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An Introduction to the Finite Element Method

Third Edition

J.N. REDDY
Department 0/ Mechanical Engilleerillg Texas A&M Ulliversity College Station, Texas, USA 77843

Boston Burr Ridge, IL Dubuque, IA Madison, WI New York San Francisco S1. Louis Bangkok Bogota Caracas Kuala Lumpur Lisbon London Madrid Mexico City Milan Montreal New Delhi Santiago Seoul Singapore Sydney Taipei Toronto

The McGrow Hili [ompDnI~'

AI" INTRO D L'cnON TO TI II::. I-i r-I IT I Intc mational Edl tlun 1006
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ABOUT THE AUTHOR

.I. N. Reddy is a Distinguished Professor and the inaugural holder of the Oscar S.

~'I1'Gt1

Endowed Chair in the Department of Mechanical Engineering al Tex."" A&M University. College Station. Texas. Prior to his current position. he worked as a postdoctoral fellow al the University of Texas at Austin. as a research sciemist for Lockheed Missiles and Space Company. and taught <1t the University of Oklahoma and Virginia Polytechnic In stilUte and State University, where he was the inaugunll holder of the Clifton C. Garvin Endowed Professorship. Professor Reddy is the author of over 320 journal papers and 14 text books on theoretical formulations and nnite elemen t analysis of problems in sol id and structura l mechanics (plates and shcll s). compos ite materials, computational tluid dynamics and hellt transfer. and applied mathematics. Professor Reddy is the recipient of numerous awards induding the 1984 lValler L. Huba Cil'il Engineering RCJf!(/f('1I Prize of the American Society of Civil Engineers. the 1985 Alumni Research Award at Virginia Poly technic lnstitutc. the 1992 Won'ester Reed Warner Medal and the 1995 Charles RIISS Richards Memorial Award of the American Society of Mechanical Engineer~. the 1997 Melrill R. Lohmalill Medal from Oklahoma SllIte University. the 1997 Archie HiKdon DislillJ.:uished Etillcator Awwd from the Mcchanics Division of the American Society of Engineering Education. the 1998 Nalhall M. Newmark Medal from the American Society of Civil Engineers. the 2000 Excellence ill Ihe Pie/d of COlli ' posile.l Award and the 2004 ASC OIII.Iwnding Re.lcurc/1 Award from Ihe American Society of Composite Materials. the 2000 PacullY Dislingllislu'd Achiel'f'mf'llI Awordfor R('!iemch. and the 2003 Bush EX("I'{{('IICC Award for Faculty ill Ifllernaliollal Research Award from Texas A&M University. and the 2003 Computational Slflfctuml Mechanic.I Award from the U.s. A~~ocialion forComputationul Mechanics. He is it fellow urlhe American AClldemy of Mechanic~. the American Society of Civil Engineers. the American Society of Mechanical Engineers. the American Society ofComposilcs.lhe International Association of Corn put ational Mechanics. the U.S. Association of Co rnput ationa I Mechanics. and the Aeronautical Society of I ndia. Dr. Reddy is Ihe Editor-in-Chief of the journals Mechanicl' of AdI'(I/!Cl't/
M(l/t'fials (/I/(i S/rIu;/IIres. IlI lel"ll(//iollal )olll"llal of Cumpllltiliolla! Melho(fs ill Engineering Scient"(' (/I/(! McchallicJ and IlIIcl"lu/liul/(/{ )vlIl"llal of Slrur.:/II/"(i{ StabililY (/1/(/ Dynamio';

he also serves on the editorial boards of over two dozen other journals.

CONTENTS

Preface
Intl'oduction
1.1 1.2 1.3 1.4 COllllllen!' Mnthematital Models Numerical Simulations The Finite Element Method 1.4.1 The Basic Idea I A.2 The Basic FealUrc\ 1.4.3 Some Remarks IAA A Brief Review of Hi~tory :lIlU Recelll The PTe~ent Study Summary
PnJblcrn~ Rcfcn:Th.:c~ G~ner~1

xiv

13 13
13 21
Develupmcrll~

1.5
1.6

23 24
24 25

for Additional Reading

26

Mathematical Preliminaries, Integral Formulations, and Variational Methods

2.1 Gelleral Ifllroouctiull 2.1.1 Variational Principles and Method .. 2.1.2 Variational Forl11ulmion s 1.1.3 Neetl fur Weighlctl - lrHcgr;d Slatcl11ent~ Some Mal llcnwlical Concep!'> anti Formulae 2.2.1 Coordinatc Systcm, and the Dd OP<'.ralor 1.2.2 Boumbry Value. Initin l Value, and Eigenvalue 2.2.3 lutcgralldcmitic, 2.2.4 Linear and Bi linear FUlJ(:tion~1s Elemenl~ uf Calculus of Variatiuns 2.3. 1 Introductiun 2.3.2 Ylirialinnal Operator and Fir~l Variation 2.3.3 Fund(lIllcntal Lemma of Vari,llional Calculus 2.3.4 nle Eukr Equation~ 2.3.5 Natural and Essenti:ll Boumbry CumJi(iOIl\ 2.3.6 Hamilton's Principle

27
27 27
08

1.2

"
l']\)blcl1l~

31 31 33 39

30
41 41 41 44
44
47

2.3

54

vii

viii

C{)'(I~['S

2.4

Integra l rormuliHion~ 2.4. 1 In troduction 2.4.2 Weighted-Integral nnd Wenk Forrmllmions 2.4.3 Linear and Bilinear rorm~ and Quadrmie runctiOl1l11, 2.4.4 Examples 2.5 Variational Methods 2.5. 1 Introduction 2.5.2 The Rill. Method 2.5.3 Approximation Function, 2.5.4 Examples 2.5.5 The Method of Weighted Re'iduals 2.6 Summary Prublems References for Additional Rendin g

58
58 58 64

66

74
74

74
76 77
91

97 102

9'

SecondOrder Differential Equations in One Dimension; Finit e Element Models

3.1 3.2 Background Basic Step~ of Finite Element Analysis 3.2.1 Modell3uundary Vulue Problem 3.2.2 Di~cretil.ati()n of the Domain 3.2.3 Derivation of Element Equation, 3.2.4 Conncctivity of Elements 3.2.5 I mpo~ition of Boundary Conditi()n~ 3.2.6 Solution of Equations 3.2.7 Postclllllputatioll o f the Solution Sume RClllarb Axisymmetric l>roblem, 3.4.1 Model Equation 3.4.2 Weak Form 3.4.3 Finite Element Model Summary Problem, References for Additional Reading

103
103 105 105 106 10K 125 132 132 134

3.3 3.4

141 146 146 147 148

150 151 154

3.5

Second-Order Differential Equations in One Dimension: Applications

4.1 4.2 Preliminary COlllmel11S Di'nele Sys1Cm~ 4.2.1 Lincar Elastic Spring 4.2.2 Tor~ion of Circu lar ShafTs 4.2.3 Electri cal Re\istor Circuit~ 4.2.4 Fluid Flow throug h Pipes Heat Tran~fer 4.3.1 Governing Equation, 4.3.2 Finite Element Models 4.3.3 ~umcrical Exalllple~

155
155 156 15K

"6

4.3

161 162 162 166

"9

166

UlNTliNfS

;x
181 181 181 183
181

4.4 Fluid \1t:!;hanin

4.4.1 Governing E4uations 4.4.2 Finitt: Element Model 4.5 Solid and Structural Mech:mics 4.5.1 Preliminary Comments 4.5.2 Finite Elemem Model of B,lrs amI Cables 4.5.3 Numeri!;al Examples 4.6 Plane Trusses 4.6.1 Introduction 4.6.2 Basi!; Tru~s Element 4.6.3 Gent:ral Trw,s Element 4.6.4 Con>lraim Equations: Penalty Approach 4.6.5 Com,traint Etjuations: A Direct Approach 4.7 Summary Problems ReferelKe~ for Additional Readin g

184 185 194

194

194
195 202

2 11
214 215 231

Bea ms and Frames

5.1
5.2 Introduct ion Euler- B<:rnoulli Beam Elcment 5.2. 1 Govcrning Eqllation 5.2.2 Di~crctization of the Domain 5.2.3 Derivation uf Elemellt Equations 5.2.4 As,embl}, of Element Equations 5.2.5 Imposi tion of BOllndary Conditions 5.2.6 P<l .. tpf()(:e~sing uf th e Sulutioll 5.2.7 r>:urnerical Example, Timo"henko Bemn Elements 5.3.1 Governing Equations 5.:U Weak Form 5.:\.3 General Finite Element Mode l 5.3.4 Co nsi q ent Interpolatio n Elements 5.3.5 I{edueed Integration Element 5.3.6 Numerical Exa mples Plane Fnllllc Elelllcms 5.4. 1 11l1roduc1()ry COllllllent~ 5.4.2 Frame Element Summary Problems Refe rences for Additional Readin g

233
233 233 233

234 234 243

245

247
248

5.3

261 261
262

264
266

270
271

5.4

274 274
274

5 .5

2< 1 282 290

Eigenvalue and Time-Depend ent Pro blems

6.1 Eigenv:lIlle Problems 6.1.1 Introduction 6.1.2 Forrnui;ltion of Eigenvalue Problelll ~ 6.1.3 Finite Element Formu lation 6.2 Time-lJepcndent Problems 6.2.1 Introduction 6,2,2 Se.midi ~c n:te Finite EJcrnc.llt M[)dd~

291
291 29 1 292

295
3 14 3 14

316

COI'/'l1#1 ~

6.3

6.2.3 P;lrailolic E(IUalions 6.2.4 llyJX:rbulic Equation, 0.2.5 M!I~~ Lumping 6.2.0 Apillicmions Summary
Problcm~

Reference, fllr Additional Rcading

318 324 326 328 337 337 342

Comput er Iml}lcll1cntaliol1
7.1
J\'umcric:lllntC!~r.llion

343
J.IJ J.l3 345 346 347 348 356 356 357 359 363 365 367 370 370 370

7.:!.

7.3

7...1

7. 1. 1 B:ld.l1round 7. 1.2 Naluml Coordin<lte~ 7.1.3 Appm~imation of Geomctry 7. 1.4 l'IIP:tr:II11ctric Fonnulalillll' 7. 15 NUl11crit.:al lmcgraliol1 computer ImplerncllIation 7.2.1 Int roductory C()l11mcnt~ 7.2.2 GenemlOutline 7.2.3 Prcprocc,f>()f 7.2 A Calculation of Element Matnee.. ( Procc~),()r ) 7.2.5 A\).Cl11l)ly of ElcrncllI &Iuation~ (Proccssor) 7.2.6 Impll,itiun of ~oumJ~ry C((mlitions (Pnl(;e .. ~or) 7.2.7 Solv ing Equ:ltion~ and PlI"pnKe~~ing Applic:Ltioll' uf Program FEM I D 7.3.1 Geneml ComnlCIilS 7.3.2 lII uslrali \c E:\amplcs Sumrmll)
Problem ..

".0

'0' 'U1
406

Rctcrcm:cs til" Additional Reading

Single-V;lrhlhlc l)mblcl1ls in Two Dimcnsions

S.I 8.1 IllIrodu..:tlon Bound ary Villuc Pmhlcm, 11.2.1 The Model Equation 8.1.1 Pinlte I;.lemcnt Di'crcti/.atiol1 8.1.3 Weal,. Furm 8.2.4 Finlle Flcmcnl '\iudcl B,2.5 Dcri~a\i()1\ o f Intcrpola tlon F uncl ion~ 8.2.6 Lval ualion of Elemclll f...l<l1 rke\ :md Vector. 8.2.7 A,\cmbly of ElemcllI r:.quiltions 8.2.8 1'1"lcumpUlations H.2.lJ AXi\Yllllllctric Problem, A Numerical b:amplt: Somc Cllmmcnt~ on Mc\h GCllcnLtion and Im position of Boundary ComJitillrl' 8.4.1 DI \crc li zation of a Domain 8.4.1 Gcner..lllon of Finite Element Data 8.4.3 Imp(Ntion of Boundary Condil ion ~

409
.j()9

8.3 8.4

41 () 410 411 412 415 4) 7 425 436 440 4.t I 442 453 453 455 456

cot"nE.VI"~

xi
45R
458

8.5

App[ication~

8.5. [ 8.5.2 8.5.3

Conduction and Convection Ikat Tr;.!nsfer F[uid Mechanks Solid Medmnics

'"
485

8.6

Eigenv(due and Time-Dependent Problems 8.6.1 Introdllction 8.6.2 Parabolic Equations 8.6.3 Hyperboli (.: &iuations Slllnmary Problems Reference' for Additiona[ Reading

490
490 491

499
504 504
522

8.7

Interpolation Functions, Numerical Integration, and Modeling Considerations

lJ. 1 <).2
[ntroduetion Elemcnl Library 9.2. [ Triangu[ar Element, 9.2.2 Rectangu[ar Elemcl11, 9.2.3 The Serendipity E[ements 9.2.4 Hermite Cubic [merpo l,ltion

525
525

525
525 532

537
FUnl"lion~

539

9.3

Numerica [ Integration 9.3.1 Preliminary ComTl1ent~ 9.3.2 Coordimlle Transform~tions 9.3.3 IntcgT<ltion over a Master ReetangU[~lr E lement 1).3.4 Integration over 11 M(lqCr Triangular Element Mode[ing Con~idewtions 9.4. [ Pn.::limillary Coml1lCnl~ 9.4.2 ElclllClll Geolllclries lJ.4.3 Mesh Generation 9.4.4 Load Representation Summary

540
540 543

549

557
561 561 562

9.4

563
567 569

lJ.5

Pmblcm,
RI.'Jercnces for l"\ddiliOlllll Reading

570
575

10

Flows
10.1 10.2 10.3

or Viscous Incompressible Fluids

577
577 577

Preliminary Comments Governillg EqU:llions Velocity-Pressure Formulation [0.3.1 Weak Formulation [0.3.2 Finite Ekment Model Penalty [0.4. 1 10.4.2 10.4.3 10.4.4 10.4.5 Function Formulation Preliminary Commcnts Funnu['ltion of the Flow Problem Lagrange Multiplier Model Pen:tlty Model Time Approximation

579
579 581 583

10.4

583
(IS

a Cunstrained Prublem

583
5K4 585

588

xii

COr-''i'toNIS

10.5

Computational A5pect~ 10.5.1 Properties of tl1e Matrix Equations 10.5.2 Choice of Element .. IU.5.3 Evaluation ()f Element Matrice .. in the Penally Mudel 10.5.4 I'ost..:omputation of Stres~es Numerical Examples Summary Problems References for Additional Reading

5llS 5llS

10.6 10.7

589 590 59 1 59 1
602 603

605

II

Plane Elasticity
11.1
Introduction
Equation~

607
(;]7 607 607 60R
610 oI2
612 612

11.2 Guverning
11.2.1 11.2.2 11.2.3 11.3
Weak 1 1..1.1

I 1.3.2 11.3.3 11.4

Plane S train Plane Stres~ Summary of Equations Formulations Preliminary Commcnt~ Principle of Virtllllll)isplacel11ents in Vector Form Weak Fonn of th e Gove.rning Differential Equations

613

11.5 11.7 I U;

Pinite Element Model I 1.4.1 Generul Model 11.4.2 Eigenvalue and Trall';ient Evaluation of [ntegml~ Examples Summary Problems

014
Problcm~

614 617 617

11.6 A,semhly of Fin ite Ele men t Equat ions

620
622 629

fl. eferences for Additional Reading

629 633

12

Bending or Elastic Plates

12.1 Introduct ion Classica l Plate Theory 12.2.1 Displa..:ement Field 12.2.2 Virtual Work. Statement 12.2.3 Finite Element Mood 12.2.4 Plate Bending Elements

635
635
637 637 638

12.2

642 043
646 646 648

12.3 Shear Deformation Plate Theory 12.3. 1 Di~placement Fidd 12.3.2 Virtual Work S tatemen t 12.3.3 Finite Elemem Model 12.3.4 She;lr Locking and Reduced Imegration
12.4 12.5 12.6 Eigenvalue und Tilne-Dependent Problems Examples Summary Problems References for Addilionul Reading

650
652
653

655 063 063

665

co,,-n"TS

xiii

13

Computer Implementation ot' 'J\voDimensional Problems

13.1 13.2 13.3 13.4 IntnKlu(;tion Prcprocc'isor Element C()!l1p utation~
( Proces~()r)

667
667
669 669 67S 675 6HI

Applications of the Cumputer Program FEM2D 13.4.1 Im roduction 13.4.2 Description of Mesh Generators 13.4.3 Applie<Jtiulls (ll ilistrative Examples) Summary Problems References for AdditiollalRcading
(0

,,<0
703

13.5

705 709

14

Prelude
14.1 14.2

Adv.lnccd Topics

711
711
711

14.3

14.4

14.5

14 .6

Im roductioll Alternative Finite Elemem Models 14.2.1 Introductory Comments 14.2.2 Weighted Resid ual Finite Element MOOeh 14.2.3 Mixed Fonllulations Three-Dimensional Problems 14.3.1 Heat Transfer 14.3.2 Flows of Viscous Incompressible Fluids 14.3.3 Elasticity 14.3.4 Threc- Dimen ~ i onal Fin ite Ele men ts 14.3.5 A Numerical EXamplc Nonline:lr Prublems 14.4.1 General Comments 14.4.2 Bending of Euler- Berno ulli Beams 14.4.3 TIle Navier- $tokes Equations in Tv.'() Dimensions 14.4.4 Solution Methods for Nonlinear Algebraic Equations 14.4.5 Numerical Examples Errors in Finite Element Analysis 14.5.1 Types of Errors 14.5.2 Measu res of Erron. 14.5.3 Convergence and Accuracy of Solutions Summary Problems References for Additional Reading

711
712 722

725
726 727

728
731 735 736 736 736 73K 739 740 743

743 744 745 750 751 753

Index

757

PREFACE

The third edition of the book. like the previous IwO edition". represents an efforT to se lect rind present certnin a~pccl s of the finite element method that arc 1ll0~1 useful in developing

.. nd analyzing linear problems of engineering and science. In revising the book.

sludcnl~

taking cour~es that might usc this book as their textbook have been kept in mind. Thi s edit ion is prepared to bring more c larity to the concepts being discussed while maintaining the necessary mathematical rigor and providing phys ical interpretations and engineering

applications at every step.

Thi s edit ion of the book is a revis ion of the second edition, which was well received by engineers as well as researchers in the fields of engi neering and sc ience. Most of the revisions in the current ed ition took pl~lce in Chapters I through 6 and 14. Chapter:; on error analysis from the ~el.:Ond edition i ~ elim inated and <I section on the same subjeci is added 10 Chapter 14. Chapter 3 from the second edition is now divided into two ch<'lpters. Chapter 3 on theoretical formulation and Chapter 4 on appliclltions. Chapler 4 on beams from the second edition now became Chapler:; in the current ed ition, making the total number of chapter~ in both ed itions the same. Another change is the inten:hanging of Chapters 10 and II 10 facilitate the naturaltrnnsition from plane e last icity 1 platc bending (Ch;lptcr 12). 0 New mnterial on thrce-dimensionallinite clement formulations and nonlinear formulHtions is added in Chapter 14. [n all the chapters. material is added and reorgani/ed to aid the reader in understnnding the concepts. Another change in thi~ edition is the removal of appendices containing the program listing of FEM I D and FEM21). which would have taken up over 80 pages. The program li stings. execu lablcs. and instructor resources are available on the text's website a1 www.m hhe.com/rcddy3e. The suurce file s of these progranl" may be obtained from the author for a small fcc. Most people who have used the earlier editions of the book liked the "dilfcrcntial equations approach" adopted here. This is nntural because everyone. engineer or scie nti~t. is looking for a way to solve differential equations arising in the study of physical phenomena. It is hoped that the third edition of the book serves Ihe studen t even beller than Ihe previous ed it ions in understanding the fini te element method as applied 10 linear problems of engineering and sc ie nce. The author has benefited by tcading an introductory cour~e from this book for many years. While it i~ not pos~ ibl e to name hundreds of students and colleagues who have contributed to the author's ability to explain concepL~ in a clear rnnnner. the author

xvi

I'KI. FACE

expresse~

his sincere appreciation to the following people for their helpful comments on this edition:

Ronald C. Averi ll. Michigan State University Mahesh Gupta. Michigan Technological University H.N. Hashemi. Northeastern University Stephen M. Heinrich. Marquette University Paul R. I-/eyligcr. Colorado State Un iversity John Jackson, University of Memphis Mehdi Pourazady. University of Toledo Robert L. Rankin. Ari70na State Univel'ity N. Sukulllar. University of Ca l ifnrllia. Davh Kumar Tamma. University of Minnesota Chi-Tay Tsai, Florida Atlantic Un iversity

J. N. Reddy jnreddy@tamu.edu
Tejllsilll'illa l'(ulheeTlllIIllSrllll (May who/w(' s/udy be well srudied)

Chapter 1

INTRODUCTION

1.1 GENERAL COMM ENTS

all(: of the mo~t importalll things engineers and ~cicnti~l~ do is to model phy<;ical phe-

nomena. Virtually every phenomenon in mllure, whether aerospace. biological. chemical. geological. or Illcchanic:d c:m be described. with Ihe aid of the laws of physics Of other iiclds in terms of algebraic. di ffcrent;aJ, and/or integra l equations relating various quantities (If interest. Determining the stress distribution in a prc~surc vessel wilh oddly shaped holes and numerous sl in'cncrs and subjccted to mechanical, thermal. and/or aerodynamic lo,ads. finding Ihe concentration of pollutants in lakes and seawater or in the atlllosphere. and si mulating weather in an :llIcml>110 undcrsland and prcdici the formation of thunden>lOnm. and tomadoes arc a few examples of many importllllt pmctic.. l problems that engineers deal with. Analytical de~criptions of phy\ical phenomena and proce~~c~ arc called 1I111lilell1l1lic(ll II/odek Mathematical moJcl~ of a process arc developed u~ing a~~umption s conccrning how the process works ;md using appropriatc axioms or law\ governing the proces~. and they arc often charactcrized by very complex differential and/or integral eq uations posed on geometrically compl icated domains. Consequently, the proces'iCs to be studied. utltilthc advent of electronic computation. were drastically simplified so that the governing e(luation~ can be w ived analyt ically. Over the last three decades. however. computer; have made it po~"ib le. with the help of suitable mathematical models and numeric.. l methods. to solve many practic:.l problems of engi neering. The use of .. numerical method and a computer to evaluate the mathem:uic:11 model of a process and estimate its char<lcteristics is called a mll/wriea/ simll/oliO/1. There now exists a new and growi ng body of knowledge connected with the development of mathemat ica l moocls and u~e of numerical simulation s of physical \y~tems. and it is known a~ COIII{JIl/aliOl/a/lI1 echa llic.\ jl j. Any numerica l simu lation, such as the one by the tinite clement method , is not an end in itsel f but rather an aid 10 design and manufacturing. There are ~everal reasons why an eng ineer or a ~dentis t shou ld study a numerical method, C\I>Cc1ally the finite element method: I. MO\l practical problcm.~ involve complicated domains (both geometry and material constitution). load\, and nonlinearities that forbid the development of analytic1 solut ions. Therefore. the onl y alternative is to find approximate solutions usi ng numerical methods.

AN 1'(lRODlICTIU~TO TilE ~lNnh f_Uil\.IL~" \lh'llfOIl

2. A numerical method. with the advent of a computer, can be used to investigate the clTects of various parameten. (e.g .. geometry, material parameters. or loads) of the system on its response 10 gai n a better understandi ng of the process/system being 'H111Iyzed. It i~ costeffective and saws time and material resources compared to the multitude of physical ex.periments needed to gain the same level ofundcrstallding.

3. Because of the power of numerical methods and e lectronic computation. it is

to include all relevant features in a mathematical model of a worrying ahout its solution by ex.actmcans.
phy~ical

po~~ible

process without

4. Those who arc quick to usc a computer program rather than thillK about the problell1LO be analYlcd lIlay fiud it difficult tu interprct or explain thc computer-generated result~. Even to develop proper input data to the computer program. a good understanding of the underlying theory of the problem ilS well as the numerical method (on which the computer program i~ based) is required.

5. The finite element method and

it~ generalizations are the most powerful computeroriented method\ ever devised to analyze practical engineering problems. Today, fi nite element analysi>; is an integral and major component in many fields of engineering design and manufacturing . Major establi shed industries such as the automobile, aero~pace. chemical. pharmaceutical. petroleum. e lectronic>;, and communica1ions, a~ well as emerging technologies such as nanotechnology and biotechnology rely on the finite element method to simulate complex phenomenon at different scales for design and manufacture of high-technology products.

1.2 MATHEMATICAL MODELS

A lII(lthemmico/ model can be broadly defined as a set of equations that expresses the essential features of a physical system in terms of variables that describe the system. The mathematical models of physical phenomena arc often based on fundamental scientific law ~ of physics such as the principle of conservation of mass, conservation of linear momentum. and conservation of energy. Below we consider three simple examp les drawn from dynamic~. heat transfer, and solid mechanics to illustrate how mathematical models of physical prohlems are formul:tted .

E"ampld,2.1 (A Dynamics Pr(Jblcm) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __

A simple pendulum (sU!;h as the one u~ed ill 11 doc") (;()Il~i~ts of II bob Ilr mllSs If1 (kg) attached to one end oj a rod of length t (01) alld the other end is pivoled to a fixed pailll 0, as shown in fiS. 1.2.1. to order lO dc:rive the govemiQg equAtioQ of the problem. WI! must make cer1a)n assumptions cOTIGerning tbe syst~m (the bob and rod) consistent with the goal of the ilnaly~is. If the goal is to study the s implest linear mQlilin of Ute pendulum, we assullle Ihai tJle bob a.~ well as the rod are rigld \i.e., not defort.nahle) and the nKl is mil..~~Ie.."5 (i.e., compared to thaI of Ihe bob). In addition, we-a,<;.$ur'rle that thtlre is IlO frictioll at the pivot puint 0 and lh!csistance offered by the SW'f(lUnding medium 10 the pendulum is also negligible. Under these n~~UmptioilS, the equ;ltion governing Ihe motion of the system can be formu hl\ed using IhcfJril!cipfeoj"Qnserratifm oJfineor irWini'll/14m (orstmply Newton',; sccontllaw).

CIIM'TIiR I

11'1 l!OOl'CTIO~

, ,,

,
/fig

Figure 1.2.1 Simple pendulum.

wbich !>tuteS, in the prc~nt Cll~C. that the vector sum of exte:rnally olppJied forces on a ~ySt~m is i!qu:tl 10 the I~me r..\le (If change of the linear momentum in.t:ls$ tim<:s velocity) of the system:

F =-

d,

(IIIV)

1118

(1.2.1)

where F i~ the vei;lQr ,wm of aU forces ilCting 00 the rystem, III is the ma~s of the~ystem, \. is the

velocity vector, i\od a is the acceleratiOIl vector (If the-system. To write theequulion governing the angular motion. we ~et up acooreJirl,ate sy~tcm, as ~hown in Fig. 1.2.J. Applyiog Newton'S M!<:ond hlW to the x-dircclion (note that the dyniullk equilibrium M forces in Ihe y-dir~tjon gives tbc rcactio!;l force R(N) in terms of the weight 1118 of tbe bob). we o!)/ain
. dv~ F~=I11,{,

(1.2.2)

where f. == - 1118 sin fJ, 1!~ = t'!} , {f L~ the angular di~ plaeemeru (rad i.:ln~), 1\ is the cllmponcut of velocilY (m/s) along the x COQfllinatc. and f denQlcs tilIlC (s). Thus, th equation for :ingular

mQtion

beC{lznt!~

(1.2.3)

F.qUluion (1.2.3) is nonlinenron aCC(tUnt of the term sin r(lfsmsll angular motions (consblent wilh the goal of I Sludy), sin 8 is appfOxim:noo as 0. TIlUS., lhe angular rtlOti\l1l is de~tribcd .he by the line<tr difft':renti~1 t:{jURlioll

e.

-+-0=0 dl~ {

d ~(J

(l ,2.4)

Equlition~ (1.2.3) lmd (1.2.4) repre;;enl matheJllatical Illodcl~ of nonlinear and lineM mutions, respectively. of a rigid pentiululJl. Their solmion require., knowledge of cQnc:Jiti()!1 at time I 0 on 0 and ils time derivuliveO (angular velOCity). Thc..\C condition~ are known as the initial L'u/l{lition.l. TIIUS, the linear problem involves solving the JiO'erentiul equ~ltiou (1.2.4) subjected 10 the initial condition~

dB

d'

(0)

tiQ

(1.1.5)

'n\e problem
'nH~

by &Js. (1.2.4) and O.2.S)js caHed an ill/lia/val/It' pmblem. (:.q~. (I ,2.4) ll(ld (1.2.5) call be solved analytically. The general analy!ical solution of Ihe linear equation (1.2,4) (Ii +). ~fJ'" 0) j, give n by

dc..~cribcd

linear problem described by

{J(t)=A ~inAt

+ B ct)~AI

( 1.2.6)

where .l. ~ um! A arld H art CO!lslanh to be dClcmlined \ 1.2 ..5). Wc otlluin

it

u~lng Ihe. in'ltial I:Ondilion& in

(1.2.7)

" A=T'
and the M)luuou
t(ll~

H=,*,

linear p!'(lblcllI is

O(,)~ ~Sin'.t+~ct).!,}.1
For zero initial velodty "nd ncu\l.ero initial l>osition
~,

(12.8)

wc h(wc
(J,2,/})

which representS Il ~i01 p le har{l)onic mOlion. If we WCJC 10 ~In: the non tinc.ar cquOition (1.2.3) subjt.'CI to lhe conditions II) (1.2.!5). we may con.,idcr using a numerical method ~UM: it Is nOt p(lSliible to wive il eMctly fOr large values of B. Wt:- will revisit Ihis i~~uc in the:: ~ucl.

Example U.1 (A 11M Transfer PI:(lblc::.m) _ _ _ _ _ _ _ _ _ _ _ _ _ __

!lere WC wish t(l rJcrivc thl: governing equations (i.e., develop the mllthem:,ticu/ modd) (If \teady-state hel'I Ir.lJ1sf~ thmugh 1I eylindrical bar of tuJflunifonn cm\~ se<.:Uon. Tlli: bar is subject \(I 3 koown temperature Til (C) at the leO end and e.~p(),<d, bolh on the surface and at the right end, to a medium (~ueb as cooling QUid or air) at temperature T..... We as..\ume thattempcrature i" uniform at any t-CClicm (If the bar. T ::c:: T(.f). Due In tbe di(ference betwccn the temperature:, of the bar and the \urruunding medium, then: 15 CIJflve(:lh'e heat ltan'lfer aC((j~ tIN! /lUrf,ICC of the body and at the right end. 'fl:tc princip1c of (;flnsefY,ttlOn 01 CJM:rg)' (QI' ~he se(Qnli 1m" of thrtm(lifytmmin) can be used to derive the governing equlltions of the problem. TIle principlc Of con~n'atiQn of clll!l'gy requjre..~ that the rJtc of dlange (increase) of internal el\e'lY is equal to the.sum of beat gained by conductio(l, convection. and internal heat genC'rJlion (radiation tlQl included). For 01 steady proo..'CS~. the lime rJIC of internal energy
is tcro.

Consider a vol ume clement of length A.t and having an area of cros.~ so::cLion A(.f) (m~) noematlo the x axi~ {oree fig , 1.2.2,. Lf q denotes the heat flux (he~1I &w po!!' U(lil area. W/m~). then (Aql. is the net heal flow into the "Illume eicmell1 81 x. IAql.-+ ..., i, the net he.lI dow /)UI (If tbe volume elo.."fllCnl AI x !- box. and PP w(Tow' T) i~ the hea1 now through the surface of the rod into Ihe hody. H~>re p del)Qtt5 the fi lm (thai is formed bet ..... e('n lhe bI:>dy and Ihe m~1..h um (U'('und) conduclIlnce lWI(m1. q]. T"" i~ the temperorure of the sure rounding medium, and P js the pc:rlmclcr rm). W 111\0 a~umc Ihat there is a heat soun:e within the rod gencr.tting el)Crgy ..t a rate or 8 (W/m l ). ln practic(:, !;uch ~nergy ',ource can be due to nuclear Ilsskm (n' chemica) rtaclion~ takiog pJllCe withln the rod. or due III the (Klssage of electric cum!nt throilgh the olCdium (i.t'. , VQlllmc heating) . Then the energy balance
giv~

[Aq}. ~ fAq ~Ho~

+ f1 p 6x(r"'Co -

T)

+ gA (}.x = 0

(1.2.10)

ClIAI'H.KI I"TKOUUCTIU"

CUIWCClil}/J frQflllaterai
~lIr1.ac~

, ---+ 1

F"lgUN! J .2.2 Heat tnlnsfer in a bar.

Of. dividing lhrougbulit by

6.~.

_f AQ1,t w- [Aq1.
6,
nnd taking the 1i00it 6 .t
-+

+ {JP(T<:<: -

T)+Ag:Q

O. we oblain
- dx (Aq)+/H'(T<:<:.-T)+A8=O

0.2.11)

We Call r<:latc-the heal tlllx q (Wlml) 10 the Icmperollure gradient. Sud] a relatilJII is ptovided
by the Flmrier law
{1.2.12)

where k denOtes the meml.il! cQndncli\'ity t\V!(m 'C) I of the milteri;!j. The minus sign on the
right side of the cljuality in the above Ctjualion indicates thtu heat
f1ow~

from high tCOIpcraHlre

to low lcmperatu,rt'!. Equation (1.2.12) h kTlown as a COlIslilllliw' relmion because It contains a

malerial prQperry. Now uSin,g, the r'Qurier law (I .2. 12) ill (1.2.11). we arrive a,t the heat
cQndllCllOIl

eqllClli()/I

dx
whjch can also be.. wnlt(!1l as

d (kATx +fJP(T",, dT)

T)+AI?=O

(1.2.13)

_3.. (kA ~) + fJP(T dx dx

T",.)

= A$

(1.2.14)

Equation (L2.14) is a linear. (lJonbomogel\Cou~) se{;Qnd-OfQCJ diO'e~otiaJ eq:u.lljon, whle.h can be solved with krWwn condition); llI1 lemper:'lture. T (It heat Aq (not bOth) !It a boundary

cIc.."Criplj(}tJ

poiO! (e.g., end.; of the bar). The kOQWn ern.! condjt)lIns for the pre.tm case (,,-"Call the problem at lbe start this cX:llIlplCI can be f'){prt.'1oCd a.~

or

dr [ kAdx

+{lAir -

T",,) ]

.'"-,.

=0

(1.2.15)

These conditi(mS lire called f)ollndary conditions bcc:l.U~ they repre~nt conditions al the bounuary pOinl) Qf the bar. The 1i001 cundiMn in (1.2.1 S) is obviou<;. 11te ,;erond cQndi lion rcprcsc:nt:.~ lhe balance of heal due (1) conduction [kA(d7Id.t)1 Imd cQllvection [PA CT 7.",)). The problem deM'ribed by ~~. ( 1.1..14) and ( 1.2.15) i~ called, for obvious reason~. a IXJ/llIIklr)t.l"Olui' pmbf,."f. Thj ~ L'Omplctes the mathematical model development of the problem. Equations (1.2.14) and (1.1.15) Clan be simplified for \'ariQUs lopiat caloC'i. Firsr let
(1.2.t6)

so IhUl Eq~. (1.2.14) il,nd (J,2.IS) can be wriuen liS heut transfer problem~) - - ud.\ d.\
8(O)=To- T.....

VtOh!

thalli and c ure always positive in

d ( dO) +cO=!
,19 ] =0 [ u-+{JAO dx " ...1_
C~lo

(1.2.17)

(J.2.lg)

Now if II and c are coMtant (c.g .. hOmogeneous bar of con~taOl intern:.! heat generation), Eq~. (1,2.17) and {1.2.Un bewmc

section) and g "'" 0 (no

--, + - 0 =0, d,'

(I

(/!O

where 0 <x< l.

(1.2./9)

dO -+-1:1 [IIx P] ,.,L "",0 k.

The gencr,l! SOluM!) of ( 1.2 19) (tJ- - 11I!O =0) i.s

(1..2.20)

where C! IlJId Cl are constants that can

U~iflS

siqh x "'" {I'r - e-')/2 and

cosh,~:;

determined uSing the b()undary cOlldiliom (1.2.20). (I''" + .... ,1/2. W~ ha\'e

C~ "" -(Iu [ coshml. + (fJJmk.)sinhml.

Hence. the soJutiOll of Eq~. (I ,2.19) lind (1.;Ub) become.~

sinhml.

+ (fi/mk)C()ShmL]

O.2.2Ib)

( t!x)=9(O)

OO~hm{1. - xl

OO'<h ttl l.

, + (flllllk) :)mhm- L

+ (MmJ.)\inhm(L -

X)]

( 1.2.22)

el!A!'I'!'R I

INrlmlliKTION

l<:xample 1.2.3 fA Solid Mechanic\ l>roblem)

1be la~t ~ampl~ is corn;eQlcd with the OllllhematiCll1 ({mnul,ttiorl of tbe axial deformation or il bar of variable cross .section. 111e tcml!N/r is ul;Cd in solid and struclunll mechanics to mean a Mroctural element Ihat carrie..~ only a.,ial k)ad~ (tensile as weill\!! compressive). PnK'licai c.o;llmplc!> of \be problem ilre provided by the defomlalkm of a .$Iender bod)' under ils uwrl "'eJght (uHf by a cont:retc pier \uppmting a bridge, In the case of the concrete pier, it may 00 tleatt:d iI~ a Ih(eedimcn~!onal problem. The weight of the bridge as weI! a~ the weight of vehicles on the bridge! i~ carried by the piep" The piers lit the ends of a bridge \.lke-S\ightJ)' difTerentload than the ones in the interior. fn a pn.:Jin\lnnry dc.~ig/l of strui,;tUfl.'$, we often try to obtain the ordersor-magnitude of the Signif+ !cam dcforrumion and stress compononN in a Iypical pier rather than determine the detailed thn.:e.-dimCJ1siOnal deformation ilJld wcss nel&;. With tM former in uijnd, we make. SIlveral simplifying assull1ption~ 10 reduce i/le p(Qblcll) 10 a one.wmensioOliI problem thai atl!)w~ u~ 10 detenninc the eOl1)rHl:~sitm and a&S(lCi,m:d strc.ss fn a lYpical Plcr. First, we I;.now that (he signilicant IUjd taken by a pier ill vertical (along the height Mlhe pier). So the a.o;jal defOf1l1illiun (compression) and stress will he the signlJicant qu(!nti!.ies, and tlle latera} deformation due to the PoiSSOn effed may he neglected. Second. we. wish to co1\~idef the ~tatjc case (as if all (If the traffic VII the bridge Is sl,lnding ~li1l-like during heavy rush hOur) \\'l.th II mltgllitude of the li:\ial Load 10 reprc...~ent the worst case scenario of heavicM tra.ffic as weli as snow fall (a quasi-~tatic elIse fl)ay be included by magnifying the ~latic lo.,dS). We may lllo;o take into aecuont [he weight (whicn h !J volume force, calLed txldy force) of Ihe picr llstl(. The govcm,ing cquati\ms {)fthi~ sinrplifjcd pn)blem call b(l obtuillcd us.iog Newton 's ~cundJnw and il uniaxial ~tre~-strain (con~lituti\'e) rt:lation (nute the simllarity in the (lerivlItion of tlle equatiQn.~ of thi~ ~o!id mech;lnics prQI)lem with the heat trJ.ns(er problem di;;Cus~ed earlicd. Fi~ure 1.2.3 shows al) element of length Ax with axial fQrCes acting at 00th ends or the clement where (1. dCfJo(c~ stress (1.1,'., forte- per unit area; Nlm~) in the .1:' direction, whkh is 13ken po~itive downward. and g{x) dt:llot~ the b<xly fnfllemeaSuti.-d per un.it voJumt: (N/m3 ), I leo!:!!. [A07.fl~ is the net tensile foreeon the voLume elt:mcnt at x and fACT L<+&> h the nt;t

T .,
Bod)' turee, g("

It' igure 1.2.3 Axial (lefomliltilll)

Ori!

bar,

A N INTROIllXT IO:-; TO ni E rI~ l n; ECn.1 K'IT ~wnIOl)

tensile- forte 31 x + A.t. Tben seiling the sum of the forces 10 zero (Le.. applying s..--cond law in the x-directi(lrV ytc.ld~
-[A17tl<

Newton'~

+IAC':.jH (l..t + gA6x::= 0

+ Ag(.r ) ""Q
HO(}k.e~~

where 81,t) i ~ the body f,lIl:e (i.e .. weight of the bQdy). DiViding throughollt by Ll.x and wking thelimi! 6x ...... O. weobillin

#.

- (M~)

which rerrc..~el\.l~ I!).c equl1illriurn of forces in Ibe .l-.:iin"elion, .. The sttcS,\ C1, can be rtjiltcd to the axial di~placel))ent osing

"

( 1.2.23)

1(111'

e.. ::=dx
str~in

d,

(1.2.24)

whqt: E is Young'~ modulus (N/m1). IJ r.Wn()tc~ Ihc.axial dbplacemeot (m), and fiJ i ~ the axia.1 (m/m), Ag:\in. we see that Eq. (1.2.24) i,~;j constitutive equallon. ,Note t\.lat;t ~ys te.m can hll\'e scveml consti tutive-relalio!\), each depernling (m tht' phenllfnenon \,x!ing studied. The /<wdy of heat lffinsfer in ;i bar (with nbnuni{oml temperature) required us t(} employ Fourier'S law \0 reillte tcmpef'JJure gradient 10 heat flow. alld the study of deJormation of the ~ame. bilr (~'U bjecled to axial f,)rces) requires us 10 u ~c H(lOke'lj la\\' IQ cmmcct Stress til dL~placcmcnl gradicm. Now using Etq. (1.2.24) in Eq. (1.2.23), we!lrri\'e at the equilibrium equation in terms of the dispJac.emctll

-d ( EA- +g A ""Q,

dx

a") dx

( 1.2.25)

This$CconU-<lrderequ::tlion can be iiolved tlsing kllOytil boundary conditions ;l.t..t "" 09.nd;( <= L. The boundary conditions of Il. bar involve ~pecj fy ing elthf'r the displncementll or the force A"~ at a boumury point., The knOWn boundary conditions of the problem at hand tire {see fiig. j ..'2.3)
= - p ( 1.2.26) dx ~ 00(1 where P is the- IVild carried by the pier (i.e .. weight of the-hoUge-and the lOad it carries divided by the num.be, Qf pier~ supp0l1ing the bridge). The ~cond boundary condition in (J .2.26) represeill~ the force equilibrium ;11 .'('= L. EquatiOns (I.2.2S) and (1.2..26) nlily not admit ao an::tlytical solution when a ::=(I{x). (Cquiring us to ~ek approximate solutioM \lSins. numert..,'lll mClhod,\. The anJl!yticaJ SQl u\ion bf Eq. (1.2.:25) subject. 10 II.le boundary cOl)diliol)~ i.n (U.26:> Jf\:ly be (ound for the Simple case ~n which (I __ A and J SIS AS are cOll~ta\1l (homogenetlus and unifonn cross-sectional, pi~r). The general s.oluliQn of ( 1. 2.25) in thi:-; ca~e is given by

IJ(L):=-O.

[Arf!.]

! , II(X) = ;I ( - iX-+Cl .l+C:)

Useoflheboundary CQllditlons.( 1.2.26} sh'e C! =

(1.2.27)

... P and C"1 ,:;: J r;'1./2 - Pl.. :lnd the ~()! uti oll
(!.2..281

becomes

01"1'11:11, I I~'TRO\)UCTION

L.3 NUMERICAL SIMULATIONS

While the deriv:nion of the governing equations for most problems is not unduly dirticult, their solut ion by exact methods of analysis is often difficult due to geometric and m<llerial complexit ies. In s\l(~h cases. numerical methods of analysis provide :J iternative means of finding solutions. l3y a IIIl11laical ~'illltilaliofl of a process. we mean the solution of the governing equations (or mathematical model) of the process using a numerical method and a computer. Numerical methods typically transfom! differential equ:nio11s governing a cont inuum to a set of algebraic equ<ltio11s of a discrete model of the continuum th:n arc to be solved using compu ters. There exist a number of numerical methods. many of which arc developed to solve differential equati ons. In the finite difference approximation of a differential equation. the derivat ives in the latler are replaced by difference quotient~ (or the function is ex panded in a Taylor series) that involve the values of the solution at discrete mesh points of the domllin. The rcsulting algebraic equations afe solved for the values of the solution at the mesh poims alier imposing the boundary conditions. These ideas are ill ustrated with the help of two examples. one for an initial -va lue problem and another for a boundary-value problem. In the solution of a differential equation by a classical variational method, the equation is put into an equivalent weighted-integral form and then the approximate ~o luti on over the domain is assumed to be a linear combinati on eLj Cjj) of appropriately chosen approximation function~ j and undetermined coefikients c; j ' The coefficients Cj arc determined such th at the integral statement equ ival ent 10 the original differential equati on is satisfied. Various variational methods. e.g .. the Ritz. Galerkin. collocation. and least-squares methods. differ from each other in the choice of the integral form. weight functions. andlor approximat ion functions. A more detai led discussion of variat ional methods will be given in Chapter 2. The classil:al variational methods. which are tru ly meshJc~~ mctlmds. are powerful methods that provide globally continuous solutions bU! suffer from the disadvantage that the approximation functions for problems with arbitrary domains are difficult to construct (the modern mesh less methods seem to provide a way 10 construct approximat ion funct ions for arbitrary domains). Here we consider two examp les of numerical simu lations u~ing the finite difference method to g ive the reader a taste of numerical methods and. in the process. introduce the finite difference method. The examples discus~ed here are based on the problems introduced in Examples 1.2.1 and 1.2.2. The bar problem of EX<llllple 1.2.3 is mathematically the same as the heat transfer problem in Example 1.2.2; therefore. its numerical solution is not discussed here.

EXample 1.3.1 (Pendulum Problem) Here we consider the numerical solution of Eq. (U:.4) governi.ng it ~jmpl e penduLun~. To intrDduec the finite ditTercuee method. we cotL~ ider the. firSI-order difTerc(l1illJ lXjualioo
-

du

d,

=1(t.lI)

(1.3.1)

I0

.. ~ 1!'I l ltOUI.ICllONTOTII[ Fltlon I<. U .H II "

I \II TII(~}

""here f ;~ a known fU IlCtiOn Mlhe unknown. Equlltion ( 1.3. 1) must De ~ol \'ed for I > O,ubjcct to the (initial) conditiOn UIO) == 110' We approximate the deri\":Iti\'c 111/, by

( ~) I ~ '.-1,
(/1

1I(1,_l ) - 1I(/i )
IH I - II

(1.:).2)

NOIe thut we replaced the dcri\ltl1i~e lit I "" /1 b) it.\ dcfinili{)11 except Ihat wc did not take the limit 4.1 !IS '/-1 - 1 __ 0: Ihal i\ why it i~ an A , pproximation. f'or increa.'>.ingly ~m:tll I>'lllues of 61 , \.\e e.~pect the apprQtimillion tv ha\e dl!Creasingly smal l error. Suh,tllutmg ( 1.3.2) inw ( 1.3.1) :11 t = 1 weobiain "
( 1.3.3)

Equation ( 1.3.3)can beMlh'ed. ~Inning from thd:nown value "0 of /I(t) at 1 = O. forUI "" u(/ll 11(4)/). Thh pl'QCes~can be repeated todC!emline the \'alucl'of II 1II1imeSI "'" tJ.1. 24.1 , ' ." II at. Th;, is known as Euler',f ('xfllirir \~'hell)(' (or fif~HlI1ler Runga- Kuua meUlOcl). alw known as thejorward diffl'n!IU:l' s,i'lwmc', Of cuurse there are higher-order !\nih.~ difference M:hcme ~ thlll are more accurate ihall Eulcr's ~chcme , and we will nUl di<;C\l,~ them ali they are oul~ide the M,'ope Qf this ~tudy. NNe that w~ ,tre able 10 conven the ordinary dil'l"tcntial equation (1.3.1) to an algebrJic e41.l~ltilln (1.3.3) th3t IIced~ tf) be evaluated at different time~ to conStruCt the
time hj"tClry of u(t) .

W IIOW apply Euler', e.'(pticit '<Chemc to the sec;ond..orderequatinn ( I:2.4) "ubjected to the: e initial conditiOns (1.2.5). To apply the procedure dc:,cribed aDo\'e (() IIlIl equal/on !It hand, we rc~rile Eq. (1 .2..1 ) "'~ a pair of coupled (i,e" one cannot be 501\00 without the other) first-order
equalion~

dll
di = I',

(Iv

"""":'- 1. q

. l,'

dl

(1.3.4)

3.0

2.'

1.0

~ '5 .... 1.0

<

,
~

0.0

11

- 2.0

Figurr I ,3.1 An~ l ytlcaJ ~nd numerical solutions 9(1) of the simple pendulum.

CIl,\PTER I 1:-rffi()DC CTIO'l

II

where).1 = 8/t. Applying the sdl~Ole of Eq. 0.3.3) to the ~UiltiQ!I:> l!l hand. we O!}lain
(1.3.5)

The expression!i- lOr 81"1-1 <Ind viiI in E4. (L3S) are repeatedly c{!mpultd u~in g the known oollliion (0" 'It) from the pre\' ii)U.~ time ste p. AI tilUe I ",,0. we. usc the knnwn initial \'ulucs (~. 1\1). lllU~, one needs a computer lind a cotnputer langui.lge IlkC Fonra\1 or C++ to iOlplemc(!1 the logic. of repcatedJy computin!! iJ, ~t and V,.1 with the help I)f' BG.. ( 1.3.5). The. numerical ~ollltionS"of equation (J .3.5) for threedifferellt lune steps, III = O.O.'i. 0.02.'i, :lnd 0.001. alons. wilh the exa.:t linear wlu~io!l (1.2.9) (with t "" 2.0, g ::::: 32.2, ~ "" ~ /4. an{l
I~=O)

arc prcsenled in Fig. 1.3.1. The. accu11lcy of the

mlJl~cic:l.l

solutions is dependent on

the size of the Hme step; the solution ill more m:cufllte wilh smaller time ~tepS. For lurge lime ~ICpS, thc sql ulion e\'Cn diverges from the true iolution.

Example 1.3.2 (Heat Tran~fer Prohlem)

Hc.re we COnsidc.r the boundary-v:llue PfQbJCIII of Example 1.22.. Tilt finite difference appfOlIiOlation of a boundary-value problem differs fromlMt of an initi;t.1 value problem. Fin>l we dhide the domain (0, /..) itllO a finite set of N lnter;als of equal length Ax, as shown in rig. 1.3.2. The ends of each iUlCrval is called a mesh point. Thll.\l. there tire J mes h jX)inls in the dom:l.in. Then we approximule the SCCQndderivalive. directly lilting the ceJ)lc(Cd ditTereuce scheme where the error is of order O(llx?

N ""

('!!.) "(6
(Ix
,
~'*

1_ 1 -

( A x)

"lB, 2 +

0;-0-1 )

(1.3.6)

V~jJlg the

;jbove aPPCOxi(Outioo in Eq. 0.2.19). we obtain

-($,~!- 20,+OIiJJ+ (IIIA.t)~8;"'O

or

-{h_ I+ 12+(m';'\x)1101 -Oi -l- 1= O

(1.3.7)

o INth :l.t x ::::: .1', .,. 1 and x = XH!'

JX!lnt x = .1'(. i = t, 2, .. .. N , aod il cOotains values of Note that Eq. (1.3.7) is nOI used at mc~h jXlitll x =.G)", 0 becu(l\C the tempcruture is known there h(.."C Eq. (1.2.2{)]. Ho ....'evCf, U\C of eq. (1.3.7) ;tllllcsh pojntt ""x~. "" L requi(CS the knowlerlge of the tklilklUS' value 6,\'+I (oli! we fiCC in the~c4ucl, Equation (1.3.7l b vaUd for any
JlJe~h

.'igure 1.3.2 Heat Inlfl~fcr in :\ bar WId a typical finite difference

me~h.

12

liN INIIIOOlCTI()l\ TO Till l' IKIl'I: ri.UIE"T MHIIOI)

we never have tD deal wilh such tlc[jliQUS val\le~ in the finitc clemtnt mt(tuJd). The for\\'lIrd finite dirTerence apprWlimation of the second boundary condition in ( J.2.2tl) ;11 mC!;h point X"" L give!>

from which we have

ti.VH
=<

( fin",) ~
I - -,-

<7.\'

(1.3,8)

Applicati,l1l of Ihe formula (I .3.7) [0

mc~h point~ aI XI. X1, ...

x,.,. yields

-Ou+VDI -~=O

-0 1 + IJfh -03 = 0

-ih. + Df!) - O.

"'> ()

(Ll9}

whcre D = [2 + (m.6.xP); Cq. ( 1.3..9) cQnsist~ oJ N equa.tions in N unJ(I;l()wns, 0) . 02,""0,v . As;l :lp.,"'Cifi!;: example, clln~jdC! aSlec[ mil of dlamehlr d=O.02 m. ICllg10 /"=0.05 m. aod ttu!rmal conductivity k = 50 W/(m!'C). Surpo~ that the lCmper:uure al the, left end iii. T{I = 320 C, ambient temperature is 1;..,= 20-C and 61ru conductance (or hCill tn!Jl~fer tocffi~ cient) tJ= 100 W/(m~ ~ C). For thi~ data, we ha\'c

Por

;l

subdivL,iQ:u of

(O\lf

intc.rvilb (N

=- 4).

we ha\c .6.x =- 0.012.'1 111 ill)d D po 2 + (20 x

O.OJ 2Si = 2.0625. For this C(l'iC. there are; four cquations in fOur OnkrlQwll)(":
'2.()62581

-Q,

-&, +2.06259:>

-'"

-6,
+2.0625$\ -8J

= 300 0 = -0, = 0
+ 1.087SB~

(1.3.10)

The abovc tridiagonal sy.stemof illgebraic equ;l.tiOI1'lClln be Solved u,ing the Gau~s dirninatioJI methOd (thi~ i.s where wc neeJ :"I computcrl). TIIC SQlution is given by

10)=1245.81,206.98,181.10. J6652)
'rhe llOalytical ,Olu.llon ill the S:"ItllC points i.~

V"J"",{24R.75. 21].13.190.90. lSQ.66)l The ma)l:llllUrn crror i~ about 7.8 pcrceol. When the rwmber (!f mC$h polols i.~ dQuQled, thc 1\\,!xiJnum error goes 01;11'.'0 tl) 4,2 percen!. and it i~ J percent when the number of meSh point~
;~ incrcilS:ilit 10 32.

LlllIl'lhR I

I "T~OlJLn l"~

13

1.4 TH E FINITE ELEMENT MET HO D

1.4.1 T he Uasic Idea The finite clement method is a numerical method like the finite difference method but is moregcneral and powerful in its application to real-world problems that involve complicated physics. geometry, and/or boundary conditions. In the finite clemelll method, a given dom:.lin i~ viewed as a collection of subdomains. and over eaeh subdomain the governing equation is approximated by any of the traditional variational methods. The main reason behind seeking approximate solution on a collection of suhdomains is [he fact thai it i~ easier to represent a complicated function as a collection of simple polynomials. as can be seen from Fig. lA.l. Of course. each individual segment of the solution should tit with ib neighbors in the sense thaI the function and possibly derivatives up to a chosen order arc continuous at the connecting points. These ideas will be more clear in the sequel. 1.4.2 T he Uasic Features The method is endowed with three distinct features that account for its superiority over other competing methods. First, a geometrically complex domain r.! of the problem. such as the onc in Fig. 1.4.2((/). is represented as a collection of geometrically simple subdomai ns. calledjillite elements Isee Fig. 1.4.2(b)J. Each finite clement Q lFig. IA.2(c)] is viewed as an independent domain by itself. Here the word "domain" refers to the geometric region over which the equations are solved. Second, ovcr each finite clement, algebraic equations among the quantities of interest are developed using the governing equations of the problem. Third, the relationships from all clemcnts are assembled (i.e .. elements are put back into their original positions of the IOtal domain) as indicOied in Fig. IA.2(d). using certain interelcment relationships. These statements may not make complete sense to the reader ulltil some specific examples 10 ill ustrate the features arc discussed in the coming pages. Approximations enter engineering analyses at scveral stages. The division of the whole domain into finile elements may not be exact (i.e., the assemblage of elements. Q'l> docs noL match the original domain r.!), intnxlucing error in the domain being modeled. The sccond stage is when element equations arc derived. Typically. the dependent unknowns (lI)ofthe problem are approximated using the basic idea that any continuous function can be
N 0

1Ij,(X) = L. "Z(t)
u(x)

",

Figure 1,4, I Piecewise approximation of a function.

14

A.'l l ~!'lI.omJCl'l()~ "IX. "I!!; n~111~ EI.E.I.1ENT METIIOL> l

,,

,,

Boundary, r
(a)

(h)

,,
Ck\main. n~
Inter-clement flu .x

,, ,,

,
11 '
."igurc 1.4.2 Representation of a
I~terals. two-dimcnsion~1 dom~in

,,
(d)

by a collection of triangles and quadri-

represented by a lincarcombination of known fun ction s 1>; and undeterm ined eoefli c icnts c, = L Cii). Algebraic relations among the undetennined coefficients ("j are obtained by satisfying the goveming cq ulltions. in a weighted-integral sense. over each element. The approximation functions 1>i are often taken to be polynomials. and they are derived using concepts from interpolmio n theory. Therefore. they arc termed illlerl'olalionjlllU:lions. Thus. approximation errors in the ~eco nd stage are introduced both in representing the solut ion 1/ as we ll as in eV:.llu:.lting the integrals. Finally. errors are introduced in solving the assembled system of eq uations. Obviousl y. some of the errors discussed above can be zcro. When all the errors arc zero. we obt:.lin the exact sol ution of the problem (which is not the C:.lSC in most problems). Next. the basic ideas and some teml ino logy of the finite elementlllcthod arc introduced via severa l simple examples. The reader shou ld try to understand the basic fea tures rather than to question the use of an approximation method to sol vesuch ,I simple problem (which can possibly be solved exactl y wi thout using the finite c lement method).
(u ~

II"

Example 1.4.1 (Approximaiioo of the Pwimcler.of a.Circle)

This d!se.uss\OIl js ~Il expanl'oiO/l of an ;'Jrticie wtillcn by the author III 1978 for a student m;lgazinc at the University ofOkJahom3 (R~dy. 19713). Consider Ihe pr\lbkm of determining the pcrirncl.Cr (quaJlljty of j IllC(CliO of a cirdll of radius R lsee Fig. 1.4 ..)(a)], We pll!.tclld

(, fl" l'rE ~ I INTKOIJUCI'ION

15

,,

(ol

(b)

,,

, ,, ,

,--- ...

e'l
Figure 1.4.3 Detefi'ninstiol) of the

,d,

~rimetcr of s

cI rcl e.

thm. we uo not know Ihe formula (P = 2JrR) for the perimeter (circumfereucc) of a circle. Ancient mathematicians eStjmated th e value of th e perimeter of a cirele by appro);imating it by (sirtlight) line segments. whose Itlngths th ey were II.Ole to measure. TIle appro~in\:ne value of the circumference is obTained by summjng the lengths \lflhe line segments used to represent it. The three basic fe~tures ~}f the finite element methOd in the present case take the fo llowing ronu. Fjr~t, the div~jon \If the perimeter of a circle into <l col lection of line segmentS. In theory. we neeJ an infinite num!)e:r of suc h line clements II) rep~nt the perimeter; otherwio;e. toe va.luc oompured will have s()me error. S\"'Cllnd. wriling an equal!()!) for the quantity of iniere"l (pcrimeter) over an element (li ne segment) in this case is exact. ~ \\-e:.ha l1 see. Third. ,*sembly of clements amount~ 10 simply adding the element lengths I() obtain the total va lue. Although this is a trivial eXllmplc. i, i!1uStra1e~ several (but not all) idea/> and sleps inwIJved in the \ioile ~lemefl1 ana lysis of ~t problem. We Qutline the sleps involved in computi ng an IIpprQ);imate value of the perimeter of the cirde. In doing so. we introduce cetlUin Ie:rms th,lI :"Ire u~ in the finite e.lemcnt an<lJ),si .. of any problem.

J. Finite elemenl discretization. PirM.lhedomain (i.e .. thc pcrimclerofthedrclel is rcpresented

as a collection of a finite number II of subdomains. namely. line .scglntUJIS [Fig. 1.43{b)l. This is called discreth,ati(.", of the dOrlU(/II. E;')cb subdOlllain {i.e., line segment) is called an dell/em. The cOnceli(ln of dcmcnt~ is caJ led the jiffile elemem mesh. The clement... an: COllnr..-c tl,.'u to e<lch olher at pcinl$ c,uJed ni)(h;.s. In the present ca'-C, we disc.reti:l;c the perimekr int(l a mesh of live (/I = 5) line ~gment$li'ig. l.4.)(c)l. The li.He scgmellt~ em! be or dilTerenl lengths. WI)en ailine clements Me of the same! Jenglh. the mesh is \~id 10 be uniform; otherwi~e, it i~ called a mlllimiform mesh.

2. Elementeqll/J./ic)/l$. A typica.l element (i.e.. linel-cgment. n ~) is i~(lla\cd a~ld its required propenies. i.e .. length. nrccllfllputed by ~olllellppf(lprinte. ~n~. LeI II" be the length of element

n~

in the.mesQ. For a typiCilI

cli:m~t n~.

h, is givc(1 by l.$Ce Fig. 1.4.3(d)1

h.=2R~inI8~

(1.4.0

wtJ.ere R i~ {he radius of the tjrcie and ff~ < 11: j, the 'logle ~uhlended by too li.n~ ~gmel:1t The othovi:< equutlons art called element i'qJJaTiOlI$. Ancielll mathemllli.dans m.QS~ likely rrlllde measuremeJ1L~, (ather t!.tan using~. (1.4.1). to lilld h, ithey did not know rr). J. As.~embly oj efet1u;m eqlU/tiOlls and solwilln. The approximate value tof the perimcter of the circle is QQtained by puuing together the element propertic., in a llIeattingful Wily; this process i~ L'.ftHed the assembly of th<.l-elemc/"!I e.quati.ons. It is bil~ed. in the present C:!SC, Qn the simple idea that the. tOliU perimeter Of the polygon n~ (assernhly of elcrocnl$) j<;" equld 14 tM \um M the lengtb~ (If indhidual clell1ent,~:
(1. 4,2)

Then p. represc.nts an apPrMimation 1(1 tl:!e actual perimeter. P. If the mesh is ucifonn. Clf h, is the .same for C,ICQ .of the elements in the mcsh, tht::o 0, = 2Jrjll. lind we have
.(J .4.3)
4. Comergell{"('. (/lid ("ro'" <!.~ti!lum>.

For this .simple problem. we kn.ow the exact wlutjon: P = 2:1 R. We can estimate tht. errOl" in theapPIVximalion and ,4how that the approximate ~(lluti{)fl p. c(lOverge.s to the exact vaJue P In the ijmit a~" ~ 00. C(lIl~idcr a typical dcme(l! n,. The error in theapl)f'O)lirmt1jol) il> equal to tbedilTcrene,e between the lcu.gth ofthet>e<.:lor and that of the tine segment Pi. 1.4.3(dj]

