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Exact Shape Functions For Timoshenko Beam Element: IOSR Journal of Computer Engineering May 2017

The document describes the derivation of exact shape functions for non-uniform and inhomogeneous Timoshenko beam elements. It presents: 1) Derivation of the exact displacement functions and their derivatives for axial displacement based on the Euler-Lagrange equations and imposing boundary conditions. 2) Assumption of a polynomial function for transverse displacement and derivation of rotational displacement and its derivatives by solving the transverse equilibrium equation. 3) Development of the shape functions for axial, transverse, and rotational displacements and their derivatives explicitly in terms of beam geometry and material properties.

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0% found this document useful (0 votes)
43 views10 pages

Exact Shape Functions For Timoshenko Beam Element: IOSR Journal of Computer Engineering May 2017

The document describes the derivation of exact shape functions for non-uniform and inhomogeneous Timoshenko beam elements. It presents: 1) Derivation of the exact displacement functions and their derivatives for axial displacement based on the Euler-Lagrange equations and imposing boundary conditions. 2) Assumption of a polynomial function for transverse displacement and derivation of rotational displacement and its derivatives by solving the transverse equilibrium equation. 3) Development of the shape functions for axial, transverse, and rotational displacements and their derivatives explicitly in terms of beam geometry and material properties.

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Prasant Sahay
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© © All Rights Reserved
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Exact Shape Functions for Timoshenko Beam Element

Article in IOSR Journal of Computer Engineering · May 2017


DOI: 10.9790/0661-1903041220

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IOSR Journal of Computer Engineering (IOSR-JCE)
e-ISSN: 2278-0661,p-ISSN: 2278-8727, Volume 19, Issue 3, Ver. IV (May - June 2017), PP 12-20
www.iosrjournals.org

Exact Shape Functions for Timoshenko Beam Element


Sri Tudjono1, Aylie Han1, Dinh-Kien Nguyen2, Shota Kiryu3, Buntara S. Gan3*
1
Department of Civil Engineering, Diponegoro University, Indonesia
2
Institute of Mechanics, Vietnam Academy of Science and Technology, Vietnam
3
Department of Architecture, College of Engineering, Nihon University, Japan

Abstract: This paper derives exact shape functions for both non-uniform (non-prismatic section) and
inhomogeneous (functionally graded material) Timoshenko beam element formulation explicitly. In this paper,
the shape functions formula embedded the explicit functions and its derivatives describing the non-uniformity
and inhomogeneity of a beam element. The shape functions are made interdependent by requiring them to
satisfy three homogeneous differential equations associated with the Timoshenko’s beam theory. With the
formulated axial, transverse and rotational displacement shape functions, the stiffness and mass matrices and
consistent force vector for a two-node Timoshenko beam element are developed based on Hamilton’s principle.
Comparison studies with reference work on the accuracy and computational efficiency for non-uniform and
inhomogeneous Timoshenko beam structures are highlighted. Static and vibrational analyses of the beams
element by using the exact shape functions can predict the displacement, and natural frequencies of non-
uniform and inhomogeneous Timoshenko beams by using only one/the least element accurately.
Keywords : Exact shape functions, Timoshenko beam, FEM, Functionally graded material

I. Introduction
In the state-of-the-art of computational beam element, the polynomial function assumptions are most
usually used. However, these functions were developed base on the uniform cross-section and homogenous
material. By using these shape functions, the analyses of beam elements require a significant number of element
divisions to study the behavior of beam with non-uniformity and inhomogeneity problems accurately [1-12].
The latest accomplishment for developing the exact solutions of the shape functions makes use of the power
series method [13-14], basic displacement function [15] and Taylor series expansion [16-17] approximations are
reported.
Given the fact that the finite element method has been a widely used technique for structural analysis, it
is necessary to develop reliable and accurate displacement functions [18-26] for the beam element. With the
proper shape functions in the finite element formulations, the mass, stiffness matrices and loading vectors can be
constructed consistently. In this paper, the formulation for exact shape functions for both non-uniform and
inhomogeneous Timoshenko beam element are derived based on Hamilton’s principle.

