Element Stiffness Matrix for 1-D structure (bar

structure) by Potential-Energy Approach

One-dimensional bar loaded by Finite element modeling of a bar

traction, body and point loads
 Potential energy, Π= Strain Energy (U) – Work Potential (W)

1 T
Π ∫ σ ε − ∫ − ∫
T T
dV u bdV u TdS
2Ω Ω Γ

For 1-D structure, bar or truss element:

1 Τ
Π ∫ σ ε Adx − ∫ u T
bAdx − ∫ u T
Tdx − ∑ ui Pi
2L L L i

Pi represents a point load acting at point i, ui is the x displacement at that point.

Since the continuum has been discretised into finite elements, thus
1 Τ
Π ∑e 2 ∫ σ ε Adx − ∑e ∫ u T
bAdx − ∑e ∫ Tdx − ∑e Qi Pi
u T

e e e

=
Π ∑ e ∑∫
U
e
− u T
bAdx
e
− ∑ ∫ Tdx − ∑ Qi Pi
u T

e e
e e
ELEMENT STIFFNESS EQUATION
Function Interpolation
q1, f1 q2, f2
1 e 2
A, E, L
x

Assume linear interpolation for displacement:

u ( x=
) ao + a1 x

Boundary Condition:
ao a1 ( 0 ) =
u (0) =+ q1 gives ao = q1

ao a1 ( L ) =
u ( L) =+ q2
⇒ q1 + a1 ( L ) = q2 − q1
q2 gives a1 =
L
Then
q2 − q1
u ( x=
) q1 + x
L
 x x
⇒ u ( x) = 1 −  q1 + q2
 L L
 q1 
= [ N1 N 2 ]   where
q2 

u ( x ) = Nq
 du
Strain, ε =
dx
d  q1 
= [ N1 N2 ]  
dx q2 
 dN1 dN 2   q1 
=   
 dx dx  q2 
 1 1   q1 
= −   
 L L  q2 

ε = Bq  1 1
where B = −
 L L 

Stress, σ = Eε
= EBq
 Element Stiffness Matrix
ε=Bq nodal displacement
σ=Dε=Eε =EBq
Π e = U e − We
1 Τ
∫ σ ε − T
Adx q f
2e
1
( ) ( )
Τ
∫ − T
EBq Bq Adx q f
2e
1
( ) ( )
Τ
∫ −
T T
Bq E Bq Adx q f
2e
1 Τ T
∫ q B E ( Bq ) Adx − q T
f
2e Element stiffness matrix
1 T T 
q  ∫ B EBAdx  q − qT f
2 e 
 1 T  AE L BT Bdx  q − qT f
 ∫0
⇒ Πe q
2 

  1 
 − 
1 L
  1 1    q1   f1 
⇒ Πe [ q1 q2 ]  AE ∫  L   −  d  x  − [ q1 q2 ]  
2   1  L L   q2   f2 
0

  L  

  1 1 
 − 2   q1 
1 L  L2  f1 
⇒ Πe [ q1 q2 ]  AE ∫  L d
  x  − [ q1 q2 ]  
2  0
− 1 1   q2   f2 
  L2 L2  
   1 1 
 −
1  L2 L2  L   q1  − q  f1 
Πe [ q1 q2 ]  AE     [ 1
1   q2 
q2 ]  
2  − 1  f2 
  L2 L2  

1 AE  1 −1  q1   f1 
Πe [ q1 q2 ]     − [ q1 q2 ]  
2 L  −1 1  q2   f2 

Expanding the equation yields

AE  1 2 1 1 2
=Πe  q1 − 2 q1q2 + q2  − q1 f1 − q2 f 2
2 L L L 
 Apply the principle of minimum potential energy

∂Π AE  2 2 
=0 ⇒  q1 − q2  − f1 =0 (11)
∂q1 2 L L 

∂Π AE  2 2 
=0 ⇒  − q1 + q2  − f 2 =0 (12)
∂q2 2  L L 
Equations (11) and (12) can be combined to yield

AE  1 −1  q1   f1 
   = 
L  −1 1  q2   f 2 
or kq = f
AE  1 −1
Note: If we expand the term ∫e BTEBAdx in slide 7, we will get
L  −1 1 

This means, the term ∫e BTEBAdx represent the element stiffness matrix.
Natural Coordinate/ Local Coordinate

q1, f1 q2, f2
1 e 2
ξ
ξ=-1 ξ=+1

For any function p(ξ):

p (ξ )= a + bξ (15)

Impose B.C.:

p ( −1) = a + b ( −1) = f1
p (1) =
a + b (1) =f2
 Solve for a and b:
1
=a ( f1 + f 2 )
2
1 (17)
b = ( − f1 + f 2 )
2

Substitute eq. (17) into eq. (15):

p (ξ )= a + bξ
1 1
( 1 2 ) ( − f1 + f 2 ) ξ
= f + f +
2 2
1 1
= (1 − ξ ) f1 + (1 + ξ ) f 2 (18)
2 2
= l1 (ξ ) f1 + l2 (ξ ) f 2

where l1 and l2 are called Lagrange polynomials.