rsee

(1.4.4}

where S~ = R{)~ is the length of tbe );cctor. Thus. the error eo;timate for an c.lemem in the mesh is given by
~~~R

. rr) (" -2sm ....

/I

(1.4.5)

'''e tOial error (Utlled glob{Ji error)

i~

given by multiplying E, by II:

( 1.4.6)

We now ..!IOW !h;lt E

goe_~

to zerv a.~ n -4 00. Leningx ~ lIn, WI< have

P~=2Rn~i n -=
II

IT

2R~i.(!rr.f
.~

---

~-.,.,

lim

P~=lim

~_6

l>i!l:rX) Jim ( CO.'o)1:X ) ::;::21t R ( 2 R.\. - ::I:: ~>O 2rrR - 1

(1. 4.7)

Hence,

tn goes to 7,ero ll$" /I ...... .00-. 11~i, completes the proof of convergence.

(1tAI' I1-~! ! NT~O"UL'llON

17

Example 1.4.2 (Geometric Centroid of an Irregular Body) It should be recalled. from a first course 00 ~tatil!j of rigid bodies, Ihal [he calculation of lhe ma."s C~Ah':r or the geo(llctric centroid (quantit)' of inlCrt~l) of:1II irregular volume m8ke~ u~c {'If the so-called mClhud of comp()~lIc bQdie~. in which 8 Ixllly i ... t:onvcnientJy divided (m~h di-.creli7.atioo) inlO *,veral parts (clCt1J-CJlt:;) of simple !Jlapc for which the m;l~~ and thc.cCntcr uf t1la~~ (element propcnje~) can t>c c()1llpull.'d readily. The cen ter of 1l1:1SS of Ihe whole txxl), is Ihell obtained u~jng the. moment principle- (}f V<lrigtlOn {a b;l~i~ for the as!\embly of element

equadons); ( 1.4.8)
where X is the x-c()(lroinlite of the centcrof mass Ofl00 whule body, 11I~ is the mass!)! the e-th ~n. !Iud .to is the). -oooruinale of the CCnter of mass of the t'th part. Similar upressklO\ hold for the y and;: coordinates of the center (If mass of the whole body. Anal()gous reilitions hold for cornposite lineS, aI"C3S. and volume\. wherein the ma~'>Cs are replaced by length~. areas.. and \'Qlume~. nlspt:ctivcly. When a gh'en body is not \))lprc.~~ible in term~ of ~illlple geometric shapes (deme!1I~) for whi ch the mai~ lIJld the center of the mas~ can be represented mathematically, it is nece~~lIry to uS<;: a rnetil(x1 o( Ilppfl)_~il11ation to reprcsenlthe "propcrlie~" of an clement. As an e.,;unptc, cOll~iderthe problelllllfflll(jing thccc.ntroid (X. Y)()fthe irregutarregion sh\:)wn in Fig. J.4.4(/l). The region can bedlvidcd illlo a flnhe numbe.roftr.tpe7..oid:11 ~ui~ Idt:II'IC[lts). II typical clement

"

(a)

)'

,
X
...........

,' ,

," ..r-----::
,, , , ,
/'.
b, "

rt ; ,
y

, ,

'. ,: ! -.. h.1+....

,

Ih)

figu.re 1.4.4 Iktentlinati(ln of Ihe centroid of 8n irregular region.

ha~ing

width h. lind heights b, and b... ! [sec Fig. 1.4.4(b)J. The afCll of the .. th strip i~ t;ivcn

by
I Ar= ilt~(b~ +b~tl )
( lA-I))

1'hc area A, i~ afl. appfOximaljllll of the truc area of the demenl because (II, +bM-l)/2 is an estimatlXl ~\"eragc height of the element. The coordinates of the centmid of the region are obtained by (tppl ying the !lIt)menl principle:

L. A,x,

"

L-. A~

( 1.4.10)

where.!, and 5, u.rc the coordinates Ill' the ccnlr(lid Mllleeth elclTh!nt with respect t(. the coonJi, nate sy... tem 1I.,cd for the whole Ix>d y. It J.hlluld be nOled !hilt the accuracy of tl~ appro,-imation wij l be improved by increasing the number of litrips (i.c., dC(:rea ~ing their width, h,). When th e ce nt er of mass is requi red, A, in Ihe above equ:ltions i~ rcphlced by ~he ma~s III , =p. A ~, p. being the lJlass dcn~i t y of\ hc /,th clement. For a hom(lgcooous body, p, is the ~an~ for all elemcnll), and there fore Eq. ( 1.4.10) also give., the coordioatcs of the center Ilf

mass of a homllgeneous body.

The two exalllp!e~ considered above illu strateli how the idea of piecewise approx imation is u ~cd t{J 'lppruximate irregu lar geometry and calculate required quant ities. Thu~. subdividing a geometrically complex domain in\(} parts that allow the evaluation of desired quantitie\ is a very natural and practical approach. The idea can be ex tended to approx imale func tion ~ representing physical quantities. For example. the temperature variation in a two-dimensional domain can be viewed as a curved <;urface. and it can be approximated over any pllrt of the domain. i.c .. over:t <;ubdomain. by a polynomial o f desired degree. A curved surface over 11 trial1gular ~ubregion may be approximated by a planar surface.

True ,..,lutIOl1 surface

0'('1"

the demenl domam

..... ':"" ,........ ,

1,/'1,

>;'1':

07 V
l ',) "

'"

I Approximate S<)lunoll aplane(lmcar) OIer the ck-mcll1 domam

(finite clement)

... --<- Original

"

Dl'i,(n:llzcd domain
dOm311l

fo' igure 1..1.5 Approll.im:llinn of a cu rved su rfllce by u I'llm:lr surface.

{'I!A!' l l' ~ I INI ~UIJULTIUN

19

as shown in Fig. 1.4.5. Such ideas form the bas is of tinite element approximations . The next example illustrates thi s idea for a one-dim e nsional continuous system dcsc ribed by a differentinl equation.

li:umple 1.4.3 (SoLuti(lIl of a DitTerential Equation) _ _ _ _ _ _ _ _ _ _ _ __

Consider the ICmperJture variation in a (:{J"1po~ite cylinder consisting of two coaxiallaycrS in perfect thermal COlltact. as shown in Fig. 1.4.6(1I). Heat di~sip:ttiOll from a wire (wilh two insu\:ltions) carrying an e\ccuiccurrem and beat flow acrmos 3 thick-wlil/cd compo:..itecircutar cylindricallUbc are typiL,'ll1 examples. Betllul\C of the axisYI.nmclric geomclI-y, bou(!dary conditions, material and loading. the tcmpcrJlure T is indcpcmkot of the angular coordinate 8, i.e... every mdial Hne has the same teOl~ralUrc T ut any moial distl.U1c~ r. t = 7(r). TIu!tcfore, il is sufficient to CQfl.Iiidcr an arbitrary radial line and detennine tcmlXlriltllrl:o [dong il. We wish to determine lIJl approximativn 1~(r) 10 1"(r) over the radius of tbe cylinder. The equation governing the axi:;YlI\metric heat transfe.rcan beformulatcd u.~jf1g thl;'. principle ofcon$erv';)tion {If cnc.rgy (as wa.~ (lone in Exrul.lple ! .1.1):
I - - - rk -

r dr

d ( dT) =8(r) dr

(l.4.II)

,
_. ___ :t

" = T(r)

Materi~l

1-+- - , - ,

. - - -"""-'I-,'-t---- ,

(bl

(c)

Figure 1.4.6 (II) CoaxJaI cy linder made of two different materials. (l Typical cro~~ section of !he e{lmposite cytiodcr. (c) Finite clement di:.crelil.ution by li!)c SCgm.cnUi (linllar

clements).

20

AN INTkOlll'ClI0NTQ TilL

FI~rrh U.l"~11 ~T \1FIHlIl

8qumion \ 1.4.11) is~ubject to uppropriatc boundary co nditiQn~, fore.)(;lOlple. insulated lit r <'Ind subjl,'cled to II temperature Tu at r f$. R(j:
,IT kr __ =O

= R,

d,

at

r ~ Rj:

T(r)=Tr:.

al

r""R(j

( 1.4.12)

Here-k denQtes the thermal to!lduClivity. whitb \'aries f['<)1n I,[yer to layer, R, and Ra are the inner ,1I1d outer ra<lii of the cylinder !fig. 1.4.6(b)), ,md 8 is the rule of energy generat~on tn thc medium. When il is difficult to oht;!in an exact ~lutinn of Eq$. OA.I J) and (1.4..12), either bttausc Of complex geometry and l11alcrial properties or becaul;c ,~(r) is a complicated function thaI ctoe~ nO! allow cx:\Ct cv![lumiOn of its integral, we seek: an lIPproxim<ltc One. [n the finite element method. the dam;!in (R r. l4;) is divided into N subintervajs IFig. 1.4.6(.:)1, and the approximatesolulion IS ~ought in the funn
T, (r) ""

L ,., T)fi ~ 1jJ;1)(r). R, "S r "S R + h

j

"

(fl~t imerval]

T1 {r)

::so

L r}1I",?'(r).
j 'O J

Ri +hl S r .5 Hi + h, + /1 2 (se<:ond int(!ryal)

T...,{r) "" L:Tt"tlFtl(r), Ri + h 1 ++ltN... ,:5.r5 H.ij(N thI;1Ii!rval) (1.4.1"))

1 -'

where h, denQtes the length of the /:.th i!1lcrv;Jl, Tj (the. clcl1)ent label "If" is omitted in the interest of brevity) is the v:liue of the tcmpetJtuI'C T.(r) at lhe jth geometric point (tailed the nQcle) of the eth intel'Vl'll, ""ritre the interpolatiOll pol ynollli;jt~ 011 the etll inten'a! (fi nite e\cm,ent), ;jnd TJ nre termed the nOde.' v;uues (Which are wun(>wn). Thus. the cQntinuOus function T(f) is ;1pproxim'1tcd in c;lch fittitc element by a desired degree of inlt!rpolalioll polynomlaJs. and the pOlynomial is e.\prl:~....ed in tCfm$oftbc vlllqcs of the function at a selected humberof poi!l\!j jlJ the inte(V;j1. 111e nUIl)\)cr Of points is equ;u to the number of paramcters in the iX'lYl}omiaJ. Fw example, 11 Ijnear polyn(Jmial apprc)ximati(Jn of the tcmpe.rature Ovcr the interval requirc..'1 two v,dUes, and hence twO points. are idcmified in tile interval. The eodpOinl~ (It the lotcr'>'(d arc. selected for this purpose bec;ulse the two pojnts. cjl1Jcd nodes. illso denne the lerlglb of the intervtll (~I!e Fig. I A.7). Por higher-utdc( polynomial ilpproximatioll$, additional nOdc..~ arc

,-

,-

tI

1l~;..

Tt Ti

(bl f'jgure 1.4,7 (a) linearapl){t)~tll~atio:n T~ (f) of a fl1.nClion Tlr) ov(\r an clc!l)Cnt. (h) Qu..'u1t;ltic appffl~ i ma6Qn T, (r) of Tcr ).

iill>nlificd inside the elemen( domain. TIle. importance of Ihese gCOfllClriC poinl~ (i.c .. nodc$.) is Ihal they are lhe ~o;e poiOls rcqum~d 10 define the inlerpolfttion IXllyno)miat~ . Ttle nodal values 'I j :Ire Uetemllned \uch tlmt T~ (r ) ~alisfies the differential equation (1.4.11) and boundary conditions 0.4.12) in SOffle sen~c, oft~n. in integral sense ov('r c;!ch clement:

0=f' r.

w{r)

[-:.!!.. (rktl!..) - 11"(r)J ,d, rdr dr

(1.4.[4)

for :111 indepc{ldcllI c hoil:e~ (If the wcight function. k . Often we select IV = '/Ii (i "" I. 2. .. ,) to obtain 'I rci:lli(1o" among !he 11 unkno ...."Ils. Th('\e ideas .....ill be. discu$SCd in more oclail in Chapter 3. The piecewi~ (i.e. elcll1eotwi,<) awro~imation of the ooIUlloO allows us It) include lIny discontinuOII~ data, sU(:h as the material prI"'(lertiC-'>, and 10 u'-C mc~he~ of many lower-order elemenlS or a ll1e~h of few highcr.order elementS 10 repn."-Cnl i:lrge gradients of Ibe solution. P(.lynomial appro\iillUlion~ of the form (L4.13) can be derived ~y sterllillically for any as~umcd degree of \';Irialion. Th~ Mtlisfaction of the differential equation in a weighlcd intcgraJ sense leads. f()r ~leady-SIAte problems. to algebmic relati(}n~ amt)n~ nodal tempeNltures Tj and hcal~ Qj of the clement. The :tl~cbmic equations of all clcmc!ll~ arc I\~~cmbkd (i.e., (elated to each <Hher) '>ueb tlU!! the lemperature is contiuuous ilnd the heat~ are balanced at nQde\ common to ejcmenh. 1l1tn the a\scmblc<l C(JlI atioll~ are ~ohed for tile nodal values of tempcratufe.~ and hea~ after imposing the boondlll)' conditi{ln~ of the problem. More del8iH of lbh example will be p~cntt'd in Chapter J.

1.4.3 Some Remarks In ~ umrnary. in the tinite eleme nt mcthod 1I given domain i~ divided into ~ ubdoma in s . called Ii nite c!c mcnt~. and an approximate ~olulion to the problem i~ developed over cach e lement . The subdi vision of a whole domain into pans ha.~ two advlllliages:
I. Allows accur.uc represe ntation o f complex geometry and inclusion of dissimilarmaterial propcnies. 2. Enables ea ~y repre)'cntation oflhe total solut ion by function.. defined within eat'h cle ment that capture local e freeb (c.g . large gr.J.di e nt ~ o f lhc \Olulion).

The three fund amental examples are:

~ t e ps

of the finite e le ment method Ihal are

illu~tr.Jt ed

via the

I . Divide the whole domain into pans (both to represent the geometry and solution of the problem).

2. Over each pan. <;cek an approxi mation to the solution a~ a linear combination o f nodal v alu e~ and approximat ion funct io ns. and derive the algebmic relat ions among the nodal val ues of the solution o ... er each part. 3. AS'>emble the pan!> and obtain Ihe '\Olutl0 n to the who le.
Although the above eX;lInple~ illustrate the ba ~ic idea of the lilllte element method. there are !>everal other fea t ure~ that are either not prese nt or not ap pare nt from the examples. Some rell1ar k ~ arc in order.

22

... " l'-ntocxx."u,'1 '1'01111:. 1 1'1111; UJ 'IEl'n

~1F111(1)

I. We can d iscrct il.e the geometry o f the domain, depe nding on its ~ h ape, into a me~ h of more than one type of elcment (by ~ hape or order). For example. in the appro ximation of an irregular domain, we CHn u ~e a combination o f rec t a n g l e ~ and triangles. However. the c le ment interfaces mu st be compatible in the sense that the solution is c ontinu o u ~. 2, If more than one type of c lement is used in the representati on of the domai n. olle of each kind shou ld be i ~o 1:lled and ils equation s devc loped . 3. The goveming equations o f problems considered in thi ~ book are difTerential equations. In most cases, the equation.. cannot be solved ovcr an clement for two reasons. Fi rst. they do nOI perm it the exact i>olution. II is here that the variatio nal methods corne into play. Second. the discre te cq uation ~ obtained in the variational methods cannot be sohed independe nt of the remaining elements beca u ~e the as<;cmblage of thc clements i~ subjccted to cCllain continuity. boundary. and/o r initi ,.l condi tions. 4 . There arc two mai n dirfe re n ce ~ in the foml of the approx imate soluti on used in the Ii nite element method and in t he c lassical variational m e th od~ (i.e .. variational method s applied lO the who le domain). Fi n.t. instead of represent ing the ~o lu ti on II a~ a linear combination ( 11 h = L J cJJ) in It:ml S of arbitrary panulleters ci as in thc variatiollal methods. in the fini te clement methCKlthe solut ion is often re presented as a linear combi nation (lIh = Lj c JtPJ ) in tenns of the values II i of Il h (:md possibly ils de ri vati ve~ a ~ well) al the nodal po ints. Second, the app roxi mate funcl i o n ~ in the finite clement method are o flell po l y llo mi a l ~ that are derived u ~i n g intcfjXllation theory. However, the fin ite element method is not res tricted to the use o f approximat ions that arc linear combinations of nodal va lues II j ilnd interpolation func t ion~ 1/1J that arc algebraic polynomials. G ne Ill ay usc n udcle~s variables and no npo lyno mial funct ion .. to approxinHlte a fun ction (like in tll c~ hl ess or clement-free meth()(b ). 5. The num ber and the locmion of the nodes in an element depe nd on (a) the geometry of the cleme nt . (b) the degree of the polynomial approx im:nio n. and (e) the weightedintegral fonn o f the <-,({uations. By represent ing the rt."q uired ~oluti o n in temlS of i t.~ values allhe nodes, we directly oblain the approxi mate ..ollLl ion at the nodes. 6. The a~~c mb ly o f cl e me nt ~. in a gencral casco is ba~ed on the ide:1that the solution (and po~~ ibl y its de ri v:lti\e;, for higher-order equation<,) is co ntinuo u ~ at the interele ment bou ndaries. 7. In ge neral. the assemblage o f finite clements is ~ ubjecte d to boundary and/or initial con d i ti o n ~. The d i ~crete eqmtl i o n ~ a<,~oc i atc d with the tlnite c lement mesh arc ~() I ve d onl y aft er the bOlllldary and/or initi al condi tio ns have been illl po~c d . 8. There arc three sources of erTOr in a tlnite clement -.olut ion: (a) those due to the appro~imat io n of the doma in (this wa.. the o nly erro r present in the iirsttwo exaJllpl e~): (b) those due to the approximation of the solution: and (c) those due to numcrical computation (e.g .. numerical integmtion and round-ofT errors in a computer). The estimatio n of these erron.. in general. is nol simple. I-Iowe\<er. under certain co nd i ti on ~. they can be estimated for an clement and problem. 9. The accu racy and eon\<crgence o f the fi ni te elcment ~ l ut io n depe lld ~ on the differe ntial equation. its integral form. and the element used. "Accuracy" refer.. to thc d ifference between the exact sol llli on nnd the finite cle mcnt ~o l u t io n , while "convergence" refers to the accuracy as the num ber of cle m e nt ~ in the mesh i~ increased.

I<igure I A.8 Fini,c clcmcn, discrc,il:l,ion of a cOl1nC("ing rod and

pi~'\Jn.

10, For timedependcnt problem ~,:1 two ... t:lge formulation is u... ually followcd. In the finol ~ t age. thed ifTcrenlial C<luation... arcapproxill1ated by the finite e lemcnt method looblain a ~el of ordinary di Iferential eqUal ions in time. [n the second. the di ITerential c4uation~ in lime arc ~ol\'ed exactly or further approximated by either variational methods or nn;te difference method~ to obtain algebraic equations, which arc then solved for Ihe nooal value~ (see Chapter 6).
II .

arc more powerfu l til.mthe sUI>ercomptuen; that ex i.,led when the fini teelement lllethod wa~ l1.-.;t implemented. Consequent ly. the anaJy"is lime i~ c()n~idc rably reduced. provided Ihe me .. h u"ed to model the proble m is adequale (a finit e elemcnt mc~h of a connecting rod and pi ~lO n i<; shown in Fig. I A.8). Evcn the ;)utonwtie mesh generation programs cannot guarantee 1T1esh c~ Ih:lI lire free of irregularly shaped elemelll<; or h:,ve ~uftlcient number of c1emenl~ in a region contai ning high gradiem s in the solution. both of which rc~ u1t in lo..,s of accuracy or. in the case of nonlinear problems. noncoll\ crgencc of <;alutioll". 12. Element-free me l hod~ Ihal require no a~:,cl1lbly (becau~e there :Ire no clemems) arc being developed. Such l1le t hod~ have applic:tti()n~ in fracture mechanics and wave propagation problcl1l~ where re rne~hing i, nece~~ary.

Thc dc~kl o p computerl.oftoday

1.4.4 A UricI' Rc,'icw of l-lislory and Recent l)c"clo pmcnts

The ide.. of repre'>Cnting a gh'en domain ;L" a collection of di<;ercte pan~ i.., not unique to the (inite clemem method. It was rcr'orded that ancient mathem:uici:m, est imated Ihe value of if by noting that the perimeter of a po lygon in'>Cribed in a circle approximate!> the cin;umfcrencc of the Jalter. llley predicted the v.due of rr to accuracy of almost ~O significant digit~ by representing the circJe a~ a polygon of a linitely large number of ~idc~ (Reddy. 11)71( 1993). In modern till1e~. the idea found a home in aircraft ~tnlc tural analy~is. where. for eX:l1nple, wing., and fu ~c lages arc treated as assemblages of ~tringer~. sk in~. and "he:lr {Xmcls. In 19~ I. HrcnikolT [l94J J introduced the ~o<"alled fmlllework method in which a plane ela"tic medium W:IS rcpre'>Cntcd as a collL'Ct ion o f bar. and beam~. The use of piecewi~econtinuou s functi()n~ defined ovcr a subdonl1lin to approximatc an un~n ow n func tion can be found in Ihc work of Courant (1943). who u..,cd an a ....emblage of triangular elcments and the principle of minimum tota l potential energy to study the 51. Vcnant torsion problem. Although certain key features of the finite clement method can be found in

the worb of Hrenikoff (1941) ~nd Couran t (1943 ), its formal prc~entation is attributed to Tumer. Clough, Martin, ~nd Topp (1956) und Argyris and Kelsey (1960). The term "finite clement"' wai> first used by Clough (1960). Since iti> inception. the litemlUre on finite e lement application~ has grown exponentially, and today there are numerous joumals that are primarily devoted to the theory and ap plication of the method. Additional informat ion on the hi~tol)' of the tinite element method can be fou nd in the review article by Babtli>ka (1<)94) and in Ihe early book~ on the finite clement mcthod le.g" Zienkiewicl :lIld Cheung (1%7), Oden (1972), Strang and Fix ( 1l)73), and Odcll and Reddy ( 1976)1. In reccnt yea!'!>, extcnsiom and modifications of thc finite clemcnt mcthod have been proposed. These include the plIrlil;Oll of 1I11;ty 1I/('lh(l(/ (PUM) o f Mclenk and Babu~ka ( 1996). the /'-11 Clolld me/hod of Duarte and Oden ( 1996) and lI/e.\'IIIess ml'lltm/l adv'lIlced by Belytschkoand his colleagues (1996). Al l o f these methods and numerous olher method ... not nallled here are very clo'\Cly related.

1.5 THE I' RESENT ST UDY

This i .~ a boo" on the tinite clement method and it;. upplication to linear problems in engineering and applied <;eienees. Mml introductol)' finite clemenl textbooks wrillen for u.<.e in engineering sc h ool~ arc inlended for ~ ludc nt.s of solid .md <;lructural mechanic~, and these introduce the method a~ 1m offspring of matrix methods of structural analy~k A few texts th'Lt treat the method as a variationally b'L~ed technique leave the variational formulations and the associated methods of approx imation to an appendix. The approach taken in this book is one in which the finite ctemcl1t method is introduced a~ a numerical technique of ~()Iving classc!> of problems. each class having a common mathematical slruelUre in the form of govern ing dilTerenlial equat ions. Thil> approach m:.ke!> lhe "ludenl lInden-tand lhe gcncr-llity of the finile clemenl method. irrc!>pcctive of the ~ lUden "s subject ~,c"ground. It al'io enables the student to see the mathematical strueture eummon to variou .. physical problems. and thereby to ga in additiunul insight into variou~ engineering problems.

1.6 SUMMARY
Scientist" and engineer> develop conceptual and malhematical models o f phenomena and ~y~lems that they wish to under~tand . The undcr1>tanding may be uc;ed to develop and improve sy'iteJll~ that contributc 10 human convenience and e(}lll fon. Mathenmtical mode)., are devctoped using axiollls or laws of nature that govern the phenomena. Mathematical mooch eonsi~t ofalgehra ie. dilTerential. and/or integral equations. which are often difiil:u lt 10 solve for the de"ired variables of the sy~leTll for a varielY of input parameter~ (called data). nece"sitating Ihe u"e o f numerical simulations of the phenomena. In a nUlllerieal , imulation of phy~ica l proces<;c<;. we employ a numeric.1I method and computer to evaluate the mathematical model of Ihe proce~~. The finite elemcnt method i" a powerful numerical method of solving algebraic. di fl'erential. and integral equation ... and it i~ dcvi~ed to ~ tud y cumplex physical rroccssc~. The method is characteri/cd by three features: I. TIle domain (If the problem is repre~enled by "collection of simple subdoJll:l in ~. called tinite element~. TIle collect ion of finite elements is called the ti nite elem('nt mesh .

ClIM'I[K I :

I l'iTRODL'rrIO~

2S

2. Over cad finit e e le ment . the physical process is approximated by functi o ns of the desi red type ((X)lynomials or otherwise), and algebraic equations relating physical quantit ies at seleet ivc points. called nodes, of the e lement are developed. 3. The clement equatio ns are assembled using continu ity and/or "balance" of physical quantities. In the finite element method, we seck an approximation
1/
Uh

of II in the form

~ 1/10 =

L
1/

II ) Vt)

+L
'"

("j tP )

j= 1

)= 1

where II ) are the values of Ilk at the c le ment nodes. Vt j are the interpolation functions. Cj are coeft1cients that arc I/ot associated with nodes. and tPj are the assoc iated approximation fun ction s. Di rect s ubsti tut ion of such approxi mation ~ into the govern ing differential eq uations does not a lways resu lt , for an arbitrary choice of the data of the probl em, in a necessa ry and suffic ient num ber of equat ions for the undetennined coefficients II j and Cj. Therefore, a procedure whereby a necessary and s ufficient num ber of equat ion ~ can be obta ined is needed. One s uch procedu re is prov ided by a weighted-integral form of the govern ing diflerential equation. Chapter 2 is devoted to the study of weighted- integral formu lations of differential equatio ns and their sol ution by variational method s of approximation. There is on ly one method of finite elements that is characterized by the three features stated above. Of course, there can be more than one finite demem model of the same problem (i.e .. governing eq uations). The typc ofmode l depends o n the differential equations. methods used to derive the algebraic equations (Le .. the weighted-intcgwl form used) for the undetermined coeffi c ients over un element, and natu re of the approximation functions used. Although the Rit z-Galerkin methods and polyno mial approximat ions arc used frequently to generate the tinite cle ment e(luations, any app'rop riate method and approx imati o n ~ can be used, in principle, to generate the al gebraic equation s. In this spi ril, the collocat ion method. s ubdomain method , boundary integra l methods. etc .. can be used to generate the algebraic eq uations among discrete values of the primary and secondary va riables (see Chapter 14). The basic theo ry of the finile e le ment method can be found in more than three do zen textbooks. For the beginner, it is not necessary to consu lt any of the other books on the tinite clement method as the present book provides complete details of the method as appli ed to linear field problems, with e}lampics drawn from flu id mechanics, heat transfer. and solid and structura l mechan ics.

PROBLEMS
1.1 Newton's second law can be
ex pre~scd a~

F =: 1II1I

(I)

where F is Ihe nel force acting 0 11 the body. III mass of the body, and a i ~ the ,KeelcrUlion of Ihe body in Ihe dired ion of the nc\ force. Usc Eq. (I ) to dctennine the malhematical model, i.e .. governing equation . of a free-falli ng body. Consider only the forces due 10 gravity and Ihe air resist,mee. Assurne Ihat the air resi~ lancc is linearly proportional 10 Ihe velocilY of Ihe fal~ ling body.

1.2 A cylind rical ~t()ragc I<l nk of diamete r /J co ntains a li(j uid al depth (u r head; II Ct . I). Liquid t, suppliL"d 10 the la nl. ;1 a mit' of q, (ml/day) and druined .. l a m lc t)f qo (IllI/day). Usc lhe \ print'iplc of Cllll';Cn'mioll of l11a~~ to arr iw lit til e governi ng eq llation uf the flow problem . I..l
Con~ idcr

the Mlll plc pendulum of I:xflmplc 1.3. 1. Wrlle a com pUicr progr:llll 10 nUlllcric:tll y 'olvc lhe nunlinear CljlliJliun (1.2 ..l) llsing the Euler method. Tab\Lt ~t e th e fllull cri!.:al TCWltS for \"0 different lime _h!P' t:.1 = 0.05 alld 6.1 = 0.025 :do ng wi th the 0;:.\:1 li near wl utioll, (:1 An impruvc rn cnl of Eulcr'~ mctln...:l is provided by Helll)'s mcthnd. which u.. cs Ihe a\'cr:lgc of the uCriVall\'($ <lIthe [..... 0 end .. nf Ihe interval 10 cstim:uc the s lope. Applied \0 the C(l uuljoll
(/11

1.-'

-, =/11 ,11)

(I)

Ikun'). M,heme has the form

II ,

"

,,, 1= 11 '+2 rf(I"III)+/(lrl l ,

" ll f~ l) J,11,-,-1 "" 1I,+IlI/(I"II,)

"

(2)

Equali011 (2) i\ c:J!led the IIInfictorcquatllln, nnd Eq. (I) is (:Lllcd the /lJI"fl'rlfJrcq u!uion. Apply I !cUll '., methud 10 Eq\. (I.J.4) nlld obt:lill the nUJ1]eric:l1 wi uti ull for III == 0.05.

REFERENCES FOR ADDITIONAL READING Rt"lt'",,11 /)i,.", /w/l.< in GJIIII"'Wlimru/ }ok"'"",,,',. Nation~1 Acadc lII}' Pre". Wa .luri glOn. DC. 1991.
2,
Arg)fI~. "ppCilr~d

J II and KcI-c). S,. 1:11t''K.I' Tht'IJ".",.' 111111 SIrUClllm/ in Airrmfr f"~,,,(,,"i"K. 26. 1 95~ imd 27, 1955.
A fter.~

AIIII/ni~.

BUlleO'onh. London. 1960; tirsl

:to
4.

Babu,J..a. I '"Coordnt Element: Bef"rc and

Krizd.

~t .

alld I'/cill:Lanrniil.:i.1'. leds 1,It, I milt' leJ""","1

M,'IIu/<!.I: Hfll Yetll'.' of lli e CO/mUll E/cm,nI. Marcel Dd l.:el. I<)().l.

Bd}'l"," h ~u. T.. Krollgau/. Y. Organ. D . Fleming. M, alld Krysl . P.. "'Mc,tlle..' \tcIlIOd.: An Overlie" and Rc(em Oe"clopmelHs: Cm1!lllIIfr Mellu>t/, lit A/'II/inl Muhm,ir, 11111/ t:,,~IIt"''i"/i. 139. 3-47. 1996, 5. Clough. R. w. 111c I-in lle H en>e:nl Mcthod m Plane S1ri:" Anal)'si< Jmm'lIl '1 SlruCIIlrt'} DiI'i.I'i{!ll. ASCI:. I'nI':rf'dm.~' Ilf 211d C"'ifrn'lrre'/li i:'I"r/nmrr Clml/mla/iml. \45 _'18. 1960

6. COllmm,

Ie Varrational Metho,h f"f tlie Sollllion of l>roblem, uf F..ljuil,bnUln nnd Vibratiun,: /J"I/nm Ih .. A",n;(/111 ,\I"I/It'"",I;m/ SOCl,.S,. ~\t. 1- 23. 19JJ
M~III,>th'

'if

7. DUUll .... (". A and OtIen. J. T.. 'An /1-1' Adapli vc Mc!hod U'IIl !; C lnuJ ,: Oll/lpM{'/" M". "'min 1111// 'I/lillt'l'rlll~. 1311. 237-262. 1996.
~.

III Al'plird

Ilre l11koff. A .. 'So lution of l'n>blc m, rn Ela,Ir.:, ty by the 1 rame Work Method: Joom",/ 'if AI'l'linf ""t'ell/min. TTYml(.nuH" rifllll' AS'\II-:. K. 169-175. 1<).1 J

'J. Melenl.:.J. M. and B:lbt"kil. J.. The l'aniliunofl,; ,lIly Fi nite 1 !lemel1l Method: Ba>leT'u:"ryand Appl ic;'!T(ms.:emll/'Iller Ml"I/r{)(/, ill A/,t'lIl'd 'un/uIII!(".\' 1/11</ t:"~mf'('rin>(_ 1311. 289-31~. 1')')6
W. Wen. J. T.. "'111/" /.1I'IIIem.' ' ifN{)II/lIIf{l' COil/illl .... M.Grd ... -H,ll, Ne" York. 1972, \

I J {)(kn_ J. T and Redd). J. N .. An hUro</lI(lWII 10 r/w ,\I,u/lI'lIImiclll nlt""r\' (If Ib ,ir~ EI"IIII'trI.". John Wiley. :-/e" Yor~ . 1976, 12. ReJu). J N . Ttt.: Finite I: krncill Method: A Clu ld uf Ihe Compu ler Age:' So",,,, S/mmrod (e ll gillccnllg ,(udem mugah"", ult he lIlII,erilly of O~laho'llal. 23-26. 1 all 1978

U. Reddy, J. N .. AII /lllrod",.li"" 10 rile FillilF f.lemelll M ,'I/t{l{/. 211(1 cd., r.1cGm .... Ilrll. New Y<vk, 1993
ChJpt(,r I),

t""~

t 4. Slrang. G. lind Fi\. G .. An A",/lI'.,I.' Ofl/II' P;mle E/t'lIIfllI Mel/rOiI. I'rent lce B all. Eng!C\loou ChlT~. NJ. 1973. 15, Turner. \ 1 J . Clotlgh. R w,. ~bnin. 11 C .. Dnd Topp. L. J. Sliffness lmu Deikction AnaJ~,i' OfCOUlP!cX S!ruClu rc~: Jmmw/ "1 AemulU<lim/ S,i'lIo-e. 23, 805--823, 1956.
16.
Zlen~ie ... iCl. O. C. alld Cheung_ Y. K .. 11le hllit" Elrm""1 Mn/'ml ill SlrtI{'/lIml (//1(/ C"trlillllllm ,\I('("llIlIIin. McGrJ,,-lhll. Lnndon. 1%7,

Chapter 2 MATHEMATICAL PRELIMINARIES, INTEGRAL FORMULATIONS, AND VARIATIONAL METHODS

2.1 G ENERAL INTRODUCTION

2. 1. 1 Va ria tionall'rincipies and Methods
This chapter is devoted 10 a review of some mathematical preliminaries that prove to be usefu l in the sequel and 10 a study of integral formulations and more commonly used variational methods s uch as the Ri lL. Galcrk in, collocation, and least-squares methods. Since the finite clement method can be viewed as an clcmcntwisc ilpplication ofa variational method (sec Section 1.4), it is useful to Icnrn how varintional methods work. We begin with a di scussion of the general meaning of the phrases "variational ll1ethod~" nnd "variational formulations" used in the context of fini te element formulation s. The phrase "direct variational mClh(xb" refers to methods that make u~e of variational principles. slIch as the principles of virtual work and the principle o f minimum total potential energy in solid and structural mechanics. to determine app roximate solutions of problems lsee Oden and Reddy (1983) and Reddy (2002)1. In the classical scnse. a I'tIr;arioll(l1 prillciple has to do with tinding the extremum (i.e" minimum or maximum) or stationary values of a functional with respect to the variables of the problem. The functional includes all the intrin sic featu res of the prob lem. slich as the governi ng equations. boundary andlor initial conditions. and constraint conditions. if any. In solid ,\I1d structural mechanics probl ems. the functiona l represent~ the total energy of the sy~tc m, and in other prOblems. it is si mply an integrnl representation o f the governing cqua t ion~. Variational principles have always played an important role in mechanics (see the references at the end of the chapler). Fir~t. many problems o f mechanics arc posed in term s of finding the extremum (i.e" minima Of maxima) and thus. by their nature. can be formulated in terms of variational statements. Second. there arc problems that can be formulated by other means. such :tS the conservmion laws (as illustrmed in Chapter I). but these can also be formu lated by means of variational principles. Third. variational fOf11lUlat ions form a powerful basis for obtaining approximate solution~ to practical probleJl1~ , many of which

arc intractable othcrwi<>e. The principle of minimum IOtal potcntial energy, for example. c;m be reg"fded :.\ :I ~ubstitute 10 the equution~ or equi lihri um or an e1:.~ t ic body a!> well liS 11 basi... for the developmcnt of di<;placement finite element model s that can he used to determine approximate d isplacemcnt and slres:-- fields in the body I Reddy (2002 )1. V.. ri:ltional ro rillula ti o n ~ can also <;erve to unify diverse field .. , suggest new theories. and provide a powerful mcans to <;rudy the ex i\\e nce and uniqueness o f solution<; to prob l em~. Similarly. Hami lton 's principle (sec Reddy (2002) 1can be used in lieu of the equation:-- govem ing dynamical systems. and the variational forms pre<;ented by BiOI (1972) replace certain equ:ltions in linear continuum IhemlOd yn;ullics.

2.1.2 Variational Formulations

Thc das<;ical usc of the phrase "vari;lIional rormulations" rcfcrs to the const ruct ion of a funct ional (who'\C meaning will be made clear ~ honly) or a varimional principle that is equiva lent to the goveming equations of the proble m. The modem use of the phrase refer; to the formulation in which thl! governing cq uati on~ arc tran ~lat ed imoe(IUivalent weightcdintegral statc ment ~ thlll are not ne(:e~'W.ril y equi valent to a variational principle. Even those prob1clll~ that do nol admit variati onal principle~ in the classica l ~e n ~e (e.g .. the NavierStoke~ equ(ltions governing the fl ow o f v i .~cou s or invi<;eid flu ids) can now be formu lated using weighted-integral ~ta t eillents. The iml)()nanCC of variational forlllulati on~ of physical laws, in the modern or genem l '\C '\Cnse of the phr.lse, goes far beyond ils U as si mpl y an alternate 10 other formulations IOden and Reddy (1983) 1 In i:1ct. variationa l forms of the laws of continuum physics may . be Iheonly nalUral and rigorously correct Wlly tothi nkoft hl!m. While all sufficientl y :-.l11ooth ficld~ lead 10 meaningful va riational form ~. the converse is not true: There ex ist physical phenomena which can be adequately modeled mathematically only in a variational setting: they are non<;ensical when viewed locally. The starting point for the discussion of the finitel!lemenl method is differential equation<; governing the phy,ical phenomena under study. A" s uch . we sha ll first di ... cuss why integra l statements of the dilTe rential equations arc needed. 2.1.3 NCl>d ror Weighted-Integral Statemenl'i In almost all approximate ll1ethod~ used to determine the solution of difrerential ancUor integral equations. we seek a sol ution in the form
N

11(11: ):::::: U N ( 1I: ) = L

1',d

cAJj( X)

(2.1.1 )

where II represent:-- the solution of a particular d ilTerential equation and a<;soci ated boundary condi tions. and U,\' i~ its approximation that is repre:--cnted as a linear combi nation of unknown parameters ('j and known function<; (/Ij of posit ion x in The domain n o n which the problem i" I>o:--ed . We ~ h a lJ shonly d i<;euss the conditions on (/Ir The approximate ~o luti o n UN is completely known only when ('j are known. Thu~. we must fi nd a means to detcnnine c J such that UN satisfie... the equmions goveming II. If . . omehow we can find UN Ihat satisfies Ihe differential equation at every point x o f the domain Q

CiIAl'rER 2. MA:ntBIATIC,\L l'Rn. IMI'IARIIX INT1:r;RAI. F()R~1\JI""'TIO'lS , A'If) VARIATIO'lAI. MH IIODS

29

and conditions on the boundary [~ of n. then UN(x) = II(X). which is the exact solution of the problem, Of course. approximate methods are not about problems for which exact ~o[utions can be determined by some methods of mathematical analysis: the role of approximate mcthods is to find an <lpproxim<lte solution of problems that do not admit analyt ical solut ions. When the exact solution cannot be determined, the altemative is 10 find a solution UN that sat i sfic~ the governing equations in <In <lpproximate way. [n the process of satisfying the governing equations approximately, we obtain (not accidentally but by planning) N algebraic re lations among the N parameters CI, C2,. eN. A detailed disclls~ion of these ideas is given in the next few paragraphs in connection with a specilic problem. Consider the problem of solving the differential equation

_.'!... [a(x)duj +("(X )II =

dx dx
~ubjected

/(X)

1"0rO < x < L

(2.1.2a)

to the boundary conditions 11(0) = 110.

(2. 1.2b)

where (I(x). ('(xl. and lex) are known function s, 11 0 and Qo <Ire known pammeler~. and II(X) is the function to be determ ined , The set a(x). c(x ). lex). 11 0 , and Qil isca[1ed the problem data. An example of the above problem is given by the heat transferin an uninsulated rod (sec Example [.2,2): here /I denotes the temperature (8). lex) is the internal heat generation per un it Icngth (Ag), a(x) is the thermal resistance (kA), C = f3 P, 110 is the specified temperature (00), and Qo is the spec ified heat. We seck an approximate ~olut i o n ovcr the entire domain n = (0. t) in the form
UN =:

L L"j j (x) + 1>o(x)

j ;: !

(2. 1.3)

where the r j are coefficients to be determined and j (x) and <Po(x) are functions chosen such that the specified boundary conditi ons of the prob lem are satisfied by the N -paramcter approximate so lution UN. Note that the part icular form in (2.1 .3) has two pans: one containing the unknowns ('C j <Pj ) that is termed the homogeneous part and the other is the nonhomogeneous pan (<Po) thnt has the sole purpose of s<ltisfying the specified boundary conditions of the problem. Since <Po ~at i sfies the boundary conditions, the sum L Cj j must satisfy, for arbitrary Cj . the homogeneous form of the boundary conditions (1111 = Ii is said to be a nonhomogeneous boundary condit ion whcn Ii =1= O. and it is termed a homogeneous bou ndary condition when Ii :::: 0; here 8 denotes some operator). Thus, in the present ca~e, the actual boundary condit io ns are both nonhomogeneous ( 8 = I and Ii = Ull at x = 0, and B = a(x)(d/dx) and Ii = Qo at x = L) . The particularfonn (2.1.3) is convenient in selecting 1>0 and <pj . Thus. 1>0 and <Pj satisfy the condi ti ons
B<Po = li. 8 j= 0 forallj = 1.2..fI
(2. 1.4)

To be more specific, let L = l.uo = I, Q() = 0, a(x) = x. c(x ) = I, lex) = 0, and N = 2. Then we ehoose the <lpproximate solution in the form U2 = CII+C22+o with 1>0 = [ , <P1(X)=x 2 - 2x, <P2= x J -3x

30

A'II"TlH)IlIIc-nO~ ro1 III n~l'I1: EI.LMLVI' MF1'IKIIJ con dition~

that satisfies the boundary

becau~

(2, I ,2b) of the problem for any values of CI ;Ind

C2

n(0) = I,

(.\ "<Po) .'=" 1= 0: dx

t/ 2V 2

oP, (O) = 0,

("')
2

fix,

= O/ or J= 1. 2 (2.1.5)
1

..

To m:lke V2 satisfy the differential equation (2,1.20). we must have

- -tlx

(I V2

--' --~

(Ix-

+U2 = - 2cl(x - I ) -

3C2(X -

I ) - 2clx - 6C2X

(2. 1.6)

Since ,h i~ expression must be zero for any value of x. the coefficients of thc various powers o f r must be zero:

r +2(', +3C2 = 0

- (6c 1 + 3(2) = 0
C', -

9('2 = 0
("1

= 0

The above relations arc inconsistent: hence. there is I/O .w/urioll 10 the equation ~, On the other hand. we can require the approximate sollllion VN to satisfy the differential equation (2.1,211) in the weighted-integral ~en"e.

11
(/\

w(x)R(/x = O
re.~idIUlI,

(2,1.7)

where R denotes the le ft side of the e<luality in (2. I ,6) and is called the , dVN d 2UN R = - - - - x - - + UN 2

dx

and Il' (.\) is called a weight fimctioll. From (2. 1.7). we obt:lin :IS many linearly indel>cndent equations as the re are li nearly independent function" for lI'(x), The number o f linearly independent choices of \I' must be restricted to N = 2 so that we have exactly the ~a me number of equ:l1ions as thc number of unknown cocflicic n t~, c'j' Por example. in the present example, if we take II' = 1 and IV = x, we ohtain

0=
0=

t l Jo I Rdx = (l +2ci(- & '1 - )t'2) + ]'(cl 1 +3('2) + 2

I 9(2) + 4'C2

1
o

x' Rdx =- (I +2cl +3('2) + - ( - & '1 - )C2)+ - (CI - 9(2)+ - {'2

0'
- CI

2 J

+-

5
4
('2

= I,

- (:1

3 4

+-

31 I ('2= 20 2

(2.I.R)

which provides two linc:lrl y inde1>cndem t:qualiom;. for ci and ('2 (who~ solution is ( 'I = 2i] and ('1 = - i~) The above discussion d early dcmon~lratc s the need for weighted-intcgral stateme nts of the type in (2, 1.7): they provide lhc mcans for obtnining as many algebraic equations

CIIAVI'Ll!

i.,

MAHIEMNnCAL l'REUMIN AMlIS IVrr GIl A!.

rOl<M lIlATIO~ S. A,~1) \lAIlI ATIO,~AL MhTIlOUS

31

as there arc unknown eoefticients in the .rpproximate solution. This chapter deals with the construction of di fferent types of integral statements used in different variational methods. The variational methods differ from each other in the choice oflhe weight function \\' and/or the integral statement used. which in tum dicl:ltes the choice of the approxi mation functions j . In the linitc element method, a given domain is viewed as an assemblage of subdomains (i.e. , finite elements), and an approximate solution is sought over each subdomain in the same way as in variational methods. Thereforc, it is informativc \0 study variational methods beforc we st ud y the finite element method. Our goal in this chapter is to illustrate the basic steps in the weightcd-integral formulations and associated approximations of boundary value. eigenvalue, and initial value problems. Toward this goal, we. first introduce the necessary terminology and notation.

2.2 SOME MATHEMATICAL CONCEPTS AND FORMULAE

2.2.1 Coordi nate Systems and the Del Operator
In the analytical descript ion ofphysicaJ phenomena, a coordinate system in the chosen frame of reference is introduced, and various physical quantities involved in the description are expressed in terms of measurements made in that system. The vel:tor and tensor quamities are expressed in terms of their c01nponents in that coordinate system. For example. a vector A in a three-dimensional ~pace nllly be expressed in terms of its compom::llts (al. a 2. (1 3) and basis l'eClOrs (el. l'2. C3) (c, are not necessarily unit vectors) as'
(2.2. r)

When the basis vectors of a coordinate sy~tem are eonstant~. i.e .. with fixed lengths and directions, the coordinate system is called a Carles ian coordill(/(e system. The general Cartesian system is obi ique. Whellthe Cartesian system is orthogonal. it i~ cal led rectallgular Carlesian. The rectangular Cartesian coordinates are denoted by
(2.2.2)

The familiar rectangularCartcsian coord inate system is shown in Fig. 2.2.1. We shall always lise a right-hand coordinatc system . When the basis vectors are ofunil lengths and Illutually orthogona l, they are ca lled orlhonormal. In many situations an of/hOllorma! basis si mplifies calcu lations. We denote an orthonormal Cartesian basis by

(el. e2, e) or (e,. e,.. c;)

For an orthononnal basis, the vector A can be written as

(2.2.3)

111'111.1'

where Cj (i = 1,2,3) is the orthonormal basis and A, :JTe the correspondingpilysiml compo (i.e .. the components have the same physical dimension s as the vector). Although the analytical description depcnd~ upon lhe chosen coordinute system and nmy appeardiftcrent
' Vectors and mal rices in Ih;, book arc wrillen w;lh tx)ldfacc ktler>;.

32

... ~ IN"R()DLt"lIO~ TO nil

I'Ir-;lTh

I.U"'II: ~ r

\WrI!(H)

l<"iJ.:urc 2.2.1 A rectangular Cartesian coorLiinale sy~ttll1. ( I,. x~. Xl) = (x. v. z); (e,. e2. e l) = (e,. i\. e ) (Irc thc unit ba~i~ \cctor;.

in another type of coonJinate sy~tem. one must keep in mind that fhe 1(l1\"S ofl/afllre Me il/dl'{If'llllent of Ihc I"I/Oice of coorilinale sy.l"fcm. [t i~ u~efulto abbreviate a summ:l(ion of terms by understanding that a repeated index mean .. summation over all values of that index.

TIIlI ~.

the summation

A=
can be .,hortened to

LAiC ,
;=t

A = A,c,
The repeated index
i~ a dUlllm), illrie.f and thus can be replaced by ha.\" lUll already been I/Ied. Thu ~. we c:m abo write
1II1 )'

(2.2.4)
Olller symbol thm

and

:0.0 on. The "dot product" sy~tcm arc defined hy

c, ' Cj and "cro!.s product" e x cJ ofba.~e vectors in a right-handed ,

e , Cj E O'j=

"

. 1 0'

ifi :f.j I.if; =}

(2.2.5)
(2.2.6)

C, x Cj =E'Jt " t
where Ii,j
i~

the K/Vllecker delta and

rJj~

is the {//tel"lltlting symbol or (Jl'rIIllllmio/l symbol

I.
t'Jl

- [.
O.

if i. j. k are in cyclic order :lI1d not repea led (i :f. ) :f. k) if i,}, k are nOI in cycl ic orner :md not repealed (i :f. j =1= k) if any of i. j. k are repeated

(2.2.7)

C!IAI'fEk, M ATIIEMATI ( AL

l'kn.lMI~AkIES.

INTIT.RAL FOkMIlLATIONS . A ND VA R I "TIO NAI. MI; rll()f)S

33

"
-+;t--~--y

'

Figure 2.2.2 Cylindrical coordinate systcm.

Differentiation of vector functions with respect to the coordinates is common in science and engineering. Most of the operations involve the "del operator," denoted by V. In a rectangu lar Cartesian system. it has the form v = c - + c . - + c. -

" ax'ay

' 11:;

(2.2.8)

It is important to note that the de l operator has some of the properti es of a vector. but il docs not have them all because it is an operator. The operation V(x) is called the grtu/ielll of a sca lar fun ction whereas V x A(x) is ca ll ed the curi of a vector function A. The operator VI = V . V is ca lled the Lap laceoperator. [n a 3- D rectangular Cartesian coordinate system , it has the form (2 .2.9) We have the fo llowing re lations between the rectangu lar Cartesian coord inates (x. y.:') and cylindrical coord inates (r, fI, 2) (see Fig . 2.2.2):

x = rcosO, y = rsin O. z=;:

cr=cos(} c.,+sin (} c y.
ct! = - si n () c~+ cos(} c "

(2.2.10) c;: =c, (2.2 . l [) (2.2. 12)

ac Mr

= - Sill 0 e ,

.,

~~ + cosO cJ = eo, -aell = dO

- cos& e , - slI1 & ,. = - e, e

,.,'

and all other derivatives of the base vectors are zero. For more on vector calculus. see Reddy and Rasmussen ( 1982) and Reddy (2002). among other references. 2.2.2 Boundary Value, Initial Value, and Eigenvalue I'roblellls The objel:live of most analy ses is to determ ine unknown funct ions. ca llcd depelldelH )'(Jriahles. that arc governed by a set of differential eq ualions posed in a g iven domain Q and some conditions on the boundary r o f the domain. Often, a domain not includ ing its boundary is called an open domain. A domain Q with its boundary r is ca lled a closed domain and is denoted by = Q U r. A funct ion 1/ of sevcral variables (x. y . ... ) is said to be of class em (Q) in a domain Q if all ils part ial derivatives with respect to (x. y .... ) o f order up to and indudi ng In ex ist

34

,\N IVTIIO[)l,1C""TIO" Til Till' FINITE l;l JiMk"T \1i"rIlIllJ

and are ("o",il/l/(/I/.I' in r.!. Thus. if 1/ is of cla~s CO in a two-di mens iona! domain Q. thcn II is continuous in Q (i.e .. iJII/iJX and iJII/f))" ex ist hut may not be continuous). Similarly. if II i~ of c!as~ C 1, then It. iJll / i)x. and 011 /0)" cxist and arc cOlltinuous (hence. 2 u jiJx 2. iJ211 / iJ)" 2, and 0 2 /1 /ay;)x ex ist but may not be eo ntinuou ~). When the dependellt variables are function~ of one independent variabl e (say, x). the domain is a Iinc segme nt (i.e .. one-dimensional) and the end poi nts of the domai n arc cal led boundary points. When the dependen t variables are functions of two inde pendent variables (say. x and y). the domain is two-dimensional and the boundary is the closed curve enclosing il. In a three-dimensional domain. depende nt variables arc function~ of three coordinates (say x. y, and ;: ) and the bou ndary is a two-d imensional ~ urface. As d isc u s~e d in Section 1.2, a differential equation is said to describe a boul/dary Fallll! pmbll!ln over the domain Q if the dependent variable and possibl y its deriVaTives arc required 10 take specified val ues on the boundary r of r.!. An illititt/ mIlle probll!lII i~ one in which the dependel1l variable and poss ibly its derivmives arc speci fi ed initially (i.e .. at time t = 0). In it ial val ue problems are generall y time-dependent probl ems. Exampl e~ of bou ndary and initial val ue problems were discussed in Section 1.2. A problem can be both a bou ndary value ;md ini tial value problem if the dependent variahle is subject to both boundary and ini tial co ndition ~. Another type of problem we encounter is o ne in which a differential equati on governing the depende nt un known also contains an unknown parameter and we arc required to find both the dependent variable and the parametcr such thaI the dificrcntial equati on and associated boundary conditions are satisfi ed. Such problems are ca lled eignll'alll l! {JlOblems. Examples of various types of problems we encoun ter in ~cience ;1I1d engineering are given below (the mathe matical classi fi cation of differential eqUal ions into ell iptic, parabolic, and hyperbolic i~ of no interest al the moment).

Uou nda ry Valuc Problcms. Sfl'ady S/{lfe lIem .,hlll.Ver in 1I nn and Axial Deformation of a IJar [Fig. 2.2.3(a) [: Find u(x) thilt satisfi es the second-order difi'crential equation and /Joundary conditiolls:

-- adx dx

d ( dU ) +clI=f
11(0) = 110

for

0 < .I" < t

l/u

(2.2. 13a)

(a:;:},
for

L =

(2.2.13/)

RelltiillK of Elastic Beamx IInder Transrerse Load: Find /I (x) that silli sfi es the fo urth -order differential equation and bOllndary collditio/1.\:

d -d' , ( 1, - ,
dx '" dr

/1) +cll = f

O < .I" < L

(2.2. 140)

11(0) = 14 0 '

(-dU) ... dx
=1111).

= d()
=0

d dx 'u)] [dx ( d ,/1, -2

2 hd

( dx 2

U)
x
L

= 110

(2.2.14b)

Steady Hem Conduction in a 1im -DimensiOlllll Region and Trall.wers/! DeJlectiom of a

M ellliJrallc [Fi g. 2.2.3(/))1: Find II(X. y) thai satislies the second-order partial differential

CHAl'n,R l : MATI1EMATICAL PIli:tJMIc.ARIIO\. INfl iJRAL FORMULAI'ION S, AND VA RIATIONAL MI'TIIOI)S

35

O = (O, L)

f---' "
(u)

A one-dimension;!! domain

r,

,
----

'.
r=r" ur~

,,
(h) A twodimcnsional domain

,,'igurt' 2.2.3 (a) One-dimensional

dOI1l~in.

(b) Two-dimcnsiomtl domain.

equalion and boundary (:ondirions:

-

a [ -fix
II(J

("u) + -a ( au)] + C// = !

{/t :--

dx

iJy

(12:--

iJy

in r2

(2.2.150)

II =

on

ru.

iJ// ( 01 :-- 11, (Ix

+ (/1 - 11 "

au) =qoon
(Ix

I~q

(2.2.15h)

where (n..- . fI,) are the direction

eosinc~

of the unit normal vector Ii to the boundary Find 1I(t) that

r 'I'
the

Initi<1I V~luc Prohlems. A Geneml Fir.I't -Order Equation: first-order differential equat ion and illitia/ cundiliulIs:

~atisfie~

du
(l -

d,

+ ell = !

for

0 < 1S T

(2.2.100)
(2.2.lbb)

11(0) = liD

A Geneml Second-Onle/' Eqll(//ion: Find 11(1) that sat isfies the second-order differential equation and inilia! colldil;oll.\":

a-

dll

+b - l +cII = ! dl dl
11(0)

d 2/1

for

O< / .:::: T
= 110

(2.2.17,,) (2.2.17b)

= 110.

(b -dU) dl

/ = ()

36

A.~ I~TROIJUCTION 10 'l'lIll'lNITI, n. I~\II;~T \1FTlfOfJ

Boundary and Initial Vlllue I~robl cms. Vl/stulliy Neal Trall.~rer ill (I Rod: Find u (x . 1) thilt satisfies the partia l differential equation and inilial and bOllmiar}, ('OIIlJitions:
-~

a ( au) au ux a ~ +p -;-= /(x.1) dx ,)1

( a dll)

for

O < x < L. O < t ::: T

II (X,O)=1I0(X)

(2.2. I Sa) (2.2.ISb)

11(0,1) = do(t).

= qo(t),
,=1.

dx

Unstcady Motio/l of a M embrane: Find II(X, y. t) that satisfies the partia! d ifferential equmion and initial and bOllndary ('{Jndi/iollS:
-

a [ -ox

(au) +-;- (au)] +P '7""2=f (x.y,t) a (/r ;a 'u al ox ily iJy 01

( al
011 II x

inQ,O < I =:J

(2.2.1')(/)

ax

+ (/ 2 :)11 1/,, ) = qo(t) on r 4

dy
li(x. y.O)=vo
I.

(2.2.19b) (2.2. I ')c)

II(X.),.O) = (/0.

where the superposed dot indicates a deri vative with respect to tillle

Eigenvalue Problems. Axial Vibmliom of a Bar: FinulI (x) and A thllt sati~fy the differemial equation and bOllndary cOlldi/iIiIlS:
-

dx

d ( (1 -

"u)
dx

- AII=O

for

0< x < L

(2.2.20a)

11(0)=0,

((I~:; ) '=I. = 0
( a2 ~ au)]
oy
AIl=O

(2.2.20b)

TrallSI'Crsc Vibm/iofIJ of a Membran e: Find II (X , y) and)., that satisfy the partial differential

equation and bOllmlary conditions:

-

a (/1-;[-;- (au) ,Ix ax

1/

a + -;oy

in n

(2.2.2 1a)

=Oon

r".
Ii

(2.2.2 1b)

The values of A are called eigell!'(l llIes. and the associ ated function s
fi lllcliOIl!J.

arc called

ei~ell

TIle set of specified function s lind parameters (e.g ., a, b. c, p, f . 110. do, ((f). Vf). and so on) are ca lled the data o f the problem. DitTerential equations in which the right-hand side f is zero are called hOl/lvg('IIeolis differential eqill/liolls. and houndary (initial ) conditions in which the speci fi ed data is zero are call ed homogeneous boundary (initial ) conditi ons. The l'xact solmioll of a differential equati on is the fun ction that identically satisfies Ihe differential equation at every point of the domain and for allt irnes I > O. and sati sfies the ~pec iti e d boundary and/or initial condit ions. 2.2.3 Integral Identities Integration by parts is freque ntly used in the integral Connu lation of d itTerential equat io ns. [n two- and three-dimensional cases. integration by parts is carried o ut with the help of

C"ItAPTI:R!, MATItHIAIKAL

l'RUJ\II~A~IL~ , l~ll:C.RAL FORMLLnj().~S. AI'D VARIAT IOI'AL MbTItODS

37

the gradient and divergence theorems. [n this sect io n. we derive somc useful identities for future use.
Integration-by-Parts Formu[ae. Let II, v. and w be sufficient ly differentiable fun ctions of the coordinate x. Then the following integration-by-parts formula holds:

" 1
a

w~dx = d"

dx"

(2.2.22) dx web) v(lJ) - lI'(a) v(a) " dx Thi s identity can easi ly be estab lished. First. note the following ident ity from the product rule of differentiation: d dll' dv = V -

l' 1 " " + 1

wdv = dw
II

vdw + [wv]~

dx

~ (wv)= - v+lI' ~

dx

dx

Therefore.

d dll' - " dx dx dx Integrating both sides over the imerval (a. b). we obtain the identity in (2.2.22)
II' ~ =~ (I\'u)

(Iv

h 1

II'

du dx =
=

"dx

l' [ ~(Wv) "dx d " dx

" 1i1 1 - (wu)dx - " " tix = Iwvt, - 1h

dll' -vdx

dw dx

v] dx
dw vtlx " dx

Next. consider the expression

h 1

d2u dx = d 2 w ~ "dx "dx

W -

1'1

(till) dx = 1h dv dx
~

w -

dx

"dx

where v == ~; . Using (2.2.22), we obtain

1
1>

W -2

d2u
dx

dx = -

1h
h

"

vdx " dx
" dx dx
2

tlw

+ web) v(b) -

w(a) v(a)
- lI'(a) -

= 0'

1
4

du dl!' - - dx

+ w(b) -

dil l
dx
I>

d" dx a

(2.2.23a)

', 1

till dw d 11 - - dx = II' - , dx " dx dx "dx-

1h

+ 11'(0) (111 1 2
w
2

- lI'(b) -

tix "

tilf I dx b

(2.2.23b)

Similarly.

& a dx 1
1)

d4w

dx -

- 1&.:f.... ti
v ,

1
"

"dx- dx h d211
V -

dx

dx

dx

38

,\1'1 l'fllI.Ollt nlO" TO

nil. I'IKm-UJ.M[xr \tlTtlUIl

where

/I

=:

'!/-!t. Using (2.2.23a) with

W

IV

= v. we ean write the right-hand side as

We u'\C (2.2.23b) wi lh

1',

" d .l' dx = /I and /I =

1
1>

(III (III

t/.r
IJ

+ v(b) -till I

till - 11(0) -

I
- lI(a)-

(2.2.240)

Jl!1 ,, -~

h -

(Ix

+ lI(a) -

h.
2

dil

dx " dx " 10 wrile (2.2.24a) as

- 11(/) -

h ,
t/

dil l + hl l di ,
lI(b) (/2 11" /tlx 2 2
1\'

dil l. h

(2 .2.24/)

and. Fmally. repl:lcing

II

/J 1/J -d (/~v I d " I d~1I'2 I -d" I " ax t/x ' {/x 1 ,,--(iI" = "dx- - -2 t/\+ - - -dx " - - - h dx h
d11V

by its actual value II =

w
2

we arrive at

'

d'l\' + !.(b)--

ax ' h

dx ~

(J

('\~'I - V(tl) - -

(/x l"

(2.2.25)

Gradient a nd IJivcrgcncc TheofCms. Le t V and 'V 2 denote. rc\pcctively. the gradient operator and the Laplace ol>ermor in the two-dimensional Canesian rcct:tngular coordinate
~ys t cm

(x. y) :

V= c , - + c . - .
~

_a _a
ax ' oy

(2.2.26)

where c<and c, denolc the unit basis Vl,.C1 along the x and y coordin:lles. re!.pective ly. ' 0rs If F(x . v) and G(.L y) are scalar funct ion ~ of chlss CO(n) in the tv. odimcn.'.ional domain Q shown in Fig. 2.2.3(bJ. thc following gradient and divergence theorems ho ld.

Grudie/ll Tlleorem

1
Q

gradFdxt/y =:

1
11

VF dxd\. =

I, II j,.

(1.~
(2.2.27a)

1(
Q

aF OF) C, -.-. + c, -.- dxdy =

ih

ay

Ie
n

(II "

ex+ 11 ,. c,. ) r

1/8

The second equation implies. because two vectors are equal if and only if their components arc equal. that the foll owing relatio ns hold:

1
11

~F
(Jx

tlrdy= ,l" , Ftls.

'fro

l oy

OF -.- dxlly=

Ier

II)

F tis

(2.2.27b)

/Jiverg4!lIce T/'l'lJrelll

1
Q

divGdXdy= l
Q

VGdxd), =

I, " Gds j,.

(2 .2.28(/)

(2.2.28b) (1I". G,+II,G,,)ds r Here the dot denotes the 'iCalar product o f VL"CtOrs, n denote.'. the uni t vector nonnal to the ~u rf;l ce r of the do mai n S1; II < and II \ (G_, and G.,,) are the rectangular components of II (G): and the circle on the boundary integral indicates that the integration i., taken over the entire
11

-+ de 1(-de, -.--,)
ax iJy

dxdy=

boundary [see Fig. 2.2.3(b)1. The direction wnllcn .. "

11.,

cos ine~ II ,

and

II ,

of the unit vcctor it can be

= cos(.1. n) = c,' n.

1I " =co!>(y. li) = c,, ' Ii

(2.2.29)

where cos(x. n). for example. i, the cosine of the angle between the positive x direction and the unit vector il . The following id entitie~. which can be derived u~ing the gradient and divergence theorems. will be useful in the sequel. Let IV and G be ~,tlar function" defined in a two-dimensional domain n. Then

l
and where D/iln

(VG)II'IIXd\'=- l(VU')G'IXIIY + n

i.

r li wGds
1. ~G Yr. all
II'd.f

(2.2.30(1)

-1
n
denote~

(V 2G)

Il'

llxlly ==

1
fI

VII" VG dxdy -

(2.2.30b)

the nurmal derivative operator.

-== li .V=I! ~- +II,

iJ

i)

[II!

ax

vy

(2.2.3 1)

The following component form of (2.2.30a), with an appropriate ch:lIlge of variable:.. i.. u\Cful in the ~uel:

&I\I;ltio n~

(2.2.32a) and (2.2.32b) can easily be

1 a~ 1
n
fI
11'

a.\

(I.HI), =

II'

iJG (/xII.\' == iJy

-1 -1~
fI

all' ax
ay

G llXlI.\'

fI

'frG llxlly + 1. II " II' G tis J;.

e~tabli,hed

+ 1. II, II' G ds

(2.2 .32a) (2.2.32b)

by means of (2 .2.27b).

2.2.4 Lineu T und Uilin('ar FUllctiollals

Consider the inlegml expression of the form

1(11) =

11.

fl(x.II.II ' )llx.

11 = 11(.1') .

11 '= -

(III
(1.\

(2.2.33)

where the integrand P(x. II. Il' ) i" a given function of the coordinate x (i ndependcnt variable), dependent variable II. mId its derivati,'c dll /l1.L For a given real function II = II (.l). I (II) is a real number. Therefore. I ean be viewed as an operator that tr:lnsfonns functions 1/(.1') into real numbers. ,md such operators :Ire ca lledjilllctiOlwl.l'. We shall u..e the term "functiona l" to describe fun ctions delined by integral, who~e argument~ lhcmsclvc~ arc functions. TIlliS, l oo~cly <;pca~i l1 g, a functional i~ a "function of functiuns:' A formal dcti ~ lIilion from functional analysis is that a functional i, an operator I mapping functions 1/ from a linear vector space into real number fie ld. Thc follow ing integrals qualify as functional:.:
1(11 ) =
I(u. v) =

l ' (dU 1(
p (x) "
Q

+q(x)// ~

(/.1'

')

d.\ + PII(a)

du d" /1(X,y) - - +q(X.Y)1I ) (Jxdy+ dXlix

1
r

Quds

(2.2.34)

40

"" "l1tonUCTlOr'n 0 1HL FI'III1o IoIJ,\II ....' "lillion

where II and II are the dependelll variable" and all OIher parameter:. are ei ther constanlS or function ... of JXlsition. A functional 1(11) i" "aid to be lincar in II if and only if it sati<,ties the rchllion
I(all

+ fJ1)

= al(lI)

+ fJ/(u)

(2.2.35)

for any real numbers a :lnd fJ :lIld dependent variables II and u. Examples o f linear fUl1c tiollah arc provided by
1(11) =

11> f(x)

II

tix +q ll(b) .

1(II .v)=

L
II

(f(xY)II+q(xY)II)dxliy

Note that the functionals

1,(11) =

1
1>

(III

II -

d .I.

"

dx

12(11) =

11> [(x)
"

(Ix +c, c is a constant

do not qual ify a~ linear functionals (why?). A functional 11(11 . Ii) i ~ ~aid to be hilincar if it is linear in each of its arguments and u:
IJ(all ) + /J1I2' v) = aB(1I1. 11)+ {l fJ (1I2.
IJ (II.
I)

/I

linear in the fir ... t argument

(2.2.300)
(2.2.36b)

av,

+ /J1J2)

= aB(II. vd + /J fJ (II. 1.'2) linear in the -.(.'Cond argument

where II. II,. 112, (I. VI. and 1!2 are dependent variables and a and f3 are real numbers. Note thai a bilinear functional nccc",arily cOnlains two arguments (dcpendclll variables). and it mu", be linear with re"pect 10 c:lch argument. Example" of bilinear forms are
B,(II. v) =

B2 (1I . v) =
BJ( u . v ) =

l' + l' (P(.,)\I . v+

(fJ(X)IIU

q(x)

" "

tix dx

rllI~) dx + kll(lI)v(a)

'1(x) tl u . dx

v) dx

(2.2.37)

10 (p(X)1I .
."

+ q(x) V u . V' v ) d x
2

TIle fUllc tionab

I,(u . v) =

[' [
(J

p(x)rI

+ q(x )

("")']
dx dx dx

dx

' 2( 11 , v) =

l'

(P(X) lI '

II

+ q(x) dv

. rlv) (ix

(2.2.3R)

/ ,(11 . 1 = 1)

L[p(x,-,,) (~:;y v+q(.l..y)u}IX(/)"

iL~

are nOI linear in their argulllent". A bil inear fom, IJ (u. v) i" "aid to be symmetric in
IJ('I. v) = B(v.lI)

argumenlS II :md v if (2.2.39)

for all II and v. Examplcsofsymmctric bilinear forrns arc provided by B, (II. v) and /1,( 11 , ,.) 1i ~led above. Note thaI Ih(u. v) i ~ nOI symmetric.

CIIA!'!li!! 2: MAIlIE.\IAIICAL l'II.hllMI .~,\I!Ib.>. INI EG!!AL ~"OK'>tULATIONS. AND VARIATIONAL \lIlTIlODS

41

A quadratic fun ction<ll Q(II) is one til<lt smisties the relmion (2.2.40) for all real numbers a..

2.3 ELEMENTS OF CALCULUS OF VARIATIONS

2.3.1 Introduction
Calculus of varia tion ~ is a branch of mathematics that deals with extrema and stationary behavior of functionals. As discussed in the introduction to this chapter. there are many prob lems that can be posed only as finding the extremum of functionals [sec. for eX<lmple. the Bmchis/oc/mme problcm. gcodesic pmblem. and isopcrimclric problem discussed on pages 129 <llld 130 of Reddy (2002)J. The field of solid and structum l mechanic~ heav ily depends on the use of energy principles th;lt <Ire s1tltcd in terms of finding the extrema or ~tationa ry value~ of functionals to construct finite element models (e.g .. the prim:iple of minimum tota l potential energy. the principle of maximum IOtal complement<lry energy, <lnd the Hu- Washizu and Hellinger- Reissner mixed variational pri11(:ipIes). The direct v<lri<ltiorwl methods like the Ritz method use v<lriatiolla\ principles 10 obt<lin approximate solutions directly, bypassing the derivat ion of the governing equations. In this sect ion we study the concept of variat iona l operator and its properties, first variation of function;lls, and Euler equat io ns resulting from the condit ion of vanishing of the fir~t variat ion of a functional. In the interest of keeping the scope of the study within reasonab le lim its, only ncees~ary concepts are covered. Although the mmerial covered in this section is not absolutely necessary fo r an understanding of the finite element method, it is deemed useful. at least for those readers who have sol id and structural mechanics background, to understand the concepts from calculus of variations. Other readers may sk ip the sect ion and go directly \0 Section 2.4.

2,3,2 Variational Operator and Fi rst Variation

Consider the function F(x, II. II '). For an arbitrarily fixed value of the independent variable x, F depends on 1/ ;md II'. The change lOt! in II, where is a conslanl and v is a function, is called the 1'(lrillliOIl of u and is denoted by tiu (see Fig. 2.3. 1):
till

== 11

(2.3.1 )

Thc operator 8 i ~ cal led the mriatioll(l{ opemlor. The variation 811 of a function II represents an admissible change in the function u(x) at aji.xrd value of the independent variable x. If Ii is specified at a point (usually on the boundary). the variation of /I is zero there because the specified value cannot be varied. Thus, the varimion of a function 1/ should satisfy the homogeneous fOnTl of the boundary conditions for II. The variation 8u represent~ a I'irtll(l/ but admissible change in u. Associated with this change in /I (i.e., when II is changed 10 1/ + v), there is a change in F,
D."~
=0

F(x,

/I

+ fV, /I' + ('v') -

r(x, II. u')

42

"'II I"'I"ROIlL(:'nOl' TO lll1: HMTf fU tdf'T \lIT1tOO

*'
".

UIX) '"

-\-..
./
....

11(.l) t a'tA)

.......
IIIX;

..//

Figure 2.3. 1 The vurimi()n, of 1/(.\").

Expanding in power, of fi give .. (Ireating

,

1/

+" IJ and II' + fU ' a.. dependent fU1Ktions)

,a F
(fill)! ;)2F

dF = F(x.II . u) + fil l -

au +'" - + ----, a,,' 2! iJl/" (H)(H') iJ l F (EV' )! a ~ F + 2! o/lau' + ---., +. - F(x.II./I ') 2! au of
iJF
(2.3.2)

iJ F

where

fim . ~()RI

ill/ VI/' (fi) = O. TheJir.\lwlriarioll of F is defined by

. F(X,U +H'. I/'+U' ) - P(X .II. II ')] [lin [ ._0
= f

= f V- + fl, ' _ + fi R1 (f)

/jF=fi

[_

IIm - ,0

t:.F]

=
TllU~.

P-

UF
illl

or ar + II' ilF) = - / j u + -Em '

01/'
iJ /I

01/ '

(2.3.3)

the lir~t variation of r can be written in term" of the variation" of the dependent v.triable II and it~ deri vative~. Note that in the 8pccial Cll.<,e when F = II. Eq. (2.3.3) give .. the re~ult ill Eq. (2.3. I ). Funher. note the analogy between the liN variation. (2.3.3). and the lolal differential of P,

II F = - d.r + - till + - till' (2.3.4) ih iJlI ill/' Since x i)' /101 mrit'11 during the variation of u to /I + dU. d r = 0 :lIld the analoy between Jj P .tIld (1/: becomes apparent. i.e .. Ii (Ic ls us {/ tiifferl'IIlilll nperalor Willi respect /I) dept'lllll'lH "lIrillhles. The above discu~ sion can be extended to two dirnen ~iun~ and to functiom F tlml depend on more than one dependent variable in two or more dimensions. Lel F = F(x. y. II, II. !/ II,. II,. I) ,,). where II = u(x, v) and II = 11(.\. v) are dependem variable"

JP

(JP

ap

nIAPTE~ 2: \1ATIIE~1ATICAL !'KELIMINAKlf.s. INTIi.;KAI.IVRMIJI..A1l0NS. ANIl VARIA1l0NAL METHODS

43

and u, =

iJulox, II, =

au loy. and so on. The first variati o n of F is give n by

+iJF

of of = -ou 011

au

aF ! H -~ u,

au, '

+-

iJF

all..

ou...

+ -0/1 " + - ~u ,'

ou"

ar

iJF

au,

II can easily be verified that the laws o f varia ti on of "urns. products. mtios. powers. and so fo rth are completely ana logous to the corresponding laws of di fferentiation. For example. if F, p] (II) and IS F2(1I). then

o(F] F2 ) = of , o lS o(F] F2 ) =o F] r2+r]~F2

') (F -_
F1

(2.3.5)

of] F2 - F] or} , Fi

o(FJl n =

n ( F 1)n-l oF ]

If G = G(II. V. 11') is function o f several depe ndent variables II. v. and w (and possibly their derivatives) . the tota l variation is the sum of the partial variat i on~:
~G

=8" G +8" G + 0", G

(2.3.6)

Furthermore. the variational operator can commu te wit h differential and integral operatON (as long a s the coordinates x and yare the fixed coordinales):

dx

- (~l1)= - (EV)=E- = EV

dx

! 111 (X) dx =
Q

dx

dv

l' ~II(X)
U

,=011 = 0 (d") dx
I

(2.3.7a) (2.3.7b)

dx

The first variatioll of a fUllctionnl can now be compu ted readily. Cons ide r the functiona l in Eq. (2 .2.33). The fi rst variation of 1 (11) is h 81(11) F(x. II. 1/ ') dx o f(x. II. II ') dx

= 01
Q

=1/J
U

1 ( ~ F O+ ~~Oll') dx " il
" ,) 1/

rill

(2.3.8)

More specific fun ct io nals arc cons idered in The next example. f2xa mIJle 2.3.1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __ Consider the
fuoctional~

in (2,2,34). We whh to find their fin;t variations. We huve

/H(II) =
8/ {1I. I))

/," ' ( <I'" dx

[[P (x. y) J~

p(X) -+ 2q(x)l/~1/

) dx+P5u(a)
(2.3.9)

1
"

(~!.!. + ~~) + q(.t, ,\8VJdxdy dx dx dx (Ix

Q,sud,l'

Note that funCliQ.I'!S of po~i tlon, p and q. do not lI11lietgo variati,.I!l becau,.;e They an:: not functivns of th e depcmJeot variable~.

44

"" 1 '~TlmmJ{TION

I() f il l i"lNrn' h[,L\lIONI

~!lml()1l

2.3.3 Fund a mental LCllInla or Va riational Calculus

The fllluioll/cllfal felllil/{/ of('(//clllJ,.\ of ml'imiollscan be :.tated as
/llIIelioll G (x),
fo l low~:J(Jr{IIIY illft'RmlJle

if lilt' SftUt'III('1/I

holtls for WI.' arbilrllrr rmllilll101I5 fllllUioll '1(.1'). for all x ill (a. h). 111t'1I ;1 fo/lo\\'.\ Ibm G(x) = 0 ill (ll. b). A simple proof of the lemma follows from sc ui n~ '1(.1'). which b arbitrary, equ<l 11O G. We have

', 1

" G(x) I/(.X) dx =0

(23.10)

1i>IG(X )1 2 dx = 0
Since an integral o f a po,ith'c func tion, C!. is po.o.itivc. the above qatement impJic, that
G(x) = 0 in the domain Q = (l,. b).

A more general ~ta t eme nt of the fun damental lemma in {/ < \ < band I/(d) i.. arbi trary. then the ~tatemcnt

i~ a~

follows : If I)(X) i.. arbitrary

lh
im p li e~

G'Jdr+ B (ll)I/(lI)=O

(2.3 .1Ia)

that
G=O in (I <:r < b and lJ (ll)=O

(2.3. l lb)

bcC:IU...e 1/(.\)

i~

independcru of 'J(ll).

2.3.4 T he Euler [(Illatio ns A" "tated in the introduction. certain probJem~ arc formul:lted a~ o ne of seeking the ex tremum of functionals (i.e .. functioll'i o f dependent unknown" of the problem). For exam pie. problems o f solid mechanics can be fOrinu ialL'<i a ~o ne of minimi l..ing Ihc 10lal potential energy of the sy~ lcm (Reddy. 2002). Typically, the total polential energy (functional) i~ written in t erm~ of the d( .. placement field and applied 10:I(.Is. Then it i" UM:fulto derive the different ial eq uation .. t hat govern the di"plm.:ement fie ld from thi~ minimum principle. Ilcre we outline the l>teps in obtaining such equations. Consider. for example, the problem o f finding a function II = II(X) such Ihat
lI(a) = II". lI(b) = IIh

(2.3. 12(1)

and
I (II) =

1&

F(.\. II(X).

/I '

(x (Ix

(2.3. 12b)

is a minrmum. In mwlyling the problem. we are nOI interested in all funct ions II but only in those fu nctions that ..atisfy the stated boundary (or end) condition ... The set of all such function~ i, called. for obvious reason~. the set of compt'tillg/lmctiol1\ (or "et of adrnis~iblc fUllction,,). We shall denote the set oy C, The problem is to seek an clemenlll from C \hal render. I a minimum . If li e C (the symbol e means 'an elemenl of).lhen (II + r:v) eC for every v ,atisfying Ihe conditions 11(a) = v(b) = O. The ~ pace o f all such elements is called the space of admissible variations, a~ already mentioned. Figure 2.3.1 ~hows a typical competing function ii(x) = I/(x) + fV(X) and a typical admissible variation vex).

U1AI'n.R 1: MArlinlArI<:AI.I'RU. I \l l~ ,\RII~~. IVTl'GRAI_IURMJ.:I.ATIOXS. AM) V,\WIATIO,\AI MHllom

45

Let I (II) be a differentiable functional in the

sen~e

that

dl(u+V,Ui+V i )
exist~,

\0

<I, and let C denote the space of competing functions. Then. an elemen t II in C yicld a relalil'e minimulII (maximum) for I(u) in C if
l(u) - I(u) :,: O

i~

said

(::;0)

(2.3.13)

If I (il) assume~ a re lat ive minimum (maximum) at /I E C re lative to clements u E C. then it follows from the den nition of the space of admissible varilllions 'h and Eq. (2.3.13) that I(U+EV) - I(u) ::: O
(SO)
(2.3.14)

II

for all v E 'h. IIvll < e, and Ii a real number. Since 1/ is the minimizer. any other function E C is of the form ii = 1/ + v, and the actual minimizer is detennined by setting = o. Once II(X) and vex) are assigned. I (ti) is a function of alone. say I(E). Now a necessary cond it ion for I (ii) = I(E) to attain a minimum i~ that dl() d (2.3.15) - - = - 1/ (u +V) I= O d dE On the other hand, I(ii ) attains it~ minimum at II, i.e" =0. These two conditions together imply (dl ()/d) I. ",o = O. which is nothing but (2.3.16) Annlogous to the suffic ien t condition for ord inary functions. the sufficient condit io n for a functional to assume a relative minimum (maximum) is Ihat the second variation 8 2 /(11) is greater (less) than zero. The second variation 82 1 (u) of a fun ctiona l I (1/) is given by 2 8"/(11)", 2 [d z / (U + (2.3.17)

dE

V) ]

.~)

for nil VEC and real numberE. It is clear thm any candidme for the minimizing functional shou ld ~atisfy the end conditions in Eq. (2.3. 12(/) and be sufficient ly differentiable (twice in the present case. as we shall see shortly). The set of all such funelion~ is the set of ,ldmissiblc functions or competing functions for the present cn'>e. Functions from the admi~sible ~et can be viewed as smooth (i.c., differentiable twice) functions passing through points ((I, II,,) and (b, 11/, as shown in Fig. 2.3. 1. Clearly. any elcment u in C (the set of competing funct i o n~) has the form
(2.3.18)

where ~ is 11 ~ma ll num ber and v is a sufficient ly differentiable function that satjsfie~ the homogeneous form of the cnd conditions (because it must sat isfy the specified end conditions) in Eq. (2.3.12a)
v(a)=II (b) =O

(2.3.19)

and II is the function Ihm minimizes the functional III Eq. (2.3.12b) . The set of all functions v is the set of admissible vnriations, 'h. Now assuming that. fo r each admi ssible function U. F(x, ii, iii) exists lind is continuously differentinble with respect 10 its arguments, and I(u) takes one and only onc real value, we seek the particular funct ion /I(x) that nmkes the integralll minimum.

46

A~ 1~nl.UJ)V(:flO_"lO'IIlE rl.~n'E ELE\lI:NT MmlOI)

The neccssary condition (2.3.15) for I to attain 11 minimum gives

0=

dl("+''') 1
dE
,,.,(j

[d J' F(x,t/,il)dx ,] -I
(E"

<= 0

where ii = u fV. Intcgrating the ~econd lerm in the last equation by parts to transfer diITerentiation from v 10 II. we obtain

" -- -J ("Fa" +an,,') +

~
a

iJu OE

iJu' ilf

,=0

d.\"=

J' (aF ill')

"iJll

,, +-u'dx 0/1'

(2,3,20)

0=

" au " J [aF

II

---

dx

d (JF)] dx+ ("I'" ) I' Oil' all'"

-

(2.3.21 )

The boundary term vanishes because v is zero at x = a and x = b Isee E,([. (2.3. 19)1. The fact Ihal v i~ arbitrilry inside the interval (ll. 0) and yet the equation should hold implies. by the fundamental lemma of the (;alculus of variations, that the expre~sion in the .~quare brackets is lefO identically:

ilF --fJlI dx

d (ilF) = Oinll < x < b all'

(2.3.22)

Equation (2.3.22) i~ called the Eufa cqllalioll of the functional in Eq. (2.3.l2b). Of all the adrni~sible functions. the nne that sati~fies (i.e .. the solution 01) Eq. (2.3.22) is the true mini mizer of the functional I. Next consider the problem of linding (II, v). defined on a two- dimen~iOl1al region Q. such lhal the following functional is to be minimized:
1(II .u)= l ';(X,y. lI.u . II . v.

II )" V~)(IXdY

(2.3.23)

where II, = iJlI/UX, II , = ull/ily , and so on. Fur the moment we assume lhat II and u arc specified on the boundary I~ of Q. The vanishing of the tirst variation of I (II. v) is written as
~/(u.

v) =

8~/(u. u)

+ !i,./(u. II) = 0
(2.3.24)

Here !i" !i I =

~H1d

!i,. denote (partial) variations with respect to II and u. respectively. We have flF -,-!ill Oil aF [JF aF iJF iJP) + -,-~II ). + -,-~ u, + -,- 8d -,- !iv, + - -!iv, dxdy ,

1(
fl

du "

.Ju,,

au

ilu).

Jv,.

The next ~tep in the development involves the use of integration by parts. or the gradient theorcm Oil the ~c(;ond. third. tiflh. and sixth terms in Eq. (2.3.24). Con5ider the second term. We have

1
0=

AFa!" - - dxdy = n au x ax
=

1["
-

n Ox
:1

(OF ) - --;a -, -!iu 1)11 , ilx

!l

(ill') ]dxdy
[Ju,
~II

};. au"

1.

F01111" d.I' -1 ~ (D F) 811 duly iJx ilu .,

J iJy

(23.25)

Using a simi lar procedure on the other terms and collecting the coefficients of !i ll and!iv separately, we obtain

"" 11[iJ; Q

ax

iI

(i1F) a;;:

(i1F)] !iu ~

Since (II. v) arc ~rccificd on r, 1511 = 81.1 = 0 and the bou ndary c:<p rc~sions van i ~h. Then. since all and 01} arc arbitrary and independent of each other in Q, the fundamcnwl lemm:1 yie lds the Euler equation~

l + [( i -.
r

ap + - - -"(OF) - -a (OF)] tiv au ax ou. &y iJv ,.

till,
ill' II ,

dxdr .
(2.3.26)

+ -.- \ II, iJlI

.'1')

all

OF)] + (ap II, + -.- , II, 81.1 tis aI', ,111

a;; 01.1 :
-

of 0 (aF) iJy ("F) = 0 iI ~ JI/ , ill' "("F) a.\' ~ = 0 "(aF) ~

iJx j)x

(2.3.27(/)
(2.3.2711)

OIJ,

2.3.5 Natural and Essential Boundary Conditions

First. consi der the prohlem of Illi ni mizi I1g the functional in Ell. (2.3. 12h) subject to no end conditions Ihence, an clement tJ of the set of admissible variati on is arbitrary even at the end points, i.e .. v(a) = () and 1I(11);i 01. Then the functional I (II) hll~ the fonn
I (II) =

lb .
t!

P(x. II(X). I/' (x dx - Q" lI(lI) - Q b lI(h)

ncce~sary

(2.3.28)

where Q" and Qh arc known values. The yields Id. Eq. (2.3.21)J

condition ror I to attain a minimum

o ~ l' ,,["F _ dx ;)/1 ~(iJ~)]dx + (iJ~")I" " d" ;)""

Now suppose that ::~., and

Q" "(,, )- Q,,,,(b)

(2.3.29)

arc ~elcctcd ~uch that

v = Oforx=a,

or ) . ( - -- - Q" iJu'

("I' ) au'
- - Q/J

v = Ofor:r=b

(2.3.30)

l hen using the fundarncnt:lllemma of the calcu lus of v:uiat ion .... we obtain the ..ame Euler equation .... in Eq. (2.3.22). Equations in (2.3.30) arc ~tti),ficd identically for any of the following combinations:
(I) t'(a) = 0.

lI(h) =0

(2) v(a) = O. -

ilFI, -QI
illl'

'

=0

(3 )

- iHel .. au'
-T""7 "

Q,, =O. v(b) = O

(4)

The requirement that v = Oat an end point isequivalelll to the requirement that" is ~pecitied (to be some value) althat point. 11,e end conditions itt (2.3 .31) arc classified into IWO lype.;:

"1 '"

Qa = 0. -.;) If '

"F I, -

Qh= O

(2.3.31 )

48

M~ I'ITI!ODUCTION TOTIII: IlNITE ELE.\1HIf MhllIOI)

eHel/fia/bollndary condiriol/s. whidl require v (and poss ibly its dcriv;Jtives) to vanish at the boundary. and I/mllm/bollndary ('ol/dition.l'. which rcquire the l.pecitication of Ih(' ('o('fjif'if'11I

of v (a nd possibly its derivatives). Thus, we have

Essentia/ BOllndary COllditi olH:

speci fy v = 0 or Natllra/ BOll ndary Condilion :>:

/I

= Ii on the boundary

(2.3.32a)

JF spec ify - - = Q on the bound;Jry , (2.3.32b) dll' where Q = - Q" <It X = (/ and Q = Q/J at x = b. [n a give n problem. only one of the four combination s given in Eq. (2.3.31) can be specified. Problem~ in which ;JI! of the boundary conditions are of the essential type arc called Dirichlel houndarY-I'(lllIe pmh/clI/.\'. and those in which al! of the boundary condit ions arc ofthc natural type arc c;J1 led Nf'wl1(J1111 boutJdm),willi' pmb/em.l'. Mixed bOllndarY-I'a/lle pmblems arc those in which both essential and natural boundary cond it ions are ~pccitied. Essenliat"boundary condi tions are also known as Dirichler or geomelric boundary condit ions, and natural boundary cond it ions are known as Neumanll or (1),1/(/lllic boundary conditions. As a genefill rule. the vanishing of the variation 11 (or !ill) at a point implie~ that /1 i .. ~pc(;ilied there (in gencT;JI. to be non7cro). The specification of II on the boundary constilu t t:~ the es~ent iaJ boundary condi tion. Vanishing of the coetlicient of the variation I! in the boundary expression conslitUies the natural boundary condit ion. This rule applies to any functional in one. two. and three dimensions. and 10 integT;Jnds thai arc functions of one or more dcpendent variables and their dcrivat i ve~ of allY order. Next con~ider the function~ll in Eq. (2.3.23). and ~u ppose that (11. I) arc arbitrary on 1 for the moment. It is easy to identify the natural and c~sen tial boundal)' condil i o n ~ of the problcm from Eq. (2.3.26): In each of the pairings 011 boundary [~ . specifying Ihe first clement (which contains no variations of the dependent variables) con~titu t cs the naluT;J1 boundary (;ond ition, and van ish ing of the ~cco n d e lcmen t (or. equivalently. specifying the quantity in front of the variat ional operator) constitutes the essenti;JI boundary condition. Thus. we have either
II

= iI (spccified) =

~o ~o

thai /ill = 0 that

1!

v(specified)
(IF
-fir

ov =o
0"

""
0"

r r

(2.3.33a) (2.3.33h)

oc
JII,

+-

ilF

Ju,

fl,. ~ O

r r

(2.3.340)
(2.3.34/))

- 1/ .+ -

JF

JF

ou,'

ou,'

~O

on

Equations (2.3.33a) and (2.3.33h) represcnt the cs~entia l boundary conditions and Eqs. (2.3.34(1) and (2.3.34h) the natural boundary conditions. The pair of e lemcnts (II. 1') are called the prill/ar\' I'ar;ah/es and

Q,

== -,-

JF
1/ <

all ,

+ -,- n,
<lll,

OF

and Qy ==

JF
- 1 1 ,.

Jv,

+ -n,
iIl',

iJF

UIAI'rI:R Z, M,\TIIU,lATWAI WU.lMINA RII:S.I~lOORA I FO KMULAOUNS . ANI) VilltlXnUNAL MI:i"lIUUS

49

are called the secundary va/"iable.\. Thus, ~pccification of the primary vllriables constitute essential boundary conditions and ~pecificat ion of the secondary variables constitute natural bound<lry cond itions. In general. one clement of each pair (II. Q ,) and (11. Q,) (but not both elements of the same p<lir) may be specified at any point of the boundary. Thus. there are four possible com bin<lti ons of natural <lnd essential boundary conditions for the problem under discussion.

esample 2.3.2

an el;tJitic bat (If length 1-, mOdulu~ o( elasticity E, and area of cross. s.ection A, that it is fixed at the leO: cnd, spring ~uppvrtcd at the right end, and wbjecled to di~lributed axiallO<ld f(x) (~ee Pig. 2.3.2). TIle total po1en[ialo::ncrgy functional n"" +V I,If the bar is (here we a~umed that one. knows hO\l- to write the lutal putef)lial en~rgy of the
M~ume

Con..~idcr

bM)
n(II):;:,

l ' [EA ("")'

Q 2 d.r
-

- ill

] d.t + -111(L)j, k 2

(2.3.35)

where II denotc~ the axial displaecn.lenl of the bar. The fiNl tcon in O(u) represents the stnun encrgy U .stored in thcbar.lhc second tcon dcnotc~ the work done Von the hurby thedi$.trihuted load f, lind the 1:1$1 term denotes the ~train energy $!ored in the linear chi.Mic ~pri.ng. We wj~h In detenninc U1C Buler equation of the bar by requiring tbat O(u) be a minimum sllbjer.:llo the gc()melfir.: boundary condition u(O) = 0. The stalCJl1ent 1m ",,0 if; known as fit/'. principle (If minimulli filIal (I()femia/ !'I!ergy. The tits! variation of n il, gi\'en by

<"mu) =

'(, , , , , , ) 1
Q

Ii.A - - - flul dx ,h

(Ix

+ku{l~){;u(l.)

'.I'hcrc Oil is ilrbitntry in 0 < x < J~ and 111 .r ;=< L bl.!.t smisfies the conditiun l!ll{O) "" O. To lise the fundamental lemma of variational caJeulu", we tnU~t relieve Oil of any dit'fercnti(ltiOIl,

,
~,t{O

r-

lI (l.,)

Q,

,-----Qh

, .....--04 "!IlL)

un

...I ,

~---------_.

Qb+ku(l,}..,O

____ '

)<'igIlTC 2.3.2 Elastic bllT problem discu..~ed in ,xnmp[c 2.3.2.

SO

\:>II.V I'ROI .... ,cn OIn OTlIL n 'l lll, U 1.\11 !<II MFlllOl >

Imegrtlling the first term by pan~. v.c lOCI

8n{u)

= =

f. ,[ <I ( "") ] -I 1' [ <I ( <I,,)]

__
l/);

11 _ _ /

1)

dr

/Judx+ A ....... 811 d.r

[<I"]' +ku(/....)/Ju(L..}
I,

1511 -d - fA--:
.\ d\

"

dl +811{L) (;;A - +.l.II(L) d.1 ~"t

[""

- 611(0)

[I:.'A rf!.]
(f.f

,..(I

The laM leon is ;r.em becau'>C /JufO) = O. Setting lhe coc.fficiem~ of lJII in (0. L) and /Ju at x ... L I(ll.cnl ~cparately. we t)blain the Euler equ3ti()n and the n!lturoJ (or f(lrt:l') boundary condition of the problem:

Hiller Equation:

-dx

"

EA (. "")
(Ix

- f~O. O<,r<L

(2336.:d

Nalurol Boundary Co"ditilm:

d/l E,1- +ku( L) =O at x= L d.t
(2.336b)

TIllIs.thl' solution /I of Eqs. (2.3.36a) and (2.3.36b) th<11 S3l j,fies rdO) ",,0 is the mjnilll~J:er of the energy function:,! n (l<) in Eq. (2.3.3$). Equati(Jf\~ (2.3J6a) and (2.3.36b) can be .)bmined direCtly from I~. (2.3.22) and (2) of Eq. (2.3.3 I) (wilh Q/r """ ~kll( /..) :I~ shown in Fig. 2.3.2) by ~ub\t ituling
F(X.II.U } = r : -

, EA (d")' 2 d.
-

- j(x)III.t).

a;; =-1.

[)F'

[)F du - = ,11 _ lJu' ax

(2.3.37)

F.:xamph: 2.J.J

The 10ta[ ptlte!)tial t(lCTgY of a linear ... !a.~tic hQUy in three dimension~, ~ uhJ e.:tl.d 10 body force r ( Illea~ured per unit v(llulllc) lmd ~utf:1<:e traCtion i (mt:asurcd per unil area) on portion Sl of the \urf,lce I~ec Hg. 2.3.3(a)J i~ given by (~ummatiOn (In rcpe,lIeu indice~ is implied)
n {U)

1(~(J'Aj - /,/1.) i
lH' -

i,'I / ,I S
l

(23.38)

whereu, tkoolethe di ~placemc1lt component', (1<1 are the ~tres~ CQrnponen\S l",-'c Fig. 2.3.3(b)]. nnd ell are wain compoocntJ.. It i, a.S~UIlll!d that the body i,~subJCClcJ 1 ~peci fied displacements 0 on the ~mainJng portillO S, ofthc \urfoce. and lherefore the ... ;ttulII di\pla('"eillents vanhh Ihe.re:

(2.3.39)

,
ry~

<1",'"

+ O' _' + (1~. J")'''

,
s,

i'}.

(II) A 3. D dQrnain

(b) StrCl\SCOnlpQncnl&

"'igure 2.3.3

(iI) An e!a.~lic Ihldy with specified dlsplaccrnl!nt~ and tractions. (I The st.rcs~

components al a typical PI)in! inside the bvdy and on thO! bQundary.

(n Bq. (2.338), and in the following di~("ussiQn, ~tln1rz}atioo 00 repeated indices is R!iSUined. Usc

of Ule inde:( notation anI,! the summation convention in the 3. 0 cast saves considcrnblc Space (Le., the explicit form QfEq. (2.3.38) and sub:>equeut maniplllatiQn~ would take consiiJerably more space). 'fhe first tcnn under the volume illlegraJ representS tbe strai.n energy dt:nsity of
the el;~~lic b(Kiy tinct the t>(:cQod term reprc..\cnt,\ the work done by Ihe INdy force r; aod the surface illlegral denotes lhe work dOlle by the specified [melion l

For an iSOtropic body the slressslrain rcJlluOns are given by (the generalized Hooke's Jaw)
t 2JAO)

where II and A are the

Um)(~.

(mate.ri,ll)

CQn~tanL\.

Hence,
(2.3.4 J)

The liTlt'ar ~Irain -displacernenl relatiOns

or the Ijnear Illl.'ory are given by

(2.3.42)

S2

A ~ 1N"1'R< 11>UCT1" N TI l IlIFHMfIl U.LMloNT \WIWlO

S ubstitutin g Eq$. (2.3.41) and (2.M2> inlo Eq. (23.38). we obtain

n (u)

=:

L[~

(u'.J

+ 111.1) (Ill.} + uj./ ) + ~UUljl.~ -

II II,] d\' -

L L

i, II , tiS
(2.3.43)

Now we wi, h to derive the Euler equations aSM)Ciated with ~he functional in liq. (2.3.43) uMng the principle min imum 101&1 potential energy. Ii -= 0 (i.e., nlinimizc flnd &UI '" 0 on SI. Selting the lirst varildiQn of n to I.Cro, we ohtain

or

n)

0 ""

Iv [ ~

(,sU;i

+ &U1.1 ) (II,) + u).,) + )Ji1l,., IIt "

f,

/ill, ] dV -

i{&u, (I S
(2.3.44)

wherein !he prodUCI ruleof van lilion is used and similar ICmlS :ire l"Omhincd. U~ing inlegnation

by

pan.~

~
where 0 )

ou,./ (u . j

+ II j. ddV "" _ f

l~

liu ;(ul.i'" " I,') .) dV

+ 1. OIl ; (U ,.) + u JJ)n ) dS

~

deflOlCS the jth direction cosiue of the unit ooJJrnti to the ~urface. we obta in

0=

1[ -~(U,., + .
+
~ 2
[Jl(II,,!

Uj,l ),l olI , - iCII ,.)

+ "),, ).. & 1 11

j

A.uu,&Uj

111111/] dV

i[e(u,.J+ II /, , )(Oj lill, + 0,lill ) +AII

{ - Jt(u,-} + 1I).d "

O;&II; ]dS

-1 +i

~l

oll i t, dS

~ AIIU, -

,1;11111, dV

0 + II j.; ) +l.vU&/j1 , &11, dS -

L""(~

tiS

(2.3.45)

In alTiving allhc 18Sl 1\tep, a change l)( dummy indica is made In combine lCnm. Recognizing that the e(pttMoion inside the square brackccs of the Cbed!OWfillCe iruegral is ",lChing hut (1,/, and (T'I " !"" Ij by Cauchy's formula !which ill nothing but a Stalcmenl Qf the equilibrium Qf fCJrCe!\ 011 the lClrahcdraI clemenl~ see Fig. 2.3 ..l(b)J, we CIlD wnw

i ,,6u, dS ; {"AII , dS t Ts ls,

0 ""'
&UI

l~

{ 'I &t.,dS = {"h,dS

1.",

The integral over S, il; 7.Ctu by vil1ue of Eq. (2.3.39). lienee. we t..w

Iv [.-

Jt (11,./ + 11,.1).1 - ArtUI ..

h] &1I,dV +

""I (1/

.. il )dS

Using the fundammtallcm .... o( cakulull of varUition5.. we lid the coeftk.ients 0( 611, in V and

on S:! 10 7.efO separar.ely and "blain

Jt(II/.1l

+ II 1.1, ) + Allt, l, + A "", 0 in V

'1 0 1

(2.3.46) (2.3.47)

-' ;I "" OnnS:!

(1)1'1 = 1.2,3.

Cll.~I' ll;R 2: \IATlItiMATI CAL 1,\!liLIMINARIES. 1~"TOOIV.I. POKMUI ATIONS. AND VAHIAI1QNAI. MCHIODS

53

Equations (2.3.46) are the well-kllown Navier's eqllat(on.\ of eqllilibrium of threed.irncnsiomlj elastiCity. :lnd (2.3.47) ~IIC tbe ttaction OOllndary condition~. 1bc explicit forms of Eqs. (2.3.40), (2.3.42). (2.3.46), and (2.3.47) in a rcctangll l ~r Car1e~ian coordinate system {x, y, Z) illt g iven below {XI =.t. Xl"" y. -I) ""':C;, 11:= f~, f! ;::. f), b "" f " I'1n =l1u , On =
O~,

= ":'"

and:>tJ on).

StressStrain ReMtions (HQQke '~, lAW for an Ortholropic. Material):

a"
ClI
Gil

en

0
0

fu

"...

et! e n
=

."
(1,..

a"

a"
material by
stiffnc~s

0 CD C11 CJ..' 0 0 0 0 0 C 0 0 0 0 0 0 C~S 0 0 0 0 0 0 eM

en

0 0

Sn

,,,

{2.3.48a)

Y.~
y~:

Y"

Whefe y,)- = 2e~t, Yq ",,2e~, aJ](! y .. -= 2sf ( are the engineering shc:lr strains. The clastic

coefficients Cfj are knOWn in terms of the cngirn..'cring material c(mStanlS

11-)1

+ Vl l Vu =

Vu

+ VIlVl)
(2.3.481)

t ,A.
1- vn\!;ll
EID~ A '
1 ~ VltV:!1 riEl!::. '

128.

en ""

L-

!lUV"'!1 -

li:!)il-Jl - 1'31 110 - 2V,IV~2VI3

1:: 1 2 '
Here eh e,!, and ) are Young'~ m(X1uli in I, 2. and 3 material directions, respectively; v<J are Poisson's ratio~. defined a~ the ratio of transverse stmin in the jlh direclion 1 the 0 axial str3in in tbe-Ith direction when stressed in the ilh direction; and G n , Gil. and G I1 are sbear tnvdl.lli in the 2 ), 13, and 1 2 planes, respectively. In addition, the following reciprocity
rcJaliml ~

among the cngint:efing Conslanlll h<,ld: (2.3.49)

For the isotropic ca:>e, we have i 'l "'" fl = E J "" , G I2 = Gil "'" G n = G, and I'l l = lilJ = V:!.l c:: v with G = O.5E/(1 + v). 1llc Lame con~tanlS ~ related to the engineering constants by
(2.3..50)

where K is the bulk modulUli.

54

A" INlkOl)l. CTIO~

TnnlE ~u..n Ef.LE\lr,.T \1111I0l)

Slraill -Di.\'PwcCmenl R elnliQI/s.'

t' .. .,. ~:

"

<1J

I t:...""';;

(au "') : 8"""1"I (".. +a,) ; .. -+:- itt QY 8.r Ql.

i}0'" (jq,. -1--

~.""-

-+'("" '''') 0::

Q.v

(2.351)

where (il.

V.

\1') arc the d~splatcrtlc nts of II p{lim alollg the (x.

y,

t ) coof{! jnatc~. re~pccTiv(:ly.

Stress Equilibrium EquQlilHU:

ax ily

+ -'a~ + ),= 0 ' ot

-:;-+-, +-;"':'+f1~O .,.t Y "z

(jqu

i!q~.

va,.,.
aa

(2.3.52)

---- + --:;. + - n + f- =0 ' ax ily 0::

Siren 7'roclim, Relnlions
(Cauchy'~
ff~~II,

ihr..

1J(f._

f(lnu ula; SI.'t F'ig. 2.3.3);

+ 11,,11 . + <1.<:;:11, "" I,

(2,353)

"n l1 ,+"",I!. +<1,.,.n "" 'r

o,~n, +C1t-II.

+fT,,,II . ""

2.3.6 Hamilton's I'rinci ple The princip le of minimum total pote11lill l energy is limiTed to staTic e(lui librium of ,o lid~ . Hlimi ItOI1'S principle is a generalization of The principle of virtual di~p laccments (<;ee Rl..-ddy. 2(02) 10 dynamic, (i.e .. lime-dependent re~pon se) of solid". 111 princi ple a ""um e.~ that Ihe e system under cOINderat ion is characteri}ed by two energy func tions: killelic l'1Il'ry:y K and IWlelU;a/ ellery:y n. For comill/fOlu !>ys t e m ~ (i.e .. !>y~l e m ~ that cannot be de<;cribcd by a finite number of generalized coordinates), thc cnergies can be expressed in terms of the dependent variables (which arc f un{:l iOIl~ of position) of the pr0b lelll. Newton'" second law ormolion for a (:olltinuolls body can be written in general terms as
1<' - 11111 = 0

(2.3.54)

where III is Ihe ma)o~.:t the accelewlion veclOr, and F is the resultant of a/l forces acting un the body. Thc actulil p:lth u = u (x. I) followed by a material ~Irt id e in position x in the lxxJy is varied. c{) n~i~tent with kinematic (eSM: lltial) boundary conditions. to u + O . where ou il is the adrnis~ibJc variat iOIl (or virtual di~placement) of the p.. th. We suppose Ih:lt The varied path dilTcr)o from Ihe actual palh exccpt III initial and fina l times, II and '2. rcspeclively. Thu'>, an admissible variation ,s l! sa ti s li c~ the condition~. ,s u = O on

r .. for all I

(2.3.55(1) (2.3.55b)

,su (x. ' 1) = Ou (x. '2) = 0 for all x

CllAl'flk l - ~1,\ I 'tlHIAI'ICAI.I'R[\. 1 \11~AkI1;S, l"ll'GkAL l<JI<MLLATIOJ\S, AM) \',\1<11\1 I()~AI. MFI'I\OI)~

SS

where ru denote~ the portion of the boundary of the body where the displacement vector is specified. Note that the ~caJar product of Eq. (2.3.54) with ou gives work done at point x, because F. 3 . and U afe vector function~ of position (whereas the work is a scalar). Integration of the product over the volume (and surface) of the body gives the total work done by all points in moving through their respective displacements. The lI'ork dOllc 011 Iht, body at time I by the resultant force in moving through the virtual displacement ou i~ given by
II

l v r'O ll dv+lr. i."Uds - l v ;;:/iEdV

(2.3.56)

where f is the body force vector, i the specified surface traction vector, and C; and are the stress and strain ten"or~. The "double-dot product" has the meaning;; : Of = a;j8j;. The last tcrm in Eq. (2.3.56) represents the virtual work of internal forces storcd ill the IlOdy. The st rains "8 are as~umed to be compatible in the sense lhat the strain-di"placement relations (2.3.42) arc satisfied. The work done by the inertia force 1II11 in moving through the virtual displacement /i ll is given by

a2 u P- , v 01-

,oUIIV

(2.3.57)

where p is the mass density (can be a function of position) of the mcdium . We have the result

l "[lp3U .'SU dv+l(r.!U - ;;:'8')dv+l1.!UdSld' ~ O v v

'I

01

01

r,

(2.358)

In arriving at the expres~ion in Eq. (2.3.5S). integration by pan~ i~ used on the tir~t term: the integrated terms vanish because of the initia l and tinal condilions in Eq. (2.3.55b). Equation (2.3.58) is known a~ the general form of Hamilton's principle for a conlinllou~ medium (conservative or not , and elast i.: or not). For an ideal elastic body, we reca ll from the previous discussion~ that the forces r and I arc conservative,

ov =- ([ r./iUdV+
and that there
cxi~t~

t,i'''U dS)

(2.3.59a)

a strain energy density function Uo = UO(E;) su.:h that

oUo(t'ij) = - - OE;j = a'jOE,)
OFi)

avo

(2.3.59b)

Sub~tituting

Eqs. (2.3.59a) and (2.3.59b) into Eq. (2.3.58), we obt<tin

" ! 'lI K _ (V+U)lll =O

where K and U are the kinetic and
~Irain

(2.3.60)

energies:
01 , UndV

K= r !!..Oll . au dV, u =i

l v 2 aT

(2.3.61 )

Equation (2.3.60) represent!. 1 lamiltol1s principle for an clastic body. Recall that the of th~ ~trail1 encrgy and potemi,11 energy of extcmal forcc~. U + V. i~ called the total pOlential energy, n. of the body. For bodie~ involving no motion (i.e., forcc, are 'Lpplicd sufficiently ~It)w l y ~uch thm the motion is indel>cndcllI of time and the incrt ia forec~ arc negligible), 1 lamilton', principle (2.3.60) reduce .. to the pri nciple of minimum total po tential energy:
~llm

8W+V) $ s n = o

(2.3.62)

The Euler equa tion,. known as Ihe Euler- ulgrallRc N/U(l/;om. a:.,ocialed with Ihe L"lgrangian L = K - n, can be obt:lined from Eq. (2.3.60):

o = 8 ('I IA u , "Q u , iI) (It

j"
=

"[Iv (p ~:~ -

<liv;; -

f) .8u
r=

d II

+ [ . (1 - i) . ou tis] (It

12.3.63)

where integration by part:.. gradient theorems. and Eqs. (2.3.55(1) and (2355h) were uscd in arriving;ll Eq. (2.3.63) fro m Eq. (2,3.60). Recause 8 u is arhitrary for 1./1 < 1 < t ! . for x 111 V, and al~o on 1\., it follow, that
iJ~ 1I _ p- divn iJr !

(I

in V

1- 1 = 0

oor"

(2.3,6-1)

Equations (2.3.64) arc Ihe Eulcr-Lllgrangc cq u:ltinlls for an cl:1<,1 ic body Icl". Eq. (2. :t46)1Next. we con,ider a specific example of applil:lItion of Ilal11illOn's principle [see Reddy
(2002)].

Example 2,3.4
d3~ticilY

Consider the allia! ml)lion tlf an ela!;l!!.: O:lr of Ie.ngth L, arc;! of cr(>;..~ ~lion A, modulu<; of . 3IJd ma~' tkn,ily p, and loubjec\c-d 10 distributed force j per unit fenglh and an end 10lld P. We wi~h to delemline !lIe CQUntillllS of mOlion t'i)r th e bar. 111(; kinelic and towl potential energies of the ~ySlem are

(2.3,65u)

f2.3.65b)
wherein /4, Q . . , and E" arc assumed to be
U{O, t) "'"
$.<$

funCliun~

of x only. and

0 (bill" i~ fixed at \. =-0)

ilu

= -

8l

(strain.diloplal:crncnt rel;lIjon)

(2.3.65c)

CHAI'Tnt" MATH~\lATICAL 11<ELlMI~AkIrS. INTEOMAL fOR~lULATIO:'S. !1.~lJ VAMIATIO~AL Mm-IIUUS

57

SubStituting for K ~(Id

n from

E<l~.

(2.3.65(1) and (2.3.65b) into Eq. (2.3.60).

we obtain

0<=

" 1 11."[
'I "

AParT! - A(1 b (",,) ax a" ""

+ jr,u J + P5u(O dx

til

(A(1~~ - P)1. . . 1. 5U([.) } dl

(2.3.66)

where 5u(Q,t)=O and QU(x. 1t)=5u(x. 11) ::; 0 are used to simplify the expression. The Eulrr~ Lagrange equati{)n~ Itre obt,lined by sctting the coeftkient~ of fjJj in (0. l,) and at _f =- L to lero ~epar:udy:

(2.3.67a) (2.3.67b)
for all / , 11
< I ..:: t :\. f"tlT

linear elastic materials, we baye (J~,,= E6u=E(fJuliJ.x). and

E-qs. (2.3.67a) and t2.3.67b) beC(lm~

-

81

"( a,,) a ( ''') f ax (A::) ~"L - P

pA [jt

- -

[j.t

EA-;--

=:

O.

(2.3.('Ka)

do

0
(viIiCOu~

(2.3.68b)

Now ~uppOse [hat the bar also c;t:pcriellccs a nOllCont'<TValive proportiunal to the velocity.

damping) fon:e

;" F = -1-' ___

;,

(2.3.69)

where Ii- is th e dilmping coefficient (n constant). Then the Euler-Lagrange cqualion~ from

Eq. (2.3.58) are given by

--(pA- - - ( EA"'""- ) - 1 + 1(.- = 0. ' "") I) , "
ill ill

ax

ax

at

(2.3.70u)
(2.3.7Ob)

( '''')
Af. -;iJx

- P = f)

. ",,1.

58

\\ I~ 1~UlJl. ClI()\

Hl 1111, 11\1 r L LLI MI:"!' \Wrlll )l)

2.4 INTEGRAL FORMULATIONS

2A.! Introduction RCC:l1I from Section 2. 1.3 that the motivation for the lI~e of weighted-integral slatement~ of ditTercnti:l1 equations cOll1e~ from the fact that wc wish to have a mcan~ 10 determine the unknown parameters Cj in the :lpproximate ~olu ti on U,\' = Lj t"jj' The variati ona l r11ethod~ of approx imat ion. e.g .. The Ritz. Ga lerki n. least-squarcs. collocat ion, or. in general. weightetl- residual methods to be discu,sed in Section 2.5 are based on weighted~integral statement~ of the governing equat ions. Since the finite c lement method is a technique for con~tnJcti ng approxi mation functions required in an element wise application of a variaTional method, iT is necessary to s tud y the weightcd- integral formulation and Ihe soelilled weak formulation of differential equation~. The weak formulaT i on~ also facil itate. in a natural way, the chl.~sification of boundary conditions into natural and essen tial typc~ . As wc shall see short ly. thi~ da~s itil'ation play~ :l crucial role in the derivation of the approx imation functions and the ~clect i on of The nodal degrees of freedom of the finite clemen t model. In this section. our primary object ive will be to con~tnlct the weak form of a given differential equatiun and to class ify the houndary condit ions associated with the equatiun. A 1I'{'(lk form is detined to be a we ighted-integral statement of a differential equation in which the dil1"erentiat ion is transferred from the dependent variab le 10 the weigh! function ~u(;h that all natural boundary conditions of the problem arc abo included in the integral statement. These idea~ will be more clear in the sequel.

2.4.2 Weighted-Integral and Weak Formulations

Consider the problem of sol ving the differential equation

_~
dx

[a(x)dll] = f(X) dx
condition~

for

0<x < L

(2.4,10)

for 11(.1'), subject to the boundary

(2.4.lb) = Q/ _ "=1Here (I(x) and lex ) arc known functions of the coordinate x: 110 and Q, are known values: and L is the size of the one-dimensional domain. When the specified value~ are nonzero (110'" 0 or QI- '" 0), the boundary conditions are said to be nonhomogeneous; when The specified va lues are l.ero, the boundary conditioJ\~ arc ~a i d to be homogcneotls, The homogeneous form of the boundary condition lI(O) = 110 is u(O) = O. and the homogeneous form of the boundary cond it ion (adlt/dx )I.: , = Q, is (adll/dxl IA I- = 0. Equations of the type (2.4 ,10) arise, for example, in the "tudy of axial heat conduction in <l rod (e.g .. heat exchanger fin) or radial heat conduction in a long axi~ymmetric cylinder. In the former case. a = kA. WiTh k being the thermal conduct ivity and the A The cro~s sectional area, the L being the length of the rod. For the axi~ymmetric case. a = 2;1 Lkx . .\ being the radial coordinate rand L the length of the cylinder. In both cases, f denote~ the heat generation term, JIll is the speeitied temperature. and QJ. is the ~peci l ied heat. Other physical prublcms arc also described by the "ame equation bu t with different mea nings for the variable~. Typical examples of field problems with a de~criptioJ1 of the variablc~ arc prc~ented in Table 2.4.1,
11(0) =
Jlo,

(a dll) I dx

C'1l"PTH 2, \IATlIIJI,lATW"L I'RELIMINAIIIES, l'-'IHill"L FOIIl>IUl.ATIONS , A:-tO VAIIIATIO""AL \IETHO])S

59

Tu ble 2.4. 1 Some examples of engineering problems in which the second-order equation (2.4.1 (/) and its boumhlry wnditions (2.4.1 b) arise.

- - ( (/ "") =/ for 0 <. \ d

dx IIx
Primary variable

< f.;

11(0)

IIU;

C....,fticicnl*

Sourcr term

Secondary
va,,~flle

Ficld
I. Cables

"
Transverse defleClion
L",ngitudin~1

"
T
l:.A

f
Di'lribuled "enicat force Di,triflulcd axial force Inlernal heal generalion Flow "lUIT" Pressure gradiem Fluid nux Charge den,ity

Q"
A~i,,1

rnrce

2. Ban.

displacement T.'mperature 4. Pipe flow 5. Vi",,,u, 11m", ~. Seepage 7. Ekctro,t"tlc,

'(>
f

,
,

A.\ialload Ilc,l( flux 110w rate Stres, Fl"" Eleclric

tlu~

Hydro,lali,' rres,urc Velocity Huid he;,d Ekcuical potenlial

rn;;

_~ /l'

, "

= Youn{ , moxlul"" A = ,m:a "f er.", ""d,ul!. /) = ""nTleah,!.I}'; anJ , .. dIelectric constant

dla'''''lerofll\e pi",,: k = Il\eOllat cunJuc-{l'lly, /' '" 'J"'O'lly: T

I,,,,,on,

Resid ua l Functio n_

Suppo~c

lhat we seek an approximation of II (x) in the form

N

1/(.1') """

U,\' (x) = L>A.lj(x)

j =t

+ u(.r)

(2.4.2)

and determine Cj <o;uch thaI U,\'(x) <o;atisfies the differential elju:ttion (2.4.1(/). Substitution of UN into Eq. (2.4.1a) yields

d dUN] - - [ (/(x) - - = I(x)

dx

dx

for

O< x < L

(2.4.3a)

Since the left side of the equality is now an approximate value. we cannot expect it to be equal. in gener.lI, to lhe right side of the equality. The difference
R(x,c ' ) = - - a(x) - j

dx

d [ dU,,] dx

1(.1')'1-0

for

O< x < L

(2.4.3b)

is called the rl'Sililla{ of approximation in the differential cqumion. It i~ a function of x llnd Cj . Any approximate method (espei.ially a variational method) ~eeks a set of N equations among Cj by making R equal to LeTO. Since it cannol be made zero idemically alt:vcry point of the domain (as explained in Section 2.1.3). we must find an alternate way 10 find lhe neee<;sary relations among L'j such thaI R is zero. If we require R to be lero at N selected points of the domain. we have

R(x,Cj)=O for X = Xi. i = 1.2.,N

(2.4.4)

60

AN .,.... n<OUUlTlONlUl1H nNm, U 1'\11#1 MFIlIOD

which i\ known as the ,'o/l(H:(lli(Jl1ltu'lhod. Another way 10 m,l~e R l.cro i<; to minimi/c the integral (,flhe square of the residual ( N i\ squared to make it JXlsitive) wilh respcctlO (';:
&l Ed

1',
(j

R 2 dJ. = Our -.i]c)

, l'
II

R!t/,=O

(2.4,5)

The method bOl'iCd on (2.4.5) i\ c:llled the lea.sl-.sqlllln's ml'lJIl)(I. Equation\ (2.4.4) and (2.4.5), each, give N e(IUmions that can be solved for par:lllleter, Cj. Wcigh h.'d-RcsidUlII Mcthod . Yet another way to determine the 1"1 i\ tu requ ire R to v'lIli.~h in a "weighted-residual" scnsc:

where 11', (x) arc a sct of linearly independent runction~, called 11','iglli jimcliOlI.l, which in geneml C:1Il be dirlerent from the approximation functions 1J, (.l). Thi:. method is known as the 1I'('i~ltfed-re'\'idual method. Indeed. the s\:Itement in (2.4.6) include~ (2.4.4) a\ well a~ (2.4.5) :IS speeial cascs. When 11', = 1J" Eq. (2.4.6) is known a~ the G(I/ed.. illlller/u)(l. Thus, we have the following ~pecial cases of (2.4.6):
Pe/ml'-Galerkil1 method:
II'j

', 1 "

1I',(.t) R (.lJj) dx = O (i = I ,2..N)

(2.4.6)

Gaferl.ill's mel/lOd:

11'; 11';

= l/!;f.1J, = 1Ji
= .!!.... (a(x)dl/>,) fix dx
(2.4.7)

Li'lHt .~quare.~ /IIet/u)(l:

Coflo('atiofl /IIethod:

IV;

= 8(.1' -x, )

!-Iere Xj is the ilh collocation point of the domain of the problem and dO i" the Dirac delta funclion defined ~lIeh Ihat its value i~ zero for allllOnl.ero values of it~ argument,:
d(x - xo) = 0 when x- xo,

f:

[(x)o(x - .to) dx = [(x,,)

(2.4.8)

Due 10 the dirferelll choices of U',--even when Ihe 1J1 u\Cd in (2.4A), (2.4.5) ,lIId (2.4.6) ,Ire the same-the system of algebraic (.'qua'ion~ will have different chilrac l cristic~ in diO'erent method. For linear differential equations of any order. only the l eas t-~quare~ method yields a ~yste m of matrix equation!> whose coefficient matrix is symmetric. One Olher method that ha ... the symmetry property i~ the Ritz melhod. which uses the weak form of even-order (second. fourth, lind so on: called self-adjoint) differential equations with w, =1/>,: the Rill method is /10/ a special caseoflh e weighted-residual method. As we ~ha l l sec shortly. the weak form of a ~clf-adjoi nt differential equation alway~ contuins the same o rder derivativcs of both the weight funct ion II' and the dcpendent un~n own II. and the order is equal to half that of the original differential equmion. In the following pamgraph-.;. we discuss the weak ronn development. I)cl't.'lopme nt of Weak Forms. 'n,ere arc three step~ in the development of Ihe weak form of any differential equ'ltion. These steps arc illustrated by me,lIlS of the model differential equation (2.4.1 (I) and boundary conditions (2.4.1 b). Step L (Weighted-integral statement.) This qep i" the same as in a weighted-residual method . Move all tern,,> of the differential e(luation to one side (\0 thai it reads ... = 0), multiply the enlire equation with a function lI'(x), and integrate over the domain n = (0, L)

of the problem:
0=

l' [
()
II'

d du - - (a - )

dx

dx

- ! ] ,I x

(2.4.9)

Recall that thc expression in the square bmd::ets is not identicall y zero since /I is replaced by its approx imation. UN. Mmhel1l:ltically. in (2.4.9) the error in the differential equation (due 10 the approximation of the "lIlution) is made I.ero in the weighted-integral sensc. The integral statement (2.4.9) allows u, to ehoose N linearl y independent funct io ns for II' and obtain N e(luations for CI. ,'2 ..... eN of (2.4.2). Note that the weighted-integral statement of llny dilTerential equati on can be readily written. 111 weighted-intcgral lotatclllcnt is equivalent o nly to the d ifferential e(luution and e does not include any boundary cond itions. The weight function II' in (2.4.9) can be any nonzero integmble function and has no differentiability requirements. Step 2. Wh ile the weighted-i ntegral stateme nt (2.4.9) al lows us to obt:lin the nccessmy num ber (N) of algebraic rel utions among (" j for N JilTerent c h oice~ o f the weight fun cti on 11' , it rcqui rc~ that the approximation functions,pj be sllch that UN [sec (2.4 .2) J is differentiable as many times as called for in the origi nal differenti al equati on (2.4. 1(1) and sati sfi es the speci fied boundary condition". If this is not a concern . one ean proceed with the integral "'atement (2.4.9) and obtain the nL'Cess:.ry algebr.tic CClu;lt io ns for ("j (using anyone of the choices listed in Eq. (2.4.7) for 11' ...... 11',). If we plan to U the approxi mation funct ions,p, for 11''-'" w" it rn a ke~ ownse to shift M! half of the derivatives from 1/ to II' ~o that both arc differentiated equally. and we have fe wer (or weaker) conlinuity requirements on ,pj. The resulting integral form i ~ known as the weak form . Of course, weake ning the JiOc rentiabili ty o f 1/ (and hence ,pi ) i" purely a mathematical (and pemap" comput:ltional) consideration. As will be <;Cen lohorll y. the weak fomlUlm ion has two desi rable char.tcteristic". Fir..t . it recluircs weaker. a!> already indicated. continu ity of the dependent v:.r1:lble. ,1I1d for self-adjoint equat iom (as i" the case with problems stud ied in this book) it al ways results in u symmetric cocfli cient matrix. Second. the natural boundary condition ~ uf the proble m are included in the wcak form . and therefore the approximate solution UN is re(luired to s ;Jti ~ fy o nly the essential bound:.ry conditions ofthe problem. These two features of a weak form play an important role in the development of fin ite clement models of a problem. A word o f caution is in order. Differentiating the weight function inste:1l1of the dependent varillble (in addition to the weakening the continuity requirement'> on (/J,) i!> also dictated by the need to inc lude physically Illeaningrul boundary terms into the weak fonn. regardless of the eOcct on the cont inuity requirement s. Therefore, thi s trade-off should not he performed if it result ~ in boundllry tcrm s that arc not physically meaning ful. Returning to the integral state ment (2.4.9). we integrate the fi rst tcrlll of the expression by parts to obtain

0=
=

l 'I [ d 1"( dwdu

o
II'

- - (a -

dx

dU] - wi ) dx

(ix

a- - - II' ! dx ax

) (i .I - [d"]" dx
1\" (1 -

(2.4. 10)

62

A" 11'1110111 nlo" TO flil !~"lTlin.EMI "T \11 -I IMID

where the interatio n-by-part\ formula Isee Eq. (2.2.22) 1

1'
I)

Wl/V= -

1'
I)

v,JW+ [I" IJI~

b, used wi th v = - lullf / l/X o n the firM terl11 to arrive at the <.;econd linc or (2.4. 10). Note that now the weight runction II' i\ re(luin.'d 10 be dirrerentiahle at least oncc. An imponant pan or Step 2 is \0 identiry the two types or boundary conditions as~ociat ed with allY different ial eq uation ; II(//urll/ and cX.\"t'lI/ia/ . The d l"ifkation is imponant for both the vmiational rnethod~ of approximation considered in this chapter and the tinite c lement formulations presented in the ,ub-;cqllent chapter... The fo llowing ru le is used to identify the natural hou ndary condilion\ and thei r form. Aflcr tr.:adi ng between different iating the weight function I\' and the variable /I of the problem. ex amine all boundary term" of the integml ~t ;llemcn t. The bound<lry tenl1', will involve both the weight fu nction <lnd the dependent variable. Coeilicients of the weight function (and I)()\"ibly its derivativcs for higher-orJer equations) in the bou ndary ex pre ss ion (~) are termed the .1t'Col/tim y mrillh/t'.\ (SV). For example. for the problem at hand the coe ffi cient of II' in the bou ndary term is a(dlljd.r). which is the ~econdary variable. Specification of a M!condary variable on the boundary co n ~ t itutes the Ilfl/umi boul/dary ("(J//(Ii,;o/l (N BC). The dependent variablc of the pl"Oblelll (u). ex prc~.;ed in the W/Ille fimll :t, the weight function (II' ) :tppc:tring in the boundary ternl. i)' called the primary I'(Ir;ablc (IlV). and its specification on the boundary con~t itut e~ the e.~.Ielllitll bOlllldary COllditioll (EBC). For the case under conlo ideration. the weight function appears in the boundary elip res~ion [see (2.4.10)[ :I~ II' (in higher-order equillion ... it may appeur :... \11 in one boundary tenn and a ~ l/II' / c/.r in other). Therefore. the primary variable j, /I (for higher-order equat jo n ~. the primary variables may incl ude II as well:t' (/u j dx). and the e"l>ential boundary condition in\"Olvc.; 'pccifYlllg 1/ at thc boundary points. The \CCondary variables alway), ha\e physical meil1l ing and arc often quantities of il1lere~t. In the ca<.e of heat transfer problcm),. the secondary variahl e represents, heat, Q. We ~h, ill denote the secondary variable by

Q (a dll )" , = dx

(2.4. 11)

whcre n, denote' the direction cm.ine. i.e .. n, = co"in.; o r the angle between the pol>iti\'c .\ axis and the nonnill to the bound;lry. For onc-dimcll\iolllll problelll';. the nonnal :.t the boundary point~ is always along the length of the dOnlai n. Thu ),. we have II,. = - I lit the left end and II, = I at the ri ght end of the domain. It shou ld be noted that the number and form of the primary and secondary variables depend on the order of thc di fferenti<ll equation. Thc /lumber of primary and '-Ccondary variables is alway!> the .....l11c. and with each primary variable there i.. an :.~<;()Ciatcd ~econdary v:.riable. i.c .. they alw:.ys appear III pairs (e.g .. di"placcment and forcc. temperature and heat. and \() on) . Only one of the p:lir. ellher the primary or Ihe <;ccondary vari:lblc. may be ),]>Ccified lIt a point of the boundary. Thu ". a given prob lem can have it~ ~peci1icd boundary co ndit ion~ in one of three cillegorie,; (I) all specified boundary cunJition~ Hre EBC: (2) some of the ~pecified boundary conditions are EBC and the remaining arc NBC; or (3) all specified boundary condition~ are NBC. For a single secondorder equation. a)' in the pre<>cnt case. there i, one primary variable /I and one ","'Condary variable Q. At:. boundary

point. only one of the pair (II. Q) can be specified. For a fourth-order equation. such as that for the classical (Le., Euler-Bernoulli) thcory of beams. there arc two of em;h kind (i.e" two PVs and two SVs). as will be illustrated later (see Example 2.4.2). In general. a 2l11th-order differential equation require 11/ integration by parts 10 transfer //I derivatives from II 10 \\' and therefore there will be III boundary terms involving III primary variablc~ and 111 secondary variables. i.e., m pairs of pri mary and secondary vari;\bles. Returning to EC]. (2.4.10). we rewrite it u~ing the notation of (2.4.11):

0=

1'"(
[)

dw d" a - - - wf ) dx - [dUj'" wa dx dx dx ()

1'"(a

~
"wea~"

l' (a
I)

dw (/11 dx dx
dx dx

II'

f)dX -

(1\'(1(/11",) I dx

., = 0

(wadllnx ,I r) d

dll' dll - \\'

f) dx -

(wmo - (II'm/.

(2.4.12)

Equation (2.4.12) is called the weak form of the differential equation (2.4.la). The word refers 10 the reduced (i.e .. weakened) continuity of II. which is required to be lwice-differenti<lble in the weighted-inlegral S1alernent (2.4.9) but only once-ditlcrentiable in (2.4.12). Step 3. The third amI last step of the weak formulation is to impose the adual boundary conditions of the problem under consideration. It is here that we require the weight function I\' 10 vanish at boundary points where the essential boundary conditions aTe specified. i.e" w is required to sati~ry the /!OIlIORCIICOII.l' form of the specified essential boundary conditions of the problem (recall Section 2.3). In weak formulations, the weight function has the meaning of a virtual change (or variation) of the primary variable 11' ..... ~II. [1'11 primary variable is specified at a point. the virtual change there must be lero. For the problem at hand, the boundary t:Onditions arc given in (2.4. f b). By the rules of classification of the boundary conditions, II = 110 is the es,ential boundary condition and (adlljdx)1 ,,,,I. = QI. is the natur;11 boundary condition. Thu".the weight function 1\' is required to satisfy w(O) = o because II(O) = lIo.Sincew(O) = Oand

Q(L) ~ (a (ix " ,.)

dU
Eq. (2.4.12) reduces to the
expres~ion

I
"= /.

~ (a"") I ~ Q," dx
<= /

o ~ 1'
()

(a dw rill _ dx dx

II '

f)

dx - w(L) QI.

(2.4.13)

which is the weak form equivalent to the original differential equation (2.4.la) and the naturill boundary condition (2.4.1"). This completes the "teps involved in the development of the weak form of a ditrerential equation. TIle terms "variational form" :lnd "weak form" will be u,ed interchangeably. The weak form of a differential equation is a weighted-integml statement equiv:.dentto the differentia! equiltion alld the ~pecified natural boundary condition of the problem. Note tlKlt the weak form exi~t~ forilll problems- linear or nonlineilr- th<lt arc described by second- ilnd higherorder differential equations. When the differentia l equation h linear and of even order. the

64

It~ 1~ ''''IUJm i(jI()' TO 1111- I I ~r rr EI.I.ML"T MITII' 'il

rc~ ult i ng weak form wi ll have a ~'vmll/('/ ri(' bilinear form in the depende ru variable II and weight function 11'. a<., we shall <;ce sho nl y. In ' tun mary. thcre are three step" in the development of a weak form. In the fi rs t ' tep. we put all ex prcss ion ~ of the ditTercnti:l1 equation on one side (so that the other side j" equal to Icro). thCll multiply thce nti rccqu:ltion hy a weight fun ctio n and integratc over the domain of the problem. The res ulti ng e x pres.~ i on i, called the weighted-integral form of the equation. In the '>Ccond step. we use integr.Jtion by pans to di'lribute differenti,rtion evenl y between Ihe dependent variable and the weight furlction. and u~e the boundary tenns to identify the form of the primary and ~ec ondary variables. In the third ~ t e p . we modify the boundary t ertl1 ~ by rest ricting the weight fun ction 10 sati ~ fy the ho m oge n eo u ~ form uf the ~ pec i tied es,ential bou ndary condition, and replac ing the secondary variable, by the ir specified values. It ."ho uld be rl.'Called that a weighted-integral statement or the weal.. fom lof ad in"crential equalilln i, needed to ub tain as many algebraic equations as there are unknown cocnicients in the rtp proximation of the dependent va riables of the equat ion. For diO"erent c hoi l"e~ o f the we ight runction. different al gebraic e(luat ions can be obtained . Because of the restrictions placed o n the weig ht function in Step 3 (w ...... Ii/I ) o f the variatio nal formulation. it mus t belong tu the same sp<lce of function.. as the approxi mation functions (i.e .. II' .... 1/1,).

2.4.3 I.inear and nilinear Forms li nd Q uadratic FunClionals

It i ~ informati ve. although not necessary for the u ~e of va riat ional methods or the !in ite e lement method. to M:e the rd ation between the weal fo rm and the mi nimum of a quadratic functiona l a'isocialed wilh Ihe d ifferential equatiu n. The weak form (2.4.1 3) conta ins IWO types o f ex pressions: Ihu'>C involving !xlth the dependent variable II and thc weight function w, and IhoM: involvi ng onl y the laller. We shall denote the!'.C two types of cxp re~s i on s by LJ (w, II ) :Ind l ew ), re~ pec tivel y:
B (w. II ) =

Hence. Ihe weak form (2.4 . 13) can he ex pressed in the rOml

1
1

(Jw d ll

lI - - l/;{. dx tI.r

J(w)

= (

jn

II'

J (f.:. + w( L ) QI.

(2.4.14)

0 = B(II' , u ) - I (II')

or

B(w. II) = 1( 11' )

(2.4 . 15 )

which i... tcnncd the I"(I rimiOlwl problem aSI;(x:iated with Eqs. (2.4. Ill) and (2 .4. 1b). Using the definit ioos o f linear and bilinear form" from Section 2.2.4, it can be verified Ihat B ( 1\' . 1/ ) i" bilinear and symmetric in w and II and Ihat few ) is linear. The variat ional problem associated with (2.4. la) and (2.4. 1b) can be stated as one of findin g the solut ion II (from a suitable vector ~ pa ce. I-J ) ~ u e h that
IJ(II'.u)=f(w)

(2.4. 16)

holds for any w (i n /-1) th<ll satisfi es Ihe homogeneous form o f the specitied essent ial boundllry eondilions and continuil Y conditions implied by Ihe weak form . TIle fun cti on w can be viewed as a variati on o fthc iJctual solution III = ou. and Eq . (2.4 . 15) can he written <IS
0 = IJ (oll. u ) - / (o u )

(2.4. 17)

If B (.) is bilinear and symmctrie lind

/0 is linear. we have
( (/i ll)

1 B(8u. 14) = lO [ !l eu. II ) ],

= li[f (u) [

(2.4. 18(/)

('\IM'n,N ! ,

\1ATHI~~1ATTCAL PNU.lMINAII.II~~.

INTI;< ;NAL FORMULATIONS . AND VAlI.lAllONAL ME1'lIOUS

65

so that (2.4. 17) ca n be ex pressed as

0 = 8(811, u) - 1(811) = 2"8 [ 8(11. II) [ - 8[ / (11) [ == 81 (II )

(2.4. 18b)

whcre
1 (II) = 2" 8(11. u) -/(11)
1

(2.4.19)

The result in (2.4.18a) can be verified for the problem <It hand:
8(811,11) =

11.
()

dOli a~- dll dx=8 dx dx

(ill

l'
()

a - (dll) ' dx 2 dx

= -0

1(811) =

1'

111. a - - dx= -I 8[13 (II.II)[ dll

0

dx dx
fix

() 1511

I
II

+ /lu(L)Q,.

= 8

[11.

dx

+ II(L)QL] =8 1/(11 )1

Now we can restate the v<lriational problem (2.4. 16) as one of minimi zing the functional 1(II):
81 = 0 = IJ(8u. II) - /(8u).

8 2 / = 8 (8u. 8u) > 0 for 8u

#0

(2.4.20)

Thus, the fun ction u th<ltminimi zes 1 (II) is the solution of (2.4. 16); conversely, the sol ution of (2.4. 16) minimizes the functional. Mathcmatical proof of thcse assertions can be found in Redd y (1986. 2(02). Note that the key step in the de ri vation of the functiona l I (II) from the weak form is the bilincarity and symmetry of the bilinear form B(w , II). Thu s, whenever 13 (11'. 1/) is bilinear and symmetri c, <lnd I(w) is linear. the functional <lssociated with thc variatio nal problem (2.4.1 6) is given by (2.4.19). Whcn 13 (w, II) is not linear in wand II. hut is sy mmetric, the functiona l I (II) can be derived. but not fro m (2.4.19). The interested reader may consult the books by Oden and Reddy ( 1983) <lnd Reddy (1986). For solid mechanics problems, 1(11 ) represents the total potcntial energy functional. and 81 = 0 is the statement of the principle of the min imum total potential energy: Of all admissible fun ction s II , the one that makes the total potential energy I (u) il minimum also ~a ti s f ies the differential equation(s) and natural boundary condition(s). In other words, the weak form of a di fferential equat ion is the same as the statement of the principlc of minimum total potential energy. For problems out~ id e solid mechanics. the functional 1 (u ). if it exists. may 110t have any physical meaning. but it is still useful for mathematical ana lysis (e.g .. in proving the ex istence and uniqueness of solutions). As noted earlier, every differential cquation admits a weighted-i ntegral state ment, and a weak form ex ists provided the equation is of order two or higher. When the bi linear form is symmetric. we will also have a functional whose first va riation set equal to l.ero is equivalent to the governing equati ons. Recall that we can always conslnJct the leastsquares fun ctional associated with any set of governing equations. However. the traditional varimionalmethods and the finite clement method use on ly an integral statement or a wcak form of the equation(s) to be solved.

2.4.'" Exa mples Here. we con~ider ,Ollle repre'ientati"e examples of diffefential equations in nne and two and develop their weal fonm. These examples ure of primary intere~t in the swdy of the tinite clemcnt method in thc corn ing chapter~. All problel1l~ considered hefe corre'pond to one or more phy~ical problems of science and engineering.
diJl1ension~.

,, yltmp!e 2.4.1 (Model Sel'iJml-Ordcf Equ:ltion in One : Conl>idcT the differential equation

Dllnen ~i(}n)

_~
d.\
~ubject

((/dl/) +('11=/ tiT

for O<x<1.

(2.4.2 Ia)

to lhe b(Jundary condilion

( (ldll)+fJ{If-,I",)=QU alx::::L d:r

The data of the problem

(2.4.2Ib)

oonsi,t~ of specifying 4(.1'), c(x). f(.r). Ifo, tJ, II"". and Qo. Pollowing tbelhree ~tcp~ outlined above for the con~truction of variational slatemenL" we obtain

Sup I:

Sll!.p2:

Q~

i' ( d,.. d,
1)

a--+c'I'lI-w/

dx dx

) - [wad']'
dx

(2.4.22)

From the boUJIdary term. It I~ clear lhat thcl>pocification of II i~ iln essential hound:U"ycondition. :ll\d Ihespedlkation of 1I (ill/d.t is a natural boundary condition. Since I<" = 0 at x- ~ 0 (bccau~ II b specified there) and
{J-=Qo-/1(II-lI,,,J at.t".L

d. d.

we obtain

Slep3;

0""

i ' ( "'"
iI

{J--

d.~

d. df

+("11"1/

) d:<-

i'
(l

\"jdx+w(l.)fJ{u(L)-II",,)-w(~)Q{I

(2.4.23.0/)

~'arifllion{/I

Problem and QlIlJdmlil" Fun('fimllll: EljuOItion (2A.23u) can be e.xpressed in the

ronn
8(w. u) "" 1(,.,)

(2.4.23bl

"'here
B(w.lI)

= ((a~~ +"WII) clf +/lw(l.}u(L )

I(IV)'"

it

Jo

dx- (/;,;

(2.4.23(")

wf dx

+ {jw(L)u", + QIJII(I.)

CltA i'r1"R 2: MA'I'It~MArtCAL t~ELt.~IL'IARI ES, 1~I'EGKAL FOK_\lL U.T10~ S. "SU VARtAT1 0'lAL Mh,ItOl>S

67

1"1 is dear !bH! since BXw, u) i~ linear and symmetric in w ilnd /1. RQd lew) i~ linear in w, we call compute the quadr:ltic function:ll from (2.4.l9):

leu)

"".!. Jo , [a (~)l + ell"]dx + ~~[U(L)J~ _ Jf) ' /11 dx _ f;l U(L)U"" _ rl dx ( 2 ~.

Quu(L)

(2.4.24) Equlltions of the type of (2.4.21 0) mise. f()r c-1.arnple. ill the sluuy of the axial t1efonnation of a bar or flow of h\!at in a !)ar. Tn the former case. 1/ deMtes till! a. ... ial displacement. tl the product of modulus of elasticity (E) a.nd area of C(OS$ section tA). aJld c lherc!tiSlancc otl"cred by an ~tcrn(\1 medium to thc a:o;jal defonymlion (often, c == 0). In tbccascofhcat flow,li dl!notcs the !I!mpcrature (T). a the pTQ{!uct of Thermal condudivIty <k) times the aTCa of cross ~clion (A) ofthl! bar, and ~ is the prod!!!:! offilm conductance (j3) times the perimeter (P).

The next example illustrates the variational formul atio n of a fo urth-order differential equation governing bending of elastic bemns according 10 the Euler-Bernoulli beam theory [sec Reddy (2002) [.

Example 2.4.2 (Euler-Bernoulli Beilm)

COli!iidcr thc pr1)blem of l'inding the funClit)rl w(x) thai

1 d', [h(X)d Ix" dx

saljsfi~

the differential (.'tjuillion

(2.4.25)

W Jlt, _ q(X)=O ,]+C

for 0 < ;1.-

This equation arises in the \tudy of Ule elaStic beoding of beams (under the Euler Bernoulli hypothesis thaT plane ~ections perpc-ndku lar to the axis ufthe beam bcfnrc dcforl1\ation remain plane :lncr defonnlltion), ""here w dcnot<ls [he Ir-lfls\'erse deOliol) of the bean), 4- is the length of the beam. hex) > 0 i~ the flcxurtll rigidity of the beam (i.e., the product of modulus of elasticity E and secolld mQment of ine(tia 1). {;, i.i the foundatiO\l modulus, and qC-rj is the tr1UlSverse distrihlJleU load. a" shown in Fig. 2.4.1. At the moment. we dQ nQt have to cQII~jder any sptxifk boundary conditions of the problcDI.

Figure 2.4.1 Camilcytr beam with a SCI of l~lads.

Sinn~lhccqu:lli(jn contains a f/)unh ..{)r<icrden\'aliv'C. we should imcgrftlcillwicehy p3rb to dhtribute Ibe dcrivalh'es equally hetwccn the depcnd<'nt \ariable w and the wdghl function I'. to Ihi~ case. IJ must be twice differentiable and ltatisJy the hom(>~<eneou\ (onJ} of M SBC. Multiplying f2.4.25) by I,', and integraling the lirst tcnn by p~rt$lwice wilh rtlSpccllo.t. we obtain

Stel'
Sup

I:

r~ 11) "

2: 0* f
~

[( -:~~) :f (b~ll~)
l!.f-

[:; (b~) + crill' - til dx d.l dx

+Cjl'I" -

(1.4.26)

vq] dx+ [II :, (/,~lt~ )

d).
IJdx 1

l ' (d'"
()

1
I)

--.b~+cllJK'~ tq

d'~ dx 1

v - "'"'j' ) d_t+ [d- (d'"') - d" b tlx

,Il]

(2.4.27)

From tile 101" line. it folluw~ lh:Jt the specification of w /lnd dw jdx {geometric or Malic} boundary condition", and lhe spcdficali,JO of

~'ol\'liluteS

the essen/ial

-" (b-, "'W) d_1 dx

(~hI!ar

fun:c)

and

/)

--"'2 (d" )
dx

(bending moment)

(2.4.2&1)

conStitutCS the natural boundary C(lflc.iilions for the 1:!tIler-Bernoulii bcilm theory. Now ooo, jder iI ~pecilic beam problem. let lJ~ clln~ider II beam fixed II! the left eod and subjCCted Ii) l1itn~ ..erse force and bcnthng mQmcnt at ;t' =- L, us ~hOwn in rig. 2.4.1:

(-dW) I ..,0. J.I ......u

[:x (b~:~)l~I.=
"'O)=("~) d.1

-F.I
(2.4.2lfb)

Mo is the bending. ITlI,tneOI and Fo i~ the tran.werse. load. Sinl."e K' and d'lo,/dx (both are primary \-ruiable.~) are sp:cilied at x::co 0, \\o"e requu-e the weighl functiQll I' IlOd its dui"alwe dlJ/d ... to ilezero there

whe~

I ="
.-.1)

'11c remaining two boundary coodilions in (2.4.28b) are. natural boundiu)' place no resrricLion\ 011 II and IV. deri"atl\i,:!.. Thll~. f"%!. (2.4.27) becomes
SlrI1):

CQOditilln~.

which

0=

}a

r(bdl~d2: +i:j I1W-lrq)dX- I'{l.l f o+("')1 ,. I M. dx d:t d.r

(2.4.29)

Var;miQIItlI Pmhlem {Ind QuoJrlll;r; FunCliMdl: f:qualion (2.4.3Oa) can he writlCn in lbe form

(2.4.30..,)

8(11. w) 1(1!)

l '(
()

1, hd'w --:; dx' d.f

---r + ' :1111'1 ) d:r

=- ( . vq dx + uU.)fQ JIJ

('!!) I
d .t

M.

(2.4.3Ob)

, .. I

ClIA1'TI:R

~_ MArllr.MATI("A l PRrU\II I\A RI I;S, l .m :GI<AL FOIl.\1U.ATIU % . A .'JJ VARI AlIU:-iA I. ~l hTH()I)S

69

The functiona l, Io.nO\\n as the total pott'n1jllJ energy of the beam, Is ubtained using (2.4. J 9):
(2.4.31 )

Note that for the fourthorder equ<.ltkm. the CSliential boUJldary conditiOJ\S jnvoJv<:c nOt Gilly thedependent variablc but also it.~ first deriv;ltive. A~ pointed put earlier. alllny b(Il)l1dary point. only \lne of the \WO boundary conditions (e~~ntia.l or naturtl!; can be sped1ied. For e.\ample. if the u,lIlsverse deflection i~ spccifled at a bound.try pobn. tben Oile cannot ~ped.fy Ihe shear force V at lhe ~ame pOint. and vice \'crsa. Similar CIlO\mCQ1;; apply 10 Ihc sloJ'C d .... /dx and the bending momcnt M. NOle that in the prcM!tlt Cll~, lot' :tlld dw /dx nrc the prinlllry viUiable~. and V and M arc the f>econdary variables.

The nex1 example is concemed with the weak-form deve lopment of a pair of secondorder differential equations in one dimension. The approach used for a ~ing le equatio n is fo llowed for each equation of the p<li r. However. writing the variational problem and the associated functional is a bit tricky.
Example 2.4.3 (fimos!)cnko Seam) ___________________
Con~idcr

the fo!JQWlng pair of coupled differential equatioll~ governing bending of the

'firnol'hen\.::6 be~m:

~ ~[S(dW +$)l + l~f ~t'~ q dx dx

(2.4.32a)

- ~ (f)~) + S(~ + ,) = 0 d.~ . dx . dx

(2.4.32b)

where S is the s hearstitJne~~ ($ =: K. G A; K, js the shear comcllo!) coetJicic(1I, G is lhe sbear mOdulu~, and A is the area of the cross section). 0 "" If I i~ the bending stiffness. II' is the u'ansver,~e deftectj(lil. I/!~ is lhe rota~i()n. k is the foundation modulus. and q is the di.~tribUlcd transverse load. We shall develop the weak form of the above equations using the three-step pr<x;cdufC. Steps 1 mid 2: Multiply the Ml equation wi~h weigh! functi(in V alld lhesccond (Jne wilh t weight fmlclion V and lmegrate over the- tength of I/\C- bearo: l
Step La:

$II:J! 2a:

+Ul{O)

[s(~: +!fr,)L,j)

(2.4.330)

70

AN IN'lKOmnlOl'. TOnllHMl bUJ.M I ...T\IETIIOU

Step Ib:

Slep2b:

Ii - D-+,p. dx (I:r 1" t'l [-(Ix (dO.) +S (Ii" )] d:t [ d," dO (dK' )] [ dO]' 0= d:r (Ix 1" 0 -:'-,' +I.I:!S -,-+11>. dx- I'1D---2. [ Ii", d (d"')] "" d.r d.\' dx 1" D --!+tI:S -+ . dx

0""

l!

II

l,r

(.r

(I

- t'2(L)

[0 dO.] d.t

,>L

+ t':(O)

[dO.]
/) -

(I f

t2.4.33h)
..,..(1

Note tb.at integration-by-part... \\ a~ ui>ed Such Ihat the c\prchiou k' . + . i.. preser\"(~d. as it entc!':) thc boundary lenn rcprc~enting the ~hc.'lr forcc. Such considerations call only be: U);l'd by kn<lwing Ihe mcchaniq; of 1he problem at h;lOd. Also. note that the pair uf weight funeljon~ (v,. 1i2) ~<uisfy the hQfll\lgent.'Qus form of specified essential boundary condiljon~ on the pair (w. ~) (with the CQrrespondence tt, .... w .md l'1 - rJ!~),
Stl'.PS 3: An exnroinaliOIl of the boufl(iary ternl .. shoW'li thaI W"" 1'1 lmd 4>, primary vari;lbles.. omJ lhe ~~'QOdilry variilble .. ilre given by Ic:f eq, f2A.28a)]

..... t'~

arc the

S(~: +.)
t) drp.

(shear force)

(2A.34a)

(bending moment)

d.' To finalize the ..... eak i't>rOlS. "C lIIuSt Wl>:e care of the bouodru-y terms by ~pccific beam problem. U~ing the beam of Fig. 2.'1,1. \\e see thaI

(2.4.34b)
C(ln~idering:

l2.4.35} and hence. becomc

~'I(O);:;:O

aud

I'~()=O.

Consequeutly.the wCllk fomls (2A.3:WJ lHld (2.4.33/1)

(2.4.300)

0=

1"
II

[d'" 0-, +17S (d... ", -I .r

(

,r

~+tP,
'0.

)]

d.~ - t;1.(L)M~

(2.-1.36b)

(II' .1/).)

Huiatimwl Pmblelll 'mil QMdralic i-ul1C'tilJlUl/: Til writ;:' the \-ariati(lll({1 problem of fil\i.lil\g ~u('h that
(2.4.37)

holUs for ,III (I'J. ill). we ml.lSl combine the

twO

weak

fOnlli;

11110 iI Singh! cxpl'C$sion

dX - I 'I(L) l-n-~'1(L)M(I

0=

o 1"

[(dO', +t'l) S (oJ'" ) -. -+rP.,

d .t d.t

(h, ,/. + - I) - + " , I I I I I ' - l ! j ' 7 ]

d.r

dl

(2.4.38)

CllA I'IU' 1 MAIII,,-\li1T ICAL

I'!I.U _I~lI"ARn:S.

INTI",MAL H)I(.\IU[.,UIUNS, ANI)

V~HIMIONAL MHI10DS

71

l'hu~. thc bilinear and linear forms ()f l~e prOblem are given by

8 l(I',. l'l). (1<', tP,)) =

/((111'

~':!))

<:<

l' [s 11
"

(d)lll
(X

+ L':! ) (~+ ~) + f)1S:.. 4... + Cf ~'III'] dx dx d,l dx

",(L)
PQ

(2.4.390 )

I't q dx +

+iJ:!(L.) Mf)

(2.4.391

Clearty, 8((1Ij. 11;1), (II' , .p,)) is ~ymme.lri c in h~ argumentS (i.e, il1lcrchange of til witb. IV alld V! with I/J, ~ic!ds the ~aflle exprc~'Sjon). Hence tbe functional is given by
/((w.

~ = ~
_

l' [s (~+ t/J,)"+

0

d.\

j)

(<!:P!..)~ + ~W2] d, dx 1
(2.4.40)

- ({-w q d,; + w(L) Fit + 4JA(l.) M o )

The last example of this ~ec t ion is conccmcd wi th a second-order differe ntial equat ion in two dimcn~ions. The cq ua tion ari ~es in a number of fields. including heat trans fer, "trcam function or veloc ity potential formulation of inv iscid nows, transverse deficctions of a membrane, torsion of acy l indri cal member. and others.

Example 2.4.4
Con~ider

(Po is~ o's

Cqwt!ion !11 Two Dimen sioo ~) _ _ _ _ _ _ _ _ _ _ __

d~f.fere.nti;tl

the prob1cm of deterrnining the ~llllltillrl u(x, y) to the partial

(..'qllstin n.
(2.4.41)

_2. ((ll~) -;. ((J,f!.!! ) + o{)I =:!'/ I}x Ih it)' oiJy

(/2.

in

in a closed two-dinJc.nsiOllld domain n with tXlIllidary r , as sbown itt Fig. 2.4.2. Here llO' (11. and f ;Ire knOW\1 function,S of pOSition (x. y) in Q. The function II is requirC1:l to satimy, in addilioo to th e differcntial equation (2.4.41). certain boundary conditions on tbe bOulidary r of n. The weak fomwlation to Ix. di:-'cu~sL-d ne.~t will revea l the precise fuml of the e~~cn(jaJ and naTural \Xlundur), conditions of the equatiun.

,
Jy

Figure 2.4,2 A \wo-rljmcosional domain

n with b<lunt.{ary r.

TIle IIm.. step pf'i}!.'lX!ure applied 10 Ei). (2.4A I) n:;.u1t;; in the following equatiQn~! "t!

$11 '1,1:
SII-'I,2:

0#
0=

1'" [.. i. ((JI~) - ~ (lIl~lI) +a"ll - t]dXdY 1(

n
(I

Q.I

~x

[Jy

d.1'

(2.4.42)

(l1 ",-+ U2-.--+Unll 'lI~wf itx I))," ity i)1'

ihv tlu

ilK' ilu

d.l d\'

_ h' w("'aa~".+(J;~U'h) d' ,l ily

l

(2AA3)

v. hcre we used intc~rJtion by pans ror the gr.ldicnl und divergence theorems, Eq.<;. (2.2.27b) MId (2.2.28b)110 lran\ler diffcremi:nion from u \0 w ~() (h ill both /lund w ha\'t: the ~amc order deOV.llivcs in n. TIle OOu tldary IeI'm , hows that II is the primary variable while

h Ihe SCcondtU')' vaOElblc,

Slep 3: The lasl ~h'! I) ill Ihe procedure h to impose the ~pedlicd boundary c(lI\dition~. SUPfM,l'le thalli is ~pcciried on pnrtjnn r, and the natural boundar) condition i~ ~ptX:ihcd on
the remai ning portion r ! or the boundary II!> ($CC Fig. 2.4.2);

Then <0

if

is arbilmry (In

r!

sod t.'qual 10 1.ero on

r ,. OlnS(Xlucnt!y. q. (2,4,43)

~il11ptiflc,

0=

1(
Q

iI. no '''' ao ( / ) - - tU3--:--+ilOWil-W! ) d,J;{ly-

()x 1:1.\

iJy ily

wkd~

(2.4.45 )

I'!

Ikr;miofl(ll Problem (/lId QII(I(lmti(' FUllct;OTUlI: The " e<l). Slah::mellt (2.4.45) can be c.\prcs...etJ
a~ /J(OI. /I) "'" ((11'). where

the bilineill' fonn and linear fOlm arc

B(w.II} ""

1(
!il:

ill\' au ilw Ju ) (11-, - +(J~-:- +i1()h/1 dxdJ.

,faX a,l' ;j,I'

(2.4.46(1) (2.4.'1fih)

f{w)+::

10

rwi

d _td y

+ w.Y 1
fl

lis.

the a~oocjated qL!Mr3I1c functiOf)al

f(Jj) ."

i~

~i[Il' ( :.';y +(11(~y +(I~u!]d,rdY

-1
o
In the case of

u[ !}xlly

-18/1
r,

(Is.

(2.4,46d

Irtlfl~verse defkctiQn~

or a membrane, H,,) rcpres.::\ltS the tota.,l pot.:ntial

energy. A<; a-!>pe<:ilic e.\ample of Iht Poisso(1 equation. con:.iJer stendy he;)1 conduction in [\ twOdimenxional dOnlain n. e nc hl ~ed by IinesAB. BC, CD. DE. F. FG, (iii, lIIJd UA. as inrJicmed

CHAf"IH( 2: '1 f\ 111I~'1 A'I I U\L 1'1H'Ll Ml:'A~IE,';. INTh(iKAL FO~~ULATI()NS, A :'O VARIATION " i \lrT!lOIlS

73

D
b

.I:.xposcd 10 nmhi~nt tcmpcratuTIl, T... k : :+ 13fT - 1'. ) ;<d)

~~;::===-;:.:::;=======C:;t.L-_ X ,
Spe(;ir~d

ill'

dn

~ ax

aT

tcmp;;ratufl!, T 1'of.t}

Figure 2.4.3 A

lwo+{j~n1t:nsion;Jl

heat transfcr problem with ;J VOlJiCIY of boundary c(mdilion~,

in Fig, 2.4.3, The goveruingequation is

-k

tPT 8)T) ( - +oyl =&0 axz

(2.4.47)

whcre gn i~ the unlfonn hdut gcnerution, k is the. conductivity of the isotropic ll1!:1teri3.i of the domain, arld l' j~ the t(:Jllpt:raturc. At the \cl.:Qnd $t(;P of lhc weak-form development, we nu\'c

0=

i [(
a
1':<r~

'WaT k --+~ax ax Sy By

,wor)

- ll'go d.rriy-

i
I'

wI:

('T 'T) ds
-

8x

11<+ -11,

QY

(2.4.4~)

III order w gimplify lhe boundary expression. we fir~t recogni;':e the fUl.:l that the bOundary r of the domain con.~ists of ~c\'eraIIiTle~gments, and they are subject to different types of boundary condition:; as shown in Fig, 2.4.3:
['I "'" AD: II" "",~I,
IIr
II I

"",,0:

ht'1l1 !lux be ~pecificJ q-=q(y)

8e:

II,
11<

=0,

== - 1; tcmpcT'.j(urt i~ spcl.:ifiCd T = To(x)

::::: 0: boundary t:xposed 10 ambicnt temperature 1"""
(convcCtion) k -:-- + /1 (T - T",,.):::::0

= CO:

= I,

II.~

::17'

,,,

{2.4.49)

lfl.,uh\tet! boundary

Dr

a"

=0

Usi.ng tJ1C bound~tJ)' informal ion, the bOundary integral in (2.4.48) C.111 be simpJifkJ as follow;, (notetJlIll w =0 on portion of the lxJundary whcl'\:ver T i~ specified. 1'2):

J.(k G" [W~dt + J~O(k ~T )d' Tr ~)~ = Jr! on fl - { , wf/1(T - 1:"'JJ ds + 1.~ 0 ds
If

-l'

11'(0. y)q()') dJ -

/3 10

6
w(a, )') IT((I, y) - T-",Jliy

(2.4.50)

74

AN I~ODlJCIlON TO TIlE !'INITE R F.Mhl--I' \u,'II!()lJ .

SUbstituting. (2.4.50) imo (2.-t.+8).......e oOlai(l the weak form

0== i~ [, (~~,T +:w ~T) _ SIl] d).' dy + i(j i.! ""{O, y)i{(.I'lJy { { Qy i)y
h'

+/3

l} w(<1.Y)rT(<1,)'}~T;,.ldy

<IX <.f

(2.4.5 I)

Collccling lelms involvin& bQth II' and can write (2.4.5 t) as

r inIQ B(, .), and those involving onl)' W [nIl) l{.), wc

B(II',7) =1(11')

(2.4.52<1)

where 8(w.

rk (~w ~T + CW ~T) dx dy + ~ Jo r ax OJ /(\\.') "" ir t r ll iii Jo

TJ:J.

i f)

W{(I,

y)T(o. y)dy

aX

Q)"

wgi)rJ.rdy -

w{O,y)q(y)dy+p

W {Il.)')r",dY

(2.4,52b)

The qUlldralic functional is givcn by

l(n"""2i!il

k( [('T)' + ('T)'] ;h
C)"

dXd y + I

P' l

1 r (o,)')dy

- LTlfllt!XdY+

1!.! T(O. y)t;{y) dy-fi { ' T(a" y)T""d,I'

NOle.th;tLl/lC bouJ1dary integrals in this e~amplc lire defined al(>ng the y (Ir x axes, i)t."C;\o;;t: the hound aries are paralleltu eilher the X Of y-axis..

2.5 VARIATIONAL METHODS

2.5.1 Introduction Our objectivc in this ~ection is to study the variational method~ of approximation b~cau~e they provide a b:lckground for the development of finite clement models. The methods \0 be discu~sed inc lude the Rit, and weighted-residua! (e.g .. Galerkin, Petrov-Ga!crkin. leastsquares. and co llocation) methods. In nil these methods. we seck an approximate solutioil in the form of a lincar com hi nation of suitllhle approximation functions I; and undetermined parameters Cj: L j c jl j . The Ritz method uses the weak form, wheren~ the weightedresidual methods use the weighted-integral form (Step I of the weak-form development) tu determine the parameters { 'j. VariollS methods differ from each other in the choice of weight function II' and approximation fUl1ction~ j. A~ we shall ~ee in the coming chaplers. the finite clcmcntmclhod is a elementwise application of the classical variational method~.
2.5.2 The Ritz Method

In lhe Rill method, the cocflicicnb Cj of the approximation are determined u,ing lhe weak form of the problem, and hence, the choicc of weight functions i\ restricted to the

OIAI'T"E1I. l' MAnlE\\ATIC'AI f'RELlMI\lARU:S, INTEGRAL F(lII .\1UI ......TIO"S . A"D VARIATlO",\L .\I IiT KOI.lS

75

approximation functions, W =j (w "' II). Recall Ihat the weak fOnll contains bOlh Ihe governing dilferential equation and the natural b()undary conditi ons of the problem. and hence it places weaker continuity requirements on the approximate solution than the original differentia l equation or its weighted-i ntegral [Onll. The method is described here for a Iincar variat ional problem (which is the same as the weak form). Cons ider the variational problem resulting from the weak form: Find the "olution II such that
B(w ,u) =/(w)

12.5. 1)

for all sufficiently di ITerentiable function s II' that satisfy the homogeneous form of spec ified essentia l boundary condit ions on II. In general, IJ(. -) can be unsymmetric in I\' and II. and it can be even nonlinear in II I B(-.) i ~ always linear in 1\"1. When B(,. ) is bil inear and symmetric in II' and /I and 1 is linear, the problem in (2.5.1) is equiva lent to minimi,l;1Ition of the quadratic functional [see &1. (2.4.19)]
/ (II) = '211(1/, II) - /(11)

12.5.2)

In the Ritl method, we [sec Eq . (2.4.2)]

~eek

an approx imate solu ti on to (2.5.1) in the form of a finite series

N

UN(x)= I>"ij(X) +o(x)

r ", 1

(2.5.3)

where the constants C'j. called the Rit z ('(lejjic iellls. arc determined "uch that (2.5.1) holds for each I\" = , (i = I. 2..... N). i.e .. (2.5.1) holds for N different choices of \1', so that N independent nlgebraic relations among Cj arc ubtained. The function~ rPj and rPo, called approximation junctions. are chosen such th at UN satishe" the specified essential boundary conditions [reca ll that the specified natural boundary conditions are nlready included in the variational problem (2.5.1) and hence in the functional /(/I)J. More details on this will be discus~cd short ly. The ith algebraic equat ion is obtained from Eq . (2.5.1) by substituting w = rPi and UN from (2.5.2) for /I:
/3

(;.
II ,

f / jj
J"" I

+o)

=/I,)

U = 1.2. . N)

Since B(. -) is linear in

we hnve

L B(;. jk, =/I;) J", I

BI;.

OJ
12.5.4a)
(2.5.4b)

LKijCj= lj,
j= 1

i=1.2 .... ,N

The algebraic eq uations in (2.5.40) can be ex pressed in matrix form as IKll d={F] or Kc = F (2.5.5)

As stated cltrlicr. for

~y ll1m ctric

bilinear forms the Ril7 method elm abo be viewed a"

I,ccki ng a solu tion o f the foml in (2.5.3) in which the P"IrlIlIlCICr'i Cj arc dC\Cmlincd by rn ini mi/ing the quadrati c functional I (II ) in (2.5.2). After ~ub'li!Ll1in g. U 1\' from (2.5.3) for II into (2.5.2) :Jnd i Iltegrati 11. the functional I (II) becomes an ordinary funcl ion o f the panlmeter... ('I. ('2 ... {'N. The n the nccc,~ary conditio n (or the minimi/ <llion of / (CI. C2 . .... ('N) is that ih parti al d e ri va ti ve~ with respect to each of the parameters be !.em:

II,',

i)J

=0.

iJl

= 0,

;) I

JC2

ill'..,

=0

(2.5.6)

Thm" there are N linear algebraic equation" in N unlnown ~. c) (j = I. 2 ..... N), Thc-.c equations arc c)tactly the lolllnc as tho"c in (2.5.4) for all problcms for "' hich the variational problem (2.5. 1) is equivalent to M =0. Of COU N!. when 1)( . ) is not symmetric. we do n01 h.\Vc a quadrmic functional. In other words. (2.5.4(1) i ~ more general than (2.5.6). and they arc the same when IJ ( . . ) is bi li near and sy mmet ric. In all problems of intere~t in the present study, we shall have a ~ym m elric bi linear form . 2.5.3 t\pproximatioll Functions Return ing 10 the " pprox imation UN in (2.5.3). we wi\ h to discuss the <,elect io n o f the approximmion runction\ 41/ and 410 for the RitL method. Fir\t. we note that UN mu\\ ~a \i s fy only Ihe specified e\~e ntial boundary conditio n!> of the problem. "i nce the specified n:ltunll bou ndary condili o n ~ arc incl uded in the variatio nal problem (2.5. 1). The particular form of UN in (2.5.3) facilitates satisfaction of specified boundary condition\. To 'iCe Ihi~. suppol-le Ihal the approximate \ol llt ion i~ 'illught in the form
N

UN(x)

= l:'> jcf!j(x)
j= 1

:md 'uppose that the 'peci/ied e~scntial boundary condition i\ II (.'0) = 110. Then U,\' :tl~o sati"fy the cond ition U,y(.lo) = 110 at :t boundary poi nt \ = .ro:

mu~t

L c 4I (xo)=lIo
J J
,~,

Smce Cj are unknown parameter.. to be determined. il is nOI e a ~y to choose rPj(x) such that the above relation hold~ . If 110 = then we can ~elec l all rPj ~u ch Ihal ) (xo) = 0 and ~a!i~fy the condition UN(xo) = 0. By writing the app rox ima1e ~o lulion UN in Ihe form (2.5.3). a "lim of a hOlll oge n eo u ~ part L Cjj(x ) and:t nonhomogenC()ll~ part ..l(X). we require o(.r) to <.atisfy the "peei/icd es\ential boundary l,;ondit i (J n~ while Ihe ho moge neous pill'! vanishes at the same boundary po int where the essential boundary condition is "I>ccificd. Th i~ follows from

n.

UN(Xu) =

L C/4JJ (xo) + n(Xo)

1=<1

li n

N
+11 0 .... LCjrP,(xo)= O
j I

= L ('jrPj(XO)
j 1
Cj.

which

i~

satisfied. fO/' arbitrary

by choosing rPj(xo) = 0.

elllll'TEM 2: MIITIIU>MTlCAL I'NLLlMINIlMIES. INTEGItAI

FOI!MlJlATIO~S. Mm VAR IATIONAL MrmlODS

77

If al I specified essential Ixlundary cond itions are homogeneou s (i.e., the speci fied value
110 is zero), then cPo is t:lken 10 be ... .,ero :lnd j must still satisfy the same conditions, j(xo) == 0, j = [ ,2, .... N. Note that the requi rement that w be zero at the bou ndary

points where the essential boundary conditions are spec ified is sat isfi ed by the choice
IV

=j(x),

[n su mmary, the approximation functions ,(x) and cPo(x) are required to satisfy the following conditio ns:
I. (a) i must be such that B (j. ,pj ) is defined and nonzero. i.e .. i are sufficiently ditTerentiable and integrable as required in the evaluation of IJ(,p" j). (b) j must satisfy the homogeneous form of the specified essential boundary condit ions of the problem.
2. For any N, the set {j )~ 1 along with the columns (and rows) of B(,p,. ,pj) must be = linetlrly iruieperuienl. 3. The set (<Pi ) must be complele. For example. when ,pi arc :llgebraic polynomials. complet.e ness requires that the set Ii) CQnt:lins all terms of the lowest order admissible, up to the highest order desired.

4. The only requirement on rAl is that it satisfy the specified essential boundary conditio ns. When the specified essential boundary conditions are zero, thcn rAl is idcntieally zero. Also. for completeness re:lsons, cPo must be the lowest-order function that sati sfies the
specified essential boundary conditions.

2.5.4 Examples
I-Iere. we considc r ;1 few examples of the application of the Ritz method to equilibrium, eigenvalue. and time-dependent problems.

Example 2,!.1
Consider the differential equation (sec Example 2.4- I: set != _ x 2 )
l/

= I. c = - I. t = 1. and
(2.5.7)

_ _ _ u+.(2=0 for O< x < 1 d<'

We consider two sets of boundary conditions:

,PII

&11: u(O) =0.

Se12: 11(0) = 0.

u(l) =0

(2.5.8)

- 1 dx ~,.,I -

d'i

(2.5.9)

Boundary Conditions Set 1. The. bilinear fann and ~ linear functional aSMlCiatoo with
Eqs. (2.5.7) and (2.5.H) are]sec (2.4.23c)1
8(w.u)=

l ' (dW d.
o

-dx dx

WII

de

(2.5.10)

78

\1'> I "1KOIII. e l K'" 10 n

ne~lMll' 1.1 H

I! 1'>1 \U;:I II(H)

and K'f and F; are given by

11lc boanlC result as in (2.S.1 1) can be obltlincd by mininliling the-quadratic functiQllnllsct a '" I, ('so- I, f -x~, L = 1, and u<l) ",0 in Eq. (2.4.24)1

Substitulin~

for u ~ U~ frQm (2.5.3). wilh I/Jo == O. intll the al)l)ve funClional. '""c obt.;nn

The

nt..'t!e~~ary

condition for Ihe minimum of f is that

"" L

= LK'j('j-fi fori ::=-I.2 . ... ,N

, ,.,

j ... 1

, [I' ( d.
(I

"I ~-fJ-~'~Jd'(CJ+
d.r
(J

) 1 ['
II

ljJ,x~dx
(2.5.12)

Clearly, 1\/i and f~ are the samc as those defined in r::q. (2.5. 11). Equslioos (2.5.12) I:t(lld for any choice of admh~ible approximalio(l function~ IA. Next, we di'iCu~s the choice of t/J, and tAl. Since both ouundary conditions u{O) = u(l) == 0 arehomQgl!l1cou, Il!1U ofthee~senti!lIIYpe. we.tuket/lu =() and WICCI.p, in the NpnrameterRil7r appr<Jxirnation to .. atisfy Ihe conditlons.p, (0) =rp,{ I) = O. Clearly, the fUllctlon (0 - x){ I - x) vanishes at ,{ '=' 0 and x 0;: I. olnd Il' lin.t derivative i~ IlIIntcfO. Hl'nce. we luke f/lJ t:O: x( I - .rl. The nexl fum:tiOIl in the lICtjuencc i~ obviously f/12 = \ 1(1 ~ _ \)(or r/J) "" x( I - A"f). Thus, me foUowing ~I of funclion.~ arc admi~~iblc:

The appwxim:ltion
(15.1"")
i~

equiv-.uenl In
(2.5. 14b)

11 ~h()u!d he noted thai if we selecl. I'll! e)(umple. the functions IPI "" x!{ I - .d. f/ll <:It.f '< I - X). ilnd so on (ntll including x( I - J )(, the completeness retjuiremenl is violsll'd. occuuS<! the set cimool be.ui.Cd In generate Ihe linear li."fII1X j)fthe e)(uct ~uluti<l1l, ;fthe IiOluliOn nil' web a tern]. A, a rule, we OlUS! Man with the lowe--HmJer :It.llllis~ib le fUncti{lll and include all admi,.. ible, hig/ler-ordcr fUOCl io05 up to tile ,jC~if\!d degree.

(IlAPTI:W 2, \tATIIIJ\IArWAl.l'1tLl.lMINAWIES. I ~TEUN<\L 1'0kMUU.flONS-. ,\Nll VAklAIlONAL \IETIIODS

79

Forthe choiceMapproximUI(On flinCliOll~ III (2.5. I 3), the OlmN coefficients KIJ
and vcctor coefjlci<,z)(~ PI "" l(ih) c~n be computt!.d as foU{lw!':
KIj

""

Q(q". <Pj)

-=
~

l'

{[i.\.l-l - (i

+ 1)..r; J(jx/~l (i

(j

+ t)x i I 2

(.t l - XI+ 1)(x I - x)-I} f dx

a5.1~

0+

nw +j)~ -!1
We
consider

2ij

+ j+ n{i +j +2}(i +j +3)

+ 3)(i +4)
and

I--~ == for i. j
11Ist~te

Jo xi(x' _,t1t1)dx ""' - (i

('

l2.5. 15b)
three-par,lInete.r
approximiltion~

== 1.2 .... N.

the Qne--, twO--

to il-

how Ihc Ril7. solution CWlvcrges to the cuet ~!ution of the pro\)l..:m

u(x)=
For N

~jnx+2~jn(I-

&In I

. .d

+x.,..2

(2.5.J6)

== I, we have

The (me-parameter Ritl. solutiOn

I~

given by

For N = 2. we h<lve

;;W
Solvjng the linear equali()l1~

'[12663] 1 =-60" 3 ") '1 )

63

52

( 2

u~lng Cro1mer'~

rule. we obtaIn
C2 =-ffi==-O.1707

(-"I==-ffi=-O.OSI3,
The tW(lp:trameter Rill ~oluli{)n is given by Ul

to

21

10 = c]c/'! +'2th.- :::r--(.t 123

123 = -0.08 I3.1; - O.OS94x2 + O.1707x1

'"' 21 ~ ~ x-) - - ( x - X')

Fllr N = 3. we ha\'c

2-520

I [756 378

3JS 237 312 228 237:!06

22~] ("} "" --:;0 (21 ) I l4 ('1

CJ

4~

10

NOle Ih;11 the preVil)Usly computed coefficients Kij and f; ror i. j == I. 2 remain unchanged and we only need to compute KJI , i = 1,2, 3, and ,...,. The solution of the ;jbove cqualion~

;,
c] ""

-0.0952.

<2"" -0.1005,

r!.l "" .... 0.0702

NO

..." 1"- i'IIOOl;c:-T IO'\ TO nil' fI"rrr U JJ>IIJ\ r \11,1 110D

Tahtc 2.5.1 Comparhon of rhe Ri tl and tx<Kt S(lI Ul iQn,~ 01 the cqutlli(m dl u - - l - U+fl =Ofor O<x<l: 11(0) = 11(1)=0
d.<

Ri\.(. ~(lr\l';on,
R;I~ co.!!lkicm.,!

1011
N ",, "),

{:.\;I<.;I

N='
00 0' 02 0.3 0 .. 0.0 0.1500 0.2M7
0.3500

N= '
0.0 0.088J 01847
(J.27SJ 0 .3590

Sl,)lutiQII
0.0 0.()9.'i.'i
o. rs~

,v .." I :

'"I"" . 0.1667

00 0.0'}5-I

O.IS90
0.27( O.lS20 0,4076 0,4J4O (1,4200 0.3529
0,2 1S3

N"",2

=0.l)g11 {' PO - 0 1707

("f

0.2764
0.)518

0..0000
0.4167

0.'
". ",, 3

OA I67
0.4-410 0.ll!1
O.J.lli6

1:1 "" - 0.09.'i2 C:l '" ~O. I 005 C !=-O.0702

06 0.1 0.' 0.' 1.0

0.4000

0.3500 0.2667 0.1.'i00

OJ)

0.4076 0.4342 0.4203

0.3530

O.2!lS

O.2!82
00

0.0

00

The ,hreeparameter Ritl ;.olulion

Ul

I),

givcn by
f

-= C"JrPl + ("2tP! + C'ltPl "'" - O.cI9S2(.x - x 2J - O. J005(\ ~ = -O.0952x - O.OO5~ , 1 + O.0303.r.l + 0.070b4

1) ~ O.0702(J:J - .t~)

TIle ~'aluc~ of the Rill coefficient.). 1.",. i "'" 1.2 .... , N for Yari(lU~ values (If /II clIn be (lnt<lined by M)]ving the m3trix equ"tion I Kill.") =::: FJ with 'he c(lCt1icicnISt)f K'i ;uld given hy (2.5. 15a) and (2.5.15b). '111e Rir;r, e()effieicnt~ and u compari~ull ()f Ihe Rill ~olul ion with the

r.

e.\uci sol ution (2.5. 16) i~ presented in Table 2.5.1 lUlU Fig. 2.5. t. If the CXacl solution (2.5.16)
i, expanded in :l ,cries in hml\~ of poweK of .... \I.e 1I0le Ihat i, is an inlinite seri~. However. lhe Ihrec-par.unetet Ritl ~olUllon i, a l ~ady a good approximalion of the e~uct loQlution.:I-' can he <;ccn from Fig. 2.5.1 and Table ~ . 5.1 .

Hounds')
form
i~

Condilion~SeI 2. Forthe -.econd set ofbou nd J.ry cond l 'ion~ (2.5.9). the bilinear the <;4i.1T\e a" lhal gi\en in (25.10,. Thc linear fonl! is given by

'(II') =:- 1 ' 1\'.\:"2 dJ. +11'(1)

(2.5.17)

Therefore. we ha ... e

F, :oc- il) ~ dI. llx

+ ~.{ 1)

(2.5.1 Ii)

A~ for the oppro'linlarion fonct i(ln~. tPo i~ ~Iill/ero and t he~, mll'l be selected 10 sall)'f), the CQrIdition r/I, (0) "" O. Clearly.,pl (.( ) = or. tP! = .r ~ . and Ml On mttllhe requirement. TIIU ~. we havc

(2.5 .191

0.00
Anat}1ita.1

-0.01

}.'3}Ritl
N 2 N" 1

* "
, ~
,;

~O02

\\
\
\

~pl,UlQll

~O.oJ

'A

-<)'"

, "- ~.~

YO.OS

!OJ IIII[!!! ililti

P'!1 i Ii i q
0.'
1.0

0.0

0.2

OA

06

CoordinHte..\'
Figure 2.5.1
Com~ri'nl1 of the Ril l ~()l uti(m wi th the~1 ~IUljQn orEq~, (2.5.7) aml (25.S). The three-parameter Ritz wl ution and the exact solution do 00\ difTcron the scale

of the plot.

TIle coefficicl1L~ K'J and I'; Clln be computed using

I+j+ l

ril=- t ,rl~l dx + I =_-2-+i

10
i

+3

(2.5.20)

Fut example. f(lr N

=2 we have

~[:~ ~ Jt ~~ } <=~ {:~ l

Solving the lincar equal iQn~
(.'\ e:::
u~ing ('ml\lCr"s

rule. we QhWUl
~)=--"'-U. 1 5I t

IgO _ - 9 ::0 1.2950, 13

~iven

21 139

The two_parameter Rill solution is

by

U, "" C'tl/!,

+ ('21/12 <= 1.2950x -

0.1511 x 2

n,e C'1Hiel sol ution forthi~ ~ is

(2.5.21) "" I A cCllnparu.on of ihe Rill. Mllull\lll~ \\i th the cltac\'!'()luliofl is preloCnicd in nthle 2.5.2.
+1-2
II(~)~ 2CO~(I-x)-sin ..r

'fable 2.:'1.2 Comparison of the Rill. and exact

SQJUl il)n~

of the equation

- - , - u +.ll=OforO<x < I;
d.l~

d'u

11(0) '" O.

(~) I ~,.I = dx

Kill <:oeOicicnlJl t
N=I

,
0.0
0.1 0.2

RIll: <;oluliQl1, U
N~I

N"",2

N~'J

Exact 'i(llut;Of1
0.0 0.1262 0.251;\ 0.3142 0.4944 0.6112

"1,..1.1250

0.0
0.1125 0.22.xl 0.3315 O,4S!Xl 0_%25 O.67,SO 0.7!l75 O.90()() l.Om I 1250

00
0. 12!sU 0.2530 0.3749 0.493R 0,f0097 0722(1 011325 0,9]93
I,{W)I

0.0
0.127 1 0.2519 0.3740

",,,,,2

C) ""

1.2951} <'1",-0.15 11 1.2831

03 04 OS
U.

0._
0.7234
1.1.8337

0.49~

N~"

<"[ ""

0.7244
0,83-10
0,9402

l'l'" -0. 1142

0.7

Q""",O.0246

n.R
0.9 1.0

O.').lO7
1,().l43

1.0433
I,J442

1.14J9

tlM2

.. ::.umple2.S.2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __
COfl~idtf the problcm of lim,hng tlk' tJ'UIIWCI'$C dcflection of a camile\'cr beam unclcr a uniform Inlnwc.-.e load {If intensity I/o per unit lenglh and ~ubjccled 10 point l\l:ld 1'0 and bending mQl\Jent Mn :'It the fn..'C end (sec E~llmplc 2.4.2). 111e gflvcm;ng e<jua!ion~ accurding to the

Eulcf"Bernoulii beariJ theory <ll'e

0 <..1' < L

1 EI >O

(2.5.22)

'''O)_(dW) I
dx

.. "",

=0.

(/';)1 =-M,. [:!..(Id";)l l

(Il "",/ d.t d.t .'

=1 ',
(2.5.23)

1bc weak. fonll of (25.22) a.nd (2.5.23) (which includes the spt.'Cified NBC) wa~ derived in Example 2.4.2. and is givcn by (2.4.30(1). Wenowc()n~lruct ;tn IV -parumeter Ritz w lulion using the lIari31iollol form, (2.4.3Ob).Sim.-e Ihc"pecilicd l:::BC~ w(O, = O:lnd (dw /d't)[,..,.o archomogcnCt)US. wcsetq,y zO. Next, we select aJgcl'f'aic approximation function~~, thai salisfy Ihe continuity conditions and humogellCOUl. fQrm oftbe specified EBCs. The lowcst-ordcr algt;b"Iic function 1001mecl..( these conditions is <PI "'" xl. The next functiOn in the SC<lucnce is 4'l-:=s x'. Th ll ~, "'f' have (2.5.24)

CIlAI'I'~R 2- ~J.\I.flEMA IICALI.kLLlWI\ AK lhS.I ..HEGRALI<JKMUL...: rlOI\S. ANI> VAKIAI 'IONAi. ME1 1I UllS

83

The N~pal"'J..metcr Ritz approximatiOI.l i:;

W,..,(x) =

r>:",,pj, ,.,
IS I {i

4>1 =XI'> 1

{2.5.25)

SubstitutiQg (2.5,25) fOf

0\-'

mid u= -PI LnlO (2..4.30a) with

f!., "'" O. weob\;l.ill

(2.5.200)

[KJk/=IF)
K ;} >= B(I/!;, ,)-=

LL

+ I)i,tl-J (j + I)j,'(!-~ dx
(i

""'E /(L)'~j-l ij(i+J)(j+i)

+j

- I)

(2.5.261J)

F/ =I(I) ""

J"

{ Lq(j,.{(,.,1 dx + (L)I't 1fa~ (i + I )(L)' MQ

=.qQ(L )"t1.

~2 +(1..)'-<'1 fiJ ,+

(i + 1) (1..)' Mo

(2-.5.26c)

For N ~ I. Eq. (2.5.260) gives

For N "'" 2. we. have

(2.5.17}

Solving [OfC! and

C2 ,

weO/)tain

"I = 24'El (5q!)L~+ 12F;JJ~ and

SO\uti()Jl

12Mo).

(2..5.2.5) beWrne$
(2.5.28)

Por

"'" 3. we obtain Ihe matrix

C{JUaJiO~1

The ~olu\jon

<Jflhe~cq uations

when

~ubsti tulcd

inl() (Z.5.25) for N =:), gives

(2.5.3(l)

..... hich coiocides with the t)lilCt solution of Eq... (2.5.22) und (2.5.23). NOIe thaI the (ll\epilrameler solution is exact when the N>i1m is subjected to clod t'll(JmCnt Mo only: the tW(Jparameter solution is exact when Ih~ Ileum is subjccted to both fo lind Mi.). If we try \(1 eompUie the four-parametcr Sl)lution with(lut kJlowing lhm the three-p;trJ.nliltclr .~()lution is cxJCt for;, htmll ~ubjccled 10 distributed IO<ld q(h poulIlootl F</. and bending nloment M'l. the parameter. c j U > 3) will be lcro.

The next example dcal<. with two-dimen<;ional he.. t conduction in:l square region. Note that the dependent variable. nlllnely the temperature. i.. denoted by T . con~il>lenl with the >;tandard notation u-;ed in heat tr,lIl,fcr book<;.

Example 2.5,3
Con~iili'r

the Pob.on eqIHllion govcOling tw(Hjimen~ionaJ heat trJllsfer in II square rcgion

-k

8'T) -:-("'T + -, = ilo) ih1 fly7 ",,0

-~

(2.5.31 )

with the following boundary co]1c..htions: on sides.x = I

and 1'=1

(2.5.320)
\2.5.32h)

1IT
(111

0 onsidesx:=O

and

y=O

",here gil is thc rate of uniform hellt gene ... .J.tion in the regio.n. Equation (2.5.31) is called PoiJ;M)Il's d,lU;ltion ( _kVlr = gil). The variatiunal problem is 01 the ronll l!Oee Example! 2.4.4; set II = r, (11 "'" til -= k.l41 =0.

and J=Kol
lJ lw. T )=/(w)

(2.5.3:\1)

where the bilinear and linear funetiOn,tls are

lJ(l',',

TJ ""

JiJ

I(w) =

1'1'

t 10 iJ.x ar + ~Q!)d.rdY r\(~1O' a.t "-v iJI'

wglJdxdy

(2.5.33")

We comJdcr an /II -parumClcr approlumatioll of the form

,
T!I= L ("t'OSIl';.I co~aiY'
11,,1

(2.5.34)

ne(lU~,

Note that (2.5.34) invOlve~!l unuble ~Unlmlltiofl. Sil'lCc the boundary condilkms arc homogewe have tP-f:= O. IncidenHllly. tPl also sali~fic..' the natur~l boundary condition., of the

C II AI' IEI!. 2: MAI 'IIEM A rlC,\L l'~lLL\1 I "Al!.l hS , I~TE(;IiA L I~)I{MUI..J\TI()~S. ANI} VAIl IATIONA! MI'TIIODS

HS

problem but thut is not nccessary to be adl1\i.\~ible. While the. choice tP;j "" :;.in in x sin JJI")' lnt."Cts (he essential boundary conditians, ~,j is IWt complete beC3u~c il CIU1 nOI be used to gent'rate Ihe Solution that dues lIor vanbh on lhe side~ x = 0 and y = 0. Hence. ;PI) are not Ildmiv,ible. TheCQCfficten~ k u and f j can be computed by SubStituting (2.5.3>t) imo (2.5.33b). Since the clouble Pouricr series ha..~ tWQ ~ul1\mlltinn s. we introduce the nOlation

f(1"jX~l) ""

kit 11

rfu/ sinu/x cos Ci jy)(:t.\ sin U/;X cos (:tl)')

+:tj COS(:t,.x sino! Y)(OI/ cos I1.kX sin (:t/ .V)) dx dy

"'"

fii} ""S&

Ir t

i fi~korji:-l
ifi :: ka nd j = t

~k(OI;+aJ)

(2.5.35a) (2.5.35b)

ill lp

COSOItXco$(:t.;y dxtly=.3i...,.in ll',sin a / OI,a,

In evaluating the integrals. lhe fQII()wing Or1 hngonaliry conditions were used

Owing \() the diagon;11 form of th e coefficient matM (2.5.35a), we can rc;!Jily ,olve for th e cOt'fficients c;,:

(2.5.36)
The onl:.- and two-par.lme!er Ritz M)lutio nl; arc (th e ollc-pllramcfcr SOlution has one tenll Qut the tWo<-paramcter solution has. four lcnllS)

Tt

= ............. COS - Jrxcos - ny . ,

~

3280 br

(2.5.37)

.,Ii"
fl
=<

T,OJ285cIlS

i Jt'x CQS 2 11"Y 1

I 3 O.021(j(cO!; 2'u cos iny

3]
(2.5.3~)

+ C(l~ 2',u' ern; 211"Y) + 0.004 I CQ$ 2nxcos Iny]

(l -x)(I - y) or.pl <= ( I _ x l )(l _ y2),

:1

If algebra ic polynomials are.1.{I be us...'d in the approximation of T, we can ch oo~e fIJI = both of which ~ti~fy th e (homogeneQus) cs~n lial bnundary conditions. Howeve r. the choice </I! "" (I _ .t 2)( I _ yZ) abu meets (he natural txJUndary cIl ndit ions of the proble m. The one-parameter Ritz solution for th e choice </II"'" (I - .1'1)( 1 _ ),2) i.~

' ( ( ) x , ) = - - x)l -y ') Y 58<)(1 "

16k

(2.5.39)

86

/I'III\,RODUCTIO'l 'mnlE

~1~ITIl ELI;~lI;"T Mt-rHOI)

The e)(act wlutiOn (If Eq;;. (2.5.31), (2.5.32l1), and (2S.32b) is

T(.t. y) "" !!..

21<

[0 . . . +4 f.
.1'2)

(-I.)"

..... ,

c~a~y cOllha~.t"
a~

cosh a~

where 11. "" ~ Oil - 1)11". The Ritz. s{)lutiQn~ (2.5.37), (2.5..38), ;uld (,2.5.39) are compared with the exact ~[ut.iI).o (2,.5,40) in Fig. 25.2. rhe analytical !iolutklll is e.vaJu;ltcd ul>ing; 50 terrns of the series in Eq. (2..5.40).

0.35
0.)0

0.25

i!
~

6'
0.20

I ,

0.[5

O.lQ
0.0.5

Ritz !/(Ih/tiOfl {l.s,J?} "nalytk'al

NO ' }

<> If... 1: (4) t. N.j (9)

..RlusolutiOfl (25.34)

0.00
0.0

0.2

0.4

0.6

0.'

J.O

Distance,x
"FIgure 2.5.2 CompIlriSOQ pf tJu~ Ril'!. l>olmiorls witlJ the anal)'liclll !>QluJion f)f the Poisson equalilm!< (2.5,31), (2.5.32a) and (l's ..)2b) in two dilJlcn~ions.

The next examp le deals with an eigenvalue problem. namely axill l vibration of a bar Isee Exmnplc 2.3.4 and Reddy (2002)1.

xamplc 2.5.4
COI)$ider a IJnllbnll ctoSs--se<:li;)n bar of lengllt L, wilh the [cft end fi~eU 8l.ld the right end connected to 11 rigid s uppo(t vi;! a linear elastic ~pring (with spring <:onst!l.nt k), as ~hown in Fig. 2.5.3. We wi~ to de[em~ine t~ flJ't two natural axial frequem.:ic~ of the bar u ~ing the Ritz
mClh(K.!.

U 1AI'l'tR 2. MAH1 EMM1CA I l'Rl Ll \ll )'''AHTl~~ , I'IllX;RA I r"-'R M l"l-"T I()~\. A ~ I} V,' R1 A:rl() ~ ,\1. MH IIOI}S

87

/.

.~

}'Igun' 2.5h' A unironn bar WillI :1.1) end spring.

The ~t;tr\(ng point IS" 10 con~l1"uctlhc Lagrangian function L "" K - (U + V) (!iCC Sc('"tivn "Z.3,O). 'nle kjnetic energy K and the stmin encrgy U associatoo with thc axial mOliun of a bar

,re
K=

" 1

pA -:k - ("") ' dx, U "" -eA ("")' dx +- (u(L,t )l , -:; u2iU "2,,x 2
Hamilton'~

1 "

(2.5.41)

Fnr potcl)tial energy due t() applied loads, V "" O. Subslituting fllr K and U from EI.j. (2.5.4 1) and I' "", 0 in

prindpJe (2.3.60),

we obwin l5il IX. 11) :::0 51. IX, 1 ~ 0 and &1/(0. f) = 01 2)

0=

I""
'I

~ (K - U)dl

"" " f)

"" ""

I ,[/,"( ,,, "" I "~ [1" (""

q
<)1;)1
II

' iii (I r" [("")'

2 }(>
pA
u

- EA

(''')'] dX ..i1.r

il"u(L.r)1 k

dl

pA - - - t ' A- - ; - d.\' - ktf(L , r)l>u {L,I) dl

8XQX

"" a,,,)

;j" - pA. -y ~u - EA :;---:flt vX ifx

a,,,)

dX - k.II(L , I)f)u(1. ,t) df

(2.5.41)

The Euler-Lagrange eqIHltions as,ociateo Wilh (25,41) are giveJl by

0 <. .1' < 1.
(2.5.43)

Natural vibration l'i noth lng. bUllhe periodic motion of the form
1I(.t, f) = uu(x)el"" ,

i=v'=i

(2.5.44)

whert w i~ thc.frequency,)f na\IlI1lJ vibmtion and II Q{X) is lheamplitude. Substituting Eq. (2.5.44) i.nto &j. (25.42), weobwin
E2.5.45)

88

"N I'<T~()l)llC I10N III Til" FI'<11ll f ..L1'-\1b'<T METIIOI)

where (iQ})~ '='" _0;2, and f,;~ e'$ox dl, being l1()il~Cf(l. h factored Out. E.quatiOil 0.5.45) is the form of the equatiOns g()ve~ing natural vibration Of a bar with left end tlxed and the right end spring sl.Ipponeti. The-Euler C(JuatiQ!l and n:l~l.Ir:l1 boundary tondilion n~~tx;iated with Eq. t2.5.45) arc
we~\1;.

d -fix

(dl/

, EA ~ ) - pAw uo "'"

dx

0,

(2.5.4Qo)
(2.5.46b)

EA - + kll(j""O aL>: =L dx

duo

Theesscmial boundllf)' condition is "0(0) = 0. COllvCl"l<cly, we call u~c-thc three Step procedure t(1 obtain the weak fnon (25.45) from Egs. (2.5.400) and (2.5.46b). Next, we seek RN -par'.l1netcr "Ritz ilpPf{)ximation (obviouii-ly. r/Jr, "" 0)

uQ(.r) R:: U,~.(x) "" I:>II$,'(x)

Substituting, il1lo &j. (2.5.45). WI! obtain

'".

"

where A. "'" w 2 Becau~e of the independe.llt Jl;1(ure.M 6':i, we obtain

and in matrix form

(/Al - },fM) le):<: 101

or (A -

}"l\f}e ~ O

(.2.5,47b)

WOO"
(2.5.47c)

Equoltioll (2.5.47/J) rcPrei;Cl.1t:, a m:urix eigenvalue prublem, aod we obtain N eigen.valuc~, il,. ; ::c I,2,. .N , Forthc prohiciltat hand, the approximation funr.:ti(lllS rPl (.l)!tfC required to beditlercntiablc ooce with respect IlJ x ,md vanish at x "" O. Hence. we ChO(hC
(2.5.48<'.1)

Substitutiog rjJ, frtll.n (2.5.4!iu) i[1to (2.5A7c), we oblain

(2.5 .4$b)

C HM'T[~

2, MAT\lUlImCAI

l'ltU.IMINA~IK~.

I"'TI:GRAL FORMULATIONS, ANU

VA~IAI'IONAI.

\1L'l II O\JS

89

Since we wish to ucte.rmjnc tl>.1) eigenv:' lu ~ , we take N "'" 2 [OlU oblain

mn""'-. m(:z=-, mll=-- 3 4 5

pAl,

pAl.

p AJ,..

EA
Ull
'::0:: -

[, and tbe matrix eigeu\':iJue problem (2.5.47b) becomes

+*.

rl r~,=-

A
J,..

+k,

u,..,=-+k
3C

4EA

( ~[3+3u 3[., 3+30

e
Ci

4+3u

3+3a)_).~[2"
60

t5

(2.5.49)

where i:i = k [ / A, The aJgebraic tligcrl'/alue pnJblern (2.5.49) must be ~olved for A. = q? and [bence. tOf the mOde shape lIo(X)l. To ('arry Out the remaining ~teps to obtain the numerical valu;;s for the natuf:!l frequel1,cil'S, we take a:=kf,/h.'A == l. Then. for a nontrivial solution {i.e., (;1 ,#0, 0.;fO). we SCt the dete.rmin;;1\1 of the coefficie~lI matrix in ctj. (2,5 .49) to zero:

2- 7 3

!
,

The qUlldratic cqumioo

hll~

twO roots

)'1= 4.1 545 , ).1=38.51 2 .....

<Vl=-,f- '
l, ~p

2.038

fc

4J:)=-

6.206
L

g-

(2.5.'06)

The eigenvectors (Qr mode shapes) are ~iven by

U(i)=

l
'1)

"I

,m,: +(/il Xl2 I, ~ /.

lI.' hert tl and ~.)' ate calculated from the e(iua!iotlS fsee Ell,. (2.5.49))

2~j
[ 2 -A, -

j.

The llbove pa.ir of o.'qulItions is linearly dependent. Hence. one of the twO equations can be used t(J \ktennine C2 in terms M c! (or vice ver~o1) for each value of "A. We ohtain
~I
"'"

4.1545:

u~tl (x) = I - 0.6399 ~:

(l):<

-+ U~ (x)"""

x r - 1.4207 V

Plots of the tWi) modc Shapes are shown ill. Fig. 2.5.4. 10c C)(llct values of >. arc the rootS Qf the trarlsce(ujenlal equation (the reader may verify
this)

i.+tan"A=O

(2.5.5la)

1)(1

"'I"-"TIO:OllUcrJO'TO lllloll'l1l rUMI 'T'IITIlOU

0.50
0.40

030

-:..5'
~

..,..

020

, ... --------~~
3~__________~~__~

&010 ..,
'"

............... ,

t ::;:-010 ....Q.20

000 _ :-

",

,
\

,
),
,

-0.30 _
--0.40

t;1= _'' '<;;J=-,=-,=-,='''..!.I.I. ' '-' __ -.

~lod;: ~1!ap.l-2, ui:l)~x)

-050 "TmTMTInn~mTnnnnTm~MTInnnnmTFI 00 0.2 004 06 08 1.0

DlstaJ)Ce,x
Figure 2.5..4 Fir51 two mode ~hllpe:> obiuillC(/ hy the Ri tl method for the ll<lIl1rallon&itudin:ll vibmlions o f a ~priilg~upported bar.

W1:C-

4.91318 L VP

I"

(2.5.51/1)

N.)!c thallhe fir~1 appm,xim:.lIe fr~lucllcy is closer 10 the e,xl1tl tha1l1hc <oecQnd. If ..... esclcctfJr, and ~, I OSRII~fy Ihe n;ltllr.U boundruycondilion aho.t hedcgreeofpolyn()mi. als will ine\jrob]y go up. FotclI;ample, Ille IOwc..'L(lI'der funlllon Ih;rl \atisl1~ the h(lJl1(lgcneou~ (onn (we ,till howe u == 0) of Ihe natural boundary ct)nditio n rt'(]) + 11( 1) =0 is

;'1 ==.b _2."(2

'Ille one' parilmeter solution wilh Ihe choice of <[" ==3.\" - b': givc..~ "I "" 50/ 12= 4.1667, which i~ no better than the twopammctcr s('Ilution cc:,mpul t d u~ing lPl = x and l = .(1. Of courl>l!, solutiOn CII would )'icld a more accurate value. for AI thlll\ Ihc w lutiun Ctl . Although t')~ I and Ct4l. + i:)r:P-; ate of the. \;jmt degrt."'C (fXllyoomials). the laner gives beller accuracy for AI becau~ of the number of pammcten is greater. w hich pnlVidcs greater frtt(lom to adju\t the pa,.. nlC{Cfi ~'I in sathfying the ""cal. fOM. .. Tho;! e igenV:llu~ and mode shapes detconined throuj!h eigcn\o]ue anaJy~ is :Ire "J>tO useful in rJelcrminin8 the tramienl re\pllnsc, The gcnet'31 homogeneous ~Iu l jon 10 the transient problelll is lsee Eq. {2.5A4)J

..... here<'l} and <'lj are Cons\:lnts to he dctenniJled using Ihe initiul c()nditions.

D1JlPrFJI ! MAntnlo\Tl('Jll. 1'kt;Lt.\ll"AKlhS. l:vTELKAI

r(lIi.MlI.ATI()~S. "'''U V"' KIA110~AL MI:TtIOll'<

91

2.5.5 The Method or Weighled Residua ls As noted in Section 2.4.2. one can always wri tc the weightcd-integral form of a d iffcrential cquation, whether the cqumion is linear or nonlinellr (i n the dependent variables). The weak form ca n be developed if the L"<I uatio ns are secondorder or higher. even if they an:: nonlinear. However. it is not alway~ pos~ible to construct a functional 1(11 ) whose first variation i ~ equal to the varimional fo rm. 51 = B (li ll . /I) - /(lill) = 0. The RitL method can be appli ed to all problems. including nonl inear problems, that have weak form s. The weighted-re,idual method is a generalil<ltion of the Rit:l method in that the weight functions can be chosen from an independent set of functions, and it requires only the weighted-integral form to determine the paramete ..... Since the laller form does not incl ude any of the speci fi ed boundary conditions of the problem. the approximation fu nc ti o n ~ must be selected ~ u ch th m the ap proximme solut ion <.atisfies both the natu ral and essent ial Ixmndary conditions. In addit ion. the weight functions can be selected independe mly of the approximation func tion". but arc required to be linearl y independent (so that the relOulting algebraic equations arc linea rly independent). We di sc us~ the geneml method of weighted res idllal ~ first. and then consider certain spcci:11 cases that arc known by speci fic n3mes (e.g .. the Galerkin method. the colloc:llion method. the Jeast-sq uare~ method . and so on). Although a limited usc of the weightedresidual method is made in th i~ book (:-.cc Chapter 14). it is informati ve to have a knowledgc of this class of methods for u'\(! in the fomlU lation of ccnain nonlinear probl e m ~ and non-<>elf-adjoint problems (i.e., which do not admit a funct io nal formulation). The method ofweightL-d residual... can be de'iCribed in its generality by considering the operator equation
A (u) = j
111

(2.5.52)

where A is:\I1 oper:ttor (linear or nonlinear), often a differential operator, acting on the dependent variable 11. and j i ~ a known funct ion of the indepe ndent variab les. Some exampl es of ~Llch operators are givcn be low.
(I) A(Il ) = - -

(Ix

(2)

A (Il) = -

tlx l

, ' ( ",,,)
/, -

" ( "")
1I-

(I.t

+ 1:11

tlx l

(3)

A (II ) = -

J (",,) [ -:- k. ax ax

+ -" oy

( k, -;fly

a,, )]
ay ax

(2.5 .53)

(4 )

A(u) =- .:!... dx
A (U.I') = II -

(Utili) dx
1)y 1)x 2
;).1'

(5)

au +V-+ - 11 - (1)11 av) all 01+ 1) -+ilx

For an operator A to be lil/ellr in its argume nts. it must !<oat i.. fy thc relatio n
A(ew

+ /1 ,,) =a A (u) + {:IA ( I')

( 2.S.S4 )

92

AI' 1",1I00nTIO" TOTllf HNIH. lJ.lc\II.'"

\11'11100

for any M:alars a and fj and dependent variable). 1/ and tI. It can be ea.<ii ly verifi ed that all operatorli in (2.5.53). except for 4 and 5. arc li near. Whcn an opcmtor docs not s:ni .~fy the condit ion (2.5.54). it i~ ~a id to be nunlinear. The functiollll is nOI o nly required 10 sati sfy the operator equation (2.5.52). it i~ a l~o required to satisfy the boundary conditions associated with the operator equation. From the examples considered so far, the bou ndary conditions a~~ocialed with the operalor~ defined in 1.2, and 3 of (2.5.53) arc obvi()u~ (see Examples 2.4.1 - 2.4.3). In the weighted-residual method, the solution 'I is .tpproximated, in much the same way as in the Rit.l. method. by the cx pre:-sion
U,..(x) =

L cJtPJ(x) + 41o( x)
l' I

(2.5.55)

except that the n.."quircl1lel1l~ on 410 find rPj for the weighted-residual method arc more ~tringent than those for the Rill method. Substitution of the approximate solution U,.. intn the left -hand side of (2.5.52) gives a function A(U,..) that . in genera l. is nOI equal 10 the speci fi ed fun ction f. The difference A(U,..) - j, cll iled the residual of the approximation, i~ nonzero:
R s A(UN) - j = A

( t C +o) JtPj
J' I

- 1# 0

(2.5 .56(1)

Note that the residual R i:. a fun ction of position a:. well a!> o f the paramete .... l' j . In the weighted-residual lI1ethod, li S the naille sugge:.t.s. the parameters Cj are detenni ned by re(llliring the residual R to va ni ~ h in the weighted-intcgral sense:

Vt;(x)H(x. ej l dx dy =0

(i = I.

2.. N)

(2.5.5 6b )

where n is a two-dimen~ional domain and Vt; are weighl fi mclio/H. which. in geneml , are not the same as the approximation function s ,. The set 11/1, 1must be a linearly independent "Ct: otherwise. the cquation\ provided by (2.5.56b) will not be linearly independent and hence will not be solv:tble. The requirements o n 410 and tPj for the weighted-residual method are d ifferent from those for the Rit7 Illethod. which is based on the weak (integral) form o f the dio-erenlial equation. The differentiability requirement on t/lj in the weighted-rc<;idual method is diet:lted by the integra l state ment (2.5.56b), as opposed 1 the weak form in the Rit ~ method . 0 Thll~. rPj must have 1l0lUcro d e ri va ti ve~ up to the order appearing in the operator eqU<l1ion (2.5.52). Since the weighted-integral fonn (2.5.56},) doc~ nOI incl ude any of the specified (ei ther es"emia l or nalllml) boundary cond itions. we must also require UN in (2.5.55) to satisfy all speci fi ed boundary conditions of the pro blem. Consequently. 410 is required to satisfy the homogeneous form of all specified boundary condilion" of the problem. These requirements on tPo and J will increase the order of the polynomial expressions used for Ihe weighlL'd -rc\idual method . In geneml. the j used in this mcthod arc higher order fun ctions than tho ~e used in the RitL method. and the fUl1ction.. used in the latter mlly not sati sfy the continuity (i.e .. d ifferentiability) requirements of the weighted-residual method. Various special cllsesoflhe weightcd-rcl>idual method a re di sc u s~e d in the follow ing paragraphs.

(lIAPT1:N } . \lATIlEMATI CA I.

PNU.lM IN A ~IES.

Ir<TEG NA I. FO KMULA I 'IONS , A NO VA KIA'I'IONAI. .\mnl0 1 )S

93

T he I~ctrov-G al e rkin Method. TIle we ighted-residual mcthoJ is referred to as the PelrovGalerkill me/hud when 1/Ii ;;j::. i. When the operator A is linear. (2.5.5 6b) can be ~ i mp lif ied to the fo rm

t[l ~'A(,)d' lCj~ 1~, l f-A(,,")J dx

,. I

0'

L
) z!

A ij e) = Fi

(Ac = 1<' )

(2.5.57)

Note thai the coefficient matrix I A 1is not sy mmetri c:

A ' j=

V;-i A() t!x ;;j::. Aji

(2.5.58)

T he Gale rk in Method. If lhe weight function 1/1; ischoscn to bccqual to the ap proxi mation functio n <Pi. the weightedresidual method is beller known as the Galerkin method. The algebraic equations of the Galerkin approxi mation are
Ae = F

(2.5.59a)

where
(2 .5.59b)

Once again, we note that Ai) is not symmetric. In general. the Galerkin method is n OT the same as the Ri tz method. Thi s should be clear from the fact that the former uses the weighted-integral fonn whereas the laller uses the weak (or variati ona l) form to determ ine the coefficients c ) . Consequently. Ihe approxi mati on functions used in the Gal erkin method are requi red to be of hig her order than those in the Ritz method . If the equation permi ts. and o ne wi shes, di fferent iation from the depende nt variable(s) can be transferred to the weight functio n w = ,. thereby obtaining the weak form. TIlen there is no diiTerence between the Galerkin mcthod and the RilL method. Thus. RitL and Galerkin methods y ie ld the samc so lutions in two cases: (a ) when the specified boundary conditions of the probl em arc all of the esscnti al type, and therefore the requ irements on i in the two mcth(xls become the same and the weighted-integral form reduces to the weak foml; and (b) when the approx imation fun ctions of the Galerkin mcthod are used in thc Ritz method. The t east-S(luarcs Method. In least-squares mcthod, we deteml ine the parameters Cj by minimi zing the intcgral of the squarc or the residua l (2.5 .56(/ ): - .
(lCi

'"

"1 ' 1
Q

R (x, c) t!x = O

aN

Rdx = O

(2.5.60(1)

VCi

94

AN 1~()')lJ(TION TOTIII, FlNln, ELEI>1r>NT MlnllOll

Comparison of (2.5.60u) with (2.5.56b) s hows that 1/Ij = A(,), and (2.5. 600 ) becomes

1/Ij =

iJR/iJci . If A is a linear operator.

) =1

t [1

A(, )A(j )

dxl

'j

1
0

A(,)lJ -

A(o) I dx

oc
Ac = F
where

(2.5.60b)

(2.5 .60c)
Note that the coeffic ie nt matrix AU is symmetric, but it invol ves the same order of differe ntiatio n as in the govern ing differential e quation A (u) - f = 0.

The Collocation Method. In the coll ocation method. we seek :111 approximate solution UN to (2.5.52) in the form of (2.5.55) by requiring the residual 10 vanish identically at N selected points xi = (x'. y', z j) (i = 1,2., . . . N) in the dOI1l<lin n
(2.5.61 )
The se lect ion of the points Xi is cruc ial in obtaining a well-conditioned syste m o f equatio ns and ultimately in obtaining an accurate solution. The collocatio n method c an be s how n to be a spec ial case of (2.5.56h) with 1/1; = 8(x _ x j). where J(x) is the D irac delta fun ctio n, w hich is defined by

f( x)J(x

- ~) d x = f(~)

(2.5.62)

With this c ho ice of weight fun ction s, the weighted-residual state ment (2 .5.56h) becomes

oc

1 "
F:xampl~ Con,~id(, 'T

0 ( X-X ) R(X,L'j)dx = o

R(x', Cj) = 0

(2 .5.63)

We consider an example to illustrate the use o f various types o f weighted-residual me thods.

2.S.5
tbe differential equution (ste !3xamplc 2.5.1 with Set 2 buundary condiliQn~):
~-;J;i- 'j+..r

tP"

= 0,

11(0) = 0,

,1'(1) = 1

(2.5.64)

fr;>r Il we igbtcd-rc.sidua1l.llcthOd. tPo :md IP, sh\luld ~atisfy thc following comlitjOn:l~
lPu{{) ",.0. tPl(O) = 0,
~(I):o:

(salisj'y <lCLua! hi)UI1d.'11)'

conditi(ln.~)

di;{ 1) == 0 (satisfy homogeneous form of tile ~pec ifioo OOtmdary c';lJ1ditiQn~)

('lIAvn:R l. MAHIF\1ATIC!II

~U.l\1 1 I>A~ IIi.S, l~ll:G~Al. FOI<MLl-"IIU~~. ANll VARIXIlUNAL MnllOI)S

9S

"or a choice of algebraic poJynlll1\iah. we a.;sume n{x) '-">' u +bx and use the tv.o <.:QQditiOn~ on rAJ to dctemlitu;,: the const(tl1l.~ (I and I). We obtain

Since there are twu homilgeneous <.:QnditiolL.\, we rnu..\t aSSUlne at !east (t three-parameter polynomial t\l ohlain a nonlcro funcTion, 'Pi = a + IIx +(.. lfs.ing the conditions on <PI, we oblHin ..,2.
l

'-">'i-x{2 .....x)

Thc con~ta!U

th. \~C CaJl

aS~ume one

ClUl be-set equal to unity because it will be ab~\Jrbcd into the paramcICrc\. For of!.h\: forms tpl'-">'tl+bx+dx1 or tP2=a+o 1 +dxJ

with d ",0: l doe~ (l()l contaio allorder terms in either ca~. but the approximate solution is Cilrnplcie bec.ause (I. <hI c(>nta.in~ all tcrm~ up IV degree three. filr the second choice of t/lz. we obtaiJ,1

2=Xl(I - ~.t)
The re!tictual in the approximation of the equation is

(25.65)

T he Petnn'-Gulerkil) Method . Let the weight functi\)l\s be

1/11 :x.
Then

1/J~ ~x1

(2.5.66)

lIXRdx ~O.
~CI+-C"l--"'O

13

11
'

II
('I+ -

I
C. - - = O

12

60

12

30

45

20

(2.5.67)

Solving for (..'j, we ObtMn c, : ~ and C2 = - ii~: the solution ~CljJl)e~

UN; ... 1.302053x - O.173()2Ix' - O.014663x .l

{2.5.68l

The Galerkln M et hod. T.tking 1f1 =<$;. we h<lve

LlX{Z - X)RdX :O.

llx2 -3x xe:O (1 )Rd

17
-C:J

"'

90

+-C1- -=0

29

315

36

(2.5.69)

96

~'< INIlUJllllCH(J,< 1"1) 1111'

111\'1'1. 1LI ~1I:>r \WnlOIl

HCIH;~. {he SQJution beCOI.llC~ (wilh "1""" 4~' 1"" ~).

Uli "'" 1.2894.r - 0,1 39!1x t - 0.00315x 3

(2.5.70)

The LCilislSquares Method. T.tking "', = ~. we have

kl(2 -2x+X~)Rd.1'= O.

( _2+ 4.l' _'Tl+jx1)Rtl.r S::<O

47 2~3 1 --Cr+-Cl--""' O

--.', --c.- 28 15 47 90 Uu
:=

13 60 ",, 0.

90

3t5

36

(2.~.7!)

The leasl-5quafl.'s olutiOil i~ gi\clI by (wilh (I ,",,~,

l.)

l:~)'

1.2601.~ .... O.08017.l'l- 0.03325.\'

(2.5,72)

The Collocation Method. Choosing the puinh.\ >= and .t ~ as the-l'()IIOI.'3li()n points. wc e~;\ll1ilte the residual!> at Ihc.<.e points and ..ct them c(J'ualto (em:

=-

RG) (5) ""

=(l:

117cl-6Il'2=18

(2S73)

0:

()()cl

-341= 18

The <;Qiulion is given by (1:1'" 1710/9468. Cl "" 4~6J94ilS)

Uc = 1.3614 -0. 1292hl -0.03422.1'1

(2.5.74)

For this problem, the PetfOv-Oa!crk,in met/lOll

11lC (our OIpproX il1101tc solutions are cOO1pared in Tahle 2.5.3 \\' ilh the CJ(act ~Jl1Iion (2,5,2 t ). gi~'c~ the most accurtl\c SOlution.
Cillllpar1MJn

Tallie 1.5.J

of tile Rit~. we i~htcd-re.~idllal. lind CXOC't MlIUlioll"f of lhe boundary vah,1c problem in exrunplc 255.

,
0.0
QJ
0.2
0,3

'"

00000
0.1262

..

U,

U,.
O.<XXXI O,I2f15
O,2S~b OJ1~4

Uc
0.<XXXI 0.1275
O.2.~23

U..,

U,

0.0000
0.1180 0.2529 0.374<)
0.4938

0.0000
0.1252
O.24S~

O.251J
Oj742 0.4943

0.00 O./3.t8 0.2668

O.3<Jj8
Oj21h

04

0.4<).11

0.3741 0.4932

0.36')1)
04/191

"'
0.'

0.6112
0.72<14 0.11:)40
O})-!{}2

0.6 0.7 0.9

0.6091 0.122"
0.8)2.4
O.93~3

0._
0.7221

0.6093
0.7216

O.lU17
0.9~114

o~40-1

O.8n9

0.60!'i8 O.12m 0.$314 U.<H91

J.1,49

0(1440
0.7628

0.8778
0.9887
l.09j4

I.'

1.().133
1.1442

I.(}4JI 1.1439

1.0424 I /4.17

1,0448 \. 1463

1.1461

1.1977

2.6 SUMMARY
In this chapter. we ha\c "Iudicd '''''0 major lopic)' thai arc of immediate inh::rc\' ill the ~ Iudy

of finite clement method in the fonheoming

chapler~:

I. Weighted-integral and weak formulations of differential equation" 2. Solution of houndary value problems by the Rill, and weighted-residual (c.g .. the Galcrkin. I cast-S{IU arc~. and collocation) rnelhod~ The weighted-integral ~tatemcnt" arc required in order to generate Ihe ncccs<;ary and ,ufiiciclll number of algebraic equations to solve for the panllllclcN in the approximate \Olulioll. Thu .... the algebraic equation ... arc t=quivalent 10 rninirni/mg. in a .... eigilloo-integr.ll ~cnse. the error introduced 111 [he approx imation of the differential cquiltion.

c,

In \!udying the two topic ~. a thrcc-~tcp procedure for developing the \\e:lJ... foml of (Ii rTerential equations i~ pre<.entcd. and mcthods for obwining algebraic equation~ in tcrm ... of the unknown pammeter, in the approximate solution arc developed. These topi c~ arc immediately applicable in the linitc element Illcthud, which i,:tn elemcntwi~e application Of:l vari:nionalmcthud. Thu". the material covered in thi~ chapter form~ the (;Ore of the finite clement method. A few remark-. arc in order on theclassical variational method" "tudied here. The tmditional variatiollal method" (e.g .. Ritl., Galerkin. and Ica~t-\l.juares) pre'\Cnted in Section 2.5 provide a ... imple mean" of finding ~patiall y c()ntinuou ... approximate ...olulions to physical problc ms. The approximate solution ... obtained via these method~ arc continuou" function:. of position in the domain. The main limitation of classical variational method .. th:1I prevent ... them from being competitive with traditional tinite difference rnethod~ i ... the dirftcul!y encouncered in constructing the approximation function~. The construction proces, becomes more diHicult when the domain is geollletricnl 'y complex. The ~o -c alled "mesh les, methods" are a return to lhe cI:lssical variatiunal methods but with a procedure to COlhtruct the approximation functions. From the preceding di\Cu~sion. il is apparent that the variational methods can provide a powerful means o f tinding upproximate <;()Iut ions. provided one can fi nd :I way to systematically con:.truct approximatio n functions. for almo~t any geometry. that depend only on the differenti:.1 eCluation bei ng solved ,md nOl on the boundary condi tion ... of the problem. Thi~ prot)Crty enables one to develop a computer program for a particular class of problem (e:.ch problem in the class diffcr~ from the others only in the d.lta ). i.e .. a ~el/l:ml-PUlP().\e computer program. Since the functions lTlU~t be con~tructed for a geomctrirally complex domain. it seems that (reca ll the di~cus~ion of the method of cO lllposite~ for the determi nation of the center of ma~s of an irregu lar shape from Chupter I) the region must be repre~ented (or approximated if required) as an a~semblage of simple geometric shapes for which the construction of .Ipproxlmalion funclion<; become" simpler. Thc finite clemen! method to be discllssed in the forthcoming chapte"" 15 ba.,ed on the ...e ideas. In the finitc clement method. a given domain i<; repre\clllcd (discrelized) by a collection of geometrically ~i mpl c ~ h ape<; (elemellls), :lIld on e:tch element of the collection. the governing equation j,,/ormlllllll'</ usi ng anyone of the variational method:.. The approximation fUllction<; arc systematically generated for each (typica l) element lI~ing the

9H

AN INllIotlH'1'1(>N 10 llil. FlNrIl! 1.1 1'.\11 N'l MlillflHl

e~\Cn tial boundary condition~ . The clements :Ire COllllccll'l1 together by imposi ng the continuity or the dependent variables across the interele ment bo undaries.

The remaining chapters of thi ... book are devotcd 10 Ihe introduction of the finite elemen! mcthod and its u~e in the analy~h or ~everal model diffcre11lia l c qu,,!ion~ representing mathematica l ll1odcl~ fo r many physical pn)Ce~~e,.

PROBLEMS
111 Problems 2. 1 2.5. COIl;(rtlel lhe weak 2.1 A Iloilline:tretjll:ltion :
form~

and. whenever po,sible. quwJralic

flln(;!i{)l1:tl~ .

(/ I'

d ("d") +J~O d, ( d.r = 0 d")

1/ -

fo, 0 <.1 < L "

/1(1) ""

.~)

.J2

2.2 The Euler-Ikn loulli-Ion

-d.r

K anll~ n

nonli near Iht..... ,ry of beam ~: for

d (EA [d" + -I2 (d"')']1 J d.l d.1 " (Ix ( ,'''' ["" (i{ (/x

O< r < L

,, -

-+ -I ("'" 2 (/ r
1:1

)']1
"2 dx
1

~q

11 = 11' = 0

al

)" = 0. I.;

(d"')
d).'

- 0' 1, 1 1 - '

'''') ( d

= Mn
/I

,L

where 1: A. E I . f, and q :Irc fll nc t jnn ~ of .1'. and Md i... a cOll<.;lanl. Ilere displacement and w the Iranwc"c deflecti on of the beam.
2.] A sct.-ond -ordcr equati on:

denotes the ;Ixial

whe re (II) "" {/j. (i. j = I. 2) lItHJ f arc give n functions of f'O,ilion (\. y) in a lwo-dit11cn~i()nal domain n. and 110 and IU arc ~n own function, on portinn~ fl and 1"2 of the bou nd:\ry 1' :
rl + I~!=r.

2.4

Navier-Sl0~e\

t.'< lu:uions for two-dimensional flow of viscous. incompress ible tlui ck

'"

(II

CH ... rl1i1l. 2, M...TII1'\tA'IK""" l'U.,IJMI'IAIUES. lNIT;GII. ... 1. l'fIKMUl.A110l'lS "'1'11) V... II.IATIONAL;\IHHOIJS

99

(3)

2.5 Two-dimensional furmul<llion):

fl ow

of

vi~cous.

incompressible

t1uid~

(\lream

function- vonkity

Assumc thai all e,senll:d bound,lry !;Onditions are sp.!cificd to be lem. 2.6 Compute tht;: coefficient matrix and the right.h:mu ~idc of the N. par.ulleter Ritz <lppmllimatiiln of the eqlwtion

_.:!... [(I+X)dU] =O fur dx (Ix

u{O) = O. u(I) = 1

0 < \'< 1

UM! algebmic ~lynomiah for the approlli lnution fu nctions. Spcci<llilJ.: your TC.\ull for N::: 2 and compute thl: Rill eodlicienls. AIISM'u: CI = 1\'1 and Cl = - I~I'
2.7 Use Irigonomc lric fune.iulls for lhe IWO'par,ulIctcr approximulion of the equatioll in Proble m 2.6 <lnd obtain thc Rill coef1icie nt~.

2.1$ A ~ teel rod of diametcrd = 2 em. lcnglh L = 25 cm. and lhermal condllelivily k = 50 W!(m C) is cllposcd to ambient :Iir T"" = 20"C with <I heaHnln,fercocfficient fJ = 64 W/(m ! . ' C). Givcn lhallhe left end of th e rod is IIwintained at a It;:l1lper,tlure uf 'fi) = 120 C and the other end i~
U

exposed to the <llIlbienl tempera ture. detennine the tcmper.llUre di~trib\llion in the rod u~in g twoparameter Rill. approxi l1l~ti()11 with polynomial approximation funclions. The C(lu:llion governing the problem i~ given by

d'O --+CO= O for 11.,2

O<.l <25cm

whcre 0 = T - 1;"'. l' is Ihe tcmpcf'.lturc. and (. is given by

c: = -

fJJ>
Ak

~--- ~

f3rrf)

!rr /Yk

4/1

kfJ

=256/m
\If

P being Ihe perimcter und A Ihe <Ire

cro~s.<;CCl ion:t 1

area

the rod. Thc boundury conditions

O(O)::T(O)-T =IOOC. ....

~: +fJO) 1,.1.=0
('1

AnsM'er: For L = 0.25 m. ('2= 2.667.261 .

= 100.

~I

=.f' , lhe Rill cocfficicnN are

= -1 . 033.3K5 "nd

100

A'i 1 ~'TNOI)lJCT10" TOTllI, f ll'o lll: I'lJ.MI:' iT MI "nlOIl '

2.9 Set up the equation ~ for the N -parameter Ritz approximUlion of th e following cquation~ dated with a ~imply supported beam and subjectcd to a uni form lransver~e load q =qn: for
w = I:'I-- = O at dol'
(a) Usc nlgebraic polynomials.
(IJ)

a~~o

O < .r < L
x = O, L

d'w

Usc IrigO)lOtl1Clric functions.

('I

Com parc lhe lwopanmlclcr Ril z sol utions with th c exact solution, Answer: (II) (24EI)andc,= O.

= qnI. 1;

2.111 RepC<l1 Problem 2.9 for q = qo ~in(;r .f / L). Anl'ln'r: N = 2: /;1 = ("~L = 2quL ~ /0 f. l;r 1). 2. 11 Repeal Problem 2.9 for q = QuJ(x - ~ L). where (j(x) is lhe Dirac delta function (i.e .. a point load Qo is applied at the ce nt er of the beam). 2.12 Develop the N -parameter Rill. ~o lution for a simply su pporled beam under unifonn transverse load using Timoshenko beam tlleory. The governi ng cquat i o n ~ arc givcn in Eqs. (2.4.32(1) and (2.4.32b) . Use Trigonometric funct ions to approximate wand <V.

2.13 Solve the

Poi~son

equation govcr nin g hC1l1 conduction in a 'quare region :

-kV' T = go
T = O -:- = 0
onside~

x= 1

and

)" = 1

JT
,III

(insulated) on sides

x= 0

and

y= 0

using a one-parllmeter Rit z approximation of the form

= ~. 2. 14 [k!crmine <Pi for a lwo-parameter Galcrkin apprllximation with algehraic approximation func tions for Problem 2.8. 2. 15 Con~ider the (Neumann) boundary value problem
AI!.I'Wer:
CI

c';n~,,~(~:) I .~, ~O
Find" two para mete r Galerkin approxima tion of the problcm u,ing trigonometric approximalion functions. when (I) f = /" cos(rr x I L) and (b) / = /0, Answer: (a) <Pi = cosU;r x / L). ('I = [oL 2/rr ! . c. = Ofori # 1. 2.16 Find a one-par.J.meler approximatc solut ion of the nonlinear equati on for 0 < 1" < 1

subjecl tu lhe boundary co ndit ions u(O) = 1 and II( I) = O. and co mpare it with lhe exac t Sol ulion 110 = I - x ". Use (II) the G"lerkin method. (h) Ihe least-squares melhod. and (e) th e Petro vGalerkin method with weighl functio n w = I. Aliswer: (ul (ell l = I. and {clh = -3.

CIlM'TI.M 2. MAi'IiLMAI'K'AL

l'IUiLiMINAI<IES.I~1T.G ~,\I. I'OIl.MllLATIOr<S. Ar<lJ VAMI"'IIOML METIIOOS

equ~tioll

101

2.17 Give

~ one-p~nll11cter

Gulcrkin solution of the

-,;;;:.-211 = I

in
11 = 0

(= unit sqllare)

on

Usc (a)

~Igebruic

and (h) trigonollletric approximation functions .

(i,j

Answer: (h)(",j =~li{j+A

odd).I/J,, = ~iniJrxsinjJT)'

2.18 Repeat Problem 2.17(1/) for an equilater~ltriangular domain. Hinl: Use the product of equations of the Jines representing Ihe ~ides of the triangle for the approximation function .
AIISI\'j'r: r l = -~.

2.19 Con,ider the dillcrential equation

subject to the 1"01l0"'il1g three

(I) 11(0)=0.
(2) 11(0) =

~ets

of Ixlundary conditions:

11(1) = 0

o.

(:1';) I

~0
~ ~I

(3)

(:1';) I

<_u

~O.

""'

('1;) I

~O

(b) the Ie~sl- square~ method. and (e) collocation lit x =

-.oIUli()n~:

Determine a three-p;lrameter ~o luti on, with trigonometric functions, using (a) the Rill; method. _ ~, and ~,an d compare with the exact

(I) lIlI=Jr - 1(cosJrx+2x - I)

(2)1111=1T ~(cosJl'x- l)

(3)

UII=1T

"eus:rx

A/lIlt'er: (1(1)('i = ~ .

2.20 Consider a cantilever beam of variable ncxural rigidity, 1 =(lu I2 - (.IlL)!] and carrying II distributed load. 'I = qo! I - (x/ L). Pind a three-parameter sol\llion using I/J, = X IHI J and the . collocal!on meth ad . AIl,n"!'r: ("I = - 'iU!2 . ('2 = 'JfJl:.. . and c} = 0 . ",-, I ~, 2.2 1 Consider the problem of finding the fundamental frequency of a circular mcmbrane of wdius a, lixed nt it\ edge. The governing cquation for axi,ymmelric vibrmion is
---

r ilr

1<1("")
r-

ilr

- AII = O. O < r < a

where A is Ihe frequency parameter and u b the deflection of the mcmbrane. (a) Determine the trigollometric approximation functions for the G.tierkin method, (h) u~e one-parameter Galerkin approximation \0 determine}.. and (e) usc two-parameter Galerkin approximation to detennine A. Answer: i, = 5.832/r/2.

2.22 Find the

fir~t

two eigenvalues associ;lled with the dilferential equation

--~= ).1I.0 < x < 1

d 1u

r/x -

11(0) = 0. u(l)

+ u'O) = u

UM! the l ea~Hquarcs me thod with algehr~ic polYllom ia b. Use the operator defin it ion to be A = _ (d 2 / dx l) 10 avoid illc rea~i n g the dcgrcl' of the c ha racterist ic polynomia l for A. AIU~Il'r: AI = 4.2 12 and A1 = 34.188.
2.23 Repeat Prohlem 2.22 u,j ug t he RitJ" method wi t h a lgeb raic pul ynOllll a l ~. AIl5l1'er: Al and A2 = 38.5 12. 2.24 Con,ide r the Po isso n equation

= 4.1545

_v 2,,= 0.

0 <.1' < 1.

O <y<oo

u(O.y) = u(l .y)=O for y>O

1I (.\ . Oj=x(I -.l).
A~,U!ning

11(\ ,00) = 0.

0:;:.1" :;: 1

an

approxim~(ion

of the form
"(.l, \j=c,(\'j.\(I -.I)

lind the differe ntial equation for {", (y) :md solve il ex actly. An.fII'N: V, (,\". yj = (x _ x 2)r-Jill',

REFERENCES FOR ADDITIONAL READING

I.
Ari~.

R.. Vl',/or".

T~"Jors,

",,,I IiiI' /lmic Eqllilliolls 0/ FI"iII Medwllic.(. ()lwe r PubliCHlion~. New Yort. I9!N

2. Bt.-der. M . Th" f'mrf"i/'/l'J ulld Apl,/iartwlll 'if\~rillli'mill Mnhfld~. \ I IT Pre<;\. Cmnbridge, ~ I A. 196-1 ,. l:IiOl. M A .. \ imlllr",,,,I I'rim 11,11" III HI'/II Trwufl'F. C I:.rcndoli. London. 1972 . .j. ~ ornty. M. J., Vllrlal'!)I",1 CII"""I,,," ill SCI/""', WI/I E"I<"INril1l<. M... -Grnw- Hill. New Yort. 1%8.
5. Gan/lnaehN. FR., 1979,

n,/' n'mn' "j /llmrirt'. Cileisea. New Yor~.

1959.

6. GmhJIIl. A .. M,,/flx 11r~n'{JfIIl "'ppliClt/ionsfor Mllil!rrn mul Mlllhl''''(l/l<'ilJlU. Il al'Md rrc~s. Ncw Yor~.

7. 1l ,IJcbrand. F Ii .. M..,IInd,' of Applinl '\/mIU'lIIl1lin. 2nd cd ..

8. Jc:ffrc}s, II .. GIrI"sI",r Tenron. Cambndgc Lnl'efJ;ity
C)

I"n:~tice

11;,11. Ne ....

Yor~.

1%5.

LaOC1.o,. c.. \'arimionll/ I'ml<'iplu "/ "'"ehilmcs . .jIll t'<1 . 1111' Un i,cr.;.ty or 'lbronto Pre". Toronto. 1970: reproduced by Oo\'er 1'I'bIiC3Iions. New Yor~. 1986.
l..anllll;,~r.

n,,,

Prc~~.

lAmdon. 1%5.

10.
II

H. L. . I'"ul(.Y M I'IIII"I. ;" Applied .\I('(iuJllicJ. John Wiley. New VorL 1%2.

Le'I'IIoIl. II .. D'"c/ \'''''11/,011<11 "'1'I1",,15wIII Ei~ ..mll/ul' Pmhl..",J", ""l(,"urjl/~. Noordhoff, Lc)dcn. 1 977,
Yor~.

12, Lippmann. II E.wwmm, <l<ul " III;lIIjl)l1ll1 f'rinr'pln '" /II,ciumir,<. Sprlnger-Vertag. New Yorl.: . 1972.

11 . \ l lkhltn. S. G .. V,,,imiolllt! M rl/",J.I' III Mm/r"lIlluicull'II,',lic.'. PergmllOI1 Pres<;. New

14
1- 1 1~h lm.

1964

S. G .. 11,1' NII"'l'ficull"'r/"'7naJJcr oj" \nriall,mll/ M~lh""5. Wolte/s-Noordlloff. Gronmgen. 1971.

15. Oden. J. T. aoo Rood). J. N. li/ri(uw/U!I M rrl""ls", 71'I'II""c/l1 MulllmlcJ. 2nd ed . Springer-Verlag. NC"" Y"r~. 191\3.
16. Reddy. J. K.AI'I,I,,',I P""climlul A",IInl, mid \'''';''''01'''/ ,lin/IVa. /11 ElIl<lIJl't'fllIX. McGraw-lll lL. New 19li: Krieger. Mcilloume. 11_. 19'))
Yor);.20()2 .
Yor~ .

17. Rt-dd). J. N .. l:.1I1''1I.,I'rincilllr< mill \brim/mUll MnhQ/l. '" tlPIII'l'd Mr, IWJllc(. 2nd 00 .. J"tin Wiley. New UI. Redd}. J. N and R~,rnu\.scn ..\'1 1... A"mlla" FlIl<lIlr""III< Alla/,:;I1". John Wi ley. New Yur~ . 1982: Kriq:cr. Melbourne. 1'1.. 1990

19. Re~!(If)". K.. '~,rimi"n(l' Mrllmd, ,n Mmill''''/Ilin. SciCIICt' lI"d e"8"'''l'r",.I:. Reidel. Bosto1l. !977, 20. Wn,hi;u, K.. "~"i(l/i",,,,1 M e/I"HI.I' III EJ.mi";II' I1"d PI<II,I('iI,". }rd cd .. I'crgrulloll Pres'. Ne\\ York. 1982.
21. Welll'lock. R.. Ctd('"III.T 'if \'im(l/uml" M.,h Applicall/m.< 1(1 Phulu
Yor~ . 1 95~.
Utili

t.ng"' ...."lIg. McGrJ,,11111. Nell'

22 Wrede. R C .. IlIImdll< Ii"" w "rr/or ",,,/7i>II"or Alwl),.,;,', Dover Pullll cililOIlS. Ne\\ YorI.:. 1972.

Chapter 3

SECOND-ORDER DIFFERENTIAL EQUATIONS IN ONE DIMENSION: FINITE ELEMENT MODELS

3. 1 8ACKGRO UN D
The traditional variational method" (e.g .. the Ri lL. Galcrkill. and leasH;quare,,) dc'>Cribcd

in Chapter 2

cea~

to be effective because of a !tCriou" "honcoming. namely, the d iOi-

cully in construct ing the approximation functions. The approx imation function", apart frOIll <,alisfyi ng continu ity, linc:lf independence. completeness. and cs!.cntial boundary cond i-

lions. are arbitrary; the selection becomes even more difficult when the given domain j<, geometrically complex. Since the quality of Ihe approx imati on i~ directly atTected by the choice of the approximation fun ctions, it is discomfol1ing to know that there exists no systemalic procedure [0 con~lnlcl them . Because of Ihis shortcoming. despite thc simplic it y in obtai ning approximate sol ut ion~. thc traditional variational lIl eth(xl~ of approximation were llC\'er regarded a~ competitive computationally when compared with traditional finite difference schemes. The finite element method overcome.. the ... honcomings of the traditional variational me lh od~ by providing;. sy<;tematic way of con... tructing the approxi m:.tion functi ons. Ideally speak ing. an effective eompulational method .. hould have the fo llowing
femure~:

I. It should have a sound mathematical a~ well a .. physic;1l b"" i.. (i.e., yield convergent solulions and be applicable to practical probJcm ~). 2. It should not have lirnilali{Jn~ with regard to the geometry. Ihe physical compo'lil ion of the domain. or the nature of the "loadi ng."
.~ houJd be independent of Ihe "hapc of the domain and the "pedfic form o f the boundary condition~. 4. II ~ hou l d be flexible enough to allow different degrees of approximation without reformulating the elllire pmblem. 5. It shou ld involve a ..y .. lelllatic procedure that can be aulomated ror u ~ on digit:.1 computers.

3. TIle fOfmu lative procedure

104

"N INIRUlHICTlO'l

InlilL n'lll~ II 1'\ILNl

MElllO[)

The finite clement mcthod is a tcchnique in which a givcn domain i... reprc~cntcd as a collection of ~imple domain~, c:lllcd /il1i/(' clell/ell/s. so that it is po, siblc 10 ~y~tell1atica ll y ... ctln\truct the apprmdmation fum;tion~ needed in a varialional or weighlcd-re!-.idual :lpproXimation of the <,oluti()n of n problem over each c leme n!. TlllI~, the finite element melihx[ differ; fromtne tradilional Rill , Galcrkin. Icast-... quarc!-.. collocation, ,lIld olher wcightedre ... idual methods in the manner in which the approximation functions arc constructed. But thi ... difference is rc ... pon ... iblc for the following three Ixl<,ic featu re<, {If the finite clement method: I. f)il'i,\irm of \\'Iwft' dOll/aill il1lo slI/Jdoll/(/iIlS that enable n ~y!-.tcillatic de ri vation of the approximation fUI)(;\ ion ... as well a~ repre~entation of complex domain ....

2. lJail'(lIiollo/II1',lmrillltlliollfiIllClif!l1.I over each elemen!. The approximiltion function ... :ITI: often algebmic polynomials that are derived u ... ing imerpo];lIion theory, However, approximation function ... need not he polynomi:lls (like in mc ... hlc!-.s form of the finite elemclll method). J. A \ \'ellJh{\, o/dell/rllls i~ based on eOlllinuity of the solution and b.1lanee of intcmal !luxe... : the a~-.cmblilge of element~ rc ... ult~ in a numcrical analog of thc mathcmatical modcl of the prohlem being analY/ed.
These three fetlturc .... whidl cOlhtitute three major step ... of the finitc element funnulation, are closely relatcd. The geometry of the clements uMXI to reprc,enlthedomain ofa problem ... hould be ,uch Ihat the approximntion functions can be uniquelydcrived . The approximation function, depend not on ly on the geometry but abo on the number l1l1d location of points, callcd Illxks. in the clement and the quantities 10 be interpolated (e.g .. solution, Of ~olutioll and Its derivatives). Once the approximation function, h:wc been derived. the procedure to obtain algebraic relations among the unknown coefficient ... (which givc the value ... of the dependent \'ariable :lIthe nooes) b exactly thc same as that u~ed in the Riv and wcighledre,idual mcthods. Hence, a ,tudy o f Chapler 2, CSpeci'llly the weak-form development and Ihe Rit7 method, make~ the pre~ent study c'l~icr. The hnite clement method not only oven:ome~ the shortcomings o f the traditional vanatiollal method .... but it is al\o endowed with the klltures of an effective compllllUional technique. The basic "'Iep... ill\of\ed in the linite clement analy ... is of a problem are given in Table3,l . l . In Ihe ... cctions thM follow.ourobJcc ti \e j"to introduce many fundamental ideas that foml the basi~ of the finite clement method. In doing ~o, we p()~tponc wrne is~ uc~ of practical and theoretical e011lplcxilY to later ~cc ti on ... of this chapter and 10 Chapter-. 4-14. The ba~ic step ... of a tinite element an;l!y~i ... ;lfe introduced via;l model '-CCondorder difi'erential equation.

3.2 BASIC STEPS OF FINITE ELEMENT ANALYSIS

3.2.1 Ml)del Uoundllry Value I'rohlCllI
C0I1,idcr the problem of finding the function
-~
/I (x)

that

"ilIisfic~

the d ifTcrcntinl cquill ion

(H I )

dx

" ( "")
(1 -

d.\

+CII-/=O

for

O< x < L

(f1.~1'1"1I. .': SlC0NU_UI{ULK UlrI i:llE"'TIAL E()~'\TIIJ'IS 1'1 U'>!! DI\1I:NSION . !"I\lHT FLHII~\ll MOIJI,LS

105

Table 3.1. 1 Step~ involved in the

t. Di'l'relil.alion (m

finit~

element analy.,i~ of a l),pi(;al probkm.

r<"prc~<"ntation) of thc given domain into it collection of preselected finite clcll\ent~. (Thi, step can be postponed umil th~ tinite c\emelll fonnulmion of thc equ~l;on ;1> ~"1l1plctcd_) (Ill Con~truct the finite clcmcnt mesh of pr('"seiected clelllelllS. (IJ) KUlilher lh~ n()<lc, and Ihe element" -) Generate the geoll\ctric prop"rt;c, (e,g_. ~oordin"tei> ;Ind cross-s~..:tional areas) needed for the prohkm, 2 De rivation of e lement equations for all typical clemerlt, in tht llIesh. (Il) Construu the var;ati unal formul;!tion of the ghen differential equmion over the typiral clelll(,"rlt. (Ii) Assume that a typical dependcnt variahle" i, of the form

"""L",t, ,d
and ,uhSlitUie it into Step 2<1 to obtain clement
eqo~tions

"

in the form

4,

5, 6.

Select. if nlrc;ldy ;lv;lilable in the literature. or der;\'e ekrntllt imapolat;on fum:t;"", t, and COn1pUIC tile clement rnatricc~. f\s';embly of ek ment equation, to ohtain tile equal;om of the whole prnlliem. (al Identify tile interdcmcnt comim,ity conditions ~1II0ng the primary variables trelat;on,l"p hclw~en tnt I",;al degrcc, of fre('"dmn and t he gl"bal degree' offrccdom----<;onneetivit y of elcments) hy re.lati ng c kmcn! nodc, 10 globa l nodes. (b) Identify the "'cqllil ibnum" conditions lllllong the secondary \arillbk~ (re latioll,hip b<;lween the local ,ource or for<:e ~omp<)lIcnt' ;md the globally 'p"citkd wurce COlllplJllCnb). k) A"~lIIhlc cil'rnelll C'l"ations using Step> Ja and 3h. IIIIIXl,ition of tl,c boundary condition, of the prohlcm. (a) Identify the ,pecified glob;1 1 primary degrees of freedom. (b) Ide"tify the I>p<:~ificd glob;11 -ccondary degree, offrecdorn (if not already done in Step 11J). Solution of the as,embled c'Iual iorl'. I'o,tproccssing of the resu lts. (ll) CIln1I'UIC the gradient of Ihe ,0IUl;O" or <"her dc~;rcd <Iuantitic, from the primar> dcgr~n of freedon1 computed in Step .~. (b) Represcnt Ihe rc,"lts in tabldar mid/or graphical form.
(rl

llnd the boundary condit ions

(,,"U) I_, dx

~ Q,

13.2.21

where (/ = (/ Cl). /. = c(x). J = I(x). :mrJ 110. and Qo arc the data (i .c .. known quantities) of the problem. Equation 0.2. 1) arises in connection with the analytical description of many phy~ic'l l p rocc~ses. For eXllmple. conduclion and convection heal tr<ln~fer in <l plant: wall or fin [sec Fig. 3.2.1 (a) [. Ilow lhrough channel s and pipes. transverse dellection of cables, axial deformation of bar~ [set: Fig. 3.2.1(/)) 1 and many other physical proce~se s are de, scribed by Eq. (3.2. 1). A l i~ 1 of field problems de~cribed by Eq. (3.2.1) when c(x) = 0 afe presented in Table 3.2. I [see Reddy (2004) J. Thus. if we C<tn develop a numerical procedUre by which Eq. (3.2. 1) can be solved for all possible boundary conditions, lhe procedure can be used to solve all tield problem~ li~ted in Table 3.2.1, a~ well llS many others. Thi s facl provides u~ with the motivalion 10 use (3.2. 1) as lhe model ~ct:otld-order equali on in one di rncn~ion. A slep-by-slep procedure for the formulat ion :.md ~ol ulion of (3.2. I) by the

106

,\N I"T~OI)LCTIO' '1'0 '1liE I L~II 'l ElB1b'fl METlIO!)

.l.1ainlaineti al

tcmp'cmlu re.

III!

'iE~~~~~~~=::~j~~lirfacc. II(X) x to ambient lemrcr:,turc. ,jI--..-...-_ ___ ___

imcrnai

h~at g~ncmllonJ(x)

Con'~~l i on

frumimcmi
c(x)

F~)lOscd

I"

1
Subject,'J tu lond. P
a~ial

101

Body
Specified ____ dispiaceme"l. "0 /

force.j(.t)
___ ____ ___
!hI

C 2:+-

1--- ,
I-

-j+--.<
1

_____________ (d" i
fix)

ufO) '" "0

f:= ,

L
k)

_I

"d;"J1"-L= Qo

FiIlUN.' 3.2. 1 (a) Heal transfer in :1 fin. (b) Axial deformation of a bar. (c) Mathell1~tie:11 ide:t1i7ation of the in (I) or (b J.

problem

finite clement method is summaril.ed in Table 3.1. 1. The mathematical problem consists of ~ol\'ing the differential equation (3.2. 1) in one-dimensional domain Q = (0, L) subject 10 a suitable set of ~pee ifi ed houlldllry conditions at the boundary points x = 0 and .1 = L. as shown in Fig. 3.2.1(,). As already -;hown in Ciwpter 2. the type of boundary condition ~ as-;ocimed with a differential equat ion emerges in a natural way during the weakfoml development of the differential equat ion. A detailed di~cu-;sion of these ideas is pre~ented next.

),2.2 Discretization ort he Domain

In the finite dement method. the domain n of the problem [Fig. 3.2.2(a) [ i~ divided into a set of wbillterv<lls, i.e., line elements. c<llledfillile e/emell/s. A typic<ll element i~ denoted nr and it is located between points A and B with coord inates x" and Xb (i.e .. of length II" =Xh - x,,). The collection of tinite elcment~ in <l domain is c<l l1ed the }illil(, efe/lll'lli mesh of the domaill[-;ee Fig. J.2.2(b)[. The reason for dividing a domain into a set of sllbdomain~. i.e., finite clements. is twofold. Fir-;!. domains of most -;y~tems, by design. arc a composite of geometrically aneVor

Ul/WIER.l SECONDOI{[)lM UIfFERE~"TIAL EQUATIO:<lS l\f O:<lE UI.\1ENSION rTKTTf ELEW1.\fT MOl">I:LS

107

Table 3.2.1 Some examples of engineering problems governed by the second-order equal ion (3.2. 1) (see the footnote for the meaning of ~ome parameters').
Priluary field of,!udy Hea! tran,fer Flow through [X'l"\)u, medium Flow througt, pipe_ Flow of ,"i",o", ~uid, Elastk cables
Ela"i<; bar;

Probtem data

Se<:ondary
\ariahl~

,";!riahle

"
Tel11l"'ralure T -T"" Fluid head Pre-surc
p

"
Thermal condUClatKe kA Permeability Pipc resistance "

,
Surface convection

f
Heal generation Hca! Q

<.

<P,
0 0
U

f
ln ti llract;on Point source

f
0
gradient -dPldx Tranwcrse force
I'n.~"ure

Q
Point source

' fR
Vi<;<;o,ity Ten,ion " l' AAia l stiffne~,

Q
S h ~ar

Velocity Di,plac.'mcnt Di,placeTllCll! Angte of twi,! 8 Elc.;trical potemial

,tres,

"
"

f
0

Axia l force

EA
S hear 'liffne,,,
GJ

f
0
0

Tor<ion of bar, Elc.;lroslalics

Point force I' Po int force I' Tor(juc T Ele<:lric

".

Dielectric

' k = ,herma l conJuclulKe: fI "" conwCli,e film conJlICla~: 1' '' perimeter: P = pr."ure or force: T" ,... ambient lCntp"r:lIL"" of lhe '\HwunJ ,ng Huid n>eJI\'m: Ii= 128/,1,/1,,,</'1 "m il /' bc' n ~ the v,,,,,,,,ty. II the lcng1h. "nd (i It...: d,"mcl~r oflhe pipe; f: = Yo.mg' 111"Julu,: ... '" are. of ,.,..", ""'Clio": J '" pol.,. mometll of ,nel1ja.

,",o n,tam

Charge de n'ity P

0.. E

materially different parts, and the solut ion on these subdomain s is represented by different functions that are cont inuous at the interfaces of these s ubdo rnai ns. Therefore, it is appropriate to seek approximation of the solution over each subdomain . Second, approxinllltion of the sol ution over each elemen! of the mesh is si mpler than its <Ip prox imation over the entire domain . Approximation of the geometry of the domain in the present case is not a

L
(a)
int~rval

End p<)int, of an

n, n, u,
fl= 0
x2

", .,
(1))
(mc~ h ).

Figure 3.2.2

(a)

Whole domain. (h) Finite elemc111 discretization

108

AN 1"''ROD\X l lOr< TO 'l1lE I-L~ITI: EU: ~lI;.\'T W ;TlI()O