II. Formulation of Exact Displacement Functions


The Euler-Lagrange equations [27] for the Timoshenko beams can be obtained from
  u 
 E ( x) A( x)   0 (1a)
x  x 

   w 
  G ( x) A( x)     0 (1b)
x   x 

     w 
 E ( x) I ( x)    G ( x) A( x)     0 (1c)
x  x   x 
where, u, w and  are the axial displacement, transversal displacement and rotation. E( x), A( x), G( x) and  are
the elastic modulus, section area and shear modulus as the function of x and shear correction factor, respectively.
By integration, (1a) becomes,
u
E ( x) A( x)  k1 (2)
x
where k1 is the indefinite integration integral constant. Next, solving for u(x),

DOI: 10.9790/0661-1903041220 www.iosrjournals.org 12 | Page


Exact Shape Functions for Timoshenko Beam Element

1
u ( x)  k1  dx  k2  k1 1  k2 (3)
E ( x) A( x)

defining,
1
1   dx . (4)
E ( x) A( x)

Imposing the boundary conditions of horizontal displacements at both end nodes of the beam results in,
u( x  0)  u1 , u( x  L)  u2 .
Solving for k1, k2 from (2) and (3), then substituting back the results into (2), the exact displacement
functions and its first order derivative of the axial displacement of the beam can be obtained as

u 
u ( x )   N u1 Nu 2   1 
u2 
 1   1L
N u1 
 10  1L
 1   10
Nu 2  (5)
 10  1L
dN u1  1

dx  10  1L
dN u 2  1

dx  10  1L

where  10   1 ,  1L   1 x  L .
x 0

The transverse displacement is assumed in polynomial equation as follows


a2 2 a3 3
w( x)  a0  a1 x  x  x
2 6
w a
 a1  a2 x  3 x 2 (6)
x 2
2 w
 a2  a3 x
x 2
The solution of transverse homogeneous equilibrium equation of (1b) can be obtained from

 w 
 G ( x) A( x)      c1
 x 
w( x)  c1 4    ( x)dx  c4 (7)
1 w
 ( x)  c1 
 G ( x) A( x) x
Replacing (6) into (7), results in
a3 2
 ( x)  c1 4  a1  a2 x  x
2

 c1 4  a2  a3 x (8)
x
 2
 c1 4 a3
x 2

DOI: 10.9790/0661-1903041220 www.iosrjournals.org 13 | Page


Exact Shape Functions for Timoshenko Beam Element

Replacing (8) into (7), results in

w( x)  c1 4    ( x)dx  c4
 a 
 c1 4    c1 4  a1  a2 x  3 x 2 dx  c4 (9)
 2 
a a
 a1 x  2 x 2  3 x 3  c4
2 6
Hence, (1c) can be written as
   
 E ( x) I ( x)   c1  0
x  x 
 x 1
 c1  c2  c1 3  c2 22 (10)
x E ( x) I ( x) E ( x) I ( x)
 ( x)  c1 3  c2 2  c3
the second derivative can be given by,
 2
 c1 3  c2 2
x 2
where ci (i=1,2,3,4) and ai (i=1,2,3,4) are the polynomial constants. Defining,
1
2   dx,
E ( x) I ( x)
x
3   dx, .
E ( x) I ( x)
1
4   dx
 G( x) A( x)
Collecting rotation and its derivatives from (8) and (10), as well as transverse displacement between (6)
and (9), we have relationship between ai and ci

c  Mac  a


1
(11)

Imposing the boundary conditions of vertical displacements and rotations at both end nodes of the
beam results in, w( x  0)  w1 , w( x  L)  w2 and  ( x  0)  1 ,  ( x  L)  2 .

c1   w1 
c   
 2 1 1 
    M wθc    (12)
c3   w2 
c4   2 

By substituting ci, the expressions for transverse and rotational shape functions are as follow,

 w1 
 
 
w( x)   N w1 N w2 N w3 N w4   1 
 w2 
 2 
(13)
 w1 
 
 
 ( x )   N 1 N 2 N 3 N 4   1 
 w2 
 2 

where the rotational shape functions and their derivatives are given by

DOI: 10.9790/0661-1903041220 www.iosrjournals.org 14 | Page


Exact Shape Functions for Timoshenko Beam Element

1
N 1  6( 2 L ( 3  30 )  20 ( 3  3L )  2 ( 30  3L ))
L
1 ( 3  3 L ) L(3 2 L  2L L)   2 (6 4 L  L(3 3L  3 4L  
N 2   
  3L L  4L L))   2 L (6 4 L  L(3 3L  3 4L  3L L   4L L)) 
N 3   N 1 (14)
6 2 L ( 3  30 )  6 2 30  6 2 3 L  6 2 4 L  3 2 L 3 L 
 2 
1  3 2 L 30 L  3 2 3L L  3 2 4L L  2L 3 L  2L 30 L 
2

