Closed-form solutions for stepped Timoshenko beams with internal singularities and along-axis external supports

The Timoshenko beam model in presence of internal singularities causing deflection and rotation discontinuities and resting on external concentrated supports along the span is studied in a static context. The internal singularities are modelled as concentrated reductions in the flexural and the shear stiffness by making use of the distribution theory. Along-axis supports are treated as unknown concentrated loads and moments. An exact integration procedure of the proposed model, not requiring continuity conditions at all, is presented. Closed-form solutions are provided for both cases of homogeneous and stepped Timoshenko beams. The so-called static Green’s functions are also obtained by the proposed procedure and their explicit expressions are provided.     

Euler–Bernoulli beams with multiple singularities in the flexural stiffness

Euler–Bernoulli beams under static loads in presence of discontinuities in the curvature and in the slope functions are the object of this study. Both types of discontinuities are modelled as singularities, superimposed to a uniform flexural stiffness, by making use of distributions such as unit step and Dirac's delta functions. A non-trivial generalisation to multiple different singularities of an integration procedure recently proposed by the authors for a single singularity is presented in this paper. The proposed integration procedure leads to closed form solutions, dependent on boundary conditions only, which do not require enforcement of continuity conditions along the beam span. It is however shown how, from the solution of the clamped-clamped beam, by considering suitable singularities at boundaries in the flexural stiffness model, responses concerning several boundary conditions can be recovered. Furthermore, solutions in terms of deflection of the beam are obtained for imposed displacements at boundaries providing the so called shape functions. The above mentioned shape functions can be adopted to insert beams with singularities as frame elements in a finite element discretisation of a frame structure. Explicit expressions of the element stiffness matrix are provided for beam elements with multiple singularities and the reduction of degrees of freedom with respect to classical finite element procedures is shown. Extension of the proposed procedure to beams with axial displacement and vertical deflection discontinuities is also presented.     

框架结构屈曲的精确有限元求解

基于屈曲微分控制方程的一般解,构造了Euler梁在轴力作用下的精确形函数,建立了用于框架结构屈曲分析的精确有限单元,得到了单元刚度矩阵和几何刚度矩阵的显式表达,并提出了基于常规特征值计算的迭代算法以确定屈曲载荷及相应失稳模态的精确解. 研究表明, 对于线性稳定性分析而言,常规框架有限单元可视为精确有限单元的一种近似. 若采用精确单元,无需进行网格细分就可以获得精确的屈曲载荷和失稳模态. 数值算例证明了新单元和算法的效率和精度.      

Investigation of the size effects in Timoshenko beams based on the couple stress theory

In this paper, a size-dependent Timoshenko beam is developed on the basis of the couple stress theory. The couple stress theory is a non-classic continuum theory capable of capturing the small-scale size effects on the mechanical behavior of structures, while the classical continuum theory is unable to predict the mechanical behavior accurately when the characteristic size of structures is close to the material length scale parameter. The governing differential equations of motion are derived for the couple-stress Timoshenko beam using the principles of linear and angular momentum. Then, the general form of boundary conditions and generally valid closed-form analytical solutions are obtained for the axial deformation, bending deflection, and the rotation angle of cross sections in the static cases. As an example, the closed-form analytical results are obtained for the response of a cantilever beam subjected to a static loading with a concentrated force at its free end. The results indicate that modeling on the basis of the couple stress theory causes more stiffness than modeling by the classical beam theory. In addition, the results indicate that the differences between the results of the proposed model and those based on the classical Euler–Bernoulli and classical Timoshenko beam theories are significant when the beam thickness is comparable to its material length scale parameter.     

The influence of the axial force on the vibration of the Euler–Bernoulli beam with an arbitrary number of cracks

The exact closed-form solution for the vibration modes and the eigen-value equation of the Euler–Bernoulli beam-column in the presence of an arbitrary number of concentrated open cracks is proposed. The solution is provided explicitly as functions of four integration constants only, to be determined by the standard boundary conditions. The enforcement of the boundary conditions leads the exact evaluation of the vibration frequencies as well as the buckling load of the beam-column and the corresponding eigen-modes. Furthermore, the presented solution allows a comprehensive evaluation of the influence of the axial load on the modal parameters of the beam. The cracks, which are not subjected to the closing phenomenon, are modelled as a sequence of Dirac’s delta generalised functions in the flexural stiffness. The eigen-mode governing equation is formulated over the entire domain of the beam without enforcement of any further continuity condition. The influence of the axial load on the vibration modes of beam-columns with different number and position of cracks, under different boundary conditions, has been analysed by means of the proposed closed-form expressions. The presented parametric analysis highlights some abrupt changes of the eigen-modes and the corresponding frequencies.     

