Institute of Structural Engineering Page 1
Method of Finite Elements I
Chapter 2
The Direct Stiffness Method
Method of Finite Elements I
Institute of Structural Engineering Page 2
Direct Stiffness Method (DSM)
• Computational method for structural analysis
• Matrix method for computing the member forces
and displacements in structures
• DSM implementation is the basis of most commercial
and open-source finite element software
• Based on the displacement method (classical hand
method for structural analysis)
• Formulated in the 1950s by Turner at Boeing and
started a revolution in structural engineering
Method of Finite Elements I
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Goals of this Chapter
• DSM formulation
• DSM software workflow for …
• linear static analysis (1st order)
• 2nd order linear static analysis
• linear stability analysis
Method of Finite Elements I
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Computational Structural Analysis
Y
Physical problem Continuous Discrete
mathematical model computational model
strong form weak form
Modelling is the most important step in
the process of a structural analysis !
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System Identification (Modelling)
Y
3 4
6
4 5
1 2
3
1 2
X 5 6
Global Coordinate System Node numbers
Nodes
Elements Element numbers
Boundary conditions and orientation
Loads
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Deformations
System Deformations Nodal Displacements
System identification
nodes, elements, loads and supports (deformational, nodal)
deformed shape degrees of freedom = dofs
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Degrees of Freedom
Truss Structure Frame Structure
ui
ui
ui = ( udx , udy ) dof per node ui = ( udx , udy , urz )
7 * 2 = 14 dof dof of structure 8 * 3 = 24 dof
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Elements: Truss
1 dof per node
ux DX
P1 𝐿, 𝐸, 𝐹 P2 P1 P2
N 𝐸𝐹
𝑃1 = (u1 −u2)
𝐿
X/Y = local coordinate system 𝐷𝑋 = (u2 −u1)
𝐸𝐹
ux = displacement in direction 𝑃2 = (−u1 + u2)
𝐿
of local axis X
DX = displacement of truss end
𝐷𝑋
compatibility e=
𝐿
const. equation s = 𝐸 e p=ku
equilibrum 𝑃2 = −𝑃1 = 𝑁 p : (element) stiffness matrix
𝐸𝐹 k : (element) nodal forces
𝑁 = ʃ 𝐸 s = 𝐸𝐹 s = 𝐷𝑋 u : (element) displacement vector
𝐿
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Elements: Beam
3 dof per node
ux
DX
𝐿, 𝐸, 𝐹
uy DY
RZ
uy
ux = displacement in direction
of local axis X
uy = displacement in direction
of local axis Y
k u
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Elements: Global Orientation
local
𝜃
global
cos 𝜃 − sin 𝜃 0 0 0
sin 𝜃 cos 𝜃 0 0 0
0 0 1 0 0
𝑅 𝜃 =
0 0 cos 𝜃 − sin 𝜃 0
0 0 sin 𝜃 cos 𝜃 0
0 0 0 0 1 uglob = u = R uloc
kglob = k = RT kloc R
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Beam Stiffness Matrix
e.g. k24 =
UXS UYS UZS UXE UYE UZE UXE=1
E
FXS = k11 k12 k13 k14 k15 k16 reaction
FYS = k22 k23 k24 k25 k26
in global direction Y
at start node S
MZS = k33 k34 k35 k36
FXS = k44 k45 k46
due to a
FYS = symm. k55 k56 S
unit displacement
MZE = k66 FYS in global direction X
at end node E
piS k iSS k iSE uiS
piE k iES k iEE uiE
Element stiffness matrix
p=ku in global orientation
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Nodal Equilibrum
r4: Vector of all forces acting at node 4
f4
3 6 r4 = - k6ES u3 + contribution of element 6 due to
4
start node displacement u3
- k6EE u4 + contribution of element 6 due to
5 end node displacement u4
2 - k5EE u4 + contribution of element 5 due to
start node displacement u4
- k5ES u2 + contribution of element 5 due to
start node displacement u2
f4 external load
Equilibrum at node 4: r4 = - k5SE u2 -k6ES u3 - k5EE u4 - k6EE u4 + f4 = 0
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Global System of Equations
u1 u2 u3 u4
3 6 4
k1EE+ k3SE k4SE
r1 = - k3SS+ + f1 = 0 4 5
k4SS 1 3 2
k3ES k2EE+ k5SE
r2 = - k3EE+ + f2 = 0 1 2
k5SS
k4ES k4EE+ k6SE
r3 = - + f3 = 0
k6SS
k5ES k6ES k5EE+
r4 = - + f4 = 0
k6EE
-K U + F = 0 F = K U
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Global System of Equations
F = global load vector = Assembly of all fe
K = global stiffness matrix = Assembly of all ke
U = global displacement vector = unknown
F = K U = equilibrium at every node of the structure
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Solving the Equation System
What are the nodal displacements for
a given structure (= stiffness matrix K )
due to a given load (= load vector F ) ?