N 4  
  2 3L L2   2 4L L2   20 (6 3  6 3 L  6 4 L  3 3L L 
 
 3 4L L   3L L2  4L L2 ) 

  3 4x  6 3  6 4  
1  x( 20  2 L )  2
 6 x( 20 3 L   2 L 30 )   
N w1   3 3 x   3x  4x 
2
 
L  
  ( 30   3L )(6  2 x  3 
2 x 2
  
2 x 3
) 
  3 2 L 3 L  3 2 L 3 L L  
  2  
  6 4 L  3 3L L   3 2 L 4 L   2L 3 L  
(3  x  x 2 )  3  L    L2   6 x     L2     L2  
 
1   2 L 3L  
2 2 4L 3L 2L 4

N w2      L2    (6    L (3   
6   4L  
2 4L 3L
 
  3 4L  3L L   4L L)  
 
 
  
 6 4 L  L(3 3 L  3 4 L    
 3 3 L  3 4 L  
 6 2 L    L    L)  
  x(3 2 L  2 L )   
  3L 4L    3 L x   4L x  
1  x(( 30  3 L )(6 2  3 2 x   2x )  ( 2 L  20 )(6 3  6 4  3 3 x 
2

N w3   
L  3 4x   3x 2  4x 2 )  6( 20 3 L  2 L 30 ) 
  6 30  6 3 L  6 4 L   6 3 L  6 30 L 
 2    
(6 2   2x )  3 3L L  3 4L L   (3 2 L  2L )  6 4 L  3 3L x 
    L2    L2   3  x   x 2    x 2  
x   3L   

4L 4L 3L 4L
N w4
6   6 4 L  3 3L L   6 3  6 3 L  6 4  
     
 (3 2 x  6 20 )  3 4L L   6( 2 L  20 )  3 3 x  3 4x   (15)
    L2   L2    x 2  x 2  
  3L 4L   3 4  

with their derivatives,


N 1 1
 6(( 20  2 L ) 3  2 ( 30  3L ))
x L
N 2 1   6 4 L  L(3 3L  
  2    3L (3 2 L  2L L) 
x    3 4L  3L L   4L L)  
(16)
N 3 N
  1
x x
N 3 1   6 20  6 2 L   6 30  6 3 L  6 4 L  3 3L L  
   3       
x    3 2 L L   2L L2   3 4L L  3L L  4L L
2 2 2
 

DOI: 10.9790/0661-1903041220 www.iosrjournals.org 15 | Page


Exact Shape Functions for Timoshenko Beam Element

N w1 1
 6( 2 ( 30  3L )  20 ( 3  3L  4 )  2 L ( 3  30  4 ))
x L
  6 4 L  L(3 3L 
N w 2 1 ( 3  3 L  4 ) L(3 2 L  2L L)   2  
   3 4L   3L L  4L L)  
x  
  2 L  6 4 L  L(3 3L  3 4L  3L L   4L L)  
(17)
N w3 N
  w1
x x
(6 2 L  6 20   2L )( 3  30  4 ) 
N w 4 1 
    ( 2  20 )  6 4 L  3 3L L  3 4L L  3 3L L2  4 4L L2  
x  
 6 2 ( 30  3 L )  3 2 L   3 L   30 L   4 L  
where,
  ( 30  3 L ) L(3 2 L  2L L)
 2 L (6 4 L  L(3 3L  3 4L  3L L  4L L))
 20 (6 4 L  L(3 3L  3 4L  3L L  4L L))
 20    2 x  0 ,  2 L   2
  2 x  0 ,  2 L   2 x  L , 20 xL
   2
, 20 x 0 , 2L   2 xL

 30   3 x 0 ,  3L    3
  3 x  L , 30  
x 0 ,  3L   3
 
x  L , 30   3
 
x  0 , 3 L   3 xL

 40   4 x 0 ,  4L   4 xL
   4
, 40 x 0 ,  4 L   4 xL
   4
, 40 x 0 , 4L   4 xL

 40   4 x  0 ,  4L   4 x  L

III. Governing Equations


The governing equation can be derived via Hamilton's principle as follow:

 H    S E   K E   WE  dt  0
t2
(18)
t1

where,  H ,  SE ,  KE and WE are the variation of total energy, strain energy, kinetic energy and external
work of the beam, respectively.
The undamped equilibrium equation can be obtained by substituting (5) and (13) into the variational
equations of (18), which results in
Kd  Md  f  0 (19)

where, K, M , f , d and d are the stiffness matrix, mass matrix, loading vector, general displacement vector and
general acceleration vector, respectively. The stiffness matrix, mass matrix and loading vector are given by

 Nu   Nu
T
  E ( x) A( x) 0 0 
     N  N  dx
K    
L
 v     
N N  0 G ( x ) A( x ) 0  v   (20)
 N   N 
0

    0 0 E ( x) I ( x)    

  ( x) A( x)
T
 Nu  0 0   Nu 
     N  dx
M
L
 Nv   0  ( x) A( x) 0  v  (21)
N   ( x) I ( x)  N 
0

   0 0

 Nu1 P1   Nu1 p( x) 
N Q   N q( x) 
 v1 1   v1 
 N 1 M1 
  L  N 1 m( x) 
f    0   dx (22)
 Nu 2 P2   Nu 2 p( x) 
 N v 2 Q2   N v 2 q( x) 
   
N 2 M 2 
  N 2 m( x) 
 

DOI: 10.9790/0661-1903041220 www.iosrjournals.org 16 | Page


Exact Shape Functions for Timoshenko Beam Element

where, Pi , Qi and M i are the concentrated axial load, transversal load and moment at node i, respectively. The
terms p( x), q( x) and m( x) are the distributed axial load, transversal load and moment, respectively.
In constructing the matrices and vector of (20-22), the Gaussian quadrature integration scheme is
recommended. Also, the shape functions 1 ,  2 ,  3 ,  4 and their derivatives inside the equations can be
evaluated numerically by using the Gaussian quadrature integration scheme. These shape functions will carry on
the non-uniformity and inhomogeneity characteristics of the beam.

IV. Numerical Examples


In this section, illustrative examples are solved by using the exact displacement functions derived in
previous sections to show the validity and novelty of the present study. Comparisons with the numerical results
reported by other studies are highlighted.
4.1 Taper Cantilever Beam
A homogeneous non-dimensional unit tapered cantilever beam loaded at the free end tip as shown in
Fig. l is considered.

P=1

E=100
0.75 G=40 0.3
κ=5/6
0.2
0.2 L=1
Figure 1. Taper cantilever beam example

The beam is analyzed by using one element by using the exact displacement functions to construct the
stiffness matrices of the static equilibrium equation.

Table 1. Results of static analysis of taper cantilever beam example


Reaction at fixed end Vertical displacement at free end
Shear Deformation
Shearing Force Bending Moment Present Study [25]
Consideration
Q M w
Considered 1.0 1.0 1.203 1.203
Not considered 1.0 1.0 0.8977 0.897

As shown in Table 1., the reaction forces and displacement resulting from the shear deformation
consideration are in good agreement with the theoretical results of [25].

4.2 Various Taper Clamped Beam


A homogeneous non-dimensional unit various tapered clamped beam loaded at the mid-span as shown
in Fig. 2 is considered. Two different heights h and various values of the lengths L are analyzed.

P=1, w

E=100
G=40 0.3 h
κ=5/6
L L
0.2
Figure 2. Clamped taper beam example

Deflections which include shear deformation (ws) and neglect shear deformation (wns) at the mid-span
of the beams are listed in Tables 2, respectively. The present computed deflections are compared with the results
of [28].
Only using two element divisions, the present results gave an excellent agreement with the reference
(twelve elements) which can be observed from the table.

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Exact Shape Functions for Timoshenko Beam Element

Table 2. Deflection of clamped taper beam example


h=0.6 h=0.9
L ws wns ws wns
Present [28] Present [28] Present [28] Present [28]
1 0.4670 0.468 0.2943 0.294 0.2748 0.274 0.1368 0.137
2 2.6991 2.700 2.3541 2.354 1.3708 1.370 1.0950 1.096
3 8.4647 8.464 7.9376 7.944 4.1105 4.110 3.6991 3.698
4 19.525 19.524 18.8324 18.831 9.315 9.315 8.7668 8.766
5 37.6454 37.645 36.7784 36.779 17.8088 17.807 17.1203 17.120

4.3 Free Vibration of Various Boundary Conditions of Taper Beams


Various boundary conditions of taper beams as shown in Fig. 3. The geometry and material data of the
beam are given in the figure.