 1 1
u (ξ ) = (1 − ξ ) q1 + (1 + ξ ) q2
2 2
= N1q1 + N 2 q2
 q1 
= [ N1 N2 ]   =
N1
1
(1 − ξ )
q2  2
= Nq
1
=
N 2 (1 + ξ )
2
 0.5 (1-ξ)

0.9

0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.1

-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1

ξ
 0.5 (1+ ξ)

0.9

0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.1

-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1

ξ
Mapping of x-coordinate and ξ-coordinate

1 e 2
Using equation 18:
ξ
ξ=-1 1 1
ξ=+1 x = (1 − ξ ) x1 + (1 + ξ ) x2
x1 2 2
x = N1 x1 + N 2 x2
x2
Further
dx 1 1
=− x1 + x2
dξ 2 2
x2 − x1 le
=dx = dξ dξ
2 2
 Strain
du d dN
ε =
= Nq= q
dx dx dx
ε = Bq
dN
where B = B is called strain-displacement matrix
dx

Because N is a function of ξ, apply Chain Rule:

dN dN d ξ d dξ
=
B = = [ N1 N2 ]
dx d ξ dx d ξ dx
d 1 1 2
=
dξ  2 (1 − ξ ) 2
(1 + ξ )
 le
1
= [ −1 1]
le
 1 T T 
U e = q  ∫ B EBAdx  q (see slide 7)
2 e 
1 T T  
= q B Ee BAe  ∫ dx  q
2 e 
1 T T  le 1 
= q B Ee BAe  ∫ d ξ  q
2  2 −1 
 Element stiffness matrix

1 T  le 1 
Ue = q  Ae 2 Ee B B ∫−1 d ξ  q
T

2
1 T  le 1 −1 1 
= q  Ae Ee   [ −1 1] (2)  q
2  2 le  1  le 
1 T 1 −1 
q Aele Ee 2   [ −1 1] q
2  le  1  
1 T  Ae Ee  1 −1  1 T e
= q     q = q kq
2  le  −1 1   2

Ae Ee  1 −1
Element stiffness matrix: k =
e
 −1 1 
le  
 Force Terms – Body Force (assume uniform)
Body force per
unit volume

∫ e
=u T
bA dx =
Ae ∫
b u T
dx Aeb ∫ ( u ) dx
e e e

= Aeb ∫ ( N1q1 + N 2 q2 ) dx
e

 Aeb N1dx 
 ∫e 
= [ q1 q2 ]  
 Aeb ∫ N 2 dx 
 e 
 Aeb N1dx 
 ∫e 
=q  T

 Aeb ∫ N 2 dx 
 e 
But
1  1 − ξ  le le 1  1 − ξ  le
∫ N dx
e
1 ∫=
−1  2  2
 
dξ = ∫ 
2  2 
−1  dξ
2
1  1 + ξ  le le 1  1 + ξ  le
∫ N dx
e
2 ∫=
−1  2  2
 
dξ = ∫ 
2  2 
−1  dξ
2

Thus

 le 
 Aeb 
T  2 T Ae 1
∫e e
= = =
T T e
u bA dx q   q le  
b q b
 A b le  2 1
 e 2 

Aeleb 1
Where b = e

2 1
 Force Terms – Traction Force (assume uniform)

∫ Tdx = ∫ ( u ) Tdx
T
u
e e

= ∫ ( N q + N q )Tdx
e
1 1 2 2

Since the traction force T is constant within the element, we have

T N1dx 
 ∫e 
∫e u T
Tdx = [ 1 2 ]
q q 
T ∫e N 2 dx 
 le 
 T 
T  2  Tle 1
= q=   q T
T e
where T =
e

l
T e  2 1
 2 
 Potential Energy of a bar element

1 T e
=
Πe q k q − qT b e − qT T e
2

Applying Principle of Minimum Potential Energy, we get an

equilibrium equation as follow

k eq − b e − Te =
0

or

k eq = b e + Te = f

k eq = f
 System Model

1
=Π ∑
2 e
q T e
k q − ∑
e
q T e
b − ∑
e
q T e
T − ∑
e
q T
P

Applying the principle of minimum potential energy,

(equilibrium equation)
 Example

A column with unit weight w, cross section area A and modulus of elasticity E
is shown in the figure. Perform FE analysis based on mesh of 2-node truss
element. Use three elements of equal length.