concern, si nce it i~ a strai ght line. We must, however, seek a suitable approximation of the solution over each subdom<lin (i.e .. finite element). The number of e le ment s into which the tot<l] domain is divided in II proble m depe nd ~ mainly on the geometry of the domain and o n the desired accu racy of thi:: sol utio n. In the \JI1e-dil1len~ional problem at hand. geometry is simple cnough to represent it cx act ly. Sincc thc ex act solution is not known (/ priori. we Ill<ly begin with a number of elements th:H arc c[) n~i dered 10 be reasonable. Most ofte n. the analyst h<ls knowledge of the qua litati ve behavior of the so lution, and this help~ to c h oo~e a starti ng mesh. Whenever a problem is solvcd by the finit e element method for the nl""t time. we are requi red to investig<lte the convergence o f the finit e element solution by gradually reji/I iI/X 'lie /IIesh (i.e .. i n cre a~i n g the number of elements) and comparing the sol ution with those obtained by hixher-nrder clements. The order of an element refers to the degree of polynomilll used to rcpresent the so lution over the element. Thi s is made clearer in the sequel.

3.2.3 Derivation of Element EqulItions

Next. we develop the algebraic e(jlHllions amo ng the unknown parameters. much th ~ same way a" we did in the Ritl and Galerkin m e thod~ discussed in Chapter 2 Isee Eq . (2.5 .5) 1. The main differe nce here is tha t we work with a linitc clement (i.e .. sutxiomain) as opposed to the tota l do main . Thi~ ~ t ep res ult ~ in a matri x equ ation of the form 1K"lk") = 1P), whit:h i~ called Ihl' !il/ile eil'lI/em model of the original equa tion. Since thc elemcnt is phy~ically m nnected to its neighbors. the re~ ultin g algebraic equati ons wi ll contain more unknowns (c ' ~ as well as F's arc unknown in the e lement equations) than the number of al gebraic equations. Thcn it becomes necessary to put the elements toge ther (i.e .. assembly) to el iminate the extra unknowns. This process is di scussed in Section 3.2.5. The derivation of tinite element equations. i.e., a lgebraic eq u ation~ amo ng the unknown parameters of the ti nite clement approximation, involves the following three
~tep~:

I. Construct the weighted-residu al or weak fo rm o f the differential equation. 2.

A ~sume

the form of the ap proximate solution over::l typical finite c lement .

3. Derive the finite e lement equ atio ns by substituting the approximate sol ution into the we ighted-residual or weak form. A typical element no = (x". Xh) [see Fig. 3.2,3(a) j, who~e endpoint~ have the coord inates x = x" and x = Xh. is i ~o lated from the mesh. We seek an approximate solut ion to the governing differential equation over the c lement. In princ iple, an y method th at allows the derivation of necessary algebraic relatioJ\~ among the nodal values of the depende nt variable can be used. In th is book we develop the algebraic equations using the RitL method , which is based on the weak form o f the differential equat io n. Other methods. ~uch as the lea~t <;quarcs method. may a lso be u~ed to construct the fi nite element equations. Ap<lrt from the method used to derive the algebraic equations, the ~ teps presented in th i~ book for the Ritz (or \\/ea k-fonn Ga lerkill ) finite element models are the sa me for other methods. The th ree steps in the derivmion of fi ni te clement equatio ns associated wi th the model differential equati on over a Iyp;ca ! e/CIIII'III of the mesh arc discussed next.

Elcml.'t1t n .,," !X... fb)

'('~"

Q" . (I

tI -

"") ,lI'

,. = X~

(h)

.'gu re 3.2.3 Finite clement d l/>Cretil ation of a onedimensiomll domain fur the model proble m in (3.2.1). (l/) A typica l fi mlC ciemerll frum the fin ite clement me~h . (b) A typital cleme nt. with the defim tlon of the pri mary (II) and -.ccondary (Q) \'ari ables at the element n()dc~ .

SICI) I. Weak .' orlll and MinimuI11 ora Quadratic Functional

In the finite clement method , we .;eek an approximalc .;olulion to 0.2.1) over each lin ite cle ment. The polynomial approx inwt ion of the solutio n within it typical tin ite element r.!. is ass umed to be of the fo rm

Ij~ = Lll jiftj(X)

j=1

"

(3.2.3)

where II} are the valucs Ilfth e solution u (x) at the nodes or the fin ite e le ment r.!e. and iftj are the approximation function)' over the clement . The pitnicular form in 0.2.3) will be derived in the next sect io n. Note Ihal the approxi mation in <3.2.3) diffcr' from the one u<;cd in the Ritl. method in that c)1J)( ), ) is now replaced with I') iftj (and tAl = 0). and II) plays the role of undeT errnilled parameters and iftj' the role o f approx i11laliOil fun cti u n ~. As we ~ h a l! ~ee latef. writing The ilpprox inlUtion in tc rms of the nodal values o f the so lutio n i ~ necessitated by the fact that the cont inuity of 11(.\') between clements C:1Il be read ily im po~e d. Thc cocf/ic ic nr.; I I ~ are de termined ~ uc h that (3.2. 1) is .satisfi ed in a wei~ ht ed -i nr egra l ,ellse. A~ d i'CUN!d in Chapter 2. the ncce"ary ,lI1d ~um cie nt num ber of algebraic relation.. among the II~ can be obtained by recasti ng the differential equation 0.2. 1) in:t weighted-i ntegral form:
0=

---:f " [ "((1 "u)

II' --

+("11 - /

'.

dx

dJ:.

(Ix

(3.2.4)

where w ( x) dcn ot e~ the weight fu nction and r.!~ = (xu . .1,,) i ~ Ihe do main ofa typical cleme nt I~cc Fig. 3.2.3(1)1. For I/ :Z:::: II;; and cach independent choice o f w, we obtain :HI indcpcmle l1l

J J()

A:-

j~'1<.0I)lJ("1l0N TO

j'UE F1Nnh U.hME'''''101E'I' If()!l

a lgebrai c equat ion relating all !lj of the element. A Total o f II independent equ:lIions are requireJ to solve lor the parameters j = 1,2 .... , II. When II' is selecTed to be '/If and (3.2.4) is used 10 obtain the ith eq uation of the required n equations. the result ing tiniTe element model (i.e., system of algebraic equations among the nodal values) is termed the Galakin fillitt, deml'lIt model. Since (3.2.4) contains the second derivative of u. the approximation functions '/Ij must be twice diOcrcntiable. In addition, if the secondary variables are 10 be included in the model. '/It must be at least cuhic. Similar arguments apply for case~ of the weighted-res idual methods discussed in Chapter 2. For details of the weigh ted-residual finite element models. see Chapter 14 rllld Reddy (1986). To weaken the continuity required of the functions 1/I;(x). we trade the differentiation in (3.2.4) from II to IV such th nt both It and IV are differentiated equally-once each in thc present case. The resulting integral form is termed the weakjorm of (3.2.1). This form i~ not only equiva lent to (3.2. 1) bu t it also contain s the natural boundary CCln diti on~ of the problem. The three-step procedure of constructing the weak form of (3.2. t ) was presented in Chapter 2 and is revisited in the next few paragraphs. The first step is to multiply the governing differential equation with a weight funct ion I\" and integrate over a I)'pical demNlt. as given in (3.2 .4). The second ~tcp i~ to trade d iO"erential ion from u to II' u~ing integration by parts:

IIi.

0=

f "(dWd"
r.

1/--+cwlI - wj dx dx

) dx - [ d"]" dx x.
11'([ -

(3.2.5)

The third and last step is to identify the primary and ~econdary variables of the weak form. Thi s requires us to classify the bou ndary condi tions of each differential equation into ('ss(' lIlial (or geometric) and natuml (or force) boundary conditions. The cla~ s ification is made uniquely by examining tire boundary term appearing in the weak form (3.2.5),
[ wa

dll ]" dx
r.

As a nI le, the coefficien t of the weight function 11' in the boundary expression is called a secol/(/ary mriable. and its specification constitutes the IWlllral or Neumann boundary condit io n. The dependent unknown 1/ ill I/le .\"II/I/e jorm 1I.~ Ihe weiMhl jUllction \\" appearing in the bou ndary expression is tenned a primary l'arillble. and its specification constitutes the i!.Iselllial or Dirichlet boundary condition. For the model equati on at hand. the primary and secondary variables are
dx The primary and secondary variables at the nodes are shown on the typical element in Fig .3.2.3(h). In writ ing the final form of the weighted-integral statement (i.e .. weak fonn) we wish to usc, we must address the fate of the boundary terms. For a typical line clement , the end points (nodes I and 2) are the boundary points. At these points we have tire following four condit ions (none of them specified at the moment)

"

"nd

a- = Q

d"

CUM' lUI. ~1:CON[)..()I!;Ol.K 1)lln. Ku.. n .<l.I.IOQI.IAl1ONS I.'" 0'11. [)lMIJ<.SIO"- l1"1m' f1 F\II;NT ~lurn1..s

III

II~

Ifwe !>Clcct /I~(.I.) in (3.2.3) such Ihm it automatical ly sm;"lies Ihe end conditions and II h .t"h) = 1/2' then il remains that we include the remaining cOl1(lition~ (
Ql =

11~(Xa)

( "u) I
-(1-

(3.2.6)

dx

...

in the

wea~

fomt (3.2.5). With the notmion in (3.2.6), the weak form becomes

0=

f ' ( ".. "" +

(1 - -

ell'll -

11'[

.'"

dx dx

til' - W(X,,)QI - W(Xh)Q2

(3.2.7)

111 i~ cotl1p l ete~ the three-~tep procedure of con~tructing the weak form of the model equation (3.2.1). The finite element model based on the weak form (3.2.7) i~ called the lI'e(lk [onll GlIlakin jil/ill' dell/e/ll model. It is clear thllt the weak form (3.2.7) admits approJlimation functions Ihllt are lower order than the weighted-residual <,tatement (3.2.4). Student '! of engineering recogni/e that Fig. 3.2.3(b) is the[ree-body diagram of a typical clement. For axial deformation of bars. /I denotes displacement, dll/dx i~ the strain E, EE is the ~tre~~ cr, and Au denotes the force, where E i~ Young's modulu~ and A is the area of cro,~ ~ection of the bar; hence, Q A (dll/dx) (/(dll/dx) ha~ the meaning of force. The quantities Q~ and Q 2 arc the reaction forces at the left and right ends of the mcmber; i .. II compressive force wh ile Q; i~ a len~i l e force [algebraically. both are positive. "" "hown in Fig. 3.2.3(bJl. For heat conduction problcm~. II dcnote~ temperature. du/dx is the tempcrJture gradient. - k(dll/dx) is the heat flux lJ. and Aq denotc~ the heat. where k is the thermal conductivity and A i~ the area of cross section of Ihe bar; hcncc. Q =kA(III/(I.rl=lI(dlljdx) has the meaning of helll: Qj =-kA(dll/dx)" i~ the heat inpill at node I, whi le Qi = kA(du/dx)/J denote the heat i" PIII at node 2. Thu" the arrow on thc sceond nude ~hould be rcven.cd for heat tran~fer problems. For additional details on heat transfer. M!C Section 3.3. 1. The weak foml in (3.2.7) contain .. two types of expressions: tho~ contailling both II' and II (bilinear form) and those containing only IV (l inear I"orm):

Qr

/1 ' (11'.11) =

" f (
"
a~

(/ - - + ("11'11 ) (Ix <i ... "" (Ix dx

(3.2.8)

The wcak fonn ClU be expressed I

(3.2.9) which is ca lled the 1'(lri (lliOIl(l1 pmblf!1II associated with (3.2. 1). As will be ,cell hlter. the bilinear form results directly in the element coefficient matnJl. and the linear form leads to the right-hand-\lde column vector of the fini te clemcnt cquations. Derivation of the vanat ional problcm of the type in (3.2.9) is possible for all pmblelll~ de<;cnbed by differential equations. However. the bilinear foml Il' (w,lI) may not be linear in II. and it may nOI be "ymmetric in itl> argullIcnls IV and u. Those who h:lve a background in applied mathematic, or ~olid and structural mechanics will appreciate the fact that the vlLriationa l problem (3.2.9). when W(W,II) is ~y111metric nr(lI'. Ii) = S '(lI, 11') and "(II') is linear in \1', is thc samc as thc statcmcnt of the minimulll

11 2

III' IVl~OIJ(;CT ln~ TOTII E n.~II'E EIM E.- .r MHflOU

orthe quadratic functional 1"(11), 8r = 0, where

1' (1/) =

~ tJ'(IL 1/) -

/"(1/)

= 2"
-

a '/'" [(d")' 'J

~ +CII ~

dx

dx

/"
'.

ufdx - II(X,,)QI-II(Xb)Q2

(3.2.10)

Thus, the relationship between thc weak form and thc mini mum of lluadratic functional I" is ohviouN Icf, (3,2.9)1:
O=81" = IY(W.II)-I'(II').1I' = 811

The Slatement

8r = 0 in solid and

~tructuralmechanic~

is also knuwn

a~

the principle

oj minimulIl {ola/ (JOIcl1Iia/ energy, When (3.2.1) describes the axial deformation of a bar. ~ W' (1/, II) represents the elastic strain energy stored in the bar clement. I r (II) represents the work done by applied forces. and 1' (11) i~ the lotal potential energy (n ~ ) of the barc lemcnt.

the finite element model C;Jn be developed using either the statcmcnt of the principle of minimum tota l potenlial energy of an c lcmcnt or the wC;Jk form of the governing equ'l ti on~ of an demcnt. However. this choice i~ re~tricted to those problems where the minimum ora quadratic finctiona l 1"(11) corrc~ponds to thc governing ell uations. On the Olher hand, we can a lw;JYs con~truct a weak form of any set of d ifferential equa ti on~. linear or no\, of order 2 and higher. Finite element formu lations do not require the exi~tence of the functional 1"(11): they only need weighted~ integral ~tatetne11lS or weak forms. However, when the functiona l 1" (11) exi~ t s with an ex tremum (i,e .. minimum or maximulll principle). ex i~tence and uniquenes~ of solutiun \() the vuriationa l problem and it~ discrete ana log C;Jn be eslab l i~hcd. In all problem~ discussed in th is hook, the variational problem is derivable from a lluadratic funct ional.

Thll~.

Step 2, Approximate Solution

Recalltlmt in the traditional variati ona l methods, approx imate so lutions are sought over the total domain n = (0, L) at once. Consequem ly. the approximate solutionlu(x) ~ UN (x) = (' j j (x) + tA-,(x) I is required to satisfy the boundary conditions of the problem. Thi~ places severe restrietion~ on lhe derivation of the approximation functions j (x) and oCr ), especially when discontinuities exist in the geometry. materi,tl propcnies, and/ur loading of the problem (see Chapter 2 for detail s). The fi nite e lement method overcome~ this ShOt1 ~ corning by \ecking approximate ~olution (3,2.3) over each element. Obvious ly. geometry of the element should be ~impler than that of the whole domain. and the geometry ~hould allow a system;tt ic derivation of the approximation f uncti{)n~. as we ~ha ll see ~hort l y. To put the elemel1l~ b<lck together into their original posit i on~. i.e .. connect the approximate solution from each elemelll to form a condnuou~ solution over the whole domain, we require the solution to be the same at points common to the elements. Therefore, we identify the end points of each line clement a~ the delll('l1/ /lodes, which play the role of interpolat ion points (or base points) in constructing the approximation functions over an clcmcnt. Depending on the degree of polynomial approximation used to represent the ~olution, additional nOOes Illay be identified inside the elemelll.

L.

Sillce the we:lk foml ovcr an element is equ ivalent to the differential equ ation and the natural boundary condi tion~ 0.2.6). i.e., condit ion ~ on Q ~ of the element. the approximate ~olulion II /, of(3.2.J) is required 10 ~ati s fy o nl y the end conditions III: (x,,) = III and U ~(Xh) = II;. We sed the :.tpprox imate ~u luti o n in the form of algebraic polynolT1ial~, although this is not always the case. The rea~on ror this c hoice is two-fold: First. the intcq>olation theory of numerical analy!.i~ can be used 10 develop the approximation function~ sy~ t e mat ical1y over an element: ~ond . numcrical cvahmtion of integral .. o f algebraic 1 >olynolllial, i, easy. As in ci a"sical variational methods. the approximation sol ution II ~ l11u~t fulfill certain condit ions in order Ihat it be convergent to the actual ..olution II as the number of clemet1!s is incre'lsed, TIlCse are:
I . [t shuuld be continuous over the c lement and differentiahle. as required by the weak form.

2. It shou ld be a l:olllpfele po lyno mial . i.e .. include lIlI lower-order tenm up to the highc ... t order used. 3. It ,lIould be an interpolant of the primary variables at the nodes of the finite clement (at lea't the nodes on the boumltry of the clement so that the continuity of the ...OIUliol1 can be i1T1 I>o~e d across the im erelelllent boundary). 11le reason for the !lrst condi tion i~ obvious: il erhurcs a noru:ero cocfri cien\ matrix. The second condition is neceSS:lry in order to capture all possible states. i.e .. constant. linear. ::lnd soon. of the acw al -.olution. Forcxample. if a linear polynomial wilhout theconMant teml is used to reprcloent the temperature di stributio n in .. one-dirnensio nalloy"tern . the approximate ~o lmi on can never be able to represent a unifo rm lotate of ternpermure in the clement should ~ uch :r state occur', The third condition is necessary in order to enforce continuity of the primary varinble\ at points common to the elements. For the we:lk form in (3.2.7).thc minimum polynomial order of II;; is linear. A complete linear 1 >oIynorniai i<; of the form (J.2. 11) where and ("~ are comtanllo. The phraloc "complete polynomial" refers 10 the inclusion of alilenll" up to the order de,i red: omi"sion of f'~ would muke it an incomplete linear poly1l0rni;!I. Similarly. ci + c Jx 2 is an incomplete quadrati c polynomial bccau\c the linear term is missing . The expre,sioll in (3.2. 11 ) meets the first two condiliom of an approximation. The third cond ition is sati ~ l ied if (.~ and c~ rlIL'Cllhe conditions 0.2.12) Equation (J.2.12) provides two relations between pressed in rn:llrix form a~

<

kr. ("2) and (Ii i. 11'2 ), which can be ex(~

Invening (3.2.13). we obtain

": = ':1 1 1 [' .<"] 1

112

(3.2. [3)

Xh

(3.2.14)

11 4

\:>II.'I'lltOlJl (110:" Tlnll h

FIMrr IJJJol E.'a ~l1"ntOO

I)

where h ~

=x - x" and (a r = x". ,, ~ = - x" . fir = I. and f1~:::: "

,, ~= (-() j xj . fJ,~'=( -() J ;

x f= x" .

.(= Xb

(3. 2.15)

In (3.2. 15). i lind) permute in a natur;I( order:

ifi = I

then ) = 2:

ifi = 2

then j = I

Thc ,,; and are introduced 10 show the typical form of the interpolation function s. Sub,tiwting ( '~ and ('1 from 0 .2. 15 ) into (3.2 .11). we obtain
/I "

fJ;

"() = - I I(" '(' x , I I/ I

'I

+ 0'2 11 ~ +

~~ )

(U~"l P l li

+ l'l " l

ue

~ Ix I

= - ("I
II~

r~ + fl 1x )1I ..1

I e , + - (,,~, + fJ 2 x )I' 1 II,

= !Jr~(.t)I/ ';

+ 1fr2' (X)1I 2=
"'~ (x )
-

.-'

L !JrS(X)II :

(:U.16)

where
I x - x" = - (O'~- + {J-~ x) = --fi r XI> - ,'u

CU.17 )

which are called the linear jillire dell/ellf lIppro.,ill/a/iollfilllcrioll~. The approximation functioll~ 1/I: (x ) have ~ollle interc~ting properties. First. lIote thm

impli e ~

IJIf (x,,) = 1 ::I1d !Jr2' (x,, ) = 0. Similarly. l

112 e II ~ (x,,) = IJI f (x,, )u ~

+ 1J12' (x,, )us

gi \'e.~ !Jr r (x,,) = 0 and I/I; (x/ = I. In other word~.IJI; is unity atlhe ith node lind Lero atthc other nude. Thi ... property i~ known a~ thc interpo lation property (i.c .. II~ i,,:m interpolallt of I/(x ) Through nodc~ I and 2) of 1/I,r (.~) and they arc abo called illlelpo/OIj()lIfiwl"tiUlis. When they lIrc derived to interpolate function values only and not the derivative ... of thc functIOn. they are known a" the ul!:mll~e illte'7JO/lllioll filllclimu. When the func tion and its dcri\'ativc~ arc interpolatcd. the rcsu ltillg interpulat ion functions llrc known;l~ the fierll/ite Jall/ify nJ illfl'rpnflllitm JIIIICliOlH . Thcse will be di .,cu,,~d in connection with beam finite cle ments in Chapter 5. Anothcr propcny of '/Iiex) is that thcir sum i~ unity. To see thi~. con"ider a c on~tant "talC of IIh= co. Thcn thc nodal vlIlue .. "I and 14 ; ... hould be {:qUlll [0 each othcr and both equal to the c()n~ t ant Cu. Ikncc. we havc

II~, (.I')

= !Jr~ (X)II ~

+ '/12' (X ) II ~ = Cll
I/I: < ) = xj

-4

1 = '/I;' (x)

+ 1/If(x)
we havc 0. 2.18(/)

Thl ... propeny of IJI,~ (x ) is known 11" thc Pllrtilioll of unity . In

~ummary.

Oif,"j
I if j = )

L, ,,;(x) ~ ..

..

0.2. 1Xh )

1I"(.I" ) :o ("I+ C

>

True o;olullon. u( r)
lI(.r)

= "~'f',\r) + "i " ; (.1")

" 'I IX
I

,
I

.r

.1" =.1".= .1",-

,
I

.I"=:r~ =

1";;-l-c4---,O"'-,,---01

(II)

"

012

,b,
(b) Lillear tillile cleme nt apprOXinJ:llioll.

"' igure 3.2.4 (II) Linear illlerpohLlio n 1 \lIlclions.

whcrcxi = x" and \'f = XI> lsee &1 . (3.2 .15)1. The fUllc tiom "',' are);hown in Fi g. 3.2.4(a) and 11/;(:1') is );hown in Fig. 3.2.4 (b). Although proper1i e~ (3.2. 1Ra ) and (3.2. 1Rb) are veri li ed for the linen!' Lngrange imerpolntion fun ctions. they ho ld for Lagrange interpolation functions of nil degrees. The element interpolalion functions 1 in (3.2. 17) were derived in tcnll', of the 1:1(1)(11 /1,' ctxm:li"ate x [i.e .. the coordinate lIppc:lring in the goveming differe ntial equation (3.2.1 )1. but they are defined on ly on Ihe clemen I dOll1l1in Q~ = (x". XII)' If we choose to express them in terms of a coordinate j' (convenient in evaluating integrals of "'t). with the origin fixed at node I of the clement Q ,. the runc tion ~ 1/1; of (3.2.17) in terms of
.f

arc

0/ 1 (x )=

, _

1- - ,

.f

h,

"'f(i')

=,i
,<

(3.2. 19)

The coordinate i i~ termed the !OI:al or dement cOI)/'{/ill(/fc [see Fig. 3.2.3(a) I. The interpoilltion func tions l/Ii lire derived ,>ystem:l[ically: Slarting with an assumed degree of a complete algebraic polynomial for [he primary v:lriable II and detenn ining the coeffi cients of the polynomi;ll ;n tenns of the values iI; of Ihe primary variable /I :ltthe c lement nod e~. Ihe primllry variab le i ~ finall y expressed a~ a linear combination of approximation fun ctions l/It(x) and the nodal values which arc called [he clement lI(x /al (/egrccs offreedolll. The key point in th i~ procedure is the <;elect io n of the number :lnd the location of nodes ;n the clement so that the geometry o f the e lement j<; uniquely defined and imerelement continuity may be ell~ ily imposed. TIle number of nodes must be suflicient to allow Ihe rewriting of [he coefficient s in the assumed polynomial in terms of the primary varia ble ~. For a linear polynomi:tl approx imation. two nodes with one primary vari:tbl c per node are sufficient to rewrite the po lyno mial in term" of the vllllle" o f the primary variable at the two nodes and :11\0 define the geometry of the clement. provided the two node" are the end points orthe clemen!. The degree (or order) of the po lynom ial approximation can be increased 10 improve the accuracy (sec Fig. 3.2.5). To illustrah.: the derivation o f the inte'lXll:ltion funclion~ of higher order. we consider the quadratic approxi mation of II(X)

<

IIr.

II ~ (X) =

cr + ci: x + c~x!

(3.2.20 )

116

A.'1IKI'KOllUC IION TO TIll" FINnE UF\IU'T .\llITHOI)

lI(xl
1/1")

I/(.r)
11(,")

,
II~(XI
<

",
(",

,
.<,

II;

",
Xl

.<,

(h)

Figurt' 3.2.5 (a) Linear approx inwlion. (b) Qundralie approxim:ltion.

Since there :tfe three parameters (i = 1. 2,3). we mu~t identify three nodes in the element so that the three parameters can be expressed in terms of the three nodal values uf. Two of the node~ arc identified as the endpoints of the eleme11l to define its geometry, and the third node is taken interior 10 the element. In theory, the third node can be placed at any interior poi nl. However. the midpoi nt of the element, being equidistant frOIll the cnd nodes. i~ the be~t choice. Other choices are dit:tatcd by special considerations (e.g .. to have a certain degree of singularity in the derivative of the solution). and we will not discuss <;uch special case~ here. Thus. we identify three nodes, two at the ends and one in the middle, of the clement of length h, [sec Fig. 3.2.5(b) [. Following the procedure outlined for the linenr polynomial. we e lim inate by rewriting 11%(.\") in terms of the three nodal va lues. (1I~.II;. u ~). The three relations among and uf arc

c;

<

<

1I~

== ll~(Xf) = Cr +c;xr +c~(..r r)2

(3.2.2Ia)

or. in matrix form.

(3.2.21b)

where

xr (i =

xi =

XII

+ O.5h e. and x~ = x~).

1.2.3) is the globu l coordinate of the ith node of the element Inverting (3.2.2Ib), we obtain

Q~

(x] = x".

"', = IJ'LIYjll,. 1",,~

,

, ,
= IY'

,=1
'

(2

'C' R" L~illj ,=1

(3.2.22)

", -

yt = - (x; -

x[),

rtIAI'Ti" R I SI:("()NI)ORIJI-R l)lnT RP' fl AI_I:Qt;AlK)),IS

I~ 0'>" I)I.\ILNSION 11'111: EI.I MI"TMO!HC\.S

117

whcre Dr de not c ~ the determinant of the matrix in (3.2. 2Ib). and a~, Pi, and r,r are defined in (3.2.22) in terms of the nodal coordinates. The "ub~cri pl ~ u<;cd in 0.2.22) permute in a natural order:

;f
if

; = 1.

then then then

j=2

and

k=J
k=1

;f
For example, a2". P'j. and

; = 2. i = 3.

j=J and j = 1 and

(3.2.23)

k=2

rr are given by
fJl = (x f )2- (x;>2.
r; =.t~ - ri

a 2 = .I"~ (x!) 2_ xf(xj) 2 ,

Note thai if .1"]" i, very close to either x~ or x~ (i.c .. node 2 is placed c lose to nodc 1 or nIxie 3), mak ing the row~ o f the cocflil: icnt matri x in (3.2.2 1) nearly the <,arne. which Imlkes the matrix nearl y singular and not invcrtablc. Substituting fo r from (3.2.22) into (3.2.20 ) lmd collecting the coe ffi c ients of 1I'j . 1 2 4, and /1 1 <;C]Xlrately. we obtai n

<

11; (.\") = "'r(x)II'j

+ "'; (x)u 2+ "'Hr)u'1 =

,

, L, Vt"; (x) lI j ,

0.2.24)

where y,; are the qU(I{lrlilic UI!{rlIlI!{e inlerpo/miolljllllc fio lls,

I Y,;( f) = IY (a ~

+ p~.r + r t x )

(i = 1.2.3)

(3.2.25)

Oncc again . the quadratic intcIlXllation functio n' can be exprc ~ ~e d in tcnm the quadratic inte qXllation functions arc given by

or thc ImlI l

cO()lllilWfe f. When the interior node, node 2, is placed at a distance .f = all" . 0 < a < I.

y,'(i ) =
2

ljI~(i) =

.f ( .) ' --.- ~ (I - .!.~)

I
a(l - a) "

1- II

(3.2.26)

( [ - 0')11

all

For a = ~ , i.c. , whcn node 2 is placed at thc midpoint of thc c le ment, the interpolation functions in (3.2.26) become
t l('\') =

, ( i)( h . ll) h
11-

t/li (.f)
~

= 4-

., ( .i)
II

I -II

(3.2 .27)

y,l (i ) = - - 1 - " " II Plots o f the quadratic interpol:ltion functions arc g iven in Fig. 3.2.6 . The function "',~ iSC<lual 10 I al node i and :tcro :1 the othcr two nodes, but varies quadraticlllly betwcen lhc nudes. 1

,\

( '")
_ I

11 8

AN INT~Ol>U(TION

nlF 11NnE E1.E.\lENT MlTIllOD

2 h,

1)

("I

(1))

)<"igure 3.2.6 Que-dimensional Lagrange quadratic clcmcnt

(0)

~nd

its intcrpolation

fum;lion~:

gcomctry of the ciclncnt; (b)

intcrpol~tion

functions.

The interpolation properties (3.2.18(/) and C3.2.1Sb) can be used 10 construct the Lagrangc interpolation functions of any degree. For example. the quadriltic interpolation functions (3.2.27) can be derived using the inteq)Olation property (3.2. 180 ). Since '7:- (.i') must vanish at nodes 2 and 3. i.e .. at j ' = ~h , and x = he . respectively, '7 r(.\') is of the form I J/I~(.f) = C 1 (.r - "2i1,.)(.r - h, ) The constant C 1 is detennined such that

Vri" is equa l to I at.r = 0:

or

I I = Ct(Q - "2h , HO-h , )

C, = 2/1I ;

This gives

J/lfU) = 2 (i _ ~h f )(j _
II ;

II . ) =

(I _

h,

.r) (I _ 2X)
he

which is idcntical to that in (3.2.27). The other two interpolations runction~ can be derived in a similar manner. Although a detailed discussion is presented here on how to construct the Lagrange interpolmioll function s for one-dimensional clements, they arc readily available in books on numerical analysis, and their derivation is independent of the physics of the problem to he ~olvcd. Their derivation depends only on the gcometl)' of the element and the number 1md location of the nodes. The number of nodes must be equal 10 the number of Terms in the polynomial. Thus. the interpolation functions derivcd above are useful not only in the finite element approximation of the problem at hand but also in all problems that admit

Lagrange interpolation of the variables, i.e .. all problems for which the primary variables arc the dependent unknowns- not their derivatives.

SteJl 3. Finite Element Model

The weak form (3.2.7) or (3.2.9) is equivalent to the ditrerential equation (3.2.1) over the element Q e. and it also wntains the natural boundary conditions (3.2.6). Further. the finite clement approximations (3.2. 16) and (3.2.24) arc the intcrpolants of the solution. The substitution of (3.2. 16) or (3.2.24) into (3.2.7) will give the necessary algebraic equations among the nodal values uf :lnd Q:' of the element Q,.. In order to develop the finite clement model based on the weak form (3.2.7), it is /101 necessary to decide {/ priori the degree of approximation of (I ~ . The finite element model can be developed for an arbitrary degree of interpolation:
II

" ~ lIh = L:> j 1fij(x)

ieo {

(3 .2.28)

where 1fi'j are the Lagrange interpolation functions of degree" - J. For /I :> 2. the weak form in (3.2.7) must be modified to include nonl.ero secondary variables. ifany. at interior nodes. This ll1l>dification is discussed next. The intcgratil>n by parts in Step 2 [see Eq. (3.2.5)] of the weak-form development for . an element with interior nodes is carried out by intervals (xf. x}"). (x 2 T~ ) .... , (X; ~ I' <):

0=

, _, ,' (h ----:-, da L (f ':" (a -dw. (h +

.

CIVU -

w!

) dx - [w(x)a (h ) dal':~' ----:x'

j

~f

"( dx dx ,;
"

a - - +clI'lI - lI"/

(/11'(/11

du {/ )dx - w(x , ) (I) ' f - wCr~) () dx dx

~

(II

-(j-

x~

- lI'(x~ )

( dU) x; dx
- (/ -

- I\'(x; ) a -

( da)
dx x\

- w(x;)

(a -da) dx

,~

f "(
"i
-

dll'du (1 - - + (;II'I/-II'!) dx dx
{/ ---:
(1 -

dx - lI'(x " ) ( 1

- (1 -

dll) dx ",
a(1 -

II" (x2)

, [( da) ,; + (da)] d); dx

.\"~'

I\"(x~)

, [( dx ,; + ( "a) ] ,1,,) dx .,;'

-11")

"'-I\"(x;, ,)

[(a -<1") dx

x'

+ (da)] - aI

dx

," ."

(a -dU) " dx

"

(3.2.29a)

120

A I<.

IN1WlllllrrIO~

III Till FINIn'

I]

1~\II;NT

'-1IJI'II,)I}

where '< and.< .... denote the left and right sides. rc~peetively. of node i. lind
Q~ =

dU) dU) ( (/x. ; .0; = [( dx. ; + (dU)] (Ix 'i- 0(1 (1 w

(3.2.29h )

dU) - a[({/- .:, + (dU)] . Q"= (dU) ~= (Ix (Ix x;, " dx
(1 -

TllU~. Q i = 2.3 . .. . . II - I. denOle~ the jump in the value of the sccond:lry variable in f. going from the left 10 the right of the ith node. Thi'l value i" zero If no external I(ource i<: applied at the node. Thu~. for an element with II nodes, the weak form becomcs

0=

" ( ( dw ---: I - du / _t~ d.\ (I.~

+CII'IJ )

" d.\ ~ / " 1I'(ldX~L\r(x; )Qj

>.
j' I

0.2.30)

Note thm Q~ = Q~ and Q: = Q ~ reprc-.cnt thc unknown point sources at the end node". and all other Q~ (i = 2.3 . .. .. /I - 1) arc the specified poinl ,,(\urcc~. if any. at Ihe i11leriur
n()de~ .

Ncxt, v. c develop the fini te clcment model of Eq . 0 .2.1) when the (II - 1htdegrL"C Lagrange polynomials arc LI~ed to approximate lI(x). Following the Rill: procedure developed in Section 2.5.2 , wc "ub~ t itllt e (3.2.28) for /I and II' = tPl' II' = tPl' .. . , ". = tP; in!() the wea" fom1 0.2.~O) 10 obtain /I algebraic equations:

0=

t.

" " [0--. (Lll j_-.i + ctPr (Lll j 1/l; Cl) ) ~ V/U ] dx ~ L r ~ (.l; )Q~ d.p' " d.p,) , ' d .1 I"" d .l ,,
J""

( 1st equation)

0=

~ " d"" , /'.-"[CI ',,"' (Lll j-_1 ) + c\lli (L> j \ll; (.l')) - 1/IU ] dx (Ix
j
I

(2nd equation)

dx (ith equal ion )

L , , \IIr(xj )Q j
,

o ~ / " [a d,,;
t.

(1'\ 1

(t u;""'J)+ c.p; (t u;"'J (' l) -"'; /]

I (/.\
J ,

Ifx -

L 1/r;(.l jl Qj
j .,

(nth equal io n)

The ith algebraic equation of the

sy~ lem

of"

equation~

can be wril1en as 1. 2 . .... 11) (3.2.3 1t1 )

0=
where
J

" L Krj ll ; i",1

I;' - Q~ U=

K,~. = IJ' ( 1/1,~. 1/1,") =

It
=

! '.(a d
'.

,Ix ,1.1

1/1,' 'N; + C1/I"1/I,,) ,/.l

'
(3.2.3Ib)

!A~ 1"11,' dx
x"
Ll ~ed

Note that the interpolation property (3.2.18a) i<;

to write (3.2.32)
K~.

" L "':(x;) Q~ = Q~ i:o

l

Equatio ns (3.2.3Ia) can be expressed in

term~

of the coefficicnts

It. and

Q~

as

(3.2.3311)

In matrix notatiOI1. thc linear algebraic

c 4uati on~

(3.2.33a) can be wrincl1

a~

(3.2.33b)

The matri x K' is callcd the coeDicielll IIIalrix, or .\fijJl/e_H IIIlIIrLr in <;truClural mechanics appl ications. The column vector r" is the .mIlTt/! l 'I!("IOr. or lon:1! I'ector in ~ tru ttura l mechanics problems. Note that Eq. (3.2.33) contains 211 unknowns: ( II ~. II ~, .... II ~) and (Q~, Q:;, ... , Q~,). called primary and ~econdary elementllodal dl'grees olireedolll: hence, it cannot be so lved without having an additional II condit ions. Some of these life provided by the boundary conditions and the remaindcr by "balance" or cquilibrium of the secondary variable<; at nodcs common \0 .<;cvcral elements. 111is balance c:m be implcmented by pUll ing the clcmcnts togethcr (i.c .. a~<;cmbling thc clemcnt equations). Upon a ~<;cmb l y and imposition of boundary l'onditions, we shall obtain cxactly the same number of algebraic equations as the number of unknown primary and <;ccondary degrees or frcedom. The ideas underlying lhe assembly proccdure arc discusscd in the next section. Thc coefficient malrix 1K ~ I, which is symmctric, und SOUfce vcctor If'] can be eva luated for a givcn clement and data (a, (', and Forelementwiscconstant value<; of (/. c, and I (s.1y,a~, c" and I .. ) thecoefficicnts K~ and f," can easily bcevalualed for a typic .. l element. as discussed nex t.

Q :

n.

Line:lr EI('ment. For a mcsh of linear element~ , thc element g loba l nodes Xli =x~ and XI! =XH I ]see Fig. 3.2.2(bJl. I-knee.
K ~.
'I

Q~ i~

located between thc

!"" ( "'V
(l
A

' dr

--' __ J

<II>' +c 1//1/1~ ) dl' ,Ix ~'I . ,

122

Ai'> INnOIXKTION m Till. HNI"Il'

I~.I'\U;NI

MlrrllOI)

or, in the local coordi nate ),ystem .i'. r/X . where .,. = XI +.f and

dx = d.f .
The

1I1j1;

dl/!t

(Ix = di

"'i ca n be ex pressed in ten11 S of X as 1~ee (3.2. 19)1

K~

We can compute

and

!,' by evaluating the integrals. We havc

lie - -

1', [ ( ') ( ') + (

o
he
--

h..

c, I - -

h~

.i ) (
di

I - - ) ] tlx .f
h~

fi t 1 = II.. + -('h , 3 t

. 1."[ (') ' + ( .f) ' ]

t2 -

1I

--

<'

hr

h..
t

I- -

It..

It.

= -h..
K~2=

lI..

I + 6 c.. II .. = -

K ... ,

(by "ymlllctry)

Similarly.

1-II .. Thus. for co n~[ant I,.. the total ~ouree 1.. 11 .. is equall y di.... tribuled to the two node .... The coefficient matrix and column vector are

1."(" " ) Jt= ', If ( ') 1.

(l, --+ (",~~
I)

h .. h ..

h, h,

dx = -

fir

h,

+ - c,li,
3

[ K'J ~'"
[I' fI

It..

[ ,
- I

- '] + c.h.
, 6

[2,
- I

,]

'

IJ'I ~ I .h. 2
1

('I
I

(3.2.34)

=atx and c =Cr , the coefficient matrix 1K' 1can be evaluated as

IK'I~ '"
II ,

(x.+-,.+, )[ ,
2

- ']

c.h.
6

[2 ~]
I

(3.2.35)

The reader shou ld vcrify th is. Note [hut when u is 11 linear function of ,1", this j ~ equivalent 10 replacing (I in thc coeffi cient matrix wi th its ave rage value [compare (3.2.34) wilh (3.2.35)1:

CUAI'TUI " ~RONI).(lItlll..lC IIIHtlCf.!';nAI l:QUAnO'lS l'II)SUlll\tLN~1ON FI"I1l' n.l;l.I!''lTMOIlt:l.~

123

Arc3 of
CTOS!i St:Cllon. Ao

- -+-,
.4 .. '" .4 oP

A A ,Q .
- (x,.II.)).
cW!>~

qTI
-

A~+ A~.I

A... I '" ,1012 - (x.'. 1/1.)

I"ij,:ure 3.2.7 A pproximat Ion of an clemen l w ilh linearly ..... ryi ng men! of conSliml eros!> M!t.~llon .

!;Cllion by an equi ..... lenl elc

For e)(umple, in thc stud y of bars with linearly varying c ro~~ section (see Fig. 3.2.7)

a = i\(.r) = E

(A ,+, - Ax_ ,)
A~ +

h.

Ihis amounts to replacing the linearly varying cross section with a constant cross ~ct i o n with in each element. the cro!>!>S/..octional area of the constant.o,eetion being the average area of Ihe linearl y varying cle ment Here A~ denotes the cross o.;eclional area at x~ and A ~+I i .. the area at x = X~+l' Qumlratic Element. For a mesh of quadrmic e leme nts, clemen t g lobal nodes..l"" = X Zr 1 and X b = ~kt I. Hence,

n,

is located between

dx

(3.2.36<,)
(3.2.36b) I~ dx = I, (I.r II .' l. I where "'rCr) (i = 1.2.3) art: the Lagrange quadratic inteqXJlation functions in (3.2.27). Evaluating the integrals in (3.2.3611) and (3 .2.36h ), we obtain
f.~ =

j "., 19

1 ",r "
"~

3 4. 3 ;) II; 1"! (-- +-<) (--+ -4

o
a~

Jr..

II ;

+ c, [ 1 7
(I.

3..

II ,

+2

(i)'J[ )[ + ()'J I '

"~

I- II ,

II.

d.r

= - - + - cll
311,

2 15"

K ,,
~

, 1" (--+- - - 8') ' 3 4-')(4 =

(/~
I)

h,

,, ~

,, ~

he

= --J II ,

8{j~

+ - (.'~ h , =
30
('

K 21

K22 -

-')(4 1', ' (4 8 8i)

u

(/

- - h, ,, ~

- - h, fl ,

c,

[4 (I - -')] [4 -' (I - )]1d.'

i II , h, II. i hI'

= - - + - ch 3 I" 15 (' ('

7 (l r

and

<,()

on. Similarly.

1', it' [
()

I - 3i ,;.

+2 (

-' II ,

)'J

f ; = fi'

(by symmetry)
~ourcc

Thus, the clement coeffi cient matrix and

vector for 1I quadrati c demenl are

-8

I K ' I =~
3/1 ,

[ -8 7

16

_~] + c;~, [~
7 - I

2
16

1 - 8

-~]

(3.2.37a)

lf'l =

f,~', ~

II

O. 2.37b)

Note that. for quadratic elements. Ihc total value o f Ihe source i.Ii, h nOI distribulcd equally between the th ree nodes. The di stnbution i<; 1101 cquiva1cnllo that of two linear clemen" of length { hr _The compUialion o f it <;hould be based on the inlcrpolmion func tions of that element. i 'he sum of /.' for allY dell/elll ,hould alway~ be equal to the inTegral of fix) over the element:

' f: =
,=1

. f"f(x)d"
....

(3.2.38)

CI1I11'11,1{ J- SI.C'ONll_ IJI.I{ IJlflTRn;TIAI. f'(.X'ATJO'lS J)<; O)<;E [l1\1 ENS ION - fir-In; ELlMPSJ' MOllEU OI{

125

In summary. for elcmcntwise-eonstant values of the dat.1 (/, c. and f, the clement matri ces of a li near and quadratic cleme nts are

Ullear Element
", [ 1 ( h,. - I

-1 '"" [2~ ]) I::I~ j,;" ]

1
+~

I:I I~; I
+

(3.2.39)

QlIadratic Elemellt

-8 -8 ([7 311" I
(/ "

16 -8

-:] + [ ~ ';~'
7

16
2

- 1

-ml:n
(3.2.40)

fch ~

1~1 + 1~!l
K r

When the coefficient c" = 0, the corresponding contributi on to the above equations should be omitted. When (/. c. and I arc algebraic po lyno mials in x , the eval ua tion of and II i~ j straightforward. When they are complicated function s of x. the integrals in IK ' ) and If' J are evaluated using numeri cal integration. A complete discussion of numerical integra tio n will be presemed in Chapter 7.

3.2.4 CUllllccth'ity uf Elemcnts

In deri ving the element equations. we iso lated a typical element (the cth element) from the mesh and formu lated the variat iuna l prohlem (or weak form) and developed its fin ite element model. The finit e element model ofa typical clement eontain slI equa tiun~ among 211 unknowns, (ur. 1I2. _ II ~) and (QI ' Q; , .. . , Q~). Hence, they e;mnot be solved wi thou t ... usi ng the equatio ns from other clements to get rid of extra unknown s. From a physical point of view. thi s makes sense because we shou ld not be able to solve the element equations without con~ id e rin g the complete set of e lements and the buundary conditions of Ihe total proble m, To obtain the finite element equations of the total problem. we must put the ele ment ~ back into their orig inal positions (u ndui ng of what was done before formulating the discrete prohlem). In pUlli ng the e lements with their nodal degrees of freedom back into their origina l po~i tion s, we must requ ire that the sol ution 11(.1:) i ~ uniquel y defi ned (i.e .. If is continuous) and the ir sou rce terms Qf are " balanced" at the poirlb where elemet1l s <Ire connected to each other. O f .:ourse, if the va riable /I is nOl continuou s, we do not impose its cont inui ty: but in all problems studied in thi s book, unless othe rwise stated expl i.:it ly (l ike in the case of an im ernal hinge in the case of beam bending), the ptimary variab les arc assumed to be conti nuo us. TIle continu ity of the primary variahles refers to the si ng le-valued nat ure of the

126

II"

I~ IKOI}lJClION TO Tilt. fiNITE r.u~\lIXr .\1lflllOO

solution; balance o f .,econdal)' variables refers T the equilibrium o f point source1>. TIlU", O the assembly of elements is carried out by impo~ing the following two condilions: 1. If the node i of clemen t Q" is connected to the node j of e lement Q and node k of / elemel11 nl(, the continu ity of The primary vari able /I requires
(3.2.4 I )

Whe n clement ' arc connected in series, as shown in Fig. 3.2.8. the continuity of" requi res
II ~

" = 11"+ 1 ,

(3.2.42)

2. For the same three cle ments. the ba lance of secondary variables :11 eonnccting nodcs require"
(3.2.43)

where I is The globul node number as~ig n ed to the nodal po int that i ~ common to the three clcment~. lind QI is the val ue of externally applied source, if any (oTherwise zero). at t hi~ node It he sign of Qt must bcconsislent with the sign o f Q~ in Fig. 3.2.3(b)l. For the case shown in Fig. 3.2.8. we h'lYe if no external point "Ilurec is applied if an external po int ~ourec of magn itude QI is app lied
(3.2.44)

, , ", , , ,

"- ,, , .....--;, , /, , , , , , , , , , , , , , , , , , ". ", , , ", , , , , , , , , , , , , , , , , Q; Q',

r'
2

, ".\.r)"" '<" "j"lf, ,.f) L

"

,
I I

Ir.11

-I

i~ Q. ~ -- ""
t 2

, , , , , ', ' " ,

1
1

~ lUIr

{Mil

(r) "" L uj

(... 111 ... 11

Y',

(f)

r'

: I
"

I 1

I I
I

I ,
I

,,,-,,
1

" ...

It-I ......... tmcr ior nodes

"

Etcmcnt nodes
(0'

m-I m

.. ~Q ~.I Ifi_, Q~_~-<"''''''''''''''''''''-C>-''O,,_ _ Ol~ 0,:'1

I _ ''" ,' I J
)

fi.

" -, ,"'--_-..,-,-_ _ _ _ _ _ _-,1

I ' +0..,
O~

III _ I

/II

;ExtemallyappllcdQ

,hl
Figu re 3.2.K A~scl11b l y uf two Lagrange elelllclIIs: {(j) co ntlllllity of the prim<lry vari<lble: (h) balance (lft hc set:ondary variab les.

111e balance of secondary variables can be interpreted as the continu ity of a(duldx) (not a(du ~ /dx) 1 at the node (say. global node I) com mon to c lements r!, and Q e+ 1 when no change in adllldx is imposed externally:

' (a "")' :::: (d" )'+

(1 -

dx

dx

0'

({/ "")' + ( "")'+'

(1 -

dx

dx

=0 -+

(3.3.45(1)

If there is a di scomi nuity o f rnag nitude Q/ in in goi ng from o ne si de of the node 10 the other side (in the positi ve x d irection), we impose
(3.3.45b)

a:: :

The i nterelement cont inui ty o r the primary variables can be impo sed by si mply re nmning the variables of all e lements connected to the common node. For the conncct ion in Eq . (3.2.41). we simply use the name
(f) (/J (x) _ II; :::: lI j :::: 11,

= U,

(3.2.46)

where 1 is the global node num ber at which the three c le ment s are connected. For exa mple, for a mesh of N lincar fi nite clements (11 = 2) connected in seri es lsee Fig. 3.2.2(bl]. we have
11) =

' u1.112= 11 ) = u2. 11"=111= u, .. 11 2 I N = N. " N =11 ) U 2

U" = :.

U N+)

Figure 3.2.9 shows the connected /lnite c lement solut ion. II I., composed of the c lement so lutions IIJ,. Fro m the connected ~o luti o n . we can identify the g loba l illlerpo lmiolljwU"liolls <1>,. which can be defi ned in tenllS of the element interpo lation fun ctions 1/Ir corres po nd ing to the global node I . as shown in Fi g. 3.2. 9. To enforce balance of the secondary variables. it is clearth:tt we can set Isee Eq. (3.2.44 d + Qj1l + Q1/:"1 equal to zero or to a speci fi ed value Q, on ly if we h'lve such an ex pression in the finite clement equati ons. To obtain such expressions. it is clear th at we mu st add the ilh equati on o f the clement Q , . the j th equation of clement Q f . und the kth equati on of cleme nt Q e . For the case shown in Fi g. 3.2.8. the 11th equation of cle ment Q e must be added to the tirst equmio n of the c lement $1,'+ 1. i.e .. we add

Qi

" L K~j ll j =!,~ + Q~p

i "" l

and

128

"~IN"r~I!(l(lcrtQ~ IOT llf n'< II1.iJoL.L\I INI MLU fOI)

IjII "

"

(f)

.. JI-II "' 2 (1" )

,
~< ~

...--"h (... .. L." .... 11jI .e , l(.-)

1-'1 1 /

<'<I

'

!hi
"'i~lIrt'"

3.2.9 G lobal inlC rptl)alion function) for the

(tl)

linear elel1lcn1 s :md (b)

q U:l u ml ic eJ emc nl ~.

to obtain

" "(K ~J /I"J + K r+l l/r+l) = L.... " I} J

J=I

)"

( f"

+ [ I.. +I + (Q'~ + Q'+O ) I

(3.2.47)

= In.. +(r+'+ Q I ( . I

This proces~ reduces thc number of eq uat ion ~ fro lll 2N to N + in a mesh of N lincar clemcnts. The fi rs! equation of the liril element and the last e<llI3tion of thc last elcment

will fCmain unchanged. except for renaming of the primary variable... The left-hand side of 0.2.47) can be wrinen in term .. of the ~ l obal nodal values as

' '+ ~~ 2'" (K ~I "I K' 1I '+

') ~tl r+l + K'IIn " " + (K~+I " ~+I + K ~+I li ~+ I + ... + K III lin ) II I I~ Z

=( K,:IUN+ K;zUNII+ +K;'"U""+II I) +(K~tU"" + 1I I+Kr~IUN+n+ ... +K~;IUNI-2J'

2)
I

= K:IUN+ K;'~UN'I++ K:(n IIUN+n-2

where N =

+ (K:" + K ti')u,.,.."
2). we have

+ K~tUN+" + ... + K f: I U \'+1l!_2 (II - I )e + I. For :, me:.h of N linear elements (II =

K II1U 1

(3.2.48 )

+ K I12 UZ =

f,' + Q:
121

(u nchangcd )

K~ IUl

+ (K~2 + K ~dU2 + K ;2U, =

+ f,~ +

Q + Qf l
(3.2.49)

Kf;-IUN-,

+ (K ~~ I +

K ~ )UN
K 5. ,UN
~

+ K i~V'\'_1 =
N + K nVN+ 1 =

ft

1+ fi" +

Q~' I

+ Q~

N f2N + Q2

(unchanged)

The:.e <Ire called the lIssemb/l'tf el/lIll1ioIlS. They eonlain the ~urn of coefficient'> and <,Ourcc tcnns at nodes common to two clements. Note that thc numbering of the global ec[uation, corresponds to the numbering of the global primary degrees offrcedolll. VI. This eorre"ponlienee carrie~ Ihe symmetry of element matricc<; 10 thc globa l matrix. Equation~ (3.2.49) can be expressed in malrix form as
KI I

K b
K n+ I

K~I

K'il

Ki,

, Ki2+ K il
'

Kj2

u,
o
U, U,

+ I? If + / 13
III

II

Q:
Q + Qf 1
+
Qi

+Q~
I

(3.2.50)

It - I + Ii'"

Q ;-

+ Q '~

12"

Q~'

130

AN '''TNOI)\;CT'O~ TOTIII, rJl>iT!: ~:L1J,II;:'<'I' METHOD

h, = !;t\ .. h, = 4ft .. " 1= 6ft ..

Rigid member (eon,lnl)ncd 10 move horizontally)

II, = 0.5 In ..

I/~

O.~75

in ..

"a = I.Oin .. I:.:,=30XIO"p.;;.

E,, = 14x I06 pSI Eo'" lOx IO"p,i.

~ (Hob,,' ",00, number

h,

"' igurc J.2. IU The geometry and finite element mesh of a three-bar Slru\:lurc.

Note Ihal the discussion of assembly in Eq~. (3.2.49) and (3.2.50) is ba~ed on Ihe assumption that e lements arc connecled in series. In general, severa l elements can be connected at a global node. and the elements do nol have 10 he consecutively numbered. In that case, the coefficients comi ng from all clements conneCled at that global node will add up. For example. consider the S\nlcture consist ing of three bar c lements shown in Fig, 3.2.10. Suppose Ihat the connecting bar is rigid (i.e .. not deformable) and is canst ruined to remain horizontal at all times. Then the continu ity and fo rce balance conditions for the structure are (3.2_5 I ) To enforce these conditions. we must add the ~econd equation ofcJemenl I. the first equation of clement 3. and the second equation of element 2:

(3.252)
We note the following correspondence of local and g lobal nodal values (sec Fig. 3.2.10):
III -

'-u I,

11 2

; = U4

Hence, (3.2.52) becomes

K~1 V, + Ki l v 2 + (Ki2
= =

+ K (1 + K i 2WJ + K~2V4

Ii + I? + 122 + Q~ + Q+ Q~ ':

Ii +/I~ + f i+2 P

CIIM'l'1'.Il '. SeCON!) UKutiR UIfTEREI'o"TlilL

EOU"TIO~S I~

OS!! [)IMI:.NSION rlSlTI' EL.Hle..Vr MOLlELS

131

The ot her equations remain unchanged. except for renaming of the pri mary variables. The assembled equations arc

KI 2

Kf, Kfl i, K k o K i,
(3.2.53)

+ + Note that all are zero forthe problem in Fig. 3.2.IObec<luse where k = there is no distributed ax ial force (f = 0 for all clements). The coefficients of the assembled matrix can be obtained directly. We nOle that the g lobal coefficient K /J is:l physical property of the system. re lating g lobal node Ito global node J. For axial deformation of bars. K /J denotes the force required at node I to induce a unit displacement at node J. while the displacements at al l other nodes are zero. Therefore. K IJ is equal to the sum of all K ~ for which i corresponds to I and j corresponds to J, and i and j arc the local node~ of the element np Thus, if wc have a correspondence between clement node numbers and globllJ node numbers, then the assembled g lobal coefticients can readily be written in terms of the element coefficients. The correspondence can be expressed through a matrix [B [, called the ('OIl11erlil'ity matrix, whose coefficient bij has the follow ing meaning: hi) is the globa l node number corresponding to the jth node of element i. For example, for the st ructure shown in Fig. 3.2.10. the matrix [BJ is of order 3 x 2 (3 e lements and 2 nodes per e lement):

Kil Kil K il'

rr

This array can be used in a variety of ways- not only for assembly. but abo in the computer implementation of finite e lement computations. The matrix [11 [ is used to assemble coefficien t matrice~ as follows:

Ki , = K 11 Ki2 = K n

because local node I of element I corresponds to global node I. because loca l nodes I and 2 or element I correspond to g lobal nodes I and 3, respectively

and so on. When more than one element is connected at a global node. the clement coefficients arc to be added. For example. global node 3 appears in all three rows (i.e .. elements) of the matrix [B], implying lhat all three elements are connccted to a g lobal node 3. More specifically. it indicates thm node 2 of element I. node 2 of element 2. and node I of e lement 3 arc the same as global node 3. Hence,

,,' "' 22+

K' 22

K'11

K33

Assembly by hand can be carried out by exam ining the tinite element mesh of the problem . For the mesh shown in Fig. 3.2. 10, we have

K23 = K12

because globa l node 2 is the samc as node I and global node 3 is the same as node 2 of e lement 2.

132

"N I""I"II;OUI /TIO' T0111~ Fi'lTf CU..MI' 'iTMnIlOO _

K24 = 0 becau ~c global nodes 2 and 4 do not belong to the K \l=K~2+ Ki2+ K i\

~alll e

clement

and ~o on. The problem can al~o be solved by numbering global n od e~ I and 2 to be the <,amc node . Thi ~ Icad ~ to a 3 x 3 global sy~ tem of cq uati o n ~ . In summary, asscmbly of finit e clements is carried out by impo ~i ll g intcrelemCl1l continuity of prim ary vuri:tbles and balance of secondary variables. Renaming the primary varia ble~ o f an cleme nt in terms o f the global primary variable~ and us.ing the corre'po ndence between the local and global nodcs allows the assembly. Whcn cen ain primary nodal va lues are not required to be COntilluOU ~ across clements (a ~ dictatcd by physics or the vari:lIional formul:ltion of the problem), ~ u c h variable: may be C()I/('l'I/.~e(/ out at the element level before a~~cmbl i n g the elements. 3 . 2.5 Intl)Osilion The
d i,>cus~ i on
ca~c

or nuundary Conditions

in Section 3.2. 1- 3.2.4 i ~ valid for any differential equatio n that is a "'pecial of the mode l equati on (3 . 2. 1). Each problem ditTers fro m the other in the spccitic:Ltion of the dat:1(ll . C, f) and boundary condi tio ns on the primary and secondary variabJcqll. Q). Here we di sc u ~\ how to impose the bOUll(hlry cond i ti o n ~ of a probkm ol1thc assembled set of fin ite elemen t (algebraic) equ ation~. To this end. we usc the problem in Fig . 3.2 . 10 . The boundary cond itions of the problem arc evide nt.. at least for an engineering ~t ud ent , from the <;tnlctu re shown . TIle known primary degree,> of freedom (i.e .. di splaeemc nts) arc

1I]=V1= O .
The known '\eeondary
d eg ree ~

lIi=v2=o.
ro rce~ )

U~=V4= O
arc

0.3.54(/)

or freedom (i.e ...

Q~+Qi+ Q 1=2 P

(J..3.54b)

111C rorces Q QT. and Q~ arc un known (reacti on forces). and they can be determi ned after the primary degrees of freedom are deteml ined . hlllx>sing the boundary condit ions (3.2.5411) and (3.2.54b) on thc assembled system of equations (3 . 2.53) wi th It = 0 . we obtain

l.

K~'
1\

,, '
o

(3.2.55)

21

Thi ~ contain, four equations in four unknowns: VI.

Q: .

Qi . and Q~.

3 . 2.6 Solulion of EClulitions

As a .. tandard procedu re in fin itcelement :malyl>i..... the unknown primary degrees of frccdo rn are determ ined fi rst by ('o/l side";//8 Ihe aIRI'brai(' equ((lio/B CO/'l'l'.\poJl(Jin t,: 10 th e unknown primary I'""if/hles . Thus . ill the present case, we conside r the third equation in (3.2 . 55) to solve for V3:

CH AI"rER "

SI:CONU~If(I)I .M UUH.MI:"TlALI:QUAl1ONS

1'1 0'1 1 UIMI I\\IOl\ Il 'lm '

1~.E\tFNr MOUbI$

133

"'

(3.2.56)

Equation (3.2.56) is called the ("()I1(Jenseti eq!wtiml for the unknown V ). The term in parentheses on the right-hand side is 7cro bec au~e all speci fi ed di ~ placeme nt s are l ero in the present problem. l ienee. the solutio n i-; g iven by

2P
V3=

Kn

Z + Kn +

1
K II

(3.2.57)

' 111C unknown ~econd ary vlIriables lire determined by considering the re maining equations o f (3.2.55), i.e .. those that contain the unknown second:lry variables:

o
K'

K Ill

" o

K i1

(3.2.58)

Ki l

becau se VI. V 2, and U4 arc I.ero. 11 i ~ possible, although not commo n with commercial fini te clement programs. to move alllhe unknowns to the left-hand side o f (3.2. 53) and solve for them all at once. But th is process destroys the symmetry o f the coeffic ient matrix and require!> more compulmional lime in praclic:ll problems. To obtain numerical values. we U!>C the geometric and m:lterial data shown in Fig. 3.2. 10. We obtain

EbA b = (14 x 1f1' )(Jf(IU 4 ) =87, 693 Ib-in .

III

8 x 12 4 x 12

K'

" "

_ ' _ E$ A , _ (30 x 106}(rrd}/4) _ I 2' 7 ISlb. In. _ _ ~,

11 2
Ea A a

K' =

(1 0 x 1f1' )(Jl d;/4) = 109 , 083 lb-in.

hI

6 x l2

The d isplacement of nude 3 is V,l =0.0 1878 in .. re:lclion at node I i\ = -I. 647 lb.,. = - 2. 305 lbs and reaction at node 4 is Q~ = -2. W9 Ib ... I-Icnce. the stres<;es in elements 1,2. and 3 are 0 I = 2. 739 p!>1. 0 2 = 11. 739 psi, and 0) = -2. 609 psi. re ~ pec ti vely. [n gencraL the a " ~e mbl ed finite clement equati o n ~ can be p.u1i tioned according to the scts of sl>ccified and unspcc iticd displacements ir\to the following form:

oi

0:

K" [
K 21

(3.2.59)

where U I is the column o f known (i.e .. specified) pri mary v;triables. U2 is the column o f unknown primary variable!>. F I ;\ the column of unknown MX:ond;try variable!>. and F! is the column of known secondary v:triables. Writing (3.2.59) as two matri x equatio ns. we obt:tin

(3.2.601l)
(3. 2.60/)

134

..,N INlItOl)IJ("Tl( I'I n.lTltI; Il)<lm, hLE\KNl MEIHOO

From (3.2.60b). we have

u' ~ (K"r' (r' - K" U')

(3.2.60cl

Once U2 is known from (3.2.6Oc). the v(:ctor of unknown secondary variables. Fl. can be computed usi ng Eq. (3.2.60{/ ). In most finite clemcnt computer programs. elemcnt matriceS are assembled a" soon as they are generated and they are not stored in the memory of the computer. Thus. element equations arc not available for postcomputation of the secondary variables. Also. due to the fac t th<lt the assembled coeffici ent matrix i" modified (when opcnltions me performed to invert a matrix) during the solution of equation". Eq. (3.2.600) c:lI1not be used. Therefore, secondary variable:-. C,m only be computed usi ng their definitions. a~ di\Cussed next.

3.2.7 Poslcomputalion of the Solution

The ~olution of the fini te element equat ions gives the nodal values V, of the prim<lry unknown" (e.g .. di splacement. ve locit y. or tent perature). Once the nodal values of the primary variables are known. we can use the fin ite clement approximation 11;;(.\') to compute the desired quantil ie~. The process of computing dcsired qUlllltities in numerical fonn or graphical form from the known finite e le ment solution is termed pIIslCUmplIl(I(io/l or IW.wpr(){:essillX: these phmse .. arc me:lIlt to indicate thaI further computations arc made aner obtaining the solution of the finite clement equation.. for the nodal values of thc primary variables. Postprocessing of the solution includes one or more of the followi ng tash: I. Computatio n of the primary and secondary vtlriables at points of interest ; primary variables are known at nodal points. 2. Inlcrprctation of the results to check whether the solution ll1ak.e ~ sense (an underst:mding of the physical process lUld cxpcrieru:e arc the guides when other solutio ns are not available for cmnparison ). 3. Tabular and/or gr.tphical presentation of the re ~ ult s. To determine the So lulion 11 as a conti nuous function of po'\ition x. wc return to the approximilllon (3.2.28) over each ele ment:

" II!<X) = ~::>~~)(x)

) ~ I

II~(X)= LII;1/t}{x )
II(X ) ~
)= 1

"

(3.2.61)

uf(x)= L II71/tj(x)
J- I

"

CIIAI"f'r.It'

~1OM) ,OIlI)UI HIll""ItE"lIA!. EQUATIOI\S 11\ OM, I)IMI~~SIO~ nl<m; I.l:t.ltST MOUl'LS

135

where N is the number of clements in the mesh. Depend ing on the value of x, the corre sponding element equat ion from (3.2.61 ) is used. T he derivative o f the solution is obtained by dilTerentiating 0.2.61);

(3.2.62)

duf = tIlNd!/!:
(/x
1'",1
J

dx

Notc that the derivative illlVilx of the finit e elcment approximation III; bu!'.Cd on L:lgrange interpolation is (Ii ~co ntinu ous, for any order clement, at the nodes connecting different elements becau~c the continuity of the derivative of the finite c lement soluti on al the connecting nodes is not imposed. In the case of linear c lc ment.s. the derivative of thc solution is constanT within each clement (see Fig. 3.2.1 1). The secondary variables Qj can be computed in two dilTerent ways. In Eq. (3.2.58), we determined the unknown secondary variables Q:. and Q ~ from the assembled equations of the problem in Fig. 3.2.1 0 . Since the assembled equations often represent the equilibrium relations o f a system. the Q~ compUled from them will be de noted by (Q~)CtJUlI. The Q~ can also be detenn ined usi ng the dc finition s in 0.2.6). replaci ng II with U. We sh:lll denote Q~ computed in this way by (Q~)<kf . Since ( Q /)d<f arc calculated u,ing the approximntc ~o lutio n II h lhey arc not as accuTlttc as ( Q i)C<juti. However. in fin ite . clement computer codes. (Q~ )def are cakul~tl ed in stead o f (Q'i )c"tju,l. This is primarily due to computationul reasons. Recall that. in arriving at the results in (3.2.58). we uscd part of the assembled coeffici ent matrix . In the numerical solution of si multaneous algebraic equations in a computer, the ori ginal assembled coefficient matrix is often modified . and therefore the coefficients needed for the determination of the secondary variable;, rm! not :lvail:1ble. unless they :Ire 'iav(."<i in:ln additional arr.ly. For the problem in Fig. 3.2.1 0 . we

Q r,

tI,,:
d.,

[Jiscontin luly

~
dx

..,

Figure 3.2.1 1 Gradient of the finite elcmcill solution.

136

1t""-1l10f)l':<'TIOr.TOnllHr.m lu-""" r ''''THOO

have

(3.2.63)

(Q1)der=

( EA - ) I (IU~
(/.\

.=11,+",

==A

U4 - U, CA J = - - U ) =K2I UJ 111 hI

where II I and i l l arc thc lengths of clements I and 3. rc,;;pcclivcly. The 'iCcondary variable" computed u"ing the definition .. (3.2.63) :Irl~ the same as tho..c derived from the a<;l>emblt-d equations for the problem in Fig . 3.2.10. Thi s e{luality il> 110/ to lit> ('1"{Ieeted ill gelll'm/. In fact, when the source vector J i" not/ero. the secondary v riablcs computed from the definitions (3.2.6) will be in error compared wilh those compllIed from the assembled equati ons. The error decreases lll> Ihe number of clements or the degree of interpolation is increased. l11is complctes the basic ~Ieps involved in the finite c lement analysis of the model C(luation (3.2. 1). Ncxt, wc consider an example of ap plic:llion oflhe finite c lement method. Addit ional applicat ion.;; o f the method to one-d imensional pfOblc m ~ of heal transfer, fluid mechanics. and solid mt"Ch:mic<;. :Ire presented in Chapter 4.

I<:xample 3.2.1
We; wish to u~e the l'inite element methvd to -SQlve the problem de~crilx..-d by tbe following differential equ<ltion and bount!ary conditions (see Example 2.5. 1);

- - - 11+.\'=0 for O<x<1 l

t/x

/11/1

(3.2.64)

,,(0)=0,

u(l),.,O

(3.2.65)

The differential e<fu;\uon in (3.2.64) i:> a special case of the model equation (3.2. 1) for the follo....>ing data: (I <:I: t. c = - 1. and f(x) :::= _Xl. lien:. the coefficient maulx is gi\cn by

K<
Ii

'=

J<~

f '" (doJir d>/Jj _ J/!'y,.) dx

dx dx
'J

f!.,.

j"

t (-x'J)'Id dx

Fin.t we con~ idcr 8 mel>h of f!lo r lincar elemenl$ 80d nelll a mesh of two quadratic elementS 10 solve tbe problem. Linear Eitrnenl'>. Theelcment cocOicie-nt matrix i~ given by lsee Eq. (3.2.34), with 0, "" I, ('~""- I.h <=t l

I [ 94 -97 ] [},9167 IK'l""i4 - 97 94'" -4.04/7

_4.0417] 3.9 167

The coefficie.nt~ it are evaluated as

it =< - ~< [~ (.~-~:) - j (x: --.x;)]

J{:o:

-~ [~ (4 _ X4} >..:! (xi h,4 3

D

_Xl)] ..

t:lement J. (Ill <:0: i ,.t~ = Q. -Go 0:::: hI =t):

Ii ::o:.-Q.oon02. fl = ....O,CI03900
Element 2. (h~ = ~, X<l = h\ ;:l ~ ..n "1$. 1/1 + h~ =

i):

f? "'" - 0.014323,
f~ ::!:> -0.042969,

f l"#-o.02,2J35

N <= - 0.05599

f: =--0.0&724, Ji == -0,10547
ll1C as!;Cmblcd
~et

of equ;ltif}J1S is
0 0 0 7.lUl3 - 4.04 17 0 0 () - 4.0417 7,R333 - 4.0417 -4.04 17 7.8333 - 4.04 17 0 - 4.04 17 3.9J67 0 0

3.9167 - 4.0417 0
Q

- 4.0417

U,

U,
U, U,

U,

U.00130 0.0 18'23 =- 0.0651U 0.14323 0.10547

Q:
Qi+ Q~ Q;+ Q i +

Qi 'r- Q'I
Q1
f~n.t

Sim::e OJ "" 0 and U~::;<: O. the CIlJldcJlsl.'"(\ equations are oblaineu by omitting the rows :U1d columns pf the assembled l..'qlHltion!>. The conJenseU e4ualjOl1.,~ are

lind fifth

- 4.0417

7.8113

7.8'333 - 4.0417

-40417 0] IV . '
...... 4.0417 7,8333
UJ

I I
=: -

101823
O.065W 0.14323

U4

'fhe SQJulfon is (jbla~fled using a cpmpllter)

U1 = O,O. 1.h =-0.02323. U1=-O.()4052.

U~=-O.03919.

Uy= O.O

The secondary vari:lbles can be computed us.ing either the definition t>r from the element equ:ujom. We ba~e

(QDd~/. (~1I dill!) 1 '" ~ :0.09293 (X ~01 ~

(Ql)<lr/'ll!

({lilt) ! U,-U ," 0.15676

a-

JX

....

.01

11

(Q:l"".iI '" Kl1tUI + K II:Ul ~ 1/ ... 0.09520

(Q~).qw'" ~tU4+ KtUs- ft,..O.263R6

Quadralk Elements. The elClTIllllt coefficient fIIatri x is given by !S1,."c Eq. (3.2.37{j). with
a(= 1. c,, =-I, 1I..

=t1

LX" I,.. 66 -322 624 -322 276 41 -322

I [

276

....322

41J = [4.6000 -5.3667

O.6H))

-5.3667
- 5.3667

0.683..1]
4.t'j()()()

10.4000 -5.3667

The l"()C(ficienl,~ f/

:1M

e""lu1IIOO as

h. - , ") Ii := -(;0 (h; + 111..1;

!l ~ - ~I; (3h~ + Io.~ + Io.\;h.)

h, "' II "" -00 (9h + 20x~ + 20'\,lh, ) :
Elemenll. (h,=~,.t.. ~O,xl>~hl=!.)~

It' =0.00208,

11 = -0.02500. III = - 0.01875

I!:ll:ment 2. (h 2 ", !,.'~#hl=!.X.="1 +111= I ):

112 ... -0.01875.1=-0. 19 167.1;=-O.01U25

The ;lsSclmbled <;(:1uf equntiOtls are

4.6000 -5.3667
-!S.3667 0.6833
(t

10.4UOO

0.6&33 -5 .3667

(I

(I

U,

U,
U,

-5.3667
(I

9.1000 -5.3(167
-5.3667 0.6833

0.6833

10.4000 -5.3667 -5.3667 4.6000

u,

u,

-OJXl203
0.02500

Q:

=-

QJ 0.0:3150 + QI+Q; 0,19167 Qj

0.08125

QJ

10.4000 -5.36(>7 [

-5.3667 0] (U =- [0.0"'(0 ) '

9.200v -$.3667 -5.3667 10.4000 U) [14,

0.03750 0.19167

The IWluliorl is

v! to.o,

Ut =-OJJ2345, Ul= ....0.04078. U4

"" ....

0.03947,

U~ =0.0

The SOCO!,Kiilry variables can be- conlPut.ed IJ.Sing either the. definition or from Ib.e element equations. We have

(' Q)

!.wl

*
""

(d")1 -adx

..I)

"" .... -

[U,( ...3+4- + -v,(4 - 8- U,( _ I +4 x)] ....o ") ') ____ II

II II b
+~

II

;;Ul --hUl +hU, =0. 1 0602 4 ')

Tabfe 3.2.1 Comparison t)f the linile e1emell! results with th e e,::l.ct solution ( -IOu) of eqs. (3.2.64) and (,3.2.65).
H:M'solution
Rit1. t
$olu[i'l1I
H~ltCl

So!utiQll

x
0.00)()
OlJ625

4L

'Q
0.00)() 0._ 0.1149

4Q

o.oooot
O.os8 1
0.[ l62
0.1743

D .{lOOQ
0.(60) 0.1193
0.1711 0.2337

0.00)()

0.00)()

0.05%
O.119[

O.lY.IQ8
0.1192

0.1150

0.1875

a.2m
0.3125

0.1J23

0.18 16 O;ZJ4S

O.t776 0.2339

0.1715
(},2337

0.2756
03188

0.'21\35

0.2816
0.3.34$
0.3745

O.2l!6!S
0.3347 (D7S7
0.4076

0.2866

0.3750
QA.37~

0.:.\28.8
QJ702

Q5(JOO
O.~625

0.:3620 O .40S2
0.4019

0.407l!
0.440]
0.4490 0.4)3g

0.4(176
O.4~8

0.3345 O375S .. 0.4076

0.4283

0.4211:2
0.43.47

0.62SO
Q,6875

O.39!16

0.4350

0.39$2
O 9 .l"'1
0.29)9

0.42)1

0.4244

0.7.500

0.3947
0.33 18

O.] 1J.J2 0.3421 0.2591

0.3940
O.J4Q1

O.435(} 0.4246 11,3942

O.8m
0.8750

0.340'
0.2590

0.9:315

I._

0. 1%0

0.245 [
0.1345
0.00)()

0.2:W2
O.t472
0.00)()

0.09><0
D._
!\ni~~'~1

0.L450
D.{lOOQ

0,\470
0.00)()

F"EM.
t

ruo!tl\04

Thf\'epo.r!l!)\<:l ..... Rlt>..~fuliop fro,,\ tl~~mpk 2.5.!. I ~"ml.>tin bold _ ~!Ii!<Il!t VlI!~,* ~ ~ lbt- i,~<:<p(>.Ia'W :!.lUi'> {41_'" 4 !;n<:~r~.:m<~~ 2Q "" 2

quat!!lIIi;;cktmlll":4Q .. ,,

q~~.in"r,).C k",..mh).

140

I\~' Ii'HII()DUCTI()~ TOTIIr FINn"!' U .E.\11;NT MIiTllon

0.00
0

-0.01

4Q} FF.M 2Q '"

Al1lI.lytical

1<: ....Q.02
)(

{
~

-i).OJ

-\)<)4

-{l.O5
0.0

0.2

0.4

0.6

0.8

1.0

CoonHl1i1t<!, ~.

Figure 3.2.12

C(lmpari~()n

Of the finite-e lement ~oJutIQn:- lib wilh !.he exact and Ritl ~()luti(lnli.

0.30

0."
0.20
0,15

~
,~
~

.,

O.JO

,A

0.05

0.00 -i).OS
-0.10 .....
--4.15
0.0

0.2

0.4 0.6 Conrdjrm!e. .f

1.0

1?igure3.2. L3 CompJriS"on OJ the finite elemeo.t solulions dlf ~Jd.c with the exact and Ritl
solutiQn$.

') dO;) ') V, (Q)'Mli5! (a - - I = [V, (.... 3+4 ') + -U, (4-8- +- (- 1+ 4 ')]
dx.
~ "' I

II

,,)c#

') ~ ( QJ c~.1{ "" K !~U)

11 + Kl.,U + K~)V., - Ii~ =0.2652J

4

Thble 3.2.1 contains a compa.ri~un of the finite clement te$ultS against the three-parameter

Ritz ~olution ~lOd the exact solution (sec EXample 2.5.1 find Table 2.5.1). The fOUr linear~ elemen! and tWO quadratiC-element /i<.)lutions are not as accumle as the three-parameter Ritz solution. However, the four quadrmic--element ~()Iutio)l at the nQdes (details II,TenOI givc.n here) is virtually Ihe $Hme as the eX'HO! SQlulioll.. Plots of Ij~ and dUIo/dx are shown in Fig~. 3.2.12 and 3.2.13, respectively. Note that the fin ite e1emen! Solulions for Ihe derivadv<:. (poslcornputed from 1110 (x) j are disttmtiQuous betWeen the elements: the value of the di/Terence in dUhld_( bclween cJemenl~ reclilc~ ~l!i we moVe from Hocar to quadlillic c!emems. :lOct from C(l(lrse to refined meshCfi.

3.3 SOME REMARKS

A few
remark~

are in oruer on the steps described for the model equation.

Remark 1. Although the Ritl. metholl was useu to set up the c lemcnt equat ions. any other method. such a~ a weighted-residual (i.e .. the least-squares or Galerkin) methou coulu be used.
Rcnmrk 2. Steps 1---6 (sec Table 3. 1. 1) arc common for any problem. The derivmion of interpolation funct io ns depends only on the e lemen t geometry and on the number and position of nodes in Ihe element. The number of nodes in the element and the degree of appro:<irnation u~c u arc relatcd. Remark 3. The finite elemem equ<l1 ions (3.2.33b) are derived for the linear operator equat ion
A(u) =

f.

where

A = -dx

d ( dx + r d)
(j -

(3.3. 1)

Hence, they are valid for any physical prob lem that is described by the operator equation A (II) = .f or its spec ial cases. One need only interprelthe quantities appropriate ly. Examples of problems described by this operator are li sted in Table 3.2.1. Thus, a computer program written for the finite c lement analysis of (3.2. 1) can be used to analyze any of the problems in lllblc 3.2.1. Also, note th:lIthe data (J =a(.r), (" =dx), and 1= I(x) can be different in different elements.

142

....'11\ 1'1IOOl1(.''IION1UUU: ~lNrrhlJ _EMu.T \-IEIllOO

Re mark 4 . Integrat io n of the clement matrices in (3.2.31") can be implemented on a computer using nUlllerical integration . When these integrals arc :llgcbraically complicated. we ha\'c no other choicc but numcrical imegration (scc Ch .. ptcr 7). Remark 5. As discu<"scd in (3.2.45(1) and (3.2.45") the poi nt sources at the nodes arc included in the lillite e lemem model via the balance of sources at the nodes. Thus. in constructing finite element meshes. we s hou Id include nodes (l\ the lOCations of point sources. If a poim source doc~ not occur at a node. it is possible to "distri hu te" it to the ele me nt nodes. consistelll with the ti nite c lement tlpprox lmation. Let Qo denote tl point source at a point .r = .fo. i~ :::: .ro :::: where i i" the local coordinate. The point source Qo call be represented as a "function" with the help of the Dimc della func tion

i:.

f(i) = Q0 8(.f

io)

(3.3.2)

where the Dirac delta func tion 8() is defi ned by

! ().)

F (i)8(i

~ io) di =

F (.fO)

(3.3. 3)

-~

l llecontribution of the fun c tion fer) 10 the nodes of the clement Q~ from [see & 1 (3.2.310)1 .

(.f l ill) is computed

(3.3.4)
where 1/1; arc the il11crpol:ltiol1 functions of the eleme nl Thus, the point sourcc Q o is distributed to the clement node i by the value Qn\ifr(io). Equation (3.3.4) ho ld ~ for any element. irre;.peetive of the degree of the interpolation. the na.ture of the interpolation ( i.e., Lagr.mge or He rm ite polynomials). or the dimension (i.e., o ne-dime nsional . twodimen,jonal. or threc-dimcn~iona l ) of the c le me nts. For one-dimemional li near Lagrange interpolation func tion ,. Eq. (3.3.4) yields

nc.

f( = Qo
Note that

(I - ~:). fz, (io) It~

= Qu

Ir + f2 = Qo.

Whe n .fo = h~/2. we have

Ir = f{ = Qo/2, as cxpected.

Remark 6. There are three sources of error that may contribute to the inilccuracy of the finite clement sol ution of a problem:
I. Do",aill ll{Jproximalioll error. which is due to the approx imation of the domain.

2. Complllatiullal ermrs. which arc due to inexact cvaluation o f the coe fficients Krj and [,~ . or arc intnxluc(.'(1 owing 10 the finite arithmetic in a computer.
3. Appmxilllmiol/ error. which is due to approxim.. tion of the solution by piecewise polynomials. For the structure shown in Fig. 3.2.10. the geometry of the problem is exactly represented and the linear approxi ma tio n is able to repre"Cnt the exact solution at the nodes when {j is a constant, (' = O.md f i~ arbitrary Isee Reddy (1986). p. 403; also. <;ee Sec. 14.51. Therefore. the fir~ 1 .. nd thi rd type o f crror.. arc 7.ero. The o nl y c rror Ihat can be introduced into the final nUlIlerical results is possibly due to the computer evaluatio n of the coeflicients K ~ and [''' lmd the solutio n of algebraic equations. However. in general. comput<ttional a~ well

CIIAI'I~It.1 SU_~I).{)ItI)"1t IJIHt.ItI.N1IALEQl:AnO"~ I,.. o,,~ 1)I\'h.'ISKN. RI<ITF i" lr).II " r \100.1.5

143

liS

approximation errors exist even in one-dimcnsional problems. Additional di~cu<;sion of the error>; inlhe tinite c lement approximation can be found in Oden and Carey (1983) and Reddy ( 1986): al~o, sec Sec. 14,5.

Remark 7. The :!pproach used in matrix melhod~ of ~tructura l analysis 10 ~()I ve the problem in Fig. 3.2.10 is not much dilrercnt than that pre'>CnteJ here. The difference lie~ on ly in the derivation of the clement equations (3.2.39) for the C3<.e c~ =0, In matrix mcthods of structur.11 analysis. the element cqulltion<: arc obtained directly from the de1inition~of :.trei>S and strilin lllld their relat ionship. For example, cOIl,ider the free-body diagram of a bar eJemenl Isee Fig, 3.2.3(b)]. From a course on mechanics of defonmlble so l id~. we have
~tnlin, f:

= eiongatiolllorigina l length

stress. (1 = Young's modulus x I>tmin load, P = stre'>" x area of cross "'-'Ction The strain defined above is the average (or engineering) strain. Mathematically. !>Irain for one-dimensional problems is defined a<; I' = (I/lldx, If being displacement. which includes rigid body motion a~ well as elongation of the bar. Hence, the compressive force at the left end of the b;\r e lement i~ P, = ..... here Et is Young's
~
A ~l11

modulu .~

IIr II" or the bar clement. Simi larly, the force at the right end i"

A r E~t:1

::: A ~ E~

II I- II ~

A ~ E~ ~ ~ - - (III - u~)

P = -he (112 ; A,Ee In matrix form, these rela tion, can be expressed a~
Ar Er [
II~

II ~)

I - I

(3.3.5l1)

which j, the same as (3.2.39) obtained ror a linear finite element with li p = A ~E~.('r = 0, and P = Q ~ + Jr. Note that in deriving the element equations, we have uloed knowledge ufthe ;" mech;tnic~ of materials and the a~sumption that the stra in is constant (or the di'placement is linear) over the length of the element. If a higher-order representation uf the di~plaeement i~ requi red, we cannot write the roree-dil>plaeement rc l ation~ (3 .3.5a) directly, i.e .. the clement equalions of a quadr.lIic tinite clernent~ cannot be derived using the argurnent~ presented above. A ~imi!ar appro.teh can be used to develop the rehtrion~ between the temperatures and he:!ts at rhe end, of an insulated tin. From a cour~e on ba~ic heat tran~fcr, we have temperature gradient = difference in temperature/length heat flux . f/ ::: conductivi ty x (-temperature gradient) heat. Q = heat nux )( ltreil of cmss section Then, if the temperature i~ assumed to vary linearly between the ends of the fin and there is no internal heat generation, the hem input at the left end orthe fin i~
Ql=A~q,=A,kr
P

rr - T{
II"

= . -(1, -T2 ) li p

A,.k" .,'

where k~ is the nnal conductivity o f the fin. Similarly. the heal in/JIII;It the li ght end i~
A 2=~' Q '~=~q C A ' T{ fI ,

rt = - - , - , A ~J.r ('r' ', 'C) fl ,

(3.3.5/

In matrix form. we have

A,k,. [
II,

,
- I

-I] (T rj (j=(Q
I

T{

Q~

wh ich arc the ~amc as those in (3 .3.5(/ ) with E, replaced by At. 7;' by 1I ~. and P t by Q~ land reverse the arrow :ll node 2 in Fig. 3.2 .3(b)l . Equations nf lhe type (3.3. 50 ) can .1 1 be derived for discrete sy~ l c m s (as opposed 1 a "0 0

continuum) consist ing of 'pri ng cle ment s. pipe-fl ow e le ments. electrical n.: ... i,tor dement;.,
and so un . Thc ... c ci cmcnb wi ll be di ~c u ., ... ed in C haptcr 4 using physical pr i n c ipl e ~. Il owcvcr. s uch a di rec t approach cannoloc u..ed whe n the element data i .. not COIlManl or when higherorder approximation of the dependent unknown ~ is used . Rell1:lrk 8. Another interpretation o f (3.2.39) for c, = 0 can be gi\ien in term" of the fi nite difference appro ximation . The ax ial force at any point x j" g iven by P (x) = EA dll / lf.1. Using [he forward diffe rence approx imat ion. we :Ipproxi mate the deriv:ltivc rill /t/x and write

- prE

P( x)I.,

E'~ A e l ll (x~ + I ) - II C\~ ) II h ~

0.3.6(/ )

(3.3,6b )
which arc the same as (J.3.5a ). with II ~ = a (.Ir ) and "! = // (Xrf d. Note thai no explicit approxi mation of 11 (.1') i t ~e l f is a~~ um ed ill writing (3.3. 60) and (3.3. 6b ). but the fact that we u,ed \'a l ue~ of the funct io n from two con<reeutive po ints to define ils '> Iope implie" th:.t we a~ ,urn ed a linear llpprox imation of thc function. Thu~ . 10 compu te the value of /I at a point other [han [he nodes (or mesh poi nh ). linear interpolation mu, t be u ~d . Henmrk 9. For the model prob lem con,idered. the element tl1atri ce, I K ~ I in (3.2.3 I b ) arc '>Ylllllletric: K;j = K;,. This en:.bles one 10 (:omputc Kfj (I = 1,2 ..... 1/) for j :5 i only. In ot her w ord~. we need compute o nl y the diagonaltcrills and the uppe r or lower diago nal term ... Becau:--e of the symmetry of the clement matrices, the a ~se l11b l ed g lobal matrix w ill al<,() be !<Iymmetrie. Thus, we need I\) store onl y the up per triangle. including the d iagonal. of the aw.!mbl cd matrix in a finite element compute r program. Another propcn y ehar:tc t e ri~t i c o f the iinite clc ment method is the .~'Par,~e"es_~ of the as~e mbl ed matrix . Since K IJ =0. if globa l node .. / and J do no t belong to the same finit e clement. the g loba! coeffi cient matrix i.. IXlI/riell, i.e .. all coe fficient!> beyond a cenain distancc from the diagonlll ilre l.em. The max imum of the d i~tan ce~ between the diagnnal clement. includ ing the laller. of a row and the I:I ~ t 1l00llero coe ffic ient in that row i~ c:llIed the /wlj./xuu/lfitllh. When a matrix is banded and symmetric . .....e need to :--tore on ly entri es in the upper or lower band of the m;llri x. Equation ~ol ver' wrille n for the solution o f banded ,>ymmetric equations are avai lable for u-.e in , ut h case" (see Chapter 7 for addi tio na l discll"sion ). The ~y ntm et ry o f the coeffi cient matrix de pc nd~ o n the type o f Ihe ditTere ntial equatio n. its variatio nal form, and the num bering o f the finite clente nt equa tion... The "pllfl>eneSS of the matri x iS :I re'>uli o f the fini te c le ment inte rpolation fun ctions, whi ch have nOll7e ro value, on ly over an clement of the domain (i.e., <,()-Glilcd "l'ompac tnc~," propc n y o f Ihe approximation funct ion,,).

Remark 10. Tile balance (or "equilibrium") o f tile secoodary variables Q,/lItthe interelcment boundaries is expres\l.-d by (3.2.43). TIli!> amounts to iml>osing the condition that the 'iCCondary variable lUlu / llx at the node, whcreu is the actual solution. be continuous. I-Iowever. Ihis does not impl y continuity of lUlu'i.ldx, where !II; is the finite c lement solution. Thus. we have
Q ; +Q~++ = O
but

or

Qo

(3.3 .7)

dU;+< (a"";) I + (-adx ) I ,,0 dx

A. A.

0'

(3.3.8)

In most blx>ks on the finile clement method. this po int is not Illude clear 10 Ihe reader. These boo~s consider Ihe quadrillic form or weak form of the total problem and o mit Ihe sum of the interelement contributions (for linear clemenls),

(3.3.9)
in the qU:ldratie fOTm (or functional) of the problem. However, this amou nt!> to irnpo~ing <.:quilibriulll conditions of the form (3.3.8). When the secondary variable is specified to be nOn7CI1) (say. Qo) at an interclemel1l boundary (S.1Y. at globOlI node 2), we have

Q~+Q~ = Qo
In other book!.. Qo is included in the functional as QUU2 , where U2 is the value of /I al globa l node 2. To fully understand the difterenee between the direct usc of the g lobal stateme nt versus using Ihe :lssernbly of clement equations, consider the model problem described hy &Is. (3.2. 1) and (3.2.2) with l.' = O. The variational form of these e(luations over the e ntire dOl11:lin is given by

0 = ( I. (a dv tlu _ vq ) ll;r _ v(L)Qo llx dx

10

(3.3.10)

Whcn 1/ is approxim:llcd by functions that are defined 'lnl y on a local interval (which i:o. lhe case in the fin ite cle ment mcthod), usc of the above va riational form implies the omiss ion of the sum of the interelernent contributions of (3.3.9). Consider iI mcsh of threc linear ele ments. Since 1/1[(' = 1,2,3) is lCro in any element rJ., for e f J. the (global) finit e c lement solution for the entire domain is given by (3.3. 11 ) where /(x) ( I = 1.2,3.4) are the piecewise-continuous x1o/)al illferpolofioll fimCfiOlu' Fig. 3.2.9), for x/ +5 x 5 x/
forx/ 5 x :::: x/++

(SL'C

(3.3.12)

146

"''' 'NTROIJlI(''( ~~TU TIIi 11"'n'~J~\lENT~II,"OI'

~,

Substituti ng 0.3. 11) for" and II =

into (3.3,1 0 ). we obtain

- ~ Jq

0=

l ' [ d</> , (~d"', )

II

(/-tlr

L.U, - J=I {Ix

(1r - ~I(L)Q(l

(3.3.13)

Since <1>/ is non/,ero only betwee n .\'/ _ 1 lmd .\'/ -t I. the integral becomes

0=

f ",[
'"

(/~I {/ - - (
(II'

u,

, - - + U' - ,
{I.r

"~I

d~1 +U/-rl - ,"~I-t-!)

tx
(..I'

- ~Iq

dx - CI)/(L )QI)

(3.3.14)

and we halle

1=1:0 = 1= 2: 0 =

d</>' U, -f " [ d</>, (d</>' +U2 -- ) 1 f" [a d_/< >_' (U' + U2 _d_"'_~ + U.1 __I< >_' ) - d.\ _ d llfl
( j --

,=0

dx

(Ix

dx

- ~ ,q

d _ '_1 _"
d .I'

" 0

d .I'

d .f

(1.\

(3.3.15) These equation">, upon performing the imegration. yield (3.2.50). with the la:-.t colum n (comaining Qs) in the laller replaced by

Althoug h this procedu re. known as the direct ,I/ifjile!ir m('fllOd in ~ trLl ct u ra l IIlcchanic~. gives the assembled equat ions direct ly. it is algebraically complicated (especially for twOdimensional problems) and not amcnable to simple computer implemcntation,

3.4 AXISYMMETRIC PR08LEMS

3.4.1 Model Equation
The e(lu atio n ~ govcrning phy:-.icnl processes in a cylindrical geometry are de"Cribed analytically in tern,,,> of cylindrical coordinates (~ee Fig. 3.4. 1: al">o ~ce Fi g, 1.4 ,5), Whcn the geometry. loading. and Ix)undary conditions arc independent of the ci rcum ferential direclion (i.e .. O-coordina te in Fig. 3.4.1 ). lhe problem is '<lid 10 be nxi~ymmelric and thc gO\cming equat ion, become two -dimen~i()n,tl in tcrms of,' and ;:. TI,e eq uations lIrc futlclions of on ly

("IIM'fI:R' SI)('()~I)-ORI)[R 1J11'H , RIiN'IIA L hQlJ"' IIU~S IN UNE IJIM E. SIU:' 11NlTIi 1;1J~\lINT MOilELS "

147

d,, : rdOdr dz

d~' ~

Figure 3.4.1 Volume element and computatiunal domain of an axisymmetric problem.

the radial coordinate r if the problem geometry and data arc independent of l. Here, we consider a model sc(;ond-ordcr cquation in a single variable and formulaic its finite element model. Consider the differential equation I an analoguc of (3.2. I) I
- - " [a(r) ",,] =/(r) I I" dl" dr

for

R;

< 1" <:

Ro

(3.4. 1)

where r is the radial coordinate. (/ and 1 arc known functions of 1" . and 1/ is the dependent variable. Such equations arise, for example, in connection with radial heat flow in a long circular (;}'Iinder of inner radius R; and outer radiu" Ro. The radially symmetric conditions require that both (/ = kr (k is the conductivity) and 1 (internal heat generation) be functions of only 1". Since the cylinder is long. the temperature distribution at any section along its length (except perhaps at the ends) is the same, and it is sufficient to con sider any cross section away from the ends, i.e .. the problem is reduced from a three-dimensional problem to a two-dimensional one. Since (/ and f arc independent of the circumferential direction O. the temperature distribution along any radial line is the same, reducing the two-dirnen~ional problem to a one-dimensional one. as described by (3.4. I).

3.4.2 Weak Form In developing the weak form of (3.4.1). we multiply it with a weight function w(r) and integrate over the volume of the cylinder of unit length (see Fig. 3.4.1 )

0=

= 2Jr

1 1[ l 'l"' f" [ld(<I") 1] - f1 f ' [

v
II' --I d

r dr

(",,) (~ -

dr

-I

dv

'0

II'

--I"

(j~

rdrdOd z

dl"

dr

'.

--I d

rdr

(",,) (1 dr

rdr

(3.4.2)

148

AN IN"lIIOUUCTION TO TIIIlI~Nn1i Z:U~o.1 ENT M~~1110D

where (r", ril) is the domain ofa typica l elemenl alo ng the radiill direction. Next. we carry out lhe re maining two steps of the weak formulation :

0 = 211'

0= 2JT
where

f"( dw d" f"(

T.
T

a~ -- rwl

tlr tir dr dr

) tlr - 2JT [dul"r. wa tlr

w(r,,)Q~

dw till a~-

- ril'l ) tlr -

- w(r/;Q~

(3.4.3(/)

Q = 211" ;
3.4.3 Finitc F.ICl1lcnt Model

dr ((/ dU) I

T ..

(3.4.3h)

The finite c lemen! model is obtai ned by s uhst ituting the approximation
u(r) ;:::::

" L uj1/lj( r)
j= 1

(3.4.4)

and w =

1/11, 1/12, ... , 1/In

into (3.4.3a). The finite-clement modd is given by (3.4.5(/)

where
K ~.

'}

= 2JT

" dy,' dy,' f'.

dr dr
rb - r

a- - __ dr, ' J

It = 2JT

f"
'.

1/Itlrtlr

(3.4.5b)

and 1/It arc Ihe interpolation functions expressed in terms of the radi:tl coordi nate r. For example. the linear interpolat io n functions areof the form (11,. = rb - ra) [see Eq. (3.2. 17) [

1/I1(r) = - , - .

(3.4.6)

The explicit form s of the eoeHic ienl<; K~ and It for (J = a,r and I = I~ are given below (ra denotes the global coordinate of node I or the element).

"

Unea.- Element

-I]
1

1f'1

~ 2~f,h,
6

13'"+ 2h, I + h, 3r"

h ,+2r" ] + 16r.,) lh~ + 14r"

(3.4.7)

Quad.-atic Elcment
2 JTa~

IK " I =~-

3h~+14r" - (4h ,+ 16ra ) 6"~ [ h .. +2r.,

-(4h~

+ 16r,,)

16I! ~

+ 32r"

- ( 1 2h~

- (12he

+ 16r,,)

(3.4.8)

("IIM'IUI I ~t("ON\) OIWUII)I~l'l'I!.Io.';rI A I EQIJAriONS IN ONlll>l.\tLNSION flNnl EIJ:MI~VI M(H )I:I~~

149

E~ample

],4,1

Equll1i{)!1 (3.4.1) g{)\'ern~, for cxampk, Icmper.iturc di~tribution u(r) in II /on8 :.olid cylindrical har of radius H lind thermal conductivity t (i.e., (I(r) ""- rk) that is healed by the pa!',~gc of 3n electric curren t, which generales heal energy Jo. Ileal i, di'~ip.lled from the surface of lhe bl,r by ("Q nvection into the ~ulTounding mt-dium at an ambient h:mpcrolturt: of u"". We wi~h to Udennhte the Icmpennuro distribution as II funellon Qf the nadial ili'UlIlce. The boundary condllion~ for this C3'ie;lre

- = 0 at r "'" 0 (symmetry), k dr or
let
u~ con~idcr

dll

du

+fJ(u -

u ...,) =

0 al

r ""

Ru (cnnvcction)

(3.4.9)

the fol1l)Wing data for numerical t'OmpulatlUn.,,;

R -= 0.05 m. k so 40 W/(m . C), Jo =4 x IW W/mJ ,

f3 =400 W/(m' . 'C),

" "" "'" 20 C (3.4.10)

For Ule unifOl1n mesh of f!)ur linear eicmclllS (h factor 2n) the following cuellicient malrice....

== 0.0125 m), we have (omilling the common

EJement I.

(r~= Oandrh=h):

Ifl'
Elem~nt

111'(0.0125)2 6 2

I' 1
,

2. (rd =: h .md

r~

... 2h);

-3]

Ifl-

4 x 1()6(0.0I25)2 14 1

IflElement 4. (r" =Jh and rh = 4h):

4 x 1(1'(000125)2 1' 1

The 3sscmbkd equations are

20 -20
-20
0
0

80 0 - 00
0

- 00 100 100
0

0 0 100 0 240 - 140 140 140

0 0

U, U, U, U. U,

Q:
Q~ +

6 = ICM.I66 12 18

(it

Q~+ Q~

Q1+
Ql

en

"

150

,,1\ INTRODUCI'IO" TIlTII!; 1'1:'1'1'1' hUMI~"'l' MhTllOU

The boundary and balance condi ti()ll~ require

Q:=O, Q~ + Qf=O. Qi+ Q:=O, Q~+Qi""O. Q~=- RIj/J(U,- # ~)=-20(U,-20)

The coodcn~u equations:lre (here, Ill) equ,ltion, arc ciiminated)

20 -20 -20 80 0 -60

0

0
TIIC

0 0 0 0 - 60 0 160 -100 0 (1 - 100 240 - 14<J 0 0 -14() 160

V, V, V, V, U,

0
0

6
<=

104.166

12

0
(1

"
11
vn luc~

400

solution of these equa tions (with the hclp of a computer) is

TIle unifoml meSh (If two qU1H.lrnticelcmcnll> yields the rnldal UI

"'"

33250,

U~

=328.:'19. U, "'" 316.87. U4 =297.34. U, =270.00

(3.4. J 1)

3.5 SUMMARY
A "YMemat ic "tml y ort hestep~ involved in the finiteelcment fonnulation ofa model secondorder differential (.'<juation in single variable is pre'\Cnted. The basic "Icps of the fonnulat ion and analysis of a typical equation :Ire out lined in Table 3.1. 1. The model equati on i" representative of the equat ions :lrising in various fields of engi neering (sec Table 3.2. I). Couple of numerical examples arc presented to illustrate the ~ te ps in the finite element analysis of second-order differential equations. Additional examples. e~pecially those ari"ing in hem tran,rer, fluid mechanics. and solid mcchanics will be presented in Chapter 4. The finite element model i~ developed following three steps: I. Weak (or variati ona l) formulation of the differential equation over an element. 2. Finite cleme nt interpolation of the primary variables o f the weak fomlU lation.

:t

Finite clement model (i.e.. a "Ct of lligebraic (."qu:llions relating the "primary" and "secondary" variables) development over a typical clemen\.

The weak formu lation it~elf invol ves a three-step procedure. which enab les iden tification of primary and secondary va riable!.. The primary variables arc required to be continuous throughout the domain. inc luding the nodes at which elements are connected. TIle secondllry variable... are included in thewellk form . The finite element inteqXllation function"have been developed systematica ll y on the hasi s of continuity. completeness. and linear independence. The tinite clement model has been developed by sub~ titulin g appropri:lte imerpolation of the primary variable into the weak form of the differential equation.

CHAI'TEk 1 'i hCOI\U UlmER UIH'ERI~'fTl,\L H)lJATIONS IN o~r IJIME~SIOI\ fL~ITE ELnll~vr MO[}I'T _~

151

PROBLEMS
For Problems 3.1 - 3.4,
c~rry

out the following lasb:

(a) Develop the wcakjol"ms ufthe given differential equation(s) over ~ typical tillitl: clement. which is ageOilletric subdoll1~inlocated between x =X u and x = Xb. NOle that there arc 110 "specified" bOllndary conditions iH the elemellllcvel. ll1erefore. ill going from Step 2 to Step 3 of the weak form de~'clopl1lenl. one must ideTTlify the secondary variable(s) at the two elllls of Ihe domain by some symbols (like Q; and Q2for lhe lirst problem) and complete the weak form. (b)
A~sllme

an approxin1nlion(s) of the form

II(X} =

Lu j 1fFj(x)
j~ 1

"

(I)

where 1/ is a prim,lry v;Jriable of the formulatiun. 1fF j (x) are the illll:rpolation functions. and II} ~re Ihe values of the primary wriable(s) m the jth node ufthe clemen!. Subqitulc Ihe expression ill (I) for the primary variable and 1fF; for Ihe weight function into the weak fonn(s) and derive the finile clement model. Be ~ure to dc/inc all c(~ftil,ients of the mooel in terms of the prublem data and 1fF: . 3. 1 Develop Ihe weak form and the finite clement mooel of the fO llowing dilTerential equation uver an element: -dx

" (",,) +- ( "''') + ('11 = / ",

a!Ix

dx2

b -dx !

for

X~ < X < Xb

wherc (/. h. Co (lnd j arc known fllnction~ of po~iti!Jn x. Ensure thm the clement cocmcielll malrix 1K ' I is symmetric. \Vha! i~ the nature of the interpolation fUliction' for Ihe problem'!

.t2 Conqruct the weak form and Ihe finite elemelll model of the differential equaliUI1
--

dx

d (dll) - b -dll =j.

(j -

(/.(

dx

for

O< x < L

over:l typical clement Q . = (x" . .l"h). Here (/. b. and / arc I..nowli functions of .r. and II is the depcndelll vari~ble. The na tu ral boundary (;ondition shou ld /10/ involve Ihe fUII(;tioli h(x). \Vh;lt type of illlcrpolation function~ may be llsed for u? 3.3 Develop the weak form~ of the following p~ir uf coupled second-order differential equal ions over a typica l elemcnt (.1"". x~):
--

d.1

"[

(1(x)

(11+ -dx d,,)]

II

= /(x)

(Ia)

--

lix

d(d") + (de) +h(.l"} -

dx

II (x)

dx

= q(x)

(Ib)

where u (1I1d v arc the dependent variables. and (/. h. I. and q ~rc known functions OI.L Also idclllify Ihe primary and secondary variables of the formulation.

3.4 COIl,ider the following weak forms of a pair of coupled

dilTerellti~1

equations:
(1(1)

( Ib)

152

liN IVI'R()I)LC'TIO~ TIITilF H~nli RUti ~I' \Ihi li oo

" here c(x) il> a known funelion. "'I and "' ~ are wei gh1 fll nclions. II ,lIld .' :lredependclll \ari ables (primary variables). and PG Q~. ,lIld Qb arc the M.'(~ondary vari ab le~ of the formul allon. UM! the fin ite clement appr01d rnation~ of the rOml

"/1 .

u(x) = L " j 1ftj(x). o{.\") :::: Ll!;l{Jj(.\")

I I
I

"

(2)
fOrlll~ .

and WI = !{I, and Wz = I{J, and derlvc thc fin ile ele ment cquuliollS from lhe weak fi nite clement L'< luations shou ld be in the fonn

The

(3(/)

Define the coeffic ients K,~I. K ,~l . K,~I. Kt 2, koown dala. and MX:ondary variables.

p .lIld "l /

ill tcml ~ oflhe inter polalion function~.

3.5 Derive the Lagrrlllge cu bic inlerpol'llion funclions for a four-nooe (one-dime nsion al) clemen! (witb eq uall y ~p ..eed nlxles) using Ihe aliemal ive prtK.'(."<lurc based Oil inlerpo lalton propc nles (3.2. 1&1) and (3.2. 11111). Usc the local eoordinat e .r for si mpli city. 3.6 Evaluate th e element m:H rice~ lI(.r) ill Problem 3.4.

IK II I.I K 12 1. and IK 21 1forlhe linear interpolalioll of 11(f) and

3.7 Ev:llulile the following coefficie ntma lri ces and source \'L"Ctor using lhe linear Lagmngc inler1 )OIaiion fUllcl ion ~ :

K ;=
J

f '
'.

(tl~+(/;r) -'--) t1 x. (i): tlx

{hfr'd1ft ~

where

{j~. tl~.

toc7. g, and g arc eon1> tall[s. '

d' O - , +dJ = O. ,Ix
O(O) = 1f) - T..., .
O < x <: L
(I)
= (l

3.11 ( f "'III Irtlf!41!r i/l ll/l!tf) '1lC governin g ditTerent ial equmioll and eonvcctJ(m boundary eunditi on

arc of the fOrlll :

[kdU

11,\

+fW],_I.

(2)

wherc8 = T - 7;"'. e = JjP/ (Ak). fJ isthc heattransfer coeflieiCnl . P is the perimeter, A is the arca o f cml>S MX:tion. and J.. is the conducli vity. For a mesh of IwtJ linell( clemcn[s (o r equa l icngth). give (tl) lhe ooundary condi [i(jn~ on the mxl .. 1 variables (primary <IS well a~ -.ccundary va riables) and (b) the tinal conde n ~ed finite clement cq umi ons for the unknowns (bu th primary lind SL'Condary nodul vllriahlc.s). Usc the fullowin g d;lla: 'f f) = 12.0 C. '1'.., = 20"'C. L = 0.25 m. (. = 256. Jj = 64, and J.. = 50 (Wilh proper ulli[s).
3,9 (A.li"f dejormlllillf!

olll btlr) 11lc govemi ng difTercnlial equ ..tion is uf Ihe fonn

( '~

and A .. re

L"Onst,lIlt):
(I )

CHlIf'rlM ,. ~El'Q~UOMlJ~M lJlI~'hMhN'IIAL bQlJAIIO~S IN ONE lJIMENSIO~ FINITE fJ.l'..~lIMI MOlJ l,LS

1S3

Por the minimulll number of linear clements. give (a) the boundary conditions on the nod:ll variables (primary as well as secondary variables) and (b) the final condensed linite c lement equations for the unknowns.

::

~S;"";';~=t~ ;;;r:"''!-500kip, 1+t2 in. 8 in. _____ 10 in. ----.\ Ste<:t. E,

)0 x lOb psi

200 kips

Atuminum,E"

lOx tOOp,i

Figure )'3.9

R e~()lve the problem in Example 3.1.1 using the unifonll mesh of three linear tinitc clcmcnt~. AII,\\tw: V 2 = - 0.01999. V, = - 0.04257, (Q:)J'I = 0.08998. (Q ~ )d'! =0.12771. 3. 11 Sol\c the diffcrential cquation in Example 3.2.1 for lhe mixed boundary conditions

3. 10

Use thc unifonll mcsh of thrce lincur c lcmcnts. Thc

u(xJ =

CXUCI

solution is

2l:Os( l -x)-sinx 2 +x -2 cos( l )

AII.IIt'{'/": V I = 0.4 134. Uj =0.7958. V~ = 1.1420. W:><kf = - 1.2402.

3.12 Solvc thc diffcrcntiul cqu:l1ioll in Example 3.2.1 for the na/uml (01' Neumann) boundary conditions

c:~) I,~, ~ I c:~n_, ~ O

Use th e unifonn mesh of three linear lini te elements to solve the problem. Verify your solution with the :lIwlYlical Solu1ion
u(x) =

cos( 1 -x) + 2cosx +xl_2 sin(l )

AIl\'\\w; VI = 1.0280. U2 = 1.30()2. U 4 = 1.4447. U~ = 1.482 1. 3.13 Solve Ihc problem described by the fo llowing equations
(/ 2/1

- - , =eusrrx.O < x < l: dx

11(0)=0, 1/ (1)=0

Use the uniform mesh of three linear clcmcnts to soillc the problcm and compare ugainstlhc exact solution

lI(x)= 2 (cosrrx+2x - l)

"

J. 14 Solve Ih e tlilrerential equation in Prohlem 3.13 H{O)=O.

u~in g

Ihe mixed boundary comliliOl1s

("") 1 = 0
(II
0

U-.c the \Il11fol"m mcsh of th ree linear clements to solve the prnblem and com pare ug:unstthe
I H{r)= 2

rr

(Ct)~JT.I' -

I)

J. 15 Solve the differential equati o n ill PrtJblem 3. 13 using th e Ne umann boundary condi tion s

C:H ,,=O (;:':) 1, ,=0

UloC the ulllfnml mesh of lhree lineal" clements to
c~ aet

~ohe

the problem and l'om p:lre against the

.'>Ol uliul1
11(.1') = -- COS If.\

rr'

Noll': Fl.)/' Neumann bound,lry condi ti ons, none of the I)rirnary de~IlIJcn t v:lriab l e~ arc ~pcxj fietl, ,Iud therdon: Ihe ~ol ution l';m be detel"mi ned wit hi n an :Irbi tr..uy eonst;lI1t fOl"thi~ equatio n (i,e" when the CHleml is not prcM:llI. the cocfficielll m,lln~ i, ~ in g ular and ca nnot he in\'encd ). In !ouch CllM!!o. onc of the Ui shou ld Ix' hCl equal to ,I COI1"lIin t It) rcm()\'c Ihe "rigi d-botly" mode (i.e" 10 dC1Crmlfle the arbilmry co n,tanl in the ,olullOn),

REFE REN CES FOR ADDITIONAL READ ING

I, Cr.lIldaJl, S, I I" I:il~;nt't'rin/t Ami/HIS, I\kGrJ\\ -HilJ. New Yorl< , 1956. 2. Ilol man,1. '~.lIr<ll"'",,,,sft~, 7th l"d, McGm\\lI ill. NC\\ Yor~, IC)l)() ,. Krcnh . I :md Il<lhn, M. S., I'rill("ll'l"l "I " ,,"1 Trm'.ift'r, 51h ed, We". f'ubhshin); C",n pan~, S! Pau l. MN, 19tH. 4 Milthhn . S, G .. \\mllli",wl Mrl/uxl., 111 Mm/rn,wli("(l/ I'ilni,.,'. Pcrga'n(Ml Pres'. Ne" Yor~. 1\/04. 5. M.khlin, S G., n ", Numeric"//''''!'''''''''',,,r pf V(lrillli"m,/ Motho,I.;', Wollc,,Noordh(lff, Gro,\i ll gc n. 197 1. 6. Oden. J. T UlKl C:ore)', G. 1'.. I';II;le ~:t,..m'IrIJ. MUI/r em,,'i~'{i1 A If""'/\', \\,/"'" .. / V, " ren t,ce Il ull, Englc"ovd Clifrs. NJ. 19lB. 7. Ode n, J. T a,Kl Reddy. J. N.. \\lrIlllimlll/ MrI/",ds in Thr,m'lim/ M r rht",i,.s. Springer Verlag. r\e" Yor~ . 1976; 2<1"d ., 198J 8, Ozisl I< . M N.,IIMI Cmu/u("IUm, 2nd l"d., lohn Wile}, NL'W Yur~ , 1993.

1I. Rl'ddy. J . N., /:IIrr)O' Principle. liml V"nmumal M e'/IfNi>' ill "!,!,!ird },fec/",nic,I, 2nd ~"d., John Wiley. New Y()r~ . 2002. 10. Reddy. J. N . A"l'lird F,m<'I;",wIAllttl\'.'i.,' m,d \\m',,/;(m,,/ MetIIlHI, ill /:IIgmuwl/:.l\kGraw Ilill , New Yor~ , 1986: Krieger, Melbourne. FL. 1991. I I Reddy, J. N. and Ra~mus"" n, M I... Aill"tlnci"d n/tmrumg A'III/I'lil. Juhn Wiley. New yon.. 1982; Krieger. Mciboumc. I'L. 1990, 12. Reddy. J. N.. All ItUrtHlurlil"1 10 Nmi/ill,..II' Hllilr E/r",,..,,, Amt/H;I, Oxford Uni~eNny ,,...,,,, Oxford, UK,
2()Ot

13.

Rc~torys,

K,

I'am,',,,,,,,/ MrtltQtI, in MIII/remm;('.I'. Sd,..ncf rII,d E",~I11""ri"g, Reidel. IJo,wn, 1')77.

Chapter 4

SECOND-ORDER DIFFERENTIAL EQUATIONS IN ONE DIMENSION: APPLICATIONS

4.1 I'R ELIMI NARY COMM ENTS

In Chapler 3 we developed weak (onns and fini te clement modeLs of continuum problem, dc'\Cribcd by a fairly general second-ordcr differential CCluation. For discrete systems. such a~ II network of spri ngs or e lectrical c ircuits. no dilTcrcnl ial equatio n" ex ist and the wC:lk form concept is nOi appl ic:lblc. Therefore, an alternate approac h based on the law~ of physics must be used \0 develop !inite clement mode ls (i.e .. relations between the causc and effec t) of stich ~ystc rm. Physical principles can also be u~cd to develop finite element models of continuum probl ems (as discussed in Remurk 7 of C hapler 3) but the approach
cannot be used to derive Ii Il il e cl ement mode ls w ith higher-order approx ill131ion of the Held

variable, The objective of thi" chapter is two-fold, Fi rs t, we derive finite element moocl" of ).omc ty pical discrete system". Finite element moods of discrete system$ arc developed u... ing physical laws familiar to most e ngi neering and applied <;eience majors, and the approach req uires no concept of weak form, Second, we prese nt numeric'll examples of applicatio n of finite element mode ls developed for both di<>erete systems and continuum syMcms, We will eonsidcrsevcral examples to illustmte the steps invol ved in the finitecle rnent ana l y~is of o nedimensional second-ordc r diO'eren tial equatio ns arising in heat tTOln~fer, fluid mechan ics, and solid mechanics. The example~ preserlled here make u ~e of the clement equations ulrc<lJy developed in Chapter 3. While the 110tlltion used for the depe ndent variables, independent coordinates, and data of problems from field to fi e ld is din'erent, the reader shou ld keep the cOlllmon mathematical :.tructurc in mind and not get confused wilh the c1111nge of nO lalion fro m problem to problem and field 10 field,

156

"N INlllOI-"1CTION 1'O 'nlllllsm 1~ .tMI~,{1 MnllO!)

4.2 I)(SCRETE SYSTEMS

4.2.1 Linear Elastic Spring
A lincar c lastic spring is " discrete c le ment (i.e .. not a conti nuum ) whose load-d i... placement relationship can be ex pressed as (4.2.1 ) where F is the force (N) at the right end. 8 is the displacemem (m) of the right end of the spring relative to the left end in the dircction of the force, and k is the constan1 known as the .vprillK COI/SIaIll (N/IlI). The spring constant depe nds nil the clastic modu lus, area of cross section, and number of turns in the coil of the spring. Often a spring is used to characterize the clastic behavior of complex phy.~ i cal systems. A relatio nship between the e nd forces (Fr. Ff) and end di ... placeme ms (Sr. o~ ) of a typical spring elemcnt 1 Fig. 4,2. 1 )1can be dcvelol>cd as discus;..cd in Relnarl. 7 for a sec (1 har clement . The force al node J is cqua lto the spring constant multiplied by the relative di splaccmcnt of node I with respect to no<le 2, 05:

"r

or -

p = k,(87 - oD = k..o~ - k, 8~ r
Similarly, the force at node 2 is c(lualto
I~

= k.. (<5; - of) = - k,Sr

+ kr 8;

Nole thatlhc forec equilibrium, Fr + /;2 = 0, isautom:Lticatl ysatis ticd. The above equations can be wri tlen in matrix fonn as

kl:

-:JI:; H ~ 1

(4.2.2)

Equation (4.2.2) is 'lpplicable to .my spring e lement whose fo ree-di,placernent relation is linear. Thus a typical spring in .1 network of springs of d ifferent spring consta nts obey Eq. (4 .2.2).

COOMder lbc 5pf1ng IWiefBblage!!hown in Fit- 4.2. Hb). We wish todetennine the: displacement of lhe rigid block and fOfCClo in the Ii{Jfingt'. AI>hllnte that the rigid block is required t~) remain vertical (i.e., no tilting from ilS vertical position). Since the rigid bluck mUSI remaJn vertic~j!, all poinbl on it WIll move horizont/ilily by the same lUIlOUnl; ~, all global node ~ on the block must have the same node number. say 2. Elt..:h spring in the a'-SCn.blagc hrui the ~:l.me force-displaccmenl relarionship as in Eq. (4.2.2), exl'epl thal clement number will be different for diffcrcnl elcmcnll1., The Ihtec cicmentl; lire connected aloode 2 through the rigid block. lienee. the CQnlinu.ilY QnrJ equilibrium conditions at node 2 require
~I)="F) =O)JI f~1l

U1

(4.2.3aJ
(4.2.3b)

+ Ff21 + FI)) :cr f !

Cl IAI'IH ol4 ~lCONI)..(IItI)lJt IIIITI;RI:tnlAI I.OUAllONS IN tlNhUIMENSION AI'1.1l:AlION_~

157

TheeqUllibrium (;(}rldition (4.2.3b) suggests lhal we must add the second equation of clement I. the first equation of element 2. and lhe hN equation of element 3 together to replace the MIIlI of three unknowns forces r ill + F,!1l + Fiji with the known foree Fl . Thus. we have fOUf cquation.~ : the first equation of clement I , the 5U1n !If the three c;quations statoo Id)Qve, the second equation of element 2, IlfuJ the!oC\.'Ond eqlJMion of clemen! 3:

KjU] - k 1U1
- A:1UI+(kl+1t.2+kJ)Ul

""

r)
I'j
(4 .2 .40)

k2 Uj- k)V~,.. F2

k1U1 + k l U1

- k l Ul +k.l U~ '" F ~

(0 '

0)
t,

u,
~---------- --------~ , , , ,

F - -~~----*~: F ~--f~I--- I' o' , ; , , , , ,

kt

("

.'gllre 4.2. 1 ((I ) A ~pring linite element. (b) lbrec.~pring as:;emblagc:.

158

AN u,'I1WUUC1'IOf'l'l'Ol'Hhtl'1l1l

I~

Otl-'ITMI:nKI"

In rrlalri.x 1'(100, the above!

eqllali{)n~

can be cxprct'-'-<!d as

- :: ',+ o - Xl

~:'+k' -:, -~,] ~:

k2 0 0
XI U.
F~:=

III;
U3

F}

(4.2.4/J)

-kJ

F.

Nl!xt, we idcnlifYlhi" I)oundaryconditionsunu impoM! them un Eq. (4.2.4b). From Pig. 4.2.1, it is: clear thai t.hc.displaccmenl,~ of nodes 1,3. and 4 an: "Cr(}, and the f()rec at node 2 is \pecified lobe P:
J>

(4.2.5)

'flatt', there are f()UfunknOWns (F! = Flltl . U~, FJ =- F~ll, FA = f~I)) ;lnd fOlJ r equati(lns. Using the M!COmiIlq1l3ti(,n in (4.2.4D). we dctemline U2 (condcno;ed equ~tjon for the displacelllent)

(k,
The
fQrtc.. ~

+ kl + *,) U~ = P or UI

""

,--.,..;....,~

XI +k2+k,

(4.2.6)

1 FI, and F( can be calculated using etjuatiom. I. 3, a.nd 4 of (4.2.40). 1lte :)_

coodens.."'d equations for forces are

(4.2.1)

4.2,2 Torsion or Circu lar S hOirts

Another problem that ean be di rectl y formulated a" a discrete clement is the torsion or circular shan ... From:. course o n mechanics of deformable w i ids. the angle o f twist of a constant cross-section circular cylindrical member is related to the torque T (aboutlhe axi s of the member) by Isee Fig. 4.2.2(a ) 1

T = GJ 0 L

(4.2 .8)

where J is the polar moment or are:., L is the !englh, and G is the shear modulus o f lhe material of the shaft. The above equation c:m be used 10 wri le a rclalionship between thc end lorqu c~ (Tr. T{) and the end twists (Or. 02) of a circular cylindrical member of length h ~ Isec Fig. 4.2.2(b) l:

ClIM'lTIl4. SECUNDUlWhll UII'FhHtoN"i'lAL

h')lI ~TI()~S

IN ONF

DI~tI;NSl m'L

M'I'I .IrATIONS

159

i:""'c:wt
'~"''''~ nv

TI~' 8 1'

T2 0; ,

"

'W"

ii,

(uJ
~'i g u re

(hl
4.2.2 Torsion of a circular shaft.

O(

G, J~
h,

- I

-1 ' 11T ]1 '1 O~='/~

I

(4.2.9)

4.2.3 Elect rical Rt.'Sistor Circuits

There is a direct analogy between a network of ll1 ec hani c~ 1 springs and a direct cu rrent electric rcsi~tor network. Ohm's law provides the relationship between !low of electric cu rrent I (amperes) through an ideal resistor and voltage drop V (volts) between the ends of the resistor
V = IR
(4.2. 10)

where R denotes the electric resist,mee (ohms) of the wire. Kirchhoff's ~ 'olrage rule states that lhe algebraic su m of the voltage changes in any loop mu st be equal to zero. Applied to a single resistor, the rule gives Isee Fig. 4.2.3(a)1
I ~ R,

+ V{

- Vr = 0,

(01
R ~

...

tUn

R~ s n

..

VI =200V
R = 5(l

3
21

R ~ Ion

Ulobal node numbers 2/R - S H I I VI ~ 200V 22 Element numbers R lo a Element nndc nu mbers 6 /' 2 2 V6 ~ OV

R ~ 5n

,
,
'hl

R ~

10 0
V,

00
0
4

<2)

0--

OV

R m 150

R - 20Q {,

R ~ 15 0 5

R - 20 0

(,

(c)

Fig u re 4.2.3 (a) Di rect curre nt electric c leme nt (c urrc nt fl ows ff()lll hig h to low volt<lge). (h) A resistor circu it. (c ) finit e cleme nt mesh o f the resistor circuit.

160

A~ I ~T~OlJtJC1'U!"TOT1tb"I I'IITI LU.MI~"I'M I IIIOIJ

or in matrix fo rm (4.2.1 1)

Thus, once again we have the same form of rci:Jtiollship /)ctwee n volt;lc<; and c urre nts as in the ca!>C of spring... The quantit y I / R~ is known as the eJeclri.:al {,(}/U/U('UIII(,'!, The as<;Clllbly of re"istor equations is based o n the following rules:
I . Voltage is single valued .

2. Kir'f:hhofJ wrT('111 TIlle: The :-Ulll of all c urrent .. clilc rin g a Iltx lc is cqual to ,-cro .

" ..mp....z.t
Con~uJcr

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __

the resiSlOr circuit ~hown in Fig. 4.2.3{b). We wish to delCrmine the currents in the loop!> aot! vollage ;ltthe nodes. The elemem numbering, clement n(K1e numbering. and global node nunlbcring (Ire indicated in Fig. 4.2.3(.:). The c lement node numbering i ~ imponant in :t.~mbhng the clCIIIC1lt equlltions. FrOIll the elemellt f1otalion ifldic~ted in Fig. 4.2.3(1), it is clear thaI current flows from node I til node 2 of the dement. 'illc clemc(1t nude numhi:ring in Fig. 4.2.3k ) indietllcs the aSl;umcd dift'(.'II()n C)f the currents. The as.,..cmhlcd coefficient rn3trix is gi\cn by 2 3
0

5
0

KI I

K h
Kll+ K1+ Kb

0
0

K i,
Ki, + Kb

K'

IKI ~ymm .

Kll
Kli + Kt!

" 0

tl
0 0
K~l

J
4

K ~2

Kiz + Kll + K rl

5
6

K' n
n.2

- 0.2
0.2+0.1+0.1

- 0,1
0.1 +0.2

~ymm.

0 0 - 0.2
0.2 + 0.1.)667

0 -0. 1
-0.0661

0
0 0
0.05

"

0.(1667 + 0.1

+ 0.05 - 0.05
(4.2.12)

TI\C I'Ioundary conditions are VI "" 200 V and V6 = 0 v. The Ill)ndensed equations for the nodal vollage~ arc obtained by omitting !he fiN row and last row ofthc system, and then moving

the tC(1}I}J involving VI and Vo I() the right. We obtain

0.4 - 0.1 - 0.1 0.3 0.0 - 0.2 [ - 0.1 0.0

0.0
- 0.2 0.2667
- O.()()67
i~

-0.1 ]/V\ ' -0.0667 V

0.0 Vj
4

O.2VI )
~

0.2167

V~

ooL.

The! ,nlution of these equatioM

given by iobtained with thc aid pf a computer)

Vl=169.23 V, VI '" 153.ij5V. V4=146.15V, V =I23.08V of

The.' l:onclensed cquations fOf the unkno..... n CUfTCnts :It nodes 1 and 6 can be calculated from etlu3ti.m, 1 aod b of (he sy!;lc.>m. We ha~'c

1;11 "" O.2V, - O.2V~ :::0:40 .... 33J1-'6 .., 6. 154 A

Ij61 = - 0.05 Vl + 0.05 Vo =- -6, 154 A

1lJC Ilc!:lativo:: ~ign on

It I indic;ue~ that the currt'nt i~ Ililwing Qut of global node 6. TOe. currents through each element can be calculatcd u~ing the element CCluations (4.2.11). FQ/" example. the nodal current' in re~istor 5 are gh'en by

IIp'

J/}" l ~[

0.1 -0.1

-0.1] J 0.1 \1 69,23

123.0' 1= I-4.615 1 J 4.615

whith indicllle5 thm tl~ net CUITCn! now in mil.tor 5 h from it., node 2 to node I (Of global node 2to globa.! node 5). and its value i,~ 4.615 limps (which iEo the same as 6. 154 - 1..'39). The finite element solution., for the \-oltagc~ and eurrenlS are , hown in Figure 4.2.-'.

R"' 100

R ~ Hl

..

It'lgure 4.: -4 'Ole ~oluti(ln for curre nts iUld vohagc~ vbt'li ned with tbe finite element melh<xi. Z

4.2.4

" ~llIjd

Flow through l'jl>CS

Another example uf a discrete clement is provided by ste:ldy. full y developed, Ilow~ uf viscous incompressible Iluid, th rough circu lar pipes. The velocity offully developed laminar

,
;'
vJr)

R" - ,

128 !Ih" !rd.

--'_ ._ ._ .
:7
(II)

p'

p'

Qt'

{I
I

,b,

h.

Q ;

Ii'igurc 4.2.5 Flow of \liscou~

l111id~

through pipes.

flow of viscous Iluids through circular pipes is given by

li x

=-

4~L~: [1 -(~;'r]

(4.2.13a)

where dP/dx is the prcs~urc gradient, d is the diameter of the pipe, and}I is the viscosity of the fluid fscc Fig. 4.2.5(a)l. The volume rate of flow, Q, is obtained by integnlting \Ix over the pipe cross section. Thus, the relationship between Q lind the pressure gradient dP/dx is given by the equation
(4.2.13b)

The negative sign indicates Ihm the flow is in the direction of negative pressure gradient. Equation (4.2.13b) can be used 10 develop a relationship between the nodal values of the volume rate of flow, (Q~. Q; ) and the pressure, (pr, P{), of a pipe element of length he and diameterd~ . The volume rate of flow entering node I is given by (see Fig. 4.2.5(b))
Q~

= ___ (p~ '_ 128/1h t _

1flj4

_ pr)
1

Similarly, the volume rate of flow entering node 2 is

Q' = _
2

rrd1 (pC_ 128/1h e I

p;)
-

Thus, we have
(4.2.14)

The constant, f?~ = 1 28I-Lh ~ /7rd;.1 is called the pipe resisiallce, in analogy with the e lectrica l resistance (see &1. (4.2.11)].

4.3 HEAT TRANSFER

4.3.1 Governing Equations

The equations governing conduction heat transfer were discussed in Example 1.2.2. Here we briefly-review the pertinent equations for our usc.

The Fourier heal conduction law for one-d imensional systems slateS thm the he:u flow q(x) is relate the temperature gradient aT/ax by the relation (WiTh heat !l ow in the positive direction of .1')

l/ =-kA -

aT

ax

(4.3. 1)

where k is the thenlml conductivity of the mated:ll. A the cross-sectional :lre:l, and T the tcmperature. The neg:llive "ign in (4.3. 1) indicatc" thm heat flows downhill on the temperature ~c al e . The balance of e nergy requires lhat

:(.If

"(kA -Of) + ih

aT A,i: = pt..A -,-

at

(4.3.2)

where,i: is the hem energy generated per uni t volume, p is the density. c i~ the ~peci fi c heat of the material . and t j" time. I~lumi on (4.3,2) governs the tr.ltIsienl heal conduction in a slab or fin (i.e .. a one-dimell',ional sy<;tem) when the heat now in the normal 10 the x-directi on i<; ,,"ern. For a plane wa ll , we take A = I . In the case of radially symmctric problem s with cyl indrical geo metri e~, (4.3 .2) takes a different form. Considcr a long cylinder of inner radius ROo outer radius RIJ and length L. Whe n L is \'ery I:lrge compared with the diameter. it is asslimed that heat flow ~ in the radi:ll di rect io n r. The tr.ltlsiem mdially symmetric heat flow in a cylindcr is governed by

1 -r ilr

a ( kr -aT) +g = pc -aT
ar
ill

(4.3.3)

A cylindrical fuel clement of a nuclear reactor. :1 current-carrying electric:11 wire, and a thick-walled circular tube provide examples of o ne-d ime nsional radi:ll <;ystems. The boundary conditions for heat conduction involve <;peci fying e ither the te mperatu re T or the he:!1 flow Q at :I point:
Q :::=-kA - = Qu

aT ax

(4.3.4)

[t is known that when a heated surface is exposed to aeo(lling medium, ~uc h a~ airor liquid, the <; urface will cool fas ter. We say that the he:!t i~ convected away. The COlll'et"fioll helll lra".~fer between the surf:lcc and the medium in contact is given by Newto/l ',~ /(111" ofcooling:

Q = PA(T, - T,..J

(4.3,5)

where 7~ is the ~urface temperature, Teo... is the temperature of the surrounding medium, cil llcd the tllllbielll temperamre: and fi is the ("ullveltioll heal trails/I!/" ('olifici('llt or jillll nmdllc fllllce (or film coefficient). The heat flow due to conduction and convect ion at il boundary point must be in balance with the applied fl ow Qo:

HA -

aT
Jx

+ fi AtT -

'I;"")

+ 0 0= 0

(4.3 .6)

The sign of the first term in (4.3.6) is negative when the heat flow is from the fluid at T",", to the surface at the left end of the c le ment, and it is po~itive when the he;ll flow i\ from the fluid at T"" to the \urrace at the right end.

Convection of heat from a surface to the surrounding fluid can be increased by attaching thin <;trips of conducting metal to the surface. The metal strips arc calledji/ls. For a fin with heat How along its length. heat can convect acros~ the lateral surface of the fin [see Fi g. 4.3.1(1)1. To account for the convection of heat through the surface. we must add the rate of heat loss by convection to the right-hand side of (4.3.2):

-a

ox

( Ak -. - +Aq = pcA -.- +Pfj(T-T",,) aT) aT

ox
dt

(4.3.7a)

where P is the perimeter and in the alternative form

f3 is the fi lm coefficient. Equation

(4.3.7(1) can be expressed

ilT D il pcA -.---;- ( kA - T) + PfjT = Ag+Pf3Too ill ax ox

The uni ts of various quantities (in metri c systcm) arc as follows :
l'

(4.3.7b)

,.

"C (celsius) W/m 3

J/(kg . 0c)

k
p

W 1(111 . 0c)

fi

kg/m) W/(m 2 "C)

For a steady state, we set the time derivatives in (4.3.2). (4.3.3). (4 .3.7a). and (4.3.7/) equal to 7.ero. The steady-state equations for various one-dimensional syste ms arc summarized below [see Fig . 4.3. I(b) and Cd; see Eqs. (1.2. 14) and ( 1. 2.17) 1 . 1'laneWull IQ =k(dT l dx) 1
-dx
"' in

d (k -dT) = A.r; dx
c=

(4 .3.8)

IQ = kA(dTldx)1 -(Ix

d (kA- + cT = Ag+c'!"rx, . dT) fix

I - - d ( kr r lir dr

PfJ

(4.3.9)

Cyli ndrical System I Q = k(dT 1(lr) I

dT) = g(r)

(4.3. 10)

The essential and natural boundary conditions associated with these equations are of the form

'1" = 1'0.

Q+f3A(T - 7"""' )+Qo=O

Equations C4.3.8H4.3. IO) are a special case of the model equation (3.2.1) discussed in Section 3.2, with a 0= kA, c = Pf3 . and f _ Ago + PfjToc . We immediate ly have the tinite clement model of Eqs. (4.3.8) and (4.3.9) from (3.2.3 10) and (3.2.31 b) :

I K' IIT' I ~ I f'I + IQ'J

(4.3 . ll a)

l'~posed to

t all'm l surfacc Jnd right cnd pre amblcnt !cmpcrJlure.

T~

=
Cyhndncal fin x

Body from v.tuch hcJt

L~

to be cxtmctetl

("'
Cross !iCCtLon of the wnll

==>
t' um;Lce
(h)

1'-l+1-+~-

Figurc4.J.1 Hcallnln,fcr in (a) tin,. (b) plane w(lli . and (1') r([dially

~ymmclric 'y~lcm .

Hcre

K~ =

,}

f'."(

d~ ' _J kA_i "V'' d.\ dx

+ P/3t/1'Vt J~ ) '

d.~.

Q, ~ (-kA dT) I dx
"

Q~~ (kA"T) IA dx .

(4.3.! II)

where Q ~ 1 Q denote heat now ill/a the element at the nodc~. ll1d ; Equation (4 .3. 10) is also a special c a ~ Oflhc model boundary val ue problem. Howcvcr. in developing the weak forrn~ of (4. 3.1 0). integration must be carried over a typical volume c le ment of each sy~ tcm . as di scussed in Section 3.4 [see Eq. (3.4.2)].

166

'\N lVJROIllJ(1lON10Tlt E n;<lftl' ElE'1ENl M!:lIlO1l

:>

SurfaC<' area,
j( =I )

h,

R, _

hi

R~-=~

h,

1r~ "Yl
1', T2 Tl 'I
h eClllrnn~fer

Rl =
T~

h)

I' igu~

4.3.2 Onedimcn\ionaJ

through composite .... a ll~ :md their theml:ll circuih .

4.3.2 Finile Elt'mcnl Models

It is interesting 10 note the an:llogy octwecn Eq. (4.2. 11) o f an electric resistor and E4:1. (3.3.Sb) o f o ne-dimen~ional heal 1r:lIIsfcr (see Remark 7 o f Section 3.3):

- 1]jT,' I ~ j Q; 1 1 17 { lQ 2
If we identify thel'lI/a! rl'sis/(Illce
R~h

(4.J. 12)

by
R;h = k~A~

".

(4.3.1 J)

E(IUaIlOn~

(4.2. 11) and (4.3, 121 arc the same with the following corrc~pondence: (4.3. 14)

Thi, :il lows

resi~tance~.

U~ \0 model complicaled problems involving bolh series and pamllellhennal Typical prob lems :md thei r e lectrica l analog ies arc shown in Figure 4.3.2.

4.3.3 Numerical Examples

Example 4.J.J

A ,,'On)po:;ite wall conllhLS of three materials, as mo..".o In Fig. 4.3.3. 11lc inside wall tcmper:lture lit ZOO C ;Iud the oul\ide air tcmper.ttu~ is 50 C wilh a coovcctitlfl ooelTk':ient of IJ = 10 W (1I1!K). We wish It) detenllil~ the temperature along the OOlnpOsite w(lil. F'lfSk we (lote thill the prohlclIl b fovcmed by the eqt41tion
(JlT ....kA- ""0, .. d X"

0 <,1: < L

(4.3. 15)

(HAPTUI. 4

~l(ONlJ_OIU>F.R 1>lIl'EKE'<T1AI. fcQ{IA1'IONS 1:-1 Cl"<t lJIML"SIO/'l. AI'I'UCAnON~

167

Matenal 1..1:=Makrial

kl '" 10 Wf{m X)

;:;::;:;"'.,.'~. 3, k\

t~ 0 40 WI(ITl K)

it,"" ZQ Wf(ffl'K)

"j .. 2cm
" 1",Z,5(;m

/1,04 em

r..... 5{)"C

I'
, 2

.;igure 4.3.3 Ileal tr.. n"rer problem diSl,;usscd in &ilI1'1ple 4.3.1.

and h ~ubjccllxltQ ute boundary cunditions

(4.3.16) :::<:0 ,,./. where A i~ the area of cross 5e<:liQn (Cll(I be taken tn be equnJ 10 \) and k IS the (;~md UClivity. TIle duta i$ disconfinuou$ (i.e., differen t ,'alucs of b, .,. k.A. and h, fordiITerenle!cmenLs). TIle source [elTl'l /"'" 0 and lhefcf~ tf}t~) "" (OJ for l' = I. 2. 3. for a mesh or thl\,"C Ii.ncar elements (minimum needed), we h,l\'e
IKJ'lj ==

T(O} "' T~,

IT [ kA~+f3A(T ... Tt.'< dx

~ [ _I1 - II] ~~ [ _ 1 fl, 0.02 1

J

fl.qW=~[- I "1 I
0l klA lK1 = - [ I
/1) - I

-'H 3~ -'] =o:ozr -'H '600 -'600] ,",x,[,

t

-3.500

-3~]
3500
'60<)

- I

- 1600

- IJ] =~[ I 0.04-1

o

-'J=[ ,00
I -500

-~ ]
500

1be assembled c4uDuons are

o -3500 3500+ 1600 - 1600 o - 1600 1600 +500 -500 [

3~

-3~

u, 0] IU'
U,
U,

-'00

The boundary Ilnd hahmcc conditions are

Hence. the coudenJ.ed equ:lti{ms (!btained by omitting lirst row and colu mn ami modifying the right-hand sjde) for tbe unknown ICWIXr:ltllfCS are

3500+ 1600 [

-'600
o

-1600
-~

1600 + 500 -5(10

O IU' J Ul
U.

500

II
=

"000x 200
- IOU.+500

168

AN t 'fI IlOO'-"C11Of<I10 Till. I~NrII, U 1-\11....,. \lFIllOll

".
5100 - 16()() - 1600 2100 [ o - 500
The Mlilltion is given by
~5 00

0IO O] lUll' X'1 '

U~
':I:S

510

U.

Soo

The condcn~ eqllalion~ fur the Ul'lknown helltl> (per unilllrea) are
Q ~I)

= 3500U I - 3500U1 a3SOO )( 200- 3500 x 199.58354 = J457 .6 W/m~(heat hl)

_

Q~ll "'" _ JO)( I (U4

50) ,., - lOt 195.76 - 50) "" - 1457.6 W/lIl z (heat

QUI)

II CM be s.hown thai for Ihi~ problel1lthe finite c1cment $(llulion for the nodal Ie.01pcrmllre,\ and hems coincides with the eXIlCl ~oluliun (see Re.mark 6 nf Ch~I)\Cr 3), which il> given by
A.+ Al.C
T~ ... (x) =

0 <:.1"<. 11.
h l<.~ < h. + " l II I+ h~< x <. I'I + " l+ h !,,~ L

B.+ B1,r, C. + C1.1",

(o.nU)

(.D.17b)

ExampIe4.J.2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __

Rcctllngular fins are used w remove heat from a heated ~\lrface r~ee Fig. 4.3.lta ) [. TIle (in~ ~rc CJ/postd to ambient air m 1'...-. The hcuttf"Jnsfer cocffidentllwx:iOlleU wilh fin mll\(;rio ll1luJ tbe air is fj. A~~U01illg i/ml hellt is C()lIuuclcd Hllmg the length ofthc tin lind Unif{ln~1 along the widlh alld thld:ne.\~ direclions, v,c: wi~b ttl detem.tlne tbe tempcrnturc: distributiun along the tin :lnd heat loss per fin for twO dill'erertt setS Of boundary condilion$. TIte gQ\cming diflerel1ti:t1 equlltion :100 bouod~ry c{)ndllion.~ of the probJelll arc

,Pr -kA-,.". +fi P(T-T,)=O. ,

SrI I: nO)

0 <.\ < L.

(4.3. 18)

= ?i"

[kA dT dx

+ /.I A (T -

r",, )]

=0
,-"L

(4.3.1901) (4.3.1<)11)

OI .\I' IEI(" ~IO'I)-()III)ICIt DIFff:RENTIAL F.Ql'All')'S I,.. Ilt;f. 1)1\IF'I~11lN API'U CATIO,..S

169

\\ hcre r is tbe Icmper:uure. k the conducthity. fl i~ tht heal tt:lllsfcr coc.fliciel)(. P is the perimeter. and A h the area Qf cro~s loeCoon. CQmp.'1red 10 the model equation (J.2.11. we h ll \'e the following data:

Rlr thb casco c =F O. and the tinite t!lemen! SOhlliOn lit the nodes OOOS nO! coincide with tht! exact MJil.lOon. We consider II unirorm mesh (i.e., hi "" h! = h, = h.. .-. L/4) off(JUf lineat clemcnl.~ (sec Fig. U.4). The element matrices are

(Kl"'=~ [ If.
1 - I
kA

TItc lI$~embled Sy.\olClll of (!(Iu:ttion~ is given by (h J = 112 ,..h, =: h .. "" h "'" L/4)

-I
0 0 0

-I -I

"

- I
0 0

,
=

0 0

0 0
0

,
0

- I

2 -I
1

+6 -

{JPh

0 0 0 0 ()

U,

0 - I

1 4 1 0 0 0 1 4 1 0 0 0 1

V, V,
U.

V,

Q1+Q;
Qj+ Q:
Q i+Q~

0:

Ii + Itl + Il+/t
l

Ii

Q ;

Il'+R

It

SCi I Uounda r y Condltit.rtS The oounJ<lry and balomce conditions are

Fin'~ !at~r61 ~urflt.cc

as weI! as

tIM: ~'f1d x'" L arc ~J[pot;t:d to amblCtlt lempernnlre. T..

nO) ~ To

(.::::::i.::::::j,E::::::r.::::::s.

,/0 , 0

0 ,

Figure .1.3.4 Finite element mes.h of a recUlngular 1111.

170

,\N 1~T1WIJUCl'lON 'I OT II E FINn 'E hl.1~\lLNI MEI1l00

Hence, thecondc.ns1::(l C!l.ualilins are

(~ [-~
"

- I

2
- I

- I

0 0

, ~] + ~~{
0

0
4 4

- I

(l

- I

I.

()

( ~ - PP") t,
"
Q6

o
IJAr"" Ql= - f!

+ !'.P.!:J.! 1 + 1 '+
'2

{ 1+1
I

'I

,(kA PP") T(}-+ (kA /JP") U: + T+T -h+T

Qi::<;: -P,W~ + IMT.....

where"" =- /JAj(fJ Phj6"J =6 Aj Ph .

For the choice of the followi.ng data (material or thc fill i$ copper).
It "" 385 W(m, ' C), {J '<:< 25 W(m ~ . 0 r il=< lOO"C, T<'q<::: 2ifC q.

L = 100 mm . 1'<:< I mm, b : S mro

we have

-,;-=
{3PTrx."

kA

38.5:x 5 x 10- 6
25xlO - 3

077 fjPh

_ 0. .

6 =

25)( 12 x HrJ x 2.'i x to..,J 6 =0.00125

j

= 25 x
A Ph

12 x Hr" x 20)1 25 X \O~J ;:;< 0.15, (JAT"" = 25 x

6)( 5

x 1O~1t)( 20=0.0025

a=6-=~=OI

11 x 25

The condcnS#l equ3tions: fQr the unknown nod<llle.mpcrature:s bet:ome

- 0.077
([

0 0154 - 0.077 O.l54 - 0.017 o ..... 0.077 0.154

- (J.077

J~: ~ 1(0.0

l u~

- o.Crn +
0.077
77 -

0] [0.005 0.0.005 0.00125 00125 o o 0.OOl25

0

0.00125

0
0.15 0.15

0.005 0.0012..'; 0.002625

o ]) 0,00!25

'~OO25) 100

0.15 }

25:x5x 10 -6 )( 20

0,015

The ,olution of lhe!.c cqumioGS i~

UI =- 100,(y C. Ul = !!,2.283 'C. U1 = 7Q,732 'C. U4 =64.204' C,
U~=62.05JC

The Qcal inl?ut at nOde J is

Ql "" -0.Q75+ (0.077 +0.00(5) tOO + (-o.on +0.OOJ25) 82.28) == t.642 W

The total heat
los~

ffQm the \uct"<iceof the till tan be cah.:ulatcd uSl"~

= O.OCI75 (O.5U! + U2 +U3 + U~ +0.5V., :>:0

4T,..,) +25 x 5 x IO~"(62.053 - 20}

1.6368 + O.00:52(i:= 1.642 W

i~

lbe ~:lct solution of &Is. (4,3.18) and (4.3.19("1)

Tex) - T<$ -= [COShm(L '" x}+ (tJlmk) i\in.hm{L - X)], m~ = if P TIl~T<;Q coshmL+(p/mkhin/lmL Ak
Q(O)
0;:

(4.3.20{/)

~kA dT
dx

=:0

( 1(1

~ Too>-)M [.sinh.m.-+ (j3lmk)~hm/~]. M2 "" j3P Ali.

c(lshmL+lfilmk)smhmL

(4.3.20b)
EVllJU;!tlllg the ailCI
~oluti(ll"l ;It

the nodes. we obl.ain

1'(0.025) >=:.~2 .414'C. T(O.05) = 70.958'-C, T(0.075) =64.5U5~C, T(O.l) ",,62.422C

and Q{ "" 1.62995 W. Next, \lic consk1er a mesh Qf two quadratiC elemcQts IU ilJlaJy:r.c the problem desi;ribed by Eq~. (4.3.18) and (4.3.Ii:Ja). The ~ssemblet! c.qUiltlons of two quadratic elements (hI::::' /1 1 "" l./2) is

The OI)undary and balance cO~ldilion~ arc: 1 boundary C{lndilil)n~ in for

EG. (4.3.190))

VI"'" '1;). Q~ =0.

Q; + Q~ =0. Qi = 0. Qi= -fJ AU, + jiA 1:"

2

Hence. the oondcn...ed equation" arc

(~t:
311

-8
14

-8
16

0 -8
0

-8

0]
I

+ fjPh

30

['"

8
2
- I

,
0
16

- I

0
0

0])
2

-8 =

2 4+

r
VI

~:

((- i'~')T'
flAT.,.,
V~

"~ u """/M/(fj Ph /30) "" lOA/'>II.

The

~ol Ulion

of the condensed equation~ for tile unknO"f1temperalUrt.' h

= 62.2.u) C

VI %I 100.0 C. U: :0. 112.374 C. U, =70.8S4 C. V 4 =&UI;O C.

The heat input at oodc I
i~

Q: = -0.05 +OJt9IR33 x 100 - 0.10167 x ~2.J74 + 0.012333 x 70.81M= 1.633 W

The totnl heHl
!OS~

frurtllhe. surface of the fin can be cakulated u\illg

=:

fl 6Ph (VI +4V!1- 2U~ +4U4 + U$ -

12T...,) ... /.(,2756+0.00528 = 1.6.13 W

Set 2 Boondllf} Condlnons FO( Set 2 boundary conditions (4.3.19b). the onite elemem lxIuncl,uy and mtl,U1';e CQndition~ for the rnc~h of fQUf linclIr demenL~ (lit:

and the finite clement

~olution

is

The heal' at nodes I and 5 nrc

Q:

%I

- 0.Q75 + (0.077 +O.OO2j) 100 + (-0.077 +0.00125)73.955= 2.273 W

Q: .. - 0.075 + (-0.077 + 0.0(125) 35.S42 + (O.077 +0.(025) 20:=-1.2 W

Thll\, the be;,!1 IIrtS from the end of tbe fin is o\'cre,timated by as ~uming thaI the cod .\' == I,. L~ 31 the ambient tl:mpcrntllrc. 11lc tOlll1 heat 11;0.\ from the latcral surfoce of the fin is given hy

Q=

L Qr : ,.,
l'(.t)

0.0075 (O.5U, + Ul + Ul + U, + O.5U. - 41:"') ;; U)73

""

w
'/~ )

'nle eXIiCI soluti!)n or Eqs. (4.3. 18) and (4.3. 19b) b (01

h -

'/'0.

and 00 = To PI'
Ilk

..~= [01. ,

~inhlllX +l\.sinhll!(t - \')]

sinhmL

, /1/ : : : -

(4.3.210)

0(0)=-1.. /1;-= M
,

"

[~C(lShml.- -.;. .M"= fjPAk 81] . h Sill 1111,.

(4.3.2 Ib)

Evaluating the exact Ml!ution:lt the oodes, we obt.1.in

"1'(0.025) = 74 C. T(0.05) :::: 53.3 C, nOm5) '"" 35.A7C, T(O.I) = 20' C

;100

0: =2.268 W.

The next e xample is cOIl(,:em cd with heat tmlls fc r ill a rod and comparison of finite diffe re nce and finite c le me nt anal ys i ~ ste ps .

........ 4.3.3 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __ A Slccl rod of di ameter /) = (1.02 m. length I. = O.05m. ltnd thermal conductivity k '"" W/(m "C) is cxpc~ 1 amhient air at T"" = 20"C with a hcat tr.m~fc.r coefficient fJ == 0 100 W/(m ! .' C). The left end of the rod is maintained at telllpcruture "0"" 320"C aoo thc.oth<!r end i ~ in:wlattd. We wish 10 determine the tcmperJlurc di,tribuuon and the heat input ~II the left end of the rod lsec Pig. 4.3.5(0)). 1begovcmingequatioullrtheproblem is theo;;amcas In Eq. (4.3. 1S), We rewrite Sq. (4.3. 18) In the nondimcn~ional f(KI1l
.~O

(4.3.22)
CQIJ\IC(:IlUn ' - ' I....,~r

. ., .

tllSUlatc<l

10

3~2l0:t:-::""::"":~:::::ll/
/.

MC5h poinls

I'ichtious point
;+1

o-o-<'>-o-<>-0-<:>-O-C>-O.
2
J
i- I

t.. 0.05. C' 400.1'1

(0)

100,.t

SO

"" 1+;+;-1
(h)

(1111 WIth pmpt'I" unns)

t""rr 0.5

(a) Heat lTan'lfer in a rod. (b) Finite t1ilTcrencc me.,h.

\\hcre (j =T ~ T"",. T being the temperature, and m l i" g.iven by

nl

IH' p:r 0 4ft =_0:;:.--..=_

Ak

1J1"J)'k

kD

(0.23)

The boundary conditions of the problem bc\:\lnle

0(0) "" 1'(0) - T.... =

300 'C.

('(Ix I !!!.)

~~L

~0

{4.3.24)

Tbeexact solutio!) h given by jM:e Eq~. (4.3.2Otl) and (4.3.2Ob)1

6{x)= 0(0) co"h INCL. - x) , Q(O) = fJ{OJJ p P At

~inhm l.
cOih 1111.

l'O;;h III!.
solution~

(4.3.2..'i)

Fvr the sake of compnriS(lI1, we will consider both finite difference rind finite element

(lrthe prohlern.

Finite DifTerence SoIutiOfl$

The second-dcrivati,,'t: may be appro.:<.imattd with Ole ccl\.lcrc<i finite differencc formula (see
I~ample

L3.2)

dii ~ hi (fJ.~1 -

d 20

W, +O'~I)

(4.3.26)

Substitl.l!ing tbe above fonnulu fOf the ~ond derivative into &j. (4.3.22), we tLlTh"e ilt

(0.27)
which i!> vtdid for Bny point where (J is not ~pedli.cd. We choose 8 l\Iesh oflhrec poillb (h "" 0.(}?-5), two end point!> and Ofl(l in lIle middle lnote thaI there I}; no concept of clements in the finite difference methOO: instead. we identify the number tJf me..~h polrm; (or nodes) in the domain at which \\~ apply the fonnula (4.3.27). i.e.. v.c 81Th"e at the glob;d L'qua\Jol\s dmtly!. Applying the formula 14.3.27) at nodes 2 and 3. v.e
t/buU{lllf,l =4(0)

(4.).28)
wtu~re 81 "" 0(0) "" 3(JO C'. NOlc thaI f/~ is the value of 0 at the fictitious node 4, which is Ctlosidcrcd to be a mirror image because (If the boundary (!Imdition dO /d.\ == 0 l!oCc Fig. 4.3.5(b)). To climimllC 04 we can U~ ,)nt: of the following forl1l11.1:L~:

(4.3.290)

dO) 04-~1 ==0 (centered) (dx. ,.() 211

(4.3.2%)

The lutter is of order O(h l ), (.'Qfl~hten! with thl! CC!l!creti diflerence fonnuJa (4.3,26). U~ing (4.3.29/)). we 1tC! O. "" CIt in (!q. (4.3.28), equations (4.3.281 elln be written in !fllltriX form as

Ci!A I'rLR 4 SECO)\.I}.UR llLR UIFFER,VIl,\L EQUA:IlUNS IN ONE [)IME~SlU)\'. Al~ "IC"T1UNS

175

(the cOefficient matrix i~ nO! symmetric)

2.25 [ -2

- I 2.25

l lO' I= 10 (h

300

The l'oluti(ln of these equations i~

~=220.4 I ( C,

O:\ =-I IJS.9rC

T he heat al node I (.l # 0) can be computed using the dcJi.nition Q(O)=kA

d8) (_......

dx .. II

=kA-=50.01 W
II

8,-0,

Nc;c:t. we u~e l.IlJ)esh of fi"e point.~. Appl>'ing Eq. (4.3.27) al nodt'J> 2. 3. 4, and 5, and lL."iog

Bt. ""f:}~ . we obw.in (h ".. O.O!25)

TOe solution of I~C- cquatiOns is

'{J625
- I

- I

o
-I

2.(1625
- I

tl

2.0625

- 2

2~Jl~HTl

The heat at nQdc I (x = 0) is

Finite Element Solutions

iCmpCJ'llureO(x)

For the cboice of two linear elementS, the ussemblcd at toe Ith glubal !I()de)

~y~tem

of equation..;: is (V,

r.len\lte~

the

43.333 -38.333 li6.667 -38.333 [

(4.3.30)

-38.333
Ul=3(WC, Qi1)+ Q:ll=O.
Q ~ll= O

Tbe bounda.ry (;Otldition~ arc

Hence, we have

-38.333

86.667

-3S.333 l IU'
43.333
U,

~ 138.333 x 3(X)
0

176

A~ INlIt(II>lC"l l(m "1, ,1'" n NITt; [ t E.\tl _ Mlill fOO N"!

Tht: M)IUlion of I he~ equations h

U~ ""2 1 7.98C,

U1",, 192.81C

TIIC hcat al Ilode 1 (.~ ,,", 0) coin be computed

u~ing

the

flr~1

equ;ltion of the HN elcnH."nt

Once we have the nodal \':.Ilue~ V" U). and Vl. vtllu($ at other point/> nocle~) can be computed usi ng the interpolation

(i ntcml\~d ialc t(l

the

In. =Lo;,,;(.U, n
whercO: = V,. OJ

, ,.,

O "-' .i' ~ h ..

0:;: V2 :r:(J? and O "" U" J Por the thoice of four linear clements" Ihea~:.<.!llIblcd sy~t e m of equati on.~ is

81.667 - 79.167

- 79. 167

0
- 79.167 163.333 - 79. 167

163.333
- 79. 167

0 0
-79. 167

0 0
0
- 79.167

U,

Q~I)

u,
U, U, U,

Q;u

+ Q~) + Q\41

0 0

Qf' + Q\')
Q~"
Q~~)

163.333
- 79.167

XI ,667

(4.3.3 1)

'111e hQundary

cOl1dilion~

:m: (f'= 1.2,3):

Ikncc. we

h:l\'~

163.333
- 71,1.167

- 79.167

o
- 79. 167 31,667 - 79. 167
i~

RI.667
- 79. 167

o o

'fhe 1>l)IUliolJ of these equ:lti(ln~

The he.1I at niXie J (x >=" O) is

Q(O) :::: tAQ\'1 ""kA(II I.b67U, - 7(). I67U:) :: 7:2.07 W

A eompan!ion o)flhc nUlllerical rCliull~ wi th the exact <;olution is presentoo in Tobie 4.3.1. The fin ite element solution is tbe best <;olulion in the \elll.:': that it giv~ the mmimum v3J ue tlf the inlt"graJ or tl\e !>qutlre or III - If~! over the d0l11ah1. The e~acl \'alllC of QW) is 7 1.78 w.

CHAt'rEl< 4 ,KOKI)-(lRIH'1<

DIIH:I<I~'lTIAI EIJUAllONS I:' O,<L lJIMlcr-SI()N. AI'11 .1CAT I(),\S

177

Table 4.3.1 Comparison oflinilcdilTcrcnce a,nd finitcelement solution~ with the C;(:k:\ solutiO!) d 2{j df:J Of - - +4000",,0,{;I(o) =300.-(0.05)=0. , d.t d x~

,
OJKIOO
o.m2.~

bact ,o1UtlQjl

1'11.-1 1 w!UliQn \
N e<2

fDM .ol\1liQn
."1 ", 4

N=2

N ~'

0.02.'10

300.00 ZS 1.1 1 219.2.3

300.00 258.99' 217.98

205.41~

0.0375 0.0500

200'2
194.42

192..83
ri"i~

300.00 25!.S2218.92 200. 1(. 194.03

300.00
2(ilUJo 220.41 2OS.17'
19~.92

300m 2S[.89 219.53 200.89

194.f;O

VaJ~ w"'ptllcd by i"te'l">l~liO",

FE,\1. finil"elcmenl mCI!>Qd: ru:>l.

diRol\:1li:e mel""".

The l<lst example of heat tran~fer deals with radi<llly symmetric heat transfer ina cyl indcr.

f':xamp le4.3.4 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __ CQnl'idcr a !on~. bOJllogcn~Qus. SQlid cylinder of radius R~ [sec Fig. 4.3.1 (c)l in whf,;'h energy 11' gcnermed at 11 conStant t,11C 8(j (W/m'). The boundary ~urt':Jce al r = Ri) js maiolained at (l constant temperature To). We whh tu calculate the tcmper(ltut(' diStribution T(r) ;uld he;!1 flux q(r) "" -hIT /dr (or heat Q = AkdT /dr). The governing equation for thi~ problem is given by (4.3. 10) wlth X""gu . The boundary
cl)ndilion,~

arc
T(RfJJ

= 71).

("'h'!r.) I dr

,<>0}

~O

(4.3.32)

The -zero-flux boundary condition at r 0 is a result of the radial symmetry m r = O. If the cylinder is hOI1\IW with inl1~r l",ldiu,~ Rithen the. bOund,lf)' condition at r = R; Clln be II spedfied ternp.:ralure, specified hefIt Ilux, uf ~)fIvection bound:lf)" condition, uepending on the situation. The finite elemcnJ solution will oot be eXllC! ,lI nvdts because a h not constont. TIle finite clement model of the g!)vo.:roing equation is l~ee Eqs, (3A.Sa) and (3.4.5b)l

I K'JlT'1 = If"
where

+ IQ'J
"~

(4.3.33)

it=2n- I
Q; = -2rrk (,. 'IT)
dr

'.

.pfgflrdr

(4.3.34a)

I.
'.

and (r",

r~)

arc the global coordinates of typical elemc!J\ 0, = (ru' rh).

178

\~ l'II 'MOOllC l'I()'1

(1)

l 'llh liloom: nnu ~ l' \11:1110D

For Ijttc.ar interpohUiOil of 1'{rl. the element I."tjuation!i fOl a typlc;)1 element are i-i\'CfI by Eq. (3.4.7). The cleml;'nt equations for individual ell;'menb; arc ublaincd from the~ by ",iving the. clement length h~ arId lhe global coordinalc..~ of the clement nodes. r~ r" and

=-

r,'11

=r/;. flc)r the meJ\h (If one linear dement. we have ra "" r! = 0 30d ' 1 "" h~ "'" Ro. and

"' [ , JIV' j=
- I

-I

Ul

ng,R,
3

I"1IQ: I +
2Ro

O2

llIe tx.uu,l(.!ary condition!' imply

j,

(1):EI

7'0 31lt!

0: '"" O. lienee the tcmpcrJlure at node

and the hca.t at r "'" Ro is

1be negative sign indicates that heat is rClilo\ct! fmm the body (because dT/dr < 0), The Qne-cicll1cnr ~oJulinn a~ u function of the rJdifli cool\limltc r j,

and the heal flux iJ;

q(r) !IiI-k- =-giI Ro 3 d,
flo.)r30l~hoflwolinearcicments.wel;U.:ehl .. h1r#!Rf). r l= O. rl=1I1""5RO> and
r~

dTh

="1 +hl =<: Ro. The Iwo-.elemem assembly

1+] -3

-I 0] I I
~3
3

gi\'e~

u~ U, Ul

=1tR~~ 1~2

'I' II I
i +2
oi+ Qf Q: Q i

Imposing the bou1Jdary eondi llon~ VI "" To. for the ul\kllt)wn tell1pertUure.~ arc

Qt + Qi ""' O. and 0:"" IJ. thecondcnsetl equation"

"' [ , -'J IU'j =""R 6 j+<' IO 4 12 ll' JTo I

-I

VI

The nodal

\'".l,lue~ a.rt!

From cquiJibrium.

Qi is OOfllput~1 a.~

CUll t'l Lll . M (l)<II) .(}IIllICI( 1)1 FFIUiNT IALI:QUII:IIO"~ 11'1 0 1'11' IlIMH.S lot., At1'I ICAlIO"S

179

The finite elemeot :.ollllion become

' ."R,j , - - ( .5-3- ) +Tt). 18 I.: Rtl

7 Ko Rn ( , -) / - - 1- No +To 18 k
i~

forO<r < -Ro - - 2

The e:xllCtltoli.llion of the probkm

(4,3.3.5)

q(r) = isor (W/ml),

Q(Ho)

<=

(hrkrT,) L., ""-ll'SOR~

(W)

(4.3,36)

The tempeffilure at t~ ecnlct of the cylinder according to the exacl \QIUliofl is T(O) = RoRJ/4t + 10. Vo'herea.~ il is llo RJ/31.. + To and 58uRUISk + To according to the one- and tW(l-Clement model:., respectIVely. The:: finite element Mllution.. obIainoJ lIsing ooc, two-, four, and c ight-elemcm meshes of IillCaf elements are compared with the ~1 wlution In Thble 4.3.2. Convergence of the finite element soi lltion.~, t = (T - TI)k/RoRJ, 10 the exact MJllit ion wilh an increasing number of elements is dear (~e Fig. 4].6), Figure 4.3.7 ~'s plol" of Q{r):= Q(r)/2:r Ro#o and Q(r) = 2Jrkf(IT /dr, VCrlll~; "" r / Ro. as tOfllputed in the finite element analysis and the exact Mllution.

18bk 4.3.2 Compari(ln of the linile element and exact

~(ll ution~ for heat tl""Jnsfer in a radially ~ymmetrie cy'linder Ro =0.0 1 m, 80"" 2 x I~ W/ml. k =20 WI (m C). To"" 100 C.

Tc",peflllure T(r)t

rlRu
0 ..... 0.125 0250 0.375 0.500 0.62S 0.750

clement

"'"

Two
dcffIOIi.'

cle,"cni.~

""',

I~jg.hl
de~l\ts

fuo,

41LP J')1,67 JSO.OO }o!D3

266.67 225,00

EJ..J!

Jj_~..n

0$7' UJOO

18),)3 141.07 too.OO:

3:;0.24 335.11 .l]S.;!:!! 294.44 245.83 197.22 t,.g,6 1 tOO.O!)

WoJ
J 1!!.48
ZR7.95 2S:."!,6!\
~d!!

)4IU]

3)7.90 313.59 289.29 249_70 7 tO.12 155.00

J47.42 ~lU1

:tSO.O() 346,09
334.3!S 314.84 ;!:87.!'i(J

2>2.34 209311
158.59 ]00.00

Loo.oo

158_68 ]00.00

t The tKKkrlincd "'"'" an: I!O<IlIt .,.IIQ olhd 0Ihq$ ore ;f\ferp<>IW>:I ~41~

IHO

AN 1 N'I1oiOl>lJCnON HI '!'IIE rlsrl'l EU M I ' ~I ' MI"nlOIJ

0.40

Analyliclll
0,10

,,
"
"-

0 0
D A

8 eknlcl\l~ 4 ekmerlL~ 2dcmCfliS

I clemen!

," 0.20 " , ,

~
E
~

0,10

000

-'TIrrnrrn-rmommrmTmTcrrrmTmrmTnnil'0.0

0.2

0.4

0.6

0.'

to

Coordil\llU', l'

Jo'Igure 4.3.6 CI)mpari"<lfI oflhe tinilCclc.l1Icnl WlultOlh wiU1ihc ex~1 solution fM!leallr-,Ulsfer in a mdially symmelric problem with cylindriC"dl gt!Omelry.

0>0 ""'IlrrmnTrlHII""1111 I II tllll""" Ii II,I II ITTrI

00

0.2

0"

0.6

0.11

1.0

Ylpre 4.3.7 Comparison of Ihc fintlC clemeaI !MJlUliIJII with the CJ.act IOtUlion for Ibc temperature gradieOl in a radially ,ymmetrK: prublem with cylindrical gcometf}'.

ClIAPTI:R 4 SIXUNI)_ OKlJbK IJII'I'I, KI, N'TIAL I QIATIOl\S IN mm

IlIMI~"SI[)~_ AI~~.ICAnONS

181

4.4 FLUID MECHANICS

4.4.1 Governing Equations
All bulk matter in nature exi~ t s in one of two forms: solid or fluid. A solid body is characteriled by the relative immobility of it~ molecules whereas a fluid state is characteriled by relative mobility of its molecules. Fluids can exist either as gases or liquids. The field of fluid mechanic~ is concerned with the Illotion of fluids .1Od the conditions affecting the motion (see Reddy and Gartling, 2(01). The basic equations of fluid mechanics are derived from the global laws of conservation of mass. momentum, and energy. Conservation of mass gives the continuity equation. while the conservation of momentum results in the equations of motion. The conservation of energy, considered in the last section, is the tirst law of thenmxlynamics. and it results in Eqs. (4.3.8H 4.3. I0) for Olle-di mensional systems when thermal-fluid coupling i~ omitted. For additional detail~. see Schlichting (1979), Bird et al. (1960). and Reddy and Gartling (200 I). More details are provided in Chapter 10, which is dedicated to finite elementmooels or two-dimensional flows of viscous incomprcssible fluids. Here, weconsiderso-callcd parallel flow. where only one velocity component isdifferent from zero resulting in all the fluid particles moving in one direction. i.e., 1/ = u(x, y, z ), where II is the velocity component along t.hex coordinate. We assume thai there :Lre no body forces. The z-molllentum equation requires that u = !I(x. y). The conservation of mass in this case reduccs to
- = 0 iJx

i/u

which implies that

II

=II(Y). The y -momentum equation simplifies to

-~ O

uP
oy

which implies that P = P(x), where P is the pressure. Thex-momentum equation simplities
\0

(4.4.1)

The energy equation for this problem reduces to

pcu -~ k

oT
ilx

(U'T + - - iI'T) 2
Jx
iJy 2

+~

(dU)' dy

(4.4.2)

l-tere we are primarily interested in the tinite clement analysis of Eq. (4.4.1).

4.4.2 Finite Element Model

Equation (4.4.1) is a special ease of the model equation (3.2. 1) with the following correspondence:
dP j = --, dx
(~=I.l=con sta nt .

c = O,

x= y

(4.4.3)

ThCI"<: I"I)I\:. Ihe linite ek ment lIIoJd III (3.2 ..1 1/1 J ami (.~.:!:.,ll b I " \ a liJ

rllf

Ih" pn1hklll"

1I\ ' IIII'J=If'Jt-I Q 'J

",here

ur

K ' II'

f' + Q'

,.

"

. \"

'\'" 1

dif'," d\"'/'
/1

r/\'

d\'

dl'. .
Q'. ~

d,

dl') if<

dl'

(,:''') I/, dl

11.4.th)

Ne\l. \\e ("OIhiJer an l'\;IIuple

1!I::nnpl e 4.4.1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __
Con~ider paril!lcl

flQw bet ..... een IW\llon); flat walls ~paral1.. h)' a di~tal1cc 21. I~,--e Fig. 4.4.1 ((I ) I. -J We whh 10 determine the velocit)' dislribuli'.n u(),), - '- < ,I' < I .. for a given pn-ssure grndicnl -dPjd.(. u~ing thc linilc cie11lem method. For a two-e1emcm me,h of lirtcardemcnt$ (I! = L). we have

I " -o "

2
- I

We \."Qnsider two $Cts of boundary conditiuns (see ri g. 4.4.1 (bl I

Sell : 11(- 1.)=0. u(1.)=O
11 (- 1..)
(tw(l\tatiunufywnll~ )

Scot 2:

=n,

11(1..) = VQ

(OOUUI11 wall Sllltionary and top wall moving) (4,4.5)

For tht.o lirsl Cil)ie, we m:Ly U lOymnk':lry and mudd domain 0 < x < 1... Here ....<e con~ider the .... full domain for the two scts of boUlldar} conditiOl1s. Por Set L we have VI = VI =0. nle finile element ~Qluliun b given by

1 1:=-.
For set 2.
WI!

fllLZ ltl

jj~(\')=---

fl)L 1 )' 21t '-

(4.4.6)
~oh,JtiQn

haye VI .., 0 unu UJ

!QI}
~

= UI). The
I

finite element

is
(4.4.7)

V~=---+-Vn,

u,,(y)-= -+-Vn .;... . ~ 2 I..

(fr;l.

) ,.

For 8 ()I1c-elemcnt mesh or the quadnnic denk':nI (II = 21..), we have

~~..

7 16 -8 -8 -8
I -8

I] I I III IQ: I
U, U =J;L 2 U3
4
I

0 Q{

(4.4.8)

!'
110')

" L

Co)

Cb)

Figure 4..&.1 lei) I':')ow between parallel plaIts. (b) Finite element mesh: u{L) = 0 for '>et I and u(l~) "" Uu for SCI 2.
nnd lhe finite clement wlu,ion, for the IWO SCL~ of bouodmy l'Olldi l iQn~ arc

U2 ....

}OL~
loLl

forSel1
(4A.9)
1

Ul"" - - +-(In 2/t 1-

'"

forScI 2

Although lite nodal va l ue~ predicted iTllhc lilll.:'lf- and qU(1(,lwLic-elemclll meshes;lfe Ihe ~"'c,

they vary linearly and (IUndrJ.ticaUy Ih'cly.

The exact
~l ul i{ln:.

beIWi:CI1

nodes c.)f IIhcar ,!lId Quadratic eiemel)ll). n::~p.;:c

~Y~

for Ihe tWQ <>eb of boullll3f)' C()1\(.h (iilQ~ in (4.45) un: (-/..

L)

for ScI I u(1')"

-

U(l~

(I +L) + loLl (1 _1.,2 ),1) 2t2/l

(4.4.\0) li)t Sel l

NVle 11I:ll lhc fil1ilC ellllllcm ~lulions ,J! the nodes arc eX:lCI, lh expected.l1,c qu;\dratic-demen\ SQlulion asn:~ with lile eXllel SQI UliQn~ (4.4.10) (or every value of y.

4.5 SOLID AND STRUCTURAL MECHANICS

".5. 1 ,Jrclilllinary COllllllents
Solid mechanic" is that br.mch of mcchallic~ dealing with the motion :lIld deformation of solid,. The Lagrangian description of motion i.. ust."<i loexprc .." the global con~ervation laws. 1lle cOIl<>ervalion of mas~ for solid bodie" i .~ lrivially satisfied bcc:Lu..c of Ihe lixed Illalcrial vicwl>oint u~ed in the l":lgrangiall de~criptio n. The conservation o f momentum i~ nothing bUI Newton\ second law of motion. Under isothermal conditiom. the energy equ:ltion uncouple .. from the momentum equation". and we m.-cd only consider the equations I)f motioll or equilibrium (..ee Example 2.3.3).

Unli"e in fluid mcchanic~. the eqllation~ governing ~nlid bodie~ umkrgoing differc111 fonm of ddimnations ,Lrc derived Ji rectly wi llJL)ut ~pecialiJing thc three-d i111en .. ional elasticity equal ion~ to one di1l1en~ion. Various t ype~ of load-carrying member<, arc called by dilTercnt name... e.g .. bar". bcam~. and pla l e~. A IXir i ~ .. MruclUrai member that i~ ~ubJectcd to only axial load" (),ec Examples 1.2.3 and 2.3.2). \\ hill.' a h('alll i" a memher that is .. ubjected to loads th:11 tend to hend it .. bout an ax i... perpe ndicular to thc axi .. o f the member (~ee Example 2.4 .2). The equation" governing the motH,n of ~uch !'otructural ekmellt~ arc not deduced directly from (2.3.52). hut they are derived either by con .. idering the equ il ibrium of an elcment of the member with all its proper forc e, and llsing Newtlln', "eeond law (Example 1.2.3). or by u.. in an energy principle (Example, 2.3.2 ami 2.4.2).

4.5.2 Finite Elcmcnll\lodcl or !lars ;md C.'lblcs

The equation of motion govcrning axial dcfornlation ofa bar i" (see Example 1.2.3)
iJ2 a pA -. -, - -:rJtih 11

( EA iJlI) =/Cr.1) ;d.\

(HI)

For ..tatic problems. Eq. (.l.S. [) reduces to

- :!... (EArllI) =.f(x ) d\ dx

(4.5.2)

It should he recalled Lhat Eq . (4.5.2) is dcrived under thc assllrnptionthat all material points on the line .\ = constant (i.c .. all l)Oinl" on any cross ~ectinn) move by the ,ame amount ,,(.... ). Thi, i, equiva lent to the :I"sumptio n that the stress on any cros~ ,eetion i ~ uniform Equat ion (4.5.~) is the sonne " .. the model equation (3.2. 1). wi th 1I = A :Iud c = O. Hence. the fin ite clement model in (3.2.J la ) and (3.2.31 IJ) i, valid ror bap,. Thc avcrage tran~vcrre defl ection u{x) of a cable made of ela'tic material i~ also gm' erued by an equation of the form :
-dx

d (T (lx d") -

=/(.1')

(4.5.3)

where T i.,the uniform tension in the cable and / i., the di ~t ribulcd lran .. \cr-,e rorce. Again. Eq. (4.5.3) is a special case o f Eq. 0.2. 1>. with 1I = T and c =0. [n .. tructural mlo,.'hanks problcrn~. the quadrmk fun ctional of 0.2.1 0) ta" e~ the special meaning ur total potent ial energy. no'. wh ich can be expressed in the form
n
r

="2 / I

" e.IO"A~ dx - / " u/dx - LI(Q~

,. .,

where /I i., the di .. placemcnt. the .. train and u the sire". The finite clement approximation (3.2.24) of If can he wri1ten:l'

= N" u ~

II~

L' I(A I'(,,"~ 4 ~LCOM}.OMUlK (lUH' ~FSTIAl. f.QIJATIQ~S

IS OSE

DI\H:N~ION AI'I~X""TI()~\

185

and the

~tr;Jins

and

~tre~~cs

take the form

dll d _ = _ (Neue ) := Bru' dx dx u = Es = E,. B ' tI ~

<lnd the expression for the total potential energy becomes

where the c lemen t label on B and u is omiued for brevity. Then the principle of minimum total potential energy, oS W = O. yields the tinite elemem model

~n' =ouT[(LT' ArEeIlT8dX)U- f:" B - Q] =O TfdX

0'

(4.5.4u)
where

u= -

dN
(Ix

(4.5.4b)

TIlcse are just matrix form of the equations already presented in (3.2.3la) and (3.2.3 1b).

4.5.3 Numerical Examples

In this section we
con~idcr <I

number of examples of !illite dement Hrwlysis of bars.

Examl)l~

4.5.1

A bridge is supp()nw by sevcml concrete pierS. and the gel)fl1etry and load~ of a typical pier are I> hown in fig. 4.5.1. TIle load 20 kN/m1 rcp(cscnL~ the weight of the bridge. and all assumed distribulion of the tr.lmc un the bridge. Tbe. concrete weighs approximately 25 kN/m' llnd its moduluS is C "" 2S x t<t' kN/m 2. We wish 10 analyze the pier for di~place mcnL~ and wes!>C.~ u,~illg the fillite clement method. The pier is intk:t:d it thrCC-dimensional struCture. However.....'e .... il'h to ;\pproxilllate tM dcfoml,ltion allli strt:$S field~ in the pier as onedimensiOnaL We represent the distributed for.:e <It the top of the pier as <I pOint form

,,:=
.l"

((l.5 x 0.5)20 =: 5 kN

The weight uf the .:oneret.: is represented as the body ror.:e per unit length. The tOlal fOrl:e at
any dbtantc x is cqual to the weigh! (If the co ncrete al,xwe that point. The weight at a distance is e41.HIl (lJ the product of (he volume of the bvdy above .{ and the specific weight of the

concrete:
W(x) =:05

0.5 + (0.5 + 0.5x) 2 x x

25.0=6.2.~(1

+O.5x),r

20 kN_m~

O.$m

2m

,
,
4liIltiT
cknlel1~

1.5m

Q.S

In

l llif"l\:M elCtllcnN

figure 4.5.1 TIle ge(lmetry and hlading in tbe COIk.Teh~ picr problem of Example 4.'s.1.

nle body force pcr unit tt!nglh b computed from

,
r=-~6.25(1

dW
dol

+x)

This COmplch!S the 100I.I rcpreM!nt:luoll of the problem. 1Oego~cnling differenlifl l equmion fOl: the pmblcm i.'> gl\'CO by (4.5.2), with "" 28 x Iff'
kN/m~

and cro~~..eclional area A(x);

Atr)"" (0.5 + O.5.~)O.S "" 4(1 +.1)

Thu~,

the Cl)nCrcte picr problem is

II

idcaH~.cd

:IS

Iltlcdil11cnsionnJ pmblem whose. Miu) dj\-

ploccrnem

is governed by the equ:ltiol1

d,\
--E{I d ['4 +.f}- a-6.25(1 + \) d"] dol

(4.SSa)

~ubject

to the boundary ~ondili()lls

~E(I+.l')dl~]1 :::; [ .. 11I,.oQ

Equtllion (4.5.5a)
corrc~pondiln(;e: I~

5,

u(2)=0

(4..5.5b)

Il ,peeiul

c~~

M the model eql,lation (3.l.n with Ihi:: following

(4.5.6)

For a lypicallinear denlCnL. Eq. (3.2,)lb). We have

Lh~ ~tjffll(,<.S

matrix and rorce vector Call be compuleO using

jK'1

co:

4/:. 1 + i{\.,+x"d

E['

][,I ',]
(4.5.7)
.l,

WI

~ . 2-'~ ((') +~ ('''' +1'. )) 2 1 3 +

2'\';1

Let u~ consider a tWQ-element (lle$h wit.h hI =h~ "'" I m. We have

[KJl

c:! [
4

1.5 - 1.5

- 1.5].
1.5

f 1

4 167 ""'~ P+I)= 1 ..20~ ) 6 13+2 15 6.25

lK 1 ="4 -2.5
The as.wmblM equati(ln~ are

, e[2.s -2.5 ].
2.5

If I

1."

(34 ' )"" 18."3 1 3+5

Q J

7 292 . )

0.375 -0.375 -0.375 1.000 -0.625 [ 0.000 -Q.625 0.625

eonditjQIL~

0.00] [U' Ul
UJ
I"\.."'\juirc

I[4.,67) [ I
12.500 K.333

+ Ql Q: Q~ +

The boundaty lmtJ equilibrium

The condensed equations for the unknown displacements and

force~

arc

E[ 0.37$
~0.375

- 0.375] 1 .000 Uz

(V, )_\ 9.167 ).

1 2.500

{1 = -0.6255Uz - 8.333

_'t"be ~OlutiOn is given by (positivedispl'lI.:emenlS. ht!cause of the-coordinate SYSIC[l] used, indicate

that the pier is in cmnprcs.sion)

Hence. the ~Ircs~ at the tixcd end

0",

jo;

(compresSivc)

Q~I A:::::: -30/0.75 = -40 kN/r:n~

The four-clemcnt rnode! gives 2.008 x IO'~ Tn ami 1.228 x 10 f< m. rc~PCCt!vc!)". The exact sOlution of Eqs. l4.5.5o) aud (4.5.5/J) is
u(x)=-g 56.25-6.2511 +.>.)'-7.5 In
Th~

'[

.,

('+X)] -,-

(4.5.8)

exact

vaJuc..~

of II at J1odc~ I aod 2 are

The Jioile clement \olutiol"l at the

flodc~

is flot exaCt because (1 -= t.: A is not n conStant in this

problem.

f;xample 4.5.2 cO(f!p!lsiIC bilr consisting of a tapered steel bar fMtcned W an alumimnlt rod of uniform cross ~cction and subjected to loads us shown in Figure 4.5.2. We wish to determine the dh'PlacemcH! field in Ihe bar USj\l~ t.he tinite-element method.
COfl~idct th~

<;:;!~'CJ

la, h,tf,(J.)j
,\Jummum (al
,o.;.....j.. )

I Jetnt.'I11

CD

Global nOOl"

j / numbcr

';'::;~~f!i;~~?:=~-~ f'. ~ I 21"'--.. - -,,--14--,--<-1 Elcm;''1l111<'<le

hi

lIlunbcr

hi

96 in., II!

lW in

,bl
figure 4.5,2
l\~iaJ deronnalion 01 II !.'olllposile clemenl rl!p~nt;uion. mem~r (tI)

GeomL'Ir)' and

I\l:.dm~. (h)

Finite

'Ille governing cqu:l tion~ arc

gj ~cn

hy

-I -

I 'x I~, A '- :::: 0, (,t-

d ( , d")

_:!. (Ix
obviou~.

(f;. A" dll) : : 0, dx

"a~ !O

(45.9)

...... here the sub.;cript ":;' refL'1"S h) steel and We consider the fl)lh' ...... lng data:

aluminum. 111C boundary

CQndi tion~

are

E,

:=

30 x Hi' p,i,. A, =kl

+ Cz.tf. E" ~ 10'

p,j

(4.5.\0)
A.. = I in?, hi ",,1)6 in., L=2!6 in., 1'1}= 10, 000 Ib '!lIe fini le c lemCIIl cqutlliul1\ for :1 Ull ifonJ1 bar elc.ncill wilh COIl\lallt E,A, and f(x) = 0

arc !,lIVen by l,ee Eq. (3.3.5n) 1

-']1"; I ~ l Qi l or III
I
where

(4.5.1'")

Q; are the end forec~

or = [-F.A d"] ,
dx .. A,:::: (cDl +

Q~=

d"] [EAdx

(4.5.llh)

For the presclll problem, A, is not cunSI3J1I. hoi

r:.q. (4.6.l lu) i ~ Mill \,;, lid YJilh

"

~ (c;l(xt + ,I.'; +x~x/o) + c';fi<-II> + Xd )

=.~

To

\Ctl

this, we calculate

K~

for the problem u\jng the 100:11J COOrdill;IIC.i (.t

+ x,,).

We

h.m,:

C"l1,\PTEW 4 SH.l)Nf>-QRI'I:W Din

lWl~nAL vu",no~s IN (J.'ih DIMhN~ION. AI'I'.ICAT IONS

189

K :1 = Kfl =. - K ~I and K~ = Kil' where we have used the algebraic L"qualitics, a1 _ b1 = (a - b){(i + b) and 0' - /J ] = (0 - h){a1 + h~+ ab) to simplify the expressions. For two linear cleJl1entS or JCflgth~ hi =' % in, and h l = 120 in .. we. h:wc .::1=1.5, c~ = - 0.5/96. <'r = 1. = O. and the clement stiJfnc"s JI1atrk"Cs bcc()mc

f K1 j

= 4.75 X 107 [ 1
96 - I

-1] "'" 10 1

4 [

49.479 - 49.479] - 49.479 49.479

- I] "'" Let [ 8.333 1 -8.333

- X.333] 8.333

1O~

49.479 - 49.479 - 49.479 57.812 - 8.333 [ 0.000 _ 8.333 8.333

0.000] IU ' U~
U,

II a: I
=:

Q1 + Qr
Q~

The boundary conditi()ns imply

Hence, the

conden~<!d equatjon~

arc 2PO ) . Q:"",_ J()'I X 49.479U2

10' [57.RI2
-8.))3

-s.333] IU ~ 1 ,)
8.333 U)
=

I'Q

whose w \ution b

Uz = O.06063in .. U,=0. 18063 in .. Q: =-30, OOOlb

The negative ~igJ\ indicates that the rC;lclillfl i.~ acting away frum the end (i.e .. The JI1;)gnitudc ()f Ql is COT)siStenl with the ~Mic equilibrium of the forces:
ten~iJc

force).

lbe axial displacement at any !lOin! x along the bar is given by

o :S x .:S %

96 $ A 5 216

190

AN INTkOlJL('rlOl' TO I'IIL FINri!;

I. LLM I . ~I' \l!'nlO!)

a.ud

it~

firS! derivati\"e iR givctl by

~= I O.~3,
dx

0 :S.x $ %
%.sx ;::21 6

0.0001.

Thccxatl ~O l lltioll
II(Q) ",,0,
i~

()f

EQs. (4.5.9) su~ect !(lUll'. boundary coucliliQOs

(1-

d") [(a <I") .~"'" - ( ilx .... J=2Pij, (a <I") dx

'ltl

dx ~..lIO

= Po

given Py
liLt)

j O.128lX/(2HS-X)l, O.ex)! (x - 32).

O:;:x :$. %

96 ,:S x ::;2 16
O:$.X .:s;96

~ = 136.864/(288 _ _ t)l, dx O.O(IJ,

%;5.x $216

In parti(.:ular, the exact solution at nodes 2 lind 3 is given by

11(%) =0.(>64

in.,

11(216) ",,0.1 840 in,

'rhus. !.hI.' tWQ-clclllcnt solution ii> about j.8 pc.I'Cent off from the maximum displacement.
Next con~ider ,I two-element roc$ of quadratic vector Jot elc.lnent I lU"e
eJclllenL~.

The elenlenl matrix <lJld fOrce

rKIJ=IO~

142.[9 - 159.:n -159.37 266.67 [ 17. 18 -107.29

11.18]
- 107.29 ,

90.10

The a~scmble.d stiffness matrix is of order 5 )( 5, and il j~ of the form

" Kit
[KJ =
K~,

K'

K/"!
Kb KL
0 0

K/ KiJ
j

0 0

0 0

K~1 + K;t

Kt.

0
0

KI!
Kit

Kh K' Kj,

Krl K i~

Aftcr ill1pMing hQundaryccUlditious (VI "",0, Q~ + Q1 <= 20. 000, ing the resulting 4 x 4 equation,;. we oht..in

"

Qi:=:; 10, (00), and Ji(llv-

Ut =0.02572 in.., U~ =0.06392 in., U, =0.1'2392 in., U$ ",,0.18392 in. The two-element solution obmtued usiJlg the quadratic el~n\ent i~ very IIccur:He,. ;1., can be seen from it (..'O(Ilp~rison of the finite clement ~(Ihlti(ln with the CJ(act solution rrc~eJllcd in TabJe4.S.C

Table 4.5.1 COtnp.u1f.(\{1 (If the finite element problem in E~!lmple 4,5.2.

soluuon~

wit h the elt9Ct solution M Ule bar Qu,adrauc

(in,)

F.,,,,
0.007:53
0.01600
0.01600

Lill<'aJ"

(I. I}i

(2. I)

0,2;)

(4.2)

(b,ll

iI.n

12. I)

" 32 " '"

24

0.00752
0.011('.1
0,01:5<)3
O,Ol.B!
O.t.lISQ8

0.01164

12

.,

0",-"" 0.03657
004267 0.04923

0.02553 0.03638
0,(}.$253

0,02557 0.01652
0.(}.I916

0.02572

0."'-""
O.042b8

96

21'
t ("..

'56

0.06400 0.12392
0.1!$400
.i~

0,06063

O,{)6:)1)

OJ)b359 0.18]59

O.I!\IIM

0.18309

0,0(;.117 O,12J17 o IK317

O.06.WO 0,12.190 0,1 W\<JO

0.06..W2 0,12392
O.IKW2

0.06199 O,I2.."W9
/),jij399

n) "",all/; '" ek-,h<:nllo I~ Ill<! 101<1".111 (0,%) <IJ>Il" ek."..,nllo j~ II~

IOIC ....'ul {'J6.21t: all dCHI(Il;t:< I!).t:o:<h inl~nr.tJ are

of 1M 'I'lnle

--

C(ln~ider a hollow cin:utarcylindcr with inner r:ldius a. \lUh!r mdjus /J, and length L The outer surfuceof Ihe hollow cylinder i~ a~,umed 10 be fi,o;oo ~lnd ils inner I>urface ideally bonued 10 U : rigid circular cylindrical C{m: of mdiUI> (1 and length f.. a~ 'hown in Pig. 4.5.3. SUPPUI>C that IU1IQ.i'II force P is applicu 10 the rill!d core along its cClllroidnJ :lxis. We wlsh 1 lilJd thc axial 0 disp l;ictfficnl 8 of the rigid wrc by a~.. un'ing that Ihc displacl!1l1t:0I field ill. the rn)lIow eylindl!r is of the fonn

(4,5,12)

~

{

, +

a"

J, '

to. ,

+ + + + +

Hgure 4.5.3

Axi~)mmctric dcfQrmu\ion of a hollow cylinder fixed at the OUter surface and pulled by a ri[!id (:ore at the inner sorface.

192

A"II'H I(OIJl 'CTlO'l10THI n.'1nll ~ I\U..NT ~u nllll)

T he equ <lt ion t;0"'erning U(r) C;l1l be determined a..

ro llllw~ .

FiNt, we note Ihal

(4.5. IJal

(1,

= a (Ir

dU

(4.5.13b)

where G i!) the shear mooulu\. Of the three stress-equili brium eqU:lIi(IflS in I.hc cylindrical coordin:lll!.\. the twO equilibri um equotitln~ as)\OCiatcd with rami 0 direct ions ate' trivially 'illthficld (in the nb!>ence of hoc.ly fOfCC$) hy tDe Mre~~ fie ld. The third equilibri um equaliOn
1.111"$. -I [ -jJ (m,. ) +-":;'+ r au" = 0 r iJr <10 a:;
yicld~

the equ:ltio n

r (Ir

(rG1.!!..) =0 dr
(.rG dU) ,.... =P dr 2.'1 l.

(4.5.14)

The boundary

condi tion~

nn VCr) are

(4.5. 1.51

Thi~ (:olllplet.:s the theoretical formulatioll .)f the problem. We wi~h 10 ao,llyJ'c the pr(lblcm lI,ing the fin itee lentent method. The finite e leme nlll10del of Bq. (4.5. 14) Id. Eq. (3.4.1)1 is given by Eqs. (3. 4.$11) !lod (3.,I.:lb) wi th <7(,) "'" rO and f # 0. OtiC linear element in the dOll1 uin yie ldli (,." = tI iliid It = b - a)

"'G Ii

( r .. +-II [ I ') 2 - 1

ood wi th U2 = Onnd

Qi "" PI L, we obtain
U1
P (b /I) = --l1LG{b+a)
i~

(4.5. 16 )

The exoet w lUlion of f.qs.14.~.14) aod (4.5.15)

gillCll hy
I'

U (r) =-1.1([G l()g(rlll), U{(I) :.s: ,1 "" ~ 10g(lI/a)

I'

(4.$.17)

The (Inc elemertt <;(lJutioli in Eq. (4.5. 16) CO!TCSp(loo_ 10 the li rsl tenrt in !he loga rith mic ~ritS of 0 li.c., lo~(a lb)l. lhe o f (}fie quadratic clement P; I\-C.\ (11 := 0 - a)

he;
610
[

3h + 140
- (4h

- (4h + 160)

+ 100)

h +2(1

1M + 3211 - (l2h + 16a)

- /l10+2" 2h + 160) ]
l lh + 14{l

IU' U,
U}

II I
"'"

Q: 0

1 45. IS)

Q\

U~jng the boundary eondi liun~ U~,.,Q and equatiOils in V, and UJ:

Q: """ P/L. we obwin Ihe following ~"(lnden~eu lUi

2rrG [ 3h -+ 14(1
6h
\\ hose sollltion
11>

_{ 4/,

-+

-(41)+ 16al ] J1I,

16h+32a

l6ttl

I1 I
~ JPic
0

(4.5.19)

VJ
U1

JI,P
:0:; -

11 GL

h+2lJ u,,;-:;:i:i';-:;;:, 31,l + 2Uah + 2&1 2

14 ..5.20)

JhP h +40 =-lfG I.I2i,1+8OiIh+l121,l

The finile elemenl soluliol)

hccllme~

A compariwn of the Ilnile elemctll o,olutions obtained with linear lind quadrmir.: eJcment~ Wilh lhcanalylical solulion 11> shown in Fig. 4.5A. The fl,JUr-clemc nl me.\ h of Quadmtic cknICl.lIs "inu,IJly gives Ihec~tlC l o,olulion.

2.00
0 0 0

Analytical II linear t:1~mem~

4 qUlldmlic dClllcms

1.50

.. lin~i'r c!cmclIl~

.,. '"
~

1.00

2 quadrJlIc clements

e
~

,;

o.so

1.0

2.0

3.0
(,oonlinalc. ,.

4.0

'.0
lud~)'m.

"lgu~

4.5A Comp;lrhon of fin ile elemcnt solutIOns wilh Ihe ana l} lic .. 1<;()iuti(lIl for

metric dcform:lli(ln of a hollow c}linder fixed at the outer ~urf:lCe and (>lIl1ed by a rigid core at the inner ~urface.

194

,I' 1I"rlI.!JIJlrrll)>; H)TIth n>;IW FIJMFVf MFTUOD

4.6 PL ANE T RUSSES

4.6.1 Introd uction Consider :l ~tructure con"isling of several bar clel1lenl~ connected to each other by pins. as ~hown in Figure 4.6.1. The members m:ly rotate freely about the :txi" of the pin. Consequently. each member carries only axial rorce~. The phlllar structure wilh pin-connected mel1lhcr~ (i.e., all members lie in the same plane) is called apful1(, Irt/.\'J. Since each member i~ oriented differently with respect to a global coordinate system (x, y), it is necessary 10 tran~ronn the force di"pillcement relations thilt were derived in clement coordinate system (i . .\") to the globill coordinate system (x. y) so that the structure stilTness can be assembled from the cleillent stilTness referred to the same global coordinate sy~tem.

4.6.2 Basic Truss Element First. we consider a uniform bar element with eonst:lnt E A and oriented at an angle Of' measured counterclockwise. from the positive x-axis. If the member coordinate ~ystcm Cll" S',) is taken as ,hown in Figure 4.6.2(a). and (iif, Dn and (tf. 0) denote the displacements and force" at node i with respect to the member coordinate system (i e S',). re~pectivr.:ly,the clement equations (4.5.lla) can be expressed as (we now usc the not:ltion

(X + l '/= P:)
E,A, [ II,. - I

0 ;) 0

- )

0
)

'
Dr

0 0

~ :~ ll"' l=~2

We wish 10 write the force-deflection relations (4.6.1) in terms of the corresponding global displ:Jcements and forces. Toward this end. we first write the transformation relations between the two "cts of coordinate systems (x. y) and (i" y~) (see Fig. 4.6.2)

r
,
0

0' Ik'IWI ~ II"1

(4.6.1 )

.\'. = x
x =
Ie

co~e ..

+ y sinO... y~ = - x ~inO, + y cose, cos 0,. - .v, sin 0" y::;;: .f r ~iJl (J, + y, cosO,.

F igu ~

4.(,. 1 1\ plUllC

tru~s

s1ructure.

ntAPll ,N 4 ~t;t'O"I)-()Nt)I'.11 [)I1"'HtFNflAI. r,(}'-''''TIO''~ INI)"~ I)I~II"'I~IO" "'PPI.K'ATI()"~

195

)'

Ii;
f{
h,
U ,

)'

iJ'

, '" "

v{

", "
j7'

"' "
,

/
_e ;,-

.... ,
"

u\

l~

"

h,

"

/'2:' II;

-, , "

pr ,
la,

;;;

F'

" "

"
Ih,

Fi~lIre

4.6.2 A bar element oriented:ll an angle with re!>pcc[ to the glob..11 coordi nate
(II)

s}'~lc m

C,. r).

Forces and t.lhplaccmenls in the clement coorth n:llc~. (h) Forces and t.li~plat.:cment)<, in the global court.l inut c~.

or. in matrix form. we have

(4.6,2 )

where Or is the angle between the positive x-axis and po<.,itive I,.-ax i<;. measu red in the counterclockwise di rect ion. Note that all qllantitie<; with a b.. r over the m refer to the member (or local ) coordinate sy<;tem (r,.. ,\'r )' whi le Ihe quantities without :I bar refer to [he glob.. 1 coordinate <;ystcm (x. y). The above relation ship al so holds for the displacements and fort.:c, of the two coordi nate ~ystCms. We have

rI
III

[,",0,
, 111

sin O~ cos (Jr

0,

0 0
cosO, - sin O,

";

Ii:;

0 0

0 0

o sin Or ] o
co, (J.

rI
II~
V1

v'

(4.6.30)

'"

16'1~ IT' II"' I

(4,6.3b)

where 1iS.' J :md 16' 1dcnote the nodal di<;pl:lcemeJll veclllr.; in the member and structure coordinate system.;. re~pcctive l y. Similarly. we have

IF'I~IT'II"" 'I
~ystc rns. re ~ pccti ve ly

14.6.4)

Ilere I prj and I PJ denote the nodal forc e vectors in the membe r and structure coordinate (sec Figure:-- 4.6.2).

4.6.3 General Tru5.'i Element

Nexi. we derive Ihe rclation~hip bel ween the global Eqs. (4.6.3b) and (4.6.4) in E.(l. (4.6.1). we oblain
di~p l acelllcnl~

::and global forces. U... ing

14.6.5)

I R'IIT' II"'I ~ IT' ll p' J

11)6

"'~ 1~"rM()I)llnln~

'rOTIII, rT>;l'l'r I:I,I'. MF'H

~U-I'III)IJ

Premultiplying both side~ of the ahove equation with I T" IT and noting that I r I I = I r r lT, we obtain (4.6.6) where (4.6.7) Carrying olltlhe indicated matrix multiplicmions. we obtain

[ co,, 0,.
I K"I = E,.A,
II r

I '2

" Sill

2U,
"!()

- cu,,2 0,
-~ sin20r

-~ ~in20~

~ sin:8t
co.~

~i n 8,.
2

~in2 0,.

IF'I

/.: I
F' 2 F' F' ,

O r

-~ ~in28,.

- i s1n - r - sin 2 0,

I ,.

cos O~
2

~ ~in 20r

4sin 20,

sin 2 0,.

(4.6.8)

(4.6.9)

where

I;' are computcd u~ing Eg. (3.2.3Ib) lal~o scc Eq. (3.2.34)1
(4.6.10)
mean~

Equations (4.6.8) and (4.6.9) provide the

to compute the clement stiffness matri x.

I K e I and force vector [,,"'l. respectively, both referred to the global coordinate system. of
a har element oriented at an angle (Jr ' The assembly of elements with their ~tiffncss matrix and force vector in the global coordinates folluw~ the same ideas a~ discu~~ed before cx.cept thaI we must note that each node now has two displaccment degrees of freedom. These ideas arc illustrated in the following example.

Examp!e 4.6. 1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __

Consider;} thJ\':e-mcmbertruss ...hown in Figure4.6.3(a). All mcml)ersofthe truS's have identicul areas of ,,'ros~ se<.::tion A und muluh,l> The hinged Supporu. ;ujoinb A. B. and CnJ10w free rnt.1tion of the members llbout the ;:-axis (raken pO~jtj"c out of the plane o!"rhe p:lpcr). We wbh to detcmlinethe hurimJllul and verticlll di~plao.;cmcnt.~ lit Ihejoiot C lmd forces in each member of t.h~ structure.

e.

Finite Element Mesh

We IlSC three finite eJcroent~ 10 mood the st(uctliIe. Any furt her ~ulxlivis.ion 0.1' tbe nlcm!leflo.
doe~

not add to the accuracy b<,~u~e the tinite element SOlutiOns for dhptat":~men t $ ;tud fOrCe..' althe hades are exile! r!)r all tru$~ pn)blcms. The global node numbers (1m,! element numbers tire s.hown in Figur<! 4.6.3(b). There arc two displacemertl degrees of freedom. horizootri\ anlJ

2i>

200 IN

2(> - 200 kN

''"''-1'I.
A~

IOOkN
y

'0

_____

O:C;"""- ,
fb)

(0)

Figure 4.6.3 CL"(lmetry lind finite clemcnt represeJ1wtiotl of II plane t(U~~. (ll) Geometry and applied londs. (b) Element num~riug and reacti(111 f()rcl!~. vcnical
w~placelllenl~.

,,' cach node of the dement. The demeot MiffneMi matrix in the 11)(;111

coon.linalc sy~lem i ~ shell by Lq. (4.6.1) y. hile the MiO 'nCSli mlltrh.: and force \'CCI(lr (with Jt "'" 0) in the global e()(lI'\.hnJle S}" IC.1Il is gMm by Eqs. (4.6.8) and (4.6.9), re~pcct.ivdy. The

element dltla and eOmlel'ti\ ity

j,

ghell in the folJOWiJIg 100ble.

t,;lemc,nl nUlIll:>cr

,
2

0100.11 llOOc<

(;co.J11~lric

Malcri;t!
jlropeny

propcrtie<
A.II\ <>= L II. hpd. A. hI, >=..Fit.

Oricn(31ion
HI = 0"

,
2
)

f:

E
L

", = 90
If?, u 45

.:lemcnt Malricc.';;
The clement stiffness JII'lIriccs urc given by 1I/(2./i) .;<O 0.3.536)

IK J = -

EA
I~

()

( 0 -( 0] 0 0
{J

[o0
- I 0

[:"A 0 . JK) =-J

[n

l,.

000
0.3536

- 0.3536 0.3536 -0.3536 -0.3536 lKJl = !:.A [ 0.3536 I. 0.3536 03536 - 0.3536 0.3.536 0.3536 - 0.3536 - 0.3536 0.3536

03536

-035"']

(4.6.1 I)

where{U,. V,) !lnd{F/ F" )dcnote .he ,t andyeom()(lnelll~oflhedil>placemcni aodcx tcrnal (Ot\:es. respectively. at the global node I.

Boundary Conditions
The specilie4 di'pJucemcrl! and force degrees of frced('Hn are
(4.6,17)

The first tWO boundary cooditioo$ cOlTC$ponu to the OOrilOntUI and \crt ical displacemenb lit node J. the nell! IWO correspond to the: horizllQlal and \'cnicil l Jisplocemenb at node 2. and [he
I:!st correspund [0 the lon.."e boundt.lty l'Ondition.~ 81 nude 3. The unknown~ are:: thedisplaccmeoh (U). V) 1of!1Ode 3 lind hlrcc~ (Fl" Fl .) at node- I and rorce~ (fh. F. ) I[ node 2.

Condensed Equations
Thc conden:.ed equ:lIions for the unknown di~lacement.~ (U). V ) are obtained from the l:ht l IwO equmions of the. system. ll~ indicated by thedoucd line .. in (4.6.13)

~ [0.3536
L
:md the condensed the ~!i'tem)
cqll1nit)O~

0.3536

0.3536] 1.3536

[U,).J1-2P) I'
Vl
~

(4.6.IK)

for the unknown reaction..,

(from Ihe firM four equations of

F" /
"It

""

EA
I~

[-0.3536 -0.3536
0.0

FJ..

=~;;::] 1v) I
0.0
- 1.0

U., )

(4.6.19)

Fl.

0.0

Solution of the f inite Element Equations

Solving Eq~. (4.6. 18) for U~ IIml Vb. we Ohl3io

U,=(3+2J2) PEL =-5.828 ,'>1.. V)=

.A A
:lnd lhe reaction forces are cornpulcd u5ing F.q. (4.6.1 9)

(4.6.20)

(4.6.21)

l'ost computJltlon

The stress in each member can be .;:omputC{.i from Ihe rei;lIion

(4.6.22)
where P~ :ind

iI; can he dctcrmiol-d from the clement equation,

-,] ["' ) jj;

1

(4.6.23)

200

\' "'ltIIlIl.O("ll()'1 1f)1 IU

.-.'1111 H I-\U "" Ml;.llklfi

and the el<:lJ\cnt db.placelllcFlIS Wi ' u1)are-determine,1 from the IrnFl~f{)rm:ltion relation (4.6,311 )

-, '. = [ - =", ,:'0, ii;'

fi~

,iufJ.
CQS(J~

0 0
COl' Of

IJ

P5
B) dc61111ioll
r~ Eq~ ,

0
(4.6.14)J. wc hlll'C

- ,inl1,

ern-O.

"'~o<
()

,,; 1
.,<

II ~

(4.6<24)

I'!

"l ""

~}

u~

r.; I'L ' ) 3Pl. == UJ ;::: (J + 2" ,!)'jfA' t't "" 1'1 = V~;::: -!fA

14.6.25)

l ienee. Eq,. (4,6,22}-(4.6.251 give (4,6,26)

Ii: .".

Iir "'" II:crn. 9:z + " ~ \infJ! =0

iii "'"

U~c(hO!

il~ =

ul ~,\Sf.l1 + t': -..inR, =0 II~ c()~l'l + vi sin OI =0

+ V1 \infh;::: vl==-'EA
3PL

at = llic\)~o\ t-vllsinfh:::O
If l
.1

I "'" U_IC()~ &l+ V' 01= hiU,1+ ,,,n

v~ l =l0f 2ft

(4'(',27)

ThU\, lhe member iorccs are

(4.6.28)

The allial !>Ir~s

i.n Ute m~fl1bcrs Jt\!

3P (112'= _ _
A-

(4,6.29)

lntuprdation and Verification of the

lU~.

RC~iUlls

An e."un nt'ltion of Ihe st.ru<:lure and the M'nsc of loads IIpplicd mdicOItc.!.hal the uj,pJa('cmcnls V,) are qualil11liveJy correct (po~ili\'C V, ami nct=atilc V,). Also. the gwmeuy of the ' truC"lure il1dicalc~ Ibal it ha.\ relathcly more l;tilTne..\',~ in tlJc vertical di~lion (member 2 lakes lIlu('h of thc load dlftctly) compared IQ the horil,Onla! dU'CClion, '-"hich e.\pl:iin~ the relulh'Cly

large dl'placenl<'lll il1 lhc horizont1\1 direction. The (nrcc' in Eq. (4,(1.21) can be verified toy applying the melhod of \CCtion~ to the freeobodyuiagf'..tlll in Figure 4.6.3(h) , Scction~ AA. ~8 , and CC' (~ee MQ:ure -1,6.4) yield

2f

L
B

/
/ /

fh

F,..
Stclil)!1 BO

HJ" 4~~ _ _ _ ,...,1/

f"

1""

"1,.,.
2P

I
I

6~,," 45~

ScclionCC

I'

H----

F.

, R

/ ' 63,," 45~ I I ,

,..~

Q
Figure 4.6.4 Method of sections 1 determine the member force~, 0
the rcl:'ltjnns (/-I "" Q)

(4.6.3Qa)

(4.6.30b)

(4.6.30c)

whkh yield

Q=-3P, H=..lZP, F; =3?, F,I = - P. f~J ",,_ P. fJ=f"! =O

(4.6.3/1:1)

Note thm the Illember force.' cQmputed using the method of 'icClinns ~Igree with thOSe computed -I -1 ~l in the finite elemen! methOd (P I -= fI, PI =- Q. and f' , "" - R), It ShOllld be nOied tbill lhh exercise ;$ only for ('hecking purposcs, and the finite dement method cal) be used 10 dClcmline the member forces Q. N. and H. a, discussed in the poStcomput:lIiOIL This C('lmp!ctc~ the
example.

202

,\\ I~TN()Tll!CrlO'l romE rI'IllT. ElLML'IT METIIOIJ

,.

11/ '" II cosa-t )'SIno: ". = --11 SlIIO: + . coso:

FigUrl' 4.6.5 Tmnsforlll;lliun of ~pecit1cd boundary condition~ frolll giobalcourdinatc ~ystcm (for an indincd ,upponj.

localcoordinalc

~y~tCTll

to the

4.6.4 Constraint E(luations: Penalty Approach

It is not uncommon in ~tfllctural ~y~tcm~ to find that the di ... placemem comp(lnent~ at a point arc related. For example. when the plane of a roller ~upport is at an angle to the global coordinate ~y~tem (~ee Fig. 4.6.5). the buundary condi t ioll~ on di~placements and forces at the roller aTe known on ly in terms of the normal (to the \Upport) componenl of the di~placeme1ll and the tangential component of the force
u~, = 0.

Q; =

Qu

(4.6.311

where u ~, i~ thc normal componcn t of displacement lind Q1 is the t,mgentia l component of the force at node I of the c lement Q'": QII i~ any specified tangential force . Theseconditions, when expressed in terms of the global componen ts of di~placel1lents and force~ by mean~ of the lran~f(lrmation of the form (4.6.3/) and (4.6.4). become
II~

- 1I';s in(l' + II ~COS(){=O Q~to~a

(4 .6.32(1) (4.6.32h)

Q;' =

Q~~in(l'=

QI)

where (IIi. u:;) and (Q';. Q;) are the x and y component'> of the di~placell1ent~ and forces. respectively. at the ~upport. Equations (4.6.32a) can he viewed as constraint equations among the glob:!1 disp lac ement~. whith have a companion relation among the as~ociatcd forc..:: ... namely Eq. (4.6 .32b). Here. we pre ..cnt the penalty function method through which con~traint equat ions of the type in (-1.6.32(1) and (4.6.32b) can be included in the finite clemen! equation,>. The penalty function method allows llS to reformuJ:lte a problem with constnJ ints a~ one without cun~traints. The bllsi\: idea of the method can be de~cribed by con .. idering an algebraic constrained problem:
mil1imi:e {ill' fiU/uioll f (x. y)
.~lIhj(;("1

{O Ihe cOIIslmim G (x. y) = 0

[n the Lagrange multiplier mcthod thc problem is rcfonnu lated as aile of determining the stmionary (or critica l) point~ of the modified function I- L(x. y).

Fdx . .I") = I(x.

y)

+ A.G(.\". y)

(4.6.33)

subject to no con~trai nts. Here A. denotes the Lagrange multiplier. The ~o lution to the problem i~ obt:lined by selling pan ial de ri vati ves of FI wi th respect to x . y and A. to lero:

-ax - 0 . -

apt

- ~ O.

aF,
Jy

- 1= 0 iJ.l..
a~

aF

(4.6.34)

whi ch gives three cquations in the th ree unknow n ~ (x, y . .l..) . In the penally func tion method. the problem j<, reformulated minimum of the modified function P",

one of linding the

Fp(x, .1') = f(x, y)

+ ~!G(X' y) Jl

(4.6.35)

whe re y i!-. a preassigned weight para meter, called the pelllli ry P lII(I/IU!ter. The f:lctor ~ in Eq. (4.6.35) is used forcoll\eniencc: When Fp i<, differentiated wi th respt.."'Ct to i t ~ argumcnl~. the fac tor will be cancelled by the power on G (x . .\") . The :.oiulion to the modifiL-d proble m is given by the fo llowing two equ a ti \ll1 ~:
-~ O.

a" F a.l

-~ O

iJF " i)y

(4.6.360 )

The solution o f Eq:;. (4.6.J6l/ ) will be a funclion o f the penalty pan.,neler. (x y Yv). The larger the value o f y. the more exactly the con straint i ~ sati slied (in II least-squa res ,ense), and CIy Yy ) approaches the actu:d solution (x. y) as y --+ x. An approx imlltillrl to the Lag range mult iplier is computed fro m the equation.
(4.6.36b)

We cOIl l,i der a spccilic example to

illu ~ trat e

the

i d el!~

presented above.

EXlimple4,6.2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __
Minillli/.e the '!u(Ldrmic function

wbjoctto the oon~traint

GLt,

y ) & 2.1"

+ 3) <:: 0

Gcomctrically. \\C 'iCd;. the inJlt!Clion point l)f the \urface f(.~ . y ) thut i~ 011 t.hc line 2x + 3.\' = 0 . We soh'e the problem using the LagrJllge mulupher method and the penaJty fUliction

method.

lAgrange Multiplier Melhtx/, The modilied functional is

fl (1". y ) = [ (.t. y)

+ ;.(21: + 3y)

211-1

\"1

1'l"lR(llllrcnoN1o TIlt ,w n, 111\"."" \lHIlOU

whell! ;. is the Lagrange Illuhiplicr to be tlelcrmincd. We ha\'e

- , =lu+2y+6+2,,::<O

iJF,.

"

aF, -..:. = - 6)' + 2..~ - 3 + 3). .,. 0

IJy

- = b'"+3y "" 0 DA
Sohing the three algebrllic !!Quati!)ns, we obtain
r= -3,,\'= 2,A=7

[}Ft

i't!flO/ly Function Method. The modified functional

Fp(.r .I'} "'" {(.t. y)

i~

+ I(2x+ :\)')1

"nd we have
"'- =!U+2v+6+2y(2x+3y)=O J
<X

'F,

;Jf-'p

ay

=-6v+2r - 3 +3y(2x+,h) '"' 0

The solution oflhc~e et!uatioru. is

.f',,""'

IS - J6y 18 +24y ,>'y= -26 + 12y 26+ f2y

The Lagr;\J\ge multiplier b given by

Clearly. in the limil y ...... 00. tlle penally fun..::tion Jl'olution appro;lches the ClIDC! solution:

r ......

lim .t.=-3. lim y,=2. hili Ay "",7

Y--->-<'<-

r .......

An nrpro'ioJ!ue solu!ion to the problem can be obtained. within a desired ik,"1;ura<:y, by selecting a finite value: of the penallY par.lnlC!er (see T::Ible4.6. 1). Thi~ C(lmpletc\ the example.

Tllble 4.6.1 O)nvcrgence orpcnalty funcli()n

y

~\l l ution

with inr..'tc;lsing pcn"hy p:ltameler.

",
0
J
~0.5769

Y,
-0.69'23

>,
0.(00) -6O<XXJ 8.9J62 7.1550
7.O t ~2

/:"y ... hy+J,Vr 3.2308 6.1).:00 0.8936 0.0716 0006ll 0.000II

10
JOII

J-'OOl - 3.6702
-3.~n

-1 (00)
2.7447 20S96 2.0058 2.Il006 2.000)

1.00II
10,000
~

- 3.00.51
~ 3.(XlO5

-:\.0000

7.00IS 7.0000

0.0000

0IAI'I1:II .1 SOCOl'I}-OH[)FR

[)((H:HI~"'Tl,\1.

n)lJATIONS IN UNE lJ IMENS ltJ.'; . A1'11JC"'1'I0NS

205

Now we tum our <lttemion to constraint equations of the form

u~ed

with bar elements

(4.6.37)

where {JIn' {In and {J",,, are known constants, and 11m and u" are the mth and fllh displacement degrees of freedom in the mesh. respectively. The functional tl1<lt must be mini mized subject to the constraint in (4 .6.37) in this case is the total potential energy of the system (see Section 4.5.2)

n =

The penalty functional is given by

nJ> =

1 ~1
rt

A EuTUTUu dx

2 n

AEuTBTBu(ix

-1 -1
rt

" TB TI (ix _uTQ

(4.6.38)

II TUTI dx - uTQ
(4.6.39)

+ ~ ({Jmll", + fj"lI n -

{J",n)2

The functional n" attains a minimum only when {J",II", + /3"11,, - {J"", is very small. i.e., approximately sati~fying the constraint (4.6.37). Setting ~ n" = 0 yie lds

(K + K,,) u ~ r + Q + Q"
where Isee Eq. (4.5.4(/) 1
y{J,;,

(4.6.40(1)

r=

1
g

U Idx, Q I'=

(4.6.40/)

Thus, a modificat ion of the stitTness and force coeffic ients associated with the constrained degrees of freedom will provide lhe desired solution to the constra ined problem. As illustrated in Example 4.6.2. the value of the penalty parameter y dictates the degree 10 which the constraint condition (4.6.37) is mel. An armlysis of tile discrete problem shows Ihallhe following value of y may be used:
(4.6.41)

where N is the order of the g lobal coefficien t matrix . The reaction forces associated with the constrained displacement degrees of freedom are obtained from
(4.6.42)

Because of the large magnitudes of the permlty terms, it is necessary to carry out COlnputations in double precision (hand calcu lations do not give accurate results).

":umpw 4.6.3

Consider the S[Jllctu~ "hown in Fig. 4.6.6(1). The. rigid oo.r AUF. i'i IoUpported by defonnahle h;lr~ AC and BD. Bar AC is made of aluminum (E. = 70 CPa) and has cross-sectkmal area of ,\. =- 500 mm": bat aD is maile of sted (E, == 200 GI~I) and ha~ II crrn.~i'C<!tionlll arta of A, == 600 mm 2 The rigid bar carric..~ load~ of Fj ;:<: 10 kN and tl :0:: 30 kN at pointS 0 and It respectively. We wish to determine the dbplacemcno. nf poin!.!> A. B. and E, and Ihe~tn:S~ in the aluminum and su.:el bars. One may note thai tJli~ is a \lalically dclcnninale prol)ll!'m, i.e . the forces at poino. A and B Cilll be readily determined fmln italics.. Using the frL'1:-boc.Iy dillgrum of the rigid bar ABE lsee Fig. 4.6.6(b)l. we obtain

,..

03

,
f"

0.,

('J

!l

'f

m
(<I)

2
R:
_"II)

AC'''''''',

,(0'

110" --v,

.,v'l

Figure 4.6.6 (a)GivcnstruClurc. (h) I'reetxKly diagram. k) Finiteelement me.<Jl. (d)Modified .structure. (r') F\\.'Cbody diagrtllll of the nw)f.iit1<td MruClure.

which yield die wlues

F~t:o:2.5FI -2 Fl:o:-15kN , FB(J"" -I.~ Fl +3f~=15kN

If we U~ IWO linear finite elcmtnls to rc~1 the bi1r~ AC and 1:11), the ussembltx! matrix "flhe ~uucturc i~ given by lsec fig. 4.6.6(..:)1

2
3

I, 0 [
Al

0 42
0

" 0 0 -41 ]

*1
All

Iu, 11 Q;
Uz
V~

01

UJ

Q1
Q5

(4.6.43)

(I-l10

*1

E.A. k, _ - -

h,

= 116.6667 )(

JIl N/m.

10: 2 "", E.A, .~""J( "

The ooundary condition~

.,f the prohlcm are

01 =- f'~c=35kN.

h,

x l O. N/m

V,=U4=O;

Qi..,-FI/)",,-75kN

35 \
75
wbOM! solution
i~

Ul=O.30x W 1 m:o:O.30mm. U!=-O.25 X 10 'm:.::-O.25mrn

U!'in~ the principle of .!>imilar triangles, we can Uelcnnioe the di~placcmcnl

of point E. We ha\"~

1.35mm

fhLl.,\, end A of the bar AC l00\'CS up by 0.3 mm, end IJ of RO ffi()\'C,> down by 0.25 nUll, ond poml E! I1l(lVe:. down by 1.35 mm. TIle ~lresSCfo. io ban; AC and 110 arc

UK:O:

F"c A. =- 500 3510;; x

01'

-70 MPa.

(fNO "'"

A.:;:: 600 x In

f'8fJ

75

& "'"

125 MPa

NC.\I. consider the CIi$C in wh ich !)Vinl 0 j~ pin connected 10 ;1 thed, imrllo~'able part. ll~ shaY. n in !-ig. 4.6.6(d). Tben the problem becOlTlClo a ~Ialically indeterminate one. Of COUNe. the hnite element method eM ~Iill be ~ to w lvt the problem. The a!i5Cmb1eJ cqu:.lI.ions (4.6.43) a~ ,liII \'wid for thl~ calle. n~'eveT. fOf"(;t$ Qland are n(>l \>nown (becau-.c \\e cannot ~Ive for I-AC and fsfl). In addition, point.~ A and B lire (Qn:;.lr9I1lcd 10 rnm'e a;, the rigid ~mber ABE h roraled about point O. This geOTTlL'trie t.:{'m'ttaint i.\ t.-qui\al~ntlo I.he following condition~ among lne displllCCm~flIs VI. U1 , and U~:

Or

VI U~ -=~
0.3 0.9

.... 3VI

U,uO,

"""'::':0_"

u~

0.5

U. 0.9

-+ 1.8Ul ,V.I=O

(4.6.44)

211t'

"N l'fIllOIJlJrllOWIUTlH n .. m I~ .I \II"'ITMIOlK,1)

Thc.."C COI)slr.:IiJlts bring, in an "ddilional degree of f~m, o'l.Inely U~. inlo the cquillia nf-. Hence. I)'IC. aSl)CmbJcd equlI!ion$ before including Ihe oXlO"troin! COllthlioll\ are

116.67

Itf

0 - 11 6.67 0
0

0 300
0

116.67

0 0

0
J 16.67

-300 0
300 0

V, V,

Q ;
= Q'
,.~

Q:

- 300
t)

0 0

"

0 0

U,
V,
ll~

(4.6.45)

Q i

The 111$1 row and COh.II111111[ Ihe aoo\'e ct.jualion are adtl ... tt) ["cilil:'!!e the addition of peo"hy >d [Crfll~. Wilhout the addition t)f the penalt y l,:oOlfibul ion ~ Ihe 1:t~t cqUlttlOIi i'i Il!)n sen~ical. U~jog the procedure de\'clopcd in t hi ~ MXLiQIl, wecan include thecot1\tminLS. 3Ut - U~ =0 and I.KU2 - Us =0 into a~:.clUbkd cqualiolt'l (4.6.43). The vu lue 01 tht' penalty parameter ii ieJcctcd to be y",(.100 x 10")10". The $t it1'llc~s addi,kms due to the 1..... 0 o.:;on\lnLlnt:; are (/II 0= 3, Ih =- 1.8, ffs I - t. and /f). :::: ff>..J. =0)

"

5
I [ (,Wy

(-1)3y

3( - I)Y] :::: 10 10 [ 27(lO.OO - 9(Xl.OO] { 1)ly -900.00 3(10.00

5
(- I)

(4.6.46)

~ (-l)-y

1.8Y] =10 ,, [

972.00 -540.00]

-5 4().()()

300.00

The force

ildUition~

are {em ,In (lCCl)llnl of f-i!, "'" i3"s # O. Hence, the 111\li.!j(icd finit e elcm~ nt

cquutions become

27.()oO.1 17

10'

0 - 116.67 0

9.720.300 0 -300

"

- 117

- 9.000.000

5.400,000

- 9,000,000 0 -300 -5.4{10.0(lO t) 11 7 0 I) 300 0 I) 0 6,(X)().OOO 0

V, V, V, V, V,

Q:
Ql
=

Q} Qi
f;
(4.6.41)

27.00(1,117

Hf
[

9. n() ..300 -5.400.000 6.000.1))0 -9.000.000 -5.400.000

{I

_9.000.000] IV' U;
ll~

II I
=-

0 0

(4.6.48)

)0

x t0 1

whose! Mll utioll (u ~j ng an equJ.liQII \ulvet'l is h lefia:tion'> are in the dire.::tion oflhe forte)

VI :::;0.09474 (mill). VI ... 0.15789 (mill).

U~:=

O,2X4:!2 (mm)

(4.6.49 ... ,

The force~ in the hars AC and SO can be calculated

u~ing

Eq. (4.6.4S)

? lQ

Q: )~lo'[116.6667 0
>(

100

0]

IV' I"'" 10' 111.053 )N U~ 47.367

{4.6.491J)

The stresses ure u,,(, s:. 22.1 1 MP;\ and UBI) -;; 79 MPa. Allemath'c!y. from Eq. {4.6.42) we have (one mU~1 Include ~ignillca nl number ()f decimal poultS ~n th e computation)

wl)1' = - 900 x 10' (3 x 0.094739 10 -J _ 0.28422 x 10 .1) = 11.053 kN W;),. = -54t)x 101 ( 1.8 x 0.157$9 )( l(r-1 - 0.28422 x 10 ' ) ",,47.368 kN

Nex t, we co n ~idcr a plane lruss with an inclined support. The I>cnalty approach is u ~d to include the conslmim condit ion among the di"pl:icement components :lIthe support.
i-:xllmple4.6.4 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __

Con,idt:f the tlllSS shown in Fig. 4 .6.7((/), We wi,h to de tenlline lhe unknown displacements of node..~ 2 and 3 and the reoctilms assoc iated wi th ilie~ di~placemcnlS. The element stifTne~s matrit't.."'!; are

0000
I

(K

1=10

" 000

o.O()O

0.000 0.000

0.126 0.000 O.QOO 0.000

- 0.000] 0.126

0.000
0, 126

0.000 - 0126 0.000

1:.''''210 GPII for 1111 members

1---- 1 .
I'

- -11
I'
"

L"t< 1 m,A ,""'2,,"AQ" 6x IOm1 A) .. .JiAQ

m ),

Po: IOJ kN

---.-*_=_~p;.

---:; ,<;>------,l..-- f '

" p

.f2

T
(0)

(h)

(.'igurc4,6,' fa) Given

~tr\l!.:ture.

fb) Reaction forces.

210

AN I:-lTKOIlUC llON 'IO T ll b FINITE 1;.t\H ,NI

~1l,-1110[)

0.126 0.1JIlO - 0.126 O.IJIlO]

(K11 = HIQ

0.000 0.000 - 0.116 0.000

0.000 0.000 0.126 0.000

0.1JIlO 0.1JIlO

0.1JIlO o.1JIlO

1.0
[K ' ) "" 0.63 x

I.n -I.n
1.0
1.0

_1.0]
l.0
1.0

1~

[- 1.0

1.0

1.0 -1.0 _ I.(} - 1.0

- 1.0 - 1.0

the

as~O\blcd

equlltiuns before including the cunSlnlhll conditions are

0.63

0.63

0.6:1 1.89 0.00 0.00 10' 0.00 .... 1.26 0.00 - 0.63 - 0.63 - 0.63

0.00 - 0.63 - 0.63 0.00 0.00 - 1.26 - 0.63 - 0,63 L26 0.00 - 1.16 0.00 0.00 0.00 0.00 1.16 - 1.26 1.89 0.63 0.00 0.00 Q.OO 0.63 0.63
- II sinQ:

V, V, V, V,
V,

Q! + Q.i
Q~+
~

Q i
(4.6.50)

Q Qi 1+ Q! + Q~
Qj+Ql

V,

Q!+Ql

The constr.lim condition at node 3 i$

u~ ~

+ IIcosa "", 0

_ - 0.707114

+ 0.7071 \! "", 0

Comparing lhi~ COIlS1r.lillt equation to the gel1eral cons:w.aint equation (4.6.37), we lind that /31 =-0.7071, {h "", 0.7071, and {J12 ;:=. 0. The value ()flhc penally parameter is ~elccted tLl be Y =(1.89 x 1@)10". The stilTl,lcss adllili()I1..' due to thc cOJIstraint are

5
,
I)

6
- (0.70 71 (0.707 Ii

[(_ 0.707t}l Y - (0.7071)"

)2_ I...,'9 ]_

xl()"

[ OJ - 0.5

'The a$5cmbk. d equations lifter inl.:)udin.g the con~lra.illl cOQditioQS are (the numbers si,J()wn are truncated !luI more accur'.lle Ilumbtmi are used in actual ~)mpulatlon ill a C\lmputc)

0.63 0.63 0.00 10' 0.00 0.00 - 0.63

0.63

I.S9

0.00 0.00 0.00 - 1.26

0.00 1.26 -1.26 0.00 - 0.63 -1.26 0,00 - 0.63

- 0.63 -0.63 - 0.63 ~O.6~ 0.00 -1.26 0.00 1.26 0.00 O.{X) o.on (1301.8 62.1J9.1 0.00 6299.2 6300.5

V, V, V,

Q: + QI
Q~+Qi

u,
U, V,

QA +Qf Q,~ + Q i
Q~+

Q ;
Q1

Q!+

Inlpo~ing the bouJldllI)' und force C<luilibrium conditions Vj we obtain Ihe ctlndCll$cd eqlHllion$

= U2 = U4 ::o O and Q{ + <It = p ,

1.26 - 1.26 0.00] lOt - 1.26 6301.8 6291.).2 [

IV, II 0> I = '

U~

0.00 6199.2 6300.5

Or,

()

The whll ion 10 Ihese C(jualions (as I..~mputed in double prcd~OD in .. computer) is
U) ... 11.905
X

10- 3 m. U_~ =3.9688 x 10 -) m. U, ..,3.9680 x 10 -1 m

and Ihe reaction ... al !lOde 3, as computed using (4.6.50) are

Fl , = -500 kN.

F1r "'" 50tH.N

The reactions of the whole \tructure (1m ~htlw n in rig. 4.6.7(b).

4.6.5 Constraint Equations: A Direct Appruach

1 len:. we present an exact method by which constmint equations of the type in (4.6.32(1) :md (4.6.32b) can be included in the asscmbled equations for the unknowns. The melhod itlVolves expressing the global displacemcnl degrees of freedom :LIthe node with a constraint in temlS of the local displacement degrees of freedom so Ihat the bounda!)' conditions can be readily impo~ed. Recall from Eqs. (4.6.2) and (4.6.3(/) that the displacements (Ii , fl), referred to the local coordinate system (x. y) al a point. arc related to the displacements (II, II). referred to the g lobal coord inates ystclll (.I". y), by

', ) -- [ ,o.,p 1 , -SlIl fJ

_

eosfJ

s;oP] 1 ")
v

-r

-"

Ur = All,.

(4.6.51(/)

;md the inverse rclation is givcn by where

A=

,"sp [ - sin fJ

(4.6.5 Ih)

where the ~ubscript "c" refers to the constrained degrees of freedom . Since we wish to express the glob:L1 displ:lce rnenLS at a givcn node in tenns of the local di!.placements at a speci fi c node. we conslrucllhe lransfonlUltion oflhe whole (global) syslem as

IT[ ~

III 101 101 IAI lUI [ 1 01 101 III

0 11]

(4.6.52)

Thus.111 displ:Lccment degrees of freedom Ihm arc not constrained arc unaO'ected and only g lobal displacements that are constrained are transformed to the local diplacemcnts. Further. note th:L1 the tram,fOnll:Ltion matrix I A I is placed in I TI in such a way Ihm only lhc constrained degrces of freedom :Lfe transform ed. We hilvc

(4653)

212

A"lmIUII)II-lIll"To -nlllI"IThU_Hl r"rWIIiOD

where I and 6. 2 denote vectors o f the glo bal displ:lcemenl component" ahead and behind ( in terms o f numhcring) the conslr.tined di splacement degree!> o f freedom u, ;n the me~ h . We al ~o note that the transformed di splacemcnt vector A eon t ain~ the g lo bal displacement vecto rs a I and 6. 2 and the local (c on ~tra ineJ ) displacement vec tor fi r. llie remai ning ste p), of the procedure are the !.ame as that described in Sections 4.6.2 and 4.6.3. Thu". we obtain
(4.6.54)

where the tran"formed global sti ffnes~ matrix Ii:: a nd global force vec tor F a rc known in te rms o f the :I'~rnbled global stiffness matrix K and force vec tor'" as [sec Eq. (4.6.7)[
(4.0.55)

Since the eonstmined d i ~pl;lce ments arc a p:u1 of thc global "yMem of e(luation", we may impose the boundary cond itioll" on the m di rec tl y (suc h a" Ii" = 0 at an incl ined roller ~ u pport, where 1/ denotes the coord inate l1ormalto the ro ller). [n su mmary, we may introduce a tmn "formati o n of the di~plaeements that faci lit:ltes the i l1l po~ il ion of boundary cond ilions or inclus io n or cons lminls on Ihc d i~ pl acc l1lc nl s. Once the tmnsform ation T is ide ntified, we may usc Eq . (4.6.7) o r (-l.6.55) 10 obatin Ihe modified C(luations that havc the dc~ired effcct. We revisit the problelll~ of Exampl es 4.6.3 and 4.6.4 to illu~trate the i<lea~ described here.

Exwm pie 4.6.5

As 1Il.l example to i!lustr.lte the direct appru.1Ch. The a~semblcd cquilliom. are
C"(m~ ider

the struct ure :.hown in Fig. 4.6.6(4).

1 1 ~67
10'

o
300.00

-"0.67 - 300.00 ] IU' 0 o

Ul

-1 16.(,7

o
-300.00

t 16.67

U1
U4
i~

(4.6.56)

300.00

l11e geometric l:on'ttraint belween the di~pJacelncnt s VI and Ul

(4.6.57) In thi~ca;,e. wecan introduce a lransfonnation l' be,wccn(VI, U1 U~. U. )and (U). V1. U4 ) (i.e., climm::uc VI by me:lns of lhe ~)nStrJm l equaliofl VI "" O.6V2) (I~

u' u,

U, U,

""

1.0 0.0 0.0 0.0 1.0 0.0 [ 0.0 0.0 1.0

".6 0.0

0.0]

V,

U2 ! or.6 = T.6 .
11,

CI.AI'ITJl.4 SECO"U.(JKUUI IllIlHIIC'ITI"l 6QI.!Jin()N~ IN ONI: mM"'i~Kl' "11~.IC"IION~

213

Hcnce, the transformed equlI!l(!fIS lite

,,,=

Qr.

in explicit form. 342.0

l
I)

v, u,

U, U,

- 70.0
116.67

101
[

-70.0
-300.0

_ IV,:>= 6Q:Q1+ Qi l 300.0] u, 110.

300.0
V~
Ul

Q i Prom lhe free-body i..Iia.groln of the b3rOABE. we lind thaI 0.61-.. . . (' + FIII) :r:. ! .Sf"J: therefore.
o
we havc 0.6Ql + Qi =: 1.81-1 = 54 kN and the condensed equation fur the unknown
(UJ,= U4 = O.Q)

is

342V: == 54, Ul ,.,0. 15789 (mm). VI .,.. O.6Vl = 0.09.174 (mm)

The
f1)rce~ iJlI~ ban;

AC and

no are calculated ul>ing Eq. (4.6.56) W t =- U~ := 0-0)

0

1Q11=loJ[116.6667 1Q! 0
1bc slresse~ are
Q~c

300

] fU'I =!01/l,.05.3 1 12 U 47.308

= 22.11 MPOl llnd 0Pf) "" 71) MPa.

Examplt.' 4.6.6 Bell,! .....e !;onsider the (nM in Pigure 4.6.7(1). The a~scmblcd global cqumion~ arc gj\'en by Eq. (4.6.50). The trtlnsformalion Oel\\.een the glonal degree, of freedom (V! "" U2 '= UJ = I' :!. U4 "" l 'l. U~ = 11 ). U6 = V\)i\fld (V! = I,,, U2 "'" VI. UJ "" Ill. U4 "" 1 ~. Ii, "" "/. ill =II~) is given by ILe.. q. for the problem <It hand Iltj.;cs the fonn]

"1.

lI,.

(4.6.53)
V,

0
I
]) ])

])

])

]) ])

0 0 0 0
-sina

u,
U, U, U,
(4.6.58a)

U,

0
#

0 0
])

U,
U, U,

0 0 0 0 0 0 0

0 0

0 ]) cosO'
()

u,

])

~in 0'

coso

a, a,

214

AN , .... ,ltOUU(110Nl0TIlE ANII'E FJ.f_"1I.NT Ml'nlOO

where Q' ; 4.5 . Using Eq. (4.6.55). we obtain the Irflnsfl)mlcd

cquntio~IS

0.000 -1.26 -0.89 1 0.00 -0.89 1 0.891 1.260 10' 0.000 0.000 1.26 0.000 -0.89 1 -().891 -0.891 0.00 1.890 -0.630 0.000 0.000 0.891 0.00 -0.630 0.630

0.630 0.630 0.630 1.1:190 0.000 0.000 0.000 -1.260

0.000

0.00 - 0.891

0.000 0.000

V, V,

a: + Qt
~

v, v,
uJ

Ql+ Q; Q1+ Qi fr,

Q~+

Qf

"

F.
(4.6..58b)

where Fl< and P)., are the reaclillO fOf'CC$ 81 node 3 in the utngenlial and normal dircclion~ respectively, Now nppJying the bounuary .;;ond ilion~

we obtain the following condeJl:>td equations:

0' [ -0.89095 -0.8909' ] 1.26000 1.88990

IV' I 10' I '

iiJ
0:;.

(4.6.59)

1llc x component of dispklCCmcnt at node 2 lind the tungential dispJat'Cmcnt ih of m)(Je 3 are
Ul"" 11.9(J.S x 10 1 m,
U~ == 5.6122)( 10--3 nl
(4.6.6Qa)

The lInkJlown reacliol;l$ can be cakliJated from Eq. (4.6.SSb) as

FI> =-500kN, Fir =-SOO kN. Fl,= OkN. FJ.<,=707.1l,.N

These
rcsuh~

(4.6.6Ob)

(Ire the same as thmoe obtalned by

~ht

penalty method in Example 4.6.4.

4.7 SUMMA RY
In this chapter. tinite clement models of discrete systems have been developed :md applicatiuns of finite element models to the solution of problems of heat transfer. fluid mechanics. and !o>olid mechanics have been presented. To aid the reader, a brief review of the basic tenninology and governing equation~ of each o f the three field s has also been given. Analysis of plane l ru.~scs and inclusion of cOI1<;traim relations between primary v:lriables by two different methods is also discussed . It has been shown that the secondary variables of a problem can be computed using either the global ulgebraie equations of the finite element mesh (i.e .. condensed equati ons for the secondary variables) or by their original definition through finite clement interpolation .

The fonllcr 111ethlxl gives more accura te resu ll". which will s:lth,fy thc <..'quilibriurn al inte rclement nexlcs, whereas the 1;llIer gives les" ilccurate result .. that arc discontinuous at the nudc~. The second:Lry variab les computed using the linear clements :tre clemenlwi<;c eon"Ianl. while Ihey are e le mentwi"e linearforthe L1gr.lIlgequadralic e le me nt'>. The magnitude of discontinuity elm be reduced hy refining the me,h (II or p refinement). 111C di~coL1tinuity of the ~econdary variables a t nodes is due to the ract tha t the ~cco ndllry vllr illble~ arc not made continuo us aero,><; the elements. In c1o"ing Ihi" chapler. Ihe reader is remindL-d Ihal the finite e le ment method is :1\XlWerful tool for engi neering anllly~is. The power of the method lies in tran~rorming the tradi tional variationa l lllet h od~ (e.g . Ritz. Galerkin. le:l~ t-'\(juare~. and other weighted-residual metho(l\) into a powerful computer-b:I:'l..-d technique by developing s uitable approximation fun cti ons for complex problems. Without a good understanding of the method :., well a~ the engineering background behind e:lch problem. o ne i~ ill-equipped 10 an:tlyzc the problem.

PROBLEMS
Many ,,(the fulluwing. problem!> are designed for hand c .. kul:uion whIle some arc Intended ,pcdlic:llly for cnrnpliler calculalions using the program FEM I D (\ec Cha pter 7 for details (111 how to Ul>C Ihe program). The problem "1:1 sh"uld give the l>lLIdent deeper unde rstanding of what i, invohed in Ihe sclling up of the linlle clement (:quation~. imposition or boundary condition!>. and identifying the conuen...:d equations for the Ulllnnwtl primary and secondary V(lfiabk~ of a givcn prohleill. When the number of equmioll\ to be solved is grc:tlcr than th ree. the .,tuLlen! shou ld opt for II computer ;.tllution uf the equations. TIle calculatitllls call be verilied. in rnmt ca...:s. by solving the ,;ulle problem ming FEM I D.

Oiscn!tc Elcments
4. 1 C011',itlcrthe sy~tCln of1incarcla~tic springs shown in Fig. 1'4.1. A~~mblc the clement equations
10 ubWin the forcc-disphLl.:cment relation, fur thc entire syQCI11. U1>C the boundary 10 write lhe conden<;cd equations fur the unknown displaccment:. :lJ1d fnr.:e:..
conditi()n~

120Ib/'n.

m.
!!O Ib

/;~

t801ll;ill

k~

- 150 Ibrill

216

"1'0 IJ'ITROUlCI IOI'o lOllll

IlNm' UJ'" NT \lli:nlOLJ

4.2 Repeal Problem 4. 1 for lhe

~yslem

of linear sprillgs show n in Fig. P4.2.

"
Figure N .2
4.3 the direct {:urrenl c leclric network shown in Fig. 1'4.3. We wi~h t(] determinc the V and currents I in the network using lhe tinite c1ementll1ethod. Set up the algebraic equatinn\ (i.c .. conUcn.\.Cd equatinn~) for .he unknown voltages :md currents.
Con~ider

Ynltage~

" .- 10 V

t' igurc N .3
4.4 Repc:11 i'rub lern 4.3 for the dire..::t "::UTri:nt electric network ~hown in Fig. 1'4 .4 .

,
R

Ii-SO

Ii

on
IOU

20 n
N

2
R-SU

'" ,
200

lln

8 - 100
I
N

4 R

30n
'" 40 V

Figure 1'4.4

4.5 Writc the condensed equation~ for the unknown prc~~ure~ and fluws (use the minimum number of cicmcnt_) for th e hydraulic pipe network shown in Fig. 1'4.5 . Al/swl'r: P, = ~ Q(/, P2 = 1fQa.and 1'1= :~QlI.

Figure 1' 4.5 4.6 Consider the hydraulic pipe network (the flow is a~sllmcd to be laminar) ~hown in Fig. 1'4.6. Write lhc condensed equations for the unknown prcssure.<; and flows (u'>C rlIInimum number of
element~.)

Q ~ S)(

"',

10 ~11\\/s

1'ipc

reslst~ncc,

R,.

Qi"
L ~ 70rn

---'~'{i::::i:,::::'::::;:;::::,::::::::::::::;:'::;:~~;2--- Qf -; 2

p,'

I'{

V "' 10cm

1 - 50m . V 7.5 ~m

/,
f) ~

50 m 7.5 em

SSm Scm

L '" 60 111 V ~ 8cm

/.
f) ..

70m Scm

I' igurc J>4.6

4.7 Determine lhe maximum shelLf SlresM':S in the !.olid , tee} (G, = 12 Msi) and aluminum (Co = 4 Msi) !.hafts shown in Fig. P4.7.

218

A" INI KOI)IC'IIO" T01'III. I~I<ITI, I.IJ:MIXI' ,'IETIIOI) 8

Al um lllulIllu!x:

~:?*i~!?:emWiP1~
Z.5 1l
III

" "' I.S in

T - 20() lb.fI

d ~ lln

2ft Figu re 1'4.1i

f' igure " 4.7

4.8 A steel
~hown

~ hafl and an ai uminuill lube arc connected tn a fil>ed support :lIld 10 a ri gid disk. as in Fig. 1'4.8. If the tOl"{IuC app lied at the end is L"<I lI al to T = 6. 325 N III. deteml inc the shcar Mrc~scs in the ~ t eel ~ haft nnd aluminumwbc. Use G, = 77 OPa nnd Col = 27 G Pa.

Heat Transrer
4.9 Consider hem tran~fer in a pla ne wall of w tal thickness L. The left su rface is maintained at tcm perature 10 :lnd the ri gh t surface is el>po~ed to al1lbient tel1l perature 7:'" with heat transfer coefficient fi. Determi nc the temperature dbtributi on in the wall and heat inpu t !II the left su rface of the wall fort he fll llowingdata: I. = 0. 1 m. k = 0.0 1 W/(m C). fJ = 25 W/(111 2 . C). 7ij = 50 C. and 1",., = 5 C. Solve fornooal tem pemt ures :lI1d the he,ll :ttthe left wa ll usi ng (1I) two linear lin ite cleme nts and (b) one quadrmic clcmen!. AnslI"l'r: {a} V~ = 27.59 C. V, = 5.179 C. = 4 .4112 W/III~ = - Qi.

Q :

4.10 An in~ ulatin g wal l is constructed of three ho nHJgencou~ luyers with co nd uc tivitics "I. " 2. ,lI1d '" ill intimatc contact (see Fig. P4. 10). Under stead y-stale: condi tions. the tClllpcr:lIures of the Illedi:t in CO IU:ICI at the left ;JIld right surf:tccs of thc wall are al ambien, t cmpcr;llll rc~ 1"/.. and respectively. and film coefficie nts Ii,. and #",. respcclively. Delenn ine the tcrnper<JlUre, on the left and ri ght ~u rface as well <IS at the jnlerfacc.~. Assu me that lhere j" no internlll heat ge nera tio n :U1d th at the heat flow i~ onc-dilllcnsiorw i (ilT/()y = O). Am'Wu: VI = 61.582 C. V! = 61. 198 'c. If. = 60.749 C. U~ = 60.612C.

r:,.

or

Air allc llll)Cmlurc. T:: ~ 3S<C Film coefficient. (JR '" 1S WI(111 2. Q C)
T~ ~ 100C

fJI

10 W I",,' ' CI

kl ~ 50w/II11 ' C) "1 -=30W/(m '0(') k ) 1 70 W/( I11 ' C)

h l - 50 nun 1I] "35 n1ln " )..-25 m",

"
FiJ;un.' )'4. IU

.1.11 Rectangular fi ns are used to re move heat from the su rfacc of a body by conduction along the tins and conn:clioll from the surf:l(;e of the fins inlo the ~urround ings, The fi ns are 100 mm long. 5 mm widc. and I mm thick. and Illade of aluminu m with thcrm,,1 co nductivity k = 170 W/( m .' C), The natural co nvection heat transfer cQt:flicient (lSsocialcd with th e ,ufTOunding ai r is # = 35 W/(m 1 . C) and the ambient tempem ture is T..., = 20 C. ASSUming that the heat trans fer ili ouc dimensional along the length of the fins and th .. tthe heattr.lI1~ fer in each ti n is illdcpe ndent of the others, dctemline the temper.l\ure distribu tion along the fin~ and the hem removell from each tin by convection. Use (a) four linear ele men ts. and (b) two qWldr(ltie elemenls. 4. 12 Fiud the hea t transfer per unit are:1 through the composite wa ll shown in Fig. 1'4.12. one-dimen,ional heal flow.
A,~ume

>, >, >,

150W(m

CI

JOW,'(m 0(') k) - 70 Wr(m 'CI

50W/(m 'C I 25mm

h, h, h,
T,",f"", ~

7Smm
50 rum

T'~'for:~

66"('

"'jgure 1'4. 12 4.13 /I. steel rod of diameter /) = 2 em,lcngth L = 5 CI11 . and thermal conlluet ivit y k = 50 W!(m C) is cxposed to ambient :liT at T"" = 20 C with II heat tmnsfer eoefticient # = 100 W!(rn 1 C). If the left end of the rod i ~ maimained ,It telu pcrJture Tu = 320 C. determi ne the tempemtu rcs at distances 25 [mil iUI (I 50 mm from the left end. alld the heat nt the left end. The govenung eq uation of the prohicm i ~

- - + 111-()=0 for O < x < l.. l

d .l

(PO

where 0 = T - T"". T i~ the temperature. and", 2 = # I' / Ak. The IXllI nliary cOlldilion~ arc 0(0) = T(O) - 7..... = 300 C,

("e + ~o) I
dx k

._L

~O
=

USC (tI) 110.'0 linear elements and (h) one quadflilie clement 10 ~olvc the problem by the fini1e elemelll lllet hod . CUlllpare the linite clement n odal t empcra tu re~ again~tthe CXllct val u e~. AII.m U: (a) V, = 300 C. V ! = 211.97 C. VI = 179.24 C. 3.521. 1 W/m'. (b) VI 300 C. V2 = 2 13.07 C. V, = IW.77 C. = 4.569.9 W/m?,

Q:

Q: =

4. 14 Filld the temperature dhlribulion in the tapered lin ~hown in Fig. P4. 14. A,~ume that the tcmperature <ltt he root of the fin i ~ 250 F. Iher.:onduetivity k = 120 Btu/(hf\.' !,). and Ihc fi lm coeflicient (J = 15 BtU/( h'ft" F): u,e three linc;lr c leme nts. The amb ient temperature at the top and bollom o f the lin i ~ T"" = 75 F. Allfwer: TI (lip) = 166.23 F. Tl = 19 1. 1 F. T, = 211Ul9 F.

220

AI< 1 "'TRUlJI.-nIO" ron !!. H .... nT, I.uz" . J-.T \lEIItOI)

:
4 .15

T_ - W'

~ 25O"r
~)25111
~

3 111

Figurcl'.l. 14
Con ~idc r stcad y he:l! conduClitm in :. wi re of cin.; ul;lr cross . ..celion wi lh lUi electrical heat "ouree. Suppos.e lhatthe r~diu~ of th e wire i ~ Ro. its ell:ctrieal conductivity i ~ K , (f.! I{cm). and it i~ c;lrryi ng an electric curre n! den~ilY of { (Afem 2). Duri ng the tr.lnsm i ~sion of :m elet:tric curre nt. so me of the clectrierl e nergy i.\ convened iruo Ihemml energy. The ra te of heM production per unit vo lume isgivCll byq, = ( 2j K, . Assume Ihatthe temperature ri~e in the wire is ~uHi dcnlly 5mlllllh,1I the dependence of Ihe lhermal or electri c conductivity Oil tem peratu re ea n be neglected. Thc govern ing l."'<jum i ol1 ~ of the problem itre

_ ~ Ifr (rkdT ) = q, ~ r dr
the exacll>o lution

fur

O::: r ,:5 Ro.

(, , '-'T)I
dr

T~ O

= 0.

T(Ro) = 7q

IXlerrni nc the di~lri bu l i"n of tempcrlliurc in Ihe wire using (a) lwo li ne:l r eleme ntl> and (b) one quadratic c lement. and co mpare tile finile cleme nt sol uti on al eig ht eqlHlI imervllb wi th

Also. delcnlline the heat How. Q = - 2]1" Rok(dTjdr)III~. at the surface using 0) the temperature field .mJ (ii) Ihe bal ance eq u<ll ions.

4.lIi

Co n ~ id er

a nuclear fuel ele men t of spherical fonn. co nsisting of ~ sphere of "fi~~ionab1c" material surfl)lInded by a spherical shell of ;llu minllm "cladding" ;l~ shown in Fig. 1'4.16. Nuclear fission is a source of Ihen nal energy. which varies nonuni formly from the eCl\1er of lhe sp here 10 th e interface of the fue l clement and the chldding. We wish to determine the lempc nll ure di.~t ributi()n in lhe nuclear fue l clemenl :llId the alum inu m clllddin g. T he gnvcmi ng equal i{)n~ for the two regions arc the same. wi lh the exception lhat there is no he:ll ,ourec term for the aluminu m cladding. We have

1 d - -r 2 dr

(2

dT!) r kl ell'

=q

where sllbscripl~ I and 2 refer ) Ihe nu clear fuel clemcnt and cladd ing. respectively. The hcat gencr.. tion inlhe nuclear ruel clemenl is assu med to be o r the rorm

where flo :1I1d .. arc conSlants depending on lhe nuclear material. 1111.' bound ary

cundilion~

arc

dTl " 2- = 0 at

,I,

r=O
;l\

T1= T,

at

r = R/. lind T2= Tu

r = Rc

CfIM'T!:M 4-

~ECONU-OICllr~ !lIlTI:Wf.l\'llAl EQUATIO:'S IN ONI! !lIMIoNSIUN APPLICAT IUNS

221

Use two linear elCI11CiHS to dct<.:rminc the finite c lement sulutiun for th e tempera ture dislribution, and compare thc nodnltcmpcratures wilh th e CX'I!.:t solution

T, - T" =

";2 1 -(;, )']+ ,> [, (;J] )+ q;2 (, + ~,) (, - ~; ) [,

Aluminum
cladding Fissionab le

malcrial
Coolall!

Figure "4,16

Fluid Mechanics
4.17 Consider the fl ow of a Newtunian viscous fluid on an inclined flat surtit!.:e. a_~ shown in Fig. 1'4.17. Examples of such flow ca n be found in wcttcd-wllil towers and thc app li!.:atiun of cOlltings 10 wallpaper rolls. TIIC momcnt um equlIti on, for 1I fully developed steady laminar flow along the z wordinll tc. is given by

-1'-,

(PW

dx -

= pgcusfj

where w is the z componc nt of the vcI CK;ity, /1 is the viscosity of the fluid. p is the density. R is the accelcrlltion due to g r~vity. and fJ i~ the angle between the inclined ~llrface nnd the vcnical. Thc boundury condi tion s ~~s{K;illted with the problem are thm the shcar stress is 7..cro at x = 0 lint] the velocity is ..:ero ~t x = f.:

(dW) I, ~II -_ 0. dx
U~e

I<'(L)

=0

(a) twu linear finite elements of cqun l length :lnd (b) one quadwtic finitc clcmcnt in thc

dOIll~in

(0. L) to solve lhc problem lind co mpare thc two linitc elemcnt

s(J llJt ion~:lt

four points

222

"'~ 11'o" Il(QUlJ( ' nn,' I IU 'I'IIEFl~rn ' E.LEM hN'r Ml mtOO

Velocity distnbulloll w(x)

/,

Dircclioll of gro"ity

Figure 1'4.1 7

x=

o. t L. f t, and

~ L of the domain with the elt:tct solution

W pg L' ".p [ 1 - (" )' ] ,= 2/1.. L

Evaluate the l>hea r strc);~ (rT~ = - It (Iw/dx) at the wa llll~ in g (i) the velocity fiel tl.\ and (ii) the equ ilibrium eq uati ons. and cOll1p,lre wi th (he exact value. AlIswn-: (a) V I = ~f, .. V 2 =

i/u f, )= (pgcoslnt 2 / p. . .

4.11:1 Consider the ~teady laminar flow of a visc(IU nuid throu gh a long circular S The govcrning eq uation is
I d ( -- fP. l'ell'

cy lindric~l1ube ,

iiII')
(II'

~ ---~ !o

" 11 - 1'.1.

where

1>rc~surc

is the axial (i.e .. :.:) cumponcnt ofvelocity./t is Ihe viscosity, :md 10 is lhe gradi ent of (wh ich includcs the cOl1lbi nt:!d effcct of static pressure :Uld gHlv it;tlion:11 rorce). The boundary cond itions llrc
II'

(,""') I til'

,-0

~ O,

",( Ro) = O

Using the sym metry and (a) two li ne:tr clements :md (I,) o lle qUlulmtie clement, determine (hc velocity field and compure with thc exact solution ~I the nodc~:

w, (r) =~ [ 1- ( -" ) ' ] H'

N"

~41-'

4.19 In the problem of the now of a viscou~ fluid through a circular cylinder (Problem 4.111), assume thai th e flltid slips at lh c cylinder wall; i.e .. ins tead of assuming thm w = 0 lit I' = Ro, usc lhe Oounda ry condi tiol1 thaI
liw kW =-/J -

d,

at

r = Ro

in which k

i~

the "coefficient of sliding friction." Solve Ihe problcm with tWO linc:lr e l c tnetl1~.

4,20 Consider the ~t eady I~ m inar flow ofa Ncwtol1 ian flu id wi th constant densi ty in a long lm nuln r reg ion be(ween two coax ial cylinders of Tlldii HI :md No (sec fig. P4.20). The diffcrenti:tI

('IIAI'll,R ~ ~I ~n()RIJl.R 011 I I.Rt:r--rlAI rQl_ATI()'I~ I'll 0'11- 1)I.\lI.N~IO'" AI'I~ l('ATIO'll$

223

cquation for this ea.-.c i, given by

-- -

I ,/ ( dW) r/!rdr (Ir

~ ---. f.

PI

1'2

where W is the velocilY along Ihe eylindcrs (i.e .. the z CIJIlll)l)llcnt ofvclocity), /~ is the viM:usity. L is thc Icnglh of the region along Ihe cylindcrs ill which the flow i~ fu ll y devcluped. and PI and 1'2 arc the pres,ure~ nI z = 0 and z = L. rc.,po::clivcly (/'1 tilld 1'2 represent the combilled effect of static pressure and gravitational force). T he boundary e\)nditi()n~ :Ire
w = O at r=Ho

and

H,

Solvc !lIe problelll using (a ) two linear elelnents and (b) one quadmlic clement. and compare the finite elemcm soh.nions with the euct solullon atlhe node.\:

foR,; I w.(r)= - - [ 1- ( -, ) ' -+ - -k' I. (-' ) ] 4/' No In(! /k) HI!

IAI ~

I I I I I I I I I I

I~
H,

Veltoclty V- d.Slnbulion

t'

Fi);u re P4.:W where k = R; / No. DCh:r11line th e shear stress f " = - Ii dw /d,. :llthe wall- using (i) Ihe velocity licld and (ii) the equilibrium equations. and comp.1fe wit h the eX:lct values. (Nole \hn\ the steady laminar now of a vi"Cous Iluid through a long cylinder or:1 circular tuhe can he oht:lined a~:1 limiting C3.-.c of k ...... 0.) 4.21 Consider the steady Imninar now of two im miSl;ible incompressible flU ids in a regio n oct ..... ec n two parallel stationary plat ts under the intluenL"C of a pre~sure gradien t. The fluid rates are adjusted such tha t the lower Iml f of the region is filled with fluid J (Ihe denser and more vi\Cou~ fluid) and the upper h:tIf i~ filkd with fluid II (the le~s dcn~ :U1d Ie.~s viscous fluid). as \hown in Fig. P4.21. We wish 10 determine the velocity diS1ributions in each region using the linite c lement method.

224

AI'o II'o"lKOI)l:CT IO,\ TO Ill E Fll\lTf FlU.1E"f ~u-nIOIl

The glJv.:: rning equations for the two flu ids are

where

f(O = (Po - PI

)/ L

is the pressure gnldicnt. The boundary

condi ti() n ~

arc

Solve the problem using four linear c lctll cnts. and compare the tin ite clement solutions with thc exact ~ohili on at thc nodes
11, =

fub"[/J I2'1i 2 + 1 1+1 2 2/1, +/l

Il l -

t I 2 .\'

h- h

(Y)']

U = I.2)

Less dcn>e and

less

\'iscu lI~

fllllJ

Interface III Dcnscrand mure vis<;u us 11 ,,;(1

Figure 1'4.2 1
4.22 The governing equation for tlte differential eq uation
~n

unconfined aqllifer wi th tIow in th e radial direction is givcn by

the rccharge. ~nd II th e piewmetric heaJ. Pumping is considereJ to be ;t negativc rechargt:. Consider the foll uwin g problem. A well penetrates an aquifer anJ pumping is performed at r =0 at a rate Q = 150 mO ll1C pennca bility of /h. the aquifer is k = 25 111 '/h. A constant head 1111 = 50 m e~ist~ m a radial dis11lncc t = 2(1) m. Determine the piezomctric head at radia l distan<.:es ofU, 10,20,40, RO, and 140111 hee Fig. P4.22). You art: required to sct up the fin ite e lement equations for the unknowns using a nonu nifumlll1esh of six linear c lemen ts.

r dr where k i~ th e coefficient of permeabi lit y. f

_ ~~(rkd!/ ) ~ J
dr

E:

\ 23

-,,----L

---IJ

Figur{" J>4.22
4.23 Consider a slow. laminar Ilow of (I vi~cuus sub~ t an<.:e (for example. glycerin ~o l u t ion) th roug h a n:lfrow chanoc1 under controlled prc,~ure Jmp of 150 Palm. The channel is 5 III long (fl ow

dircction), 10 em hig h.md 50 cm wide. Tho.: uppe r wll il of the channel is mainillined (1\ 50 C while the lowcr wall is maintained al 25 C. The vi~os ity alld de nsity of the subsl:mce are lemperalure dependent. a... gi\cn in Table P4.23. Assu ming thai the flow is cM.entially olle dimensional (jusillied by the dimensions of the channel). detennine the velocity field (lIId mass flow nHe of the nuid through the channel. Ta hl e 1'4.23: Properties of the viscous substance of Problem 4.23.
.r (m) 0.00 0.02 0.", 006 0.08 0 . 10

Iemp.( C)

Viscoo;lIy lkg/(m 'lJ 0. 10 0.12 U.20 U.211

Density (kg/Ill I)
1233
IBH

., " "

5(1

1243

3S 30

1247
1250 125J

UAIl O.M

Solid ;U1d Strucl uru l Mecha nics

4.2-1 The equation governi ng Ihe axial deformation o f un clastic bar in the presence of applied mlXha nica lload.~ / and P and a tCmper.Hure chll1lge T is

- - EA
,Ix

d [(d" - aT )] = / ,Ix

for

O <x< L