h0 h1

b
E=210 Gpa
b a) Clamped-Free (C-F)
E/(κG)=3.12

Κ=2/3
h0 h1
L=0.8660254 m
b
b b) Clamped-Clamped (C-C) ρ=7850 kg/m3

r2=I0/(A0L2)=0.08

h0 h1

b
b c) Clamped-Pinned (C-P)

L
Figure 3. Various boundary conditions of taper beam free vibration example

The cross-session is rectangular with constant width b and linear-varying height h defined as
h1  h0
 (23)
h0

The non-dimensional frequencies of the beam that are defined as

 A0 L4
i  i (24)
E I0

From Table 3, the results of the non-dimensional frequencies of the present formulation show lower
convergence results under various boundary conditions compared to the results in [15]. In the free vibration
problem, the beam element should be divided into sub-elements to accommodate the free degree of freedoms. In
this study, only four element divisions for the beam were employed to obtain the good results.

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Exact Shape Functions for Timoshenko Beam Element

Table 3. Non-dimensional natural frequency of tapered beam with various boundary conditions
β Boundary µ1 µ2 µ3 µ4 µ5
Condition
0.0 C-F Present 3.22720 14.47780 31.50240 48.19680 62.87280
[15] 3.22713 14.46893 31.50254 47.90902 62.34702
C-P Present 11.08680 27.17590 45.11830 59.44520 63.59720
[15] 11.08250 27.11438 44.84353 59.20303 63.33950
C-C Present 13.83890 28.58680 45.95580 61.42410 68.86960
[15] 13.83476 28.51793 45.66595 61.86205 68.28361
-0.2 C-F Present 3.34530 14.32890 30.91900 48.13030 65.05240
[15] 3.33065 14.28921 30.71080 47.75021 64.99695
C-P Present 10.75020 26.31190 44.03880 62.05360 68.56940
[15] 10.68689 26.10717 43.59072 61.65596 68.42075
C-C Present 13.31860 27.95770 45.12020 61.90550 72.36990
[15] 13.22227 27.77822 44.69713 61.80658 72.55473

4.4 Functionally graded beam


The vibration of a uniform cross-section of an inhomogeneous Functionally Graded Material (FGM)
beam shown in Fig. 4 is investigated. The beam is made of two materials from the left to the right ends with a
constant value of mass density, the effective elastic modulus, E and shear modulus, G of the beam are assumed
to vary in the beam axis direction according to the following

 x
E ( x)  ( Eleft  Eright ) 1    Eright
 L
(25)
 x
G ( x)  (Gleft  Gright ) 1    Gright
 L
The Simply-Supported (S-S) rectangular - cross-section beam with geometric data (width b=0.4 m;
height h=0.9 m and the total length L=20 m) is employed in the computation of fundamental frequencies.
The results (with only one element division) are compared with [12] which is computed with ten
element divisions. Very good agreement between the frequencies obtained in the present work with that of the
reference is given in Table 4 where Er=Eleft/Eright; μ1, μ2 are respectively the first and the second non-
dimensionalized fundamental frequencies of the beam. The non-dimensionalized fundamental frequency is
given by

 AL4
i  i (26)
Eleft I

A,I A,I

left right
L
Figure 4. Simply supported rectangular FGM beam example

Table 4. Non-dimensional fundamental frequencies of FGM beam example


ER μ1 μ2
Present [12] Present [12]
0.25 2.7493 2.74822 5.4402 5.43722
0.5 2.9092 2.9056 5.7731 5.7685
1 3.1378 3.1350 6.2353 6.2317
2 3.4597 3.4554 6.8626 6.8599
4 3.8900 3.8866 7.6903 7.6893

DOI: 10.9790/0661-1903041220 www.iosrjournals.org 19 | Page


Exact Shape Functions for Timoshenko Beam Element

V. Conclusions
Exact shape functions of a non-uniform and inhomogeneous Timoshenko beam element has been
formulated. These shape functions can be implemented in finite-element codes to create the mass and stiffness
matrices within the context of Timoshenko beam element where the shear deformation can be taken into account
in the analyses. The correctness of the formulated shape functions was verified through the numerical examples
of the static and free vibration analyses of non-uniform and inhomogeneous (FGM) beam elements. With the
formulated shape functions, highly accurate results can be obtained by using the least element number of
element division.

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DOI: 10.9790/0661-1903041220 www.iosrjournals.org 20 | Page

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