Continuum Finite Element Model

The distributed load is
applied by lumping it
to the nodes
 Equilibrium equation for each element

Element 1:
1 2
AE  1 −1  q1   f1  AE  1 −1  Q1   wl 2  1
1 1

   1 = 1 ⇒    =  
l  −1 1  q2   f 2  l  −1 1  Q2   wl 2  2

Element 2:
2 3
AE  1 −1 q1   f1  AE  1 −1 Q2   wl 2  2
2 2

   2 = 2⇒    =  
l  −1 1  q2   f 2  l  −1 1   3   wl 2  3
Q

Element 3:
3 4
AE  1 −1 q1   f1  AE  1 −1 Q3   wl 2  3
3 3

   3 = 3 ⇒    =  
l  −1 1  q2   f 2  l  −1 1  Q4   wl 2  4
 Assembly Process

Node 1: 1 = F1
1
f
f
Node 2: 2
1
+ f1 =
2
F2
f
Node 3: 2
2
+ f1 =
3
F3

Node 4: 2 = F4
3
f

KQ = F
1 2 3 4
 1 −1 0 0   Q1   wl 2  1 Solve for Q
      Q1  9 
AE  −1 2 −1 0  Q2   wl  2
 =    wl  
2
 
l 0 −1 2 −1 Q3   wl  3 =
Q =
Q2  8 
    Q  2 AE 5
 0 0 −1 1  Q4   F4  4  3  
 STRESSES
Element 1: Element 2:
σ = EBq σ = EBq
 9 wl 2   8wl 2 
 1 1   2 AE   1 1   2 AE 
=E  −   2 
=E  −   2
 l l   8wl   l l   5wl 
 2 AE   2 AE 
wl 3wl
= − = −
2A 2A

Element 3:
 5wl 2 
 1 1  
σ
= EBq = E −   2 AE 
 l l 
 0 
5wl
= −
2A
Element forces
 3-node element – quadratic shape function

u (ξ ) =ao + a1ξ + a2ξ B.C.: u ( −1) = ao + a1 ( −1) + a2 ( −1) = q1

2 2

u ( 0 ) =+
ao a1 ( 0 ) + a2 ( 0 ) =
2
q2

u (1) =
ao + a1 (1) + a2 (1) =
2
q3
 Solve:

ao = q2
q1 q3
a1 =− +
2 2
q1 q3
a2 = − q2 +
2 2

 q1 q3   q1 q3  2
∴ u (ξ ) = q2 +  − +  ξ +  − q2 +  ξ
 2 2 2 2

− ξ (1 − ξ ) q1 + (1 − ξ ) q2 + ξ (1 + ξ ) q3
1 1
∴ u (ξ ) = 2

2 2
  q1 
 
u [=
N1 N 2 N 3 ] q2  Nq
q 
 3

Shape function,

1
N1 = − ξ (1 − ξ )
2
N2 = 1 − ξ 2
1
=
N3 ξ (1 + ξ )
2
 One dimensional Lagrange interpolation

∏ (ξ − ξ )
n

p
p =1
lm ( ξ ) =
p≠m

∏ (ξ −ξp )
n

m
p =1
p≠m

Example: 3-node element (quadratic shape function)

u (ξ ) = l1 (ξ ) q1 + l2 (ξ ) q2 + l3 (ξ ) q3

n=3,

=l1 (ξ )
( ξ − ξ 2 )(ξ − ξ3 )
= =
( ξ − 0 )(ξ − 1) ξ (ξ − 1)
(ξ1 − ξ 2 )(ξ1 − ξ3 ) ( −1 − 0 )( −1 − 1) 2
 ∏ (ξ − ξ )
n

p
p =1
lm ( ξ ) =
p≠m

∏ (ξ −ξp )
n

m
p =1
p≠m

( ξ − ξ1 )(ξ − ξ3 ) (ξ − ( −1) ) (ξ − 1) ξ 2 − 1
l2 ( ξ ) = = = = 1− ξ 2
(ξ 2 − ξ1 )(ξ 2 − ξ3 ) ( 0 − ( −1) ) ( 0 − 1) −1

( ξ − ξ1 )(ξ − ξ 2 ) (ξ − ( −1) ) (ξ − 0 ) (ξ + 1) ξ
l3 (ξ ) = =
(ξ3 − ξ1 )(ξ3 − ξ 2 ) (1 − ( −1) ) (1 − 0 ) 2
 Geometry

Using the shape function for 2-node element, N1 and N2, the x-
coordinate system is mapped onto the ξ-coordinate system
which yields