Static analysis of ultra-thin beams based on a semi-continuum model

A linear semi-continuum model with discrete atomic layers in the thickness direction was developed to investigate the bending behaviors of ultra-thin beams with nanoscale thickness.The theoretical results show that the deflection of an ultra-thin beam may be enhanced or reduced due to different relaxation coefficients.If the relaxation coefficient is greater/less than one,the deflection of micro/nano-scale structures is enhanced/reduced in comparison with macro-scale structures.So,two opposite types of size-dependent behaviors are observed and they are mainly caused by the relaxation coefficients.Comparisons with the classical continuum model,exact nonlocal stress model and finite element model (FEM) verify the validity of the present semi-continuum model.In particular,an explanation is proposed in the debate whether the bending stiffness of a micro/nano-scale beam should be greater or weaker as compared with the macro-scale structures.The characteristics of bending stiffness are proved to be associated with the relaxation coefficients.     

Method of reverberation ray matrix for static analysis of planar framed structures composed of anisotropic Timoshenko beam members

Based on the method of reverberation ray matrix(MRRM), a reverberation matrix for planar framed structures composed of anisotropic Timoshenko(T) beam members containing completely hinged joints is developed for static analysis of such structures.In the MRRM for dynamic analysis, amplitudes of arriving and departing waves for joints are chosen as unknown quantities. However, for the present case of static analysis, displacements and rotational angles at the ends of each beam member are directly considered as unknown quantities. The expressions for stiffness matrices for anisotropic beam members are developed. A corresponding reverberation matrix is derived analytically for exact and unified determination on the displacements and internal forces at both ends of each member and arbitrary cross sectional locations in the structure. Numerical examples are given and compared with the finite element method(FEM) results to validate the present model. The characteristic parameter analysis is performed to demonstrate accuracy of the present model with the T beam theory in contrast with errors in the usual model based on the Euler-Bernoulli(EB) beam theory. The resulting reverberation matrix can be used for exact calculation of anisotropic framed structures as well as for parameter analysis of geometrical and material properties of the framed structures.     

高层空间框架结构动力分析的超级元子结构模型

本文将超级元和子结构的思想相结合，根据框架结构的变形特点，建立了高层空间框架结构动力分析的超级元子结构模型。模型中将楼面划分为子结构，在总结构层次将各子结构假想为二维连续体后用超级元来描述，而在子结构内部仍用经典有限元三维梁单元模拟。据此，框架梁位于同一超级元内，而框架柱连接不同的超级元。通过假设子结构内部结点自由度与总结构结点自由度的位移关系，得到超级元的质量矩阵以及框架梁和框架柱的单元刚度方程。该模型中空间框架结构的动力和非动力自由度均有大幅度的缩减，而刚性楼面假定可以进一步减少计算量。最后通过一幢30层钢筋混凝土空间框架结构的动力特性分析验证本文理论的正确性和适用性。     

An efficient procedure to find shape functions and stiffness matrices of nonprismatic Euler–Bernoulli and Timoshenko beam elements

Nonprismatic beam modeling is an important issue in structural engineering, not only for versatile applicability the tapered beams do have in engineering structures, but also for their unique potential to simulate different kinds of material or geometrical variations such as crack appearing or spreading of plasticity along the beam. In this paper, a new procedure is proposed to find the exact shape functions and stiffness matrices of nonprismatic beam elements for the Euler–Bernoulli and Timoshenko formulations. The variations dealt with here include both tapering and abrupt jumps in section parameters along the beam element. The proposed procedure has found a simple structure, due to two special approaches: The separation of rigid body motions, which do not store strain energy, from other strain states, which store strain energy, and finding strain interpolating functions rather than the shape functions which suffer complex representation. Strain interpolating functions involve low-order polynomials and can suitably track the variations along the beam element. The proposed procedure is implemented to model nonprismatic Euler–Bernoulli and Timoshenko beam elements, and is verified by different numerical examples.     