where a l\ the thermal eX p;lI1S10n coefficient. E the modul us of elasticit y. and A the cms...sectional area. U~ing three linear fin itc eleme1ll'. determine the axial displat""t!ments in a nonuni form rod of lengt h 30 in .. fixed at the left end an d subjected U1 an axial force I' = 400 Jb and a temper:lluTC<.:h.mge of6(J" F. Take A (.!") = 6 in. E = ) 0 x 10" Ib/in. l . and 0. = 12 x JO /(in. " F). 4.25 Find the strcssc~ and compressions in each section of the composite member shown in !--.g. P4.25. Use E. = 30 x lri' psi. I!. = 107 psi. E/> = 15 x 1(1 psi. and the minimum number of lincarekments.

to.l 2

Aillmlllum (II" ~ 6 111.1) Figore P4.25

4.26 Find the th n::e-clement fin ite clemen! solution 10 the stepped-bar problem. See Fig. P4.26 fUl"" the gcometl)' and d:lla. Ilim." Solve the problem 10 \Ce if the end d. ~Jllacel11ent excct'tis the gap. If it does. resolve lhc problem wil h mod ifi ed bou ndary condit ion at x = 24 in.

Steel.E, JOXIO'>PSI. Alunnll um,Eu IO x l()'> p51

FiJ;IIn'

1'4.26

4.27 Anal)'/e the ~t<,ppcd b. f wi th its ri ght end suppurl ed by a linear axial spring (s...'C Fig. i>4.27). 1 The bou nd:try cond nion at x = 24 in. is
dll f:'A - + h= O
d .l

Steel. E," )Ox 10'> psi.

A I"m illum.F.~-"' I O x IWpI!l

"'iglil'1' 1'4.27
4.28 A solid circular hr..tss cylinder ~ = 15 x II!' p~i, db = 0.25 in .) is encased in it hollow circ ular ~l eel (,= 30 x 10" psi.d. = 0.2 1 in ). A load of 1' = 1330 Ib comprcssc~ th e asscmbly, as shown i n Fig. P4 . 2~ . De tcrmine (a) the comprcs....io n. and (b) comprcs~ i ... e force... and stre!>.'>Cs in the steel ~he ll and brass cylillder. Usc Ihe mi nimu lTl nu mber of li llear fi nile clcmellls. Assume th at the Poisson clTect is negligible.
p

1)30 lb

1
I.

IJrnss

S t~ 1

4 m.

1
.' igure 1'4.28
~ .29 A rectangular ~tecl b:lr (E, = ) 0 x 1(1' psi) o f lengt h 24 in. ha.~ a slol in the middl e half of i t!.

length, a~ ~ h own in Fig. 4.29 . Determinc the displacement of the ends due to the aXlit! I' = 2000 lb. Use the minimu m num bcr of linear elcmenL...

load ~

0IAI'lhM ~ S1:CONI)-UlmL~

DUTEI<LN"!'IlIl

i:()IIATlONS I~ (l~ll l)IM ENS I()N M~' ICATIO:'S

227

Plole lhrclmess ' In . 0.25 in.

I
In

A,

(alllhn:e)

1.5

In .

A
800 Ib
(a) A~lualplale

(Ii) IdcaliwJ plate

Figun! 1'4.29

Figure "4.30

4.30 Rep<.!ut Problem 4.29 for the steel bar ~hown ill Fig. P4 .3{J. 4.31 11K! al u mi num a nd s tee l pipc.~ s hown in Fig. 1'4.3 1 are fustened to rigid ~u j)ports al cuds A a ud B :lnd 10 a rigid pl:ue C at their Ju nclion. Dctennine Ihe di splaceme nl o f po in I C a nd )i.!rC~~S in th e aluminum :nlll ~lcc1 pipes. U~e lhe minimum number of linear finil c c le me nts.

4.32 A steel har ABC b pin. s upportcd al its upper end A to an immovable wall and load ed by a force 1', at its lower e nd C. as shown in Fig. P.j .32. A rigid horizolllal be:un BDE i, p rnned to the \'c rt ical b.1r lit B, su pported at poim D. aud c arries a lo,ld F: aI end E. Delermine the disphl CC lll cnts u 8 and U ( ' 'II points B :md C. 4.33 RepcU l Problem 4.32 when point C is ~upporlcd verticu ll y by a "pring (I.: = 1000 Il>/in.).

x
P
50 kN
I'

- Steel (~ 200 CPa. A. a (,()mm1) 10em

20 ill.

TX
c

AI ~ 0.4II1. 2

30
In

30)( W" psi

~C~!;r -rAlumrnum (1:.-. _ .....

A"

')I::=~ o~=p L
30 in. Rrgld member A2s O.25 111.2
Fl~ 6000lb

_ 1 - -25 rn.--I

70 GPa.

600 mm 2 )

P t - 2000 Ib
Fil,:l1~

1'4.32

4.34 Consider the s h.. column (~ lypie:11 COIU11111 in a rlluhi -storey buildirlg st ruc tu re) ~hown 111 Fig. -cl 1'4.34. HIe lo~d ~ ~hown are due 10 the l oud~ of different fl ou rs. ll1C l11odlllu~ uf cl~Slicity is = 30)( IrP psi <lnd cross-sectional llrea of the col umn is A = 40 in.!. Dete rmine the vertic;11 displacc rncn ls .. lid .. xia l s tresses in Ihe coili mn at v:lrinus floor-column connt.'C lion point'.

228

A" ImlI.()I)lClIO" lOTI .. , ~,...-m. nr.M('T "'FTHOII

Load

.
32,000 Ib

12.5 ft .

12.5 ft

12.5 f1

12.5 ft

figure "434

4.35 The bending momelll (M) and tntn~vcrM! deflection (II') in a beam according to the EulerBcrnoulli benm theory are relntcd by

d"w 1- = ,
(if-

M(.I)

For ~l:I1ic:lll y detcrmin:l!C beams. we can readily obtain the exprc,sion for the bending 1l10nlCnt in term, of the appl ied I()ad~ . Thus. M(x) is a known function of x. I)ctenllinc the maximum deflectioll of th e simply supportcd beam undcr uniform load (see Fig. P4,35) using the finite clcl11cnl method ,

q,

/.
/:'/
~o)nSlan t

EI

constant

Figu re "",.35

4.36 Rcpeat Problem 4.35 for the c:mtilever beam

~hown

in Fig, I'-U6.

4.37 Turbine disk s are oftcn thick ncar their hu b and 13pcr dowil to a smaller thickncs .. at the periphery. The equation governing a variable-thickness I = I (r) di,k is
,I, (rtO",) -

tO"II+ 'pw' r = 0

where 00 1 is the angu lar '1X.'Cd of thc disk and

a, = c ( do. dr

+1' ") .
r

O~=(.(~+v'/U).
r

dl'

c ~-

I-

vI

(I) Construct the wCllk intcgml form of the governing equati on suc h that the bilinear form i,
(b)

.. ym mctric ~lId the nalurn l boundary condition invol\le~ 'pccifying the quantity 11'0,. Develop the Hnite clemcnt model associmcd with th c wcak form derived in part (I).

4.38-4.44 For the plane trus .. ~t ructures~ how n in Fig". N.3K- P-I.44. gh'c(/) the lransformed e lement matrices. (b) the a"em bled clemen t matrices. and k) the cIJndc n:..ed malri)!. equal lOllS for the unknov.n dl ~pl acc mc nt s and forces.
20 kips

2
-

~
sn
IS

@_

tQI<lflS I:
AI

30m'" tS m.l
20111. 2 l S 111.2

JO "'"

A;:
)

3m 2 4m 1

n.

12 ft .

Jon.

"' igui't' 1'4.38

8 kips
21'

10 n.

.A.:-- ~ kip,

f----'''''-~_0 '<='__4<
2

All members: I:. JO)( t()lopsi A J in. 2

1
L

'. R-- I'

All meillber.;
f:A '"
con>I~lnl

L~-4
FiJ.:urc P4.41

1--100. - +-100
Figure 1'4.40

I-- Ion.
I.S
UI. l

All members:

,.;
t6 kips

29)( l(lto lb.oml

Figure P4,42

F"rHII mcmhcrs: t: 207 OPa. II 5 cm z

I.OOOkN
t' i gu ~

1'-1.43

45"

I. - I

111

For all members: Ii 2070Pa. II Sx10~m2 P 10J kN

4.45 Determine the forces and c lo ngation" of eac h bar in Ih e st ru cture A I..o, ddermillC Ihe ven ical displaecl11cIIIs of plJinls A and D.
Sfl,

~hown

ill Fig. 1'4.45.

711.

~[)

V'
10 ft.

Sfi,

ll'z'" 80 kips

Figurl' 1'-1.45
-1.46 Determinc th c fon.:es and c longation~ of eac h bar in Ihe Mrllcilirc when end A i ~ pinned 10 (I rigid w(LlI (and PI i~ removcd).
~ hown

in Fig. P4.45

REFERENCES FOR ADDITIONAL READING

I. Bini. R. B . StC\\arI, W. E. ,md I 'Shiro" E. N . 1'mmpurl Plle'II"""/I(" John Wiley. "row YOfl . 1960

2. 1101011:111. J. I',. Ifrm ,/ ,.",,,I,,,,1Ih rod .. f.kGrnw-HiIl. New Y,orl , 1990.

J. Krcilh . E ami Bohll. M. S.. l'r;,I(',I'/') 0/1, ..", Tmn;/a, 51h CU" We,( PUbl"hing CompmlY. SI. P'IlJi. f-IN. 19')l 4 OZI'II:.. M. N . II.w Cm,d"r/im'. 2nd ErJ .. John Wiley. New Yurk. 1'1')3. :'i. Re,kly. J. No. ell"t'}I, "';"('11'1,-,1 IlIIII lilr'(IIi()lw/ Methuds ;/1 Applied Mt'chllli/o. 2nd cd .. John Wile).
New Vorl. 2002.

6. Redd). J. ~. and G"rcl"'ll. I) K . C'Re j'n:ss. Boca Ralun . I1_. 200t

n,,, Film" Elemem Melh"J

lit

lI('at

'("'fllt,if'" wuJ Plui" /)mwmt'S. llKI cd.

2002.

1. SlauJ;hler. W S.. 'nil' UII"'lri::J'/1 ThI'Orl' (if Elmliei/I. Bukhau.'II:r.

BO~lon.

8 Schlichllng. H ,lJmllll/lIr), f.J/I't'r 11'1'11,.,- (Irunslaled by J KC5lin ), 7th ro .. McGraw -HilI. New Yor\. ( 197"').

.... Tilllcll'>hellko. S. P. 311.1 Qo.;x.hcr. J :-.I. 'Thl'vn' "I Elmjl,II'. MeG,,," Ihll. Ne" York. 19711.

Chapter 5 BEAMS AND FRAMES

5. 1 INTRODUCTI ON
Here we con~ iJ cr the tinit e element formull1tiol1 of the one-di mens ional fourth -order differential equation Ihu\ arisc~ in the Euler- Bernoulli beam theory and the pair of onedimensional second-order C(luations associated with the Timoshcn ko beam theory. The ~upc !lx)sit i o n of the beam and bar clements give The 10 frame c lements that Cilll be used \0 analYlc pl ane frame Slructllr!,!S. The formulations of a fOUl1h -ordcr equation as well a~ coupled second-order equations (sec Proble ms 3.1 and 3.3) involve the same steps as dc'>Cri bcd

in Section 3.2 for a second-order equatio n. but the mathcm:lticaJ details are somewhat
different. eSJX"Cially in the finite clement formulation of the cqualioll .. ,

5.2 EU LER- llIl RNO ULLlllIlA M ELEM ENT

S.2. 1 Governing E<loa tioll
In the Euler-Bemoulli be:1I11Iheory. it i~ assumed Ihat plane cro~s ~e("t i o n s perpendicular to the axis of the beam remain pl.me and perpendicular to the axis nner deformation. In thi ~ theory. the transverse dc nection If of the beam is governed by the fourth-order differcnt inl equat ion

d.\,2

d! (

/ --, +Cjw= q(x) dx-

(/2)1 ')

for

0<

x<L

(5.2. 1)

where E / = E(x) I (x). Cf = Cf(x ), q = q(x) arc given functio ns of x (i.e .. data), and II' i~ the dependent variable; E denotes the modulus of elasticity. I the second moment of area ahout the y ax is of the beam. If is the distributed tran sver~e load. {'f the clastic found ation modulus (if any), and IV i ~ the \l'allSVerSe detJection of the beam. The ,ign conventio n used in the derivation of (5.2. [) i~ ~ h ow n in Fig. 5.2.1. [n lIddition to ~atisfying the differe ntia[ equation (5.2. 1). \I" must also satisfy app ropriate boundary conditions: ~ince the equation is o f fourth order. four boundary conditions arc needed to solve it. The weak fomm lation of the equation wi ll provide the form of these four boundary conditions. A step-by-step procedure for the finite element :lIIa[y .. i~ of (5.2. 1) i ... presented next (1)ee Example 2.4.2).

234

A~ lJ.mIOIJU l'Il)'1I'Olllht'I'Irn' I,Uc\ILNT MHIIOl)

Beam ..,ross S<.~lIon

1--- - - - [

,",
Forc..,s :md Ihelr , nlerrc!iu;onsh,ps at a poinl in Ihe beam

I}
"

''"I

- -

til'

iI\'

+c{ II' -= 'I.

(hI

FiJ,:un! 5.2. 1 (a) Ty pical bc;nn wilh distributed Jood tIC\') lind IXlillt force '''0 :mtl moment Mil. (b) '1,c shear fl)rce-bending mome nl -dcllt:<.:tion re lal ions and lht: .. ign Clll1\Clltioll.

5.2.2 Disc retizatioll of the Oomain

The domain nt = (x". XII) = (.fr -~h-l ) uftheslrnight beam (see Fig. 5.2.2((/)( isdivided into a ).cl of N line element<;. eilchelement havi ng a tl ea ~t th e tWO end nodes [see Fig. S.2.2(b)(. Although the e lcme nt i~ geometrically the same as that u~ed for bar~. the number and foml of the pri mary and secondary un known), at each node are dictated by the variat ional fonnu lation of the differential equati on (5.2.1). In most practical problems, the discretization of a given struClUre into a mini mum number of clements is often dictated by the geometry. loading. and (\Huerial propenie<;.

5.2.3 Derivatioll ()f Element Equations

We i~o l ate ,I typical element Q~ = (.~" . x ,.+ () (~C Fig. 5.2.2(b)] and construct Ihe weak form of (5.2.1) O\'er thc clement. The variational fOl'mulalion provides the primary and ~ccondary variables of the problem. Thcn sui table approxitl1at i on~ for the primary variilb lc ~ are -.clcclCd. inlcrpolmion funcliOlls are dcvc1o]>cd. and Ihe clement C<IUi.lIion<; arc derived. Weak Form. The weak forms of problem)' in sol id mechaniesl'an be dcyclol>ed cilherfrom the ptineiph:: of virtllal work (i.c .. the principle of virtual di\plllCell1ent~ or vinual forccs) or from the govcrning differential equal ion<,. 1 lere we "[;111 wjth :t given differential equat ion and use the thrce-"lcp proccdure 10 obtain the weak fOnll. Following the thrcc-~tepprocedllre

Clt.'IPTl:R '

1l1:A~IS ......U FRAMES

235

(0)

, ,

I 2 I' l' + I N N+ I I" - I" - I" - I" - I - - I 1r, h2 Ir. Ir\ I Ir\,

'h'
1:(=Ol!.;

~
I (}
" 'I

,- , ""l!.,

!- "--i , ,
"l; ~ l

~ '. en

Or; "'~

Q 'If J.

Q;. q:

~
I{/

~
.-.D 2

Q <\ ;.

I'rlmary ~arlab1cs (generalized dl;;pla~'t:mcm,)

r- '.

-1 Q ;

q,

'e'
revi~i t cd

Sc<:ondary _anablcs (gcrlCralil.cd forces)

FiJ;u re 5.2.2 (a) Geoilletry and loads on a beam. (b) Finite clement discretization. (c) GCl1cralil.cd displaccments and gcnera li led force.,> on a ty pical clement.

iliuMratcd in Chapter 2 (sec EX:llllple 2.4.2) and

in Section 3.2.3. we write

0=

f "
T,

v - ., dx

[<12 (<I'''') +C/ lt' -q ] dx 1- dx 2

(Ix dx dx 2
+C/ I1II' -

~ f~" '.

[- dv .!!. (/-1_'_) '"

<I ( <12",)],,, , [ 1 - - .'. (ix <I (t/ - - ) - dv / -2_(PII' - d 1\"]"'" dx+ [ dx dx d .r2
VI']
dx+
1/ -

I/X

1) -

d.~

(5.2.2)

"

where vex) is a weight func lion Ih:lt is twice dilTerenti:lblc with respcct tox. Note thaI. in the pre\ent casc. the firs t term ofthcequat ion is integrated twice by pans. 1 yield twodilTerent i 0 ations to the weight fu nction IJ while relai ning Iwoderivmivcs oflhc dependent vari able. 1\' : the res ul t is that the differcntilllion is diMributed equally bclwecn the weight funclion V and the dependent variable IV. Bcc au ~c ofthc two intcgr:.llion by parts, there appear two boundary ex pression s (sec Example 2.4.2), which are to be eva luated at the two bound:lry poinb

236

,\/. IN"IKOOI. n

'IOI'iTt)

nu

H"m' I .U~'"

r 'IUIIO!)

Unddomlcd
hcam element

"
Beam clement after defom~'IIO"

0 ) <,.(''' 0 )' d ... :=_(''' .

<I,.

C"',

Fi;:ure 5.2.3 Deformation of a bc:Ull clemenl.

.1

= x" = x~ ::md l" = XI> = X~-tl' Examination of the boundary terms indicates that the e ..scntial boundary condi1ion~ involve the ~pccifica ti on of the deflection wand slope dl!' ldx. and the natural houndary condition, involve the ~pecification of Ihe bending momelll E / (/ !I\'I(/x 2 and ~hear fon: e (d l d.l)( E J (/2\1" /lI1 2 ) at the endpoint, o f the element. Thus. there are ,\\.oessential bounda ry condi tions and two natural boundary conditions: therefore. we mil" identify II' and tllI'l lix a" the pri mary variables at each node (so Ihat the c,o"cntial boundary condition, Me included inthe interpolation). The natural boundary conditions alway~ rcmain in the wcnk form and end up on the righI- hand side. (Fr I. nflhe matrix equation . We introducc the following notation for the <'ccnndary varia bl e~ that i" con si~ l enl "ith the ..ign convention in Fig. 5.2. 1(1)) (0 = - (III" I(/.r: ~e Fig. 5.2.3):
Q~ =:

[" ( "''' )]1

-

dx

1 -,

(.1"-

=- V(x r )
I,

Q~=

--, ( 1 " ' ''') 1 (Ix-

=- M (.l~)

'.
.
= V(X,'+I)

(5.2.3)

(1; ",,-

[ -dr ( 1::/ --, d dx-

Q~ =: - (E/~~~' ) 1,. , = (!.t

"''' )]1 '..

M(Xr+ l )

where Q~ and Q denote the shear fOfl."es. and Q ~ and Q~ denote the bend ing moments ; Isec Fig. 5.2.2(" 1. The ,ct IQ~. Q Qj. ml is often referred to as the ~el!emli:.(!dforct's. ;;. The corresponding di'placcments and rotations lire entled the gelll'mli: n/ disp/acemenrs. Wi th the notation in (5.2.3). the \loca l.: fann (5.2.2) can be ex prc<;,ed as

0=

I ', '(
'.

d v 1- d 11' '--2
dx dx

+ C rV II' -

IJ(/

dx

IJ(I! . 11') - f(v)

(5.2.4)

eIiAPrEll ~ IIF.AM~ At>n I'llAMES

237

We can identi fy the bi linear and linear forms of the problem as

l3 (v.w ) =

I(v) =

f". ( f "..
"

Ei -'--2 dx dx

d', d' w

+ Cj!J1\'

dx

I'l( (Ix

.',

+ I'(X, )Q, +

( dO.) I
-~

dx

.',

Q2

(5.2.5)

Equation (5.2.4) i" a -;tatcmel11 of the pri nciple of vinua l di<;placements (where /I denote" virtual di<;placemcl1I ow ) for the Euler- Bemoulli beam thcory. Thequadratic functional. known a" the 101lI11)()l elllilll energy of the i-.olatcd beam elemcnt. is given by J\Ce Eq. (2.4.3 1)J
n ,.(w)

f '' [EI (d'''')'

"

....,
_

-.-2
d.~

I +_ Cj Il' 2_ lI'q ]

d_t - w( .t,)Q~- IV( .(' +I )Q 'i

-(-dW) I'. Q' - (dW) I'." Q' (Ix dx

2 4

(5.2.6)

Thc first term in the square brackct!. represent" the cJ:l ~ ti c ~tm in encrgy due to bendinB.lhe second i;. lhe ' train energy ;.tored in the cla"tic foundation, and the th ird i;. the work done by thedistribu tcd load: the remaining terms account for the work done by the gencrul il.ed force<; Qf in mov ing through the re ~pec ti vc gencraliled disp l acement~ or tile c le ment. Conversely. we may go from the total potcntiul energy fun ctiona l (5.2.6) 10 the weak fo rm (5.2.4) by u;.ing the principle of minimum potential energy. one= o. I nlt'f"polatioll Functions. The variational form (5.2.4) requires that the interpolation function;. of an c lemc nt be cont i nuou ~ with nonzero derivati... es lip to order two. The approximation II~ (X) of lI'(x) over a lini te clcment <;hould be such that it i~ twice d ilferentiable and sati sfi e, the interpolation prope rties, i.e .. ~ati~fi e~ the followi ng e~~ential "boundary conditioll'" of the clement Isee Fig. 5.2.2(ClJ:

(5.2.7)
the essential bo undary condi t io n ~ (5.2.7). the approximation automatically the continu ity condit i o n ~. I-Icnce. we pay allent ion to the <;ati,faction of (5.2.7). which form<; the b;.lli i ~ for the de ri \lati on of the interpol:ltion funct ions of the Euler- Bernoul li beam elemen t. Since there arc a total of four condition s in an clement (two per node), (l four~ parame\cr polynoll1ialll1u~t be ~e l ected for 11';; : In
sati s fi e~

sati~fyi n g

(5 .2.8)
NOle th:!t the conti nuity conditions (i.e .. the ex i;.tence of a no nzero !.Ccond deri\lative o f 11";; in the element) are automaticafly mct. The nex t ~ t ep invol\le, exp rc~~ing l'~ in terms o f the primary nodal variables (i.e., generalized d is place m e nt ~)

.1'-.2 =: - dll';; -dx

I
r:,.

.I'-.;=: Wf, (X.... I)

.I'-..t = - - (Ix , <,.,

~_

dll'J;

238

A'I I ~ UU)OtK-n o.,, -m l1 u, n ." lI1' I) .\If.HT MI' IHOO c() lldi[ion~

such th:llthc

(5.2.7) :Ire satisli ed:

= C' + c'2', r +l 1
=
.t. "

+ c"3x r~ ' + (4 x r'+ 1 ' "

- {.~

- 2c'jxr

+ - 3c;xrt ,

oc

6 '2 6;
..:l~

I['
~
r

x,
- I
X~ ~ 1

x' ,
- 2.<,

0
I

, X ] c',, l - 3x;
C'

X; t l

x' ,+,
~ 3x;+I

c' 1
C'

(5.2.9)

..:l;

- I

- 2I:r + 1

Inverti ng this matrix equation 10 ex press the result into (5.2.8). we obtain

ci in terms of ..:l~ ..:l2. 6 ~ , and 6 ~ . and ~lIbstituting

1I'~(x) = 6~r + 6.~; + 6.~~ + 6.~~ =

where (with
Xr+1

L 6.jj ,.,

(5.2. 10)

X,

+ II . )

z = - (x - x r ) 1 - - - h~

X -

Xr

)'
(5.2. 11 )
- - - -'

1= 3

, (X -- -2 (X -')' -Ii. X ')' - X h.

- (x - x~ )

; =
:I~

-X)' X-X ] [( X II. Ii.

- -'

Note Ihatlhc cubic interpolation functions in (5.2. 1 I) are derived by interpolating II' as well its derivativc tllI'l tix :11 the nodes. Such polynomials arc known as the Hermile fillllily of illferpo/aliol1 flll1{"liol1.~. and in (5.2 .11) arc callcd Ihe Hermite cubic illlcrpo/mioll (or nlbi(' spline) filll(,liul/.l. Plots of Ihe Hermite cubic interpolation functions arc :.hown in Fig. 5.2.4 . Rccalllhatlhe Lagra nge cubi c interpolation functions are derived to inlerpo illte a fun ction. but not its derivatives. at the nodes. Hence. a Llgmnge cubic element will have four nodes. wilh the dependent vari able, nOI its derivmive, a~ the nodal degree of freed om . Si nce the ~ I ope (or deri vati ve) of the dependent variable is :L1so req ui red by the weak form to be cont inuous at the nodes for Ihe Euler- Bernoulli bc:lm theor)" the Lagmnge cubic

CHApn:w~, I\!:"\ M ~

t.N[)

FIlt.~lr ~

239

~1fi)

.,(1)

I
.~:n

,
.,
h,

9,m
h,

h,

~i
h,

I<'igure 5.2.'1 Hermite cubic imcrpolations fU nction!> u!>Cd in [he Euler Bernoulli beam clement. interpol<llioll of w, although it mccts the continuity requirement for IV. j" //0/ admiuihie in the finit e clement approximation of the Eu ler-Bernoulli beam theory. The interpolation fun cl io n ~ ~ can be expressed in t e rm ~ of the local coord inate .f =

x - x,:

(5.2. 12l

The first. second. and third deriv;llives of q,i wilh

re~pcc l

1 i arc 0

d ; 6 ' d; - = - - -( 1- - , - = - [ 1 +3 dl h ~ h, h" ell lit'

.f )

(i)'

- 4 .f ] h,.

(5.2. 13l/)

(5.2.1 3b)

d1q,i
(1.'[1 d
1

";
6

d.r 1

q,: =

h;

(5.2.13c)

Plots of (I ~ I d., are

~ hown

in Fig. 5.2.5.

2.0

d~t

1.5
10

,,.

!!!i. <Ii
J~; di
1.0 05

0.5

~
<Ii

IJ~;

0.0 - 0.5 -1.0

-1.5
-2.0+--~~~~~~~~~

IIi

0.0

0.2
dl/J~ liH.

Figure S.2.S Pl(1{s of the firM derivati ves.

of the Hennite cuhi c IIltcrpolat ul1l<'

fUllctio n ~.

The Hermite cubic intcrpolalion fUll ct ions (5.2.1 1) or (5.2.12) sati sfy the following interpo lations prope rti es (see Fig,. 5.2.4 :md 5.2.5):

q,;(fr)= O

(iii)

q,; C" rH)= O (it3)

ix')I.. ~
q,';.,
.t (tj)=.5'J'

::)1,. ~ O
0

U,.,)
U,.4)

(5.2.14a)

( _d~: ) 1 .. -_I . ( _ d~r )1 '". -dx (/x

These c:m be lotatcd in COnlpact form as (i. j = 1.2)

q,~(.\j)= O.
= 0.

,
L IP;
,.1
t

= I

( d~2.
(1.\

') I
i

( d~l' ) 1
- --

=.5,j

(5.2. 14b)

dx

"

where .f I = 0 and \2 = h. are the loe.d coordinate, of nooes I and 2 of the clemcnt r2" =
(x r Xr+I)' The finite element ,olution
11"/,(.1')

= L\~4>r(.I)

+ L\24>2(.r) + L\~IP~(x) + L\~4>~(r)

is iI linear combination o f fou r terms. which is shown in Fig. 5.2.6 along with the actual function . II ~ hould be noted thai the order of the interpolatio n functions derived above i ~ the minimum required for the variational formulation (5.2.4). If a higher-order (i.e .. higher than cubic) apprnximatiull of II" is desired. we mu,t either identify additional primary

llMPOJI S: III-A MS Mil I'll \M[S

241

Fil;Url' 5.2.6 Finite clcmcnI solution over an element

unknowns at eac h o f the two node .. or add addi tio nal nodes with [he [wodegrce .. o f freedom
(\I'. - dll' / (I x), For exa mple, if we ;)dd d 211' /(1x l 35. the primal)' unl.. nown at each of the

two node ... or add a third node with (II'. - ll)\' / d x) at each node. there will be a tntal of six condi tion5., and a lifthorder polynomi:.1 is requi red to interpolate the end cond ition.. (-.ce Probleill " 5.4 and 5.5). However. interclcrncnl continu it y of d 211'/llx 2 (curva tu re) i ~ 110t req uired by the weak form (5.2.4). Finite E lclI1cnl Model. The finit e clemcnt mod el o f the Eu ler-Bcmoull i beam i... obtai ned by "ubstit ut ing the finit e cleme nt intell)olation (5.2. 1 for \1 ' :lIld the 4>~ for the 0) weight function II into the weak form (5.2.4). Si nce there arc four nodal va ri able ... D.1, four d ifferent choices ure used for u: 1I=f. ;. ~. and ~. allow ing us to obt:u ll a -.ct of four algebraic equation .... The ith algebr.tic equation o f the ti nit e clement model is (for II = ;)

0 = 2:
j

, [I""(E I -f---f.+(jij ) d.\ ] 1 :- I"" tq(ix - Qj d'~' d'~' d.\ dx "

I '.

(5.2.15(/)
0'

,
"K r J L... IJ D."-"-~ = O or IK"HLlf l=IF") ,
i" I

(5.2. 15h)

where

A'i -

,~

I~~=

', , ( I '", I'.

"

1. 1-.-, -.-2 +rjrP"j d.1 d.1

d'' d'~' '1', J

r)

1 .1

J.

(5.2.16(1)

~qdx+Qi

<5.2 .161J)

Note that the cocrficienl" written a~

K~

are

~Ylllilletric: K,~j

= Ki" In 1ll1tlrix not<l1ion , (5.2.15/J) can

K '" Kf. [K f' K 22 ' K{2

Kl l

KI
K r.

Kr.

K~2

Kr.

K '"

Kf'] O! , K ,,; ' " K'

K'
~

O!

,
~

q~ 'If + Q:i -

"

,,',

f/J

Q'j
(5 .2. 17)

Q'i

'1.r

Q~

Thi" represents the liui le clemerll model of (5.2. 1). For the ca-.e in which E I and lJ are con:-.t:ml oyer an c le mellI . the clemcn! stiffness malri x I K ~ J and force \CClOr I P 'I havc the following :-.pccilk foml' I:-.ce Fig . 5.2. 2(e) for the c1el11elll di splaccl11cn1 and force degrees uffreedo m l

(K '!

~ 2~;', [-~~'
,
-311 ,
6
=

-3 11 ~

-6
3"~

- 2211~

54
- 1311,. -31, ..

211 , 2
3" ~ 112 ,

-3",]
II;

+ ('f h ~
420

[ 156
54
1311

-2211 ~

411;
- 13" ~ -311 , 2

13",,]

311,.
211;

156
2211 ,.

311,.

2211" 411 , 2

IF",

tt,,".
12

- II .. I>

",

Q, Q, + Q, Q,

(5.2 . I 8)

II can be verified thaI the gencmli/cd forcc vcctur in (5.2.18) rcprc<;cnt" the "staticall y (:quiv:llent" force<, and moments al nodes 1 and 2 due to the uniformly distributed load o f interhity 'I .. over Ihe clement (see Fig. 5.2 .7). For any given function q(x). (5.2.16/) providcs a straight forward way of computing the c(JIl1[>Oncms of thc gcner:tl izcd force \'(:ctor 1((1
(5.2.19)

i II IITIIII.~
D
I;i~ure

Umromlly dlslnoolcd toad

" q" .
1

1' ' ' '' ,.. "" \ ."

.)

:" col!1puwdby J:q.(5 .2.J9 )

0"''' 'ood,

5.2.7 Gcncrali/oo nudal forces due hl urufonn ly dhlribuu:d load.

When a tr,lIIwerse point force Fe; is applied at a point Xo inside the clement, it is distributed to the clementllOOCS by the re lation [see Re mark 5 in Chapter 3; Eq. (3.3 .4)J:

(5.2.20)
wh ich contains both transverse forces (q f and ql) and bending moments ('Ii and 5.2.4 Assembly of Eleme nt Equa tions The as~clllbly procedure for beam elements is the same lLS that used for bar elements except that we mu~t take in to account the two degrees of freedom at each node. Reea llthat the assembly of clements is based on: (a) interelement cOlllinuity of the primary variables (dencction and slope) iUld (b) imerele rnent equil ibrium of the secondary variable (shear force and bending mo rnem) at the nodes common to clements. To demon<;trate the assembly procedure, we select a two-element model (see Fig. 5.2.8). There are three global nodes and a total of six g lobal generalized displacements and sill generalized force~ in the problem. The continuity of the primary vlLriab les implies the fo llowing relation between the c lemen t degrees of freedom .6.1and the global degrees of freedom Vi (see Fig. 5.2.H):
q~) .

.6.:

= V I,

.6.~=U2'

.6.1 =.6.r= U)
(5.2.2 1)

,..
.u
clh

"
2

2I~
fl'

I:lcmcnt node number;

'--2)
J

Global node numbers

element . r fl~ 1----., ---1----element , to',

ft h
hr

0 ;'

Il;

I.) Q;tQ{ ,uu

"

Il'!

C; o
Figure S.2.H

~:!'

o~!v
Q' ,

~( ~r Q r
Q; Q - Fo' ;+Q(
Qf

ex

'tv
0' ,

,h,
A~,embly of two Euler Bernoulli beam fini te c leme nts. (J) Continuity of ge nerali.r.ed displacemen ts. (b) B:II:U1ce or the generaliled forces.

244

AN INTHOI )l~-IIONTOTlir I~Nrrf.1.I l'lln.,. III' I IIOU

clcrl1cnt~ Q~

In general. the eq uilibrium of the genera li/ed forces at a node between two connecting and 0. j rCl.ju ircs that

Q~ Q~

+ Q{ = + Q{

applied external poim force (5.2.22)

= applied ex ternal be nding mo ment

If no ex ternal nppl ied forces arc g iven, the ~um ~hould be equated tn ICro. In equating the , urns to the applied generalil.ed forces (i.e .. force or moment), the sign convention for the clellle nt force degrees of fr(:edoml ~c Fig. 5.2.2(')1 ~ h ould be foll owed. l- rces are Taken as o po~ i tive when they act in the direction uf po~ iti ve z- axi~, and moments arc taken as po~itive when they follow Iheright-hand ..crew mle (i.e .. when Ihelhumb is alo ng the PI"itivc y- a xi~. the four fin ger.. show the directiun of the moment ), With re'pcct to the coordinate ~ys l em used in Figs. 5.2. 1 and 5.2.2,/u/l't's {/('(ill~ dowm\'wy} are POSilil'c and cOIIli/Nclod.. wiJC
1II00I/em.l
(1ft!

IH).lilil c.

the equ ilibrium of force s in (5.2.22). it is necessary to add the third and fourth eq uatiuns (;()ffespondin to the second nooe) of element Q ~ to the fir~ t and second equat ion.. (corre .. ponding to the first node) of cleme nt 9/. Consequently. Ihe g lobal stiO'ness pamrneten; K 11 , K14 , K41. and K44 associated with global node 2 ;Ire the ,upcrposition of the clement ~tiffn esse~:
To
K4~

impo~

= K44

, + Kn ,

(5 .2,23) In general. the lIsscmblcd ~ti fTnes'1. matrix and force veetor for beam clements connected in have the forms Biven in Etl ~' (5.2.24a) and (5.2.2 4h ): Global nooe I
KI I K41
IKI ~

se ri e~

G loba l node 2

Global node 3

K I12

K'
Kl,
K~1+ K ~,
"

1 K I4

Kl,
Kl,

K' 22 K' K'

Kl4
K~ K4~ I

" .,

+ K ~2
+ K"' 22

K f) Ki,

K ;4 Ki4

(5.2.240)

Kll

Kl i

+ Ki , ,

12 13

K2

"

" K2 "
Q : Q i
+
Q~+ Qi

K'

" " K 2 K' ..,

"

K'

K'

lJ i
q~
[l'l ~

{I:+{d

qJ + qi
lJ'i

Q! + Q~

(5.2 .24b)

q J

Q ', Q ;

5.2.5 ImlHlSition of Houndary Condi tions Allhis step of tile analy,is. we must impose the panicular boundary conditions of the problem being analyzed. The type of essential (aho know as .'-:1'0111'11';(') boundary condit i on~ for a ~peci(jc beam problem depend (In the nature of the geometric support T"ble 5.2. 1 contains a li<;t of commonly used geometric suppons for beam ... llie n:ltur.ll ("Iso called force) boundary condition" involve the "pccification of gcncralill.xl force~ when the corrc'ponding primary variab les arc not con~traincd. One must bear in Illind that onc and only one element of each of the following pair-. must be ~pecificd :Lt every node of the linite clement mesh:

d( d [EI -'w]) .
11'. -

{Ix

rit Z

dW d'w) ( -(ix ./ -dx 2

(5.2.25)

At an interior node. we irnpo!\.C the continuity of generali zed di~p l acements and balance of gencrali.lcd forces a.. discu<;scd in Eqs. (5.2.2 1) and (5.2.22),
Tuhle 5.2. 1 Type~

of cOlllmonly

\I~cd

sllppllrt conditions fllr bea ms and frames.

I)i~placemenl

Type of suppon

L't",d >1i on,

Free

"'"',, : 0

boo,_
c()nd>1;on, All. as spec lti cd

Force

\';m1t-"<l

~=
RoHcr (VCtllCll1)

~I>==
Rollcr (lllJfllOntal) ", = 0

Tranwcr"" f()rcc and mom!;n! arc ,pccificd

J lorizontal force and bending tllumem an: 'IICclfied

Fixed (or clill11ped)

" ",, 0
". ~ u

None specified

d ... / Jx = O

Elu5ticaUy rc~l""l111Cd

I: 1(J'lIld.l ')

+ Je ... =

Qu. Qu 'l1<!cified

246

"'N 11nlI0I)UlTlON1o nlh 1"1:-'111' FJJc\IE.VI' MI'I'IIOI)

There are two alternative ways to include the effect of:t linear e l a~ ti e spring (ex t e n ~iona l as we ll as torsion:tl). (I) Include the spring through the buundary condition for the ap propriate degree of freedom (see Table 5.2. 1). (2) Incl ude the spri ng ;I" another fin ite clement. who.-.c element equat ions are given by Eq. (4.2.2). In the former C ll ~e. aft er a~~embly of the element equations. the secondary variable in the di rection of the spring action is replaced by the negative of the spring constant times the assoc'iatcd primary variable. Let Q' . and Q ~ denote the ~eco ndary v:Jri ables associated with the transverse and row1ional degrees of freedom at a node. Then. we have. re~pcc ti vely

Q" + kw
Q~

= 0 or

QV

= - kw

for vertical spring with spring constmlt k

+ IlO =

0 or QiJ = - llO for torsional spring with spring constant JL

Note that Q" is the shear force and Q/J the bending mument. In the second case. Ihe .. pring elemeru Illay be assembled along wi th beam c leme nts by noting that the :Jxial dis pl acement of the spri ng is the same as the tra nsverse d isplacement of the beam. For example. consider the case of a beam clamped al the len end and supported by a spring at the right end. as shown in Fig. 5.2.9(a). Usi ng one-element mode l of the beam. we obta in Isci l'f = 0 in Eq. (5.2. 18)1

21[_;L ~~~ ;: -:2L] ~~

L~

Q,

",L
12

-L
6
L

-6
- 3L

3L

6
3L

3L

U~

L2

2L2

U4

"

,
:

~'"(I.'
(hi

...
I

,.,
I.

1(1'
Q,'
2

~ Q;

(i)

Q,

t0u, cff"
2

'

Q'

{"j

u,

e;

~igu rc

5.2.9 (a) A spring supported cantilevcr beam. (h) Spring ~I ct i on. (c) Finite clement mc, h of
beam and
~pring

elements.

The obvious boundary conditions arc VI V 2 Q4 = O. The elreet of the spring is that Isee Fig. 5.2.9(b)l it exerts a force of kV3 upward on the bellin. Hence. Q3 = -kV). Thus, we have

= =
0
0

2E' [ L3 -6

-~L

- 3L
2L 2

- 6

31.
6

- I} 3L 31.
2L2

6
qu L 12

-L
6

3L
I. '

- 3t

3L

U, U,

Q, Q,
-kU 3
0

and the condensed equmiol1s for the unknown displacements U3 (deflection) and V 4 (rotation) become

[
whose solution is

Ii'll +k
V6101

'f,4] (u, ] ~
41':1

U4

qoL ( 12 L

6]

quI}
U 3 = w(L) = -8--'

'(- - ':',-,.7, ') I+

,t;l

Note that when k 0. we obtain the deflection VJ tlnL 4/8E I and rotation U4 = - qoL 3; 6EI at the free end of a cantilever beam under uniformly distributed load of intensity qu. When k -+ 00. we obtain the deflection U 1 = and rotntion V 4 = -qoL~/48E 1 at x = L (where it is si mply supported). Alternatively. the assembly of the beam and spring elemcnts bee Fig. 5.2.9(c)] yields the result

01-."1 -~ I.'
I -" 6FI -~ I.'
12f.1

"

11EI

- ~

61
I.'

I. -"

lUI

4f.1

T
6f."!

6fl

V-

6EI -". I. 2EI

0 0
-k

VU"I

"

IU. I

+k

61
4EI

V-

6EI

T -k

T 0

0
k

U, U, U, U, U,

6
- I.
q()t
~ ~-

Qi Qi
+
Q~

12

6
L

+ QT

Ql
Q~

Using the boundary conditions. VI = V2 = V~ = 0 and tion Qj + Qi = 0, we obtain the condensed equations

Q! = 0, and the equilibrium cond i(

'f4] (
4EI I.

U, ]
Vol

~ '1oL 12

6]
L

which arc identical to those obtained earlier. 5.2.6 Postproct'ssillg of t he Solution Once the boundary cond itions arc imposed. the resulting equations arc solved for the unknown Il(xlal di~placell1cnts and force~. The solution is then g iven by Eq. (5.2.10) in each

cleme n!. The slope of the deflection at an interior poi nt

i~

_ cllI'i; = _ elx
computed from the form ula

2:: u, /~;
4 A

1=1

dx

(5.2.26 )

Similarly. the bend ing moment 31 uny po int in the clement

n" nf the

beam
(/2",

CiUl

be

M (x)=

n, :.(IA = 8
4

ll 12

(T,:. d z= - IJI~

ll 12

- 11 .'2

:~--~ I//! (1.1' -

~ (1 2W

(/:=- 1 --,
dx -

d Zqf

= -

r: I

'"'" !: '/ - - : L... : J (Jri' I .

15.2.27)

where IJ i~ the width and /-I iii the height o f the beam (for a reclangular clUlos,scclion beam). The bending <"Ire\\ j" given by
0-, (.\.:)

= - - - = E :.--~ = L z '"" fl. ,

M (x) :

_ d 211'

dx

1: 1

L...

d \J>j().') ,

(Ix

(5.2.28)

The Illa~imum Icnl>ilc SIres); oceu ..... 1l11he bollom (;:

= 1-1 / 2) and

the m ax imum c omprcs .... ive

Slres, :II the top (;: = - 1-1 /2 ) urlhe beam. We d o,c Ihis ,celion with a nOle that whenever the fl exural ri gitlity E I il> a constant in each demen\. Ihe tinite de ment so lution for the genera li zed di'phlccments at the nodes is cxact fo r any :lpplicd l ra n ~verse load 4. Further. the o:.olution is exact at all poinl ~ if the distributed lOild is , ueh that Ihe exact "olUlion is a cubic.

5.2.7 Numerical Examples

Example 5.2.1

cantilever beam of length I. and subjected to linearly varying dl~tributcd IOlld q(x), point lOad Ffj. lind JI1(mWIl\ Mo. as ,hown iJll~ig. 5.2. to. We wish I{) determine the displacelllem field and hl::odin~ mOment inlhe beam u~ing tWO elemcnb (II "" LI Z). First Vol' note thm q(x)= qofl - f / L). There. we mUst cvaJu:lrc it\ .:..'omribiltion il,llhe clement load \'ector by computing [sec Eq. (5.2. /9)1
q,~=

Con~idcr a

1. (')
~,
qll

1 - - q,;(x)dt c::c

1 ( '+x) "
(fo , .... l!

---!. L

.'(x)di

where IP;(X) are ~iven in

eq. (5.2.12). E\'aluating the imcgrals..

-h~

, q"h. (ql =:;.12

'+30' 6]+ - 1-1%+ "

I/OII (

6()L

11,(211, 5x.) -(2 111, + 30.(.)

h,

- h,<3h.

+ 5:.:,)

CHIIP1H! ~ IlEAM~ 1It'll nt ,\Me>

249

I<'jllure 5.2. 10 The cantilever beam problem con\idi!red in Ex:nnplc 5.2.1.

and ~peci!lliling thcabove ve.,.-Iors to clement I (x~ =0) lUld element 2 (x, =II(), we obtain

foundation

rhe a~~emhlcd ~ystem of C(lll~lIillns ror a mcsh of Iw\) clements with cnn ~tant EI (and moJuJIJ~ C'r=O) i~

-311
2151

J;l

-3'
0 0

-.

-J'
2h~

:\11

-')11
h!

0
0

0
0

U, U,
U,

J"
I>'
0
U

6+6
311 - 3/1

311 - 311
2h2 + 2111
311
h~

-6

-3.
I>'

-311

-.

3"
6

u.,
U,

3"

3"
2//

u,

=-

q,L

..

-" I.
24
0
q,L

-IS

Q:
QJ
+

n
- 120
4L

+480

Q\ + Qi

Q! + Q~

12
L

- 102 -8 t

Q;
Q~

At global nooe 1_
rcaetion~

Ql and Q~ (the ~he'jr fOfCeuod thi! bending moment, respectively). i.e., the

at the ilxcd cfld are not kll(lwn. Hence, U1C corresponding gcneraliled displ(lcernents,

250

AN l V l11001. 0("1 lONI 0ll1F n 'lIR U DUNI Mt'l1 1 1) 0

VI ilnd U2 mu.,' be knnwn. Sin(:c lhccnd ,l ",,0 is fix~d. we hflve VI = VI n il. Atglopal nOde 2. there :lre no cXlermtily applied shear rorcc~ lind bcmhng moment, i.e ..

AI glob .. 1node 3. the shear force is gi\-en ~ F and the bending moment a~ Mn [nole the sign u. ctlOvention for Fo and Mo fmm Ag. 5.2.2(')1:
Q ~"" Fo .

Qi=- Mo

Hence, the assembled elJualil," ~ lake the foml

41

I:'

24 - 6t - 24 - 61. 21} 61. - 24 61. 48 - 61. I.'

0

- 61.
I.'

0
0

0
0

0
,~~

0
41}

- 24 - 6/.

V,
U. U,
U,

0
0

- 24

61.
I.'

61. 24
61.

61.

- 61.

n l.

12
- I.
~-

-"
2L

Q :
Q i
+
0 0
F"

""I.

24

4R

0
12

+:rso

q, L

- 120
4,

- 102
- B/~

I.

-M ,

Thus.lheoonden.-.eu clJu ... tiollS f<.)r lOe lm\:nown gellcrilh/cd di "placemenl.~ and generalized
rorce.~

arc

48
41

o
4L ~

- 24

u,
I} 61.]
U~

,4
o
1 2

-110

0 - 24

61.
24

q,L

41.
- 102:

61.

61.

U,

+ 480

-61.

L'

61.

21.. '

U,

I.

-8 /.

- 61.

I.'

() 0

0]

~: I _ 1"1-"'1. 1'8 1
U~

q"L 48

- L

4S0

21.

U.

CIIAP'1T.lI l, IlEAMS ANIl 11IA.' " ;S

251

The ~Iulkm of the conden<;ed equations for the displm:el11t!!It.s yields

lj"

U,

/}

[4~
0

4 ,1

0
2.
24

-24 - 61.
61..
t}

.,

Us
Ue

ill

-24
-6/~

cL
I}

24
6L

61..
2L~

]
24L
48

~qo L ..!..."",L2

- Mlo

I,.

"" 48E I

[W

-6'.

SL'
- ISL J6L 2

- 6L

51 .2

- 61.

=The rc;lClion~

48/

Q: nod Q~ are
/}

5L"Fo+6l.M,, + ~ L' ~qOl

(5.2.29)

- J8I.FfJ - 24Mo - c/ol- 1 16L 1 f n +24LMo+ffiq"L J

- 24LFo - 48M() - 2q1)1}

'
u~

-6L] 24

- IS.

FII + ~qo L

".'"

+ ~qQ Ll
t.\uqi).l

jq.l-

-2.4/.

+ ~qo l. -,\lu + ii/lu i}

Fd

I Q: 1Qi J ~~[-24 l. ~ 6L

-6LJ 1 lu'J

(5.2.30)

It is clear tllal the renctjoo~ of lhe beam:

Ql and Q I.'()mputed ;l,oo\'c ~;tli~fy the ~tatic Itquilibrium cquations l

T'he rcaction~

Q: and Q C3 n alw he computed usi ng Ihe dell0iliol1$ (5.2.3): 1

From (S.2.Db) and (5.2.13d, we note thid .be ~'()nd dcrivllIi."e of the IIwnue cu bic in h":rpolalion functions i~ linear O\o::r Ihe dement and Ihe third derhath'e is con~tant ovcr (he clemen!. Therefore. the bending mOllleOi and shcot( (01\.'(: computed using Ihe defini tion (5.2.3) ;\Ie: eicmenl wiM'! linear and con~lItl1t, rt'\ptCtivcJy. Punher, 31 n<)de~ connecting IWl) clement;;, they yie ld discontinuou~ v;\l ue~ bo.."'Ci\U~ the scc(lnd and thin.! deri\'lI(ive~ of)\' arc not m3dc cQllIinuous Ltcm~s the in\erelemcnt nodes. ll\U~. we. huvc

252

AN l"nUlIlIO("nONmTltI, H'Irn, ~J 1'\11 ~I MI 111(11 )

which ure in error by =: - J.1'1oL and ~llol} compotred wit h tllO!!e compulcd u~i lJg the oondell..cd (i.e., equilibrium) equa!iQn~ I~'C Eq. (S.2.30)I. The !lllile clement o;olution u., a [unction of position, is givelJ by

qr

q; "'"

(S.2.3I(1)
for" ;S..r:s; 2"

1/1-::::1-) 1 - I "

(X)' -2 (I - - ~~::I:" (I ~~) (2- iY X)'

"

(5.2.3Ib)

.J ~ h

[(1 -;;)' + (I - i;)']

(X)'] L

1111.' elliott solutiolJ ollhe problem in Fig. 5.2.9 can be obtaiocd by din.'Ct Integration and i\ given by
w(x)

X)' -l. = - - 10 (X)' - 10 (- +5 (')' ,~ 120f l L

+ ,;t' [ 61

",L' [

(!-)' +.,(.o)'] + M,L' ( ~)' L t., 2 1 I.

O(X):= - 24fl 4

",t' [(') -6 (')' +4 (')' - (')'] t r I I

(5.2.32)
TIle tinite elcmclI1 Mllutioll (5.2.31) and the CJact wlution (5.2.31) urc compared in Tuble 5.2.2 fur the dma

qo=24kNfm.

1' =2(0)( l(flNlm l . :

A~

F:o =6IHN. 1.=3m. Mo""OkN-m /c29x Htmm". (E/::I:5800kN-m!)

(5.2 ..lJ)

expected, the finite clemen! ~ohllion for W llnd B (:E)incidl!~ wiLh the e~lI!..1 ~oll.l t ion at tbe At poinL\ other Ihon Ihe nodc~. the difTercll(!e between (he linill.! dcmelll and exacl wlutiOIl\ is yinually negligible.
n~.

Cl IM'n:~ j-

"I'AM" Al'll FRII~II~\

253

Tlible 5.2.2 Comparison uf the finite element method (FEM) sOlution with the e.xact
of the cantilever be.1m Of Ex:unple 5.2.1. (2 ele mcnt~),
",(m)
.t (In)
~{J'"'-tlwld;(

~{Jluti(Jll

- ,14 x 10-1; (kN m)

~~--~

O.oo:JO
0.1875 0.3750 0.5625 0.7500 0.937.5 Ll250 1.3125
Ij{)OO

0_
FEM

Ell'l<.i

fEM

~aet

.......

Pf.M 0.2124t 0.1973 n.lS':.'l O.I(i10 0.15 19 0.1367 0_1216 0.1065

O.()'jlJ~

EXIlet

O,(jOO)l

O.oo:JO 0._
OJXl25

000001
0.(}()66 0,012!! 0,0184
0.023.~

O.oo:JO
QJJ067

(1216() 0.19M
O.!iHf>

1.()$7.5

U\750 2.0625 2.2500 2.4375

2.6250

0_

O.OOZ:'i OJ)()54 0.0093 0.0142 0.0199 0.0263 0.033.11 0.01\0 0,0491 0.0577

OJXl54
0.tXl94 0.0142 0.019ll 0.0263 0.0334 0.0410 O.049( 0.0577 0.0666

0.Ot211 0.018.5 0,(.\23.5

Q.0282 0.0324 0.0301 0.0393 1 O.lJ421 0.0445 0.046fi 0.0483

0.(14%

M2S2

0._
O.l}421

0.0323 0.0360 0,0393

0.J65<> 0.1.5()2 0.1354 0.1213 O. !O77

0.0945

0._
OM79 0.04<>1
(1.O;J44

0.0814

0.0818

0._
0.0574 0.045<> 0.0340 0.0226

2.8025

30000

0.{J7S8 0.OS52 0.fl947 0.1043 1

0.0758
0.0852 0.0947 0.1{)42

0.0505 0.0510
O.O~H2t

0.(1466 0.0483 0.04% 0.0505 0.0510 0.0511

0.0226 0-0109 -0.0009

om 13
O.oo:JO

0.11932 ['WI) the ~00J cktlh:fll. t t\O<lal ,'al\ltS: ,;,11 <"1>.",, al'l: "",,"npul/,d by in\etp<)!roion;

I<:xamplc 5.2.2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __
C~msidcr
UI)ljj\

the indeterminatc Qc,!]n showu ill Fjg. 5.2.11 (a). We aSSllme thc following di..contindata (cJ = 0):

/:: 1 ==:

1 x loS lb-ft} 2
!(f lb-ft.
2

forOs.r5O 10 ft.

for 10 5.f ::; 28 fL

for05Ox:;:JOfL
for 10::;:.\' 15 28fl.

(5.2.%1)

q(.r)

2400lb/ft. \o

(5.2.34b)

The txJundary conditions, ;Ire

We~haJJ use three elem<:nls tv analy;;c the problcm. Thcre arc four nodes and eight glob1l1
dcgrcc~

of freMoln in the nonuniform mesh of 1hftX.' elcnlcuis.

"

'f"o-'----

- - -- i

'"J

(bl

1,)
Q,!+Ql,.O
,

Q'

0:+ QI' .. rd
Q}+Q~\
J
HIJ",,-Ft/I

Q~

+0; .. 0

Figure 5.2. ll

(II) Physical problem. (IJ) Finit~ clement mc~hofthrce clementl;. k) Equilibrium o j gCllcrnlit.ed ron;c~,

Since /:.1 and q arc elemcntwhe..constilnt, theelcm~nl stilTnc~'i matl'i;( ilnd the force \CClor are tivcn b} (!'i.2. IIi), \/IIith Il~ cr 2400 Ib/Tt. in clt-ment I and q, = 0 in elclllt'ntl1 2 and 3. TIle 3sliCmblcd Cl.juUlions lire

0.2400

-1.20!)()

~{).240(l

8.0000

1.2000
0.3094

-1.2000 4.0000
0.7833 -0.0694 0.4167 11.3333
O.62.~

<0'
symmetric

-OA167 1.f#>7

- 1.2500 -0.5556 - 1.6667 IO.()O(() 3.3333 1.6667 0.5556 1.6667 6.6667

('!tAI' n

It,

IlI.A M S ANfl

Ht"'~I l\

255

V,

12
- 20
... I()-'

Q:
Q 1
a1+ Q~ Q! +- Q i + Q~ + Qi
Ql+ Q~

U, V,
x
U,

12 20
0 0 0
0

V,

u, u, u,

Q ;
Q 1
Q ~+ Q :=h. ~+~ #-a~

The boundary t'\>nditiol1\ lind equilihrium of jmcm:'ll fort:Cs und mOmCI1L' are given by

Q ~= Q

Q ~+~~O .

~+~=O.

NlJte that the fOfl.'es uml and the moment Q~ (the reilction~ ttt (he support$) ~rc nOI known. 11te boundMY con(]iliOIl~ Oil the generaJi~.cd di~pl;ICCmCI1I~ arc

Q:

Q l

U~il1g the boundary (lnd e(juilibriUJll coodjtiOll~ listed abov~. we can writ~ the condcn~ equationlo for the unknown gcflt:r.di 7.ed di~pbcemcnL' and r(1f(.'e~. The condensed equation.!> fOf the unkno\\ n gencmli/ed tlispl(lccment" l::ln be obtained by deleting the taM t"''O rOW' and two columns, which cOI'rC..~po nd \0 the known Vj (f'u"", IO'lo):

0.24 +0'

- 1.200

8.000
10'

- 0.240 1.200
O.30t)
symmetric

- L2(Xl

(l.OOO 0.000 4.000 0.000 0.000 0.783 -0.069 - 0.417 11.333 0.417 1.667 0.625 - 1.250 10.000

(f,

U , V,
U,
(f,

-2O
=.

"
12

10)

2"
10 - 10

U,

ImI"" ,[-0."'6 1.6667] I I

Q;
10 -1.6667 3.3333
U, U6
This compJctc.<; the finite clement an<lly~i~ of the prol"olem. The soJulion (with the help ~f a computer) of the co nJen"Cd equations for [he gener;ll iU!d di~platemcnts. when k = lOll INin. (a hard ~prin gJ. !;i"e~ VI "" 0. 111356 x J() 4>1<:< 0, !lod (rou nded to six d...dmttl poilu"

UJ "" -OJ)0368b. UJ = 0 .026560 fl.. U4 :;:;: - 0.001 097.

V~

=O.O I0215fL VI, =0.002466

The re;)Ction forc<:.... from the elcmelll eqUilibrium equ~llion~. 1i1C

(Q:J<>QUiI "'" -kU1 ... - 18.356 lb.

(Q:)/'><I "" - 15.640110.

( Q ~)NUil "'" -8R.Q.W ft -Ib

256

ANNINOUl'ClIOl'> 10 rill fINrlhElL\1I N"r\lb"I'IIOD

Ba..~d

on the definitionll, we have

(Q~)dtf "'" - 15,(.44 lb.

CaJ),w"" - 88.038 Itlb

Rlr k 1'# I O~ IQliIi. (a ,oft lipring or 110 ~prillg). we OOWln UI= O. 16104ft.. Ul =O.004579. u,= O. I0682f1", U~ ,",, 0006605
U~:::: 0,020755
Becall~C of tIll! di~conljnllity

ft .. U,, = O.OO5K44

in the IQadllig ,lIld the fle. ral rigidity. Ihe CXttct \olution ~l' (xl is w

a/~ delined by three .~eparme e~rre"j{lns flJr lhe Illrce region,.

f~xampk

5.2.3

Thill cx'lmple deals whh thl.: inde termina te hc!;lm sho\\ II ill I- g. 5.2. 12. The beam j" made of I 'lecl ( E = )0 X Iff> psi) and the cro~s-"tCdion:it dill1elhion" nrc 2 x 3 in. (I = 4.5 in. 4). We ate intere~ted III linding the t:rM~ve~e deflectiOn w u\ing the Euler- Bernoulli beam finite element. UCC,IU'Iot! of the di'>ContJliuil} in loading, the beam \ hoold be. di\'ided inlO thtee e lements: roll == (0. 16). n~ '"" (16. 36), and Q~ = (J().4S); tbe element ICflgth.\ are: "I ::c 16 in., hl:= 20 in., and hJ """ 12 in. The load V'".Iri;uion in ench clelTlent i, given by

U~ing

Eq. (5.2.19). \\e Obtain the rQ!I(lWlI1g load vectors due 10 the distribu ted

t
III

I~

TIle elt!mcill

stiffne~, matrices can he

values cf h, E. I, nnd l<ii J!)..in l).

c,

I
In~

216.no -55".67 Ig,WO' 512.00

Ifl I=-

I I
200.00 - 666.77
666.67

lood~ ;

200,()O' {q )"" {OJ

C{IIllPUleci from Ctj. (5.2.18) QY sub,tilUlillg appropriate = 0. For Element I, for exampk, we have {hi'"' 16 in .. 1 = 135 x
-3. IM I

!K1J =

0.39>' -3.1 64) -0.3955

-3. 1641

- 0.3955
3.!641

_3 IM I]
16.8750

33.7500
3.1641

0.3955
.1. 16-1 t

3.164!
33.750

16.8750

Fo '" 500 Ib
30Ib/in.

0 U. '"
UI 0

10 I 0 1 01
U1
u~

u. 0 0u.
0

u,

l'lgure 3.2.12 Finite clt!mcnt modeling o t an indetenninate beam

111e lIs$Cmblrol'tiffness lIlatriJl and 100Id v<:ClOr for thi" mc\h is of Ihe same foon as given in Eqs. (5.2.24a I ;1Ilt! (5.:!.24/J). The houndary w ndil jolls for the pTllblem arc
,Jw

w{O) ",, 0 -

VI =0, - (0) = 0 -4 V2= 0. K'j36) =0 ...... U~ "" 0 d.,

Q\ +Qi= O, a! + Q o. i""
Nmc Ihal

Q; +Q~= O. Q ~=500. Q~_O

Ql. Qj. and Q ~ + Q1 are the rC:lcli ons Ihm afe 1101 knOWtl and aTe to be culculatw
Since the
~pccificd

in the

boundary condjlion~ on Ihe primary variaob are and cl)lumn\ corresponding II) the ~pt!.:i ned di~p l:ICe mcnlS (i.e .. delete TI)Y;\ and col umns I. 2. and 5) and wJve the remaining the equal ion~ for
hQmo~COC(!ll'"

po~tc(lrnp\ltation.

\loe can delcte lhe

row~

(h,. U4 Ut,.lh. and Us:

VI ~-0.OOO322 in..

V4 ::J{UlOOO593 rnd.. .
U~

U~

= -0.00025 13 rau.

U, = 0.005 15 in.,

= - 0.000518 rJd.

258

..." 1"'fMIlIlI CliOI'> T(I IlIL H,rrr fJ J ~1l''1TMI.TIIIJI)

The eXllcl deHeetion in !he IhJ\.e- inler"'31 .. o f the beam " rounded 10 whole numbe~)

i~

given by (l3I1:c numbers were

...!- ('68,.543.l ~ _ 1
w(x) :a

691 x1 15

+ ~.l4
4

__'- l ~) 192
491 xl + ~f4) 15 6

O!il:::16

...!- (_~ + ~f +55.2097t1 _ /;I 3 3 '

~J

(6,55 4 .368 - S06.066.t + 12.000x1 _

2~ Xl)

A COlllP;lriOOIl ~lf the tinite element w llliions ror dcnections (1\'). slope!! (0). and !)ending (ealculaltX! in the po\lcumpul8tioll) al polnts other Itmn the nud~ are compared Wi th lhe c:(;)(.'t \'ilJuc~ in ThMc 5.2.3 ror Ihrcc different Ille~hes. The valuC!> of llenlions. s lope ~. and bending mOlllenl~ "ere oomputed using the linil(.: elemenl solulion ;Uid it:.
momcnl~ (M) ueriv3ti"e~.

Table 5.2.3 Comparison of the finitc eJcmt'int Mliution with the CIUKI solullol) (unitli of the qlhl.nlitic~ ~h()uld be ob\iou'l or the beam problem con~ idered in E~alllple 5.2.3.
"\1 x 1(fI
(-d"',,/d,)
f,XIl<:I

x t(f
1' '11.:1 .....
~oJ, 1 552

_(dl"'n/I/co. 1) x 10'

Nt
3

FEM

FEM

FT;:M

1~;K:1

2.0

~O

12.0

21.0

31.0

, , , , , ,
3

6 6

.1

- 0.8..'i70 41405

5_173'1

S.2319
- 18.45 10 11.3936 9.4751

1.1553 -3.)3116 -4 1558

- 1.02.5Q
0.4663 0.4638 -2.11147 _ 4:\456 -4.J..111 OJ21!)

8.11148
91,(.I18
4.4199 5.2328

- 4.4127

5.2123
- 120.8100

-138.2JIJO
~ 1 2H900

J3.nHl 39.tl6JO

-5.4m
39.6720

- 5.47<,14
-S.479~

~ 5.9238

- 122.5900

39.6610
71.5620

674J600
-64J.4QOO -643,4900 -812.9300 -78.2.0700 -782mOO 2114.9000 11749(X'lCI

J.5j(J7

-639.6)(X)

uB010 6UO:\o
_ 83.7970 -74.5371)
~74.s31O

62.)020

3.5507
3.5507 21.52 10 21.521U 27.5210 22.2220 22.2220

2.93.JS

778.19m

-14.5390

26,9()40

6
42.0

3 5 6
~.It,

451,.'\600 2114,8000

21R'.IOOCl
II.~.

- 45 U600 -45t.J600
lUI,

45U600
II .... , "" 1I\'.t 10.11,

22.2220

22,222<1
l2.o.!aontt.It, ",,4,

1~,.t,"16.1t,

'!O.It,"12,s..~,ltr

"'1'"

dO.It.

10.114_' 12.

( UAI'IWl .I. IU1~\1 SA.~lJrM i\ \1F~

259

EXllmpk 5,2.4 (Beam Elemc.nt with Nuda! Hinge) _ _ _ _ _ _ _ _ _ _ _ _ __

1bc JoSt c-\OImple of this />CetiOI\ deals ""itb a berun with an internal hinge (\Ce Fig. 5.2.13). It
~i lh al) iolemal hi nge abou t which the beam is fn.'e-Io rotale. Thu.\, at the hinge Ihere ClUlnvt be any moment and the rotation is no/ contint~ous ac~'1l/'1c hinge. T<) iln:QUnt fur the discontinuity in the rotatiOn 111 a hinge, we mu~1 eliminate the rOtation as!iOCialed with the hinge. Con~ideT a uniform beam e lement wi th a hillat at node 2. 1be element equation i, given by Eq. (!5.2.17) wil h the ,t illness nmtri,; given in (5.2.1 8) (with z.ero fou ndation rn odulu~. Cf :::0)

i:. nOI tlnc()trlmon to find beams

- 3h

-6
3h
6

-311

w,
9,
M',
~

F,
F,

-]Ii
2f.!

2h' 3h

I,'
3h

h1

-6

F, F,

(5.2,35)

- 3h

h'

Since the mUlllent;\I a hinge is zero, we have Q,j ",, 0 and 1-"4 ::c q4 + Q-4 =' lf~, which is kllown, TIlis allow~ u~ 1 clillliDlItC 9.! (rotmion at node 2) using the Il1<!lhod di"Cu." a1 in Eqs. (3.2.59}0 13.2.60). Comparing &t, 15.2.35) wi th Eq. (.U.59), we have tbe following dcfillib(Jn~ :

'"

2h'

'"

"

Figure 5.2.J3 Comp(Jund be:UJI with an internal hinge.

260

M tNl Nom.CTIO", TOUIL Hr-.lTl t 1,1 MF", r \11:1111)1)

SubMiluting (3.2.6Oc) lor u! =8: into (3.2.6Oa), we obtain

K "" KJ! _

K I2

(K22)

-I K~l

- 6!r
>=-

1 [ 12 - 6ft

h'

4/,1

- 12

M,

~3E/[~h h'

-h
,,~

-I

--I]"] r" I
6h
2 1 - II ' , h12 311

II 2/;. 1 - - 1 },1311) -3h 4/:.'1 h i

h
1

Thu>;;. the cquatjon~ for:1 be-nm clement with a hinge aI node 2 can be written a~

~[~h
h! _ \

- h -J h' h h
0 0

Similarly. we can derive Ihe clement equations for a beam clement \\ jth hinge at node J

~] "
0,
"1

w,

F,

1',
~

F,

(5.2.36)

(5.2.37)

As a specific eXlunptc of applicHt ion of tJ1C cqlUltion~ derived. c()n~ider the bt!am in rig. 5.2.13. We U~e II two-dement ntl">h. with dement 1 having the hi nge at it~ node 2. while element 2 is Ihe usua! beam elelliellt. i'he as,;emblcd sy\tem of equations i~

, , -"
EI

o
Il

" " o
o

;;t+bl

"

o o
I~

o o

0:
>1'1 ~ "" ~

0:
Qi

-~

-~

-tt

-!J >

, "
1

" ," it "

"

01 wi
Of

Q +Q 1 ; Q!+ Qi

"
6 6
(5.2.38)

-b

0:
Q~

Using lhe b(lundary eoncli l ion~

",:=0. wJ=(),
'+!l ;r h' -~

0;0#-0. Q~=O. Q~+ Qi=o.

QJ +Q i=o

""c obtain the condensed equations

"

(5.2.39)

CUAI'TI.K \ HI.AM ~ AI'U I'lIAMI ~

261

nod the solutiQn is given hy

5.3 TIMOSHENKO BEAM ELEMENTS

5.3. 1 (;uwming E<IUl.ltions

Recall that the Eul er Be rnoul li hcam theory is ba~ed o n the assumption that pl ane cross .. cct i o n ~ re mai n pla ne :md /lorllla / to the longitudinnl ax i.. afte r bend ing [see Fig. 5.3. 1(a )]. Th i~ assumptio n re .. ults in .. ..ero t r:Ul ~\e~ "hear ..tra m. Whe n the no rm:.lity a!> .. umptio n il> 110 t used. i.e .. plane .. ect j o n ~ re mai n pla ne but not neces..ari ly nonn ;.l to the lo ngitudinal ax i ~ after ueformali Oll . the tran s ver~e .. hear strain y, : = 2f\ ~ is not len>. The refore, the rotation

,I,

dll

Undcformcd

cd~c

l'>cfomlcd edge
(II)

"
,

"

Und dbrmed edge

T- ~ " .L ...
'h ,

.. l.c) " "

u+ :'1'

Fi~urc

503. 1

(1I) Kin ernmlc~

shcn ~ o

of the Euler- BernoYl1 i beam theory. (b) Kinema tics of 1he Timobeam theory where no rmals before dcformm ion no longer remain normal after

d e forl1l~ l ion .

262

AN lr-'lRODL'C' II!)~ TO 1'111: I'I~ITEEU MI.,,-r \110111(1)

of a t ran wcr~e normal pl(tne abo ut the y-ax j ~ is not equal 10 - dll' ldx Isec Fig. 5.3.1(/)) 1. Beam theory based on the<,c reJa.xed a~~urnp ti ons is known a~ a .rhellr deforllla/ioll IJewlI theory. I11m t common ly known as the TIII/wilelllw beam theon. We denote the rotation ubo utthe y-u.x i~ by an independent function tV {x). The equ i librium eq uations of the Timo~henko beam theory Isee Example 2.4.3; al<;o ~ee Reddy (2002)1 are the <'; II11e a .. those of the Eulcr- Acrnoulli beam theory (see Fig. 5.2.1 ). hut the kinematic relations are different :
(IV ri M dtV - - + cf ll' = q. - - +V = O. /11 = 1 - , V=GA K s

dx

dr

dx

( -+ ~ dlt')
dr

(5.3 ,1)

Thus. the governing equation!> in

t crm ~

o f the deflection

II'

and rotation tV become

(5.3.2(/)

d d - - [ GAK, ( l1J + - ... )] +cf w = q

(Ix dx

-dx

1 +d (""') +GAK. (d"')

(ix
lV

dx

~O

(5.3.2h)

where G i", the :.hear modulus and K . i ... the ~he(/,. ('orrectioll ("oefficiem. which i!> introd uced \0 account for the differe nce in the COlhlant ... tate of ~ h ea r ... tre~s in thi .. theory :lIld the parabolic variation o f the <;hear slre<.s predicted by the elasticity theory throullh the be:lnl thickness. All other quantitie ... have the ...:lIlle meaning al> hcforc. Fot short and chubhy bea ms (i.e .. lengl h-lO-heighl ratio Ic ...... than 20), tV =1= - (dll' Id.l) and the difkrence. tV + ((III' I d.~). i" the tran ~vcr'>e sheilr ... train. When the shear stmin is ,-cm (i.e .. for long !olender bcam~ ) ....ubstituting the second equat ion Into the fin;t for CiA K, (\IJ + dll" l dx) and replacing l1J with - ellI' I dx, we obtain governing equ ation (5.2.1) of the Euler- Bernou lli bC:llll theory.
5.3.2 WCl.lk Form

The weak fonnofEq s. (5 .3 .2a) and (5.J.2b) O\er3n clemcnt n~ = (x" . l" h ) can hedcvclopcd u~ing the uwal three-step procedure. as al ready discu""ed in Example 2.4.3. Atlhe end of the <;.econd ~ t e p (i.e .. after Illtcgralion by pa I1 ~ ). we obtain

J" o ~ J"
o~
'_
'.

[dill GAK , (tV

dx
d\

+~) + (" / dr
(lV

11 1\\' -

l' l q] tlx - [IIIGAK I (lV

+ ~)]"
tlr

'.

[dV 2 I dtV
dx

+ 1'2GA K,

+ dll')] dx - [V:! I dlV] "

(ft

d:r

' ..

The cocnicients o f the weighl funct ions VI 3nd v! in the boundary inlegrab are. re~pective l y.
CiAK,

( ""') (Ir
\IJ + -

,,~

iiii V

and

/ - e M
(/\

(5.3.3)

where V is the ~hear force and M i... the bending moment: these coeflicient~ con,titute the -.ccondary \aria blc .. ofthe weak fornI , The weight functions 1'1 and v~ nlU~1 ha\e the physical interpretations ,uch that the product, t '! V and l'2M IHI\e the unil~ of work. Clearly. lit mll~t be equivalent to (the variation of) the tranwcr,e deflection 1\" . and l'2 must be equivalent to

CIIM'l LIt .'. BloA~N ~NI) IllA~II. "

263

(the vnri mion of) the rotation function tlI;

LIt - II' , 1 - tlI '1

lienee. the primary variable of the formulation arc II' and tlI . Denoting the shear forces and bending moments <lllhe endpoints of the clement by tbe cxprc~s ion~ !cf. Eq. (5.2.3)]

dx .. , [ ( "H')] 1= -V(x,,) Q, IE- (""') 1 . ,ir '. "H')] I = V ex,,) Q;,;: [GAK. ( 1 , (-""') 1
Q, s - GAK,
EI tlI+
~

= -M(.{,,)

(5.3.4)

tlI + (Ir

I,.

Q4 =:

dx

= M(_l ~ )

we anive HI the linnl \'.-cak !>Ialcmcnls o f Eq .. , (5 .3.2(/) and (5.3 .2h):

"

1"[GAK< ~ (\II + (/11') + o ~ 1" + (\II +

o~
Cf

'.
t.

dx

dx

I'tll' - l),q] dx - v,(x., )Qr llll')] (Ix -

1I, (.rl!)Q~
(5.3.5)

[E I ,/i'1 (141 dr d\'

G A K, V2

dx

V~(.l <l )Q~ - V2(XI! )Q~

We note thaI Q~ ha\ c the <.ame meaning a. . "ell a. . sen<..e as in the Euler- Bemoulli beam theory. We can idcmify Ihe bilinear and linear fonm. from Ihc "cal... form s a<..
IJI'I , t'~ ) . (II'.

\II)) =

1"[
,_

GAK, - .

(d'" + l'2 ) (\II + -d"') + EI - - -(/.1 d1 ""''''''] d .l dx dx

Equation~ (5.3.5) arc equivalent 10 Ibe statemenl of Ihe principle of virtual di"pl ..eement" for Ihe Tirno~hcn"o beam theory. The \()ta l l~Jtentia l energy funclional of the bulated beam finite clement is given by l~ee &1 , (2.4.40)]

n A il'. IV)

=::

1'" [f~1 (d"') ~ + G~K, (dll' +

t, _

(Ix

ll.\

1V) 2 +

~("

11,2_ WQ ]lIX

- II'(X<l )Q~ - 1V(.r,, )Q ~ - \I'(x,, )Q ~ - IV(X,, )m

(5.3.7)

The tir~t term In the ... quare brackct~ represents the clastic \train energy due to bending. the ~econd lenll represent.... Ihe cJa<;lic energy due 1 Ihe tranwerse \he .. r defonllalion. the third 0 i~ the ~train energy ~tored in Ihe elastic foundation. and the f01ll1h is the wurk dune by the di,tributed load: the remaining I c rm ~ accounl for the work done by the generalized force, Q ~ in 1I10ving through the respective genentlil.ed di<;placcll1ent~ (II'. IV) at the ends of the clemcn\. Oncc again. the principle of minimum 101:11 potenti .. 1 energy. 6 nr =:: 0, gi\e<.. the we.. k forms in Eq. (5.).5) .

264

~\ 11<. lItOmrn()'1 I'nll1h 1 1'1111 iii nu'I'1 ~Wf1lOl)

5.3.3 Gcneral Finite Elemcnt Model

A do<'c c'(aminalion of the lem1:>. in (5.3.5) show/> Ihal both \I' and lJI arc ditTerentialed only once with re):pL'Ct t(l x. Since the primary \'ari ablc~ arc the dependent unknown:. thel11~cl vc~ (and do not include their deri\'ati\'e~). the Lagrange inteqxJlat ion of both II' and lJI i~ adll1is~ ible here. The minimum admissible degree of interpolation is linear. ~() Ih:lt (/11' 1(/\ # 0 and (/lJI 1(11" # O. The va riable~ II' and III do not have the ~ame phy):!ca! unit~: they can he inlerpor.. tcd. in lleneral. \\ 1 different degrce~ of interpolation. 111 Let u<, (~olh i der L::lgmngc interpolation of wand til in the form
\jJ

" L S;t; ~ 1

,,

(5.3.H)

where 1/I!1 and 1/1 ;1. arc the L'lgr.lIlge interpolation fllnetion~ of degree 1/1 - I and /I - t, . respecti\c1y. In general. III and /I arc I11dependl'nt of each other, although 11/ = /I i\ Ill(),' commnn. Ilowever. when 111 = Jl = 2 (i.e .. lincar interpolation of bot h II' and lJI is u,cd: ~ec Fig. 5.3.2). the derivative of II' i~

which i, clcmcntwisc-cOtl"la nt. The rotation lJI . being. linear. is not c()n .. j~tent with 'hm predicted by w(x). Ior thin beams. the transverse shear deformation i~ neg ligible, and we rnu\t ha\c \jJ = -cl\l' l lh. which re(!uin.!s
fb s;--II,
X

- x" .....~~7---" + 5.I - ~-- = --- ,, ~ " .!.; ; ,,

,ide~).

or. equivalently (by equ<lting like coefficients on hoth

which fI1tllm

requirc~

s;' = S~=-

\,. ~

W i'

I
" r

(5.3.9)

Thi.., implie, that lJI(x) is a t"(lIlstant, i.c .. S;' =

~.lh- X

s;: =

S~:
I" "'"

tII (x) = J, - - - + S';"--- = .) II ~ - II,

X -

(5.3.10)

Q~--.\/l'")

,--....,
10

Q.. - I'(.,) ;
(II)

-1

1 M
be<lm finite clement. (a)Gencrali/ed di.;placcmcnts. (b)Gcncrnli/cd

Fi~urc

5.3.2

LinearTif1l(l~hcn"()

force ...

ClIM'l'rM <

Il~M~ ANI) ~ltA~U \

265

However. a constalll "tate of IV (X) is not admissible because the bending cnergy of the element.

f ""'-'- (d")' d,
'. 2 d.t .
fUf'killg.

(5.3. 11 )
.~ "e(/r

would be Icm. This numerical problem i, known in the finite clement literature ali To overcome lihear lod.ing. two altemati ve
polynomial~ p rocedure~

have been u<;cd in the literat ure:

I. COlIsi.wefll illte/po/arioll. Use an approximation of I\' and \.II ~UI.:h that rllI' l dx and IV are

= /1 + I). 2. Re(/lIce(/ imegr(llio/l. U~ equal interpolation (i.e .. 11/ = 1/) for wand IV ilnd eval uate thc bending sti ffness coc llici c nt ~ as~ociatcd with (5.3 .11 ) u,;jng a numeri cal imegration rulc (tu be discussed in Chapter 7) con,i~ t em with the actual intcqx)lation of tV . However. the :.tiffn ess cocfliciems :1:'1<ooci ated with Ihe , hear energy
of the saille degree (i.e ..
//I

X,

~,

GAK. --- (d ll' + tV ) ' -2

(Ir

(1.\

(5.3. 12)

Illust be ellalU:lted u~in g ,I numerical integration ru le that trem, IV :I' if it i.. the ,ame order polynomial as (/11' 1(1 x. Thus. if It' and \.II are approx imated with li neilr po lyn()mials. t / II' I dx i ~ a conWl11l and \.II i ~ linenr. In evaluating the stiffncss tenm coming from the shear energy (5.3. 12), wc must usc o ne-puint intcgriltion. il ~ dictated by dll' lflx and nut IV . Note that one-point integration in this case h , ufficienl to evalu:l te the bending cnergy exact ly but not the ~ h ear energy beeau~e it is quadrat ic in IV . TIlIl'. it amounts to underin tegrating the term. Thi s is ~nown as the redll('C(1 illtl'grlllioll techn i4ue. For illustrative pUr]XlSe1<o. we ta ke a detailed look at the exprc<;<;ion

--

GAK' f'.'" (dW+ \.11 )' d., = - - [(d'"+ \.11 )'1 , uAK, 2 (Ix 2 (Ix
GAK. llr 2

... +/0,/2

] h,

where x = x" + ~ h r is the midpoint of the elcment and II , i~ its length. Sub~litu t ing (5.3.8) into th i<> e~pression (with 11/ = /I = 2) :lnu equating to zero for th in beams, we obtain

( -'~;~---" +~I --+ S.-~ W~l 'eX1, - .1 ,~ J "

II , II" hr

-x" )'1
, oo,.+h,12

= GAK. II ,.

(H'~

II,

- \I'r + 5j' + S~ ) 2 = 0 2

(5.3.13)

which i ~ a weaker requ irement than (5.3.9). i.e .. if (5.3.9 ) holds. then (5.3 . 13) aho hold~. but (5.3. 13) does nut imply (5.3.9). We no te that (5.3.9) I11l1,t hold only for pmblcills fo r which thc tr.mwerse ' hear em.'rgy (5.3. 12) is neghgible. In su mmary. we u~c either con.. istcnt intcrpolation ( /II = /I + I) or equa l inleqxllation with reduced integration in the evaluation of the trHnsver~e ~ h ear .. tiffne ~~ coeftki cnh in the TinlOshenko beam de ment. Wc con... idcr both fonns of clement, here. Fil... t, we completc the fin ite clement model development u~ i n g lhe gencral interpolations given in Eq. (5 ..1.8) and then di~cu ss the ~ pecitic choit'e of int crpo l ;\ t iun~ functions used for II' and IV ,

266

AI'> 11'>'T~ODLCTlO'l ToniE 1"I'II1'r ELHIE.'IT METIIOD

Substitution of (5.3.8) for W [lnd ~. and VI = o/i(l ) [lnd Vl = T/I,(21 into the weak form s (5.3.5), we obta in the following finite element equations of the Timoshenko beam c lement:

(i = 1. 2, .... m)
m

(5.3.14)
/I

o=
where

LK;~lwl
j=1

+L
j= 1

K02Sj - F/

(i= 1,2, .... n)

K22=
'I
I

F,=

1"( 1" '.

x"

dof'" EI ______ +GAK,0/.t 21.t//2J ' ' dx dx " }

( 11

'Ii''''

dx

(5.3.15)

qo/i,Jx+Q2, 1,
i~

In the interest of clarity. the element label e on the quantities can be wr'ilten in matrix form as

omitted. EquaTions (5.3.14)

I K" I [ IK 21 1

(5.3.16)

The finite e lement model in (5.3.16) with the coeffic ien ts given in (5.3.15) is the mo~t genera l displacement nnite clement model of the "l'i Illoshenko benlll theory. It cnn be used to obtain a number of special nnite clement models. as discussed next.

5.3.4 Consistent Interpoln1ion Elements

The first consistent interpolation clement (CIE) that we will cons ider is the one in which quadratic interpolation is used for II' and linear interpolntion for ~ so that dw/dx and ~ are of the same order polynomial (and hence. no shear locking occurs). That is. we se lect 0/,(1) to be quadraTic polynomials and T/I?J TO be linear polynomials. For this choice of interpolation.IK 11] i~3 x 3, [K t1 1 is3 x 2. and IK221 is2 x 2. The explicit forms of the matrices. when lund G A K, are comtant. arc (note that some of the matrix coerticients are readily available from Chapter 3)

-8
- 8 7 -8
16
1]

'.1", +- [
30

2
2 - 1
4

16

n IA I'll;K '

~l.AM S ""U FRAM I'..~

267

IK 22 I

~h~

1 [

I
_ I

- 1 ] +G~ A~ K'hf [2
I 6 I

']
q r
~

(5.3. 17)

When cf = 0, the finite clemcnt e(luations for this choicc of intclvolatio n are given by (see Fig. 5 .3.3)

14 - 16
GAK1
61r ~

- 16 32 - 16 4h r
- 411,.

2 - 16 14

- 5h ~ 4h ~

- ll r
- 4h ~

11'1

Q~

2
- 5h r
-h~

h,
211 ; 1:,.

5h ~

11'; 11';
S',
S'l

h,
5h ~

h ;0.
2h; Ee

'I; Q~ 'I; + Q',

0
0

(5.3. 18)

11;8,

Q; Q:
(5.3 .19)

where

1\. =

E r /r

G. Ar K, h;

Ito = 121\ .

8 . = I - 61\ r.

I: r = I + 31\.

(Q~ . Q~ , Q~ . Qn are the gcneml i7.cd forces defined in Eq. (5.3 .4). 11' ; and Q~ are the dcfl ection and appl icd extemallood. rc~pcc ti vely. at the centcr node ofthequadratie clemcnt. and

qr =! .' l/ti'1 qdX.

(i=1.2.c). ",; I)= quadratic

(5.3 .20)

This element is designated llS C IE- I (sec Fig. 5.3.3). Note that nodc c. which is the center node of Ihe clement. is not connected to other elements. and the only degrec of freedom lhere is the transverse deflection. Thus. there arc different number of degrce~ of freedom at different nodes of the element. and this therefore complicates the assembly of clemcnts and its implcmentation on a computer. Hence. we eliminate the node c dependence in the system of element C<luatiotl). by condensing out II'~. The second equation o f (5 .3. 18) can be used to expres~ 11'; in terms of wi. S 2'.

11',.

S q r. :.

s',
tel

s' l
(k
2

Qq ;. ;
to
Or

Q;. (
{) 2

"" "" "i:-i . !{

...~ ,

".;'

"" "" f-"H

0;. q;
Q~

" q.

Q'

J' q J

(0 )

(hi
di~place

Figure 5.3.3 Consistcnt interpolation Timoshenko beam clcmcn t. CIE- I. (1I) Gcnernliled ments. (h ) GCllcralil,cd force s.

26M

i\NI ....IlI:OIlIorJlO\'ITonU nNrn'. U~.\IINT\lli:nlOD

:mtl Q~:

(5.3,21 )
Sub~titu tin g

for I\' ~ from Eq. (5.3.2 1) i rllO the remaining eqllati()n~ of (5.3. 18) 1i.e .. eli l11i nate
-3 !J~

11'; from Eq. (5.3.18)1 and rearranging the equations. we obtain

-6
3"~

(2,',) [-;",
I(olr~

" ; ( 1.5 + 6A ~)
3"~

";(1.5 - 6i\~)
]"~

-3",

1,
S'

- 6

-3 "~

" ; ( 1.5 - 6A ~)

1/;( 1.5

+ 6i\ ~)

5;
(5.3.22)

~qr I .

, ."

,,' + 1i,' 2 2 "

"" "i,fl,
r~

+
Q~

where ii; = + Q;. For simplicity. but without lo~ s of generality. we will assume that Q = 0 (i.e .. no external point force h, placed at the center of the clement) so that (1; =q;. : Note that the load vector is e(luivalent to thaI of the Euler- Hernmtlli beam elernent lsee Eq. (5.2.18)1. In fac t. for unifornlload (J.the load vector in Eq. (5.3.22) is idemicalto the one in (5.2.18). Thus. the CI E- I clement. for all analysis steps. is exactly the same a~ that shown in Fig. 5.3.2 with the c lement equmions given by (5.3.22). Il owever. one must keep in mind that II' and lit arc determined by quadratic interpolations functi()n~. The second consistent interpol:ltion element. denoted CIB-2. i~ ba~ed on Lagrange cubic interpolation of \t'(x) :Ind quudratic interpolation of lJI(x) . However. thi~ clement leads to 7 x 7 clement stiffness matrix with seven degrees of freedom (11']' \\"~. 11'). II'~. Sr. S2". Sj") per clement. Elimination of Ihe intern:!1 nodal degreeo; of freedom will result in u 4 x 4 m:llri:<. Alternatively. the same clement can be derived dir(.'Ctly by :lssuming Hermite cubic interpolation of lI"(x) and a lJe,H'lIllent quadratic interpolation of IJI (x). This approach leads to an e1emem that yields. as a 'Oped al cuse. the Euler- Bemoulli be:llll dement Isee Reddy (1 997.2000)]. The derivation i~ presenled here for the case c = o. nle exact solution of Bq". (5.3.2a) and (5.3,2b) for the homogencous case (i.e .. if = 0) "nd when cf = 0 is

q :

w(x)= -

~1 (CI -~l +(2);2

2 +C1.\"+(4)

+ G~K. ("IX)

(S.3.23a) (5.3.23b)

where ('1 through c~ are the conSlant, of integration. Note that the constants CI. C1. and c, uppellring in (5,3.23&) are Ihe same as those in Eq. (5.3.23(1). T his suggests that one may use cuhic approximation of II' (x) lind an imenlepelldem quadr:llic "pproxirnation of ~ (x). The rc~u1ting finite element model is termed an illleniellellllem illterpolllliml eleml'lII (I IB). Since the solutions in (5.3.23(1) and (5.3.23b) arc v"lid also for It typical finite clernem (replace Cj with c;'). we proceed to express in tcrm~ of the nodul va lues of w and ~.

c;

The resulling four relat io n ~ alllong (wr. 11'2' sr. S5) und subMituled back into Eqs, (5,],2](1) and (5.3.24b), give

(cr. c2. c~, c~). when inverted and

(5.3.24(1)
J' I

m " lI'(x)::::::wZ(x)= Lij,16}. llJ (x)~ IlJ;(x ) = L (jl;6~

1= 1

a.~=ll'r,

a. 2=Sf,

a.~=I\';.

a.~=.s2

(5.3.24/)

where ij,; :tnd

f{!;

arc the appro'(irn:ltion functions

iPr = ...!... [/lr - 1 2A~.i I',

(3

q,j = - I [ (3 - li)j'

iP~ = ~ [( I -

",

+ 12A,.f1
-.0

I'.
I

0 .1'2

+ 6t\" (I

i]

(5.3.25(1)

f{!f =
f{!~ -

- - 0 - .f),f II r /l,

, _

- (J.t,-4x+3.1 - 1_11.".1:)
/1 ,

~2

f{!~

- - - ( I -.f),f "rllr

f{!~

= -(3.1' - li + 1211.,.1')

I',

(5.3.25b)

Here. i is the nondimensionalluc .. l coordinate

X=-- - .

x -.1:"

h,

II , = I + 1211.,.

(5.3.26)

Note thaI the Hennite cubic interpolation functions j(.I:) of Eq. (5.2. 11 ) arc a special case of ij,;. i.c" can be obtained from 4>; by setting A, = 0 (hence. ~I, = I). Substitution uf Eq. (5.3.24(/) into the total potenlhl l energy functional in (5.3.7) and d ifferentiating it wi th respect to yields the fi nite clement model

4J;

6r

IK'II"'I = 1'1'1 + 1 Q'I

where

(5,3.27(1)

{f,'

1" '.

ib~q(x) (Ix

(5.3.27b)

270

AN 1.' HKOI>I}CnON TO '1'111.

I~Nm , n .9IEI<o"l' .\IIIT 110 1 ) ha~

:llld Q ~ have the s:une meaning as before !see Eq. (5.3.4)1. Equat ion (5 .3.27(1 ) ex plicit form
-3" ~

the

(2Ef/ ) [ -3h~ ; 6
/1 ,,11,
where

2h ; I:. ,

-6
3h ..

- 23", /t 0

, '

1w,r
S'
w~

qf

Qr
(5.3.28a )
Q~

-6
- 311,
Ee /~

311 ,
II ; B~

6
3h ..

3h ~

2"; I:.~

S'

Q, '15 + Q; qJ

fir

/\ e =

G ~ A e K., h ;

Ji f

= I+

1 2/\ ~ .

B e = I - 6/\ e.

".. = 1 +3 /\ ,

(5.3.28b)

For uniform ly distributed load. '1(.1') = qQ the load vector in (5. 3.27b) yie lds .

l{/) = flolI ,
12 12

(5.3.2S<")

which is exactly the same as that in the Eu ler- Bernoulli beam elcment (ESE). Of course, for nonuniform loads the lo:td vectors o f the two e lements arc d iffe rent. In the thin beam li mi t( i.e .. /\, ~ 0). Eq. (5.3.2Sa) reduces to the EBEeq ulItions(5.2.17) and (5.2.IS) (w ith c = 0). The li E clement leads to the exact "Ixlal values for any distri bution of thc transverse load q(x) provided that the bending stitTness E I and shear stiffness KsGA afe elemcntwisc constant (and cf = 0). Such ,111 element is said 10 be SIIIJt!rCOIIr ery:ellI. Note that the bar clement and EBE :Ire aho superconvergcnt elcments (i.c .. bar element. li E. and EIlE yield exact nodal val ues of the respective theories).

",

5.3.5

Rcdlll~ed

Inlcgmlion Element

When eq1l3 1 interp()lution ofw(x) and !.J.! (x) is used (/II = II), all Sllbmatrices in (5.3.16) are of the same order: fl x 1/, where /I is the number of terms in the polyn()llliul (or fl - I is the degree o f interpolation). The c lcmenl coeffl eicnt matrices Ki~l. K ,~2 as well as the tirst pan of K ,}2 must be eV(t lu3led exaclly. The second pan of K;}2 is to be evalu:lIed using reduced integration. For the choice of linear il1lerpol:Ltion functions. and for clementwise constant values o f G A K, and E I . the matrices h:Lvc the followi ng ex plicit values (whe n cj = 0): !K II I = G , A, K , [
h~

1
- I

- I].
I

[K I2 1 = G~A~ K.,
2

[ - :

- :]

1K 2' ~ - , 1, [ "I he - I

1-I] + -'-'--';--'-'GtA~ K ,. ht
I 4

(5 .3.29)
[" I '] I

where one-po inl integration is used to evaluate the second pan o f I K 22 ]. Note that! Kill. ! K 12 1. and the first part of! K 22 1 can be eva luated eX:Lctly with one-poilll quadrature (i.e .. numerical integration) when I lind G A K . are constant because the integrands of these coeffi cients aT constant. Iknee. o ne-point integration for [ K"f! I satisfi es all the rc<lu ircmenls. e The result ing beam clement is termed the reduced integration clement (RIB).

C'IlAPl1:R ,. I\[AM~ AM) I'1t"~Il'S

271

The clemen! equrllions of the RIE are (at = 4Er /r / Gr A,. K J )

-2" ~

G,A.K, [ - ;/,.

411.

-4 - 211,.

II; +a. 211,.

-4
211~

II;

4
2h.

-'/,']
,
- a~

11'1
S'I

211,.

h - a ,. ;
- 311,.

11';
S' 2

Q, Q,
Q;

q r
+
0

h; + a,.

Q ;
]
w'I

lf2
0

(5.3.3(Xj)

or. in altemative form (to resemble those of the EBE)

-6
311,
6

2, 1 [ - :/" . l.t o/l : - 6 -3/1 t

where

II;( 1.5+6A .. )

h; ( 1.5 - 6A ,. )

-3/',
311,.

fir
= q + ;
0

Q,
Q:;

S' I

311,.

11;( 1.5 - 6A ,. ) 3h..

h;( 1.5 + 6A .. )

w' S' 2

Q ,
(5.3.30b)
(5.3.3 1) (5.3.32)

Q~

lfr =

J" '.

>./Itqdx. (i = 1,2)
j{O = 12A,.

>./I, are the linear interpolation functions. 11 is interesling 10 nOle that the c lement stiffness malrix (5.3.3 0b) of lhe linear RIE is the s.1mc as that of lhe C IE- I in (5.3.22) obtained u~ing quadratic approxirnalioll of IV and linear approximation of 1jI. The only diffe rence is the load representation. In CIE- I, the load vcctor is equ ivalent to that of the Eu ler-Bemoulli beam theory. whereas in RIE it is based on (5.3.3 1). whieh contri butes only to the foree degrees of freedom and not to the moment degree .. of freedom. The qu,ldralic interpolation of both II' and ljJ with full intcgr..tlion oflhe element coeflicieilimalrices also suffers sl ightly from lhe shear-locking phenomenon. A uniform t wO-)Xlint quadrmure rule has the desired effect on I Kill , K 1 and I K 2I 1. i.e., I K II J. I K 12], and the 2). first term of I K 22] will be evaluated exactly and the second tenn of lK121 approximately. As the degree of approx iTllatio n imdlor the number of clements in the mesh i~ increased. shear locking wi ll disappear and reduced integr..IIion i... not nece..sary.
and 5.3.6 NUlIlericll1 Exa mples

Example 5.3.1

Consider a simply I,upPOrted Ocam under distributl.'d tr.m:.vcr'iC load of inten~ity qo. Thc following di/ta i... used in computing the numcrk-al values:

272

II~ INTKOI)l'C'rIO~ TO THl ~l~flE ELlI\.llKl' \11<'IIIOU

Tahle 5.3.1 Comparhon of the finite e1emcfjt sOlutions with the CXUCI ma.~imUIll deflcclion :lnd rotatilll"l of;j Sil;llply supponed iwtropic beam or Exa()lple 5.3.1.

Element

N-""j

N",,2

N~4

N~I

N~'
- "<litO) x 10-1

N ... 4

.... (z../2)( (I;IIJ;/q<,f.~)

ljmf<)r'l1ll004 (1../ H "" 10)

RIE

en;"1
In :!

fmr.t
RIE ClE-1

0.09751l 0.12875 0. J6OClO 0. 15625 0.09]79 0.J2504 0.15629 0.15625 0.076.39

0.14438 0.1.'52!9 0.16000

0.1.5609 0.15805
0.16000

o.:moo
Q.5iXOJ 0.500)} 0.500((}

0.46815 0.50001)
O.51JOO)

0.49219
O.500(l(l

0.""'"
Q.500(X)

0.1562.5
0.14066 0.14l!47 0.15629 0.15625

0.15625 0.152.38 O.U4J3 0.1.'5629

O.1562.~

Uniform iood (z../If

-= 1(0)

0.""'"
0.46875

0.37500

0,49219

lJ}:t
~:HE

0.""'"
Q.S{))X)

O.'501)(Xl .
0,50000

050000

0.0000
0.3\1543 0.11\705 0.38702 0.38702

0.50(00
9.:36702 031;702 il.38702 0.38702

osoooo
O.SOOOO
0.38204 0.38702 0.38702 0.38702

Sim wlrifll/l)lld (1./11 ",. JOO) ..

!tIE

0.u079
0.11682 0.12.322 0.12319

CH':' I
II);!

0.0%79
0.123220.12319

ESF,

0.12007 0.12163 0.123220.12319

N i:; lilt. numbtr \Ii" ekl{le~l$ U$ed In '"" hatf beam. 1$;"';1 ''''l,,~ t.on)l'lIre<i ll) t~ reopei:live beam {~

Two difti!reot be:lm !ength.\(I.. !Iei~111 ralios. 1..1 H = lO and L/ H ::::< !OO. ~rc cQnsidered. Table 5.3.1 bhows ,I cornparlson of the finite ~! ement ~() !utiQns obtai ned with one, two, ilnd four clements in half beam with the e.\act beam wiutions I'M tWO different types (Jf load~, namely, unifomllooo and sinu~oidallO:ld. TIle cxactsolulion~ ,lccording to Ihe two theone..' nrc gh'cn belOw [sec Wang et aJ. (20Q0)1.
Euler-Rcrnoulli Rcam TheM),

Unifimn Lotm
(S".3.]])
$inll.soid(l/ Wid

TimOlihenko Bl.\am Thcl)ry Uniform Loud

w1'{x)

[~t (X)+~MP(X)l=
OAK.
1/h' ~'

24fl

qilL

(1_nJ+.l~)+~(j_i1)
2GAK..
..

X <lJ(X)=-Tx=-24F.J(I~tif;+4(1), .l=1..
Sinusoidal Load

qoL 1

(5.3.34)

("11"'1'1-.;11

~ IlloA.\lS "~I) !lI1\\1ES

273

where the supcn;criptlo and T refer 10 the Euler- Bernoulli and 1iroo~henko beam thcQric.o;, ~pcclivel y. Clearly, more than 1\0, 0 element5. of CI E~ land RIE are required IQobiain ,Il-..-eptable solu[ioos. On the other hand, li E yield!> CJ(acl nO(i;I! \';l1 ue.~ wilh onc dement (becauM: il is a 1>upercoO\"Crgent clement).

Example 5;3.2
Con~ider the cllnlilevcr beam of E.x;lInple 5.2. 1. We wi~h to IInalYl.e the problem using variou.~ Timoshenko beam tiniteele.ml!nt~. The problem data" given ill (5.2.33); v =0.25. K, '" 5/6. TIle e~"ct soluiionol thc problclIllICcoruing to the Tinl(l$henko beam theory is given by \'>CC WalJg ctu!. (200011

~. dw t W'(.f).,..", -(x) GAK, [Mt-(x) _ }.II (0)]. III(.t) ... - -

dx

where ilj,lain the snperscriptj; E and 7' refer IQ the Euler- Bernoulli and 1'irn ~henksJ bellm theorie" re~peclive ly. Table 5.3.2 eontain~ the end delkClion weLl and end rotation IJI( L) f(lf't\\o, rlltlr, and eight c lcmen t ~ in full beam. To funhcr un<icr..ttllld Ihe effect of .. hear iQC.king. we (:onloidetTimw.hcnko beam clements with equal interpolation (,f W lind III. Linear as well 11.\ quadmtic el~ments with and Wilhoul n::Juccd integrnlhm are tested and the Mults are included in Table 5.3.3. It i~ clear th,\! the full imexrotior! elrmell/~ fi' IS) produce eITonevus results, implying that ~hear lOCking is present. Shtar locking groldu;llly ~anbhe~ a~ the mesh b refined wilh either liJtC-arelernent.,s or qtladra!ic clcmentJl. The foUowing genernl vbser"\'alion~can be made abQut V:lrious finileele ll\tnl nwdeb based on Ihe Tlmoshenko beam thl.""I:'ry: I. The RIE exhibits less lucking cllmpllred with the FIE. 2. As the numbet of elcmcnb in the lllC!;h is illCrca~ed or the degrt:e of approximation is increased (i.e., higher-ordcr eicmelli-S arc uo;cd), the iinile clement solulions obtained by IXJlh KI E and FIE improve: i.e., the elTe".-! of locking is reduced wit h mesh reljncmcnlS and wilh the U"C of higher-order clcmenh.

'fabJe ~.3.2

Compari~l,n of the linile clemem SOlutions obtained with V"J.rious types of finite clemen15 for the cantileler beam of Example 5.3.2.

.dL)(m)

- "'(L)
IIH

EBE
O.lCM3 0.1()..I3

il.lt;:
",," (J.070~

CI&I
(w ~"J >.II) 0.0914

hUe
0.05 12 0.0512
O.O~12

RIF..

Clfl- I

III! 0.0512 0.0512

0.05 12

Thin bellm. /I

2
4

O.()Q9~

8 0.1043 Thkl be~m, 1/ 0. 1344 Q.I344 4 S 0.1344

'0.3 (II" )( lolanu >It )( 101) U.1J55 0.1293 O.126~ 0. 1340 0,1:'32 0.1355 0.1351 0.1349 0.1355
-d,dd".

0.1031 O.I()..1O

O.IClliJ 0.1039

0.1043 0.10-13
O.H)4)

0.0524

O.O~ 12 0.O~ 1 2

O.05tS
O.O~I)

0.05 t 2

0._
0._ 0._

0.6150

06600

0.66311 0._

0._

0._ 0._
0.660:)

0."""

~haE.

... .. fI,

Table 5.J.J Effe<.t of reduced intcgrtuion oftranw~rse ~hellr eoel1ldents 01\ the ddlcction~ IIf t~ cantilever beam nf H:o:ample 5.:'-2.
Lhll.'llr
Stemenl Quadrotie

,v ... '].

1\'=4

N ""ll
O.I().lO

,v""l
{I. to-iS

,111 ... 2

N <;< 4

Thill beam, II <;<0.0703 (eliWl ...... (lIO-lJ)

RI C2xl)' 0.099~ O.lml FIE (2 x1) 0.0007 0.0021 1"bld;bcam.JI ""O.~(nacl>l' x lol ... o.J3551 RLE(.))(2) 0.1"2'.)1 o 1."WO nEO )( 3) (1014R 0.0442
I c,",,,,
"1ICt'~ ru)e u.,w
11)

0.0100
0.135 1

0.0771

0.1043 0.(971)

O.I{\41 01028
O.D55

0.1 "\61
0,1(\411

o 115S
0.1299

O.08<J2

O .I34i:l

ev:tl~a,""

bIrud,IlJ;..oo \hear \1:11:;.

3, nle IIE{l.e .. Iknnite euhic approxlmldion ()f wand n dependent qUlldrntic appw~it1l1ition vf w) with full integration yicld,~ CXllct nOdal Yl:lluell, 4. The clement with qu:klratlc approximation of boih It lind III !lnd reduced inlegralion of Ule cocffkicnts yields more accurate re..~lIhs than lhe erE ..... ith quadr.llic uppro~iOlaiion t>f II' :lnd tbe linear approxun:ltion cf III onJ with full integration of the coefl:"icicnls, 5. The liE is the be,'1 demcm for ~ Jnalysi~ of bending be:lIll~ I~\ II f..'()ntilUlS the EBB 3\ a s~ ial c,'I)e; liE automatically takes intI) account the (f"Jn!>\'cn>c ~h~;lr defonnation if it il. :.i!l:nificalli.

5.4 PLANE FRAME ELEMENTS

5.4.1 Introductory Comments
Recall that a bar element oriented arbitrarily in a plane is called a trlJ~ clement. A plane 1m"" clement contains two degrees of freedom per Olxk (II. II). :111 axial (II) and Irlll1sverM! di'placement (I). By definition. 11 barclcmenl can carry only :lxi1l1 1 01ld" and deformllxially. w herell~ bellm~ can !:Ike Iransvel""C loads lind bending moments about an axis perpendicular to the plane of the member. A ~U I)Crposi tio n of bar and be;un degrees of freedom give~ a finite element thai is known a .. 11 frame clemenl (see Fig. 5.4. 1). Members of a frame ~trlJclure ,Ire connected by rigid connections (e.g .. welded or riveted). and therefore axial ,lI1d tnmsver;e forces and bending moments arc devclol>cd in the members. The objective of this ~ec tion is 10 formu lale a t"nune finite clemenl, with the he lp of Ihc developments from Sect ions 4.6. 5.2. and 5.3.

5.4.2 Frame Element

In many tru ~s lind fmOle stmcture,. the b.1.r and bellm SlrlIclul1Il clements lire found in many dilTerent orientations (sec. for example, Fig. 4 .6.1). Analysi" of ~ u c h struc tu res fordi splacemen!!; and stresses require, the '>Cuing up of a global coordinate system and referencing all quantitic~ (i.e .. displac emcn t ~, forces. and stifTncsscs) of individual elements 10 the COIllmon (global) coordinate ~ystem in ordcr 10 assemble the ckmcnts and impose boundary conditions on the wholc ~tructure.

C HAI'I'ER ~, UF.A M$ ANI} ~'R,'M~

275

u; ----..c )
I

r--h.
+

[Jar cicmcllI

~
( >-----.- ii"{
2

Frame

ckmcnt

Beam

clcmcm FiJ;ll rt' 5.4. 1 Superposition of bar and beam clemen! to obtain a frame element [degrcCl. of freedom arc referred to the elernem coordinate system (X. y, Z) ).

A superposition of the bar element of Section 4.6 with the EBE of Section 5.2 or the Timoshenko beam clement (R IE. C IE. or li E) of Section 5.3 gives a frame element with three primary degrees of freedom (u. IV, S) per node (note that the transverse displacement v of Section 4.6 is now denoted by IV to be consistent with Sections 5.2 and 5.3). When the axial stiffness EA and bending stillness 1 llre cJementwise constant. the su perposition of the linear bllr clement with the li E gives the following element equations (see Fig. 5.4.1):

[Iil'l"J'~IFI '
or, in explicit form.
I'

(5.4.la)

- I'

21
/10 11 3

0 6 0 - 311 -M 0 0 -6 - 311 0

- 3h
h2(l.5 + 6A)

0 0
I'

-6 3" 112(1.5 - 6A)

0 0
112(1 .5 + 6A)

0 - 311

UI
IVI

51
11 2

3"
11 2(1.5 - 6A)

0
0

6 3"

3"

IV 2

52
(5.4 . 1b)

where

II q,
lil
~

QI

,
(5.4 ,2(1)

1,
q,

Q, Q, + 124 Q,
(i = 1,2.3. 4)

(5.4.26)

276 and

Ai'. INTItOlll.:CTlON TO nil; ~l"rn! I:I.rMI""T MHIlOU

(5.4.3)

In &1. (5.4.2b), denotes the distributed axial force, qr the distributed transverse force, 1/1; the linear interpolation functions. and the Hermite cu bic interpolation fun cti o n ~. In the following paragraphs, we develop tran ~fomlation relations to express the element equat ions (5.4. lb}-valid in the e lement coordinate system (.r. y. Z}-IO the global coordinate system (.I., y . z) . The local coordinates (.fr , y~, Zr ) of a typical clement 11,. are rehued to the global coordinates (x. y, z) by IeI'. Eq. (4.6.2) 1

tP;

(5.4.4)

where lhe angle a. is measured clockwise from the g lobal x -axis to the clement l .. -axis. Note that the y and }i,. coordinates are parallel to eaeh olher. and they are 0111 of the plane of the paper (scc Fig. 5.4.2). The .!>amc transrormat ion relat ions hold for displacements (u. w ) along the global coordinates (x. z) and displacements (iUil ) in the local coordinates

S' I

r.;

-fi
"f
1 I

- - h, - -

r-;"
W;
'h)

(0)

s
a

.'
I

WI'

h,

w' I

h,

., ., ,

"

"

"

,
,,)
"'i~un!

-,

.,

i,

i,

w'

"n

5.4.2 (/I) GencrJlifL"ti displacemcnts. (b) Gcncmli/.ed forces. (el Gencmlilcd disp lacements in the clcmcnt coord inates. (t/) Oencral il.cd di splm.:elllenls in the global coord inmes.

ClI"I'IUC ~ IIHAMS ANIl F1I"'~E.~

277

(.f. ::). Note that there is no dh.plllcemcnt in the direction o r the coordinate y (i.e ..

v = 0). However. there is a rotmion :lbout the y-axis. :lnd it remains the s:lme in both coordinate syMems because y = y. Note thm rotation 8 is equal to - tllI' / (/x in Euler- Bernoulli bc:llll theory and it is equOIllo ~ in Timoshenko beam theory. Hence. the relationship between (/1. 11', 0) and (II. IV. {n can be written as

\
by
ii 1

"1= [CO'" ' - s~na

sina cosa
(5.4.5)

Thererore. the three nodal degrees or rrecdom (ii : ,IV~ ,.s~) at the ith node (i = 1.2) in the (.f, v. ::) system are related to the three degrees or rreedom (., ~. II'~. Sj) in the (x, y, ;::) system

,
co~a

sinO' eosa

0 0
eosa sina cos (1

ii>,

- si na

'"
11'1

5,
ii2
11'2

0 0 0

S,
-sina

(5.4.&1)

5,
0'

"

'"
11'2

S,
(5.4.6b)

IN ) =

[T" H 6~1

Atwlogously. the clement force vectors in the local and g lobal coordinate systems are related according to
(5.4.7)

Returning to &1. (5.4 .1(I). we subst itute the transrormation equations (5 .4.6b) and (5.4.7) inlo (5.4.1 a) and obtOlill

Premultiplying both sides with

In 1= [TJ1', we obtain
(5.4.8)

where
(5.4.9)

11l11s. if we know the clement matrices I K r and I F)' or an c lement Q, in the local coordinate ~ystem (i. y. Z) the cleme nt matrices in the global coordinate .. ystelll are obtained by
(5.4.9).

Using [K ra nd 1;:'1' from Eq. (5.4.1 b) in (5.4.9) and carrying oUllhc indicah:d matrix IllUlliplicmions. we OIrrive at the following clement stiffness matrix [K " , referred to the

global coordin:IICs;
/.1. I.:OS 2 ct

+ 6 ~ i 1l2 ct

(Ji. - 6)cosO'sinu
11 ~ in l u

311 sinO'

(Jl- 6)ct>~us inu

6cO$ 2 a

-3hcosu
11 2(1.5

311 sin u
_ (j,lCOS2 u

-3h COsO'
-(Jl - 6)silla cos u - (/l sin1a + 6 cos 2 a) -3l1 cosa
- (/.1 - 6) cosa~i na - (/(sin 2 a + 6co~2 a)

+ 6A)

+ 6 sin 2a)

-3h sin O'

311cos a h! (I.5 - 6A) 3h"ina - 3fICOfiO' 2(1.5 - 6A) 11 -3/lsi na 3hcosa 2( 1.5+6A) 11
(5.4.10</)

-(/1 - 6)cmasinO' 311sin a - (I1.Cos 2 a + 6 sin1 O') - (/1-6) fii n acol>a -3hsi n a
(/lcos2a+6~in2a)

311 cos a
(/1- 6) cofiasina

(Jl- 6) co~O' s ina

/lsin

a+6cus 2 a

-3hsinO'

31, co<;a

F, F,
{ F )'=

F, co,O' - F2sina

F,
F, F,

F, sina + F 2 co~ a FJ
FJ cosO' - Fssina

(S A . lOb )

f (,

F4 sina + Fs cosa F6

which il> the clement force vector referred 10 the global coordi nates.

Example 5.4.1

.rtk! frome li'rttCture shown in Fig. 5.4.3

IIlCOlben.

i~ to be analYled for displlK.'Croenh;lfld force..~. BOth of the structure are made of the same material () iltld na.ve the $affIC geometric propenies (A, I). The ekmenl sti!Tnc$~ millrices and force \'CC1011> i.n the global coordin;ltc system (x. y. t) can be c(lmpuu.:d from (5.4. 10a) nnd CiA. 1Ob). The geometric and material propcn ics of each clement are a., follow~ (j ;1> the a1(iaj lind q is the trrulS\'cn;c: dhuiboted

l03d).

EJe,uenl I.

q lll:=.-

Iblin.

(5.4.11)

The .1'11)11$ isout of the plM>c (lIthe: paper, and

61~ ~raJ

,I

clo.:lw;\C from x-aX'~ tOX"M~ Wm.l,/ 1O,"4.r. )Ox !O~p$'

,r
2P

,,+hi,
~I

,
_Ib in.

(5'+ql

,
-, Q,
Q,

r
B 1441R.

-1 Q

,.

12
(l, ..

144 ill.

L~
a;
+ ii~

;';l
~.

...YQ

Q~"~'

-,
(h)

""
figure 5.4.3
(0)

~~-~n'(;)
'oj

(2,1.,.7,1

Geomccry and loading. and (b) member

ft)rcc~

in the plane frame S!rur;:lUre

of EXllmplc 5.4.1.

[K I 1.= let'

0.0000 - 0.0289 - 0.00I).I O.{X)(l() 0.6944 0.0000 0.0000 2.7778 0.0289 {).()O().l -O.{lOO4 0.0289 0.0000 0.0000 -O.69.J4 0.0000 0.0000 0.= 0.0000 -0.0289
-(l.O289 {UXl(lO
! .3889

0.0000 - 0.0289 ~O.69.J4 0.0000 1.38X9 0.0000

{l.(JOO(l

0.021)9
0.0000

0.6944
O.OO(XJ

(l.02R'J

2.7778

!III

<=

Pjl.O

0.0

-24.0

1.0 0.0 24.0)1'

t: lemenl 2.

(5.4.12)
The load fit:= 4 P lit the ccmer of the elem<!nt {(:os ~ '"" -0.6 lIud sin t;t =: 0.8) i~ distributed 10 the nodes acclJrtiing 10 Eq. (5.2.20).

0.3556
-0.2b66 -0.1)1 11 - 0.3556 0.2666 .... 0.0111

[K2j = lOS

- om J I 0.200 1 -0.0 148 IUH4!l 2.2222 0.2666 0.0 111 - 0.2001 0.0 148 - 0.0 148 LIlli
- {).266(,

-().3556
0.1)1 11 0.3556

0.1666 -om ll 0.2666 -0.2001 -0.0148

0.0148 -0.2666 0.200 1 0.0148
LlIH

- 0.2666
0.0 111

0.011 1 0.0 148 2.2222

u!)

== P{O.O 2.0 -72.0 0.0 1.0 72.01'1'

1be a-.sem blcd ~ti lTne."5 matrix nnli force V&..'1on. rut obtained by su pcrpo~jng the in,q thrcc rows :lnd col uilln~ (If elernent I to the fil'\t three 1\Wo'1> ond ct)lumn~ of clemeot 2. i.e.. the 3 x :l !)ubrnatrix ;w;oci;ucd with row>; and eolumn/O 4. S. and 6 of clement I. and the 3 x 3 \ubmatrix a:-.,\OCiotcd wi th n)w~ and colum,os I. 2. and 3 of clement 2 oYcrlilp i ll the ~Iobal !,IifTness matoll:. TI.e known g~metrie ixMlIldary condition~ are

(5.4.13(1)
~

force bourtdary CQlldltiOf\l> are

Q!+ Q; _ O,

Q ~+ Qi"' 2I'.

Q!+Q~""O

(S A . 13b)

Since all \p<x=il1e.! va l ~ ord~ ~-n bouncJasy conditions on the primary variablC'5 arc zero, the '-'<mden'>Cd Ci:IUmion!> for the unkllown genel'lIlil.(:d displil'-'eflleOl dcgrec...~ of fl"Ct.'dom arc

0.3560
l<t

-0.2666

- O.26(i<\
- 0,0148

0.8946 -0.0148

0.0178]

1V' I 1 2.00 I 1.
lJ~:::<

"

(5.4.14)

0.0 178

5.{)(O)

U6

- 4.8

The !oQlution is

u" '* 0.8390 l< 10 -<4 P (in.).

Uj = 0.68 12

l<

10-<4 P (in.).

U6 -== - 0.9(,10 )( JO i P (I':ld.)

(SA. 15)

TIle reac:tion\ and forces ill c:lch member in the glohal

the d ement cquol ion:t

coordinal c..~ can Ix'

comp\.Ited from
(5.4.11ia)

TIH~_

forces I Q< CIIII be Iran~fomled I

10 IhOloC

in the clement coordinatc sy~tcm by

nlean~

of

(5.4.7):

l(tJ=IT'UQ'1
Wc.ohtaill
4,731

(SA. 1M)

2.6.58
- 1.420
50.45

- 0.725

IQ'I=

10.9(M)

-4.731 - 1.275

P.

fQJI~

-0.258 - 1.780 -82,87

(5.4.17)

-50.450

T.. blc 5.4, I colltain.o; the dbplllCcrllCUi.'i oblajl1Cd by \'I1riou~ I YI~~ of e)clIlelll:. lit point B, As ttoted earlier. onc EllE or l i E per member ofa ~truclure gi\'c~ eX1le1dbplacen1cCnls. whe~a.~ at tea~t two RIE or em per member ore oeedcd to OOlllJn 8IXcptJble rc~ults. Thc fon;c\ III (3th demenl :itc incl\.lded in Thble 5.4.2. The forces calculOled from the element cquatillns are also exact for EBE and lIE.

ClI/II'rUI S HEA_\ISASDfRA MFS

2~1

l l1 bie 5,4.1 Comparison of the gencrali,cd di1opl:lcenlents liJ ~(vI P ( 10" where 1I is a typical di~pl:lCemcntl tit poill t Il of the (rame ~Iruetllre ~hown in Pig. 5.4.3.
Di,;pl. RJE(I ).
RIta)
RlE(4)

ern(l)

CIE (2)

CIE(4)

Uf:t

EBEt

W, -,
!

"

0.27092 O.847(,~ 0.84101 O.2!!435 U.84146 O.IB9!\9 U.1-I3898 0.1-13904 0.466(1:1 0.68(31) 0.68108 0.44315 0.68083 Ol18114 0.68123 0.68124 -U.0016 0.86647 O.945(}1 0.00036 O.n029 0.91640 0.96206 0.96098

Numhd" In IhI: ""~'" tblQleo- the "umber ot cklllC<lr> per member Vtl~ 'l.fC i~1i'nI (>( ,he nurut>cr 0( delt>Cn\lo (~I!d ~"". ,,-idt the u'"'" ""tile> prtdi<:lolOO by I.bc resputi>o: beam rhcoo<:.j.

Table- 5.4.2 Compari"On of the gencr:t.lil..cd forces (divided by P) in each member of the frame
stnK:ture.
Element"

Q,
J.n7 0.850
4.72~

-ii,
1.IIM

Q,
62.24 62.26 O.J32
47.70

-Q4
3.237 1.550 4.723 0.299 4.730 0'68 3.077 1.4t 3
4_728

-(),
\U36 2.292
U2Q

-Ii.
62.26 62.28 47.70 86.67 49.76 83.74
1738

Rial)

0.908
0671

Rttn)
RIE(4)

U>'l9

1.384
0.7 13 1.411 1.575

oem

"'"
2....

8.362 49_16

1.816 1.288
1.789

3.077

aw,
C1E(4) II El

0.987 4.128 2.6'10

4.730

.607
0.708

".39
50.37

t7.38 8.327

'''-01
0.72t 1.417 0.725 1.420 0.725
J.42Q

2.66 t 4.731
2.6.~8

10.30 SO.43
10.92 5O.4S

Esel
Number UI the
~ ~,

4.13 1
2.6.~8

10.90 SO."5

0.Z70 4.730 0.261 4.731 0.2S8 4.73 1 0.258

0.425 2.593 1.292 1.793 1.279 1.783 1.275 1.180 1.275 1.780

161.4
>037 85.07

50.43 R3.39 50.45 82.87 .'iO.45 82.87

~. ;knioltto the III>Il'Jbu of eleroenla per nlef'lbcr. at>d lite two) row< tilt 1.......... mI>eN of !be ~n>et>Jft:. \ 'moe$ _ indepelMklll of lh/: number IJf c\mlrnt<: (and rollocidc: "'11b the: cuer ,1lIlJC1 ~io::Med. lIy <be ttipe.:w.oe batt! theoritt).

5.5 SUMMARY
In Ihis chapter. fini le element models of the classical (i.e . Euler- Bernoull i) and Timoshenko beam theories have been developed. The classical beam tht.-o ry is governed by a fourlh-ordcr differenti:tl equation and therefore results in:1 weak form whose primary variables contain the transverse deflection and its first derivative. Therefore. Heml ite interpolal ion of the lransverse deflection is required in order to impose Ihe cOlllinuity of the deflection ,md il~ derivative at the nodc~ belweel1 clements. In Ihe case of the Timoshenko beam theory. there

282

AN 1' Illl.()IJI ,(" 'ION 1 0 TU[ ~lNnh U r \11 N1 \lI-IHOI) .

are two, coupled, -.ccondorder c<Iuation ... governing the Iransverse deflection and the rota tion. The weak form ~ of these e<IlIation.; require Lagrange imerpolation of the transverse deflection and mtation. Since the mt:'lion function is like the (negati ve 01) the derivative of the trJ.nsversc deflection, the degree of the interpol ation u<.ed for the rotation should bcone less than that u<;cd for the transver>e de fl ection. Such select ive interpolation o f the variablc-~ is called cOl/sis/elll illlerpo/atioll. When the same interpolation functions arc u<;cd to approximate the transverse de fl ection and the rotation, the rc~ uhing stilTness matri x is often too stiff to yield good solution!. '!.peci:llly when the number of clement:. used is small. Thi s is due to the inconsistency of interpolation of the v'lriables. and the phenomenon is know n as !IIIt'ar /o('killg. It is overcome by the use or reduced integration 10 evaluate the stiffness coeffi cicnts associ:lIed with transverse shear "trains. The c lements developed here are RIE. CIE1. which has quadr.ltic interpol:ltion of the tr,lIlsverse deflection and linear interpolatio n ortlie rotation. and li E. The plane fra me clement b:l<;cd on the unified beam clement (i.e .. liE) that contains the classical beam theory and Timo~henko beam theory have also been discussed. The rrame e lement is a superposition of the beam and bar clements and has three degrees of fR.-edom (axial displaccmem . tranverse deflection . and rotation :lboUl an ax is perpendicular 10 the plane of axial and tran~versc coordinates) l:ler node. The general plane frame elemelll is orie nted :II an angle from the horizontal position. :md its equations are obtained by transforming the equations of the fmlll e element in local coordinates.

I'R08LEMS
5. 1 The nmuml vibralioll of a beam under applied axial
cOll1prc~sive

lood No is gove rned by

the differential equation

(I x l

IP ( EI - - + (/2",)
d.l ~

d ~ ", N, __ = pAw1w (11' 2

where III denotes nonuimcnsiulHlI frequency of n:ltur.1 vibmtion. I is the bending stilT 1 nc\s. :Uld pA is the mas~ (ma \s densilYtimes cros~sect ionaJ area) of the he:ulI. Develop (0) the weak fonn and (I,) tinite ekmcnL model of the equation. 5.2 The dilTerentilll equutlon gu\'eming :u:isymmelric bending of circular plates on el u.~tic foundati"n is given by
--r

'''['' (Ir dr
-

(r M,,) - M/IIJ + kw = q(r)

e la ~tic

where k is the modulus of the and

M,,=- /)

foundation. If is the

tran~vcr~e di~tributed

load.

dl 'd",) 'W (--+ 11 -(/r . tlr

r

MIIfl=- D

(d'W -dr 11 -- + 'dW) dr !

r

Develop (1I) the weak fonn and identify the primary and secondary variables. and (b) the fin ite clement model. Note thatlhe ~hear force is de tined by

Q,=r

, [" dr

- (rM,, ) - M{.~

CItAPT(W S IIEAMS AND FkAJ\.IES

283

5.3 The differential eq uations governing axisymmetric bending of circular plmes according to the shear deformation plate theory are
Id - - - (rQ , )-q = 0 r dr
-1
(I)

[d dr

- (rM,,) - M~~

1+Q,

= 0

(2)

where
M" = D

( -d~ +v -~) .M&& =D (d~ dr r dr

~) v- + ~
r

Qr=K , CH

( d"') d,
tV+-

where D = 1 {.1 1[ 12(1 - \i 2)1 ;lnd H is the plate thickness. Develop (a) lhe weak form of the equati ons over an element and (b) the 1inite c lement model of the equations. 5.4 Consider lhe fourth -order equation (5.2.1) and its weak form (5.2.4). Suppose that a twonode clemen! is employed. Wilh three primary variables al each node: w. 8. and K , where 0 = dwldx and K = d 2 w Idx' . Show that th e associated Hermite interpolation functions are give n by
rP2 = i ( 1-6-+8- - 3h2 h1 h4
x x . .{ . x rP,=- 1- 3- +3 - , - II } , 2 II 11 2
i'

x'

.i' )

.' (

.')

where i is the clemenl coordinate wilh the origin at node I. 5.5 Consider th e weak form (5.2.4) of the EBE. Use a three-node clement with two degrees of freedo m (11' , 0). where 0 := - dwldx. Derive th e Henn ite intcrpolillion functions for the elel1l1: nl. Compute Ihe element stiffness matrix and force vector. Pllrrial
wrSWf'r:

rPl = 1 - 23 - +66 - - 68 - +24112 hl 1z4 irS

5.6-5.20 Usc the minimum number of Euler-Bernoulli be;lnl finite clements to analyze the beam problcms showl1 in Figs. P5.6--P5.20. In particular. give: (a) The assembled
~tiffness

.i'1

Xl

14

i'

matrix and force vector.

(b) The splXified global displacements and forr.:es. and the equilibrium co ndi tions. (c) The condensed matrix equations for th e primary unknowns (i.e .. generalif.ed forces) ~eparately. Exploit symmetries. if any. in '-\ naly zittg the problems. The positive convention used for the generalized displacements and forces b the Sl1nte as that given in Fig. 5.2.2.

1000 Ib

jllnnlt I
T .Figure " 5.6
SA.

--1 - .. ---I .111'5.7

Fi~u re

"

1:."1

constant

Steel members (E, - 30 )( Hfipsi) 200 IbJin.

,
I

,
. 'igure }'S.A

I+-4111 ---12111.

-+-

4m . .J

.....,

f jgure 1'5.9

IkN
200 Nlm

Stccl mcrnbcr.l U;. 200 GPa)

5 kN'nl

3em dia.
1--12 cm

om

".

12 ern

J<'igure PS. IO

Figure 1'5.1 1

EI '" constant

,
I"igurc "5. 12

Sm

Sm

. 'igure " 5. 13

CIIAI'IUI~, IU-:AMS A~ll ''RAMI~~

2SS

_ _ Rigid loading fr.une

II " 4 m, EI '" 50 X 106 N_m 2, k - lo"N/m

2EI

EI

Fo = 5 kN. 110 = 103 Nlm. d ~ 0.5 In

Linear clast ic spring. k

~---- h---+r----h--~L-_'

f'igure ('5 . 14

loOO N/m
1250 N-m

2500 N

/'
~5 m

Linear spring,

1; - 1O-4 ..... I (N lm )

- -.j.---5 m -~="L

Ef - 20x I07N_m2

Figure PS.I S

lOOO Ib

I ft. I{igid

u,
SUO lb/ft.

u,

member

o
Pin joint
5 ft.

5 ft.

5 ft .

u,
010
Figure P5.17

luba l node

numbers
L

t'f - consta nt

Figure "5.16

"'o = IOOOlb

6 ft

---.I
Figure 1'5. 19

z. "'0

EI = COllstam

Figure PS.IS

286

A.... 1.... lltOOOC llO.... m nlb fl 'll ll! 11 0 11,,.., ~tIl'llI()1l

,.-

--.
2
FiI: II ~

1 '5.20

FiJ,:lI re 1'5.24

(.... :) 0 1 0bal coorumall:s

f <, =): Ucmcnl ooordm~lC!

",

",

".

I'

~C

ne!)

II
A

1011.,(

811.,1'- roJlb

-0' ,

IOlin. l ,J _ IOl 1l1 4

)' 001

Mille paper

Figure P5.28

OI"'PTU \ ~I''''''MS ANn Iltl\\U:.s

21:17

5.2 1 Analy zc l>rublelll 5.8 using Ihe rcdut"Cd- inlcgmllun Ti mo~hen k o beam filli le clemenl (i.e .. RIE ). Use 01 v'll ue o f ~ for lhe ~hcarcorreclion factor .md I' =0.25. 5.22 Analyze Problem 5.a using the cu n~hl enl interpollllmO (quadrali c I\" and linear III) Timoshenko bcllrn clement (i.e., CIE- I). Usc 11 va lue of ~ for the shear com.:Clio n factor and 11 =0.25.

5.23 Analy/e Problem 5.8 using the consistent interpol:uion (c ubic II' :Inti qundmlic ..... ) Timoshenko be.un cleme nl (i.e .. ClE-2). Usc u value of ~ for the shear com.-Clion fm.:l0r and 11=0.25. 5.24 AnalY/e the problem in Fig. 1'5.24 u.\ing Ihe consIstent intcf))ul'ltion Iuadr.uie II' :md linear \l.I) Timo~ h c ll~o I>cam clcmell1 (i.c .. CI E- l ). Usc II va lueof ~ for the sheareorrecullil 1= f:lctor;lnd 1 0 .25.
5.25 AnlllYle Ihe problem in Fig. 1'5.24 u~in g Ihe eonsislell1 interpohnion (cubic I\" :md quadl'lllic ..... ) limoshen ktJ beam clement (i.e . Cm-2). Usc :I value o f ~ for Ihe shear eorr.!Clio ll faelor and II = 0 .2S. 5.26
Con ~idcr a

thin isolrop ic circular plate of r.Jdius Ro and , upposc Ih,I\\he plalc i ~ clamped al r = Ro. If two lini le clemenls (see l>rub lem 5.2) :Ire used III the do main (0 :5 r :5 Ro). give the boundary ellilditi on~ on th e primary ,lIld ~eeondary v'lriab les of Ihe rne~h if the phllc b subjcc tl.'{l to (u) .1 uniformly di stributed tran sverse 10lld uf intclI'.;ity (10 and (b) point load Qo at the center.
(l

5.27 Repeal the cireul;lf plale problem of Problem 5.26 when limoshen ~ o clemen lS is u.\Cd. '

two-element mesh o f

5.28-5.35 For Ihe fmme problems shown in Figs. P5.28-PS.35. give (I) the tnlllsformed clemenl matrices: (b) Ihe a~scmblcd clement mal rice:.: and {c) the condcn..ed ma trix equatioll~ for th e unknown genera lil.cd di splllccments :Uld forces. Usc the ,ig n COIl \cntions ,llOwn in thc tigu rc below for global :md clement tli'pl:lcemem (and force ) degrees of freedom. The angle between the +\'1; r-axis and +vc .i-axil> is measured in the cJockw i~e se nse. 8

3 fl .
IOk,ps

1:"1

HI, EA arc the samc for thc two members

I:. ) OxUflb lll.z. ,>= O.) A I OOIR.~. 1 lOOIll.~

fl .

288

A:>Ii.'iTICOIJUCTION rO 'llu , n .'U I'I' EI.F\UNr ME:I1IOD

1000 Ibill.

Il

40 fl.

_I

= JO x l O~ lb/ m .l. A 1(; i l1.2. 1 101 in.4

"i~\lrc

" 5.30

5 fl .
1

5fl.

.:?~~
;.~~,

J fl.
10 kip."

:!"

/:.'1. Elf arc the ;;;1111C for the tWI) members

If .. 102 .n. 2. 1

CD
7 fl .

" )0 x 106lblin ,2. ,,~ 0.3 IOl "1. 4

10fi.

21

10 fl.

Iligun! 1'5.3 1
10 kips

on
B

51

C
21

31
16 fL

~l

t:: - 30x 10<'Ib/in. 2. A 100 in,l.I'" 200 '".~

2U ft.

.,
0

Figure PS.32

REFERENCES FOR AI>I)ITIONAL REAI>ING

I.
II.l-dd~.

I . :-I .. E,..,"Xy Pri,,..,,,I,,,. m,d \f,rimw,UlI Ml'liwds in Apl'lil'J M"duHllr.I, John Wiley. New York. 2()02.
Elcl1lc nl ~."

2. II.L"1ldy. J N .. "On Lodlllg-I'rc,- Shellr Defnrmhblc Beam Fini!\' '\/1''''11111;,.., wid blxillurm;;. 14\', 113- IJ2, 1997.

emll/HO',., Me/hods", Applied

J. Reddy, J. N .. "On Ihc IXnvll ti nn of lil,'

S ll pcrci)lIvcrg~ nl1il1\o'hc nk o

Beam Finile Elemenl:' /m. J. Comllll/.

ell-a "Ill/ Struct.

EIIK"K., 1(2),71 84, ZOUO.

Fe ll~l~r.

4 T,rno,hcrlko. S. P. alld Goodier, 1. N.. (h .."rI' "f EI'micit~. ,"kGr.IW. lld l. New Yorl , 197(),

5. UJ;ur.ll. A. C. and

S. K . A,lIvIIICI'd $',-.,,,glh ",UJ Applll'd IJ .... " ...IV. ElsevIer, New York. ]975.
/'ltU~ . . Ht'/IJIUJIIsltl/' S w"h 0,,5>',,""/

6. Wang. C.-K and SaJIlM.>Il. C G . I"lftN./"cwn Smw'uwl A1Ud)'l"~' I~nl,~c- llall . Englewood C liffs, NJ. 191W

7. Wlmg. eM. Reddy. J. N.. and Lee. K I I . Shl"/f l>ej(Jrmllbit' /J""ms (lilt! S(llul;{m_~. EI-.e~ icr. O~ford. UK. 2U(kl.

K. Willcm'.:-I_ :mll Luc,,-,. Jr.. W \ 1. Srrtl/Illrul A'JflI\.~;sj"r 1-),lIi/lun, McG ...~w. I I Jl I. New Yori, 19711.

Chapter 6 EIGENVALUE AND TIME-DEPENDENT PROBLEMS

6.1 EIGENVALUE PROBLEMS

6.1.1 Introduction
An eigenvalue problem is defined to be one in which we seck the va lues of the parameter A. suc h that Ihc equation
(6. 1. 1)

is sati sfi ed for nontri vial values of u . Here A and B denote either matri x operators or differential operators, and values of A. for wh ich Eq . (6. 1.1) is satisfied arc called eigelH'(I/ues . For each value of), there is a vector II. called an eigelll'eclOr or eig/'lIjum.:livll. For example, the equation
wilhA = - "

,I'

dx

8= 1

which arises in connection wi th nalural axial vibrations of a bar or the transverse vibration of a cable. constitutes an eigenvalue proble m. Here). denotes the square of the frequency

of vibrmion.

(v.

In general. the determination of the e igenva lues is of eng ineeri ng as well as mathematical importance. In stnlctural problems, the eigenvalues denote either natural frequencies or buckling loads. In Auid mechani cs and heat transfer, eigenval ue p roble m ~ arise in connection with the determination of the ho mogeneou s parts of the transient solution. as wi ll be shown shortly. In these cases, e igenvalues often denote amplitudes of the Fourier components making up the sol ution. Eigenvalues arc also useful in determining the stabi lity characterist ics of temporal sche mes, as discussed in Section 6.2. In this section, we develop finite c lement modcls of eigenvalue prob lems described by difTerential equations. In view of the close simi larity between the differential equat ions govern ing eigenvalue and boundary va lue problems. the steps invol ved in the constnlction of their fini te e lement models are entirely :lIlalogous. DifTerenti al eigenvalue problems are reduced 10 algebraic e igenvalue problems Ci.e .. 1A llXI = AI B IIX)) by means of the finite element approx imation. The methods of sol ution of algebraic eigenva lue problems arc then used to solve for the eigenva lues and eigenvectors.

292

...,. INTROlILCTIO,- ro nll~ ~I,.m

U J :t.1F'ITloiCTHOn

6.1.2 Formulation or Eigenvalue I'roblems I'arabolic E(luation Consider the partial differential equation

pe A ~ Il
<11

2- (kA au) = q(x.1) ax ax

(6. 1.2)

which :u;o;e, in connection with transient heat transfer in one-dimensional systems (e.g.,
a phme w:lll or a lin). Here II denotes the tempe mture, k the thennal conductivity, p the density. A the cross-Sl.'Ctionall1rea , f ' the '-I>ecific heat, and q the heat generatio n per unit

length. Equations involving the lir<:t -order time derivative afe called IXlrabolic eqlla/iolls. TIle homogenous solution (i.e .. the solution when q = 0) of Eq . (6.1.2) is oneil sought in the foml of a product of a function of x and a function or I (I.e ., through the sepa rmiol1o/-variable!i technique):
(6.1.3)

Substi tution of this a~surncd form of solution inco the

pc AV -- ~

h omogeneou~

roml of (6. 1.2) gives

(IT fit

ax

d ( k A dV) T = O (Ix
(JI" A

Separ.lling vari:lbles of I and x (:I""uming that amve at

and kA are functions o f x only), we

(6. 1.4 )

Tdt =

I dT

[d (

prA V dx

dV) kA dx

Note that the left-hand side of thi s equation is a function of I only while the right-hand side is a function of x only. For two funct ions of two independe nt variabl es 10 be equal for all values of the independent variables, ooth function s must be equal to the same constant, say
-)., (A > 0):

Tdt=
0'

I (IT

[ (1 (

pcAUdx

dV) kA dx =-A
(6 . 1.5)

dT . -=-A7 dl
-~

fix

d (kA dV) dx

ApcAU = 0

(6.1.6)

The negative sign of the constant A is based on the physical require ment that the solution V(x) be harmonic in x whi le 1'(1) decay exponentially wi th increasing I. The solution of (6.1.5 ) is
(6.1.7)

where K is a constant of integral ion . The values of A are determined by solving (6.1 .6), which al so gives V(x). With T(f) :tnd V ex) known . we have the complete homogen cou~ ~o luli on (6. 1.3) of Eq. (6.1.2). 11le problem of solving (6.1.6) for A and Vex) is termed an eiRelll'allic problem. and A is called the eigenvalue and Vex) the e igenfunction . When k,

ClIAI'TbJl6 UmJ<,VALUI: ANIl1IME-[)O'DIOCN'TI'R()IjUMS

293

A, p, and c are constants. the !oolulion or Eq. (6. 1.6) i~

Vex) =C ..inO'x

+ DcosO'x ,

(6. 1.8)

where C and D are constants or integnllion. Boundary conditions or the problem are used to find algebraic rcl,ttion~ among C and D. The algebr:lic re lations can be expre~sed in matrix form as (lA I - O'I/J 1)1 VI = 101, where LAJ and I/J I depend, in gcncral , on k, {', and p, and I VI is the vector of integration constants C and D. Since C and D both cannot be zero (otherwise, we obtain the trivial wlulion), we require the determinant oflhe coefficient mntrix I A I - alB] tobe zero. Thi s results in analgcbraiccigcnvalue problem whose wlUlion yields 0' (hence, A) and IV 1= (C, D) . To fix the idens, consider Eq. (6.1.6) subject to the boundary conditions (e.g., a fin with spccifi(:d temperatu re at x = 0 and insulated at x = L)

U(O)~O.

['AdUj ,Ix x:/_

~O

(6.1.9)

We note that nonhomogeneous boundary conditions can be converted to homogeneou~ boundary conditions by a change of variables. Using the above boundary conditions in (6. 1.8), we obtain O=C O+ DI,O = a(CcosaL- f) si naL)
0'

(6.1.10)

f-oT nontrivial solution (i.c., not both C and D are equal 10 zero), we set the delennimmt of thc coenicient matrix in (6. 1.10) to zero and obtain (sincc a cannot be zero)
(211 - 1)11" cos L = 0 --+ a" L = O:::'-c,-''''-

'

Hence, the homogencous solution becomes [note that the absorbed into Cn I
II

con~tant

K of Eq. (6.1.7) is

,(x.t)=L,.Cne ". f' smanx,

_,
h

An=an

' (') 'O"n ="'c.".,-'-"'(2,, - 1). ~

2L

(6.1. " )

The con~lants

C n are dctcrminL-d using the initial condition of the problem, u(x , 0) = uo(x):
I/

eX,

0) =

L Cn sin O'"x = uo(x)

"~,

Multiplying both sides with sin a m.\", integrating over the interval (0, L), and making use of the orthogonality condition
(6.1.12)

we obtain

(6.1.13)

The complete ltOlUlion of Eq. (6.1.2) is given by the sum of the homogeneous solution and the particular solution I/(.r. I) = ,/' (x. 1) + I/ "(x. I ). Thc examplc discusscd above providc" the need for determining eigcnvalues (0',,) in the contex t of finding the transient response of a parabolic e<luatioll. Next. we consider the transient response o f a sccond-order c(luation in time. known as a hYfJel"lXllic eqllflfioll . Hyperbolic Equation The axial Illa tion of a b.. r. for example. is described by the equation Isee Reddy (2002).

pp. 185- 187 1

pA-, -

a'u ~ ( EA -;- ) =/(x.1) a au at- ()x ax

(6.1.1 4)

where 1/ denotes the axilll d isplacement. E the modulus of elasticity. A the cross-sectional area, p the den~ity, and / the .txial force per unit length. The sol ution of (6. 1.14) consi"ts of two p"rts: homogeneous solution II h (Lc .. when / = 0) and particu lar solution ,,/'. The homogeneous pan is detennined by the <;CJXlTation-of-v:lriables technique. 3<; we discussed for the pm.lbolic equation. TIle homogenous solution of Eq. (6. 1. 14) is also assumed to be of the fonn in (6. 1.3). Sllb~ t itutio n o f (6.1.3) into the homogencous form o f (6. 1. 14 ) gives

d'T d pAV-,-- ( 1\ dV) 1" = 0 tll tlx tlx

Ass uming that pA and EA are
func ti o n ~

o f x onl y, we arrive at

T dt 2 =

I d T

I I (/ ( dV) , p A V t/x kA dx =-Cltil T , (1,2 + 0'- 1" = 0

(6.1.15) (6. 1.16)

_~
tlx
The negative sign of the constant a /lex . t) be hOlrmonic in x lmd t. The solution of (6. 1.15) is

(EArIV) -a2pAV = 0 tlx

i~

based on the

phy ~ icrtl

require ment that the solution

r (t ) = K e- ""

= K I COS 0'1

+ K2 sin at

(6.1.17)

where K I and K2 are con ~t:lnt S o f intcgr.llion. The solution of (6. 1.16), when E. A. and p, arc con<;lants. b
V(x) = C sin ax

+ I) cos&.r.

(6.1.18)

where agaill C and I) arcconstants ofilltcgration. In theproce<;s ofdctcrmining Ihecon~taJl ts C and I) using the bound"ry conditions of the problem. once 'Igain we arc required to sol"e an eigenvalue proble m (the steps arc analogous to those describcd for a JXlrabolic equat ion). Unlike in the ease of heat conduction problem. the qua ntities an in the case of bars have di rect phy .. ical meaning. namely. they represent natural frequencies of the system. Thus. in

CHIII'IER6 lIGE."\fALUlA~IlT IM EIJI.I'E~lJlN" 11'1l.0BLEMS

295

~ tmclUral mechanics we may be interested in detenllining only the natural frequencies of the system but not the transient rCSlxlIlse. When we arc interested on ly in nlltuml frequencies of the system. the eigenvalue problem may be fonnulated directly from thc equation of motion (6. 1.14) by assuming a solution fonn that is periodic in time I

lI(x.t) =V(x)e

iWl

(6.1.19)

where w denOles the frequency of nalural vibration, i equals Fl, and Vex) denotes the configuration of the structure at that frequency, called the mode shape (i.e. , for each value of w, there is an associated mode shape). Substitution of (6.1.19) into the homogeneous fonn of (6.1.14) give~

- PAW2U

_ .!!..... (EAdU)]e - iW/= o

dx dx
- w 2pAV=0

_ ~ (EAdU)
dx dx

which is idelltica l lO Eq. (6. 1.16) witha = w. Similar equations can be formulated for natural vibration of beams. Another eigenvalue problem that arises directly from the governing equilibrium equation is that of buckling of beam-columns. We sha ll return to this topic shortly. In summary. eigenvalue problems associated with parabolic equations are obtained from the corresponding equations of motion by assuming soluti on of the form

II(X.t) = U(x) e- U ' ,

A=a

(6.1.20(/)

whereas those associated with hyperbolic equations are obtained by assuming solution of the fonn
U(X.t) = U(X)e -iwr, l.=w 2

(6. 1.20h)

where A denotes the eigenvalue. Finite e lement fo rmulat ions of both problems arc presented
next.

6.1.3 Finite Element .' ormu la tion Comparison of Eqs. (6.1.6) and (6. 1. 16) with the model equation (3.2. 1) reveals thaI the equation s governing eigenvalue problems arc special cases of the model equaLions studied in Chapters 3 and 5. Here we summarize the steps in the finite element fornmlation of eigenvalue problems for the sake of completeness and ready reference. We will consider eigenvalue problems described by (0) a single eq uation in a single unknown (e.g .. heat transfer, bar, and Euler-Bernoulli beam problems). and (b) a pair of equati ons in two variables (e.g .. Timoshenko beam theory).

Heat Transfer and Bar-Like I'roblems

Consider the problem of solving the eq uation
-~

dx

d [a(x)- + c (x)U(x ) = ACo(x)V(x) <lU]

dx

(6.1.21)

296

,,~ 1~"TRoJ.)~Cn()'1 ToniE 1-1.'111'1: EI~I E.VI MHIIOI)

for A and U (x). Here (/. c. and '0 are known qual1lilies Ihm depend on Ihe physical problem (Le .. data). A is the eigenvalue. and U is the eigenfullclion. Special cases of Eq. (6. 1. 21) aTe given be low. Heat tra nsfer: (/ = k A . c= P{J,

co=pc;\ clJ=pA

(6. 1.22)

Bars:
Over a typical element
Q~ .

(/ = Ell , , = 0,

(6.1.23)

we seek a finile clement approximatio n of U in the form

U:(x) =

" L lI~ l/Ij (x)

1",, 1

(6. 1.24)

The weak fOl"m of (6. 1.21) is

0=

f "("W"V
fI x,

dx dx

+cwU(x )

ACt)WU

)
Q;,.=

(6.1.25)

where w i~ the weight function, and and are the ~ec ondary variables at node I anc! node II. respectively (assume thm Qj' = 0 when ii-I and i f- 1/ )

Qr

Q:

Qr =-

[ dV] '. dx
(1 -

[dV]
(1 -

(6.1.26)

dx ...

Subst itution o f the finite clement approximation into the wcak form gives thc fi nite clemenl model of the eigenval ue equation (6.1.2 1):
(6. 1.27(1)

where

K,j =

f "[
,~

a(x)--' __ +c(x)1/It1/l; J

"10' "10' dx dx

]dx.

Mi~ = f Xco(.nv,t 1/1; dx h

'.

(6.1.27b)

Equation (6.1.27(1) contai ns the fi nite e le ment models of the eigenvalue e(luat iolls (6. 1.6) and (6. 1.16) as special cases. The assembly of element equations and imposition of bound<lry conditions o n the assembl ed equations remain thesame as in stmic problems o fChapter 3. However, the sol ution of the conde nsed eq uations for the unknown primary nodal vari:lblcs is reduced to an algebraic eigellv:llue problem in which the dCtefmin:lllt of the coeffi eiellt m;llri)( is set to :r..cro to determine the values of A. :lnd subsequently the nodnl values of the e igenfunction U(x). These ideas are illu ~tmted through examples.

Example 6.1.1
CQn.~i dc.r n

dllposed tOa fluid 8t tem{M!r,lturc. '1'0,. TIle go~'Cming difTe.rentlaJequatiQn

plane watt, inWally:lt 8 umJonll temperature T\>, which has- bOtll ~urfaces suddenly is (fQr OOQ~Uinl datil)

[P r ifr k,-, :;:: p~'(j-

"'x

~I

(6. t .:280)

:and the initial condili()o is

r(x,Q}=Ts

(6.1.28h)

CU M'lloft 0

O GE." AI.U[ ANI) TI~I [-r>EI'~"'I>rNf I'~OHLnIS

297

wllerc k i" the thennal conduCtivity. p the den~ity. and en the s(X.'Cific hcal al C/)n$l<1U1 pl'CS!;ure. E4ltation (6. I .28a) is also known as the difj'usioll equ(uiOIl with dif(usioll coefficient IX=: k/ pCf]. We consider twO sets of boundary e<mditioll$. each 1)(;iog represclltative. of a dilTcrent sccnilri(l (or .t = t . 1t llll1QtHtb 10 SlJlving Eq. (6. I .2Su) Md (6. I .28b) for Iwo JjlTerent set.' of boundary condition$.

Set I. If the heal trtlnsfer coeffieient at the surface" of tbe wall is assumed to be infinite, the boundary condItion.s can be expre~ed as
(6. 1.29a)
S~I

2. If we as~umc Ihat the wall at "'. ::::. L

i~ subj~tcd

to ambiellt lempetlllUre, we have

T(O.f) =T.... .

[ k!!. (J,f

+ tnT -

7 ~ *L =0 ;..;)]1
T - T~
11 =

(6.1.29b)
~t

Equation (6. I .2&1) can be nOnTtalized to make the boundary c<,mdiuons hOlllogeneous.
Cf""- -

P<o

To-T""

The di ffercmial equation (6.1 .28a). initial condition (6.1 ,28b), Qnd ooundo'lry condid(U1s (6.1 ,29a)

and (6.1.29b) become

(6.I.JOa)
u(O.t )=o,

u (I.t)::o:O

u(x.O)=1

(6.L3Ob)

U(O,I)=O. ( :11
uX

+1111)1

~ .. I

=0.

(6. 1.30d

where t~ bars over x and I are omitted in the interest of bfC\ily. SQlution of (6.I .JOa) alld (6.1.30b) by ;;.cr:lrati()nof, ~ariables technique (or 11 = UI! '''') leads IQ th~ .t'tllution of the eigcnval ue pr'OblcllI
,fl U - - - ).U=O, U(O) ::o O, ilx l whcrea.~ solutioll of (6.1.3~) and (6. I.JOcJ re~ult~ in ( dU d .1 U(1) = O

~lIbstitute

(6 .l.3ltl)

+H ~ O u)1
... 1

(6.1.3Ih)

This ditfcremial cqulIlion I'; a s~cial case of Eq. (6. 1.2J) wiUI (I = I, " = 0, and ('0 = I. For a linear element. the dement equations (6. 1:nil) have IhecxpUcil form (~t:e Eq. 0.2.34) for CICtllent matrkcsi

C:J: -:]-,'~ [; ;]m Hgn

ror Ii quadr.ltic clcillent, Vol.: have fs(.'C &-1. (3.2.3711) fQf clemen t ll\o'Itricc..~1

(6.1.]2a)

-8'] ,[4
-8
16 - 8

- "'....!.

30

_1

(6. J.32b)

298

"_'1I:>; llIOIX I('n ON'rfJTIII. nNn l' LLlc\ IIJ'.T \l 1 ;1110f)

SoluliOfl ror Sci I. For 3 lne\h of IWO linear elements (lhe minimum number needed fOf Set 1 bomJ(Jary conditions), with III "" J,~ = 0,5, Ihe a~~tl1bled C(luations afe

[-: (2 o -; -~] - A-'-[; ~ ~]) 1 ~: I ~ I Ql~:Q; 1 Q i

- I I 12 0
J

UJ

The boundary conditions U(O) "", 0, Q + Q ",,0, ilnd U(i) =: require VI "'" U I "",0. Hence. 1 f the eigenvalue problcm reduce<; to Ihe ~ingJc equation

(4 -). I~)U~=O.

or AI'"d2.0.

Vl1~O
0 $ .1 !S O.S

The loode shape- is gh~n (within an arbitrary constant~ take U~ # I) ny

0.5 :: x :: 1.0
For a llIesh (If One quaJrmic element. we have (h;E:t 1.0)
16 16 3"- ).jQ ""' O.

or AI = 10.0,

Ul #O

The c(lrfC.\portding eigeofullCl1,m

j,

O!:.t ::: 1.0

The exact eigCJlvaluC5 an:').. :::: (lI1f)l and A.I "" Jr !::= 9.8696. The exact eigcnfll.octions for Set 1 I;loundary condiliQlh:lre U.(n = sinIlJr.r and Udx) = ~iJ)]fx. Clearly. one quadra tic elemcllt give" mOfe ac.:uratc M"liutjun than two linellr elements. The eigenvalues and eigcnfuncti,)ns Ci\fl be used to eQlhl(Ucllhe soluliQn of the troUlsicnt problem. For e)[ample. the 'iOlution of (6, 1.3(ki) anel (6.1.30h) i..
14(.t . t ) =

L C~U. (t)t'~-'" = L: C~ sinmr.t ~

--I
~ ~I

(6. 1.13)

where C. are conSI;lnt\ to be detenlli.ncd u~in~ the initi:1 condition of the problem lsee 1 Eq. (6.1. 13)1. The finite clement solution of the ~iIX(Ie problem, when One qu,ldratic element i ~ UM'!d. j\ given by
Ifh(X, f} = 4x(! - x)e IclIr(l

which is very-cl(l!o.c to the one-ternl solution in (6.1 .33).

Solution rur ~, 2. FQr a mc.,h l)f tWQ liGeaT elemenL~. the Set 2 bc)unJar), conditions tr:ln,late inlO UI =- 0 ane.! Qj + II U~ =- 0. The. C(llldelL'l'ti equations are

.,

' (h [2 -'] ,h[' ']lIV'1 1 0 1

- I

I -

(; I 2

Ul"" - NUl

4 ([ - 2

' 2 +- H ]

A 1 - 12 ['

'])IU'I"" 101 U; 0

(6.1.34)

Por Ilolltrivial ~ol ution (Le .. al lensloneofthc V/ is ntlnzero). thedetenninilnl Qf the c~l)iciellt illalm shol,lld be lew:

7P -4(5

+ H)I + 4{1 + H ) = 0

The above equation is kn<Jwn :-ts the dwracll?rislic equtltioll of the ei.il,cnvatue problt:m. 'the two root!; of this qmtdratic equ3liol) for H =-I are
"').1-

_12J(l2)2_7x8 7 -

6 ).,,,,, 0.37417. Al "'" 3. 544

and the eigcm'alues are (}.-= 12X)

.l.! = 4.49. )..1=36.6529 The eigenvector.; ll.\Sociated with each eigenvalue can be computed from equations (6. t .34)

4 -4~ 3-2)., U' I [-(2+),,) -(2+E;)1IUI("= !O 1=1.2 O

J

Fi.lI'm:amplc, for X! =0.374 167 (At =4.49(0), we have

2.5033U4 1) -.2.3742Ui l ) "'"

Taking U~I) = I, wc obtain

uml{ I
-

U41) = 1.0544 V~I)

1 11.0000 1
CU41)1 + (Villi = I, we obtain

0(1 the other hand. if we I)Onnaliz.c thcCQmponellt.~.

{U'!)I_ l ut - ujlJ

1_16881 1 . 0.7256
(01"

In Qt!)crwords, we obtain a mode shape whQse ampljtudeistK)t unique, Heoce, thee"igenfunction corresponding to 1..1 = 4.4900 (h=-O.5) is

v;
U (.t)=

[0.6tUH ~jll

O.68SI(I-.~)jh+O.7151.l(2:t-I)/2h for().S ~xs. I.O

~

0:; x,=: 0.5

Similarly. the eigenvcctor componenl~ cOl'f"Cf;p<)Oding to

-= 36.6529 is (1.101 rultmilli:(:ed)

IV '"~ J ~ u!(' == -I J)258 V1l1

I 1 I \.00(0)
I [10
2

For II nle~h of one quadratic clement. the corn.lenscd cquadQlls are

-8 I [16 ( 3' -$ 7+3 11

and the characteristic equll1ion is

1 -.1.30

ISP - 4(13 + 3H)'A + 12(1

+ H)::: O.

300

AN 11(1IlOI){1(:nON TO Tllb

~l" n" E!.EMlxr \11;'lIlOtJ

The twO roots (If mi" qUfu'ratlc cqumio/l for II .'P I are
_ "1,,= 32J(31)1- 15X24 15 and Ihe eigenvalues are ()., "" 12X)
--l>

X1 =O.4 1545.

5:2 =3.8512 1

The. cotresptmding e.iJ;;eo\'eC.tor CQOIPQnents a.re (\1ot nOnlI3Iii'tld)

IV '" J

""

rU.;IJ 1V;"
(.IY)

I1 I r
=
%

1.0000 1.059 I

IV"' J ""

IV1" ) I-2.9052 ) 1.00(0

Fox
(6.1.3"')

The exact cigeDfunC1iQn~ for Set 2 bQundary conilitiQns are

U,,(x)'P~jn

aod the eigenvJlucs ).~ are COOlpllh..-d from tbe equation

II sin

;r;+ If:;. cos;r;. "'" 0

= I)
!f;=4.9132
-t

(6. 1)5b)

The Ullit twO r()ot~ of th e tr'JJ1sctndentill tlqu"tiQIl (6. L35b) are (for 1/

/r;'=:2.028.S ....,. ).,1 ~ 4.tl60:

}.,z=:24.1393

A t.'Qrnparison or Ihe eigenvalues ohmitled using. mesl)cs of line:u aod quadrotic eleme.nt~ wilh Ihecxact val uC$' i~ presented io Thble6.1.1 . NotclMtthe numberQf eigenvalues obtained in

Table 6. 1. 1 Ei~e.nvultteli uf (he. heat conductiQn equations (6. 1.310) and (6.1.31 /1) for two sets of boundary c.ondiliooS'.

Mesh Zl.

" \2.0000
(4.49(X})~

>,
(36.65l!ol)

"
126.7-56
(8~.7&64)

"
32$.291 <lS7.S80J

'"
507.025
(417.70 1)

A,

4l

IO.3M6
(4.2054) 9.9911 (4. 1380)

48.0000
(17.,Ut8)

(I11.6()4)

81.
IQ

413466
{,24.~
()8S121)

99.4855
-(6I). 103{;)

192.000
(l 4.U.'IO)

686.5 12
(607.02.2)

10.000
(4. 1545)

20

9.9439 (4. 1196)

9,8747 (4.1 16J)

40.1)00

12R.72~

"'..,

'Q

(24.8995, 39.n54
(24.2Q40)

(S l.4446) 91.7847
(6t77(4)

C2.Q7.6S3)
J60.(X)O

}OIi.2.S3
(240SW)

514.119 1
(40S.254)
3S~.3tl6

9.86%
(4.J IOOJ

39.41:;4 (24.139.1)

88.8264 (63.6597)

( 129 . 261) l.S1.9137

( 122.8S9)

246.74tl
(201.~ 1 )

000.550)

1<M.7<M (658.133) 48 3.611 (418-9117)

'11"'"~ llll<:'filt e!\(;h f""'1> t<!rl'QPOIl<.Is to ~ 1 boul\<l...,. e'>nCl'Iim''<.

2.00

first mode m:tpe-

1.50
1.00

~ 0.50 ~ ~

If

'.00
-0.50

- 1.00
- 1,50

--81iOCllr
o;:let}H:nl$

4 Quaru-atic:
dcm~'T\IS

,;
0.4

-2.00

'.2

0.'

' .8

I.'

COOnii1l3tc, x

f'igdre 6. 1 l The liN three mode shapeS" a)l predicted by a f1)e,<;h of eigi)liinear eICOlCnl$ and a ..

mesh of four qU:Jdratie elementS for tbe beal tmilsfer problem Qf Exampi:c 6.1.1
(Set 1 boundary conditions).

200
L50

..."

'rtliru ploXle

Fil1l mod<:

"""

1.00

~
~

0,"

'00
....5O --.
Sl~at

elemcnl:>

... 1.00
- !.SO

4 quadnitic dements

0.0

0.2

0.0 0.' Coon.till'llc. .t'

O.S

I.'

fo1gure 6. 1.2 The fitll l lhree m,)de shll[ll)S uribe beat tmnsfer problem of Example 6.1.1 (Sel :2
bc:ll.lmlary condi tions),

302

"'N

II"TROOt.!("fIONTO TIl E 1~"'l'Ih ~:U:~II:"'"T Mn

IlO!)

Ibe finite clement IT\t..'1.hod is always equ;l1to the number of unkQown nodal values. As the ffiC..\h is refined, not only do we jnc(C~1! lhe Ilulnbcr of eigenvaluelo but we aiM> improve the ~Iccuracy of the! pr&:e(jing eigellvalues. NOle! also tliat the ..:;onvcfllence of the numcric;l) cigcnvalue!i 10 IDe exaC Qnes j ~ from the. abov~ , i.e. Il1e finite eit:nJeQl )()Iuti(m provides an upper bound 10 t the exact cigen,,";lluc::.. For Mructurnl ~ysteml>. this .::an be interpretl.."'Cl ~ follows: According to the principJc of minimum total \X1tential energy, any approximate di~plllCefJlent fie ld wouJd ove(C'aimate the Intal polcnliil1 energy of the sySiem. Thi:. is C<jllivaJcnl to It(lpmximating the Miffnc~~ of the system with a larger vallK' than the attuail'lnc. A StifTer "'yMeUl ""ill h:iVC IU'l!er ej ~en\'alues (Qr frequencies), The fir"!'it three mode shapes oft~ SYl\lCm are~howo in Joigs. 6.1. J
aI'Id6.1.2.

We note thm the eigenvalue equations (6. 1.3 1(1) and (6. 1.3 Ib) can al so be interp reted as those arising in conncction with Ihe axial vibmlions o f .. conManl cross sectional member. In that case. U d e note~ the axi:ll displacement [I/ (X. / ) = U (x )e- 1WI [and A =w2p/E. w bei ng the frequency of natur.tl vibration. For ex:unple, the boundary conditions in (6.1.3J b) can be interpreted a~ those of:l bar fi xed at the left end alld the right end being connccted to a linear clastic spring (see Fig. 6. 1.3). The cOllstant H is cqu:ll to k/ EA , k being the spring const:lnt. Thus. the results prc ~e lltcd in Table 6 . 1.1 can be interpreted as w"!.p / E o f all uniform bar for the two different bound:lry conditio ns shown in Fig. 6. I.3. Natural Vibration of Oea ms

Ell/er-Bl'nloulJi Beam Theory

For the Euler- Berno ulli be:1Il1 theory. the equat ion o f motion is of the foml Isee Reddy
(2002). pp. 193- 196 1

(6. 1. 36)
where p denotes the mass de ns ity per unit length. A the area o f cross section. E the modulus. and I the second moment of area (see C hapler 5). The ex pression involving p i is ca lled

L- I

.~

Set t : (,\0)

O. U(L)

t'i j:llte

6.1.3 Uniform bar with two <;ch of boundary condjt ion~.

rowry iI/alia term. Equation (6. 1.36) can be formulated as an eigenvaluc problem in Ihe interest of finding the frequency of niltural vibration by alosuming periodic mOl ion
w(x.1) = W(x)e ;""
tram..ve~

(6. 1.37)

where IV is the frequency of naturaltntnwersc motion and \VCr) is the mode shape of the motion. Subst itution of Eq. (6.1.37) into (6.1 .36) yields
- 2 EI- dx dx 2

d (I'IV) - A (pA\V - pl "'IV) =0 ' --, d x*

i~

(6. 1.38)

where A = lJ} . The weak form of Eq. (6.1.38)

0=

f " (

given by

!"[!!... (E1d!\;) +
fix

d~ lI(PW lh' lHV) 1 - , - - , - ApAvW -Apl - - (II' ,Jx* t1x * dx dx

d ~*
Api

dlV ll"+ [( _'il-)/,1I; l" (ix.r. (/.r dx ,'.

(6. 1.39)

where II is the weight function. Note that the rotary inertia term r.:ont ribute~ 10 Ihe shear force teml. givi ng ri.;;e 10 an effectivc "he:lr foree that mu ~t hc known at :1 bou ndary ]>oint when thc deOeclion is unknown al Ihe poi nt. To obtain the finite clemem model of Eq. (6. 1.39). assume finite clement approximiltion oflhe foml
W(x )=

L, ll~ j (\) ,

(6.1.40)

where arc the I-Iermite cubic polynomials [sec &1", (5.2. 11) and (5.2, 12) 1, and ohtain the finite clement model

(I K' I - w' IM' 1) 1"'1 ~ I Q' I

where
K,j=

(6.1041 a)

f ' d'~' ",~,

~.

EI --~-f d:c. M~= dx (I.r ....

f"(

pA~ j+P I ,,~' __ _' J d .l dx

(W)

dx

Qi '=
Q~

[ " ("'IV) dIVl l == - [-" ("'IV) dlV] 1

tlx
EI- 2

(iJ.

+ Apl -

(Ix

Q;!!!! EI llx 2

' '. ( d lV) I

(6. 1.4 1h)

dx

EI -~

dx

+Ap l dx

(6.1041(')
I M~

.'.

For constant value .. of EI and pA. the stiffness matrix 1K~ 1 and rna"s malrix

arc
, 21;, 1 [ ,

IK 1=1;' ,

-~Io, -6
- 311,.

- 3h.. 2112
3" ~

-6
311 t

-3!" ] II ;
311 ,
211;

It;

6
311 t

156 rM"I = p" A ~ h , - 2211 .. 420 [ 54 1311

-2211, 411;
-13h ~ -3h 2

36
+- ~ 301l
When rotary inCI1ia
i~

- 54 r 13h 156 2211..

_ 3',',',2 ] 13
22h ~

4/1;

p" Ie

- 311 - 36 - 311,_
~econd

-36 -31;] 31r.. - II ..

36 311.. 311 .. 411 ;

(6.1.42)

neglected. we omil the

part of the mass matrix in (6.1.42).

Till/oshel/ko /Jelllll '11leory

The equation" of motion of lhe Timo .. hcllko beam theory arc lo;ec Reddy (20:.)2). pp. 193-

1961
pA - ,2- - : - GAK. dl cif
ii' , " P' -.-", - - ( 1-.,)(- ax IIx

"'w

a[

(aw+ 1lI )] = 0 ,:1\

= 0

(6. J.43a)
(6.1.43b)

i1"') + GAK, (aw) -.-+ lJ! ax

where G i .. lhc ~hear modulu~ (G = /12(1 + v)!) and K, is the ... hear correction factor (K, = 5/6). Note 1hal Eq. (6. [.43h) contains the ro l:lry incnia lcnn. Onl:c again. we ;ISSUI11C periodic motion and write
w(x. t ) = W(X )l' -".~ .

III (x. I) = SCl)e ;M

(6.1.44)

and obtain the eigenvalue problem from &1", (6. 1.43a) and (6. 1.43b)

~~
dx

[CAK,

(till' + s)] _(01p A dx

"

IV = 0

(6.1.45a)
(6.1.45b)

_~
lh

(EldS) + GAK, (dlV + s) _l,}plS = 0 til (ix

" L Wj1/l;< x).
i- I

For equal IIltcrpolalion or \V Cr) and SCI)

W(x) =
S( .1) =

L~~iff; (x)
j ,

(6.1.46)
i~

whcre iff; art: the (/I - I) order Lagrange

polynomial~.

the linite dement modd

given by
(6.1..t7)

IK " I IK " 101 ([ [Kl'[ IK" I] _ w , [IM "I IM" I]) I IIVI I - I IF'1 1 101 151 - IF'I I
where [ K r l
i~

the ,tiffne<;'llllalrix and

K 1.1 =
'J

K' !
"

." 1 " 1
<.
'.

IM~I

is the Illa... , matrix

GAK,

ti/, r diff ~
lil

_y_, __ dx J
dx
(/\
, .I"J'}J

GAK _'_' .1,'

'
l .\

<1 M

K 21

CHAI'I'EK 6 t:lGlcNVAL t.:E ANI) 'I'IMI. IlEPI: NI) IiNT I'KOHI '~\1 S

305

K 2.2 =
"

f"(
\"
x~

'N' __ EI- - d.p' ' i

d
X

+ GAK,\ .I, ~ 'f'I, J~ ) . 'f',

Mt] =
-<.

dx

MI~I

IX 1/1) (Ix, . pAW:

Q 1i
I,

1p11/lt 1/l'j dx "

(6.1.48(/)
2

F) =

1~,2 =

Q 2;

Q,

, [ (.+ dlV)] 1 Q'= - (/S)

:=

~ GAK,

dx

.t. '

dx

Q= ;

[GAK, (S +':i~) ll,.

~ 3h ,.

'.
(6.1.48b)

m= (/dS) 1
(IX

For the choice of linear intell>Olat ion function s, Eq. (6. 1.47) has the explicit form (.. fler rellrmnging the nodal variables)

"

I K' I =

('E,/,)[_~h'
IJ-I)II ~

11; (1.5

+ 61\ ,)

-6
311 , 6 311t"
/,

- 310, ] " ; (1.5 ~ 61\ ,)

311 ,. 11; (1.5 + 61\ ,.)

-6 -311 ,.

311 , h ; (I.5 - 61\ ~)

IM'I

= p' A,
6

[~

0 2" 1 0 0

"

0 o] 2 o 0 2rt"

" .

r,= -

A,

(6.1.49a )

jJ.1)=

121\,

(6.1.49")

For Hermite cubic interpo lat ion of W(x) and related quadratic approximation of Sex)

Ii.c . illlertiepell(/elll illfe'fm{(J{joll elemellt ( II E) J. the resulti ng Illass m'ltrix is cumbersome and depe nds on the SlifTness parJ1lletcrs ( and G). We will not cons ide r it here 1scc Reddy
( 199910.2000)1.
Exsmple6, t .2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __ _ _

Consider a unifonll beam offt.'Ctangularcross seclion (8 x H), fixed ;)IX =0 and free at x = l..
(i.e .. a cantilever beam). We wiSh to dctennioc thc first The boundary conditions of the strucllIre are
rOUf

ficltllrJI frequencies of tht: beam.

JIV W(O) <=0. -=0.

dx

[d~Wl EI-~
(Ix

~"1..

=0.

d'W] ) [I:.'I- .... dx

=0
l-

(6.1.50<1)

io the Eulcr-BenlOlilli beam theory and

W(O) =0. S(O) ==0.

[El:~!L"J. =O' [GAI(,(~/~ +5)1 ..1. =0

(0. 1.50h)

in the TImllshcnko beallltheory. The firsltwo lenl:.l!\ in each elise a.re Ihe essential (or gCt.lll1ctric) bOllndllry conditions and the la~ltw() arc the natural (or force) boundary (;i)nditi()ns.

306

A" IN"lIiOI)l'(n()~ TO 1 '111 IIHIT I_LnlF~'1 \11 TIIOI)

The number of cigen\'tll ue.~ we wish to determine dict:ltcs the min imum number of elements to be used I() nnalyzc the Slru';;!lJ1\':.. Fint, cQII~idcr the tuler- Bernoulli beaul clement. Since two prinuu)' degrees of freedom ate ~pe<:ified (U , = Ul'" 0). :l one-element me..}1 will have only h~\) unli;nown degTee.\ of freedom tU, and U4 ). Hence. we can dctcrmi11C only twO n:lluml frequencie~. Thu.,. a minimum ortwo Euler- Bernoulli heam elc/llCnt are I~ to Uelttmine M' l(lur o,!lur-d frcquencie~. If we U ! tbe redll;.;ed illlegnllion1imO!'hcnko beam clement, II. mesh of two linear clements C,\11 onl y rcprcM'nl the first two mlXle sh,lpes of Ihe cllOti tever beam ('lee Fig. 6.1.4) bt(ausc- there are unly twO moependent deflection de~l'Ce.\ of freedom that un: un.;p.."'Cificd. In order to repreM:nt the tir.1 fou r mode sha~ u~ing the rnluud in",grot;(/II e/~1II1!1It (RIC), ~ must U.!>C least fou r linear element.!; or IWOqU :ldrtllic t'lelllcnl... I-Iowever. the four computed frequencies may nm be tht'.lowc.\' four. For illu.\ltalivc purpose. fi~t we (;()flSider the one-element me,h uf the. Eulcr-Ikmoulli reom element. We have

ii'

(~ [-~"
f~~ ~6

--:U.
2/}

-6 3L.
6

-Je]
.1 3L 1.L!
-(I)

zpAL

-3L

3"
L'

[ l~ Fo
5.t
IV!

-2214/}
- J3~

-22L

54 - 13/.

-3 /}

156
22L

22"

13L]

3L
41 .}

t3L

-3 L !

-w,p/ -36 30L

-3L

[~"

-3 L -]6

3.
_1 .1

3. 36 3.

=~~])I~: 3l.
4L !

Hg ;I
Q,
Q~

4.'

t:-l)

. :c

W"S,

, .,

W(x) " Wl4'l (l)+ e,~{:c) + Wl~ (.t l+ e2~.(:C)

Itlx)

- - - - 1";.1I1......... acrnOllUj beam el~melll Til\lo~hcl\ko beam elcmCU1\

Figure 6..[.4 Two ~~ibJe. M1lIW mode ~halJC-~ of a cantilcvcr bcallIthat clln be rcpt'C-.ented by a mesh of IWO linear 1im~hcnko hcom elementl> (or one euler I3cmoulli
bt:am etl;lment).

The Specified dh.placch1cnt UIld fOn':e degree. of freedom are WI ",,0. 81 =0. QJ =-0, and Q~ "",0. Hence. the condensed equationS ~

('!!'!.[6 3LJ_
(,J

31. 21}

4J

,~[2U ' 56 420

22L 301.. 4Ll IW 0 I J_,,;!!!..[36 ""J) El.'I=[O 41..~

3L.

Selling th~ detc(11\lnant of the coefficient matri.\ in the above eqlliltion to ~rQ. we obtain a quadratic ch3ract<!rhlic equation in f.Ji. Firs!, consider thccase ill which the rotary inertia is neglected. The ehar.u::teris.tk equlltion for thiS (:il.,-.e is

).1

3.5327 34.8069 = 12,48 ~2""' 1 21 1 ..'i2. or ("I=--rr-V~' (I}~#--v \f~

rEi

lei

The CJ(ilCt frequencie..~ arc WI ",,3.5 1(10 and ~=21.0345. where W, =w,( L1 .jjiA!7!J). The eigcnveC!i)r component!. are computc(,\ from the first of thc condcu,ed equations
Wtl)",,_ l (1260 - 11>..1)8 10 ;=1.2 1 - 420- 13.0.., 2'
l~ en.:e.

the eigenvectors are

I'" ~ 17259 1. I I f.l2 I"'~ I -i.OOOO I . 1.0000 W' "I3I2L I

W, 82 For the (:a$e in which rotary inertia j ~ nOi neglected. we ~rile p i =- pA ( H l/12) and take II / L =0.0 l. The! charJCteristic equ;ltion is

whose roolS are

3.5327 AJ =- 12.4797. 1..1"'" 1210.926 or >1=.............,.

L-

m '
pA

34.7984 f!{ 1 - . (<'l;=--,- ,, L, pA

1'he ex3e' frequenc.ies arc WI = 3.5158 and w,. =21.0226. where fiJ, =wl(L~../iiATf!JJ. I"'ext. ~e con~idcr the one-eleOl.ent rtte,h ufthe 1imo)heni.l,O beam ele.men' (RIEl. We. have

whc.~ K$ =5/6. r

= 1/ A"" 111/ 12. and

A=-:o::-CA K, L 2 5 12 ' .
61
I + I!H ~

The ~pecified displacement and rorce degrees of freedom are WI =0. Sl = 0, 0 1=- O. and Q4 = 0; and the condcn ~ed equation, arc
6 (3'!!.. [3L
jJ,q J.)

JL L~(I.S+ M)

1 ,PAL[' J) IW"" 1 ' -w-T S; I 1

0

2r

30S

A~ IN"rRODl 'II()~ TO nil: 1'I~'IT" l:u;~tFl'r \WHIOIl

SClting the detcnnin;tot of the coctlicient In-Uri., to zero. we obw.in the char.lCteris\ ic equation

where s

i~

W~ n

the Io:!nglh-tQ. hcig,hl r(liio. ,I' =. ~I H. the rol,lry incnia is negle~ted. we h,lVe

x=~ J +4A
To further simpli fy the e~ru'c..,sjon, we assu me 11= 0.25 and obuun
.,
(J)-:;O

12
(I

1
-

+ HZ/U)
L

pAl.~

<lnd
-l. ... 100 ;

II

(<J '=':

--r;:- Vj;A:

3.4639

{I

H=IO;

3.44159 (1)=-/"::::" CO V pA

r;;;

The c.o;!lcl freq uency is w"" .l.S 158 for L/1I "" 1()() <lnd W= 3.5092 f\lf Lj H "" J 0, where (d! "" 6)t(l}...r;r;r[1!J). If tbe rot:)ry Inertia i~ incJude<l. we ohtain
L - = 10:
1/

The fn:qucndes obtain<."(! by lhe EIJler-llemOul!i be:r.rn c lcme nl~ and limo'ihenko bi;ilm (RIE) are "hown in Table 6. J.2 for tWl) di(ferC\lt values of the length-Io- height ratiQ l./ H. The v;ilue j H "'" I00 m~I"es tlle-effet't of shear dcl'onmUion negligible, and we ('>bUlin CJiscntia.lJy the smile resu lt as in the Euler- Bernoulli beam theory. Since the frcq u enci~ are nllnna1i <,.eU, w~(1)I}./l.Ptt /El), il is f1\.."'t:esS<\ry only 10 !;elect tlro vlllues of I' and L/JJ. For
elelllent~

Tabltl6.1.2 Natural frequcflcic.' of a cantilcver beam according 10 Timo~henlc.o beam theory ilnd eulCf- Bernoulli bea(JIlhcory (EBT) !w:=wlhpAje/)I!2J,

emT )

L/H:o: 100
M.:~11.

(UI

4L 'L I6L
2Q 4Q

'Q
F.Wrf T8'rl BSTJ
~

3.5406 3.5223 3.S174 3.52 14 3.5161 3.5158 35151:1 35U8

25.6726

'"

,,,

1.,/11",,10

w,
417.1330 151.8431 121.5434 3Z8.J25{\ 133.9828 J2.1.4458 J20.6152 120.83(10 1 20,901'1

w,
),51)7 J,49S6
).4008

W,
24. 134.5" 21.1004 21. 1 257

9(1,395)

1:10.2244
60.6297

'"

2aSS I
12.2350 23.3226 22. 1054 22.02!SO 22.0226 22.0315 22.0345

61t8937

63J4\3
785115
63.3211 61.7325

56."714

189.1)288 119.279!; 1{)4,6799

J~UI682

'"

3.4947
3.41:1')$

3.4892

61.6179 61.6774

3.4892
3.5092 1.5160

B I60

61.6972

2.1.O?62 21.0(0:3 W.4421 10.9374 21.7425 22.0345

67.08S4
5(i.4572 .'iU405 55.1530
59..80t3 61.6972

108.6000

100.74% 100.2116 t14.2898 120.9019

t 1I.00;tfy ;~;~ l1> ;ncl uded (Bract).

Il.owy t""l'\;a i; negl!CIl; 1M resu lt'
M~ ~~111

Qfthe rafiol.{1J (I~I).

ell,wrn o. U(if ~"VALUl ANU'IIMh Uhl'l~ I )b"'/1 l'kO~LHIS

309

compl.ItBliQna} purposes. we take

I' """ 0.25:

also, nOte that

, 5 Mil GAK=2(1+I')BfJ'6=W '

{J I =~

H lp A

where 8 ,lOd FJ are the width aud height. Tl!speetiwly. of th e. beam. We OMe ftom Tal)k 6.1.2 Ih:1I the finite clement results COln'!:r),;c with hrcJincr\.'lCnl (i.e., \>Illeo more of the same K ()f clements areu~ed) and also with p.rdinemeut (i.e,. when h,igher ind urder clements arc u..~ed). TIle pre(1m'n'\ent shows mOTe rapid convergence of the fund;lmcntai (I.e .. flrst) fn:l.juency. Note Ihat the effect of ~he~r deformation is to reduce lhe magnitude ()f natu.,ll frequency when compared to the EOT. [n other words. lhe 'ls ~uJ)led infin ite ~hear rigidity makes the EST over-predict the lUllgnitudc of frequcncie~ . '111e first four mode ~ hafX!s of the ca!l\jlevcr beam, as obtained uSing the 16e!cment mc~ h of linear clemen ts, are shown in fig. 6.1.5.
2.00

t.50

Modc.4

.,
~

1.00 0.50

it

0.00
-0.50

-1.00

-1.50
.2.1' () !

MO<k'

0.0

02

0.4

0.6

0.8

1.0

l<i~ u re6. 1.5

Pirst fuur natural mode shapes of a Cantilever bc~m, a~ predictt:d using a 16element meSh of ]inC<lr Timo~hcl)k.o beam e]cnlenls {LI H "" 10).

In c lo-.;i ng th e discussion on tl<ltura! vib ration. it is noted thaI when the ~ymrnctry o f the is u~cd to model the problem. o nly symmetric modes a rc predicted. It i ~ necessary to modcl th..: whole syslcrn in order to obta in all the modes of v ibratio n.
~ystcrn

Stabilit)' (lJuckling) of Ucams

EBT
The stud y of buckling of be'lln-col umns also lc:Jds to an e ige nva lue problem. For example. the equation governi ng onset of buc klin g o f a column s ubje cted [0 an axial compressive

310

A.'i InHUlWCr!O'l TOlll E rl'lITf I:IJ: ~W'lT MI!TII0!)

N"

T
L

T
I.

1
Ill)
(II)
(c)

1
.d)

Figure 6. 1.6 Col umns with diffe ren t boundary co n d i lion ~ and ~ u bjcctcd \0 axitll cO l1l prcs~ i \'c load. N O. (u) Hi nged-hin ged. (b) Hinged-clamped. (c) Clmn pcd-clampcd. (t/) Clamped-free.

force NO (sec Fig. 6. 1.6), accord ing to EST is [l-CC Reddy ( 1999")1

2 2 d ( d W) dx 2 1 dx 2

+ N oddx\V = 0 ~

(6. 1.5 ))

which describes an cigcnv;i!uc problem wit h ). = N O. The >;ma1Jes! value of N Ois called lhe critical buckling {oar/. The finite clement model of Eq . (6. 1.51 ) is

[ K' II " ' } - N " [G ' }W } ~ [Q' }

(6.1.52(1)

where {~ ' 1 and [Q f 1 arc the columns of gcncralil.cd d isplacement and force degree!. of freedom 0'11 the twO ends of the Euler- Bemou lli beam elClllCJlI ;

["I'

"IV) (_ IV,
dx

w,

[ tlx

-"

( EI - . tl

dx 2

2 1Y) + NodW] dx
I

[Q}'

) (_IIlV dx

(/ "'IV) [- -"(/ "'IV) , "IV]

dx 2
\

(6. 1.52b)
2

dx

dx 1

- N dx

where the ~ubsc ri pt s 1 and 2 refer to clement nodes I and 2 (M x = .1'" and x = Xh. respectively). The cocfti cienls o f the ~ tiffness m:urix I K r J and the slt/hilif)' II/atrix IC e I are

ct. =
'J

x.

dig dtPj d.\' (Ix tlx

(6. 1.52(.")

CIlIII'TER 6. UGE:<VIILUL ,\NDTIME_DU'HDENT I'ROIILl:MS

3 11

where it are the HermiTe cubic interpolmion functions. The explicit form of [G') is [sec the second part of the mass matrix in Eq. (6.1.42)
- 3h ~

- 36
3h,

[G'] = _,_ [ - 36 r 3h 30h r

1'13'{'

- 36 -3h e

-II;

4h , 2 3h,

--3", II;
3h e 4h2 ,

36
311 ,

(6.1.52d)

ForTBT. the equations governing buckling of beams are [see Reddy (1999")J

d - - [ CAK, (dW +S )] dx dx

"d'lV +N--~ O

dx 2

(6.1.53a)

- - EI dx

d ( dS) +GAK" ("IV) = 0 +5 dx dx

(6.1.53")

Here W (x) and S(x) denote the transverse deflection and rotation. respectively. at the onset of buckl ing. The finite clement model of Eqs. (6.1.53a) and (6.1.53b). with equal interpolation of W and S. is
0 1 1]) IIW'1 1~ IIV'11 101 WI IM'I

(6.1.54(/)

where
K i~1

K I2
'J

K?2 =
J

" 1 1"(CAK,l/Jtl/l~
CAK d""-' -'

CAK, __ __ dx , J .'. dx dx
,[,~ dt '(ix'T'J '

f~

dl/J'tll/!,

'.

.,'.

+ EI dl/tr dl/l i ) dx
dx dx

vr =: Q~ = [- GAK, (dW + 5) + NU dW ] dx dx
dlV V~'=:m= [ CAK, ( - . d.1

.f.

+s)

dlV] -NO(Ix -<h

M =: Q~ = f
M~
=:

(_EldS) dx (_E1dS) dx

fa

Q~ =

(6.1.54b)
'h

312

... ,.. INTNODL("T IO'" TO nil: f l,.. n

t, u.u.ncr-,. \1 1i1 110l)

For lhe linear RIE. Lhe stiffness maLrix matrix is given by

I Ke 1 i~

given in Eq. (6.1.49(1). The stability

-I 0]
o
o
0 1 0

(6. 1.55 )

El{lImple 6. 1.3

CQl.1$.idcr a uniform column Ct., A. I. E, and 1/) filled ill Ime end ;ind pinned al the I)thcr. a:. shown In rig. 6.1.7. We wh;Ji to deltlnniuc Ihecritica.l budd ing h)Jd. Let us consider a Olesh or two euler- Bernoulli beam clemen II>. The assemb led ~y~h,:m ()f finite clement equRtions is (II = 1./ 2)

6
- 311
21
- b

- 'J11 21123/,
Ir"

-6

3"
6 + (1 311 - 311

", 311 - 311

21r1+2112

- 311

T,) - 3/1 0 0
3. - 311 - 36 - 311 0
()

0 0
- 3h
41r~

-6
- 3h

3"

",

0 0 - 6 - 311 h: 3h 3/, 6 3" 2111 0 0

- 36
310 36+36
3" - 3fr

- 311
- h~

0
0 - 36

0
0

NO
30"

3/,
_ 112-

311 - 311
4hl+ 4h ! 3h _ /11

0 0

- 36
- 3/1

,.
3"

3"

- 311 - h' 3h 41r2

nodc~.

V, V, V, V, V, V,

= Q~ + Q1 Ql + Q~ Q' Qj

0:; Q ,

\\ohc!\! UI de note the gencrJ.liud dj~pl:lcemellls of the gl,)bal

/.

.,
(i)
1t"" "iiX ... 0

..-'-- '

".'

~'il:lure

6.1.7 A column fixed ;rt ,r =0 and hinged at x ::= L. nnd subjected to axial comprc.~~ivc load NO.

The geometric support.'!' and eqllilibrium <'Oodiliolis QI the CQlurrul require thll t (nOtc tbat the al\~llt c\)mpres~ive (orce NIJ cnrc.rs thc equilibrium equillion and the boundary conditiOn through Q -i)

Hco!X, t!'le c\Jndcnsed equstions become

-3"J) [UI fO ' )

-h ~ 4h l-

U4

O
0

U(!

which dcfincs the t:i~n\l',tlu~ pr\Jblem for tbe dc.tcnni(IoitiQn of NiJ Imd U ,. Setting the determinant of tbe cocfflcicnt matrix t ( l zcro. we obtain a cubic cqu;1ti(ln fqr NfJ. The ,rnaUe,~t valuc of ~ is the critical bucklillS load. which is (ubtai.ncd usi\1g 1~1 D)

N "'" 20,7088 ~: !
whereas the "dad' solmion iJi 20. 187 IlL ! fsce Reddy (1mb). pp. 155-166]. N;(t, cO{lsider a tW()c1cmeot m ~~h of the ~ J E. TIle. assembled cquatiOm; arc

6
- 311

- 3h
112 S\
~h h2E: ~

-6
3h

- 3h
1I":! :::;l

0 0
3/0

0
hl ~

26'1

-6
- Jh 0

;;M

]2 0

0
2Jr ~ E:1

- 6 - 311
6 3h
3h
IIZE l

0
0

-6
- J ir

3h
Ill S'/.

N' /0
where
K~

1 0 - I 0 0 0 0 0 0 0 0 0 - I 0 2 0 - I 0 0 0 0 0 0 0 0 0 - I 0 1 0 0 0 0 0 0 0

u, u, u,
U,

u, u,

Q!+ Q 1
Q'

Q~+Q!

Q :

<2:

Q 1
T hl

= 5/6, :Iud

Zl = 1.5 + 611,

3 ~"", 1.5 - 6A,

J.!o = I2A, II = CAK. hl::::;

;/ 1 +v fl 1

The condensed equatioQS lire

(2EI, [;
/-iflh

0
2h :1B) hZS1

h1S2

-3h]

- -

N[20 '
It

- 3h

ill S)

mmH~ 1
IIlllltill', we Obtain a linear

NOle. !.hat bo..'C;tuse. of the zero diago nal clement in the algebraic equation for NiJ (v = 0.25 and A "" H1[Ll)
N

~tabi Jity

,)

= 2.25 + ,

180+ I44A 1 54A+36A 1 L?

which is ,Ihno$t four time:: the COJTe(:\ value! A Ifle~h of eight linear R18~ yiel~ 21.348 81/ J."). illld four quadrutic element~ yield:. 20.267 EI/L1. for 1./ fI =: 100. Clearly, the RIB h,lS slow convergence mte for buckling problem!;,

We close this section with a note that eigenvalue proble ms (for natural vibration and buckling analysis) offramc ~tructures can be formulated usi ng the ideas discussed in Section 5.4. The transformed element equations arc of the form

IK' IWI- ""IM"II"' I ~ IQ'I. I K' IWI - NIC' II "'I ~ IQ'I 1K~l = Ir I T lk ~ llr]. IM~J = IT~ITIMPII r r ], IG~1 = IrJTIG r llT~J
(6.1.56)

6.2 TIME-DEPENDENT PROBLEMS

6.2.1 Introduction
In thi s )oCctiOIl, we de velop the finite clement models of o ne-dimensional time-dependent problems and describe time approximation ~c h et1les 10 convert ordinary diffcrcnli:11 equations in time to algebraic equ;llions. We consider finitc clement models orthe time-dependent version of the differentia! equations studied in Chapters 3 and 5. 'n lese include the secondorder (in space) parabol ic (i.e .. fi rst limc derivative) and hyperbolic (i .c .. second time derivalive)cquations and fOllrth -orderhyperbolicequations arising in connection with the bending of beams Isee Eqs. (6.1.2), (6. 1.14), (6.1 .36), (6.1 .43a). and (6. 1.43") I. Finite element models of time-dependent problems can be de veloped in two alternative ways: (a) coupled formulation in which the time I is treated as an additional coordinate along with the spatial coord inate x :lIld (b) dccoupled formulation where time and spatial variations are assumed to be separable. Thus. the approximation in the two fonnulations takes the form
If(.\".

t) ~ If/, (x. 1)

" L if} ; (x, r)

j=d

(coupled f01ll1U lation)

(6.2. Ill)

II (x.

t) :::::: ur, (x. t) =

" L II} (t) VI} Cr)

j=E

(decouplcd formulation)

(6.2.lb)

where ~;(x, t) arc time-space (two-dimensional) interpolation functions and r' j are the nodal valllc~ that arc independent of x and I. where 'l!5(x) arc the usual one-d imensional interpolation functions in spatial coordinate.r only and the nodal values 11; (1) arc functions of time I onl y. Derivation of the interpolation functions in two coordin:Ltes will be discussed in Chapters 8 and 9 in connectiOll wilh the tinite element analysis of two-dimensional problems. Space-time coupled finite element formulations are not common, :Lnd they h:lve not been adeqtwtcty studied. I n this section. we consider the ~pacc-t illl e decoup!cd fornlUlation only.

CttA,,":!IO llG..'WAI UI: ANU "'MI,O"PP'-\}EN'll'llOllU:~tS

J 15

[)C!k(:';on at tune I) Figure 6.2.1 Dclk'(:lions of a cable:ll different Ilm(:s.

The ~ pace- time decoupled finite clement fOTmullltion of ti me-dependent voh'c,s two !iters:

probl e l1l ~

in-

l. Sp(lfi(l/ lIppfoxim(llioll, where the solution /I of the e(ILL:ltion under consideration b appl'Oximated by expressions of the fOllll (6.2.1 b), and the spat;lll finite element model o f the equation is developed LL ~ in g the procedures of qutic or ~ t c;ldy- .. t:ltc problcrn~ while carrying all time-dependent leml' in the formul3lion . This step rc~ults in a set of ordinary differential equ:ltions (i.e . " semidiscrete system of equations) in time for the nodal varillblcs 1I ~ (t ) of the clemen!. Equation (6.2.Jh) rcpre"-Cnts the spatial approximiltion of /I for any lime I. When the solution is ..cp:uable into functions of lime on ly ilnd space only. II (x .1) = T(t)X (x). the approxima!ion (6.2. lb) is clearly justifi ed. Even when the solution is not separable. (6.2. 1b) Clm repre'\Cnt a good approximation of the actual solution provided a sufficiently stn:lll time step i~ used,
2. Telll!Xm!l (lIJpmxiIlUllioll. where the system of ordinary (Ii fferentilll equations arc furth er

approximated in time, often using lini te difference fonnul"e for Ihe time derivati ve~. Thi s step allows convers io n of the ~yste m of ordinary differential equations into a set of algebraic l."qualion~ among"l at time I I = (.~ + 1)61, where 61 is the time increment and ,\. is a nonnegative integer. All time approximlltion IIj from previous 'ime~:
sche mc.~

sed.. to find II J at time lIsing

III},.,

I~ ~

I u~ing the known

val u c..~

of

compute

III} ... ,

/111. I ....

Thus, :It the end of the two-stllge approximation. we have a con tinuous spatial solution :It discrete intervals of time :

" II(.I'.I. ) ~ II~(X.I,)= Lu j(t.)1/Fj(x ) (.~=O.l. ... )

,~,

(6.2.2)

NOle that the approx imllle !.oJ ution (6.2.2) has the 5:'111e fonn a... th:11 in the l>epar.lIion-ofvariables technique used \0 sol,"c Ix>undary value and initial value problem~ . By taking nodal values to be funct ions of ti me. we sec Ihat the ~ pati a l point' in an element take on different values for different times (st.'C Fig. 6.2.1). We study the delaih o f the IWO ~ tCp~ by considering a model differential L"qu:nion Iha' cOnlil in ~ both second- and fourth -order ~ patial d e rivative~ and fiN - :md second-order time

derivatives:
;)2 ()~ all (J 211 - -iI (au) + -, ( b- , +/'()II+CI-;-+(.'2-~ = ":- ilx iJx!t) ax dx "I a/-

j(x.l)

(6.2.3(1)

The above equution is ~ubjec llo appropn:ue boundury :lIld inil iul cond i l ion~. The boundary conditions ure of the foml specify specify :11 .\ = O. L, and the initial conditions involve specifying
"211(X. 0)

U(X./)

or

all - 1I - + -iJ iJx ax

b-

;)2 /1)
i),r 2

(6.2.3b)

and

C2Ii(X.0) + CIII(X.0)

(6.2.3c)

where Ii == il li / al. Equation (6.2.311) describes. for example, the fol lowi ng physical problem,,;
(ll) Heat tr.tn!'fer and fluid flow: <'2 = 0 and b = 0

(b) Transver-c motion of a cable: a = T.

(r) The longitudi nal motion o f a rod: CI = O.Cl = pA
II

(0 = 0, b =0, CI = p, ('2 = 0 = EA. b = 0 : if damping is not considered.

(d) The Ir.tnsvcrse motion o f an Euler- Bernoulli beam: c2 = pA

II

= 0, b = 1, Co = k, CI = 0.

We will

con~ider

the'W

~pecial

cases through examples.

6.2.2 Scmidiscrctc Finitc Elcment Models

The scmidiscrete formulation involves approxi mation of the spatial van <Ilion of the dependent vari<lble. Thc formulation follows essentially the s:nTIe step" as described in Section 3.2. The first step involves the construction of the weak form of Ihe equatio n over a typical clement. In the ~ond step, we develop the finite clement model by seek ing approximation of the fonn in (6.2.11. Following the three-step procedure of constructing the weak form of :1 difTerential (:quation. wee:.n develop the weak fonn of (6.2.311) ovcr an element . Integration by P:111S i.. used once 011 the first term :lIld twice 011 the second term to distribule the spatial de rivatives l:qually bctwccnthe weight function \I' and thcdcpcndenl variable II:

+[

II'

aw ux2 ~_ - ''')] , [( a,,) + -J (b 82 + -ax (- b -8'-,,)]" ax ax Jx

(1 -

CIIAI'TUt b.

UGE/'iV"~ UE "Nr)TIM~ I)r:rn'l)hN I PROII Lr:M~

317

(6.2 .4a)

where

a ( a ~" . [a'''] ',,)] ax2 , [ a'] '' QJ = - [ a" + -;- ( "")] . ax a b-.-,
Q\ =

0"

-(I

ax + ax

Q 1= b - , ilx

f.

(6.2.4b)

- a -;-

(lx

(Ix

"

Q4 =- b ilx 2 "

Nex l, we assume thm If is interp0);lted by an expression of the foml (6.2. 1/) . Equati on (6.2.lb) implies that. at any arbitrilrily fixed time I > O. the functiollll can be approxi and 1I ~ (t). with rl ~ (I) being the \'alueol" II at tillle mated by a linear combinati on o f the / at the jth node of the element Q ~ . In olher words. the time and spatial variations of II arc scramble. This assum pt ion is not valid. in general. because it may not be possible to write the MlIUlion u(x. 1) as the product of a function o f time o nly and a function of space o nly. However. with sutlkientl y small time steps. it is possible to obtain accurate solut iolls to even those probl e m ~ fo r which the sol ution is not separable in time and space. Thc finite element solut ion that we obt.. in at the end of the analysis is conti nuous in space but not in time. We on ly obtain thc finite clcment solutio n in the form

y,;

U(X.I, )

" = Llf j (t, )y,; (x) = L"

j ,,,,d
r oo !

(u j )'" Y, j (x)

(~. = 1. 2 .... )

(6.2.5)

where (uj Y is the value of II (X. 1) at time I = I". and node j of thc dement Q r . Substituting w = y,;(x) (to obta in the ith equation of the system) and (6.2. lb) into (6.2.411), wc obtain

- \:! !y,; (X,, ) - Q3Y,, (Xb) - QZ - (Ix

"

. ( 'IV,,)[ . (
- Q4

.'..

-d~, ) [ dx .t.

(62.6) In m:ltrix form. we have (6.2.7(/)

3 18

AN 1N'1 kOOl('1'IOI' Ttl m~: Fil'rrL Ili]ltlSr \leT 1100

whcre
(6.2.7b)

(6.2.7c)

'. Equation (6.2.7(/) i... a hyperbolic cquation. and it contain"'lhe p:!r:lbolic equation :IS a sped:!1 ca!>C ('iel IM21= 101). The time :!pproximation of (6.2.711) for thc'ie two casc!; will be considered scpamtely. We begin with the pambolic equation .
*

Kj~ =

d 1/1 --~ j.'..~ . b tll ! ' ---f. d.L d.\ dx

F, =

j "1/I.f dx

-I

Q;

6.2.3 I'llra bolie Equations Time Allproxim:tlion

Thc lime approximation is d iscusscd with the helpof a si ngle firsl -ordcrdilTercntial equat ion. Suppose that we wi~h todetennine lI(f) for I > 0 ~ uch th,lllI(f ) <':ttisfies
+bll = f(t), O< f < T and 1 1(0) = 110 (6.2.8) </1 where (/ :#' O. b. and 110 are con<;lants. and f j<; a function of time f. The exact solution of the problem consi~ t s of two pans: the homogeneous and panicular solutions. The homogeneous solution i" lI -

till

The particular ~olution is giycn by

/l1' (t)

"
=

~e

II

(1' ,1-' fer) tlr)

(6,2.9)

The complete solution

i~

given by
1I(t) = <'

b (A+~l'e"f(r)dr)

In the finite difference solution of (6.2.8). we replace the derivntives with their finite diffe rence :Ipproximation. The 1ll0~1 common ly used scheme for!.O lving (6.2.8) is Ihea-family oj approximation in which a weightcd aycmge of the timc derivatives :Ittwo consecutive time s l e p~ i~ approx imated by linear intcrpolation o f the val uc" o f thc variable at the tWO s tcp~ ("Ce Fig, 6,2.2):
(I ~ O')II , +0'14.+1
. .

II ..

II.

.6.1~ +1

forO S O' :;: I

(6.2. I(kI)

where Uk denole~ Ihe va lue of U(I) at lime I= f . = "2:;"'1.6.t" and .6.1$ = ~ '. I is the lth lilllC ,IeI'. If the IOI:!llime 10, 1'1 i... divided inlo equal time ""cps, then I , =.\.6.1. Equalion (6.2 .1Oll) can be expressed as
11 . ... 1 = 14,. +.6.1 li,t"

't

11 .;... = <I - a)II. +all ,+ 1 forO :;: O' :;: 1

(6.2.10&)

/
11(1)

Ii' '' ~' fON'a rd d ifference

!Y,

Ii, ,,

III ~Ut_ l , backwarddiffcrcncc

,

11,,= 11(1.)

~ ~.l;),{I'-I)

'?1

U I = IIU:' I) ,.
11,'+1

/
.1 = 0 s_2
I

1 \

r\
"

1\
.-.. ",
.,'+
I

,,'=

I' igure 6.2.2 Approximation of the dcrivat ive of a fun ction.

When a = 0, Eq. (6.2.100) gives

wh ich is nothing but the slope of" the function 1I (t) at lime I = I, based 011 Ihe values of the function at ti me I, and I, I I. Since the value orthe functio n from a step in front is used. it is termed alorward difference approximation . When Ci = I, we obtain
11 "+ 1 =

which is tenned. for obvious reason. the hackward dilJrrelll:e approximation. Relurning to Eq. (6 .2.8), we nOle that it is valid fo r all times I > O. In particular, it is va lid al times I = I., and f = t. + J. Hence, from Eq. (6.2.8) we have
.
II,

a a Substi tuting the above ex pressions imo Eq. (6,2. lOa ), we arrive at

= - (I. - bll s ),

. 11'11

=-

(/,~ 1 - b/l '~ I)

Solving for 1(1

IIH I'

we obtain 1(1 - ( I - 0') 6.1.,+1 bill,

+ 0' 6.1,+ I hili ,+ 1 =

+ 6.1.0+1 10' f,+ I + (I

- a ) 1.1 (6.2.l la)

0,

11<+1 =

a(1

(1 -

a) 6.1.+1 b

+ a D. IS-I 1 b

II ,

+-:(c: + D.I,,+ I ,-Ia~f",~+;-,-, '__a-;)~f,-"I + a 6.1,~ I b

(I

(6.2. llh)

Thus. Eq. (6.2.11 ) can be used repeatedly to march in lime and obtain the solution al times 1 =1.,+1, r,t,2 .... IN, where Ntime is the numbcr oftim e steps required to reach the final

320

"~I'ITII()nI.lCll()N lnTlI[,n.~I'n! ~JJ,\.IEN'I MlrlllOll

III

timc T (or the ~o lu ti on reaches a steady stilte). At the very begi nning, i.e.. .\ = O.thcsolution is calculated u~ing the initial value 110 :

(6.2.12)
We lIl;ty also develop " time approximation scheme usi ng the fin ite element method . To this em!. we co n ~ider the problem in (6.2.8). We wish to detel"lnine 11.<+ 1 in ternl.~ of II,. The wcigll!ed-imegral fom) of (6.2.8) Over the lime interva l (I,. ' . + 1) i"

o=f'" 1!(t) (lI~ + IJ/I - f) '"

, dl

(6.2. 13 )

where

/J

i ... the weight function. Assum ing a solution of the fOlll1

II(I) ~

" 2::>,I/IJ (I)

) ", 1

where 1/1, (1) are inteq>olatioll funct io ns of order (/I - I) . ll1eG;t1crkin I1niteelement model is ohtained hy substituting the above approximation fo r II and 11 = 1/1, into (6.2. 13). We ohlain

lAHul = IF!
where
A,j=

(6.2. 14)

" f"
~

1/1;(1)

( d~
(/1

(/ _ J

+ /)Y/ , )

li"

F;=

f'' '
~

Y/,.(I)[(I)(/1

(6.2. 15)

Equation (6.2.14) is v;tlid with the lime interval (I" 1.+ 1), and it represents a relationship between the va lues III. 11 2 .... , II ", which arc the values of /I at time 1, .1. + <.'1 1/ 1,,- 1) ' 1.+261/1" I) . . . 1,+ 1. respectively. This would yie ld a Illu ltistep approx imation scheme. To obwin a ~ing l e-slep approximation scheme, i.e ., write 1I.,.t"l in t e rm ~ of II ., only, we ass ume linear approxi mation (i .e .. 1/ = 2)

where 1/11 (r) = 'J!~; r and 1/12(1) = of its \'a l uc~ at I ., and I fI .l:

r,.In the same fashion. [(t) can be re presented in tcrm ~

/ , ", (,) + f ,+, ~ , (I)

/(1 ) =

For th is choice of approximation. Eq. (6.2. 15) becomes

( ~ [-I 2 - I
Assuming that
11 .,

I] + M, [2
1 6 I
II H I

(6.2. 16)

is known. we solve for

U'II=

from the

~eco nd

equatio n in (6.2.16)
(6.2. 17)
~peci:d

( 2M')
+ -} -

(M') uJ+ D.r (/, + 2/3-+ (1 - 3 3' - , ,)

Comparing Eq. (6.2 .1 7) with Eq. (6.2.1 1(1). we find that the Gu lerkin sc heme is a case of the a-family of ap proximation, wi th a = 2/ 3.

Stllble lind Conditionlilly Stable Schemes

Equatio n (6.2. ll b)ean be written in the fonn
11,, + 1

= A (u,,) + f . H I .
F ',.,+ 1 = <.>1, +1
A

= ---:-';-----,0':----','-'a+a6./.+ lb

a - ( I - a)6. I.+l b

'--='-;--'--:-,-';--""

i a j HI+ (I - a)/, 1

(/ +- a 6.1,,+1 h

(6.2. 1&)

The operator A is known a~ the lIIlIplijicat;o/l Ol)t'rlllur. Since j l , is an approx imate solution. the error E. = 11 ,,(1, ) - 11., at time ' 1 (where II " is. the exact solution) will influence the solution at 1 1. The error wi ll grow (i.c., E, will be ampl ifi cd) as we march in timc if .... the magnitude of the ope rator is grealer than 1.I AI > I. When the error grows without bound, the computational sche me (6.2. ll b) be co me~ unstllble (i.e .. solut ion /1 .1+1 becomes unbounded wi lh time). l l lercforc. in order for Ihe ,cheme to be Mable. il i.. necess.ary 1hat IAI :: I : (6.2 .19) a + a 6.I" lb The above L'quation places a restrict io n on lhe m:lgnitudc o f thc time stcp for certain v:lluc.~ of a . When Ihe error rem ains bounded fo r any d me ~t ep ILe., conditio n (6.2.19) is trivially ~a ti s lied for :lIly value o f 6. 11 . The schcme is Jwb/e. Iflhe error re main s boundcd o nly when thc time ~ te p remains below cena in v:!lue lin ordc r to satisfy (6.2 .19)[. the '\Cheme i ~ ~a i d to be (,OIu/iliollally stalJle. For different values of a, the lime approximation scheme in (6.2 .11 b) yields a diffcrenl ~cheille. 'nlC followin g we ll-known time-approxi malion schemes along with Iheir order o f acc uracy and slability ~hould be noted:

a - ( I - a) 6. I, + l b '

l< 1

o.
a=

,
"?>
2 j.

Ihe forward difference (or Euler) scheme (conditionally Siable): order of accuracy = 0(6.1 ) Ihe C rank-N it:ol ~on scheme (st:lble): 0 (6. / )2 thc Galerkin mcthod (stablc): 0 (6. t) 2 Ihc backward difference scheme (slable): 0 (6.1)
(6.2.20)

I.

Of these. the Crank- Nicolson mClhod is Ihe mOSI commonly used sche me.

I:ully Discrclized "' inite Elcment Equations

We now hllvc the tools necessary to conVert the sct of ordinary di fferentiaJequations (6.2. 7a ) to a set of algebraic equations in much the same way w e convened a liing le differential L'quation (6.2.8) 10 an algebraic cquatioll (6.2. l lb). Here. we work wilh matrix equal ion I i.e " [M I ) = I M I and 1/1-1 2 1= [OJ in Eq . (6.2.7(/) 1 (6.2.2 Ia) subject 10 Ihc inilial condilions

luJo=l uoJ

(6.2.2 I b)

322

"" 1~1'lUII)Ln IO~ nl I1IF H~I'II. 1 U

MF.' 'T MI: IWII)

where {lIlu denotes thc vector of nod .. 1 val u e~ of II ill time 1 = 0 , whereas {I' O I denote!> the col umn of nodal valuc~ 1/ j(l. As applied to a vector of time derivatives of the nodal values, the a-famil y of appro:<imation read:-. as
(6.2.22(1)

oc
{Id<tl = {II I,

+ .6.t{Ii},+o

(6.2.22b)

{IiI "" = (l - a)!ii) .. +a jlijHI

for 0 S a :S I. Equation (6.2.22(/) (an be used to reduce the ordinary differential equations
(6. 2.2 1a ) to algebraic equations among the II j at time tH I' Sin(e (6.2.2 Ill) i:. valid for an y

t > O. we c:m write it for times 1 = t, and 1 = ',, + 1:

[M [(Ii ),

+ I K ], {II ), = I Fls

(6.2.21<1)
(6.2.23b)

IMIII,),+! + IK J,+I {/I) ,"' I = {FI,+I

where it i~ a~ ~ lltned that the matrix [M J i~ independent oftirnc . Premuitiplying both sides o r (6.2.221l) with 1M [ we obtain
.6.1,+IO' {M I{li),+l

+ .6.IH l (l

- a)lM\lli 1 = I M [((II), II - {1I11' ) 8

Substituting for amve at

lM ){Ii ),+1 and

[M Hli) .. from (6 .2.230) and (6.2.23b). respec tively. we

Solving for the vector {ld H] ' we obtain

IK1.<+ +lIII<+1 =
where
{K}"I =

[K], /111,

+ IFI . " I
[Mj - (12 [ KI,

(6.2.24(/)

111.11 +(/d KI "

I,

[K) , =

{Fl ...... ] = .6.t.... J!a{FIJ+]

+( I -

O')!FI, [

(6.2.24h)

Note that. in deriving (6.2.24(1) and (6.2.24b), it ha~ been assumed that [M [ i~ independent o f time and that the time stcp is nonuniform. Equations (6.2.24tl) and (6 .2.24fJ) are vlIlid for a typical finite element whose scm id iscreti..:cd equations arc of the form (6.2. 210). In other words. Eqs. (6.2.240) ilnd (6.2 .24b) hold for any problcm, independent of the di menslon and method of spatial approximation, a\ long as the end re,ult is Eq. (6.2.2 Ia). TIle asse mbl y, irnpo~i ti on or boundary conditions, :md sollllion of the i\s~e mbl ed equations ilrc the sallie a~ described before for ~teady -state prohicms . C:IICli lation of [k J and I PI at timc 1 = 0 requires knowl edgc of the initi .. 1condi tions [II}O and the time variation or {F l. Note thal fOfa = O(the forwarddilTerence scheme). we obtain I k I = 1M [. If matrix [Mj is diagonal. (6.2.240 ) become!>
II ,

." =_, (f-- k ' _ ,.

M l'i)

L.....,
,

'J ll l

'+ t ', ,) ....

(no !>lIm on i)

(6.2.25)

clt"'vrr.~~; E1GE."VA I.UE A~OTIMEDEi'1'-"I)[~'T I'KOIlLEMS

323

Thus, no inversion or the coefficient matrix is required in ~olving for 11/1J+ l . Such a scheme is called explicil. A scheme is said to be implicil when it is not explicit (i.e" an implicit scheme requires the inversion of iJ coefficient matrix). Thus, explicit schemes arc computationally less expensive compared to implicit schemes: implicit schemes arc more accurate and have larger critical time steps. [n real-world problems. the cost of computation precludes the usc of implicit schemes. [n conventional finite clement formulations. I M I is seldo m diagonal. Therefore, explicit schemes in linite clement anal ysis can ex ist only if the time-approxi mation scheme is such thatlK] = 1M] and 1M] is diago//al. The matrix rM I computed according to the definition (6.2.7c) is called the cOllsiJlf:nI (muss) murrix. and it is not diagonal unless 1/1, arc orthogonal functions over the element domain. There arc several ways to diagonali/.e mas~ matrices: these will be discussed in Section 6.2.5.

Cunsistency, Accuracy, nnd Stnbili ty

Since (6.2,22(/) represents 1111 approximation. which is uscd to dcrive (6.2.24(/). error is introduced into the solution 1] .+ 1 at each time step. In addition to the truncation error imrodueed in approximating the derivative. round-off errors can be introduced because of the finite arithmetic used in the computations. Since the solution at time 1, +1 depends on the solution at time 1, . the error can grow with time. As discussed earlier, if the error is bounded. the solution scheme is said to be stable. The numerical scheme (6.2 .24(/) is said to be COflsi.\lem with the continuous problem (6,2.7a) if the round-off and truncation errors go to L.ero as l:J.1 -+ O. Accuracy of 11 numerical scheme is a measure of the closene~s between the approximate solution and the exact solution whereas stability of a solution is a measure of the boundedness of the approximate sol ution with time. As we mi ght expect, the size of the time step Clm influence both accuracy and stability. When we construct an approximate solution. we like it to converge to the true solution when the number of elements or the degree of approximation is increased and the time step t::.1 is decreased. A time-approximation scheme is said to be cofll'ergellf if. for fixed I" the numerical vldue 1111, converges to its true value 11/(/.,)1 as t::.t -+ O. Accuracy is measu red in tenllS of the rate at which the approximate solution converges. If a numerical scheme is stable and consistent, it is also convergent. the a -family of approximations is For all numeric::!1 schemes in which Ct stable only if the time step satisties the following (stability) condition [follows from Eq. (6.2.lm

<!.

l:J.1 <

t::.1cri

== (I

2
20')..

(6.2.26)

where).. is the largest eigenvalue associated with the problem and t::.1e.; is (see below)

(6.2.27)
Note that the samc mesh as that used for the tran sient analysis must be used to calculate the eigenvalues.

324

AN

IN"rRODL'<.'IO~ TO 'i'l1I - m,lTI; U.I;MI'~' \WTlIOIl

6.2.4 I-Iyperholic Efluations

Time Approximation
Consider mmrix equat ions of the fonn I~et I M ' I = IC I and 1M 2] = I M I in Eq. (6.2.7a)J lK 1(11) subjected to initi al cond itions
(/l(0) = (uo).

+ ICHlij + IM Jliil =

(F I

(6.2.28(/)

(Ii CO) = (V{)1

(6.2.286)

Sut:h equ ations arise in structural dynamics, where IMI denote~ mass matrix. IC ] the damping mmrix , and I K ]the st iffness matrix. The damping matrix ICI is oft en taken to be a linear combination of the ma s~ and stitTn es~ matrit:es, rei = fil l M I + {h i K I. where fi, and Ih aTC determined from physica l experimems. In the present study. we will nO! consider damping (i.e .. IC I = 10 I) in the numerical examples. although the theoretical devc10pments will account for it. Tran sient analysis of both baTS and beams lead to equ:uions of the type given in (6.2.28(/) and (6.228b). The mass and stiffness matrices fo r these problems are discussed below. Axial MOTio/l of Bars The eq uation of motion is g iven by Eg. (6. 1.14). TIle semidiscret izatiol1 resu lts in Eq. (6.2.28(/). wi th IM e ] and I K ~ ] given by Eq. (6. 1.27h) and ICI = 101.
Trm!SI'efse MOlion of Euler- Bernoulli Beams

The equaTion of motion is given by Eq. (6. 1.36). The semidiscretized equation is the same as Eq . (6.2.28(/), with I M ' ] and I K ~ ] given by Eq. (6. 1.4 1h) and [C ( = (01 .
Trallsl'erse Motiol/ of7imoshcnkv Beams

The equations of mOl ion are given by Eqs. (6. 1.43(1) and (6. 1.43h). The scmidiseretization results in Eq. (6.2.28(1), with (M eJ and (K ' j given by Eq. (6. 1.48a). Note thatjM' ] and IKel an:: the matrices g iven in Eq. (6.1.47). There are several numerical methods avai lable to app roximate the second-orde r time derivati ves and eonven differential equations to algebraic equations. Among these, the Newmark family of lime-approx imaTion schemes is widely used in structural dynamics [Newmark (1959)(. Other methods, slLch as the Wilson method [Bathe and Wilson (1973}1 and the Houbolt meThod [Houbolt ( 1950)]. can also be used to develop the algebraic equations from the second-orderd itferential equalions (6.2.28(1). Here we consider the Newmark family of approximation schemes.

Newmark's Scheme
til the Newmark method. the fun ct ion and its first ti me derivative arc approx imated accord ing
to

(6.2.29a)

(6.2.296)

(:IIAPTER b [IG"' VAlIII: A"IlTI \l E-OCI'tc..'1I)(J<.T l'ROIIl .DIS

325

where
(6.2.29c)

and a and y (= 2fJ) aTC paramcters that dctermine thc slllbi lity and accuracy of the scheme. Equations (6.2.29a) and (6.2.29b) can be viewed a ~ Taylor's series expansions o f /I and Ii. The following <>chcmes are special cases of (6.2.29a) and (6.2.29b):

a = 2' a =~,
a= a =::!,

y = 2fJ
y y

=!

Constant-average acceleration method (\ta ble.)

!. ,

0' =2'

= 2{1 = Line:lr accelcration method (conditionally >.tablc) = 2fj = 0 Central d ifference method (conditionally stable) y = 2{3 = ~ Galcrkin mcthod (stable) y = 2fJ = 2 Backward difference method (~t ab l e)

(6.2.30)

For all schellles in which y < a and a ~

!, thc sta bility rcqu irement is

(6.2.31 )

where Wn..~ is the maximum nalUr:,1 frequency of the sySlem (6.2.280) Wi lhoUI

le i:
(6.2.32)

Fully Discretized "' inite Element [(Illations Eliminating [iil.+ 1 from Eq),. (6.2.29a ) and (6.2.29b) and writing the result for {il}$+" we obtai n (6 .2.33) where

a6 = fl:l'

CI7= ~ -

l. CIS =

(~- I) III
+ fJ (Ill )2[ FI ,+ I

(6.2.34)

Now prcmu ltiplyi ng Eq . (6.2.29(/) with {MIHI and slibsti luling for [MI$+ diiIHI from Eq. (6.2.2&/), we oblain

(1 M 1 I + fj(llt )2 [ K 1.+.) (111.+ I ",

= [An f db J.

- fj( III )2 [ C 1 Iii 1.+ I .+1

(6.2.35) where

Ibl. = III },

+ ~tlli-)~ +"2 ( I -

y)(Il I)2{iil .

(6.2.36)

Now. multiplying th roug hout with {l 3 = I IlfJ(llt)2 1. we arrive at (1 31M I. II

+ I K I.+tl 1111.+1 = {131M Is+l lbl + !FI.+, J

lCj.+ i!li I.... ,

(6.2.37)

Ul>ing Eq. (6.2.33) for !Ii}.,+l in Eq. (6.2.37) and collecting terml<, we obtain the fi,ml result
(6.2.38) where

I}(I.+I =

IK I,

+ a,IM1HI + (l6ICIJ ... 1

(6.2.39)

1':",,+-1 = IFI'IL + IM"J,+dAI. + ICJ.... dBI. IAI$ = alibi , = 01!ld.< + a4IriJ . +(I,lii ),.
{BI. = (1(,11113 + lI1{iil t + (/8/ii),
and
I
(15 = - - 1

(6.2.40)

Y
Note that the cillculation of I K J and {FJ requires knowledge o f the initial co ndili o n ~ In practice, we do nOI know liilo. A~ an :Ipproximation. it can be calculated from (6.2.28a) (we often assume that the applied force i ~ i'ero at 1 = 0):

11110, Ilil o. and liil o.

{iii" = IMIL ({ Flo -

IK 111110 - IClllil o)

(6.2.41 )

At the end o f e:lch time step, the new velocity vector {IiI., I and acceleration vector {iiI ... , arc computed u.<iing [fru m Eqs. (6 .2.29(1 ) and (6.2.29b)l
/iil.. +1 = Il, (!/I!HL

/l'r), .. I =

- 1111.) - (/41,i), - (/s{ii), IIi). + (j~ Iii Is + adii 1 .1 "

(12=( 1 - 0')6.1

(6.2.42)

0 , =a6.f .

The remaining procedure stays the :-.ame a, in slatic problems. The full y discrct ized model in (6.2.38) is based on the a.;"umption that y ;i0. Ob viou, ly. for centered d iffe rence Sl'heme (y = 0). the fOl1llUlation must be modified (sec Problem 6.26).

6.2.5 Mass Lumping

Recnll from the time approximation of par.. bolic equation:>: that 1I'1,C of the forward diffcrence scheme (i.e .. a = 0) rcsult!) in the fOIiOwinrtime marching scheme [see (6.2.24(/) and (6.2 .2"'b)l: [M' 1l111 dl = ([M'I- \6.t[K' !)!II! , + .6.tIF'"I,
(6.2.43)

'nle mass m:ltri x I Arj dcrived from the wei~Q.ted.inlegral formu lations o f the governing equation is called the cUluisfl'lrl l/IaS.f Ifwtrix, antt-if is symmetric po~itive,dc fini te and nondiagonal. Solution of the g lobal equations associated wi th (6.2.0.43) TCquires inwrsion of the as!.Cl11bled mass lI1:ltriX. If the mass matrix is diagorwl. then the assembled C (IU:ltions can be SOIVL'(] direclly (i.e., without invening" matrix)
(U/ ).+I = Mlt' [MII(Utl, - 6.1

t ,., K /J(UJ), + 6./( Ftl. ]

(6. 2.44)

CHAPIUi I> E](;!J'/H" n'ASI> n~lI. t>El1.1'OCvr PRORIUI S

327

.md thus saving computational time. The explicit nature of (6.2.44) has motivated analysb to find rational ways of d iagonalil.i ng the mass mat rix. There are several ways of con"tructing diagonal mass matriccs. also known as (lilli/Jell mlln matrices. Thc row-~lIm and proportional (umpil/g tcchnique~ arc di'\Cussed here.

!tow-Sum Lumping
The sum of the elcmenh of each row of the consistcnt mass matrix is used as the diagonal element:

M~ =
where thc property (6.2.45) gives

LI f"p"" ~ ,,,; dx = f"p",~ tlx " J=

~.

(6.2.45)

r.

L:J=I "'i = I of the intcrJXllation function" i~ used. When p is constam.

IM' II = ph, [ I
2 0 (linear clement)

IM' II = ph.
6

[~ ~ O~] 0 0

(quadmtic c lement)
mas~

(6.2.46)

Compare these lumped mass m:ltriccs with the consistent

matrices

[Melc =

P~. [~ ~]
30

(linear element)

IM'.le = ph , [

~ _I

2
16 2

-;1 ]

(quadratic c lement)

(6.2.47)

Ilere subscripts Land C refer to lumped and consisten t mass matrices. respectively.

I'roporlional Lumping
Here thc diagonal element'> of the lumped mass matrix lire compUied to be proportional to the diagonal clements o f the consistent mass matrix while conserving the total mass of the element:
(I

" f" / L f '" pl/l:l/Ir

P dx
.t.

dx

(6.2.48)

;= 1 '.

Forconstanl p, proportiona l lumping gives the same lumped mass matrices as those obtained in the row-sum technique for the Lagrange linear and qU:ldratic c lements. The usc of a lumped rn:l ~s matrix in transient a na ly~s can ":lve comput:ltional timc in two ways. Fi .... t. for forward d ifTerence schemes. lum ped mass matrices result in explicit alge braic eCluations not requiring matrix im'crsions. Second, the cri tical time step required for condi tionally stable schemes is larger. :lnd hence less computational time is req uired when lumped mass matrices arc used. To see this, consider the ~1ab i lity criterion in (6.2.3 1) for the case a = and fj = O. For a one linear element model of a uniform bar of st iffness

328

A" fNTROI)UCTfO~ 1(l lllf FfNff'll B.1'-\1I.N1 M ll ntO fl

EA and ma!'s pA. fi xed at the left end. the eigenvalue problem wi th i,

aeo n ,i~ t c nt

mass matrix

(6.2.49) Since VI = 0 :md Q ~ = 0. we have

lJ} = EA h
S ub ~ti t\Jtin g thi ~

I PI = A
3

3 p /1 2

into Ihe cri ti cal timc SICP rcl lllion (6.2.3 I). we have.

(L cnk = 2 /wn~ = h (4p /3F.)1 /2 u

If we uo;c Ihe lumped matrix.
({J

is given by
w = (2 /p)l jl / h

and the cri tical ti me step

i~

(6.2.50 ) Thus. expl icit "cheme" requ ire larger time 6.2.6 Applications Here we con.. ider two ex am ples o f application:. o f fini te clement m{M.lch of o ne-d i mcn ~ i on a l probl em~. Example 6.2. 1 j" taken fro m Ir<ln"ient heat Irunsfcr (parabolic equati on). and
EX<l mple 6.2.2 is taken from ..o lid mec hanics ( hyperbol ic equation).
~ t e ps

than implici t sc h e m e~.

Exampte 6.2.1

COMillcr [he lnl.llsicm heat conduction problem dc.o;cribed by tile d~fft:re"[ ial equiltion
_

au alII
at

.... _ : 0 : ;

ax!

ror O<.t< !

(6.2.5111)

wilh boundary CQnditions

11(0. 1) = 0.

(6.2.5 1b)

and illitial condition

(6.2.51(')

where u i~ thenolldin)Cn.~ion:diled temperature.1'he prvblcm at hand i~ a ~~ial cascof(6.2.3(1) with Q :E! I, b ::/i: O. Co = 0. CI "" I, () ~ O. and f ,= 0 for eq. (6. 1.2) with k A = I. peA "" I. aud q = 01 The fi nile t'lemem model i$ .

M' 11-

-fto
"

.I.'.M '1', 'I'j

dx
funcljo(l~, th~

For tbe chOice of line;)r in.1erpo\;llion

scmidiscrete

eqllatic.m~

of;j \)pka!

element arc

"'[' 'J\"))+-'--[' -'J!"lj=!<lJj

6 I 2 "'2
II"

-l

uJ.

Q~

when:: ht i~ (hcl~n&lb of the elemelli. Use of the Q'_family of 'ilppro~matjon (6.2. ilXl) results in the equation fs<:c W2.24a)]

w~re

61 iSlhelimestep. Fif'it. C()nsidl!l' a one.element I1)t!oh. We have {II == I)

-II+(I-a)U 6 h! I . ~I U

, A'] -1,-(1 . . ll.

3
0') -

where

Qj =q{Qi},-, + (J - aHQ;)" , Tbcboulldary CQnditiotl~ of the problem require

(Ut),=O,
(Q~),=O

foralls > O(Le.,t >O)

Huwever, the initial cOndjtion (6.2.S I,) requiri!$

Since the initial cml;dition should I:x;consisteut with the boundarycllnditions. we take (U')(I = O.

Then il follows thaI (fJl)" == I.

U.sing the boondary condjljon~. we citn write for the one...demenl modeJ (Ii

== 1.0)
(6.252)

which Can be. SQlvcd rc~atcdly fur lh at different times, s "" 0, I, .. Repeated usc of (6.2.52) can cause lhe temporal approl>imatlon error to ~row with time, de~l\diQg on the value of a. As noted earlier, l)1c fOr\\'llrd differtnce scheme (a ",,0) i~:I conditiOO(illy Stable scheme. To determine the critical time ~tep fM the one-elc.ment mesh. we first calculate the max.i/1lum cisen~'lllue of the uSSQCimed sy~tem

.'[2'J'[' (-1..'6 +;;

1 2 _I
The eigenv;llue is (there. b onl)' une)

-"}AhU:! + h ~ IU1 = 0,

or i. =. 3/ h"'= '}

Hence, from Eq. (6.2.26) .... e: have 6t"" '# 2/J..=0.66667. Thu~. in oflier for thc forward difference f>Chcme (6.2.52)

10 be

"able. the tillie step should be smaller than

6'~

"" 0.6667; <Xhcrwise. the solution 'Will

be unStable, iI$ ShO\\"Il in Fig. 6.2.3.

For a \wo-clemclH melih. we ha\"e (h I -= II. "'" II = 0.5): the w ud c n.~L-J equa tions of thc

ti!t1c-m;"lr'l:hfng sc:beme

MC

givcn hy
-b-')(I-u)-

-II +2a:\J ,,, [ -/I u 6 "

"

J -h-a6 "
3 "

J" AI - +u-

A'] IV)
U)
2-

2 3

A' h

...
J

[ -h+(I-u)6 "

6,

"igure6.2.3 StabiliJ)' of the lumMi Jillerencc (Ct=O.O) and schemes.b ;Jpplied to a p..ToIbOlic equatiOn.

Cr.II1k.~Nic()I M1U

(a"",O.5)

C11",~n:k 6: EIGr~'lVA!.UE A ~]) Tl'>1FA)El'llNrnol>T I'KOBLlO....,S

331

The associated eigenvalue problcm is

The characteristiC cquatioQ L~

7r? - 1O.t + l = 0.

A""'T

Ali!

whose root:> ,Itt: ~1 "",,2 .~%7 and h1- =3 1.689J. f'eh!;c. the nitical tiQ\e ~tep OOcomd Altri ::= 2./31.6891 =0.0631. A ~ill.ll! ~tcp. 9f AI = 0.065 ~lIhs in an unstable solution, 3S showo in FIg, 6.2.3. FQr (unl:ondirionally) stable schcmes (C!?::: V, Ibcre.ls. no re~tricliou on the time. step (e.g.. Crank- Nicolson methOd with two linear eJC1lient,~ and AI=0.065 yield very SJl:!0Qth and stat>1t solutioll. as sh<Jwn in Fig. 6.2.3), However, to Obtain a suf1lcicntl)' accurate ~oMi(m, the time ~tep must be ta)o:o;:u as a fraction Of A/C{(. Of cQurse. '-be nCCU!1lcy of the solution also dcpe.ndson thee mesh s!;w. /I. As tbis is decrca.~d (Le., theDu mbcr of e!emezt~ is increased), AI,1j decreases. Plot~ of u(J, t) vet:;us liooe for IX "'" 0 and Cl' "" 0.5 wilb. AI = 0.05 arc shown in Fig. 6.2..4. Solutions predicted bYfQe:mes Clf one, tWe), Qr fou( ltnear (L) Qr quadratk (Q) elements are compared. The convergence. of the solution wh.h increasing number of elementS is clear. The finite-dement solutions obtained wtth differeni mQt.,hod~. lime steps. and meshes are cl'lmpa.red with the c,xaL'1 solution in 'Thble 6.2.1.

l-50
6i "' 0.0s.

."

I qUJdratic. elcmtn! { ... 0,5) ... t qt(:a<lratic c.lelllel'll {IX "" 0.0)

'i l.00

21i.r\ear c1ez:nen~ ((1. '" 0..5) 2 linear elcrnCJIt.'l (u.... (I,O)

g
0..50

i.

Time. I Figu.re 6.2.4 Tran..icnt SOlulio(l of :ll?ambolic equatiOn actording to linear and quadrJtic finite
eJenIl!Jtt~.

332

AN ,-'rHO!}l 'CIl0N 1 0 Tlfr FlNnh tU.MEIH \IL' flllll

Table 6.2. 1 A Clnllp..'lri..on of the finite element ~olutioj\" obtained using Vari()lh lillie apprroximation -.chemes and
(t:r.t=O.O~). "~O
mc~he~

WI th the ~maJytica l
0.5

l>l)luljon

(If a par.lbolic equation

ul

Co' ""

1L
0.00
(l,Q'i

IL
1.0000
(l.S(f)6

11.
1.\1000

2L
1.0000
I.V:.tW

4l
1.0000
1),'1951 0951\8

1\1000
O)!~

0.8605
0,740.:1

1.0000 0.9'J3.1
O_9~,S.$

"

1Q
1.0000
1 .Q!!70
O.'JalQ
O.lW3

20
10000 0.9942 0.9550 0.8831 0.7633

'Q
1.0000
()9')28

e,(1K'1

1)10 O,IS 0.20

0.25
[).)()

0.722.')
06141 0.5220 0.4437 0_1771
o.3~06

0.1561

0.92'N
O.81(fl

o 'J'i49
0.8125

I.OOOQ 0.996'1 0.9491

0.6515
0.57111 0.4912 0.432-'
0.)759
0.3269

0.637 . 0.5482
0.4117 0.4059
0.}492
O...l{lw.i

0.7176 06300
0.5533
0.4858

0.8639 0.7557

067.5'1
O,~9On

0.8707 U.7694 O.6!124 06037

0.5325

0,11642
0.7723

O.7(j79
0.67&1 US987 0.$28(\

() 35 OAO (lAS {),o5O

055

o,n.'">tl
0.4608 0.408.1
0,3592

0._
0.5394

0.6933

0.7731 0.6R55

06070
O.SJ5!!. 0.4741 0.<\11\8 0.3701 0327)
O.21j<)()

0.61:154 0.6068
O.'nfl1 0.47.:1:'i 0.4194 0,3708

0,2125

o 1)ffl
O.Ul7.' {),)422 0. 1209 0.1028 o,rnJ7.-I 0.074,' 0.0631
O,O~16

0,2.116

060

0.65
0.70 0.75

000
0.85 0.90

0.2843 0.2';72 0.2 1';9 0.1869 0.1625 O.141J 0. 1229 0.1069 0.0929

0.2.580
0.2225 0,1914 0.1(>:17
n,1.:\18

O..\~66 . 0.3746 032!1'j

O.28S!!
0.Z5.~

OJ I76 O.27<i8
O,241l

0.0808
O.o7U.l

0.95 100

0,().-I56 O.O]i!S

0.061/

0.1220 0.1050 0.{)90) 0.1)777 0.0609 o.oS75 0.0495

0,2227 (J,19$5 0.1717

O.I~08

0.471.1 0.41058 0.3676 0,3247 0.2868 0.253.5

O.22~8

0_ OAI2l

0.4710
(JA2Ql

0.3639
0.32JJ O.Utn 0.250$ 0.22 12 0.19.5.\

0)687 0.)175

onn
0.21197 O.25M
0.2264

0.28113

O.25,x,
0.225J
0.1~5

0.2556
O,125l:1 OJ9Q6 0.1764 0.1559 O.137R 0. 1218

0. 1324 () 1162 0.1020

0.08%

02180 01924 0./697 O.14\1i! 0.1322 0 11 66 01029

0, 1979 0,1747 0.1544 0.1363 0.1205 0,1065

0.1125 0.1523 0.tH5 0.IIS7

Q,]('MII

0,1761 11 1551 0.1375 0.1216

0.1074

0,200 1 0,1709

O. j ~<>J
0.13112 0.1122 0,10Ii0

0.1076

E"(ample 6.2.2 _

We wi!o>h to dclermino; the h'lli1S'crsc motion of a heiJnl clamped at bQlh ends mid ;,ubj,tcd 1 0 initial dentiVll using EAT :iJIO TBT. The go~'emjng equations are

7jif
lI'{O,t)=o.

,)1,.

a4w + ax~ ~O

fQr 0 < x < I

'1'(1.1)",,0.
- ( 1,1)= 0

(6.2.S3a)

iJl\" a;(O.tJ='O.

OW

'w at
Noto; thllt the initial lleflecti(lll of the beam initial ~lope i~ ghcn by
IS

,.

(6.253b)
(6.2.5.k)

-(x.O)#O

eOlhlJ;ICrU with the boundary conditions. The

f.l(x, 0)

=: -

an.) (Tx, ...,

=:: -Jf C("'I1fX

+ Jf(l

- 2,1)

(6.2.53d)

Bec,IU~ of ~ymJllctry aboul ~. 0= 05 (center of the bellm), we con~ider only a half ~p.l n of the beam for 6nitcdemcnt modeling. Here we u~c the firM half of the beam. O!: x ::: 0.5, lIS the

rompuuuiOflai domain. The bI}Undarywnditiml~1 ,f ~ 0.5 hO(O.5. 1) ,.. -(eh.,/8.x)(O.5. I) ~ O. The ~m idiscrctiled fin ite. element model of a typical elemcnt i~

"6 .!!.!... [ -2211,

420 54

-2211.
4h ~

-Ull t
1~6

- 13".
-311:

"

i3h(

2211,

-3h; 22/'. ~
4/,;

""'Jrl
~;

.c..~ .' .

A~

+ II',

[6

-311,
-6

.... 311; 211; 311,

-6
?oil, - h: J", 6 311. 3h, 2h;

-3h.

It;

JI r
A; A;
A~

We begin with It Qn~icm~nt Cfelil.cd lno.:kl 1:.

..!:.. [ - 156 22/,

420 54 1 3h

-2211
4h~

- 1311
2211

- 13h _.311 1

"6

"

-3 1i ~

2211

4/11

The bournlary condition.. jur the one..... lemeflllnodcllr.lo.. ]Jtc lllttJ

UI = O.

rl ,,/, Jrl [ rl
~ g~
Q'

m<::..n \\ ith the EUler- 8ern(lUih beam element. The scmidi~

Vl
"2

qJ

+ II .}

6 -311 -6

-Jh

2hl
3/,

-6 3"
6
311

U4

- 311

I,'

"" gl

Qi

Ul"" O.

U. = O,

Qt= O fot:lIJ ,>O

The initial condition .. can be computed from (6.2.5)(') and (6.2.53d)

UI = 0.

U23:s 0,

U1=O. ih= O,
(J(~\ + olMJ,HU1).t I
where:

U,l= O.2146. U1 ::; O

U,'~O

U. = O

forI = (1 I(lke.... the fOrol

The colklen)ot'd equation of the time marching ""heme for

I hj~ ca.~

=- {F 1 ) ...... , :s ''''J'(o,U, + u~ih + (I~V).. s = 0, I . ..

s = 0) il; computed from the equation of mlltion:

(UJ)u""'~
M

(I,. a~. amI Us arc dclincd in (6.2.40). The second deri\alivc U , for time / = (I (i.e.. v.hen
K ...\(Ul)~ 420 --=- ('2 x 0.2 146) - # - 110.932 -1 M11 h 15('11

ror y < ~, we. must compute thi.: critical lime step AI("n. which depend~ on the square of ma."I(imum naiul1ll frequency of the beam lsec Eq. (6.2.3 1). Pol' the present model, ~ b com puted from the cigenvnlue problem
( Kn -flJ' M.n )U~=O (KW~=K-'l/M,,=516.92)
lIell..:e. the critical lime \tcp for 0-=0.5 and Y = \ (i.e., IheJ inear acceicr-JliOIl scht'lIle) i~

a'm=- .!i2/c"ma, ::: 0.15136

334

"" INTNOJ)'-nlO" TO mr "l"n ltlJ.I>II.'

l' Mt:TIt(N)

Although there is I]() restriction (In lime integration M:hemc.~ with Q ,.. 0.5 and y > 0.5. the critical time step pro\'idc~ an c.,liUlflte of the lime ~tep to be used to o!lwin Irllnsiem solulion. Figure 6.2.5 shows plots of II"{O.5, I) versus lime for the ..chcme with u -'= 0.5 :tod y co:: ~. Three different time ~leps. 6.1 '" 0.175. 0.150. and 0.05, 3re-u~ed II! illu~trat c the !lC{:ufa.:y. For 61 :0:::.0.175 > AI~. the solution i~ unstable., where~ for 6.1 < 6.1~ri. it i~ Mable but inaccur;uc. The period of th ~oluti(m i\ given by
T = 2.'1'"/6)= 0.27635
FQr t w~ and four-clernent mc\hel. of Euler-Bernoulli clemenb, thc crilical time steps art" (detail); are !lot presented !lere)
(A/~rih ... 0.00891,

{6t.:r;.l4 =0,00 135

.,

where the ... uh~ripts refcr 10 the number of tl1eme nt.~ in the mc.~h. TIle trJnS\'erse deflection ohlainoo with the Olle and two Euler- Bernoulli clemcnl!; (6.1 = O.(J05) ill haU' beam for :, complcii! period (0. 0.28) arc ~how n in Pig. 6,2.0. the problem can also be analyi,e(J using thc Timo... henko beam elemctl\ (RIE). In writing the go\'C.mtng tqu3tioJls l~e (6.1.43a) and (6.1.43b)1 of the TST R.~ they <lpply to the Im::.ent problem. we first identify the coefilcients GAK" Ei. pA. and pi cOIl~istenl with Ih(l~ in the difft"telltial equation (6.2.53u). We hlllle EI "" 1.0 and pA = 1.0. Then GAK~ can be computed

GAK

-= 2(1 + 1/) BilK"" ~

EI
2-(1

+ I!) -If ~ -(, ",,- 1 fI !

12 S

(6.2.54)

1.00

'" t
.;

0."
000

" ~
/I

"'..,
- 1.00

, , ,

"
- 1.50

0.'

, , , o ""O,'15} , (r , ,
, , , , ,
.0 61 -"' 015

1'3)

AI <; 0,05

\ 0 6J ~ O,175

(r" 0.5)

-::'00
0.0

OS

1.0

IS

~O

Tillie, '

I:igure 6.2.5 Center deflection w(O.5, r) ven;us lime t for tI clamped bea!ll.

0,20

'" '" i~

O.IQ

0.00

, , , ,
tlJ .. 0 005 - - I ekment 2dc)1lcnt:>

-0.10 ~

-o.:.!O0.0 0.1

0.1 Time,1

OJ

0.4

os

.'iftUn! 6.2.6 Center trnnwerse tlcllection vc:P,w" time (or a Clamped bltnm subjected to an inili3\ tr:lnwer.c: ddllXtion (81 = 0.005, ct = 0.5. and y ::: 0.5).

u~d

where B is the witJth and N the height of the beam. and I in arriving at the las! I!~prc.~~ion. Similarly,

*" hHN'. II =0.25. and K, =i are

(6.2.55)

(6.2.5&/) (6.2.56b1

The \"alue~ of w(O.5, I) ..., obtained u~iog tbc Eukr~ Benloulli and Timos.bcnl.':O elements (bOlh clemc.nt~ include the rotary inertia) for \'ari()t.ls nuU)be~ ()f ctcmelllS are Pfe*n\cd In Thble 6.2.2. TIle time step is tal..cn It) he AI "" 0.005. v,hich i~ ~ll1;lller than the crilical time slep Oflhc tWIJ-elemem me~h of the Euler-Bertloulli ~aOl element v, hell y ~ {. Plots of w (0.5. t) ubtolined wilh two alld four linear Tim<)shcnko beam clements. two qundf,)tic 'limu~henko
beam eJemen~ for Lj If "'" 100 (since L:= 1.0. we take H =0.0 1; for Lj H == tOO the ~hear deformation efFcct i~ negligible) along with the twoelement -;olutil)n of the Euler-BernQulli beam element iIfC shown in Pi!!,. 6.2.7. T'hc twO linear element mesh Of TBT beam clement!; prccJkls transient resplln~ that di !fen si~nificanlly rrom the EaT ',otuticm, :lfld the TBT SQlutillO wn"crgcs to the EST ~lutiol) a.. the numDer of c:kmenb or the degree or appro.l..imali()n is iocrealiCd. Should we u~ conditionally ~tahle Scheme!., it coin he shown Ihal Ute Tim~heuko beam elemenl.rcquires larger ll.t(n thao the tuler-Bernoulli beam eleme]Jl. This is bccau~. ll.~ Lj I-J if> dccfCa-.cd, the ~~ predictci.l by the 'fBT is qnallcr th;\1) that predicted by the EBT

336

AN IN'! ROUL'CTIO,," TO I'IIE F1MII;UJ.MF"'T \II. IUU!)

Table 6.2.2 Effcct of mol~h on the Irflosic!ll

re~()I)nsc

<If a beam claUlpt.-tl at bOth ends (6t:c

TaT elcl\lCnlS-

0.0(5).
EDT eicrnenlS

a"",O:I,r., I/3
'lilllitl

(1 ...

0.:1,'1"'0.5
2

,
0,2146
0.2098
1),1951

(I=U.5, '1::0:0.5

2L
0.2146 0.2124 01938 Q,15.s1) 0.1 t45
0,()695

0.00

om

102 1

om

0,()4 0.05 006 001 0.08 0.09 0. 10 0. 11 0.12 0.13 0. 14 0 15

21.. . 11>'0

0.2146 (I,2091 01t)2R 0.1666 0.1319 0.0904

0,0442
o.(lO;t)

0.2 1M) 0.20'.;& 0.1951

0.1696

0.'2 146 0.2091 01'128 0.1667

().I~2Q 0.090~

0,2 146 0,2098 0.1951

0.16%

0. 1346 (10930 00481 t).(JO I4

0.1348
0(9)1

0.0443
(I.OOli

0.0.182 0,0014
-O,{);IS9 - 0,0'}23

-0.0525
.().Q9!11)

O.t)462
- 0.0926 - 0.1345 0[685 0. 1933
- O.2Ql!.8

-0,1385 0.1719 0.1%4 - 0.2 IOil

-0.2 144

-0.2070
h""~r ,*'h<:!II~;

0.21!!3 0.2113

- 0,0523 -0.0978 - 0, \383 0.1717 - 0.1'.163 - 0,2108 -0,2 144 0.2071

0, 1(i98 0.1350 0.0935 0,0483 00018 - 0.1)455 - 0.0'/16

0. 1336

0.1342 - 0,1683 -0. 1933 -02088 - 0,2150 -0.21 12

IWQ

() Ins! - 0.19)2 0.2087 0.2J 48 -0.211 1

O.OIl'B - 0.()4(,7 - 0.0917 - 0,1422 01833 0.2010 - 0.2154 - 0.2205 --0,1')86 - 0.1f)%

0.2146 0.2\'H9 o 1916 Ot6a6 0.1374 0.0980 0.0073 - 0,04():\ 0.0&44 - 0,1154 - 0,1588 - 0.1875

'"

20
0.214(> O.2lt6 0, 1951 0, 16'.10 0.1427 0.1067 0.0657 0.0234 -0,0267 - 0.0706 0.1 100 -0.1 461 - 0.1117 - 01%9 -(1,2110 -0,2 146

-o.2{)6'}

-0.l()(.3 - 0.2J38 - 0.2134

41. .. foo. li<1i:wclemcnl\; 2Q .

1I",J(iMt.c ~~nli!'U'

.4<)
030
0,20

N " 0.005, Q

'"

0.5, Y'" 0.3. fI "" 0.01

.;

" ,
~

0_10

.~
~

000
-{l.10
-{l.20 ---0)0 -

1\

-(lAO
-".50

Tin (2 hnwe1emellb)
TlH{4 hncHrt:lcmem~) TnT 12 quadratic. clcmenb) LBT(2 ekntenb)

"'''' 0.'
Figure 6.2. 7
Tran ~ient

0.1

02
Time. t

OJ

0.4

0.'

respunse of a he,U" c1ampNJ 8t both emh. ucconli ng to the TBT lind

EBl' (EI "" I. pA = I. H = 0.01 , 6t =0.00.5, a ",,{I.5, and y "'" 0.5).

6.3 SUMMA RY
In this chapter, finite clement formulations of eigenvalue problems ,md time-dependent problems arc developed. One-dimensional. second- and fourth-order cqu3tiol1s (beams) have been discussed. The eigenvalue problems studi ed include problems of heat transfer (and the like), bars, and beams. In the case of bars and beams. the eigenvalue problems arise in connection with natural vibnuions and buckling of columns. Except for the solution procedure. the finite element fomlU lation of e igenvalue problems is entirely analogous 10 boundary value problems. Finite c lement models of limc-dependent problems described by pnrabolic and hyperbolic equtllions have also been presented. A two-step procedure to derive finite clement models from differenlial equations has been described. In the first step, we seek spatial approximations of the dependent variables of the problem as li near combinations of nodal values that are functions of time and interpolation runctions thai are functionsofsJXlcc. This procedure is e ntirely analogous to the finite element formulalion presented for boundary value problems in Chapters 3-5. The cnd result of thi s step is a sel of ordinary differential equat ions (in time) among the nodal valucs. In the second step, the ordinary dirferential equations nre further approximated using the finite diffe rence approxirnotion of the time de rivatives. The res ulting nlgebmic equnt ions com be solved for rcpentedl y, marching in time. Examples using both transie nt heat transfer and beam bending arc presented .

PROBLEMS
Section 6.1
Most problems arc romlUlalive in natuTe. For eigenvalue problems, we nced 10 write the final ehar-oIeteristie equations for the eigenvalues.

6. 1 Dctennin-e the firsltwo eigenvalues associated wit h the heat tra nsfer problem whm.e govern ing equations and boundary conditions are given by (Fig. 1'6.1)

, ' a" - - ( (/ - '') +b - + cu = O forO < x < L

ax

ilx

at

u (O) =0.

( " ,1" ax

H") I

. ~I.

~O

where (I , IJ, c, and fj are eonl>l:mts. Use (0) two lme:lr fin ite elements and (b) one quadmtil; clement in the do main to solve the problem.

u(O)

F===T==::r, .
c " fjP
" kA

1----1. ---"~
Fin's lal~ ..~l surrace as wel1lls
the end ... ~ I. are ex poso.,d to ambient temperature

Figure "6,1

Figure 1'6.2

6.2

Det~rllline the firM lwo longitudinal frc<luencies of a rod (with Young's modulu!> E. area of cross !>Cction A. and lellglh L) Ihat i~ fix~d at one ~nd (li.ay, ;11 \. =0) and supported axi;llI y at the other end (at .( = I") by :I linear c las tic spring (wilh ~pring cnn~lant k), as shown in Fig. 1'6.1:

problem. ,.\ lts ....!:!r: (a) The charactcri!>tie equalioll is n l - {l0 + 4C)A ~ '" / 2EA, A = (pl, 216E)<,i .

Use (0) Iwo linear fini te den"ICnls and (b) one qu adrat ic elcment in the domain to solve the + ( I + 2c) =0. c =

6.3 Determine lhe sm all~1 nUlural frequenc)' of a beam wilh ehllnpcd e lld ~ and of COIlSlanl cros~ "eclional area A, nmmenl of inertia I. lind length L Usc the sYlllmetry and IWOEuler- Bernoulli hcam element~ in the half he:lltl.
6.4
R e~olvc

Ihe above prohlelll with IWO RIEs in the half-beam.

6.5 Conl>ider a beam (o f Yuung's modulus E_ shear modul us G, ureH of cross section A, !(Ccnnd mllmenl :Irea about the axis (If bendinll J. and length L ) wi th il~ left end (f = 0) clamped and il~ ri1.!ht cnd (x = L) supporit,'d vertically by a lincar elastic spring (-.ee Fig. P6.5). Determine the fu ndamental natural fn.'quc ncy u~ing (0) one Eulcr- Ik rnoulli beam element alld (h) one Timoshenko beam element (liE) (usc Ihe same mass matri x in both clements).

I,G.A.,
Ii.!
I~
L

1, -I

Figure P6.S 6.6 Consider a simpl y su pported beam (ofYoung's modulus E, mass density p, area of eros... section t\. second moment of are;! about the axil> of bending I . and length 1..) with an elastic suppon al the center o f the beam (s(''C Fig. 1'6.6). Determine the fundamen tal n;lIurdl fTC<luency using the minimulll number of Eulcr-B~rnoulli ocam clements. Answer: 'nlc char:leteristi c polynomial is 455}..1 - 2(129 +c)1. + 3 + 21' = 0.
R

A. Il

Pinned here
L _---'., :.~___

Figurt! )'6.6
6.7 Delennine the critic:!1 buckling load of a cantilever beam (A, J. L, t.") using (iI) one EulerBerno ulli bc:am clement and (h) one Timoshcnko beam clemen!.

6.8 The nutuml vibmtion of a IK:am under applied alliaJ compress ive load NO is gO\'emed by the differential equa ti on
l / 4W

1:'1--,
dr

+ N U _/ ' (;f

d1 w

=.l.w

where .l. de notes nondimensional freq uency of natu m) vi bmtion and Ef is the nex um) ~t i ffness of the heam. (a) Dctennine the fundamen tal (i.e . smallest) na lUml frequency U) o f a cantilever bellm (i.e., fixed at one end and free at the other end) of length L with allial compress ive load No using one heam element. (b) What i~ the buckling load of Ihe beam? You are required 10 give th e tinal characteristic equat ion in eac h ca~e. 6.9 Determine the fundamental nmura l frequency of the truss shown in Fig. 1>6.9 (you are required on ly 10 formulate the problem ).
1

2 1':

30 Insi

o fl .

AI 3 in.l A 1 "' 4m.2

E - 30x tO~ lblln.l.\'~ O.3

A ~ IOZm2.f ~ I<r\n"

Figure 1'6.9

Figure 1'(1. 1U

6. 10 DctenniJle the fundamc ntal natural frequency of the truss ~ hown in Fig. 1"6. 10 (you arc required only to fonnulate the problem). 6. 11 Determine the lirst two longitu dina l nat urdl frequencies of II rod ( A. E, L, m). tixed at one end and with an attached mass 11/2 at the other. UM: two linear clements. Hinl: Note that the boundary conditions for the problem are 11(0) = 0 and (.4 ilu lilx + 1/1 2 illll/ il1 2)1 , . L = O. 6. 12 11le equat ion governin g
tor~ i ona l

vi bra tion of a circ ular rod is

..... here q, is the angular di~pl ocement. J the moment of inenia. G the ~hear modulus. and m the density. Iktenni ne the fundamental torsional frequency of II rod with disk (J 1 ) attached at each end. Use the symmetry and (a) two linear clements and (b) one qU < ldr.ltic c lemcnt. 6. 13 Thc equ mions governing th e motion o f a beam according to TBT cun be reduced tn the single equation

wherea 2 = Ellm A andb! = I I A. Here E isthe Young's modulus. G is the shear modulus, m is the l11as~ pe run itlcllgth. A is the are:! of cross M!ctio n. and f iS lhe mome lll nfinenia. Assuming th at (/)2m/ kG) I (i.e .. neglcctthe last term in th e guve rn ing cqu(ltion), formulate the fin ite clellient model of the (a) eige nva lue problem for the determination of na\ur,lI frequcncics and (b) fully diS(;relized problem fur the determination uf the tr:msiell\ respollM!.

U~ the finite clement model of Prohlem 6.13 to determine the fundamental frequency of a simply supported bc'lm. 6. 15 Find the criticill Duckli ng load P en by detennining the eigenvlllues of the equation

6.14

w(O) = w(L )= O.

_<1'"') <1'"') , (EI-- 1 = ( _dx- 1 d .tf.l-~

...(I

= 0

. -L

U~e onc Euler- Bemoulli clement in the half-belllll. Annver:

"m = 9.94)9EII L2.

tran~fer

Section 6.2
6.16 Consider the parlial differentiill cquiltion arising in connection with unsteady heat nn in~ulatcd rod: forO < x < L in

Following the procedure outlincd in Section 6.2, derive the scmidiscrcte varia tional form. the scmidiscretc 'i mte cle ment model. and the fully diM:rctil.ed finite e lement e1luations for a typical clement. 6,17 USing a two-elemenl (linear) model ilnd the semidiscrcte fini te clement equations derived In Problem 6.16. determine the nodaltempcralUres as functions of time fur the case in which II = I, f = 0, III) = I, and (/ = o. Usc the Laplace transfonn technique (sec Reddy (2(X)2) Itn solve the ordinary differential equations in time. 6.18 Consider a unifonn bar of crOSS-SCClioll(ll area A. modulus o f ciasticity E. ma!>s density fII. and length L. The axial displacement under the action of time-depcnocnt axial force.'i is go\ernt.."d by the wave equation

Dctennine the tr.llIsient !'C..\lxmsc li.e .. find u(x , I)J of the bar when the end x = 0 is thed ilnd the end x = L is subjected to a force Pu. Assume lero initial cond itions. Usc one linear clement to upproximatc the spatial variation of the solution, and solve the res ulting ordinary difl'crenliul equution in time exactl y to obtain ul (x, I) = - - ( I - eosat). A E I. 6.19 Resolve Problem 6. 18 with a mesh of two linear c lements. Usc the L1place tmnsfonn method to so lve the two ordinary dio-crenti:11 equations in time. 6.20 Solve Problem 6. 18 when the right coo is SUbjected to all a.xial fon:c I'll aud supported by an a.xial spring of stiffness /C. An.\ wu:

l'uL x

3F, (.' = - -mAL/P '

I'

Jl = j j ! :

( kL)'" I::A
1-1 _

Ct1AI'I'EK b I](;ENVALUE AKOTI~U~ I>r.IH;DENT PKOAU:).tS

34 1

6.2 1 A bar of len gth L moving with vclocity l'o strikcs a spring of st iffness k. Determine the moti on 1/(.1.1) from thc instant whcn thc cnd .f =0 strikes thc spri ng. Usc OIiC linc~lr clement 6.22 A uniform rod o f length L and mass 11/ i ~ filled at x = 0 ~lIld IOI.ded with a mass /t1 at x = t. Dctcmline tht; mo tion 11(.1'. f) of thc system when th e mas~ M i~ subjected to a force 1'0. Use one lint;ur elemellt. Answer;

A= J3-

" (3M +111 )' L AL

6.23 TIle How of liquid in a pipe, SUbjected to a surge-of-pressure wave (i.e" u water hammer). experiences u surge pre~~ure p, whieh is govemed by the equ~t i o n

, '( ' f))' c- = ;;; k+ bE

where III is th e mass density and K the bulk modulus of the fluid. D is the diameter ~nd b th e thickness of the pipe, and t: is the modulus of elastic ity of the pipe materia l. Determine the pressure ,,(.r. I) usi ng one linear fin itc clcmelll for the following boundary ;lI1d initial condi tions: p(O.1) =0.

'I' (L.I) =0.

ax

p(X.O) = "Il.

il(x.O) = O

6.24 Consider the problem of det ermin ing the temperature distribu tion o f u solid cylinder, initially
at H unifonn tc mpera tu re 70 and cooled in a mcdiu m o f zcro tcmperatu rc (i.c., 7:'" = 0 ). 'nle govern ing equal ion of the problem is

&1' I {Jc - - - r;)r

at

a ( rl.: -&1') =0
ilr

"nlC boundary co ndi tions are

-

ar (0.1) = 0.

11le ini[1<1 oondi[iol1 is T(r. I) = Til. De termine the tempera tu re di st ributioll T(r. f ) using one 1 linc;trclClllenl. Take H = 2.5CI11,1.: = 2 15 Wf(m .~C). f1 = 525 W/(m~C), 'Til = 130 C, fJ =: 2700 kg/Ill l , and c = 0.9 kJ/(k g. C). What is the heat loss at the surface'! Formulate the problem.

"

&T ( rl.: -ilr +(1 T )

= 0

, _ II

6.25 Determine th e nondimensiollal tcmperatureU(r, f) in the region bounded by two lon g cy lindrical
surfaces of md ii HI :md H2. 'nle dimensionless
he~H

conduction eq uation is

_ ~~
r ar with boundary and in itial co mJitions
:- ( 1<1,1) = 0.

(,"0)+ ao = 0
ilr
ill
0( H2,1) = 1. O(r, O) = O

'0

",

6.26 Show [hut (6.2.2&/). (6.2.28b), (6.2.29a), and (6.2.2%) can he reworked to mutch the fnnn in Eq. (6.2.38) as

and definc [1-/ ) amI [FJ. ~ "

342

A,'1I!TltootJC11O.'1

U)lllhfl'lm' U.o.lI;.vrloU:lll(l1)

6.27 A unifOnll cantilever beam of kngth /., monlent of inen ia I, modul us of elasticity E. and mass m begins to vibrate with initial displacement
W(X.O)=wu x 2/ L1

:lI1d zero in itia l velocity. Fi nd it~ disp lace ment at the free cnd at any subsequent time. Usc one ELller~ Hemou ll i beam clemeLlt to determ ine the solution. Solve the resulting diITerential equaliolls in time lIsing the L:lplacc transfonn met hod. 6.2H Resoh'c Problem 6.27 using one limoshenko beam elcment.

REFERENCES FOR A I>I>ITI ONAL REAI)JNG

Argyns. J . II. alld Schall)f. 0 W. "Finlle Elemems in Timc alld Sp;ICC:' A""/lUlu/lml Journal o[th .. Roml S"cwly. 7J. 1041-1044. 1969.

2. Ha lhe, K, J., Finil" f./"meml'rt>c"dllll!s ill En~int'u;n8 An"Iy,<;.. Prerl1ice l lall, Englewood ChITs. NJ, 1982. 1 Ba lhe. K. J. ami Wi1 ,on. R. L., "Slatli hly and Accuracy An~ly,is of Direct In lcgr..liOiI McthclIh," Imemll/ionlll
J umlllllJ[ "rlh'l""'~" E"8in"rr'ill/l. (m.! Slrunl",11 DY"llmi.;r, I , 283~291, 1971 .

4. Ilclytschko. T. "An Owr.'iew of Semidi'>CreUJ.ation and Time InlcgmltOlI Procedures." in Bclyl'\Chko T. and Hughes T. J. R. (eds.). Cfmlfl"/,Hi,,tlill MnlrodsJor Trwuirm A/lllly.ls. Nonh lloliand. AmMerd<im. PII ! 63. 19RJ. 5. Goodreau. G. L. and Taylor. R. 1.., "EvaluauollofNumencall ntegr,III01l Methods in Elastodynarmc:<," )mln",1 rifCllltipu/t'r Ml'lhuds In API,/,,,d Mt'chmllcs will Engirrl't'nllK, 2( t). 69-97. 1973. 6 ' I;Iber. l l. M .. "Analysisand DcsigllofNumeneal lmegr.lI ion Mcthod~ In StnlCwr,,1 Dynamics." EERC Repon
no. 77_29, Earthquake Engineering Research Cemer. Uni~e~l l yofCaJiromia, Berl.:eley, CA, No~ember t976.
7. Hoooolt, J. c., "A Recurrence Matrix Solution for the Dynamic RespOIl'\e of Ela,tic Aircr"ft," }",mlll/ 'if Aemrwu/ical SciellCt', 17,540-550. 1950.

8. Newmark, N. M .. "A Mcthod of Computation for Structural DynamiCs," Juunllll o[ EtigillurillK Medu/IliL'J 1)1";l"ioll, ASCf.. 115.67 94. 1959. 9. Nidell. R. E.. ''On the Swbilny of Approximation Opermon. in I'roblcm~ of Slruc1Ural DynJmics."lmrnlll l;m",1 )oum,,1 oJSnIMslIIlI1 Sm ...",l'f's, 7.301-319. 1971. 10. Reddy, J. N, T/'t'On alld Amdys.s vJ E;las/ic Plait's, Taylor and Francis, l'1liladelphia, PA. t999a.
II. Reddy. J. N .. ''On the DynamiC l!.ella~jor of the Timoshcnko Beam Finite E1emems." Sntlhl.1Iil (Journal of the hllan Academy ofScicllCe5). 24. Pun J. 175-198. 1999b.

12. Reddy, J. N .. ''On the l)cnvaliOll of the Supcrcoo"eJgt'm Tim""hcnLo lIeam Finne Element." Im_). Om'I'''/ Ci,.1 lIlUl SInICI. EnJ;ng., 1(2).7 1-34, 2000.

13. Reddy. J. N .. tlt'r]O P'mcipll'smld

~\t,;(j//{mal Melhuds in

Appl,ed Mhnll;rs, John Wiley, New York, 2002.

14. Wood, W. L., "Control orCrDnk~Nk()lson Noise in the Numerica l Solution oflhe lleat Cooouction EquJtion," IIIIt'mllliutwl JOlln",1 fi" Nofll,rriml Mt'I/,o(i;' i~ EligiliurillK, I I . 1(J5\l~ I 065, 1977.

Chapter 7 COMPUTER IMPLEMENTATION

7.1 NUMERI CA L INT EG RAT ION

7. 1.1 Background
l l lCfini te clement method , like most numerical lllcl hod ~, conve r.s a continuu m proble m to a discrcleone (Le" converting a ~ys l CIll with:m infinite llumberof dcgrccsoffrl!ooom illlO one wilh :1 finite numbcrordcgrcc~ offrccdllm). The finite clement model of a system ultimately represe nts a set o f algebmic I.:qu:llions among the vlIl uc)' orthe depe ndent varia bles orthe "ys!em at the <;elected nodes o f the domain. The coefficients o f the '1lgebraic equiltions arc typically integrals of approximation functions multiplied by the data of the problem. Exact evaluat ion of these integrals is not a lway' possible bee.lUse of the algebraic complexity of the data lI(.f). b(x). c(x). and f(x) in the malhcmmic:l1 model. In 'o uch cases. it i ~ natum l to -;eel.: nu merical evaluat ion of these integral expressions. Numerical evaluation of the cocllicicnt matrice~ is also useful in prob lems w ith co n~traint s. where red uced integration techniques arc used (e.g .. the reduced integrat ion clement of the Timoshc nko ocam theory in Sect ion 5.3 ). Numerical evaluation o f integ rals. called III/Illeriel/l integratiol1 or /llImt'rical ql/mlmflirt'. involves approximation of the integrand by a polynomial of s ufficient degree. occ<lu,e the integral of a polynomial can be evaluated exaclly. For eX:lIllplc. con~ ider the integral .
I =

1.~ F(x) (Ix

(7.1.1 )

We :lpproxi mate the function "'(x) by a polynomial

F(.,) "

2:>", ",(x) ,,

(7.1.2)

whe re "'1 de notes the value of F(x ) al the I lh point o f Ihe inlerval Ix". x,, 1 1 md I/I,(X) arc polyno mials of degree N - I. The rep resentation (7.1.2) can be viewed as the fi nite is the value of the fu ncti on:1I the Ith node. The element interpolation of F(x). where interpolation can be of the L..agr.lnge type or the Heml ite type. Substitution of (7. 1.2) into (7. 1. 1) and eval uation o f the integral gives an lIpprox im:lte vlllue of I . For example. ~UpP()SC that we choose linear interpolation of F(x). Then N = 2. 1/11 = (x" - x)1 h. 1/12 = (x - 1,,)1 h. and I I ih{ P1 + IS,). FI P(x,,). fi P(x,,) (7.1.3)

r,

344

AI>' INTKOl}l]cnON TOnl ~ ' :INln: f.U:ME.VI' MrTllOO

--

(<I)

fix)

1{:
r. - X;

," : ,
Ib)

F" .

':
r~ ..

.',

X;

Figure 7.1.1 Approximate evaluation of an integral using the trapezoidal rule (a ) two-point formu la

and (b) three-point formula.

Thus. the value of the integral is g iven by the area of a Irape70id used 10 ap prox imate the area under the function F {x) (sec Fig. 7. 1.1). Equation (7. 1.3) is known as the trapezoidal mle of numerical integration . If we use the Lagrange (IUadratic intcrpoilltion of F(x). we obtai n
I I = 6h(l:,

+ 4F2 + F1),

F, = F(x,,),

F2 = F(x"

+ 0.%),

FJ = F(xb)

(7.1.4)

which is known as SimlJmll'S olle-third rufe. Equations (7.1.3) and (7.1.4) represent fonns of numerical quadrature formulae, In general. a quadrature formula has the form
1=

/"
~"

F(x) (Ix ~

F(x/)W/

(7. 1.5)

/=,

whcrex, arcc:llled the qlUldrtllllTe IJ()illf~ and W, arc the quadrature lI'e;ght~, These fonnulae require functional eval uations. mu ltiplicatio ns. and additions to obtain the numerical val ue o f the integral. l lley yield exact val ucs of the integral whcnevcr F(x) is a ]>olynomial of order,' - I. In this section. we describe several numerical integration techniques and formulations in which the geometry as well as the dependent variables arc approximated using different degrees of polynomials, We begi n with the discu ssion of a local coordinate sy ... tem.

ClIAI"TIDI.1. COMl'VThR IMI'LIl."lI, N'l'AT!ON

34S

r-::-: '____ l==:":~-- _t-::-::-:--_! ---.

~ . -.-

'1:: _____

____ ._ _____ , '

x=o

I'

"

i = h,
x
= x~

-I

'; =+ 1

Figure 7.1.2 Global coonlinate .f, local coordinate i . and nom13li lc{] eoordinmc /;.

7,1.2 Nat ural Coordinates

Of all the qUlldrature formulae. as will be discussed in the subsequent sections. the GaussLegcndrc onc is the most commonly used. The details ofthc mcthod itself will be discussed shortly. The formula requires the integral to be cast as one to be evaluatcd over the interval f- l. IJ. This requires the transformation of the problcm coordinate x 10 a local coordinate such that (see Fig. 7.1.2): when
X=X a ,

s= - I:

when

X=Xb,

~=

The transformation between x and S can be representcd by the linear "stretch" transformation

x=a + b

where a and b arc constants to be determined such that the ahove conditions hold:

Solving for a and b, we obtain

1 1 b = 2(Xb - xa) = 2h ~ ,
Hence, the transformation takes the form
(7.1.6)

where x~ denotes the global coordinate of the left-end node of the clement r2, and h ~ is the clement length (see Fig. 7.1.2). The local coord inate is called the normal coordinate or rlatllral coordinate, and its values always lic bctween - I and I. with its origin at the center of thc elemcnt. The local coordinate is useful in two ways: 11 is (a ) convenicnt in constructing the interpolation functions and (b) required in numerical integration using Gauss- Lcgcndre quadrature, The derivation of the Lagrangc family of interpolation functions in terms of the natural coordinate /; is made eilsy by the following interpolation property of the approximation functions :

ifi = j ifi =l-j

(7.1.7)

where l;) is the l; coordinate of the jth node in thc clement. For an clement with II nodes, 1/1; (i = 1,2 ..... II ) arc polynomials of degree 1/ - 1. To construct 1/1, sati~fying (7.1.7), wc

~ .;