1 1
x = (1 − ξ ) x1 + (1 + ξ ) x2 (see slide 16)
2 2

dx 1 1
=− x1 + x2
dξ 2 2
x2 − x1 le
dx = dξ dξ
2 2
 Strain-displacement relation
du
ε=
dx
du d ξ
=
d ξ dx
2 du 2 d
= = Nq
le d ξ le d ξ
2 d 2  dN1 dN 2 dN 3 
[ N1 N3 ] q =
le  d ξ 
= N2 q
le d ξ dξ dξ 
2 d  1  1 
= 
le  dξ
 −
 2
ξ ( )
1 − ξ

d
dξ
(1− ξ 2 )
d
dξ
 ξ (1 + ξ )   q
2 
2 1 1
= ξ − −2ξ ξ + q
le  2 2
1
=Bq where B= [ 2ξ − 1 −4ξ 2ξ + 1]
le
 Stiffness matrix
1 Τ
U e = ∫ σ ε Adx
2e
1
( ) ( Bq ) Adx
Τ
=
2e∫ EBq

1
( ) ( Bq ) Adx
Τ
= ∫
T
Bq E
2e
1 Τ T
= ∫ q B E ( Bq ) Adx
2e
1 T  
= q  EA∫ B Bdx  q
T

2  e 
1 T
= q kq
2
 k = EA∫ BT Bdx
e

 2ξ − 1
1 1  1 le
= EA∫
−1 l
 −4ξ  [ 2ξ − 1 −4ξ 2ξ + 1] d ξ
e   le 2
2ξ + 1

1 2 3

 7 −8 1  1

k =  −8 16 −8
EA 
2
3le
 1 −8 7  3
 Load Vectors – Body force
le
( Nq )
1
∫u fAdx = ∫ fA d ξ
T T
e −1 2
Ale f 1
= ∫ ( Nq ) dξ
T

2 −1

T Ale f
1
=q ∫ dξ
T
N
2 − 1

 1 
 2 (
− ξ 1 − ξ )
1  
T Ale f
∫  1− ξ  dξ 1 6  1
2
q
gives f e = Ale f 2 3 2
2 −
 1 
1

 ξ (1 + ξ )   
 2  1 6  3
 Load Vectors – Traction force
le
∫e u Tdx = ∫e ( Nq ) T 2 dξ
T T

Tle 1
=q ∫ NT d ξ
T

2 −1

 1 
− 2 ξ (1 − ξ ) 
1  
T Tle
∫  1− ξ  dξ
2
q
2 −
 1 
1

 ξ (1 + ξ ) 
 2  1 6  1
= qT T e  
where Te = leT 2 3 2
1 6  3
 
 Example
Perform Finite Element analysis on
the column of the previous example
using one 3-node bar element.
Element Stiffness
1 2 3

 7 −8 1  1

k =  −8 16 −8
e AE 
2
3L
 1 −8 7  3

System Stiffness
1 2 3

 7 −8 1  1

K =  −8 16 −8
AE 
2
3L
 1 −8 7  3
Loading:

1 6  1
 
F = wL 2 3 2
1 6 
  3
 System model
KQ=F
 7 −8 1   Q1  1 6 
AE 
− −  Q  =  
 8 16 8   2 wL  2 3
3L
 1 −8 7  Q3  1 6 
 

 7 −8  Q1  3L 1 6 
 −8 16  Q  = AE wL 2 3
  2  
−1
 Q1  3wL2  7 −8 1 6  Inverse formula:
 =  −8 16  2 3
Q2  AE     a b 
A= 
 1 wL2   9 wl 2  c d 
 2 AE   2 AE  −1 a b 
−1
1  d −b 
= = =A =   −c a 
2   2 c d  A  
 3 wL   27 wl 
 8 AE   8 AE 
Where l = L/3
Displacement at other points
u = N1q1 + N 2 q2 + N 3 q3

− ξ (1 − ξ ) q1 + (1 − ξ 2 ) q2 + ξ (1 + ξ ) q3
1 1
=
2 2
 9 wl 2   2
 1
 + (1 − ξ ) 
1 27 wl
=− ξ (1 − ξ )  2
 + ξ (1 + ξ )( 0 )
2  2 AE   8 AE  2

Coordinate mapping
x = N1 x1 + N 2 x2 + N 3 x3

− ξ (1 − ξ ) x1 + (1 − ξ ) x2 + ξ (1 + ξ ) x3
1 1
= 2

2 2
2 3 
− ξ (1 − ξ )( 0 ) + (1 − ξ )  l  + ξ (1 + ξ )( 3l )
1 1
=
2 2  2
3
= 1 + lξ
2
Stresses
σ = EBq
 q1 
1  
= E [ 2ξ − 1 −4ξ 2ξ + 1] q2 
L q 
 3
 9 wl 2 
 2 AE 
 
1  27 wl 
2
= E [ 2ξ − 1 −4ξ 2ξ + 1]  
3l  8 AE 
 0 
 
 
3 wl
=
− (1 + ξ )
2 A
2-node element