Computational analysis of multi-stepped beams and beams with linearly-varying heights implementing closed-form finite element formulation for multi-cracked beam elements

The model where the cracks are represented by means of internal hinges endowed with rotational springs has been shown to enable simple and effective representation of transversely-cracked slender Euler–Bernoulli beams subjected to small deflections. It, namely, provides reliable results when compared to detailed 2D and 3D models even if the basic linear moment–rotation constitutive law is adopted.This paper extends the utilisation of this model as it presents the derivation of a closed-form stiffness matrix and a load vector for slender multi-stepped beams and beams with linearly-varying heights. The principle of virtual work allows for the simple inclusion of an arbitrary number of transverse cracks. The derived at matrix and vector define an ‘exact’ finite element for the utilised simplified computational model. The presented element can be implemented for analysing multi-cracked beams by using just one finite element per structural beam member. The presented expressions for a stepped-beam are not exclusively limited to this kind of height variation, as by proper discretisation an arbitrary variation of a cross-section’s height can be adequately modelled.The accurate displacement functions presented for both types of considered beams complete the derivations. All the presented expressions can be easily utilised for achieving computationally-efficient and truthful analyses.     

半刚性钢框架的内力分析

采用二阶非线性分析方法分析和设计半刚性钢框架，包括连接的柔性以及构件的几何非线性的影响，提出了半刚性钢框架中梁柱单元刚度矩阵和半刚性梁的单元刚度矩阵；推导了半刚性梁在集中荷载，均布荷载，线性荷载作用下的固端弯矩的求解公式；连接的柔性对无支撑框架的侧移有很大的影响，设计时通过变化连接的刚度以平衡梁的跨中和端弯矩。     

Geometrically exact beam theory without Euler angles

In modeling highly flexible beams undergoing arbitrary rigid–elastic deformations, difficulties exist in describing large rotations using rotational variables, including three Euler angles, two Euler angles, one principal rotation angle plus three direction cosines of the principal rotation axis, four Euler parameters, three Rodrigues parameters, and three modified Rodrigues parameters. The main problem is that such rotational variables are either sequence-dependent and/or spatially discontinuous because they are not mechanics-based variables. Hence, they are not appropriate for use as nodal degrees of freedom in total-Lagrangian finite-element modeling. Moreover, it is difficult to apply boundary conditions on such discontinuous and/or sequence-dependent rotational variables. This paper presents a new geometrically exact beam theory that uses no rotation variables and has no singular points in the spatial domain. The theory fully accounts for geometric nonlinearities and initial curvatures by using Jaumann strains, exact coordinate transformations, and orthogonal virtual rotations. The derivations are presented in detail, fully nonlinear governing equations and boundary conditions are presented, a finite element formulation is included, and the corresponding governing equations for numerically exact analysis using a multiple shooting method is also derived. Numerical examples are used to illustrate the problems of using rotational variables and to demonstrate the accuracy of the proposed geometrically exact displacement-based beam theory.     

Closed form solutions of Euler–Bernoulli beams with singularities

The problem of the integration of the static governing equations of the uniform Euler–Bernoulli beam with discontinuities is studied. In particular, two types of discontinuities have been considered: flexural stiffness and slope discontinuities. Both the above mentioned discontinuities have been modeled as singularities of the flexural stiffness by means of superimposition of suitable distributions (generalized functions) to a uniform one dimensional field. Closed form solutions of governing differential equation, requiring the knowledge of the boundary conditions only, are proposed, and no continuity conditions are enforced at intermediate cross-sections where discontinuities are shown. The continuity conditions are in fact embedded in the flexural stiffness model and are automatically accounted for by the proposed integration procedure. Finally, the proposed closed form solution for the cases of slope discontinuity is compared with the solution of a beam having an internal hinge with rotational spring reproducing the slope discontinuity.     

基于自动分组遗传算法的建筑结构体系与构件尺寸协同优化设计

研究了利用结构优化方法实现建筑结构体系选择的问题。文中建立了可以覆盖框架、框架-剪力墙和巨型结构三种体系的优化模型,并采用自动分组遗传算法求解,实现了结构体系与构件尺寸的协同优化。文章特别设计了三类模块,每类模块通过专门构造的含有多个分量的设计变量来表示,按一定方式组合这些模块可得到不同体系的结构。巨型结构中,巨型构件的设计变量表示方法和惯性矩计算方法满足提出的三条假设。基于精心构造的设计变量和三条相关假设,文中建立了以结构总材料用量最少为目标,考虑强度、刚度、分组及构造要求等约束条件的优化模型,采用自动分组遗传算法研究了40层、10层、6层三种高度建筑的优化设计。在相同外荷载条件下,它们的最优设计分别为巨型结构、框架-剪力墙和框架结构。     

Geometrically exact curved beam element using internal force field defined in deformed configuration

This paper presents a study on the development of high-performance finite elements for geometrically nonlinear analysis of frame structures with curved members. Based on the geometrically exact beam theory, a highly efficient and accurate mixed finite element is developed. A new approach is proposed for constructing the independent internal force field by including major terms satisfying equilibrium conditions in the deformed configuration. An element-level equilibrium iteration procedure is employed for the condensation of element internal degrees of freedom during the nonlinear solution. Numerical results are presented to demonstrate the excellent performance of the element developed, and it is shown that even when each structural member is modelled with just one element, accurate solutions can still be achieved.     