~~~- ~~~~~~~~~~~~~~ ~= 1 ~ "' +I

2~ ';

~~~~~~~~eF_~~~~~~"~ ~ "'- J '; = 0 '; = +1

.; '" - I

, ,=-J

'; = +1

",(~)",

,:(l - ';JI~

1'2

~ )I/Il(~)=

21

1 6

.<' I (I - ~-}( l

V I(';) = :: (I -

.;~)( ~ +.;). V~ (';J = - ,:

fllnclion~

(I

+ .;)( ~ -

,h :

"

Figu re 7. 1.3 Llgmngc fumily of onc dimcn~nlllal intcrpIJI:llion coordinalc.

in ICnll5 of thc nornmli/cd

proceed as follow'-: For ctich 1/1,. we formlhc pmdu(:t of II I. 2 ..... i - I. i + I. .... II; j t= i):

I linear runctions ( - ( J (j =

"~"(' - 'd(' - "'(' - "

1/Ji= lat ~=(/:

d - '"d .. -'.I
Ci

Note Ihal 1/1, i<; fcm aI all nodes except the ilh. Nexi. we delenllinc the (:onstanl

"uch that

(; = I( ~,
Thu~.

- ~I )(~, - ~!) ... (~, - ~, d(~i - ~; _ d'" (~, - ~,, )I - I

the inlcrpollltion function associated with node i is

.,t<I~

(, - ,.It< - "1,,,(, - ,,- d(, - " ",1",,, (,' - ,,1, - "I",!', - " ,j((, - ,,,,1,,,(,, - ,.1
term ~

-'.J

(7.1.81
of the natural

The linear. quadratic, and cubic Lagrange interpol:LIion runction" in coordinate (for equall y l>p:.ced nodes) are .. hoVon in Fig. 7.1.3. 7. 1.3 Approx ima tion of Geometry

We wi~h to u~e the Gau<;s- Legendre quadrarure \(J numericHlly evaluate all integrals in the tinitc clemen! method. The intcgrals arc generally expn.:"ed in lerms of the coordinate appc"ring in the problem description (like.f or r). We ,1);111 call \ and r al> the "rob/em ('()urliil1f1fes or global coord ina'c ~. The Gau ... <,-Legcndre CJuadmturc require<; us 10 exprcl><; Ihe integ ral in tcnmof ~ over the interval - I to + I. We assume a relation (or tran ~ fomlati on) between the problem coordinale x and natuml coord inate ~ in Ihe form
x ~ ft<1 ~I~
f(~)

where f is

a~l>unled

to be a one to-one tmnsformutioll. An example of

is provided by

(7. 1.61'

In this case. f(~) is a linear function of S. Hence. a straight line is transformed into a stwight line. [t is natural to think of approximating the geometry in the same way as we approximated a dependent variable. In other words. the transfommtion x = f(~) can be wriltcn as
m

= Lxril~(o

(7.1. 10)

where xi is the g lobal coordinate of the ith node or the clement nc and arc the Lagrange interpolation functions of degree //I ~ I. When //I = 2. we have a linear transformation. and Eq. (7. 1. 10) is exactly the sillne as (7. 1.6). When/l/ =3. Eq.(7. 1.IO) expresses a quadratic relation between x and TIle functions are ca lled shapejlll1cliolls because they are u~d 10 express the geometry or shape of the e lement. When the e lement is a straigllt line. the mapping is linear (because two points, xf and x~, are sufficient to define a line). The transformation (7. LI 0) allows us to rewrite integra ls involvi ng x as those in terms of

iii

s.

iI;

s:

1.~1 F(x) dx = [11 (is, F(O

F(s)d~ = F(x( s li x

(7.1.11)

so that the Gauss- Legendre quadrature can be used 10 evaluate the integral over [- I . 1[. The differential clemen t dx in the globa l coordinate system x is related to the differential clement d~ in the natural coordinate system ~ by

lix =
where
J~

dx - tis = J, d~ d(

is called the Jacobiall of the transformation. We have

Je - ds -

_ dx

_!!..d~

(f-- ,.,)-_f-- i, df , t;rX'o/i t;rX d~

= 2 in (7.1. 10)]. we Iwve

(7. 1.1 2)

For a linear transformation [i.e .. when

III

J~=Xl (- ~) + x 2(~) = ~(X2 - xD= ~he

(7.1.13)

Jt can be shown that J, = ~ h, whenever the clement is a straight line. irrespective of the degree of inteTJXllation used in the tr:msformation (7.1. 10).

7.1.4 Isoparamctric f'ormu lations

Recall thaI a dependent variable form
II

is approx imated in an c lement

ne by express ion ~ of the

(7.1.14)

u( x) =

L u j1'j(x)
j",d

[n genera l. the degree of approximation used to describe the coordinate transformation (7. 1. 10) is not equal to the degree of approxinwtion (7. [.14) used to represent a dependable

variable. i.e" #1/1,' . In other words, two independe nt meshes of eleme nts may be used in the finile clemelll fonnu lation of a proble m: one for the approxi mati on of Ihe geometry x and the other for the intc rpolation of the dependent variable u. Depending on the re lation!.hip betw(..'C n the degrec of 3pproximation used for the coordinate tran sformati on :lIld that used for the dependent variable. the finite clement fo rmulation ~ arc cl:t~sified into three categorics:
I. Subparamclric formulation s: m < f/ 2. Isoparametrie fonnulations: m = /I

i<

(7. 1.1 5)
/I

3. Superp:lramelric formulation s: In
~u bpar.nnetric th o~e

11/

>

formu lations. the geometry is represented by lower-order elements Ihan used to approximate the dependent variable. An exam ple of th is category is provided by the Euler- Bernoull i beam element. where the Hermi te cubic functions arc used to approximate the defl ection lI'(x) lind li near interpolation can be used, when strJ.ight bcam~ are analyzed, to represent the geometry. In isoparametric formulations (which arc the mo~t common in pmetice), the same clement is used to approx imate the geometry as wel l as the dependent unknown s: 1/1; (x) = Vi i (~) . In the superparamelri e formulation s. the geometry is represented with higher-order elements than those used to approximate the dependent v<lriflbles. The superparamctric formu lation is seldom u.;ed in practice.

7. 1.5 Numc ricallnlegrnlion As discussed in the introduction. the evaluution of integrals o f the foml

lh

F(x ) l/:t

(7. 1. 16)

by exact means i .~ either difficult or impossible owing to the compli cated form of the integrand F. Nu merical integration is alw requ in::d whcn the integrand i.. to be eVillua ted inexactly (as in the 'Jimoshcnko beam cle ment) or when the in!egrand is known only at discrete po ints (e.g., experimentally obtained data). TIle basic idca behi nd all numerical inlcgrJ.tion techniques is 1 find a funct io n P(x), 0 often a polynomial. that is both a suitable approx imatio n of F(x) and simple 10 intcgmte. The interpolati ng polynomials o f degree II . de noted by Pn , which interpolate the integrJ.nd alII + I points of the interval la, bl, oftcn producc a suitabl e approximation and posscss the desired propeny ofsimplc integrability. An illustration of the approximation oflhe function F(x) by the polynomial P4(X) that ex.actl y matc he~ the func tion F(x) at the indicated base points is given in Fig. 7. 1.4(1). The exact value of (7. 1.16) is given by lhe arCll under the solid curve, while Ihe approx imate value

Ih

P4 (x) dx

is given by the llre3 under the dashed curve. It sho uld be noted th31 the di fference (i.e .. the error in the approximation) E = F(:c) - P4(X) is nOl lllways of the same ~ign. and therefore the overal l integration error may bc small (because positive errors in one parI callcel neglltive errors in other p a n ~), even when P4 is not 11 good lIpproximat ion of F.

Cn AI'Tt:It 1 tUMPlfI1'.IlIMI't.EMlHATIO)l

349

,,

(0)

- - -"- --

",(xl

")

k)

Hgure 7. 1.4 Numerical integration by the Ncwton-Cote... quadrat urc: (iI)approximalion of a function by P4(X): (b) the trJpc/oidal rule; and (c) Simpson's rule.

The commonly used numerical integratio n methods can be classified into two grou ps: I. The Newtoll-Cotes formulae that employ values of the funct ion III equllil y spliced poi nts

2. The Gauss- Legend re quadralurc formula thllt e mploys unequ ally spaced points
These two methods are described here.

T he Ncwlon-Colcs Quadr:ltu re, For r equally spaced base points, the NewlOlI-COIcl cI().~ed illfegrolio1l jorlllilill is given by

'

P(x) dx = (b - il)

, L F(x/
1", 1

)WI

(7.1.17)

"

where "'I are the weighling coefficients, XI are the base poinls th"t are equally spaced, and r is the number of b"se points (or r - I is Ihe num ber of intervals). Note that r = I is a special case in which the number of base points ;l~ well as the number intervals is the sa me ; in this case Eq . (7.1. 17) gives the recll1ngle fornlula . For r = 2, (7. I . J7) gives the familiar Irapezoidal rule, in which the required area under the solid curve in Fig. 7.1.4(b) is approximated by the area under the dotted straight line Ii.e., F(x) is approximated by I',(x) I:

b =.r.,

F(x )(l x= - - IF(XI)+ F (X2)J.

b- a

= 0(11 ), It = b-a

(7.1.18)

a=.ll

where denotes the error in the ap proxi mation and It is the unifonn spaci ng between two base points. The notation 0(11), read as "order or fl," is used to indi(;lIte the order or the

350

"" 1N'TIiOOLCTICIf<. TonIE m.m UJ:ME.'lrMnHOO

Tnhlc 7.1.1 Weighing cocllicicnls for lhe NcwlOn-Cotcs fonnu li!.

,
2
J
4

w,
2

11' 1

.q

.,

.,

"

"

, ,
I

, ,
4

,
]

8
32

8
12
9Q

8
32
~I

,
7

90 19

90
75 288 216

288
41

2811

'"
27

2118

'"

7 90 75 288

19 288

272

27

21'
J!4iJ

41

84"

84"

840

""

'"

84"

error in tcnllS of Ihe spacing h. For r = 3 (i.e., IwO illtcrva1<.). (7.1.17) gives the familiar Simpson " ()I/e~l"ird rule r ~cc Fig. 7. 1.4 ((,)[: ,\'

E = O("~). " = 0.5(" - a)

(7 . 1.19)

The wcighling cocfficiclII' for r = 1.2 ..... 7 are given in Table 7. 1.1. Note that E~=l II' , = 1. The ba!\C poinllocalion for r = I is XI = a + 4(b - 0) = ~ (I + b). "or r > 1, lhe base point locat ions are
X I= ll, x z= tl + llo.l . .... .l, = a+(r - I)fix = h

and tlx = (b - {/ )/(r - 1). We note lhat when r is odd (i.c .. when Ihere is fill even number of intervals or an odd number ()fba~e point:.). the formula is exact when r(x) is a polynomial o f degree r or le<;s: whcn r i<; el'ell. the formul:l is cxact for:l polynomial of degree r - I or Ics<;. Odd-point formulas arc frequently u~ed bccau~c of their hi gh order of accuracy [sec Carnahan . Luther, and Wilkes ( 1969)1.

The G3uss-Legcndrt Quadrature. In the Newton-Cotcs quadrature. the ba.<;e pointlocati on~ hallC becn ~rx.'Cificd. Ifthcx/ arc not ~pceificd. th cn there will be 2r + 2 undeTermined pllrametcr~. r + I weights 11'1 and r + I ba<re poinl,;xl. which define a polynomial of degree 2r + I. The Gauss- Legendre quadrature i<; based on the idca That the ha<;e poillls fl and ed the "-eighTs WI can be choscn ..0 thaI the "urn of The r + I appropriately weighT valucs of The funct io n yiclds The intcgral exact ly when F(x) is a polynomial of degrec 21' + 1 or less. The Gaus<;-Legcndrc quadrature fonnula is given by
(7. [.20) F( .r) dx = p(~) d~ :::;,: i\~d\V1 " I / :1 where 1\' , ilre the weight filetors. ~ , arc the basc ]XlilllS lrools of the Legendre polynomi:ll I'r II (~) I. ilnd F is The transformed intcgrand

l'

I'

, L

hI) ~ F(x(!))J() .

dx ~ J d(

(7. 1.21 )

CIIAPT!.:R ', CO Mf'CTER l\ll'\..E.\1!iNT"'T IO~

351

Table 7. 1.2 Weighls and

' J
I

Gall~ S

points for the Gall~ s-Lcgendre qlladrature.

i~ 1

F (~)d~ =

, L F(f;l ....

Point;;, ~,t

Wcighh.

"'i

OJXJOOOOUOOJ
0.5773502692

2.00:KlOOO.lOO

I.\)(O)()'X)()OO

O.UOOXXOOOO
O.7745966692 0. 3399S I04 35 1.0.8611 363 116
(J.(XJ(JlXX)(XJ(KJ

3
4
5

0.8888888889
O.~ 555555555 O.652 14.~ 154~

0.347S54S451
().56SS8S~889

.i0.5384693 101 O,90617984 59 O,2J86191861 O.661 2093S65 .10,9324695142 6

0.4786286705 0.2369268850 0.4679139346 0.3607615730 0.1713244924

=

(l.~R~

t N'~c th"l O.~7no; .. = 1/ Ji O,774~9 .. ' 8/9. ",Kl O.5~5 . = 5/9

JJ73.

and

where J is the Jacobian of the transformati on between x anbd ~. The weight factors and Gauss points for the Gauss- Legendre quadrature (7.1.20) arc given for r = 1, .... 6 in Table 7. 1.2. The Gauss-Legendre quadrature is more frequently used than the Newton-Cotes quadrature bccau~e it requires fewer base points (hcnce. a sav ing in computation) to achieve the same accuracy. The error inlhe approximation is LCro if the (2r + 2)th derivative of the integrand vanishes. 1n other words. a polynomial of degree fJ is integrilted exactly by employing r = 4 + I) Gauss points. When p + I is odd. one ~hou ld pick the nearest larger integer: (p

r=

[~("+ I)J

(7.1.22)

In fi nite element fOfll1u!ation~. we encounter integral s whose integrands F arc functions of x. 1/Ii(X). and derivat ives of 1/I/ (x ) with respect to x . For the Gauss-Legendre quadrature. we mu~t tran~forl1l F(x )dx to t(~) d ~ ill order to use the formula (7.1.20). For example. consider the integral

" .'" . (ix dx Using the chain rule of differentiation, we have

d1/lr(x) = d1/lr (~) dt; =

Ke =

" f

a(\' ) - - - - dx ' '

d~ ' d~ '

(7. 1.23)

rl d1jJr (~)
d~

(Ix

til;

dx

(7. 1.24)

Therefore. the integral in (7.1.23) can be written. with the help of (7. I .10). as
K~

i,

I d1/l ~ I dl}! ~ a(x( ~)) --- ___ ' I I J dl; J d~

J dl;

(7.1.25)
(7.1.26)

L
1=1

Frj(~dwi

352 where

A)<lIl'lTltOOOCT1ON roTIIEn'lITF.I~\ItN'1 ~m1ll01l

"-~ I dl/tt dl/tj / =a - - - - 'J

d~

(J~'

(7.1.27)

For the isoparametric fomm lation. we take l/t; = {,~. As nOk'd e:lrlier. the Jacobian matrix will be the same (1, = 4/1~) when the ciemelll is a straight line, even if the coordinate transformation i ~ quadratic or cubic. However. when Ihe ciemelll is curved. the J:tcobian is a function of ~ for transformations other than linear. The tntn.~formation from x to ~ is not required in the Newton-Cotes quadrature. [t is pos!>iblc to detemlinc the exact number of Gauss [>oints required to evaluate the fo[ lowing element coeffici ents:

K;.
1

-- (Jljt~ dx dl/t' __ ' 1

'.

dx

dx

/+__, __ 1
_I

fJl/t' dl/t' (1) -2 J 1

II; d~

d~ .=

/+ '
_I

G~ (~){J~
J

M~

/.1."'["'i
~

dx = / + I
- I

"'[(~)l/tj(~) }(J~ _ !+ I G~:(~)(J~

1

L, G~(~il WI /.
(7.1.28)

N"

when linear. quadratic. and cubic interpolation function s arc used. For linear interpolation functi ons, the integrand of Kij is constant. requiring only one-point Gauss-Legendre quadrature (N K = I). The integrand of the mass matrix M iJ is quadratic (p = 2). requiring Ir ~( p + I) ~ I. the two-point quadmture (N M 2). The coeffi cients It arc evaluated exactl y by one-point <Iuadraturc (N F = I). Si milarly. for quadratic and cubic elements. we can estimate the number of Gauss points needed to evaluate K,'j' Mfj. and j,r exactly. The results arc summarized in Table 7. 1.3. Note th.lI. in estimlliing the quadrature points. il is assumed that the Jacobian J is a constant. which holds true when the e lement i~ a straight line. If the matrices in (7. 1.28) have variable coefficients or the clements are curved land hence J~ = J~(~)I, the degree of the variation of the integr.mds changes and the number of Gauss points needed to exactly evaluate the integral changes. If the elements arc straight and the coefficients a = (l(x) and c = c(x) together with [= [(x) are no more than linear in x. thcn the number of Gauss Imints for evaluating the cocflicient s

K,j=

1.r~

.r. (1 ---tlx
dx

dl/lt (N)

dx,

(7.1.29)

Table 7.1.3 The numbcr of Gauss-legendre quadralUre points required to ev-. luate K~ , M~ . and . ofEq.(7. 1.28).

It

-------------------HM Eleme m lype H' H'

Linear
Qu~druli c

Cubic

2 3

2 3
4

2 2

remain the same as listed in the above table. However, the evaluation of f{ requires one point more than before. Conversely. the two-point quadrature for linear e l e me nL~. threepoint quadrature for quadratic e le ments. and four-point quadrmure for cubic elements would exactly evaluate K~ with a quadratic variation of 1I(,\'). M~ with lincar variation of c(x} , and f ( with quadratic variatio n of f(x). TI1C use of Gauss- Legendre quadrature in (7. 1.28) yields the followi ng val ues (exact up to the fifth decimal place) when thc clement is str.light and the isoparamctric fOn1lUlation is used :
Qlwdrfllic Element (71m!l' -Poil1l Fomwlll)

I [

IK I ~ II,

2.33333 - 2.66667 0.33333

- 2.66667 5.33333 - 2.66667

0.33333] - 2.66667 2.33333 (7. 1.30)

I At I =

..!!.
h,

[1 .33333 0.66667 0.66667 5.33333 JO 0.33333 0.66667 0. ,66667 \ 0.666667 0.166667

0.33333 ] 0.66667 1.333433

III

Cl4 Elemenr ( Follr.Poilll f o mwlll ) bi{'

IKI - ~

3.700 - 4.725 - 4.725 10.800 - II, 1.350 - 7.425 [ - 0.325 1.350 0.761905

1.350 - 7.425 10.800 - 4.725

- 0.325] 1.350 - 4.725 3.700

0.589286 - 0.2 14286 0.11 3095] 3.857 143 - 0.482 143 - 0.214286 IMI - II, 0.589286 - 10 - 0.2 14286 - 0.482 143 3.857 143 0.589286 [ 0.589286 0.761905 0. 11 3095 - 0.2 14286 0.,25 \ 0.375 Ifl ~ h, 0.375 / 0.1 25

(7.1.31)

.:)(.IImple7. '"
We wi~ to e\'lIjuatc "he following integrals using the Newum-COle!; and Gauss-Legendre quadrature;:
Kf~~

....

t.

(l'r}+x)--tJ-Y,

d'fl dVrl

dx dx

where

rp{ are the lincar inlCt'pl.llatiQn functi(lns

Vt""'-= - (i +t;)
x~-x"
x~ -x

and Xo is a C(ln~tanl J'iOtC!- th,lt the integrand F(x) in the integral of Kll h a lInear polyn\ltni;ll (i.e., tbe degree. is r = I). Hence. we expec1 thl' one-polm Newton-Cotcs or Gausti-Legendre quiK.Inuure 10 yield the eXact value or Kt'J.' On the other hand. lhe intcgrJnd of Gil i~ a cubic poIYIl<.)[tii:1I (i.e .. the degree is r = 3). Hence, weexpccl the Ihn.:(-('011i1 Newton-Cote~ os: twO' pOll\! GaussJ...cgcndrc quadf'3lure w yield the CX" let value of

C11. The exact

yal uc..~

arc

Kll=-~ [XO+~(X/t+.t~)l. _
xj,-x~

NtJ'MOn-COlesQllfldmflll'l'-: For variou~ number {)fb<l!!c-poinl~ r. we have the fl)lIowing results:

r=l.

(.l'!=O.5(.l"~+.~~)!:

ntAI'TEK 1 COMf'lJTI It I\tPU'_""-vr.... " o,,

355

Causs-I..egelld", QUlUlr(llurt!:

(Xh - :r~)d .
(.1:6-).,,)1

.pt = 0.5(1 -

~). iJf} =

'1'he coefficient Kl ~ for this ca!tl! lake..~ the form Id.l =0.5 0.5(1 + ~), and d1/l;/dx= (1/ J)th/lddt; with j ",,0.5

lllc polynomial order is P"'" I; hence, tM one-point G3l1""~ rule (r = J) would yield the exacl

vallie:
KI1=-,( I Xh -

:rOIl

[ X<I+x,,+-, (1+0.0)2

'.-x.

= ---...!- [:ro ... ~(.r/> +.l,, )]

:rb--x~

The c::ocfficient G ll lil.k.CS lhe form

356

...N l'<TROOUCllON TO TilE; r1 NIn, 1~.aH;NT MF:mOD

The polYl1oQ1ial orde( is p "" 3. Therefore. the two-poi.nt C1UICl vaJue

Gau~

rule (r ~'2) would yield the

7.2 COMPUTER IMPLEMENTATION

7.2. 1 introductory Comments
Chapters 3-6 were devoted to the finite clement formulation s of two classes of boundary val ue. initial value, or eigenva lue problems in one dimension: I. Second-order differential equations (e.g., heat tran sfer. nuid mechanics, one-dimensional elasticity. bars, and the Timoshenko beam theory) 2. Fourth-order differential eq uations governing the Euler- Bernoulli beam theory The frame ele ment, obtained by superposing the bar element and the beam element, was discus~ed in Chapter 5. By now, it shou ld be clear to the reader that the steps involved in the finite element analysis of a general class of problems (e.g., single second-order. single fourth -order, and a pair of second-order equati ons) are systematic, and once the finite element fonnulation is completed. the model can be implemented on a digital computer. Indeed, the success of the finite element method is largely due to the case with which the analysis of a class of problems, without regard to the geometry and boundary conditions, can be implemented on a dig ital computer. A particular class of problems (say that described by the model equation of Chapter 3) can be solved by simply supplying the required input data to the program. For example, if we develop a general computer program to solve equations of the form
Cl~ +C2~2 ~-

a,l
;),

2 au
;)/

a ax

(au)
(1-

ax

+~,

a' ( ax- b~~ ax-

"2")

+cu =!

(7.2. 1)

then all physical problems described by Eqs. (3.1. 1) and (5. 1.1) and their time-dependent versions can be solved for any compatible boundary and init ial cond itions. The purpose of this section is to discuss the basic steps involved in the development of a computer program for second- and fourth -order one-dimensional dificrential equations studied in the preceding chapters. The ideas presented here are used in the development of (he model program FEM 10, and they are meant to be il lustrative of the steps used in a typical finite element program development. One can make use of the ideas presented here and implement them using ,,"EM] 0 to develop a program of one's own. Thediscussion here focuses on the finite element computati ons, and no attempt is made to discuss the Gauss eliminat ion

CHAPTER 7, COM I'\JIT R IMPI. I:Mlt" TATION

357

procedure used to solve the resulting system of algebraic equations (a solver is provided with FEM I 0 : see Appendix I located on the book's website at www.mhhe.comireddy3e). 7.2.2 Genera l O utline A typical tinite element program consists of three basic units (see Fig. 7.2. I): 1. Preprocessor 2. Processor 3. Postprocessor [n the preprocessor part of the program , the input data of the problem arc read in and/or generated. This includes the geometry (e.g., length of the domain and boundary conditions). the data of the prob lem (e.g., cocflicients in the differential equation). finite clement mesh information (e.g" clement type. number of elements. element length. coordinates of the nodes. and connectivity matrix). and indicators for various options (e.g .. print. no print. type of field problem analyzed. static analysis. eigenvalue analysis, transient analysis, and degree of interpolation). In the processor part. all the steps in the finite element method discussed in the preceding chapter. except for postprocessing. arc performed. The major steps of the processor are: I. 2. 3. 4. Generation of the c lement matrices using numerical integration Assembly of element equations Imposition of the boundary conditions Solution of the algebraic equations for the noda l values of the primary variables

l'KEPKOCESSOR Kcad g~ometry ,md mat~rial data . and boundary ~nd initial condition ~ of the pmhlcm.

J
PROC ESSO K Generate tinite eleme nt me~h C~lc ulllle clement matri ces As~embl e clement equation s Solve the equations .

.I
POSTPROCESSOR Compule lhe solution and its derivatives al desired points of lhe domain. and print/plot the results.

Figure 7.2.1 11le three main functional units of a finitc clcment progra m.

358

AN INl ROlllX'TION TO TilE H"ITE UJ.ME."'" M""'OO

In the postprocessor pan of the progmm. the solution is computed by interpolation

at points other than nodes, secondary variables that arc derivablc from the solution arc

computed. and the output data are processed in a desired format for printout and/or plolling. The preprocessor and postprocessor~ can be a few Fortran statements to read and pri nt pertinent information. simple subrout ines (e.g .. subrout ines to generate mesh 3nd com pute the gradient of the solution), Of complex programs linked to other uni ts via di~k and !ape file).. The processor. where typically large amounts of computing time :lre spent, can consist of severa l subroutines. each having a special purposc (e.g.. a subroutine for the calculation of element matrices. a subroutine for the imposition of boundary conditions. and a subroutine for the solut ion of equations). The degree of sophistication and the complexity of a finite element program depend on the genera l class of problems being programmed. the gencmlity of the dOlt;. in the equation. and the intended user of the pro gram. It is always desirable to describe, through comment stmements. all vari,ables used in the computer program. A now chan of the computer program FEM J I) i ~ presented in Fig. 7.2.2. The objective of each of the s ubrou tine~ listed in the flow chan is dcscI;bed below.

ASSEMnLE: Subroutinc for the assembly of e leme111 equations. The equ:ltions arc assembled in uppcr balldcd form for static :Illd tran~ie111 proble ms. and in full matrix foml for eigenvalue probl e m~ . EIGNSLVR: Subrout ine fortlle solution of the eigenvalue problem! A!IX 1= AIHlIXI.

PREPROCESSOR

ECHODATA and MES!!tD

j
ASSE M BLE

t-

COEFFC:-JT TRANSFRM

'"

PROCI;SSOR

BOU:-JDARY

EQNSOLVR

" EtGNSLVR
j
POSTPROC POSTPROCESSOR REA c nON

SIiAPEtO

"

I<'igurt' 7.2,2 Flow chart of the compuler prognlnl FEM I D.

nIM'IUI1 COMI'l"fUI IMPI\lo.TATIO~

359

BOUNDARY: Subroutine for imposition of sped fk-d boundllry cond itions (Dirichlet, Neumann, and Newton type), COE F'FCNT: Subrout ine for computing clement m:ltrices r K ~ I . I M~I, and {f~1 for all model problems except for truss and frame clements. EC UODATA: Subroutine to echo the input to the program. 1\1F:SI-IID: Subroutine to gcnenttc the mesh (coo rd inate~ of the global nodes and thc connectivity array). POSTPROC: Subroutine to postprocess Ihe solution for all model problem~ except for truss and frame elemen ..... REACTION: Subrout ine 10 calculale the reactions (i.e .. generalized forces) for tru"" and frame elements. S UA I'E ID: Subroutine to compute the approximmion functions and their deriv:ltives. EQNSOLVR: Subroutine for )'olving banded symmetric ~ystcm of algebraic equation!>. TRANSFRl\'I: Subroutine to compute clement ..tiffness m'ltrix and force vector for truss and frame elemctm. In the follow ing secti ons. a d i ~cu ..sion of the basic componcnts of a typical finite clement program is presented, and then lhe ideas are illustrated via FORTR AN statement....

7.2.3 Prcpmcessor
The preprocessor uni t read, the input data. genemte:-the finite e lc ment mcsh, and prints the data and mesh information . The input data to a finite clement program consi),t of clement type IELEM (i.e., Lagrange clement or HenTIi te elemen t). number of elements used (NEM). specified boundary cond ition .. on primary and ~econdary variable~ (number of boundary condit ions. global node number and degree of freedom. and specified values of the degrees of free dom). the globa l coord inates of global nodes, and clement properties (e.g .. cocf1icicnts u(x), b(x). c(x). I(x), ClC.). [f a uniform mesh is u~ed,the length of the domain shou ld be read in. and global coordinates of the nodes can be generated in the program. TIle preprocessor portion that deals with the generation of fin ite clement mesh (when not supplied by the u),cr) can be sepamted into a "ubroutinc (I\'IESI-I 10). depend ing on the convenience and complexi ty of the progmm. Mesh genemt ion includes computation of the global coord inates X I and the connectivity arr:IY I HI = NOD. Recall that the connectivity matrix de~cribes the re1:lIionship between element nodes to glob:1l nodes as
NOD(/, J) = global/lode /llimber corresl>onding to the Jth (local) node of element I

This array is used in the assembly procedure as we ll a~ to transfer informati on from the dement to the global sy~ t cm and vice versa. For example, to extract the vector ELX of globa l coordinates of clement nodes from the vector GLX of global coordinates of global nodes. we can usc the matrix NOD as follows: The global coordinate X,(~I of Ihe ;th nodc of the 11 th clement is the smne ;1'> the global coordinate X J of the global node I . where
1 = NOD(II, i): {x:")I= I Xd. I = NOD(II.i) -+ ELX(i)=G LX(NOD(II.i
{X("I)

The arrays ELX and GLX arc used in F'EM I D to denote

and {X). respectively.

360

AN IN1'ROOt:CTIOI> ro -1l1F l'INITIl [LUI E."!' MrTllOO

7.2,4 Calculation of Element Matrices (Ilrocessor)

llie moSl significant function of a processor is to genemle element matrices. Thc clemenl matrices are compUied in various subroutines (COEfFCNT and TRANSl' RM ). depending on the Iype of problem being solved. These subroUl ines typically involve numeri cal evaluations of the clement matrices [K ' I and [M el (program variables EL K and ELM) and the element vector IrJ (program variable EL F) for various fi e ld problems. The GaussLegendre quadrature descri bed in Section 7.1.5 is used 1 evalu<lte clemen! m.. triccs and 0 vectors. and the array" arc assembled ;IS soon as they are computed. Thus, a loop on the number of clements in the mesh (NEM) is used to compute clement matrices and assemble them (su broutine ASSEMHLE). It is here that the connectivity array NOD plays a cnlcial role. By pUlling one clement matri x into g lob.1.llocalionsal a lime, we avoid the computalion of <Ill clement matrices III once. Element matrices fordifTerent model equations (MODEL) and Iypcof problem (NTY PE) arc generated by assigning values as di~cussed next. Governing equations arc lislcd for the static case. The v;Lriables used h:Lve the fol lowing meaning: 11 = thickness of the beam/pl ate; IJ = width of a beam; = Young's modulus; G = / 12(1 + v)l = shcar modulus; v = Po isson's mtio; D == bending stiffness (I) = E1 = 811 1 /12 for beams and D = Hl / 112( I - v 2 ) I ror plates); A = cross-sectional area; K. = shear correction factor; and cl = foundation modulus.
I. MODEL = I, NTYPE = 0 All field problems described by Ihe model equal ions (3.2. 1) and (3.4. 1), including rad ially symmctric hcaHransfer-type problems:
--

tlx

d ( dU) +CIf-J=O:
(1 -

d.r

AX =(I(x), CX=c(x), FX =J(x)

-~~ (radII) + r dr dr
2. MODEL = I. NTYPE = I (sec Problem 4.37):
--

CI/ -

J=O: AX=rll(r). CX=rc(r). FX=rf(r)

Rad ially symmelric deformationofpolarortholropicdisks

(/,.

d [1-1 (dU tI,.

1

CILI"-+Cnll

)] + 11 (u ,.
V122

C22-+CL2-

dU) =rf(r) dr
2

CII=

1-

,
VL21121

C12=

1-

II n L I21

Cn=

1-

11I2L'21

where f(l") is the distributed force per unit volume (i.e .. HJ(r) = ] is the distributed force per unit area). For the isotropic case, EL = 2 = and 1.112 = \121 = V. 3. MODEL = 1. NTYPE = 2 Radi<llly symmetric deformation o f cyl inders:

_!!... j c

ti,.

[(I - till + \III]1 [(I - I!)~ + +'

\.I)r
dr ,. , ~ 7.(1-'+:-,--;)""(': -- 2;;-,") -

/ 111] = rJ(r)
d,.

4. MODEL = 2. NTY PE = 0 (reduced integration clement; RIE) or MODEL =2. NTYPE = 2 (consiste nt interpolation clement; elE) Bending of straight beams u~ing

(,!IAPTt:R 7 COMI'UTEIt IMP\J:MIDITA UON

361

the Timoshenko beam theory :

- ~:[GAKs(~+~:)J+CjlV=q
_.'elx (e{J'4s) + GAK. ('4s + elII') ~ O !... (/x (/x
AX =G AKs . CX=Cj(x). FX=q(x), nX =EI
5. MODEL = 2. NTYPE = I (RI E) or MODEL = 2. NTYPE = 3 (elE) bending of circular plates using the shear deformation platc thcory: Axisymmetric

- ~ [!!... (rMa) r (/r

/'.1" = D

M(H} ] M(H} =

+ Q, =0,
J)

- ~!!... (rQ,) rh
Qr =

q= 0

(tI'4s + v'4s) , (Ir r

(v el'4s + '4s) , dr r

K ('4s + dW) sGh dr

6. MODEL = 3, NTYPE = 0 beamlheory:

dx

Bending of straight beams using the Euler- Bernoulli

d', (el d2W, ) +C j

dx

ll'=q(X), BX = EI, CX=Cj(x), FX =q(x)

7. MODEL = 3, NTY PE = I plate theory:

Axisymmetric bending of circular plates using the classical

D~ :!.. I ':!.. [~:!..(,dW)]1 +'jW~q rflr dr rdr dr

8. MODEL = 4, NTYPE = 0 Two- node truss clement. 9, MODEL = 4, NTYPE = I Two-node Euler- Bernoulli frame element . 10. MODEL 4, NTY PE 2 Two-node Timoshenko frame e lentent.

The time-dependent option is exercised through variable ITEM : ITEM = 0 ITEM = I ITEM = 2 st:ltic analysis first -order time derivative (i.e .. parabolic) problems ~ond-order time derivative (i.e .. hYIx:rbol ic) problems

The clement matrices are evaluaH:d using the Gauss- Legendre quadnlture except for MODEL = 4, where the explicit forms of clement coefficients are programmed in the interest of computational efficiency. The clement shape functions SF and their derivatives GDSF arc evalUlltcd at the Gauss points in subroutine SHAIEIO. The gaussi:m weights and points associated with two-, three-. four-. and five-point integration are SIOTed in arr.lys GAUSwr and GAUSP'L respectively. The 11 th column ofGAUSWT, for example. contains the we i g hl.~ corrc~pondin g to the n-point Gauss-Legendre (juadrature rule: GAUSJYf (i. n) = ith Gauss point correspondi ng to 1he II-point Gauss rule The variable NGP is used to denote the number of Gauss poin1s. which is ~e lected to achieve good accuracy. As noted earlier, the line'lr, quadratic and cubic interpolation

362

,,:. !:>.'TRODUCTlON TOT!!!" FINITE n .E.\tENT \tETIlOD

functions require two, three, and four quadrature point.s, respectively. \0 evaluate the e lement coefficients exactly. Thus, if IELEM is the element type. IELEM = I linear 2 quadratic (Lagrange elements) ( 3 cubic

then NGP = JELEM + I would evaluate K,j, M~. and ft [sec (7. 1.29)1 exact ly when c(x) is linear. and a(x). b(x). and J(x) arc quadratic functions. The Hermite cubic element is identified with IELEM = O. in which case NGP is taken to be 4. The coefficients a(x) = AX. b(x) = BX. and c(x) = ex, together with J(x) = FX in the differential equation (7.2.1) are assumed to vary with x as follow s: AX=AXO+AXI*X BX=BXO+BXI *X CX=CXO+CXI*X FX=FXO+FXI*X+FX2*X*X

(/ = ao+alx)
(b= bo + b1x )
(C = CO+CIX)

(7.2.2)

(f =

fo + fix + hX2)

For radially symmetric elasticity problems, (AXQ, AX I) lor (BXQ, BX I) for circular plates I are used to input Young's modulus E and Poisson's ratio v. The Gauss- Legendre quadrature formula (7. 1.20) can be implemented in the computer fJ as fo!low~: Consider K of the form

Kr=

J...

J"[

d~'d~' a (x) --' __ +c(x)tf!rtf!' J dx dx J

SF(I) = tf!i,

1dx
dtf! ~

(7.2.3)

We use the following program variables for the quantities in (7.2.3): ELK (I. J) = K;'j. AX = a(x), NPE = After transfomling x
\0 ~
II

CX = c(x),

GDSF(I) = - ' tlx ELX( I)=xi

(the number of nodes in the element)

=x~

[or x

+ 0.511 , ( I +~) I
x = L. <tf!;'
i=1

"

(7.2.4)

the cacfficients K;j in (7.2.3) can be wrillen as

K,j =

l '[
_I

I a(O} d~' }I ,W tis' d~j

+ dntf!IljIj

1 l'
) d~ ;;;:
_I

Gij (s) dE

(7.2.5a)

NGP = L. Gfj(Eil) WI
1",1

(7.2.5b)

where Gij denotes the expression in the square brackets in (7.2.5(/).) i~ the Jacobian. and (EI, Wd are the Ith Gauss point and weight. Examination of(7.2.5b) shows that there are three free indices: i, j, and I. We take the Gauss-point loop on I as the outennost one. [n~ide this loop. we eV3luate Gi) at the Gauss point ~I for each i and j, multiply with the Jacobian) = ! h ~ 3nd the weighl~ WI. and sum

over the rangc of I :

(7.2.6)

Si nce lK'I. 1 e I. !rl arc evaluated for e = 1. 2.... , NEM. where NEM denotes the M number of ele ments in the mesh. we must initialize all arrays that are being evaluated using the Gauss- Legendre quadrature. The initiaJi/..ation must be made outside of the GaussLegendre quadrature loop. fJ The computation of coefficient s K in (7.2.5(/) requires eva luation of a. c. 1/1/. and (/>/1, I(J ~ at the Gauss point ~I' Hence, inside the loop on I . we call subroutine S HAPE I D to eval uate ljI" (/ljIi j (/x = (dljli j(/~) j J . Fortran statemcnts to evaluatc [Kr I and 1 are given below.

[r

DO 100 NI = I.NG]> XI ~ GAUS?T(NI.NGP) C Call subroutine S HPI D to evaluate the interpo lation function" C (SF) and their global derivatives (G DSF) at the Gauss point X[ CALL SHPI D(X[ .N PE.S F.GDSF.GJ) CONST = GJ"GAUSWT(NI.NGP) 00201 = I,NI>E 20 X ~ X + SF(I)"ELX(I) AX = AXO+AXI'X CX = CXO + CXI'X oo 30 J = 1.N PE ELF(J ) ~ ELF(J) + CONST'SF(J),FX 00 30 I = I,NPE 30 ELK( I.J) ~ ELK(I.J) + CONST"(AX'GDSF(I)'GOSF(J) + CX'SF( I)'SF(J)) [n the same way, all the other coe fftcients (e.g .. M;'j and can be evaluated. Recall that the element properties (i.e .. K ~.. M,~. and arc calculated by calling a suitable subroUline (CO EFFCNl' or TRA NSFRM ) for the field problem being analyzed within a loop with a counter based on the number of elcments in the mesh (NEM).

In

In

7.2.5 Assembly or Element Equlltio ns (Proct.'SSOr ) The assembly of element equation s should be carried out as soon as the element matrices <Ire computed. rather than wniting till the clement coeffi cients of all the clements arc computed. The lnuer requires storage of the element coeffic ients of each clement. In the former case. we can pcrfomlthe assembly in the same loop in wh ich a subroutine is called to calculate clement matrices. A feature of the finite clement equations that enables us to save storage and computing ti me is the assembly of clement matrices in upper-banded foml. When clemen! matrices are symmetric. the resulting global (or assembled) matrix is also symmetric, with many l..eroS away froll1 the main diagonal. TherefofC. it is sufficie nt to store only the upper ha!j-band of

the assembled matrix . The half bandwidth of a matrix is dc!ined as follows: Le t Nj be the number of matrix ele merus between the diagonal element and the Inst nonzero e lement in the ith row. after which all e lemen ts in that row are Lero; the half-bandwidth is the maximum of (N; + I) x NDF. where NDF is the number of degrees of freedom per node max bl = . 1(N;+I)xNDFI

1!:: 1!:: f1

is the number of rows in the m,ltrix (or equmions in the problem). General-purpose equation so lvers lire avai lable for such banded system~ o f eq uatio ns. The hnlf-bnndwidth NHIlW of the a~M!mbled (i.e .. global) finite element matrix can be determined in the finit e element program itse lf. The loe:.1 nature of the fin ite c lement interpolation function" (i.e., "'; arc de fin ed to be nonLero o nly over the clement Q~ ) is respon!.ible for the banded character of the assembled matrix . If two global nodes do not belong to the same clement , then lhe corresponding entries in the globa l matri x are 7ero<;:
and
/I

K/J = 0 if globalnooes I and J do not correspond to

local nodes of the samc element This propert y enables us to determine thc half-bandwidth NHBW of tile a'>sembled matri x max (7.2.7a) NHB W = ! ~ N o(" NEM labs INOD(N, I)-NOD(N, J)I+I)xNOF I ~ I . J:::: NPE where NEM = number of clements in the mesh NPE = number of nodes per element NDF = number of degrees of freedom per clement For exampl e. for one-dimensio nal problems with elements connected in series. the maximum diO'erence between the nodes o f an element is equal to NPE - I. Hence. NHBW =I(N PE - 1)+ II x NOF = NPE x NOF
(7.2.8)
(7.2.7b)

Of course, NH BW i<; alway" Ie,," than or equal to the number o f primary degrees o f freedom in the mesh, i.e .. thc number of equations. NEQ. The logic for assembling the c lement matrices K,'j into the upper-banded fonn of the global coc ffi c i e n1 ~ K/j is that thc assembl y can be skipped whenever J < I and J > NHBW. The main diagonal. I = J, oftllc assembled square matrix (i.e .. full storage fonn ), becomes the first column o f the assembled banded matrix (i.e .. banded storage form), as shown in Fig. 7.2.3. The uPI>cr di.. go n a l ~ (parallel to the main diagonal) take the I>osition o f respective columns in the banded matrix . Thus. the banded matri x has dimension NEQ x NI1BW, where NEQ denotes the total number of equ a' ion ~ in the problem. n,e e lemen t cocOicients K,j and [," of:l typical c lement Q" arc to be assembled into the g lobal coefficients matrix I K I tlnd <;ou ree vector I P I. respectively. If the ith node of the clement is equal to the Ith global nooe and the jlh node of the elemen1 is equal to the Jth global node, we have
K1J= K,j. F/ = P;"

(for NOF=1)

(7.2.9(1)

C flAI'I'U1 ,_ U >Ml'lJTI:M IMI1D.l ~:q":1'10N

365

NEQ _ _ _A _ _ _

NHBW

'

,------A-----,
O\t1--<1tt....,. ....,. .(11 1. 0 0 0 , , <'I 21'1lN..,. . 112,'aN..t 10
<'1 31 <132 .' .......... ~IJk

a ll " 1 .. "II 2

o.

0
0..

"u

" 23 '"

uU' 1

<l31r,~'Ujl'2 0
":",
'"

u J3 " 34 . ")1.2

[AJ =
(symmJ

",

'"

"":

c::::::::>
"

IAJ (half-bandcd
form)
""- 1'".1". 1. " ... 0

NEQ = n

...

0 "" . NEQ x NEQ

" 'I'

-t'~'

M,lIn dlagoml

"r' ()

Last diagonal beyond which all codflCICnlS are zcro Figurc 7.2.3 Finite clerncnll:ocfticicnt matrix storage in lIppt:r-half-b<lndcd forl11.

The values of I and J can be obtained with the help of array NOD:
1 = NOD(I/, i),

J = NOD(n, j)

(7.2.9b)

Recall that it is possib le that the same I and J may correspond to a pair of i :lIld j of some other clement Q"'. In thnt case. K:j will be added to existing coefficients K/J during the assembly. For NDF > I, the logic still holds, with the change
K(NR)(NC) =
K (;+p _1) (j I_ _1) q

(p, q = 1, 2, .... NDF)

(7.2 .10a)

where
NR = (/ - I) x NDF + p,
ASSEMDL.E.

NC = (J -I) x NDF+q

(7.2.10b)

nnd I and J are related to i and j by (7.2.9b). These ideas arc implemented in subroutine

7,2.6 Imposition of Boundary Conditions (processor)

Imposition ofboundnry conditi ons on the primary and secondnry global degrees offrcedom can be carried out through a subroutine (DOUNIJARY)_ which remains unchanged for twodi mensionnl or three-dimensional problems. There are three types of boundary conditions for any problem: I. Essential boundary conditions, i.e., boundnry conditions on primary variables (Dirichlet boundary conditions). 2. Nlltural boundary condit ions, i.e., boundary conditi ons on secondary variables (Neumann boundary conditions). 3. Mixed boundary conditions (Newton boundary conditions). The procedure for implementing the boundary conditions on the primary vari<lblcs involves modifying the assembled coetlicient matrix (G LK ) and right-hand column vector (GLF) by three operations:

3(16

AN I Nr~OI)L'CTIO" 'fa '1'111 1~"1T1i EliMENI' MI:lI IOO

Slep I. Movi ng the known products to the right-h:U column of the matrix t.."q u:uion. ld SICp 2. Replacing the columns and rows of GLK corresponding 10 the known primary
variable by L.eros. and setting the coc ft icie nt on the main diagonal to unit y.

SICI) 3. Replucing the corresponding component o f the right-hand culu mn by the s pecified
value of Ihe variable. Consider the followin g N algebr.tic equations in full malrix form :

K" [

K I2

XI )

K" K"

Kn

K2J

. ]I II I
.. V2 U,

VJ

. .

F2 F,

Fl

. .

where VI and FI are the global prirnnry and second:uy degrees of freedom, respec tive ly. and K IJ are the asse mbledcoefficiem ... Suppose thai V s = Us is specified, Recall that when the primary degree of freedom at a node is known, the corresponding second,lTY degree of freedom is unknown. and vice vers:1. Set Kss = I and Fs = Us: furth er, ~et K Sl = K IS = 0 for I = 1.2 .... , N and I =I- S. For S = 2, the modi fi ed equations arc
K II

0
I

Kn
0

K"
0

K,.
0
K Jn

()

K"
K nl

0 0

K"
Kn 3

K", K.,

U, U, U, U.

F,
{;,

P3 Pn

where

1 ';= f; - K;2U2 Thus, in gener.tl. if Us =

,.

(i=1.3.4,5 ..... II: ; =1-2)

Os i ~ known, we have
KSi= KiS= O

where ; = I . 2, .... S - I. S + I ..... /I (i -# S). This procedure is repealed for every specified pri mary degree of freedom. It enables us to retai n the original order of the matrix, and the specified boundary conditions on the primary degrees of freedom arc printed as part of the sol ution. Of course, the logic should be impl emented for a b:mded systcm of equation,. The s pec ified secondary degrees of freedom (Q ;) are implemented direclly by adding their speci fi ed values 10 the computed val ues. Suppo<;e Ihat the poi nt source corresponding 10 the Rth secondary degree o f freedom is ~pecified 10 be F/(. Then

FN=IH+ F/l
where IN is the contri bution due 10 the d islri buled source f(x) : of the clcmcnt computalions and assembled. Mi xed-type bou ndary conditions are of the form

IN

is compuled as a pan

d" (/ - + k(u dx
(/ dll l dx althe node

U) = 0

(ii' and k (Ire known const:ulIs)

(l

(7.2. 11)

which contains both the primary variable u and the !\Ccondary vmiable (J is rcp laced by - k,,(lI p - u,,):

til/ I t/x.

Thu ~,

Q" =

- k p(U p - 01')

C HAl'l'ER 7: COM l'lfl bR IMI'IXME.'< rAI'IUN

367

Thi s amounts to modifying KI'I' by adding kll to its existing value,

FI' +- FI'+kpDI'

All three types of boundary conditions are implemented in the subroutine BOUNDARY for boundary, initial. and eigenvalue problems. The following variable names arc used in the subroutine BOUNDARY: NSPV NSSV NNBC VSPV VSSV VNBC
UREF

ISPV

Number of specified primary variables Number of specified secondary variahles Number of Newton boundary conditions Column of the specified values Os of primary variables Column of the specified values F R of secondary variables Column of the specified values k " Column of the specified v<llues Oil Array of thc g lobal node and degree of freedom <It the node that is spc(;ified IISPV(I , f)=global node of the Ith boundary condition . ISPVC I,2)= degrce of freedom specified at the global node. ISPV(l.l)]

Simi lar definitions arc used for ISS V and INBC arrays.

7,2,7 Solving ECIUl.tions and Postprocessing

Subroutine EQNSOLVR is used to solve a banded system of equation~. and the sol ution is returned in array OLP. The program pctiorms the gaussian el imination and bnck-substitution to compute the solution . For a discussion of the gaussian elimination used to solve a set of linear al gebraic equations, the reader is referred to the book by Carnhan, Luther, and Wilkes
( 1969).

Postprocessi ng involves computation of the solution and its gradient at preselected points of the domain. The preselected points arc the cnd points of the clement, the midpoint, and three even ly spaced points between the end points and the midpoint. Subroutine POSTI'ROC is used to eV<l luate the so lution and its derivatives at the presciccted points of an element:
u F(x) = L:></1/IjCx),
j:o l

"

(d"')I ~ t",(d~; ) I
dx
~
jo I
J

(7.2.12)

dx

for the La.gf<lnge e lcments and

wr(x) =

L u jj(x) .
j=1

(m = 1,2,3)

(7.2 .13)

for the Hermite cubic elements. The nodal values the global nodal values U , as follows:
/I '~u I , j _

uj

of the clement r.l. <Ire deduced from

1 = NOD(C' , j)

o c

o c o o o c

o .;

o o

o c
N

00

Table 7.3.1

COlllimlt'd.

Fi eld problem

MODEL

NTYPE

ITEM!

AXU

AXI

BXO

BXI

exo

eXI

FXO

FXI

FX2

era'

CTII

12.

U.
\4. 15.

\6.

17. \8 .

Ellkr-Bemolllli th(""OI) for (""ircular plates Tim(",henko !>earn thoory (RI Er Timoshenko beam lheory (CJE )' Tirnm.hrnko the".) of circular plates (RIE ) "limoshenko theory of circular rlal~~ (CJE ) Plane truss 111e Euler Bernoulli frame dement

,
,
2 4 4

2
0

C,
(S K )o (S K )o

E,
(SK)]
(S K II

" t2 (t./)u

H
(1:.1)1

'0
CO

2 2
2

(Ello
1'12
VI~

(Ell!
H

'"
CO
L'U

E,
EI

E,
E,

2 0
U

"

'" " " " "

f. f" f. f. f.

f,

f'

'"
p,

'"
p,
PI

f, f, f, f,

h h
KGn

"'
p, p,

PI

KG n

P'

For field problems 17- 19. these parameters are not read; in,(.:o&t E =5E. A =SA. L =SL. and so on are read for each member of the structure. whcre SE=modulu, E. SA=cro,;,;-scetional area A. SJ=momem of inenia I. SL=lenglh l. or the member. CN=co~O'. SN= ,in 0'. etc. ('><'e Tahl~ 73.~).

19.

The Tim",henk" frame dement

S = GA and K i, the ,hear corn'Ction factor (K 5:6). ' h .. nmc-<lcpcndcnl rruhlcm, ont}; .... hen 'ICad}"'l'Ue solution" requi.-N. ",,[ ITEM 0 ' For tran"enl ."aly,", (01)- the [",,,,,en[ .nalys" O!Minn I. 001 a,"ailabl~ In n cMUl (orlru .. and frame problem,.

3711

,\"I'>TMO!)!I{"TIO" IOTlfFrI'>ITI FU"MF'lTMrTIIClll

when NDF= I. For NOF > I, I is given by / = INOO(e. j) - II x NOF and

U) +p = U11J!

(p = I. 2 ..... NDFl

The va lues computed u~ing th~ derivati\le~ of the ~olution arc often inaccurate because the derivatives of the approxi mate ~oluti{jll become increasingly inaccurate with increasing onkr of di ff~rcntiation. For ~xal1lple, th~ shear forcc computed in the Eu ler-Ekrnou lli beam theory (EBT)

v = _~ (b
dx

d2

\\' ) = (lx 2 ~

~ II'" ~ (h j) d
j

dx

dx !

0.2.14)

will be in co n ~idcrable error in addition to being discontinuous across the elements. The accuracy incrca~e~. rather slowly. with me~h refinement alld higher-order elements. The derivatives computed u~ing 0.2.14) arc more accurate if they are computcd at the Gauss point~. When accurme value~ of the ~econdary variables are desired at the node~. it is recommended that they be computed from the clement equati ons:

Q~ =

" L K~lIj )"= I

j/

U = I. 2 ..... n)

0.2.15)

However. thi~ requires recomputmion or s:lVing of e lement coeffkienlS and f,~ . j Recall that the nrxbl values of geneT<l li7.ed forces arc exact at the I1(xle~ when computed u~ing (7.2. 15) for certain problem~ as discussed before.

K :

7.3 AI'PLICATIONS OF PROGRAM .' EM ID

7.3.1 Gcnenll Comments The computer progT<lm FEM I D. which embodies the ideas presented in the previous sect ion. is intended to illu~trate the us..: of th..: linite clement models d..:vclopcd in Chapters 3--6 to a variety of one-dimensional field problems. some of them arc nOl discussed in this book. The program f'EM II) is deve loped as a learning compulationaltool for <;tudents of a tirst course 011 the finite clement method (sec Appendix I for a listing of the program located on the boo ... 's wcb~it..: at www.mhhe.comircddy3c). In the i nt e re~ t of ~illlp l icity and case of understanding. only the modcl equation~ di~cussed in thi s book and thei r immediate ex\Cnsions are included in the program. Table 7.3.1 contain~ a ~ummary of the definitions of eocftkien ts o f various model problem~ and their corresponding program variab l e~. The table can be used as a ready reference 10 select proper value~ ofAXO. AX I, and ~o on for dillerem problems. 7.3.2 Illustrative
]i xalllpics ~

Here we revisit some of the example problems considered earl ier to illustrate the

u~e

of

rEM 10 in their solution. Only certain key observalionsconcem ing the input data are made.
but complete listi ngs of input files for each problem are given. In the intere~t of brevity. Ihe complete output files for mo~t problems are nOl included. A description of the input variables 10 progrllln FI<:M 10 is presented in Table 7.3.2. In Table 7.3.2. "skip" 1llean~ that the input data is omitted (i.e .. no dat:I is required). In the "free

Table 7.3.2 Descriplion o f Ihe input

variub le~

1 the progr.un .' EM II) 0

.. l1ala Card I Tille of lhe problem be mg sol,cd (SO chamclers) T ITLE .. I)llla C:,rd 2 ~_ _ _-:-:--,--_ _,__-,--,__-,__- - - , - - , _ _ - - - - - - - - - - - - _ :'I IOI1EL Model ~'(Iu ~tioo being sol~'cd (see below) NTY I'E Type of prQb!cm '\{lIved (see below) 1'0101)"1. '" I. NTYPE = 0: A prQblcm uf MODEL EQUATION (3.2.1) MOI)hL ", I. NTY I'E = 1: A cir<,:ular DISK (PLANE STRESS) MODEL .. I. NTYPE > I: A c irt;ul~r DI S K ( PLANE STRAIN) MODEL = 2. I\"TYPE =0: A Timo~hcnko BEA \! {RIEl prob lem MODEL = 2.I\TYI'E = 1: A Timo<hcnl.o PLA ( RIE l problem TE
MODEL = 2. NTYPE = 2: A Timoshcnl. o BEAM ICIE ' I problem MODEL = 2. NTYPE > 2: A Timo.. l>cnko I'LATE (CIE) problem MODI: L "" 3. NTYPE '" 0: A F..u ler- Ikmoulli BEAM problem MODEL '" ~. NTYPE > 0: A Eu1cI- llemoul h circu lar plate MODEl. = 4. NTY!'E '" 0 : A plmlC TRUSS problem MODEL = 4. NTYPE", I : A FAller- Bernou lli FRAMEprohl~m MODEL ", 4. NTYI'!! '" 2: A Timo,lll'nk" (CHi ) IRAME problcm ITEI\I rndl c~ tor fur tran,ient ~nalysi s ITEM "" O. Stcad)' .. t:tle SolUliun ITEM _ 1. Transicnt anal), . i, of PARABOU C e{IUUlions ITEM = 2. Transie nt an~ly'is of I IYI'ERBOUC eq uatiun , Ill;M = 3. Eigc nv~ll>e analysis .lhll'Ca rd J _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __ I": LI,;M Type of fimte r kme nt IEI.EM "" O.l lernllte cubic finile clement II::I.EM = I. Linear Lagl".mge fim le clement ' ELE~ I ... 2. Quad r:llic Lagmnge finll e clement Numher of e lemc nts in the lI1C_h

..

/'OEM
l l a l a C a r d 4 ~

___________________________________________________________
Ilitli ealor for conlinuity of dal~ fur ll.e probl em ICONT ,. I. Data (AX.BX.CX.FX und I1le,h) is co nlinuOlI S ICONT = O. Dat a i, elemem lkpcndcnl In diC~I()r for printing uf element/glob,,1 nl,urice, NI'RNT "" O. Not to print element or glob.l l nl'ltriee~ bul JlO"tprocess the sol ution and pnnt NI'RNT "" I . !'rint E1enlCnt I coe fficient "mt rices OIl ly but po~proceSllII>c wl ullon ~l1d prim 'ril1t Elemenl I :md gIQtu ll1t:ttrice, but Nf'RNT = 2. 1 NOT postprocc's lhc 'iolullon NI'RN'T > 2. Not 10 print clement or global mmrk'C~ and Nor JlO.,tPf()L'C>s lhe ,,(lIUllon

ICONT

NPRNT

Skip Clnh 5-15 for TlWSS/FRAME pr.)hl~I1\' (MODEL = 4). mid rc~d Can.1> 5- 15 onl), if MODEL #- 4. SK IP card~ 5- 9 if dal~ is di..cominIlOl.h ( ICONT = OJ . I)ata Ca rd 5 ~---,__-_::__:_--,-__:__:c:__,___:_--,_____:_:_c--::_----~ IlX (11 Army or c le menl Icngt h,. OX ( I) ocnotc, the globa l cuordin ale of Node I of the 11.."h: DX(I ) (I = 2. NEM I) dcno, ~s the length of the ( I . list d eme nt. \\here NEM I '" NtM + I. and NEM dellOle~ the number of elements III tho: ntt:~.

Cards 6-9 delinc tltt: ~'OC mcienb In lhe model cquation~. All eocfhcients are ex pressed in tenns of
GLOBAL OOOJdlllate x _Sec Thble 7.2. I for lhe IIlCaning ofltlc ooc lli~'lel1l'"

(Ta ble 7.3.2 continued)

Ihl,. Ca rd 11 -:,--_ _ _ _--,,--_--:-,--_-,-_ _-,--:-,--_ _ _ _ _ _ _ _ _ _ _ _ _ _ __ AXO Con,tantterm uftlle coefficient laCt) =1 AX AX I Line,lr term uf AX Ilata Card 7 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __ BXO BX I Constant term of the coefficiellllb(I' ) ", IUX Lin~ar terlll of the coefficient BX

UlltaCardS - : -- - - - - : - - - : : : c - -- - - , - : : c - - - - - - - - - - - - - - - - -

CXO Con,I;11lt ternl "fllle c".,rlkientlc(x) =1 CX CX I Linear terllt of the cocrtieient CX SKIP Card \I for eigenvalue problem, (i.e,. when ITbM = 3) .UHlll Card II __________________________________ FXO FX I FX2 CUn'lam t~rnl of the source If(x) = 1 I'X Linear term of I'X QU;ldratic tenn of FX

SKIP Card, 10 15 if dala is continuou, ( ICONT 'f OJ. Cards It}-15 arc read for c;teh ekment (i.e .. NIiM time,). All codocients ;ire with ""pcd In the LOCAL coord inate .i.
n"tH Card

NNM Numbcrof gluhal node. in the me,h I>ala C;lrd 11 _ _ _ _ _ _ _ _ _ __ _ _ _ _ _ _ _ _ _ __ _ _ _ _ _ _ _ _ _ _ __ NOD

10 ,,--,---:--,--,--,--,---,---,----------------------

CotHlectivily of the elertlCllt: NOD(N.I) = Global node number corre,pomling to tt,e hh node "r Ekment N (1= I, NPE) where NPE denotes thc Number of nodes Per Element GLX ( I) Length ufthe It II clement 1)" 1,, C .. rd 12 -,._ _ _-:-:-_ _ _ _-:-_ _ -::-:_-,-::-_ _ _ _ _ _ _ _ _ _ _ _ _ _ __ IX'AX Conslant and linear tl'rIllS of the cocflkielll AX
l)ala Card 13 _______ _ _ _ _ _ _ _ _ _ _ __ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __ .I)'l la CHrd 14 ___ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __ _ _ _ _ _ _ _ _ __

IX'SX

eon~talll

and linear

terrn~

or the coeflicienl BX

IX'CX DCFX

CUn,tant and linear terms of the cocftkient ex CUII,tatH, linear ,md quadratic tenn' of FX

l)alaCard 15 - - - - - - - -- - - - - - - - - : = c - - - -- - - - - - - - - - - - - -

READ Card. 1 6-2~ only for TRUSS/FRAME problems (MODEL = 4): ntherwi,e SKIP, DlIllI Curd 16 _ __ _ _ _ _ _ _ _ _ _ __ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __ NNM Number of nodes in the finite delllent mesh

I)ala Cu rd 17 (Read for

SKIP C~rd, 17-19 for TRUSS prohlcm, (NTYPE = 0) ~lIc h elemcnt ) _ _ _ _ _ _ _ _ _ _ _ _ __ _ _ _ _ _ _ _ _ __ PR SE SL SA SI CS SN

Poisson's ratio of the 1l1aleri,ti (notu>"d in ERn Young', modulu, of ,hc materi~1 Length of the ckmen! Cro,,->cctional ~rc~ of tile clement Moment of inertia of the clement Cosine of the angk of orientation of the clement Sine of the angle of oricnt"tiull of Ille clement: the angl~ i, mea,ured clockwise from the global x a~i, .1)111;1 Card IlIlR e;ld for r,lch rilnlentJ -c:- C : - - c : - - - - - - - - - - - - - - - - - - - 111' Int en,i1y of1hc horifontal di,trihuted force VF Int~n sity of the transvcr>ely di,tributed force PI' Point lood on the clement XB Di,tallce from nnd" I, :tiong the length of the clemen t to th ~ puint of lo;td application, PI' CI'.'T Cusine of the angle of orientatioll uf the load PF SNT Sine of the angle of orientation of the load 1'10: the angle i, measured clockwise ffl)m the element I axi"

('11<1.1'1' 01 7: ('("'II~tnOil IMIU.",,":...-rAll01'l

373

(Tu bl" 7,],2 con tin ued)

I)ala Ca nl f\OD

1 -,____--:-_____.,--_________________ '
('onnecll~ity

of lhe clcmcnt: NOD(N.I) =- glob<llnodt: ntunber co"""~pondin~ In Ihe Ith 'klllc of clement N ( I = I,KI'E)

REAl) Cards 20 lmd 2 t ulI!y fur TRUSS prolJ lcms (NTY PE = 0).
I>uta Card 20 I Read for clleh cICIIlCIlI"__-,-,-_ _ _ _ _ _ _ _ _ _ __ _ _ _ _ __ _

SE 5L SA

CS

SN
HF

Ib lll Ca rd 21 ________________ NOD(KI)

YOlll1g'~ 1I1(llIlllu, of tl,c m~lcrial 1 ..c1lj;lh "flllC dement Cm"' >e<:tiOIiU I urc~ of IIIC clc,nent Cosine of Ihe angle Iff un cnl:ltioo of Ihe element Sine of the angle of orientation of lite elemenl Angle;' 1I1C;I'Urro eoo merctock"'ie frllm \ ax!' Inlen.~i l} of llle lIori700iai d'Mrit..Hcd force

.1)ulllCard 22 -,,--,-_-c_,--,____-,-,-___________________
NCO:'>l Number of inclined 'Ill'port cUllditions SKIP Card 23 if 110 inc line(1 "lppol1 conditiuli s arc 'llCci/ied (NCON 0). I)ala Ca rd 23 (I = Il u NeON) _ _ _ __ _ __ _ _ _ _ _ _ _ _ _ _ _ __ ICON( I) GloIJal,lOde number of the !iuppol1 VCON(I) Angle (in <kgreCl;) ~lweenlhc l"Iorlilal and Ihc global ' - a)(i ~ I)a la Ca rd U _,--,-_-,-___-,-____, - - - - -__, - - - , - - - - - - - - - - - - - - NSPV f'i:umberof ~pecified I'R IMARY degrees of fret:dmn SKIP CanI 2'i if no prImary variable.~ i~ ~pel' ilied (NSPV= O). I)ala Ca rd 25 (I = I 1 NS I'V)--,.,----,--:::c:---CC-:-- - - - - - - -- - - -- - 0 ISI'V{ I. I ) Node 1"II,lllihe r al "hieh Ihc PV is specified Specified local prima ry u.,~R~ of fR"COOIll (ooF):l t the lluOc ISI'V(I,2) VSPV(I) Specified v:llllC uf tl,c primary variable (PV) (wi ll nO! re"d foreij;c'lValuc probll'll" ) SK IP Card 26 foreigellvalue prublem, (i.e .. "hen ITEM = J).
1 \aCard 26 -,:---,__-C__-,,--,____-,_________________________________________ )H

('onneclll'lty of the clement: NOD(N,1l '" gloOOl node number Jlh node of clemenl N CI = I,NPE,

('O,.,...,pondi n~

to the

NSSV

l\"umberof ,pecified (nollr.cro) SECOl\'OARY 'ari~bb

t,~_

SKI P Cartl27 if no '\C"CQIltlary variable,,, speci fied (NSSV= O): f('P'"'31 Card 27 NSSV ISSV{I.I) ISSV(I, 2) VSSV{I)
C~ rd

I)ala Ca nl 27 (I = I 10 l\'SSV)'_,--.,--,---"'_ _-::--:_______________

Nod", l"Iulllbe r III "hlch the SV is spI."Cilied SlleCilled local second~I)' DOF at lhe,~ Specitied ,"alue uf tllC SI."Condary nria blc (SV) Number of Ihe Newlon
(lIIi~cd)

I)lI ta

211 ____________ __ _ _ _ _ _ _ _ _ _ __ _ __ __ __ _

NNBC

I.x>llndary COlld,I'O'"

SK IP Ca rd 29 if no mi~cd hound:,ry cond ,tion is 'pedti~d (NNIIC = U), Th.: mhed bound;lry L'\)I ldilion is as>umcd 10 be of the funn: SV+VNIK *WV UREF) = 0 . II.cP'"'at Canl 29 NNBC hllle'. I>ala Ca rd 29 (I == I lu :"O:"OII l;") _ _ _ __ _ __ _ _ _ _ _ _ _ _ _ _ _ __ INBC(!.I) INBCn,2) VN Bcr l) UREI-'{I) Nude nu"'~r III "hlCh the mixed B.e. "specified Local 001 of lhe PV and SV allhe node ' Valuc oflhc cuc:Okicnt of lhe PV in the n.c. RefcfClICc '-dluc of the PV

374

,o.;.II:><'lltOUtJC110'l 1lJ1l11' 11'lITi u .r., r'ITMICTI IOO

(T:lble 7.3.2 cOlll inued)

I' MK

.Il:ol a Cllrd 30 _ _ __ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __

:>iul11t>.,r of rnullipoml con_"m;nl~ (wl id nICCllan ic"

SKIP Card 3 1 if III) mllll'pol111 {,,,,, (h l, O'" nrc 'jX'cifi ~d (N MPC "" 0). Til e lIluhipt)im condilion is a .lluncd 1 be of the foml' 0 VMPC( .. I, PV I+VMI'C<..2,- PV 2=- VI\ II'C/..3j. l(epc.11 Card 3 1 NMI'C III1I C~ . nata Ca rd 3 1 (I = I 10 NMI'C' _ _ _ _ __ _ _ _ __ _ _ _ _ _ _ _ _ _ _ __
IMe 1(1. 1)
IMC I(1.2)

Node number a."ocHl.tcd w ,th I'V I

u,,:alooFof I'V I

IMC2{1. 1) IMC2{1.2)
VMI'C{I) VMI'C(4)

Node number a".OCl.lll-d wi lli I'V2 Local 001' of I'V2

Valu", of III" coc-ffieiems of lite COOSit3ml equ~llOn

Value of lhe foree :'l'p lteJ ,II the node of PV I or I'V2

Skip Curd 32 if ITEM "" 0 (read onl)' fur li me-depcodcnl or elgem-aluc pmolcl11s) illlh, Cllrd 32 -::-----:-=--:::::---:=:-:c---

em
(."1'1

- - - - - - - - -- - - --

Con'W Ill p:1I1 0fCr = CTO+CTIX

Lin~ar parl ofC,. "" cro +cr l*X

S ~'P rcrnainlllg cards if 'lcady 'taIC or ci~cn~al uc annly~i~ is hi be pc rfol'lllcd

(ITEM = 0 " r1TEM = . ). '

Il:lh, Cud 33

"C:--,-------,------- - ---------- -- - -- Time ilk:n:menl Lumform ) l'ar.tmeler In III" IUlle " PI"Ox.malioo scheme Parameler mi lle lime approximation scheme-

OT
ALFA GAMA

GAMA

(~ u-.cd

when ITEM = I

pambolicequallon)

I)ata Ca rd.4 _ __ _ _ _ _ _ _ _ __ _ _ __ _ _ _ _ _ _ _ _ __ _ __ _
IN COND Indi cmor fOf 'Ullinl CO n<li li rlllo;; INCONO = 0, I IOlll ogcncous (~em) inilial ~'undit ion s IN COND > O. Nonhonmgeneou. ini lial condilions Number of lime ~lcl'" ror IIhicll MlIUlion is '>Ought lime 'IeI' jnlcrval~ at wh,ch \-olnlion j, 10 be prin led

(;,\'e GAMA= 10 6 ... hen cenl~red d,ffercoce is IIJ.ed (forrnulal'Of1 on Prob lem 6.23 is Ihe COI1'CCI way 10 "llplemcnt Ihe ce ntered differt'n~'C .",heme) .

NTIME

Ir-.TVL

Sl ,p Cards 35 and 36 if inllial eono:h lt()l1~ arc lem (lNCON I) = 0) .lbta CardJ5 ____________________________________________________________
GUO Array of iml'dl
\ a lue.~

t)flhe pnm:!!)' variables

Sl Ip Card 36 for parJoohe equ al ;o", ( IT EM "" I ). Uula Card 36 _ _ _ _ _ _ _ _ _ _ _ __ _ __ _ _ _ _ _ _ _ _ __ _ __ _

GU I Array of inlilal
val\IC~

of lhe firsllnne dcrivallvelj of the pri ,":!ry variahle,.

format" used here, v.uiables of each "d'II" card" (we sh,,11 use this tcmlinology to imply an input '\Cqucncc in " "i ngle in<;truction) are read from the <;arne line: if the values arc not found on the same line. the compuler will look for them on (he next line(s). However. dat:1 requ il\.-d by dilTercnt dala card~ c:mnot be put on single line; each data card must stan Wilh a new line. The ..,pace available afler Iyping requi red da(a on a given line may be ui>Cd to include an y comments. For eXi.llllple. we may lislthe variable names on that line for ready reference but only after all of tile required dala are listed. The lex( inc luded (hereafter is n ol read by the computer (except tt) edlO Ihe input file).

(')I ,\I'ln< 7

(,()~lI'U'IEH IMI1.LMESTAriO-'

375

E,,"mplc 7.3.1 (Sleady Hent TratJl'fer in a Rod)

CQn)id~r the

heal transfer problem of Example 4.3.3. TIle PrQblem is governed by

dlQ -~+m2(f=0 d.t!

for

Oc:x<l-

61(0)

=~.

(d8) I , ~O d, ..
P. ;Jnt! k are
(7.3.1)

where f} is the nQudimensionnl temperature. and L. m~. 0."

L=O.05m,

ml",,4{lOIm~.

9u=300C,

fi:=IOOW!(m!:C},

k"",SOW!(m.(')

For this problem. we h~lVe MODEL := !. N1'"YPE :: 0, snd 11CM :: 0 (for a ~h:ady-sl!lle .solution). Since 11=:-1.0 ;lnd c>=m l "", Pf3/Ak :=400 are the ~nle for 1111 elcmeols, we set rCONT "" I , AXO..", 1.0, a.nd CXO = 400. AU other coefficients are :?;ern tb "" 0 and f "" 01 for lhis prohlem. F()r a uniform mesh of four linear elcments (NP.M = 4, JELEM "" J), the increment.' of the army DX(1l rwhere OX( I) is ttl ....',lys the x cQ(Jrd.imlte {If node I (see rigure 7.3.J) and II =L/4 =0.05/4 =0.0 125J are; DX = JO.O, 0.0125. 0.012.";. 0.0125, 0,0125).

L' 0.05, c" 400. 100. to< SO

p",

(all with

unit,)

x<>x<)>:<O.o\

DX(2}

OXIJ)

OX(4)

I' /~
UI'" U(U) "" 300

'I"

,'{ht

~~~. ~
4 Q1 <>;]X

+ ,

OX(S)

!)XlI).."h",OOt25

[..02.3.4.5

dOl

'" 0
...L

l<'lgure 7,3. L FiQite element rm.sh of a rectangular fin.

The boundary conditions of lhe problem reduct:. to VI =0 :Ind Q~ =0. There is one spec~ ified boundary !:ondition (Re) on the primary ~'ari[jbJe (NSPV = I), "and il i~ dcgree of freedom (001-1 (for heal trJosfe( probJem~, lhere b only onc {)OF} at node I is: lSPV( 1. J) = I (lnd JSPV(1. 2) = I. The specified \'ll..lue is VSPV(1) "'" 3(10. Since the natura! oound<lJ)' l'O!I' dition (Q1 =0) is homogenous. there is no necrllO add a z,ero tl) lhe correspondingcotl)' of the source vc<.:tor(i.e . NSSV =O}. There are no rni;.:ed (i.e., con\'~tioll) wunditl)' condiliOtl~ in tltis problem (NNBC "'" 0). The c0111plete input data requ.ired to analyl.e the pro.hlcJIl using FEMtD art:. p~nted in Bo;.: 7.3.1 and the output me is pre:>ented in Box 7.3.2. Input data and partial OUlput for the ~al)lc problem when ;\ mesh of two quadratic elclncnts Me used arc presented in Box 7.:U.

376

AN NIRootJCnON1()TIU n ... rn IU\I'.N"1 MFTlIOI)

BQ" 7.3.1 III PUI file from FEMIO for the problem in EX;lmple 7.3.1. ElImple 7.3.la; I leill triln~f<,( in il roe (4 lineal" elcm~nt~) 100 MODC!\." t-.'1'Y(>B, ITEM 14 IfI...EM, Nh'M 11 lCONT. NPRN'r 0.0 0.0125 0.0125 0.0125 0.0125 DX{l)-XO; DX(2), ctc, Ekm('nt lengths 1.0 0.0 MO, AXl 0.0 0.0 BXO. !JXl 400.0 0.0 0;0.00 0.0 0.0 0.0 FXO, FXL FX2

NSrV
1 1 3tXI,O

ISPV(I, 1), ISI'V(1.2), VSI'>V(l) N$SV NNBC

NMl'C

Box 7;3,2 Edited OUtl)Ut from FEMI D (or the problem in Example 7.3. 1.

OUTM frt)m progrn.m FMJO by J. N. ReDOY Example 7.3.1;1:

H~i.lt

lrilns(cr In" rc)(i (4 linear cll!,)lcnts)

...- ANALYSIS OF MODEL 1. AND1YPF. 0 PKOOUMM (St'" tlk' code below) MODl-l, NTYPE-O: A probll>rn dcscribt.>d by MOO[L EQ. 1 MODE!.-I, NlYPI:-"l: A drt:u lOlr DISK (PLANE S fR C5S) /'. looEL-1, NTYI'E>l: A cirt'Ular OISK (PLANF.STRAIr\) MODEl"'2,. l\,'TYPP.-O: A TIOlOlihenko ilEA'" (RIff) probkm MOOEL-2,. f\.'T'(PE-l: A Til11()Silenko PLA TF. (kJF.) probkm \I.100L"2. !',;l'YPE-Z: A Ti~o IJEAM (el) pmbl<,m MODEL"2,. NTYPB>2: A Tim(l$l\ct\ko PLA T (CIU) prob!em MODEl-3, N'l'YI'EooO: A rul~r-BemouJli 81!A\<I problem MODllL-3, Nli'l'l>O: A Eul""~lkmtlulli Circular pl;lte MOOEJ.,-4, N1Yf'E-0: A plJne TRUSS prnblem MODEL-4, NTYpt .... l A EI.IIt:Tlkmoul!i FRAM problem MODEL,""" t'.t'TYPI!"*2: A TimO$ht.'nko (CI) FRAMl' problem element typo! (0. I k>rmit l',>O. Lagrang~) ." 1 No. of deg. of fl\.....>dOlll per node, :-..!DP ,..- 1 No. o( demml$ in the I1Wl'h. NEM .......... 4 Nil. of total DOl; in th(' model. NEQ .,.~ .... 5 No. of "pc<:ificd prilTldry OOF, N5PV ,...... 1 No. of spc<:ified SL'COl1dnry oor. NS$V ....- 0 No. of ~pt.'Cificd Newton B. C: NN6C ...... 0

CUM'll11 7 ("OMI".J1EJt 1~1I~.I:1o'~'(lMK~

377

( Box 7.3.2

i~

("(lJ1li nueU from the

pn:~'iou~

page)

Boundary informiltion on primary van..lbles:

1 I 0.30000+03
Glob.. ! coordinMt"M of the nodes, {GLXI:

O.OOOOOE+OO 0.12500-01 O.25000E-Ol 0.37500E..()1 O.SOOOOE..()l

Cocffid~nl<; ()f

the differential cquiltion:

AXO '" 0.IOOOE+01

BXOO.OOOO+oo

CXO ... 0.4000+03

FXO '"' O.6CXXIE+O1
El~ment

AX1 '"'O.(XX)()E+OO BX] '"' O.lXIOO ... OO on .. O.OOOOE +00

FX1 ,",0.0000 i'{)()
rX2 O.l)(OOE+OO

coefficienl m.:ltrix, IELK]: 0.Sl 667P.+02 -o.79167E+02

-O.79167E+02 0.8'1667E+02
Elclllt'nt source v'{'IVf, {ELF}:

O.OOOOOE+OO 0.000001::+00
SOLUTION (valu(.'S of PVS) at the NODES:
0.30000E+03 0.2;i"l52+03 0.21892+03 0.20016+03 0.19403E+03

P. Variable

S. VariabJ(!

O.OOOOOE+OO 0.30000+0..1 -O.38785E+04 O.l2500E-Ol 0.25152E"'03 -O.26076E+04

0.25000-01 0.21893"'03 -O.15015E+04

0.37500E-OJ 0.20016+03 -O.49018E+03
Box 7.3.3 Input and pani:lI output
u~inl!

quaoratic clemen".

I 0 0

MOOEL,. J\ rYPE, ITl;M

0.0 0.025 0.025 1.0 0.0 0.0 0.0 400.0 00

"

I I

lLEM, NE!~...' ICON'l", NP/{N'I'

DX(1)-XO: DX(2), ('Ic. Elt'.lcnglh$

AXO. ,\Xl

exo,

axo. aXl

0.0 0.0 0.0

CXI FXO, foXl, FX2

f>,."SI'V

o o
o

1 1 300.0

ISPV(l .lj. ISPV{J.l). VSI'VP)

~V

WlBC
NMi'C

37H

,..~ l"'Ilt( ~H I("1()'1ro Tllh n"ln U I '1I 'l1 MIIHOI)

(Box 7.3.3

i~

continued fmm the

pri,::\li(Ju~

page)

OUTPL.l' i1'Qfl1 p~r"lfn 1(\110 I)~' J. :\I. REDI)Y

---

Eumpte 7.3.\: Heal IrJllI>fct in I) rod {2 quadrillic: .. ten\ents} Eh.'ml!nl Iy!"! (0, ! krlllj~, ~ 0, Lagl"illlgc) ..- 2 \lo. Qf "eg, 01 f!\.'\u(lm ~>j,!r nQde, :-.I{)J. " .... t :\Io,ulcl~'m<.'f'II"inthi.Olt"Ih,!'."E.\1 ." 2
~o, Qf 10M POI; 10 the mod",l, NEQ. . 5 No, of ~pcciflcd primilry OOF, NSJ'V . 1 No, of~-pcdrJCd ~"an' ocr. :-.lSSv .. 0 No. (If spet:ificd Nt'wk>n 6. "'NBC ."..... 0

c.:

Global cooruinJk'S {If Ih<'

n~l(i{'~

{GtXJ:

O.OOXJO ..00 O.I2SOOF.41 O.25000C-Ol OJro1F-O! O.50000E-OI

!:;1mwnt ooeffki"nl malT;" IELKJ: 0.946671':+02 -O.LOj((W+03 0.)3000l; + 02 -4).IO&OOI;:+ro 0.2II1t17F+03 -(l,l0600l + 03 0,1.1000+02 -0 10b00l'+tJ3 O,9-tQ676 + 02
El<mlenl ';o(>UfI:'e wdor, {H. FI: O,25I)X)E-OI O.I(lO.)(J[+OO O..z5lXlOf.{}1
SOLUTfQ;-.I (valul!'l I'V8) at tht:c NODI:$: 0j{)"()()t;+03 0.25170[+-0'\ 0.219231)+03 0.20052f+m 01',4421:+03

.,f

x
Q,OO);XJE+\lO

P V~riilbl ...

S. V~rial>I.

O,2S(XlIlE-Q1

0.25rolE-Cl
O.5OO))E..{)\

O.3000;)l;+{l3 -O.44'm f!+04 0.2192H:. "-(1:1 -o.19642r;H}4 O.21'J2-tF-l1):,\ -0.20014+04

0.1'>44JE+01

OJf>.$71E+02

ElI:llInple 7,3.2 (Steady Heat Tf'Jn~fcr in a Compositc W:III) Ilcrc we c()n~idcr [he l'OmPlhilC w(!IIIII'tIhJcm of U:(,lnlille 4.3.1 The gll'ierning cquatiOIJ~ of the pri.'blcill are
"- (kA dT) :--:0, tlx d.\

0 <.\ <

t.

O.3.2a) (7.J.lb)

T(O}=10.

[ kAt!!.. dx

+ fJA(t

- T.)]
"I

=0

This is a problem with disCQllfirullw,' dl/tu (1('ONT '" O) bc!cIHl..e a kA r~ discMtinuQu~ fa~ well a..' hi #-hl#Ji~). For!t thfC(-demOlllnonunrf,lNll) nle<>h of linear clemem, fsee
Figure 7.3.2), the inplu data ilnd edited outjll.lt3l'ei!iven in Box 7.3.4.

-=

OIAVU'.M 7 COMI"'Tn! "II'I.HIE.'ffAllON

379

Material I.

gs:~ M","" 3, "

f_
50'('

kl 70 W 'oo K) *2" 40 W/I11. Kj

kJ" 20 Whn K)
III

areu.
A{""'I)

2 em

h,

2
3
4

em III 4 em

1!~"'2.5

p ... 10 Wiml K

50~C

" igure 7.3.2 Heat tr.l.Dsfer in n cootpto!;ilc YoaJ!.

Box 7.3.4 Input {I)r heal t flln~fcr in a cOlllpcr..itc walt (Example 7.3.2).
hamrlr 7~'\,2! I 0 0 1 J. o0
4
111'~ t tr,\Jl.~fN

in;' ((mlpo'l.it~ w~ 11 MODEL.. NT'YP, ITUM IEi.EM, NEM ICOKI, NPRI\"T

"'l~1

1 2 0.02 70.0 0.0 0.0 0.0

1\00(1,1), GLX( I} AXO, AX1 6XO, BX1

0.0 0.0
0.0 0.0 0.0

CXO, CXt
FXO. FXl, FX2 NOV(2J) , Gt.X(2)
AXO, AXl BXO, BX1

1o, Ekment I }

"'~

0.025

4:0.0 0.0 0.0 0.0

0.0 (1,0 0.0 0.0 0.0
3 4 O.(}.I

O:O,CXl rXQ, FX1, f1X2 NOD{2.J),C. LX(1)} AXO, .... Xl

20.0 0,0 0,0 0.0 0.0 0.0 0,0 0,0 0.0

em. 00
FXO, FXl, FX2
NSPV

8XO,8Xl

lAlla lor k>111t't113

I 1 200.0

ISrv(l,I).ISf'V(1.2),
:-4'S$V
~8C

~I'V(I)

o
4 1 10.0 500

INBC(1.1), II\HC(I, 2), ~lk(I}, UREF(l)

>IMP<:

OUTPUTirom program FEM,IO by J. K RrODY

SOUJll0N
0.2()(XXII~-t03

(\';!iU"1I of

I'h) III the f\ODES' O. I995RE +(l3 0.19667E-t03 0,1957&L- -t1n

3811

AN 1'(111.01)\)('1'10" [,()TI!li n~ 1 1'1 . Ell MF"I ' MnH(~)

Example 7.3.3 (Radially Symmetric Ilc;}t TrJ.nsfer in It S(')lld Cyliuder) _ _ _ _ _ __

COJl~ider radially ~YI\unelric heal transfer ill 11 SQlid circular cylinder of radi~l~ Ro of EXample 4.3.4. The govenling equ:\rjons of tM problem are given by

_'!- (2;t kr r.!.!.) :::=2.'Trg" (If dr

wilh~'

forO <:: r < Ro

(7.3.3(1)

(27tkr~)1 ...., "", 0. 'r{H,)""' 1~ dr

(7.3,3b)

=20W/(mC).co =2 ~ 1Q>l W/ml, 'ti).." 100 C,3nd RQ=0.01 m. Wl:haveMODeL ~

I. NTYPB~O.llnd ITEM =0 (fora steady-stllte ~Olutjun). and the-datil i SCI)nti nu(lu ~ (ICONT "" I) in the domain for:l. mc~h of two quad ratic elements {IGLEM = 2, NEM "P 2). 11le data are
~=21fkr-+ao=0,
(/1=2JTk:

b=O-bll = O.O.

l}l =O.O

("= 0 _,"0= 0.0.

(,]=0.0;

!=2."TSilr-!O=O.O.

ft=2.'fgl).

/:=0.0

Thu s, we have trOf value.!> k =20 W/{m C). 1:0 =2 )( 10~ W/mJI

AXO = O,O,
CX(} = 0.0. !1iven by

AXl = 125.6637. fXO = 0,0.

I3XO = O.O.

BXl = 0,0 FX:! =O.O

eXt ::cO,O.

FXI = 12.5664 x I~,

For \wo..eiemcllt mesh of quadratic eICmenL\. the nITay

IOX\

:lnd houndw-y tnformation arc

ox = {O.O. 0.005. 0.0051

:-J"SPV = I, (SPV(I.I)=5, ISPV(1.2) =1. VS}'V(l)= IOO

TIle input file along with Ihe modified output from FEM I D are presented in OOl\~ 7.;3.5 and 7.3.6. re~pet:\i ...eJy, Note tllat the Ilniteclentent ~olutioll obt;lincd with two qu:tdrlllk c!etnen* iii more accUJ"'Jtt! Ib.an the soluti\1Il obtained with four linear clements, lind it i ~ cs..--cntiuJly the. same as the exact f;Oiution (see Table 4.3.2 ror ute re$ultS). Box 7.3.5 lnpul dlltll for fildially symmetric problem ()( Example. 7 3.3.

100
22
I I

Moon, NTYf>E, !1'EM IELr:.M, N'Ef>,j ICONT, l\'l~RNl'

0.0 0.(X}5 0.005 0,0 12,';.6637 0.0 0.0

0.0 0.0 0.0 12.56631118

1
,5 1

DX(l)" XO: I'X(2), etc. Ek I.'n gth$ AXO,AXl QXO, 13X'l ao, ext

O.()

fXO. FXl, PX2 NSPV

IS]'>V{l,l}. I$t'V{l,2), VSPV(l} NSSV

lOOJI

NN13C ;-J"M!'C

CUAl' lUt 7 ( 'O\II 'ltn ,M IMI'l..l:Mr"TAn O'l

381

Box 7.3.6 Panial output fOf I'oidially symmetric problem or Example 7.3.3.
OUTrlJT from prop"m f.EM11) by J. N. RQDY

Element type (0, Ilermile, >0. '-".grange) .. 2 No. of dl.""g. of f,,~-d~'m JX'f nooJ~ NOr ...... No. of element"> in the fIl(><4\, NeM ... .. 1\0. of 101", IX)r In II\(> model. J\"[Q. ... No.l)f "'p..>o;ifio::d priJTlM)' rot:, NSPV ........ .... No. of'lp.. ifii.'d ,'COmlary DOL NSSV '. _." No. of spedfit'd Nl'wIOIl B. NNBC .......

c.:

1 2 5 1 0 0

E\elnent co..-.fkk'fli matrix, [riLKI: O.6283zE+U2 .(j,K37761'.+112 0.20944+02 -O.83776E+02 O.33510!l+O3 -Q.25n1+0.3 0.20944I3+{12 ..(J.25133E+OJ O.23038E+03
EJem;.nt <;I)urO! 1I.'o;:Ior, {ElF,: 0.000011;.+00 O.10lnE+Q5 O.52.360E+04

SOLlJTJON (llalul':> of PV! at the NOOES: 0.35000+03 U.3.1437S+03 0.28750+03 0.209371:+03

X

O. l~E+{13

I'. Variable
O~l5000E+03

S. Variable
t).OOOOOE +(X) -o.245:14.+ro -O.9S175E+i>3 -O.22()d9E+04 -O.39z70F+0-.I -0.61359+04 -O.88357t+04 -O.lZ026E;.+05 -O.15700E+05 (1.15708[;+05 -O.19t!80E+{I5 ..{I.z4S44E+05 -O.2%96E+05 --O.35343F+05 --0.414.79+05 .Q48106+O$ -O.55223E+{15 -0.62832+05

O.OOOOJ.-OO
O.~25OOt..Q3

O.12500E-02
0_18750-02 0.25(XX)E-02 O.31250E--OZ O.37.5())F....(lZ 0.43750F-02 O.soooo-02 Q.SOOOO-02 0.56250(:-02 0.62500(:-02 O.68750-OZ O.75O:XlE..()Z 0.812501:-02 O.87SOOE--Ol O.93750E..(l2. 0.10000-01

O.34902E+03 0.34609[.+03 0.34 t 21 f. +03 0.1"l-U7t+03 0.32559+03 O.31434E+03

O~1Ol15E+03

0.28750+03 0.287501-:+(0 O.27090E +03 0.252.'141:..03 0.23184J.;f03

0.209.m1+03
0.1S496H-+fI3 0.158591:+03 O.I3027P.+03 O.llXXXlt;-+f13

382

,.,~ l"IW,I)IICTIU~ m'IIIIIII~ln' El.EMI~VI ~U-III()I)

Next. we consider a couple of slc:ldy-slale solid mechallic~ problems. The reader is asked to vi!.il the corrc <,ponding examples from Chapter 4 to have a complete background of the problems discu~ ..ed here.

t:xampk 7.3.4 (Axia[ Deformation of a Pier) _ _ _ _ _ _ _ _ _ _ _ _ _ _ __

llere we consider lIle axial defQml:ltion ofa pier (Example 4.5.1). The problem is governed by

the equlltions (sec Fig. 7.3.3)

d -(1+,1")- =6.25(I+f). O<x<2 .,,] - - [' dt 4 (I.e
(7.}.4(1)

:e(l [ 4 +X)llll] I ~IJ =-5, d.f ...

Por
thi~

#(2)=0

(7.3.4b)

case, the d,lta of the problell1 is MODEL = I, NTYPE = I. mki lTEM = 0 with
I

lI~4E(\+.I")-+(Io)=O.25l!.

(/1=O.25f:

b:c<O ...... f,o=O.O.

hl=O.O

(=O-+c"""O.Q,
For

("1",,0.0:

f=o.2S(I+.l)_fo=6.25,

1,=6,25,

h,=O.O

=28 X 10" N11I1 1, lIle input dala Ix:tomcs

AXO=7)( Hr, AX! =7)( WO. FXO= 6.2.~ X 10\. BXO=O.O. BX! =0.0 FX2 =0.0 eXI :0::0.0, rXI =6.2.') x [0 1 ,

CXO::::O.O.

T ,

0,5 m
2

2m

,
\,S m

I-.om

,
4 IiI1C3.r

demenlS

Figure 7.3.3 The COII<.:rcIC pier proh[cm of E)lample 7,3.4.

For tWtrelemem mesh of linear elemcl1t~, the array OX and boundary informatio n are givcn by (NMPC "" 0)

DX"" (0.0, 1.0. 1.0\

NSPV:::;. I, NSSV= I,
respectively.

ISPV(I,I)=3.

ISPV(1.1)=L ISSV(1.2)c:<1.

VS PV(I)=O VSSV(t)=5X!0'

ISSV{I.I)=I,

The input file and modified output of the. prohlem al'e pfl..>SC.ntcd in Bo... ~ 7.3.7 and 7.3.8.

80" 7:3.7 Input dat;l

fOf

the pier proble!1l of Example 7.3.4.

E>.aroplc 7.3.4: Axial dcform;ltion or a pier 10 0 MOD~L..I\.'TYPr., tTEM 1 2: IELEM, NEM

1I
0.0 1.0 1.0 7.oE9 7.QE9 0.0 0.0 00 0.0 6.2.5133 6.25E3

ICONT,NPRNT
OX(I)-XO: DX(2), ctt. Eie.1enst/lJ; AXO, AX1 AXO. Am CXO, ext FXfl, FXl, FX2

0.0

NSPV
31
I

0.0
5.0t,3

15I'V(1,1), rSpV{1,2), VSPV(l)

NSSV
ISSV(t1), 1 5$V(I,2), VSSV(1) NNUC NMPC

11 0

Box 7.3.8 Moditled output for the pier problem of EX:1Il1pJe 7.3.4.
OUTPUT f'0m progranl Hi'M1D by J. N. REDDY

Exa.mple 7.3.4: A"ial Jefurll"\tluun of a picr (2

linc~r clemcnb)

lJ.oundary inlmmJLioll on prhnary variables:

3 1

0.00000.;.00

IkJundary infOrm<ltiQn on secondary vatiab l1..";; 1 1 0..50000E.;.{)4

Clobal COOrdinatL>$ of the. nodL'S, {CI..X}: 0.00000 +00 O.lOOlXlE-tOl O.2tW)E+{)j

ffiox 7.3.8 i$ continucV from

lhe previou~

page)

Co(>ific:it'nts of thl? dif{crcnti,d L'qUOlt ion: AXo-O.7000E+IO AX1~.7000E+ t O BX{)oo{).!WlS+OO tJX1"'O.OCXlOE+OO CX()z().(XlOOE-tiX) O1-<1.0000E+oo FXO><l).62,50E-t(}j FXl "'O.6250E+Q4

FX2.. 0,0000+00

EIClTIt>nt coefficient zn>l(Tix, [EW<J: 0.105OOE.+11 -O,l0500Et1j -O.l0500S+u O .t(}300E+1l

Element SOllTCl' Vto f, {EIX}: 0.416678+04 0.52OBJ+(

SOLunON (\"illu~ of J'V~) stthe NOVES; 0.211 Il E-05 O.l238 lE-Q5 O.OOOOOE+OO

"~x alllplt'

7.3.5 (I)cformmion of H Rt)t~ll iug Disk)

We wish to determine the dcformaliQn and S((e~ll"C;; in n rQt3ti ng homogeneous (solid) d isk of H and made of j,otropic material (C, ,t). TIle governing eq ualitm (If the problem il> (sce Problem 4.37)
thicknes~

--

lIr

d [ ( d" ilr
C

r -+ ~u

)] +c (U du) =p{f)"r, -+11t dr

C c""r_v!

(7.3.50)
(7.3.5b)

Forth i~ca...c, ",ehllve MODeL =- J, NT YPE #. I, and 1TE. 1 =0. r<Qra mc.,h of lwoquadrutic ... elements (see Figure 7,).4}(i.c .. lEt.. "" 2 and NEM :;= 2), we usc [CONT = I and

OX = fO,O, 0.5R(I. O.5 Rol

where Ril i<l" thi;! rndiusofthedisk. Since WI! III"C seeking resul ts in nOI1Jiml!' nfoicmal form, we take

Ru= I .O. j#.2==I.n. 1111=11"",0.3. pw1,.,1 An rodia! lines e(per'lcnce the ~mc defom:mtion
A tYP1('~!
I'~dial

~; ~ , , 0 .1 CD .1 1 . .
h h

hoe

0>".11

r,1I

}'igure 7.3.4 The n)t:ttlng disk of EXample 7.3.5.

CflM'lbM 7 COM~LrF~ I'WLE'lENTATIO~

385

where E! is Ihc modulJ.\S along theradial direction and ~ is thc nlcxlulusjn Ihc circu!:l1f~rCQ.tja1 direction. This- informntion is ~upplicd to the program through the following variables:

AXO{:= E 1)

""

LO. AX 1("" 1) == 1.0. OXO(=< vd =0.3. BXI(== H) == J.O

CXO=O.Q, eX1 ",,0.0. FXO "" 0.0. ,"Xl:o: 1.0. PX2=O,O

The boundary conditions are
(1(0) =0 (by symmetry).

Q: ~ -{rar)u = 0 at r;:::: Nfl (stre.\s-frec condit jon)

Sinte tbe ,ccondat')' \~lriablc i, homO~CQ.cnus, th.:ro is no need to include it in the data (NS$V=O), We h,tVtlNSPV = I, NNBC ;:::: (), and NMPC "'" 0 wilh
ISPV( I. l);co I. L~PV(I , 2):0: l. V$PV (I) =11.0 The input d:lIa (lJld mqdifieJ Output for Illis problem arc presented in Bo.~es 1.3.9 and 7.3. HJ.
re~~(ti\'cly.

Ro~ 7.3.9 Jnpllt data for Ihe tOlating dh~ proNeltt of Example 1.3.5.

\10 22 1 1 0.0 0.50 0.50 1.0 1.0 Q.3 1.0 OJ) C).O 0.0 1.0 0.0
1

:,.tODE.L !\.1YPE, ITat IELEM,NEM lCONT, f',1'R,."IT

DX(I) AXO,AXI

cxo, 01

axo. ax,

no. ~X1, FX2

NSI'V ISI'V(l,l), 151'\'(1, 2), V$PV(l}

1 t 0.0

o
o
o

NSSV
N:-J'BC NMP(

nQ~ 7.3.JU OutPlIt tllr lhe rotu/ing disk problem of Ex.ilmple 7.3.5.

OUTPt... from progmill FE~1lD by J.N. REQOY

fumplc 7.3.5: Qefurrna,tion of .. drc.lliar dl~k (2 quadrntk dttneftts)

.~

ANA!..YSISOF MOO!:!!" 1, A."<DTYf'l:; 1 P'!{OBI.E,J..1

MODEL- 1, NTl'pe-o; A pn>t>li.'m ,J~ribN by MODEL. fQ. I MODEL"1, Nn"P"1; A dr.:ular D1SK (PLAKE STRf$) MODEl"l, NTYI'E>I: A dlC\l1ar DISK (P!..AK S1'RAIN)

MODEL" Z. NTYI'E><O: A t1nIO$h<!n.ko BEAM {RtE} probl ... m MODEL"Z. NT't'PE"'l; /I 'rimo:;~nk() 1'l..A rE (JUE) probl"lll MOOEL- 2, Ni'YPE":z.: A 1'imosh<onlm ijEAM {OE') problcn' MODSL.-2. NTYPE>l A !tmp.;h"nkv PLATE (ClF.) problem MOO'EL..-3, N'tYPEo{l;.A ul ... r~tn(lum SEAM probl.;>m MODtL><3, N'rYPt>o: A (:ulcrUcmoulli Circular pl~te

IYf".' (0, H~mlite,>Q, Llg~nsc) ,.No. of d(!g. of fr'l'f!d(lm pel node. NDP .... No. of ~)('m~nb in the ml~, N..'v1 ....... No. of total in the mudd. NEQ ........ '-JtI. of s!X-'Cifk>J ptiITldry DOP, NSf'V .. .... No. ('If lipo..'I.'lhi'd <;('<:Qndary DOr, NSSV .....
U~m~nt

2
2

oor

l"o. of 8pt'd1ied '-:ell'lo)tl B.

c.:

S 1 0 NKSC ...... 0

Boundary inforfl1<llic," on primJ')' variJblcs.: I I OlOJOOE+OO

Global coortlin.ll\.... or till' node!!, tGI.X}:

O.(XXlOOE+OO O.25tX)OE-I"OO O.5(XX)Of:+{)(} U.75OIX)J:-I"OO
O.J(X~E-I"01

Il'nk.'nl clX'fficil.'nt mattix, fELKj: O.l5018E+01 O.IH565E.09 0.]0761-08 O.64565E-09 0.43956[+01 -O.21978E-I"OJ
0.10761E;-()J -0.21978+01 EI("n",,,t soura.' \"'dor, IEU1; -o.20!!33E-{l2 O.25000E-Ol O.25Z75E+Ol

0.18750E-ol

SOLllTIOr-.: (~JhJl":; of I'VIj) dt Ihl.! NODi;5: O.OOiXXlE-MXl O.7{}706I1-01 0.13004+00 O.1687S+OO O.l75()'J-tOO

ObrlJ~mot

Radial

"I~

J loop Str~.... ~
O.IIX.l74E+OO O.42t>S4L -+00 OAl654l+00 O.tOt>!i41'.+OO .
O.1%~E-+OO

O.oo:o.)l,+{~ o.tXm:n::-+oo O.62SCX.lE-Ol 0.11'1743-01 0.125001:;-+00 O.1677SE-ol Q.18750I:+{Xl O.s.l96E4l1 O.2S000E+{K1 O.7O'7OtJE-Ol 0,31250E+OO O.R6606E-(ll O.315OOE+O() O.IOI79B-+oo O.43750f,+OO o 11627E-+OO o.5OOXJ~+{X) 0.11004-+00 o.soo:xm+oo O.13OO11.+{X') 0.5625013+00 0.1..\276f+00 0.6~1-:-+OO 0.15.."45-+00 O.c>8T::()[-+OO O.H'212E+OO 0.7S000f.+00 0.10875+00 0.81"250-+00 0.171161."'-+00 0.87500P +00 O.l759:.lE +00 O.93750tOO O.1764AE-+OO O.l()XXJE+Ol 0.17.500"6+00

O.ll58OE-+OO 0.'U216E+OO 0.40779-+00 0.39341 E+OO 0.37904-+00 0.36%6[;+00 0.a.'i029E.+00 0.33591 F. +00 O.32154-+(Xl 0.32727E -+00 0.28952+00 0.251111$+00 O..21223E-+OO O.17mf.-+OO o.l334t1::+OO 0.93750E-01

O.5.1846E-{)1
0138021."-01

O.:Wi..<;4I::-+00 0,376541'+00 0,36(.,')4 r~X) U.35654E+OO O.3S!!1br-+oo O.3-W65f+OO O.32006li+lXl O.2994t1E-+OO 0.276')01.+00 O.l.'iJ4 I I -+00 0.22919+00 O.2().W(l13-+00 0.17914l!;+OO

The exa':l displacement and

lI (r)

~Ircsse..'

in the dis.;: are given hy

(I~~.)RJ [{3+V)~ -(I+v)

O+81J )RJ [1 _ (;(j)J]pw~

(;u y]

pd
0.3.6)

17,,(r) "'"

(J'~(r)"'"

(3+v)Rt [I - - (-' ) '] 1>/1), 1+3v

8 3+ .> No

The exact displacements at x=0.25 . .~",.(l.S, x == 0.75. and x "'" 1.0 arc 0.0704. 0.1302. 0.1686, and 0.1750. respectively. The m..-OO mu m values of SII\.SSC$ ()Ccur al r=O, and ~hcy ' a(e O",,.{O) ,,,. Uf!iJ(O) == 0.4125. n.e di~placcmcnl.'i obtained willI twO quadratic elemcnlJ; arc in gOl)(J agreemcllI with IOe analytical $O[ulioo. 'flle pOsltomputcd ~trc~~c .. at r = 0 are. nQt accurate. bccau~e of the singularity there:
0",,""---:;I - V"

E (dU ") , tlr

-+V~

17(!J1=-

I - [12

E (d. ") 11-+dr r

n.].7)

The nex t example deal s with Example 4.6.3.

;I

multipoint

con ~traint

problem o f the type discussed in

Example 7_1.6 (Multipoint Ct)nstruint Problem) _ _ _ _ _ _ _ _ _ _ _ _ _ __ A rigid bar AB I,flcnglh L == 1.6 ro ~ hiogeJ to II ~uprx>t1 al A (lnd ~upponcd by two vertical bars <luached at points C alld D. as shown in Pigure 7.3.5, Both bars hu\'c the sa.me cfO%.....<;eeliooal

g"'200GPa
,f=

"
O.lilll

U)=04"'O

16 mm'
~

PI3"'-Ql
Node I

Nodo ,

".'-ii,'
Nod< ,

"

0.4 m

'0 C
0.7')1

l)

,"
OAm
C"tCOf)1t.'1nc~OI1IIlraUlI\/

"
U1 U2

OSm

0.1m

04m

"
Us

U.S m

.. -.....
:-0 '" - ... ~ .5 1.2 l.(i

Figure 7.3..5 A rigid member supported by (abies (Ell ample 7.3.6).

olTCa(A"", 16mml) and are made ufthc..wnemaleri:t.l with modulu~ = 200 GPa. The lengths of the bar.; and th!- horizontal diMonces lire shown in thc figun:.. We wi~h to detcrmine tilt
eiong:'lI i(lns;u. well ;u; ..~n~1c Iilre~!IC~ ;n tilt

bal:s,

The tWO geometric

OOnMflIint~

are:

01::::' T:6 -

u,

u,

32U 1 - Us ""'(),

Thu'>, wehuvc Isee Eq. (4.6.37)1

P: -= 3.2. p~ = -1.0, fJ:! ::0.0:

fi~ =- 1.333,

tJ: : : . -1.0. fJ;l =0.0

In ordc:t to ioclude the Itmd P in the:lJlaly!>i~. weintnx!uceanOoJe1\t 8. Thu~, \\-chave NEM "'" 3 ami N:"iM = 5 with CI t::; .A =3.2 x lif rt)! for lhc har c1ement~ nnd a =0 for lhe third (rigid) !:!Iemcn!, It i~ ~uflicicnt II) use lineilf finite clements to n:.pre..o::nt thc OON, Thus.l~ ililta fur the problem are MODEL 0:: I, NTYPE "" I. ITEM = (I, ICONT"" O. The boundary lind con ~tr;linl infol1l13ti(ln an,:; NSI'V '"" 2. ISPV( I.!) "" I.ISPV( I ,2) ss I. VSPV{ I) '" O.ISPV(2.1 1* 2. ISPV(2, 2) "'" I. VSPV(2) "'" O. NS:SV = 0. NN BC.,. O. NMPC '"" 2. VMPC(I.I) $:1: PIt = 3.2, VMPC(I,2) ==tJl == - 1.0, VMI'C'(I.3) "" fJ,li = 0. VMPC( I,4)=O: VMI'C(2.I)= = 1.333. VMPC(2.:n::::. 111 == - I .0. VMP(,(2.]):=. fiil =0. and VMI'02.4) "" p '"" 970 N. The input file. and modified OOt(W1 of the prublem fire pr~llIl.'<I in Bo:( 7.3.11. The dl'.pl;u;cll1<!OIs are V. = 0.1 mm. U1 =0.24 mill. and Us =().32 mm. The )I..... '\.."C.' olTC (1". ==: 1(/'(SOO/J6) = SO MP:l and t1! "" 1C/'(96IJ/16}=60 MPa.

fJr

80" 7.3.1J Input find cdlted Output for the p((Iblem of Eltnmple 7.3.6.
E~mplc 7.3.6: OEFO~MA nON

o
5
1

1 0 0 1 3

011 A CON'ITRA I.\IE\) ~TRUCl1JRE MODEt... l'\1'Yl', ITEM i1..M. Nf.M

ICO!\lT, NPRNT

NNM
3 0. 00 0,0 0.
0.4 NOD(l.J),CL.X(I) AXO, AXl Dilla fllr

3.2M 0.0 0,. 0,0

8XO, Bx]
O.ll

Ek>mcnt 1

CXO,eXl FXO, FX1, fX2

N0D(2.j},CI.X(2) AXO, AX] Oat.1 (or "XO, BXl FJeln(.'1l12 CXO,CXl

,
3.2.6

0.0 0,0 0.
1

0,0 0.0 0.0 00

0.8

110
I.n

ncO. FXI. f'X2

N0D(3,J).GLX(3) AXO, AX] I);Jta for BXO, BX1 mcmcmt J CXO, eXt

0. 0.0 0,. 0,0

5 0,0 0,0 0.0 .0

0.0

rxo, FXl. PX2

CIIAI'fER 1,

rO~WI ,I:R 1\111L\\IoNI A:IIO~

3N9

(so;.:

7.3.lt is continued from t.he. prcviou$ pase)

NS f'V

2 , I

.,
0 0

0.0
0.0

lSrV(1,1},L'>.PV(1,2), VSPV(l) l !',pV{~ I), fSpV(2.2), vSpV(2)

NSSV

NNUC
t-;MI'C

2
I 1 2 I

51 51

3.2

U3J.33

...1.00.00.0 -1.00,0970.0
(VMPC(1,f), I ~llo

IMO(1,1 ),lMO (1,2),/:-.4 0(1,1)JMC2(1 ,2),

4;)

QUTI)L'T from program FUMtO by J. N. REDDY Multipoint constra in! informatilm:

I 1

0.32OC(1F.+Ol 2 1 5 0.13333E+0']

1 -0.10000"&+01
1

OJ))(JOOE+OO
O.Oro:XlE+ilO

O.OOO)I}fHOO

-0.10000+01

0.9700:)+03

I'ropt!fti(>$ "I m",mcn!" 1 Element length, H AXQ '" 0321X1+07

....... -0.4000[;;+00
AXt ... 0.0000+00 BXI -0.():XKlE+OO CX1 .. 0.0000E+OO
FX1 ... OJKX)(jE-tOO

liXO .. O.(O)OE+OO CXO'" 0.(00)+00 FXO " O.OOOQE+()(l

l'roJX'ftiC/o of Element .. 2:

eXt: -O.{l()XJ+OO

length, Ii .. .. ' ... O.OOtXlf:'+OO AXO ",OS200E+07 AX1 ... 0.0000+00 HXl .. 0.0000+00 BXO "o.ooooe+OO CXl ~ 0.0000+00 00" 0.0000+00 FXO co O.t.moE+(XJ FXl "" 0,0000+00
Eh~ment Pro~rtics

FX2 .. 0.0000E+OO

<)f Eil'm<'nt,. 3

Ekment It!ftgth.. II

...

AXO" O.OOOOE+OO eXO - OJm)E+OO 000.000.11::+00

FXO" 0,0000+00

..... 0.1600+01 AXI .. 0.0000+00 aXl - O.()(XX1ti+oo CX1 .. O.OOIXJE+OO FX1-0.0000E+OO

FX2- O.()(XKJE+OO
,

390

AN 1l<f1l!OlJtJC1101< TO TIll.

m,rn OJJ,lt:,r.., \UTlIOI)

(Box 7.3. 11 is continued from !he previous l);lg(.') Eit!ment rue:f(idcmt I"nil!rix, [I!L.K[: 0.8000:.1E" 07 ..o.80000E"'"07
-O.SOOOOE+07 O.!;OOO)E+07

OAOOXlE+01 -O.4tXlOO"'"07 -O ...OOOOE+07 0.40000+07

flIenl{'nl roef6dmt matrb.. 16LK[:

0.000001;+00 O.OOOOOE+OO

O.OOOOOp.+OO 0.00000";"00
SOUJrION (V;1jW,.'S of rVll) ilt UK' NODES:

O.l00J0E-03

O.2~OOOE-03

0.000001:+00

0.32001 &OJ

o.mnE+03

0.95999("'"03

The ncxt two

cxamplc~

deal with beams and framc s of Chapter 5.

I;:xample 7.J.7

('Iam~d

and Spring-Supponed Beam) _

Coru.ider the l'opring.~uppllncd c:llllilever beam ..howlJ in Figure 7.3.6. We <.olve the problem lir<;t \hmg me Euler-6enll)UJIl beam element (MODEl..::3. NTYPE=O. fELEM::O) and then u~ iQg the TIn~henko beam clemellt (MODEL=2. NTYI>G=:() or 2, IELEM", 1.2,or 3). Sioee the loodmg b di<;coolinuou~, we '-Ct lCO:--rr-=o. A minimum of !wl) elements are required to
modcllhe problem (Le.. NHM=2). If we lal..c 1 := I.Ot6 (i.e., 10" 11>-1'1.1), then

GAK'::1I:.

E
2(1

+ v) 811-=.-6 I + II Hl

Ef

For J.../ II

=10. we h~\-e H == 1.0 beC;IU:"e L =10 ft. For 1M choice v"", 0.25, we have
GAK=4FJ/H.~=4 x 1000Ib

AXO "" 0.0.

AX! "",0.0.

BXO( ~Ef)::s: 1.0 x 10"

aXI = 0.0.

CXQ=O.O,

CX1 .... O.O

CHAvn:R" COMI'rrI'N 1~IPI .FMr ~'I1AIIO~

391

100 ltlift.

ft.

~.j.r-'

Figure 7.3.6 Th~ ~p.rint~up{XIrt~ beam of Ii'lamplt! 7.3.7.

for the Euler-Bernoulli beam aod

AX(=GAK)=4.0x 10. AX1=O.O,
CXO=O.O. BXO{=f)=d.Ox l(f exl =O.(l

BX! =0.0.
fOr the Timoshel)ko beam. 1ne distributed tranWel"Stl load
i~

'lerQ in element 1. asld it is

10<)
q(.i:)=T'(

in ekn"lent 2. Hence,

Pxo =0.0.
FXO=O.O.

rXJ :eO.().
FXI "'" 16.666.

FX2=O.O ill element I

FX2 =(J.O in element 2

The global coordinate~ uf nUdes and the connectivity matri;( ent.rie~ for each eJeml:1lt are oovious from the Setlntel.Ty. For the u1cr-BemouHi be:10l element. the number (If node.~ is always equal to twu (NPU = 2). whereas for the Timo~hel)ko beam clement. the number or nodes depends 011 the degree of intcrpolation (or clement type) selected;

NPE= lElBM + I
The \X"JUndary conditions for thi~ pH)blelll are

( ~)I [Ix
NSI)V=2. ISPV(1.I)=I,

.d)

=0.

lV + kW11

=0

",,,,t,

where V is the she:lr force. 'rherefore. we hllve (NSSV=O)

lSPV(I,2)=J, VSPV{lJ=O.O

ISPV(2, I}= l.
NNBC=1.

ISPV(2.2)=2.
INBC(l. 1) =3. U"REF(I) = 0.0

VSPV(2) =0.0
INSC(1. 2)=J

VNBC{I)(=k)=I.Ox LO'"

(fof/I=I}lIndO.O{fof/J.=O.O)

The Input.s and modified Q(ltput~ for the Eulcr-Bernvulli and Timo~henko elcmclltS are
prc~cl\ted

in Boxes 7.3.12 and 7.3.13, respectively. Note thut the Euler-Bernoulli eLt!ment i~ II Hennitc cuhic elemcnt. whereas the Timoshenko clement is only a linear clemen! (a quMrmic

element may be u~ed if de~ircd).

392

" " !r-.T MOlJlCl !(>'I, TtH1IEH'I, !l l t u M f....r MlTlfOO

Box 7.3.12 Inpul 2nd edited output 'i1e~ for the cantilevtr Ocnm problem (If EXample 7.3.7 (Huler-Bernoulli Ocam ekIlH:nt).
Example 7'3.7: ('tAMPED Al\O SPRI:-.JC-SUPPQRTED llEAM (Euler-Bernoulli) 3 0 0 MODEL, I\TYPE,. ITEM o 2 iJ!L!;M, NEM o 1 ICONT,I\PR!\/ 3 KNM I 2 to NOD(l,j),GLX(1) O.{l (\.0 AXO, AXI I Data for 1.0Lb 0.0 axo, ax] J Bement 1 0.0 0.0 CXO, eXl I 0,0 0.0 0.0 f)(O,FX I,FX2 1 2 3 6.0 f\"OD{2.J),GLX(2) 0.0 0.0 AXO,AX1 I D~t.J. for 1.06 0.0 UXO, llXl I Elen1('n! 2 00 00 CXO. eXI I 00 16666667 0.0 fXO,tXl,FX2 I l\'Sl"V 2 1 I 0.0 15PV(I,J), \'5PV(l) 1 2 0.' ISPV(2.Il, VSf>V(2) 0 NSSV 1 '\JNBC (with ~pring) 3 1 l.OE4 0.0 lNBC(1.1),J:-.IBC(1,2), Vl\'OC( I), UR~ F
0

KMPC

OIJTrl.i from

progr~1Il

FB;..nD by J N. REDDY
(r:ul~>J"-lkrn(.!U11i)

EX,ln)ple 7.3.7: UA \iPED A'>JO SPRiNC-SUPPOKTEO BEAM

_ AI'\Al'r'SI,SOF MOOFL 3, AN!)'ll'P!:"; 0 PROBLEM"~ (St.~ t~ rod.:- tx-Iow)

MOl)ll.- 2. N1'YI'-O: A Tir1l(>';\){'nl.o IlEAM (RiEl pr('oblcm MOO U .... 2, NTYpt" l: A Till10-0l'lenko PLAn. (KIE) probl(,111 MODU,"2. NTYPf.*2: A l'irtl<'~~nJ,;o BE,Ah.-t ('If) problem l\1ODEL-2, 'rf'YPE>2: A TIrTl(I';twnl.o PLATt (CiE) pr(lbfem MODElooJ, N'fYP..o, A Eulo.'T-lk>rnoul!i SEAM pf'(lblem
I'r0p"rtks of Rlcn,.!",! j

l!Iem('Ollcngth, II

AXO - n/XWX1F+OO 8XO '" O.l/WE+07

.. O.weXIf:*OI AXI .. O.m>u(-+OO

CXO '" O.OCOO+oo

FXO" O.rxXXlE+OO

ex 1 ... O.OCOOE+00
FX1 .O.OOJOE+OO

BXl .. O.OCOOF....OO
FX2 0.0000.+00

CIIAI'lTR 7, (,OMl'l -TJ:R

I\H~\1hNTATI()~

393

(Box 7.3.12 is COtJlinued from the Propcrtk>s of E:lemcnt '"' 2

~lefl1mt

PfC~'iOUS page)

AXO" BXO " CXO'" FXO "

\ngtb-. Ii .. " . .. O.IXXX}EHXI AX) 0.1000E+07 BXI 0.00001:;+00 CX1 O.OOO:lE:-+OO rXl

'" o.~a+OI

- 0.000013+00 ... O.OOOOHOO "0.0000+00 " O.1667E+Q2

fX2 .. o.oo:xm+OQ

EIem!mtroeHdent matrix. lELKI:

(I.1875{}'E"06 -o.37500E+06 .(J.18750t+Q6 -0.375001;:..1)6

-Q.37500E+06 .il18750+06 -0.37500+06

0.10000f::t07 0.37500E+06 o,5(XXX)+Q6 0.37500E"06 0.18700E+{I(; 0.37500+06 O.SOOi)()E'f.06 O.37500E+{l6 O:1CXXX1+07

0.55556E-+{l5 {}.16667E+06 {}.SS556E+05 -O.l6667E+06

-o.16667E+\)6 0.66667+06 0.16667+06 0.33333+06

-0.555566+05 0.166Q7E+06 0.55556+05 O.16667E+06

-o.l6667Eofo06 0.33333-+{)6 0.16667+06 O.666IJ7E-+06

0.90000+02 0.12000+03 O.2H):E+03

SOI.UTION (villU\'~ ofPVl;) ilt tn'NODF.

0,1800013-+03

0.00000+00 0.lX.(XKJ6.t-OO O.4(}172E-02 ..(1.19510-02 0.164036-01 -OJ69S5E..(l2

,
O.OOOOOE+OO 0.500006+00 0.10000+01, 0.1500:\+01
O.20000~+O\

Xis the lOOlI C\X)(d. iflCQNT..o B. Moment CR!lcct. ROtlltiun

She.u f.orc".

OlJOOCJ()6+00 O.9Z129E-W 0.35718E..Q3

o.ooo;xr+oo -{I.36285..(13 ..Q.69J 71--03

0.75%9+03 O.69171E+03

0-62372+03
0.55574+m 0.48775...03 0,41977+03 0,3.':;178+03
0_2S380E+i}3

O.i7817-03
0.13381E-02

..0.9865713-03
..(U2474-.Q2 . .1114743f...o2 -1J16672E--{l2 -0.1 S261E--02 -..4).lr,lSlOE-02 -0.1%101:-02

0.25000E+01 0.3000013.+01 0,35000{'.+O1 0.4lXJOOE.+Ol O.OIXXlO"'OO 0.75000+00 0.15OO)E+Ol 0.22,5(I(IE+01 0.3OO))+Q'l 0.37500E+01 0.45OOOE+01

().2V200E-02
O.2S068S.{l2 0.36&15{!--O2 O.4c62np'..o2 O,462nF.--02 O,61142E-Q2 0.76357E-02 0.91722..02 O.I0705E..ol 0.1221.3E01 0.1)6i9E-01 0.15082!3..()1 0.11';;10312..01

-0.20099-02
.{l.20430E..o2 -0.20502E-02 -O..20316E-Q2 ..0.19871E-02 -O.191676..(}2 -0.18205-02 -O.16985!;-{12

0.2.1582S+03 0,95815+02 0.61338+02 0.26862+02 ..o,76154E+01 -0.42092+1}2 -0,7656910+02

-Q,)U05.F.:+QJ
m~2E+0.3

..Q.13597E+-03 ..().13597E+03 -0.13597+0.1 ..{U3597E+03 -0.13597E. +(0 -o.l3597+{13 {lJJ597+(t3 -O.13S97E+Q3 -O.l3597E+03 -O,45969+02
-O.~5969+U2

O.52500E+Ol
O.60000E.+01

..Q.l8000+OO

-O.4591>9E+02 -0.4596'1+02 -{\,45969E +02 --O.l591i9E+Q2 -1).45%9...02 -0.459691&+02 -O.45969t02

394

,\N INT~()l)lI("TIO~ TO TIll' FINITE rU: MF,"T \WlIIOIl

Box 7.3.13 Input and edited output files fur the (;antilever beam pr'oQlem of Examp!e 7.3.7
{Timo~bc/!j.;o beam clement).

Example 7,3.1; CI,..AMP.O A.I\:O srR~C...SUPPORTE.D BEAM

2 0 0

(Tim~hCl'lko)

MODEL. N'fYPE, frEM

2
1

!EI,..EM, N&\1
iCONT, NPlW'['

1. 2
4.0E6 1.06
0.0

0.0 2

4.0 0.0 0.0 0.0

(l/H "]0)
OJ)

r-;NM NOD(1.J), CLX(l) AXO, AXl I aXO,OXl I CX(\, CX1 I

Data. for

Ett>mentl

0.0 6.0
0.0 0.0 0,0

"XO, FXl, r;X2 t NOO(2,J), CI,X(2}

AX!!,l\Xl axo, aXl CXO, CX1 I I
Data for

4.0E6 l.OE6 0.0 0,0

2
1

I3ll!ml!ot 2

t
I

1.6.666667
0.0 O.n

RO

F:xO, 00, foX2 N$PV

0
1

3 0

1.0B

0.0

ISPV{l,J), VSPV(I) rSIN{2.J), VS[!V(2) NSSV N:-JRC ("'iih ~prlns) INBC(1,l),]>J13C(1,2.),vNBC(lj,VREF

NMPC
OUTPUT from pt(lb'l"<\m rEM 10 by J. N. REDDY

Example 7.3.1: CLAMPWAND SPf{INGSUPf'OR'rm I3CAM (Timoshctlko) Pr"t?"rtii'S"(lfElenlt'nt .. 2 Elrfl1{!l'\t ll!ngth. H . , ..... .. AXO" 0.4OO)E-I'Q7 AX1 axo .. 0.1I)lO+07 ax] CXO" iHXWE+OO CX1 ..
0.6000+01 O.OOOOE+OO

O.{"(mt:+oo O.QOOOt:+OO

F'XO '"' O.OOOOE+OO

fXl" O.J667:+02 fX2 '" 0.00

O.666I'>7E+()6 O.20000E+01 O.66667.E+()6
O,2OO(JE+07
-O.20000E+07

Element ~ffid"nt mattix, [f.LKj: O.f#>67E.+06 -Q.21lOOO}3'-ti)7

-0:.20000+07 -O.66667E+06 -D.2!XXXlE+07

0.1001)0.6+03

0.6.1667+07 O.20000E+07 O.3S3..X}E+(l7

O.l)((lOOE+OO

0.58.,'\3SE+01
0.2QOOO!l+07 0.61667+07

I.. '11'1('.(l,t SQ(l~ \'~tot, {EI,Fj:

0.20000+03

0.00000+00

SOLUTION (valuC:! of PVs) at lh... NODES;

O.OOOOOE+OO

0.38273..Q2

..{l.18473EQ2

0.16727E..{J"]

CltAl'ff,1( 1 1..' O"fI'l"lnl f\fF1..E..\t EI.,."TIO'l

395

(.Bo~

7.3.13 is cominlled from lbc pr1:-vjous page)

" i~ 1M

,
o.oooooe+oo 0.50000+00
O.lI.~.IE+01
11l5lX(l"~1

the.> Ial roorci..ifl(ONT..a

R,)f;ltiOf>
B. M01l1<!Tlf

o.'(I,-rt.

Sb<>u FOl'at

O.OOOOOJi+OO
O.4~ I E.oo

(J.OOOOO"il:+OO -Q.2.30911;i..Q.3

0, 46111210+00 O.46 IB2+03

O.46182b+{)3 0_4618211+03 0.46182E+03 Q<u)IS2E t{l3
0,~18l+U.)

-41.$273&+04
.;o,~E+04

0.9568203
0.14:.\52,1;.(12 0.19136f!..02
O.23'12Oh4'I~

o.20000E. tOl 0-.25000+01

C).3OOO1R"il1 O.35lJOO.o{I1 0.4OIO)E+01
OAll):))hOO

,,""'...,
~.I&I!'J.o2

O.%l8Z-Q3

.Q923ME-<G .o.ll54SE.02
~.I38S<;'1!-m.

.0. 198((1+04 ..0.10564+001 -41.1-WJR+OJ 0.7909:1+03

0.1716E+(I.I

tl.2f/7tl:5('.Ql
o...~.m

~.16164.1i.Q2

OA"\82n.Ol

O.38:2:nE..()2
0S439111!--{1l.

..(\.18473E.c2

0.'1-5OO;l1:';+00 0.1.50006+01
o.22:~,()(m+Ol

.().192:09E-02
-C.l9'}JSE.-02 -C20682j:All
--o.21418E-Q2

O.Motn:oOO
O,S66<I81!-d2 0. 10277110]

O.46IJl2J!+tn o.4618:!.I;i+ro 0-981826+02 0,9tl182E+oo: O.98J8lE-+OJ

0-.26...18l+U4 0.35611:1+1).1 -C.12109+04 ..Q.916Jci1!+03

~.~182e+Q3

O.98J!!2E+Ol
0.98'182b+02
0,98182+02

Q.30000i;+(l'l O.3J5((lE+0l OA5IXIOE+OI

0525(lOBtO i

o,n890r:..()l
O,l\502ll-(}1 O,151 1SVO] o.16727E-01

4221 55--02

..(I.3zn1E+03 -\1.3.2727+02 O.26l82E+{)3

Q.55636E+03 0.8509:1 .+00 O.l1-tSSE+OtI

.o..22l!91E.{l2
.(l.n627E.()2

o.6(roJE-t01

.o.QfJ6.JF..(1l.

0-.98183+02 0.98182E+02 O.'181B2f+02

EUmple 7.3.8

(AoaJy~h

C)f

a Plane

TI\I s.~)

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __

Here, we consider the t hrt.~ m~ n1bcr plane tru~ shown in FigllfC 7.3.7 (sa: E;t;ample 4,6,1). A plnne tru.~s problem fllll ~ into MODEl,. = 4 and NTYPE t:S O. Th obtai n lbc solulion in tlQnd imcnsiooal form. we ta}l:e = 1. A := I, P -= 1. li nd f.., I : I. The d:l1:1 are di-;continuous (lCONT=O). TIle inpul and pan ial outp ut are prc:!scolcd in 00.1: 7.3. 14.
21''' 200 kN

c
L

P IOOk..'l

A ~

_ _ _~4

.<

u!"'-o
Ft~~Q;+Q:
"1gure 7.3.7 The plane t ru~ prQblem IlfEJl;(Inlple 7.3.8.

396

Ar. IN1ROOlCflOr. TO nil" "' r.nl; l U I>II ' I ' ...."100

Bu~

7.3.14 Input and plIn ial Olltpul fUribe plane l ro~~ problem of Example 7.3.8.
Exarnpi(> 7.38: A"IAL YSIS Of A PLA..'JE TRU'iS 40 0 fl.IOOE:L. N1"YP'E, rrPM lll1.EM, NEM tl.""ON't, NF'RN'r 01

",
, ,
2
3 J

'.0

2 1'\00(1, I) (~"'n .....ru I) ... me {C)r 1:I('o"lE'flt 2 La 1414 1.0 O .7ffl 0.7ffl 0.0 1 3 1.0 1.0 , 0 0.0 ' .0 0.0 o.a 0.0 0.0 0.0 SII~ (OJ" Element:3 2 t\CO~ 0 t\SI'V t 0.0 !SPV, ~PV 1 2 0.0 2 0.0 2 2 0.0

'IINM

0.0

0.0

, 0 Mo.o

o;J:'~l..

$A, ('5, <;1\, I tr

, ,

';$V

2.

ISSY, VSSV

1.0
NNfIC
~MJ'C

0 0

01.."TJ>UTfrom progr~m r.F,t.,nD by J. 'J. REDDY

SOU.mON (villu("J; Q{ PVs) ll t thf- "I0DI;,<;;

:;. O.OOOOOE:-tOO 0.00000+00 O.clXlOOlhOO 0.0000,)(+00 -O.3OOOO1 ..m

Ccn<..'r.lJi>'.e<.i forfo in t~ (>klll('Jlt COOnljf101te$

~.5828'.lE+U1

{k'\"Qnd {in<' Sh'f.".l.he resu!hi in the gk>W! cooroiJ\<lt....)

1:'"

~lil

F<:Irct:, VJ

Force-,Ii2

F<>nr, V2 O.ooooftOO 0,00001.:+00

OJOOO+01 0.-11+01

Q,QIXflE+OO O.ooool"OO

...o.Jooof-+m
~.~I

2
1

4}.1414E+{l1 O.OOODP"OO ...Q.1OOOE+{l1 ...().IOOOI!+O'1 O.()XIOJ;+OO OOOOOU"OO O.OOO(l"E+OO O,OOOOIl"OO

OJ-tHE+Ol
(I,lOOOf+01

O1ro:JEfllO .
01000J;ffll

OOOOOf.+OO OJXXlO(:+OO

O.l'nlOL"OO
O.(XI(IOI'+OO

EXlIJIlpk-7.J.9 (Anaiysi .. of II Plane Frame)

TIlis ~a mple deals with Ihc tv.o,member fr~ structure ... hown in Rgure 7.3.8 (sec example S.4.1). We. shall am.IY/e the fmme for displocenlllniS and IllCmbt:f fon..-cs u$ing Ii!";t

r'
~

The .~'-a'U~ is OUt oftbc plane orihc paper. and a IS measured cloc\(wiSl! from the _, a"i~ tQ!he fIlX1S;A It)il1.~.1 IOill. 4, 30Xl<fpsi

'"
2P

,
B

n
/'

I .... m

Ibiin.

144 in.

Figure 7.3.8 The plane frame problern of ;xlIJllple 7.3.9.

the Euler- Bernoulli frJ.llteelcmcnl (MODEL =: 4. NTYPI!= I) and then using theTImo'hcl\ko
fr.unt" cJcmeut (MODEL
0::

4. NTYPE =- 2). The input file<; Qf the problem u~ng ~'O Euler-

Bernoulli elements and 2 (linear) TImo~benJr,::o beam eJ.;:t1)(:l1b IirC- prt<iCnted in Box 7.3.1.5.
Box 7.3. 15 Input dlll3 f(lf the plane frtlIUC problem of I!xnmple 7.3.9,
Iixaroplc 7.3.9(a): ANAl.YSIS OF A PLANE FRAME (2 LulIY-lkmouUl ~Iementll) 4 J 0 MODEL. NTYI', fiRM o2 IELEM, NEM o1 ICON"r. NPRl\'T

NNM

1
1

0.3 1.0Eti 144.0 10.0 10.0 00 -1.0 rR, Sf., SL. SA, 51, (5, 5N 0.0 0.0138888 0.0 OJ) 0.0 0.0 liF, VF, PP, XB, CST, SNT l\.'OO(1,J) I 2 Q3 1.0E6 180.0 10.0 10.0 0.8 ...Q6 PR. SE. SL. SA, 51 (S, SN , 0.0 0.0 4.0 90.0 -0.6 O.R HP, VF, Pt:, XB, CSi, CNr 2 3 r\OO(2.J) o !\'CON
N$PV

1 2

3
1 2

3 3 3
1

3
2

0.0 0.0 0.0 0.0 0.0 0.0 20

ISPV, vsrv

2 0 0

NSSV ISSV', \'$V' NNtK; NMPC

398

AN l 'I"I1WUl'C n ON roTllI'INII'E El h.\ILNT MIOIlIOD

(D(jX 7.3.J5

i~cQnlinued

from the previous p;:!ge)

Example 7.3.9{b): ANAI.YSlSOF A PLANE FRAME (2TIMOSHHNKOl!lcl.t>Cnls) 4 2 0 MODEn.. NTYI'E, ITeM o2 ITILF.M. NF..M o1 ICO~1', NPRNT 3 NNM 0.3 1.0E6 144.0 10,0 10.0 0.0 - 1.0 PR, SE. SL. SA. $1, CS, SN 0.0 0.01)8888 p.O 0.(1 0.0 0.0 HF, VF, I'll, XB. CST, SNT

t 2 NOI)(J,J) 0.3 1.{)E6 180.0 10.0 10.0 ..0.6 PR, SE, SL. SA, 51, CS,SN Hr;, vr, Pl', xu, CST, SNT 4.0 90.0 ...{).6 0.8 0.0 0.0 2 3 NOo(~J)

o.a

NeON

6
1

NSPV
1 2 1 2
0.0

t
1

Q.O
O~

3 0.0
ISPV, VSPv

3 3 3
I

0.0
NS$V
ISSV, VSSV

3 0.0
2

2.0

0
0

NNOC
NMI'C

The next two eXllmplcs denl wilh the use of FEMID for eigenvalue and lime-dependent problems (see Chapler 6).

Example 7.3.10 (N;ltur-Jl Vibmtion of a Cantilever Beam) _ _ _ _ _ _ _ _ _ __ Here, we consider nll{lIral vibratjNls-of a tantilever beam (see EJ\ample 6.1.2). 'The inpul dala fo~ all variubles is thc same as in t)le stalic analysis. In addit ion, We fIlu~t inpUt('1Q and C,I. For the 1"i11l0~hC'f\ko beam theory. C/O dcnQtct( lhe inenia pA. and til denOI~ the rotalOry inertJa pl. rh~ eigcnvulue-wlver used in n:MIO requires the lUalri~ lBI in IAI{.tl=).tBllxJ to be posith 'c. de6nite. Hence. ~<O atld CII should be nonzero, (lI!iern'iSC. lhe nlaSS matrix c(\efficien l ~ associaled with \Ii will be I(ero. When roUl.!), ine.rtia i~ omitted in the 1'imosncnko beam theory. <J $maH value for the inertia cocflid4tt is UM."d in onle.r tQ el.1sure positive-definite.ness of lhe 1ll;J,~~ t:\llllri)!,. The in!?uI f11c.s for tbe. n:ll\lnd vib(aljon..~ of the cantilever beam by the IWO type.,~ \)f elemelllb are gIven in Bo,ll 7.3.16. The render eM i nves~i gate the conv~rgcnce characleristics (Ir Ihe elements in improving the accuraey of Ihe fun(.!amental frequcl.lty with the use of .I;'};MlO.

ClhlPT11t 7 CUIIPlfll, 1t IMIU~\lrI\TAHON

399

Box 13.16 Inpul o.lla fi les for beam vibralion of EXllmplc 7.3.10.

Ijxilmplc 7.3.10(3); NAl1JRAL VnlRATtONSOr: A CANTtLEVER 6AM (EB; "'/0 Rl) 3 0 3 MODEL, NITrE. [TEM {} 2 mL!"M, NEM 1 I [CONT, NPRNT 0.0 0.5 05 OX(I) 0.0 0.0 AXO, AX! to 0.0 OXO, ax, 0.0 0.0 c:xQ, on 2 NSPV 1 1 15I'V(1, J) 12 IsrV(2.J) 0 NNBC NMJ'C 1. 833SJ.<l6 em, en

Example 7.3.10(b): NA rUML V16. OF A CANTILEVeR n8A.to.l (TIMcJcmcntw/o RI) 20 3 MODEL.. N1'Y1 lT11\11 >6, 12 lEt.EM. NEM 11 [<::0.[\;"[, NPRNT 0.0 f).5 0.5 OX(I) 4.0F.4 0.0 AXO, AXl (nu-o.~, H<>O.01) LO 0.0 axo, BX! 0.0 0.0 eXD, on 2 NSPV 1 1 lSPVQ,n 1 2 ISPV(2.}) o NNBC NMPC o '.0 ~333331!...()6 cro, en (L/H-1QO)

~xample

7.3.11 (iransient Ileat Tra n~1br) _ _ _ _ _ _ _ _ _ _ _ _ _ __

COMid(:r the tr.\Jl~ient hell! conduction in II plane wall. The governing equation is
QU _ a!u

=0

111

ax}

forO<;x < I

0.3.8)

The boundary conditions considered are

Sell : 11(0,1) =0 -

,., .

(1 , 1) = 0: Set 2:

I/(O.I)={),

(7.3,9)

lind lhe initial condition i~ taken to be

,d.t.O)"",I
(7.3.101

400

M~ 1N"IKOl>l'C ll0N TOT111 FINl'n, U.F\t[~'T ,\U;J1tOl)

We ha\'e MODL I,NTYP!?: = O, ICQN'f = I,NSPV "'" 1,amlNSSV = O:NN BC = O S()t I and Nt\BC "" 1 fOr Sei. 2. The cQefficicms of the differential equation~ are to = 1.0, b=O.O. c=O.O. ~', "" 1.0, and 1:.0)
f(lT

AXO = 1,0,

AX I = 0.0.

8XO ;::: O.0,

BXl <:;::: 0.0.

CXO=O.O.

eXl = 0.0

FXO "" O.Q.

rXJ ::=: o.o.

FX2 "" O.O.

C'1'O e LO.

CT I =O.O

!.kIx 7.3. 17 Input files for the Ir1Ill$ient heat CQnductiQJI problC tll or F..JI;ltJ1)ple 7.3.1 I.
Exainpll!1.3.l1(llh Tr"~ns~nt hent oonduction in il
pJan~

wal! (Sct I)

'" I 1 2 1 I

MOOEL., N'J'YI'B, ITEM lELS:"I, N~ ICONT, NPRN'l'

DX(I) AXO, AX!

0.0 0.5 0.5 1.0 0.0 0.0 0.0 O~ 0,0 0.0 0.0 0,0

BXO, BXl CXO,CXJ

Nsrv

r-xo. FXl,iX2

o o
1,0 0.0 0.05 0.5 (1.0
I '" 1 Q.O 1,0 '1.0

I 1 0.0

ISrY(t J), VSJ'V(Q

NSSV
NNBC

NMPC

em, en
D'I~

t\Lr-A, GAMA

INeON}), N TlME, 1",,.VI.

CUO(I)
hrol conductiOn in a plalle wall (Set 2) MOOF.I.. NTYPE, ITEM. lLI$M, NEM lCONT, NPRNT OX(I) AXO~ AXl BXO, aX1

F.$atll ple 7.J.1 1(b): Tranf.i~nl , 0 1 1 2 1 1 0.0 0.5 0.5 0.0 0.0 0.0

to

0.0 0.0 0.0 0,0

1
1 ]

no

0.0

U 1

0:0, eXl FXO, FXl.Fx2 NSPV ISl'V{l, j), V&PV(I) NSSV N:-.IOC
:.JMK INBC VNBC. UR.F

o
5 1 l.O 0.0 1.0 0.0 0.05 0.5 0.0
1 20 1 0.0 lJ) 1.0

cro,m
cuom

0'1'. Al.FA. GAM/\ INooN D. f':"TIME, lNTVL

C1IAI'l'liK 1: (:UMI'tJ'rhR IMPLEMIiNTATION

401

The boortdary and InitiAl cqi'lditiOils (~in<:elNCQND=J) are input as

ISPV(I,l)=l,

ISl'V(i,2)=I,

VSPV(J) =0.0;

GUO(l)=tO.Q,I.O,l.O, ... ,

From thedijcuSSlQns of Example 6.2.J. we WIe AI "'" I),rei (OT=O.OS) and pQnl the solution for every time step (i.e., INTVL= I). The input files of the proble.m for the IwosetS of boundary CondifiCms are prescrued in Box 7.3.17 for a Itle6b of two linear element'.

7.4 SUMMARY
In this chapter three main items have been discussed: numerical integration of finite element coefficient matrices and vecto~, numerical implementation of a typical finite element program and Iheir contents, and applications of the finite clement program FEMID. The numerical evaluation of the coeffjcienl~ is required because of (a) variable coefficients of the differential equations modeled and (b) special evaluation of the coefficients, as was required for the Timoshenko beam clement with equal interpolation. The Newton-Cotes and Gauss-Legendre imegration rules have been discussed. The integration rules require transformation of the integral expressions from the g lobal coordinate syslem to a local coordi nate system and interpolation of the global coordinate x. Depending on the relative degrees of interpolation of the geometry and the dependent variables, the fonnulations arc classified as subparametric. isoparametric, and supefllarametric. The three logical units- preprocessor. processor, and postprocessor- have been di scussed. The contents of the processor, where most finite element calculations are camed out, have been considered in detail. Computer implementation for numerical evaluation of integral expressions. assembly of clement coefficients, and imposition of boundary conditions have been di&cussed. A description of the input variables to the finite clcment computer program FEMID has been presented, and application of FEMID to problems of heal transfer and solid mcchan ics has been discussed. Fluid mechanics problems are similar in mathematical structure 10 heat transfer problems and hence not discussed in this chapter.

PROBLEMS
Section 7.1
In Prublems 7. t- 7.4. usc the appropriutc number of integration points, and verify th e results with those obtaincd by the exact integration.

402

/IN 1)'TNOI)UCfION TOTIlE FI:.n1l ElliMF.N1 MllTllOD

7.1 Evaluate the integrals in Example 7.1.1 using th e Newton-Cotes forilluln and Legendre quadrature when "'; arc th e qundratie interpolation functions

G(tU~S

"'2 =4

X- X _)( - X_ (- - 1-X- - )
x~-xo

= (l - ~)

Xb - xo

7.2 Use Newton-COIes integrmion formula to eval uate

K II =

J"' (d'<I> )'

'.
dx 21

dx .

where </11 arc th e Hermite cubic interpolation functions [sec El.IS. (5.2. 12). (5.2.13(1), and (5.2. I 3b)]. AIl.I"II'cr: r = 2. K II = 12/h 3 (exact). Gil =0.3981481J. 7.J Use Gauss- legendre quadrature 10 cvnluatc th e integ r;tb of Problem 7.2 for the case in whi l:h th e interpolation functions,p, nrc the fifth-order Hermite polynomials of Problcm 5.4. Answer: K II = 1~1 Il ' , G i l = l:~h (exal:t). 7.4 Repeat Problem 7.3 for the case in which the interpolation functions </1, arc th e fifth-order Hermite polynom ials of l'roblem 5.5. AI1.\\wr: Kit = ~. Gil = WP! (exacl). l Sh, ,..""

Section 7.2
Computer Exercist'S (ust! FEMIIJ)

7.S Solve the problcm

-dx (- k dT) dx
= Qo,
~ ..(I

d (k dT) =go dx
kdT +{J(T - T..., )] =0 [ dx ~ -L

u~ing two and four linear dements. Compare the resuits with the exact solution. Usc the following dUla: L = 0.02 m, k = 20 W/(m .oC). gu = IO~ W/m 2 Qu = 101 W. T", = 5!Y'C, f1 = 500 W/(m ."C).

7.6 Solve Proble m 7.5 lI.'.ing two quadratic elements. 7.7 Solve lhe heallransfer problem in Exnmplc 4.3.3 (Set I). using (a) four linear ele ments and (b) two quadratic elements (sec Table 4.3.1). 7.8 Solve the axisymmctric problem in Example 4.3.4 using fo ur quadratic c lements and comparc the sol ution Wilh that obtained using eigh t linear e lements and th e exact sol ution of Table 4.3.2. 7.9 Solve the one-dimensional flow problem of Example 4.4.1 (Sct I). for (I P Idx = -24. using eight li ncar elements (see Figure 4.4.1). Comp;lrc the fin ite element results with the exact solution (4.4.20k 7. 10 Solve the Couette flow problem in Example 4.4.1 (Set 2) u~ing four I.juadf<.l ti c elements. Compare the finite element solution wit h the exac t ~o lut ion.

(:JIA1'n:II], COMI'lITE1l IMP'LE.MI"ATlON

403

7. 11 Solve Problem 4.10 (heat flow in a composite wall) using the minimum number linear finite elemems. 7.1 2 Solve Problem 4.22 (axisymmetric problem of unconfined aquifer) usin g th e minimum number of linear fin ite e lements. 7. 13 Solve Problem 4.25. 7. 14 Solve Problem 4.27. 7. 15 Solvc Problem 4.35 using two linear clcments. 7. 16 Determine the forces and elongations in th e wires AS and CD shown in Figure 1'7.16. Each wire has a cross-sectional area of A = 0.03 in. 2 and modulus of e lasticity E = 30 x let psi.

~ ~, ----------------~~5 1 'f-'
2 h

.< fC ---- 80 in.

_ :5~tt~.. P ______
h

v,

'-

~
Figu re P7. 16 7. 17 Solve the problem of axisymmetric defomlation of linear elements (sec Example 7.3.5).

,I ro wting c ircular disk usillJ; four

Atl radial lines experience the same deformation A typicat rad iat line

Ii

Figu re 1 17 '7. 7. 18-7.25 Solve Problcms 5.7-5.14 using th e minimum number of Euler- Bernoulli beam clements (Note: Numerous other beam problems(;an be fou nd in books on mechanics of uefonnable w i ids). 7.26 Analy ze Problem 7.22 (same as Problem 5. 1 I) using the RlE Timos henko element. As sume II = 0.25, K, = 5/6. and H =(). I m (beam height ). Use two. four and e ight elements to see the convergence characteristics of the RIE (two-element model may yield resu lts very far ofT from the Euler-Bernoulli bellln solution). 7.27 Repent Problem 7.26 using the C IE TImoshcnko clement . 7.28 Analyzc a clamped circular plate under a uni fornlly distributcd tra nsverse load u~ing the Euler- Bcmoulli plate element. Investigate the conve rgence using two. fOUf. and e ight

404

A'II/I. nt(lf H. ln'lO'I I'OTIlE FI\II'I n I MI'VrMl"IIIOO

elClllellts by C()mpllring with Ihe ellacl

~{)hrli(ll\

1from Reddy (2002)1

r
2

qua

w(r ) = 64/J

, [1 -

(; )

]'

where I) = t.H \ fl2 ( I ,,2 J. qo is [he in[en~i[y of the distribUied load. (I is [he rJdiu~ of [he plJle. H is i[~ Ihickne~s . and I' is P()i,~un's ratio (11=0.25). Tabi.rl:lte the ce nter denection. 7.29 I{epea t Problem 7.211 wilh the RIE Timo~henko plale clement for (1/ 11 = 10. Use four and eight linear elerllCl\t~ and two ;md four quadfljtic dements and tabulate the center defl ection. Take E = In 7, 11 = 0.25, and K , = 5/ 6. The CllaCi solution b l<;cc page 403 of Rt.'(kly (2002)J

w(,) ~ "",,' [, - (e)']' + 4K, GII q"a' 64/J {/

[I- (e)']
{/

7.3U Repeal Problcm 7.29 with lhe Timoshenko plale clemenl (elE) (a nd lineM elemcnh) for 11/11 = 10. 7.3 1 COll'lidcr an annular plale of outer r::Kliu\ II. lind 1m inner rddiu\ /), and Ihi ... kness H . If the pl:lle is simpl y supportt.'<i at [he outer edge and ~ubjected 10 a un ifonnly distributed It'J<l(l qo ('oCc Fig. P7.31), analY/e the problem using the Euler-Hemuulli plale clement . Compare the four--clemelll MJIUlion wilh the :umlYlieal sol ution 1from Reddy (2002)1

w
0' 1

~ q",'

64/J

I_+ (e)' + -""- [I - (e)']_,,",p' I

(j

I+v

(j

I- v

log (')
II

= O+v)( l - p ! ) - 4(1 + V)fJ !l(.

O'2= (3 + v) + 4(1 +v )1(

fJ!

EI1'
D = 12( 1
1 12)

1(= I _ fll logf;l, fJ=;;,

where b Ihe modulu ~ore llistiei ty, lithe Ihickne~~, and v Poi~son '\ raTio, Take F; = 101 L' = 0.3, lind bill = 0.25 .

Figure 1'7.31

S 7.32 Repeal Problem 7.3 1 wllh (a) foor linear clemenT and (b) two quadratic Timoshcnko (RIE ) clcmcnl~ for a / II = 10, 7 .3.l-7 .47 Arm lY/.c the trus, problems in Figu res 1'4.38 1'4.44 and fmme problems in Figures P5.2R-P5.35. 7.48
Con~ider

tire axial motion of an clastic bar, governed by the Sttond -order equation
t:A -,= pA -~

alu

alu

ax

a,"

for O<x< L

OIAl'lUi. J. Cmll'Ul'IiM

IMI'LlM~:"W,110N

405

with thl: following d<lta: length of bar L = 500 I11lll, crO\~ - Sl:d i()nal area A = I mm"_ modulu~ of d<lsticity t: = 20, ()()() N/rnml_ density p = 0.008 kg/mm). boundary conditi()n~
11(0.1) =0,

EA -

Ox

0" (L,I) = I

and zero initial conditions. Using 20 linear dements and i'J.1 = 0.002 s. determine the axial di~plaeeIl1ent and plot tbe displacement as a funct ion of posilion along the bar for t=0.8s. 7.49 Con<;ider the fo llowing nondimen~ionalizl:d difl"erl:lltial equation governing the plane wall transient: ---+ ilX l

1)1'(

crr
ill

=0

forO < x < 1

wilh boundary (;()ndi t ion~ 1"(0, /) = I and T (l , /) = O. :md initial condition T (,,, 0) =0. Solve the problem using eigh! lillear clements. Determine thl: cnticaltime step: solve the problem using the Cral1 k~ Nicholsun method and i'J.r =0.002 s. Note: Modify program !<' EI';11 1J [(J solVl: Problems 7.50--7.52 (solutions tu Ihese problems are not presented hl:re for ob"iou~ reasons). 7.50 Consider a simply ,upported bemn of length L subjected to a point load
1'(1 )=

, sm 1 - .n ,

forl) ~ 1 ~ f

for / :::

at a distance!' frum the left end of the beam (assumed to beat rest at I = 0). The tranwersc ddkdion II' (x, I) is given by [see Harris (Illd Credc ( 196 1), pp. X--531
w(x,t) =

2POC 2:: I , ilrc . ilrx "" - -- Sl n - - ,, " - lr~EI ,= 1 i4 L L

[ -:_~=, si n -, Jft 2
1 - T// 4r
L

T,. )] -2,Slnwlt ,O:;:t:;:w"t

2PU L.1 2:: I . inc . iJfx "-'O --- S111 - - " " - Jf4EI .

..,

j4

~cos~~ I ] ",c-;-,'c.-,-sinwi(r - -2f)

T/ /4r2

,I ::: f

where

Use the da ta Po = 1000 lb. T =20 x 10 ~ s. L =30 in .. 1:.' = 30 x ](/' Ib/in,2. p = 7J3 x 10- 6 Iblin,', i'J.I = 10 - 6 ~. and assume that th e beam is of square cross section of 0.5 in by 0.5 in. Using five Euler~Bernoulli beam elements in th e half-beam. obtain the tin ite clement solution and compare with the series sul ution (I t midspan for the case c = ~. 7.5 I Repeat Problem 7.50 for L" = ~ L and eight clements in the full span. 7.52 Repeat Problem 7.50 for I'{I ) = Po at midspan :\lld eight elemems in the full span. 7.53 Cunsider:1 cantilevered beam with;1 point luad f~) at the free end (Fig. 1'7.53). USing the data of Problem 7.50. lind th e finite eleme nt solution for the transverse detlee!ion using eight Euler- Bernoulli beam elements.

406

AN r~lCOI)I.-'C11ON10THF.IlNrrE tJ,I'\U:.N'l ~rET1KlO

7_54 Repeal Problem 7.50 for a cla mped beam wil h lhe load (lll he midsp:rn (.'>Cc Fig. 1'7.54). 7.55 Repeal Problem 7.54 usi ng four linear Ti moshenko beam eleme nlS. Use ,,=0.3. 7.56 Repeal Problem 7.54 usi ng IWO quadmlic Timoshenko beam elements. Use 11= 0 .3.

REFER ENCES FOR ADDITIONAL READING

Fluid IIIccim nics
I. Bird . R. B . Srewart. W. E.. and U ght rool. E. N., TroMporl l'IIt'nC1Ilt('na, John Wiley, New York. 1960.
Elsc~ ier. New York. 1970. J. Esl.rnni.S I'mrupl"s u[ Flurd MI'CNmrcs. All yn and Bacon. 8 oston. 1962. 4. Ib rr. M. E.. Gmrl/l~/"'(lI'" emd Mf/1II}:I'". McGrn,,-11il1. New Yorl.. 1962. 5. Nadar. A., "-1r~"r,,(JIF/(Jwcmd "'mall" oISo/;ds. nol. II, M!.-Gmw llill. New Yorl., 1963. 6. Schlichu llg. II .. IJ" ",rdu/)-u/I.>r n,eory (t rnrr slalcd by J. KC~ lin ). 7th cd .. McGraw- ll ili . New York. 1979. 7. S hallle~. I. II.. MI'CI,m,;cJ "I Flrrids. Jrd cd .. McGraw- Hili. New York. 1982. 8. Vallcnunc. 1l. 11; ,. AWHil'd lfydmll)nnm,cI. Plenum Prcs.~. New York. 1967. 9. Vernoj;l. A . 11rwn' ofGmuml.mll'"r flo". Gordon and 8rellCh. New Yorl::. 1970.

2. Duncan. W J .. Thorn. A. 5 .. and YOUllg, A. D,. M~clUl",csu[ "I",ds. 2nd cd ..

Heat transfer
10, II . S. nod Jaeger. J. C., O",d.,cllon 01 1I~a/;" Snlitis. 2nd cd .. Oxfonl 1986. II. Il olomJn. J. I', lI~atTn"u/l'"r. 81h cd .. McGrJw- Hil l. New York. 1996
Cnr., I ~w, Unh'~Ni t y

Press. Oxford.

12. Krel tll. I and Balin. M S.. l'rrnt:rI'/I'"S "[ II",,, Transl"" 5th cd . lI:u-pcr &: Row, New YorL.. 1993.
13. Mye rs. G G. Analyliml Ml'lho<ls '" Cm,dll<'lum 111'01 Tmnifl'r. 2ud cd . AMCHT Pubhcaroons. Madison. WI, I99K.

1 O,-isik. M N. 1I1'11/ Tnrnsln' II 811sir Approach. McGrnw- HIIl. New Yorl.. 1985. 4.

Elasticity
15, Bud)"lIas. 11;. G .. Atim.,ud SI"n~lh mid A/'p/;I'd SITrtS A,ICJ/I'JIS. McGrnw- Hili. New YorL.. 1977. 16. Ilarri.~. C. 1'01 and Credc. C. E.., SlltKt <IIrd \'ibrrmorr I/crndhfKll<. vol I. McGrn ... -II IIi. NL-W York. 196 1. 17 Reddy. J N.. I:.' m:rg) " rincipll'suml Urr;(lfiQlla/ Ml'lhods III A/'1II1"d MI'"C"!urnic.<. Joon Wi ley. New Yorl., 2002. 18. Ug llrnl. A. C. and Fe n~ter. S. K. A,,,"(meed Slrl'ngllr ",oJ "/'Phed EJllJl'Cjl). 4lh cd.. l"renhCC I 1:1.11. Upper Saddle R..-er. NJ. 2003.

Time approximatiolls
19 8 allle. K J,

"-,,,,,1' IOll'lIIl'nll'roailtJrr,<. Pn:nlltt lIall. EngJc..,ood Cliffs. NJ. 1996.

20. Clough, 11; . W and !'cnzien. J., I>YII""'in"ISlnKltllU. 2nd ed .. McGraw- II ,11. New Yorl.. 1993.

21. Hughes. T. J. R.. The Finirt' /:./elllelil Melhod. Prell1ice Hall. Englewood Cliffs. NJ. 1981: Dover.

N~w

York.

200J.

Numerical integration
22. Camahwl. B.
Lutll~r.

H. A .. and Wilkes. 1. 0 .. Applied Numuicu/ Mct/]()(b. John Wiley. New York. 1969.

23. Loxan. A. N.. Davids. N. and Levenson. A.. "Table of the Zeros of the Legendre Polynumiab of Order 1-16 and the Weight Coefticient' rlOT Gaus,' Quadrature Formula," /JIII/elin of the Am",i",,,, Math,'mmiml Sod"I.", 48. rr. 139--143. 1942. 24. Stroud. A. H. and Sccre8t. D .. GauHian Quadralure ''"ornlll!as, Prell1iceHilli. Englewood Cliff,. NJ. 1966. 25. Zicnkicwicl. 0. C. and Taylor. R. L.. TIl<' fillile Elem,'111 Ml'Iho<i. vol,. I and 2. ML-Gr"w-Hill. 1989 and 1991.

Chapter 8 SINGLE-VARIABLE PROBLEMS IN TWO DIMENSIONS

8.1 INTRODUCTION
Finite clement <lnalysis of two-dimensional problems involves the same b:.sic sleps as
those described for one-dimensional problems in Chapters 3- 6. Th':! :u1<l lysis is somewhat cornplic;!tcd by the fact that two-dimensional problems afe described by partial differential equations over geometrically complex regions. The boundary r of a two-dimensional domain Q is, in general, a curve. Therefore, linite elements arc simple two-dimensional geometric shapes th::l1 <lllow approximations of a given two-dimensional domain as well as the solution over il. Thus. in two-dimensional problems we nOI only seek an approximate sol ution 10 a }liven problem on a domain. but we also approx imate Ihe domain by a suitable finite element mesh. Consequently, we will have approximation crrors due 10 the approximation of the solution as well as di scretization errors due to the approximation of the do main in the finit e clement nnalysis of two-di mensional problems. TIle fi nite clement mesh (discretization) consists of simple two-di mensional elcments, such as triangles, rectangles, and/or quadri laterals, that :lllow unique derival ion of the interpolation functions. The elements are connccted to each other at nodal poi nts o n the boundaries of the e le ments. The ability to represent domains with irregular geometries by a collect ion of finite clements makes the method a valuable praclicallool for the solution of boundary. initial. and eigenv:llue problems arising in various fiel ds of engineering. The objective of this chapter is to extend the basic steps di scussed earlier for oncdimensional problems 10 two-di mensional boundary value problems inVOlving a single dependent variablc. Once again. wc describe the basic s t ep.~ of the finite elcment an,llysis with a model second-order partial differential equation governing a single variable. This cyuation arises in a number of fields including electrostati cs. heat transfer. fluid mechan ics. and sol id mechanics (sec Table 8.1. 1).

Tolhle 8. 1. 1 Some eX:l1nples of the

Poi ~son

C (IIIHtion
;I "

-v
Nnl~' r~ 1

("V"~ =[ i I1Q

boundary condi ti on:

k-

E':>Cllli:.1 bou ndnry condition: Primary vari ab le Materi al CflThtlllll

k

" = ;'011 I"~

Sou~e

.1"

+/1(11 - "...,)=q OI1I'

Fie ld of applic:Uion l-lcat ,r:msfer

\'ari abl e

Se<:ondary vnri ables

"
Tempt"rluurc .,.

f
Heal source;:

q.*.~
Heal tl nw

Co,"luetivity I:

d"e to
conduction .I:~ cunwctioll

.,.

hiT - T...,)

1r'f[)Wi o,wl flow of nn

iok,,) fluid

Stream funclion '"

Dcn, ily p

Ma" production (J

Velocitic,

.- =-u
.- ="

Veloci ty
p"'e mi~ 1 '"

Dc n ~i ly p

Mass
I)roduclioll
0-

~=" ':t =" .,

Groulldw:ut'r fl ow

r'c~~"nclric

Pcnne~bi l i ly

he~d '"

Recharge [ (pu11I pi ng. - [)

Seepage

q=k~
Vcl oc il ic,

,,= - .1: *
t' =-k~
Torsion of cy li oorical member.. Eleclro,lali",
i\hg nctOSlatic.~

Stress FU IlCtiofl
IjI

/( = 1

[=2
(J

G = ,hear mod ulu, Dielectric COl1\t:1I\1 ( .'tnncabil ily I'

'l l;ll,~ion

= :lI1glc of twisl per unil length

Gli ~; = G Oa", - n.. a,: _

-n"

Scalar poten tial M:ogflclic

potcnti~1 '"

C harge dCINt y p C harge de n,ily p Transl'cr>c ly distribu ted l(),ld

Dis place ment n u ~ density On Magnetic nux densit y Hn Nonnal force q

Me mhranes

Tran ,ven<c dencelioll "

in me mbran" T

8.2 BOUNDARY VAL UE PROBLEMS

8.2. 1 The Model E(luation
Co n ~i dcr

the problem of findin g the Soluli on II (x . y) of the second-order partial differential

equation

_!- (a ll all + al2 all) _ '!!"' ( a21 iJx +(122 JII) + (10011 - f =0 ~11 ilx
ox oy oy ily

(8.2. I)

for given dala

llij (i . j = 1. 2). (100 and f . and specified boundary conditions. The form of the boundary conditions will be apparent from the wcrlk fonnulation. As a spL'Cial CilSC. we

CIIAI'T'EfI: 8 S INGLIl.vARIARU! I'ROIJIJ:MS 1 1 ......'0 OI),1Ii1'1~IONS 1'

411
1I 21

can obtai n the Pois..c;on equation from (8.2.1) by selling til l

(100 = 0 :

= (l22 =

k(x. y) and tlI 2 =

-V (kVII)=!(x. y)

inQ

(8.2.2)

where V is the gradient operator. [f i and j denote the unit vectors directed along the x lind y axes. rcsl>cctively. the gradient operator can be expressed:1!" (see Sec. 2.2.3)
V = i-

_a _a ax + j -oy
y)

and (8.2.2) in the Canesian coordinate system takes the form

_!..(. au) _!.. (. au) ~ f(x. ax ox ay ay

I. Discretization of the domain into a set of finite e[emenIS.

(8.2.3)

[n the following. we sha1l deve lop the finite element model of (8.2. [). The major steps arc as fo llows:

2. Weak (or weighted-integral) forlT1u[ation of the govern ing differential equation. 3. Deri vation of fin ite c le ment intel1>olat ion function:.. 4. Development o f the finite clement model usi ng the we:lk form . 5. Assemb[y of finite element<; 10 obtain the global system of algebmic equations. 6. Im position of boundary
eondition~ .

7. Solution of equations. 8. PostcompUlation of ~ol uti on and quantities o f interest. Steps 6 and 7 remain unchanged from one-dimensional finite clemcn t analysis because at the end of Slep 5 we have a ~e t of algebraic equatiolls whose form is indepe ndent of the dimension of the domain or nature of the problem. In thc followi ng st."Clions. we d i"Cuss each step in detail.

8.2.2 Fiuite Element Oiscretization

In two d imens i on ~ there i~ more than o ne simple geomctric "ha pc tl1:11 can be used as a finite elemelll (see Fig. 8.2. 1). As wc shall see shonly. thc intcrpolation function s depend not onl y o n the number of nodcs in the e le ment and the num ber of unknowns per node. but also on the shape o f the element. The shape or the clement mllst be such that its geometry is uniquely defined by a set o f po ints. which serve a ~ the c1cment nodes in the development of the interpolation function s. As will be discussed later in th is secti on. 11 triang le i~ the simplest geometric sh,ll>C, followed by a rectangle. The re presentation 01':1 given region by a set of elemcnts (i.e .. d iscrelilalion or mi!sh gelleration ) is :In impon :mt step in finite eleme nt analysis. The choice of eleme lll type. number o f elements. and de n"i ty o f cle ment.s depends on the geometry of the domain. thc problem to be anrl ly/'cd. and the degree of accuracy de,i re<i. Of course. there arc no specific fonnul:!e to obtain Ihi" information. [n gencral. the analyst is guided by his or her technical background . insight into the ph ys ic~ of the problem being modeled

"

"
I~

n,
(h)

I"igurt' 8.2.1 Finrlc clement di<;efCI I/ALl ion of an irregular I.IIJIIl;1in:

quadrilateral
clcmcn1~:

(0) di~crclilalion

of a dumain by

and

a,) a lypical qumJrilalcral c lement 11, (with the unit normal

(I on the holi lldary 1', of the CICIIlCl11).

(e.g .. a qualitative undcrst:lI1ding of the solulion). and experience wilh finile clement modeling. The general rules of mesh generation for tinite clement formulations incl ude:

1. The clemenI'. that are ~cl cc l cd .~ h o liid chanlclcrizc the governing equations of the problem . 2. The number, shape. and lyre (i.e., linear or quadra tic) of clements shou ld be ~uch that the geometry of the do mai n is represented as an:ut"lltcly as dc~ i rcd. 3. The dcn~ily of clements shou ld be ~ut'h thaI regions of large gradient~ of the ~o lu tion lire adequately modeled (i.e., usc lIlorc c lcrne nt ~ or higher-order elements in regions of large gmdients). 4 . Mesh refin ements sho uld vary gradually from high-density regions 10 low-density regions. If Iratl.lilion efemellts arc used, they sho uld be used away from crit ical regions (i.e., region~ of large gradients). Transition clements arc those that connect lower-order element~ 10 higher-order ele m c nl ~ (e.g .. linear 10 quadratic).
1'1.2.3 Weak form In the development of the weak fonn we need only con<;ider a typical clement. We assume that Q , is l.lypical elemelll. whether triangular or quadrilateral, of tnc (lnite element mesh, and we develop Ihe finile c lement model of(8.2.1) over Q,. Various two-dimensional elements will be discussed in Ihe sequel. Following the three-step procedure presented in Chapters 2 and 3. we develop the weak form of (8.2. 1) over the typical element Q,. The fi rst slep is 10 multiply (8.2. 1) with a weight funct ion 11', which is a'isu med to be differentiable once with rC'> pccllo x and y, and then integrate the e(llIillion over the element domain Q .. :

0= [
where

J>I, )1'[-..!:!.-(Fil-~(Fl)+(l(KJII-fldXdY aX By

(8.2.4a)

(S.2.4b)

In the second step we di~tribut e the dilferentilltion amon /I and I\' equally. To achieve tim. we integrotc the fir;tt .....o terms in (8.2.40) by pan!>. First. we note the identities
-

ax

(wFd =-.- f"l

all'
iJx

I + 11' -.-

iJF

ox

0'

al-"I
- 11' -

ax

iJII' 0 - PI - - (II"PI )

ax

ax

(8.2.50)

iJy dy iJy Next. we use the component form of the gradicm (or divergence) theorem

O. f) IS - (lI"h) =-.- Fz+ II' - iJy r/y By

all'

- 11' -.- = -.- h -

a/~

iJlI' ,

{J :-(II"F2)

(8.2.51})

1n,. ax
[

./!-(w Fdlix liy=

1. Yr. ",Fin, tis

(8.2. 60)

10. iJ)'

~(w F2) dx d)" = 1. WF211 . d.~

1.',

('.2.6b)

where I1 A and II,. are the component " (i.e . the direction cosines) of the unit nonnal vector (8.2.7) on Ihe boundary r~ . and ds i~ the length of an infinitesimal line clement along the boundary (see Fig. 8.2.lb). U~ i ng (8.2.5(1), (8.2.5b). (8.2.6(1). and (8.2.6b) in (8.2.40). we obtain

0=

a21-+/ln-;[[ -a,,( ;) u "u) ",,("u au) +aOOW I/ - wj] a.

ax
(111 - + 012 -

ax

8y

+-

0)'

ax

oy

(htly

_ };', w[u, ( (III iJ.I +all~II) + lIy ((I21~1/ 1. all 11)' 11.\

JII
+(I22

{Jy

)]",

('.2.8)

From an inspect ion of the boundary integral in (8.2.8). wc note that the specification of II con"tilUlCs Ihe es~enlia l bou nuary condi tion. and hence /I i ~ the primary variable. The specifiealion of the coefficient of the weight fun ction in the boundary expression
lIn= " ., (/1 1 - + (1 12a)'

( au ax

au)

+ lI v (/21-;-+(12 2 -

("u ax

au)
(Jy

('.2.9)

constitutes the natural boundary condition: thus. q" i.. the secondary variable of the for4 mulation. The funclion q.. = lin (.\' ) denotes the projection of the vt:clOr a VII along the unit nonnal n. By definition, lin is t"ken positive oUlward rrom the surface as we move counterclockwise along the boundary rt". In most problems. the secondary variable lI .. is of physical intcrest. For example. in the case or heat transfer through an anisotropic medium. (I'j arc the conductivities of the medi um. and qn is the neative of the he:!1 flux (because or the Fourier heat conduction law) normal 10 the boundary o f the clemen!. The third and last Mep of the formulation is to usc the defin ition (8.2.9) in (8.2.8) and write thc weak form or (8.2. 1) ilS

0=

a... [a. [-ox

(au ax
tis

{/1I - + aI2 : -

a,,) au' ( ax "u) "" oy

fly
+-.-

{/21 -+ {/ 22~

11y

+(t{X)II" II -wj

dxdy

- r.., 1.

II'lin

(8.2. 10)

414

"" 1t.'MODLClIU,"

ro nit Ht.ITL tU:ML"T Ml"THOO

IY (w, u)

= f~ (w )
I ~ (-)

(S .2. 11(/)

whcrc the bilinear form W( ,) and linear form

arc

B ( W, II ) =

l["W (
n,

ax

tl ll";-

a" + ax

aI2 -

'ily +Jy (/21-Jx +(122 -''') +aoo wu '') aw( a" Jy

dx dy

(8.2. li b)

I~(JII) =

10.

I\'f d .H!)' +

1:"

\\Il/" d .,;

l l ie weak (onn (or II'I';XIrII'(/ i/l,eXral.\fatcment) in (S.2. 10) or(8.2. 11(/) and (S.2. llb) is the basis of thc finite e lemcnt model o f (8.2. 1). Whcncver W (\I', u) is symmctric in ils argumcnls w and II [i.e .. W( w, u ) = W ( II . w ) 1. the quadratic fun ctional associated with the varilL tional probl cm (R.2. lla) can be obtained frO Ill[ ~cc Eq . (2.4. 19) [
(8.2. 120)

The bilinear form in (S.2. ll b) is symmetric if and o nly if (/ 12 =1I!1. The n the funct ional is g iven by

(8.2. 121

Vector Form of the Variationa ll)rublcm

It is commo n. especially in ... tructuml mechanics litcrature. to cx press tlnite elcment forl11ulr.tion!o in vector notation (i.e .. in terms of matrices). While thc veclOr/matrix not:.liol1 is conc ise. it is not as tran<;parcnl as the cxplicit fonn that ha>: been used throughout the book. However. for the sake o f completeness, thc vector form of thc variational (or weak) problem (S.2. ll a) and (S.2. ll b) is prescntcd here. We shall use bold face Icttcrs fornwlri ces ofdiffcrcnt ordcr. including thc I x I matrix and row .md column matriccs. Wc begin with Eg. (R.2. lla ). which can be written as

(8.2. 13) where, in the present casc, w is simply", and u is m:llrix fom}. lei
II .

Next, we cxpress

B ~(,.

,) and

I~O

in

c = [0" a~1

(11 2

lI22

a~l

!) ~

a ax a
J)' I

(8.2. 14)

CIlAP'Tf.It 8 SINGlhVAM IAIII..t: I'IllllU1S rNTWO Ol.\lr:NSIONS

4 15

Then B" and ' " of (8.2. l lb) can be ex pressed as

B'( II'.

/I ) =

,. r
ax all'
ay
w

[a"
il21

ill2
(1 22

0,

aU

all ay

a/l ax

(iXliy

"

(8.2. 15(1)

or. simply
B'(w . I.I)=

io.. (D w)TC l)utlxtly.

(8.2. 15")

8.2.4 .' inite Element Model TIle weak form in (g.2.IO) requires that the approximation chosen for II should be atl ca~t linear in both x and y so thai there arc no terms in (1l.2.IO) that are identically zero. Since the primary variable is simply the fun ction itsel f. the u.lgrange fami Iy of interpolation func tions is admissible. Suppose that II j, approximated over a typical linite clement Q " by the ex pressio n
II (X . .Y) """ I~(X.y)=

,.,
II"

L> jlJlj(x.y) or 1I~ (x.y) =( lI1")TU"

"

(8.2.16a)

where

1.1 '

and o.jJ ' arc

/I

x I veclOrs

, JT
.

(8.2.1611)

and II; is the value of II;; at the jth node (X j. y/ ) of the c lement and interpolation function s. with the property

1/1; arc the Lagrange

(8.2. 17)

In deriving the fin ih! ciement equ:ltions in algebraic tenns. we need not know the shape of the eleme nt Q " or the form of The specific fonn of 1/1; will be developed for triangular and rectangular geometric" of the clement 0 , in Section 8.2.5. and hi gher-order interpolation fu nctions will be presented in Chapter 9 . Substituting the fillilcciemcnt approximation (8.2. 16a) fo r II into the weak foml (8.2. 10) or (R.2.l 3). we obtain

IJIr.

o~

1 [-'w(
Q,

al lL..,u j - - + a I2 L..,lI j-.-,

f-. ,a.pi
) .. 1 iJx

iJx

f-. ".pi ) +- ( f-. ".pi a", Q) ily i= 1 ax

J"d

(/ 2 1 L..,lI j - -

+ a22 L>:; ayi

}= I '

",.p,) +aooIl'L> jlJlj-wf] rlxdy- r.. II'q~ds " J

J=I I,

(8.2. 18a)

0'

(8.2.18&)

416

AN 1:-rlllOl)tJCJ'ION TOll tl I1Nnt, ItBU:NT MImIOD

This cquation must hold for cvcry admissible choice of weight function 11'. Since 'he need II indcpendent algebraic C(luations 10 solve for the II unknowns, II~. 1/2' ... , II~. we choose /1 linearly indcpendent functions for IV: IV = 1/If. 1/1 2 ... , 1/1; (or, W = 11/1 1 1/12 ... 1/1:) = ' ~ T). This particular choice of weight function is a natural one when the weight function is viewed as a virtual variation of the dependent unknown (i.c., w = Ii /I ~ L:7.:;. llill ;1/I1), and the resu lting finite c lement modd is known as the weak{oflll fillite eiemelllmo(ld or Ritz }illite element model. For cnch choice of w we obtain an algebraic relation among (II~, II';, .... II ~). We label the algebraic equation resulting from ~ubsti tut jon of for IV into (8.2.18a) as the Ii ....t algebraic cquat ion. that resulting from IV = as thc second equ:ltion. :lIld so on. Thus. the i th algebm ic equation is obtaincd by s ubstituting II' = "',' into (8.2. 18(/):

"'2

"'I

" L K~II~ = /" ,-,

where Kr =
J

+Q f

(i

= 1. 2 .... , II )
J

(8.2.19a)

1[a,,' ("'"
r.!.

-.-' ilx

(/II - . - +(112--'

J dx

""') +--' ((l 21-- +(In--' ",,' "'ox " ".p,) ily Jy iJy
(S.2.19b)

+ aoo1/lF1/I; ] dXdy
It =

r 1. In. 11/1; dxliy. Q~ = J;., qn1/lt lis

IK'III1'!=lr } + IQ'1 or K' u'= r + Q"
(8.2.20a)

In matrix notation. (8.2. 19a) takes thc form

where Isee Eq. (8.2.ISb)1 K' =

In,

r 8 TCll tfxtfy,

Q j,', ~{Ids "=

(S.2.20b)

(1 21.

Note that K,~ = K;, (i.c.. I K ~ I i!> a symmetric mat rix of ordcr II x II) onl y when (/12 = Equations (S.2.20a) and (8.2.20b) represents the tinite clemcnt model of (8.2.1). This completes the finite clemcnt model development. Before we discuss assembly of element cquations. it is informative to consider the derivation of the interpolations 1/Ir for certain ba~ic elements and the cya lutltion of the e leme nt matrices in Eqs. (8.2.19b).

OlAl'TF.lll SIIllJ' V"IU"IIU! PR08I..oIS lNTWO IH~I:NSIOl<S ~

411

8.2.5 Derivation of Interpolation .' unctions The finite cle ment approximation II:; (x, y) over an clemcnt Q r must satisfy the following conditions in ordcr for thc approx imate sol ution to converge to the tme solution:
II~ must be continuous as required in the weak fonn of the problem (i.e .. alltemls in the weak fonn arc represented as nonl.ero values). 2. The polynomials used to represent u;; must be completc (i.e .. all terms. begi nning wilh il constant teml up to thc highest-order used in the polynom ial. should be included in II ;;). 3. All terms in the polynomial should be linearly independent.

I.

The num ber o f linearly indcpe nde nt tcmlS in thc representation o f II;; dictates the shape and number of degrees of freedom o f the element. Next. we discuss "<Jllle of the basic polynomials and a~sociatcd clements for the model problem with a single degree o f freedom per node.