K U=F left multiply K-1
K-1 K U = K-1 F U = K-1 F
Inversion possible only if K is non-singular
(i.e. the structure is sufficiently supported = stable)
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Beam Element Results
1. Element nodal displacements
Disassemble u from resulting global displacements U
2. Element end forces
Calculate element end forces = p = k u
3. Element stress and strain along axis
Calculate moment/shear from end forces (equilibrium equation)
Calculate curvature/axial strain from moments/axial force
4. Element deformations along axis
Calculate displacements from strain (direct integration)
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Lateral Load
1. Adjust global load vector
f = local load vector => add to global load vector F
2. Adjust element stresses
e.g. bending moment M: M due to f M diagram
M due to u
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Linear Static Analysis (1st order)
Workflow of computer program
1. System identification: Elements, nodes, support and loads
2. Build element stiffness matrices and load vectors
3. Assemble global stiffness matrix and load vector
4. Solve global system of equations (=> displacements)
5. Calculate element results
Exact solution for displacements and stresses
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2nd Order Effects
or the influence of the axial normal force
Normal forces change the stiffness of the structure !
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Geometrical Stiffness Matrix
Truss
Very small element rotation
=> Member end forces (=nodal forces p )
perpendicular to axis due to initial N
kG = geometrical stiffness matrix of a truss element
NOTE:
It’s only a
approximation
p =( k + kG ) u
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Beams: Geometrical Stiffness
kG = geometrical stiffness matrix of a beam element
kG =
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Linear Static Analysis (2nd order)
What are the 2nd order nodal displacements for
a given structure due to a given load ?
Global system of equations
( K + KG ) U = F U = ( K + KG ) -1 F
Inversion possible only if K + KG is non-singular, i.e.
- the structure is sufficiently supported (= stable)
- initial normal forces are not too big
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Linear Static Analysis (2nd order)
Workflow of computer program
1. Perform 1st order analysis
2. Calculate resulting axial forces in elements (=Ne)
3. Build element geometrical stiffness matrices due to Ne
4. Add geometrical stiffness to global stiffness matrix
5. Solve global system of equations (=> displacements)
6. Calculate element results
NOTE: Only approximate solution !
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Stability Analysis
How much can a given load be increased until a
given structure becomes unstable ?
KG = f(Nmax)
KG(Nmax) = λmax KG(N0) = λmax KG0
Nmax = λmax N0
2nd order analysis No additional load possible
(K + λmax KG0) U = F (K + λmax KG0) ΔU = ΔF = 0
linear algebra
(A - λ B) x = 0 Eigenvalue problem
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Stability Analysis
Eigenvalue problem e.g. Buckling of a column
(A - λ B) x = 0 (K - λ KG0) x = 0
Solution
λ = eigenvalue λ = critical load factor
x = eigenvector x = buckling mode
λF
x
λ N0
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Stability Analysis
Workflow of computer program
1. Perform 1st order analysis
2. Calculate resulting axial forces in elements (=N0)
3. Build element geometrical stiffness matrices due to N0
4. Add geometrical stiffness to global stiffness matrix
5. Solve eigenvalue problem
NOTE: Only approximate solution !
Method of Finite Elements I
