrix :

175.6 −19.2 0 19.2 0 0 0 0 0 1
 
−25.6 −150
−19.2 36.9 45 19.2 −14.4 0 −22.5 45 0 0 0  2
0 45 120 0 0 0 60 0 0 0  3
 
 −45
19.2 0 51.2 0 0 0 0 0  4
 
−25.6 −25.6 −19.2
 19.2 −14.4 0 0 228.8 0 0 0  5
 
−200 −19.2 −14.4
K =  −150 0 0 0 0 300 0 0 0 0  6
 
−150
0 −22.5 −45 0 0 245 0 0 45  7
 
 −200 −22.5
0 45 60 0 0 0 0 240 0 60  8
 
 −45
0 0 0 0 0 175.6 19.2 0  9
 
 −25.6 −19.2 −150
 0 0 0 −19.2 −14.4 0 −22.5 −45 19.2 36.9 −45  10
0 0 0 0 0 0 45 60 0 −45 120 11

3D Beam-column element

3D Beam-column element (1)
θy v θx
u x
2 6 DOF’s per node :
y θz
w u, v, w, θx , θy , θz
My
Ty
1
Tz
Mx Mz z
Tx
θ x , Mx → Torsion
u, N → Extension
v, w, θy , θz ,
T y , T z , My , Mz → Bending

3D Beam-column element (2)
● 2 nodes
● 6 DOF’s per node ( 3 translations / 3 rotations )
⇒ Nodal displacements :
qT = [u1 v1 w1 θ1x θ1y θ1z u2 v2 w2 θ2x θ2y θ2z ]
⇒ Nodal forces :
gT = [N1 T1y T1z M1x M1y M1z N2 T2y T2z M2x M2y M2z ]
⇒ 12 DOF’s per element ⇒ K 12×12

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F.E.M.

F.E.M. - Chapter 12 - Beam elements and Frame structures 2 / 68

A beam is a structural member designed

F.E.M. - Chapter 12 - Beam elements and Frame structures 3 / 68

● Simply supported beam

F.E.M. - Chapter 12 - Beam elements and Frame structures 4 / 68

● t(x) = applied (transverse) load

F.E.M. - Chapter 12 - Beam elements and Frame structures 5 / 68

F.E.M. - Chapter 12 - Beam elements and Frame structures 6 / 68

● Small displacement assumption

● No transverse shear strain ⇒ Plane sections remain plane (Bernouilli 1705!)

F.E.M. - Chapter 12 - Beam elements and Frame structures 7 / 68

θ = Cross section rotation = Slope.

F.E.M. - Chapter 12 - Beam elements and Frame structures 8 / 68

F.E.M. - Chapter 12 - Beam elements and Frame structures 9 / 68

N.B. : As dx is infintesimal, t(x) should be represented as a constant.

F.E.M. - Chapter 12 - Beam elements and Frame structures 10 / 68

σxx (x, y) = Eεxx (x, y) = −Eχ(x)y

F.E.M. - Chapter 12 - Beam elements and Frame structures 11 / 68

For a prismatic beam (E I = cst):

4th order differential equation !

Strong form for equilibrium.

F.E.M. - Chapter 12 - Beam elements and Frame structures 12 / 68

→ min (U − P) ∀v kinematically admissible

Note : Maximum order of derivation is 2 in the variational principle! (4 in the

F.E.M. - Chapter 12 - Beam elements and Frame structures 14 / 68

F.E.M. - Chapter 12 - Beam elements and Frame structures 15 / 68

N.B. p is the maximum order of derivation found in the variational principle.

→ Basic unknown and its (p − 1) derivatives

F.E.M. - Chapter 12 - Beam elements and Frame structures 16 / 68

⇒ Need for 4 connectors

F.E.M. - Chapter 12 - Beam elements and Frame structures 17 / 68

Degrees of freedom : Generalized displacements v (displacement) and θ (rotation)

F.E.M. - Chapter 12 - Beam elements and Frame structures 18 / 68

Assumed displacement: v(x) = α0 + α1 x + α2 x2 + α3 x3

Identification with connectors:

F.E.M. - Chapter 12 - Beam elements and Frame structures 19 / 68

Identification with connectors : matrix form q = Qa

F.E.M. - Chapter 12 - Beam elements and Frame structures 20 / 68

Where N1 , N2 , N3 , N4 are the shape functions

F.E.M. - Chapter 12 - Beam elements and Frame structures 21 / 68

with shape functions

3x2 2x3 2x2 x3

F.E.M. - Chapter 12 - Beam elements and Frame structures 22 / 68

with shape functions for x ∈ [0, L]:

One also has v(x) = N q with N = [N1 N2 N3 N4 ]

F.E.M. - Chapter 12 - Beam elements and Frame structures 23 / 68

Introduce the natural (isoparametric)

Moreover, shape functions do NOT have the same dimensions. So it makes no

F.E.M. - Chapter 12 - Beam elements and Frame structures 24 / 68

F.E.M. - Chapter 12 - Beam elements and Frame structures 25 / 68

We can express B in terms of ξ by applying the chain rule:

F.E.M. - Chapter 12 - Beam elements and Frame structures 26 / 68

Internal strain energy

F.E.M. - Chapter 12 - Beam elements and Frame structures 27 / 68

Work done by external forces

Discretization: v(x) = N q (N.B. v(x) is a scalar, but we will use

F.E.M. - Chapter 12 - Beam elements and Frame structures 28 / 68

• Exact solution : min(U − P) ∀v kinematically admissible