Tri:l ngulur Element An examination of the weak fonn (8.2. 10)and thc fi niteele melll matrices in (8.2.19/) shows Ih<lt I/tt "hould be <It least linear func tions o f x and y. The complete linear polynomial in x and y in Q .. is of the form (8.2.2 1) where 0 arc constants. The sct II. x. y ) is line.. rly independent and complctc. Equa. lion (8.2.2 1) defi nes a uniq ue plallc for fixed c1 Thus, if lI (x,y) is I I curved surface. II;; (x . y) approx imatcs the surface by a plane. In pan icular. u;;(x. y) is uniquely defined on a triangle by the three values of u ~(x. y) at the vertices o f the triangle (see Fig. 8.2.2). Let us denote
(8.2.22)

11(.1.1')
u(x....)
u.,(x.y)

\' i

i i i i i i

(0)

Ih'

f 'igure 1'1.2.2 Approximalion of a cur\'ed surfacc over a triangle by a planc.

where (x,. y,) denote the coordinate:- orthe ith vcrlcx of the triangle. Note that the triangle i:- uniquely defined by the three pairs of coordinates (Xj, y;). The three constants ci (i = 1.2.3) in (8.2.2 1) can be exprcssed in terms of three nodal values II~ (i = I . 2. 3). TIllis. the polynom ial (8 .2.2 1) is associated with a triangular clement and there arc three node~ identi fied. name ly. the vertices of the triangle. Equat ions in (8.2.22) have the explicit form
III

==

II ,,(X I. )'1) =('1

11 2
II)

== Uh(X2. )'2) = CI == /lh(X ). Yl) = CI

+ C2Xl + e 3YI + ("2X2 + '-')'2 + C2 -'".1 + ClYl

where the clement label (' is o mitted for si mplic ity. Throughout the fo llowing discu ssion. this fonml will be foll owed. [n mMrix form, we have

Solution of (8.2.23) for c, (i = 1.2.3) requires the inversion of the coefficient matrix A in (8.2.23). The inverse ceases to exist whenever any two rows or column s are the same. Two rows or col umns of the cocfticient matrix in (8.2.23) will be the same only when all three nodes lie on the s:lIne line. Thus. in theory. as long as the three vert icc!> of the tri,mgle are distinct and do nOI lie on a Jine. the coefficient matrix is invertible. However. in actual computati ons, if any two orthe three nodes are \'I'I}' close to the third nooe orthe three nooes are almost on the sallle line. the coe fficient matrix can he nearly singlilar and numerically non invertible. Hence. we should :lvoid clements with narrow geometries (see Fig. 8.2.3) in finite element meshes. Inverting the coefficient matrix in (8.2.23), we obtai n
[A[ - 1=2A

I:; 1=[: ~; ~; ] I ~; Ioc u=A,

II ) [-' ))'3 '")

(8.2.23)

I [.,

/31

"

/32 fi, .
1'2

.,]
y,

YJ

where 2A is the determinant of the matrix A. A being the afCa of the triang le who~ three vertices arc at (x,.y;) (i = 1.2.3). Solving for c, in tenns of Il, (i.e .. (c)= [A)- t{lll),

/.
L

"

L
(II )

(b)

Figure 11.2.3 Triangular geo rn ctric~ th:ll should be nvuidcd in tin ite clement meshes.

CHAI'TER 8 SINGLfi.VA RIAUI.E I'IIOIII..E\IS IN """0 DlMEt<SIOSS

4 19

we obtain
CI
C2

== 2A (a l II I + Ct211 2 + CtJ II )
= 2 A (PIIl I + fJ 2u 2 + fJ j ll 3)
I = 2 A (YI/f l

(8.2. 24a )

c)

+ )'21l 2 + Yl /f J )

where et j. nodes (XI.

Pi. :md
)'1)
-

Yj

arc constants that depend only on the global coordi nates of c leme nt
Xi)'j

Ct j == X j )'k -

fJ j = Yj
Yi

Y l
x.)

1
J

(i =1= j =1= k: i_ j. and k permute in a natural order) .

(S.2.24b)

- (X j -

Substituting for ("i from (S .2.24(1) into (8.2.2 1). we obtain

/I h (x. Y)

= 2A \Clli et I +
+ (YI II I +

11 2a !

+ 1/ 30'3) + {Il l fJl +

1l 2 fh

1I ] ,..,3)X

Y2 11 2

+ YJ1I 3)y 1
(8.2 .25a)

L,1I1Ifti (x.y)
j ", 1

whcre 1/1: are the linear interpolation funct ions for the triangular clement

1/Ir =

2A

(a; + fJix + y;'y)

(i

= I. 2. 3)

(8.2.25b)

and a ; . P and yt :Irc the eonst:1I1lS de fined in (8.2 .24b). The linear interpolation functio ns I' 1fI[ arc shown in Fig. 8.2.4. TIle interpolation fun ctions 1/1[ have the prope n ies

L "'; ~ l.
;= 1

(8 .2.2&1)

L - ~ O. '
1",, 1

a1/l~

ax

(8.2.26b)

'~
'------1

<

~
...... ,- :o"""

'

: ,

Figure !I.2.4 Interpolation funct ions for the th ree-node triang le .

420

Ao'Il'lll(()IIUCnON 'mTIIF n .'ll n ! bL1i\lL1'l1 MlmlOlJ

U(X.J'I

"
Finite cl~mcUl mc~h

of the donutlll

FigureS-2.S RcprCSCIlWlioll of a cOntinuOllS function 11(.1', y) by linear interpolat ion fUllclions of

th ree-I1O<lc trinngulal' clelllcnls.

Note that (8.2.24(/) delCI1l1il1es a plane surface passi ng through

1/

t.

1/ 2.

and

Ill.

H ence. lise

of th e linear i lllerpolatioll fun ction s 19 ofa triang le will result in the approximation of the curved s lI rface u(x. y) by 11 phmar fu nc tio n II;; = L~.=d II; 1/1; as shown in Fi g. 8.2.5. We
consider an ex.lmp le of computing

'/I;.

Example8.l.t _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __

CQns.idcr the triangular element stJoW in Fig_ 8.2.6. Let n

(XaJl)) ..-p,4)

,
2

o L..,....-r---,~-r--r~_ ., o 2: J .4 s
t.' igure 8.2.6 The lriangul ilr e lcmcJ1t of E~a mple 8.2. 1.

~,
"--"""
,
' ;'"

'"

(xlJ'i)*(S,3)

I (xbVt) ",(2,1)

OIAl'TR 3. SI:iG U ' VARIAIlIJ: f'IIOIlLl.M S IN TWO Vl\lhNSIONS

42 1

EV'"Jluating IIris polYJlOmial 'It nodes 1. 2, and 3. we obtain the etjuat!Qns

I:; I~ [: ; ;] I;: I' f:: I

u,
!

= IAI " ( : :

Cj

U,

IAI' =

[i

Subs[ilOhl1g the 1a.\1 el!.rms~ioll into II we obtaill

where

Alternatively, from de(inition,\ (8.2.24b), ....~ havc

ll'1=5x4-3x3=11. 0'1:3)(1-2)(4=-5, (fp",2xJ-SXI=1

131=3-4=-1,
Yf=-(5-3)=--2,

fJ2=4-1=3,

(J,=1-3=-2 )"1=-(2-5)=3

n=-(3-Z)=-I,
2A=-CI'I+CI'2+CI'l"",7

The

in l~rpolaliO{l

fUnCtions are

.p-1=~(II-x-2."), 1&";= ~{-5+3X-y).

which are the same as those obtained c3fticr.

Unellr Rectangular Elemen t

Next. consider the complete po lynom ial
1 (.r, y) = c~ 1;

+ c;x + c )y + C~X \'

(8.2.27)

which contains four linearl y indcpcndcnttcrrns and is linear in x :md y. with a bilinear tcrm in x and y. Thi s polynomial requ ires an element with four nod es. There are two possible geometric :.hape.s: a triangle with the founh node al the center (or centroid) of the Iriangleor

422

A~ INTRODU CTION TOmE FlNln:ElH.U~vr MlITIIOO

U. (.T.Y) =c l~) + ct)x + c~~)y + e~~I.ry

... ef~) + (el" + ~~) .f + c1~1..? (e = 1,2) Thus, Ihe quadralic variation of along.f '" Y cannOl be defi ned uniquely with only two noda l valu<-""!i.

II.

''1L--___ .,
f' lgure 8.2.7 Incompnlible fournode lrinngular clemems.

n rectangle with the nodes at the ve rtices. A triangle wilh a fourth node <II the center docs not
provide a single-val ued variation of /I at inlerelemcnl boundaries. resuhing in jm:olllpllrible va riation o f / 1 al imerelement boundaries and is therefore nOI ad missible (see Fig. 8.2.7). The linear rectangular clement is a compatible element because on any side II ~ varies only linearly ftnd there arc two nodes to uniquely define il. Here we consider an approximation o f the form (8.2.27) and usc a rectangular elemenl with sides a and b lsee Fig. 8.2.8(j)l. For the sake of convenience, we choose a local coordin:!te syslem (.i' . y) to deri ve the inlerpolation funclions. We assume that (theelcmem label is omilled) (8.2.28 ) and require

II )

= uJ,(a. b) = CI

lI4

+ C2{/ + c)b + c4ab UIr(O. b) = c, + cj b

(8.2.29)

Solving for Cj (i = I .. .. . 4). we obtain

C4

= -

"- "o' " ",,' c",,'____ _+:,-c'_-_

(lb
---II

(8.2.30)

Substituting (8.2.30) into (8.2.28), we obt:!in

IIII(X.Y)=II I

__

( 1---- + X Y
(/ b

IY) (i i Y)
--

ab

+ U2

ab

.<y + U] - - + 1I4
ab

(Y i Y)
----

ab

= ll~ 'ltf

+ 112'lti + II ; 'lt3 + II~ 'It; =

L /I~ 'It,~
i ., 1

(8 .2.31)

CHAI'TElt. SIl'GU. VAKIARU: I'ItOtilr~s 1)01 rv.OOlMr'lSIONS

423

"j
.1

T4 1 h

I+----- u -

L,
I
1

.,
J

,,)
4

,
(b)

";
1

Figure 1'1 .2.1'1 Linear recl:tngular elemenl and

II~

intcrpolalion funCliOIl.

where

I/Ii=(I

' ( 5')
1- b

i "~ '/1:= 1- - ) -b (I

(8.2.320)

or. in concise fonn .

1 9(.l'. 5,)=(- 1)'+1

(I _i :i' )(I _Y:

,

5', )

(S.2.32b)

wherc (i,. y,) arc the (.l', y) coord inates of node i. The inte rpolation runctiOIl" are shown in Fi g. 8.2.8(b). Once agai n. we ha vc
",r (ij.5'})=lJ'J
(;,j= J..... 4).

L ",,~= J

,.,

(8.2.33)

424

AN

~vnt00l.JC1'10N10nU ~lNrm ELEMHlT MHfltoO

The procedure given above for the construction of the interpolat ion functions involves the inversion of an 1/ x 1/ matri x, where" is the number of nodes in the clement. When /I is large, the inversion becomes very tedious. Alternati vely, Ihe interpolat ion functions for rectangul:lr elemcnt can al so be obtained by taking the tensor product o f the corresponding o ne-dime nsional interpo lation funct ions. To obt.. in the lincar inteqXllatio n functions of a rectangul:lr clement . we take the "tensor product" of the onc-dimensionullinear interpolation func t ion~ (3.2. I9) associated wi th sides 1- 2 and 1-3:

(8.2.34)

The :lltemati ve proced ure that makes usco( the interpo lation prol>C rties (8.2.33) can also be used. Here we illustrate the :I!tcrnat;ve procedure for the four-node rectanguhlr clement. Equation (8.2.2&1) requires that

tlrr(.ri,Yi)=O

(i=2.3 .4).

tlrr(il.5'1)= I

That i<;. I{tr is identically ...ero o n lines i = a and 5' = 11. I-I ence, tlrrCr . .y) must be of the foml

tlrr(i. 5') =Cl (a

Using the condition

- .r)(b

-:n

for an y ('I ~ 0

1/ti(i\. Yl) = 1/ti(O, 0) =

I, we obtain Cl = I/ llb. Hence,

~W.y)=~(" -'<)(/>- 5')= (1 - ='" )(1 - ~) ab {/ b

Likew ise. we can obtain the remaining three interpolation funct ions. QU:ldratic Elements A quadratic triang ular e lement must have three nodes per side in order to define a unique (luadr:Jlic variation along that si de. Thus. there are a IOtal of "ix nodes in a quadratic triangular e lement Isec Fig. 8.2.9(1)1. A six-tenn complete IXllynomialthat incl udes both x and y is (8.2.35) The constants may be cxp res.~ed in terms of the six nodal values by Ihe procedu re o utlined for the th ree-node tli:mgll iar clement and four- node rec tangular e le ment. However. in practice the interpolation functions of higher-order elements arc derived using the alternative procedu re (i.e" use the interpolation properties). Si mil arly. a quadmtic rectangular element has three nodes per side. res ulting in an eight-node rectanglll:lr elemc ntlsec Fig. 8.2.9(b}(. The eight-term polynomial is (8.2.36) The interpolation functions of this clement cannot be generated by the tensor product of one-di mension:!1 ql1:ldratic fun cti ons (3.2.27). Indeed. the two-dimensio nal intcrpolati on functions associated with the tc nsor product of one-dimension al quadratic functions correspond 10 the nine-node rectangu lar e lcment Iscc Fig. S.2.9(c) j. The nine-term polynomial

CHArrER 8:

S!i"GL.VAR!A~LIl I'll.08LEMS

I:' TWO

DlMI~"SIO:'S

425

J'

4\
0. '

r,

,,'

J'

J'

T'
b ,

O.
5

1,

~r,
~x

" 1,

T'

n.

1--- ' ---l

I--- ' ---l

0 ' ,

~r,
~x

,h,

"

k'

Figure H.2.9 (1/) Quadratic triangular element. (b) Eight-nodequadratic rcctangu larelcmcnl. (c) Ninenodc quudra tic rcctangu lar element.

is given by

II~ (X,

Y)

Ct

+ C2X + C3Y + C4Xy + C5.\"2 + c6i + c?x i + c8yx 2 + C9X2 y2

011

(8.2.37)

Additional discussion Chapter 9.

the derivation of element interpolation functions is presented in

8.2.6 Evaluation of Element Matrices and Vectors

The exact evaluatio n of the e lement matrices lK~J and [r! in (8.2.19b) is. in general, not easy. In general. they are eVll luated using numerical integration techniques described in Section 9.3. However, when lIjj. 1I00, and fare elementwise r.:onstan t, it is possible 10 evaluate the integrals exactl y over the linear triangular and reetangulllr elemems discussed in the previous section. The boundary integral in [Q ~ ! or(S.2. 19b) can be evaluated whenever qn is known. For an interior clement (Le., an clement that does not have any of its sides on the boundary of the problem), the contributio n from the boundary integral cancels with similar r.:ontributions fro m adjoining clements of the mesh (analogous to the Qf in the one-dimensional problems). A mo re detailed discussion is given below. For the sake of brev ity. we rew ri te [K~! in (S.2 . 19b) as t.he sum of five basic matrices IS"' J(a. ~ ~ o. <.2)
(8.2.38)

426

A~ l"lllO[)IJCTK)~ m mil ll~tIT ul ....H".... r 101",1100

where [11' denot c~ the tfilnslx>se o f the enclosed matrix. and

s:: fa. tjI,ul/lu c/x (/),

=

(8.2.39)

with t/I,.a otjl,/iJx(> . .1'1 = x. and .1'2 =,1': "';.0 = 1/1;. All lhe matrices in (8.2.38) and interpolation fllnttion~ in (S.2.39) arc understood to be defined over an clement. i.e" :1 11 expressions and quantities should havc the clement label e. but these arc omitted ;n the imerel>t orbrcvity. We now proceed to compute thc matrices in (S.2.39) and (S.2.19b) using the linear interpolation runctions derivcd in the previou~ <;cction. E lement Matrices of a Li nea r Trianguhlf Element FirM. we note thilt integrals or polynomial<; ovcr arbitrJ.ry <;haIX-d triangular do mains can be cvaluated exactly. To this end. let I ..." denotc the integral or the expre~~ion x'" y" o\cr an arbitrary triangle ll. I"",;: Then. it
e~1I1

=-

x'" y" (/:r d y

(8.2.40)

be <;hown that

100 =

x."o (/x(l,\' =

i i

I 'll x t/y = A

area of the triang le

110= L I.l yl)dXdY = L X dXdY =AX.

leu =

fa
a

.1 .),1

(Ixll),=

ytix(l y= AJ'.

1 ' .i'=- '\' .v, 3 L...

,,,,-I

111= 1 xydxdJ=
12t.)

~ (t XiY; +9XS') ,=1

(8.2.41 )

101. =

1x 1i
.0

(Ix d )' =

('X

d)' =

(t xl + 9.\,2) ~2 (t +
~
,el

,,,,,I

y,2

2 9.V )

where (,I,. )'i) afC thc coordinates or tile vcrtices orthc triangle. We can usc Ihe above res ults to evalu:lle integral .. defined over triangular clements. Next. \ve evaluate I K'I and Irl ror linear triangularelclllcni under the assu mption tha t (I,) and f arc e lement wisc con<;tanl. Also. note that (o;ec Problem 8. 1)

';, I a~ = 2A ,. ,;1=1 fJt = o. 'f: 1rt = 0

a~

(8.2.42(1 )

+fJ;r, + rt5'.. = '3A,

al/l, Y,' --=--

(S.2.42b)

(8.2.43)

OlAI'lER 8 SINGU,VARIAHll! l'ttOIII.J' \lS IN TWO DIMF.NSIO'IS _

427

we obtain
" I Sij = 4A y,'Yj

.sijl = 4~ { laia) + (a;p) +aj/J;)x + (aiY) +ajYiH ]

+

(8.2.44)

1/20,8;,l~J + /11 (y;,8) + YiPi) + J02YjYj J }

I = Ie.
we

In view of the identity (8.2.42b) and for an e lement wise constant value of have

2A,

I. (ai/oo + t1f JIO+Yie/ol)

= It (a; At 2A ,
= I 2' h, ( '
0'1

+ fJ; A~i~ + yt Ath )

(8.2.45)

.,. .. I, + I~i X, + Yj)" ) ="3 J. A

The result in (8.2.45) shou ld be obvious because for a constant source It the total magnitude of the source (say. heat) on the e lement is equal to It At. which is then distributed equally among the three nodes. giving a nodal value of le At/3. Once the coordinates of the clement nodes are known. we can compute ai. fit, and Y;' from (8.2.24b) and substitute into (8.2.44) to obtain the c l e ll1c nllllatricc.~, which in lurn can be used in (8.2.38) to obtain the clement matrix r K' J. [n particular, when {I n, {l21 , and {loo arc lero and al l and (/22 arc c[cmentwise constant, Eq. (8.2.1 ) becomes (8.2.46) and the associated clement coefficient malrix for a linear triangular element is (8.2.47)

E~.~~

______________________________________

C~ider the right.angle triangle shown in Fig. K.2, 100a). We wish 1 determine the element 0 coefficient (I'UIlrix I K'l of (8.2.47) and sourt:e veclQl' (/' l lISsodared with tbe Pai~ equation (8.2.46). We OOle that the element caJcuJlKiQt:U; do not depend on the llllbal t'oord inate system (.f. y). Therefore, we cboof,e Ihe local coordjn8te sy~tem (l', y) to COOlp\lte A. ct, p. and y for

428

A ~ I NTII()Il L cr l() ~ To -n i E H~ ITE ELHt E."T \l ETHU!J

tK'"J""..-!s...
Zab

j ..

r'" .' -~I

- b'_ h2

.....;

1<1'-".[_6'~ 2ab

-,'

0 i'

,?~., I

SeIlJlc- of ~umberins

,
x

.. (

,
(b)

to>

Figure 8.2. LO llH;; righl-flOgk linew: triangular element of Example 8.2.2.

Ifrl ""I ---;;',

" b

:i'

\I

and

WI =
If O~I

j,:, I:J

(8.2,48)

::o "" Ii." (Qr the I:HJJl:,lbering system shown in Fig. 8.2. 100a), we have u
(8.l,49)

10 addition, if a .= h, we have
k IK I ~2. [

_2 I _1

-! -~],
o
I

(8.2.50)

We nOte.lhatconten~s of IX"J depel)d, evep fur Ihe !ilIrQe geomelry, 011 tlte node numberi!.lg scheme, as shOWn in Figs. 8,2,J0(J) and 8.2.IO<b). Pot the \;\mc dement. if the node numbering is changed, the element coefficiCJlts will challge m::cordiug1y. Fot: example, if we tellumber \Jle clem"nl nooes of the element il) I1g. 8.2.10<d) to be !.bose io Pig. 8.'2.IO<b), then [K' j tOr the elelilent in Fig. 8.2.lotb} is Qplajned from (8.2.49) lwltich corresponds IQ thc element JIll!ubering in Fig.. t1::2.1 (){a)] by moving rows Md CQIUllUiS 1.-.oJ> 3, 3 ~ 2, and 2'4 j (if the tjrst rQw und columl,'l ate mo.wd lifter the third row am.! c()luoln. t~ Il\StlWo

mo\'c~

arc lIutomatic):

In addition. ail cic.roenlJ; with the same g{!tlmetry and Mde numbering. irrcspective Qf their oriemulion (i.e., rigid bOdy rolatii;m abOut an aXIl; perpendltulaf \"0 the pia/IE} of the eli:mcnl). hay..:. the N ame coeffiCient matri~.. Eil!ments with the same c()efficio:;tlt mlltrix art listed in Fig. 8.2.11. For urtifofJnity, we Ii): ttle hlgn ConveJltion and u$e countcrtl(l(:kwit>e numbering ~cheme for tire element jlode~.

b j
1--

0J[.
" I

1--

1__

.. I

'l~f
1-h
" I

.. !

[,I(1"'!.t2<lb

[ M
....j,l 1
~

-b'
b'
0

:' 1
,?

("

b"C,

lr~1
", ... ",
i __

, '. b

"

" I

"l~I'
1--

1--

.. I

lK1<>~

_1:>< 2ah 0

[ h'

-b'
al+b 2
~,

~l

" I

(h)

"'Igun:: 8.2.11 Cootlicient matrices aSSOCiated with Eq. (8.2.46) with afl =k. for twO different e lement node numbers of linear fight-angie triangular clement!;.

:o n

Element Matrices Or;] Linear Rectangular Element

When the data au (i. j = 0, 1.2) a nd f of the problem is not a function of x and y, we can use the interpolation fun c tions in (8.2.32(1) . expressed in the local coordinates (1, y) that are mere transla tion of (x. y) (sec Fig. 8.2. 12), 10 comp ute the e lement coefficients (a, f3 = 1,2) of Eq. (8.2.39). For example, we have

57!

s;f= l
Q,

1f1;(X,Y)1/Jj(X,Y)dXdy= l " l b 1/Ji1/Jj d1d 5'

0 0

where a and b are the lengths a long the.\' a nd S' axes of the clement. Since the integration wit h respect 10 1 a nd y can be carrie d out independent of each other. integration over a

430

A" IN'rMOC)l CliO" TOTIIE

FIMlIoLU~IL'H MITIIOll

Figure 8.2. 12 A rectangular clemen! with the global and local coordinate

sy~tcrns.

rectangular element becomes a pair o f line intcgr..l.ls. We have

~~
=
identities:

f J.' ~,~, did,~ f J.'(I -;)(1 - D(I -;)(1- D

ld (l - ~yd.i lb(l - tydY=i~ = a~)

did,

Similarl y. we can evaluate all the matrices 15"'1' 1 with the aid of the following integral

1"(1 ;')
o

a d'\'= 2'

- (i.I" =o a 2

".f

II

"(')' 1
o
a

(8.2.51 )

ds =a 3

In summtlry. the elemcntmtllriccs 1sal' I for a rectangular clemen t tire

IS"I ~ ~ [-;
6('1

-2 - I 2 I - I 2 -2 I - I -2 2

-:]

'

IS"I~~[-:
1 1- 36

I - I - I 4 - I - I I - I - I

-:]
(8.2.52)

IS22I ~~ [ ;
6h

I -I

2 -2 - 2] I I ' -2 - I 2 -2 - I 2

if"

_ ob

[~I
2

2
2

I
2

4 2 4

~]

I Ifl ~ .- j,ab{1

liT

Cl IM'I't.R 8. \ IN()I f.vAkIAIII.t: PkOII Ll.MS 1 1'11\\'0 1)1 " 1::.S'()N~

431

....... 8.1.3 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __
e wi/ih til dCtc.mllnl! the dement ,-"Qerocic,)t m:unK f Kt J :I~soci!lled with the Poisson cquation (8.2.46) ovcr a IiIlC:lr rectattgulur elt'JI)t ot. We h;lve IK1 = of, lS tl J+ lIh (Sll'1

"ere. . . .

rK~ l = of, b - 2 2 60 - I I I - I

2-2-1 1]
I 2 -2 - I -2 2

+ 1t'W'
6b

[2 -1-2]
I 2 -2 - I - 2 2 - 2 - I I

- I I 2

(8.2.53)

Note that the OOI!flicienl matrix i:. a; fUn(!tion of boI.h clement usp:t r.i.tiCl!; (l Ib and bla. Therdorc. elements with ...ery large aspe<:l mHos ~hou ld not be used as ,hey will resu!! in an iIIconditioned matrix (i .e .. ''ery large numbers are added 1 \'cry small numben). v.h<.. re dtl)Ct 0 IS" l or ISll" ..... iIl dominate !he clement matrix. For = :::: k [he element coc.Okienlmatrix bec(lilles

uri (In
~

k~

[2(0' +h'lz 2h
(I Z _

a! - 2~
2(0 2
b~

-to: + b2 )
bl_ u.r.l.
2(0 2

+ b1)
- 2cl !

_ (oJ

~, -20'] +
b~ )

IK I = &;i;

_ (iJ!+ b1)
b1 _
2.(l~

bZ)

a~ - 2b!

(8.2.54)

_ (ti l +b! )

a~

- 2b:

2((1~

+ b2)

Whcn t~ element a$pe<:t ratio i.< (l I b = I. the coefficient matrix, in F..q. (S.2.54) ix:corne."
4 - I

rK 'l=~
6
[

-2 - I

- 1

- I - 2

(8.2.55)

Eva luation of UOlllld:try Inlegrals 1 lere. we consider the cvalu:ttion of boundary intc!!rals of the type Isee Gq. (S.2. 19b) 1

Q; = i q~"';(s) lis

f."

(8.2.56)

whcre q~ i.. a known function of the d istance s along the boundary r~. II is 110t necessary to computc suc h i nt~gl'al , when a l>Ort ion of r~ does nOt coi ncide with the boundary r of the total do main Q I ~ee Fig. 8.2. 13(11)1. On portio ns of r~ that are in the interio r of the domain Q. q~ o n side (i. j) o f clement Q~ cancels with q! on side ( p . q ) o f clcment Q f when \ides (i. j) o f clement Q .. and q) o f clement Q( :tre the <;ame (i.e .. at tlte interface of clements Q,. and Qf). This can be viewed :t, the equilibrium of the internal " nux" Isee Fig. 8.2. I 3(b)l , When f .. r"ll,s o n the boundary o f the do m:lin Q . fin is either know n a~ :1 function o f .\' Isee Fi. 8.2. 13(e)1 o r 10 be dctcnnined in the poslcomput3lion. The primary variable must be sl>ccified on the I} union of the boundary where lin b nOI

<".

~pec i fied.

432

,,)<I [t."llIOOUCTIO)<ITOl1mn'lm OJ.ME.'1T ML "fHOO

(0'

(,'

(b'

.' igure8.2. 13 (tI) Finite clement discretit:atiun. (b) Equilibrium of flu xes at clement interfaces
(c) Computation of forces on the boundary of the 101al domain.

The boundary rr o f a two-dimensional c leme nt consist of line segme nts. which can be viewed as o ne-dimc nsional clements. Thus. the evaluation of the boundary integrals on two-d ime n~ional problems amounts to evaluating line inlegmls. 1 should not be surprising 1 that when two-dimensional interpolation function s arc eVllluatt.."<i o n the boundary of lin clement, we obtain Ihe corresponding one-dimen sional interpolation functions. For example, consider <1 linear triangularelemenl shown in Fi g. 8.2. 14. llle linear interpolat ion fu nctions for Ihi s e lement arc g iven by (8.2.2Sb). Now lei us choose a coordinate system (s. t) wi th its origi n lit node I and the coordinate s paralle l to the side connecting nodes I and 2. The two coordinate sySlCms (x , y) and ("., t ) are related liS follows:

x = at +bls+Ctt y = a2 +bzs +C2t

y

' - - - - - - - - - , - - , - - - - , - - --

,
systcm~ .

.'igurt! 11.2.14 TIle linear triangular clement in the globa l (x. y) nnd local (J, I) coordinate

CIIAI'lliR I, SINGU._ VARIAHU ! PIIOIII...l.MS

INno.OOI~IoNSIONS

433

The constants ( I "

bl. ('I. (12.

b z and ('2 can be determined with the fo llowing conditions:

X=XI. Y=YI X =Xl, Y=)'2 X=X3, Y=Y3

when s=O. 1=0. when S = 0. 1= 0. when $=(', I =b, We obtain

(8.2.57)
y(s.1) =YI

+ (Y2 - YI )~ + [(:. a
(I

I) YI - :'}'2 + Y3]C

r::q uations (~.2.57) allow us to express >./II (x , Y) as >./I,(s. f). which can be evaluated o n the ~ ide connecting nodes I and 2 by seuing 1 = 0 in "i(S. I ):

",(.,) = ",(,. 0) ~ ",(x("

x(s)=xl+(x2- x d-.

.,

0). ),(>, 0

yes) = YI

+ (Y:! -

yd-

For instance. we have

>./II(S)

., "

=
~

2~ ta+fll [(I - ~)XI + ~X2J +YI[(1 ~) YI +~Y2J } l I ( ., ) , -(0'1 +0'2 +0') 1- - = 1--

2A

where the definition s of 0'1. we have

fll'

and YI arc used to rewri te the emirc expression. Similarly,

>./I2(S ) =-. a

>./I1(S) = 0

whcrea = !t1 2 is the length of side 1- 2. We note that 1/11 (s) and >./I2(S) are prec isely the linear, one-dimensional, interpolation functions associated with the line e lement connccting nodes I and 2. Simi larly. when 1/1, (x. y) arc evaluated on side 3- 1 o f the element, we obtain

where the .\' coordinate is t:lken along the side 3- 1. with origin:.t node 3. and hI) is the involves the use of appropriate one-dimensional length of side 1- 3. Thus, evaluation o f interpolation fun ctions and the known variation of q" on the boundary. In general. the integra l (8.2.56) over the boundnry of a linear tri:lI1gular clement cnn be expressed as

Q r

Qr = 1- 2 >./I,(s )q,, (s) ti s + 12 ljr,'( s)q,,(s) ds + 111T/!i(S)q,,(s) ds r-J r_ Q + Q:2 + Q~J r,

h-j

(S.2.58a)

where denotes imcgral over thc line connecting node i to node j, the s coordinate is taken from node i to nodc j. with the ori gin at node i (sec Fig. 8.2. 15). and Qil is de!ined

434

A'II~lltOOUCno'lTOTlUi l1'1ln 1~ .n'l'nM''l1l(1)

[
',(I) eo

1-

~l.on ~lde 1 h,~

un side 2

0,

,
h
I
s"l.(ICal oourdmale

,] [ h" '
I

on sid e J

,z

/ L(IC~ I oodes
nlongcachsl(\c
I /~C.\

alollS each dc

"igurt' tt2.15 Co mputatio n of the bou ndary integral (R.2.56) ove r a linear tri:mgular cleme nt.
to be th e co ntribution of q" o n s ide

J of c leme nt r2F to Qr:

Q~J =

1 SI""

1/1;'1" d.~
J

(S.2.58b)

where i refers 10 the ilh node of the element and J refers 10 Ihe Jth side of the e lemenl. For example. we have

Q'j = l

];"

q,,1/I,(.f) d.r= { (Q,,) .-2lfr, tls+ O+

1, 2

J'-I

(q"h- ,lfr, tis

Thecontribulion from side 2-3 i~ 7.cro because lfrl is leroon side 2- 3 o r a triangular e te menl. For a rectangular element , Qi Iw ~ four parts but only contributio ns from sides 1-2 and 4- 1 ' arc nUillero becau sc 1/1, is 'lcro o n sides 2-3 and 3-4.

EllIlOlple8,1.4 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __
We wish 10 evaluate the Ix.undary inlegrnJ Q; in (8.2.56) ror the rour ca..~ or q(.r) and finit e element meshes shown in Fig. 8.2. 16. For each caSC we mU~1 U lheq(s) a,ld the inlcrpol:llioJI _"C functions associated wjlh the type of boundary eieOlCol (i.e. lincur or quadrJtic). On element side q on which q. is 001 ~ hown. lI!;Sume thai il is J:cro. Case 1. q($) = qQ <= con~lant. linear e lement. Cle:trly. ql) wilJ contribute I!) nodaJ vlllues at e lement 1lOdc., j and 2. 'ibe contribution 10 node 3 i ~ ...cm (Q; = {)) a.~ there is nQ specified

too

flux on sides 2-:,l and 3",1. We baw

J ' (O)(\II"l h cr; :;:: 1. q.(s)"'t(x) r A'l q U t ) H d.~ + (V Yr, J u 0 Ql 1. q.. (") ~($) ll.~ '* r~1' qOC"'2) H ds + r !' (O)(+2h _1 (/~'= 0;1 "" ~'IohI2 h. J Jr.> 2
(J $ -

l-

<::s:

CHA!'!'ER g, S!NOI.t;-VAR!'\ !UJl t'ROIILE MS t~ 'IWO 1)1~t:NS10NS

435

.,

Figure 8.1.16 Evaluation of boundary integrals in the fil)ileelemcOl

analy~is (EI'ample 8.2.4).

Case.2. q(s) ~ qoSI h Jl (Ii near variation), Iintar ~Iemenl. TIle equations-are Ibe same as above except that the flux is linear. We have

Case 3. q(.~)::= qo = CQI1.~lant. quadrutic trimlgular clemen!. In this c.1.,~, quadratic ~nlcrpolll. !ion functions must be used. We have (Q~ ~ Q s=- Q~ = 0)

where.

436

"'... 1""IltOflunlO... lonll

11'1111:: U..l:.\II:N1 Ml'lllOl)

Case 4. Two sir.le$ have lIon;.~ero q(s). as Shown in Fig. 8.2. 16, on a linear element. tn caw, all three uode~ will have non/ero CQlltribulions.. We have

tl~is

H.2.7 Assembly of Eleme nt Equations

TIlc :Issembly offinitc element equations is based onthe~;lIn c two principles that were used in one-dimensional problems: I. Continui ty of primary variables 2. "Equilibri um" (or "balancc") o f secondary variables We illustrate the procedure by considering a finit e element mesh co n ~i~ ting of a triangular clement and a quadril:lteml clement [see Fig. 8.2. 17(/)1. Let Ki~ (i. j::: 1.2.3) denote the coeffici ent matrix corresponding to Ihe triangular clement, and leI Ki} (i, j::: 1, ... ,4) denote Ihe coefficient matri x corrcsponding to Ihe quadrilateral c lement. From the finit e clcme nll1le~ h shown in Fig. 8.2.17(l/), we note the followin g corre~po nden ce (i.e., connectivit y relmions) between the glob:!1 :lI1d clement nodes:

IJJI ::: [~

2 4

3 .I

;]

(8.2 ..19)

where x indicates that there is no entry. The correspondence between the local and global nod31 va lues is [sec Fig. 8.2. I 7(a)1 (8.2.60) which amounts to imposing the comi nuity of the primary variables at the nodcs common 10 clements I and 2. Note that the continuity of the primary variables al the interclement nodes guamntecs the continuity o f the primary variable along the enti re interelement boundary, For the case in Fig. 8.2, l7(a), the requirement II ~::: and II ~ Il ~ guarantee" II !(S) 1f~(S) on the side connecting g lobal nodes 2 and 3. This can be shown as fo llows. The sol ution U!(.f) along the line connecting global nodes 2 and 3 is linear, and il is givcn by

"i

II .. (S) ::: u~ ( ' ) ' " I - - + I ' " .

" 1/,-"

___ 3 Global node numbers "b"'''-'

Element numbers

Global K II
A I!

local (C'kmc m)

K'

/ S'

K'
KI 22

"

'"'

K"
K!l

K'

" " +
0 0

K~ II

numOOI"ll

Side 1

Kn
K I4

K~J + KI~

K"
1. 14

K'
KI 11

A2J

K'

'"
FigureS.2. 17
A~scmbl y

K4>
K~J

+ A'] K II II K2 A,j
12 ~
IJ

" "+
0 0

K 2J
K~ J

of fin ite clement coefficient

mat riee.~ u ~ in g

the cOITCl!opondence bctwl'Cn

g lobal and element nodes (one unknown per node): (II) asscmbly of two elemcl1I~ : and (b) a~scrnbly of >;e\er:11 clements. SinJ;lc primary dCJ;TCC of freedom per node i,

assumed.

where .\' is the loca l coordinate with its origin at globa l node 2 and II is the length of the side 2- 3 (or side 2). Si mil;trly. Ihe (inile clemenl )'olulion along Ihe same line bUI from clement 2 is

Since IIi = /I ~ and II~ = II \. il follows Ihal 1I~(.f) = 1I ~(.f) for every value of s along the interface of the two clcmcnts. Nexi we usc Ihe balance of secondary variables. AI the interface between the two clem e nl.~. Ihe flux from the Iwo cleme nts sho uld be e(lu:1 in magnitude and oppo<;i te in 1 sign. For Ihe IWO elemenls in Fig. 8,2. 17(u). the interfllce is along the side connecting globa l nodes 2 and 3. ]-Ience. the internal flu x q~ on side 2- 3 of clement I should balance the nux q; on side 4- 1 of clement 2 (n..'Callthe sign convention on q~ ):

(8.2.61)
In the finite c lcment melhod wc impose thc above relat ion in a weighted integral '\Cllse:
(~ .2.62(l)

438

A." It."TRorn;CT10S TO 1111! flMTI'

[U:Ml~""'MLnlOO n~.

where ,,';.., denotes length o f the side connecting node p to node q o f clement equations can be wri llen in the fOOll ,

llle above

(S.2.62b)
0'

Q~2+ Qi4= O.
where

Q~2+ QL=o
of clement e:

(8.2.62(')

Qr, denotes the part o f Qj that comes fro m side J

The ~ id es of triangular and quad rilateral e lements arc num bered ;I S shown in Fig. S.2. 17(a). Th e~e balance relations must be imposed in assembling the c lement equations. We note that Q is only a por1ion of Q Isee Eq~ . (S. 2.56) :lnd (S.2.5 8b) l. rJ r The element equations of the twoclemcnl mesh shown in Fig. 8.2 .1 7(a ) arc writte n lirst. For the model problem at hand, there is o nly one primary degree o f freedom (NDF = I) per node. For the triangular element. the clemc nt e(luations are of the form

(8.2. 63a)

For the quadrilatera l clement, the elc ment equations are g iven by

(S.2.63b)

In order to impose the balance o f secondary variable.. in (8.2.62c), it is requ ired that we add the second equation o f element I to the first equation of element 2, and also add the th ird equation of clement I \0 the fourth equation of clement 2:
(

1 1 1 I) ,, IJ 1+ r K211111 + K2211 2+ K2J II 3 + (K '1111 ,1+ K22'(i+ "' 2 II ~ K 'i~1I '4 ) 1 ~

~ (Ii
1 1

+ Q + (I,' + QD D
K" I1 i+ K4\11 )+ K 44114 " ' ') ~2

1 1 ,I I) " , ( K JI " I+ K 1211 2+ X 31113 + (J.:: ~IIII+

~ (f!

+ Qn + (I} + Q i)

U!<>i ng the global-variable notation in (8.2.60). we can rew rite the above equations as Iwhich amounts to imposi ng continuity of the primary variables in (8.2.60)1 :

K V\ + ( K42 + dl

K;I) Vz + ( K~~

+ K i~) V, +

K f2U4 + K ~3V5

~f!+f,'+(Ql+Qn

ctlAPITR I SINOI.I- VAR IAlllE I'ICOBLI..t.l~ lNTWOiJIlo1u<SIO"S

439

K.l l u l

+ (K~2+ KMU2 +( KL,+ K1) u~ + K12u4+ Kl.P 3 =fi +fl + (Q~+ Q~)

cxpre~~ i o n s

'ow we can impose the cond itions in (8.2. 62c) by selling appropriate portions of the in parenthesis o n the right -hand side of the above equations to zero:

+ Qr = (Q~ I + Q12 + Q1J ) + ( Q~I + Q ~2 + Qil + Qf4) = Q~l + Q~l + (Q~2 + Qi4) + Qi I + Qi! + Qi3 Q~ + Q~ = (Q11 + Q~2 + Q ~J) + ( Q~I + Q~2 + Q;, + Q~) = Q.\I + Q;l + (Q.b + Q;4) + Q~I + Q~2 + Q~J
Q~
Thc underlined t e rm ~ are zero by the balance requirement (S.2.62c). The re ll1 ai n i n~ lerms of e:lch equation wil l be e ither known bec:luse ,,~ is known on the boundary or Telllain unknown because the primary variable is specified On the boundary. In general. when several elemcnt" arc connected. the assembly of the ele l11 e nt ~ i ~ carried out by pUll ing cleme nt coefficients Kij , ft. and Ql' into proper locat io ns of the global coefficient matrix and right-hand column vec lor~. Thi s is done by lIleans of the connectivity relations, i.e .. corrc' lxmdence of the local node number to the global node number. For example, if global node number 3 corresponds to node 3 of cle menl I and node 4 of clement 2, then we have
/ ., ' '" =!

+ I4 == J' + J' + Q'_I + Q' "~ .1 4 4'

If global node number, 2 and 3 cOITe'IX )Ild. respectively, to nodes 2 and 3 of element I :md nodes I and 4 of clement 2, then global coeffi cients K22. K23 , and K n are given by

K22= K~2+ K ~I'

K21= K~1+ K ~~ .

K33= K ~~+ K1

Simil arly, the source cOll1pon e nt ~ of global nodc~ 2 and 3 are added:
IS= I~

+ Pi.
0

F~=F~

+ I:;
U,
pi

For the two-eleme nt mesh shown in Fig. 8.2. I 7(a), the assembled equ ations are given by
K il l

Kh
K~2+ K ;1
KI

K ill

0
K ;l

,
(8,2,64)

KJI

K~I 0

Kl2+ Kll
K ?l

+ K2 Kf2 " Kl,+ Ki4 KJl K2 Ki! ~

n
K'

u,
U,
~

F + FI! l
/-, 1

K'

" KiJ
Ki,

, + F2 ,
F' ,

K2

11le assembly procedu re descri bed above can be u..ed to as!'.Cmblc clements of any shape and type. The procedure can be implement ed in a computer. as described for one-d imensional pro b lc l11 ~, with the hel p of the array IIJ I (program variable is NOD). For hand calculations. the readers arc requi red to usc the procedure de,cri hed above. For examp le. consider the fi nite c lement mesh ~ how n in Fig. 8.2.17(/). 111C location (4,4) of the global cucflicient matrix contai n ~ K_lJ + K ;I + K i\. The location 4 in the as'iel11bled column vector contain" F~ + FI! + Fi. Locations ( 1.5). ( 1.6), ( 1.7). (2.5). (2.6). (2.7). (3.6). (3.7). and (4.7) of the

"

"

Kj~

u, u,

" 1

440

AN I:-ITIIOf)lIC11ON TOTlHi mHT~ ELEMENT METIlOO

global matrix contain zeros because K I) = 0 when global nodes I and j do not correspond to nodes o f the same clement in the mesh. Thi s completes the first fivc steps in the finite clement modeling of the model equation (8.2.1). The next two steps of the analysis. name ly, the imposition of boundary conditions and solution of eq uations will remain the same as for o ne-d imensiona l problems. The postprocessing of the solution for two-di mcnsion<l l problems is discussed next.

8.2.8 I'ostcomputations
The finite clement solution at any point (x. y) in an clement
Q,

is given by

" u~(x.Y)= Lu j1/lj(x .y)

r=l
and its derivatives arc computed from (8.2.65) as

(8.2.65)

~=
aX

L II j-{1-. "x
j=1

V,I,'

"~Ih
"y

" ,

L II j-? Y
)= 1

a./,'

(8.2.66)

Equati ons (8.2.65) and (8.2.66) can be used to compute the solut ion and its derivatives at any point (x. y) in the clcmcnt. It is useful to generate, by the interpolation of (8.2.65), infomlation needed 10 plot contours of III, and its gradient. The derivatives of II/, wi ll not be cont inuous at intere1cment boundaries because continuity o f the dcrivatives is not imposed during the assembly procedure. The weak fOnTl of the equations suggests that the primary variable is II. wh ich is to be carried as the nodal variable. If additional variables, such as hi gher-order derivatives of the dependent unknown. are carried as nodal variahles in Ihe interest of making Ihem continuous across interelement boundaries, Ihe degree of intcrpolati on (or order of the element) increases. In addition. the cont inuity of higher-order derivatives thaI are not identified as the primary variables may violate the physical principlC!s of the problem. For example. making all/vx continuous wi ll violate the requirement that fir (=all au/fix) be conti nuous at the interface of two dissimilar materials because a l l is different for the two materials at the interface. For the linear triangular element, the derivatives are consta nts within each element :

1/1;= 2Ae (aJ + {3p: + YjY).

(hV

a; =

I 2A,!3j

a1/l~

ilY'

= 2 A . Yj
(8.2.67)

For linear recfangu lar elements, aUe/ai is linear in'y and (S.2.32m

iJu ~/iJ5'

is linear in i fsee

iJ!Jr;' =_~( I_ Y+.YJ )

a.{ a

iJ>jJj

b'

oy
0,-

= _ ~( I _ i+i j
b
(J

(8.2.68)

iJllh=~ ~(_I)j+2 u ' ( J _ i+ij)

bL
J=I
j (/

CIIAI'n:R g SINGU;'VARIAaUi I'ROIIU:MS IN TWO 1>I.~tF."SIONS

441

wherc.\' and )' are the local coordinates [sec Fig. 8.2.8((j)J. Although d/l'j,loI and oll'j,loy arc linC3r functions o f -" and x, respecti vely, in cach clement. they arc d iscontinuous at interelemcnt boundaries. Consequcntly. quantities computed usi ng derivatives of the finitc element solution IIi, arc discontinuous at interclement boundaries. For example, if we compute =atl all'j, /OX at a nod e shared by three different elemcnts. three differcnt values of q ~ arc ex pected. 'nle d ifference between the three values witt diminish as the mesh is refi ned. Some COlllmercial fin ite c lement soft ware give a si ngle v<llue of q~ <It the node by avcraging thc values obt<lined from various clements connected <It the node.

q ;

8,2.9 Axisy mmetric I'roblcms

In studyi ng proble ms invol vi ng cylindrical gcomel ri c~, it is convenient to use the cylindrical coordi nate system (r. to fomlll iate the problem. If the geometry, boundary conditions. and loadi ng (or source) of the problem are independent of the angular coord inate O. the problem solution wil l also be independent oro. Consequently, a threc-dimensional pro blem is reduccd to a two-dimensional onc in (r, z) coord inates (sec Fig. 3.4. 1). Here we consider a model <lxisy mmctric problcm. develop its wcak form. and formulatc the finitc clemc11l modcl.

e, ;:)

Model E(luation Consider thc partial differcntial equation,

1 a - - - ( ra ll r ar fir

au) - - (ci n -a +iioou=/(r. z ) a u) , iJz az

(8.2.69)

(i:n . and / arc given funct ions of I' and z. Thc equation arises in the study o f where (;00. hcattransfer in cy lindrical geometries. as well as in other fields o f e ngi neeri ng and applicd sciencc. Our object ive is to develop the /lnite elemcnt model of the equatio n bascd on the weak formulation of (8.2.69).

al l.

Weak Form
Following the three-step procedure. we write the weak form o f (8.2.69):

(i)

0=
O~

l n,
Q,

r 1I' [- ~~ (riill~/I ) - ~ (a22~1I) +iiOO/i-ilrdrdz r Dr or i)z tlz

-.-(;II-:-+ -.- 022 - + W(;00 1l - II'/rdr(J z
OW Oil

(ii)

1(
n,

or

or

all' O z

Oil

~)

aZ

(iii)

0=

1( ll
ci

8w -.-8u +ci - - +aooll' lI - lI'j rdrd ;:Ur ar

n awau iJz oZ

')

1:
I',.

wq"ds

(8.2.70)

442

....~ 1.'IIII!NJ('CllUN lOTlIEmmL U .lc\tl:N1 1>11011101)

where w is the wei ght function ,Hid (I" i.; the nOnTllll !lux

4,,=(all~~II'+il22 ~~II:)
= =

on.71)

Note that the we:ll.. l'onn (8.2.70) docs not differ ~ i g n ificmll l y from that developed for model (S.2.1) when " 12 = tt21 =0. The only difTerence is the presence of r in the integrand . Con.;equcntJy. (8.2.70) can be obt'l ined ".; a speci,,1 ca~e of (8.2.10) for {j(~> = tiIK).\". (111= fi ll .\". (/22 il 2 ! .\". ,lnd f jx: the coordinat e~ ra nd :. arc tre,l ted like x and y. re .. pect ive!y.
Finite Element Model

Let us assume that lI(r.::) is approxi mated by the fin ite clement interpolation d ement Q r
II

II ~

over the

~ 1I ~(r.;:) =

L lIi "'i (r. ;:)

j, I

(8.2.72 )

The interpolation functions "'i(I'.::) :lre the same a~ tho~e developed In (S.2.25a) and (8.2.3211) l'or linear triangular lmd rcctangul:lr ele ment~. with .\" = rand J = ;:. Subst itution uf (8.2.72) for /1 and model
1/1!~

for II' into the wea" fo rm gives the i th equation of the I1ni te clement

(8.2.73)
0'

0=
where

L K~ /lj i'
I

It - Q~

(S.2.74a)

/,~ = 1 1/1,~ j
n.

(B .2.74b )

rdrd;:.

The evaluation of the intcgrab in K~ and It for polynomial forms of iii) and j i~ po~sib l e. However, we evalu;ltc them numeric'llly usi ng the numerical integration m e thod ~ di~c ussed in Chapter 7 fo r one-dimensional c a ~e~ (~C Section 7. 1.5) and reviewed in Chapter 9 for two-d ime nsional problems. Th i... completes the developme nt o f finite clement model o f an axisymmetric problem.

8.3 A NUMERICAL EXAMPLE

The model equation in (8.2 .1) ari~e~ in many fields of engineering and applied ~c i en ccs. and ~ome exa rn plc~ are given in Table B. I. I. The application of the finite e lement model devel oped in S ec ti o n ~ 8.2.2- 8.2.8 to probl e m ~ governed by the Poisson equations is discussed here. TIlis example is designed to i llu~tr:lt e selection of the computational domain. choice of ele ment~ and mel>h, assembly of clement equations. imposition of boundary conditions.

and postprocessing. The physical background of the problem i<; not discu<;sed here oot Table 8. 1.1 provides the background.

E.xample 8."'3.1
COll,~ide:r

a problem

tJ~c rjbcd

by the PoiS!i(l1l equation

- ( --+- =/f.I ax~ ily!

in a square regiQrllsec Fig. In tea))

rJlu

8!U )

in Q

(H I)

Q=I<x.,) ;-A <x <

(:on~idl"r lbe

A , - A <)' ...

AJ

wbcre u(x. y) 1.\0 the dependen t unknown and 10 is the uniformly distributed SOlln:e. WI! lihall following boundary conditions. for the problem;
1/

> O on the en!!te boundary

r
)

(8.3.2)

We wish to use the finitee lcmem method to ~te.nnine u(x . .1') cvcrywhcre in Q.

, -.
.<

(.1

(b)

.. 0

'A
,

l.ineS of
symmetry
(J1l

.i!! .. 2!eO
dY
)

{ol

-.-.-.~.--.-.-

"

LilIes or
s}'m~try

.'igurt 8.3.1 finite clement an!l l y~t!i ,,(the Poi~WI1 cqu."lIIQn in a square region; (a) Ce<mlCtry of the actual domai!) with I)Qunda ryconditions. (b) Comput,niolllli domain ~'I.I on bi:LXial symmetry. (e) Cmnplllaliona.l dom!!in b<l)ed on biaxial as \.\'ell a~ diagon~r symmetry.

444

\ ,' 1I'fI1!OOUl"fI[);.I -ruTllb l'I.'1IU' ~1 . F\lb'n ~WIH{J'I

Selectioll of/he CQmpiUcUiQllfll D(!mclin When the given domain 1'2 exhibit"! soltltion llymmctries, il is sufficient lo.solve the problem on portion of Q Ih,lt provides the S(lh,ltioJl on the entire domain. A problem po~sse~ symmetr), of Ihe ~(!1ution ;lbiM a line only when symmetry of the (a) geometry. (b) m;:ue:rinl properties, (r) source variution, lind (d) bounrJary tond ition~ ex~tllb(lut the line. Whenevcr a POrtion (II' Ihc donl;iin is modeled to exploit symmetries ,Ivailable in thc problem.lhe lines of Nymrnclries bect,lme a ponillo of Ih\: bI)uQdary of the compUllltillnal dQm;rin. On lines of symmetry, Ihe mmnal deri\'a\ive of the solUlj(\1l (i.e., dcrhativc. of thc ~olution with respt.:ct 1\) lhe coordinate nomlall0 the tincof ~ymmi::l ry) i~ lcro: all 811 QII (8.3.2) i/~ =- =< .,,-n, + ;;-nj' =0 VI[ ox . 0)" TIle problem at hand ha..~ ttlt. gt.'(lmctric sYlIlmel.ry abQut thex = OaJld y =0 axes: siJlce the cOCfficieOlS dCl)Cribing tbe maIM!!/ bcl1a9ior, a lj ';JfC eilher l.ero or tlnil}" material symmetl)' ;tboUI Ihe .~ =: 0 and y =0 ;l~es- is automatically (OeL Tbc! symmetry of so\!)"ce variation is dictated by f. Since it i~ uniform. i.e,. f -= /f), con~lant. the dntB i" ~ymllletri\! with respect to Ihe ;( ~ 0 and y "" 0 axes. Lastly, the boulldary conditions lire s},mmclric with ~pc(,l to the x "" 0 and y:::::: 0 axcs. Thus, the solution is symmctrie about the x=.O anl.l )' = 0 !l"~. and hence, ,I qU<ldrant of toe domain Oiln be- used as the COlt1putationnl domain {see Fig. IU. J(b)l. The w)ution b ,I)SO ~yrnmetric about the uiagomll\incs, aod an oct,lnt can be used as the eompllt:lli(lJlal dOniain (see ~ig. 8.~.1(c)1. hl lhe laller Cil>.e, a m~h of onlyre:Ct:lng\lJnr c!cUlcntli cannot be used. While it is pos~ible to nth; triangular and rectangular elernent$ to repre...<.ellt Ihe c(llllputalillnal domain a;,. well <L~ the solution. in much or this 1:!OO.k we shall useonlyollc ty-peMelement .at II time. Two dilTc.rcnt finite element meshell" for the triangu];lr anul'ectangul<lr oompuUltiontil dQm;tjn~ are shown in Figs. 8.3.2 Bnd 8.3.3, respectively.
!J

Solution by Linear 7Hangllfar Elemellts Due to the. ~ymnletry along the diagollal x ""'- )', WI! mvt.lelthe triangular dQm~jn shown in Fig. U~e a U1\i(0."11 mes.h of four linear tri:mgulBt clemems. 8$ sll()wn in Fig. S').2{(/). (0 represent Ihe domaln (mc\h Tl), :lOd thell usC! the re(ined nlC!>h (rt)c~h TI) shown in J-"1g. 8.3.2(b) to compare the !o11lutions, In Ihe pl"C5Cnt c~, there it!! llO di.)creti:tation error involved because the. geometry is eXllCtly represented. The elements L 3, ami 4 9./t identieill in orientnli\)t) as well a~ geometry. E lement 2 is geomel ric~lIy idcJltical to clement I, cx .... ept thaI il is orlC!ntttl differen tly. If we lIuml?e.r Ihe lOCal nodes Of element 2 to match thOM: of element I, then all four elemcots have the sallie clement matrices, aud it is neCCl>$:try to compute them only for clement I. When the elc.rnent mat(ice" aretomplited on a computt:r, such e(lnsiderntions are nottakclI into account. T solving n the PrQblcm by hand. we U'le the similarity between a. llla~ter eie.llleni (element I) and the: olher elements in the mcsh 10 avoid ullflec\!!oMlry ~OOlpll1alion~. We cOnsider element I as the typkal elemcrlt. TIleelemcnt is exact ly thestlme as Ihe one ~hown in Fig. 8.2.1 I {b}. Hence. the element eoeliidcnI matrix '!Ilt.l M)urce vCc10r are (the reader ShQLll d indcpcndeully vcrify this)
8.3.J(C). As <I first choke we

-~],
.'
whel'e in the pl'e~ent case-a-=. b-c=s Aj2 =0,5.

{8,3.4)

("1I,\I'lTJI . SI'lGt I- \AIUMllL I'IIOIIIJJ.I~ 1'1 rv. O .... MI:.'1!>lO'1S

445

,.

A_ I

A-

q ", - .. --",, 0 .,)" ~"

I.)

"" '"
fb.

figure 8.3.2

(tI)

Mesh TI of Ir1anguhl,

clcment~. (n) M6h

T2 (If triangular elemenlS-.

The clcmeOt matrix iu (8.3.4) is valill for the Laplace operator - V2 on nny rl~ h Hlng l e triangle \\jlh sides <I ami /1 in ..... hich the right angle j .. III node 2. and the c.Iiagonall1ne of !he triilJ\glc COnllC'ClS node 3 10 node I. NOIe Ih:llibe nil-di;lgonaJ coefficiell\ associated with tbe noc.Ic.~ on the diagonallinc if; lero for a right-angled triangle. In summary'. for the mesh shoWTl in Mg. 8.3.2(0) . ..... e have
[KI1-::4I K11=[ KJ} = K"1.

,PI'" (ill := fI ', = {r)

with

[K' [ =~ [-:0 --~1 -~)] , 2

~ix

11'1 = /,

24

I:I
I

(S.3.5)

TIle a~.;embled cocfficienl matrix (or tbe finiTe clcmenT mesb h (, x 6. bccaut;C there art. global nodes with one unknown per node. nle assembled matn\ can be obtained directly by using theL"Qrre~(l(ll\dcnce between the glob<.l nodc~ ilocl the local. node~. exprc$)ie(j through the connectivity m'ltrix.
IlIl =< 5 3 2 2 4 .5 356 A few
rcprc~e ntathe ~lobaJ

I 2 3] [

(H6)

c()Cflicicntllllre givc.1l below in tt!.rfTl$ of the ekment cocfJicicrus,

I

K 1~:tO:

"" ll=-2'

.,1

2 R K + K n + K i, = i + i1 + il n= n
'111

" ., "" n= K' K' K~ I 2 1 F,= F."" 1+ I' Jj+ ll+ JI"""2+2'+2' ! Fl.u (Q~ + Q~+
J.-~ :tO:

a'

(8.3.7)

aD + (fll + If + In.

Fl ::c (Q! + Q Q~) + (111+ f;+ ;+

fl)

Fi= Q + 113. 1-5= (0; + Qj + Q~) + U?+ jjl + t:}, F6 ,,", J.-~ =Q~ + [,1 J

The lI$SC1llbled S)'litcllJ of equil tiOns a<;S9Cillled wiQl mesh'tl ru:e

U,
-I - I
1

0 0 0 0

0 0 0 4 - 2 - I 0 -2 4 0 -2 -I 0 2 - I 4 0 - 2 -I 0 0 0 - I

0 0 0

Q:
3

U, U,
U, U,

Q~+Q~+ Qt

0 I

/, ,.

3
1

Q3+Qi+Qt
Q~

(8.3.8)

Q;+QI+Q;

u,

a;

Note that at oode.<;4 and 6. both 1/ and q~ ;lJ'C spccjfied (II type.vf singularity in thespccifled d:ua). However: weslUllI give priority to the-primary vllrilibleo\'cr~sccond:tJ)' variable. Thus, we a~sume that
(8.3.9)

lind Q~. Q5. and Q6, a.';~u lJ)ed 10 be unknowlJ. arc dctermined in the pQ:o.tcompul:ltion, The .specified secundary degrec.,~ of freedon" are (1111 doo. to symmetry)
(8.3.10)

For example, C(lnsider the ~Ull1

Q~+

Q Qt == (Q~t +Qb) +(Qi~+Qj,)+(Q:, + Q~~) i+

= Q~I + (Q b + Qt,) + (Q~ + Q;J) + Q;! = 0 + 0+ 0 + 0

wbere Q~! ,tild Qt! ate~m bc!'(;3uscofq~ = 0 tlnd + QJ2 3./1d + Qt~ are1",cfO bee,luse of the bah.l~ce of fluxe.~ beIWt..'en MighbQring elemtQ1S. Sin~'\} the only unknown pth)lary v:l{i,lbles fQ( mesh TI arc VI . U ;lnd Va. lhe COtldensed ". equations fot the primary ul)kriowM can be obtained by deleting (OWS and oolunms 4. 5. ;lnd 6 from the system (8.3.8). III ~tro"pecL it woultl have been sufficient 10 write the tillite elemcnt equatiOIl,~ a$s(I\;iated with the global n(Kle!'! I, '2. and 3:
K nU,

Q k

Q i,

+ K 1lUZ + KuUJ => fi

~~+~~+~~+~~+~~=~

~~ + ~~ + ~~ +~~+ ~~ ~~

Noting that U4 := U, = Uo = 0, we can write the

eocffi(;len t~:

~lbove

equations. ill terms o( the element

K'

K~l + K 1

" + K~t

(8.3. 11)

K +K lz b

The unknown 'oC(;ondary V3riabk\ Q~. Qs. and Q6 can beCOn)PUfe<i from lheelemcntequati(lns

(8.3. 12)

Rw example. we have
Q4 = Q~ =: Q~I
, l

+Qh+Qb
~-~

"1 q;lPldx+l

q:~(h+J.\ -J q~"'~ ds
-=0

(83. 13<1)

,,, )
at
(8.3.13/1)

Thus., we have

Q4 = Qh= ( Itt)

Jf}

~
ih

(1 _L)
hlJ
JI~

tty

wbt:re dulax

i~

calculated using {JUh/&X from the finite element il1lerpohltion

~= L>;.!1...
I}x

'I

1''''

2/h

We ObtAin (h~ =a = 0.5. tJf

=-(1

=:

- 0.5. 2A j ", u1 = 0.25, u~ "'" Us "" 0).

=:-.

h lJ ~ 'Jll hlJ ) Jll JI Q'=-L-"J"J:- ( fI,Ul+ ,,!U~+"1ll)~ 4A l j~' 4Aj

0 51)

(8.3. 14)
we write lhe

Using the nUmerical va lues of the coeffic.ients K~ and Ci)f1dtnscd equations for Vb U1 and U~ as

It.

(with

lo'=" I).

0. - 2.0 0.0] U3 '1'3 1.0 [- 0.55 -0.' - 2.0 IV' I= 24 3 1 0.0 1.0 Uj
Solvioi (8.3.15) for U, (i ,"" I. 2. 3). we obtain

(8.3.15)

I 0.5 3 5.5 0.22917 , 0.5] 1 = -24 [,.5 I"" 1.ln08 I '1 , 4.25 31250 0.5 0.75 3 O.

(8.3.16)

448

"N I~TJI()I)U(1l0N TO Till. FINrr'F. ClIO.\lntr MI!TII(}1l

Md. from (8.3.12).

\1.(.

h;lVe

-(J.5 -1 o "]

IU' ) 1 . Ul'" -0.302083 )

0 197917
U~

(8.3.17)

-0.04 1667

By inlerpola(i{)O, Q4 1$ cq\lal to - O.5UJ. and il difTers fmm by the amount R (= J.&).

Svill/jon by Unc(lr Recwngll/ar f;.'/t''''('lIIJ

Qh computed from equilibrium

We ur;e a 2 x 2 (2 elclIlellls in the x direction and 2 ejement!> in the y direction) uniform mesh (mC!oh R I) of four line;!r rectangular elements lsee Mg. 8.3.3(a)] 10 di'>CfCtj7e a quOOf'J.nI of the domain. The 4 x 4 mesh (mesh R2) [see. Fig. S.3.3(b11 will be u<o,(:d f(lf comparison. Once; again. no dbcreti~ation error b introduced in the present C!i~. Sineeall the eli:mcntli in the me~h nrc identicul, we need to computc the t:k\~lcnt coeflicicllI matrices for only one i!lelllcnt. say eJclllcnt I. The element coefficient matrix is available from Example K:2.3 wilh u '"'" b. We have
J

IK' 1""6 ....2 -I

-I - 2

_I

I] 4-I -2 _
4 - 1 -2

4 -I
_I 4

If'l =

f~' iii

(8.:1.18)

The coefficient nUlIri" of the conde~sed equation:. for the primary unknowns in mesh RI cO'ln he directly assembled. There ~ four unknowns (al nodi::. 1,2.4. und ~). Thefinitecjement equ;\tions associated with the- four onknown~ ~re (noling thaI VJ ~ U~; U7 :=. U$ :;::; U9 ~ 0)
KnU j

+ K ll fh + KI~U. + K,~U$ = PI K~IUl + KnUl + K~4U. + K",U$ "" 6 K~lUI + K4l U J + KU~ + K~U~ "" F4 K51 U + Klllh + K<,.IU~ + KMU,:= 10',
j

(8.3.11Ja)

y
7

- '5;"'0
A"
4

"

(j)
123

~-~-~. . x

q,, "'-,,---= O on i)y

(al
(bi

"" ""

Figure 8.3.3 (a) Mesh R I (2 :x 2) of rl'ctangularclclIlcnls. (b) Mesh R2 (4 x 4) Qf rectangular

elcnu!tlt.\.

O IAI'TER 8 SI'IOI.I!\lAII IM'U' I'IIOtILlMS IN T.....O [)I:.tf.NSmS

449

",here KIJ and F, arc the global coeffidcms as

K n""" Ki l '
K 12
1 K1 I= K 1 ,..

c.~fficients.

which can be wollen in terms of the element

K 1 ::: K :4 .

K II "," K/,

K + K rl' 1

K24 "'" K14'

KlS= K~ + Kf~ K~s= K1+ K:'+K:J+ K;' F.""/~I

(8.3. 19b)

K,u .: K~+KiIJ'

A4 .\= KJ., + Ktl'

F, =

Ii +0:,

PI""!}

1 -+ 11

+o;+Qi.

+ III + Q + Q~ !

~=n+c+~+a+~+~+~+~
The bouodary coodilions on the secondary variablC!; are

Q: ,., O.

Q~+ of=O,

Q~ + Q~= O

(8.3.200)

and ttle balance of secondary vuriables al glUbal nQde 5 req\lire~

Qj + Q~ + Qi+ Q~ "" O

(8.3.2Ob)

Thus, the c':'n<\ensed equations for the prinllu}' unJ;I)(Iy/J1s are (fOr !.., = I and CI =. 0.5)
4 - I

- I 6[ - I

8 - 2

- 2 -2 - 2

-I -2] I I J.. I' I

-2 -2

8 .... 2
16

U, U.

U2

""

J6

2 2
4

(8.3.21)

Us

(8.3.22)
The ~ondary variables QJ'" Q1. 06 = QiI. llnd 0 , at IlOdes 3 (7), 6 (8). and 9. rcspccthely (by symmeli)'). can be computed from the equations (Q \ = Q Q6"" Qj + Q~. and i. 09= Qj)

K'I
K bl

=
II$"

o.
O.

K11 = K';I,

K:\4 = O,
1<64 = 0,
Kw;:: O,

K\$ .... K~

= 0,

K~'" Ki p

K6~= K~+ K11

(8 .3.23b)

K*I

K.u"" O.

K9S "'" K;,

Substituting the nu.mericaJ value:., we ObI:ain

I I=--I I'I I[0 =~ ~ =~] I~: I ~- lb:~~ 1

Q, Qe Q~

16

2 +- 0
I 6 0

-2

U~

O,I~679

{S.J.24}

450

A."

l"IRlJUI.,("JlO" roTHf nsm f_ :\lIoNl M[TiKll) U

Table 8.3.1 Comparho/1 of the finite elemenl wlution~ 11(0. y) with the serie;. solution umlthe Rill solUlion or (8.3. 1).
Tri~Rg\lIUf

detll.

Rccl30gularclcm.
M~Rt M~hR1 O.:!~84

Rill':
~<I! uli{l!l

Scri~'j;

,
0.00 0.25 0.50 0.7S 1.00

:;olulion
(1.S.40)

MeshTI

Mt--b T2
0.3(1)

(2.S.)9)
0.~12S

0.3125 0.2:708 1 0.2Z92 0.11460.0000

0.2:805 0.2292 0_ 1-'9] 0.0000

0.3107 0.2159 1 0.2.111 01205' '.0000

0.2824 0.2J22 0.1414 0.0000

0.2930 0._ 01367 0.0000

0.2947 0.2789 0.2293 0.1397 0.0000

Inr"'JlOl 3 1t(! ~llIQ

The /illile clemenl s\J lulit)n ~ obtaim:d by IWO different mt:~ hes ()f IriflUgular elcmCJIIS nnd two different UlC$hes of fL"Clllngular clcl11en\.~ arc OOmpllrcd il1l'~ble 8.3.1 With the 50-tenn serie., -.olution (al .f -= 0 fQf varying)') in (2.5.40) het I; := 1.80 = 10 "" I) alltl the ollcpatamcter Ritz ';olution in (2.5.39): ~ ahl) Fig. 8.3.4. The finite! element Mllution Obtained by 16 trisll&ulilf elellltlUS (in OIl) ()('tant) is the 1lIt)~1 accurate when comparetilO Ihe .series IoOlutiotl. Theaccutncy or the tria!).gular element Il\\!\h is due 10 the large number or clements it has compared 10 the number of elements in the 1\.'CI:lOgular element ml.:l;h for the same ~il~ of the domain. The SoI)Jution u and component~ of flu.~ (q . qy) ~n be computed at any interior point of the domain. For a point (.\, y) ill ell!lllCnt Q.,. we have (I;,... I)

II~ (.f. y) J::

.E If~ !Jr;(x, y)
j .. 1

0.35
~ \<I" el

Q.30

O.2S

<> ,;
~ ~
~

0.20 O_IS 0.10 0.05

'.00 0.0 0.2 0.4
-

,,

Rm: l\01\uion .1 I!EM (mesh TI)

AMlytical

.. :_0
~

.,
, ,,
1.0

",, " ,,

11 Fi!. (mesh T I ) / ' \ M

0.'

0.'

COOrdiJ13IC. \

.'igurc 8.3.4 Comparison of the tinite element solulioo with lhe two parameter Rill solution anti the llt1ulytical (I>Crie~) solutio!)..

CIlAI'TEK 8 SINGI.EVAkIA IIU! PROOIHlS INTWOOl.\I!'.NSIUNS

45 1

au~ ~ q'() =-4:-",,- L 11 ~a",.~ ~ y .~... 8)' "01' dy'

(S.3.15b)

The negati.ve sign in the delinitiQfl of fluxe~ is dictaled by the phy~h.."!' of !he prot\lenL Here we illttrpreled the problem at hand to be <me of heal tram.fer. Note that ((It a linear triangular elemen!. q~ and tI, are constants O\'cr an entire elel)lent. whereas fjA is unear in y and q ~ is linear in x for a linell1 rectangular element. For e.<mmple:. consider element I of mtlsh Tl of

triangular e1c:menlll

k ' q!(x, .\.) = -2"A L>:r/ = -2{UJ t ,~J

VI) = O.l().l 17

Clearl),. the gradient/> (and hence: the l'Qmponcnts of flux) are Clm\tilnt. Fur element I of me~h RJ r:languJar cltment (four elemtlnts) we have
1(; (x, ,.\')=-4:

8\11! LU! -, =2U1(1 -2y) I /.. , X

4

2Ul(1 - 2.\') -4yUs+ 4yU4

(8.3.26b)

q1 (0.25. 0.25) =0.1 1785

~ 11.;1 q!(x, y)= -k Ltl !~ =2U.( 1 -2r) -

,.. ,

oy

WI(I -2r)

- 4.,U~+4xU4

q!(0.2S. 0.25) ~O. 117S5

Plots uf q" obtained by mesh T! (8 dements) and mc..,h T2 (16 clements) of linear triangular eJemellt~ as a function of ..I' (for y::c: 0.0) otre shown in Fig. lU.5. 'flle compuwlion of is(Jiille!i. i.e., line~ of C(}I1stant II. for linear linile ~!emtlnts is sln,ightforward. Suppo..~e that we wt~h to find 1/ = 11 1) (conSlunt) i-wline. On II side of a linear triatlj;le Q( fL "'1angular element. the wlution If varil$ according I\) the equatiQn .....
u ~(.r)"", lI i +"""'::""-'l
II~ -u~

wbere.5 b the.local coordinate with its origin at node I of!he side. (II,. I/;):'Ire the: nodal \~Jluc~ ('iCC Fig. 8.3.6). and Ii is the length of the "ide. Th.en. if U Jill U 1iC$ on the line (i.e.. II~ < U! < "i IJ f. Of uj" < Ill} < 1If). the pt)int Su at which U~(~()) #'UIJ is gh'en by

"

.so =

(110 .....

(u1- u

un"

(8.3.27)

Similartqu;ltinllsapply forOlhcr sides (I(theelement. Sinct: Ihe ~()lution vruie.~ linearly between an)' tv.~1 pOinLS of linear elements. the isojiJle is determined by Joining two pOinh OIl any \\100 ~idcs of \.h(ocJcment for which /8.3.27) gi\-es a positive: \~.I1ue (and ~l) < h ). For Quadratic elemenl'. i~{)l ine.\ are dctemlioed by finding three poinlS .s, in the clement at which ui(.1"/) =uo ( i = 1,2. and 3):

.so
-:>:;

-bJbl -4ac >0 2a

(8.3.28a)

452

I\~

INT KOI)I

n lO~ TOllI FH ~ITIlUX MF'TMnI IOIl

0.7

0.'
0.5

a; " ~

0.4

r -~

I I

~- oJ ~
O.Z 0.1
0.0 0.0
0.2 0 ..

-.
TI)
0.8

0.;

1.0
(~ries) ~olution

Co()roinJtc,X

"'igure 8.3.5 COOlp<lril;(ln uf ~hc 01)itc element t'Oluti(l/1 with the analytkaJ q~_(x, 0).

of

wberc (S.:'UKb)
Equation (8 .;l.28il) is 10 be ;J,ppJied On !iny thrce.llncs in tj]ee,lemcU\ ulltil three dJfTcrent values It .,. So > 0 are found, The probkm cO(l~jdered here ha~ ~everil l ph)'!'ic~iI interpretations (I)cC l'.I\:1lc 8.l.l). The prohlem can be viewed as One of finding the. teOlperolurc Ii in il unit Squ;lre with unifonn illtcrn~1 he,ll generation, whc.rc tot' ~ide&- J" "'" 0 and y <::: 0 ,Ire insulated Md the Other lWQ si~ OftoSu\:ljc.:tcd to ZCrQ lempcr'4l.1J(l; (!lee Section 8.5. I). Anothtlr interpretation Qfthe cqumjO(li~ that it dcfine~ the. lo(~ion of a 2.in~hs.quarc crQ5l!sectiomll cylindrical har {~ce Sectjlln H.$.3). In thi~ case, /I denotes the l>tress function 1jI, and the CQIUp<"lnenQ; of the gr,ldienl oCthe ~l uU()n

Isoline
J
" ,? u~

.---b""'--7'

Figure 8.3.6 lsolines f(lr linear triangular i!od qU;)drilldcral elements.

arc the ,tresses {which art (,If primary intcre~l):

C ii the shear modulus and /} !s the angle ()C Iwi~t PCI' unit lenglh of the bar, A Ihir(l iJl!erprNfltj(l1l of HU.l) i~ providl..'d by groundwater {seepage) anrJ potcnli:ll fl,)W prl)bleDl~. In Ihise,~,e, II deno\.CS the piC101llctric hcadtP. Slte,un fuoction ",.01' velocity potential '" (~ Section 8.5.2), The x and." COmpOIlenh of the velocity fur the groundwater now arc tkfinttl as
~hcrc

where tl]J and an arc the

r~alllpies

pconcabililit~s of the soil along the x ttfld )' directi(lIIS- rc\pecthcly. or each or Ih<"se iield problems will be ,.;Qn~ickred in &clion 8.S.

8.4 SOME COMMENTS ON MESH GENERATION AND IMPOSITION OF 1l0UNDARY CONDITIONS

tI.4.1 DiscrctiWliOIl oflll)omuill Thc rcprcsenl:ltion of a given domain by a collect ion of linite elemcnts requircs engineering Judgement o n the part of the tillite clcment practitioner. The number, type (e.g .. linear or quadr:ltic), shape (e.g .. triangular or rcctangular). and density (i.e .. 11le~h refinement) uf element~ used in a g iven problem depend on a number of cOIl~ ideratiOI1 ~. The first con~ideration i~ to di~cretize the domain as clo~cly a~ pm~iblc with clements that arc admis~ible. A~ we shall -.ce later, we C:1Il usc one "Ct of clements for the approximation of a domain and another set for the solution. In dbcretiLing a domain. cun.,ideration IIn"t be given to an accurate rcprcM!ntation of the domain. point sources. di.'>lribUled source .. with discontinuitie<; (i.e .. sudden change in the intensity of Ihe source). and lll'llerial and geometri c discontinllitie~, includi ng a reentrant curner. The discretization ~ hou Id inc lude. fur example, node .. at point source" (so that the IXlilli source h accurately lumped at the node), reentrant comers, :md clemcnt interfaces where abrupt e h ange~ in geometry and material propertie<; occur. A second considcr..lIioll. which requires some engineering judgement, i~ tu di<,cn::tiLc the body or ponion~ of the body into ~ufticicntly slll.11I clements so that steep gradients of the ~olution are accurately calculated. The engineering judgement should come frum both a qualitative unden-tanding of the beh:lviorofthe solution .md:1Il estimate or the computational costs involved in the rne ~ h refinement (i.e., reduci ng the size of the clements). For example. con~ ider the inviscid fl ow around a cyl inder in a channel. The fl ow entering the chan nel at the left goes around the cylinder and exits the cil.mnel at the right (see Fi g. 8.4.I(a)l. Since the section:1I the cylinder is smallcr than the inlet section. it is expected that the flow accelerates in the vic inity of the cyli nder. On the other hand, the veloc ity field r"r from the cylinder (e.g .. :It the in let) is essent ially unifonn . Such knowledge of the qualitative behavior of the fl ow .. 1Iow<; us to employ .. COiIf');e mesh (i.e .. clements that are relatively

454

"" INTROOCGIO" ro"II' FI"'ThULMIJ<. r MI:IHOU

7'1
(")

'\

(b)

folgure 8.4.1

(tl) Flow of an in\ iM: id nmd around a cylinder (sl rC;lIlIlincs). (b) /I. typical mesh for a quadrolnl of the domain.

large in size) al siles suniciently 1'.11' from the cy linder. and a fine one at closer di s tan ce~ to the cy linder Isee Fig. 8.4.1(/J)1. Another rellson for usi ng a refined mesh ncar the cyl inder is to accurately represent the c urved boundary of the domain there. In general. a reli ned mesh is required in places where " cute changes ;n geometry. boundary conditions. loading. material properties. or solution occur. A mesh refinement should meet three conditions: (J) Al l the previous meshe~ should be contained in the current refined mesh: (2) every point in the body can be included within an arbitrarily small element at any stage of the mesh refinement: and (3) the same order o f approximation for the solution should be retained through all ~ tag es of the refinement process. The last requirement eliminates comparison of two different approximations in tWO different meshes. When a mesh is refined. care should be taken to avoid elements with very large aspect ratios (i.e .. the ratio of one side of an clement to the other) or small angles. Reca ll from the clement matrices in Eqs. (8.2.48) and (8.2.53) that the cocflicient matrices depend on the rmios o f {/ 10 band b to fl. " 'here a and b are the length .. of clemems in the x :md y dircctiom.. respecti vely. If Ihe value of {lIb or bI" i.. very large, the re:.ulting coeffici ent matrice<; are ill-conditioned (Le .. numerically nOI invertible). Although the safe lower :lUd upper limits on bla are believed 10 be 0.1 and 10. respectively. the actual values are much more extreme and they depend on the nature of physical phenomenon being modeled. For example. in the invi!'.Cid now problem discussed above, large a~peel ratios are allowed at the entrance o f the channel. The words "coarse" :lnd "fi ne" are relative. In any given problem. we begin with a finite c lement mesh that is believed to be adequate (based on experience and engineering judgement) 10 solve the problem at hand. Then, as a second choice, we select a mesh that con <;i~ts o f a larger number o f elemenls (and includes the first one :IS a .. ubset) 10 "olve the problem once again. If there i~ a significant d ifference between the two sol utions. 'A-e sec the benefit o f mesh refinement and further mesh refi nement may be warranted. If the difference is negligibly ~ma ll . further me!>h refinements are not necessary. Such numerical experiments with mesh re fin c me nt ~ are not always feasible in practice. mostly due to Ihe computational costs involved. In cases where computational co.;t is the prime concern, we must depend on our judgement concern ing what is a rca~onab l y good mesh, which is often di cta1 ed by the geometry and qualitative under<;tanding of the variations of the sol uti on and it s gradient. Since mo-;t

CHAPTU 3 SI:-IGlEVAMIAIIU: I'IIOIIIJ:~IS rNTWO [)I.\I[I'SIUI'S

455

pr.lctical problems :Ire approximated in their engineering formulations. we should not be merly concerned with the numerical accuracy o f the solution. A feel for the relative proportion~ and directions o f various errors introduced into the lmulysis helps the finite element pr.lctitioner 10 make i\ decision on when to STOp refining 11 mesh. In summary. engineering knowledge and experience with a given class of problems lire essential to a sui ta ble Illrmericul study.

8.4.2 Generation

or Finite Element Duta

An impon llnt P.1r1 of finite clement modeli ng i~ the mesh genemtion. which involves num bering the nodes and clemcnt\>, lUld the generation o f nodal coord inates and the connectivity matri x. While the ta'>k of generating such dala is not difficult, the type o f the data has an effect on Ihe computational efficiency as well a" on accunlcy. More specifically. the numbering of the nIXies direct ly affcct~ the hand width of the final a~sell1bled equations. which in turn increases the sTOrage requi re ment and computati onal co~ t if equation so l ver~ with the Gauss elimi nation procedure lire used. The clements can be numbered arbitrarily beca use it ha ~ no effect on the half-bandwidth . In a general-pu rpose program with a preprocessor, opti on ~ to minimize the bandwidth are included. The sltving of com putational cost due to ;l smaller bandwidth il1the sol ution of equations can be subst:tntial, especially in p roble lll ~ where a large number of nodes and degrees o f freedo m per node are involved. While clement numbering does not affect the half-b:mdwidth. it Illay :lff<."Ctthe cOlllputer time requ ired to assemble the global cocO ient matrix (usually. a very ~ma l l percentage of the time required k to solve the equation,,). The accuracy of lhe finite clement solution can also depend on the choice of the linite clement mesh. For in'lWnce. if the mesh se lected violates the symmetry pre~e nt in the problem. the resulting solution will be less accumte Ihan one obtained using a mesh Iha\ rrgrees with the physical ~yrnmetry present in the problem. Geometrica lly, It tril1ngu ll1r element has fewer (or no) Ii ne~ o f ~y rnm e try when compared to a rectangular elemen!. rrnd therefore meshe~ of triangu lar clement" should be used with care (e.g .. select a mesh thm does not contradict the mathe matical symmetry pre'\Cnt in the problem). The effect of the lillite element meshes shown in Fig. 8.4.2 on Ihe <;(Ilution of the Poisson equrrtion in Example 8.3.1 is investigated. The finite element ~(l l ut io ns obtained by the three meshes are compared with the series solution in Table 8.4.1. Clearly. the sol ution obtrrined usi ng mesh 3 is le\~ accurate. nlis is eXp<."Cted bcc,lU ~e mesh 3 i ~ symmetric about the diagonal line connecting node 3 to node 7. wherea~ the mathematical sy mmetry is about Ihe diltgonal line connecting ncxle 1 to node 9 (~cc Fig. 8.4.2). Mesh I is the m o~t desirable o f the three bccau~e it docs not contrad ict the mathematical symmetry of the problem. Next. the effect of me~ h refi ne ment wilh rectangular e l e me nt ~ is investigated. Four different meshes o f rect:lIlgular eleme nl ~ arc shown in Fig. 8.4.3. E:lch o f the Ille~ h e~ conlains the previous mc'>h a" a "ubsel. 111e mesh shown in Fig. 8.4.3(c) is nonuniform : it is obtained by subdividi ng the I1rst two rows and columns of clcment~ of the mesh ~ how n in Fig. 8.4.3(b). The fi nite clement solutions obtained by Ih e~e me~ h es are compared in Table 8.4.2. The numerical convergence of the fi nite clement \Olution of the refined meshes 10 the ~e ri es solution is apparelll from the resu l t~ presented.

456

A.~ jJ\'Tlm[)\lCrlO~ T(lTH~ IT"lrE ElE-\IENT M~TlIOU

,, ~ O

-k-_...!8i<-L.., 9
11=0

,
2
)

,
2

_~:O
i\y

-~ = O
i\y

(bJ

'd

Figu re 8.4.2

Variou~ types oftriangl.llar-clcrncntlllcshcs fOrlhe domain ofEx:mlple 8.3.1: (tl) mesh I; (bj mesh 2: ami (,'j me~ h 3.

8.4.3 Imposilio n

or Bounda r y Conditions

In some problems of interest we encounter situations where at a point of the boundary both primary and secondary degrees of freedom are specified at Ihe same point. Such points are calied singular poilllS. In this Case we impose the boundary condition on the primary variable and let the secondary variable take its value (calculated in the postcomputation).
Ta ble 8.4. 1 Comparison (II" th e linite clement solutions obtained using va rious linear triangularclcmcnt meshes! with the seri es solution of the problem in Exwnpk 8.3.1.
Finite element solUli on

NOOo

Me~h

Me,h 2

Mesh 3

Series ,olut;on

3
4

0.31250 0.22QI7 U.22917 (). I 7708

0.29167 0 .20833 0.20833 0.18750

0.25(0) O.20!UJ 0.20833 0. 16667

0.29469 0.22934 0.22934 0.18114

tStt Fig. ~.4.2 for the finite clement nleSlIe,.

CHAPTER 3 SIJ'oIGlW,'UMII..E PII(lIII..F.MS '" T.....O I)I~n~'s,o"s

457

(0)

(b)

(c )

(d)

Fig u re 8.4 .3 M es h rcHncrnent: the meshes in (a ). (b). mill (d) a rc lmifo rm ; lh e mesh in (c) is nonuni form: (a) 2 x 2 mesh: (b) 4 x 4 me sh: (') 6 x 6 mesh: a nd (l/) 8 x 8 m es h .

This is becausc Ihc boundarycondilions on the primary variables areoHcn maintained more strictly than those on the secondary variables. or course. if the problem is such lhal the essential boundary conditions are:t result of the n:ttural bound:t')' conditions. then we must impose thc l1uturu l boundary conditio ns. Another type of singulari ty we encounter in the so lution of boundary valuc problems is the spec ification of two ditTcrcnt values of a primary variable at lhe same point.
Table 8.4.2 Convergence of the fin ite element solUl ion (wi th m esh refinement)' o f the problem in Example 8.3. 1.
Loc,'li on

,
0000
0 .125 0.250 0 .375

hnilC clement sol uti on

"

.. 4

0,6
0.2964 1 0.29248 0.2!!O55 0.26022 0,23UIII 0.1 4064 0.2!!1I62 0.26580 0.22960 0.18282 0.07481

8"
0.29560 0.29t67 0.27975
0 .24~3

Series Ml lution 0.29-'69 0 .29077 0 .27888 0 .25863 0.22934 0. 19009 0 . 13973 ()(l76l17 0 .28692 0.26415 0,22199 0. 18 114 0, 12757 0,072112 (l.O25 10

0.500
0.625 0.750 0.1175 0.125 0.250 0.375

0.0 0.0 00 0.0 0.0 0.0

(l.(l

0. 3 1071

0.29839 0 .211239

0.24 107

0 .23220 0, 14137

0.0
0125 0 .250 0 ,375 0.26752 0.19286 0. 1838 1 0.01506

0.""
0 .625 0.150 0.875
j See

0.50
0.625 U.750 0.875

0.23005 0.1 9067 0. 140 14 0.(l770') 0.28781 0.26498 0.21873 0. 18179 0. 12813 0.07 332 0.0256 1

Fig, 11. 4. 1 r.... ,1M: finn. d"IIIenl n4""<.

458

AJlIV11l.00t.!CI1I.Jt<TO'Olr H"nl' I:UJ,n ' \ f\I""OI)

'a)

"

I"
4
3

Us~,o/
5

Ir
11

25

Ib)

.
6

1<)

4 )( 4 mesh

11

16

21

I.

21

81

U9 ,~
(ti)

Ifl
75
74

75
I 10

73

"

8)(8 mC!>h

I 10

73
(a)

Figurt' 8.4.4 EITeer of spt."Cifying 1\00'0 values of a prinmry ..."riable :u :. node Inode 5 in
and node 9 in (t) and (c/ll .

:lIld (hI

An example o f ~m: h C:I\C" is provided by the problem in Fig. 8.4.4, where II is "peci fied 10 be lcro on the bou lldl.lry defined by the line x = 0 :ltld i ~ ~pccified to be unit y on thc boundary defined by the line y = l. Consequently, at x =0 and y = I. If has two d iffercm v,tlue~. The analyst rnu "t make a cho k:c between the two v'llues. In either case. the tme boundary condition is replaccd by an app roxi mate condition. Oftell . the larger value is used to obtain a conservative design. Thc closcness o f the apprnxi m:ltc boundary condition 10 the tnle olle depends on the si/cofthe clcmen! cont:tining the point (M:C Fig. 8.4.3). A me.,h refinement in the vicinity of the ~i ngula r point often yields an acceptable solut ion. Additional commellt" 0 11 the cho ice of element geometry. me~hes. and load-represcnt:llion in !inile element :maly ..is are presented in Section 9.4.

8.S API'L1CATIONS
X.S.1 Conduction and COIwcclion Heat Transfer In Section 4.3. heat transfer (by conduction and convection) in one-dimensional (axi:.1 :llld radially symmetric) syMerm was. considered. Here we consider heal transfer in two dimensiunal plane and axi.. ymmelric "y~terns. The deri v:uion of two-di lllcnsional heat t r.lI'l~ fer e(luations in plane and axi'Yllllllclric geometric!> follows the same procedure a!> in one dimen"ion but the heat transfer is in two directions. Details of such deri vations can be found in textbook" on heat transfer le.g .. Ho lman (1986) and O/.isil.: (1985)1. Here we record the governing equations fur various C:l"C". conqmct their fi nite element mooels, and presel11 typic:! 1 applications.

For heat cunducti on in plane or axisymmetri c geumetries, the finite e lemcnt models dcveloped in Sections 8.2 and 8.3 arc immediatel y ap plicable with the followin g interpretation of the variables:
II

=
:!!

7' c: temperature ("C)

negmive of hent Ilux IW/(m 2 C) 1 all,022 3! conductivitics I W /(m . O Cr] of an orthotropic medium whose principnl material axes coincide wi th the (x. y) axes [ s: internal heat gencr.Jtio n (W / m 3)
qn
(100

= 0

(8.5.1)

For convection hcat transfer, Le., when heal is transferred from o ne med ium to the surrounding medium (often. a Ruid) by convection, the finite element model developed earlier requires some modification. lllC reason for th i~ modificat ion i ~ thllt in two-dimensional problems. the convective boundary is a curve as opposed to a point in one-di mensional problem". Therefore, the contribution of the convection (or Newtun 's type) bou ndary condition to the coeffi cient matrix and source vector are 10 be computed by eva luating bou ndary integrals involvi ng the interpolation function s of clements with convection OOundaries. The model to be presented allows the computation of the additional comribulions 10 the coeffici ent matri x and source vector whenever the clement has the convectio n boundary condition. Plnnc Systems The governi ng e(IUmion for steadY-~l lIl e heal tmnsfer in plane syste ms is a special case of (8.2. 1) and is given by
- ax k, ax

"( dT) - Jy (k,. aT) = [ (x . y) d ay

(8.5.2)

where T is the temperature (in C), k. and k,. are the Ihennal conductivi ties lin W/(I11 ' C)] along the x and y directions. respectively, and [ is the intemal heat generation per unit volume (in W/m 3). For II convecti on boundary, the natural boundary condition is a balance of energy transfer across the boundary due to conductionlUul/oreonveclion (i.e., Newton's law o f cooling):

k., -. - II, ax

aT

+ k, -.-

aT
fly

fl ,.

+ fJ( T -

Too) = (In
tr.tn ~fer

(8.5.3)

W /( m 2 . c)1. T"oJ is Ihe (ambient ) tellll)Crature o f the surround ing nuid medium. and

coct1icicnl) lin (I" is the ~peci fied heat flux . The first term accou nts for heat transfer by conduction. the second by convection. imd the th ird accounts for the spcc itied heat flux, if any. It is the presence of the term {3(T - l''""(J) that re(luircs some modification of (8.2. 10). The weak form of (8.5.2) can be obtained from (8.2.8). The boundary integral should be modified to accou nt for the convection heal tran ~fer boundary cond ition in (8.5.3).

where fJ is the convective conductance (or the convective heat

460

AN 1:-11 MOOUC llON 'IOTIIE FINITE ELE.\1f.NT METIlOI)

The coefficient of 11'. k,(JT/iJx)n,. +k\(iJT/iJY)II\. in the boundary integral is replaced with q" - {3(T - 7~):

0=

ax ax 1 ( awaT 1 ( iI,, aT
n,
r!.

Ow aT (, - - +k\,--.--wj ) dx(iy ay iJy Ow WI' k, -.--.-+ky-.--.--wj) dxdy iJx ax iJy iJy

r.

aT) w (aT II ,,+ k,, -.- n,. ds k,,-.,Ix iJy

WI({,, - #(T - 7;"") ld.I'
(8.5.4a)

r.

= BCII'. 1") -1(1')

where II" is the test function and BC" .) and I (.) arc the bili near and Ii near forms. respectively,
8(\1'. T)

ax 1 ( 'war
n,
~

awar) k.. - - +k,---.- (ixdy+ iJx - ay oy r.

I~ ~

f:

f3wTd~'

(8.5.4b)

1(T) = ll1' j dXti y +t f3WToodS+t. II'q"ds

The finite element model of (8.5.40) and (8.5.4h) is obtained by ~lIbstitllling the finite element approximation of the form.
T =

" L 'l~~1/Jj(x, y)
j=1

(8.5.5)

for T and

Tjlt

for

IV

into (8.5.40):
r "'CK 'J ~
j=1

"

+ Hf.)T~ = IJ J

p.~ I

+ P'
,

(8.5.6{/)

where
K ~'. =
I)

1 ( al" a,v
fI,

'wa /) k.. --' __ +k . - - __ dxd y J ' J ax iJx > iJy oy

(8.5.6b)

Note thai by sctting the heal transfer coefficient fJ to 7ero, we obtain the heat conduction model thm accounts for no convection. The addition<l l coefficients Ni) and P due to the convection boundary conditions can t be computed by evaluating boundary integrals. These coefficients must be computed only for those clements and boundaries thm are subjected to a convection bound<lry condition. The computation of the coefficients for the linear triangular and rectangular element~ is presented in the following paragraphs. The coefficients H,j and P( for:l line:lr tri3ngular

CIIAPlT.R~. SIM1I.1o. V~RIAIII I- l'IIOtII.f\IS ," T\HI IJIMFJ<.SIO>JS

461

clement are defined by

P t

pr2'1)..2 { hll 1/1;' ({.\. + /3;] T;; '

J u

Jo

) 1/Ir d.1 +

.B~1 T';"1 t ;, 1/Ir d.r

(8.5.7)

Jo

where prj is the lilm eocftident (a~sumed to be I.:o n~t a nt ) fo r the side I,;onm:ding mx:les i and j of element n~, T:.!. is the ambient temperature on lhe side, :md hJj is the length of the side. For a rectangul ar clcmcll1 . expressions in (8.5.7) Il1U ~ t be mooified \0 al.:COUnl for fou r line integrals on four side<: of the element. On ly those line integmls that have a convection boundary condit ion need to be evaluated. The boundary i ntegral~ arc line i ntegral ~ invol vi ng the interpolation functions. The local coordinate s is taken along the ~ ide. with ils origin at the lir<:t node of the !<tide (SL--C Fig . 8.5. 1). As noted earlier. the interpolati on funct ions on any given side arc the one-dimensional interpolation function s. TIlcrefore. the evn luation o f integrals is made easy. Indeed, the inlegr:ds

have been evaluated in Chapter 3 in connection wi th mass matrix cocnicicnt s and source vcctor coefficiell1s for linear and quadr.ttic c leme nts. We !<tummari:t.e the results here.

,-,,_--:::.,..;6>--'---1' 1 Side 3
Side 3 (h l6 )

8ide2

4 ,

d' \ \

// "dOj",O;" ,
\
\
/'

A.

Boondu ry of t he discl'('lized

Boundary of the

..-

...-

Boundary of th e
problem domain

Boundary of the problem domain

/'

"igun: 8.5. 1 Triangular :Uld quadri laterJI clements. wilh nude nu mbe .... :lnd local ClKlrdin3lt:s ror the eV:ll uation of the boundary inlegrals. Also show n :Ire the bou ndary approximation and flu.'I: represe ntation u~ing linear and quadrat ic c lcmcllls.

462

AN l'I11(OI.>U( "I'IO N TOTIII. IINMll fJ\tI:NT MlITHOO

Linear Tr;(III1:lIlor Eiemelll

TIle tnatril:CS Ill ' ) and I P' I arc given by

I , IIrJ = fJ 12 I"' 2 [' 2 I

6

0 0 0

~] + ~;".;, [~ 6
0
I

,
0

I IP' I = P'12 1''' I' ( 1 + P' T" I' '23 r.. '12 23"
2 0 2

rI p' H I
+
.11 1'''1' ' :;>:> Jl

0 0] +~ [' 0 I' I 0 6 I 2 1 0

~'

~]

(8.5.8(/ )

(8.5 .8hl

QII(I(/mlic Trial/g lilar leml!lII

prj =

I1r3h'il - I
30 0 0 0

4 2

,
2 0

- I 0 0 0
2 0 0 0 4 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

16

+ /:Ir5h ~s
30

0
0

0 0 0 0 0 0 0 0 4 0 0 2 0 0 - I 0 0 0

16

,
0

0 0 2

0 0 0 0 - I 0 2 0 4 0 0 0

+ 30

.B~ lh ; 1

4 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - I 0 0 0 2 0 0 0

- I
0
0

,,
0
4

2 0 0 0

(8.5.9a )

16

{ I)' , =

tr '1'''1'13 n """ ~
6

0 0
T +3S'>u

I
0 0 0

P"

35

h'.lS

I
4

SI ,, /J" r ...., , ' SI SI

0 0 0

(8.5 .9h )

I
0

I
4

Linear Rectal/Xllfar Elemelll

The matrix I H ' I is of the form

111'1 = fJ l1

, Ii"
12

['
I

0 0 o 0] 0 0 0 o 0 0 0 o

,
I

/:1;-,11 2 [0 0 I . 0 2 ,
6

0 J 2 0 0 0 0 0 0 0

~]

P' h' + ....1::L!.!

6

[~ 0

0 0 0 0 0 0 0 2 0 0

, p:~.:, [~
] +

oo 0~1 ]

(8.5. 1(1<.)

(HAI'lli '" S SI~GL E , VAII.IAI!LE I'KOBLH'~ IN 1"\\'0 OL\'bN~I()NS

463

and [prj is given by

0+21+21 o 0 1

:1 P;'T~"h l~ 1 Pi'T~"i' I~ 1 ft;'T;;";' I~ 1

+ 20 1
(8.5. lOb)

.)lmilar expressions hold for a quadratic rectangular clement.

Axisymmctric Systcms
For symmetric heat transfer about the z axis (Le .. independent of the circumferential coordinate). the governing equation is givcn by I - [ - - rk, r or or where r is the radial coord inate and ncglltivc of heat flux) by

0 ( aT) + -az ( aT)] =f(r,z ) il oz

k~-

(8.5.11 ) vector (i.c ..

z is the axial coordinate. We define the flux

11 =

aT. aT.) -i+kz-- j . (k,or oz

+ k z aT) iJ z 11 ~
(8.5.121

and its normlll component across the surface is aT q" = ( k, i);l1r

where 11 , and I1 z are the direction cosines of the unilnorma l fi

The weak form of (S.S.ll) is given by

0 = 211"

1 ! [ a( ar) + -a(ar)] I
W -

I --;-

fl.

riJI"

krr-.-

al"

!Jz

k~-

(Jz

- f rdrd z

= 211"1
fl,

(k,~waT + k~ 8waT ar or 8::; oz

- wf )I"drdz- 211"J wq"dJ

J;,.

(S.S.13a)

where 211" is due to the integrat ion with respect 10 the circumferential coordinate over (O. 2Jl"), and lI" is given by (S.S.12). The convection boundary condition is of the fonn

Substituting for lin = - (3(T -

0 = 2Jl"

1(
fl,

+ #(T - Too ) = (in T,..,) + (in into (S.S.13a), wc obtain aw aT ow aT ) k - - +k. - - - w( rdrd z
q"

(8.5 . 1310)

r or

or

(/ z oZ

- 211"J 1I'1 - {3(T-Too )+q"jdJ J;.

(8.5.14)

464

AN Ir-ITilOOUCT ION Til TIll' l'INr n: I.LEMI:~'T MliTllO IJ

The finite cle ment model of (8.5. 11 ) with convective boundary condition (S.5. I 3b) is

I K' + H'JIT') ~ In + \1"1 + IQ' J

where

(S.5.1 5a)

!,~ =2tr

ln,

r 1/1; f (r ) rdrtl :

(8.5. 1511)

Evulutllion o f the integral s in I K ~ l. I N' I. (PI. and (P ~ l follow s frolll the di scussion 01 Section 8.2.6. C learly. the finite clement models in (8.5.00) and (S.5. ISa) are valid for Newton's tyPl' (i.e .. convective he:lt transfer) boundary conditions. R:ldiative hellttransfer bound:lry condi tions :Ire nonlinear and therefore are not considered here. For problems with no convecti ve boundary conditions, the convective contributions I N ~ I nnd II" I to the element coe ffici el11 ~ nrc omitled. In addition. the convective he:lt transfer co ntributio n ~ hnve to be included only fo r those clements whose sides fall on the proble m boundary wilh convection heat transfer specified. For example. if "ide 2- 3 ofa linear triangular e le ment n, is on the bound nry with convection boundary conditions. then the only contribution to II-f ~ I and I pel comes from the second integral of respective expressio n" in (8.5.7).

Eumpka!.l _________________________________________
Consider 6leady..sWebeat cOfkilK:t.ion i.n an isotrQpic rectangular region of dimensiQlJ5 3(1 x 2a lset Fig. 8.5 .2(M}. The origin of the x and .~' CiXlfdinales IS taken at the lower left comer such thai x is parallel 11) lhe- ,ide 3a and y i, parallel to ~ide 2iI. 'The boundaries x 0= 0 and Y =0 ate i.nsulatoo. the boundary x '" 30 is maint:lined at lero temperature.nd!he bOundary y "" 20 is maintained 81 a temperature T =ToCQS{Jrx / 60). We wish 10 determine the temperamre dislTibulion using the fimtc element melbod in the region and th!! bent required at boundary x ~ :in to maintaIn it at zero u:mpernture. To :l.nalY7.e the problem. first we note that tbe problem is governed by (8.5.2) with wro internal heat generation, f = 0. and no convectiOI) bouodary conditions:
(tL~.16)

lienee. tbe finite clemen! model of the problem is gi\en hy

!K'IIT'J ~

lifl

{a'

10

It

12

CD
{cHi

0
7

CD
1

CD
2

0
3

.lgure K.S.2 Finite clement !lnaJ)'si~ of II heat c()ndU<:lion problem o\'cr a rt!('1angular dOlu;lin; ((I) domain; (b) Illcsh of linear triangular e\clllcnt~: and (c) mesh of linear i'OClIJIl!lular e1emcnJ\.
where 1{ is ~he tempermure lU node i of dement (2.. Rnd

SUPfX.*C that we usc a 3 )( 2 m~h (i.e.. 3 subdivj~jons along the .\ 3\ls lind 2 subdiviMon~ along tilt! y axis) of lillCar !riangu!!lf clements ;'Ind then with a 3 )( 2 mc~h of linear tcctallgulllT clt-menl!>. a.~ shown in Fig. 3.5.2(h) and 3.'s.2(c). BOlh mc"he." huve the 'oDlne number of glohal

nodes (12) bul diffcrina; number!> of clements.

Tri<mgu/ar Elemenl M I"" (12 flt'lllrnls)

TIle global node numbers. eicmcll\ numoors, and clement node numbers used are shown in rig. g.s.2(1). Of COUN:. the glnoa! node numbering und clement numbering is arbitrary (docs not have t() fQllow any rarticu lilr plillern). although the globlll nude numbering dictates the sin;: of the half bandwidth of the Il~\Cmhlcd equations. which In turn ~flCct~ the ~l)mpulation~1 time of Gau~s elimination nlClhod~ u.... in the solution of algebroic equations in a computer. The -d clement node numbering scheme should be the one that i~ u!>Cd in the dc\'ei',pmcnt of element Intel'pC)lation functions. In the pre..ent Study aCQUntcrclt)ckwi~ lIumbcringsy~1Cm was adopted (-ee Figs. 8.2.4 and 8.2.8). By a I>Ullahk numbering of the e lemellt nod~. all s imilar clements can he made to h:wc the :>ame element coefficient matrix. Such con~ideratilJm; are important only \\-OOn hand ca1culati()n~ are carried out.

For" typical el(!ment of the mc... h of lIilmgles in Fig. 8.5.2(b). the el.!01enl mmdx is givcQ by [see Eqs. (IlJA) and (!:U.5).

c(~Oicient

!K'l= ~

,[ 1

-I

(8S [7)

where k is the cl,mductivity of tJ~ nl<.!dium. NOle thai the elcflwm matrix is indcpcndem of the Size of the clement, ns long ilS the element is a ri.!!hlangte triangle with its ba~e equal to its
height.

The

a$~mbly

of Ihe elements (in a cC,\mputer) fo lluWi the logic discUiSL'd earlier, For

example. we have

KI_~=KJ2::::2(-I).

K)o=Kn+KlI""O+O,

CIC.

PI=Q:+Qj.
The boUJldary c(\,lditions

1'6=' Q.~+Qr+Q;+ Qi+Qr+Q~(l.

elc.

reql1jr~

th31 (Vi lknotcslhc temperatu re al global node i)

UW='TT(l.
(85. 18)
F! =' F-,.= F)

.fi

=F~ =0

(1.em heal flow due 10 insulated boundary)

rcqui~

and the hlllancc of il'll~maJ heal flow

th:u
(8.5.19)

Thus. the ullk.n(lwl\ prj,nary v:l.ril' hlc~ and <;econdary

vU{jablc.~

of the prohlem afe:

V,.
F~,

U2.
1-8

U3,
F~.

Uf,.

V",

U,
,.., ~

F'(I;

,.'h

We first write tbc six. fin~te eleOlcllI equations for the six unknown primary variable ~. 11lcsc cquatitllls CQIIIC from mws I. 2. 3. .5, 6, un!.! .., (ctlrre.'ponding to ~hc ~n-.e. Slob:.1
nod!!:;);

+ K lZ U2 + ... + K!tll)U!!= FJ "" (Q: + QD =0 K11UJ + KUUl + ... + K1{ll)Vl~ = Fl ",-(Q; + Q1 + Q~) =0
KttUI

(8.5.20)

OlAP1Ul. ~ SINGI.!. "AM IAlIl ll I'MOIIU MS IN 'lWO [)I\IU-,IOI\ S

467

Using the boundary condition~ and Ihc \h.t1Ue.~ of Kif. we obtain

~:( VI - iU! - iUi) =0

A.(-iu, + 2V

1-

-iV~ u~) =0

k(-iU~+2UJ-U7)"'O
k(-~UI+2Vj-Uf,-~U9):l:O
(U9=-lo)

k(-U2-U,+ 4U& - V7-UIO)~O

k( - Uj - U,,+4V7-UII)=0

(Vlo=-1"ro) (VI1=i ro)

U, U,

JII matrix fonn we hove

2 -1 0 - 1 0 0 - 1 4 _ 1 0 -2 0 k 0 - 1 4 0 0 -2 4 -2 0 0 2 _1 0 0 -2 0 -2 8 -2 0 0 -2 0 -2 i
The -solution of the.-.e equations
i~

0
I a_ 2

U,
U,
U, U,

0 0
T.

(8.5.21)

J'jro
T,

(in C)

VI:::: 0.636210.

U2=0.5510 T (\,
U~=().62A8 10.

UJ ",,0.318 17'0

Vi = 0.1214To.

Ul0.3607 To
~how n

(8.5.22)

The exact solution of (8.5.16) fQf the boundary cond itions

T(x , y)=To

in Fig. 8..5.2(a) is.

,,'USb (:r y/6t.1) cos fir xj6a) co~h(lrI3)

we h~ve (in C)
"1=0.3 124To

(8.5.23)

e'"llluating the exact solution III

the~.

TI =0.6249To.

T:=().54 I'2To

(8.5.24)

T3 :0.7 125'10.

T,.. "'" 0.617 1To.

T1 "",O.3563Tu

The heal al node 4. for cxample, can be compUtcti from lhe rQ unh fini te element equation
~-~-~~+~~+~~+~~+~~
(8.5.25)

Noting that K41

= K42 ",," K~,:os ,:os K4]I~) =0 and U.. = U~ =0. we obtain

Q~ :os-~kUl =-0. 159 11To (in W) 2

lS.5.26)

468

,,'1I',lltUOU('l'lO'I 111'1111' 11'111'1 FJ 1 \11 '1TMl THOl) "

Rectalrgular Elemem Me,\h

(I f{l'mf'IIH)
elemcnt~

For II 3 x 2 mesh of linc;lf rect(lnglliaf mmrix i~ given by (S.2.55)

[see Fig. l;I.5.2(dl. the tkment coefficient

k
IK'I""'6

_I -2

4 _I -2 _I]
4 _I - 1 4 - 2 _I

(S.5.27)

- 2 - I

4
(.'()ndi l ion~

r he present me.,<;.h of rectangular clement!. is noc.Ie ..... ise cqu""lcnt 10 Ihe triangular elemenl
~h

(':ollsidered in Fig. 8.5.Uhl. llcnce Ihe bound:u;'

ill (8.5. 18) and (8.5.19) are

\o':d id for thc ~III ca,;,e. 'The ~iJli fillllc clemenl equations fi)f lhe unknowns VI. Ul U" U,. V6. ruld V1 again havt the same roml as those in (S.5.20). with
KII

= Xl"

xll~xi~

Ku=K 14

~- . ~
Ky, =: K~l

~-~+~

~-,~,
Ctc.

~-~
F~a:Q;,
etc.

+ Kf4'

Kn = K~3'

FI=Q:.

F~=Q~+Qi.

Fv=-Q~+Q:.

'The equations for the unknown mary variables) are

temperalllrr:..~ (i .~ ..

condensed eqUOI ion$ for the- uolnolol.n pri. U,

-I -2 0 - 2 - 2 -2 0 -I 0 -2 -2 6 -I -2 0 -2 0 -2 -2 - 2 -2 -2 0 -2 -2 0 - 2 I.

- 1

-I

K - I

, ,

,.

V, V, V, V, V,

0 0

k 6

+ ./37;) 2T1) + ./37,) + To

1;1

(8.5.28)

J3TQ

+ 10

18bfe 8.5.1 Compari<;On of the n(ltIall~ mpo.'I1Itures T (.\. :'i)/To. ohtajn~d using vari()U!> finite element meshes' willi the analytical solullon (Example 8.5.1).

.,
0.0 0_' 0.0 >5 2.0 2.5 0.0 0.' 0.0 0., 2.0

,
0.0 0.0 0.0 00 0.0 00 0.0 0.0 0.0 0.0 0.0 0.0

T"~ngICOf

Re.::liln"glc:~

AnalylK....1
l>QlutiQn

3x2
0.(>362
U.5~JO

Ox,
0.62711 0.6064
(1.54]7 0,4439

3)(2 0.6128 0.5307

6x4
0.6219 0,6007

O,,'DR6
OAJ98 0,11 JO 0.1610 0.7t02 0._ 0.6\50 0_5022
0.~55 1

0.6249 0.(l(H6 0.54 12

O.~19

o JI81
0.7214

OJI39
0.1625 0.1 148

O.J064
0.7030 0.()(l88 0 ..15 15

0.3124 0. 1617

0"'"

0_6248
O.J607

0_

0.6 190 0.3514 0.1850

0.712.5 0.6882 0.6171

0.5038
0.3563

"

0.18'\11

0. 1844

t!k<>l'l&. R.$.2

f,..,. rbo: g.:.>lnC1I)' IN.! ~

The solution of Ibc..~c equation" i~ (in C)

VI =O.6 12l:1Tp
U~

U2 =O.5307To, Uft = O.6088Tt,l,

U,=0.3064To
Ul=O.3~1!'i7;f

(8.5.29)

=O.70307i).
i~

Tht! \'nlueQflhc heat at n(xk 4

given by
(8.5.30)

We nQte that the re.<;.ultsoot;line..1 u~ing UIC 3 x 21Iklsh ofrcclangulardcments is not as accur:lle

a:. Ihal obtained with the :\ )( 2 nIC~h uf lriangular elemcn~. TIm il. due to the fact thai there
Are only half a~ IlULny elemc01" in the runner case. when compared to Ihe !;tucr. Table 8.5.1 contain.!' a comparison of the finite elemcnt M>lution~ with the analyti ..-al <;()Iulion /8.5.23) for tWO different me~he:; of lincltr triangular and rectangular elerl'tClll\.

f;xltfU ple 8.5.2 _

_ _

Consider b.e<ltlr.msfer in a re.:.:lunj!ular region of dimension" u by b. ,>ubJeclcd 10 the boundary conditions ~hown in Rg. 8.5.3. We wj"h IQ "rite the finite ele1l1Cm algebraic equ:llions for the unkoo""o nodaltcmpcrJlurcs and he:tl~. for illustrative pUrpose$ a 4 x 2 me.~h of rectangular elements is cbo'ioCll. We :,,~ume Illat the medium h MOOtmpic. WIth conductivities kL nod k, in the .f and y direction'. re .. pecti~dy. No ioreroaJ heat gCJlt!Nltilln is as."umcd. The heat t("..tosfer in the 1"l!11iOn i~ ~o\lemed by the ener~y e(lualioo
- - k, -

ax

, (aT) - -ay k,.--;"( aT) [Jx iJy

= ()

in

Exposed to ambient lemp T..

with filQl. coefficient b

T.
11

T"'T(t

ia;+,8(T-T.J-"O

aT

12

13

I4

15

- - .. 0

aT

la'

'"
x

0)
B
9

10

(b)

CD
2
l nilulnled

G)
4

aT 0 .~

3/

HgUR! 8.5.) Domain and boundary conditions for conv..."Clive heat trJnsftr in II reclangular domaio. A mesh of hlltlar rectangular c lcmcnl~ " nl<;o shuwn (uample 8.5.2).

The fi nite clement nJ(ldei of the C(IU1IIiOI1 i" gNen by

IK' + " ' IW) -10'1+ IP') 111'1 -101)

\\ here 7;' denotes t.hc-lCmpenliure 3t node i of (leJllelll
n~ .

(11.5.31 )

::and

K' '/
HI)

-1 (k at/I'!!t.i.+ k ~;)"'j ) dx(ly .n.

ax a.~ 'Oy Dy
::E , [

];, fl'v, "} ds

P = ,[ trT:" 1/1, ,'

(8.5.321
.Is

Te.

We note Ihat j N rl and I P<J

mU~1

becalculated {lnly for elemcl1lJ; 4 and 8, which h(l~eCOIWCCljye

bound.tries. Tne element matrices for lhe problcm R1 hand arc givcn hy lo;ec Eq, (S.2.53)1

IK'l= J..Jt
6

2 -2 -2 2 - I [
-1 I

-I' ] -2

+ 6;

1;, [

I 2 - I

-2

~ =~ =~]
2.
I
1 2

(l'=

1. 2, .... S)

1 - I -2

-2 - I

111'1 _ /ll,hb
6

[~

0 0 2 1 0 1 2 0 0 0

where /.1.

i~

the aspect rJtiQ

IPC'=- 13' T,.,, l /2) !1 n '

2

III

(forl' %4.8)

There arc ten nodalternpetalures th;!! are to be dctenl1.ined. H healS;lt all mldcs except nodes nd I, 2. 3. 4 and 6 are 10 be computed. To illustrate tile procedure. we write algebraic equationlo

for onl)' representative It'O\pcmlu rc~ and heats.

Sode J (for Temper..tu~)

Nl)de 2 (two Temperatures)

Node 5 (fur Temperatures)

Node 10 (tor Temperalures)

Kt,U.

+ (Ktl + /{~)lf~ +(K~ + K:!Hl'J + (K;, + H~ + K~ + H~)Uj() + Kf~u,~ + (Kt + flt)U (Qj + Pi) + (Q; + PI) "" p)4 + P: (known)
11 ""

Node 14 (ror Heal

QI~)

Q14. QJ From
V I ,-"
Ih~
.. ,

+ Q~ = K;,U, + (Kjz+ K!I)U'J + KS1U10 + K1ul _, + (Kil + K1)U 14 + K!) UI ~

OOlmdary conditions, we know teOlpcmturC$ at nodes II IQrough 15 (i,~., Uti. arc known values). Substituting the valuc~ of Ki;. H;). and PI, we obtain explicit f{lOlI t)rthe nlgcbraic equations. Forc)(,unple. the illgebfilic equation cOlTCiiponding to node J 0 i:.
Ul~

Y.xampleS.5.3 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __
Con~iderheat

tctlnsfcr in a hOlllogeneous. iWlropic medium. The go\c ming equillion. in nondi ml!Jlsional form, ito: given by

_ V21/ "" Jil in

over the dm,lain
~hown

ill Hg. 8.5.4.

.-.
1.

q,
node numbcn

18
17
II '"'

0-......
1

,.
"

0)
18

<D
12

CD
10

<l~+5u""O

l..oc;lJ nooe numoors

13 I

u_.

11 I .

,I"

Figure 8.5.4 Domain with flnitc clement IIlc~h ilnd boundary conditions for a heal transfer problem diloCUM.cd ilJ i3xampie 8.S.3.

472

... ~ ll\lRIJI)I :ITIO' ro nlE FlMH. I.U Mf' r

\WnlOI)

We wish to
((I) write the finite element equation

associated

With glob'll

node I in te rms of clement

coel)lcicnI$.
(b) compute the cOnlribution of the Hux qlj to glOOaI node!. I and -'. and
(r) compute the contribution of the boundary condition
eqllati()n~.

q~

+5(.1 =0 to the

finite clement

(u) The floite dement equation Ilssociated with global node I is

K nUl

+ K"lUl + K nUl + K l~U~ + K l6 U6 + KuU1 + K I3 U-P::r 1-",

Writing the globid codficienl\ in tenllS of the clement coefficient), we Qbtain

(K~~l + K~)

+ Ki; l u4 + K\;IU~ + (K~)

+ 1I~:1 + J/~;I)UI + (KU l + H!,;I)U1+ (K~~) + K ;:')U~ ' + K~~))U1 + Ki!IUa== Fi Z + p;l) + ftl

E~plicjl form of Il,j (P,# ",,0 bceau~ u.,.. =0) will he gi\'cn in Part (t). (b) 1111! C ')nlribluions of uniform flu)!' qu to g lohal n~ I. 4. and 9 are readily I.llOwn fmm

one-dlll'lCO\ionai quadrolLie demcntl:>ee Eq. <3.2.37"11 11 can be.' calculated as follows:

Q~:c llq')"';(.J)r/~OEq(l11.
~qo

(1 -f)(1 - ~)
I.

ll.\
=-"'Q~

1"(
=

!l.L

1- 3- + - r
I~

,1,') dJr:zqo (L -3';)+- 6 2f.) ""I. _3

where 1. "..

1/..ti= 0.7071. Similarly. C(lJltriootion to global node 4 i

Q! = f\O"'~(Sldl:::qO

t4!. L k L. (I _!..)d,

4QO J

r' ( l, iJ ds=4rbl (L L) =-,., ") 2'-'3 4<101.

o

(c)

'The cllotriiluuno of the boundary condition q.. + 5" => 0 to the fio ite clcment etjuation associated with oode I i:.

=-5 30

I 6I (U) {4xU +')xU:-lxIM=--U --U . 3

1 I

8.5.2 Fluid Mechanics

Here. we (;u n ~ider the equa tiun ~ governing potential nows of an ideal Iluili. An idl'flljlllid is one that 1m!'> I.ero vb;cosity and i.. incompressible. A fluid is said to be ill('O/lIlm>Sj'ible if the volume change is lCro. (i.e .. p i~ con"t3nt)

'9 ,, =0

(8.5.33)

where \. i" lhe veiocilY veclOI'. A lIuid is termed ;lIl'i.\(i(/ irthe visco:-.ily flow with negligi hlc angu lar velocity is c:llled ;rmtatiOllflf if

i~

I.cro. J.I =0. A

v x v =O

(8.5.34)

Thc irrotmion;11 flow of :m ide:tl fluid (i.e .. p con ~l:trll i1nd /.t 0) i" cili led a (JOlcllliaf flon'. For an ide:11 fluid . the cont inuity :md the momcnlum equal ions can be wrillell:l\ l-.ec Schlichting ( 1969)]

(8.5.35(/)
I _ -pV(v . v) -plv x (\7 x v) ] =-V P

(8.5.35b)

d ime n ~ i on a l

whcre V J = V P - r. rlr irrolalional flow Ihe \'elocily fie ld "j irrOI:llionalllows. Ihc)'c equal ion .. have Ihc form

v ,>ati .. fie .. (8.5.34).

For two-

at" ar". - + -' = 0

iJx oy

(K.5.35c) (H.5.J5d)

I (' _ '2 PI'; + l'~') + " =

comtant

~_at)I'=O
iJr

ax

(X.5.35l')

Thc-.e Ihree equal ion.. arc u..cd 10 de terminc 1I~. t'" and jJ . Thc problcmofdclcrmining I', . ". and ,'" i .. ~implifi ed by introducing a function t{I(f. y) ,>uch thatlhe cont inuity equation is idcmic.. lly .. at i,licd:

ihll v, = - . ily
iJl1/J

t". = -iJ>/t a.1

,

(1'I.5.J6)

Then the irroialionaillow I.ondition in lerms of '" takes the form .

-Jy2 + -$'il-~= O ib'!

al 1/J

(8.5.37)

Equ:lIion (8.5.37) is u<;cd 10 determ ine 1/!: then velocities II, and t'. arc determined from (S.5.36) and P frOIll (l:tS.3Sd). 111e function", has the physical signilicance that lines of COIl:.lalll 1/J are lines across which thcre is no now. i.c .. they are strc:unlines of the now. Hence, "'(x. y) is ca lled the slreom fill1Clioll . In the cylindrical coo rdinale)" Ihe continuit y cquation (S.5.3Sa) take, Ihe fonn

-+--= 0 iJl' I' ao

iJt',

atu

(8.5.38)

where I'. and I]t; arc Ihe radial and circumferential velocity component'>. The stream fun ction 1/J(r. 0) j .. defined as
l' - - -

l a~ , - r iJO

l'9=--

a~

a,

(S.5.39)

474

i\" ~lROl)l ("TII" Illl.1I

111>.11

[UJo' E'TI.Il"THOfI

and (8.5.37) lakes Ihe form

(8.5.40)

There ex isl" an :. llernali vc forlllulation of the 1)(Jtelllial flow equal ions (8 .5.35l/) and (8.5.351). We can intmduce" funct ion (x. y ). called the 1'I!lo/"ify IJotl'lHilll. ~ u!;h that the conditi on of irrota\lonal flow. Eq. (8.5.351') i, identically
~a ti s tit:d :

1 --. ',=

ax

'0 t', = - oy
the form .

(8.5.41 )

Then Ihe continuity equation (8.5.35d

take~

~",~O

(8.5.42 1
U~

COIllIXlring (8.5.39) with (S.5.4 1). v.e notc that

- ~= ily'

II</>

iJ1/I

-- = -iJy
ih

u.

(8.5.43)

The veloc ity potential h:l~ the phYl<oic<l1 significance that lin e~ of co n~tant arc line~ along which there i~ no change in velocity. The e(luipotential line, and ~ trcaml i nel<o inter,eet .11 right angle". Although both'" and <p afC go\cmed by the L.1place C(lo;'lion. the bound;.lry f..'Ondit ion~ on the m;.ll"(' different in a flo,," problem . a.<, .. hould be evident by the defini tions (8.5.39) and (S.5AI). In t hi ~ 'lC\:lion. we t:On ~ i der application, of thc finite elemenl melhod In potential flow1>. i.e .. the ~ I tlt i o n of (8.5 .36) and (8.5.43). We eon"ider two example" of fluid fl ow. '1l1e 1 one deal" with" groundwater fl o\.\1r;t problem and the second with the now around a cylindrical body. In d i scm~i n!l the\C problell1:. emph:l~i, i, pl aced on cenain modeling :t'pec t~ . data gcnerati on. and po' tprocc~:-.i nI! of l<oo luti o n~ . Evaluatiun of clement matrices and a~sembly arc mnply illustratcd in prey iou, cl(amplcl<o and will not be d i ,cu~~ed a~ it takc~ :-.ub~t:lnt ial space to writc the as:-.cmblcd equati ons even for the crude tl1e~he .. used in the,e exatl1p l c~ .

~xample 8.5.4 (Groundw:lIcr Row ur Selt'(lage) _ _ _ __

The govcrning dinerent!;.1 cquation for a boml)g.:noou~ (i.e .. material p..()pertie,~ do 1101. with pQ1iitiOo) :lequi l"er of unit depth. \.\-ilh floy, io the X.I plllnc. is ghco by
\'011)'

;. (1111 ~q, )
il.,

,J.t

- 2. (Ul"l iJt/!) ~ oJ or

fin Q

(8.5.44)

are the coefficient.... of permeability (in m1/d<ly/rn!j along the x <lnd .\" dit/J is the picwllu:tric head or \'cltlCity potcnthtl (in m), measured from It rcferenct: Ie"cl (u~ually the lxlilom oflhe aquifer). ;l.nd f h the TUk' of pumping (in ml/day/ml). We I..nO'o\' from the previou:. di~u~IOfL~ that the naturJI alld I,!.......-.ential boundary oool.lItioo, aswci3.te<l with (8.S.4-4Jl\rc:h foUowlo:
G!2

whe!"e. {If! and

rections.

rt'~pt"C!i"dy.

..Ist'hlilll

(8.5.46)
wht.:rc r t and fz are the por1ion~ of the bound:U) ]' of n such that 1'1 + r~ =- r. Here we C<.>n~ider the following ... pedfic problem: Find the line~ 01 ,.:()n~umt potential (elluipotcmialliues) in 8 3000 I'll x 1500 III m!tanguJar uquifcr f1: (~ce Fi~. 8.5.5) bQundcd on the longsides by an impcnneablc m:ntrinl (i.e., a /11n =: O),lnd on the ...1\011 ... idcl. by a con~tanL bead unoo m (91., = 200 Ill). In the WilY of SOUrt:elo. ~uppo.o.e: tlldt a riH::r i:. p;t~~ing through the "'luifer. infiltrnling the aquifer at a t;lte of q" "" 0.24 ml/dol)'IlI, ::md that 1\\0 pilmps arc lociltctl at(830, IOOO)alld (600. 19(0). pumping til a tatcol Ql := 1200 0l1/day and Q1 := 2400 m)/uilY, respecti\ely. A Il1c~h of 64 triangular clellJCnh and 45 nodes i, uo:.x\ 10 model the domain lsee Fig. S.5.h(a)}. 11le ri\'cr forms the intcrekmcnt boundary bet .... een clcment~ (26, 28. 30, 32) and /33. 35. 37. 39), In theme~h -.elected. ndlhcrpump is located ala 1lQdc, Thisi~done inlcntiooally ror the pu~ of iIlu~trdting. the ealculallon of the }1tnerolil.ed f(lrrc~ due 10 a poilll "uurre within lUI element If Ihe pumps ilre located ill a node, then the rott': of pumpin~ Qo is input a~ thc 'recified ~ondury variable of the node. Whcl) a ~()urcc (or sink) is l()cHtcd at a point other than a nOOc, wc mu~t calculate it~ contribution to the node~, Similarly. the WUI\."e coml)Qllent, duc to tIM! distributed line Sl.)ur('.'e (i.e .. the rh'erl ,houJd he oompulCd. First. consider the hne M:tUrce. We can vjew the ri~'er tl!i a line source 01 c()nSiant inlcn'lt). 11<):- 0.24 m~fday!m. Sino.'C the length of the river i~ IXlually divided by node:. 21 through 25 (illin four pans), wc can Cilmpule Ihe c(lntrihulion of the iniiltr.ltiQn ot' the rhcr ilt c<lch of the noots 21 throuf.!h 25 by c\alu;Jlinf.! Ihe inlcgrols lM!c Fig. 8.5.6(,b)J: node 25: node 24:

1~ (0.24)'1'\1d.r

1~ (O.24)1jr~ (/.~ +

1
"'

iO.24}wt ds

''''''''_~I' boo'","", .. .
Ut[ '" 20 ml 'daY'llI l

lin

40 m" day.m'
[

Pump 2 I'X,)}
(.'OOS Wl[ WlIter

(.'on~nt

head, ftI .. 200 III

Pump I 1830.1000)
River 10.24

ho!ad, to ,. 200 m

3000m
Impenrk.'ablc boundary,

figure 8.s.s

~)rllCtry and bQutld<lry conditi(ln.~ for Ihe gruundwater flow

problcln of r,amplc

8.5.4.

476

,,~

I V I'KOil UCl'IU'I m TIII,

rI -':TTl EU MIi'<r MHIIOI)

(aJ

~ 10 15 30 40 45'~~~~

JOOOm
15
h "'450.694 m

250m
{D. 375)

21 I ~ qrJ' 1 21

tilruiIJ:,
22

80m
250uI

"

18

2S

24

25

~""x - 750

y .. y 22
23
24

750

25

'hi

'<I

Figure 8.5.6 (a) Finitt element m~sh of Iriangul:lr eknleDl~ (45 llode~ and 64 clements). (b) computatiOn of &Iobal forces due 10 lhe inlihratj()n of the river. and (r:) C{1\llput;uion of global forcesforplimp 1 lQCawd inside-element 21 for the !!fOuo(fwalcr Now problem of BlIamplc S.5.4.

nodc 23: n(xic 21:

node 21 :

1h "

(o,24)1ftJ (Is +

1~ (0.24)1/1".] d.1

l'

"

1lt ~O.24}"';' , + 1h (O.24)t/t~ ,

dJ
d.I'

(O.24J1ttt ds

For constant intensity qo and [he linear interpolation function!; 1jr~(s) ,~I h, the contribution of thc$c irdcgraJ$ i~ wei! knowll:

=- J -

."/ h ,uld 1jrf(s) '="

Hen<:c, we have

in.. io.le an clement. We di~lnbulc the ,{)uree to the .. l-'ig. 8.5.6(c));

Se;o;t. we consider the CQntriootion of the point 'WUKe\,. Since the JlI."nl source~ are located nodc~ of the clement by Interpolation (1oCe

For example. the ~ouree III pump I (Iocaled al .Xi) = 830 m .1\1 == 1000 Ill) can be (punlping i... c(ln~idcrcd to be a ne1!lIlivc point Mlurce)

cxprc~seJ

Ill>

when:: 6() b the Diruc delta function lsee Bl. (3.3,3)j. The interpolation eltllk!nt 2 1 arc [in terms of the l{jcal OOQiinates.f lind j': 'iCC Fi1!. 8.5.6(')j

runct.ion~

1/1:

for

l/I,(X"O""2A(0'1+/U+VI5'),
2"\=(375/. 0'1=(375)2,

(;=1.2.3)
(\'1",,0

0'2=0.

The~fl)re,

we ha~'e

1/1,(80.250) =0. 1911.

Yt2(80. 250) =0.5956.

1/1\(80,250) =0.2 133

SImilar comput;lti(lns coin he done for pump 2 ("<It PrvblemlUI). In summary, primary \'arinblcs B rtt)nl.(::ro second;try YJri;\blc~ ;U'e: nd

F21 "" 54,0103.

FI'l

Fll t:: Fn =
FI4

r'u = 108. 166(1,

Fl.' : 54.Wl33
F21

= -229,33,

=-2.%.0.

Fl. = -71 4,67.

= -4 11.429

fn.:o: - 1440.0.

F\2u - 548,S71

The:: secQI1dary \'ariables 11\ nixie... 6-12. 1S- 17. 19.20.26,29-31. and 33-4{) are /.cro. Thi\ c(lrnpJetes the data genemlion for the prt)bkm. The assembled equlltions arc soh-cd after imposing the s pecifIed Ix,motfury C\1n4it.i(ln~ for the vlIlUt!:; of t:P at the nlxk~. The equiputcntiallines can be deiermined u~ing {8.J.27). The h~ ofconstllOi '" arc ~ h\)wn in Fig. 8.5.7(Q). The velQCit}' components are Uclemlincd in the JlO!'tcornputaticln \!\ing tbe de{initilm (8.5.41)

11,""'--,

a.
a.<

v.=-. i)y

a.

47H

V. IN'TROOLCIION lOTI n ~lNnF lL~\lr"""T \lhTHOl)

,,/
.,

,,
(0)

.'
\

'b)

}1'iKure 8.5.7 Plots of coru;t,.nt pie:(.ometric hc:ld and velocity vector for the groundWater flow: ((I) lines of con~tant rp: and (I,) plot of velClCit)' ~eCI(11lo (Example 8.5.4).

and the velocity vector is

gi~en

hy

1 '1=

\'''

-'~'-+l'

r-;---,

.'

O=lan

I'.

wbcri,: (J is Ihe angle, rnt':lslJrcd In eounterc1ockwisedirection, of the \docity vC\:tor form '1long tht) +vc x llXb. The velocity vectors fllf the problem at h(lnd ure shU\\n in Fig. 8.5,7(b). 'OJe~re;lleM drowdown 0.1' wnter()(:cur. at nude 28, which 11$ the largest pt!rtiOfl of discharge from pump 2. Thb complete .. tm- di<;cu~ .. iOn of the grouadwater flow problem.

Next. we eon<;ider an example of imllalional nows of an ideal fluid (i.e .. a nonvi<;cou.. fluid) . Examples ofph Y1>ical problems thm can be approximatcd by .. ueh flows are provided by fl ow around bodies such a.. weirs. airfoils, building... and ..0 on. and by flow of WOller through the earth and dam", Laplacc t!qua!ion~ (8.5.37) and (M.5,42) govcrning these flows arc a ~pecia l ca..c of(8,2.1) :lnd therefore. we can usc the finite c leme n! equatio n>; developed earlier to Illodcl!h e~c proble1Jl~,

..:umplt: 805.5 (Q.lnJincd Row around 8 Cireular Cylinder) _ _ _ _ _ _ _ __

The irrotalinnal flowof an ideal flUid (.bout a clrcutarcyhndcr, placed with its axis perpendicular to the plane of the nt)w between I"'.) 1(1II,~ mlri1.onl3l wall!. (M.'C FI~. 8.5.1:\) is to be anal) led u-.ing the finite element method. The equation governing the flow is given by

_V l 1f=O inn

v.hc!re" is either (a) the stream l'unctiOO or tb} the velocity polcllIial. If II 'It. the \clocity componenl~ \ "" (t", t'y) of tht' lIow field are gi\cn by

iJ,

tbe stream functiun

1).=-.

.'a,"

t'

at =-flr

If II i.. the \-eJocity potential. 41. the \clocily componen~ enn be computed froro

",=--. .~ ax

v,=--

In either ca:-:c, Ihe velucity field is not aff~led by a c{ln~l:lnt ICon in thc S(llution II. We ;malY/e the problem using both fvrnm lalions. FOr bolh fQnllu lltt ion~. symmetry exists about Ihe oont.OOl:1I1utd vcnic:11 co:!mer linc.', therefore. Qflly a (IUWrtull of the flow region is tJ...cd as the computational domain. To determine thecon~llInt state (If the solution, which dQCs not oncet the \'docity fjeld, we arbitrarily <.et the fUJl(:ti(lnS '" lind ~ to lei'll {(If II constunt) on appropriate boundary !inc.',
.~It'l'(lIn

'.
a.l

FUllairm Foml/lfnrifm

1/1 can be dctcrmitlf,.'(.\ d~ follows. Smamlinc" have the properly that fluw )'CrpcndicuL;lr to a Slremulillc is l,Cro. Therefore. the fixl."d " .. II~ cOI'1'eSpt.lfld to slreamline~. Nnw that f\)r inviscid fI(lw~. lIuid dllc." Ilo\loolici:: 1(1 rigid \\all~. Due \0 the biaxial symmetry Ilbm!l lite hOri7.(!1lt~1 ~J\d venical cenlcrlil\CS, only u qutJdralll (suy, ABtD13 in Fig, 8.5.9) 01 the domain need be used in the IIn:lly~i~. TIlt: facl that the velocity component perpendicular to the hori/.ontal Iinc of symmetry is equal 10 1.etQ alLow, U~ to uo;c thilt line as a ~treamline. Sincc the velocity fie ld depclld~ on the relathc difference of two
The boundary conditiotl~ on the Sf.I'eum function E
wall

Rillid cylind{'r of2-(!m dill.

om

,,'igun: So5.8 Domain :IOU b(Jundary condilions for the ~Ircalll fun",'tion and \'eiocit)' potential formulmions 01 ilT(ll!ltional flo\\,' about a cylinder (P..I;umple 8.5.5).

480

"III t'l'IKOVIJC n Ol'nonu "''11111' U nu,N'I

~lhnK)I)

VI'" 2/"'0
E

"
B

ilty", O

~giu

v,
A

"'

eylin<kr

"'igure IS.S.9 COmpUl:lliOllnl Jomllill and boundary condition:. f(l( Ihc ~I re:lm funclion formulation of inviscid flo\\. around II cylinder (sec Fig. IU.K).
slrt'amline~. ~ym1llclry

we lake the \':Iluc of the ~Irellm function that coincide, with Ihe horizontal a:;:h I)t (i.e., on ABC) 10 be zero and lhen detemlinc the Vi\lue of 1/1 on lhe upper waH fmm

tbe <.:(lndili(1Il

where Uo " !lIe jlllci lll)ri/onllli vcll.lCilY of the field. v.~ delcflninc the value of tnc ,Ire.'lffl fUnclim) on !.he houndat)' I" = 0 b) inlegl<l,ing Ihe above equation with respect to y

a,l '"

-""Uo

1'"'" l'
Q.ly
_d)::r

t!

Uody+,,=Uo.v+O

(8.5A7)

beclH!.~e!/l" =0 by Ihe pfcvious disCUl>l>ion. 'Illb. givcs the boundary c(lI1dilll1n on AP., Since the tine 6D is:1 ,trea1lllinc and it~ value a! point E h 2Un. it fo!1ow~ th!!1 >/t = 2Uo on line ED. La.~tly. on CO we as~ume thc vertical velOl!ilY il> zero (i.e., 1\ "" 0): hence. OJ!/I/a.t =0 On CD. The boundary conditioos are ,hown Oil the eompUlmiona! domain in Pig. 8.5.9. In sck'cting a me~h. wc ~hould note that Ihe \elocity field is uniform (i.e .. ~ueamlines:1re hori/..o0l3f) a1 the iolet and that it l;Jk~ [) par'LbQlic profile at tjlC exil (\lIang CD). Therefore, the ,ne.,h allhe inlet !ohould he uOltiJrm. ;Llld Ihe .ne!>h dll..e: IU lbc cyhllL.lct should be reillth-cly more relined to be able to model the cun"ed boundary and capture the rapid change in .". 'TWo coarse finite dement meshes are used to dis.:.lI$s !.hc bound,lty (.'(JnditiollS-. and re.<;uIL\ for relined Oleilics will be di~u,sed ~ubsequenlly. Mt'sh TJ eonsi~t-s of 32 triangular e1cmcnl~ aad IIlcsh 0 I cons.isls tlf 16 qutl(lrilutcr;!1 clements. 8cM rncshc~ contain 25 node~ (~ee Fig. 8.5.10). The lIle,/I with solid hncs in Fig. 11.5.10 correSp()nus W mc'/'! QI, and the me..\h wilh )<olid un{l da\hed lines in Fig. 1\.5.10 c{)rre~pon{l to mc..~h Tl. II shou ld be noted thaL the di ..creti .... 1\[on eTrOr is not lCtt for thi~ CIL'ie. Til.! 5p...ocilit:d primary {lcgree..~ of freedom (i.e .. IIO.xlal vulue..~ of';) for me5h Tl and mc~h

01 are:
(8.5.48)

There are nO nonlero specified "Coondary variable,; the secondary variables are lopt'cifit:d to.)
be l.era a! [he node., on line CD:

C IlM'TI;R 8,

~1""I . EVAMIAMLr PIIOBl.U,lS IN lViO D1M EN~ lON S

481

----7
-,'

OJ)

" \,
,"
"",

"
,,
, ,

19
J8
13

,
<II>
OJ)

/'

", a:> "

(l) ~,,,"' (l):,'

(0)

-- --, " ....... ././

0

,"

-" "
4

CD
<J)

"
J
4

" Xl""

)7

"
0 4

36~~'.

"

...

, '" '"
(b,

5 O

"

\ ........ ..,...../

Figure 8.5.10

Mc.~be ..

1l,<:'(1 for invi,cid lIow around

;j

cylinder. (a)

Me~

of lineal" triangles.

(b)

Me..\h of linear quadrilaterals.

AlthQl.!gh [he lleConuufY variable is specified to be zero at nodes 31 and 42. where the primary varia.hle is alsospedfieO. we choose 10 imPQse the boundary cOJlditions on the primary va.riable over the secondary \'arjabl\!~.
Ve/odryPorElitia/ F(Jrmulati(1f! (PF)

The boundary CQndition~ oJlthc velocity potcotiaii/J can be Uerive.c\ as follf)wS (!oce Fig. 8.S.II). The fact that v. "" -JIP fi1y "'" 0 {oo peoetrati{)o) 00 tJle uppet walll~' well !~~ on the horiwnta.1 line \11' symmetry gives Ihe boundary cooditions [bere. Along AE the \'e\ocity v~ "" -iJljij(Jx is ~pccified 10 be Uo. On lhe surface of [he cylinder !be norma! velocity. tlo "" - fJrP!QII. is rem. Thll~. all bt)undary conditions, so far. are of [he flux type. On the. boundary CD we \llU$1 know either rj.J or iJrj.Jji111 '"" iJifJ/i1x. II i~ clear that - {)t/J/Jx = IJ~ j~ nol known on CD. Therefore, we assume that rP b known, and we ~et it equal tQ <J:;::; cQn~tarll. The constant </Jo i ~ arbitrary. and it dot!; !Jot c(lIItribute. 10 the velocity fleld (becau~e - iJljijfJx "'" l'x and -at/Jj1Jy "'" I",~ arc independent of the C()l~~lant 4>0). It ~houtd be rn)te.c\ that dehlrfllini.lIg the con~t:aJ)t p:lrt in the solution for t/J li.e., elimin;lting the rigid body motion) rcquirc~ kMwledgc of at nne Or more points of the m~h. We tll\.iC ifr = rh = 0 on CO. jhe mU1hem~ucaJ bound:;ry ~'Q ndjl ions of the prohlem mus t Detranslatcd inl() flnite clement data. 'rhe boundary conditions on the pfum\ry variables cOllle from the. bounda.l)' CD. We have

l-'igure. 8.5.11 Complltari\)Jlaj domain i1nd boundary conditions for the velocity potential mulation or invi~cid Ilow arountl a cylinder (sec Fig. 8.5.8).

for~

'11le only nQll"1.Cr() bouotl:ll)' cQrtJitiom

00 the secondary AE. There. we muM e\':lluate the bQunJa.ry integrlll

v;uiublc~

come from the bouodary

ill> [ 1'. -Vrl d.,~U<l On

1
AI

1/r,(y) J y

fur each node i on Ae.. We ob/a;n (II = 2(3 =0.666(7)

Q,""

UOLk ( 1-f, )(iJ'=O.33333Uo

l oll

Q 1 #o Ut)

I(/ii+U"

10

(1t (1 _I )llV:::O.66667Uo
h

Numerical ReSlllls
l Jblc 8.5.2 contains the \oluc1' of Ihe s1lcalJ1 function and il~ deri\atj\'c (iJVt/a.I'H= I',) at ;.e1 c<:teJ poinHlelemellls of the IIlc\hcs. TIle finite element pfOgrllOl FE/'\UD (_"CC Chapler 13 fordclllil~) i.<' u-.ed in the Jnaly~i~, 1be \lTC:lDl {wlction valuc~obtained with mesh TI and me-h QI nre \'crydosc ((leach \.IIlter. Re..:aU thlll tbcderi\1llivc a';la), i"con~l;lnl in a Iineartriangul;lf element., wllereru. it v'lfics hnc:lrly "'ilh A" in a linear rectangular clement. Therefore. mel.h 1'1 and mesh QJ resu h.. will not be the ~ame. The 'IelocitielO illCluded in Tuble 8.5.2l'QrTC<;pUnd III clement:, close~t to the 'ynlfllCU) line (i.e .. \. "'" 0 line) nikl ~urta.:e of the cylinder.

Thc tangential velocity

tit

110 thi.' cylinder surface can be cnmpulcd from the relldion,

l',(il)""""S ill O+l'lCOS 8"",

,~.,~

oJ"

~n1I:1-

5';cQS ()

(8.5.49 )

Contour pJ{)I$ of \Ircalll!ines. \elncity potemia1. and hon/.)nt3! ~clocity t:. =- iJy, rJ\' obtai nw with nlesh 01 arc ' howlI in Fig. 85.11. !"ote th.u there is 3 difl"ereoce ~"'een the
1';tble 8.5..2 Rnitl!elem<!nt mults from the Stream function fonnulatlQII of jnvi~id flow' 3f(lul1d a cylinder lExumplc 11.5.5).

,
1.3 t 83 2."2705

,
0.7354 0.5444 0.4268 1.4459
1.0451

Stream tun.::tiOO
Me.'>h TI
\1e,h Q!

Velocity I', ",J\t/il.\ Ml!l.h"ll

O.96H{I)t

VelQ!;if) I>~'" ;J~/iJ.;

Mc,hQ!

Mesh TI

M~ .. hQ!

0.7092 O.4J72
0.16tt7 1,42-11 0.S73{J fU.157 1.3158

V.7095 0.4179
O.16:'iO 1-1170

0.'18520)
O.9\X15(2)
O.6H2(.1)

0.9922(1)
O,9371{J} 0.7047(5) O.2999(7} 0.64691( 15) 1.1I7.l124, 2.I(o.3{.H)

O.9989i I)
O.9-mft(2) O.70111{3) O.3W7(4) OK)Mf!1) 1.453( 1 1, 2.01.5~ If

O.8031{3)
OJ9()b(5) .. O.OOOO(7} 0.0$469(15) 1.6)6(14)
2544(1)

2.RS64 14111

2.4JO.5 l0517
2.6931 11931

08823
O.:HIU
1.4010 0.1"tiO 0.2658
{I 57% (115RS

0.7995 1..5388
1.2051

O.267914} O-S746(S) 1.58(>(12) 2.455 1(16)

4._
40000
-I.OIX!O

15018

UlOO7
I.HI4 I.Wl9 1.0714

U.1706 0.2520 1.2395

0,6191 0.1817

''''''

CIjAf'I'EK~ SI~GI.I-V!lKI!I~LE I'ROBI [.\IS 1'1 TViQ DIML'ISIO'lS

483

1.$

,-'

1.1

0.'

"
0,

0.4:

,
,.,
~

0 .'

"

2.5

I I
I

'"
1 , 1 1 1

1 ;;
1

1 ,

,"

\ ,

~ ,

0.'
'0

,.,
I ,,

,
I

\
)

1
lb)

\1

\
2.l

1.5

' r-,,~~~. ~ - ..~= :::;::;::-::-~.-:=; :-= -::-:::; ~==~_~ ~ , ~ -::=-,, . -~- "",- - _O: -::: - ': ~ : ';:==i
______ ~--,-----

1.5 - ,

- : __

~".:.~~--"
-

! - ........ J.. _! I
I ....... -j--.;. I I
I

, --r-

' I

... ,-

1..._

-/

~-------

- - : : -- _

--

--~-

f
I
I

- ..... -,--..,..-I

Cl5

~-_L

_I

O ~--'-'0."-'~-7~~-! ' ,.~,~-~ ,~~C2!:,,-_, ,L_~ ,_-~ ),; ,

(el

, ,

I
I

I -.....

- .... _

tlgure 8.5.12 Contourll of (tI) Mrcam fu nction, (b) velocity potential, aQu (c) x cQll.'IpolJent of vd()Cily (with the velocity PQtclJlial formulati on ),;l~ obtained using mc..,h QJ.

4M

M~ INTkOlJl. '( 'nON 'm '1'111" llNrI IlILI1>l1 ~T \Wll1011

3.0
o SF'F, mCllh TJ
VPF, tul'llh 1'1

2.0

b SFF.m~hQl
6.

Potential aolution

VPF, mesh QI

o SFF, mesh Q2

,
1.0
,

p;' 0
SFr "" St",1tm function formulation
VPF

=- Velocity jXltenthu formulation

0.0

r
Anglo. 0

.;igure8.5.13 Variation of the tangential \<elocity along the <:ylindcr surface: CQtnl):tri~n of the Anilc clement resulh wjth the potentiullhcory sQlution (mesh Q2 C(lnt,tlns 96 clemcflh .llll! I! 7 nodes).
fomlUlation~ (f(lf' either nJ:i:shl. Thi\ h primarily due to the nalure of the boundary vulue problems in the tWO fomlUlations. In the Mf'C..'l.11l function fonnuln lion. there a~ more. boundary cOJ)diljons o() the primary variable than in the velocity potcntial

..:elocitics (!blamoo with the two

fQTmuL.1tion. A plot of the variation of the tangentip) velocity with the angulardi~ume~ along ,he cylinder surface is!J1own in Fig. 8.5.13 along .... im the analytical potential sulution

UL5.50a) \alid on tbe: cylinder ~urfacc. The finite clcmellt solution of a refilled mtsh. mcsil Q2. is abo included in the figure. The ang leD. radial di~t'.I111.'e r. and tangential \'cloc.ity tI, can be computed rrom the te.laliun:.
(8.S.SOb)

The liJlite element M)lution ~~ in general agreement with the potential solution of the problem. H,w.evet. the finite clement solution I). not expected It) agree cllhCly bt.'C3U.;e is c"alllllled a' ~ rnd/lll di~tance r > H. , whefeih the potential SQlutzon i~ evalu~ted at r = R only.

t,

This complete:. the -.ection on fluid mechanics pl'Oblcms thaI are cast in tenns ofa single dependent unknown. ",uch as the stream function or velocity potential. We TetUn! 10 fluid

rHAI'n'1I ~_ SINULL "'AKIAHL/j I'kUHLL\lS 11'0 TWO 1>IM[)<,SIO'iS

485

"

("(

(bl
((I)

Figure K.5. 14 Torsion of cylindrical member;: analysis.

a cylindrical member and

(b)

domain of

mechanics later in Chnpter 10 10 con~ider two-dimensional flows of vistolL~, incompressible fluids. The governing equations of such problems con~isl of "everal dependem variables and as many differential equations.

8.5.3 Solid Mechanics

(~on~ider two-di mensional boundary value problems of solid mechanics that are cast in terms of a single dependent unknown. These problems include IOrsion of cylindrical members and transverse delleetion of membrane~. This study is restricted to smal l deformations.

In this section we

Torsion of Cy lindrica l Members Consider a cylindrica l bar (i.e .. a long, uniform ero<;s- ~ectional member). fixed at one end and twisted by a couple (i.e .. torque) of magnitude Me that is directed along the axi~ (;:) of the bar, as ~hown in Fig. 8.5.14((1). We wish 10 determine the amount of twist and the associated stress fie ld in the bar. To thi~ end, we tirst derive the governing equations and then analYl.e the equation using the finite element method. In general, 11 noncircular eross-sectionalmember subjected to tor~ional moment experiences warping at any sect ion. We aS~l1mc that all cross ~ection~ warp in the ~ame way (which holds lrue for smal l twisting momcnts and deformation). This as~umption allows us to assume that the displacements (II. v, 11') along the coordinates (x. y. z) are of the form [see Fig. 8.5.14(b)]

u =-llzy.

v=O;:x,

If

=OrP(x.y)

(8.5.51 )

where rP(x. y) is a function [ 0 be determined nnd 0 is the angle of twist per unit length of the bar. The di~pl;lcemenl field in (8.5.51) C<ln be used to compute the stra ins. and stresses are computed using an <lssumed conSlituti ve law. The stresses thus computed must satisfy the

486

,1.)1

I~TIUl!llJnIO" 10 '1111' I"I'>IIT I:IJ Mh~1 MllllOI)

tnrccdimc n ~ional

equations of stress C(lui[ibriurn in Eq. (2.3.52):

oa"
[1.\

+ _. + - " =0

Jan

Ja,
[I:

oy

:!a" va,), iJa - + _ . + - ". =0 ' a.\ ily J:

(8.5.52)

oa, ..

il.l

+ ila,; + aa ~ ;ly a:

= 0

and tnC ~ trcs, bound:!f)' t'Onditions on tnc [atem1 ~urface and at the end of the cylindrical bar. Calculation of ' I ra in ~ and tnen "tre".-,es u~ing the generali/cd l~ oo L:e \ law gi\ies the expres"ion".

(R.5.53)
and all other ... trc"scs are idelllica1 1y lem. Here G denote, the "he:!r modulu" of the material of the bar. Sub"titution of these stre~se, into (8.5.52) yields Ilhe first two equ:llioll'> in (8.5.52) are identically sm isfied and Ihe third one l ead~ to the following equation I;

-o

ax

( G8 -

iI) +iJx
+x )

iI ( GO 8y il,\

iI)

~O

(8554)

throughout the Cr(I~'" ~ecTion n of the cy linder. The boundary condiTions on the lateral surface ... I ~ require that a, /I, + a, : /I, = 0:

(
H en~ (II \' /I \)

iI - - y ) 11,+ (iI -

ax

[Iv

II,=O~

iI - = nl, IlI1 .

I'll "

(8.5.55)

denote the direction co,>ine ... of the unit 1lI1rmai at a point on I~. In ~urnrnary. the IOr..,ion of a cylindric:!l b:!r is governed by the equations (8.5.54) nnd (8.5.55). The funct ion tJ>{x. y) is called the IOniol/ filllCl/01/ or warpillg fillle/ioll. Since the boundary condition in (8.5.55) i;, of the flux type. the function can be determined within an additive COll~tant. The '.tre"'C~ III (8.5.53), ho ..... ever, arc independent of thi~ con~tant. The additive !;'onSTant ha~ the meaning of rigid body movelllent of the cylinder as a whole in the :-di rcction. For additional discu~~ion of the topic the reader i~ referred 10 Tirnoshenko and Goodier ( 11)70). The Laplace equation (8.5.54) and the Neumann ooundary condiTion (8.5.55) govcrni ng rfJ are 1101 convenient illlhc .. nalysis bt..'C:lu'>C of the nature and form of the boundary condition, e .. pecially for irregular cfl)~,-sectional mernher~. The theory of analytic function~ can be u,ed to rewriTe the~e equations in terrn~ of the strt',u jlmClio/J III fro v). which is relotted In the warping function tJ>{x. _\.) by the cqo:ltion.-, il~

iltJ> = - - - .\. Jx ily

- = - - \' 8-" ax .

a~

i)q,

(8.5.561

CltAI'I '[k g, ~INGLE-VA~IAHLI: I'I<OHLLMS I~ TWO 1)I.\t~~SI' ,.~s

487

Eliminating

rp

from (8.5.54) and (8.5.55)

give~.

respectively. the resu lts (8.5.57)

_(a'~ + a' ~) ~ 2
ax ! iJy2 JIJI
-

oy

II , -

iN II" = 0 iJx

(8.5.58)

The left side of (8.5.58) denotes the tangential derivative dlJllds, and dlJllds = 0 implies that

IJI

= constant
a~

on

r
a~

Since the const;mt pan of IJI docs nOI contribute to the ,tress lield
rT, _ =

GO -

By

0"\ ,

= - GO -

ax

(8.5.59)

"'ie can Illke

\jI = 0 on the boundary. In sUlllmary. the torsion problem can now be functio n \jI such that

~Iated

as one of determining the stress

(8.5.60)
IJI = 0
onl~

Once \jI is determined. the ~tresses can be computed from (8.5.59) for a given angle of twist per unit length (e ) and shear modulus (G). The flllite element model of (8.5.60) follows immediately from that of Eq. (8.2.1): (8.5.610) where uf is the value of
\jI

at the ith node of Q e and

K ~, =
'l

In,

(ill/Ii il1Jtj + iJl/I,

iJx

ax

iJy

;)1/I j) ay

dxdy
(8.5.6Ib)

Example H.S./l (Torsion of a SqlJa~ Cro,~-Sectio.)naJ Bar) Ilere wccQnsitierlOl"\ion of u ~quarc(/ x a) cross-section bar. NOle tnat thc problem i~ antisymmetric as far as the loading :.lod stress distribution are cQncenl~; however. the ~treSS function. being a scalllr function govcrned by the Poi~so(l equation {S.5<60),j~ s).'lllmcttic abOut the.f and y axc, as wcll asthe diagonal t ine~. When using rectangular clemcnts, ooe {juadranl of the bar cros~ section c;m be Ll~OO in the tillite clement analysis. The hi,lxiai symmctry fl.bout (he x ~nd y axes requirc~ impo~ition of the following bI)und;lry condition.\ on \lI (sec Example 8.3.1 ):

-:;:,0

,~

ax

011

Inc linex=O.

- = 0 onihelinc\'=O QJ
Q

a~

In addition. ()11 tile actuat boUndary we have the condition Ii' :;: 0 00 line .. x =

and y = b:;: Q.

'nIblc 8..5.3 CC)flvcrgencc oflhc. finil!! clemenl SQluliO!l~ (Of 011 usin~ lin('ar a.nd quadfillic I'CCI:lJ1!!ular clemen'S (f<lU .... ntxlc! anI.! nine-node elemenlS) in EX!ullple 8.,5.6.

,
' .0000 0.0625
0.12:)0

,.
Q.OO(~

LIrl\'!If cle(l)cnh

Quadr.ltJC e!cmcrll,st

lx'
0.15536

4X4 0.101920 0.141'20

"8
0.1471!(l
O.14~S-3

I xl

2xZ
0,1473\)

4.4
O.l41:U

014744

0._
OJI2~

0.1815

0.3750
04m 0,125Q
O.!.~O/)

0._
0.1500
O.2~OO

0.0000 0.0000 0.0000 0.0000 '.0000 O.oocx> 0.0000

0.14538 0,J.1941
0,11378
011463

0.13987 0.12912
O.II~)2

0.13944
0.12931 O.114b7
O,()9S05

O.I:w54

0.11610

0,071169
0,(19(>43
0.11031 0.09 191 Q .0.5729

0.09534 007007

0.06'J873
0,0909.5

1)03854
0.1092.5

0._
0,05660

0.3750

O.10!!1I7 O.(II}()S6 005626

0.069116 0.03$44 0,10890 0.090.57

0.05636

I"fl>t, .. \( J II>'NIQfllineIIIc!-~",ckll"''fll' ,il ~ W/Ulk!n tb:ot~i:IkJ v,j,h t/lI: .u;o1)liclIl ....~ut/<)Il W h\( "l1:IIif)G1)l <kc'IRlOI phIo:to..

TIlIl re..wJ lsofnCQllvergenceMudy ~ ~ummaril.ed in Tablcs 8.5.3 and 8.5.4.111( analylical ...,Iulion oflhe problcrn is gi\'i:tI by 1'>Ce (2.5.40)1
111(.1. y) ""

~ - - x" - -

II:!
4

&J:! Lex:
Ifl 4--<1

Gn + I)'

(- I)~ C""'O'::h"'~.")'"'~"'~',.~,
cosh{J;~b/2)

(8.5.6211)
(8.~.62r)

Tobie 8.5.4 CompariS('lIlQffinileeicn'K:nt wlUlioos. ru:rlhe .~hcar!'Ires:.(t,.;(X. y) {= -6" (~' . .I.)], CQrnpul.::d \I\lflg variou ... nle ... hc..~. willi the tlflalylical ~lution (ilxample 8.~.6).

x
0.0311.~

,
0.03125

Allalytical

0.09375
O.I562..~

OO:lI2S
0.03125

0_
ix,
0,0312

-oilltioG

0.0312
ll.ijI).$6

tU612
O.13n 0.03J21
0.4I}15 0.5Q13

0.1611

(I.2IIm 0.28 115 034375

0.40625

0.03115 0,/n125
0.01125
0.03125

O.2JJ!
0.3124

0 __ O.4tHI
0.612l!

0.46875

Omll$

0.6135
Q.06m 0.1942
0,3529

O.l'l6l5O
0,1875

0.0625 0.0615
0.0625
O,Q62.~
O. I ~

0.0618
0.19W 0.3516
O.s.~

0.312:5
OA.l75 0.12.5(1 0;)150

0.5$28
0.1179

O.ll.'iO

OA339

0,1193 0.4212

05

...
0,3

0,2

0.1

'- " Q<\ \\WI \\\\1 \,\,\\1 1

\
\

--. -

--- ~"-~~\\\\I - .;:: \ \II Ii

'

~~- '" ~\ -~ 'q,' \ \\ --.

--:::-----

~- ~

..::::::::...---..... 1),02

..........

0 0

I
OJ

\"

I, 1
\

o'

02
10)

0.'

"

OJ r--r--,--r--r--r--r--r--,

- -1 -1 - -

- l - ! \.

:: .: ~ I ~~~t: ~. ft~t. ! J 'l lll r

o
01 02 OJ 04

- - " " \-\ -

--

o~-L~__~__~~~~~~

0.5

figut(! 8.S. 15 Ol1ll0ur plOi of the s,re~s fuoctiOn aod vector plot Ilf the ,hellf strc.......es (, = it, ,! + t1. J ) obtained using the 8 x S n~~h of linear Il.~t;tng\l!ar clcment~ in :l quadrant of square cm~\ ,ection in E:-.umplc 8,5.6: (I) strC~~ runction lind (h) v.
where k~ "'" (2n + 1)1-- llie problem is reanalya.'iI 11m for shear Slressc~ (1" and (1" lite!! (8.5.59)1, The cQIl\'cr2ence of [he finite element solutions for the stte,,~ fUJIclilm and Mre.<;SeS to the anal ytical Mll mi{ln$ (8.5.62) i~ seen from the rc.,ul~ pt'C"Cnted in the lab I/!<;, The contou r lines of the surface W(x. y). and contour lines of

a'"- --'~ -- . - (;(1 IJy

lire ~h()wn

(]~ .

30.11

a,..
'

iJ'lI =-- =-il x

(J,c

Of}

in Fig.

B.5.I.~.

Tnms,crsc DcHcclions or Mcmb rnncs

Ihat a membmne, with tlxed edges. occupi es the region n in Ihe (x . .I') plane . Inilially the membrane i ~ ~tretc h ed ~o that the ten,ion {J in Ihe membrane is uniform and (I i ~ ~o large Ihal it i~ nOi apprcciably altered when the me mbrane is deflected hy a di" tributcd Iran"vef"e fo r.:e . (x . .\'). The eq twlion governing the 1ran ~ver~c deflection II of Ihe membrane i\ given hy
Sup po~e

.r

- a -a ll

jj ~ 1I

a2 /1) + -- = ih '!
11 = 0

fCr, \.) -

in

(8.5.63(1 )

with
oll l~

(S.5.63b)

NOle thm (S.5.6Ja) and (8.5.63b) have the same form a~ the equa tilJn~ u~ed to de..cribe tor"ion of cylindrical hars I ~cc Eq. (8.5.60)J. The iinite clement model of the equation i~ u b v i ou~. In view of the clo,e mwlngy bel ween this problem :lIld the lur"ion of cylindrical bUri>, we will not cOIl"ider any numcrical examples here (\Ce Example~ 8.3.1 and 8.5.6).

8.6 EIGEN VALUE AN D TI ME-DEPEN DENT PROBLEMS

8.6. 1 Introduction
Thj~ \eet ion deals wilh the tillite elemcn t analysis o f two di mcrhional eigenvalue and time dependent problem~ involvi ng a ~ in glc variable. We u\e the rc<,u lh o f Sections 2.4 and 6.2 10 dcvelop tinite e leme nl al gehraic e qllalion ~ from Ihe ,emidiscrctc tinite element modcl, of time dependent problem~. Si nce weak forms llnd temporal approximations were already di ~cu~~ed in detail in Sections 2.4.2 and 6.2. anention i ~ foemsed herc on how to deve lop the semidi"crete finite clemen! models and then on the :I.~ ..()ciated eigenvalue and fully d i'creti /,cd mtxkk The example!> preo;;ented here are very \i mple becau...e they are de<,lg ncd to i l1 u ~ t rat e Ihe procedure for eigenvalue and timedependent problems; ~ol ution of two-dimensional prohlem\ with complicated geometric!> require the U\C ofi soparamctric fonnulation and numerical integnnion. Chapter 9 i, devoted to the discussion o f vari ous twodimensional element, and their in terpolation function .. and numerical integration methods. Thc tinite element model uevelopment of eigenvalue and timedependent problem~ involve\. a~ described in Section 6.2. twO main ~tl\ges. The fir~1 ~ t age. called scmidiscreli:(I{ioll. is to deVelop lhe we:lk form or weighted-residual form of the equation" over an cleme nt and to seck \patial approxinwtion of the dependent variable, of the problem. The end rc ... ult o f thi ~ qep i .. a ..et of ord inary d iffe rential equ:llion\ in time among Ihe nodal values of the dependent v:,ria ble~. For transient problem,. Ihe ..econd slage consists o f time appro'{imation.. of the ordinary d ilTerclllial equal i o n ~ (i.e . Ilumerical integration o f the equations) by linitc differcnce schemes. This .. tep l e;ld ~ 10 a set of algebraic equa tion .. involving the nod:'l values at time I , -I 1= (.f + I )6./. where .1 i~ an integer and 6.1 i.. the lime increment) in term .. of known values from the previllu, lime step(.. ). For eigen value problem". [he ~ccond stage consi~ts of seeking a solu ti on of thc form II J (I) = U) e '~'

for nodal value .. and determining the eigenvalue!'. i.. < eigenfunctions U j 1{!J('\'Y) (no md sum on j). The two-<;tagc procedure was clearly illm.trat<.'<i for one-dimensional problem .. in Section 6.2. The procedure will be applied here to two-dimensional problem" ilwolvmg a single cqll;Jlion in ;J single variable. Since the emphasi.. in thi s seclion is on the time [lpproximations, the development of the weak foml ,LIld ~pat i a l finite element model will nOl be covered explicitly here, :LIld the reader is referred to Sections 8.2 and 8.3 for
delail~.

8,6.2 Parabolic EClualions

Consider the panial differential equation governing Ihe transient heat transfer and like problems in a Iwo-dirnen.. ion:ll region Q with 10lal boundary r, c--81 ox wi th the boundary

au

a ((111 : - - - ((1 22- ) +aOIl =/(x.,r.t) au) a au

ox
iJ,r
Jy

(8.6. 1)

condi ti on~

II =

Ii

or lin = iin

on

(I ~ O)

(8.6.2(1)

where
'I" = till ; -n< ux

011

+ (1 22::;- " , uy

011

(8.6.2b)

The initial conditions (i.e.,

lit I

= 0) arc of the form

11(.1. )' .0) = 110(.1".)')

in n

(8.6.3 )

lIere I denotes time, and c, (III . (/22. lIo. Ii. 110. [. and (i" arc given functions of position andlor time. Equation (8.6. 1) i ~ :L modification of(8.2. 1) in that it contains a lime derivative term . which accoun tS for time va riati o n~ o f the physical process represented by (8.2. 1). The weak form or (8.6. 1) ;Ind (8.6.2) over an cleme nt n~ is obtained by the standa rd procedure: Multiply (8.6.1) with the weight function U(.l . Y) illld integr.lte over the clement. integrdte by parts (spalially ) tho\C teml" that involve higher-order derivatives using the gradiem or dive rgence theorem. and replace the coefficient of the weight function in the boundary integral with the ~econdary variable [i.e .. u<;c (8 .6 .2")[ . We obtain

0=

[ ( au 1
11, 01

v c - + aO!I - [

) +(111--;- +022:-:- (/.1'(1), a,au a,au]

Jxox oyoy

r,

lInvds

(8.6.4)

Note that the procedure to obt:.in the weak fOTm for time-dependent problems is nOI much different from Ihat used for ste:ldY-Siate problems in Section 8.2.3. The difference is thilt all te rms or the equations mily be functio ns of time. Also. no intcgmlion by parts with respec t to time is used. and the weight function v is not a function of time. The .~elllidiscrele finit e elemenl model i). obtained from (8.6.4) by substituting a finite element approximation for the dependent variable. II. In ~Iec tin g the approx imation

492

A \ 1~- I 'IWlllrlm'i T01111i r l\ ITr 1'1n!l~'<T MlII101l

for II. once again we variation.

a~~umc

that the time dependence can be separated from the

~p3CC

u(x. y. t) ::::::

" L u'j(t)1jrj(x . y)
)=1

(8.6.5)

where II ~ denotes the va lue of u(x, J', I) at the spatial location (x). J' j ) at time I. The ith diOcrcntial equation (in time) of the tinite element model is obtained hy ~uhstituting v = 1/I,~( X. y) and replacing /I by (S.6.5) in (8.6.4):
" 0 = '""' ( M Il (/11' + K I j ) ) r._j t/l~. L lt J. I {

- J" ' -Q"

I ,

(S.6.6al

or, in matrix form

(S.6.6b)
where a s upcfpo~ed dot on
1/

denotes a derivative with time (Ii = ali/fit), and

K,~; =
J

1(
n,

(/11 - ,- ' - ,- j

J.p" J.p"
ax ax

+ U2! -

ai"~ a~'

<Jy

-' _ _ +(j(llg1/l ~ 1

iJv

'

) dxdy

ft =

Jo"

f(x.y.t)1/It d xdy

This completes the semidi scretization step.

Eigenvalue A nalysis The prohlem of finding 11)(1) = Uje ~J,., such that (8.6.6) holds for homogeneous boundary and in itial conditions and f = 0 is called an eigenvaillt, problem. Substituting fOf II) (t) into (8.6.6h). we obtain

(-AI M'I

+ I K"lll"") ~ I Q" I

(8.6.7)

Upon assembly of the clement equations (8.6.7). the right co lumn vector of the condensed equations is zero (because of the homogeneous boundary conditions). giving rise to the g lobal eigenvalue prob lem
()K

1- AIM)) IU)

10)

(8.6.8)

The order of the matrix eq uations is N x N , where N is The number of nodes at which the so llllion is not known. A nontrivia l solution to (8.6.8) exist~ only if The deTerminant of the coefficient matrix i~ zero:
)IK1 -A I MI) ~ O

which, when expandL-d. resull., in an N th-degree polynomial in ).. Thc N roms).) (j = 1.2 ..... N) of this polynomial give the first N eigenvalues of the discretized system (the n)Olinuous system. in geneml. has an infini te number of eigcnv.. lues). There exi~ t standard eigenvalue routines 10 solve (8.6.8). which give N eigenvalue... and eigenvectors.

Transient Analysis
Note that the form of (S.6.6b) is the same as the pambolic equation discu:-:-cd in Scction 6.2 l'iCe Eq. (6.2.21(1)1. Whether a problem i.. one-di men.~ i o n a l . two-dimensional. or thrcedinu:Ilsional. the form of the '1tCmid iscrcte finite clement model i~ the same. Therefore. the ti me approximation schemes di~us!.Cd in Section 6.2 for par..lbolic equations can be rc:ldlly applied. Using the a-family of approximation

(8.6.9)
we can !r..ltIsfonn the ordi nary di fferclllial C(luations (S.6.6h) into a .~e t o f :Llgebmic equations at time 'H I:
(S.6.IOo)

where

IK I..+ I = IMI +adK I.+t

{I'I = .6.t(a{FI ... I

+ (I -

a){ FI .. )

+ 101 1-

tl21K

I.HIII..

(S.6.IOb)

at =a.6./.

(/2= ( 1 -a).6.1

Equation (8.6. lOa). aft er asse mbly and iml>osition of boundary condi tions. is solved at each time stcp for the nodal val ucs /I j al time t.... I = (~. + I ).6./. AI lime f =0 (i.c .. s = 0). the rig ht-hand side of(8 .6. 1Oa) is computed u~in g the in it i31 value~ {ulo: the vector {Fl. which is the sum of the source vec.:lor If I and internal nux vector I QI. is always known for both li mes I, and ts+l' at all nodcs al which the ..olution i~ unknown lbecause f(x. t) is a klloWII fu nction of time and Ihe sum of Qj al lhcse nodes i~ ... crol. I! should be recalled from Section 6.2 that. for different value .. of a, we obtain the following well-known lime approximalion schemes lsee Eq. (6.2.20)1:

D.

Ihe forward d ifference scheme (conditionally

~ I ab le):

O(.6.f)

.~

2 2
I.

the Crank- Nicolson sc.:hcme ( unconditiotw ll y stable); 0(6.1)2 the G:t1crkin scheme (unconditionally stable); 0(.6.1) 2 Ihe b:lckward d ifference scheme (uncond itionally stable); 0(.6./)
i~

3'

For the forward difference scheme the stabil ity rcquirement 2 .6.t < .6.1,,, = ( I _ 2a)A-..

.<2

(8.6.11)

where An~ is the largest cigenv:llue of thc finit e element e(luali o tl ~ (8.6.8). We consider example, of an eigenv:tlue problem and a time-dependent problem next.

494

AI'- IN rKOU~C nOl'- TO Illh 1'1 ~' I'1'1: H .l ,MEI'- I' MHHOU

Example 8.6.1 (ElgcnvalueAnaly:>.ili) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __

Con~ider

the differe!lrial eqU:ttiOIl.

iJ~U) - - -1/+(jyl "" j at iJx!

1

'" (iJ

(R.6.12t1)

in a unit-Sqoare. $objectcd 10 the boundary t:l)uditions

a:;(0, . . t) = 0. v
and Initial conditions

,,,

.,....(x , O.t) =-O, 'I'

,,,

u(.t,l , t) ., O,

I/Cty , t) = O (8.6.12b)

u(X , y,O)=O

(8 ,6.12c)

A~ a (i rSt c~l)ke we rouy cboow a I x I mesh of (wo Uillngutar eJemen l ~. Alternatively, for thecboice of trillngle~, we cao use the dii'lgonaJ symmetry and model the domain with one

Iriangularelcment (see Fig. 8.3.lc) . T/leelemlmt matrices fo,r a ri,sht--llngle I.ri(lngle with (/ 0;:: b (lfe;

rK~J = ~ - 1 2 0

1-I 0] [
2 -I
_I I

, rM<J = ~
24

' [2 1']
I 2 I

1 2

The eigefl~'3!ue problem becQmcs (a = I ,0)

(-2~[: ~ l]+i[-l = -mmH~l l ;

The boUlldary conditions require U2 <;:: U1"'" 0 and

Q:

co:: O.

Hence. we have

TIle eigenfunction becorT,lClt

which is: defined over the octant of the domain. For R qU:ldram of the dQ/nain. by S,)'mmctry. Ihe eisenfu/IGtion bec(lmes U(x. y) I=. (t .....~)( I - )'). Porn meSh of single reclungular clement wiJh a =fJ (sec Fig. S::3.lb). we have.

fK~l = .!. - I
6

[ 4

- J

- 2 - I .... \ - 2 - J

-2 _I] -I 2
4

-I .
4

[M

..

1= )6

a1 2 4 2 1

I 2. 4 2 2 1 2 4

2 1 2]

and

42 ( - 36 [4 2 4 ~
A 2
2

i]
2

+6

t~I -

-I
4

-2 -J

-2

-I 4 -I

-2

- I

-~])/~ll~l l Qi
U]
Q~

U4

CIIAI'lhR~, ~I"C.I I VAMIAIlI.L IMOIII.E: M~ IN T\\{) IJI\IE"SI()NS

495

lDMe H.6.1 ('on1pariM>n of finite dement ~olulions for e igen\'aJuc.~, ohtained U!iiog meshe$. wi th the analYliclll solulion (EXIlOlplc 8.6. 1).

vm:i()u~

,
1.,0'11) Al().n)
;'~().11)

Triangks

Re,,1.lmgi!:..<

IX I

2)(2
5.4[5

4x 4

8.8
4 .... 25.J4fl

I. I

2x2
5. 193 34.290
34.290
6:l..)lIO

4<4

8.8
4.951

Allol)'l!clll \OlutiQl1f
4.935 24.614 24.674 44.413 64.152 1'>4.152

'.000

5.068
21.25tl 2!S.920 58.2....">Q
85.350 86.790

6J)00

4.999
27.310 27.37{)

3>000
3!S.200 76.J'KJ

25.:130
25.:.\30 45.7\0

).4(1.13)
~(1..,)

25.7:lO 48.08.0

1SP'31)

69.780 1)9.8..m
.).

49.740 84..570 $4..570

69.260

69.260

11.<: ~Qalylic!l! $(IlollQtlI' '-- "" ~lI"'(""

+- ~!\ (I>!."" t.), S

Using the OOundOtfY conditions U2 'I!1#. UJ = U~

=Q lind Qj =0, we obtain

Qr}.=6

( -l..X4+:)lh =O. 36 CI

The eigenfunction over thequadranl of the domain is given by

U(.r, y) "" 1/t1(X. y)=(1 - .t){I - y)

f'(K this problem, the one-clemenl me\h of trian!!les in (In 11<>1 urlhe domain gh'cs the same :lnt solution a.~ the one-clemel1t mesh of rectangular clementS io a quadr:\01 oftbe domtliJ). Table K.6. I I,,'Onwjn~eigenv3Iuesobt;lined with v3nous meshcsoflfianguJar and rect:lngular elemcnl~, along with the analytica] Sl)lution of the problem. It i~ deat that the convergence of Ihe minimum eigenvalooobtained with the fillite clement method to the analytical value is r:lpid compared to the convergence of the higher eigenvalues, i.e .. error in the h i~r eigellvillues is always larger Ihao thal ill ihe minimum eigenvalue. Also, the mi nimum eigelwalue cQnverge." raMer wi lh mesh refinements.

fnmpte 8.6.2 (Transient Analysis)

We wi\h 10
~ol ve

the lr.lnsicnt heat conduction cliu,lIion

- - - +<1y:! a, a.r~

aT

({J ~ 7'

a~T)

= 1
~

(8.6.13/1")

subject (lIthe bl,lundary conditions V,ee Fig. 8.6. hl), for t

-

n.

aT (0.)"

ax

t) =:

n.

,,(.,t. 0, 1)=0

aT
"y

(B.6.13b)

T(I.\'.I) = 0.
and the initial co"ditions

1'(.t.!.I) = O

T(.t.y. O}=O

fnrall(x,y)il) 11

(~.6, 13c)

496

.<\N NrltOl)loc-noNTOlrrt HNrtL' UJ;..\U r-1 \rl1HOI)

T-O,

21

2,
15
2 10
1 1

aT --;);",0
(insuloted) "'-.
1.0 .0

16

'T""O

x
- : - or-

3 'Ql

0 linsulllt<"dl

'0'
"'igu~
Wech()(~,ea4

1'1.6, 1 (0) Domain, boundary ('ondilions and (h) finite elemem mcsh for the II"'.tn!>icnl hcl:]t cOllductioll pmblem of 1ta.lllple 3.b.2.

and

x 4 mc~h of Ilitear trion~ul3relell1cntli (..eeFrg. 8.6.lb) 10 mooellheUQltUlin. the ~1;.hlliIY and ;lcclIrot.y of the Cronk- Nicolson melhod (i.e., I:l =0.5) and lhe fOl'\\-ard difference $Chemc (cr = 0.0) fOT thc temporal appmlCim3lion. Since the Cr.iltkNicol'lOfl melhQd i!t uI~nditiMJlly <;ulble. \Io'e.::an ehoo!.e any \';duc of AI. Howcver. lOr large \'3lues of At the solulion may not be accUr'atc. The forward difl't.'fCnce s.:;hcmc is C(ll,ldilionlllly ~tnble: it i\ ~Ulble if AI '" Al~'1h \Iohcre
in~~i;tjVlte

tJ.fcri '"" ).....

0::

-':--6 ""O.OOS IK 311 .4

where !lIe m:lxinrum eigenvalue l)f (S.6.I3aJ for the 4 x 4 nx:s.h Ill' tri,lJlgles i1> 386.4. 1h::clcment equations are &h'clI hy (S.6.0/J), with (WI. I K' I. and 1/,1 defined by (8.6.bd. wherein t' <:< I, (/11 "" I. f.lu =< I. ('0'" O.lUld f = I. TIle boundary conditions oflhe problem for
the " )( 4
)~Sh

arc given I)'

IJcginllio with tbe initial CQnditiQn~ V, = 0 Ii "'" 1.2, ... 25). w': M,llvc tbe assembled :.el of associaled with {K.(I.lllI. 'The forward differern:c scheme would be unstable fur 61 > 0.00..'118. To tllu~trmethi\ point. the cquation~ art: wived u~ing Q' = 0, 61.,..0.01 and Q' =0.5. AI '"" 0.01. The C:rank-Nioolson method givc... ~Itlhlcltlld accurate solution. while thc f('ln't'anll.hl'fcrence !;Cherne yields un~tu\)lc solutioo (I.e .. Ihe ~Iuti()n error grow~ unoou1ldcdly with IlIne). ru; clln be!;ct:n from Fig. 8.6.2. For 61 = 0.005, lhe f<ll'Ward dllTercllcc ....::hcme yield~ Mable ~oluti('ln. The Cmnk- Nicolwn mclh(1lI gi\e, II stable:rnd accllr:.lte !;()Iulion for ~ven 61 = 0_05. The tempenuurc T(x. O. f) ven;u~ .t' fllr V'Jrious 't'aluc~ of lime ore <..hOWrl in Mg. 8.6.3{lI). The ste:)d)' stale iI> n:achcd at lime f := 1.0. The tempemlure T(O, O. 1I vef";U~ time. predlctcd by the Crank-Nirolson IT'1t!lhOcI. i, s.hown in Fig. 8.6.J(b). \Iomeh indio:at~s tht! CW)IUliOli ('If the t .. mpernture from zero to tbe.: l;te:)t!y ~Iale. A compari~oo of lhe u1tn\ient SQlutiQfl al I ~ 1.0 j, given in Thble 8.6.2 with the ste<ldy~late fjnitee!emeOl.1.he liniledifference. and!he anal),ti\:al <.Ohjljon~, l'.lblc 8.6.3 C()ntaiJI~ the finite dement !;()Imion~ lOr tell11 )c!11)ture prctlicted hy 4 x -1 mct;he~ Ilf triangles and rcctanglc ~ nnd ",(Irioo~ valu~ or C.I :md a "" 0.5,
Ctluation~

0.15 0. 10
4 mesh Qf\lnear triangles ~--4' , , 1Y.:n "" 0.00511:1

x"

~ 0"
1;;

0.05
0.00

,'"

E
,0:

, "

~ E -0.05

" =< 0,5. IY "" 0.01 I,l = O,O,tJ,J "' O.OQS " '"> 0,0.41 = 0.01

-0. 10

, , , , , , , , , , , , , , , , , , , ,
,
b
O.tO 0.12

0.00

0.02

0.04

0.06 0.08 '1'imc,t

Flgure 8.6.2 Stabili ty or the tr8ll.~ien l wlution ... of the heat conduction problem in Example 8.6.2 analyr.ed using a 4 )( 4 rnc..~h of linear triangull1r elements anU tbe CrankNicolwn (a :=:.0..5) and forward difference (a =: 0.0) time integrotion schemes.

0.3()

0.30-

--r.-------f

- f'-

~
0.15
~

'> 0.25 ....::

f~ 0,20-: 3

e O.l'~

O. I O+-r--~
0.05

~ 0.1O~

0.05~ 1

.
!

EI:-

N ", 0005.a "' 0.5

F-

0.00 0.20 0.40 0.60 0.80 1.00 Oi$t.unce. l:

(a)

O.oo-'1l~,~ ,n~, ,~,~ ,rrrf.. ,Trrr, 0.8 1.2 1.6 2.0 0.0 0.4 Time, t
(bl

[<'Igure 8.6.3 Variation of the temperature as a functiOil of fK)~ition x and lime f for lhctransienl beat cond uction problem I)f Example 8.6.2 (4 )( 4 mesh of linear triangles).

498

AN INTJl.OUUC"llON TO Till: nNr .... 1:1 1:.\11 ...,- \l1TIl1OD

T.bfe 8.6..1 C(;Impariwn of fin ite difference method ( rOM) and fini te clement method (FUM ) so lutiQI1~ with the Cllact solution of lhe heal conduction problem in Example 8.6.2.
Ej&:l

roM
(Meady)

f 'EJ,.1

IFf!}.!)

Nod<

(steady)

Em><
O,()()36

(SI.:!ady)

lirror

(I11=J.Ot
0.2l)j)} 0.2786 0.2218 0. 1385

0.m7
2

,
7

,
4

9 10 Il
14

0.278<) 0.2293 0.1391 O.UOOO 0.26042 0.2178 0. 133J

0.291 1 0.2755 0.2206 0. 1381

O.OO:W

0,0027 0.00 16

0.3013 0.2805 0.2292 0.1392

-00066
- 00016
O.QOOI
O,OOO~

0.0000 0.2609
0.2151 0.1317

0.0000
O.(X133

0_
0.2645
0~2 1 72

0.0000
- 0.0003 0.0006 0.0006

0.0027
O,OOltj

0_1327

0.=
O.ISII 0.\127 0.0000

0.0000
0. 171:17 0. 1110

0.0000
00024 OJJ017

0.0000
0.1801 0. 1117

0.0000
OJlOIt) OOO!l}

20

25

" "

0._
0,0711 0,0000

0.0000
0.0017

0._
0.0715

.0.21 59 0.1320
(J. I II I

0_000':1 0.2628

0.179 1

0.0000
0.0013

O.tX(W)
0.0712

O.072R

0._ 0.0000

0.0000

0.0000 0.0000

0.0000 0._

0.0000 0.0000

0_ 0._

Otnu~l ..lth ihI::('l'*I~--N"I<X"_

""tw:noe "',Ib AI >'>0.005

1abIe 8.6.3 Compari.'iOo oftranMcn\ Wlutions of (S.6. 13i.l) and (S.6.13b) obIllincd using mCl<he$

of uiangular!UK!
TIllie

~I;lf\gu l !lr

clements.

Temperal!'u"c' aiw1g the line.l' ""t): T( A. 0, I) x 10 E!elllC.'nt;

" ",, 0.0 0.9758 0._

0992~

.{;<>O.lS

",, 0.5

J" .. 0.75

0.1

TI

"
0.2
TI

0.9610 0.9556

1'2
IU

0._
0.97 18 1.7238 1.7216
1,706(}

0_9!141
I.Is003 I.n23 1.797Q 1.7681

.,

U.9063 O.!!YS6 0.9108 0.9020 \.4891 1.4829

0.7104 0.6887 0.64 1 5 0.6323 0./)32 1

0.9361 0.9462

1'2

0.3

.2 '1'1 RI 1'2 .2
TI

tom
2. 1671 2, 1 6sQ
2,I44g

.....,.
LSOR4

1_4626 1.1961 1.79J3 1.8018 ",&>1

0._
1.141>6 1.1499
1.1249

10

1'2
Rl
'TI,
ln~,*menf

"

,2.2741 2_2829 2.2479

2_9648 V}92S 2.%21

2JIlO

2-.1412 2.7871
2.8053

2.7861 2.8037

nri .. ,Ib Ill" 0 I: T2.I~t~'Io:Ql tJ1<><I1 "'Jib AI .' 0_6.5; RI. n>::lilOplilf d<:~..,..ob ""11,':"1 :00:0.1; R!. m:(""$lIlJrdOll\elll ~ W'(/! &1 :00:0.6.5. In all~ .. II" "" OS

,090
2.2TI6

1.1319 1.31!43

i.40.w
L3~9

1.4053

8.6.3 Hyperbolic Equa tio ns The transve rse motion of a membrane, for example. is governed by the par1ial differential equation of the form,
C-

a'" - - ((/11 -a,,) - - ((/22 - +lIolI =/(x.y,/) a a a,,) 2

Jr

ax

ax

oy

oy

(8.6. 140)

a" and

where II(X , y.l) denotes the transverse deflection. c the material density o f the membrane. lin are the tensions in the x and y directions of the membmnc. lIu is the modulus of clastic foundation on which the membrane is stretched (oftell (10 = 0, i.e .. there is no foundation). and I{x. y.1) is the transversely distributed force . Equation (8.6. 14a) is known as the ",live equmion and is classified mathematically as an hyperbolic equation. The function II must be determined such that it satisfies (8.6. 14l1) in a region n and the foll owing boundary and initial conditi ons:

11 = 1; onr
II(X. y, 0)

orq,, = q~

on l~

(I ~ O)

(8.6. 14b)
(S.6 . 14c)

= 1I0(X , y).

a,l

a, (x.y.O) =

VO(x,y)

where Ii and fi" are specified boundary values of II and ({" (sec (8.6.2b) l. and I/O and til} are speci fied initial values of II and its time derivmive. respectively. The weak form of (8.6.14<1) and (8.6. 14h) over a typical element n~ is similar to that of (S.6.1) [see Eq. {S.6.4>1. except that here we have the second time derivative of II:

0= in. [" (co2~ r at

+0 11 -

I)

+(111

au au + lI 22 (Ju (Jill ax ax ay uy

dxdy _

1.. lfnl! tis f."

(8.6.15)

where u = v(x. y) is the weight function. The semidiscrete finite clement moocl is obtained by subslitllting the li nite element approximation (8.6.5) for 1/ and u = into (8.6 . 15):

"'I

(8.6. 160) or. in matrix foml. we have

IM'Jlu' l + I K' 11,,' 1~ lf'l + I Q'I

The coefficients

(8.6.16b)

Mij. Kii' and It

are the same as those in (8.6.6c).

Eigenvllluc A r.ml ysis The problem of finding /I j (l) = V j e- ild (i = FT) such that (8.6.160-1) and (S.6.16b) hold for homogeneous boundary and initial conditions and I = 0 is ca lled an eigenvalue problem associated wilh (8.6.14(1). We obtain.

(8.6.11)
The eigenvalues w 2 and eigenfunctions Vi'" j (x. y) aredcterminl..'<i frOnlthe assembled equations associlltcd with (8.6. 17). after imposing thc homogeneous boundary cOl1ditiol1~ .

L:;

For a membrane problem. (tJ dcnote., the frequenc y o f natum l vibmtion. The number of eigenvalue, of the discrete sy"tem (8.6.17) oflhe problcm is c(lualto the numbcrof unknown nodal values of U in the mesh.
ExampIe8.6..3 (N:I\ural VibratiOn AnuIY$is) _ _ _ _ _ _ _ _ _ _ _ _ _ _ __

CUn.<;ider Ihe free vibmtions of 1I oOIllQgeLleou~-malerhtl rectangular membr.lOe of dinlCn,ion oy b (in n.). material den.~iIY p (in sluplfth. 80d Ih.ed on all its ed8cs. i.e., If =0 1)1\ r. Alt hough Ihe problem has ~ym melly abou t theccmcr horiZOllIallinc and center vertical lioesof the domain (see Fig. 8.6.4), uloC ofany symmetry in the filllte elemenl aouly,h will eliminate the un~ymmeuic modes of viilrJ.lion of the membrane. For example, if we ..."Qn~ickr a quadrJ1lt of the dOOlain in the finite clement analy~is. the ftequenc ies w,... (m. n "" 1.3.5, ...) and 8S$OCillti:XI eigenfunctions will be missed in the rt!~ult..~ {i.e.. weClin onlyOOt:lin (0),"" (1'1. /I =0 1. 3, 5, ... )1. By considering Ihe full domain, the iltlot N frequencies :tllowcd by tht! 11,1e~h c:l.n be computed, where N is the number uf unknown nooal values in the mesh. If only IILe first eigerlll!llue (0)11 is of interCl;t or only symmetric rrequenCie~ arc required. we can \lie 3 quadront Or the domain in the analysis. Indeed. resuh~ of Exampit: 8.6.1 are llpplkable here. wilh A,.~ "" (tI!~. The result~ pre.'>Cnted in Table 8.6.1 can be interpreted as the squares of the symmetric mlluml frequenCies of a square (/.,. b= 2 membr.me with p"" I and (/J I "" OX! a T .,. 1. The exact naturnl frequencies of a rcctangul:.tr membr.me of dimension (I by b, wilh li!osionsdll""On == T and density p are:
(I

w...~=1f{;; \

{T 1m' n' ;r+bi

(m.n =I,2 .. )

To obtain aU the frequencies, ute full domai{l mUM be mooe1oo. 'nlble 8.6.4 contJlin, thc first nine frequencies of a ra:lang ular IlIcmbm ne Ilf 4 ft. by 2 ft" tension 'f' =0 12.5 Ibltt. and den.~ity I' "" 2.5 ~Iugslfl.l, as" computet! u~ing various nlC.~hes of linear triangu lar and recllmgular clcmenL~ in the total domain. The convergence of the finile clcment result!> 1 the analytical solution i~ clear. Tbt: accurolCY of rrequencie.~ l1SSQCiated with 0 1M NymrnetTic mOOe~ ilolihe!lame when (11/2) x (,,/2) ~h u'iCd in a quadrant as when n x n mesh is used the loud domain. 'Ole mesh of linear rectangular clement yields more accurate re:.ulu. compared wilh the mesh of linear triangular elemenb.
y
)'

"I.

4ft.

(a)

- 0

.'iJw"e 8.6A Analysis of a I"CI!tangulllf" membrane: (a) actual gel)lTlCIry and (b) computational
domain with finite element mesh of rectalIgularelemellls llfKI boundary conditions

(4 x 4

me~h

or lirteaJ' elements Of" 2 x 2 mesh of ninc-nc.lde quadratic elements).

CIIAP'TER 8; Sll'GIJ! -VA MIJlBLE f'R()HI\tS 1'1

rwo llIMESSIO"~

50 I

Table 8.6.4 ComparisWl of natuNlI frequencies computed using various meshes of linear triullguJar and re(;tllngular elemeots with the lll)lliytica! solution (If u tectangular membrane fixeu on ull its \ides (all =0);2 = 12.5, (J<::::T "'" 2.5).
Triangular (linear)

Rectangular tLiIlCM)

'''''. w" "', "", w" w"

1V~1

'" 'J)(x>\

4>4

8x8
4.0025

'x,
4.;B(}.1

4 x4

'x8
J,9'S22

An:J.lylk<l1 3.9270 4.9613

m66
5.9083

4-028.5
5.2899

S.W68
6.878.8 7527 [

5.0413
6.6020 7.4200 8.0571

8.2392
tU578 100618 12.1021
13.20\1

7.2522
7.9527
J:I.6603

6.3121
7.2410

8.4565
J:I.8836 9.9280 I Ll19]
Il.442.~

at.-,

9.9W5 12}15'

lUl45

7.8540 7.8540

9.1117
10.5797 10.7280

8.7810
9.4574 9.9346

""
Transie nt Analysis

w"

14.694l 15.S117

11.1700
t4.Q734

The hyperbolic equmioll (S.6.16b) can be reduced to a system of algebraic cqulltions by approximat ing the second-order time derivlItive. As discussed in Section 6.2.lhe Newmark time integration schemes are the most commonly used ones in structu ral dynamics. Since Eq. (8.6. 16b) is a ~pccial case (with [ C[ = [On orEq. (6.2.28(1). the results in E(js. (6.2.38)(6.2.40) hold with lC[ = [0[. For ready reference, the main results are summarized here.

NewlI/ark's Schone
j/II,,+ 1 = (u) , jli),+ ! = (u) ,

+ filjul. + -2-jll)' +r
+ filjii} ;+<s
(8.6.18a)

(fil)2 ..

(ii) ,+11 = (I - O)(iil.,

where
I I

+ O(ii).+l

0' = 2" y=2': 0' = 2" Y=3": O'=2'.y=O:

Stability Crilerion
I I I

constant-average acceleration method (stable scheme) linear acceleration method (condit ionally stable) central difference method (conditionally stable) (S.6.18b)

I a >-

- 2'

y <.

(8.6.19)

502

AS IJIoTllOOllCTIOS TO 'OIIl ~u:m f.u.Mf ~"'T MIlTHOO

where w~, .~ is the maximum eigenval ue of the correspo nding discrete eigenvalue problem (8 .6.17) (i.c., the same mesh and e lement type used in the tmnsient analysis must be used in the eigenvalue analysis). Note that a more refined mesh will yie ld a higher maximum e igenvalue and a lower ~lcri.
Time Marclring Scheme

1K~ I. H {I/).+I = I F' ). +l .

where (the superscript e is omitted for brevity in the following), IKIHt = 1KI~+I

(8.6.20a)

+ lI3I M Is+1
(8.6.20b)

2
03= Y(~1)2'

(/j = - - I
Y

Once
~1(S

11I 1~+1

is e:llculatcd from (8. 6.200). the veloci ties lUld acce lerations:lt time 1 = .+1 I) arccalculaled from InlHl = lI) (lul.+1
-( IIJ~)

- lI~llil , - as{iil.

(8.6.21)
(II
=a~l, 1I2= (I - a)~1

For the centered difference scheme (y = 0), the alternative fonnulation of Ilroblem 6.23 must be used. Note that (8.6.201l) is valid for an c lement. Therefore, operations indicated in (8.6.20b) are carried out for an element , lUld IK'J and (F~) are assembled as in a static analysis. For the first time step, the initial conditions on /I and all /at are used to compute {ulo and {Ii 10 fo r each clement of the entire mesh . The acceleratio n vector [u 10 is computed from (S.6, 16b)at l =0: liilo=IM]- I({Flo -[ Kl{lIlo) Often. it is assumed that {Flo = {Ol . If the initial conditions are zero. applied force is assumed to be ;.o:ero at I =0, we then take {;;Io = {OJ.
(8.6.22)

1,110 = (OJ , and

the

Example 3.6.4 (Tl'an$ient An;tlysh)

CQJl.Sidcr 3 homQge.fleQUS ~n8ular membrane of ,ideS 0 ... 4 fl. aIld b = 2 rt. fixed on all it!; (our edge:.. A ~su me lhat the lellsion til the membrane i ~ 12.5 Ibift. (i.e., al l :0:: an'" 12.5) al)d the densily i$ P =(" # 2..5 sJugs/ft.l. 11Je iniliaJ deflection of lhe !1)Cmbrane is a"umed 10 be (8k23)

and the initial ~tJQC ity I~ VO => O. We wioJ! to deteoninl! lhe.deftection u (x. ,'1', I) orlhe membraJle as a function of lime- using the tillite element methOd. The analytical solUi.ion of lhis problem

is f,;oo Ktcys7jg (1988). p. 684J1.

11(..1'.

409.6 r.T)=-,

"

L:
... ~"L}.

. mrrx . UIf)' slO-SIOT 4 _

(8.6.240)

C".. ~ "'"

i J5{m +
1

4111)

(8.6.24/))

where the origin of the (x. )') COOrUilHI!f \yStem is lOtllled at the lower cOmer of the domain l..ee ....g.lt6.4(u)l. In the finite element analysi~, wecan utili.L.e the biaxial ,ymmctry oflhc problem and model one quadr:lnl of Ihe d()III;1in IIoee Fig. 8.6.4(b)}. We set tip a new coordinate syStem (.i'. for the oompUt.1lional domain. The initial displacement in the new coordi nate~ is gh'en by (8.6.23) with .~ nod )' replaced in tCmll> of 1 and y: x =.f + 2. J' _" + I. The initial values of ij are cakutatcd lI!oing (8.6.22) with I Flo"" !O) and lulo a:. given in (8.6.23) by 110(..1', y). At i _ 2 :lilt! Y = 1, all nndlll valucs for Ihe function 1/ ;U1d its time deriv;llivc~ arc ...cro. A~ for the crilic~1 tillle step. we cakuhuc >.""'. from the .~olulion of (8.6.17) USing the same mes b as that uscd for thll tnlllsicnt lUlaiysis and then use (8.b. 19) to compute AI(.,.;. Of CllUlSC, f\lr (! = j and y ==~, there i, no re~triction on the lime ~tep for ~l stable solution. For a 4 x 4 mesh of linear ll..'Ct;lnguIJf clemcnb in a qu:ldr-.lIl\.lhe maximum ci~eD\'alue is found 10 be ...... = 1072.(l8, which yiclds 6trm "" 0.1058 for the Ih\eaf ac(;clerolion ,;cherne (a "" O.S.

Y"" ~).

5mbililych:t.rJCleriMic" ~,flhc SOlulion~ computed llsing the con'tJflt-ave-ragc: accelcr:ltion 1) schemes for 61 .., 0.25 > Af~ lite 'ho>.\n in Fig. 8.6.5. Plots of the center defleclion lI{O. 0, t) ven.us lime I arc ~hown in Fig. 8.6.6. The finite elenlCnt ~Iulion~ are in good agreement with the nn~lytical solution (S.6.24a) and (!1.6,24b).
(0' = 0.5. Y "" 0.5) and linear ilcceleration (0' '"" 0.5. Y "'"

,tw..L
6 ~
.v~ri

4;)(4 Ifl(!$h of linear

\.tillngularej .. ,n~r)U Inll qlWinlnt<lfthl!pri8i n1l1oorrll\ln!

,
;<
0

. {I.1.{l6$

.. <

,
0

, j~

i -,
...

~.-~~
,r 'I '

, - O.J.u,- - - " i' - 4><0.5, 1"0.5 ..

~

.
"

""

: I

\' ~

-.

0.0

<\I ~ O.IW.

a-r0.5, 1. 1/3

Ul<>0.I,ao-O.5,1,el!.l

0.5

\.0

1.5

2.0

2.1;:

3.5

Tiroe.1
. ' igure 8.6.5 Stability ch:Jr:i.::temtjc~ of the callstanHI\cwgc acceleratiOll and linear accelerJ

lion <;e.hemes (a 4 )( 4 mesb of line:lr reclangular clements h used in a quadrant of the domain).

S04

II!> 1"'TROIlUCTIO:': TO I1I1l FI"m [U."'I~"''T MITHO[)

C'

Ex""

0.25

.<>.. FEM

..;

~
i'l

.~ 0.00

g
-0.25

-0.50 -hcrrn-rn-rrrncrrrrn-r-rrn1'0.0 1.0 1.5 2.0 2.5 o.s

Time,t figure 8.6.6 Companson of !.he center deOeetioll obtained usi ng various meshes with the :lllalyt ical SOl ution of a te<:tlt ngu laJ" mcmbr.lne with iniual de!lectiOI~.

8.7 SUMMARY
A step by step procedure for finite e lcment formulat ion of second-order cquations in twO dimensio ns with a single dependcnt variable is prescnted. T he Poisson equation in two dimension s is used to illustrate the steps involved. The steps include: wcak formulation o f the equation. finite element model development. derivation of the interpolation fun ctions for linear tri:Ulgular and rectangular clements, evaluation of element matrices and vectors, assembly of clement equations. solution of c(]uations. and postcomputation of the gradi e nt of the sohll ion. A number of il lustrative proble ms of heal tmnsfer (conduction and convection). fluid mechanics, and solid mechanics arc discussed. Finally. the eigenvalue ;tnd timedependent problems associated with the model equation arc :11 50 di scussed. Thi s chapter constitUTes the hean of the finit e element analysis of two--di lllensional problems in Chaplers 10-12.

PROBL EMS
Note: Mos t problems require some fonnulat ive effort (s ketching It mesh whe n it is not given. calculations of element matrices and SQUT<.' C vectors in some Cll~CS. assembling eq u<lt i() ns, identify. ing Ihe houndary conditions in tenus of Ihe noda l variables. writing condensed equations. and so on). In some callCS. a com plete Solut ion is required. When the problem size is large. esse nti al steps o f SCliing up the problem are required. M:my of Ihese problems will be solved by FEI\12D in Chapter 13.

CHM'IH{ 8: SI:-IGI..\l"RIi\II\..F. PIIOIIIX"'IS I~ TWO IJIME~SIO~S

505

8. 1 For a linear triangular element, show that

, I ,.,
for any

where

,
X' = '"" x' L, "

Y= L Y;
;-1

and (x.'-

yn are the coordinates of the ith node of the element

_'\7l l/ +CI/=O

(i = I. 2, 3).

8.2 Consider the partial differential cquation over a typical clement Q, with boundary ill Q,. with
~+{i u = q"

r,

"" a"

on

r,

Develop the weak form and tillite elcmentmodcl of the equation uver an element Q,.

8.3 Assuming that c and {3 are constant in Problem 8.2. write the element coefficient matrix and
sourcc vector for a linear (a) redangular element and (b) triangular clemem. 8.4 Calculate thc linear interpolilliun functions for the linear triangular and rectangular elcments shown in Pig. PH.4.Answer: (a)!/tl = (12.25 - 2.5x - 1.5y)/H.25.
y y

(2.5,4)

(1,3.5)

(45,3.5)

(4.1.5)

(I,ll 1.-_ _ _ _- ,2 "

(4.5,1)
~ "

L-_ _ _ _ _ _ _ _
(a)

(0)

Figure PH.4

8.5 The nodal values of a trillngular clemem in Ihe finite element analysis of a field problem, _ '\7 21/ = /0' arc:

The interpolation functions of the element arc given by

1/11 = -(12.25 - 2.5x - l.5y). 1/12 = (- 1.5 + 3x - 1.5y) 8.25 8.25

!/t.]

= H.25 (-2.5 - O.5x + 3y)

(0)

Find the co mponent of th e nux in th e dircctiOll of th e vector 4i + 3] ~l x = 3 and

y=2.
(b) A poilll source of magn it ude Qo is located at po int (,1" )"0) U,

= (3, 2) inside the triangular clement. Determine Ihe contribut ion of lhe poin t source to Ihe clement source vector. Expr~ .. you r 1I11swcr in terms of QIJ.