基于一种广义梁理论的弹性地基FGM简支梁自由振动解析解

基于一种扩展的n阶广义剪切变形梁理论(n-GBT),应用Hamilton原理,建立了以轴向位移、横向位移及转角为未知函数的Winkler-Pasternak弹性地基功能梯度材料(FGM)梁的自由振动方程,采用Navier法获得了弹性地基FGM简支梁自由振动的精确解。与多种梁理论预测结果进行比较,讨论并给出了GBT阶次n的理想取值;分析了梯度指标、跨厚比及地基刚度对FGM梁频率的影响。结果表明:本文方法有效且适用范围广,若采用高阶剪切梁理论模型,宜取n≥3的奇数;FGM梁的自振频率随材料梯度指标的增大而减小;随跨厚比的增加而增大,但当跨厚比大于20,跨厚比增加对频率的影响很小;随地基刚度的增加而增大,地基刚度足够大时,频率趋于收敛。     

IMPROVEMENTS OF GEOMETRICALLY NONLINEAR ANALYSIS ALGORITHMS FOR SPATIAL FRAME STRUCTURES

以几何精确梁理论为基础,分别采用高阶拉格朗日插值和埃米特插值构造高精度空间梁单元。提出基于单元层次平衡迭代的自由度凝聚方法,以保证单元的通用性。实现了基于载荷控制或柱面弧长控制的结构几何非线性分析算法。算例研究结果表明,提出的改进方法不但提高了计算效率,而且还具有较高的数值稳定性;特别是基于三次埃米特插值构造的单元表现出较好的性态,适用于结构屈曲后分析。     

开口薄壁杆件结构稳定分析的精确单元和两步求解算法

从控制微分方程的通解出发,构造受偏心压力作用开口薄壁杆件的精确形函数,建立用于开口薄壁杆件结构稳定性分析的精确有限元,得到了单元刚度矩阵和几何刚度矩阵的显式表达,提出了计算给定区间内各阶临界荷载以及相应失稳模态的两步计算方法。计算结果表明,与常规单元相比,采用精确单元无需进行网格细分就可以获得精确的数值结果,结合本文的两步求解算法,可以准确获得给定区间内全部临界荷载和失稳模态。     

轴向力作用任意不连续梁自由振动分析的广义函数解

摘要：首先运用分布理论建立了轴向力作用下含多个不连续点的欧拉梁的自由振动的统一微分方程。不连续点的影响由广义函数（Dirac delta函数）引入梁的振动方程。微分方程运用Laplace变换方法求解;与传统方法不同的是,本文方法适用于含任意类型的不连续点和多种不连续点组合情况的梁,求得的模态函数为整个不连续梁的一般解。由于模态函数的统一化以及连续条件的退化,特征值的求解得到了极大的简化。最后,以轴向力作用下多跨梁—弹簧质量块系统模型为例验证了本文方法的正确性与有效性。     

两类基于局部标架梁单元的闭锁缓解方法

对于大转动、大变形柔性体的刚柔耦合动力学问题,基于李群SE(3)局部标架(local frame formulation, LFF)的建模方法能够规避刚体运动带来的几何非线性问题,离散数值模型中广义质量矩阵与切线刚度矩阵满足刚体变换的不变性,可明显地提高柔性多体系统动力学问题的计算效率. 有限元方法中,闭锁问题是导致单元收敛性能低下的主要原因, 例如梁单元的剪切以及泊松闭锁.多变量变分原理是缓解梁、板/壳单元闭锁的有效手段. 该方法不仅离散位移场,同时离散应力场或应变场, 可提高应力与应变的计算精度. 本文基于上述局部标架,研究几类梁单元的闭锁处理方法, 包括几何精确梁(geometrically exact beam formulation, GEBF)与绝对节点坐标(absolute nodal coordinate formulation, ANCF)梁单元. 其中, 采用Hu-Washizu三场变分原理缓解几何精确梁单元中的剪切闭锁,采用应变分解法缓解基于局部标架的ANCF全参数梁单元中的泊松闭锁. 数值算例表明,局部标架的梁单元在描述高转速或大变形柔性多体系统时,可消除刚体运动带来的几何非线性, 极大地减少系统质量矩阵和刚度矩阵的更新次数.缓解闭锁后的几类局部标架梁单元收敛性均得到了明显提升.