8.6 'I"e nodal values of an clement in the nn ite clement a n a l y~is of a field problem _ V111 = 10 aTe lit =389.79. " l =337. 19. and 11.1 =395.08 (.~e Fig. 1'8.6). (a) Find the gr.tdielll of the sol uti on. and (b) Determi ne where the 392 isoline inte rsects the boundary of the e lemelll in

Fig. P8.6. AII,iu'er: VfI~ = 1O.58e, -

105.2~ .

y
II

(3.5. 1.5)

10'

12
(4,1)

(3.5,1)

"--------------.- x
Figure 1'8.6

8.7

I f the nodnl v;llues of the c lemen ts Iohown in Fig. 1'8.7 are " I = 0.2645. 112 = 0.2 172. and II ) = 0.1800 for the triangular clemen t and II, = 0.2173. II ) = O. I!l70. and 111= 114 = 0.2232 for th e rectang ular clement, compute 1/, iJuIOJ.r. alld rJlI/iJy at lhe point (x. y) =

{O.375.0.375).

y
y

3
0.5

3
0.5

I ..

0.5

.,
2

I"

I.'
F' igur~

0.5
(b)

-- I

1>8.7

8.8 Compule th e cOn1ri bu tion ofl he pump 2 discharge to the nodes of clement 43 in the gro undwater now problem of Example 8.5.4. 8.9 Find the cocfficient matrix associated wi th the Llplace opera tor when the rec tan gul ar clement in Fig. P8.9(/) is div ided illto two triangles by joining nodI;! I 10 node 3 Isec Fig. 1 '!!.9(b)].
Compare the resulting lII utrix with that of th e recta ngu la r e lelllent in Eq. (8.2.54).

CHAP1Ut 8. SI~L&VAlUA/l IJ' PIlO8LMS 11'1 ....... '0 DIME.'1SIONS

507

f i
b
I I ..

,
y

,
a (a'

f
b

CD
0
a
(bJ

i
I IFigu re 1'8.9

8.10 Compuh: the elemen! matrices

stl =

1 _I 1 ' d'
o

VI,

d x dy.

dx

where I (X. y) nrc th e li near inlcrpolmion fu nctions 1)1' a rcctang ul ar clemem wit h sides a and h. 8. 11 Give the assemblcdcocffie iem matrix for the finite clemelllmeshes show n in Figs. P8. II (a) and 1 1(b). Assume one degree of fre\!dom per node. and let [K '] denote the cle ment cotflicient >g.1 matri x for the l'th element. The allswer should be in terms o f elemen t Illat ri cc~ K~ .
6

10

@
I

CD
2
I

CD
@
I

0
I I

7~ CD
I
(b)

0
I
2

4
(aJ

"'gun: PS. ll 8. 12 J.l:cpeat Problem 8.1 1 for the me~h showll in Fig. 1'8. 12.
Il

" " "

0
10

16

9
4

0
1
2 I

~,

,0, , '~: "

4 7

,
2

I!lement node numbel'lj

Figu re 1'8. 12

so~

AN 1:V1RQt)UC I'ION '10 Till, FINlTll RI~W NI Mlrll l 00

8. 13 Compute the glob'll source vector correspondi ng to the nonzcro speci fied boundary flu x for lhe tin ne elemenl Ille~ hcs of linear clell)Cnls shown in Fig. 1 1J, >fI.

"

, ,
7

t em 1 em

10m 18
11 17

21

, om

.5 (2) 10
" m

hm

"

..
21

'om
24
..

f t.scm

@ r .51:111

"

Figure 1'8. 13

8. 14 Repeal Problem 8.1) for Ihe tin ite element Incsh o f quad ralic elemellIs shO\ol. n in Fig. 1'8.14.
q,

I.Scm
U " Uo

,
ill
7

J3 Hi
II 1.5

12 @)

ul

J
Zem
1

lJ

CD

Zcm 'om q. - 0

"

1O <lJ

III

29

(J)

~ JO
1 cm 1.4 em

Figu re 1 14 '8. 8. 15 A linc source of inh:nsity qo is localed across the Iriangular e lemenl shown ill Fig. 1 15. >8. Compulc the clement source vector.

Figu re P8. IS

C1lAl'I'Ii~ 8: SI"(;Ui V"~IAlIl..F. P~OHLI;MS IN TWO [)IMU,SIONS

509

8.16 Repeat Problem 8.15 when the linc source has varying coordinate along the linc sourcc.

~ou rc e,

q(s) = qusjL, wh~re.l' is the

II:

S.17 Consider thc following pani,ll ditTerelllial equation governing the variable

r~;
where c,
(I.

- OOx (a::) - ~~ (b~~) - 10=0

I.

b. and

10 ar~ constants. Assume an approximation of the fonn

Uh(X. y.l) =(I - X)YUI(I) +x(I - Y)1I 2(t)

wherc

III

and

liZ

arc nodal values of 11 at time

(a) Develop the fully discretized finite clemen! model of th e cq u(l\ion .

(b) Evaluate th e elemem eocfficielll matriccs 11nd sourcc vcctor for:1 squarc c lcmcnt of dimen

sion 1 unit by 1 unit (so that thcevalu11tion oft hc integrals is madceasy). Note: You should not be concerncd with this nonconventi{)nal approximation of th e dc pendent unknown butjusl usc it as givcn to answer the question. S. IS Solve the Laplace cqum ion

_(JlU + alu) =0 OXl ayl

=U(I.

in

on a rcctangle. when ufO, y) y) = II(X, 0) =0 and lI(x. b) =uo(x). Use the symmetry and (a) a mcsh of 2 x 2 triangular elements and (b) a mesh of 2 x 2 reet11ngular elcments (see Fig. PIUS). Co mpare the finite elemcnt sol uti on with the exact solution
u(x, Y) =

. ", 1

L
""

A.

IIIrX.

/lIry

Sin - - slIlh--

where

A. =

2
(lsinh(IIlThja)
JrX

1 "
0

/lIrX uQ(x)sin - - dx

Takc a = b = I. :md 1I0(X) = si n becomcs

in the computations. For thi s casc,

th~

exact solutiun

u(x. y)

=",. 7-="' smh Jr

sinJrx sinhJrY

Aluwer: For a 2 x 2 mesh of tria ngles. U4 = 0.23025 and Us = 0.16281: for a 2 x 2 mes h of

reC1angles. U4 = 0.1520 and U! =0. 1075.

~(r,b) . ~ou)

"'

.-"
I ..

_ " l w_ O 4

.-.

w ~b~

, ,

oj

Figu re PS.1 H

510

AN I)(l1IOOI.KT1C.)N lUTHEmmli I~J:MI!Nfl.ll!lllOO

1'1.19 Sollie l>rohlcm 8. 18 when uo(x) = I.

nit

analyti ca l sol ution is given by

4 sin(2n + I )Jrx sinh(211 + 1)]1" )" II(X. \1)= - L ]I" _.0 (211 + I) SlI1h(211 + 1)" Allswu: (tI )
U~

?--

= 0.2647 and U, = 0 .2059 .

H.20 Solve Problem 8.18 when 1I0(X) = 4(x _ Xl). Auswer: (lI) U4 = 0.2353 and U~ =0. 1691:
(b) U4 = 0.1623 and Us =0. 1068

M.21 Solve the Laplace equa tion for the uni t square oomain and boundary co nditions given in Fig. PS.21 . U'iC one rec!angular clement.

"
-:0

<ly

au "'u ",2

'" "

- v1u ", 0

1.0

Ir'" '. 1

1.0

/'
" .. I

t<' igure PS.21

8.22 Use two triangulare1emellls to solvc the problem in Fig. 1>8.2 1. Use the mesh obillined by joining points (1.0 ) lll10 (0.1 ). S.23 Consider the sleady-swte heat Iransfer (or other phenomenon) in a square region shown in Fig. P8.23. TIle governing equation is given by

- adx (k ~:) - ;: (k ~;) =/0

nle boundnry condit ions for Ihe problem arc:
1I(0,y)=y2.
A~suming

II(X.0) = x 1,

1I(l. y)=I-y,

u(x,I)= I - x

Ii = I and /0 = 2. dctcnnine the unknown nodal vulue of Ii using the unifonn 2 x 2 mesh of rectangular clements. AI1.~lI'u: Us = 0.625.

uU.l) - ! - x

"

v 2u .. 2

LO

""

,,). I -y

10
./

t<' igure 1'8.23

llIAJ'IT:R', SIt-au! VAR1AIII .I' 1'ItOIi1 .1O.\IS"

nVo DIMr","SIO'S

5 II

8.24 Soh e Problem 8.23 using the mesh of a rectangle and ' .... 0 tnang1cs. as shown in Fig. 1'8.24.
Answer: Us = 0 .675 .

.'

u(.t,1J - l -J( 6

<
uto.y) : y2

(i)

T
1.0 1.0
.<

10 0"

-------- 5 , " 4', ' CD', \ ' "

I

<

--- ---

r,

0.0 0.0

o ", '0'
"

',n : \
2','

,,,

r,

'3

0.6

10

Figure 1 'S.24

Figure PIUS

1'1.25 Solve the Poisson C(IUillion _"2,, = 2 in Q.II = 0011 r l. Ol/ fiJl, _ 0 011 r ~. where Q is the linil quadra/ll bounded by the pambola }' == 1 ~ )( 2 and the coord in"te axes (see Fig. PH.25). and r I
and

r 2 are the bo undari e~ shown in Fig. 1 '8.25.

11.26 Solve the ax isy mmetric field problem shown in Fig. 1 'lJ.26 for the mesh showil there. Note
thm Ihe problem ha... sy mmeuy about any ~ = CtID,>tant lillc. Ilenec. the problcm i ~ essentiall y olle d imensio nal. You are only req ui red 10 determine Ihe clement malrix and source vector fOf element 1 and give the known boundary condllion ~ on the primary and "l..'Condary variables.

~~~~=~'~ (top) nsuI3tcd

L

fc _ 20Wf( m C)

&l : I01W/m'(IMtcma l heat xcnernhon) To- l00"t-.Ro- 002m

10 1.0

.!
Insu lated
(boUom)

.,;-;--

-----~

...
3

<

'.
Figure 1>8.26

-,
5

11.27 r"Ollllula te the ax isymmetric field problem shown in Fig. 1 '8.27 for the mesh shown. You are
only required to give the known bou ndary conditions on the primary and secondary variables and com pu te the sC(.()ndMY voriable at r = Ro/2 using C(luilibriunl nud the definit ion. UltC the c leme nt lit the left of the node.

,
1(r,l.) '" To

k = 20 W/(m-C)

go " IOJ W/ml (internal heat gcncr.ll1on)

T(Ro-=J '"' To L

To " 100"C. Ro = 0.02 m. L '" 0.0-1

III

,
7lr. 0) '" To
(bouom)

l-t-if
I

4tdt ~ O_02m

... Ro

0.02 m

...

Figu re 1 '8.27

8.28 A series of heating cables h:lve been placed in :J conducting medium. as shown in Fig. P8.28. The medi um has (:onduct ivitie... o f k, = 10 W/(cm ' C) and k, = 15 W/(c m q, the upper surface is c1(po~<:d 10 a te mpe rature of - S' C, and the lower surface is bounded by:U1 insulating medium. Assume that cilch ca ble is a point sou rce of 250 W/cm . Take the convecti on coeffi cient belwee n the medium and the uppersurf:tce to be fJ = 5 W/(crn z . K). Use a 8 x 8 me~ h of li near rttlangular (or lriangu l ar)e le men l~ in the computational domain ( u~c any symmetry available in the problem). and fonnulale the problem (i.e .. give element matrices for II typic:11 clement, sive boumJary conditions on primary and secondary variubles, und compute convcction boundary
con tribution~).

4 tm

---S --Z ------7 I:.lectric cables

(Q o '"

250 W)

<

~ lnsul~lIon

8.29 FormulaIc th e fi nite clement analysi s information to determine Ihe te mpe rature dis tributio n in the molded asbeSlos insulution shown in Fi g. P8.29. Use Ihe symmetry 10 identify a computational domain and give the specified boundary conditions :11 the nodes of the mesh. What is Ihe connccti vit y o f matrix for the mesh shown?

CHAI'T'EI! ~ SINGLE-VARIAO I Ii PIlOUI-F.MS IN TWO OIMENSIONS

5 13

100 F

" ."--"-----'------"-'" ,
10

Fil;u re 1'8.29
8.30 Consider steady-s t,lte heat comluction in a square region of side 2(1 . Assume that the medium has conductivity of k (in W/(m cC and uniform heat (ene rgy ) generation of gu (i n W/m l). For the boundary conditions and mesh shown in Fig. PS .3D. write the tinite element algebraic equations for nodes I. 3. and 7.

y
7

Convection /3.

T~

Heal

~uppt

qo(W/m 2)

':-4
I I

CD

<l> <l>

p rcscribcd

CD

'"

"

mpemture. 1{1
k = 30 W/(m 0c), {3 "" 60 WI{m 2. Q C)
T~=OC,

To = tOOC, a = t em

x
Insutaled

'" /
Figure P8.30

qo = 2x t0 5 W /m 2,go= t0 7 W/m l

8.3 1 For the convection heat transfer problem shown in Fig. PRJ I . write tlte four tillite element equations for the Ul1known te mperatures. Assume that the thermal conductivity of the material is k = 5 W/(m C). the convection heallransfercocfficient 011 the left surface is 1$ = 28 WJ(m 2 . "C). and the internal heat genemtion is zero. Compute the heats at nodes 2. 4 and 9 using (a) element equations (i.e., equi li brium), and (b) definition in Eq. (8.2.19b) (u:;c the tcmpemture field of clements 1 and 2).
y
~uta1ed

9
p rcscribcd

ConveeliOi

/3.

T~

>
4
I I

CD

k=5W/(m "C),{3 = 28W/(m 2 .oC)

CD
2

<l>
3

'"

"

mperature

T _ = OC, T J = Ts = T9 = 40C,

T t = T 2 = 10C, a = 0.15 m

2,,/
Prcscnbcd tempcmtW"C

Figu re P8.3 1
8.32 Write the finite clement ey umions for the unknown temperatures of the problem show n in Fig.

PS .32.

y
IJ
1m

. /T :.

ooe

16

T = IS(r'C

0"
8

k '" 10 W/( m-O Cl 3 Ku " 0 W/m

0 CD CD J I
" 17 m

Ts so"e

(}),

7 = 25(r'C

."-

f 'igtln! 1"8.32

8.33 Wri te the fi nite element equations for the heals at nodes I and 13 of Problem 8.32. nle answer should be in tc rm ~ or the nooaltcmpcrut ures r ,. T1. , T,b

8.34 Write the finit e c)cment in Fig. P!I.:W.

equal i on ~ a~soc i3l ed

with nodes 13, Ifl. and 19 for the problem shown

J'

jT=ToooslIo
L6

@
IJ

,, ,
~

Insulated -4,; 1

,
I

II

* ", 2S W/( m "C).Ko=O W/m J " .. 1 m. Tn = loooe

0)
2
J

(!)

@'

"
Fij.\ure 1'8.34
8.35 nle fi n shown in Fig. 1'8 .35 has its base maintained lit 300 C and c~posed 10 convccllon on its remaining bound:try. Write the tin ite clement equations al nodes 7 and 10 .

II L2

13

Co.?ccl1on /1. T~ 14

IS

:: 6

CD CD
;

, CD
(})
3

CD
2j
T~

Convection fl.

1/

8 cm

.-

0
,m

I
LO
b

,m

k = S W/( m "C)
P = 40W/(II1! QC) T.. ",20'C
To =300"C. 1/ = 8 em

,
~

f 'igun! 1'8.35

8.36 Compute the hell t loss at nodes 10 and 13 of Problem 8.35.

C!!AI'IliIl~' SIt'GLE-VAII1AijLllI'HOAt"'>IS IN rwo DIMENSIO:'S

515

8.37 Conside r the problem o f the fl ow of gro undwater beneath a coller dam. Solve the problem using the velocity potcntial formulation. The geometry and boundary conditions are shown in Fig. P8.37.

:: h " 4ern

......... ...................................................
a ~

em

'

''''''p' m,,{, bk. dl = 0

d"

I<' igur!;' 1>g.37

8.38 Formulate the groundwater fl ow problem of the do mai n shuwn in Fig. P8.38 for fi nite clement analysis. The pump is l oc ~ted at (x . y) = (787.5. 300) m.
Impenneab lc. y -:.-:-:.:-:.:.:.:
..

a" ... ................ :-:-:\ :.:.:.:.:.:.:.:.:.:.:.:.:.:-:-:-:-:-:-:-:...........

..I

alP =0

all

= 1.75 m 3 /day/m 2 , a~2 = 1 m J /daY/m 2

400 m

tmpermeable':=:

3
2

= 100m
P ump O(787.5. )00) Q = 200 rn a/day

-=0..

J;~

J"

" " 600m

Stream

: .:h ...

=.=... =:...:;z::;===,,~~'.:==g. -L. . . ..

Dm
...................................................
a

q '" O.5m 3/day/m

.<

a... Impermeab le . ....:!... '" 0

...!.
J"

1050m

Figure 1'8.38 8.39 Repem Prublcm 8.38 for the domain shown in Fig. PS.39.
/ fii = 100m

: .., - - - - - " - - - - - - - - - - - , ::: J 2

Im permeable,:::

~;, :o1f-___"' __7

... "?/
'.'

Wh ole domain jail '" 1.75 m /day/m

1 ;;"-

Impermeable

m a __..l_":,C_1__"/d "YI____ = m __c C '

Stream. q '" 0.5 mJ Iday/m

-I::

Tn "' O

J,

fii - 2OOm

L..

V V

375m
h = 750m

'." .'

. .. .. ........./

... ""~ ~"1~Q;j'~"""" " " " " "' " .... :0
.:::..:!. '"

~I------~/-",.~~~~--------~ J .
Impe ml cab lc,

a"

Figure P8.39

516

AN IvntOI)U(' llONTOTHI, I'INrt1l H.E\1INT MF1110l)

8.40 Consider the .<.Ieady coniine<! now through the fo undation 50il of a dilill (see Fig. pg.40). A'.,um IIlg that the M)II is isotropic (t, = k,). formulatc the probkm for linite e!ement anillysis (identify lhe ,I,pcdfied primul)' and seco ndary variables and th eir co ntribution to the n odc~). In particular. write the lill ite clement equ:lliolls at node~ 8 and II . Write the fillite clement equations for the horizontal \'clocit y eomjXmcnt in 5th :md 10th elements.

Structu ....

III .1:=

3nl.day

III k = lmlday

I.

Figure PS.40

8.41 Fonllulatc the problem of Ihe now 30001 an elliptic:1I cylinder u~ing the (ll) stream funct ion and (b) velocilY potential. 11lC gcometry lind OOulldary conditions are ~h(1W1l ill Fig. I>gA I .

I (00 now)

110= I
h
4

em

Fixed wall (no now)

Figure P8.41

8.42 Repeat Problem 1.41 for the domain shown in Fig. P8.42.

:::: :::: ::::

-->-

-->-

Rd wa \1 { no fl ow ISl

20m

A
'!'6
(/ =

b ... 4 em

"0'" 1

\2 L Rigid wall (no flow) em

Figure 1'8.42

8.43 The Prandtl theory of torsion of a cylinctrkal member leads to

- V 2u = 2CO

in

n:

u = O onr

where

stress fund ion. Solve the equat ion for th e case in whi ch n is a circu lar section (~ce Fig. P8.43) using the mesh of linear triangular clements. Compare the finite element sol uti on with thc cxact sol uti on (v;llid for e lliptical sections with axes II and b):
1/ _

n. C is th e shC;J r modulus of the material of the member. 0 is the angle of twist. and (/ is the

is the cross section of the cylindrical member being twisted.

is the boundary of

COa' h!

-a2+h2

(1-

2 .x _ a2 b2

l)

Use a = 1. b = I. and /o = 2CO :::: 10.

By symmetry, any se<.:tor can be

,,

, ,,

,,

used as the computational domain

a = 1.2G8 = 1O

r- -- - -~-;-~;-C-=--->!;-'-'---'';--+ ,1 2 ,3

.,'

I ,

Figure 1'1'1.43

518

,,:-I J);1lI0[lUCTIO:-l T01Hil FI:-IIT'E ELF '>1ENT MIIT/tOJ) _

8.44 Repeat Prohle m 8.43 for an elliptical sec tion member (see Fig. P8.44). Usc a = I ,md b = 1.5.

,,

,,

,,

By symmct.ry, a quudrantean be
8

used as the computational domain

(l

= 1. b '" 1.5, 2GO ", \0

0.00

,, ,

,,

-- -_..

,,

,
Figure PS.44

8.45 Repem Problem 8.43 for the case in which Q is an cquil:llerJl tri:mgle (sec Fig. P8.45). The exact solution is givcn by
U

, , = - CO [ -I (.t' + y-) - - ! (.r J - 3.ry ) - - 2 (I 2 2(1 27

2 ]

Take 1I = I and 10 = 2CO = 10. Give thc finite ele mcnt equation for node 5.

0.2667a 0.20

Ys ", 05y:VY2 "' Y3 xs = 0.2667a

X9 = XS

+O.2a

xw = xs + OAa

,"
1

!.

Figure PS.45

8.46 Considerlhc torsion ofa hollow square cross-sectional member. The ~tress functi on Iji is required 10 satisfy the Po isso n cq u:uion in (8.5.60) and the followi ng boundary condit ions:
IjJ

= 0

on the outer boundary:

IjJ

= 2r!

011 lhe illl1er boundary

where,. is the falio of the outside dimension 10 Ihc inside dimens ioll. r = 6a/2a . Formulate lhe problem for fin ile clement allalysis using the mesh shown in Fig. 1'8.46.

CHAJ'fEIl ~. S lr-"G~E VAIlIABLE I1!OaLli.\tS 1'1 T\'>'O IlIMI~'1SI()'1S

519

"I~
I"

/
"
" I
4

,
, 2
"
fo'igure PS.46
(bl

"
"

@ ,
"

"

8047 Repeat Problem 8.46 with the mesh of linear LIiangles Uoin nodes I and 5. 2 :Ind 6. and 5 and 8 in Fig. P8.46(b)). 1'1041'1 The membrane shown in Fig. 1'8.48 is subjected to uniformly distributed transverse I03d of intensity 10 (in NJrn 2 ). Write th c condc nsed equations for the unknown displacemerus.
y
j

u = (10 - x)x

om

, 7
It = O

,
j

CD 0
4

8 em

(i)

CD
2
J

V
,
u

tOem

Figure PI'IA8 8.49 The circu lar membra ne shown in Fig. P8.49 is subjected 10 uni fomll y distributed transverse load of intensity 10 (in NJrn 2 ). Write th e condc nscd cquation~ for the unkn own displacements.
y

By symmetry, any sector can be

used as the computational domain

u = 0 on the boundary

Figure 1'8.49

520

... " 1"'TIIOI)l;(110'l1'OTIIEfI'IlTl. U..F-"IE.'1TMHl lOI)

8.50 Dctennine the critical tin~ step for the trnnsient amllysis (with (I :::
- - VII=l
illl
!

1) of the problem

by detemlimng Ihe mal(imum eigenvalue of the problem

_ V 7 ', =AII

"

inn:

11 =0

inn al l=O

in Q:

1/ = 0

onr

1l1C domain is a squafC of unit length. Use (a) one triangular element in the octant. (b) four linear clements in the octanta. and (e) a 2 x 2 1lIe.~ h of linear rectangular elements in a quadr:lnt (Sl'<! Fig. M.SO). l)ctermine the crilicallime step for the forward difference scheme. A'l.!"wer: (/) i, = 24. (b) A",,,, = 305.549.

y y

'"
(.)
II ..

a" .. 0

" _0

J./
"

(-...: - -- -' 7
y
Y

.,
~" . o
(d
0,5 --0

,.

,
0,5

ai' .. 0

(b)

., - 0 ',~~:-'.:,,,-,2~:"':'-'; - ' ' '' J Fi!lure 1>8.50

'" ~

>0'

8.5 1 Set up the oondcII.'>C<I equallons for the tr.tnsient problem in Problem 8.50 for the (I -fami ly of :Ipproximation. Use Ihe mes h shown in Fig. PS.5<Xb). H.S2 Set up the condensed equations for the time-dependent a nalys i ~ of the circulM mem brJ ne in Problem 8.49. 8.53 Determine the fundamental natural frequency of the rectangular membrnne in Problem 8.48. 8.54 Dclemline the critical time step based on the forward difference scheme for the time-dcpendent :mulysis of the circular membrane ill Problem 8.49.
8.55 (Cell/ra/ dif/t'rT'IICl! method) Consider the followin g malrix ditlc rcntial eq uat ion in timc:

(MII UI + ICIIUI + (KHUI =/ 1-"1

whcre the superposed dut indicates d iffercntiut ion with rcspect to time. Assume
IU I ~
"

= (6.1)2((U I ~ , - 2IUI~

+ IUI.+ I ).

IU I ~

= 2(6.,) ((UI .,. , - IUI ~ .J

and derive the algebraic equations for the solution of

[A H UI~-"- I = IFI~

(UI~+

in the foml

- IIJlIU,. - IIJJlU,. _+

Define IA I. I /JI. and IDJ in tenllS ofiMJ. Ie], 3nd I KJ.

S.56 Consider the lin.t-order differential equation in lime
,,~ + bll = f

d"

,',

Using linear apprUllirnalion. II (I) = III WI (I) + II ~ I/rdl). 0/11 = I - 1/ Ill. and W2 = / / Ill. de rille the as;,oci:lled algebm ie equmion and eOIllI)are wi th thm obt3ined using Ihe O'f'lmily of approximation.
S.S7 (S/Xla ./i/IJt' elemenl) Consider the differential equation
C[if -

,,, ax ( ax = / a a,,)
II

for 0 <

< L.

with

....,here C = (' (.1'). a = a( .r). / domain ddined by

=ft.I'. I). and IIQ arc given functions. Con~ider the l\.'Ctangular

J\ finite elc111el11 discrcti7.a tion of n by rectangles is 11 ti me-space rectangular clement (wit h y rephLeed by I) . Gille n finite clement fUfmulation of the equation over a timc-~ pacc clement. and di'i(:uSS the mm/rem"licallpflIClic(l/limitations o f I>ueh a fomlUlation. CompLi te the clement matnees for a linear element.

8.58 (S/Hu'",'ime jillilt' e{emt'lII) Con~ider the timc-depcmJcnt problem

a211
1/(0.1) =

all
O.

ax 2 = ea;.

for O<.I'<I.
I.

1> 0

~ (I.t) =

a"
ax

u(.f.O)=.t

Usc linclif l\."Ctangulnr ele men t ~ in the (.f. I).pl:mc to model the problem. Note that the fini te clement model;s gh'cn by [K ~ HII' 1 = [Q~I. where
K: =
j

'. ,h 1.n"' /" ('" a,'

ilx

~_, ~_J +cl/r;~_J

a,,) a,
1)

,Ix ill

Q= ( ;

io '

( " :': ",)

I' ~'. . (1. ",,, )I, '. ax

Q;=
til

S.59 Thc oolloc:llion time allproxim:uion methods are dchucd by the following rclmions:

Iii ' ".~ = (I ~ a)[iil.

+ alii I. +I
-

Ilil . " _ Ilil. +a.6I[( 1 - y)(iil. + yliilHvl

a(1l1) 2 11I1 ._= IIII"+(J'IlI[III.+~I(1

2~ )(11 . 1

2J.1 "1 1 ",III.,.

The collocation scheme cont:lins IWO (If Ihe well-known <;(: helf\es: Cl = I J;ivcs lhe Newlll.arfr;:\ scheme: and fJ = ; and y = ~ gi\c~ Ihc Wibnn scheme. l 11e colhll::lluln '>Chc mc i~ uncnndition :Ill y ' Iable, secondorder :ICCUr:l le for Ihe fo llowing v:l liles 01 the p:lm lliClers:

Ftmnillate the algcbr:lic

eqllat illn~ "~'.lJoc i :ll ed

wi lh the rnatrh di fferent ia l C(ILw tion

u~ing

the collocation scheme, the following p:Uf of coupled panml differenti:11

, (",,) (1 iI [II " '.+ ( equ:nion~:

8.60

Con~ider

--

i).I'

.11

--

ill'

a"

ilx

a,,)] +-" " ;J/

(i )

-- b

" oI

[('" I- -''')] - -oy (a,,)+ "" a (' -a.. ill' 0.1' 01

(iij

where /1 and II arc Ihe dependenl v:lriablc's (unknown fu nction,), II, h, and ,. arc known fUllcllOns (If 1 :lI1d .1', and j, and j. are known functions ofptl'<itioll (r. I' j and time I .
(a) Usc the three-\Iep procedure on each equation with a different .... elght function for c:lCh

equation (,..ay. " I and II, ) 10 dewlop the

(sc m idi ~c rc l e )

.... cak form.

Ib) A"urne fin ite de ment a pprox ml:ltion of (II. VI in Ihe follow mg form
1/(\. I'J '"

LV
rl

i (.\", 'JUi(t) ,

d.\",

r)

L V/(\.
I I

1') 1'1(1)

(iii)

:lI1d develtlp lhe (scm idi~crcte) lin lle elemc nt model in the fmm

O "" ~M IIU+ "' K "U + ~K I~ V

'I

'J

'I

1'.,
,

1- I

J= I

1 I

Iii')

You mu~t define the algehr.nc form of the dement eoefficienl' K,~I , K,~!. 1':1 etc.
(r) Give Ihe full y di~cre l ll.cd tinnc cleme nl model of the

mood (i n \hc ~ I tllldanl fonn: you arc

not requi red to derive it).

REFERENCES FOR ADDITIONAL READING

bkU\~IJ.

S.

l'mtClJlIt'~

'if Flu,d M /'(/I(",,,.s. AII}n "Ad 8acoo.

Ikl.slon. MA. 1%2.

J 'I~6

2. Ilollllan. 1 P.. Hf'1II Trfllufu. 61h 00 .. MtGr.. .... II III. "Ie", York.
DII1lt:n_"QIl~:'

l Kohler. W. aAd Pi llr. J. . "Ca1culahnn ofTI"~n~ leul TClllpcr.atu re Ficld, WIth FinIte H CII LCnb on S",..:e and Time
IIIIt'rrulllmllll Jmm",1 fur N"mt'r;ml IIl'lhoils in f:"~III"rurll, X. 625 6J I , 1914
" KrC}9 Ig, E.,

,ltll,,",('d (f.III1111('l'mlK 101111/'('''1(1110, 6th ed., John \\,",lcy,l\'ew

Yllr~.

1988.

5 Mlkhlon. S, G .. I>.rimimwl Alnlllll'-l III .\Im/'f 11l("'("<1/ Phn;".f. (tm"slmcll fmmlhc Pcrgal1lon l'rc". O.\rord, L K. 1<)(14

Ru~,ian

hy T. B(JdllingIOn),

CItAf'TER~. SINGU;:_VAR IARtE PROIll.EMS IN Tv.'O DIMENSIONS

523

6, Mikhlin. S. G" The Numerical Perfomumce of \{,r;a/j"nal Me/llOa,.. (translated from 1he Russian by R. S. Andc rssen), Wol1ers-NoordhofT. The Ne therlands. 1971.

7. Oden, J. T. and Reddy, J. N" 1983.

~j'lr;ational

Me/hods in Theon/iml Mec/u",jcs, 2nd cd .. Spri nge r-Verl ag, Berl in.

8. Ozisik. M , N" Heat Trlm.ifaA BI",i<;Appmach. McGraw- l li ll. New York, 1985. 9. Keddy, J. N"Applied Fum'lional Analy.,i,. wid Vilria/ional Methods in Enginuflng . McGraw -Hili, New York, 1986: reprin ted by Krieger. Melbourne. FL. 199 1. 10. Reddy, J. N.. Energy Princi"le . "nd Variational Methods in Applied Mechanics, 2nd ed., John Wiley, New York, 2002.

II. Reddy, J. N. aniJ RaS mU6SCn. M. L., Ad,.,,,,ced Engineeri' lg Anulysi." John Wiley, New York. 1982: reprinted
by Krieger, Melbourne, R . 1990. 12. RckhlryS. K" VUlio/ion,,1 Methods In Mathematics. Scie"ce wui E"gineerinl!, D. Reidel Publi,hi ng Co" Bos ton. MA. 1980. 13. Schlichti ng. H.. Boundary-w)'tr Theo1)' (translated by J. Kestin), 7th ed .. McGraw-Hill. New York, 1979. 14. Sobey. R. J., " Hermi ti an Space-Ti me Fini1e Eleme nts for Estuarine Mass Transpon," I"tema/ional Journal for Numerical Method" in nui(/". 2. 277- 297. 1982. 15. Timos nenko. S. P. aoo Goodier. J. N" Theory

of Elasticity. 3rd ed . McGraw- Hi li. New York, 1970.

16. Ugural. A. C. and Fenster, S. K., Adl'tmced Strength alld Applied Ela,,/icity. 4th cd., Pre nti ce Hall. Upper Saddl e River, NJ . 20m.

Chapter 9

INTERPOLATION FUNCTIONS, NUMERICAL INTEGRATION, AND MODELING CONSIDERATIONS

9.1 INTRODU CTION

[n the previous chnpter we studied the finite clement analysis of a model second-order equation and its analogues i n the tlclds ofheallransfcr, fluid mechanics. and solid mechanics. As part of this study wedevcloped the interpolation functions forlhe basic clements. namely, the linear triangular <lnd rectangular elements. These elements. which were developed in connect io n with the tinile element analysis of a second-order panial differential equat ion in a single varinblc, ilTC user ul in all finite clement models that admit Lagr::lnge interpolation of the primary variables of the weak formulation. Thu s. if a library of interpolation functions is availnble. then we can se leel admissible fun ctions for the model from the library. The objective of this chapter is to develop a library of two-dimensional triangular and rectangu lar elements of the Lagrange f:l1nily. i.e .. elements over which only the functionnot itli derivat ives-are interpolated. The Hermite cubic interpolation functions are a lso presented. without a derivation. for the sa ke of completeness and reference. Once we have clements of di ffercnt shupes and order at ou r disposal. we ca n choose appropriate elements and associated interpolation funct ion s for a given problem. The regularly shaped elements. ca lled lIIa.\lerefelllem.~. for which interpolation functions are developed here, can be used for numerical evaluation of integrals defined on irregu lar clements. Of COUf'\e, th is requi res a trJ.nsfonnation of the geometry from the actual element shape 10 an associated master ele ment. Section 9.3 deals with the transformation and numerical integrat ion.

9.2 ELEMENT LfBRARY

9.2.1 Triangular Elements The linear (three-node) triangu lar de ment was developed in Section 8.2.5. Higher-order triangu la r clements (i.e .. triangu lar clements with interpolation functions of higher degree) can be systematicall y developed with the help of the so-ca lled Pascal's triallKle, which

526

AN INT I(O[}UCno.'1 !'Olli E H'IIT ' ~

~ I. H1 E. vr

METIIOI)

Pascal's triangie

Degree of the com plete

[lOlynornial

Numbcrof tcnns in the polynomial

Element with

""""
::,

r r
. 'y
'Y

y
.f/ Y

,
]

6
10

,..

~~

>'y

.y

y'

>' .'y N

xl; . .l ;

" "

f1

( Figure nOl shown)

Figure9.2.1 Topmost six rows of Pascal"s triangle for the ge nerJlioll of Ihe Lagnmge fllmily of
tri angular cicmcllIs.

contains the terms of polynomials of v:.rious degrees in the two coordin:lles x and y, as shown in Fig. 9.2.1. Here x and y denalc some loe:11coordin:llcs: they do nOl. in general, represenltheglobaJ coordinates of the problem . Wccan view the position of the terms as the nodes or lhe triangle, wi th the constant term and the first and 1:151terms of a given row being the vertices o f Ihe triangle. Of course. the shape of Ihe triangle is arbitrary- nol necessarily an equilalcral triangle, as migl1l appear from the positio n of the terms in Pascal's triangle. For example, a triangular element of order 2 (i.e., the degree of the polynomial is 2) contains six nodes, as can be seen from the third row of P:lscaJ's triangle. The position of the six nodes in the triangle is at the Three vert ices and at the midpoims or the three sides. The polynomial involves six constants. which can be expressed in terms of the nodal values of the variable being interpolated:
Ii

L u;1/I;(x. y)
;= 1

(9.2. 1)

where 1/1; :Ire the quadratic interpolation runctions obtained fo llowing the same procedu re as that used for the linear clement in Section 8.2 . In general, a Inh-order triangular clement has a number of /I nodes 1 (9.2.2) 11 ="2(1' + 1)(1'+2 ) and a complete polynomial of plh degree is given by
II (x .

y) =

" L
;': 1

{/ ; X

y' =

" L
; =1

II j t/tJ'

r +.f :::; /'

(9.2.3)

CI!AVrEK 9. INrUH'OLATION HJNCnO,,S. NLMbKICAL INTEGKATION. ASD MO])ELlN(;

CUNSII)E~,'TIO"S

527

The location ofthccntrics in Pascal '~ trianglegive~ a symmetric location of nodal points in elements that will produce exactly the right number of nodes to define a Lligrange interpolation of any degree. II should be noted thai Ihe Lagrange family of triangular clements (of order greater than zero) should be used for second-order problems thai require only the dependent variables (nol their derivatives) of the problem 10 be continuous at intcreleme nt boundaries. It can be easi ly seen that the (Jth-degree polynomial associated with Ihe plh-order Lagrange e lement, when evaluated on the boundary of the element. yields a plh-degree polynomial in the boundary coordinate. For example. the quadmtic polynomial associated with the quadratic (six-node) triangularelementshown in Fig. 9.2.2(1) is given by
(9.2.4)

The derivatives of II~ are

all~

-. - =
(Ix

(/2

+ (/4Y + 2asx.

(9.2.5)

The element shown in Fig. 9.2.2((/) is an arbitr:lry quadratic triangular clement. By rotating and translating the (x. y) coordinate system. we obtain the (s. t) coordinate system [~ee Fig. 9.2.2(b)[. Since Ihe transformation from the (x. y) "ystem\o the (s. t) system involves only rotalion (which is linear) and lranslalion, a kth-degree polynomial in the Cr . .1')

(a)

14 t5,, _____ """"--

,, , , 13' , , , ,
1 4

, --9

12
""----0

7 6

4 8

,0 10

It ,, ,, ,,

,
0

,
4

3
6
(h)

l<igUft! 9.2.2 Varialiol1 of a function along the intcrciclllCI1l boundaries of higher-order Lagrange clc-

I11cnl\: (0) a quadratic triangular clement and (11) interclemC111 c0111ill UilYof a quadratic interpola1ion 1\l!1cl ion .

528

AN l'fIllOUI..oc'1lONTOnmmHT'E ILE..\U:NI Mlllll(l1l

coord inate system is still a kth -degree Im lynomia l in the (S,I) system:

II ~ (S.

t)

= iii

+ (izs + iiJ / + ii4.I, t + ii ss2 + ii6/ 2

(9.2.6)

where ii, (i = 1.2 ..... 6) arc eon~ t:lIl l<; that depend on (I; and the ang le o f rotation u. Now by selling t =0. we gctthe res triction of /I to side \- 2- 3 of e lement r.V

(9.2.7)
wh ich i~ a quadrati c Imlynomial in s. If a neighboring element Q I has it ~ side 5--4---3 in common with side 1- 2- 3 of clement Q~ , then the functi on /I on side 5-4--3 of clement Q I is also a quadratic polynomial

(9.2.")
Since the polynomials arc uniquely defined by the samC nodal values V , = II~ = " ; , U2 = 11 1 III. and Ul = III uf, we have u'(s, 0) = 1/ /(.1'. 0) and hence the func lionll is uniquely defined o n the interclcllIenl bou nd,.Il"Y of e l e lT1 e nL~ i' and J. The id ca ~ d i se u s~e d above can be easily extended to three d ime nsions. in whi ch case Pascal's triangle takes the form of a Christmas tree and the clements are of a pymmid shape. called tetmhL"<ir:.ll eleme nts. We ~ hall not elaborate on Ihis any fu rther because the scope of the present st ud y is limited to two-d imensional elements only. A brief introductio n to th ree-dimensional elements is presented in Chapte r 14. Recall from (R.2.2 1HS.2.25) th at the procedure fo r deri ving the interpolatio n functions involves the in ver~ i o n of a 11 x II matri x. where 11 is the number of terms in the po lynomial used to repre~cnt a function. When 1/ > 3. this procedure is algebraicall y very tedio us, and the refore we ~ h o u l d devise an alternative way of deve loping the interpolation functions. as was d iseus!>Cd for one-dimensional e le ments in Chapter 3. The alternati ve derivation of the interpolation fUllctions for the higher-order Lagr.Jnge family o f triangular elements is simplified by use of the (lfl!(I coordinates l. ;. For triangular e lements it i ~ Imssiblc to construct three nondimensio nalil.ed coordinatcs Li (i = [.2.3) that rela te respecti vely to the sides directl y opposi te nodes 1.2. and 3 such that (~cc Fig. 9.2.3)

L,= 'A

A,

(9.2.9)

3
b

A,
A, ...

'"

.............-

fi~lI~

9,2.3 Definition tJf the natu ral coordinates of II triangular element.

tlIAJfrElI ~' IN"n:llt~JLATt()N t-UNCn()N~, NIIMt:IIICAI. IS'l n:;kATION, ANO MOI)lI.I~G CONSII:>Ek AnONS

529

where Ai is the area of the triangle formed by nodes j and k and an arbitrary poinl P in the clement. and A is the total area of the clement. For example, A I is the area of the shaded lriangle, which is formed by nodes 2 and 3 and point P. The point P is at a perpendicular distance of .\. from the side connecting nodes 2 and 3. We have AI = &bs and A = &bh. Hence. A, , LI = - = Clearly, L I is zero on side 2- 3 (hence, lero at nodes 2 and 3) and has a value of unity at node I. cnlUS, L I is the interpolation function associated with node I. Similarl y. L 2 and L 3 arc the interpolation functions associated with nodes 2 and 3, respectively. In summary. we have

"

1/1; = L ;

(9.2.10)

for a linear triangular clement. We shall use L, to construct intellXllation functions for higher-order triangular clements. Consider :1 higher-order clement with k nodes (equally spaced) per side Isee Fig. 9.2.4(a)J. Then the total number of nodes in the e lement is given by
k- I

rI = L(k -i) = k+(k - 1)+ + I = '2k(k+ 1)

; ==0

(9.2." )

'"J
.J 1 " 0 .)

tinc
7

,
(bJ

1
:;=

Figure 9.2.4 Construction of the element inlCrpolation functions of Ihe Lagrange lri<lngul<lf clements: (a) an arbitr:lry {k - I )th-order element: and (h) linear. quadmtic. and cubic demenls.

530

II~ 1~'T ROlJL("'T IOK TO nil: ~Wn b OJ"'IL~"'T \\I>TIIOlJ

and lhcdcgrcc of the intcrpolution functions is equa l to k - I. Forcxamplc. forthe quadratic element we have k - I = 2 and /I = 6. Let thc corner (i.e . vertex) nodes he denoted by I. J. and K. and let he the pcrpcndiculilr di<;tance of the node 1 frO Ill the side con necting J lilld K. Then the distance .I'p to the pth row paralic I to ~ id c J - K (under the assumption that the nodes arc equally spaced along the sidcs and the rows) is given in nondimensionnl form by

"I

S/'

P = k _ I'

so = O.

'\( - 1

= I

(9.2. 12)

The interpolation function 1/11 should be . . ero at the nodes o n the lines L, = 0.1/ (k - I ) . . ... p I Ck - 1) (r) = O. I. .... k - 2). and 1/11 should be equal to I at L/ =S' _ I. Thus. we have the ncce~~ary infonll:lli on for constnlcting the interpolation function 1/1/ for vertex node 1 (1 = 1.2.3):

1/1, =

(L I

so)(L, - sj}(L, - .\'2 )'" (L I

~'k-2 )

( k \

'~O)(S* _ I

sd (Sk _ 1 -

'~k - 2 )

'n2 =

t, - .I""
,' p

(9.2.13) In general.

" ",0 ,1" - 1

Similar expressions can be derived for nodes located at other than the 1/,; for node i is given by

venice~ .

~,; = n

A- I

1'=ol

-4j I

(9.2. 14)

where j j arc functions of L I. L 2 and L 1. and I} is the v:due of Ii al node i. The function s jj are derived from the equat iun ... of k - I lines that pas~ through all the nudes except node i. The procedure j" illustr:lted below via an example.

1<::uunpll".2.1 _ _ __ _ __ _ _ _ _ _ _ _ _ __ _ _ _ _ _ __
Fin:l. CQn$idcr thc triangular element tbat h3.l; two nodc~ per side (i.e., k=2). This i~ the tinear triaJlgular elen1C(lt with thc to\allwmber of nodcs C(IU:a1 t(l three (II =J). FQf node ! jsec. Pig. 9.2.4(bll. w~have k -1:=0 ;lnd

SI=-I,

(9.2.ISa)

Similarly. for

"1

aod ",). we ohtain

(9.2.15b)

NeXt, C1)nsic.ler the triangular element with 1hree nodes per side (k "" 3). The-Iotal numbc.r of node~ is equal to ~ix. For (lode I. ~ tulVc

,to .... Q,
~l

$1=:2'
1"1 -,fl

'~l=1
(9.2.160)

"'I = - - - - - = L j (2f.. I - I) 1~ - So S;I. -SI

-So}

The function "'~ [see Fig. 9.2.4{b)] should vani!th at nOOes 1,3,4, 5. and 6, tlIld shoold be eqoall!) I at node 2. Equivalently, 1/11 ~hould \I;lllish along cbe Jine9 cunn:ling node~ I and 5, and 3 and .5. lbcsc two lines ::u-e given in teons of L( and L~ (note til;!.t Inc subscripts of J. refer 10 the: nodes in the three-node triangular elementl as 1..'1 ~ 0 aod l. 1::0: O. HeDCe. we

.....

(9.2.16b)

Similarly,

vani~h along tittt~ LI ::0: O. 1..1

A,.;II last enmple., consider the cubic element (i.e. k - I =3). r"'Or := \. and LI "'" ~. Therefore .....e have
I{II=-O

tPJ

we note that it mllst

LI - 0 1..( - ! LI - ! 1 , 11_ 1- =-L1(31.. I - I)(3I..1 -2)

-j'-I'

The funl..'tion "'2 mu!;t vaJIis.h along li~~ LI = 0, L.}::o: O. and distance of 2/3 along 1.1 and a dislance of 1/ 3 along I~l)

t l = 1/3

(and node 2 i$ al a

';-2=-r:o

LI - Of..~ -. OLJ -~ 9 !_ O T:T=2 L. ~ L r(3 L I- I)

1- \1 ) ,

")

Similarly, we can derive Qther functiQru. . Thos. we have

I "I = 2L.I(3 '~1 - 1){3L 1 - 2),

9 ';-:="2 IJ} I.. I(3I-II

9 Vll":C "2L.I L l I3Ll -

n.

y,~ "'" 2' 1..,(31..2 - 1)(3L1 - 2)

Yts::o:

2'J~ L,(31.~- I) ,

'" "" i 'J1Ll (3L) 9

I)

(9.2.J7)

Vt7 = 2" L,(JL] - 1)( 3L J - 2).

~:c

VlS=il.1L1(3L,-I}

9 i l..IL.)(3L1 - I ).

It should be poi nted oot that thcarca coordina tes Li facilitate not o nly thccon~truction of the inte rpo lati on func tions tor the hig he r-order ele me nts but also the integration of functions of L j over tine paths and areas. The followi ng exact integration formul as prove to be useful:

"

m!,,! L ~ L; d.~ = .,----"""'-=(b - a)

(111 + 11 + I)!

(9.2.1 &,)
(92. 18b)

532

.o.)l I"I1IOI)lI(,UI'i TOTIIE Fl'ilfl H.! ~IF'f1 ~"-moo

where 11/, II, and p are arbitrary (positivc) imegcrs. A i ~ the area of the domain of integration. and III! denotes the factori:ll of III (O ! = I). Of course, we ~ hould transfo rm the integrals fro m the x and)' coordinates to L; coordinates u~ing the twnsformation,

" X=LXi L , ,,

Y=

,,

" Ly,L,

(9.2.19)

where (x,. ),,) are the global coordinates of the ith node of the clement. 9.2.2 Rcct:Hlgu]:lr Elemento; Analogous to the Lagwnge fa mily o f triangular elements (sec Fig. 9.2 . 1). the Lagrange fa mily of recl:,ng ular dcments can be developed from a rec tangul:.r array as shown in Fig. 9.2.5. Since a linear rectangular element has four corners (hence. fou r nodes), the polynomial sho uld have the firsl fou r terms 1. x, J. and xy (which form a parallelogram in Pascal's triangle and a rectangle in the array g iven in Fig. 9.2.5). The coordinates (:c. y) are usually taken to be the element (i.c .. local) coordinates. In general. a pth-order Lngrange rectangular clement has II nodes, with
II=(/,

+ 1)2

(p=O. l .... )

nnd the associated polynomial contains thc terms from the pth parallelogram or the pth rectang le in Fig. 9.2.5. When {J = O it is understood (ns in triangular elements) that the . node is at the center of the element (i.e .. the variable is n constant on the ent ire clement). The Lagrange quadr:.llic fectangular elemcnt has nine nodes. and the associ:lted polynomial is given by
II(X. y) = al

+ a 2X + alY + a4-'-Y + lISx2 + aoy'+ {/ 7x 2y + aRXy'- + {/9x 2i + "4Y + 2I15x + 2{/7XY + {I~i + 2a9x i + CI"X + 2a6 y + " 7X 2 + 2tlg xy + 2t1 2Y 9x

(9.2.20,,)

:-- = {/2

all

ox
all

oy =

"3

(9.2.20b)

TIle polynomial contains the complete polynomial of the second degree plus the thirddegree terms x2y and xy2 and also the x 2)'2 teml . Four of the nine nodes afe placed at the four corners. four at the midpoints of the sides. lind onc at the center of the clement. 111e polynomial is uniquely determined by specifying its values at each o f the nine nodes. Moreover. along the sides of the element. the polynomial is quadrJllc (with threc tcrms----as can be scen by .setting y = 0) and is determined by its values at the three nodes on that side. If two rec tangular clcments share a side and the polyno mial is rC(luired to have the same vlllues from both clements at the three nodes o f the clements, then II is uniquely defined along the entire side (shared by thc two elements). Note that the normal derivatives of 1/ approximated by the quadratic Lagrange polynomial s is quadratic in the t:lngential direction and linear in the normal direction (i.e .. au/ax is quadratic in y and linear in x. :lIld iJ lI /ay is quadr.llic in x and linear in y). Plot" of 1jI1. "'2, and "'5

l:JDD

D OD D
, , A

:c.
,
------.-------~

~.

:'"1..,

: ~I.:'

;..

: '1-.
'"'\"
c ~

e,

" -----,

"~

"

.~

e,

~,

",'

~.

534

", If\UUIlUCIIO" Hl ilif.I l"ITlUJ.....,IL"l' Mn

'1
(I.

IIOl)

(- 1.1)

n
~~

I It'" 4'(1 - ~)(1 -

IJJ

I 11'2 "' 4'(1+;)( 1 - 11) I '1'3"' 4 ( 1 - ;)( 1 + 1/)

1f4"'4'(I+~)( I + ,,)

Ill'

,
(-I. - I)

II. iI
'1
\III '"

~(~2 _ ~)(,r - 'Il, 'I'~:: iO t

;2)( Ir - III Ir)

7
(hI

, ,
'1
II

,
16

'1'3 = ;f(;2

~')(1/2 -

Ill.

1f4'"

2(;2 - ;)( I -

t;I~ '" (l
lI'7 '" I

~2)(] - ,fl,

I 'i'6'" '2(-!+)O

- ,r)

4'(f - ;)(,f+ Ij ),

'18 '" io - ;2)(lr + I))

1I'9 ", ~(qz+~)(,f+ ,,)

lei

"" " " 10 , ,. ,

7'
I ,

Usc Eqs (9.2_2S)-{9.2.27) 10 develop the 1I11crpoia non funcnOlI S

Fi ~u n'

9.2.11 Node numbers and interpo lation fu nc tions for the rec tangular c1c ments of the Lagrange
family.

(lhc node numbers correspond to Iho-.c in Fig. 9.2.6) of Ihe nine node rectangular clement arc shown in Fig. 9.2. 7. T he p th-order Lagrange rectangular c lement has the p th-degrcc pol ynomial

u(x.y) = L a,x l
i -,= l

"

(j+k~p+ l :j.k~ /)

(9.2.2 1)

1/1, arc called the 11th-order Lagrange interpolat io n functions. TIle Lagmngc intc'l>olation fun ct jo n ~ associated with rectangular clements can be ob tained rrom corre:-.pond ing oncdirnensionu l Lagrange interpolati on fu nctions by tak ing the tensor product o r the .r di rection (one-d imensional) interpolation runctions wi th Ihe y d irection (one-dimensional) interpolation functions. Le t the x and )' coordinlllcs be taken along clcmcnt sides with Ihe origi n of the coordinalc systcm at thc lowcr left comcr of the rcct:lIIgle. The n for :1I1 clcmcnt wilh d imensions {/ and" along the x and y d irections. respectively. the intcq)Olation functions arc givcn as fo llows:
and

,
",
,,,
O~

"

,.' u
~

-OJ

.<
7

,/

./ 0.5
I

,
05

,. , , ,

,
I '

-",
~I

OS "(

,
O.~

....0 ~

'0
x_O.S

~I

Figuft. 9.2.7 Gl'iUllCCric vari ation of the La gran ge iutcrpol:uio n function.' Fig. 9.2.6) of the. lime-node qu:tdr.ll ic clemen t.

aI

110<1("\ I. 2, al1d 5 (sec

Lincur (p = I)

[ ~I ~)] tP2
1/1<1

! ~ )1 1- ~ ~ I
I~

f)

1-; I -I; 1 -~ b [( X)( ' ) ( X)"] y) "y -'( 1 - -(/ b ab

(x ~(I ) (X - (I)

"

(9.2.22)

Quadratic ( p = 2)

()' -\b) (,' -

b)

( -~(I) (-a)

~I
~,

!b
)Ie\' -

."( .~' -a)

b)

~)

!aOa -a)
x(\ -1(1) a(1a)

_ ~b2

(9,2,23)

y (y - b/2 )

*,,2

536

,\N I/i'IItOllUCI KJNTUTllr flNIHl ELE.\11 NT "UlIllOU

where Ihe 1WO vectors arc the o lle-di mensional illlerpoialion funct ions along the x and y directions. mspcctively. We obtain
1/1 1 = 1/1 1 1/15

21' ") ( 2-')( -')( b )( h .

I - -;; I - -;;

1-

I -

1/12= 1/14 =

4"( 1 -:"",)( 1- -2,,)( I - -I,y) . b

lit/

X(2X =-;; -;; -

Y Y) )( I - h' )( 1 - , , ' 2

= -;; I - -;;

-')4Y( I - "Y) . h'

-')4"( - ( I - -2X)( I - III) I (/ ,,) 1/16= X(2< - I )4,, (1 - - (/11

,,)

I,

- - (1 - 2X)( 1- -') Y(2Y - I). {/ a b b -'(2, -b ' 1/19 =- - - I )Y(2" - I ) a a b

1/17=

4X( 1/111=-;; I

-~

X)'(2" - 1) b b'

(9,2,24)

pth Order

(9.2.25)

1/1"

~"

I1

1/121.+2

k =( p + I)p + I.

n =( p +

1) 2

where f,(x) and 8,(Y) are the plh-order imerpol.mts in x and y. respectively. Forcxaillple. the polynomial

j;(<> ~

(t (t, -

tde< - ,,),"

t,)(t, - t,) " ,(t,

(t - t,-,)(t - ,,-,)(t, -

t,.')'" (t - t,+,)

t,.,) " ,(t, - t",,)

(9.2.26)

(where J;, is the ~ coord inate of node i) is the plh-degree interpolal ion polynomia l in ~ Ihal vanishes al poinls ~I' ~2 ..... ~, I. ~i I I..... ~I' I I. We recal llhm (x. y) arc the clement coordi nates. It is convenient (for numerical integration purposes) to express the interpolat ion func tions in (9.2.22)-(9.2.25) in terms of the natural coordinales ~ and 1/:
~

2(.1.' - xd

(j

,IJ =

2(y - yd - b b

(9.2.27)

where XI and )'1 are the g lobal coordinates of node I in the local x and), coord inales. For a coordi nate system with origin fixed at node I and coordiOillcs p<trallc1 to Ihe s id e~ of the e!cment, we have XI YI O. In this case, the quadrmic interpolation functions in (9.2.24) can be wrillcn in tcom. of the natural coord inates ~ and '/ as

= =

I , , 1/13 = - 4(~ +~~)(11- 'r),

~'~-2(1-,)(I - "), 1jr9=4(~+~ )('/+ I/")
I 2 2

(9.2.28)

'

The reader should be cautioned Ihm the subscripts of 1/1, refer \0 the node numbering l'sed in Fig. 9.2.6. For any renumbering of the nodes, thc sub\Crip'" of the interpolation functions shou ld be changed accordingly.

9.2.3 The Serendipity Elements

Since the inlcmal nodes of the highcN}rdcr clements of Ihe Ulgrange famil y do 110\ contribute to the interelernent connectivity. Ihey can be condcn~cd out at the clement level ~o that the size of the clement mmriccs is reduced. Alternatively, we can use the so-called serendipity e lements lu avoid the intern;) 1 nodes present in the Lagrange elements. The ~erctldipity clements arc those rectangular elements which have no interior nodes. In olher word~. allthe node point s areon the boundary of the element. The interpolation funetion ~ for serendipity clements cannot be obtained using tensor products o f one-dimensional interpolation function s. Instead . an alternative procedu re that employ'ithe interpolation properties in (8.2.33) is used. Here we i llu~tr.Jte how to con<;truct the interpolation functions for the eight-node (quadratic) clement u ~i ng the natural coordin:lle~ (~, II). The interpolation function for node I should take on:1 value of leTOat nodes 2. 3 .... , R. and a value of unity at node I. Equivalently. Vtl should vanbh on the sides defined by the equ ation~ I - ~ O. I - 1/ = O. and I + ~ + 'I 0 (~ec Fig. 9.2.8). Therefore, 0/\ is of the

fill =- '4(1 - 0:)0 - 1/1(1 +'; + III

"_--:*'--_""t+~+,, =0 6
l+~ - ,, = O

.
,

I ~ '/ = 0
l+~ - ,, = O

~l = ~(1
,-J . -

- .;2)(1

- 1Jl
,,)(1 -.; + III

4'(1 + ';)(1 -

~-~~--~-- I+" = O

t -~ -rJ = o

Y'~ : 4(1 ';)(I-rh 11'6 = ~(l+")(l - .r)

I "'6 =- '4(\
~)O

+,,)(1 +.;- 11)

((/ )

lI'7 = t(l -';~)( l+l'/)

'1

,,~ = t(]+';)(I+IIl O-';-11l

11

10

(hi

'---t+(
J

"
4

See get. (9.2.33) for the int.erpoJu t ion functions

Figure 9.2.8 Node numbers ;U1U interpolation functions

:t~sociatcu

with the serendipity famil y of

clements.

538
form

AN I\TMtll)1JC1'1OS TO' 111,

f!'1rn: l:.1J'.\II~vr ~tI:fIIOIl

(9.2.29(/ )

where (" is a constant that should be determined so a~ to yield 1/11 (- I , - I ) = I. We obtain

(" = - ~. and therefore

I 11)(1 + ~ + II) 4 We can construct other interpolation functions in a similar manner. We have

V'I

(~, I/):::: - - (I - ~)( I -

(9.2.29b )

1/11:::: - 4(1-~)( I

- IJ)( 1 +~+'I)

Ih=2( 1 - ~-)( I - I/)

ift4=-( I -~ )( [ - II )

V',
1/1~

= "4(1

+~)( [ - 1/)(-[ +~ - 1/).

2(1
I

+~ )(I - Ir).
~)(I

I ift6 = 4(1 -~ )(I

(9,2,30)

+ I})( -

I - ~

+ II)

ift7::::

2(1 -

+ I}),

1/18 =

4(1

+~)(I

+ I})( -

[ +~

+ I})
(9.2.3 1(/)

Note that all the 1/1; for the eig ht-node clement have Ihe form

V,, :::: CI + C2~ + ("3 '1 + C~~ 1/ + ('5e + C61/2 + ("7e ,/ + ("I\~ 1} 2
The deri vatives of ift, with respect
10 ~

and

1/

arc of the form.

ilf =
iJ~,

aVI,

("2 + c~ 'I

+ 2cs~ + 2C7~ II + ( 'S Ir

2

,
(9.2 .3Ib)

ill, = ('.1

+ C4~ + 2C61) + C1~ + 2cll~ 'I

Plots of iftl and ift2 (the node number~ correspond to those in Fig. 9.2.8) for the eight-node '>CTcndipity elemellt are shown in Fig, 9.2,9. It sho uld be noted lhat Vt2 of the nine-node elcment is zero at the clc ment center, whereas '1'2 of the eight-node clement is non/ero thae. The interpol:uion funclions 1/1; for the twelve-node cleme nt are of the form Vt, = terms of the form in (9.2.31(1)

+ C9~ 1 + ( 101)' + C I I~ 3 )1 + C!2~)I'

(9.2.32)

"111e interpolation function s for the cubic serendipit y element. which has [2 nodes, are

I , , Vtl = 32( [ -~)( I - I}) I - I O+9(~ -+ lr)].

9

1/1.1 :::: 32 (I - 11)( I Vt4 = 1/15 I 32

~-)( I

+ 3~).
,

(I

+ ';)(1

- I})I - IO + 9(';- +

Ir)J

32( 1 -~){ I - W)(I -3 11).

Vt"1 =

32(1-~)( 1 - 'l - )( ' +3 1/) .


7 'I

0'

FlgurY 9.2.9 Graphical rcpre<;cnlalion of Ihe ill\crpol;llion fli llclj{)n~ as~ i aled wilh node' I and 2 of the eigh t-node sc rc Jldi pilY elemcJll (<,t:c Fig. 9.2.8).

I 1/19= 32( 1

-~)( I +JI H - I O+ t) (~ + II~)I.

'

V!\I = 32 (1 + II )( I -~~)( l +3~).

"'12

I , = - (I +~)( I +,j) I - I O+9(~

32

' + II-}I

(9.2.33)

9.2.4 Hermite Cubic IlItcqmlalioll Functions

In the abo ve di scussion. we developed only The Lagrange interpo lation fun ctions fo r triangular and rt.'CtanguJar c lcme nt <;, The Hermite family of interpo lation fun cti ons (which intcrpolmc the function and ils derivatives) were not di'\Cusscd. We fecall that such funelions are requi red in the finite element fonnul:ttion o f fourth-order (or higher-order) d ilTer-

ential equations (e.g .. the Euler- Bernuulli beam theory of Chaptcr 4 and the cl assica! or Ki rchhoff platt theOl)' of Chapler 12). For the ~ ak e of complctc ness. while 110t prc ~e ntin g the details o f the derivflti on. the Hermite cubic interpolatio n functions fo r two rccl:lIIgular e le me nt ~ nre summarit.cd in T:lble 9.2.1. The fiN one is baM!d on the intcrpolntion o f (II . iJ u lox . [Jil l iJ y. 0 211 1o:d)y):tI cnch node. nnd the second one is based on the interpol ation

540
T~.hlt'

"',. 1'1ltOlJlJ(TI{)~
9.2. 1

1'0 1)(1- 11 ,,1'11 1;j,l~\\!;N1' MFI'IiOll

In.~rpo l:Jtlon runCl ion ~ ror the linc:Jr ami quad ralic LagrJ nge fe(:langu tar quadratic ,erendipuy clemen!. :md f lermile cubic reclangul;Ir clemen!!>. t

clcmen!~.

Ekmcnl lYre J..IIltnmltc rk.'flll'l1l

I ..""",

hucrpolallon

fUIl CII()I1 S

Hcm~rh

!n + (0) (1 + 'h))
>/I, '" i(o( I -I
(0) 'h,1I

+ '10)
(1)
.,1)

Comcrnodc i
SIde IlOde ;. (. = 0 Silk ~ i . " , ::0

~. -lton +&1\ 1 _
';,_1 1 _(2 )(1 _ ,,1)
SCr'I!.uli l,ily clCl1lrnl fJmu/mli('

"";~ 'Io (l +-'10)(1

Interior node {
I)

I/!. =~(1 -I (11)(1 +'IO)(to+{/IJ \It, -!n t;1)( I -I '101 >/I, "" ~ (I +(0)( I _ ,,1)
II 2 4(, - I ) + I , ; '"
<1'1
1, ... ,4 1

Corner node i

Side IlOlk i. t;, :: 0 Side node ,.. 'I. = 0

lI e nnlle cubic elemcnl

Nmlt;ml!"nm/IJ; rlrmrm
Vari~ble II

'*

kit;

+ (, )1(0

2)(11 +

./, )2 ('/0 -

2)

Der;";,!II,'e (all /iI.r )

Iknv:\II\'e

"" II '" -~~,((

!{JIl l

(a,,/ih)

= -ka: + (,)1 ((0 -

+ U21~ -

1)('1 + 11,,1('10 - 2)

2)'1,1" t '1, )1('10 - I )

Iknv:\!I\C W1,,/il.d),I')

!{J1~,1 = ~(,(( -I t/)l f(u - 1)'1/(11-+ '11)1('10 - I)

1/ = )(I-1)+l.j=) ....

C{m"m""'1: ,1/'m"'l1
Vari~ble "

,011
1"/1)

""" jltot 1)('10

+ 1J(2 + (() +'10 _(2 _

1)C.~)+ I )

IX'nvalwe lau/ilx)

""11""'(,((0+ l )l{(1)

\)crlvalivc (a,j /ny)

OPIIl = b.(~II+ 1)(1"/0+ 0 2(1111 _ 1)

("(,I

xr )//' . '1 ... (y

- v,)lb.Ifu=(~,.

'10-11'/,

's F~, 11.2.10 r." roordi",ne y<l"m, f(" 1/, I de"",,, ,hi: na,ul3l coonl,na,es orm.. ,," n<.>dc..rm.. ~lntlCn',I ' , ,I, 13K II.. , 10001 ro<Jrd,no,,,,,, Aftt.. ....,mc,,,f!t.. ,,",mem, arid 2<1 and 2h ~'" lhe ,,~ oflt.. """.n~"''''' clcn.. m
o f (II , all/ux. all /i),) M each nodc, The node numbering .. ystem in Table 9.2. I refen; 10 Ihal used in Fig. 9.2.10,

,h"

9.3 NUMER ICA L INTEGRATION

9.3.1 Preliminary CommcnL..

An accurate rcpre!-entation of irregul:.r domains (i.c .. dom:.ins with curved boundaries) can be llccol1lpli shcd by the use of relined meshes andlor irregularl y shal>cd curvilinear clcmclIIs. For example, a nonrectangular region cannot be reprcseilled accur.llely usi ng rectangular elements; however. it can be represented by quadrilateral elements, Since the interpolation functions arc easily derivable ror a rectangular element and it i.. ea"icr to evaluale integrals over recl;lI1gul:lr geomclries. we transform thc fini te clemcnl integra l statClllcnl\ defined over quadrilaleral, 1 rccl:mgle. The 1r'.IIl"fonnalion resuHs in complicilled expressions in 0:1 terms of the coordinatl!S u:.ed for the rectangular element. Therefore, numerical illlegralion i!o uM!d 1 cVilluate !ouch complicaled expressions. Numerical imcgmlion schemcs, ,uch as 0 Ihe Gauss-Legendre numerical integration schemc, re(luire the integral 10 be evaluated 011 Ii speci fic domain or with rc:-.pecl 10 a specific coord inate syslem , The Gauss-Legendre quadr.lturc. for examplc, requires thc intcgral to be cxpressed ovcr a <;quare region 11 of

OtAI'fER~,

lmHU\II..ArK)N IlJN("n (lhS. N t 'M1:RICAL Iml,(lItA'U Ot<.. ,l.MJ M(II)EIJ'IG OO"SIDt:lIATK)~S

541

(0'

,
0

"
7

'I
4

, ,
1

, ,
'I

, ,

,b,
N(J(Ies with furlCllon values only (u) Nodes with ... al uc~ of the funchon IU ) and

..

Its dcn \"ah\'cs -",''''''",,,,,

[""au.,,,]

u r
I ..

("

2,

1 "I

J<' ignre 9.2.10 Triangular ami recl~ngular elcmenls with the standard node numbering system. (lI) linear and qutldratic triangular clements; (IJ) linear und quadratic Lagrange elements; and (e) Hemlile c ubi c eicment.

dimension 2 by 2 and the coordinate system (~. 'I) to be such that - I .:": (~. II) .:::: I. The lrnnsfom13tion of the geometry and the variable cocnic ients of the differential equation from the problem coordin:ttes (x. y) to the coordinates (~, 11) results in algebraically complex ex pressions. and they preclude analytical (i.e .. exact) ev:tlutltion o f the integrals. Thus, the transformation of a given integral expression, dclined over clement Q e. to one on the domain facilitates the numerical integration . Each c leme nt of the finite clement me~h is transformed to only for the purpose of numerically eV3 1u3ting the integrals. The clement is called a master ell!ml!/ll. For example. every qU3driiater31 clement can be tran sformed to a squaf'C clement with side 2 thaI fa(;i lit3tC.~ the usc of GausS-legendre quadrature to evaluate integrals defined over the quadrilatcral clement. The lransfomlation between Q~ and Q lor equivalently. between (x. y) and (~. '1)1 is :Iccomplished by a coord imlle lmn ~ foffilalion of Ihe fonn

x= L xJ~j (~.II)
j .."

y= L yj~j(~, 1/ )
j ... 1

(9.3,1 )

542

AN 1i'<TIIQI>UCTlOI" TO 111f;

I~Nnh U .EMf!I>'T \lET IIOIJ

X==X(~.II)

Y == y(;, 'I>

x == x (,; Il. y '" y(, 1)

'\.~::::\~,- dxdy == ~ Id~(",

(
X == x(1.II), y == yO, 'I)

"tg ,
0.

Figu re 9.3. 1 Mappi ng of a lllilster rCCl,tngular elcmcm (0 all arbi lfary {IUadrilalcml clemenl of ,I finite c lemenl rn e~ h .

whcre ilj de note the fin itc element intcq)Olat ion functions of the master elemenl Al though the Lagrange inierpo1:lIion of the geometry is implied by Eq. (9.3. 1). wecan al so use Hermite interpolation. Consider, as ,m example, the masler clement shown in Fig. 9.3.1. The coordi nate:;, in the master clement arc chosen 10 be the natural eoordin:nes (~ . 1/) such Ihm - I :::: (~, Ill .:::: 1. Thi" choice is dictated by the limi ts of inlegr:Jtion in the Gauss-Legendre quadrature rule, which is used to evaluate Ihe inlegr:Jl s. For lhis case, the iI) denote the interpOlation functions of the four-node rectangu lar clement shown in Fi g. 9.3. 1 (i.e .. //I = 4). l11c transformation (9.3. I) m,lps a point (~. 1/) in the master element o nto a point (.I". y) in element Q~ and vice versa if the Jacobi an of the tr:lIIsfon n'llion is posilive-definite. The transfonnalionillap s the lin e~ = I ill 10 the line defined par:unetrica1!y by x = x( I, 11> and Y = y( 1, 1/) in the (x. y) plane. For inslallce, consider the Ii lie ~ = I ill the master element We have

n.

n.

x(l. II) = 2:::>,1/Ij(l, I]} =X l

/",1

0+

I
,X2(

I-

1])

I ,x3(1

+ 1/) +X4' 0
(9.3 .2)

- -

I = 2"(.1"2
y( l.

+ Xl) + 2:(.1") A

.\'2)1/

'0

=L

),jljfj( I. II) = ,(Y2 + n ) + 2:(Y3 -

)'2)1/

.=1

Clearly, x and yare linear function s of 1/. Therefore, they define a strai ght line. Similarly. Ihe line~ e = - I and 1/ = J are mapped into ~traight lines in the clcmcnt Q ~. [n othcr words, the master element i~ transronned, under the linear transformation. into a quadril:Jtcr.t] elcmcnt (i.e .. a four-sided clemen! whosc "ides arc nOl parallel) in the (x . .I') plane.

Conversely. C\'cryquadrilalcr:11 clcmcnt of a me"h can be tnmsfonned \0 the ..arne four-node ,quare (master) clemcnt 11 in the (~. 1/) plane (<;ee Fig . 9.3.1). In geneml. the dependent va riabl e(~) of the problem ,Ire 'Ipproxirmlted by expression.; (If the form.
u(x. y) =

" L II~ 1,1rj (x. y)

i="

(9.3.3)

111C interpolation fUl1 eti o n ~ IV u~d for the approximation of the dependent variable arc. in general. different from used in the approximation of the geometry. Depending on the relativc degrec of approximations used for the geometry I~e Eq. (9.3. 1)1 lUld thc de pendent variable(s) (see r::.q . (9.3.3)1. the finite element formulmiom. arc classified into thn..'C " categories.
I. S/lperpartUlu' tric (III > ,,): 11le approximation u>.ed for the geomctry is higher order than

t/li

that used for the dependent variable. 2. I.wpar(lllletric (/II = 11) : Equal degree of approximution is u~e tl for both geometry anti dependent variable... 3. S/lb,J{/rametr;c (III < II ): Highcr-order approximation of the depe ndent vl.riable i.. ul>cd. (9.3.4) Forcxamplc. in the finite clement an:llysisofthe Euler- Bemoulli beams. we u ~ed linear L1gmngc interpolation of the geometry. 2 t x L>jtj (O XA + :; h~( I +~) (9.3.5)

j.: 1

whereas the l'ICl'mitecubic interpolation was used to approxim:lle the Ir..Ul ~ \"erse deflection. Such formulation full s into the subput'ametric category. Since the axial displacement is :lpprox imated by the linear Lagrange interpolation functio ns. it C:111 he said that isoparametric formulation is U"l.'<i for thellxi:11 di"placelllent . Superpammetric forllluilltion ~ arc rarcly used. Also. the approximation of the geometry by Hen1l ite family of interpolation function" j, not common.

9.3.2 Coordinate Trllllsforllllitiolls

It ~ hould be noted that the trans formation of a quadrilateral clement of a mesh to the ma~ter clement Q is solely for the purpose of numeric:llIy cvaluating the integrals. No trlllls!or IIItII;OIl of Ihe phpicalt/oll/a;1I or dell/ellfs ;.~ ;m'oh"etl ;11 the fillile elt!lIIel!t lIIwfy.vis. The rcs ulting algebraic equation.; of the tinit e clement formulati o n arc always lImong the nodal values (If the physical domain. Different e l ement ~ of the finite element mesh can be generated from the s.ame ma~ ter element by assigning the global coordinates of the elements (<;ce Fig. 9.3. 1). Master elements o f different order define different transformation s and hence different collections of finit e clement meshes. For example. a cubic-order master rect:lIlgular clement can be used to generate a mesh of cubic curvili ne.. r quadrilateral clements. TI1U~. with the help o f an appropriate master elcment. any arbitrary element of a mesh c:m be generated. However, the tran~fonlla t ions o f a nla>.ter element should be such that thcre exist no spurious gaps betwccn c lements and no clement overlaps occur. The clcmc nl ~ in Figs. 9.2.6 :lI1d 9.2.8 c.. n be used as ma.;tcr e le m e nt ~.

544

AN 1'Il'lWlJU(TION T(JTIIE n"llll I'1.F\U,r(I MHTIt()1)

When II typical clement of thc finite clement mesh i~ transforme d to its master clement for the puq)()se o f numerically evaluating integ!"'... ls. the integmnd also must be expressed in te rl1l~ of the coordinates (~. ") of the master elcment. For example. consider the clement coeffici ents

K{ =
1

1[
\l'

{I(x. y) - -' __ 1

il y,'

ax ax

aW' + b(x, y) - - _._ 1 + c(x. y)1/I;l/t' aY,' aw' '

aJ' oy
J

(/.I'(/y

(9.3.6)

llie irllegr:md (i.e .. the expression in the square bracket.. under the integml) h, a fUllc lion of Iheglobal coordin atc~.r :tnd y. We must rew rite it in t e l'lll "o f ~ and 'I usi ng the transfonmttion (9.3. 1). Note that the integrand contains not onl y fun cti ons but also derivatives with respect to the g lobal roordinates (x. y). Therefore. we must relate ol/t,e lax and iJl/t,' liJy to [jl/ti IfJ/i and ;)1/1,' l illl usi ng the transformltlion (9.3. 1). The functions l/t,r(x. y) can be ex pre:....ed in term:. of the local coordinates Ii and '1 by mcam of &,. (9.3.1). llence. by the chain rule of partial differel11ialion. we have

- =vx -+ - - a~ iJy [j~ iJ~

iJl/t;

iJl/tt ox

fJ1/I; oy

(9.3.7a)

or. in mmrix notation

iJ l/ti
a~

Jl/ti

a'i

wh ich gives the relation between the deri vatives of l/Ii with respect to the g lobal and local coordinates. The m:llrix I j 1 is called the jm:obiuf1 mlllrix of the transfonnation (9.3. 1):

I[
ax
- ax

"' a'i

2 11 1

I I
a:: at:

(9.3 .7b)

"'
"Y,: ".~,'
v.\
I

y a ]' aJ'

(9.3.8)

a'i

Note from the ex pression g iven for K,j in Eq. (9.3.6) thaI we mu:.t relate 3l/1i lax and I ; l ay to al/J; I v~ and al/l,r 10'1. whereas Eq. (9.3.7) provides the inverse rehuions. N Therefore. Eq. (9.3.7b) Il1U~t be inverted

iJy This req uirc~ that the Jacobia n matri x I j I be nonsingular. Although it is po~si ble to write the rciationship(9.3.9)directly by means of the chai n nile.

I II I
= 11 1

aw: a'l

ali aw:

(9.3.9)

-ax = - - + -a'l 3~ ax ax

al/lt

al/J,r a~

i)l/ti a'i
(9.3. 10)

it is not possible to evaluate iJ~/ax. aVJy. a'l/aX. and 0'1/8)' directl y from the transfor mation equation (9.3.1). The transformation equat io n (9.3. 1) allow.. direct evaluat ion of iJ..,.:/a~, ax/at), ay/a~. and oy I a'l, and therefore 11 J. a" d iM:usscd next. Using the IransfomlOltion (9.3. 1), we can write

at ~ ,a' -'i~' L
Q

ax

aft}
JJj,~

a)'
a~

t)'i aJj,j i_I as

-' a'l

L Xia;' ' i-'

y a] as
ay

'"

a'l ,- 1-J at)

; .". 1 X;

Jy =

t \,. iJ-jJ j
L" y, ,~, J /=1 a:
L~ 1 y,
>;2
y, ]
a~,

(9.3.l la)

and

111

~ :~
ih,

[a,

[Z
m

a~, iif
a.p;
VI}

[iJ~' '!
a"

a'i aJj,2
'!
aJj,2

L j"" Xj

(hi

,~,
a~

][-"

.1'2

oftl

a~".

:
X".

(9.3. ll b)

Thus. given Ihe global coordinates (xi ' )' j) of clement nodes and the interpolation functions Jj,'j lIscd for geometry. the Jacobi:1Il matrix can be evaluated using Eq. (9.3.8). Note that arc different. in geneml. from I/IJ u-.cd in the approxim:ltion of the depe ndc nt variables. In order to compute the g lobal derivatives of 1/11 (i.e .. dcrivatives of 1/11 with respec t to x and y), Eq. (9.3.9) rcquires inversion of the b cobian matrix . A neccssary and sufficient condit ion for I) l to exist is thaI the detennina nl 111. ealIL-d the Jacobi.m ) . be no n/..t:fO al every point (s. 'I) in 1"2:

"

at)

y.
-it i

) e detl)l =~~

ax ay as alj

- -- > 0

ax ay

a'l V~

(9.3. 12)

From Eq. (9.3.12) it is clear that the func tions ~ =~ (x. y) and 'I = 1 1(X. y) must be continuou". differentiable. and invertible. Moreover. Ihc transformation ~ hould be algebraically si mple so that the Jacobillll mmrix can be easily evaluated. Tran-;fonnlltions of the form in Eq. (9.3.1) satisfy these requirements and the requirement that no spurious gaps between clemellls or overlappi ng of clements shou ld occur. We conside r an exam plc to illustrate the in....crtibi lity requiremcnts.

F ...xampk9J.l _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __
Con~dcr tbe three-clcmtnl ~b or quadrilarerals shown in Fig. 9,).2. '!be master clement ill the four-node ..quare. E.lemcno. I lind 2 ha\'t counlt:rcioc.ir::wise clemcl"lt nQdc numbering con~i!;lem wjlb the node nun\bc:ring in !he 11)1I.~1er elemcnt.:tnd element 3 hill; IIQde nu mbering

VI '" t(1-{)H-I/)

~ - t~l .. {)Cl-I/)

% ..

to +'-lfl +11)

",. - i(1 -;){ I +I/)

,.
<>,
I 4

,.
J

,
,
J

,
,
4

,,
J

"
I

,
0

0,
2

a, ,

,
0 0

fl,
0 0

,
2

,
I

I' igure 9.3.2 Ex:lfJlple~ .)f tran uormutions of the tnll!iter n.'Ctliogulare.lemcnl

nIl.

Opf)lbitc to thill of Ih!; nlllstcr clClllent, Element!> I ilnd 3 are CQIII'V,' tlollluins in the-f-Cllse Ihat the lint! i1esmeQl connecting IIny tWO ilTbilrary pointS of a Ctl1l\'C,\ domai n lie." clltirely in the dement, C'leurly, clcmcm 2 is nOI con\'et !)etau.."C. for example. the line ')(.'gfI1Cnljoioing. node.)
I and 3 I~ nOl cntirely
i n~lde the

clemem. IOIh!: foUOwing l)Magroplt" wc in\'ei>li~ate lhe effect

of node nllmbering and ele,ncnl wnvexity OIl the t.ran~ fonnal ions from the IIU~ter demcnt to each of the th~ clement", Pml. we compute !heeJenICllIsoftheJ:lCQbian matrix ( the illterpolalion fuoctiOns are ~i\'en in Pig, 9.3.2)

Clx

J~ .,.. ~ .tlar = 4f-", {l -

..

iJt.

Ij} + ,\,:(1 - I))

+ _l,\(1 + '1) -

.l-l(1 +

,,)J

OX ~ fJy" I :;-- .,.. L XI--;;- '"" -( -,\ '1(1 - ~) "'I

,'I "'/ 4

Xl{l

+~) + ,l,tl +~ , + .1 ( 1 +.!)) '-1

(9.3.13)

NC);t. we evaluate the Jacobian for eac.h Ilf Ihe. clemenI.';,

Elc""cnl t. Wehavex, = XJ = 0. Xl =.9 =-2;}'1 =-s Yt =.0,.)'1= 3.)'4 =5. nle tr.lnsfoOllation and Jacobi,Ul arc given by
.'(= 2.pl+ 2(,)~ 1 +~,
{J.t

(9.3, 14(1)

ay
0

J = delfJI -= " /1x

i! = 8y a'l aTj

--( I +r}) 2 I

(9.3.14bJ

2- -I
2

Clc.U'!y,lhe Jacobi;ln is linear ill ~,and for all v~llIes (If ~ in - I .:S ~ !:: I, il is j}()si tive. Therefore.
the tr.lnsfonnntioll (9.3. 14/1) is in\"l!rtiblc; I
+~= .l . 1+ll~ --

2y 5-x

Eleme nt 2. Here we have Xl = x. = 2. x~ =- 3 ..fl = 5.)'1 = 0,)"2 =2, ilnd Y3 =)'4 = 3. Thc tr:msformation and the Jacobian arc givel1 by

I I x =d+~+2 '1+2~1'.

I I Y=2+2~+1/ -2~ 1' I - (I - 'I ) 2 I

1 -- ~
]

(9.3. 15tt)

ax
J = 'I

ily

,.,
illl

"
ill,

Oy = I

1+::;11
-

=- (l + 'J- ,n
4

(9.3. 15/) )

2( 1 +E')

ThcJac{lhian is ,Wf nOnzeroc"cry'" hac in Ihe !ll:lslcrelemel1l. It i~ :I..croa longlhc line~ = 1 + 'I. and il is negative in the shaded area 0 1 th e lU;ISlcr ekmc tH (see Fi g. 9.3.2). Moreover, this an.'a is m;lpped inlo UIC ~h3d cd area Clutside clemen t 2. Thus. c!cmcm~ wilh ;HI)' iru cri{lr angle greate r thJn::r ~ hou ld not be used in llny /illite clement mesh. Ell'me nt J. We have XI 2 . .1'2 O. .' .' =x. "" S,,t"1 = Y. = 3, nnd y~ = YI = 5. nle transfor mation .Ind Ihe Jacobiall bt..-COtllo; (note Ih:lI the nOo.les :Ire nUl1lhercd cio,."l; w ise)

. =3J = ih

2~+2IJ+2~Tj .

(9.3. 100)

ax
of

<1.1'

iJf
Jy ""

-; (1 -Ill
2+-f
:!
I

(9.3.16b)

101'

a"

'I1m negative 1:tcobi;!il illdil;,llc~ th'l\ a ri g hl hand ,,:ollrdinat..: 'yslel1l i ~ Ill <lppcd into a leftha nd

coordi nat e "y~ti!m . Such coo rdill;llc 1r;1I1~IiJrm<llion~ shuuh1 ~ :1\'OIdeu.

The a ho\<: c x:ullplc i l ltl"\ra'~'''. Inr Ille IOUl nolk m ;l~h::r l'I ": IlI~' IJI . that n, )11e, \n\l~' cI <Ire 11111 atlm i"lhk ill IlI lI k' ..:il'm el1\ IIIt~IIl'~. In g~'lkfal. ;lIl, ill t..: n ol" allgk /J ("Ct' Ii:,:. 'J.l .J) ~ holiid 110' 1"10: to o "" 1:1 1/ 'If 10,1 J.ug..: Iw(.::JII ...... tlt e J:ll'tlht:1lI J ( 1 (/ f lll(f f ~ I ~ i ll 11 )1 lIt; II '/ \\ i 1/ h(.: \l'r) " mal l. SlIlli 1;11' re"tIK ti o ll" h"ld lor 1 1IghcHWdc f ll1; I,I(.:f delll~' III ~. Ad .I it iolla l re~tfiCli \l l1' a l ~o ..:\i~ 1 101 IHglh."I -lIfti ef d ..:mcllh . hu l'.\;lI ll plc. lor lugher-Oftil'r lrl <lllglll;lf <lnd fe~ t :lIlg llla r d lrn..:nh. th ..: p lan ll g .. 1 t h~' ~ I d..: amllllk n n f Il o( k ~ I~ f c"lfitll'll.
":IllC III ~

548

All I:-qMOI>IK"TIO.'fTOllU n Il111 1:lF\1I .N'T MFnlOO

'I

",,0 ",
':= 1

,
'I

'I

, =J

X . ~+ 4~"((I - 4)
'" I'/+4{ q(b -

1+-0. 25 J "" 1 +-2(2b - 1){-+ 2(20 - 1)11'>0 , a > 0.25, b >0.25

fI.b) 0_25

4)
y

.-._ . .(
I>--~"'""
0.25 ,
/ 1++1 ' I-iI-

..
'I

,.1 ,
Figll re 9.3.3 Some restrietioJls on clel11cJll tralls(omlatiolls.

For the eight-node rcctangullir elemcllt. it can be shown that the side nodes should be placed at a distance greatcr than or equal to a quarter of the length of the "ide from either corner node (see Fig. 9.3.3). Return ing 1 numcrical evaluation of integmls, we have from Eq. (9.3.9). 0

a:; )_ at; )~ a~; a~:

- I 1
J -.

I Ia:.;
- I
J'

1 a~:

(9.3. 17)

fly a'l a'i where l;j is the clement in posi1ion (i. j) of the invcNC of the Jacobian matri x..

JJ I- 1= 11.J =
lllt~

r [J 2II '1
Jd~

J']
1 2
Ji2

(9.3. 18)

elclllcnt area (/ A = (Jx dy in elemcnt Q r is tr.lnsfonncd to

riA iiHI.r dy =

dll

(9.3. 19)

in thc master element Q. Equations (9.3.9), (9.3. I I), (9.3. 18). and (9.3.19) provide Ihe necessary relat ions to transform integr.JI cxpression~ on any clemcnt n~ to an :ts.\oociatcd master clement Q. For instance. consider the integral expression in Eq. (9.3.6) where a =a(x. y). b = b(x. y). and c = c(x. y) are functions of x and y. Suppose that Ihc mesh of finite clcments is gencratcd

CI!J\P"ffiI! <; '''T(I/.I>()I.J\Il(}f\' I:'.!Neno".s.NL~ICRICAI.INn!'O I/.ATI01'. AND MOllUUNU ('O~SIlJlI/.,nlO~S

549

by a master element Q. Under the transformation (9.3. 1). we can write

, K ;j

",p, , a,p, ',pi = [ (lI - - ",pi +b-,--- +C1/1,l/Ii ) d.f l/Y

fl,

ax ax

ay

ily

J7(s lj)ds dl,

(9,3,20)

where J,j are the clements o f the inverse of the Jacohinn mntrix in (9.3. 18), and tt = a(s, 10. :md SO on. Equations (9.3 .9), (9.3. I I). and (9.3. 18)- (9. 3.20) arc valid for Illa~ t cr clements of both rectangular and triangular geometry. The master triangu];tr and rectangular e lements for linear and quadratic triangular and quadrilateral elements are shown in Fig. 9.3.4.

\1.3,3 Int egration O\'cr a M;lsll'r Recta ngular Element

Quadrature formu las for integrals defi ned over a rectangul:lr ma:-.ter element QR (such as that shown in Fig. 9.3.4) can be derived fro m the one-d imensional quadrature formulae prese nted in Section 7.6.4. We have

i[fiR F (t, ")d,d,, ~

l'[J'
M N

F (t ,

- ]1

'/ld"]d, ~ l'[t F(t, 'IJ) W < ,]d

- I J: I

::::: L L F (S/. II /) IV/ IVJ

(9 .3.2 1)

where M and N denotc the number of quadrature points in the t; and 11 di rections, (s/. II J ) denote the Gauss points. and IVI and WI denote the correspond ing Gauss weights (see Table 7.1.2). The ~election o f the number of Gauss points is based on the ~ame formul:l as that given in Sect ion 7. 1.5 : A pol ynomial of degree p is integratcd exactly employing N = intI !( p + I) I. i.e .. the smallest integer greater than ! (p + I). In mo~t cases. the interpolation functions are of the same degree in both sand 1/, and therefore M = N. When the integrand h of different degree in t; and '/. the number of Gauss points is selected on the basis of the largest-degree 1 >oIyno miai. The minimum allowable quadr;lIure rule is one that computes the mass o f the clement exactly when the density is constant. Table 9.3.1 contain s information on the selection o f the integratio n order and the location o f the O:lUSS points for linear. quadmtic, and cubic elements. T he maximum deg ree of the polynomial refers 10 the degree of the highest 1>oIynomiai in ~ or I) that is prese nt in the i nt egrand~ of the element matrices o f the type in Eq . (9.3.20). Note that the polynomial degree of coefficients as well as Jij and J sho uld be accounted for in determining the total polynorni:ll degree of the integrand . Of course. the coe fficient s ". b. and c. and J;j in general may not be pol ynomials. In those cases. thei r functional variations must be approximated

'I

cSt,
'I 'I

~
2

at
8 9
I , 2 'I 'I I 4

~
5

"
2

~,

~
G:lUSS

Fi!;lIr<' 93.4 Linear <lnd qu,tdra lk

rna~lcr finite

elements amllheir lypicJ! coul11 erp"ns in the pro blem

cooroJinalc system.

by a suitable pol ynomirtl (for example, by a bi nom ial series) in order 10 determ ine the polynomial degree of the integ rand .

The N x N Gauss poi l11 IOC,1110n$ arc given by the lellsor prm/m:1 of one-dimen sional
poims ~, :

(9.3.22)

The values of ~I (I = I. 2 ..... N) are prc~entcd in Table 9.3.1 (,li sa. see Table 7.1.2). The next Iwo examples illustrate Ihe cV:llu:lIion of the Jacobian and c le ment m a lricc~ on rectangular element .. ,

Ta bh: 9.3. 1 Selection of the integrdtion order and location o f the Gauss points for linear. qU:ldr:.tic. and cubic quadn lllieral clement,> (nodes nol show n).
Ma.~ "nul1l

Ordcrof
Inlel,!mllOO (r )( r)

",.,

Element

polYllonllul degree

,h,

Order of resi dual

Loc;thon of mlcgr.lIiOll poin!.~

in ili a- In cleme nt

'I

Conslant (r = I )

1x 1

0(/, 2,

f, -- {f, ,~ - ft " {f .. r+c-. --+" +.

Llllcar(r = 2)

2 11

-{f --

..., , '+--+'
--~ .

QuwJr~lie (r

= 3)

(3 )( 3)

11 0-- . --.....

11 -

ff --l.;'=~-';'
'I

4-1-,
~ = 0.861

Cub,e (r = 4)

O{h 8 )

11 ", 0861 1l "' 0339

:: ~.: , ,

~: ,, ,

""

0.339

Il .. - 0861

-- ~~ - .-I ~ ' I '

EX3111pk 9.3.2
Con~ider

the quadril3lernl clement f.!l Mlown in Fig. 9.3.2. We wish to evalullIc 8t{!,I8x :"Iud Oiftt/iJ):"It (~, 1/)= (0, 0) and (~. using the isopar,unetne formulation (i.c. ""M. frQIl)

!)

rfj

552

A, 1''TIlOOU'110l'."TO rl Ul ~1l'."IW rLl : ~n~T ~WItIO!l

Eq. (9.). ll b) we ha ve

I - I}

1+, - n+'l)] 2.0 0.0

IH J
-~

- (IH)

0.0 00] . 2.0 3.0 [0.0 5.0

!.::!:2 ] . 2
4-~

Y
From (9.;3.9). we bave.
a~, I~, 1 +q ,~, - - = - + -iJ'l al/li -. <ty 8.r a~ 4 -t
-"-~---

4-~;hl

a""

where

(9.3.23)
(el, 'II) being Ule coordinates o f the itb oOOe ill the Itla$ter element (see FIg. 9.3.2):

Nod,
2 3 4
Thu~.

-I

"
1
1

'I,
- I - I

- I

we have

vlJr,- I 1(1+1)) ax == 4~,{I + '111,) + 4" N IJ;(l +S~f)

"'DY "" ;; (4 .... ~) 11;0 + H,)

III particular. 3t (~, '/) "" (0, 0) tbe deti vati"~'1Q( Vtt with respect to.lht: global coordinlltes (x, } I)

JVrr

'2.

ore

CltIlI'R M" tNTT:.J(POLMI()'1 HI"ICllONS 'It'~II;RICIII. I"IU,KAnON A'II) W)I)lJ.I~G CONSLLlICllAIlONS

553

and at (t, 'I) "" (0.5, 0.5) they are

ol/f, I 3 Tr =gM2 + 1i1) + '56,/,(2 + s,),

aVi, I ay""i4tl,t2+~;)

I::xllmple !U,J

Considt:( the quadrilateml element in Fig. 9,3.5. We wi:.h to compute the following element m atrice..~ ~ing lhe GUtt'l>- l..cgel)dre quadrature:

$11= 1 fJl/t'~dxd)' a.l ax

II

S"
'I

J:#.

1 ax a"j a),
0

fi

(9.3.24)

i11jr, I - - e x d l'

The tmn\formlllion equ;ttion~ are

$

=0

.1.' I 'J +5'1'1 +'h,!r, + 1 '~~"'4( I O +st-~,1)

=- O Vrl -

I . ~1 +5'h +4J4'" ~ (6+ lO/} +U,/)

Figure9.3.! Gcomctry of tile bilinear clement

u~

III Example 9.3.3.

The IJIllln...: IJ I lr3nsfonns bHsc veclor~ (0. , vectorS i , H e~ in the. ~fl.systCIJI nd

=tI, 0) Me! e y=(0. I) in I.he~)' system to the base

IO+2{

[8-2< / -21'

b, IO+U

, -2~ J I 0'I~~r8 -"' 1 ' 4 [8-", 4 21 1

'"

JIO\ =::;'I -21 I

I

!O+~

01

',= 4 [(8 -2fj)e, +2f/i!..1. Hence. tile Il~a element d.~ d)' in the ,I:)' -s)'l)lcm by
sy~l em

is reltUed to the area clement

d~

d1l in lhe h

(9.3.25)
The cocffkienL~ ~ lind

SN. for example, Carl be el\prc~scd in natural coordinl!le.'> (for

nunlencal evalulltion) as

SU
ij

Jo,.
~I

r fJl/I, ~ dxdl' ax ilx .

_I

""

'1 1 ' ( .a~;

J"iif+Jt1/f,/

N, ) (JIl 1[+ J1,'thi J d~(11 , "Wi "~)) ,

where fJ1{tdJt. and {hilda" are given by Eqs, (9.3.23). NOIc thai the integrJnd of Is ;l polynomial of the order p =3 in ellch coordinate ~ and 11. HelIce, N = M = lCp + 1)/21 "",2 will evalu:tte $'J eJl:il!tly. For example. consider lhecoeffieient sW

S't'

where (~I.

l)i)

arc the Gauss points (", ,,'

~ (- ),.
(-

),).

,<,

'h)#

(+,. +,)

(~l,IJt)=

~.- ~) . (~2"1t1=(-JJ'- ~)

rUAl'l'EI!~: 1N'l'hMl'OLATION fUNC'llONS, NI!MI'RI(;AI.INTllCRXnON, AND MOOELI)<G CO KSIDl;M ATIOI<5

555

We have

sf: = ~[(I+ 5S(20 - ~+ J,)+(I+71)'(I- 5s)'(zo- ~- J,) +(1 - ~y(l + ~y(20+ ~+7J) + (J - ~y(~o+ ~ -7J)1

"" 1.[~+ ~+..E...(_ ~+.1..)l =...!2~ 2.27778 b4 9 9 3n jj jj 57.

""-

64 ~ l

' 1'1'

[_ (lO+:U) l( I - 1'/)2 + 41'?(I ~~iJ(20

.. 1

I +44

- 5

1"))

d~d1'/

which is a ratio of pOlynom.ials. Helice. we do ntll eXpiX:l ~o evaluate the.integNli exactly. 'The il,\wgrand \'aric.s, approxiU'lilte.ly, as a qUildtatic polY(lomfal in t;tj:h t and 1}. Hence. we may u$.11w \WOe-POIOl Gauss imcgrtltioQ. to evaluate the int'egmi

three-point integrJ.tion gh>eio SlY ""' - O.3699B.

556

..." l"'lltOOlTIlO" To m

l . ~l"'n-Io UJ)."XT \IIITIIOD

EvaJ u.uing the ilJlc.grals in Eq. (9.3.24) using 2 x 2 Q uudr.nure rule. we Obtain
15"'11.2.5000 0.55556 2,72222 1.22222 O.555SQ - 0.55556 1.22222 2.16(j67 0.97222 [ 1.0000Q 0.55556 0.97222 1.72222 2.27778
1 .2~OOO

1.()o()oo]
t:

'J

\IlXUCI

P;111 _
.

0.4()995 - 0.36892 -0.20479 0.16376] 0.3451 6 0.250 14 -0.22639 . .....0.36892 - -0.20479 0.25014 0.43155 - 0.47690 (Ul~acl) [ 0.53953 0.16376 -0.22639 - 0.47690
0.26237 0.16339

0.16389 0.22090 Is"l = ~O.13107 .... 0.23991 [ -0.29520 -0. 14489

0.l3107 - 0.>9'20] 0.23991 - 0.14489 0.09478 (incxilcl) 0.27619

0.09478

0.34530
- 0.24589] 0.24762 ' ., 0.25454 (1Jle.~ill:l) -0.25627

0.24731 - 0.24844 (5 I "'" - 0.25297 [ 0.2541 J

1.

0.25 156

0.25090
0.24828 0.24762

- 0.25297 0.25172 0.24671 - 0.24546

elC~lleflt

These matrices would have been exact if the

had its sides p'\r.1Jlcl tO the cOQl'dil\;lle

liYl'u.:m (i.c. (Qr:l re<:laJlg\lhlr clement). The val ue!> arc IICeur;lIecnough tQ yield good f-OlUlior\!i for nlQst problems (depcods on the prttblcm).

'fo sce theeffecl of sk,cwed elements on thc-accuroeyoftherc..~\lhs. we revisit the problellJ in I;!.$ample 8.3.1. We co n ~i dCf the nine-clcment mcsh shoy.tn in the figure below and iJiVes~igute the effect or $ewne.~:> (mellSllred in teml,S of the U nglc a ) on 1110 !\(lIndon m:cllracy. The SiUnc number of Cl1l..IIS$ pOinl$ (2 x 2) as. in the case of \I re~ul(lJ' mc.'Ih are used. TI\e result!; are summari1.ed below {compare with the fe!iUJtS in Table 8.3.1). The ru~uhs are not VC[y ben~ith'e to the mesh di~tortiQn.

0.30 14
y

0.1972

{).3017

0.2972

IJ

i--!:i-""-..r-.,

-V~II .. 1
(~ .. O"

is the regular OI08h)

CHIIf'I 1:R" 1r.m,ItI'lIl.AJ'K.IN JUNC I'IONS. NUMIJUCAl INT Iif;ItAll0t0 . ANIl MQI)U'ICl ('()1oSIDEKATI01oS

557

9.3.4 IlItcgrOltion over .. Muster Triangular Element In the preceding section we di.scus'iCd numerical integmtion on < !u:ldrilaleml clements that can be used to repre~em very general geometries as well as field v:lriablcs in a variety of problems. Here we discuss numerical imegralion on triangu larelemems. Since qUOldrilateral clements C:1Il be geometrically di~ I Ol1 ed, it is possible to dislol1 a quadrilOlternl elemenl to obtain a required triangular c lement by moving the position o f the corner nodes to one of the neighboring node~. In :lcwal computation. this is achieved by assigning the ~ame g lob:II node number to two corner nodes of the quadrilateral element. Thus. master tri:mgular clements can be obtained in a natural way from associated master rectangular elemeTlt~. I-Iere we discuss the Irnnsformation~ from an arbitr.try triangular element to an arbitrary tri:mgulOlr element. We choose the unit right isoscele~ triOlngle lsee Fig. 9.3.6(/)1 as the master element. An arbi trnry tri:mgu lOlrelement 0" can be generated from the mm>ter triangu lar element Q r by trnnsformation of the form (9.3.1). The coordinate lilies ~ = 0 and ') = 0 in corrc~ I)()IId 10 the skew curvilinear coordinate lines 1-3 and 1-2 in O~. For the thrce-n{xJe triangular eleme nt . the transformati on (9.3. 1) is taken to be

nr

2::>., f ,(~. I. , ,

y=

I>'.fo,'J) /. ,

(1J.3.26)

where f, (~. II> arc the interpolation functions of the master three-node triangular element (sec Fig. 9.3.6(bH.

(9.3.27)
The inverse transformat ion from element Q~ to Q T is given by inveni ng Eqs. (9.3.26):
~

, = - I (x -xd (y', - "d - (y -.\'I)(..I" j -xd l 2A . .

1/

1 = 2A I(x - X])(YI -

(9.3.28)
)'2)

+ (y -

yd(Xl - XI)!

where A is the arcOl of O~. With the help of (9.3.28). we can show that the interpolation function s in (S.2.25b) are equivalent to the f, in Eqs. (9.3.27). MOTCQver. the :.rell coordinates L, in (9.2.9) are also equivalent to The interpolation functions for the linear and higherorder triangu1:lr cleme n t.~ C:1I1 be obtained from the :Ire.. coon:limues. <I S described in Seclion 9.2. The JOlcobian matrix for the linear triOlngul:lr clement is given by

v,;.

1l1 1= [X2- XI
Xl-XI

(9.3.29)

where p, and Yi <Ire the constants dclined in (S.2.24b). The inverse of the Jacobi:1Il mOltrix i, given by

IJI1 =.!. [P,

J '"

P,]. y,

(9.3.30)

)'

t (o.I) ~ .
Or
I
(0.0)

'I

2-

____ .:
( 1,0)
(0)

'I
(0.1)

t
l.!..._ _--',:".
(b)

(0.0)

L-_ _ _ _. ,

Figure 9.3.6 Triangular master fin ile e lemen! :lIld its

t runs forn"lt j ol1 ~: (0) ge neral ll'lln~formm ion ; and (b) linear IrunsfonnalLon of II master clemen t 1 II triangUlar ekmcn t. 0

The relations in (9.3.9) for have the explicit fo rm,

i~oparamctric

fOnlmlation with linear triangular clements

ilt/J,

ax

fh+fi3
= 2A

PI
= 2A'

81/11

-~----~-

oy

Y2+Yl 2A

2A

fJ1/I)

ax

fJJ
=
2A'

(9.3.31)

In it general case, the denvalives of .p, with rCSI)Ccl 1 the global coordin;tlcs can be 0 computed from Eq5.(9.3.9), which take the foml
-~--+--

iJl/t1

-~--+--

ax al/tJ
oy

oljl, at ] aLI ih al/l, aLl

iJV!, aLz aL2 ax a1/l, aLl

(9.3.32(1)

aLI iJy

aLloy

01

Jy aL,

]
(9.3.32b)

ay
dL,

NOle thaI only [. and L2 arc treated 35 linearly independent coordinates, because L l = 1- LI - L2. After transformation. integral!. on Q r have the form
{ r 10, G(~"I)(J~dll= 10, G(Ll.L2. L ,l}tlLI(JL2
w hi l,;h can be approximated by the quadrature fo rmula

(9.3.33)

lOr

G(LI,L2. L)d L ldL2';:::,~tlVd;(Sd

2
1=1

(9.3.34)

where W , and S, dcnolc lhc wcighl ~ and imegralion poinlsofthequadrature rule. Table 9.3.2 contains the ]<>COItion of imcgnllion poims and weight" for onc-. Ihree-. and seven-poilu qUOIdralUre rules over Iri:mgul:lT elements. Forevaluation of imcgrals whose imcgrands :Ire polynomials of degree higher than five (in any of 'he area coordinates), the reader should C(Jn~u lt books on numerical integration le.g" see Froberg (1969) and Carnahan, et 31 , (1969)1.
TlI lll e 9.J.2 Quadrll1l!re poinl~ and wcighh for lri a ng lllar cl e m e nt s.
Degree of polyoomml and order of the
Il'~idual

'\Iurnlx:rof Integr.ltlOll POints

Imcgr.llion poi illS ,HId "eights Geome1 ric

I.,

L,

i' l

IV

""""
"

loc~tiOl1)

I: O(h l ,

, , , ,

, , ,

1
1
2: O(h 1)

,
,

0
1

, , 1 , 1
1

, , ,
b

, ,
U.6
4
),

, ,
0.2
0.2

II

0.2

O(h 4 )

0.2
0,2

0.6 0.2

.. "
!~

0.6

"'.'
"

, ,

1 p,
7

5:

O(h()~

p, .,
p,

.,

p,

p,

"
,.
I
b

0.225
IV,

p, Ih

., "
.,
Ih p,

p,
<>, . 0.7'17 4Y19GJ lS3. (II

" p,

w,

"
,
0470 t420",4
tO~.

~ (\ ~ ~
, ,

o tOI 2116 :11)7 1H Ul = O,OW 71~ 87t 789. II)

"'J

OI2~9-'918()s.w

\I, .. 0[121').lt~2788

Exaun ple 9.3.4 COIIl!idcrthequoonllic triang\llarelelllent ~hown in Pig. 9.3.7. Wewisb tocalc\llatcIJ'1/II/8.x. Oo/f 1 I)y. a"'~Jf)x. and ()",~;ay at the poiot (x, J) = (2, 4) and cvaluate the il1lCgral of the product

(OVI/t'J.t )(8'1'418x).
Since the element ha~ straight edjl:es, its geometry is defined by the interpolation functions Of the comer nodes (i.e . subparamctric (onnu tation e!ln be used). Note that if the c lement i$ curvilinear. we cannot U$e th ree comer nodcs only 1.0 describe the geometry exactl y (hence, the isopilrametrie fonnulation must be used). For the dement at hand, we have

, x = L X'!.; = 7!.:. + 2J.l =2 -2L. + 5L1 ,., , y == L y;t =2L +6L):o::6-6tf - 4Ll ., -6] IJI=[-; -4 . urf "",,-.!..[-4 -26] 38 -5
t

(9.3.35cl)

6 ....2]

If I I
a~, aL;'
,h'll 1iL1
4(4/., - I) 38

5(4(.\ - I)

38

(9.3.35b)

where !/If "" L](ZLI - I) and 1/14 ==4 /~1 !.,lsee Eq. (9.2.16) ttnd Fig. 9:2.4(b)). M') thai

t, =0. ;n~

Figure 9.3.7 A quadrnlk triangular clement i.n the global (x, Y) :Uld local eOQrdin;Ltc system$ (Example!>.3A).

OIAf"rER~: IN'I'EKI'OLA:I'ION HJNCI10NS. NUMERICAL INTEGRATION, "'ND MODRING CONSlIlr,JI.",nONS

561

for the point (2,4), the area coordinate); can be calculated from Eqs. (9.3.35a):

Once L J and L ] are computed from the above relations, 1.1 is found from the relation I - L z- L 3 .Wehave
1..3= -

f l'" ~

12

(9

Evaluating

[J>/I~/ilx

and i11/t4/ity at the point (2, 4), we obtain

~",, _2- (~ _ I) =_2ih 19 19 361

">/II "" ~~ (4 x

-a;
8"4

38 iJI/F4 16 = - (19)2

oy

1. _I) =_219 722

60 44

(9.3.36)

+ (19)1 = 36i
20
( 11))2

ay = - (lW -

20

=-36T

40

The integral of (lJ1{tdOX)(ar/l4/3x) over the quadratic eiemeol b (J "" 3B)

1 ,., 'to
fly ax ax

4J - - dxdy=-361

1'1'-"
Q
0

(4Ll - I )(61.. 1- 4 ~)dLld ("2

Since the integrand is quadratic in hi lind bilinear in 1..1 lIfId L1, we use !.he thrtt-I'ninl quadrature (sec Thblc 9.3.2) to evaluate the intcgral eJtai!d y [see Eq. (9.3.34)1:

=- 19
The result CiUI be verified using the elkl inlcg,ratioo fi.l'I"mUla in (9.2.IRb):

(9.3.37)

ax 1 a"l
I"J,

iJYr4 I 2! I 8 - - d x d y =4 [ I - 4x - - 24 x-+ 16 x - 2,4=-- flx ,}x 361 3! 3! 41 41 19

'1"hc:l area A of the triangle is equal 10 19, and therefoo: we obtain the r.ame rosullll!l above.

9.4 MODELING CONSIDERATIONS

9.4.1 J>rcliminary Comments
Numerical simulation or a phys ical processes requires (a) a mathematical model that describes the process and (b) a numerical method to analyze the mathematical model. I.n

the development o f a mathematical model we orten make a set of assumptions about the proces.'1 (e.g., constituti ve bchuvior. loads, and boundary conditio ns) 10 deri ve the mathe matical relationships governing the system. The mathemutical modd , which is orten in the form of differential equation" i~ u ~d to gain an understanding of how the corresponding process works. If the relationships are si mple. it is possible to obtain eX(lct informution on the quantities of imerest. Thi s is known as the (/IU/{y tic solution. However, most pructical proble m ~ are too complicated to allow an<l lytical so luti o n ~ of the models. He nce, these mathe matical models must be studied by numerical methods, ~ ueh as the finit e element method. Finite element analysis is a numerical simulati on of a physical process. Therefore, finit e c lement modeling involves assumptions concerning the represe ntation of the system andlor it<. behavior. Valid <lssumptions Clm be made only if we have a qualitative understanding 01 how the process or syste m works. A good knowledge o f the basic principles governing the proce~~ and the finite element theory enabl e the development of a good numerical model or the <lclual process. Here we discuss several ;ISI)CCts of development of finite clement models. Guideline\ concern ing clement geometries, mesh refinement s. and load rcpresent:llions are g iven.

9.4,2 ..:lcrnent Gt.'Olllcl rit.'S

Recal l from Section 9.3 that the numerical evalu;ltion of integrals over actual clement" involves a coordinate tr.lIlsform:ltion from Ihe actual e leme nt 10 a master element. The tran"foml:lfion is acceplable if and only if every point in the aClllal clement is mapped unique ly into :I point in Ihe lIl;!Sler clement, and vice versa. Such mappings are termL"<i Ol/e-IO-O/le. Thi s requirement can be expressed as [sec E(I. (9.3. 12)

s det!P' 1 > 0

everywhere in the clement

Q~

(9.4.1 )

where! r 1is the Jacobian matrix in Eq . (9.3. 1 Ib). Geometrically, the Jacobian j ' represents the ratio of an area e lement in the rcal cle ment to the eo rre.~ I>o ndin g are:l element in the master element.
ciA '1!i:. dx d)' = j '(J ~ (h i

If j ' is I".cro.then a non ....ero are;! clement in the real element is mapped into zero area in the master clement. which is unacceptable. Also . if J ~ < 0, a right-handed coordinate system is mapped into a left-handed coordinate system. In general , the Jacobian is a fun ction o f ~ and 'I, impl ying tlmt the real e leme11l is nonunifo mtly mapped into the master e le ment , i.e., the element is d istorted. Excessive di ~to rti on of elements i" not good bcc:lUse a non .... ero area eleme11l can be mapped into a lCro or nearly lero area. To ensure l ' > 0 and keep within the extreme limits of :Icceptable distortio n, certain geometric shapes of real elcments must be avoided . For example. the interior angle at each vertex of a triangular clement should not be equal to either 0 or 180 . Indeed, in practice the anglc s.hou ld reasonably be larger than 0 and s.maller than 180<> to avoid numerical il lconditioning of element matrices. Although the acceptable r:lIlge depends on the problem, the mnge 15 - 165 can be used a~ 11 guide. Figure 9.4 .1 :-.hows clements wi th unacceptable vertex angles for straighHided and curved-sided e l eme11l ~.

CIl AI'IHI. 9 INTERPOLATION FUNCT IONS. NU MI:RICA I INn;G HATIOK ANI} Monn.INGCOSSIllERATIONS

563

Too lar&!:

(,)

Too large

(b)

Too small

(, )

f<' igu rt! 9.4.1 Finite clements with un<lcccptahic vertex angles: (I ) linear quadrilateral elements: (b ) linear triangu lar clements: and (c) quadratic triangular elements. 111e angles marked are either too small compared with 0 or 100 large compared wilh 180.

For higher-order Lagrange elements (also called the CO clements), the locations of the interior nodes contribute to the clement distortion, and therefore they arc constmined to lie within certain distance from the vertex nodes. For example, in the case of a quadratic element the midside node should be at a distance not less than one-fourth of the length of the side from the vertex nodes (see Fig. 9.4.2). When the midside node is located exactly at a distance of one fourth of the side length from a vertex, the element exhibits special properties (sec Problem 9.19). Such c lements, called qUGrler-point elements, are used in fracture mechanics problems to represent an inverse square-root singularity in the gradient of the solution at the nearest vertex node.

9.4.3 Mesh Generation

Generation of a finite c lement mesh for a given problem should follow the guidelines listed below: I. The mesh should represent the geometry of the computalional domain and load representation accurately.

564

AN ' l'mI.OO(!Cl'ON TOl1t' l '~Nl'ltl 8J;,.":"'r MEnlO1J

3 0_2511,

0.2511 2 ~_ _ .. _._.:.

- '" / !"'- """,!\ '-Rangc ofnodes

6 and 8 Range of nodes 5 and 7 x
(u)

/-.......:.

i~,,,,,.r node 5
,

h z _ __ .-'-.1--t .
I~

._i I /-~.!;t h,

. 1>1
hI

I O.2Sh l .

~ 2

(h)

Figure 9.4.2 Range of acceptable locations of the midside nodes for quadratic clements: ea) eightmxlc {Iuadratic clcmellt :lIld sixoode (IU:l(lratic tri:lIlgular clemenl; (Illd (b) the qUllrtcr' roinl qmKlril<1tcral clemen!. 2. The mesh shou ld be such that large gradients in the solutio n arc adequately rcp resented. 3. 111e mesh should nOI contain c\emenls wilh unaeeept:lble geometries, especially in regions of large gradients. Withi n the above guidel ines. the mesh used C'I.II be COllr.5e (i.c . have few clements) o r refilled (i.e., havc many clements ), and may consist of onc or more orders and Iypes of e lements (c.g., linear and quadrdtic. triangular and quadrilateral). A judicious choice of element order ;md type cou ld save computational cost whi le giving :lccuralc res ults. It shou ld be noted thatlhe choice of clements and mesh is problem-dcpcndem. What works well for olle problem may not work well for :l nother problem. An analyst with physical insight into the process being si mulated can make a better choice of elemcnL<; and mesh for the problem at hand. We should start with a coarse mesh that meets the three req ui remcnts listed above, ex ploit symmetries available in Ihe proble m, and evaluate the resul ts thus obtained in light of physical understanding and approx imatcanalytical andlorcxpcri mental information . These rc..<; uI L<; can be used to gu ide subseque nt mesh refinemenb and analyses. Genemtion of meshes of single element type is easy because elemenL.;; of the same degree arc comp:lt.ible with eaeh other (see Fig. 9.4.3). Mesh refinements involve scveml options. Refi nc the mesh by subdi viding ex isti ng eleme nts into two or morc elements of the same type lsec Fig. 9.4.4(.1)1. This is called the h-lIer.fiotl me.\h rl"/ttlemetll. Alternatively. existing elements can be replaced by clcmCnL'i of higher order lsee Fig. 9.4.4(b) l. This type of refinement is called the p~ version mesh refillemelll. The II, /,-ver.f;oll mesh refillemelll, in which clements arc subdivided into twoor morc elemcnts in some places and replaced wi th higher-ordcr elements in other placc,..;;. Generally, local mesh refi nements should be suc h that very small elemcnts arc not placed adjaccn1to vcry large onc... (see Fig. 9.4.5).

CHAI'nil< 9 1N'IHI.I'OLAIlON FUNCTIONS.

NUM~RIC;M. INTI:ORATION. AND MODELING CONSIDERATIONS

565

(0)

(h)

Figure 9.4.3 Connecting clemcnts of the same order. The c.<\J elements of thc same order cnSlirc the CO cominuity along thc clement interfaces: (a) linear clemcnts; and (b) quadratic arld
cubic clcmcnts.

Combining clements of different kinds nmur.llly arises in solid and structural mechanics problems. For examp le, plate bending elements (2- D) can be connected to a beam clement (I-D). If the plate element is b:lsed on the classical plate theory (sec Chapter 12), the beam clement should be one based on the Euler- Bernoulli beam theory so that they have the same degrees of freedom at the connect ing node. When a plane elasticity element (sec Chapter I I ) is connected to a beam clement, which arc not compatible with the fonner

(0)

, -, ,

-.- -.- -.- ---.- -.- -.- -- -,- -,- -.- -,- -,

-~-~-

(b)

"'igurc 9.4.4 lllc (a) h-vcrsion and (b) ,,-version mesh rc lincmcnts.

566

AN I.'ITWQOUCTIU:' TOTlte fllo'lTIl O .lMI:Xf MCTHOIl

..

(b)

.,)

(d)

"'igu re 9 ....5 Finite clement mesh refinements. Meshes shown in (a) and (c) are lIcceptabl c. and those shown in (b) and (d) are unacceptable.

in temls of the degrees of freedom at the nodes. we must construct a special clement that makes the transition from the 2-D plane elasticity element to the J-O beam e lelllenl (see Proble m 11 .8). Such c le ments arc ca lled trmm'tioll element.I. Combining c lements of different order, say linear 10 quadratic e lements, Illay be necessary to accomplish local mesh refinements. There are twO ways to do Ihis. One way is 1 usc a Ir.tnsition e lement, which has different number of nodes on different sides lsee 0 Fig. 9.4.6(1)]. The other way is to impose a condition that constrains the rnidside node

(0)

l,.jnc~r

ek:lm:/lt

Tr..nsj!iOll

.,lemtnt

QuadratIC element

(b)

l.incar,,\ement

Use OOtl$tfajn~ condition

Quadr:ttic element

Figure 9.4.6 Combining diffcrcm ordcr clcmel1ls: (j ) use of a tran~ition element that has three sides linear and one side quadrJ lic; and (b) use of a linear constraint equllIion to connect a linear side 10 a quadrJl ic side.

CItA I'fa~ ' INTEII.I'OL~\TIO:< !'USCTIO:<S, );UI.1IiJ1.ICAL j,,-rmIl.ATIO~. ANt> MODELING CO"SIlJlIl.ATtO~S

567

4
(0)

(i)

,
,
7

U(5)

115 =

, u,
4

1./(1)(8)

,,---

/l12)(s)

0 ,
(c)

t
!

, "
4

',I,

U~ = U;

", ,,

,
0
34
7

1./(11)

0
2

II~=U~=U~
2

(i)
5

u =u

. ,1k
1 2

__ , 7-- ~ ,
: u(2)(s) :

1I 00 (S)

~,1t13)(S) , i ,
2; "

III ", 11 3

,
J

.' igure 9.4.7 Various typesofincompatible connections offiniteclcments. In all cases the intercleme nt continuity of the function is violated along the connecting side.
to have the same value as that experienced at the node by the lower-order e lement [see

Fig. 9.4.6(}))]. However. such combinations do not enforce intcrelcment cont inuity of the solution along the entire interface. Figure 9.4.7 contains dement connections that do not satisfy the CO cont inuity along the connecting sides. Use of transition clements and con"traint condit ions in local mesh refi nemen ts is a common practice. Figure 9.4.8 shows a few examples of such refinement~.

9.4.4 Load Representation

Computation of the nod:ll contributions of a distributed boundary source was discussed in Chapter 8 [see Eq. (8.2.56)[. The accuracy of the result depends on the clement and mesh used to repre~en t the domain. For example. in heat transfer problems the boundary source

568

It"

INTII.0!)l.'C110N TO

l1H: ~l NITE ELE\UlNT MlmlOl)

(tI)

(b)

(el

Figure 9.4.8 Some

menL~:

e)l a mllle~

o f local mesh rcfinemenls; (tI ) wich compacible

( Cu-conc in uou~)

cle

(b) wich cmnsicion e lemcnts (or when conscraint condic ions are im posed) betwecn

linear clemencs; and (e ) wich crnn.. it ion clements between <I uadratic elemencs. In (b) ;111<1 (el, the transition c lements can be between linear amI quadr:lIic. and 4uadratic ;md cuhic clements. respcrl ivd y.

is th e heal lIux across (i.e .. normal to) the bound.try. Usc of linear e l e m e nl ~. for example. to re pre~ nl the boundary will c hange Ihe ac tu al d istribu tion (see Fig. 9.4.9). Of course. ,,~ version o r p - ve rs ion m esh refineme nts wi II i mjlrove the re presentation of the bou ndary flu ,'(. Another s ituation where representation of boundary forces is subject to dincrcnt interpretations is found when the force is due to contac t between two bodies. For example. a solid pl:llc in contact with a circular di sc generales a reactive force th at can be represented e ither as a point k"td o r as a locall y distributed force. Rcpre!\Cntalio n of the conla(t force

,//~
'

,
~
\

/--~
\

',---(,) (b)

".,;

"

.._---(e)

'

fo'jgure 9.4.9 Approximation u rthe booundllry nu,'(cs in the tinite clement method; (tl ) actua t geometry of the domain and distribution or ilu)l: (b) appro)li mation of Ihe domain by [incur fin ite clcments :U1d associatt'1l represcn ta tion of the boundary nux; and (I:) approximation of the domain hy qu ad r.ltic fin ite clements and associated re pre.<;cntalion of lhe bounda ry fl ux.

DIAI'lEN <J: IN'TENKlLATIO:-l

fU:-lCTIO~S. ~UMhRICAL INTt:GIIAllON. A:-ID MODt'.l.JNG CUNS IL>ERATIONS

569

(oj

(bJ

(cJ

I<igure 9.4. 10 Representation of contuct pressure developed betwcen two bodies: (a) geometry of the bodies in COI1tlICI: (b) representation of the conwct pressure us a point load: and (e) representation of the contact pressure as u distributed surface load. In the lal1cr case. oftcn the surfa(.:c area of the distributcd forcc is unknown.

between deformable bod ies as a point load is an approximation of the true distribution. A sine distribution might be more realistic representation of the actual force (see Fig. 9.4.10).

9.S SU MMARY
In this chapter three major topics have been discussed: (I) Lagrange interpolation functions for triangular and rectangu lar clemenls: (2) numerical integration to evaluate integral expressions over triangu lar and rectangular elements; and (3) some modeli ng guidel ines. Interpolation functions for linear, quadratic, and cubic triangular clements are developed using the area coordinates. Linear, quadratic, and cubic interpolation functions for Lagrange and serendipity family of rectangular eiemenL<; arc also developed. A systematic description of numerical evaluation of integral expressions involving interpolation functions and their derivatives with respect to g lobal coordinates has been presented. This development is

570

ANI ~ront h n'lm: ElJ]I'E.VrMtTllOO

suitable for computer implementation. as wil l be seen in Chapter 13. Modeling is an art that can be improved by experience and underst:lIlding of phy~ ical interactions involved in the process. It is necessary to critically evaluate the computed results before using them. The guidelines arc given to encourage good modeling practice. and they !.hould be followed to determine the "clual "working" model .

PROBLEMS
9.1 Show that the interpolation functions fOf the three -node cquilatcnltriangular clemenl given In

Fig. 1'9. 1 are

II = ~ (I-t 2

- '- ,,) .

J34

"'l=~ (I +t - -j].i,) . '2

'I
J

"'j =

,
v'j41/

Figur ... P9.1 9.2 Show that the interpol:uion fu nct io n.~ that involve the term t~ c1o;: ment shown in Fig. P9.2 arc given by

+ 1, 1 for the five -node rcrt:mgulUl"

"'. "" O.25(-t - '/

"'2 = O.25(~ -

+ t 'll + O. 125(t 1 + I/l ) '/ - EI/) + O.125(E1 + ,/1)

tl/) + O.125U + 1)1)
1

1/11 = O.25{E

+ 1/ +
2

1/14 = O.25{-E + '/ - EI/)

+ O.125{E2 + ./l)

", = I - O.5(E + ,h

"

2 2
I~

"I

Itigure 1'9.2

CliAl'rER 9: I"'T~R/'OLATION FUNC'TIOr-S, N1IMI:RICAl. INT1;GRAT10r-. AND MOOELI:'OCDr-SIOERA'lIDKS

57 1

9.3 Ca lculate the intcrpolution functions 1{I;(x, y) for the quadratic triangular clcmcnt shown in Fig. P9.3. Hillt: Usc Eq. (9.2.16), where I. ; arc given by Eq. (9.2.9).

(15,- 3)

Figure 1'9.3

9.4 Determine the interpolation function1{l14 in tenus of the area coordinates, cleme nt shown in Fig. P9.4. Answer. 32L 1L 2 L J (4L 2 - I).

'.i for the triangu lar

"
4 2

I~

I<igure 1"9.4

"' igure 1"9.(1

9.5 Derive the interpolation function of <lwmer node in a cubic serendipity clemen\. 9.6 Consider the five-node clement shown in Fig. 1'9.6. Using the basic linear und quadratic in terpoluti{)n~ alo ng the coordinate directions ~ and 1/, derive the interpolation functions for the elemcnt. Note that the ciemelll (an he lIsed as a transit ion elcme111 connccting four-node ele ments to eight- or ni ne-node clements.

9.7 (Nodeless
form

~'ariab!es)

Consider the four-node rectangular e lement with interpolation of the

U=

LII;1{I,
I~ I

+L

C;li

J_ l

where II; are the noda l val ues and /'1 arc arb itrary constants. Determine lhe form of 1/1, and Ii for the clemenl. 9.8- 9.10 Determine the Jacob ian ma tri x <lnd the transformation equation~ for the clements given in Fig. 1>9.8- 1'9.10.

572

"N IN"I"kOIlUCllOl'l '10 TIll. ~lNn'E EJ.\lI'NT Ml mlCHl

(6.5,7)

y
10 in.
4

Scm

.-

~,"=-~~-----+x lOin. 2
Fi/.:ure 1'9.8
y

t,;:'::::;:=~2r x
50m

Figure 1'9.9

Scm

J'

&Juare element

~:;qually spaced nodes, exC<'pt ,.....for these nodes

~~ x (<1.0) (i}.O)
.<igure 1"9.10

Figure 1'9. 12

9. 11 Using lhe Gauss- legendre quadrJlure. detennine the contribution of a consta nt d i~lribuled source to nodal points of the four-node finite element in Fig. 1>9.9. 9. 12 For a 12-node sere ndipity (cubic)clcmcnt. as illustr.ued in Fig. P9.12. show that th e Jacobian J = J lI is
J = 0 .4375

+ O.84375(b 0.5625(u

(I)

+ 0.5625" - 1 . 125'1~

0.84375(b - a),}

+ I. 125~ -

+ b)~

+ 0.5625(11 + b) 'lt
+ 2.53 125(b a)'1t 2

+ 1 . 6875~ 2 _

2.53 125(b - a)~2 - 1.68751Je

Wh:1! can you l:oncJ ude from the requirement J > 01

9.13 Detcnnine the Jacobian of the eigh t-node rectangular elemen t of Fig. 1'9. 13 in terms of the pammelera.

"

,
"

I
2

Figure P9.13

CIIM'IUI. 9. INTI'~ I~)LATION FUI'CllONS. NUMe:NICAL INTElJRAUO:'. AND MI.1!)ELIOO (. I)NSIPERATIONS "

573

9.14 Detemline th e wnditiuns on the locatioll of node 3 of the quadrilateral clement shown in Fig. 1'9.14. Show that the transformation equations are given by

x = 4( 1 + ~)[2(1 - 'I) +a( J + '1)1

Y=

I I

4(1

+'I) [ 2(1 - ~)+b( 1 + ~)J

yt
2 in.

(a, b)

l'
1.\.L-~~x
1
~2 in .

Figure 1>9.14

9,15 Detenninc th e global derivatives of the interpolation functions for node 3 of the c lement shown in Fig. P9.9. 9.16 Let the transfonnation between the g lobal coordinates (x. y) and local nommlizcd coordin<ltes (~, 'I) in a Lagrange element n~ be

x=

I:>I.$i(S, 11).
JD I

y~

I>f,. ,)
i_ I

where (XI . Yi) denote the global coordin<ltes of the clement nodes. The differential lengths in the two coordinates :Ire related by

'"

In th e fin ite clement literature, th e tra nspose of IT] is called lhe Jacobian malri)l, [j 1 Show , that the deri vati ves of the interpolation function 1/1{ (~ . 'I) wilh re~pec l to the global Coofdinates (x. y) are rel ated to th eir derivatives with respect to the local coordinates (~. 11) by

a.p, ax
J1/I;

ay

574

",N 1)(I'IU)OUCfIO:o< !OlItH rl'l!TI: EI.ME.VfMnHOU

and
;)2",r

i.l.,z
al",.~

('x. )' ('~)' a,

~

2- - a~

ax~ ar~

as

a)'l

(~: )'
iJx~

(i;)'
ay. J)"
J~ iJ'I

a2 ",; (hay

ax, a1 ",;

a, a"
a 1/t: a'l1 a2..p;
1/~all

--+-J'I a~

ax, ay~ a'l a/I J.l, a)', ax, ay,

2--

,,' 1

3 1x,
a~1

a',

iJE l

..

a~ iJ'I

al x,

a1 )"
il/I l
iJl y~

'"' a2 x,
a~

r:: )
iJ1/I;
1/),

a'l

ilEill)

9. 17 (Co/itimllllioll of '>rob /I'III 9./6) Show thut th e Jaco bian can be tO rnput cd from Ihe eq ualion
iJ1/t~

a1/t;

1 11

-1 "
Jl/Ir

a,

iJ",;

a'i

9.IS Find the Jacobian matrix for the nine-node q uadril~HCr.l 1 clement ~hown in Fig. P9. 18. What is the detenn ina nl of the Jacobian matrix?
y

""

2 in. 2 in.

in.

"I 1

3 in.---t
3

f
2 in.

00
1 in.
x

f.

. 14-_1

2 in.

.. I

0.5 in.

Figure P9.JS

9.19 For lhe eight-node clement shown in Fig. P9.19. , how thallhc .r coordi nme :lIong lhe side 1- 2 is re l,lIed to lht: E coordinate by the relation
.r = -2'( 1

I -s)xr + 2'~(1 +nx~ + ( I -

(-)f~

and that Ihe followiug relations hold:

(=2 -;;

(X)'" -

I,

['IIAI'TH! 9, INTEIlI'OL!(I'!ON FUN(.'1ONS, NUMEIlICAI. INTEGRATION, liN!) MODEIJS("'

('(}~'SID1:IlAT1()"S

575

075

0.2511

1 , ,
I" ~ .. 0.2511 0.7511

~I

Figure 1'9. 19
Also. show thai

".(xO) =

- [2(~r -,] [,- (~) "};

+ [- , + 2

C)'''Wt' ,,; +4 [(~)'" - ~] ,,;

2
a
I

a". I
ilx \x.ol

--'- I' [3 -4 ('.)'1'] ,,' + ~ [_,

(xa)l/l

+4 ('.)'I']"~
{j .

Thus. ilu.lox grows al a ratc of (Xli) III as x approaches zero along the side 1-2. [n other words. we have a x ~ l!2 singu [aritY:1l node [. Such clell1cn\s arc used in fracture m("'Chanics problems. 9.20 Using Ihe tensor product of Ihe onc-dimensional IIcnnitc cubic inlerpo[ation function s. obtain the Hermite cubic interpolation functions (16 of Ihem) for the four-node rcctilngular clemcnt.

REFERENCES FOR ADDITIONAL READING

I. iJurnell. D. 5.. Finite Elemem Anllly_,;"fmm Cm,,,epl., loApl'limlions . Addison Wesley I'ubli~hing Company. Reading. MA. 1987. 2. Carnahan, B.. Luthcr. H. A.. and Wilkes. J, 0 .. Applied NI'lIIeri('(11 Ml'1l1od.,, Juhn Wiley. New York. 1%9. 3. Cowpo;r. G. R., "Gaus~ian Qundralure Formulas for Triangle~:' ill Engiliferillg. 7. 405-408. 1973.
Im~mOlion(l1

Joumalfor N~mt'riCllI Melhall,'

4. Froberg. C. E.. Imn)(li,ctim, to Numerica/ A""/yJi,. Addison -Wes ley. Read ing. MA. 1969. 5. HnnHn~r, P. c.. Marlowe. O. P.. and Siroud. A. It,. "Numerical Inlegralion o\'er SimplexI" and Cone,:' /I1ul/wmalic.I' Table" Ai,/'- COlllp .. Nalional Rcse;orch Council (Wa~hing({)n). 10. 130-- 137. 1956. 6. Irons. B. M.. "Quadrature Rules for I:lrick-B"i>~d Finite Elenltnls:' /II/enUl/iwUl/ lUl",,,,1 fur Nlm,nim/ /I1"llIo;/s in EngiIlUl'illg,.1. 29J~294, 1971. 7. U:Jxan. A. N.. D;'vid~. N., and u,\'Cn!i;On, A.. '"Table of Ihe Zeros of Ihe LcgcnJre Polynomi"b of Ord~r 1--16 and Ihe Weighl C~mcienl~ for Gauss' Mechanical Quadrature Fomlul"," Hulleli" of the Amerim" /I1m/l('mmim/ Sodety. 4H. 739-743. 1942. 8. Reddy.C. T. andShil'l'Y. D. J.. "A hcm~li\'e Integr;Hion Formu lae forTriangubr Finile Elemenls." /IIlernatiolla/ lm"'Ullfor /'/i""aim/ Mt"'I/o()(ls ill /;.'IIIJilleerillg. 17, 13J---139. 1981. 9. Sil\'e'ler. P.. "Ncwlon--COIc, Quadralure Formulae for N-Dimcn,ional Simplexes:' J>/V.ee(/illgs of 21/d C(III(U/i,," COIIIJ,"".r,r of App/ied Mec/"mic,' (Walerloo. Ontario. Caniub). 1969. 10. Siroud. A. H. and Secresi. D.. Gaussiall Quadrature I';:;"'"U/<I,'. Prenlice- Hall. Engelwood Cliffs. NJ. 1966.

Chapter 10 FLOWS OF VISCOUS INCOMPRESSmLE FLUIDS

10.1 I'RELIMINARY COMMENTS

In Chapter 8, we considered 1he linite element analysis of second-order partial differential equations in one dependent unknown. Such equations arise in two-dimensional hC:.tllmnsfcr, torsion of a cylindrical members of arbitrary cross section, dcfic(.;lion of membranes in 11 plane. and inviscid flows in two dimensions. In this chapter. we consider flow s of viscous incompressible fluids in two dimensions whose governing equations arc described by a scI of three coupled panial differential equations expressed in terms of thf'L C dependent "' variables. name ly. two velocity components and pressure. The word "coupled" is used here to imply that the same dependent variables appear in more than one equation of the sel, and no equation can be :wIved independently of the other(s) in the SCI. A brief introduction to tluids was given in Sections 4,4 and 8.5.2. The finite clement analysis of fluid tlow problems that can be described llS one-dimensional systems was di scussed in Section 4.4. In Se(;lion 8.5.2. finite clement models of two-dimensional !lows of inviscid, in(;ornpressible !luids (i.e .. potential flow s) were considered. The potential flow problems were cast in terms of either the stream function or the velocity potential. and the governing equation in each case W:lS shown be the Laplace e(IUmion. V 2 '4 = 0. In this chapter we consider the finite clement :lllalysis of two-dimension:ll flows of viscous. incompressible fluids. We begin with:l review oflhe pertinent equations governing low-speed. laminar flows or viscous in(;ompressible fluids.

'0

10.2 GOVERNING EQUATIONS

Consider the slow now of a viscous and incompressibleJlllid in a dosed domain (2: Slow (inertial effects are negligible): v Vv ~ O Viscous: IU;' 0 Dp Incompressible: - = 0 (p = const:llll) DI

578

AI> INrll()I}L'C110~' 1'0 rllr ~lNnh l_ U"'IL"'T \11>11100

Af\sume that one o f the dime n,dons. say, along the z direc tion (i ntO the plane of the paper) () f the do mai n is very long and there is no now al ong that di rectio n. and the velocity components in the other two d irections ( II~ and I),) do not vary with Ihc: direction. Unde r these condi tions. the now can be approx imated by a two-di mensional model. lllC govcrning equatio ns of ~ u c h Hows in rectangular Cartesian coord inatc;. (x. y) arc sumrnari/cd below.
Com'ervaliol/ of Lineal" MO l1Ium IllC
ilv~, aa.-" p------

al

aer.,, ax ax

ay - f ..
_

( 10.2. 1) ( 10.2.2)

p all,

aa~ y _ iler y ) ,

ill

oy

f.

= 0

COl/sen'miOIl of M ass (o r COll /illllity EqllOl ioll )

all~

-ax + -' = 0 ay
COII,Willl l;\'e Eq l/(l/;U/IS

all.

(10.2.3)

0 .. =r.... - P ,

a .t). = r" y.
-:;--

ery,_= T _ - P .. y

( 10.2.4) ( 10.2.5)

Tu

=2Il-' .

'" 'x

T,.

= J!

"".) ("" + -, .
uy
X

BOlilldlll)' COlI(l il iollS. Specify o ne clement of each of thc followi ng pairs at each point o n

the boundary

r:
(v,. I,). (v . I

for any 1 > 0

( 10.2.6) ( 10.2.7)

11I;li(l1 COlldi';OIl.\. Specify velocities at ti me t = 0 at each point in the domain Q and on the

boundary

r:
v, (x. y. 0 ) = v?(x. y), , v,(x. y. 0) = v~(x. y)
( 10.2.8)

Here ( I),. I),. ) arc the ve locity component ... (erH O'Y' o n ) the Cane .. ian components of the total stress len ~or IT . P the prelisure. (T..... r.", r" ,.) (he Canc~ i a n components of the vi..cous stress tensor T./I the viscosity. f. [md f y the components o f body fo rce vector, (I,. t,.) the components of stress vector on the bounda ry. and (v~. II?> the speci fied initial values o f the velocity compone nts.

CHAl'TER 10'

H.OWS OflV' 'K'OU~ 11ICOMI.... ESSIIIIR.UIl)S

579

Using the constitutive relations ( 10.2.4) and (10.2.5). the momentum and continuity equatio ns in a flow domain Q can be expressed as

a", "( ""_) "[ "_ a",)] ax Pat - ax 2/.t~ - oy J1. ('ay + ~ + "I' - f. = 0 a", a /1. 8y ,",)] a a",) af' Pat - ax [('''' + ~ - oy (2/.tay + ay - [, = 0
au.. + Bu, ax ay _
and the boundary stress components in (10.2.7) become 0

(10.2.9)

(10.2.10) (02 ) I .. 11

( ""- ) a.l I' (au" + ~I!" ) ay ax

2/1 - , - p

11,, + /1.

('"' + _. oy a",) ax
ay

n~

II .

+ (2/.t ou, _

p) ",

on r

(1 0.2. 12)

Thus. we have three partinl differential eqmltions ( 10.2.9)-( 10.2.1 1) in three unknowns
(u., u" P ).

In the present ~ tudy, we shall consider two different finite clement models of F..q~ . (IO.2.9HIO.2.1 1). The first one is a natural and di rect formulation of Eqs. (10.2.9)-(10.2.11) in (u, . 11,. P ) :Ind is known as the l'e!ocitY-/Jressure [on/lllilllioll or II/ixell fan/w IlI/ioll. The second model is based on the interprelion that the continuity equation ( 10.2.11) is an additional relat ion among the velocity components (i.e. , a constraint on 11. and v, ): thcconstmint is salisfi ed in :lle:l~ t-squares (i.e., approxim:lte) sense. This panicu lar method of including the constraint in the formulation is known as the penalty fu nction method. and the formulation is termed the p!,llalty forlllullllioll. It is informative to note that the velocity- pressure formu lation is the same as the Lagrange multiplier formu lalioll, and the L:lgrange multiplier Illrns OUI to be the negalive of Ihe pressure.

10.3 VELOCITY-PRESSURE FORMULATION

10.3. 1 Weak Formulation
The weak fomlsofEq s. ( IO.2.9H 10.2.II ) ovcr an e lement Q , can beobtaincd by the threestep procedure d iscussed in C hapter 8. We multiply the three equation~. (10.2. 1)-(10.2.3) wherein (au . a.. , . O"y, ) arc known in terms of (tI,. P) through Eqs. ( 10.2.4) and (t 0.2 .5), with three different weight functions (II" I . 11'2. w~). integrate over the clemen\. and integrate by p:lrt s (i .e .. apply the Green- Gauss theorem) to obtain the following weak forms:

v ,.

0=
=

1[
0..

1 [ av"
n,
11'1

ax a". + aw, (Jil'l 01 ax

81

{J -

-- -

aa,....

--

oaO), - f. ] dxdy
ay
(Jy

- - 0". .

'w, + - - a.1)

11' 1

f. ] (Ix dy
(10.3.1 )

+ J;., \/ 1 (a.r.II .. +O"., II , )ds 11

580

AN lNl'HUDlICT10N Hll1!!' n .. nl! UM IXr MrTUOO

0=
=

au, 1 [av, aWl 1 [ at +

n.. n..
w2

aa~, aa.~.v P- .- - - - - - - at ax ay

f.
)

l
(I;t

dy

P II' l -

-.- a""
(I,r

aW2 + - -a" ay

1 1'2[. dx (l y
( 10.3.2) ( 10.3.3)

+ J:
0= {

Yr, 11'2 (ar,'''~ + a,..",,) d,~

11'3

ln..

( av~ + ~"f ) du
ih

ay

ly

The weight functions ( 11'1. 11'2 . 11'3) can be interpretcd physically as foll ows: Since the fi rst equlltion is the momentum equation ::Iud [;r dXlly denotes the fo rce, WI mu st be like the x component of vclocity VA so that the product [, W I gives the powcr. Simi1:lrly, IV 2 must be like thc y component o f velocity v,. llie third C (luation represents thc volume changc in an clement of d imensions (/x and (/y. lllcreforc, IV) must be like a force thut causes the volume change. Volume changes occur under the action of hydrostatic pressure. hence, W ) is likc - P :
( 10.3 .4)

Thi s interpretation is useful in dcveloping the finit e clement model because 11'1, for example, will be repl:lccd by the ith intcrpolati on function used in the upprox irnalion of /Jr. S imilarly, IV) wi ll be replaccd by the ;Ih interpolation function used in thc approximatio n of P . When different interpolations are used for (VA ' v.) and P . this interpretation becomes nccess::lry. Expressing the equm ions in terms of ( u" , uy , I , the wcak fonns ( 10.3. 1)- (10.3.3) become
0=

ow, 1 [ "". + -,- (

n..
PII' , al a.r
-

"". - P) 2,, ax

ow, + 1' -,- (ly

(a", + -a",)- lI'li,1

iJy
ax

d Xl/y
(1 0,3.5)

0=

1 [ "'"
>1,

fr,

):. 1I'11., d s

PW2-' + 11, - . . ow, al iJx

(0", + -a",)+ -,- (2,,-,-, - ) ow, 0 "

-By ax fly

ely

P - 1112i, d x d y
(1 0 ,3,6)

- J fIIll, ds

fr-,

0 =-

l a,

{ 1I'1 ( au,+ilvY)dX dY
ax iJy

(10. 3.7)

Note that there i" no boundary inlcgr,d involving 11'3 because no integration by parts is used. This implies that P is not a primary variable; it is a part of the secondary variables (I, and t, ). Thi s in tum T \!quires that P not be made continuous across interclerncnt boundaries. If P by itse lf is not spec ified in a problem (but I~ and ty are specified), thcn P is arbitrarily sct 10 a value at some node to determine the const:lIlt state o f the pressure. Thus, P can be detennined o nly within lin arbitrary constant. The minu s sign in the th ird state ment is inserted because P '" - 11'3, which lI1::1kes the resulting finite e le ment model symmetric.

ClIM'f"ER

II}

fLOv.'S Of VISCOLS I~COMPIH:SSmU; FU':lDS

581

The problem described by weak forms ( I 0.3.5HIO.3.7) can be restated as a variational problem of finding (v..-, vJ P) such that
B,(w , v)

+ B,,(w . v) -

Spew . P) = I(w)

( 10. 3.8)

- Bp(IV) . v) = 0

holds for all

(11'1, 1V2. IV J)

and I > O. Here, we have used the notation

(10.3.9)

W ~ ! ::; l ' ~ ! :; l , f~ !H t ~ ! :; l

Since I \'j are linearly independent of each other. the sum of the three equat ions in (10.3.5)(10.3.7) is the same as the three indiv idual equations. Thus, the bilinear fomls B,(w, v), B,,(w. v), S,,(w , P) , and Bp(W3. v), and the linear form le w ) are defined by

B,(w.v) = [
B,,(w . v) = [

io . io .
0.

p wTv dx
(Dw) T C (Dv) d x

B,,(w. P) =

(DI w) T P d x T

( IO.3. IOa)

where

11

ox
D ~

a
ily
11 ax

a
By

D, =

1 I C ~I' [~
ailx
Jay ,

~]

(1O.3 .lOb)

n,e transpose of a scalar (or I x I matrix) used in the Eq. (10.3. 1Q may look a bit strange a) at the moment. but it is necessary to obtain the correct form of the finite element model , as will be seen shortly. 10.3.2 Finite I<:lemcnt Model An examination of the wellk form reveals that v..- and v~, arc the primary variables that shou ld be made continuous at interelerne nt boundaries. while P is a nodal variable that need not be made continuous across the interelement boundaries. Therefore, the Lagrange family of finite elements can be used for (v". v~. P). The weak form shows that the minimum cont inuity requi rements on (v..-. v y , P) are:
(vx
!l y )

linear in x and y.

P constant

582

,,~. INl'IlOm;("TION To nl~ I~NnIlI:LH1 F.Kr \.I I;THOD

Thus. there arc different continuity requirements on the interpolation o f the veloci ty fi eld and pressure. Let (the element label "c" on the variables is om ined)

ll~ (X. y. l ) =

L v!(t )"'j (x . .v).

i ,. 1

vy(x. y.t) =

L U{ (t }"'i(X, y)
i- I

( 10.3. ll a)

P (x. y. t) =

" L I'J (t)tPJ (x. y} ,-,

( 1O.3. llb)

where t/!i (j 1,2 ..... II ) and tPJ ( J 1. 2 .. . .. III ) are interpolation fun ctions ofdifferent order. In view of the fact that press ure appears wi thout aderi vative while(v... vy)appcar with deri vatives with re<;pcct to x and y, we often take /I = 111 + I. If the degree of the approximation functions is high. we may usc the same degree o f interpol ation for P and (u~., Uy ). Substituting ( 10.3. lla) and ( 10.3.1 11) into Eq ~ . (1 0 .3.5)-(10.3.7). we obtai n the following fin ite e lement model:

IMI 1 01 0 1 01 1;' 111 IF' ; + 101 IMI 1 1] 1 1 , 1 ~ IF'1I 1 [ 1 01 101 1 1 01 01 Ii>t

The coeffi cient matrices shown in Eqs. ( 10.3.12) arc defi ned by Mij =
soft
'J

( 10.3.12)

1
o.
fI,

pt/!: >/Ij d.Hi)'

jJ. _ _ _ _ ' J

a,,' a,,' tlxtly;

iJxo aXil

O'.{j = 1. 2

">iJ

~O =
pi =

1
n.
fI,

A..' jJ. - . - 'I'J

at/!;
iho

d X d y;

0'=

I. 2
tis

( 10.3. 13)

1 1/1t If dx d y + J >/Itt,

h',

We note that [ K JJ I = [OJ because the continuity equation docs not contain P . Therefore. the assembled equations will also have .....eros in diagonal clements correspondi ng to the nodal values of I> (i .e .. the system of equations is not positi ve-defi nite). The vector fonn of the fi nite elemen t model (10.3.12) can be obtai ned as follows: The fi nite e lement approximations (10.3. 11a) and ( 10.3. 11b) is expressed as

v ~ I :J ~" w ~ I :; I ~ ~M
( 10.3. 14<"1)

CHAPTU! 10; Il.oWS orVl'iC'OllS I~CO\II'!I.K~sml.l] FUJlIJS

583

where li denotes the variat ional sy mbol, W = av denotes the virtu<l1 variation of v, <lnd liP, is the virtual variation of Pi . V<lrious symbols lLsed in Eq. (10.3. 14a) are defined as

~ [~'
= IIPI

6. = I l!~
l

'" ", ", "

<h

'"

,'"
.mI T

",
0

", ",= {P'J T P, 1'

1

:J

(10.3.14b)
P",IT

Substituting (10.3. 14(1) into Eq. ( 10.3.8) and noting that 8i1~ <lnd ail~. are arbitrary and linearly independent, we obtain
M A+ K II.6,+KI 21 )=FI , K 21 .6,= 0

(10.3.15)

where
K II=l

n,

B~CB" dx
(\0.3.\6)

II" = DlJI,

li p =

DlJI J
x III.

Note Ihat M and K II are of the order 2/1 x 211, K I2 is of the order 2n order 11/ x 2n, and 1"1 is of the order 2n x I.

K21 is of the

10.4 PENALTY FUNCTION FORMULATION

10.4.1 Preliminary Comments The penalty function method was introduced in Se(;tion 4.6.4 in connection with algebraic constraint equations. II C<ln also be used to reformu late a problem with differential constraints <IS one without constraints. Sin(;c the basic idea of the method was already introduced (see Example 4.6.2), we proceed directly to its application 10 Ihe viscous flow problem at hand. The question we may ask is: Where is the constraint in the flow problem? There are no constraint conditions in the way the equati ons were presented. We have three equations (10.2.9)-( I0.2.11) in lhree unknowns (v.... v,. , P). Sin(;e the pressure P is uncoupled from the continuity equati on (10.2.11) lwhich has the (;onsequence of yielding a nonposilivedefinite system of finite e lement equatiuns (10.3.12)]. we would like 10 eliminate it from Ihe set of governing equations. The elim ination of pressure leads to a constraint equation among the velocity components, as described next.

10.4,2 Formulution of the Flow Problem as a Constrained Problem

The equations guverni ng flow s of viscous incompressible fluids can be viewed as equivalent to minimizing a quadratic functional with a constraint. Here we present the formulation. in

the interest of simplicity, for the sIalic case si nce the con~tra i nt condit ion does not invol ve lime deri vative tenlls. Then, we add the time dcrivntive terms \0 study transient problem ... We begin with unconstr:lincd problem described by the weak forms o f the mixed model. namely. Eqs. ( 10.3.8) wi thout the time-derivat ive terms
B, ( w. v) - Bp(w . P ) = lew)

- Bp(W). v) = 0

( 10.4. J)

where 11,,( . .), B,,(., .), Ilfl(" .), and /(.) are defined in Eqs. ( 10.3. 10a) and (l O.3. IOb). Now, suppose that the veloc ity fi eld ( I),. I),) is such that the continu ity equmion ( 10.2.3) i" sali:.I (."<1 identically. '!llen the weight fun ctions (w I, 11'2). being (virtual) variations of the 1 velocity components. al ~o sat isfy the continu ity equation

-a.1 + -(Jy

aWl

al\'2

=0

(10.4.2)

As a resu lt . variational proble m (10.4.1) now can be staled as fo llow.. : Among all (IIA V,.) Ihat s:ltisry the continuity equation (1 0 .2.3), find Ihe one Ihat siltisfie:-. the variational pl'Oblcm
Il ,,( w. v ) = I( w)

( 10.4.3)

for all admi ssible weight fUllC tions (WI. 11'2). i.e" the one that satisfies condition ( 10.4.2). The varimional problem in Eq . ( 10 .4 .3) is a constrained varia tional problem because the "olulion (II... II,) is constrained to sati sfy the continui ty equation ( 10.2.3). We note [hal 1 ) i ~ symmetric (because C is sy mmetric) 1,,(
Hv( w . v) = 1J.(v . w )

(1 0.4 .4)

and it is linear in w as well as v. while/{) is linear in w. Hence. the q uadr:ltic functional i~ given by the expression Isee Eq . (2.4. 19)1 I I v ( " ) = 2" Hv( v . v) - /( '1 ) ( 10.4 .5) Now we can state that the equations governing stcady fl ows o f flu ids arc equivalent to minim ize 1,,('1) !>lIbJeclcd to Ihc constramt
vi~ou ~

incompressible
(1 0.4.6)

. G (v)

e; -

ilu,- + _. = 0 all v

ax

ay

TIle constrained problem ( 10.4.6) can be reronnu lated as an unconstrained problem u ~i n g the Lagrange mult iplier method or the pe nalty fun ction method . These arc di scmscd nex!.

10.4.3 LlIg r:lIlge Multiplier Model

In the L;,lgr:lnge mUltiplier method the constrained problem ( 10 .4.6) is reform ulated as one of fi nd ing the statio nary points of the unconslr.:Jin(."<i fu nctio nal
1,.('1 . i..);;;; 1,,('1)

1
0,

i..Ci( v ) t/x l l y

( 10.4.7)

whe re ).,(x. y) is [he u /g range 1IIlI/liplier . The necessary condition for I ,. to have a st:uiona ry value i.. that
( 10.4.8)

CtlAI'TEIl 10: I'UJ'A'S QI' VISCOUS L"COMI'IU:SS II<Lr

H.lIl[)s

585
V~,

where 0",0.\ , and 01 denote the pal1i:!1 variation'} (-.ce Seclion 2.3) with respect to and A, respectively. Calculating the first variations in ( 10.4.8), we obtain
o~

v ,"

au, ,[ [-aou, (2,' -au, +A ) +,'1 -alv, (au, + -,-- )]

fl.

ox

ax

oy

ay

/)x

dxdy

- In,OV,/, d.H/r r - In, 01),1 " d .).' d.l r

0=
where
I.

fr,

J,

OV.. I. lIs

( 10.4,9)

alu, av,) alv, " a", O [n, [11.. -ax ' ( -au, + -ax + --' (2 -- + A)] duly = ay Jy Jy
'J;.,

OV,.I,. ds

(1 0.4.10)

'''' By -' [ 8A (-,iJx + -au,,)

fl.

d.rd)'

(1004.11)

u, ( a + ) + (a", + au ) ax uy ax au, + -,-' + (2/1 - ' +A) au,) a", 1,' = 11. ( =
2j.t -,-

i..

II,

II..

-;:;-

_J

II ,

(IOA. 12 )
II "~

ay

ax

nr

i"Jy

or. in vector form

11,.("" v) + 8,,( w. i..) =/(w ).

8,,(0).. v) = 0

(lOA.13)

and the bi linellr forms are Ihe s:lIne :I ~ Ihose in EllS. (10.3. 1Do ) and (10.3. 10/). A comparison of Eq . (I OA .13) wilh Eq . (10.3.8) lor comparison of Eq ... ( 1O.3.5H 10.3.7) with (10.4.9)(1004.11)1 revcal... that J,. = - P. I-]enee, the Lagrange multiplier formul ati on i ~ the <;ame as the v el oci ty -pt'c~~ urc fonnulali oll .

10.4.4 1'('llalty Model In the penalty function method. the con\ tmim.. problem (10.4.6) i" fefomlUl:ncd as an -d unconstrained problem as follows: Minimize the modified fu nctional (10.4. 14) where y.. is called the pellllllY IX/rall/eler. Note thaI the con~ l raint i... included in a lea!>tsquares Sell'iC into Ihe functional. Seeking the minimulTI o f the modifi ed func tional 1p( v) i.. equivalent to o;ccking the mini mum of both 1,,( \' ) and G( y). the laller wi lh fe .. pect to the weight y, . The larger thc value of y~ . Ihe mOTC exactly the constraint is sati ... lied. The necessary condition for thc minimum of I" is
( 10.4. 15)

586

A'" l'iTI(OOlJCl1O... IOTIlB IlNll1l ElI'..\ll.N1 ~lIiIllOO

We have
0011..- at/~ ()!SU. 0 = [ [ 2/1 - - - - + " - - - - + - ' n, ax ax Jy ay ax
-

(CIt/, at/v) Jy

011.,(/. d x d y (lx dy
( 10,4, 16)

i", i
r,

0= [ f1,
-

ax (J811) av~ iUiv y 1 ,-' [ 2,. - - - - ' + ,1 - ax Jy Jy 011., 1, d.f

OV,I.. (Is +

, --+[n. .'" ("", a",) ax

Yr - -

(ihA all,, ) -Oll,/. ] dxdy l -+-,ay

ox

n,

dO", y.. - - ' ay

( - + -' "", ax oy

a", )

dx d y

( 10,4, 17)

or, i n vector f0l111 ,

(10.4, 18)

B,l( W v) = B,,(w, v) + 1n. Y.. (0 TW I) , \ ' dx , , )"T

( 10,4.1 9 )

le w ) = ( wTr (IXfl y+

ln,

J. wTt tl.v Yr',

and Hu(" .) and I) , arc defin ed in Eq ~. ( 10.3. IOa) and (10.3. IO We note thaI th e pres~ure b). doc.!. nol appear ex plicitly in the weak fo rms (10.4. 16) and ( IOA. 17). although it is a part oflhe boundary slresses l see Eq . (10.4 .12), A = - P I. A comparison of the wCllk fo rms in (l OA. 16) and ( IOA. 17) wilh those in ( IOA.9) and ( 1004.10) show that

).=Yr

""' a",) (-+-,ax oy

=- 1' or P =-y~ DT \' ,

(10.4 .20)

w here \. = v(Y.. ) is Ihe SOlul ioll of E<IS, ( 10.4. 16) and ( 10.4. 17). Thu,>. an approximation for the prc!>surc can be poslcompUlcd using ( 10.4.20). The lime derivative lenn'> can be added to eq uations ( IO.4.IJH lOA . I I ) as wel l a~ 1 0 ( 10.4. 16) and (10.4 .17) without affect ing thc above discuss ion. For the penalty model. we have

+y,-- ( --+-,a,". "'"

ax

ax

a",)]
Jy
iMII~

dxdy -

n.

81 /. "x(l y1.

r,

811,t. d.f ( 10.4.2 1)

0=

i[
n.

pO V - + 21-L- - - - +I'- -

vv)' at

illil

oy oy

(Jov, ( --+- ) av. (Jv,, ax oy ax

CllAP'ffiR 10 n.OWS OI' VISCOUS 1:-K.'O.\IPIIF..sSll.lLE A.U1OS

587

0'

B,(w , v)

+ Bp(w . v) = I (w )

( 10.4.23)

where 8 ,( ... ) is defin ed in Eq. ( 10.3. 100). and B,.(.. .) and 10 arc defined in Eq. (10.4 .19). The pcnllity finite clement model can be constructed using Eqs. ( 10.4. 2 1) and ( 10.4 .22) lor Eq . (10.4.23)1 by substituting 8 v... = 1/1, and 5 v)' = 1/1,' and upprox imat ions (10.3. ll a) for (v~" 1), ), We obtain

( 10.4.24)
where

IK " I = 215"1+ IS12 ]+15" 1. fK22 ] = IS!I ] + 21S221 + 1522 1,

with the coeffici ents

IK I21= IS11 1+ IS'2] IK11 J = (S 12 1+ IS2 !1

( 10.4.25)

~~:= IL- , - J dx d y: a,fJ= I ,2 , n, ox" oXfI

S;'f=

1 ."" .""
n,

CJ ij

~, =

5IJ.0 = ...
F!
F 2

=1 1/1rf.. dx ,IY+ Yr, "';t.,lls J. = 1 "':1, dx dy + 1. 1/It' ,

0.
(1,\'

1 .""
a,
0.

1 ."" 1 ."'. "'i aX"

ax"
Y. Q.

11.-'1/Ij dx d y: a = I.2
-.-(/x(I),: a .fJ= I .2
iJxll

(1 0.4.26)

y~ _ i .,.' dx d)" 'I' J

x"

'

a = I,

];'.

[n vector form, the fin ite element model is given by

(10.4.27)
where (M , Kv. and K,. arc of the order 2/1 x 2n. and F is of the order 2n x I) 1\1 =

Ia.p'"

T \(I

d x.

Kv =

1 B~CH. d x 0.
IjITr tlx +
0. ];.,

Fl =
Up =

1.

IjITt tls

( 10.4.28)

lJi l}I

588

AN IN'rKO[)lJCnO,,' 10 nll: ~l,...n(;tLH' IIJ','T \lImIO!)

10.4.5 Time Approximation For the unsteady ca~. E(IS. (10.3. 15) and ( 10.4.27) arc funher approxi m:llcd using a time approximation schcmc. Equations (10.3 .15) :lnd ( 10.4.27) are of the form Isce (6.2.21(l)j ( 10.4.29) where lil) denotes the vector of nodal v doci ti e~ and p res~ure in the velocity -pressure formu lation and on ly velocities in the penalty fo rmulation. Using the a-f:unily of approximation we reduce &1. (10.4.27) (with K = K, + K p) to Isee &IS. (6.2.21(/)- (6.2.24/))1 ,

Kil'll ::: Kil.,

where

+ t ........ 1
K,, = M - a 2K ,
1I2=( I - a)ill

( 10.4.30)

K = M+ tII K,+I.
.', . + 1 = (11 . ' .... 1

(I OA.3 1) ( IOA.32)

+ (l2F

(I I

=al:!:./.

when.~

1\1 and K for the penalty model are defined in Eqs. ( 10.4.28).

10.5 COMPUTATIONAL ASPECTS

10.5.1 I' ropertics of the Mlltrix EClll:ltiolls Some of the properties of the matrix equations in (10.3. 15) and ( 10.4.27) :Ire li sted below. I. The matrix equations (1 0 .3. 15) and ( 10.4.27) represent discrete analogs of conservation of mass and momentum. An inspection of the structure of the ind ividual matrices shows that M :md K are sym metric. 2. A negative aspect of the mixed finite clement model is the presence of I.eroes on the matrix diagoml1 s correspond ing to thc pres"ure variables lsee Eq. (10.3.15)]. Direct eq uation-solvi ng methods must use some type of pivoting strategy, whi le the lise of iterative solvers is severely handic:lpped by poor convergence ochavior. 3. The computer implemen tat ion of the mixed mode! is somewhat complicated by the fact that the clement contains variable deg reesof freedom. e.g.. in the quadratic approxi miltion of the velocity fiel d and bilinear continuous approximation of the pressure. the element has three degrees of freedom (v . v,, P) at the comer nodes and two dcgrees of freedom (II. , v,. ) at the interior and midside nodes. Th is cumplicates the calculation of elemcnt m,mices a" well as the assembly of clement ec[uat ions. 4. Equations (10.3. 15) and ( 10.4.27) represcnt a set of ordinary differenti<ll equations in time. The fac t that the pressure docs not appear ex plicitly in the continu ity equation makes the system time-singular in pressure ilnd precl udes the use of purely explicit time-integration methods. 5. The choice o f the penalty parameter is largely dictated by the ratio of the magni tude of penalty terms 10 the viscous terms. the Ille"h. and the precision ofthecompUler. Generally, a value of y = I O~/l to IOI ! tt, where 11.. denote~ the viscosity. gives good results. It is found that the pressure is more sensitive to the value of y than the velocity fie ld.

ClIAI'lT,JI 10: FlJJWS UI YISCOl!S IN(XIMI'IlI'.SSIIII..E rI ITlllS

589

10.5.2 Choice or E l cmcnl~

As is clear from the weak forms, both finite element models requi re only the CJ-continuous functions to approximate the fi eld variables (i.e., velocities and pressure). Thus, any of the Lagrange and serendipity family o f interpolation fun ctions are admissible for the interpolation of the veloc ity fi e ld in mixed and penalty finite element model s. The choice of interpolat ion functions used for the pressure variable in the mixed finite ele ment mode l is further constrained by the special role that pressure plays in incompressible flow s. Recall that the pressure can be interpreted as a Lagrange multiplier that serves to enforce the incompressibility conSimint on the velocity field . From Eq. (IO.3. llb) it is seen that the npproximation functions J used for pressure i ~ the weighting func tion for the continuity equalion. In order to prevent an overconslmined system of discrete equations, the interpolation uS(.-d for pressure must be at least one order lower than that used for the velocity field (i.e.. unequal order imerpolntion). Funhermore, the press ure need not be made continuous across clements because the pressure variable does nol constitute a primary variable of the weak form presented in Eqs. ( 10.3.5)( 10.3.7). Commonly used elements for two-di mensional fl ows of viscous incompressible fluid s are shown in Fig. 10.5. 1. In the case of linear c lemen ts, pressure is treated as discontinuous between elcmenLs; otherwise, the who le domain will have the same pressure. Two different pressure llpproximalions have been used when the velocit ies are :Ipproximated by quadmtic Lllgmnge functio ns. The fir,.;t is a continuous bilinear approximation in which the pre.ssurc is defi nL'tI 'It Ihe comer nodes o f the clement and is made continuous across ele ment boundaries. The second pressure approx imation involves a discont inuous (betwccn e lements) linear vari ation defi ned on the element by := II X y}T, Here the unknowns are nol nodal point vlllllcs of the pressure but correspond to the coefficients in I~ := {/I + bx +(."y .

o Nodes with II and v Nodes with II, v. and P Nodes with I' onty

models.

.',gurc 10.5.1 The triangular lind quadrilateral cleme nts used for the mixt:d and penalty finite cleme nt

590

AN INTM OI)I.iCI'ION roTlt rt.'>IITE Uc'lENT MIITUOO

When the eight-node quadratic element is used to represent the velocity tield. a continuous, bi linear prcssure approximation may be selected. When a discontinuous pressure variation is utilized with this element, the constant pressu re representation over each elemcnt must be used. The quadratic quadrilatcml elements shown in Fig. 10.5.1 are known to give reliable solutions for velocity and pressure fields. Other elements may yield acceptable solutions for the velocity fi eld. but the pressure field is often in error.

10.5.3 Evuluation of Element Matrices in the Penalty Model

The numerical evaluation of the coellicicnt matrices appearing in equation ( 10.4.27) requires special consideration. This aSI)ect is discussed hcre for the steady-state case. Fo r the ste:ldystate nows with const:lnt material propenies, Eq. ( 10.4.27) is of the foml

(K" + K ,,)~ = I'

( 10.5.1)

where Kv is the contribution from the viscous terms and Kp is the contribution from the pena ll Y terms (and depends on y). which comes frum the incompressi bility constraint. In theory. as we increase the value of y, the conservation of m:lSS is sati sfied more exactly. However. in pmclice. for some large value of y. lhe contribution fromlhc viscous terms would be ncg ligibl y small compared 10 the penalty terms. Thus. if Kp is n nonsingular (i.e .. invertihle) mauix , the solution of Eq. ( 10.5. 1) for a largc value of y is trivial. ~ = O. While lhe so lution satisfies the continuity equation , it docs not sat isfy the momentum equations. In thi s case the discrete problcm (10.5.1) is said to be overconslrained or " Iocked." If K /, is singul:lr. then the sum (K,. + Kp) is nonsingular (because K" is nonsingular). and a nontrivial solutiOn 10 the problem is o btained. The numerical problem described above is el irn inuted by proper evaluation of the integrals in Kv and K /,. 11 is found that if the coellicients of K (i.c .. penalty matrix coefficients) arc eval uated using a numerical integration rule where the"order is one less Ihan that required 10 integrate them exactly. the finit e clement equations (1 0.5. 1) give acceptable solutions for the velocity fjeld. This techniquc of underintcgrating the pe nalty tcrms is known in the literature as rel/llced illlegralioll. For example, if a linear q uadrilalcml element is used to approximate the velocity fjeld, the matrix cocOicients K" (as well as M for un steady problems) are ev;,luated using the 2 x 2 Gauss- Legendre quadrature. and K is cvaluated " using the o ne-poi nt ( t x I) Gauss- Legendre quadrature. The one-point quadrature yields a singular K . Thererore. Eq. (10.5.1) can be sol ved because (Kv + Kp) is nonsingu lar and " can be inverted (after assembly and imposition of boundary conditions) 10 obtain a good finite cle ment solution of the origi nal problem. When a quadratic quadrilateral clement is used, the 3 x 3 Gauss- Legendre quadrature is used to evaluate K" and M, and the 2 x 2 Gauss-Legendre quadralUrc is used to evaluate K . Of course. as the degree of interpolation goes up, or as very refi ned meshes are used, Ihe " resulting equations become less sensitive to locking. Concerning thc postcomputation of pressu re in the penalty model, the pressure should be computt!d by evaluating Eq. ( 10.4.20) a1 integration poinls corresponding to thc reduced Gauss ru le. This is equivalent to using an interpolation for pressure that is one order less than thc one used for the veloci ty field. The press ure computed usi ng equation (10.4.20) at the reduced integrHtiorl points is not always reli:lble :md accurate. The pressures predi cted

(fIAI'rER 10: FLOI'>'S OF \%CO(;5 tKCOMI'KESSIHLIi FLLIDS

591

using the linear elements, especially for coarse nteshes. are seldom acceptable. Quadratic elements are known to yield more reliable resu lts.

10.5.4 Postcoll1putation of Stresses

The analysis of a flow problem generally includes calculatio n of not only the velocity fi eld and pressure but also the computation of the stress field. A brief discussion of the stress calcu lation is presented nex\. For a plane two-dimensional flow, the stress components (an', an" a~ y) arc given

by
aH = 2p,-.-~ P.

av,.
iJx

aH= 2J.! -~ P.

av y
ay

a~y= p,

(av~

- +av ) oy ox

( 10.5.2)

where p, is the viscosity of the fluid. Substitution of the finite clement ap proxi mations (lO.3.lla) and (lO.3. ll b) for the veloc ity field and pressure into &]s. ( 10.5. 2) yields

~~

= 2"

J ~ P"a~'

" a';'l . L __ v x
j= ]

a yy = 2p, ~-.-v~ ~ P
j= 1

.;;-, a"'I
oy

a~)' = 11 i...J

.;;-, (""'- vi.+ --I":.) a"' -I

j=1

(10.5.3)

oy

ax

where P is calculated from

m

P (x.y)= L

,.,;(x,y) P;
__ v{+ __ J Jv~

( 10.5.4)

for the mixed model and from

Py (x.Y) =~ Y L
j=1

"(""" ax

a", ) oy

( 10.5.5)

fo r the penalty model. The spatia l derivatives of the interpolation functions in Eqs. ( 10.5.3) and ( 10.5 .5) musl be eva luated using the reduced Gauss poi nt rule. Thus. the stresses (as well as the pressure) are computed using the one-point G3U SS rule for linear elements and with the 2 x 2 Gauss rule for the quadratic c lements. The stresses computed at interior integrat ion points can be ex.trapolated to the nodes by a simple linear ex tra polation procedure, and they may be appropriately averaged between adjacent elements to produce a continuous stress field .

10.6 NUMERICAL EXAMPLES

A number of simple examples of two-dimensional Stokes flows of viscous incompressible fluid s arc presented in this section [sec Reddy (2004)J. The examples presented herein were solved using the mixed and redu ced integration pel/ally finite element models, The objective here is to evaluiltc the accuracy of the penalty and mixed finite element model s by comparing wilh the available analytical results and to illu strate the effect of the pen:tl ty parameter o n the accuracy of the Solulions.

592

AN INfllOl.lUl-noN TO Till IlNrI1\ UJ~\lI:NT ", rentOO

I:: Jlampk 10.6. t (Vi'ICQUS fluid Squeezed between Patallel

C(ln~itk:r theslow flow of a vi:\Cous inconlp~iblc

Phne~)

m:llerial1iC!ucc.1'oo bet ween t .... o long parnllel platL'i 1!)Ce Fig. 10.6. 1(1. When the length of the pl:llc., i~ very Ilirge compared to both the width .md the distance /;Mltween the: platcs, we have a ea~e ot plane now. Although this is II moving boundary problem, we: wish to determine the ve:locity :Hld pressure fie lds ror a fixed diS\:ln(;e between the plates. a~~u ming liIal a state of plane now ~ i.'>ls. Lei t'q be the velocity with which the two plllle~ are moving toward c:ach OIher (i.e . ~uee1 i ng (lut the fluid). and let 2b and 2a t1cnolc. respectively. Ihe dislllnce betwi,-cn and the length of the plates rsee Fig. 10.6.1 (o)l. Due to the biaxial symmctry present in the problem. lt liufikes 10 model ollly II quadmnt of the domain. As II first ml'.,h, we use a 5 x 3 tlOnunifonn mesh of nine-nOde quadratic clements in tbe m~"cd model. and II 1 x 6 nlC\h orthc four-ncxk 0 lilk!ar elemenl..~ and 5 x 3 mCl>h or nine-nOde quadratic eJcment~ in the pel'lalty model (set Fig. IO.6.I(b)l. 11tc nonuniform me:.h. with MlI:iller clcmen~ near the free liUrface (i.e., al:f "" a). is u-red 10 approximate accurately the ~ ingu laril)' in the shear slress at lhe point (a. b) '; (6. 2). Tlle mesh used for the penalty model ha.'-i exactly the :.aOle number ()f nodes as the me~h used for the nine-node mesh of the mixed model. The velocity bOundary condition:. arc shown in Fig. JO.Q. I(b). Tbe \'elocity 6c1d al:f "" 6 (outnow boundary) is not known: if .... c do not illlPQsc any boundary conditions there, it amOUlIu, to req uiring', =1, =0 in the Integral scow.. hi the mixed fin ite clement model, it is ~sary to specify the ~~urr at least at one node. In tbe present CII!;C. Ihe node at (x. y) = (0, 0) i$ ~pecificd to h:Jve zero pre.sUlt. An approximate analytical M)luti{ln to Ihb two-dimcn~jonal problem is provided by Nadai (1963). and it 1.<; given by
11.(x.y)"" 2h

3V",( 1- Y') b1
(10.6. 1)
3jtVB, 1 t P(x.y) = 2hl (a'+)' -x)

The velocities ", (x , 0) obtained with the two finite ctcl1lenll!l(MJcls compare well wilh the analytical SOlution. as shown in Table JO.6. J.1l1e ni ne-nodcele mcnt gi\'c~ very good resu ltS for both the penalty and mixed models. The influence of the penalty parameter un the aceuracy of

2.

(o)

tlgure 1o_6. 1 (0) Geometry. COIllPUlaiional domain, and (b) lhc Imite ekmenllllel>h used for the nnal)'~is of the "low flow of viscow. illl.'OrIlpre$\iblc "uid between parallcl
plat~.

alAI'TI:M 10 I'UlWS 01' VISCOI51t.;('OMI1II;SSl8l l'.

~u r ,, >'l

593

'ible. 11),6.1 COlllp;lri~on or firUIC cI~mcnl solution ,\ (x, 0) with the analytiCld :iOlution ror fluid MjUec:/M between pliltcs,
y ...

IO
Ni~

y,.,

]00

,
1.00 2.00 300 4.00
4,50
,."

"IOOt:
0.0303

"'"'

node O.oJtO 00691 012)3 0,2061

O.2h~1

'00' .,,,,,,
U_6563

..'"
Nil1C

Y = ]OS
[lour

Nine
.~

,r.:.>de

M,Jtt-d 1l1(1Ik1 Nirw;,

-nude

ScriClo
\()Iurum

0.6513

0.7516

0.0671

13]65
1.9911

IJ062
1,9169 2,Q730

um

0.1;'i05
1.4992

0._ 0._
0.44311
0.4793 0.2611 0,3291 0,3674

0,1213

2,0960
3.0718 3"".'W7 3,6]20 3.73li8 ),113]6

22156 ).0541

2,25$1 3,0238
;t43H7

0.7497 1.5(131 2.2561 ),OW3

U,1$OO

UOOO
2.2500

3.0463
3,)956 3.5732 1.6874 3.7"24 3,7862

JAM!!
1!j..~17

3.4292
3.8165 ).9893 4,1204

'00
5.SO H5

0.)10
O.}(>S4

3.1\029

10000 ).37SO 17.'SOO

J.9l75 4, 12.'10 4,3125

(r.4Of>;l

OA44J
0.4797

6,(10
tlc"",,"-,,

3.11362
"'~IfIC",,Jlr

4()441 41112 4.2654 4,2549

3._
4.1085

-UI60
4 .11137

4.2058
4.2364
I~

4.5000

'Tho-1 )( 3 GIUJ""" i. uO<>! f()f

term., Ib'Id tilt 2" 2 (1111.".. ",Ie filr pw.oltY"mIII

lll!C<l f(lf" IfI'O'dllltie

S(lhuion "de;'" from the re.\ults. Whether the clement j<, linear nrquadr.lIic, it is necCf,~ry to U!!.C:' large value of the penalty par:lmeter. Pigurc 10.6.2 conlaiJls plols oflhe velocity II,(X, y) f')f x=4 and x",,6. and Pig. 106.3 o.:(Jnlain~ plots of pres~ure p(x. y). for Y::::-)'o. where )'0 is the), coordinate of the Gauss point oC"'fe~tIO the centerline or tup plate. 'Ilre.-.e r~ulLS were obtaiood With two dilTerent me!>hes: 5 )( 3 and 10 x It 111e pre.~!>ure to the penalty model was eompuh.:d u~ing Eq. (10.5.5) with the 2 x 2 Gauss rule (\)r the quadratic rcctangulat clement and too one-point fonnula f\)f the linear dement. wh~reas In the mixed modd (1lS wdl as the analytical solution) it is computed III the n<xles. Ir tnc pfCl,~ure in the penally model were computoo using the full quadr:lturc

t~

2.0

1.5
~

f a

1.0

v.. l1tx:=4
0.5
-Analytieal llOlution

0.0 0
l

2 3 Uorizontal velocity, v..

t1aure 10.6.2

Velocity field~ for lIuid '>qUL'C/cd between parnllel plates.

59-1

,\ '1 I'>:"ntOUUC11O'I III Il II' 11'11 1 I U.J,II , I \1 01100

10

8
PEM 7

aoluLion iy . 0.1875)

..

J,
3
2
1

.. ,
5 Ana.lytical
IIOlution Q' ~ 2)

.
,
6 6

~ ~

3
2
J

"EM Ik>lution (y ... O.0626)

Arta.lytical solution (y .. 0)

0
-I

0 0
l

3 Distnnoo, x

O'/ll.wu;e, x

FigUl::e 10.6,3

~~ures

ror fluid liquceud bc:twcell p:u-allel plates.

rule for rectangular elcment~ .....c would have obtuned erroneous \al ue~. In gener,ll. the ",1me integrali<m rule a~ 1t};11 u.\>Cd for tll<! e\"lu'llioll of the pcn;thy ~enns in the coefficient 1ll3ltix IIlIN he ul>(!d to compute the prC'$.urc. '1Je l.lScillatiOIl~ in prcs\ure (''i}OIPUlW ne3rest \0 the top phllc are due to the Mngulhrity ill th~ bo:lUtldary conditjons:JI (x, y) '"" (6, 2).

Example 10.6.2 (Flow (If II

~lohder(or'l"lipper)

Vi')oCou..~

Lubricant in a Shder Be;tring)

tIl;t

bearing tXlnloi~tloufa ~h(m ~Iidingplld fl)()\ing fli fl \e!ocity /I :::: VI) rclatj,.e \tlllionary pad inclined ;it II small ;lnll-le with re~pcct 10 the ~l;lIionary pad. and the ... mall gap betwccn the tWO l)tItb i~ tilled with ;l1ubric;lnt l~ce Pig. IO.6.4(lI)j. Since the. el1l.ls oflhe bearing are gcnerally open, the pres~urc there. is :UIIlChphcric. I~I' If the upper plld is parall~t to the hru.c plale. lhe prcwu'j,": t\lcrywhi:re in the gap mOlot be ntlllOlophcric (bt!c;\U.St! (/ PI'h is a con~lallt for tlnw between paMllld plutts). and the bearing c;trtnOi ~upPQn any lr;ll1~versc load. If the upper p3d iJ. inclined to tht ba..c pow. a pre~urc distribution. in b>t:nerJI. a function of .\ nod~, is"":l up in the gap. F(lr large \a.!l,kls of V . t~ pil!sMlre gen~r:lled can be of sufficient O mJ.}!oitude 10 support he3\1)' 100lth normal to the haM! pad. When tb.e \\ idth of the !,lap ant.! the nnglc of inclination fll"t! ~nmll. we may :iJ..,ume that l', = 0 and the pre~~ure i~ oot a fu!\Ction of y. A!<~uming 11 tw".. djmcn~ional Slllte lIf now and a "ffiaJl anglc of inclination. and ncglecting the nonlla.! ~11"\."'l,S grudicl1l (in oompari~n with the ~hear SIIC~ gr'J.dient), the equatlon5- g(lVemiog the lI(lW \If the lubrictlnt between the pad~

(a)

y
=0

h,

<1>1

l:<'lgure JO .6.4 Schemmic and the finite element mesh fQ!' slid~r bearing.

can be reduced 10 (see Schlkhti"g. 1979)

1-I. -

a!v~
Q)'J

dP =-.O<.t<L
d.t

where the pressure gradient is given by

The solution

()f

Eqs. (JO.6.2u) and (J ().6.2b). subject 10 the bQundary condition~

11.(0.0)= ~'". v., {~,h):,::d) is

(1O.6.2cJ

(1O.6.3/J)

( 10.6.31

(lQ.6.3d

596

AN INTII(lI)I,IC I10N TOTIIIl n Nn h l:J..EMl .N1 r.1FIl IOlJ

(10.6.4)

prcS!i~

In the finite elemen! anaIY'ls we do no! maIu: any lI$MJfDptioDI: concmllng II, and the gradient. and soI~ the Stukt:!l equatiQm. with the following choice of panunctcrs:
(10.6.5)

We u..;e a meMI (mesh I) of 18 )( 8 linear quadrilatcm elements 10 analyze the problem. The mesh and buundary condiLiunr. are sbown in Fig. 1U.6.4(b). The penalty p;anuncter i~ cbof;cn to be Y = Jj x 10'. Table 10.6.2 conlalM oompruison or rbc finite dement solutions and analytical solutions for the: vetocity. pres.~ and!lobear!lltal>. FigtR IO.6.S ronlailli pku of the bon/.omaJ velocity v~ .. .r = O. O. IB. and 0 .36 ft. Figure 10.6.6 OOOIaiB!l plots 01 ~ and sbcar MI"CS!i ~ a runction of x at y = 0. The finite element lIOIutions fur the pre!i$Ure and shear litre.'.11 were computed .. the: center of the fint row uf clements along the D1O\'ing bk:Jct. The n:MIII& arc in good agreemenl With tbe anaJyticaJ IIOlutioft1l (10.6.3aHIO.6.lc). validating the &$lIUmption.' made in the development of the analytical solution.

...... 11.6.2 Comparitoon or finite elemeat ,;olulions v.:lociliel: with the: ualytic;al lIolutiun!l. (<< viscous ftutd in a "hder bearing.

,
0.

u, (O. y)

II,(O. IM, y )

11,(036, y )

FIlM

AnoI,
JOOOO

;
000 0.7!i

FIlM

AnoIy.

Y
0.00 0.'" 100

fI'-M

....,.
IM.2Jt1

2.0 3.0 ' .0 ' .0 ' .0 7.0 ' .0

...

"'.000
II .~

.000
25. I . 9 l

22.923 16.199

22_
16.lI7' 11 .719
7.~

..SO
2.2."1 ]00 US 4'W

'AOJ . 110
.. OJ>

0.429 0000

0._

4.219 1.875

QOOO
AlwtytialliOIution

,."

20..... 16.m 12.4M IUI'74 '.600 2.642

0000

"'000 2!i.l56 20'" 16.406 12.S00

5.62"1 2.' "

".>64 21112
2!i.MJ 22.m 18.354 n .IRot

...em

..SO
2.00 2.'" 3.00 3.'" 400

......
,

10.000 29S31 28125 2UIU 22.>00 13.12.5 7.001

0000

6.00

0.000

0.01

P(x .O)

. "u(A . O!

7.SO

59.99
S9.. .

0.112!i
0 .3375

0.03 0.'"
O.ll7

37.29
SI1I9 66.12 12'.1.60

22."

59.67 SO.lO
",n
3271

o.S625
0.7875

0._ 0.4766 0._

Q44SJ

-...........
;
~

,...
0000

" 0'.,

"

42-31 SlL76

..

'MI 56 .. :'t6.47

0." 0.27 0.29

~11

118..57

99,.
27.61

"'...
".1>4 6.31
J

2>17,

1.012.5

25.70

0.33 Q3S
.i~ Ull .

70..10

2.112.5 3.037S J.262!5 J.487.5

0.4297 0.3200 0.3047 0.21191

0.2734

74Hl 134.40 12!i.60 107.60

'"''' ssm
41 .77

,..93

n.,.

0.2578

10.80

3076 22.89 12.112

~u,I< IO" .

/> ... I' '' IO

L'UI\I'I'l:R 10: FLOWS Of' V I SCOIfS

IN(:OMF'RI ~~SIII I IU)IIX'i

597

8.0E - 4 7.0 - 4

6.0 - 4

B:
~

5.0E-4

.
~

., 4.0E - 4 r--~
~'-'S>.

3.0E - 4
2.0 - 4
1.0E - 4 <;>

AnaJyticul

.lo",O.HI .:co" 0.36

.1:(1 = 0.0 }

l"BM

O.OE + 0 -'\-.~.,,-~-,.,-.,,-rc;~"'-r"~rr...ri'+ o 10 20 30 Velocity, va (.:eOoJ')

"'gure 10.6.5 Velocity distribulion.~ ror the slider bearing problem.

125

b
x

...
~~

l? 100

"75

Lo :10 0:fo--..--.-..~ . .
25

Analytical
Pn.'IIIIure x 10 11 Shear 1It.re1!8

0.00 0.04 0.08 0. 12 0.16 0.20 0.24 0.28 0.32 0.36

Dilltanee,.l

Jo'iPI'e 10,6.6

Pres~ure

and shear ~Iress di!>Jributions for the slider bearing problem.

S9H

.... 1'""TlI;OOUCTIO' TO nil: Ht-ITI f Li ~1I:t-.,. \11m1OD ~

Example 14"1.6_1 (lid.Driven Cavity Plow) Consider the laminar fl ow or a viS(.."{)us. in.:ompres~ible fluid in iI square cllvil), boulllled by three moti(lnks~ walb and alid moving at a COnstant velocity in its own plane (see Fig. 10.6.7). Sing ul (lri ti e~ exi.!!! ill e,lch corner where the !)loving lid meetS:l fixed wall. This example i)l Oilt: that has been Cltlensivtlty ~I udi ed by analytical. numerical. ~lIId expcrimcmat methods. ,md It i.s onen used as a benchmark problem t(ltes! a new numerical meth(\d or fonnulation. Assuming a unil square und a unit velocity of tile top wall. we can di..c~ti1.e the flow region u~ing a uniform IJ x 8 mesh or linear dements (lJ" 4 )( 4 or nine-Il<"ltlc quadratic elenlCfII.!!. AI Ih~ ... ingUlar ptJinl~. namdy ill the top l'i)m erx of Ihe lid. we u),wme that v. {x . I) ~'(I = 1.0. The linear solution fllr the hmil,ofllal velocity along the \'enkal L"entcrlinc obtained with the (WI) me~hes is sho....'ll in Fig. 10.6.8, and the variation (If pre.\sure along the lop wall (computed

=-

l/ ...

l, ., O
'

-"
/.

"

0.50

Pigure JO.6.7 Boundary con(jitiuns for lid-driven ca\'ity preble.m.

"
0'
0.8

0.7

i
0

0'
05

0 0

0.'
03
02 0'

8x8lAmCllh(t .. iO~) 4><4Q9m.;ah{t .. 1o<ll 8l(8IAtl\o'lI\h(~ ... lo"~

4)( 4Q9 rm$h cY '" loti)

0.0 """""M'"'1''''1'''"1'''''I''''I''''I''''T'"'1'",f0.:./-010.001 0.20.S 0.4 06 M 0.7 0.8 O.iI 1.0 Ilorlw"t41 '-elity. ".. (O:;..!'I

Figure JO.6.S Plots of hQril,(lIIt;t1 \'elocit)' 11,(0 ..5. y) along the. vertical centerline of the c(wiIY.

O'AI'fl:'~ 10 n.ow.~ OF \l1).COl'.~ I N('O.\!I'tII ,~~ml.l' 1 '1.l'IUS

599

.,. 8x8JAmesh(Y ~ J ()2)

10.0 5.0 0.0

" 4)( 4Q9 mes.h (y" 102) 8 x 81A mesh ty '" 10$) 4 x 4Q9 mesh (1'" lol'J

-5.0

0.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0 Horizontl\l distance, x
figure 10.6.9 I'lo(s of pressure f'{x, .\\') !lIang the top wall of the cavi ty.

lit the.fCduced Gauss poinl~) is ~hown in Fig. J 0.6.9. The numerical \,R l uc.~ of the ve locity Held lire tuhul;ued in Thble 10.6.3. It il> clear lhRl the value {lflh(- penally p."Irrunetcr between y = 10"2
lind 10" hU5 a ~l1laJl effect on th e accur.lcy of the solution. Fjgure 10.6.10 cQntain~ plots of cenl cr \'elocity 11. (0.5. Y) lh:. function of), ror 8 )( Sund 16 x 20 m~h~ of i)ilincllr cJcments.

1.0 +,-UuuJ.wili...w.ulw;.l=l.wili,",,"ulw;~,,*"

0."
O.S

0.7

l5

Ii .

>,

0.6 0.5
P~lHllty

FBM

0.4 0.3
0.2 0. 1

8><8m()sh

16x20rocsh

- OA

-0.2

0.0 0.2 OA 0,6 0.8 Ilorizont.al vc1()(:ity, tI,-W.5,y)

me~hes

1.0

Figure 10.6.10 Velocily Il. (0.5, y ) \"er>.Ul;}' for 8)( g and 16 x 20

o f hilincar clcmcntl>.

600

AS u.; 1lI00t;f.:TlO~ To nll: ~lNm UJ,MI:N'T \lElllOD

Table 10.6.3 Velocity t', (0.5. )') ,)btained wi lh \-ariouJ,. ",",ducl> of the penally parnmelCl

)I.

,
0.12.5 0.250
0.375 0.500 0,625 0.7,50 0.S7S

Me_II; 11./\ 81A

Me>.b: 4 )( 4Q9

y = lol
0.0557
OJ)9:1R

y ""

lOS

y "'" 10'
~ M58\l ~

Y '"'

loS

- 0.0579
- 0.0988 0. 1317 - 0_ 1471

- 0.0615

0.0984

- fU150
-0 . 13~
- O,03I!~

- 0.1320
- 0.1442
- 0.098~

- O.1OJ9 - 0.])94 - 0156)

-0,1 11 8 O ,()..I81 0.4186

- O.OQ5o
O.(llI()S 0 .4501

0,09511

Q.460 t

O()6.l t 0,4295

t:..mple 10.6.4
('oo~iOcr

(Trow. ient AoalysiJ,. IIf fluid Squeelcd betw een 1 )lmes)

the unsteady lIow of a \iscous fl uid sqUCC1.ed between two p.1.rallcl plates l~ Fig. 10.6. l(a)l. 1lk"- ltow is induced by the uni form mOlion 01 the plales (llward each Olher. The boundary eootIilion\ ()( the mOOcI are tMsame 3,.\ -"hown in Pig. 10.6. 1(b). The inirial boundary conditions are 3,.~~un\ed 10 be ten). Wc usc [he 6 x 4 rnc,h or nine-node quadrJtic e lemcnh, employed in Exarnple 10.6.1, In ",eJdc! the problem. figurc 10.6.11 contai ns plot;; of the hurl/oOnto] velocity!', (6. )') ;t~ a

2.50 2.00
~

j
~

1.50 1.00

(>

, .. 0.1

0.2

o
0.50

0.5 1.0
1.4 (steady sl.atc)

t
tJJ

0, I
1.0

r
2.0 2.5

,.,

,
3.5
4.0

0.0

0.5

1.5

a.o

4Ji

Veiocity, I/%(6,y)
"1gu~

10..6.11 VeiocilY II, (6.y) \'C~Ulo J forvacious (ilnes (6 x 4l11c~h etfniOO-llodequadrntic elements using penalty FEM).

ClIAPTI:.R IOc n OWSOI' V l st't1tS INC()MI'IlISSIIIlP. fI.U II )s

60 I

funcLion of y for variou~ limes and (or IWO differeQilime SlCps, The IJansienl <tolution reaches .. \lcudy ~taiC 3roUnd I "'" I A (for a difference of 10 1 betwccn Ihe w lUlions al two con$CCuti,,'e time slep~ with 61 = 0.1),

":umple 10.6.5

(Tran~ient AoaJy~b

orlbe Lid-Driven Cavity)

J..a-,tly, we study tbe motion o( a vi ..cou~ fluid inside a lid-driven cavity. We use 16 x 20Q4 nonuniform mesh (offour-node reclangularclcmc::nt5) in thcdomain. 'The element sizes in each C(lONmaie direcli(m are ~wen by

IOXI ... 10.0625, (J.{)625 ... , 0.06251

tDYI

co:

10.0625, .... 0.0625, 0.03125 .... ,0.0312:'11

The Cr;mk-Nicol~on meth()t.l (a = 0.!5) with two differenttimc steps /),.1 = 0.01 and.6.1 = 0.001 are u::;.ed. Table 10.6.4 c<lntains the veloci ty field 1iO.5. y. /) X 10 for limes / = 0.01. 0.05, :md 0. 1. The solulion reaches the steady 'tide ((' = 10. 2) at lime 1_ 0.1 when .6.1 =0.01 ." u~. TheevolutiOfl of the horizontal velocily component 1I.(O.!5, J, t) is!!hown in Fig. 10.6. 12 (AI = ,(1). Table 10.6.4 The borilOflUl1 \eJocily field
v~(O.5,

y,t) x 10 ver5Ullime' ror lbe wall-dri vcn

cavily problem (16 x 20 Q4 mesh).

,
OJ)(i2.~ 0.12.~

1= 0.01 61 .. 0.01 - 0.1342 - 0.1936 -0.23 14 -0.2691 -o.31.'i7 -0,3759 -0.45 16 -OSUS - 0.6465 - 0.7474 -0.8097 -0.75:16 - 0.6325

1.., 0.01
6.t ...

o!XII

, ,,,, 0.05 61 = 0.01 - 0.3103 -05624 -0.7888 - 10122 - 1 2J46 - 1.4790 - 1.6964 - 1.SS36

or O.oS

tl l ,"" O.OOI - 0.3247 - 0.51W1 -0,11163 - 1.0435 - 1.2746

, ,,,, 0.10 tll "" O.O I 0.3655 - 0.6558 - 0,9 108 - 11499 I.J802 - 1.5967 - 1.7793

1875 0<

0"..
0.3)25 tl.J750 0.4375 0_ _ 0,5625

0,6150
0,6875
O,7~

O.71U3
0.1I 1 ~

- 0.4077
-O.oo.~

0$08 0,87SO 0.9063 0.9375

0.6329
1,7COl 3.3334 5.9470

0.968I!

0. 1953 - 0,3140 - 0.3940 - 0.4651 - 0.547S - 0.65;\6 - 0.7902 - 0.9605 I 1S17 - 1.3419 - \.44211 - 1.152,l - 0.7744 - 0.1695 0.7316 1,9318 .1.5232 5,)837 7.5970

,,,.,,
UJ60

1.71 5 1 1.11878 - 1.6946 - 1.1653

I._
I.mOO

- 0.368S 0.6631 - 0.9198 - 1.I59.l - 1.3886 - 1.6028

"""" .".

- 1.1820
- I.~

- 1.8846
- 1.7011 - 1.1889 - 0.2093 0.5100 1.4014 HAAS 3.7259 S.1I85 6.5 139 7.9975

- U:l700
- 1.63:16 0.0520 0.6713 1.5467 2.59 18 37646 5,1 198 6.6082 11,]805

- 0,169)
0.547 1 1.4197 2.47 16 3.67 16 5.0707 6.5756

-1.8652 - 1.6250 -1.0572 - 0.0382

",.,

0.6820 1.5526

8.2.4811

3,7824 5.1616 6_64 10 S.2S)1j:

602

AN I.'HI(OO(}CTIO)<l I'I )TI'E.I~nl. EL01E.'1 fMrTIlOI)

0.8
St.()kclI' flow

16 11 20Q4 mesh
>,

0.6
i>

1lI. ...
<> t '"'

0.001

" tuO.Ot

04

0.02 t ... 0.03 .. t -= 0.0.'5 t=O.lO Si.clldy etate

0.2

- 0.2

0.0

0.2
H 1)ri~()Iltai

0.4 0.6 0.8 vo'llocity, viO.5.y,t}

1.0

Figure 10.6.1.2 E\'o!lllion of the h!)ri;.-onlld

vel ~il Y \J~ (0 .5,

)', /)

ill~iQe

a wttll.Jriven ctt\'iIY.

10.7 SUMMARY
Finite clement models o f the equations goveming two-dimensional fl ows of ViSCOlIS. incompressible fluid s arc developed. Twodirfe rc nt types offinite clement models arc presented: ( I ) the veloci ty-pressure finite element model , wi th (!I... . v.I" P ) as Ihe primary nodal degrees of freedom and (2) the penalty finite cleme nt model with (ux , v y ) as the prim:lry nodal degrees o f frcedom. In the pen<lhy fun ction method, lhe press ure is caJcul<1led rro m the velocity fie ld in the postcomputation. The coeffi cient matrix in the penalty finit e clement mode l is evaluated using mixed integration: full integration for the viscous terms and reduced integration for the penalty terms (i.e . terms associated with the incompres:.ibilit y or di vergence-free condition o n the velocity fi e ld). Both lriangular and rectangu lar elements are discussed. In general. triangular cleme nts do not yield accurme pressure fields. The linear and quadratic quadrilateral elements are more reli able for pressure as well as for velocity field... in the penalty fini te clement model. A more completc treatment of fi nite c1emcnt models of lIuid fl ow can be found in the books by Grcsho and Sani ( 1998). Reddy and G artling (2001). and Reddy (2004). These books also contuin extcnsive rcferences to the literalUre on finite clement anal ysis of fluid tlow problems.

rllAI'fER 10. I'UlWS UI VISCOL:~ 1!\CQt.lI'tlESSlflLE~l UI)S

603

I'ROBLEMS
10.1 Considcr Eqs. (10.2. 1) and (lO.2.2) in cylindrical coordinatcs (r, 9, ~) . For axi~ym nlclric flows of v i c;cou~ incompressible flu ids (i.e .. flow field is inde pendent of 0 coord inate). we ha ve

Pat
all'

all

-;- (rarr ) - -

1 1

a lJiJ

r or

Par = -r -era,, ) + 7<1 :;: or

whcre

r ila,

+ T + /, <1Z +j,

(Ja, .

( I)

(2) (3)

I iJ il", - - (ru) + - _ O r ilr il z

a" = -p + 2!-l - ,

'u

"

0tH/=- I' +2/.I-.

0,,= /.1

il.: ',.. ('" + ij; )

(4)

Develop the formulation.

se midi ~l:retc

fi nite clcment model o f Ihe equation by the press ure-ve locity

10.2 Devclop the scmidbcreH! fin itcciement model of the equa'ion~ in Problem 10.1 u,ing the penalty futletion formulation. 10.3 Write the fully discrclllCd fin ite clement equations of the fin ite clcmcnt models in Problems 10. 1 and 10.2. Usc the a .fam ily o f approximation. 10.4 Thc equations governing u n~teady slow flow o f viscous. incom press ible fl uids in the (.1, .1') planc can be cxprc~;,cd in term~ of I'Onicity I; and stream function t/I:
p -- ,~VI;=O.

iJt;

Develop the ~elll id bc ret e linite clemen! model of the equat i on~ . Discuss the meani ng of the secondary variables. Use afamil y of apprO)(illHltioll to rL'{\uee the ordinary differential eq uations to algebraic equations. 10.5- 10.7 !-'or the viscous flow problems ghell in Figs. P 10.5- 1'1 0.7, give the specified primary and secondary degrccs of freedom and thei r val ues.

"

' - 21; - V- I{I = 0

~ i"ed

wall

V~ '" I

" f--. ,
7

,,
)

26

IA = 0

I, = 0

" ,
2

16

17.1-- I ~

v~" 0

"
J "
S

u... O, VJ"" O

/, ", 0

UJ"", O.I~ = O

" igu~

1'111.5

604

"'<

INll<ODLKTlON mU ll: I'INrn;t.J.EMfNT MJ!I1KII)

Fi~cd w~1I

I.

=- = 20 /.
fo' igun: "10.7

Line o f sy mmdry

IO.K Consider Ihe flow of:J viscous incompressible fluid in a square eav ilY (Fig. J> lO.R). TIle . fl ow is induced by the movement of !he hlp wall (or lid) with n ve locity 1 = ~inlLL For ', a 5 x 4 mcsh of line:] r clemenls. give the pr imllry and sl'"(:ondary degrees o f freedom.

f ixed

' "''''r- t

<

., '-""
~

.,
~

'.,= t::lu.. I ~=t:a

O
Lir>Corsymrncll)'

:--- -----8ill.

------------,,

, ,

S (~
"il(lIrt'

, , , , ___ ,_,, , l..-

, , ,

Figure "IO.K

"10.9

10.9. Considcr Ihe flow of a vi!>Cous in(."(Im prc.'>si ble fl uid in a 90 phme ICC. Usi ng Ihe symmetry and the me~h shown in Fig. PI0.9. Write the spct;itlcd primary and Sl..'Condary variables for the compulat ional domain . 10.10. Repeat Problem 10.9 for the geometry show n in Pig. PI O. IO.

(llAI'Il;JI 10, Il .()WS OF VIS<.:{)US

11'ICOMI'~~SIHLIl n.UII>S

605

"
Uy = O
I~

=0

I<' igure 1'10. 10

REFERENCES FOR ADDITIONAL READING

I. Bird. R. B. Slew~". W. E. ",><1 Lighlf'''lI, E. N. , 1h:""(H)r/ Phenum,",w. John Wiley. New York. 1960. 2. Gresho. 1'. M. and SanL R. L .. lncompre ..I'lhle "'/uwaruilhe Nnile t:;/t>mr'l/ MelllOd. Joho Wiley, WeSI SusSCJ;. UK. 2000.

3_

N~d~ i ,

A. TheoryojF/ow and I'meta,,' o/Solids. Vol . ]1. M.;Gmw- Hil l, New

Yor~.

1%3.

4. Oden. J. T., " RIP Melhods for Sl o~esia n 1-101'1'<' in Gallagher. R. H.. Zienk icwiez. O. C., Oden. J. "1".. aod Norrie, D. (cds.). Finite E/em"nt Method in Flow I'rohlem,~, Vol. IV. John Wiley. London. UK. 1982.

S. Reddy, J. N. ''On Ihe Accllr~ey ar,,1 E~i~lencc uf Solu li on.~ 10 Primilive Variable Models of Vi""nu", ]ncompressible FllIids:'/mrrtla/IOIwl JounI,,1 En/:lnerrlnl: Sci",,,:... 16. 921 ~929. 1978. 6. Re(kly. J. N. "00 Ihe Finiic El enu:nl Melhod wilh l>enalty for Irn;omprcssihle Fluid Flow Problems," in Whilcrn~n . J. R. (cd.). The Mathemlliia oj Finilr Hlemem,< wul Application;' III. Academic Press. New Yor~. 1919. 1. Reddy. J. N.. Applied Fanc/I",,,,/ Analy.,I. and Varlatiol/al Ml'lhll,j,,' in ngin~erlng. MdJrdw- Hill , New Yor~ , 19116: rcpri niL'Il hy Kri eger. Melbourne, FL. 199 1. 8. Reddy. J. N., An Inlroduction 10 Nrm/ine(1T Finilr Hlrmen/ Analy.!I.. Oxford UniversilY Press, Oxford. UK. 2m4. 9. Reddy. J. N. and G~rt l i n g. D. K., The Flnl/e Elemem Method In Ileal Trans/a ant! I'/uid O}'lUlmir.<, 2nd cd., CRe Press. Boca Ralon, fL. 2001.
10. Roache. I'. J .. "'r",r/"men/Il/s "/C"mI'Illml",,,,/ Fluid OY"flmics. 2nd ed ..
U ~ nn""a.

Albu'luer'lue, NM. I99K.

II . Sch lichting. H" /Joundflry h'YeT Theory (Imllslalcd by J. Keslin). 71h ed_. McGn.w-Hili. New York. 1919.

Chapter 11

PLANE ELASTICITY

ILl INTROD UCTION

Elas ticity is the part o f solid nH ,:chan ics that deals with stress and deformation of sol id continua. Lincarilcd el ast icity is concerned wilh small deformatio ns (Le .. ~ lrai n s and displacements lhal :tre vcry ~ rna ll compared 10 unity) in linear clastic solids (i.e .. obey Hooke's law). There is a class o f probl ems in elastic ity whose so lutions (i.e .. di~ pl ace m c n ts and stresses) arc not de pendent on one o f the coordinates because of their geometry. boundary cond itions. and extemal applied loads. Such problem .. arc called plane elast ici ty problems. The plane elasticity prob l e rn~ con:-.idcrcd here arc grouped into plime .~tmin and plalle slres.~ problem". Both classes o f probr cm ~ arc described by a sct of two C0 11IJ/C(/ partial dilTerential equati ons cx pn:~~e d in terms of two dependent variables thal represent the two components of the di splacemcnt vector. The govern ing equati o n ~ of plane strain prohle ms diffe r from those of the plane stress prohle ms only in the cocfti eienls of the differenti al equat ions. The primill'Y objective of Ih i~ e h:lpter is three- fo ld: (I) review the l,loverning eq ua t io n ~ in the C lrtesian rectangular coordinate system (x. y, ::). (2) deve lop the weak forms. and (3) constmct linile element model o f the plane ela:.licity equations. The treiltment of topics (2) ill1d (3) proceed'i along the same lines as the d i\Cu ~s i on in Chilpter 10 on viscou~ incompressible nuid ~. In fact, the governing equations of the two 1iel d~ arc quite similar. as we sha ll sec shortly. We utili ze suitable app ro)l;i mati on functio ns fro m the library of two-dimensiona l fi ni te eleme nt interopo lation fun c t io n ~ already developed in Chapters 8 and 9 10 derive tinite elemcnt c(luatio ll'i.

11.2 GOV ERNING EQ UATIONS

11.2. 1 1 )I:.nc Strain Plane strain proble ms arc characterized by the di ~ place m e nt fi e ld
1I,r =11,(.1' . y). 1I ,=II, (X.y).
II ~ = O

( 11 .2. 1)

where (11,.,11,., II;: ) denote the components of the di ~pl:lce llle tll vector u in the (x, y,:) coordinate 'iy.~te m . The displacement field ([ 1.2. I) re~ u lt s in the followi ng strain fie ld :

t_u=~,

au,
v.,

2t:.. , = - + - .

iJu .,

ilu,.

oJ

vx

f: n

= -'

Oil ,.

oy

(1 1.2.2)

608

AN I~()I)I)('TI()N TOTIII' FINIH, ELr~l.ibN1 MhTl /oD

Clearl y. the body is in a stale of plane strilin. For 3n onhotropic material. wi th principal material axes (Xl ..f 2, X j ) coinc iding wi th the (x, y, ~ ) coord inatcs, the stress component!'. are given by (I 1.2.3(/ )

( 11.2.3/) where i'ij arc the clastic sti ffllesse~

(11.2.4)
C12

1112C22 .

;'(,6

= G 12

:lI1rJ 1 and E2 are princ ipal (Young's) modul i in thex and y directions, respectively, G 12 the shear modulus in thcxy plane, and 111 2 and 1121 the Poi sson ratio (i.e .. the negative of the ratio of the transverse str:!in in the y direction to the strain in the x d irection when stress is applied in the x rJirection). The Poisson ratio 1121 can be computed fro m the rcc iprucll l relation
1121

liI 2 "

2
1113

( 11.2.5) are requi red to compulC u ::. For an

Additional engineering const:!nt:> E3, isotropic material. we have

1112

\l2~,

and

"

+ II) The equiltions of motion of three-dimensional linearclastici ty, uij .j + J. = pii; with the txxly foreecompone1lls h = Iz = 0 , 11 = I., = Ir(x. y), and h = Iv= I.(x. y), and p the
2(1

1'2 1 = 1 111

1'23

II,

E G 12 = G = ="----,-

( 11.2.6)

density of the material. red uce to the fo llowing two plane strain equations of motion
p

fl u, _ ao-... , otax
;)2u y

_ Oo--,y
ily

f,

= 0

( 11 .2.7)

p ilt2 -

iJu.ry OUy" ax -

ay - Ir = 0

( 11.2.8)

An example of a plane strai n problem is provided by the long cylindrical membe r under exlen1al loads that are indelx:ndent of Z, as s.hown in Fig. I 1.2. 1. For eross sections slIllieicntly far from the ends, it is clear that the displilcernentll ~ is l.ero and that u. ;lIId 11.,. ilrc independent o f l.. i.c .. :1 state or plane strain ex ists.

11.2.2 Illanc Stress

A state of plane strel.s is defined as one in which the followi ng stress lield exists:
uJl~=o-yz=o-~~= O

(l1.2.9a)

uH = o- (x.y) . I1 q .= u xy (x,y). u ..,,=u),).(x,y)

CIIM'TJ:R II.

I~~\ NE H .... snCl'1'y

609

"

Umllhiekness

FiJ.:lIr~ 11.2.1

A hullow eylindricalmcrnbcr wilh internal and extcrnal applied loads.

The strain field associated with the stress field in (11.2.9a) is

I
where
Jij

B,.' 'u

2B~ y

l ['" '"
=
l'tI .1"22

~66

0] lau l
0
(Iyy (Ixy

(11.2.9b) ( 11. 2.9.")

ex, = cJ;; = 0, Be: = .I"13U,:

+ ,1'23(I"

arc the clastic compl ianccs

1

.1'(-,6

= -GI2

( 11.2.10)

.1'11

=-

v 31s3J

- VI3\II.

,1'23

- V32.\"33

=-

V23Sn

The inverse of( 11.2.9b) is given by

( 11,2,11)
where cij are the elast i(,; st itTnesses

CI I =

;;-_c'--:-,
(1
1112V2d'

EI

(I L2,12)

The equations of motion of a plane stress problem are the sa me as those listed in Eqs. (11.2,7) and ( 11 ,2.8). Note that the equations of motion of plane stress and plane strain ditTer from e;l(,;h other o nly on account of the differen(,;e in the (,;onstitutive equations for the two cases.

fi lO

AN IVnU)I)lXTION ro'lIIhIP,nt' wJ;.\IIvr MllHOIJ

,
"
h

F,

"-----

F,

Figure 11 .2.2 A 1hin plate In:1 ,laICof plane ~lrc~S.

An example o f a planc ~ t rc~~ problem is provided by:. thin pl:.te under external load~ applied in Ihe xy plane (or par..lllcl to il) that afC independent of.::. as shown in Fig. 11.2.2. The top and 00110111 s urracc~ of the plate are a~~ul1led to be tracti on fre c. and the ~pe<.: ified bo undary forces afC i n the XJ pl:lIlc so that I~ = 0 and II , = 0.

11.2.3 SUIlllllllry of EtlUllliol1s The governing equations for Ihe two type" of pi:me el:l ~ t id ty problems di<.cussed above are summari zed below. both in expanded form and vector form.
Eq/llllioll.~

01 M otioll

iJa_ "

ax + ay + I~ = P"""""ii"iZ
+
fla"" ay-

oa"

0 2//,
0 2//,

i.kJ~,. ax

(11.2.13a)

+ I, = p

at!
(l 1.2.l3b)

O' u + f =pu

where If and I, denote the eO lllpon ent~ of the body force vcctor (mcasured per unit volume) along the .r lind y dirc!;tion s. rcspe<.:tivc ly. p is Ihe den ~ it y o f the material. and
I)' _

[a/ax 0

o
IJ/Dy

ala)']
A/iJx

U =

I"")
u,n' .

f=

""

I, !f' l.

( I 1.2. I 3c)

51 min- Displacem enl Rl!lm iOlls

F ....

=-;--.
IIX

illl ..

;)11 , 28~,,=-+-

au,
iJy

iJx

( 11.2.14a)

0'

<= 1)" ,

<=

1~:: ) . 28
n

1) =(1)')"

( 11.2. 14b)

CIiAPTIOil II PI .....'<ll EUSTlCrl'Y

6 11

Stress-Strai" (ur CUI/SIiflffil'e ) Re/ariOlu

oc

0' I"".,. 1[C"

O' p

CI2

CM

o e,,. ] 1 1 '''
2e~,

(11.2. 15l/)

0'"

C: ,

(11.2. 15b)

o
where ('jJ (ei' = e'J) arc the e ltbtieity (material) conSt:lIlts for an orthOlropic medium with the material principal directions (XI, X2, X3) coinciding with the coordinate axes (x. y.;:) used to descri be the problem . The e'i C:1Il be expressed in Icnm of the engineering conqants (E I E 2 lin. G 12) for an ortholropic material by Eqs. (11.2.3b) for plane strain problems (C;j = cij) and by Eqs. (1 1.2. 11) for plane stress problem .. (elj = (ij ).
tJmllldary CO/Iltitiulls

Natural boundary conditions arc ( 11.2.16(1)

oc
I S O" II = i on
E.~se nl i ill

roo

11 =

I I - [""
n,, . . /I
r1 =

cr"

(11.2.1 6b)

bounda ry conditions arc (I 1.2. I 7a)

oc

u= u

on

r~

( 11.2.l7b)

where (11,,11 \. ) denote the component" (or direction cosines) o f the unit nonnal vector on the boundary r: f /7 and r~ arc (disjoint) portions of the boundary: i, and i , denote the components of the sl>ccificd traction vector; and Ii . and Ii, are the components of specified di~placement vector. Only one element of each pair. (11 . ,1.,) and (II \' ',), may be specified :11 :I bound:l/)' point. Equati ons (11.2.7) :lnd ( 11 .2.8) ca n be expressed in t eml ~ of only the di sp i:lcements II. :lIld II,. by substituting Eq~ . ( 11 .2. 14) into Eqs. (11.2.15), :Ind the re~ ull into Eqs. ( 11.2. 13): - - ell-+cp--

ax ax

a(au, ax

. ay ax

au ,) - - [e66 (au , au,)] = / a -+ay ay

ax

.' \"

p--

a 'u,
a,2 a,!

a [. (au, au,)] - - (C p - , C 2aU') -_1 - p - a . au.+ 1 a 'u, - - C6t> - + ay

OJ'

(11.2. 1&1)

ax

OJ'

oc
- WC Ou = f +pu

(1 1.2. 18b)

612

AI> 1N"lkOlll.nllJN TO I'1t1ll'INITI; ElJ..MI:N'1 MI"1II(1)

The boundary stress compolle nls (or traclions) can also be expressed in temlS of Ihe d il-placcmcnlJ..:

1,-=

;Ju, au y) (vu., . ( ('11 -.-- + ( '12-- 11 ,+(.'66 -.- + -.- ", ax dy ay ax

all,

,,,

1, = cntJ ( ay

iJllr) + -- ". + ((.III, ,h

ax

CI 2 - +c22-.

iJlI,) illl,)
iJy

(1 1.2. 19/1)

'"

l = fiC Du ,

"=[,;; I;, ;::]

( 11.2. 19b)

This compleles the review orthe governing equations ora pll1ne clastic body undergoi ng sm:1I 1dcforll1at i o n ~. Next. we discuss the fin ite element model dcvclopmenl of the equal ions.

11.3 WEAK FORMULATIONS

11 .3. 1 J'rclimilmry Cumments Here. wc \ tud y two di fferent ways of construcli ng Ihe weak fomls and associated fin ite clement model of the plane elasticity equations ( 11.2. ISa) and (1 1.2. 19(1). The firsl onc u~es the principle of vinual di splacements (or the principle of minimum IOI1lI potential energy). exprc.~~ed in terms of matrices relating displHcements to strains. strains to stresses. and the equations of 1I10lion . This approach is uscd in most finite clement texts on solid mechanics. '11c S(.'COnd approach foll ow~ a procedu re consislent with the previous sections and employs thc weak formu lation ofEqs. ( 11 .2. 1Ma) and ( 11 .2. 19a) to constnlctthc finit e clement model. Of coursc. both methods g ive. mathematicall y. the SWIll' finite clement mooel. but diner in thei r algebraic forms. 11.3.2 Principle or Virtmllllisplaccmcnts in Vector Form Here. we usc the (dynamic version 01) the principle or virtual displ acements [sec Reddy (2002)1 applied loa plane elastic finite clement Q~ wi th volume V~ = h ," Q~ (see Fig. 11 .3. 1)

whe re S~ denotes the variational operator. (1'i and e'i are the components of stress and strain tensors. respectively. and j; and ti are the componenls of the body force and bou ndary stress vectors. rc~pec ti vely. The correspondence between the (x . J) comlXltlents and (XI. X2 ) components is given by
UII = U.u.
UI 2= a :ry '

v, h. is the surface of Ihe volume element V... " .. is the thickness o f Ihe element.

0=

1
v,

(uOjM:i)

+ piiiOll; )(1 V

-1

/.'0 11; d V -

1, i, all; (J.\.

( 11.3. 1)

(In = (Jyy .

e ll ="n .

eI 2="n.

e2 Z="yy

( I 1.3.2)

1I1 = 1I~ .

112= lI y. 11, /1 = /,. 1t .. J2 = / r' 11 .. /1 = ',. 11 , 1 1. 2=

The firs.t teml in Eq. ( 11.3. 1) corresponds to the vi nual slmin energy slored in the body. the second term corresponds to the kinetic energy ~lOred in the body. the third term represents the virtua l work done by the body forces. and the fourth term re presents the vinulli work donc hy the s urface traction\. We assume that all quan tities arc independe nt of the

CltAI'(LN II IUNtohLA'lTICI1\

613

Displllt'CllIenl degrees of

freedom lit a typical node I

fo)
f'igu~

fbi
cla~ li r.;

11 .3. 1 (a) Fi ni te clemenl di'it:rcli7alion of a pl.me

domain and (b) a typic:l] tillite

clement.

thickness coordinate, z. l ienee.

0=

In, " ~1 (J~.8E'

1 .1

+ cr,., 8,;" + 2a~\,oF.. \, + p(ii, lill, + ii ,Oil ,,) I dx d)'

-1

(/,011,

+ /,1m ,) (lxdy - J

Q,

h ..

(I,dll , + I ,OI' ,) (ls

( 11.3.3)

wherein . now. f or and I, arc body forcc~ per unit arcaa nd I, and " are boundary forcc~ per unit length. When the Mresses arc expressed in tcnm o f strai ns through Eq. ( 11 .2. 150) and strains in terms ofdisplaccmcllIs by Eq. (l 1.2. 14a). Eq . (1 1.3.3) lakes the form a~~ialcd with minimizing the lotal potential energy. on" = O. Equat ion ( 11.3.3) can be rcwriltcn u ~ing the notation introduced in Eqs. ( 11 .2. 13)(11.2. 15) (note tha t 8e = m il and (AU )T = nTA T)

0=

11I~[(I)8 11)TC (l)lI)+PUTi.i]dx - l

n,

(8U)" f l/x - i
I.

n,

(8u)Tt il.~

(11.3.4)

11 .3.3 Weak Form of the Governing DilTerenlial Equations Hcre we present an altcrnative procedure to develop thc wCll l form of the plane cl a~ t ici t y eqllOltions ( 11 .2. 18(/) and (1 1.2. 18b). The present approach. which has been used throughout the book thus far, docs not require knowledge of The principles of virtual displacements or the total mi ni mum potentia l cncrgy bu t on ly needs 1hc governing differen tial equations of 1he prohl em. We usc the three-step procedure for each of the two differential equation<;: multipl y the tirst equation with a weight functio n WI and intcgr.tte by part <; to tradc the differellli a1ion equally between the weight funct ion and The dependent varia bles (II,. II ,). We have

0=

(aU', 1
fI.

II"

- - (1u

ax

a+ -... , (1"
ay

II'lf,

.. + PI1' I II, )

ilxdy
( 11 .3.5)

614

"N I'ITlWl>u('TlONTQ Tilt IlNIIl! FJ.I~\t(~ ",m ltOt)

Similarly. for the second cquation. we have

0= (

l rl,

h~ ( ~1I'1U.' } +

ox

a,1II 2 a,y - 111 2[,'

oy

+P II'2iir) dxdy
( 11.3.6)

- J
where

!C, h

r Il' 2(U.y " .

+ On "-y),I.f

U. y = C66

au , l1U,) ( - oy +ax
( 11.3.7)

The last step of the development is to identify the primary and secondary variables of the fOnTIu lat ion and fewrite the boundary integrals in tefm " o f the \CCondary variables. Examination o f the boundary integrab. in Eq". (11.3.5) and (11.3.6) reveals that the expression .. in the parentheses constitute the secondary variables. By comparing These expressions with those in Eq. (11 .2. 1611 ). it follows that the boundary forces I, and I,. arc the secondary variables. The weighTfunclion~ II' J and )\'1 are the first variations of II , and II y. respecti ve ly. Thus. the final weak fOnTIS arc given by

0=

01111 [ 11.. Ii , [ -.ax

(all.,
(;11 -

ax

+(;12 -.-'

I)I/ y) +Cb6-.- (011., + - +pWIII .. Jdxdy 0\\' 1 [Jill) .. ay uy ay

iJ.f
(l1.3.Sa)

0=

au aw, [ aw, (au , +-,) +--- (au , 1

11..

II , C6L,--ax

-" iJy

ax

ay

CI 2-+ c22 - +P II'2ii ,. dx(ly a\"" ay

( 11.3.Sb)

au , )

This completes the development of the weak fonnul:ltion o f the plane elasticity equat ion,> in ( I I .2. 1&,). The alternative formu lation in Eqs. ( I I .3.8a) and (1 1.3.8b) b exactly the same as that in Eq. (11.3.4); one is in vector form and the other is in expl icit form . Therefore, the finite elemcnt models developed using the weak forms ( 11 .3.4) and ([ [.3.&1) and ( 11.3.Sb) wou ld be the "nllle.

11.4 FINITE ELEMENT MODEL

11.4. 1 General Model
Here. we develop the finite element mOllel of the plnne elasticity t..'"qu:lTions using both the expanded forms ( 11.3,8(1) and (I L3.8b) as wellns the vector form (1 1.3.4) so that renders wi th dilTerent b:lCkgrounds com follow thedeveloplTlcnt. An exami nation orthe weak form .. ( 11 .3.8u) and (I 1.3.8b) reveals that: (a) II, and II ,. nrc the primary variables. which must be c:lrried as the primary nodal degrees of freedom. and (1)) only first derivatives of If .. and II, with respect to x ilnd)" respectively, appear. Therefore, II x and lI y must be :lpproximated by the Lagrange f:unily of interpolation functions. and at least bilinear (i.e .. li near both in .f

CttAI'TU( II f'U,KE ELASTK'ITY

615

and y) interpolation is required. The simp lest clements that satisfy those requirements are the linear triang ular and line:.lf quadrilateral clements. Although II .>: and 11,. are independent of each other. they are the components of the displacement vector. Therefore. both components should be approximated u~ing the same type and degree of interpolation. Let II " and II,. be approximated by the finite clement imerpolatio ns (the clemen! Inbel e is omitled in the interest of brevity)

" 1I, ~ LII"1jJ)(x.y).

i",,1

II "

" L Il~. V'j(x.

j- 1

y)

(1 1.4.l a)

0'

( 11.4.lb) where

'" ~ [",
~

t.= III~

", ", u;, ,

0

II;

At the moment, we will not restrict 1ft) to any speci fi c element so th:.lt the finite clement fOrnllll<ltion to be developed is valid for any admissible element. For example. if a linear triangular element (11 =3) is used, we have two (11',. 11',) (i = 1,2.3) degrees of freedom per node and a total of six nodal displacements per element [sec Fig . 11.4.I(a)l . For a Iinear quadrilateral element. there are a total of eight nodal displacements per clement Isee Fig. 11.4.I(b). Since the fi rs t derivatives of 1/Ii for a triangular clement arc clementwisc constant, all the strains (e.rx, e".\', ~.n ) computed for the linear triang ular elemem are elernentwi se constant. There fore. the I inear tri angu lar element for plane elasticity probl ems is known as the W IJSlmll-Sl lYlilllriQn i;lI!ar (CST ) eiemt'lJ/. For a quadrilateral cleme nt the first derivatives of VIi arc nOI constant: iJ1/I;' j iJt;. is linear in 'I and constant in t;.. and n1ftt j iJl) is linear in and constant in 'I

,"

V"

",
0
u~

~,.]
II':,

IT

(11.4.2)

(al

Figure 11 .4.1 (a) Linear trkm gular clement and (/1) linear quadrilateral clement for plane e!aslkity problems.

616

AN 1'I1'11OU1. ICI'IOIII 'W rH & ~ll'1rw.I~.I'\IIcN"1 ~1I:nIOO

The strains arc

e:= l)u = I) 'lIa = Ua. t7" = C IJa

( 11.4.3)

INhere

I)

i.. defined earlier in Eq. (I 1.2. 14b) and

n is a 3 x
0

2n matrix

Jy"

ox
U = 1)tJ!

()

il1/l2

ax
0
oy"

J~"

ax
0

0
iJ 1/11

ill'"
iI},

ih/12 iJy i11/12 ilx

ay,. ay
1)1/1"

( 11.4.4)

oy

Jy" Jx

Jy,.

Jy

aJ'

ax

Sub,tilut ing Eq. (1 1.4. 1) for II , and II , . selling 11'1:::: 1/1, and 11' 2= 1/1, [10 obtain the i th algebraic equation associated with each of the weak statement " in E(I'" ( 11. 3.80) and {I 1.3.8/))/, and writing thc resulting :llgcbraic cquation~ in matrix form. we obtain

IMI [ [01
where
Mij :::: K" = .
'J

( 11.4.5)

In.
[
n.

pln/l, 1/1) fix dy It

( CI I - a'fr, + c",- a'frj ) dxd v Jy" a'fr, ax ax

("1' -

J.\' ily
+("66 -

K .12 = K2 . = 1
'J J'

[ n.. ( -

II

"'fray, ' _1
iJx iJy

ay,. _ J.) dxdy ay, '

iJy 0.1'

( 11.4.6)

F/ = 111 1/1,/,(/.1'(1)' +1. hVf,I , (/J. n.

rr.

The body forces I, and I. are mea"ufed per unit area where the cocmcient matri x I K 12 1 , for exu1l1plc. corrc~ lxllld~ to the coefficient o f II J (~econd varia ble) in the first c(luatiol1. i.e., the first superscript corresponds to the equation number and the second onc ttl the variable number. To obtain Ihe vector form of the lini le element model. we substitute (11.4. 1") into the virtual wo rk "tatement (1 1.3.4)
0 =

In .

h(f,t::,,)T (n TCIJ {a)

+ p'll 1"tJ!6) dx _

In,

r h(f,a)T'lITfdx _ fr. h(f,a)T'lI TI (Is 1.

(11.4.7)

Si nce thc above equation holds for any arbilmr), varialions. lit::". it fo llows (rrom the fundaIllcntal lelllilla or variational ea1culu,) that the coefficient of f,t::" in the expression (1 1.4.7)

should be ide nti cal to lero, g ivi ng the res ult

M ~ .6.

+ K' l:J. ~ =

I;'"

+ Q"

(1 1.4.8)

where

( 11.4.9)

l l lc elemcnt mass matrix M' and stilTn ej,~ matri x K~ are of order 211 )( 2". and the clement loud vector .'" and the veo.:tor of intcrnal forces Q" are of order 211 x I, where 11 is the number o f nodes in a Lagrange tinite clement [sec Eq. (11.4. 1)1.
t 1.4.2 Eigenvalue and Transient I)roblems

For natura l vibratio n ~ tud y o f plane da .. ti c bod ies. we seck a peri odic so lution o f the fo rm
( II.U D)

where w is the fn..quency of naturJ.1 vibr.ltion and ; = ' reduces to an eigenvalue problem
( _ w2 M ~

.;=T. Then Ell. ( 11.4.5) or ( 11.4.8 )

( 11.4.1 J)

+ K' )l:J.[1 = Q"

For tra n"ient ;U1al y~is . u ~i n g the time-approximation method d i~cu ssed in Sectio n 6.2.4 . (Ncwmark integration scheme). & 1 ( 11 .4.5) or ( 11.4.8) can be reduced to the followi ng system of algebraic equations: ( 11.4.12(1) wherc

I~..' + I

+ a d\I:+ , ~:+ I + 1\'1: I I ((11 l:J.;. + (/4 6~ + (15.6.~)

t (1, = - - 1

K;+t = K~+ l

( 11 .4 .12h)

Y wllere K ~ , 1\1' , and ~.... ( = I<'V + Q~ ) arc the vcctors appearing in &1. ( 11.4.9) and y is the parameter in the Newmark scheme [sce Eqs. (6 .2.29H6.2.31) 1 For y =0 (centered . diffe re nce scheme), the :dtentative formulation o f Problem 6.23 must be u..ed. For additi ona l det:lils. the reader should consult Section 6.2 .4.

11.5 EVALUAT IO N OF INTEGRALS

For the linear triangular (i .e., CST) clement, the

1/1;
al/lt

and its

d e ri v:l ti vc~ a ",,~

arc g iven by
y,~

"'; =

I ') A

- ,

(ar + P + yty ) ;x

13;

,Ix = 2A..

ay = 2A ~

(11.5. 1)

618

"~II.-r~O[)l;C1l0:- nl"lllE FI'1l'I 1~ .OIE'H MUIIOO con~ta nt.

Since Ihe derivative~ of 1frt arc

we have

W =-2A,

~'

'

yt

yr fir

fi; o
0

:~]
v"
w

(3 X 211)

( 11.5.2)

y{

where A.. is the are:t of the triangular element. Since W and C'" are independent of .r and y. the elcment ~tiffncss matrix in (I 1.4.9) for the CST element i~ given by
K"=h,. A,. ( U~)lC" 1V

(211 x 2/1)

( 11.5.3)

For the c;I"e in which the body force component" I, and I, arc clcrnentwi."C constant (say. equal 10 f;1) and J~). re"peclively). the load WC\(1r p . has Ihe form

go
J,"-o
f;o
(6 x I) (11.5.4)

t:il

go
f;1) a general quadrilateral clement. it i" not easy 10 compute the coefficients (If the stiffness matrix by hand. In ~uch ca:-cs we u,c the numerical in tegration method di~cus"ed in Section 9.2. However. for a linear rectangular element of ~ides (I ;md h. the clement cocrficient matrices in Eq. (8.2.52) C;1I1 be u<;cd 10 oblain Ihe ~ I i ffne ..s IIlmrix . For a lincar quadrilateral clement with constant body force cOrl1ponen t ~ (f,o. f,,,). the 10:ld vector i~ given by
For

J:u
Ft =

A~'c J:;)
J,~o

.reo

(IS x I)

(11.5.5)

The veclor Q~ is computed only when the clement Q~ fa lls on the boundary of the domain on wh ich tractions are speci ficd (i.e .. known). CompUl:l.Iion of Q~ involve!', the evaluation of line imegrals (for any type of element). a~ explained in Sec. 8.2.6: al~o. ~ee EX:.l!nple R.2.4. For planeela~licily problem,. the surface tractions I, and I~. la)..e the place of 'III in the ,ingle-variable problem" I"l:e &1 . (8.2.56)1. However. it shou ld be noted Ihal' , and I,. arc the horiLOlltal and vet1ical components (i.e., parallel to thccoordinatc linc." .\ and y). respectively, of Ihe traction vector 1. which. in general. i~ oriented al an angle to the boundary. In pnlcticc. it is convenient III expres~ the sUlfacc traction t in the clement coordinates. In Ihat case, <Y can be evaluated in the element coordinales and then tran ~formed to the global coordinate~ for a~~cmbly. Ir Q" denotc~ the clement load vector referred to the clement coordinates. [hen the corresponding load vcctor referred to the global coordinates i, given by

P = RTQ"

(1 1.5.6(1)

l"ItAI'Tt:R II . PLANE I'LAS'I'ICITY

619

where R is the transformati on matrix cos a -sina sHla cosa

0 0
cosa -sina

0 0
sina cosa
(211 x 2n)

Re =

0 0

0 0

( 11 .5.66)

and a is the angle between the global x axis and the traction vector t.

Exampk! Jl.5.J _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __
A~ a ~peci(k

7 is ,ubjeeted

example. flr.M con$idcr the Stnl(;turol'hol>.'l) in Fig. J 1.5.1 (a). Side 2- 3 o( element !(J Iioea.r:]y varying normaJ force:

where the sub,cripi.~ n (for r:= 7)

aml.~

refer 10 nonnal and tangential directionS. res~cti\'ely. We h;Jve

Q J. '=

r r 'r I' :n-, h,IJIT I'If" jO$'= Jlr h~WT I''' j d.l+ Jt':) h*~"lI~j(J.S+ Jr~1 irtW t." jd'f '~l t,
(l1.5.7a)

The firM and third inlCgnils canllot be eya]uolted because we do not know l~ and l , on ~bcse sides of the dement. However, be<:au~ of internal StrC$~ equilibriu.m. contributions of theM! illtegrJ.b coutccl wjlh Iikc\XIntrihutiol).s fro m the neighbOring e1emem'l (elements 4 ;utd 5) in the assembled force vector of the StruCture. 11lUS. we mus t compute only the integral over ~i(!e
y y

y ~f
1
J

,
(b) 4

figure 11.5.1 PI,Ule elasticity problem wit.h (a) tractio/l nOMal to the ooundolry ilJ1d (b) tr;tctiQn in an arbitrary direction.

tl20

,\~

IN1!t()I)t'CII()fI TO

nil

FINITI'.1 1.b\lH"f \Uil)f(JTJ

2-3 of the clement. We have (fW It ~7)

Q2 ~~ = } fJ

'"

0 r''' h$ , 1 Ids. "

(I !-5.7}

when: the miJlus sign in (ronl of l'q i1fudtl...d 1 accounl for thcdircction of the Ilpplit.'(llraclioo. 0 which is acting tuward Ihe body in the present c,~~< The local coordinalC sy~lem Ii used in the 0 0.2. above expression i~ choscn along the side connecling-flooe 2 1 tlooe 3, with ilsorigin alo(l(1 We are not,restriCtOO 10 thili choice. If we feci that it i$t;~lfl\'cnien l [0 choose lhe Io)('al cOOrdinate sYMcm .f. which is laken [ilong side :\-2. with it:- origin at node 3 of clement 7, we c:"ln write
Q t11
l~l

==

wherein now

I./.I ~

i, expressed in

tcnn~

1'"
II

"lilT

l' I
~

O ,

do;

po~ 'R=-1..11

(1 1.5.7c)

M lhe local coordinate$. We have (L l } = L zj )

0

0 0
_ I.J11'0" d.\',.,-~

0
7 Q\~2= II

l"'U

II

1/t1'~
0

0
0

( 11.5.80)

Y,}I/t 0

The global cOmponents orlhis force vcctor ate [set a = 90 -0 in &1 (1 1.5.6b)1 .

o o
Q('l~=_~ .r<_ 6
'2 ~jn fI
2eo~O

( 11.5.8b)

.!line
,~O

Next, consider the C!l---e In which Ihe \I;.wtions arc oriented ut an ungle fj. a,~ ~hown in Fig. 11.5.l(b). Th<.'! n. we may resolve til" app[i<.'!d [f'oIction into nOMa ] art<! langential
componet)t~

( 11.5.9) and repeat the procedure de....-ri(lcd ab(l,,e. The !/-lune procedufC applies to linear quadrilateral cJemenlJ;. In gcnef'J.1. the l oad~ dllc to ~pecHied boundary ~trC$5C~ can be computed using all Ilppropri3te local c(l(lfdin3lc ~ySICIll lind onedimensionai interpolation (unctiQn~. When higher-ordcr elemell t~ ~ involved. the corrc~])()nding order of ol)c.uirnensional interpolation function,' miN be usC<!.

11.6 ASSEMBLY OF FINITE ELEMENT EQUATIONS

Thc assembly proceuure fo r problems with many uegrees of freedom is the same as that used for a <;i ngle degree o f freedom problcm (sec Scction 8.2), except that the procedure shou ld be :lpplied to both degree~ of freedom at e:tch node. For example, consider the plane

CI!AI'I'Ei! II PLAN !! ELA ,nCITY

621

(7,8)

(9,1O)

(9,10)

4 ] (1,2)

5
2

rID
(j)
1
(1,2)

3,4

(5 6)

(1,2)

~ ,2)~

},4)

Elcmcnt degrees of frtl(,dom Glolml degrees of rreedom (0'

(Ol

I<igurc 11.6.1 Plane cla.~tieity problcm with global degrecs of freednm .

clastic structure and the finite elemcnt mesh used in Fig. I I .6. I(I). There are eight nodes in the mesh; hence. the total si"l of the assembled stiffness matrix will be 16 x 16, and the force vector will be 16 x I. The first two rows and columns of the global stiffness matrix. for example, correspond to the global degrees ( I, 2) of freedom at global node I, which has contributio ns from nodes 2 and 3 of c lements I and 2, respectively, as indicated in Fig. 11.6. I(b). Thus, the contributio ns to global coefficients K IJ (J, J = I, 2) come from K;~ (i, j = 3, 4) and K,~ (i, j = 5. 6). For instance, the global stiO'ness matrix coefficients K t I, K 12 . K 11. K l ~ . Kn . K )), and K)4 arc known in terms of the c lement coeflicients as follows:
Kli = K~5+K;~,

K 22= K~+K~ . KI 2=K,.k+Kit. KI) = K~,

(lI.6.')

Note thai K 34. for example. denotes the coupling stillness cocfticient between the thi rd (/I x ) and fourth (u y ) global displaccment degrees of freedom. both of which are at global node 2. On the ot her hand, K 13 denotes the coupling wenicienl between the first displacemcnt degree of freedom (u x ) at g lobal node I and third global displacement degree (u,) of freedom at global node 2. Similar arguments apply for the assembly of the force vector. With regard to the specification of the displacements (the primary degrees of freedom) and forces (the sccondmy degrces of freedom) in a linite clement mesh. we havc the fol lowing four distinct possibilities: Case I: Case 2: Casc 3: Casc 4:
II,

and " y are specilied (and

lI y Iy

Ix

and

Iy

are unknown)

" x :md Iy ilfe specified (and I, and u y arc unknown)

I, and I~ and arc spcci ticd (and /Ix and Iy arc unknown) arc specified (and u ~. and u y arc unknown)

In general. only one of thc quantities of each of the pairs (/Ix, Ix) and (u y , Iy ) is known at a nodal point in the mesh. As discussed in Chapter 9. we are required 10 make a decision as to which degree of freedom is known when si ngular points (i.e. , points at which both displacement and force degrees of freedom arc known or when two different values of the same degree of freedom are specified) are encountered.

622

A ... ""TI(Ol)l)(.,tO:-l lUltUlfJ:-Itlf m nUNt ~nITUOI)

For time-dependent problem~ . the initial displacement and veloc ity must be specified for each coml)()tIent of the displ:tcemen t fie ld:

( 11.6.2)

11.7 EXAM PLES

Next. we consider a couple o f comput;ltional examples of plane el:ls ticity prohlcms to il lustr:lle the load cumputation and imposition of boundary condition s. The stresses arc evaluated at reduced Gauss points of the elements Isee Section 10.5.4 and Barlow ( 1976. 1989)J. These examples arc ac tuall y analyzed using the program FEI\"I2I). which is discussed in Chapter 13.

Example 11.7.1

Consider a thirl clastic plate .subjt..'Ctcd I(l a uniformly dbtributed edge rood. as shown in Fig. 11.7. 1. We wl~h to determine the Static soluti ol) 10 the problem. First. we con~idcr a twoetement diS<.""reli1.ation Q hc plale by trillngular c lemcn t~ lind t?Crf()n11 the requil\.--d algcbr;a ft
to O btairl the llodnJ displllcerllCOl$. T1tellSSCnlhly of element matrices for two dt'grel!of11"('edQm (DOF) clcmelltb i ~ described il) Section IJ .6. R>r thc fini tcelement mesh al hand. the corre..,p<mdent"C bctweeOlhe global and 1(\Cal nodes a.nd stiffn(>ss is given in Thble 11 .7. L If N,'(l global nodes correspond to two (local) nQdes of the same element, then the correspQnding stiffntss eocf/icicnt is nOIl1.(>ro; lIIlhlf\vise. it i~ ;rero. The I)pecificd global degrees of freedOm fOf the pt'Qblcm are
(11.7.1)
T~

k.nown

f{)fCe~

arc

Fl=Fl=T'

l'Qbh

f~=FJ=-(),
Poh'1' 10 Iblin,
3 t5,6)
(3,$)

4- (7)H

b .. l60ill.

T
m~h

L QIMn.

J
(0)

IU,2)

2 (a,oj.)

<b'
of II plane elasticity probkl1l by the CST

Figure 11.7.1 Geometry and finite element

clc mcrll~,

Table 11.7.1 Corre>;PQudcncc between (he gJoblll and clcmcu.t Fig. I 1.7.1.

nOdc~

of IhcJncsh shown in

StU"fness cQl're~porwJe!lce
Global Node (00(1)

G!(!ba!
' OfeJC[l~flt I (1.2)

l,.<i<::l!

I ( I, 2)

\ I or ekml."nt 2 (1,2)

r"
Kn

Kl\+Kfl Kb+ K12

K"

Kh +Kr!
Kj,
K' M K'
K'
K~

20. 4)

2 of dement I (3. 4)

['"
K"
K"

(.'i. 6)

3 of demenl2 (5. 6)
2 of clement 2 (3. 4)

/''
K",
K"

" K;,
K~<

..
'" + Kj,

4 (7. 8)

/,n K"
K"

KJ" + K;4
K~+ K~

\ 3 of ~kmcnt I (So 6)

The first. two rows and ~olu!1Jn.~ and the last two rows aod c:olurnn~ nfthe assembled I K Ican be dclch.:{\ (since the specified boundary conditioos are homogenc<lus) to obtain the following condense,1 equations pu/;i! K' 2 KJ~ Ki. ] K' 0 KLI K~ (! 1.7 .3)

[K'" "
KZ K'
1

K1

K' ~

" K'

KJ~ I(J~

+ Ki,

K~+4l>K~
In .

u, u,

U,

PlJbh

"

+ Kl, K)",,+K1

u.

2
()

or {ll,ing (1=120 in . b~l60 In .. 11=0.036

10 IbIln.)

11=0.25. =30x llfi psi, olnd PI>='

93.0

j(f - 36.0
-16.2 [ 14.4

-36.0 -J6.2 72.0 21.6 21.6 93.0 -43.2 0.0

-43.2 0.0 72.0

U 0.0 I4.4J 1 11'S(x).O u, 00.01 Vi =

4

{I

1.7.4)

Us

0.0

Inv<::!fting tnc. matrix. we obt:lin

U1 U,

~: 1 = W [~~; .}
=: j(

2.34
-1.60 4.72

0.17
3.63

8.65 -1.60
-0.99

1l.17

0.59
)-'

4.72 -(l.W 6.88

0.0 0.59] 1800'' 1 SOO.O 0.0

1.964 to.ID

,,291 \ .
In

{ 11.7.5)

-1.080

Ta ble 11 .7.1 Fioite elcm\ent results for;j thin plate (plane stress Assumption) using vari(lus meshes of !riuugular and rewlIlgular eJcll1ent~ and matcri:1l properties. 1
(x !O~4)

u,

U,
OdO~4)

U,
(Xl04)

U,
(x 10-.4)

J )( I

i;:()lfl1pic;
v>l:.t).;!5

e -= 30 )( IIY' p~i

11 .29'1 1O.fi5J

1.964
2,32(,

10.113

....1.080
-2.326

1(].$53

0",,/{20 +u) 1
1 x. !
Or1hotro"ic; 1 =.31 )( lit psI

t 1"",2.7x
G1 ;",,(}.?5 L'Il ",, 0.2&

llftp,'

10.767

W.6St
10.728

_ 1.579
~2.675

x lC1' li'ii

IO.7:!lI

Tublc J 1.7.2 conlain$ the nnite ck:mcn! solutions (deflCl!tions and l;lresses) for lhe disat [he pOhm ( 120. 0) And (120. 160) of i!;otmpie and tlft hotropie plates ror the:. shown. the reslllL~ were oblain<Xl using the compu!Cr code FEM20. Note that the finite clement solutions (e.g. di~placement<.:) obtained with two-clement mesbe~ 00 001 yield symmctric resul ts (i.e., U3 = U1 and U~ "" - Us). This is becau~e (If the lack o r ~ymmclry oflhe mcsbe~ used. A,~ the rne"h is refint.'(\. even with ull.~ymmelric mc.~hes, the SQlution wil! hcc01ll1! sYlllmelric aboul y == bIZ line wilhin a certain degree of accuracy.
meshe~ p"It.~lIIent s

Table 11.7.3 Deflections and SlreSS(;S in an isolropic plate subjccted lO utJ ifonn edge IQad (Exam ple 11.7. 1).
II~{ I2Q.O)

Mcsb
I , I

(>:10 4 )
11.291

11,020,0)
{x 10-')

,,,
285.9 (SO.53.l3)l 294.1 (40.26.(,7)
JQ6.' (20. 13.33)
372.5 (5,3.33) 277.8
(60.8U)

"7>"

'.,
10.80 (W,5J.33) 23.20
(40 .26.67) 35.93 (20. 13.33)

1.%1
1.175

Tri(\llgtcs

'x,
4.4
16
l<

67.42 (40. 106.7) 69.36 (20.53.33) 69.59 (IO,26.117) 7539 (2.5.6.67)

J 1.3'72
1\.284 16 11. 179

2.12(,

2.014

58.90
(5,3.33) 0.0

I x I

10.853
tUn
J l.J50

1.32(0,
2.175 2009 1.992

2.<;.84 {f>O.I!O)
6~).36

Rccmnglcs-

2)(2
4

294[11 (40.26.67)

(60. flO) 23.20

(40.26.67) 27.73 (IS. 20) 53. 14 (3.75,5)

<20.53.33)

x4

2&1.1
(IS. 20)

64.77
(45,20)

16 x 16

11.166

339.5 ().7,5,S)

61.2 (3.75.75)

l IAJrnDo"l (>[ Ibc-$I)"el,'\.

CHAl'Tl'R II

PLANh hLASTICITY

625

Ddle.clions and st~scs obt;t,ined with \lilTif)u~ unifoml meshes of triangular clements or re>.:tangular eleme(llS are pn..'SCntcd in Tanle i 1.1.3. Me:,}) m X II means tbat m cjemcnl'l iT) the x dircction and II elementS in the y dir~tion i.l!C It..etl.

Example 11.7.2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __

Conside-r the caJltilcvcr beilm (E <:t:30 x 10'"' psi. 1'.=0.25, a =.10 in . b=2 in . 11 = 1 in.) !jhown in Fig. I \.7.2(0). We wi~h to deteonine. u!ilng the-elaSticity cqu:ltions, the maximum dcflection and bending stress IJlthe beam when it is subjected tu a tJl\iformly di~trjbutw sl\e;lr stress Tu = 150 psi. The bllundary conditiQn$ Qr the problem are
u, (a. y) "'" O.

1I,la. b/2)::o: 0,
~ny.l: ,

I, = 1,. "",,0 at y = 0, b fOr

'>.(1, y)""" 0 except 3t y =s: b/2(,. =0, I, = - htu (It x=Q for any )'

(U.7.tiJ

\Ve shall.solvt: tne problem using the plane sttess assumption. The e];lstic coefficients cij ror lht plnne wc~ case arc defined (a,\suming thaI steel is isotropic) as
,
(-6-

(-G) 2 (l+F) -

0 1.7.7)

Three different. iocre(llling!y refin!tu fin.ite element me~hes are shown in Fil,l. 1J.7.2(b). The mesncs shown nrc those cOil~is!ing of line;!r rectangular clemcnts. etjuivillent triangular

I!.' ,. ao Msi, \J" 0.25 a -= 10 in., " .. 2 in., To ::.::ISO

p~;

(,)

4x2mcsh

II

1,.0 }

1::.::1::.::0

.'"
~.'

~"~l

':,= hru

.'
J

.' "

.'

.' ' -'" -' .' /

".

14

"a,,"" 4-"'"
u~.,I.ty"'O
u~cly~O

Ib)

'x2",~h I I
.,' 1

I I H 'I' I I
n~he~

~,h 111111 Hili fi" 11'11

for [tn endloaded cantilever beam.

t<lgUN: 11.1.2 Finite elemcnt

Tahlc 11,7,4

Compari~on tof the fimle clement solution with 1M cI",'liciIY $olmil)n f,)r II cantilever beam ltubjccted to a l)IIironn shear IQlld at the free end (EJ(3I1\ple 11,7.2).

Number
ofoode~

l'ipdefiectiOO. -Ii,"

J(

10"2

Nunnal SIR'St, 1'1..,

IT<

LR
O.3 1)J

QR

LT
12(l9

LR
11%
(8.75. 1.5)1179.1 (9.375, loS)

QR

" " "

SllI1LUCilY'

0.t611

O.SO)!

{l5)I

",.
226

(1:1-9.13.1.577)

0.1662
0.3166

OAJ!l8 0.4878

O.s 129

2270
(31)

243-9 {9A1 1.1 .5m 19.136. UTI, (9.136, LSTI)

o.sm

28"
(6l)

"'56

(9.6815. 1.5)

o..sl88
(O.o. 1.(1)

2876 ('il.581, 1.6()7)

(96875. I.'S)

'"''

2'"

- I.T' .. ij,~~, l,rianguLar L:.ItLIl<~: U~ ... h~~. fL:<:'lI/lguJa. ~Je'I",",,; IIrId OR .. qLl!l<l'~hc fL:<:taQaut:u ~I~nl<:ul.'-

1Ek""tILl n\.tml:Lcf.
fQWdr41Lln'I'OI'II.<.

ffftWlL RN.:I)' (19301)' 'p. Sx

element mc.,Ik.-s are- obUlincd by joining IlOde I to node 3 of e:ICh rectangular elerl1Cn!. as indicated by lhe dotted lincK &:Iulvaleut meshes of nine-nixIe quudrl!.tit: Lngrange clcmcntl\ are ('!btained by cl)nsidcring a 2 )( 2 mesh of lill,c(lr Lagrange clemel\ls equh';l1cm to n quildrHtic element. For the fini te e.lemeJ1t model. the bouudary condi tion:. on the- primary and IiOCOndary ,anabies. c.g .. f(lf the IS-node IllCtoh. are gi\'t!IJ by
U,,.,. U,o:<:> Cl]l)= Ulj =0.0

'-,'::c_ (tl)h)b ",-75.0, 4

F. r 1i:C- 1500 .,

(11.7.8)

and II!! other forcc~ urc Urtl 1m the boundmy. 'Table 11.7,4 oontlull$ lL cOlllpllri'lOo of the 110ite ekmllnt snlutions with thl! ch~ticilY Mlluti:on.~ for the lip deflection (i.e .. deflection at the Cllntcr node of the lcJi cnd) and bending stre!!S d.s. <>bIained u~ing two-dimcn.,iOIlIlI eh,slicily theory I~c Reddy ( 1984)]. The hncur triaogular clement me~h has the skr,\-CSll'Qn\'ergeoce l'Onlpared t(lttle liocM lind qWldratic rectaJIgular element.,.

The la~t examp le of this chapler dc.tls with frce vibration .lI1d transient analysis of the cantilever beam of Example 11.7.2.
f~)illrople

11.1.)

Calliklcr theCamilcver beam ,h()v,n in Pig. J 1.7.2(u). We wish 10 detcrrnil)C Ihe natural froquenei~ alld t ran~ icnt respHlJsc u\ing the plane element.~. We use the tin ite elellient mcshes

of linear IrianguillI and reCtangular eh:.mcnt.' ,hown in Fig. J 1.7 .2(l1) and their nodal equivalent nlt:.he$ or quadratic elcmenb to analY7,c the problem (ma!o..~ denliity of \Ied i~ talen

CIIAI'lUt II PU.M' EL\STlCITV

627

ThblC' J1.7.5 Comparison of fil'Slten frequencies ofthe-c:lntilevcr ~;ill'l of E:\anwJc I 1.7.3 us computed using variOU$ mesbc., of liuear aDd quadnulc tri:lrJu,ulill' and nx:tangulaf
e leroe nt~.

Triangu1a.r clem!!'",u
Linear ele~nt

Rectangular etCtMntS
Linc:a.r ilkmellt
Quadrntk cjelUt':lll

Quadratic ektnl:nt

"

<x2
2,019.4
9.zo1.4

lb' :!

2x l
\.1116,4 1,8%.6
9, 158.2 18.369.1 27.805.3 40,399.2 .so,469.6 66.260.9
74,~82,1

4X I

4>(2
1,46H 11,451.9 9.218.4 22.334.0 29.1133
41).309.7

'x,
1.242.3

hI

,xl
1. ISL8
6.341.4

, , ,
2
4
6 7

1583.0
8,264.0

10.449.6
25.339.2
29,193.2

10

42.363.4 52,937.0 67.9M..6 76,833.2 79.44.lO

9.m.1 19,540..5 27,843.9 32.127.8 4(1,840.4 48,014.4

6!.~.4

1,156.1 6.4%.5 9. 1.56.0 16.219.9 27,44L7 28.696.9 39.762.t! 45.815.6 :>7,429.5

64,R67,4

1,169,9
7,191.7 9.158.2 17.1190.8 27.8f>9.8 39583.7
51).964.4

6.845.8
9.171.7 16.8111.7 27,836.8 29,4)3.6
44.131.1

9.1.56.0 15,572.7
17.2:26.3

27.442.2

52.991.9 66,84.2.5 74523.3

76.H5.S

j9,302,3
~.~39.Q

68,257.4

79.241.8

41.441.0 6O.078.:l 67.S0,)

67.015.3
74.064.6

56.949.9

110.029.3

64.63M

to be p = 8.82.55 )( 10 .~ s,lugWin,l ). Table 11.7.5 (ontaios a comparison of 6Nit ten naturol frcqUC'll(;ies obtained witb various meshes. The convergeflCe of the nalUmI {requeocies with mesh refinemen t i!> clear. N)r traMient anal ys i ~, the h~ step 6.1 Ilsed in the linear 3Ccelerallon setlt!me (~o:= 0.5, y = 1/ 3) is restric.ted by the $lability require.ment
(11.7.9)

PorthC 4 x 2 mn.h of RX'Ulngulllf elements. fOfcx a.mple. we h;ive 61~n:;: 1.617 x 10-'. The 1 000U, ht.J IMo.. is u:led with ...ct\) iniliaJ conditions. Th~ Iood al the node.~ of the free end

'"
-7.5.0 lb.

- 1.50.0 Ib,

-75 Ib - SO Ib

for linear elcmcnI

me~h

-50.0 lb.

- 200.0 lb.

for quadmlic IllemeOl meSh

Figure J 1.7.3 evntains plot~ of tllc tip dc.llecliOn u ~.(O, O. /) VC.I)olli lime a:. predicted by the

4 x 2 mcshofiillCarreclsngulareicment!; and$elwo time apptO,dmatll)n \chenleS: (j}a:= y "" i aud (2) a ~ >' -= j. The lime lOlep used in theSe ctlInpul3tions i~ greater than the critic.al time \tep f(lI' the mesh, i.e .. 6./ = 2.5 x 10-4 > 6.rori' Therefore, lhe~oodschen\e yields unstable traosjent response.. Note lhatthe )j{)lution predicted by tbe li near acceleration scheme is ~Iable for the Unit sevcr.a.l time Steps.. but it eveJtlually becomeS unstable. Figures 11 .7.4 oonlaios plOl$ ofthetip deflection ru. a fU ll<:tion of time as prediCted by variou~ me~hes of linear aud quadratic I'e\.'tangular elefl)C'J\~. The ootaliQn l.A implies a I'nelOh of four-nOtJe linear elemeQIS. and Q9

t.

indtC3te5 a mesh of nine-node quadralic dements. Clearly. tbe SOluti.:m getS rcJ)ncd a.~ the mesh b refined. ObviooSly. mesh 4 x 2 LA is 100 crude IQ predict tbe right wavelength of the time response.

628

"''' 1r-1110DL'(TIO:- ro IlIt HN[Thn~", ":,.;-r \U, IIIOI)

2.00E -3
o.oo~+o

, ,
VnstabJi:

),
I

l200E ..
~ - 4...00 -3
..(>.006 - 3
-8.00E ~ 3

I ,

__

" .. 0.5 1 0.0,1=3 q""

ct~ O.5.

-1.00E - 2-'j-,TT"YTrT'<-n-Tr,,-;;:,;;:;;rr;'rrf0,000 0.00 1 O.OO'J 0.003 Timo,t O.OW 0.005 "igun! J 1.7.3 Stability Of the finite clement s(llulio{J~ predicted by two differel)\ time inlegrn~
lion sch~mS (lli.ample 11.7.3). TIlt: 4 X 2 me.'\h of linear rectangular elc,licnlS
~

.o.t -"' O.25 x tO~3

u:>ed.

- 7.00E - 3 -8.00E - 3 -9.00e-3

- l.OOE - 2 -l.J O& - 2

.
~ "'- 0.5, y .. O.fi, tJ ~ 0.25 x 10~3 4rr,.,,-+,-n-nrrmmn-rrrrl'0.000 0.00 1 0.002 0.003 0.004 0.005
Time, I

-L20E - 2

I'1gurc 11.7.4 Tip dctiecliQn VCI1iU!> limes. a.\ predicted by ....ariQ\IS meshes of rectnngularelerrn:nt,~: LA,4 x 11llC$h o(l(oearelemcnts: L8. 8 x 2 me.~(l(J i nearelement.~; Q2, 2 J( I 11)0,\1\ of nine-node qoa(!riltic clements; and Q4. 4 x ] mesh of nine-node
quadrJtic clements.

I'IIAI'TI:K II 1'L\.i'>" lll\Sl1('ITY

629

11.8 SUMMARY
In this chapter equations of the plane ela'ticity (i.e .. two-di men~ional problerm of cla~ticity) are introduced and their tinite clement models are formulated. The plane ~train lmd plane "Ire"" prob l cm~. which differ only in the use of con~litutive relations. arc di'>Cusscd. The governing equations are expressed in terms oflhe dl~p l acelllents. and their weak fonn and fi nite element model aT developed in two alternative ways: e I . The vector/matrix fomlUlation ( n Te ll ) using the principle vi rtual displa(:ernents. which is most common in finite element books on solid and structural mechanics and

2. The weak-form formulation, which is llsed throughout the book.

Triangular and rectangular elements arc developed. The eigenvalue and lime-dependent problem.'> o f plane claMicilY aTe also di'>Cu)'scd. Several numerical example.'> arc presented to illuslr.lle the evaiulition of clement 1<otiffness matrices :lIld load vceIOn..

PROIlLEMS
11.1- 11 .3 COlnpulc Ihe contribution of lhe boundary forccs 10 Ihe global force DOF in lhe plmtt':
ela~licil)' prub l ent~ given ill Figs. PI !.I - PI!.3. Givc nonzero forec\ lilr glomll nodes. Al1.Iwer!o,.I'mb!c'm 11./: F = ~ alld Fr. =~. ; allea~ ll wo

,
b,,-3cm

.'
,
N

Piline ~lress (h '" 5 em) E = 204 C Pa, v=0.29, G = 79 C Pa

~ 43

,
,

" , , ,
,
<

1',

, , , ,
a ", 6cm

p,

tl

Figure "ILl \4-10 in.t;

Plane strain Po = 200 IbJin.

J'

37 ;\115
Quadratic
curve 24

lit

1
20m.

"
9
6

'" " " (0 7 0 J 2

4

(2)

" 0

21 16

,
l

13

10 III .

10 in.Line of symmetry

Fi),:ull;! PI 1.2

PllI.nes~

(i)
,m
Fig u re 1'11.3

11.4-11 .6 Give Ihe con nectivi ty ma lriccl> an d Ihe specifi ed prima ry dcgrcc~ of freedom for th e plan e C l :l~ t i cit y pro blems give n in Pigs. P I I. I- P 11. 3. Give o nl y the tirst three TOWS of
lhe COIHl( Ui viI Y ma tri x.

11 .7 Considcrthecan\ilc\cred bca m o flcllglh 6cI11, hcighl2cllI, Ihickm.$s I e m, and material propc n ie~ E = 3 x 107 N/c mz :md v = 0.3, and subjected 10 11 bending moment of (\00 N-cm 11 th e free end. (as show n in 1' 11.7). Replace the mornen1 by un equi val ent 1 distribut ed force a1 .1"= 6 cm. li nd model [he doma m by 0 no nunifonn [0 )( 4 mesh of li near fCClan gul ar c1cmcn t.~. Idcnlify the special d i ~pl acc mem~ 3nd glomll forces. AII.llfl' r: = - 187.5 N and ,.~.~ = - 225 N.

r:,

P lane st.reS6

E = 3)( 101 N/cm 2, '1 = 0.3

II .. 1 em, Mo" 600 N-cm 55
4

2cm

45

1
1

33

4 )
h

22
1 1 "'0

101

6cm

11.8 Co nside r th e (" tra nsition" ) c lement show n in Fig . 1' 11.8. Define th e ge neralized di splacement vector o f the clemen t by

and represe nt the d l" placeme nl components 1/ and v by

1/

= >/1111 1 + >/I21 1l

+ >/11 11 3 + "2 71 >/1 101,

v = 1/I llil

+ 1/I2vl + 1/Ill'j

" here >/I I is the interpolation function for the hearn. :lIld 1/11 and tjI , are the in terpolatio n functions for nodes 2 and 3:

1/11 =
Derive the

-(I - ~).

~t i rrnc~s

matri x for the element.

CUM'nJ! II

1'l.A.~l. ELASTICITY

631

I
b

'I'ran~ition

clement

:-----------:'r<,:-,-+-~3 t.. 113 ,

-------

, ,

, __ _ L...
Plane stress element Fil;ure 1'11.8
~hown

Beam clement

II.'} Cunsider;l square. isotropic. Cillstk body of thickness Ii 1I1:It the di,plucelllcn(s are approximated by

in Pig. PII.9. Suppose

A~SUlllilig

lhat the body b in a pillne state of stress, derive the :2 x 2 for the unit S(luare
[K[

stiffne~s

matrix

,,' = 1 I 1r I
;
I

/1,

F2

f+-a : l -

>t>i

Figure 1'11.9 11.111-11.14. For lhe plane elasticity problcms shown in Figs. PI 1.10-11.14. give lhe oound:lry DOF :md cOmpule the contribution of the specified forces to the nodes. Alf,I'lt'er for Problem 11.11: Fi'7 = - 37.5 kN and F:~ = - 75 kN. Ptane

strcs~

o
4 em

10
"/cm~

FigUrl'PII.IO

2,5 in , x 1.5 in .

35

42

Po

r"-

-+ I"
i9

~ symmelI)' 26
Line of

-+ II
I

16[)JL- 18

V
5

Plane stress

E ",, 3 x 107 psi. " ",, 0.3

2\{

Qu admlll o f Ihedolll<l lll

II "" I in .. P(I "" 200 Ibln.

(0 1

Line of sy mmctl)'

(bJ
Figure 1' 11.11

v
7

Po "" 100 k N/m2

45

(9

"
~m

36 27 I8

10

,9

II ", I em

:1 m---.! Plane st rain f..' '" 40 GPa, v = 0.15

n gllre lII .12

16

T
2/,

"

15

14 12 9

O ne II U~dmnt o f lhe OOrr311l lS used in thc li nih. ) demen t llnalysi, [isot rop ic plate ufth lckncss II)
F"i gu~

1'1 1. 13

CIIAPll:lt II I'I.AMiHA'>fIClrY

633

"

I I I
y

Plane strain

,\
14---,

, "

E . 3)( 107 psi, v c: O.3 I ill .. Po ::: 200 lb/ft.

.. 5 in., b : 4 in., e .. 3 in.

I
z
/ Rlgll1wal1 s

Lx

tJi

f'il\u rc lII . 14

REFERENCES FO R ADDITIONA L REA DI NG

L. BlIrlow. I .. "01'11111;1] Slrc.~~ Locations in Finite Clomenl Moods." 1l'lg;nar;II/I. 10.243- 25 1. 1976.

"II. J(}Imrul for No""uim/ M rOw,/s In

2. Barlow. J "More on Opumal Sl rcs~ I'oi m< Rl-.Jucelllmcgrnlion hlcmcill /)i~lOnions and EIl'O( E.~I II1U1lion : Int. J"umlll for NlIIlIl'ficfi/ M rlhod. /11 e"xillurIllX. !S, 1487- 1504, 1989. ), lJudYIla5. R. G " ",I"ollet',1 S'""II,h 'md "",)/;('1/ SI"U /1.11<./0'1;1. 2nd ed_. McGm\Oo'- tlllL. New Yorl. 1m.
" Reddy. J. N. and Rasmussc ll, M. L. ",/,nllud "nmur;"g A,,,,I\'sis. John Wi ley. New Yorl;. 1982. 5. Reddy. J. N. EnuJ:Y w,J ~~trilll",,1(I1 M<'lm"/r in A"pli<,iI M rchfllllCl. (v.uh an Im rolluctlOIl 10 Ihe Fi nile ElcmcllI Method ]. John Wiley. Ncw York. 1984. 6. Reddy. J. N" I,,,ux" I'rillcipl<'s 111111 VOrillllO/JIII
M~/II(XI.l'

;11 Applied Mrr/'(lI/;cs. 2nd ld .. John Wiley.

New Y ork. 2002.

7. Reklory . K., Itirifi/I/Jlllil M rlhod., ill MllIhrlll(l,in. MA.1980. II Rcl.tOl)s. K.. Thr
M~,"(X/ vf D.scrrliWlwfI
Sci~"a

and Enll;nt'erlll/i. D. Reidell'ubh,h,n g. Uo>lOl1.

III Time. D. Rcidell'ubllshllll!. l!Ql,toli. MA . 1982.

If!

9. Shames. I II . and Dylll. C. L. I:.'n<'rg)' (1m/ Fmll.- "-/em,.,,' Mnhoth ' rdoci s. ''IIoI ndc!p]-l1a, "A. 1995.
th. Slaughte r. W, S .. 'nIt' Un'-llr;"",/7J.t'flry "f fllllliril.v.
Birkh1iu~er.

S,rU('I"fl.1 MrdullllCS, 'l1l ykK and

Bo-l"n. MA. 2002.

H ~I!.

I I . Ii n...... t.cnko, S. p, ;nld Good,er. J. 1'1 " 111'-"ry ,ifl:'/lI.1,wi,)'. :trd cd., McGmw- l l ill . New YO/I;. 1970. 12 . U8uml. A . C. and Fen.'tl'r. S. K"Adl'lIllUll Slrrllll,h ""dApplird E/Wlic;Il. I'n:nl iec

UppcrSaddlc River.

1'.'1. 1995. 13. \/oHerm. E. !md Game!!, J. II.. AillY/nuil Slrrllg,h lif Mm.-rial,. Prenllcc- Ilal!. Enget",oOO Chlf~. Nl. 1971.

Chapter 12 BENDING OF ELASTIC PLATES

12.1 INTRODUCTION
The Icnn "plate" refer!> \0 sol id bodies Ihlll arc bounded by two par.dlcl planes whose
laleral dirncll,ions :Ire large compared wilh the separation between them (i.e .. Ihick nc!>s of Ihe plme). asshuwll in Fig. 12.1. 1. In most cases, the thickness is no grcalcr than one-Ienth of the smallest in-plane dimension. Geometrically, plale problems arc <;;milar to Ihe plane SlrcS~ problems considered in Chuplcr II except that plales arc also subjt.'Clcd 10 transverse loads (i.e .. loads perpendicu lar to the pl ane of the pl:lIc) that C:lUSC bending about :l:<cs in the pl:lllc of the plate. In o lher words. a plalc is 11 two-di mensiona l ,tnalog o f ,J beam (sec C hapler 5). Bccau<;e orlhc smallness o f the thickness d imension. it is o ften not neccs,>ary to mudel plat c~ using three-dimcnsional el:."ticity theory. Si mple two-dimensional theories that accounl for the kinematic,> of bend ing deform mioll of thill bodies subjected to tmnsverse load~ have been developed, and they afe known .. " I"tlle IlreoJ";/'.\. An ovefview of plate theories ean be found in Redd y (1999. 2002, 2004(1). Goveming equati ons of displaccmcnt-based pl atc theorics arc deri\ocd usi ng the princ iple of virtual displacements [see Reddy ( 1999. 2002) 1. As we shall see shortl y (and ha" already been shown in C hapter 1 I). the princi ple o f virtl1al displ:lcemcnls direc tly yields the weak forms of the go\'emingeql1!ll ions. T he "Ianing I>oinl ill ihedevclopmem o f lhe goveming equat.io ns o r a plate theory is to choose a d isplaceme nt field . Typically. the displ aceme nt components arc selected in the form ofH line:.r combinHlion ofunknowll runclions and powers of the th ickness coordinate;; so that certain kinemati cs (i.e .. geometry or deformation) orlhe plate lIrc represented. For example, if II,(X, y, ;;. t ) b the ith displ:lccmcnt component in the pilltc. il ;" expanded in the roml
11,' (x.

y. ;;, I) =

L ( Z)*
l =O

11)4 )(x . . t ) ".

(12. 1. 1)

where !I ~ l) arc function" of (x. y) that arc to be detenn;ned. (x. y) arc the in-phlnc coordinates. Z is the thi c kn cs~ coord inate, and I denotes time. The principle o f virtual di ~ pl a ce men ts or Hamilton's princ iple [see Reddy ( 1999. 2002)1

0=

f"
"

IRK - (JV+.5V )l d/

( 12. 1.2)

636

{o,"

INTK!'IJ\ r

no.'

TO"!!'

H~!ni ELJ. Mr~T ~Hml()11

,
, ,
F,

1J.llud ..css oflhe plale

,
Bouudnry of

the midplauc. r

M;(jpl:tnC' of the plate. U

Figure 12. 1.1 A phl\e ~lnll'l ure sUbjected 10 elltem:1 :Ipplied load~. 1

where /jU, (i V. ;lIld (iK denote the vi l1lL;lI strai n e nergy, vinual work done by ex ternal applied forces. and virtual kinetic energy. respectively (see Section 2.1.6). Thc:-e quantities arc expressed in terms of actual stresses and virtual strnins. which depend on Ihe al,~Ulned displace meru functions. and their variations. For plate structures, the integrntion over the domai n o f the plate is represented as the (tensor) product of iruegration over the plane of the plate and intcgrJti on over the thickness of the plate (volume integral = integral over Ihe plane x integral over the thi c kn e~s). Thi s is possible because of the expl icit nature o f the al,~ll llled displacement field ( 12. 1.1) in the thick ness coord inate. Thus. we can write

Ilil:).

, (-) dV ~ l :
-1

1>4J

[ (-)d"-dz

( 12.1.3)

where II denotes the totallh iekness oflh e plate and Q denoles the undefonned midplane of the plate, which is assumed to coincide with the x)' plane. Si nce all undclerm ined variables are explicit functions or Ihe thickness coordinate. intcgration over the plate thickncss is carried out cxplicilly. reducing the problem to (j two-dimcnsional one. Consequently. the govern ing eq uations associaled with the assumed expa n ~ion in Eq . ( 12. 1.1 ) consist of diffe rential equations involving the dependent variables 11)*) (.f. )'. t) ;lI1d thiCkness-averaged stress resultant5.

H i;':

(12.1.4)

CIIM'TH/: 12 lWNl)lNG 0/" ELASTIC I'LAT'F-S

637

The resultants can be written in terms of u)Al with the help of the assumed constitutive equation~ (stress-strain relations) and strain-displacement relations. More complete developmcnt of this procedure can be found in the textbooks by Reddy (1999. 2002. 2004a). The two most commonly used di splacement-based plate theories are the classical plale Iheory (CITf) and jim-order shew' dtjormaliort Iheory (SOT). CPT is 1111 extension of the Euler-Bernoulli beam theory (see Section 5.2) from one dimension to two dimensions and is abo known as the Kirchhoff plale Theory. SDT is an extension of the Tirnoshenko bealil theory (see Section 5.3) and is often known as the I-Iellcky-Milldlill plaTe Theory. A review of these plate theories and other refined plate theories can be Inund in Reddy (1999,20040). In this study. we shall review the governing equations and develop the finite element models of only the C PT and SDT. For a Iinear theory based on infinitesimal strains and orthotropic material properties. the in-plane displacements (lIx. lI y) are uncoupled from the tranwerse def1ectionll ~ = 1\1 . The in-plane disp lacements (11,-. II )"} are governed by the plane elasticity equations discussed in Chapler II. If there are no in-p lane forces, the inplane displacements will be zero. Hence, we discuss only the equations governing the bending deformation and the associated finite clement models.

12.2 C LASSI CAL PLATE TH EORY

12.2.1 Displacement Field
The CfYr is based on the assumptions thaI a straight line perpendicu lar to the plane of the plate is ( I) inextensib[e, (2) remains straight, and (3) rotates such that it remains perpendicular to the tangent to the deformed surface Isec Fig. 12.2,[(a)l. These assumptions are equivalent to specifying (12.2.1) E~l= O. E). = O. En= O The following assumed displacement field satisfies the assumptions
Ul

(x. y, z . t) = uAx. y.!) -

z~

aw

112(X. y, Z.I) = lI y(X . y./) - z-.-

ihv

oy
y.t)

(12 .2.2)

113(X. y. z, t) = II z(X. y.t)

== w(x,

where (Ill . 11 2 . Il J) denote the total di splacements of the point (x. y. z) along the x, y, and :. directions, respective ly, and (lI x , UJ' lI z) represent disp lacements of a poi nt on the midplane (x,y,O) al time I. The linear bending strains (due to the d isplacemelll II' on ly) in (12.2.2) are (virtual strains are also listed) 2w (12811'

a2 w
ay2

n ax'

ax2

a2,sw
ay2

(12.2.3)

iJ 2 w 2- JxJy

2- axay

a2,sw

and

E,_ =

0, eJZ =0. and e;;z =0.

638

A1> INTllom ("flO" 10 nlE

B"m" I.!:'-II:,,T \'''-''1011

,
(0)

.',
v
Law '----:; T ' , ,--'' a.'
w

(h)

/ ,
12.2.2 Virtual Work Silltemcnt
:I

l'illUrt' 12.2. 1 (n) Unddonnoo and dcfonlloo gcomelries of an edge in e lY(: (b) Bending momcnlS and 1>hear force~ on a plale clemenl.

The principle of virtual displacemenls (12.1.2) applied to a plate tinite clement occupying volume V~ :lnd whose midplane j" Q~ I,lkes Ihe form 1Reddy {1m. 2002)1 0=

1[
v,
n,

pz

2 (iJ8W aJw ()8 w aJw a -----+ - - - -- ) +pli w - w iJx IlxB t 2 ay ayJr 2 a,l

+ 8cu O".u + 8f:)~oV\ + 28e.,on] dV

-1

q!i\V d r dy -

1. ( - M"n 0,811' + Vn8\V) cis Yr', un

(12.2.4)

CHAPn: w U

1I1;NI)INOOI' (LA~TICI'I""n:s

639

" The first thn.'C tcml~ in ( 12.2.4) represcnt the virtual work done by the inertial forces in the tlnee coordinate dir(,'(;tions. whi le the remaining terms in the volume integml re pre<;ent the virtual strain energy stored in the plate. The last two integrals, one defined on the midplane n, and the other on the boundary r" denote the vinual work done by the transversely distributed load q. edge bending moment Mnn and "hear force Vn [<;ee Fig. 12.2.I(b)[. Since Vf = n, x and the imegrand is separable into fun ctions of x and y alone and function s of z

(-.If, !f)

F(x, y. z) =g(x. y)I( ;: )

(12.2.5)

we can carry oul integrat io n with respect to z (through thickncs!-) explicitly. Sobstitution o f ( 12.2.3) for virtual displacements and strain!. into( J2.2.4) and integrdting with respect to z. we obtain

0= [ ( ' olill' - - + /,----- + /,----(1 , al ! ~ ax ihat ! Jy iJyiJl !

- M

alII'

aliI\"

alII'

ali ll'

a\"

... iJx!

--- M
)Y

;)l liw

a2liw 82011' ) - --2M .- - - qlill' dXliy oy2 "ax;),

(12.2.6)

a8", (- M",,-- + V" li lt" ) tis Ie

I', a ll

where (101". 111,.,..

M~,)

are the bending moments

['>t."C

Fig. 12.2. I(b)[.

M" ,

( 12.2.7)

10 and 12 are the mass mo ments o f inertia (the rotatory inerti:1 11 is neglected often)
10=

1'"
- hI!

pl/ z = pli,

(12.2.8a)

and OJ) ;Ire the plate materia l stiffnesses

(12.2.8&)

where the plane ~stress reduced const ituti ve equations (1 1.2. J I) are u<;ed in arrivi ng at the expressions ( J 2.2.7); M~~ and M~~ denote the nonna1 <tnd lwi sting moments, respectively, on an edge with unit no rmal veclOr n, and Vn is the shear force. The moment M"n and

640

AI'> INTMOOlClIO" TO 1111.

';I ~ITlilU_ M L' I' MrlllOD

M.,~,

shear force V~ on an edge wi th unit normal ii can be related 10 lllomcnt~ M~, on edgc ~ x = con~ t :mt and y = constant by Isce Reddy (2()(x)]

M ,., . and

M"" = M ....

II;.+ M \ ,./I ~ +2101",/1,11 ".

+ Q, /I , + 12 ( --1 "'" + --1 " " aX;}1 ilyil l + M ,," (', II
- II ' ) ,

O= n

Q). lIx

a\ ,

a\,. )

( 12.2.9(/)

M". - (M ,., - Mxx )1I , II ,.

Q... = - - + -'- .

aM"

ax

ilM "
( 1)'

Q, . = - - + - -

aMn ilx

aM 'I' ay

( 12.2.9b)

where (II" II ,) arc the direction cosines of the unit normal. il ,i + on the boundary I~... Sub!.litUling ( 12.2.7) into (12.2.6) yields the fol lowing weak form of the problem :
a 2\11 0 = [ [ 10 5\11 -a/ ! 0,

="

nJ.

+ /,----- + /,----- +4D6(, - - - 2

ax (ha/
~

a5w i)3\11

iMw aJII'

a 2 11' iJ 20\ll

oy ilyiJI 2

axil)' axay

a2 1V a2 (}2 - IJp -211' 1V) 0111 a2 a- 11") 28w + ( 1J 11 - - + D I' - - -[lx 2 + ( a - + f)~2 -- -ily 2 [Ix ! a)' 2 ax l iJy !
~ ~ ~

- owqJ dx dy -

i.(-Ma:,:l' + m.

V"OW) l/.f

( 12.2. 10)

The differential equati on li.e .. the governing II" is

Eu l er~Lagra n ge

equat ion resulting from (12.2. 10)1

( 12.2.11) Note that the expressions in parenthe-.es in the first three terms are the bending moments - M x .,. -M)" and - M <I', respectively Isee (12.2.7)]. n,e boundary cond it ions for the CPT are given below: clmllpcd: si mply supported: free:
w = 0.

aw
a"

~ O

~ O.

Vn = 0,

M"N = 0 M"" = 0

(12.2.12)

We do not need Eg . ( 12.2.1 1) but only the weak form ( 12.2.10) to develop the fi nite dement model. Alternatively. we C:1ll construct the weak fornl of the governing equation (12.2. 11 ) usi ng Ihe usual procedure. We obtain

aMa aM,, - - aM, i " [( - - + - - ) /1 . + (aM"+ - -,) "

[" , (J.r
iJy
1

a.I'

ilv .

'

+ I,

a J ", ( -.-. ~ iJxiJf

-,II, + -,-.-~ II " uydr-

a'w )] ds
( 12.2.13)

where I) de notes the ..... eight fu nction. which can be interpreted as thc first variation. dw = v. Ne)l;t, we convert thc derivatives of IV with rc~pcci to the rectangular coord inntcs (x. y) 10 those with respect to the local (normal and tangential) coordinates (II,S). We use the identities

- = 11, - - 11 ,.- , iJx ' all as

-= II ~-+ I/ I'

iJ

oy

iJ

a.~

, on

( 12 .2. 14)

and the defini tions ( 12.2.9) to rewrite Ihe boundary integrals of (12.2. 13) as

_ 1 IJQ~ d.5 + J
;:"

1;., a"

(av Mnn + all M~J) as

a/I

(i!J;

The second Icnn in the second integral is integrated by parts to yield Ihe expressio n

,[ aM ", - t . [( r. + ----a;- ) - a" M"n ] ds

U

'o b

( 12.2. 15)

The expression in p.. rc nlh c~ i s (-) is denoted by Vn , and its specification is known as the KirC/llwjJfree-edge COIuliliulI . We have made the assumption that I v AtMI. = O. which holds o nly when the boundary is ~ mooth . It is clear that the weak form in (12.2. 13). with the boundary integrJIs replaced by ( 12.2. 15), is the same as that in (12.2. 10). The weak form (12.2. 10) can be c)(pres~d in vector form as ( w = IV and 5w = 51\1)

o~

1
0,

[in(5 w)T W + h(0 15 w)T (O IW)

+ (0 2o w)TC(D2W) -

(o w )Tq ) dx

-i,
0 1=

[ _ (ow.~ )T M n" + (ow)T V,,] tis

( 12.2. 16)

where w.n = (i)w j iJ lI) and

a'

l" l
ax

i)x 2

:y ,

iJ !
O2 =

[ 0"
C=

oy'
2- iJx{/y

D~2

0" Ih 2

iJ2

1J

( 12.2.17)

This co mple tc..~ the development of the CPT and its variational (or weak) form. Next. we develop the finite clement model based on Eqs. (12.2. 10) and ( 12.2.16).

642

M~ 1r<1 KOlll'CnON 10TIII' r~NrTE fLF~~IH"T \\ETUOU

12.2.3 Finilc Elcmcnl Model

An examirl<ltion of the boundary terms in the weak form (12.2.10) suggests that the essential boundary condi tio ns invol\'e specifying the transversc denection I I' and the normal derivative of 11', which constitute the primary variables of the prob lem (like in the Eu ler- Bernoulli beam Illodel). Hencc, the linite clement inteq)(lialion of II' IllUSt be sllch that IV and aw lOll arc cominuous across the intcrekment boundaries in CPT e lemcnts. Note thaI ilIa" and a/iJ.I are rcl:ued to the g lobal derivatives 8/i}x and a/oy by the relati o n ~ Jlhe inverse of those in ( 12.2. 14) J
i)

all

= 11, - +IJ,, - .

' ax

oy

- = IJ ,. - - IJ ,.iJs . ily

1)

. iJx

( 12.2.18)

TllU.<i. the p,i m:uy variables al the x and y axes should be

n ode~

of a rectangular clcment with sides parallel to the il w 011'

11',

ax'

ay

Finite c lements Ihat requ ire continuity of II' and ils first derivatives arc called C l clements. Towards developing the C PT fini te clement model. we assume thai II' i.~ interpolated over a typical clement n, by exprcssions of the form
lI'(x, y. t) =
0'

" L t:::. j (t);pi<-"c y)

j='
$T

( 12.2.1 911)

=i;p,1P2 .,. (/l,,\

( 12.2.1%)

where /). J denote the nodal values of IV and its derivatives, and !(Ij(x. y) are Ihe Hennite interpolatio n futlclions (see T.. ble 9.2.1). The nature o f Ihe interpo latio n funclions !Pj will be discussed in the sequel. Substitution o f (12.2. 190) for 1\1 and =(/lj (i = 1. 2, ... , /I) into ( 12.2.1 0) g ives Ihe finite clement model

ow

IM' Hi" 1+ IK' HI>' I ~ I F'I + IQ'I

where

( 12.2.20)

M= i l

1[
n.

d~, a~ a~, u . )] 'o(/l;;Pj+ ' 2 -.---' + __ J dXl/Y

( ax

ax

ay!Jy

F;'" =

In. q;Pi

llXlfy,

Q,=

' i( r.

- M",,-+ V,,!{Ii

a., iJl1

)1

(S

( 12.2.2 1)

The vector rom of the tinite clement model is obtained by subst ituting ( 12.2. 19b) into Eq . ( 12.2. I6) and sClting Ihe coefficient of ot:::. T 10 I.ero:

( 12.2.22)

CIIM'T[ K 12. HENU1NG UF IiLASTlC I'UTES

643

where [sec Eg. (12.2. 17) fo rlhe defin itions of 0 1. 1)2, and C j
M' =
K' =

i i

( /O$ T

n,

+ 121lTBt)dx
F" =

Bi c B2 d x,

>1,

$q dx

Q,

Q'

~ 1. f"

(- "',"M" + '" V") <I,

T

B I = 1) 1$

[ a., a., ax iJx

VIOl

ay
iJ l rpt

a""
ay a21fJ2

ax "."
al{J" vy

]
(2 x" J

( 12.2.23)

a'

ax 2
112 = 0 2$
T

ax'
iJ 21fJ2

8 210 1

." a
ax 2
2
1{J"

By'
2 a rpl
i.Jxily
2

Jy 2

ay2

a '. ,--' -;)xoy

2 i.J 2rp"
axily
(h l l )

12,2.4 Plate Bend ing Elements

A num ber of C l rectangular lind tri;mgular plate bend ing clements wi th (11'. all' jax. aw jvy ) or with (11', aw j ax, aw jay. ;JZ wjvxvy ) as the deg rees of freedom at each node exi~t in the literature. A rectangular elemelll with fo ur nodes, wi th (II' , all' jax, v w jay) at cad node, requ ires the 12-term (II = 12) polynom ial ap prox imatio n of w
IV

al + a2X + {I ) Y

+ {l4XY + a 5x 2 + {l6 / +a7x 2y

( 12.2.24)

The po lyno mi al is 11 0 1 a complete fourt h-order po lynomi al: it is a complete third-order po lyno mial. For a three-node trirmgu lar clement with (II' , aw j ax, aw jily) at each node. the fo llowing nine-term (/I = 9) polynom ial is selected
IV

(/1

+ (,I 2X + {l 3Y + {l4XY + U5X l + {/6i + (J7(X 2 y + x i ) + (l gx 3 + u9y 3

(12.2.25)

Thi s is an incomplete third-order polynom ial because x l y and y 2x do not vary independent ly. Some comments are in order on the interelement l:Onti nui ty of II' and iJ )I' j all fo r the fournode rectangular clement (II = 12) and three-node triangu lar cle ment (/1 = 9). We note fro m ( 12.2.24) that ))I varies as a cubic along any line x = constant or y = constant . Along 11 given ~ id e, there arc two nodes and two values (II' and its normal derivative) per node 10 defi ne the cubic variatio n uniquely. Hence, w is un iquely defin ed along the clement boundary and is conti nuous along interelement boundaries. T he norma l deri vati ve. say. all';ax on a line x = constant. also varies as acubic fun ction o f y along the side. Si nce only two values of all' j ax are availabl e on the ~ id e, the cubic variation cannot be uniq uely defi ned and the normal slope continui ty is not saTisfi ed. In addi tion. iPw j Jxily is not single-valued at the corner points of the c lement. Elements that violate any of the conti nuity cond it ions are known as

644

AN 1 N1I101)lrnn" 10"-111

I~"n 1 ".LHtr"T \U,TlI(ID

Y.I1 -

'E::/3
()w

diU

"---------------------------------~ x,~ = ~
Figu.,: 12.2.1 A nonconforming m:lnsular clcment wi th three degree!> of freedom fJw/ih)pcrnode.
1I01I("01l/0l"millg "Jell/nils.
(M',

fJ .."/fJ .l ,

Thus. the fo ur-node rect:mgulm' clement wilh 11/ represcllled by ( 12.2.24) i" a nonconrorm ing clemenl . Despite Ihi.~ delicicllcy. che elemenl is known 10 give good resules. A similar di sc u,sion Icads 10 che c()nclu ~io ll Ihm che chrcc-nodc tria ng ular clcmel11 is no nconforming. In addition . the triangu lar elemel11 i ~ found to have convergence problems ami si ngular be hllvior for cel1ain meshes. Tria ngula r Elemenls

An effective nonconforming Iriangu larelcmc nt (the BC IZ triang le) was dcvelol>ed by Ib /eley. Cheung. Irons. and Zienkiewic7 ( 1965). and il con,ists of Ihrce degrees of fH.-r oom (III. - QII' / iJy. ow/iJx) at the three venex nodes (see Fig. 12.2.2). The interpolation func[ion ~ for the triangular clement can be expressed in [ e rm ~ of the area coordinates as

rp,
fh.
I{Jl

LI + Lit"l + Li L'- L,L~- L lq X11 (L . L i - O.5L m) - XI 2 (1~~ L 2 + O LJ23) I .5

Yll( L ] L i+ O.5LI23) - \"dL~L 2+ 0.5L m) L 2 + qLl

1{J4
I{Jj

+ Li L, -

L 2 L ~ - L 2Li
( 12.2.26)

xn<LIL i- 0 .5 L I2l)-X23( L ~ L J+ 0.5Lm)

IfJ6

yd L, L ~

+ 0.5Lm) + 0.5Lm) -

)'23 (L ~ L l

+ O.5L m ) + O.5 t

IP'I
fP8

x23( L 2L ~ - O.5L 123) Y21 (L2L{

LJ + Lj Lr + L1L 2 - LILT - L 1 L ~ X)I (L ~ L I + 0.5 L 123)

)"11 (I~~ LI

/fJ9

m)

where L m = L I t 2 L 3 ,x'i = .l ; - XJ ' .md )'ij = Yi - )'j. (Xi, y;) bcinglhcglobat Coordill;l l c~ of the fth node. A conformin g triangular c lement due to Clough and Toc her (1965) is an assemblagc of three triang l e~ as shown in Fig. 12.2.3 [Clough and Fe lippa ( 1968) developed aquadril:ucral element by d ivid ing it into four tri:mgles and each triangle d ivided into three subtrianglesj , 'l11e nomlal slope continuity is enforced al [he midsidc nodes between the ~ ubtrian g les . In the ith ~ ubl rianglc, the tr.1I1weI"'C deneclion is rcprcsented by the polynomial
11/ '

(x. y) =

a', + a;~ + (/;'1 + (I~~2

+ (/5~'J + ,,(,,/2 + 1I;~1 +(1~~'12 + a911~2 + a ;ol,l

(12.2.27)

y, '1

L b

"-------------------------------. . x. ~~~

"

....igure 12.203 A conforming triangular element wit h th ree degrees

or rreedom.

whcrc(i == I , 2. 3) and (~. II> arc (hcloclJ l coordinates. a<; ~ hown in the Fig. 12.2.3. The thirty coefficients arc reduced \0 nine, th ree:: (II'. ow/ax. ow/v),) at each vertex or the triangle. by cljual ing the varia bl c~ from the vertices of each sublrillnglc at the common points and
nQTTI1nl slope betw een the midside point~ of th e s ublrillnglc ~.

Rcct.mgular Elements
A nonconform ing rec tangular element with 12 degn:.C\ of freedom Isee Eq. ( 12.2.24)1 with '
1\' ,

iJlI'/ox. and ow /a y

a~

the nodal variables Isee Fig. 12.2A(llH

j<; ba<;e<i

on the work

of Melosh (1963) lind Zicnkicwicl and Cheung (1964). The normal :o,lope varies cubically along an edge whereas there arc on ly two values of jiJ l! avai lable o n the edge. Thcrefore, the cubic polynomial for the normal derivative of I\' is not the smne on the edge common to two clements. The interpolation functions for thi s element ca n be expressed compactly

all'

a~

~l

= 8d (i = 1.4.7. 10):
gil (i = 3, 6. 9. 12)

rpr =g,2

(i = 2. 5, 8, I I)

!pi =
where

( 12.2.280)

I , 2 811 = 8( 1 +~n )(l +'k)(2+~o+'IO -~. - 'I)

I 2 8. 2 = ii(~o- I )(I + 110)(1 +~o)
(12.2.28b)

g. ) =

8I}, (110 -

1)(1 +so)(1

+ 110).

S=(x-x,)/o. II = (y - yc)/b. ~o=Uj. 'lo= II'}1

20 and 2b arc the sides of the rectnngle. and (xc, Yc) arc thc g lob:!1 coord inates of the center of the rec t:lIlg 1 We de note this clement as the C PT(N) elemen!. e. A conforming rectangu lar element wilh w. alii/ax. (JII'/ay. and (J2w /8 xay a~ the nodal v:lriables (a IOlal of 16 degrees of freedom) was developed by Bogner. Fox. lUlU Schmidt (1 965). TIle interpolation fu nctions (obtained from the tensor products of the one dimensional Heml itecubic polynomials) forthiselernent Isee Fig. 12.2.4(b):md Table9.2.l l

y,)l =t-

y,

T1 =f
3

,h)
t

"'----+-.
/ . /2 20 ---~.~ ,
i)y
ih'{)y

x. ~=.!.....

"

ow ow iJlw W,_,_,_
ax
io' iglln' 12.2.4 (ll) A nonconforming rectangul .. r clement with three degrccs of freedom (II', ill\' lil.T. all' lily) per node. (b) A conforming rcctangul,u clement with four degrees of freedom (II' . illl' I il.l'. illl' lily. fjll\' lilxily) per node.

are

IPf = gil (i = I . 5. 9. 13):

rpi=gi~(i=3,7. 1 1. 1 5);

q;i = gi2 (i = 2. 6. 10, 14)

rpi=gI4(i=4.8 . 12. 16)

( 12.2.29a)

where
I , , f.:il = T6(~+~/t (~u - 2)(11+"') (1/0- 2 )
gi2 = 16~;(~

+ ~.).( I ,

~o)(" + '/;)(110 - 2)

gn =

16'li(~ +~,) (~o - 2)(1/+lli) (I - 110)

I 2 2

(12.2.29b)

f.:i4 = 16~ill'(~+ ~i) ( 1 -~o)(1J+ll;) ( 1 - 1/0)

This cle me nt is de no ted as CPT(C).

12,3 SHEAR DEFORMATION I'LATE THEORY

12.3.1 Dis pl;lccllIent Field
In the SOT, we relax the normali ty assumption of Clyr. i.e .. transverse normals may rot:lte without re mai n ing no m l:ll to the midp lane (see Fig. 12.3. 1). S I)T is based on the

C HAP'l UI I!, ~U,I)Ir-;G

or EL\STIC PI ....Tf.s

647

........./ ..l._~ ... ~ .. _... ___ .

..
y

........ ....
~
~.

....

....

Ow

""
.;...--- U x

. :

Figure 12.3. 1 Undcformcd ami dcfomlcd geometries of an edge in SOT.

displacement field
III(X,

y. z , I) = IIAx. y./)
t) = u y(x. y. t)

+ ztPAx.

y. f)
( 12.3.1 )

II Z(X, y, z.

+ ztjl,,(x. y.t)

113(X ,

y . z, t) = U, (x, y, t) == w (x, y, t)

where (u, . II )" II ;: = IV) are the displacements of a point on the midplane in the (x. y. z) coordinate directions. and . and y are rotations of the tran sverse normal about the y and - x axes. respct:tively. Since (u-t . lI y ) are uncoupled from (w, ,p.r , y ), we develop the equati on s govcming (IV . . ,, ). The bending strain s associated with ( 12.3, J) lire

za;-

arpx

Zay
~

Oy

ao> DO, , ( -oy- +ox ) -

( 12.3.2)
lj.+~

0., +., 'x ow

</> " + Dy
Note thai the transverse shear strains are nonzero and
[;1.<

Ow

8,,11'

ax asw 8y + ~
oy
== o.

64M

A'II~T~OmlCriON TO T)II' mmll U.l~\1CN'r METItOJ:l

12.3.2 Virtual Work Sl<ltclIlcnt

Substituting the displacemem field (12.3. 1) and strains (12.3.2) into the statement of the principle of virtun) displacements, we obtain

+ 28e.. ,(Tov + 28f, ~(T.,~ + 2osl'~o,o ) II V

-1.

owq (Ix (1 .1'

- 1. (oljJ" M"" 1.',

+oljJ., M". +o wQIl)ds

Z,

Carrying out the il11cgration with respect to

we 3rrive at

8!, "'.' + M .LT -"', + M , .. -;;- + M .. ( -0 + ---:;-.- , rJ.r v)' u)' uX

+ Q..- 01jJ,+--

a8,)
(12.3.3)

88",) +Qy (01> .. +-.-oy - owq1 88"') dxd)' ax

-i,

(o1>" M"" + o1>. M". +OWQ,,)I/S

where M"", M",. :md Q" are defined in Eq. ( 12.2.9(/) wi th

Q, = K ,

- ~!2

', 12 (Tn

d : = K ., Ass

(1>.. +-, ) 0",

.r

(12.3.4)

( 12.3.5)

Qn= Q ... II.,+ Q ,.II,.. AM

1>" = 1>..-11..-+ 1>,11,,

1>s= ,/I, -1>... 11 ,.

=G23h.

Ass

= G 13h

(12.3.6)

Here K. denotes Ihe shear correction coeffici ent. Th is coeffici eru is introduced to account for the discrepancy between the distribution of transverse shear stre<;ses in S DT and the aclu al di stributi on (sec Section 5.3 on the Timoshenko beam clement).

{ IiAPTllll l

~1,, '1I)I.'I(lOf'ILt.STICpu, I1'.S

649

The \'inual work <;tatemelll (12 .3.3) cOlllains three weak fonm for the three displacements (I\'. 41,. 41,. ). They arc identified by col lecting the t c rl1l ~ involving 511'. 5q". and 541, scperately and equating them to zero:

(\2.3.7a)

(l2.3.7b)

0=

[ ( 12[' 41"-.-2 fl, at

N~ N~ + M ,,-.-+ M ,.,.--' + oX 'oy

Q .-5q"

) dXlly
(12.3.7(")

i.,

['41. (M""" ,. + /11,,, 11 .) d.~

The governing differential equations of $DT are (obwi ncd from the weal.. forms ( 12.3.711H 12.3.7c)l

-- + --' +q = ax iJy
aM" ;)M" --+--', ~ Q~ ;)" or

aQ,

JQ,

1 0-2
at

a~1I'

(12.3.811)
(12.3 .8b)

= 1. - -

iJ2"" iJI2
Of l

;,;- + T

iJMn

iJM",

- Q, = 12 (1 2""
II"

(12.:t8c)

The boundary conditiOI1). for the C PT :Ire given below. cl:1Il1ped: , imply,upponed: free:

= O.

q,~

= 0

M~~

= 0 Mm. = 0

( 12.3.9)

The three- ~tep procedure can be used to develop lhe weak forms of( 12.3.8aH 12.3.8r), which will be eqllivakntto Iho~e li,tcd in (12.3.711)- 0 2.3.71."). To see the equivalence. the following ide ntit ies mu \ t be u\Cci :
M"" n, - kl" ,II, = Mull,

+ 111 ,, 11 ), 5!! M"" Mull. + 111", 11, = !l1,, 1I , + M " II . iii NI", .="II,-q, II,. q,,=q,n ll ,+ q"II.
J

( 12 .3. 10)

-nlC \ ector forlll of the virtual work ,tatement ( 12.3.3) (after replacing the stress fewl ti.lnt\ Q,. Q,. M , . M ". :md M ,. in t erm ~ of the gencm li/ed displacements (w.,..,)

650

Mll~ODI)C'T'O~' TO TIlE FI~' ITE [LH1EJ1.T ~tI:']'!lO[)

using Eqs , (12.3A) and (12.3.5) 1 is given by 0=

1
n.

[/oUiw)T \~

+ ,28$ T + (8$ + 1) ,8w )T A($ + Il, w)

+ (IlS$?
where

C (1)$ ) - wTq ] dx -

:R.. (S$~i\'l n + wT QII) d.I'

(12.3.11 )

(12.3. 120)

a ax
D=

a
(ly

A ~

a
Dy

[A" A~J 0

c=

[ v"

D' 2
D22
0

1~ 2

ax

lJ

(12.3.12b)

12.3.3 Finite ElcllIent Model

We note from the boundary integrals in (12.3.70}-(12.3.7r) that the primary variab les of the theory are (IV, <, I,) and the secondllry variab l e~ arc (Q,,, M il". M,,,) (or a linear combination of Q." Q", M.n. M y" and M.<I')' Therefore, the Lagra nge interpo lation of 11', :< and I, is adm iss ibl e for SDT. Wc assume finite element interpolation of w. It. and I" in the form
1I'(.x,y,r) = LYI.' j(r)1/I)Cx,y)
} ; I

"

,(x. y. r)

'" L Sj (t) 1/IJ<x , y).

!=I

(12.3. 13)

(12.3, 14) where

\lJ l _

["I
0 11',,)

(12.3.15)

and 1/1) lind 1/IJ arc interpolation functions used for II' and (I.f . 1/>,,). respectively. In genera l, "') and are polynomials of different degree. However, in lhe present study, we take 1/1} = == 'fij. Thi s choice, as diseu~sed for the Tirnoshenko beam e lement, requires the use of reduced integration for the evaluation of stiffness coefficients associated with the transverse shear strains.

"'J

"'J

CHA.I'1l:H 12 IIliNlllNGOI' Eu"STIC !'LAThS

651

Substituting (12.3. 13) into (12.3.7aHI2.3.7c), we obtain the finite elemcnt model in expanded fonn
[Mil ] [

[01

IM"I
symmelm:

IK" I

+[
where

(12.3 .16)
symmetric

(12.3.17)
The vector of the finite c lcmcnt model is obtained by substillHing (12.3. 14) into (12.3. 11):

0] J\V) K21 K22 JW) JF' " "] [M" M22 1S + [K K 1S ~ 12 ) o

where ]~ec Eqs. (12.3.12a) and (l2.3.12b) for the definitions of 0 , 0 I, etc. ]

( 12.3. 18)

K" =

1
fl,

BrAB I dx.

K 12 = [
fl,

BTAo.v 2 dx=( K21)T

(12.3.19)

K22= { ](o.v 2)TAo.v 2 + BTCBJdx

JQ,

652

~:< I~ 11I01>\J(TIO:< nll'!IP 11-'11'10. H.E\lb"r MI moo

~i.,
0

~;,.,
Il

, ~L Vri, ~J..
M6.

~'I~.,'

I '

o ]
(l-l>n,

"';, "

~;".,

-111e elemcm cq u a ti ol1 ~ (12.3. 16) ami ( 12.3. 18) both can be wril1 en in compact form

:I.'

+ K~ = F

( 12.3.20)

where ~ = \W SIT. The clement st iffne" matri x K :md 111 m,;, matri x l\I in (1 2.3.20) are of order (1/ + '2m) x (II + '2111 ). where II b the number of nodes per the L:.gr.mge elemen! lheel for II' und 11/ i ~ the number o f node, per the Lag r'lngc clc ment used for r/>., and I' The ind ivid ual matricc;. in (12.3. 18 ) ha ve the fo llowi ng dimcn-:ion,: Mi l i'l/ X II : !\'I n i~ 2111 x 2",: K II is 1/ x 1/: K l2 is II x 2111: t{:!2 is 2111 x 2111 : ..', i' l/ xl: and F! is 2111 X I .

When equal interpolat ion is u<,cd, 1/1,' =

1/1,2, the four-node quadrilateral element has a total

of 12 deg rees offreedo ll1 and the nine-node quadri lat eral clement h:b 27 degree;, of freedom (~ce Fig. 12.3.2).

12.3.4 Sheaf Locking and Reduced Integration

The tra nsvcl">e ~ h c ar strains (i.c .. term , involving A44 and A ~_~) in the clemcnt equation ~ of SDT present computati onal di ffi c ult ic~ whcn the s idc- I o- Ih ic kn c~~ ralio. (I/h. of the plalC
y
)4~

____________73

.l/
r
w,

1.": ,\===~21-- '

.~.

'1 (at each node)

y
7

3
6

!II,

~==~~f 5======~ 2~~X

Ox," (nt each node)
elcmcnt~

FiIlUrt' 12.3.2 Linear ll nd quadrmic rectangul:,r (11',4',.4',) pe r !lode.

for SDT with three

dC1;rec~

of freedom

CHAI'ThM 12

~E"DI~GOI [LA'>IICI'l.AIU

653

is large (i.e., when the plate becomes thin. say (11 h ~ 50). For thin plates, the transverse shear strains 2s.n = Y.~ = f/J" + aw lax and 2.~ = Yn = ,. + all' lay arc negligible. and consequently the element ~tiffness matrix becomes stiO' and yield~ erroneous resu Its for the generalized displacements (w;, S;', 51'">' This phenomenon i~ known as shear locking, and it can be interpreted as being caused by the inclusion of the following constraints into the variational formlsee Reddy (1980) and Averill and Reddy (1990)1:

...
by

+ ax = 0, '/'\

'w

+~~ o

aw

oy

(12.3.21)

The energy due to transverse shear strains in the total potential energy of SOT is given

~ i.[A44 (, + ~:;y + A~5 (~+ ~::y]dXdY

( 12.3.22)

The locking observed in the displacement tinite element model of SOT is the result of the fact that the discrete form of (12.3.21) is not satisfied when the plate is very thin. Of course. when the plate i~ thick. thc relations (12.3.21) do not havc to be satisfied , and the locking docs not occur (at least. it is not severe enough to give completely wrong results). However. for thin plates. the constraints (12.3.21) are valid but not satisfied in the numerical model. and we therefore f<lce the <;ame problem as in the Timoshenko beam tinite element. Therefore. we use the same remedy as before: reduced integration to eV<lluate stiffness coefficients involving the tr<lnsverse shear term~ Isee Zienkiewicz, el al. (1971) and Hughe~. et al. ( 1977)]. For example. when a four-node rectangu l<l1" element is used. the one-point Gauss ru le should be used to eV3 1 u3te t.he shear energy terms (i.e .. terms involving A 44 and A 55 ) whi le the two-p()int Gauss rule shou ld be used for all other terms. When an eight- or ninenode rectangular element i~ used. the two- and three-poin t Gauss rules ~hould be used to evaluate the shear and bending terms. respectively. For the triangular elements, we use one- and three-point integrations for transverse shear stiffnesses in the Iinear and quadratic e lements, respectively. However, in the present study. we shall not consider triangular plate bending elements.

12.4 EI G ENVAL UE AND TlME-DEI'ENDENT PROBLEMS

The differential equations in (12.2.20) and (12.3 .20) can be reduced (0 various special cases depending on the type of analysis. In both cases. the finite element equations have the same vector form, namely (12.3.20), faci litating the discussion of the eigenva lue und tran~ient analysis for both CPT and SOT. Static Ana lysis For static analy~is. we ~et the inert ia (erm (6) equal to zero und solve the problem (12.4.1)

Natural Vibration
For natural vibration problems. we replace the incrtiu term by

( 124.2)

Figure 12.4.1 Biaxial co rnprc Rs ion (If ~ rcct:ll1gu lar phlte.

Then Eq. ( 12.3.20) t:lkes the form of an eigenvalue problem:

( K ' _w2 M ' ).1.~= O

( 12.4.31

Iluckling Analysis

For buck ling analysis (i.e., to determ ine the value of the in-plane compressive forces. at
which the plate buckle.. ; al<;o sec Fig. 12.4. 1), we re place the muss. matrix in ( 12.4.3) with the stability matrix G and w 2 Wilh Ihe buckling load A, Thi s expression come .. from the i n-plane force due 10 the nonlineaT inplanc stm ins (underlined);

'" =

~ (011') 2_/.,',.W,. 2 ax u~
ax oy
~ JXQy

awihv a2 w =---2'-For C PT. G is given by

(12.4.4)

G . = {[N Jrp,JrpJ+N. JI{J;JrpJ+N . (iJlP;iJ'Pj+J'P,JIPJ )]tlxtl t 25 IJ l rl, n (h a.f ',1 iJy Jy ax iJ)' Jy ilx ,} (I .4. )

x,

where N". iii)". and N.n arc the applied in-plane force rc s llltam ~. The eigenvlllue A repre~c nl s Ihe mlio of the actual buckling load 10 the 'lpplied in- plane forces:

A=-_-=-.-=-.N", N" NAJ

N <.<

N,.,

N"1

(12.4.6)

For SDT, only M il Isee Eq. (12 .3, 18)1 is replaced by G , where

G" =

in,. .

r [iii,", JI/I, aWj + FI",' JI/I, JI/I ax ax oy ay

+ Nn (01/1, 01/1, + Jl/li Ol/li)]dXdV

ax ay

iJy iJx

(12.4.7) and M22 is set equal 10 leTO. Hence, the stllbility matrix is non-positive-definite, requiring ~pecia l eigenvalue solvers for SDT.

Transient Analysis
To solve a time-dependent problem. we must approximate the lime derivatives in (12.2.20) or (12.3.20) to obtain algebraic equations relating solution ll.+ 1 al time 1 + ll.1 to solulion ll., at time I, where ll.1 is Ihe time slep. In the Newmark integration scheme (see Section 6.2.4), the vectors ll,+1 and Li. + 1 at time I = (s + 1)ll.1 are <lpproximated by the express ions
8 ,+ 1 = 8 , a .+1 = a .

+ (/ 1a " + (/2 8

,,+1

+ A . ll.1 + i[(l -

y) A .

+ y A5~ 1)(ll.t)2

(12.4.8)

where (/1 = (I - a)ll.1 <lnd (12 = a ll.1, (a and yare parameters th<lt control the accuracy and st<lbil ity of the scheme), and the subscript .\' indicates that the vectors are evaluated at the s lh time step (i.e" at time ( = sll.t). Rearranging (12.3.20) and (12.4.8). we obtain
(12.4.90)

where

f' . HI =

+ (/3 1\1,,+1 I<' H I + 1\1,\+ 1(a. 8 ,. + {/4 A , + (/5 .6.,, ) 1

KHI = K,, + I

(12.4.%)

I as = - - I Y

Once the solut ion 8 ,+1 at time t,+1 = (s 1, +1 arc computed from

+ 1)ll.1 is known. the velocity and aCL:cleratiun at

5) - (/4 A" - (15 .6.,. + ([2A s+ 1

.ii,,'''' 1 = (/3(8 ,,+ 1 - 8 A ,+ I =

As + {/ I.ii,

(12.4.10)

12.5 EXAMPLES
Here we consider severa l numeriL:al examples of rectangular plates with dilTerent boundary condit io ns. We will usc the conforming CPT(C) and nonconforming CPT(N) rectangular elements :md the linear and quadratic SDT elements to present numerical results. Various Iype~ of boundary condition~ on an edge of a plate element are given in Eqs. (12.2. 12) and (12.3.9) for CPT and SDT. respectively. When the edge is parallel to the x (or y) axis. the normal and tangential components of a variable become the)' and x (or x and y) components. respectively. of the variable. For CPT. I/J" ,md I/J, of SDT musl be replaced wilh - ow/a" and - VII'/os, resl>cctively. I,n all cases. the stresses are computed at the reduced Gauss points. The first example deals with thc bcnding of a simply supponed plate using CPT and SDT. The effect of reduced integration on the deflections and stresses 01':1 ~imply slipponed plate as computed using the SDT plate ciemcllI is inve~tigated.

656

'>'1'> INTRO DLC'T IOI'> TO Tllh FINITE LLE\lE/I.'T \1li lllOlJ

J<)"ample 12.5.1
C.olJ~iOt:r a simply supponOO. isotropic (II "" 0.25). ~uare plate subjcclc.!d to a unifonnly distribUtcd traOSYeflje 1 of jntensity 1Ii}. We. shall SOlvc thc problem u~ng CPT and SOT plate (,):11.1 Pendiog eien.lentS. Owing 10 the. biaJ>iitl Symmeu)" we need to model \lnly a quadrJIli Of the plate. TIlc essential (i.e.. geometriC) boundary conditions il t '>imply supported edg~ (.t =< and)'.:e {a). fw SOT, arc. (see Fig. 11.5. J)

1a

w""o.
w =0.

tpy=O . =0

;1t

x=(1/2

at y =a/2

( l2.S.1)

Thll csscntial bound'lry conditiQIt!> along the.symmetry line., (x = 0 and y = (I) are
~(Q. Y) =

I/>,.(x. 0) = 0

(12.5.2)

The naruraJ li.e., forcc) Qouodary conditions. which cOler the jinite clement equ~tions through ulcfQrcC$ (F), arc
Qn""=O
M~~

aJClllg .r = O nnd

y;:cO
(12.5.3)

= 0 along }' = 0 a.nd x ~ a12

y = a!2

M.<-r"" O along ): = 0 aQd

The essential boundary c{JJldirjons for a quadrant. wheo Fig. 12.5.1.

\I~il)g

the CPT eleOlcm, arc shOwn In

CPl':w :s: dx

/.

:s: Q: S01':w " ~y: x O

/ , - - - - - - - -1 ~ , , 2 _ ... - - , at-,,
2

sDT ! W"" :~O

CP'l'; w '" -

dw

... 0

VL __ -

I-~

- Y

-- - ,
" 2

Comp utationaJ
dom din

CP'I': u, "' a.; ~ O

ilw

{SDT;w "' ~ "' O

ilw ilw CPT ; - ", 0 aL1: '" 0: -",, 0 Hlj "" O SYmmetry CQ,!Iditi<ms: ill: ,)y { SDT : r;.~ -c; 0 atx = 0; 6;; ., 0 Illy ", 0

Figure 12.5.1 OiXlmetry ~od c()ordil)ate ~y~lem IJM:d for a re(;t~ngular piau:. Boundary lind symmetry condi(i0J1~ in CPT aod SOT fo(simply Sl!pporled platts.

ClIAI']'!:R IL 111''-"1)1,-"0 OI'U..ASfIC PLATES

657

For a linear (four-node) rect;mgulnr elerrn:nt of SDT. the contribution of a uniformly distributed load ql! is given by

02.5.4)
where h~ ,md h~ are the plane.-form dimension~ of the element. This contribution goes 10 the first, fourth, seve nth. and tenth nodal degrees (lffreedom Mtlle element (COfl"CSponding 10 It'). For CPT. the nodal forces due In the uniform lnm~verse load of inlcnsity q(j are computed us.ing Ihe delini\inl1 (12.5.5)

The effect of reduced integration, thickne~~. and mc~h on the centcrdeflcclion and normal (Tu is jnve~tigatcd, and the results are prel;entcd in Table 12.5.1. lbe di~plitCeOlcQ1 and mw are nondime.nsionalir.ed as
slrcs~

(12.5.6)
where A ill Ihe Gauss-point locat ion with respect to the (x t y) syStem localerl al the center of the plate (see Fig. 12.:>.1). Q4 dCJ10tcs the four-node rect;mgular eteme(ll, and ~

Table 12.5.1 '1 ne effect of reduced integration. thicknc~~, and mesh refinement on the center denecli()n~ and SIre."sest of a simply Supported. iSOtropic (I' = 0.25), square plate under a uJJifon.n transverse load of intensity qQ (El(ample 12.5.1).

1x 1 Lineal
a!h

Linear

'"

4x4
Linear
ri,

2x2
Quadratic

Exactt

lnteg.

10

F
M

"' 0.%4
3.950
0.270 3.(,69 0.070 3.599 0.005 3.590 0.011 3.579

if,
0.018 0.095 0.005 0.0<)5 0.00 1 0.095

2.474

"'

"'
188) 4.773

if,
0.216 0.266

"'
4.170 4.799 4.570 4.633 4.505 4.592 4.496

if,

Ul
4(J

"
F F

4.712
0-957 4.524 0.279 4.375 O.Hl2 4.472 0.047 4.465 4.857 4.574

50 100
CIYHN}
epT(e]

" f
M F M

0. 119 0.235 0.048 0.2..15 0.014 0.235

0.290 0.272

4.791 4.625
4.5~

"'

if,
0.276

2.363
4.603 0.944 4.560 0.652 4.555 0.182 4.548 4.643 4.570

O.DR
0.266 0.056 O.26<i 0.039

0268
0.272 0.270 0.271 0.267 0.271 0.266 0.272

Q.276
0.276 0.276 0.276 0.276 0.276

0.000
0.095

0.009
0.235 0.002 0.235
().274

4.579

0.266
0.01 I

HIS?

0.000
O.()<)5 0.260 0.262

4.482
4.580

4.HZ
4.570 4.570

0.266
0.276 0.275

5.643
4.638
1~/%(t.d.

0.272

t .. "'~'Hhl"
~

"'''A-I

A.);h)h! J'If!az,A '" taU ){ ! II!!I:ar). ~" (2 " 2Iiocar). ;~ .. (4 '" 4Iincar"O.0528Ja

12:o<2q,,~i<;I.

Prom R<'dJy\2l.I(2).

65H

A.~ 1~'TRO!JL'eJION HI '1111 I~Nr1h UJL\tEN"l' MEmOt)

the rline-node rectangular element, The bel{lw.

Gau~~

point klCaUollS for \ariou.\

mc~h~

are given

lx2Q4
0.12$11
0.0625(1

2x2Q9

0.052834

In T,lble 1"2.5.1. F" detlolc~ fujI intcl!NlliOn for all term~. and M dcnQlc." mixed intcar.ltion: full inlc!:l:r..lliotl for bending tcmL~ and (t:\luce\l integration for the shear terms. Thll fnllowing observation!>!.:an be made from the resultl; of Tl.ible 12.5,1;

L The nine-node cjement give..~ virtually the "anle result!; for ftlll (3 x 3 G'IlISS mle) and miXed (3 x 3 and "2 x2 GauSS rul~ for bendil\g and shear (emIS, re~petlivcly) it.ltegT;ltiQns. Ilowever, the tc$ults obtained using the mixed integrotion are closest to the exact wlution. 2. I'lill integration gives less ..ceuouc results t~iln mixed integration, ,lOd the error increases with un increase in side-to-thickness ralio luI II). Thi~ implies that milled intcgration i$ cSStntifll for thin plotcs. espl.:cially when m()l.iekd by IQWcr-oroer e lcme n~ . 3. Pull iillcgrotion results in ~m:lllcr error.. for quadratic elements and refined meshc.\ th.1n for line;1rtlcmems and/or Coarser me~hes. 4. The conf(lrm.ing pilite finite clement CPT(C) gives more accurate results when t(imp.ared with the nonconforming plate element CPT(N).

The nexi ell,llllple denls with a clamped square plale under a distributed transverse load. Thc mixed integration rule is used in the evaluation of stiffness cocOicients of the SOT model. Example 12.5.2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __ COI)$ide.r an
i~opic

(v = 0.3) f.qoare plale under a unifl)OJ110.ld of illteo!>ity qu. We shall

-C(msidcr clamped OOundary conditions (~e Fig. 12,5.2). NOle that, fot the CiL'iC of Ihc con~

fomling disp\acelnent model based on CJYf, we mUSt also specify tbe boundary condili(lII~ till the Cr(l~~criy;)t3\'c 01...., JfJXQ)'. Once a!:luln. wec.1l.ploillhc ~ifiX.illl syoomeu y aod model only a qultdr:m.l of the phlle. Thecenlcrdenecti~jn w=w(O, O)D x l()l lqn'l~ \whcrc D "" h 3 (12(1 - v~)l and center nonna] stress ;:::;u.~(A. A) ')( IO/qn as obt.linctl u~illg unifonn mc.\hes of me tWI) types of clCmCI\tJ., CPT(N) and CPT(C), II./'C prc."C I"ltcd ill Table 12.5.2. In both U1odcl~. the "Mues of A used arc given in the following table.

a..

t;rCI11C"1;I1

type
I , I

l.oc:atiofl A

M".h rQf CPt & SDT(L) M~~h rOfSDT(Q)

'"

4>,

I, I

CPT lflO'kl

SDTIlIUdeI lillC(U"
quadratic

Q.05().I.5 O.02t I7a (W I4/."l9i1 0. 125a 0.06251l 0250 u.t057(l 0.052&

'"

'<'

,,'

O.Qltl.~

0.0312&1 0.02642<1

CII M'IllII. 11: U E~ lll~G OF ELASTIC Pt ....TES

659

dW ilw CPT ; w"" _:,c_", ij. SD";w","

Ck~'

X ~ ., O

.)

Symmetry conditions:

CP'r:~ =-oa.tx :,c o; ~ "' Oa.lY " O

ih:
try
~ ... Oatx "' O;

SOT:

1\", 0 aty "' O

"'igun! 12.5.2 Boundary and symmetry tonditions in CPT and SDT for clamped rectangular
plat~.

The diStancc is mea~ored ffQm the center of the plate. The m~sh SDT(L) refe~ to four-Ilode !ine;!r e\cl"rlents and SDT(Q) refers to the nine-nOde quadratic elements u~ed in the SDT model. Clearly. both finitee1cment mOdel~ e~hjbit good convergence charactethtiC$. The d.ifference between the CPT and SDT i~ attribu t<:d h) \he iOclusiol) of tf"Jn~vem shear $trains in SDT.

Table 12.5.2 Comparison of the center deflection and nonnal -SlJ"c ....~ of a clamped square plate under a onifoonJy distributed load as obwined using \"uriou~ finite element
mesh~

Displacement mOOd
Oj$pl:l;<:~Il\e1l1

(SOT; aj h-= 10)

nlQ(iclICP'T"}

Linear O.O: S7 1
0. 1459 0.1495
SI.n:.\S

1x 1 l x' 4x' AnlIJyli.caJ

1x I

0.1943
0.1265 0.1266 (1.1266
Cw[~r

0.1757 0.1586

<:I i .
0.1100 t.l42

2, 2
4x4

1.32l
1.)45

1.333

The next example deals wil h a simply supported ortholropic phlle under a uniformly d i"tributed tra nsver>e load . l<:x.Ilmpk! ll.S.3 Here we
con~itlcr

an onhotropic sql,lare plate with the fllUQwin); Illateri:ll (graphite-epoxy)

propertie~ (V:!l '::1::<\)12 11 ,: Mp~i = 10" psi):

,:::::;:3 1.8Mp~i,

E1 = 1.1l2Mpsi.

vu= 0.3 1.

O U"" O~J= C IJ= O.96Mpsi (I2.~.7)

The nondimensionalllAld center dcHe<:liou "' and nonnal stress ii" obtain-ed using the o:x>nforming CP'Tlc) clenlenlllnd the SDT clement arc .:.'(.mpared in Table 12.5.3.

Thble 1Z..5.3 Comp.1riw n of the center deflection f w= w x 10-' ( 1/ / q,p4) I and nannal strt"ss la" ""'ltH )( IO(h 2/q()ll ~)1 of a gr:lphile-epoxy. simply ~upponcd squllre plille under (I uniform II"'J.flSVeJ'<;e load (E;o;amr1e 12.5..3).
l)l'plactll)cut lI1\xlel
(SOT;IJI" ~

M,,"
lx2 4x 4 8x8

1)l~I,l accmc:nl

10)

,nodel (CPT)

Linear

Qu.adr~tic

Cenrerdcllectioll ...
0.9220 0.9224 0.9224
t .2545

1.2 186
1.2 152

1.2715 1.21 47 1.2147 1.2 15 7. 192 7.399 7.478

fua<:l i
lx2 4x4 8x8
f~$CI1

0.9225 Cenler ~treS) if,.

7.678 7.6 16

1.600
1.595

6.277 U56 7.449 Hil

The next example deal.. with mftu ral vibration of lite phlte of Example 12.5.1.

Eumple I2.5A
COII<;idcr the ~inlply ~upportc:d. iMJlropic, square plate III Example: 125.1. We wish 1(> detennine: tbe nalul'll! frequencie s of the plille. Once again, a quad ...nt of the plate i~ u'Jed II-~ the computational domam ((> obtam the llJ'<;t few ~ynlmetric nalural frequcncies. 1Q obtain all the frctjllCnciQ> (i.e .. !.ynllllc:lrie as well as 8nlisymmctric), we nlu~1 use the full pliltt wood. TIle geomelric bnuodary c()(ldition~ w.ed are ~ho\o.n III Fig. 12.5.1. The llaiur",l fn:quc::ncie.\ of the simply supportoo plate, obtained using various meshes of CPT and SOT c lemenb. are presented in Table 12.5.4. It is clear that CPT ovcrprcdicb the n;tlural frequencie$ forihe M(k-tothid;:ne.u ratio of a/ h = Hi{i.t . thick plate) when compan:<l 10 SD1: TIle difference i ~ altnbulCd 1(1 the iBclu~ of Irdn<;\'CI"lC ~hcar l<traill$. YA, and y,.,. in SDT. In (lther ..... ()I'd~. the normality a.-.sumption (or neglecting II'IlnSVCJ'lIt l<ht:ar ~trains) in CP'f amuunts t~l overestimating the stiffness of the plale.

CU " PI1:R 12.

m~"I)I:'G

01 U ASTIC I'LATES

6(j I

Tab le t2.S.4 The Imi Ihret: symmetric vibralional freqilen~ics (w x IO~l) 1 of an jsoHl.:>pic. :..imp!y supponw square plale obtained using CPT and SDT (a! II = [0).
Thw<y

Mesh
1 )< 1 04

4o!1

WI)

'<>H
0.4810

h,204
4X<lQ4

0.0746 0.0601:\

0.4413
O.2~H3

SOT

1 )( 1 Q9 J x 2 Q9

OM7!) O .O:i7S o.OHO

Q.0569
0.OS]5 0.0597 0.0561 0.0584 0.0579

0.4654
0.5476 0.4342 0.4217

CI'T(N)

cP'no
cPT<NJ CPT(C} CPT(I\') CPT{C)

EXa<::t Jx J Jx J

2<' 'x,
4x4

0.4030 0.2651 0,2552 0JU8 0.2912 0.2762 0.4842

0.3565

O.: 60 B 0._
0.4842 0.4665

0.2792
0.2821
O.2~zq

'"

O.osM
0.0584

OA?OO
O.49~3

F...tact

The final example. deals with the transient response of an isotropic plate subjected to a sudden uniform patch loading at the center of the plate (an idealization of impact load).

E:xlI mple 12.5.5

COnsider an i,~<JI(()pic (II == 0.3, p c::: 1,0). simply ~Upp011ed, rectangular platc(ajb <= ./2. hjh "" 0.2) undcr :l ~uddenly applied. uniformly diSlributed load ~1rI :; Nquare (lIb = 0.4) area Ilt the

center (~U Fig.12.5.3):

Fi g u ~

12.5.3 Domllin, bourHlary conditions. and finile clement mc.~h fOf the bending of OJ fl."Ctangul!lf pliltc unde( a sudden ly applied pUI$C l(Ktding at the central ::.quare !lrea.

662

At- 1t-"lkOI)I.CTlOt- TO UIE FIJ'nh [ LHIE "" Mi'TIIOI)

I. 2.0
~

EM W" W(O,O)--,
I ." t

.g 1. 5

" ~

(i!i -~
llJ

01'

,, 0,01

.~ 1. 0

,,
Ira1 (thick)
An!ljyt~J {Ihid;}

,
\

0.5

,
1.0

-~-

An.,lytical (thin)

,, " ,,,
6.'

0.0 0.0

2.0

4.0

5.0

Nondi.m<lnaionalizl.'<i lime,

7.'

10'

!~

At ,, 0.01

l
,E

."
" ~
6

I ..

20

Mn

15

,,

-,

., -,

t ",,- t

(h2 -~

12a "" M yy(O,O)--rOr/> b

,
\,~,

,
-

,,

fl:M (lhkk)

Aru\I}11e.-a1 (thjck)

--- AQ.Illy(icaJ {thil)

, '- '- ,

O.OO'~.O~-,;-.'!;-'-;2;l,--J'-:3!-;.':-'--47.0!;-"-;5~,-J"""6.\:0..J.-7,l,-L,8J,.0,-1 . . .
N"W'ldimen,Siollalited tilll~, t(bJ

Figllre 12.5.4 Comp;trison of the fini te clep\ent SQJQllQI) with the analytical ~(lI U liol' ror a J'imply ~ul?pofted rectangular is"OlfOpi<:. plMe under Q suddelJly applied pulse IQllding 3t the cell1rai square iI1eil.. (al Defieclj(l1l Ii' ~erSus lime,. (b) C~nter bending moment ,W N VC(!!-IJ!l" time'.

CfIAl'IU 12: 1Il.N()(N(J U~ ELA~"IIL 1'LATt;S

663

a/b"",Ji
where
q{l{x,

i),t:tO.OI
y) "" {

fQr O~x.>"~O.2Jor x,y>(l.2

aj\d Ii (I) is the Heaviside unit ~lep fun(tioll. The geometry and bound<lrY eandition~ are ~hawn ill Fig. 12.5.3. A nonuniform me.',h of 4 x 4 ninl!.l\Ode shear deformation clements is used in a quadrant of the platt'. The cent~r deflection ;\n(] bending rooment~ of tl:te present ljn~ar <Inalysis are compared with the analytii;althick- and thin-plate ~olution$ Qf Rehmann and Lee ( 1969) in Fig. 12.5.4. We note signifieaul dillctenc;;: bctwee"{l the solutions of the twa theories, The present finite clemen! solution... for the center defled-i{ln llnd Pendin~ moment arc in C.'I.cellent a~recmem with the thick-plate solution of Rei\mann and Lee (1969). Since the bending moment in the finite clcmcm llIethod is calcu l:lted at the GilUSS points, it is not expected to match c;<aetiy with the analytical svlulion at the eenter of the plate,

12.6 SUMMARY
Finile elemcntmodcls of the CPT <lnd SOT have been developed in thi~ chapter. C t continuity of the transverse denection II' (i.e .. the denection and it~ derivatives are com inuous between clements) is required in CPT. whereas CO continuity (i.e., only the variables are continuou~ between clements) of the generalized displacement" (I\' .1>_ \'.1>,) i" required in SOT. Triangular and rectangular clemcnts with C continllity have been discu~~ed. Two four-node rectangular e lements. one with (I\'. iJII'/iJx. ()w /iJy) and <lnotherwith (II'. all' lax. illl' lay. iJ 2 w / iJxiJ y) as degrees of freedolll. have been presented for CPT. The tirst one is it nonconforming element that does not s<l1i~fy continuity of the normal derivative along element sides. and the second is a conforming clement. Linear and quadratic rect<lngular elements of SOT have been developed. They require selective evaluation of the stiffness coefficients. The bending stiffness coefficients arc ev;\luated using ful I integration. and the lransver~e shear st iffne~~ coefficients are evaluated using reduced integration to avoid the shear locking that occurs when these elements are u~ed 10 model thin plates. Finite clement equations of vibration. stability. and ~tatic and dynamic responses have been developed and numerical results are pre"ented.
1

PROBLEMS
12.1 Investigate the displacemC'llt and ~I()pc lompalihility 01 the nonconforming rectangular clement CPT(N}.lIilll: U~e Ihe edge l:onnecling I](JdC~ I and 2 lind chcck if the displacemCn!)j' and ~Iopc~ iJwjiJx nlld iJ\\"jiJy arc cOnlinuou~. 12.2-12.111 For lhe pi<l1e bending problems (CPT and SOT) giv~n in Figs. PI 2.2-PI2. IO. give

Ihc ~pcciticd prim,lry (Ind secondary degrce~ of freedom and their values fur the meshes shown. The da~hcd line~ in the ligures indicale \imply supported boundary o:ondilions_ You arc required 10 givt: valut:s of lhe load .. for at lea~t a couple of represenlative lO<lds.

""
/
7 , 9

~5 in .--I'7~'- 5 in .--toY

t'igu~

"1 2.2

1. t U..1.1.U
y
I+-- ""'~ t- a/2 --too! 25

i,"??
Y

11

. . ,

6{2

.. 1, 5

-.
6

I.

x
l
6{2

Simply supported III x .,. a/2 und under uniform lond Use 2 )( 2 ll1~h for CI''I'(C)

1
Figul'\' P12.4

1
Simply supporkod IIty ~ b/2 lind under linearly varying load

Figure "12,3

q,

y
9

t1ID1 tttUJ
y

,, ,, , , ,, , '.'.

~~-----

/ ,, , , , ,, , ".

...~

~---"

--

Simply supported ill r = (1 and under line 100'1d III r '" b

Simply supported at r '" u nnd under uniform load

Fil;lIrc 1'1 2,6

Figure "12.5

CHAI'IHI. 11 uO.I)I"GOI'IjL,\.STIC

I'IJ1TL~

665

q t,x,J):QO

u,,!.!u,u
y

tTl! .! .! [1]
,~
a=20 in.
7

4
I

, ,
2

9 6

b '" l uin.

-"
W;iW7;iWhl\=fL'-----'-- "
S imply supported along lh l;l slullt edge and under uniform load
.' 1'" 30 x 1(16 psi. /!.'z,. 0.75 x 106 psi ;

"!~= 0.25, 0 12 " 0.375 x l06 p si

h
t

2 in .. (10= 100 Ib!in.

Figllrl! P12.7

Fia,;urc 1'12.8

un
y

q,

tID
9

t+- "

" -~ 6

0:0]
24 em

'I.

"

,"
I

12crnx8cmholc
I

27 20
IJ 6

'--_--' l
Figure "12.9

"

'm-oj
40cm

12r
-I

Sim ply supponed al y = ufl. and under uniform lond

Under uniform load e _ 200GPa,I'=O.J h ,. I em, QfJ= 60 kN/m t

Figure "12.10

REFE RENCES FOR ADDITIONAL READING

A\crill . R. C. and Reddy. J. N. "On Ihe: Behavior OrPlale: Elcmclll< Rased on Ihe I'Irsl -Order Shear Deformauon Theory," t:ngmet:rin,~ CompUU!lWiL<. 7( I). 57-74. 1990.
2. Bai llc. K. J. and nvorlin. E. N .. "A Foor-Node PialI' lkmling Elelllcnl lb\oCdon ~ l lndI Il\/Rcl ~ner Plale 1l1c<:>ry and:t Mi xed Inlerpolaliorl." Imf"umO<I(d Journlli/or NUII/uieal Mt'I/tI..ls In f:nglllt't'mlg, 2 1. 367-383, I98S.

3. Il:u.elcy. G. P.. C heung. Y. K.. Iron,. B M.. and Zicnkiewicz. 0 C .. '''Tri lm@ ul nrl:. lcmcnlsIIIPlmeBendmgConforming and NonCun foTluing Sn h'l ions:' I'roanlings '11i1~ l'irJ'1 OUrjf'rt'IICt ,,,, M arr;. Meril",/x in

Sm.c/llml M...-l11m;n. AH1)L-T R66-SO. Air Force In,UUlH: uf Tcchnolugy. Wrighl-Paue"","! Au' I'OI'\."C B:L'oC. Ohio. 5-17-576. 1965 .

.\ Iklylschko. T. T~). C. S . :1Od Lill. W. K. "SI3bdit.auou Maim for Ihc Bilinear Mmdhn !'Inlc U Cnlenl: (''''''l'lIIer M"'/ol1d,' III A{!fllll'lI M<'C/o,min <11,,1 E"!;II1P"""II. l'l . -'!.' .'11. 1981.

5. Itog llcr. I'. K,. F,,~. R L. and Schmidl . Jr. L. A.. "Tile Gcnemllon uf Inlcr-Elcmelll-CompalibL Sllfflk''''~ :1I1d c
t. los' Mal n cc, hy Ihe U-.cof IlIl crl",lalion Formulas." I'm(',e./illl/> rifl/'" Firsl C/JIrf"",lIce lilt Mllml M,'I/IOo/., i" Slr<rClllm/ Mcrl!(ml("~. AFFOL-TR6680. Air Ful\."C IIlMUlIlC ofT~'Chnology. Wrlghl I'mlc/'\on Ai r l'lor~ Ra.w. Ohio. 397-443. 1965.

b. Clough. R. W. and lclip\ll1. C. A ."A Rctlocd Quadrilal crJI Elcnk'nl rur Ana])'si~ of 1'laiC Iknding:' I'",.:n" jll.~' ,>jll,e !kcmuJ C"tHrftll'lIIf' "" MwriA' Mell" ../, '" .'1"11<'1,,<1 Med'/III"'s. Air r"Ol'Ce InSliluie urTcduMllog)
Wnghl 1':meNlll AIr l'Ofe'I: B~sc. Ohm. W9-440. 19611 7 Cluugh. R W. alld Tocher. J. t .. " Fi nile Elemenl SI,ffncs) ~'I:l1rice~ for An~ lysis of Plate Ikt>dlng." 1''''c''I'j/mlt' of Ihl' F;f:fl Cmrfrrr""f'm, M llmr M ,.,I","s m Slrur",,,,1 M ....I"m;' . A FFOL-~ -66SO. A,r Force Insl, lule uf Techoology. Wnghl I'ane~n A ir Fore.: Base. Ohm. 515-5-15. 1965. 8. Hughes. T J. R . T~ylor. H 1... and Kanoknukulch :ti. W.. "A SlInplc n,ld Emei~nt Finne Elenk'nt for I'lai c Ikndmg:' IW""l(l'l<mlll j",,,,,/,I for N""'i'riCl,1 M ,.,lulIlJ III I:-"K""'U"'/(' I ] . ]529--- 15-13. 1977. 9
Hughc~. T. J. It . Cohen. M .. ~t1d [broun. M .. "Hcd ucc.1 att<l Sdcct!1't tnlcgr.u,Ol1 Tcch n ique~ in Ihe Filllie Ele menl An:lly)b of I'b lc~." N,,,/,.lIr /c"8m"",mg /Itl1/IA'...K". 4,.. 203-222. ]978. ~1el hod." MAJI

10 Mdo.-,h. R. 1.. " U :.)i~ofDcr"~I,on or M atricc~ forthc I)'I\.~I SloO ne" 1%3

jm"'''''' I . 1631 lton.

I I Redd ). J. N" "A Pen~lry l'lalc-Bend,ng Elemem forthc AIMLy,,' ofLulllltlalcd Ani"llropicColllptlMIC l'lmc)." 1",,.,"ltfiOl,,,1 jlJ/lrfUJlf"r N,,,,,niml MI'IJr(Jas jll t.:"gmurmK. ISlX). 11 81 1206. 1980. 12. ROOd) . J. J\. "On Ihe Solullons 10 l'orced M...-h","cs. 49. 4OJ-408. ]9!!:?
MOIi"n~

uf Rectangular Coltlposile Pble,:' JOI"""I (>f A,I,,/I..,I

13. Reddy. J. N" 711('(/,... (IIU' AIU,I"~ii IIf [,mic 1'lIl1l's. Ta ylor and !'runcis. PhIl adelphia. !'A. 1999 14. Reddy. J. N. 1:-IU'T/I.~ l'rmC/ples ,md \1ui(lfiolU,1 ,\(",il(III.' m AI'I'''nl ,\Iulum;n. 2nd cd. l oon WrlC). New Yurk. lOU2. 15, Redd y. J. N .. Mrd"",it'$ (if 1 .I1Il1i,u",., CtI"'IHlml' I'III/tl "ml .'\1",111: 'fJJI'fJI)'IJIlII A"II/)$is. CRC Pre". 2n.1 cd .. Boc~ Raton. It . 2004... l b. Reddy. J N .. All 1111"'(/11<11/", '" N(mlillt'nr

f,,,,,, EI""'I'II/ ,I,ml.",.

O~ford

Un;,'C/Sil y I'n:!>.'l. O:>. fol. UK.

200-th.
17.
R~i sm.mn. II. and tee. Y. "1 'QI'CCd Motions of Rect~ngular l'1al"~." in J)I'.'('I"f"",."'J '" TI'''I)'''''l'f'/ltII/1 A"plied M,.cllmuc$. VoL 4.1'rt.<dcricl. D. (cd.). I'~rg"nlOlll'rt"'. New York. pp . 3-]11. 1969 PI:'IC~

18 T ""y. C. S. and Reddy. J. N "Bel1<ling. Stabiluy. and Ireo: VlbrnnOil of Thill Onholropie '\ I i~ed Finite clc",cnl~." JOllm,,1 tlfSmmd ,,1111 L 1hmlum. SII. 101-)] 1. 1978.

h)' Simpllfic:d

19. Z icn].. ,e....-io" O . C. a,1d C heung. Y. K. "111e F. nne LLcu!cnl t.klhud for Anal)'~i~ of Elasllc l-.urrvp'c and Onhotropic Slab.~: I'ftXudmfl of IIII' I",,,,ute lifO";1 I;"KIII!""'. umdon. 2iI. 41]--488. 1%4. 20.
Zie"]':ic"i~/.

0 C .. Taylor. R 1... amI Too. J. M.. " Reduced [nl<'gr.lli"" TechniqlJC in Gcnerul Analy", of I'lales and Shell,." III/"nlil/""'''/ JOIll'lwlfur N"ma;m/ /IIclltfh/; ill "/lIIIi't'",II:. 3. 215-290. 1971

Chapter 13 COMPUTER IMPLEMENTATION OF TWO-DIMENSIONAL PROBLEMS

13. 1 INTRODUCTION
In Chapter 7. we dj:',cussed some basic idcllS concerning the development of a Iypical finite clemen! program, and the use of f'EM 10 in the solution of one-dimensional problems was

illustrated via many eX<l1l1ple problems. Specific detai Is of various logical units of a finite cl emem program for one-dimensional problems were given. Most orlhe ideas presented there are also valid for two-dimensional problems. The imposition of the boundary conditions and the solution of the equations remain the same as in onc-dimcnsiOlllll problems. Here we focus allcntion on Ihe computer imp lementation of two-dimensional elcmcnb. The usc of a model program F EM 2D is disclissed. The program FEM2D contains linear and quadratic triangular and rectangular elements, ::Ind it can be used for the solution of heat conduction and convection problems. laminar flows of viscous incompressible fluids usi ng the penalty function formulation. pl:lne e lasticity problems. and pl,lIe-bending problems using classic:!1 and shear deformation theories. A flow chart of ,,' EM21) is given in Fig. 13. 1.1. In two dimensions. the c lement calculat ions are more involved than in one dimension , owing to the following considerations:
I . Various geometric shapes of elements

2. Single as well as multivariable problems

3. Integrations performed over areas as opposed to along lines (for one-dimensional elements)
4. Mixed-order integrat ions u~ed in certain formu lations (shear-deformable penalty funct ion formulations of viscous incompress ible fluids)
plate~

and

A brief description of the function of each subrou tine from program FE M 2D is given below. UO UN IJA RY : Subroutine to impose specified (essen tial. natural, and mixed) boundary conditions on the primary and secondary variables.

668

AN INTRODI 'CJl()" 1() rut FINn I', II F\IIXT '11, 11100

i ~ATAECH~ l MES II2DRJ ,

,
PR EPROCESSO R

, , , , ,

, , , , , , ,

~
MESI 1 2DG

CONCTVTY J ~

L _______________________________________

---------------------------- -----------QUADRT I{ I

,-i[
PROC ESSOR

ELKM FfRI Sll AI'ElRI

tTE MPORAL

or

Cale ul:n e e lemcnt H, matrices ,

Assemble clement 1ll.1trices Impose bou ndary conditions Sollie cqull tions Determi ne cigenva lues and

FL KM FRCT

, , ,

[ SHAI'ERCI ~----- ---- -------------------,---- -------- } ,------------------, , ,

, , , ,
BOUNDARY

, , , , , , , , , ,

cigen ~ectors

, , , , , , EQNSO LVR , , , , ,------------------- ------------, , , , , JACO BI ) , , ( EGNBNDRY , , , , , , ,

L _________________

1 , ,

L __

( EGNSOLVR ___

_____________ _ _ ,

POSTPROCESSOR

POSTI' ROC

t
FiJ,:urc 13.1.1 Flow chart of the computer progrd!l1 FI-:1\'I2D.

CUiII'Illtl. I)- COM I'Vllitl. IMI1.JoME."IAI'ION OF 2 IJ

I'KO!lUM~

669

CONCT VTV: Subroutine called from the mesh generator M ES H2DG. IJATAEC HO: Subroutine to echo the input data to the program (to facilitate the user 10 check the input data). EGN UNORY: Subroutine to impose specified homogeneous (essential and mixed) boundary conditions on the primary variablCN when an eigenvalue problem is solved. EGNSOLVR; Subroutine to determine eigenvaluc~ and eigenvectors. ELKM FRCT : Subroutine to compute the element matrices IKI, IMI. and (FI for various field problems when rectangular elements are used. ELKMFTRI : Subroutine to compute the clement matrices IKI. IMI. and IFI for various field problems when triangu lar elements are used. EQNSOtVR: Subroutine to solve a banded, symmetric system of algcbraic equations u~ing the Gauss elimination method. INVERSE: Subroutine to invert a 3 x 3 matrix explicitly. J ACOBI : Subroutine called inside EGNSOLV R. M ESH2DG: Subroutine 10 generate mesh for nonrectangu lar domains. M ESH20R : Subroutine to generate mesh for rectangular domains only. POSTPROC: Subroutine 10 postcompute the solution. gradient of solution. and stresses for various field problems. Q UADRTRI : Subroutine 10 generate the quadrature points and weights for triangular clements. S HAPERCT: Subroutine to compute the shape (interpolation) function s for linear and quadratic (eight- and nine-node) rect;mgular elements. S H A I~ETRI : Subroutine to compute the shape (i nterpolation) functions for linear and quadratic triangular elements. T EM.IJORAL: Subroutine to compute the equivalent coetlicient matrices and column vectors for parabolic and hyperbolic equations when time-dependent analysis is carried (matrices of fully d iscretized system).

13.2 PRE PROC ESSOR

In the preprocessor unit, the program M ESH2DR is used 10 generate triangu lar- and rectangu lar-element meshes of rectangular domains. The subroutine requires minimal input but is not general enough to generate finite e lement meshes of arbitrary domains. The subroutine M ES IUOG is more general and can be used to generate meshes for nonrectangu lar domai ns. Of course. we can use any other mesh generation program in plm:e of MESH 2DR or M ES H2DG. The subrouti nes M ES H2DR and M ESH2DG generate the connectivity matrix (array NOD) and the global coordinates of the nodes (array GLXY). When the mesh generators cannot be used, the mesh information shou ld be read in.

13.3 EL EMENT COMPUTATIONS (PROC ESSOR)

The two-dimensional problems of interest in this book require the evaluation of clement mmrices that involve products of interpolation functions and their derivatives with respect

670

A'I I~,~OI)(ICllll'l l'011lE rINtn; EU . ~IENT Ml'llOD

to the !;Iobal coordinates. Since the integrals arc evaluated numerically. the inlegr,mds must <II the qu,ldraturc poi nl.~ and summed over the num ber of integr:uion poi nts. Thus. evalualion of the interpolation functions and their derivatives must be carried out inside the do-loops. E[ement calculations for linear and quadrmic triangular (ELKM ....TRI) and quadrilateral (ELKMFRCT) clements can be carried out according to the concepts presented in Chapters 8 and 9. The principal steps involved arc as follows.

be evaluated

I . Development of 11 s ubroutine for the evaluation of the interpo lation function s and their derivatives with respect to the global coordinates Isec Eqs. (9.3.7)- (9.3.11 )1. 2. Numerical integration of the coe ffkient s of the element matrices using nUlllerical quadra. ture formula s r~ee El[~. (9.3.2 1) and (9.3.34) 1

3. SClli n!; up o f the clemen! matrices required for the class of problems being <:olved (e.g .. s tatic, transicnt. and eigenvalue problems).
We be!;in with the notation u~ed for shape functions and their derivmives with respect to the natural (locHl) coordinates (~, I) and global coordinates (x, y) for rectangular clements. The variable namcs adopted afe very tmnspilrent, and thus it is easy to scc how the theoretical developments arc tra nslated into Foman s tatements. We use the followin g notation;
X I(l )

ETA(IJ ELXY(I. I) ELXY(1. 2) GLXY(1. I) GLXY(I.2) SF( I) OSF(I. I) DSF(2. I) GDSF( I. I) GDSF(2. I)

DET
CONST

Natural coordinate 1:1of clement node J Natural coordinate 'il of c lcment node I Global coordinate x of clement node J Global coordinate J' of clement node I Global coordin<lte x of the Ith n(x le. of the lllc)'h Global coordin<lte )' of the. lth node of the mesh Interpo lation function 1/11 of the lth node of an clcmcnt Derivative of SF(I) with respect to 1:: DSF(1. I) = r.h/tJ la~ Derivative of SF(I) with respecllO I); DSF(2. f) = Jt/tI/J'1 Derivati ve of SF( I) wi th respect to x: GDSF( I , I) = Jt/tI/Jx Dcrlv<ltlve of SF(I) wi th respect to y: GDSF(2. I) = Jl/fdIJy DClcrmin<lm J of the Jacobian matrix lJ I Product of Jacobian J with the weights corresponding to the Gauss inlcgTlttion point (SNI, IINJ) = DET * GAUSWT(NI , NOP) * GAUSWT(NJ, NG Il)

The subroutine., SHA ll .. TRI ,Illel SHAllERCT (called in a do-loop b:tscd on the number : of quadrature poinb) contain the expressions of the interpolation functions and their deriv:ttive ~ for va rious-order triangular (TRI ) and rectangular (ReT) clements. respectively. The derivatives of the i nterpolation funct ions with respect to g lobal coordinates Isee Eq. (9.3.9) I ,Ire also compllled in these s ubroutines, The Fortran Slalemenls to carry out the operati()n ~ in E(IS. (9.3,7}-(9 ,3. 11) is summarized in Box 13.3. 1. Once lhe arra ys SF ,md GDSF are available in do-loop.. on a number of Gauss poims in each coord inate direction. it is easy to evaluate the matrix coefficients usi ng the Gauss

Uox 13.3. 1 Fortran Mrltcmcnt~ for the ca!culutnm of the laeobiUrl matrix and local and global deriva tives of shape fund ions.
G h'cll the interpolation fu nclions (S F) alld Ihcir dcrivlllives wi th respecl 10 Ihe natural coorulll~II:S (aJT1IY OSF). lhc Jacobi an m;uri ~ (GJ ). 1 1\ dctc rmlllaJll (OET) and II1Verse (matrix GJ INY). ;Ind globa l dcn ,at"c of Ille , hapc func ti ons (array GDSI') Clm be computed a, fono\\~:
l)04{JI = 1.2

40

004HJ = 1. 2 GJ(I. J) = 0.0 004QK = I. NI'I: GJ(I. J) = GJ(l. J) + OSF(I, K) LI.. XY(K. J)

OET = GJ( I, 1)*GJ(2. 2) - GJ( I . 2)*GJ(2, I) GJINV( I, I ) = GJ( 2. 2),IDET GJINV(2, 2) '" GJ (I. I )lDET
GJlNV( I .2)::: GJlNY(2. I) = GJ(I.2)10I::T Gm. I )/DET

00501 .:. 1.2 oo50J = I.NI'L GI)SF(I. J) ::: 0.0

50
OOSOK = 1. 2 GOSF(!. J ) "" GDS F(I. J ) + GJ IN Y(I. K)* OSI'(K. J )

quadrature formu la (9.3.2 1). For cx:unplc,

5:." =
IJ

a.p, 1
-

!l1/

of Eq . (8.2.39) (1 3.3. 1) by

.p,

tl"'

ax"

- - (lx(ly ilxll
~tatcment

where

XI

= x and

X2

= y. Clt n be

IrH n~ l atcd

into Fonran

SOO( I. J) = SOO(1. J)

+ SF(I) * SF(J) * CONST

( 13. 3.21

SI I(I , J) = SI I(I .J) + GDSF(I.I).GDSF(I. J) . CONST S 12(U) = S 12( 1. J) S22(1. J) =

+ GDSF( 1. I) * GDSF(2. J) CONST S22( I, 1) + GDSF(2. I) GDSF(2. J) * CONST

lhc slimmed values o f SOO(I, J). SI I(1. J), and so on. over the number of Gltu.\os I>oints yields the numerical valucs o f the integntl coe fficien ts in (13.3.1). The Fortran statements listed in Uox 13.3 .2 SIH1Hl1arile the di sc u ~s i on. To SCI up the clemen t coefficient m.tlrices of a given problem. we muke use of the element matrices defined above. As an example, consider the problem described by the I'oisson equation in Eq. (8.2. 1). The clemen! coeffici ent matrix and the column veetoN for the problem are given by Eqs. (8.2. 19b). The element matrix K ;) [de noted ELK(I, J ) [ com be ex pressed in t erm~ of Si~I, .. by

sri,

ELK (I.J ) = AeXh SOO( I,1 )

+ A II * S II ( I. J) + A 12. SI2(1.1 )
S22(1. J)

+ A2 1 S 12(J . 1) + A22 .

nox 13.3.2 Forlr.ln \1 :'l c mc nl ~ 1 compulc m:urix cod licicnls l~". 0

NPI:. = Number of node~ per clements II'OF = Number of U!1cgTiluon IKIlnIS (i,e .. Gauss pUlnt_) DIMENSION G /\U!:i IY I'(S. S), GAUSWT(5. 5), SI'(9). GD51'(2. 9). ELXY (9, 2), SOO('1. 9), 5 11(9. 9). S 12(9. 9). 522(9. 9) D,\TA GAUSIYf/o5-/l,ODO. - (J.57B5027IXl. 0,o57BS(271 3-0,000. )Q, 2 - il.77405'16671 O,(jIXI. 0.17405%6700, 2"0,000. - 0.1:\6113631 DO. X>. J - 0.3399!1I().IIXl. 0')399!1 IIHDO. 0 .&6113631 00. O.OIXl, 1),9061798400. 4 0.538469JIIX>. i).ODO. O,o53~3100. O,906 17984lXV DATA GAUSWr/20Do. " "0 000, 2 1.000. 3 0 0.000. 0.5SSS555500. 2 0.88888888))1). O..~SS5So505o5 l)(l. 2"1l.0DO. O.~7!15485J)0. 3 2*O.6521 45Io5 DU.O 1478548051)Q. 11.000. 0.236926!!1I1)0. 4 0.4786211671Xl. 1I.56KI!!l8!1KDO. 0.4 78621!611 0.23692681\001 Xl. Jniliali/.e
1)0

1m: army ~

120 1. I.N I'E 00 120 J = I. NI'E 500(1. J) = 00 51I(1.J) .. 00 512(1. ) ;0,11 S21(1. ) _ 0,0 522( 1.}) _11 0 120 CONTINUF. OOloops on nume ric;,1 (Gau~s) IIlIegrdlion begin here

00 200 NI 1. 11' 1 1 )' 00 200 NJ .. I. II'I)F XI = GAUSIY1"(N I. IPDF)

ETA

= GAUSI"T(NJ. IPDF)

SUbrouUIlC SIIAPERCT (S II A!': ruoction~ for ReCTangular ck~nt;.) is ""l ied 10 compu L amys SF alkI GDSF: e " CA LL SIIPRCT (NI'E.XI.J: 'A.ELX Y.Dl:.I.SF.OI) SF) . eNST .= DET'GAUSWrcN I.I1'DF)"GAUSWT(NJ.1 I' I) I') COJllrule

.\''0' of~ . (13.3

I):

00 ISO I : I, NI'I!

1)0180J ", l.NI'E

SOO(l . J) .. SOO( I. JI + SF(I)"SF(J)"CNST S 11( 1. 1) .. S II{I, J) + GDSF( I. I)"GDSF(I. JJoCNST S 12(1. J ) .. SI2( 1.)) 1" O I)SF( I. I)G I>5 F(2. WCNST S21(1. 1) '" S21(1. ) ) + O DSF(2. n "G DSF(1.1)"CNST 522(1. J). S22(1. JJ + GDSF(2. 1)G I)S F(2. WeNST ISO CONTINU I: 200 COr-'TINUE

CHI\I'1l;R 11: CO\1 1 'UI'ER IMI'\.F-\lEN'IA' I I O~ Of 2- D PROOLEMS

673

where (100 = AOO. all = A II. al2 = A 12, (/11 = A21, and (/22 = A22 arc the constant coefficients of the differential equation (8.2.1). In multivariable problems. the element matrices arc themselves defined in terms of submatrices. as was the case for plane fluid flow, elasticity. and plate bending. In such cases. the nodal degrees of freedom should be renumbered to reduce the half-bandwidth of the assembled coefficient matrix. For example, consider the element equal ions (10.4,24) associated wi th the pena lty formulation of two-dimensional viscous flow problems. which have a close resemblance to the finite clement model of the plane elasticity problem: sec Eq. (11.4.5). The clement nodal variables t:.i are given (say. for a linear rectang ular clement) by

6, 6, 6, 6.

",, , "', " 11: ", ,,',

, "
11.,.

(13.3.3)

Thus, at any mxJe. the difTerence between the label number of the first degree of freedom and that of the second degree of freedom is 4 (in a general case, the d ifference is fl. where /I is the number of nodes per element). Th is difference contributes to an increase in the half-bandwidth of the assembled coefficient matrix and hence in computational cost when Gauss elimination methods are used to so lve the equations. To remedy this situation. we reorder the e lement nodal degrees of freedom as follows:

,,',
6, 6, 6) 6,
~

, ", , "'

",
v" ,
v~

(13.3.4)

t:. 2n_l

6",

In reordering the nodal degrees of freedom, we must retain the symmetry. if one is present. of the system of algebraic equations. This is accomplished by renumbering the equations in the same way as the nodal degrees of freedom . To illustrate how this ean be done, we cons ider the matrix equati on
I [

s" 1

IS21 1

( 13.3.5a)

674 which

'"

1",IIOIXXTlO' TO nth 11'1Tt 1'lJ-)ltlc'<TMllIIOO

j, a set

of four equation, in four

unknown~.

In expanded form.

WI:

h:lve

( 13.3.Sb)

no x 133.3 Fon rn n ~l alel11en1\ 10 rc;Irr:lIlgC the degrees of freedom to reduce the oo nd width of the coefficient matrix.
Rcarmn~mcnt of clcment ~'qu.tlk)'h for problcms lI'ith muillple deg";,',:, of freedom per node {Illustrated u'lIlg planc cla~lIcil)' lIIodel, NI)t = 2).

:>101' ... KUll1bcr of dCgRcs of freeedoll1 per f]odc Nl'E = NlIInbcr of nod~, per clcmelll CMAT(J. J) = Malri~ of clu>lic cocfllcicnt> ELK(]. JI .:: Elcmcll1 >Iiffnc,,' m~lm coc flicient.o.
Dirncn>.on th,,' arrays: I!LK(NN. NN) ::md CMAT/J. J), ",here NN = NPPKOF Com[)Ulalion of ~t1cmc ie nt. EtK 11f1. J). ELK 12(1. J). ELK21( 1. JI. and E.LK22{1. J ) Lqs, 111.'1,51 and f 11 .'1.6) usi ng numerical IIItcgr..lloo.

or

array' ELK I 1(1, J). EI. KI 2{!. J). ELK2I(1. J) 3",1 LI.K22t1. J ) loops arc nOi mcluded bere. The fullow ing ,lalcmCrtts go in>ldc Ihe G3u ~~-LcgCIKln: quadralure loops~)CC lJox 13 ..\.2 rOf' evalumion of f1 :
Iruliah~allon

[mli~"1.C

S'0

DO 140 I = I. NPE DO I20J= I.r.: I'E ELKII(1. J) =- ElKI 1( I. J ) + CMATe l. 1)S I I(1. J ) + C~ I AT(,l. 3)"S22( I. J) ELK 12\1. J) <% ELK 12(1. J ) + C MAT( I. 2)S 12e l. JJ + CMA:r(l 3)S2I(1. J) ELK21(1. 1) = ELK2I(1. JJ + o, IATCI. 2)S21(1. J) + CMAT\J. 3)-S I2(1. J) ELK22n. J) "" [I...K 22( I. J) + CMAT(3. 3)S I1fI. 1) + CMA112. 2) S22(1. J) 120 CQ:--lTI NUE 140 CONT['-;Ul:.

Rearrange Ihe cucnic icnt~

11 = )

DO IliOl = I.NN
JJ "" I

00 I60J =

l,

NN

ELI II. JJJ = 1:.1.1<11 (1, JJ I:.LK{II. JI+- I) ,. LLK 12( 1. J) ELK{II+ I. JJ ) _ [I.K21 (1. J)

E.LK(I I+ I. JJ+ I) "" 0 . K22<1. J)

I60JJ = :>IOI::'J+ I 180 II = NOI::'I+ I

CHAf'fER fl- CO~1P\JT1;R IMI'1.1;MIJ,'TATIO" OF l!l I'RUBLLM."

675

Here (U,. Vi) arc the degrees of freedom at clement node i. Now lett ing
!::.I=UI.

!::. 2 =Vj.

!::.~=1I2.

!::'4 = VZ

( 13.3.6)

(i.e .. the third nodal variable is renamed as the second, and vice versa) and rearranging (13.3.5a) (i.e., the third equation becomes the second equation. and vice versa). we obtain

( 13.3.70)

Of,

in matrix form, (13.3.76)

where Sij = S~~,

Si.jll = 5-12 crfJ' F; = ,.~,

j = 2/l - I , 0',/l=1.2

(l3.3.7c)

i = 20'- 1,

The above discussion appl ies to any number of degrees of freedom per node (NDF). Computer implementati on of the rearrangement of nodal degees of freedom and the associated equations Isee Eqs.( 13.3.7cl l is straightforward. and the Fonran statements of the procedure afe given in Box 13.3.3. The Fortran statements provided in Boxes 13.3.1 through 13.3.3 should help the reader sec the ease with which finite clement models can be implemented in a computer. No attempt is made here 10 discuss equation solver and eigenvalue solver. These are considered 10 be extraneous to the mcthod. The Fortran source code of FEI\120 gives a more complcte idea as 10 how various compu tati onal steps of finite clement analysi<; are carried out. The program can be modified to include Olle's own finite clement formulation. In the next section, we il lustrate the capabil ities and limitations of the educationa l program FEM2D.

13.4 APPLICATIONS OF THE COMPUTER PROGRAM FEM2D

13.4, I Il1lroduc.lion The computer program FEI\12D is developed 10 solve the following
fOUf type~

of problems:

Case I. Single-variable problems, including convective-type boundary conditions for heat transfer problems
1'1

au 82,,) a {lx~ ( -:- + - 1 - -ax ("") ill ill o.t

-:--

iJy

a ( a,,) + (/0 11 = f Jy
{I, -

( f3.4.la)

676

..... IJ\TICOI)i n

10'1 n/'lllF n"l rl H .tJltI'l 1 MflllOO

w;lh
L'/ =1"0+ (', .1

+ c,.y .

a , = a w+ al ,x + al ,'y
fo=fo+f~ x +f,y

(I,

1I 20+ (I! ,X+ (12v)' .

co n ~ lall1

( 13.4. lb)

(lo =

Case 2. Viscou, incompressible fluid flows using Ihe penally funclion fomlUlal io n of Chapler JO IEqs. ( 10.2.9 ) and ( 10.2. 10) with I~ rcplaccd by ( 10.4.20 )] Case 3. Thc phtllc elasticity probl e m ~ of Chapter II IEq . ( 11.2.18a)1 Case 4. PI:Lle bending proble ms usi ng class ical plate theory IEq . (12.2. I I) J and ~ h ear deformation plalc theory IEqs. (1 2.3.S(j H 12.3.&')] of Chaptcr 12: only rectangular clcmenh arc incl uded The fir..t category of problems is quite genera l :lIld incl ude:., as speci al case'>. many other fi eld problems o f engineeri ng and science. As it special case. ax isymmetric problems can also be anal yzcd. The last three categorics are speciali zed LO linear (i.e .. Stokes) vh cous incompressible 11 uid fl ow, linear el;L,t icity, and Ii ne:Lf plate bendi ng, respectively. The type o f gradient of the solution computed (in subroutine I)OSTI1ROC) fo r sing levariable probl c m ~ (Ca:.c I) differs for d illcrcnl physical problems. For heat trnnsfcr problems. we wish 10 com pUle Ihe x and y cOIllI)()neniS of heat flux
fix

= - (l":-- J
<X

iJ lI

( 13.4 .2)

The same definit ion :lpplies to the cal culation of the veloc ity component:. in the veloc ity potemial fonnul at ion of inviscid nuid flows ]Le., l/., lmd q, of Eq. (13.4.2) :Ire the velocity compone nts II~ :md 11, . respectively I, In the siream function formulation. the veloci ty components (v x , II, ) are de fined by

v. =a 1- , ay

iJu

( 13.4.3)

The (tot:ll) stresses for multivarinble problems arc computed using the conslitutive equatio ns. with the slrains (or ~ lrain mtes for tluid fl ow problems) computed at the reduced Gauss poilUS using the strain-displacemeIU relalions. For heal transfer problems (i .e., [TYPE = 0). the variable [CONY is used 10 indicale the presence (ICO NV = I) or absence (ICONV = 0 ) o f convective boundnries. When convective boundaries are involved (i.e., ICONV = I). the element s whose boundari es coincide with such a boundary will have additional c ontri b uti o l1 ~ \0 their cocfti cicnt matrices Isce Eqs. (8.5.6)-(S.5. 1O)]. The array IBN is used to store e lements that have convective boundaries. and the array INDO is uo;ed 10 Slore the pairs of c lclllcntlocal nodes (of elements in array IBN) thai are o n the conveclive boundary (to specify the side of Ihe cle men! on the convective boundary). If an clement has more than one of its sides on the convective boundary, it should be repeated as many times as the number of sides on the convective boundary. A complete li st of the input vari abl es of the prog ram FEM2D is included in Table 13.4. 1. which C Ontaillsan ex pl anation o f the key variable~ for the six c l asse~ (ITYPE = 0 , 1.2, . .. ,5) o f proble ms.

Table 13.4. 1 DcM:ription of the inpu t variable s to the pmgmm 1.... M2D . ~
Oat a Ca rd I _ __ _

TITLE

I) at~

litle of the problem be,ng 'o(,h'ed (SO ehar..ctcrs) C ard 2 _ _ __ _ _ _ _ _ _ _ __ _ _ __ _ _ _ _ _ _ _ _ __ _ _ _ __ __

ProbI~11\ type ITY PE :o 0 Sillg le vari:,blc problems ITY PE = I Vi",ou~ irlC"nlprc,~ihk flow pwbk"" ITYPE :o 2 I'I:mc cla'ticity problcm. ITYI'E '= ~ PI"te bending problems by FSDT [TYPE '= 4 Plate bendmg prohlem.' by [TYPE = 5 Plate bendmg problems by CP"I"(C) Indi.ator for ~"Ompotmg the gratlicnt of the -olut,oo or $t rt's",~ III the P""tp~ ...o;or IGRAD "" 0 Ko post l)f"()C(:>sing is Il'qu ill'd IGRAD :> 0 l'o,tprocc"ing is reqUired When JTYPE = 0 ulld IGRAI) = I. the gradIent IS wntputcd a~ In Eq. ( 13.4.2); for ITY I'1: :z 0 alJ() IGRA D :> I the gntdient is OOlllputed by Eq . (134.3) Indicator for d)'lmmic anal},is ITEM = 0 SialiC analy~i, i< re(luircd red: ITEM :> 0 Either eige nvalue or tramiellt a l1aly,i ~ requ L IlE:'I "" I Pa rabolic equation rm:'1 '" 2 Hyperbolic equ~tion Indicator for clgc,waluc an3Iy'" NE IGN = 0 Static or tr dn,lcm analysis :'IEIGN :> 0 Eigenvalue 3nal)"~i>: NEIGN = I Vibration anal)"", NEIGN :> I Stability of plates

ITYPE

ern.'I)

IGRAD

IT:'l

I,

NEiGN

S~lpCard 3 if NEIGN = 0 . 1 )alaCardJ _ _ _ _ _ _ _ _ _ _ _ _ _ __ __ _ _ _ _ _ _ _ _ _ __ _ _ __ __

Number uf cigelwalucs 10 be pnntcd Indicator for pflllting clgcmcclors: NVCTR = () Do Ilul prim cigc nvectors NVCl'R > () I'rint elgenvcctors Oilia C ard 4 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __ NVALU NvcrR

IEI: !" YP

NPE

Element typo: lIcd in tile analysis IELTYP = 0 T mmglll,lrclemellls IELTYP :> 0 Quadnlateml e!cmenb Node:< I"'r element NI'E = 3 U near triangle (IELTY P = 0) NPE = 4 Lmea/" quadnlaler~1 (lELTY P > 0)
NPE = 6 Quadr:uic trianglc (IELTYP = 0) l''PE = 8 or 9 Qu:tdr:llic quadrilateral (lELTYI' > OJ Indic ator f(>f mc,1I gene rallon by the progrJm MESII = U Mc,h i ~ no\ gc ncr\llcd by the progrmll MESH = 1 M c~h is genera ted hy the progrum for rt.'Cta nglll ar domain., by MESlllUW MESII :> I Mesh 1\ generated by the program for IlOIlrccwngular domains

/> IESH

by Mt:S 1l2l>G
NPRNT

Indicator fur pn nung cenain OUljlUl NI'RNT = 0 Not prillt array 1\"00, d ement mat net's or global matrices NI'R NT = I I'flnI array NOO and clemenl I m31ncc< I: L K ulld ELI'

678

M u..'TMOOlL"nQr- TO

nI~: F1MTl' [Lf.MI)l.T .\110"11100

(T:lble 1.1.4.1 continued)

I\' PU NT = 2 I'nnl ami)' KOI) and a......:mbled malricr~ GLK and GLI' NI'RNT > 2 CI)mbm31ion of NPUNT = 1 ~nd 2 Skip card 5 inmSH = I U:ltu Cllrd 5 _ _ _,--_,--,--_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __ _ _ __ _ NEM NNM Number ofclemcni' in the Ill{',h when th e U,cf inputs Ihe mesh Of Ihe me~h j, generale.! b)' \1ESII2I>G Number of node;: in til{' mt,h when the user illpills the me,h or the me~h;~ generated by I\1ESI121)G

Skip eards 6 and 7 jf MES l1 oF 0: otherwise. read card 6 in a loop on the number of clemtnt5 IN = I. NE~1 ) and c:lrd 7 In loops on 1 and J l)a ta Card' _ _ _ __ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __ NOO<N . I) COI1nccu~ity fOl" the Nih element (1 = 1. NPE) !)ato Card 7 _ _ _ _ _ _ _ _ _ _ _ __ _ _ _ _ __ _ _ _ _ _ _ _ _ _ _ _ _ _ __ GLXY(I. J) Global
~

and

_I'

eOOfdina lC' of III{' hh glOO;ll node in the

nl{'~h

J = 2. )' coordinate) Loops on I allli J arc: I(J = 1.2),1 = I. NNMI: Ihe NNM pain. of C v) coordinates arc rcaJ >C{lutntiall),
(J "" I. ( coordn"'I",:

CarJ, R- II :Ire read in I\1ESII21)(;. S~ip them unless MESH > I. I>nln Cll rd 8 ______________ _ ___________________ NUECL Number of lir>e n."CQrd, 10 be rcad m tlte mesh .0:1111 Card 9 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __ _ _ __ _ Read the follOWing NOD I NODI.. NODINC XI YI
~;ll1ablc,

NRECL tune,,;

Fir;! global node numm of thc Ime segment I..a>t global node number oflhe line segment

Node incrcmelll on the lille TIll' global ..- c()(>rdin:tte of the NOD I The global )' cl)on.1in;ote of the NOD I XL The glohul x cuurdillille uf NODL YL The glubal .\. coordinate of NODI.. RATIO The ralil) of the lil)l clement length to th~ last elen\en1 lenth Until Cllrd 10 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __

NRECEL

Number of "'"'.~ of cltmenh 10 be read in the

tnc_~h

!)lIla Ot rd II Read the follo""ing variables I\'IUEL tull(',,:

-:---:-----,-:--:-::::-:c:::------------------------First clement number of the row Lasl clement number of the row Increme111 of clen\ent number til Ihe row IflCrem~m of the global node number inlhe row Number of node> in each clement Conl":(;ti~ity arm~ oflhe ftrst clement in the mw (1= 1. 1"1'1: )

1\'1 1..1 : l\'ELL IELlNC NODINe

Nl'E

NODE(I)
S~IP

carJs 12- 14 if MESH -# I. I)nll1 Card 12 _ _ _ _ _ _ _ _ _ _ _ __ _ _ _ _ __ _ _ _ _ _ _ __ _ _ _ __ __ NX NY I)ala Cu rd IJ Number of elt'm('IlIS III the _ dIrection I Numberof elcm('nt ~ til tlte .y direction

-=:-_ _ ,--__:-:-:--,----,-:__________________
l1Ie ." coord ' lllllt of global node 1 The .T d"nen,iOIl of the hh dcmel1l (I = I, NX )

XO
DX(I)

C HAPTER 11. CO\H'\JTnl. 1~II'LI'.MLI\I'ATIO~ or 2 D PKOIll.[MS

679

(Tahl e 13.4 . 1 continued) l)at ~Ca rd YO The y coortiin<lle of gobal node I DY(I) The y dimension of the 1111 clement (I = I, NY ) Oata Card 15 __________________________________________________________________ I\SPV The number of specified primJry
~ari~ble>

14 -,--------,----C--,----,--,------------------------------------------

Skip ('ard 16 if NSPV = 0 U:lla Ca rd l6 __________________________________________________________________ lSPV(1. J)

N"ode number urullocal degree of freedom (ooF) numbe r of the ItII spedlied primJry vJriJble ISPV(!. I ) = Node number ISPV(1. 2) = L(><:31 OOF number The doloops on I and J are: 10 = 1, 2), 1 = I, I\SPVl

Skip card 17 ifNS PV = 0 or NEIGN # O. 1.>:lla Cll rd 17' __________________________________________________________________ VsrV(I) Specitied value of the Ith primary \'<lriablc (I = 1. NsrV)

Skip card 18 ifNE IGN t- O. 1):ll a Ca rd 18' __________________________________________________________________ NSSV Number of (non/.cro) ' pccif,cd ,ccondary variables

Skip card 19 if NSSV = 0 or NE IGN .1):lla Curd ISSV(1. J)

t- (),

19'-:,-,------:-----,----c::-:cc----,----,---,-------,--,-----,-----,,-,----------NoUc number and local 001' mlillber of Ihe IIh _peeitled ""rondar>' variable

ISSV(L I) = Node number ISSV(1. 2) = Local OOF number The loop> on I and J arc : ((J = 1, 2), I = I, NSSV) Skip card 20 if NSSV = 0 or NEIGN

t- O.

J);llu Card 20 ___________________________________________________________ '-:

VSSV(I ) Specilied "alue of the Ith 1>Ccondary varillble ( I = I. NSSV)

lhta Cant, 21-27 are for the .i ng le variable problems (ITYPE = 0). I)ata Cnrd 2 1 -::,---:::-,------:-,---::=----,-,-----:--------------------------------------AI (J Cocfficiems of the differe ntial equation A IX A1Y il1 l = Al(}IAIX'X+A IY*Y I)"t" Curd 22 __________________________________________________________________ A20 Cocflic iems of the
diffcn:nt;~1

equa tion

"lX
"2Y al2 = A20 + A2X X + A2YY U,,';[ Ca rd 23,_ _________________________________________________________________

NX!

Coefficient of the difkrcntial equmion

IJala Cll rd 24 ,---:::-----,-------c--c---c---,-CC----------------------------------ICONV Indicator for convection bollndary condi1ions ICONV = 0 No convection bouooary ~()lIditi()n, ICONV > 0 Com'CClion boundary conditions prcr.cnt Uala C"rd 25 ___________________________________________________________________ NUE Number clements with L'1ln>cction

1);11.. Ca rd 26 ----,-------:-:c------:-c--:-cc:-::-------------------------------------The fo llowing cards arc read for each I, I _ I, NRE: IRNO) BETA( I) T INF(I ) Ith clement number with convection Film coellicicnt for conVl,ct;un on Ith clement Ambient temperature of th e Ith cicnlcnt

Crable 13.4. 1 continued)

II' OD(I, J )

I):llll Ca rd 27 _ _ _ _ _ _ _ _-,-_ _ _,--_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __ Local !lOde number-. of Ihe ,ide with convection o '" I. 2; for quadmli~ eleme nl<, give eoo oodc~) Loopso[ll 30dJare: ICJ = 1.2). L = I . NIlEI
~ 1 <COU'

Data Card 28 1< f"r

Huid How, (ITYPE = I ) ollly.

,'alaCanl lK - , C C - - - O C - C C - C - - - - - - - - - - - - - - - - - - - - - - - - VISCS ITY Vi~'(Nly ofllle HUld PEI'ALTY Va lu e of the pcnalt~ pammeter
Dala Card, 29 and ) O arC for plane da,licily problcm~ ( ITY PE = 2) nn ly. Ua t:1 CanI 2\1 _________________________________ LNSTHS

U:I~ I

Card.~)

Fla!! for plallc '11"1:'<501" 1 )lane .l r.lm prohleills LNSTRS = 0 Pl ane ~Ir:l in clastic problem, LNSTRS > 0 PIJne ,Irr;.s etastic problem, _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __ YOUllg\ moduli along lhe global x axi s Young', modnli nlong Ihe global)" axi, 1'0i,S()n', ra(ioin tiIC .I.' pllme Shrar modu lus in the .1 1 plane ' Thie~ ne'<5 of tile plm-Ie cla'lie hIXIy anal)""led

PI E2 ANUI2 GI2 T IIKNS

Data Card 31 !~ fur plme bcl'lhng problcm~ (ITYPE = 3 [0 5) OIlly Ih ta C.rd .11 _________________- - - - - - -- - -- - - - - - - EI Young's moduli along the global x lUis E2 Young's modu li along tile global vax,s
A~U I 2

G il GI 3 G23 TIIKNS
S~ip

1'0i,o;(),,'s rat io in tbe .l,l" plaroe Shear modulu.' in the ,'y plane Shear modu lus in the .r: pllme She:lr modulus in the l'Z pl"'lc Thicklle"'~ of lhe plme analy7.ed

... Remammg dala Cllrd, nil' for ~II problem Iypes . ... card J2 If NhJG!'I

I- O.

I>ata Card .12 -C:--::.,----,. , - - , - - - -- - -- - - - - - - - - - - - - - - - ro COt:flicic ll1s to dcflne Ihe ~ource lerm

FX
FY
f(~.

y):= FO + FX~

+ FYy
(ITEM

... Cards 3.l-]7 arc for lransien!

an3Iy, i~

I- 0) only. '*

Skip card 33 If IThM = O. Oa ta Card 3.1 _________________________________ OJ

C'X

COt:fficients defintng Ihe tcmporal parts of the dlrt'ere nli;d cq ll allon~. U~ ddi nt d below:

CY

cr =CO + CX X + CYY when !TYPE =Oor I C'T = (rn + CX~x + CY Y) THK NS .... hen .TY PE = 2
1 = rn*THK NS . 2 ... CO"OIIKNS"3j1 12 0
Ill'll ex :md CY arc [1()1 used ( .... hen NEIGII :5 I 311d [TYPE = 31(5) CO. ex. 1100 CY deroote lhe bockling pantlllelCI"lI when ITYPE = 3 300 !'IEIGN > I

SkIp ca rd

3~

if ITEM = 0 or NE IG N O.

CllArrtR I " ("OMPI"TI:~ I\1PLE.\\hNIXIION OF !

IJ

f~O~LE\lS

681

(Tahle 13.4.1 l:Onli nued) e l)ala Card34 ___________________________________________________________________

/'.'T I"'16 I\'STI' INTVL INTIAL Number of time >h!~ for the Iralhicnt ,olulion ,Iep numhcr at which Ihe ,ource is removed Time ., ttp interval at which 10 print the solution
Tim~

Ind icator for nature of ,nilial condition~ INT IAL = 0 Zero inilia l <.:ondilion~ are used INT IAL > 0 Nonzero initial conditions are u'<Cd if ITEM = 0 or N61GN

Skip <.:ard

3~

t- O.

eI)ata Card 35.:---------c:--,-----,----,-,--------------------------------------DT

ALFA Time SlCP used fur Ihe tr~n,i~nl ,0lutiol1 P""Hnc1~r in Ihe alfarami ly of Iomc appro~im~tion u.<Cd for pMabulic c'luati()n.: ' ALFA = U The forward dilTercncc -;chcmc (C.S} ALFA = D.5 TIle Crank- Nicolson scheme (,t~ble) ALFA = 213 The Oalerkin schcllle (>t;,blc) ALFA = I The b;,ckwarJ difference >-chcmc (stable) tes. = conditi onal ly .table; for all schemes wilh ALFA < D.5, Ihe time step DT is re,trictcd II) DT < 2/IMAXEGN*(1-2 *ALFAJI. where MAXEOI\' is the ma.~imllm eigenvalu~ I)r the di~retc problem Parameter inlhe I\'cwmark time integration ", heme us.cd for Ilypcrboli~ equa l ions: GAMA = 0.5 COll';!allt-avcrage acceleration (stable) GAM A = 11.1 Linear accel~ratiol1 schcmc (C.S,) GAM A = 0.0 The central difference scheme (CS .) ALFA = 0.5 for al l ,chemcs; For ",heme, fur which ALFA ::: 05 ;'nd GAM A < ALFA. DT i, restricted 10: DT < 2ISQRTIMAXEOr-:- (ALFA -GAMA)I . MAXEON heing the maximum eigenY~llIc of Ihe diocrcle ~y.tell1 A small p;,,,,meter II) <;hc<;k if the solution h'h reached a 'leady ~t;ltc

OA1,.IA

EPSLN
C~r d

Skip card 36 if ITEM or INT IA L = o. or NEIGN t- O . e Un!n 36 ___________________________________________________________________ OLU( I) Vector of initial value of the pri111~ry variables (I = I. NEQ). where NEQ = Number or nodal v" lue, ill Ihe me,h

Skipcmd 37 if ITE M ~ I. NE lON t- O. or INTIAL = O . _ natll C:lrd 37 ___________________________________________________________________ OLV(]) Vector of the initial value, of lhe fiN derivative of the prim;'I)' variabb (,c!Il<.'ity) (I = I. NEQ)

13.4.2 Description of J Vlesh Generators

A major Iimitation of the program FEM2D li e~ in the mesh generation [i.e., the computation of arrays NOD(1. J) and GLXYC L J) for arb itrary domainsl. For such prob l em~. the u~cr is required to input Ihe mesh informalion. which can be a tedious job if many clements lire u~ed. or course, the program can be modified 10 accept ot her mesh general ion ~lIbrou tine~. Here we discuss the inplll data to the two mesh generalors, name ly. M ES I12DR and MESI-I2DG .

682

>l.N

1~IKOVIJCIIO"''rClnw HNn~. U.I:-\II./'oT \lh-I IIOCI

First. let u.s con ~ ider MES U20R . The program is re ... tricled to recl:lngular domain" ilh sides parnllello the global x and y axe". The ~u"roUl ine require!> Ihe following input d:ll.1.:
\~

NX NY
(Xu.Yu )

DX(I)

DY(I)

Number of element~ in the .r direction Number of clement" in the y direction Global coordinates (If globa l node I. which i ~ located at the lower left corner of the domain (..ee Fig. 13.4. I) The array of clement lengths along the x direeliun The array o f element lenglh ... along the y direction

The node and e lement numocring ..chemes for triang ular :lI1d rec tangular clemen! me .. he .. generated by MESI-12D R are .. hown in Fig. 13.4.1. Next. we consider l\ IESH20G . which i.. relatively more gcncrnl than l\U;S IUI)R. The program. ba~ed on the ... traight line generation logic u~cd by Akay. Willhite, and Didandch (1987). requires the u~er to ... ketch a de~ired mesh with cenain regularity of node and dement numbering. It exploits the regularity to generate the mesh. The program MESH2D(; reqllire, the following input (except for NEM and NNM, all other variables arc read frolll the wbrnutine): NEM NNM NRECL NUlllocr o f IOtal eicmcnh in the me~ h Numocr o f total node' in the mesh Number o f line-!>egment rccord~

For each line .;;egrnenl. read the follow ing vari'lbks:

NODI NODL NOD INC (X I. Y I) (XN. YN) RATIO

First node number on the line segment La~t node IlUmbcrOIl the line ~cgmcnt [nnemen\ !)Ctwcen two (;Oll\ccu tive nodes on the linc Global courdina\6 of the fiN node. NODI on thc line Globall:oordinatcs of the las[ node. NQDL on the Ime R<ltio or the tirst clement Icnglh to the last clemen! Ieng.th

Similar information on thc clemenh bread :." follows: NRECEL Number of row ~ (If clement ..
variable~:

For cach row of element>;. read the following NELl NELL NOD INC NPE NODE(I )( I = I. N PE)

First element nUlllocr in the row

La .. t clement number in the row

[m.: rctl1cnt between respective nodc~ of cOll,ecutive element.s in the row Numocr of node~ per element Nod:1 connectivilY for clement NELl 1

llie Iypeof data being read in 1\'1 ESH21>G sho uld gi.... e "{JIllC indication o flhe rC!o.trit:tion~ (If the progr..ull. The node and clement numbering ..Imuld be rcgul:lr '1 long the linc, ..md rows being read. Figure" I : .4.2{a}-13.4.2((I) show Iypical example!; of meshes of linellr l and 4uadrmic triangular and quadrilateral elemel11s. For each of lhe'iC me~hes. the input data rc([u ired for MESH20(; i~ li ~ted in Boxes 13.4.1 and 1:l.4.2.

.= . ~ r.~
"

,
"
>

~ , "'!:"''--'-T7~i\1 ~T ~ , , @

,
>

= , ;,
c

, l-+~K1 "

"

,
l x
:I.

"

.
0

! H~t;;'1
... ,
>

"

."

.'

>

,
> >

1\1\1"'-1\ ~ ," ,. >

.:::,

hl

1\ 1\ "'-

1\1\ "'-1\ " J\

.,'

'\,:I\ 1\ 1\ L ~ 1\1\"-,1\ [-, .- "

I"

,
~

"

.
"

0 0 0

. .. ... .
"''"'
~"

"
~ ~

~
e,
0

~"

e.
G

;;
<

c.

e
"

"

-1+-...

" " "

CIIA!"''''' 11- C(l\WI]lTR IM I'L[,M E,,'TATIO'l

or 1_1) 1'~o!\L[ M S
mc ,h c~

685

HII~

13.4. 1 The inpll t data to program FEM2D to gc nerate th e finit c clement Fi gs. 13.4.2(a) and 13.4.2(b).

\ hown in

(a)

Mesh of linear triangles [see Figure 13. 4 .2(a)1 NEM, NNM 32 2S NRECL 1 , NODI, NODL , NODINC, 0.0 3.0 0.0 6.0 1 0.0 0.0 1.0 3.07612 0.38269 6.0 Xl, n, XL, YL, RATIO 6 10 3 0.0 2.0 3.29299 0.7071 6.0 for each of the five 3 11 15 2.0 2.0 3.61732 0.92388 6.0 line segments 16 20 3 21 2S 3 4.0 2.0 4 .0 1.0 6.0

10 19

, , , , a , 3' , , " , n " , , n " " , " "

3

3 3 3 3

3 3
3

3 3
6 6 11 12 16 17

, ,
7 12 12 17 17 22

3
3

3
3

3
3

, 6 12 11 16 16 21 21

NRECEL NELl, NELL, IELINC, NODINC, NPE, NOD(r,J)

for each of the eight rows of elements

(bl

Mesh of linear quadrilaterals 16 25

[ see Figure 13.4.2(b)]

NEM, NNM NRECL NOD1,NODL,NODINC,

etc.

,
1 6 11 16 21 5 10 15 20 25 1 1 1 1 1

0.0 0.0 0.0 2.0 4.0

0.0 1.0 2.0 2.0 2.0

3.0 3.07612 3.29289 3.61732 4 .0

0.0 0.38268 0.7071 0.92388 1.0

6.0 6.0 6.0 6.0 6.0

, , , e
3

3
3

9
13

12 16

3 3 3 3

, , , ,

1 2 6 7 11 12 16 17

7 12 17 22

6 11 16 21

NRECEL NEL1,NELL,lELINC,
etc.

!.lux 13.4.2 The input duta to progrmn FEM2J) [0 ge nemte th e tin ite element meshes shown in Figs. 13.4.2(c) and 13.4.2(d).
(c) Mesh of quadratic tt'iangles 32 81 [see Fig. 13.4.2(c)]

NEM, NNM NRECL

9 1 10 19 28 37 46 55 64 73

9 18 27 36 45 54 63 72 81

1 1 1 1 1 1 1 1 1

0.0 0.0 0.0 0.0 0.0 1.0 2.0 3.0 4.0

0.0 0.5 1.0 1.5 2.0 2.0 2.0 2.0 2.0

3.0 3.01921 3. 07612 3.16853 3.29289 3.44443 3.61732 3.80491 ' .0

0.0 0.19509 0.38268 0.55557 0.7071 0.83147 0.92388 0.99019

l.O

6.0
U

6.0 6 0 6.0 6.0 U 6.0 6.0

NOD1,NODL, NODINC, Xl,Yl,XL , YL,RATlO

for each line segment

686

Al'Il' 'OI>UC'Tk' ' " Hllr II"JlI UJ ..MI ~'TMI OltOO ' I1

(80)1: 13."'.2

i~

continued rrom the prevIous page)

NRECEL

, , , , 2 2 , , 2 2 , , 2 " 2, , 666 " " " , "" " " , , 66 " " 2 " " , , " " 6 " " quadratic: " " ,.,
6 6 9
10
H

19 29 38 19 55 38 19 55 55

Mesh of

(nine-node) quadrilaterale

" " " " "

19

"" " " ., " " ., " " " " " " "" "
H D

29

NEL1, NELL,lELI NC, NOOI NC,

NPE,NOD(I,J)

Isee Pig. 13.4.2(d)},

"IlM,
NRECL

16

L. " " , n " , , , , , 2 99 , 2

9
D

, , " , , " " , " " , " " "

9 9
10

"

"""

16

0.0 0.0 0.0 0.0 0.0

La

'-' ,. ,
2.0

0.0 0.'

LO

0.0
0 . 19509 0.38268 0.55557 0.1071 0,83147 0.92388

55

63

'.0

2.0 2.0 2.' 2.'

J . 01921 ) . 01612 3 . 1685) 3.29289 ),44443 3.61732 3.80491

6.0 6.0

'-'
6.0 6.0 6.0 6.0 6.0 6.'

NODI,NODL, NODINe,
Xl,Yl,XL,YL,RATIO for each line oegment

L'

0 .. 98078

"

l6

2 2

9 9

, " " " " """" " """" ""

1 " 19 19 55 38

NRECEL

55

" " " " ., ,. " 65 ""

U

29

NELL. NELL, IELINe,NODINe.

NPE,NOO(I,J)

13.4.3 API)licliliolis (l lIuSlrath'c E:.:amlllcs)

In Ihi ~
~cc l ion.

the input data 10 "' EI\'I2D for several example problems arc di'iCusscd. nlC

example problems are S clL"Ctcd from those discussed in ChaptcN 8-12. For a de!'Jcription of

the variables used in the input data. -.ee Table 13.4.1 .

Example 13.4.1

(Poi~~Ons

Equ:lIion___________________

We CtlflSider the PoissoO equntlon

whefl: 0 is a !'>quare of tWO unit" :tnt! r denot~ the: boundaryQfQ. Due to lbe biaxial ~ym meU)'. \0.(. can use a qU3dnul\ of the domaiO 1 whe lhe problem using the finite clement rnClhOO. 0 We: repre$enlt~ compuuatiQnai dom.Jin by two di(fi:renlll"lCl;be.~ (I, nICSh of tine3J" nianglcs fFig. 13.4.3{QJJ. nnd (2) fJlt..oJ\ tlf linear rectangles rAg. 13.4.3(b)J.

Cf!APTEII 1\ , (l)\lPlm:1I IMI'LL\IEr-TA I10,' OF 2[) I'IK.tlLE.\lS

687

1.0

7
(11' .. 0

"

0 9

y
1

1.0

"

II I

,
- II

0 0

i4

1.0 4

0,
CD
2

0 0

0 0

/. .. u
6

k .. o

"

0
5

I. o 4

v
6

~ ,:; o ~"

CD
x
I

CD
2

(<1)

Figure 13.4.3 Fioite eltJllent meshes of (/I) linear triangles and (b) linear rC(,:tangles.

l'rbmgular ('Iemenl.~. We. usc lhe 2 x 2 mesh

[TYPE "",

~ho""n

in Fig. 13.4.3(a). We have

;.ffiIGN "" 0

o.

[CIRAP

I,

ITEM "", 0,

IELTYP "" O.

NPE ='},

MESH "" I,

NPRNT "'" 0

NOte that we ch(v,\e to gcner-,u~ thc mesh using the subroutine MESI12J)K. Therefore, we must sp<x:ify {he number uf suhdivisions alllilheir length~ along eJtb diree!iou:

NX=2, DX(l) "'" 0.5.

NY=2.

XO =O.O.

YO =0.0 DY(2)=O.5

OX(2)=O.5,

DY{I) =O.5,

The number of specifieJ primary vari'lblC1. {NSPVl. !be (lQdc o.umi:oen; and the specified looal degree of freedom (lSPV), 'lnd !heir ;;pecificd values. (VSPVI for the problem 'lre: NSPV = 5. ISPV(J, 1) = (3. I: 6. I: 7. I; S. I: 9, I). and VSPV{I) = (0.0. 0.0, 0.0. 0.0, There are no specified ~CQnJary variables, NSSV ;::: 0, ThectJemcient.~ a,< and a J o(thc differeoti<l} equation ( 13.4. [a) are unit}'. al) = 0, the ~urce term f b unity, 30d there is no convcctitJO:

om.

AJO= 1.0. A1X=:::O.O. Aly .::dJ.(), A20 ". LO. A2X=0.O A2Y=O.{), AOO

=0.0.

ICONV ""O, FO""I.O, F'X = O.O, FY=O.U

Recta ngular cle(llent~. For the 2 )( 2 (lour-element) me~h of rtttangulM eicment,'i ti1tee Fig. 13.4.3(/))1, the d!lta input to the program differ only io the ~'JX"'tific<ltiQn of UleeleO\ent type and the number of o(Xles per de!l1eOl: IELTYP"" 1 and ~PE ::r:. 4. The input data to FI!:~12U fur Ihc..~e TWO meshes arc pR'~oted ill Box 13.4.3. and: the corre~ponding tCdlted} output in BQX 13.4.4, 'The nUlOerir,:;l1 rel;uJts of Ihis problem were discu:;scd in EJ!:Qmple 8.3.1.

Box J3A.J The input dalll to progr.un .' F..M2D ror the
(txsmple 13.4.1, Solution Of the Poisson
0 0
l 1

Poi ~SQn

equatiOn of Example 13.4. 1.

($esh of
tri~ngle8)

equ~tion

, ,
, 1 0.0 0 1.0 1.0 0.0 0 1.0

0 1

0 0 0.5 0.5
, 1 0.0

ITYP,IGRAD,r~eM, N EIGN

IELTYP,NPE,MSH,NPRNT
me,NY
XG,OX(I)

0 0 0.0

0.5 0.5

1 0.0 0.0 0.0 0.0 0.0

, 1
0.0

, 1
0.0

YO,DY(I) NSPV IS1>V(l,J)

VSPv(I} NSSV
A10, A1X, AlY A20. A2X. A2Y

AOO

leow
0.0 0.0

FO.
equ~tion

FX.

FY

examp l.e 13,4 .1, Solut io n of the Poisson 0 1 0 0 1 1 0

, , ,
0.0 0.0

(mee.h of rectangles) 1'rY1'E, IOMD, ITEM, NElON

rE~Typ,NPE,HESH,NPRNT

O.S O.S

O.S O.S
, 1 0.0 0.0 0.0 , 1

S
1 1 0.0 0 1.0 1.0 0.0 0 1.0

S 1
0.0 0.0 0.0

0.0

, 1 0.0

lOX, NY XO,DXIII YO,DY{Il NSPV ISli'v(r,J) VSPV(Il NSSV

AlO. AIK, 11.20, A2X,

ADO
lCQNV

A2'

AlY

0.0

0.0

po.

ex.

'"'
domain

Hox 13.4.4 The. output (rQm progronl Io"l;M2D (or the POis1>tlll equation of Example 13.4. 1.
ExalQPle 13.4.1, Solution of

,,A

POi1580n equation on

squ<ln:l

Otn'Plrr

''''''
.,0 A),
AlX

program

FEM2OV2. S

by J. N. R,EDDY

ANALYSIS

OF

POISSON/LAPLACE

EQUATION

C02FFICleNTS Of THE DIFPRiNTIA.L EQUATION

COetf;i.eient, CoeffiCient, Coefficient, Coeffieietlt, Coefficient, coefficient., Coefficie.nt,

....... ................ ..... ................ .. ..... , .... , ....... .. " .,0 ...... ... ........... ." AlX .. .. . . ......... .. ... " AlY ... . .............. .... '" AOO .. , .. , ................

0 . 1000 ... 01 0.0000+00 O.OOOOB+OO 0.1000+01

o.ooooe..oo
O.OOOOB .. OO O.OOOOB+OO

,.

nlAV!F~ I , . CQ.'1I>UTl~ 1).t1'L1~\1h"TAnON OF 2_D P~01\1 .FMS

689

(801'

.13.4.4 iJ\ continued from the. previouf> page)

CONTIN!JOUS SOURCE COEFFtClSNTS:

Coeft'icieot, FO
C~fficient:,

FX

Coeffic:i.(mt. FY

. . . . . . . . . . . .. . .......... .. . ... . ...... .. ... ...... '"' ..... ..... ....... ... .

.. . .

o.

1000E+0~

0.0000+00 0.0000&+00

...

~*~*~*.

A STSADY~S'I'~Tg PRQBLi'!M ill ~na.ly:.<eo. .**.*~* A mesh of 1'lUANGLES is c:nosen by user

FINI'l'E RLEMlmT MESH INFORMATION:

element type : ... Trillngle; ... Quild.) .... NumPet' !;>f nodes per element, NOS N,. of primary deg. of freedo(l\/nO<ie , NDF< Numb&r elements in the meBh, NEM Number nodes in the meeh, NNM Number of equ~~ions $lolved, ... " '" be Half bandwidth of the matrix G<.K. NHllW Mesh 9ubdiviaions, NX and NY

"

0' 0'

........ ....... ..........

,
0

.. .......... ..
N$PV ..

"'"

...
,

, ,
5
2

1 8

No. of specified PRIMARY vllriablee, Node

x-~oord. y~coord .

Speci. primary secondary vari~bles 10, UJ'lepecified; ,0, IIpec:ified) Primary OOF Seconda.ry DOF

, ,
7

, , , ,

1 2

o .OOOOE ~ Oo 0.5000+00
O.lOOO~Ol

0.0000+00

O. SOOOlhoO O. 10008+01 O. OOOO& .. OQ O. 50002+00

0.10001>+01

0.0000+00 O.OOOOg.. OO 0.0000+00 0.5000+00 0,5000E.. 00 0.5000+00 o .lOOOE~Ol o . 1000E+Ol 0.1.000+01

0 0 1
0

1
1 1 1

0 0 0 0 0 0 0 0 0

NUMSRXCAL INTEGRATION OATA:

Ml in~e9ratioo polynomilll de9~ee. Number of full iote9~ation poines, "'educed integration polyn~ial deg. No. of r educed integ~atioo points. Integ. poly. deg. for Stress CO<:lp. , No. of itlteg. pts. 'or $~re!l$ compo

IPDF NIPF

,nOR
NIPR laTR ,NSTR

, ,
1 1

.1

( HoI(

13.4."

IS

c(llltintle(.\ from the pre.. i()tl ~

pag~)

SOLUTlON,
Node
x~coord.

Primat'y DOl"
O.OOOOOE~OO

,
2

, , ,
5

0.00000+00 O. SOOOO+OO 0.10000.. +01 O.OOOOOEHOO 0.50000.11:+00 0.10000t01 O.OOOOOS+OO 0.50000.... 00 0.10000S .. 01

O.OOOOOE,OO 0.000001:+00 O.SOOOOE+OO 0.500001:+00 0.50000tOO o .10000B~01 0.1000011:+01 0.100008+01

O. )12.50+00 0.2291 "If;;.OO O.ooOOOlhOO 0.2291"1,00 .l"1708S+00 O.OOOOOE .. OO O.OOOOOBtOO O.OOOOO!i: ... OO 0.000008 .. 00

Th.

Qrient~~ion

of gradiertt veCtor is measured

{r~

the pO$itive

~~8xis

"(:oord.
0.))3)8.00 0.1667B+00 0.8333+00 0.666'1+00 O.33.3 3B... OO 0.16671; .. 00 0.8333 .. 00 0.6661B+OO

y~coord.

-all (du/dx) -<122 (dufdy) !"lux Mgl'ltd Orhmtat.ion

0.16672:+00 0.1042+00 0.458")B+00 0.3542E ... 00 0.1042 .. 00 O.OOOOB+OO 0.J542B .. OO 0.00002 ... 00 0.1042tOO 0.1667B+00 O.OOOOJ;;'OO
0.1042S~00

o .1667!hOO 0.3)33+00 0.16678+00 0.3333+00 0.6661S+00 0.8333 .. 00 0 6667B+00 8333+00

0.354.2+00 0.4.583g ... 00 0.0000 .. 00 0.3542 ... 00

o . 1965Il+oO 0.1965+00 0.45838+00 O. 3692B~OO 0.:)6928 ... 00 0.4583 .. 00 0.3542+00 0.3542+00

32.01 57.99 0.00 . .39 U 73.6l,. 90.00 0.00 90.00

":xample 13.4.2 (Ct)!\\'ccli\'c lieilt

Con<;idcr II

Tnln~ fer)

_ _ __

~quare rej;ion of I m x I m. The left side of the region (i.e ...~=O) i\ maintaioed at loc:.re. while the boundary y"" I m is maintained at 500 C. 'thl) boundarle..\\ "'" I m and )'=0 arc c;':pIoCd to an amoienllemp!!rJturl) of 100 C. and [be HIm coefficient t3 = J{l Wf{m! . ~C). There is no iruemal h.:at generation (f.,. 0). TIlc conductivity h l:'Iken to bek<;::o-k~;:::12.5

W/(m C).

The input variables us...<:()Cilltcd with convective boundary conditions are

ICQNV = I, NIlE= 16 (for an 8 x S mc:~h elf !inc,lr rcctangularclcmcots)

(IBNen. BETA(I). ,.INl-"m!=[I. 10.0. 100.0: 2. 10,0.100.0, ... 1

lINOD( U)J=[1.2j 1.2:

AlO"" 12.5. AIX=O.O. AIY""O.O.
A2X ,...{I.n, A2Y;:::0.0,

.J
A20= 12.5,

AOO ... O.O

('11 " 1'11:1<. "

(,'O.~lI'lm:Il I Ml1,o.\ll~I "Tl ()1\ Of ' 2 1) l'I!Olli 1'\IS

691

Box 13.4.5 \:OIllains the InpUi data for the 8 x S mc~h o f linear rectangular elements. The OUl put fo r tbis prohlem i~ 11111 included here, but the R';, uJtS are included il) lilt fonn of fi gures. Ploo; of tcmpcmlUre variation~ and heat H Qw q,=-k, - ,

ar

along the bou ndarie~ are ~hown in Fig 13.4.4 and 13.4.5, respectively. Note thaI qs is linear in x and eon~tant in y. and q. is linear in y an d constant in x (for COlbl:i1lt k, and k,.). A nt)nunifoOll mc,h with ~ m:lllcr element~ in the highgrudient region gin!$ more :ltturnle result$:

"

q.. =-k.-;;-

vI"

"'

{OY(l jJ ~ \DX( l) ) "" (0.25. 0.125. 0. 125. 0.125. 0. 125. 0.125, 0.0625. 0.0625)

Ho...: J3.4..5 The input data to program t"EM20 for tbe convective heat trans fer problem of E_\:unple 1:\,4.2.
Example 13.4.2, convective heat transfer in a square region ITYPE,IGRAD,ITEM,NEIGN 1 0 0 IELTYP,NPE,MESH.NPRNT 0 1 NX,NY 8

0 1 8 0.0 0.0

0.125 0.125 0.125 0.125

0.125 0.125 0.125 0.125

0.]'25 0.125

0.125 0.125

0.125 0.125

0.125

XO,DX(I)
0.125

YO,DYCI)
NSPV

17
1 1 1 100.0 500.0 0

"

101 7, 1 100.0 500.0

19 1 7, 1 100.0 500.0

28 1 77 1 100.0 500.0

37 1
78 1 100.0 500.0

" 1 79 1 100.0 500 . 0

55 1 eo 1 100.0 500.0

1 81 1 100.0 500.0

"

7)

I$PV(I,J)
500.0

V$PV(I) NSSV

12 . s
12.5 0.0
1 16 1 10.0 10.0 8 10.0 10. 0 1 1 2 J 2

0.0
0.0

0.0
0.0

AI0, hlX, AU A20, A2X, A2Y

MO
lCONV

NBS; IBN, BETA, TINE'

100.0 2 100.0 100.0 16 100.0 48 1 2 2 2 J J
0.0 0.0

",
0.0

10.0 10.0 10.0 10.0 1 2 J

" , " ,

1 00.0 J 100.0 7 100.0 100.0 1 1 2 J 2 3

10 . 0 10.0 10.0 10.0 1 2

100 . 0 100 . 0 100.0 100.0 1 2

, " , "

10.0 10.0 10.0 10.0 J 2 J

100.0
HlO.O

100.0 1 00.0

INOD(I,J)
Fe, n, FY

692

Ai' INI KODLICIION TO Till H-'ITL [I .I'\II'VI

~wnl()I)

180
8x8Q4
'" 4x4Q9
k~

.. k.. .. 12.D W/(m ,"C)

(3~ lOW!(m2~C)

lllO' C

0,,6oo"C 7'... ><

lOO~C

=100'C

Distance, x
I,)

550
6()()

;:;. 450

't"
1-

400
350
SIlO

250
200

i)

8x8Q4 4X4Q9

"O~~~~~~no~TrrM~~~~ ),0 0.0 0.2 0.4 0.6 0.8 1.2

Di,BtanCil,y
(b)
F'ig u ~

13.4.4 TempcratLtn3 variuliQ~l~ a(l)ng the boundaries (a))' = 0 and (b)x "'" I for the eO/1~ n. ..:t.lvc heat transfer prQblem of Ihample 13.4.2: 4Q.9. 4 x 4 m~h (,I' nine-nnde tluaddluteral cleJllents: 804, fI )( 8 me~h of four-node quadrilateral ejcmelllt

<-"HAI'I'ER 11. (U\WUn:R IMI'-'\II

Nl'MIO~

(JI' l IJ I'I(OHI 1'.\1S

693

800
4I)()

8 x SQ4 lyo", 0.0625) 4: X 4Q9 \)'0", 0 .05283)

" \i
X

"' !f
~
~

- 400
-800
- 1200

ks"" R,.'" 12.5 Wi(rn CJ

fJ~

10 W 'C m2.oCl

CU ",-k -

Q T

'"

5000(;

- 1600

2000
- 2400

'OO"CD' '00" C
T.. ", 1{)(rC
0.0 0.2 0.4 0.6 0.8 1.0

- 2SOO
1.2

j)isrunce, %
(a J

- 1000

- 2000

} ,;
" " Z
X

- 3000
"'000

!f

- 5000
.-6000

q, ",-k .

......
- 0000 - 10000
0.0

- 7000

. iIy

i)T

,, ,

S x 8Q4 (xu'" 0.9375) 4 x 4Q9 UJ)", O.9472)

0.2

0.4

0.6

0.8

Disumce, l
(0)

1..

1.2

f 'igl.lr"C 13.4.S Varilllion~ or Lhe heat flow Illoog the fa ) vertical {.l:(1 ""' 0.9472 and ,\'11 '" 0.9375) aud (b) hOrilOFt11l1 C~'Il == 0.05283 i1lld\o "" 0.(625) b()ulld;\ric~ (at Ihe Gml ~~ poilll' nearest to the I:x)undari~). See !-'ig. BAA li}f the CltplaOlllio n o r th e " Ilota...:m 409 alit! 8Ql.

The program eM abo be ui>e<l to analyze tI:d~ynlllletric problems. T wexample. C(ln~ider J finite ')'Iinder of radiu~ Ru "'" I m and le"g~h I.. = 1 m. The bouom and lOp or the cylinder are maintained a\ To'" IQ()C, while the surfuce h exposed to un ambienitcillperatult T.... .., 100 C {~.., IOW/{m 2 . -C). Fur thi~ ClISC. the governing differential cqulItiQn is givcn by (8.5.1 1). 'nle coefficientS A 10. AJX. AI Y A20. A2X. A2Y. :Ull.! AOO for FEM21) lire ,

AIO:O.O.
A20 = 0.0.

AIX ... 2:d,. A2X..,2,Tk<.

A{X)=O.O

AIY =O.O
A2Y..,O.O

'The unifonn heat generation In (if QotlCm) is entered a!,

FO=O.O,
will bel).

rX "",2,.,.!o.

"1'=0.0

For a meshQ.f It! x II me~h of linear elcmeo\l;..thc number of clcmcnl~ with convective boundary

ElGIf1lple 13.4.3 cflow around a Circular Cylindcr) _ _ _ _ _ _ _ _ _ _ _ __ COll$i(ier Ibr flow of an in\iscid fluid around a cylinder. We shQII uc;c the stream fun<.."1.i()li and \-elodty jX)lenti:d lormulati(in~ to dClemline Ihe vc1vcilY fields. Since the domain i~ (lOt tect;lIl.gull).f. we should lL..e subroutine M.ESll2OG (i.e., M!t M~H "'" 2). We cons.icler lJJe mesb of25 node~and 32 triangularelemeOls soown in R.i!. 13 ...U, Weh&\'e ITYPE =0: IGRAD"", I in the velocity potcl1tinl ronnul:mon amI IGR AD "'" 2 in the ~tre:llt1 function fOffilUlmion: ITEM =() and NElON =0; ILTYP = 0 r(lr trianglcsand IBLTYP = I forqundrilalerJ,I~; find MESH "" 2 and NPRNT = O. TIle input for MI<:SU2DO is gi\'cn in {iOll lJA.1 rO{lri~ngu lar us well as quadrilalcn.ll el<.!1l1cot'i. The p:lrtill/ input of Ihe problem is given in 80ll 13.4.(1. III the SlI"t->am fllnction formllllllion. v,e have NSPY =: 13 lind NSSV,., 0; and in the velocit}" pOlcmiaJ fOnllubnion. we have NSPV = 5 nnd NSSV -= 3. The I:odliciellls itJ"C
A IO"", CO.

A20= 1.0. AOO=O.O,

AIX =0.0.

A!Y=O.O.

A2X=O.O, FY = O.O

A2Y=O.O

Rl=:;O.O.

fX=O.O.

The partial input of the probkm i, ~i\en in Sox 13.4.6 (M!t Om 13.4.1 (or the mesh ililta). A detailed discussion of the numerical ~sults i" pmentcd in Ellampic 8.5.5.

I<:xamille 13.4.4 {Eigenv;llu!l- 3nd Tmn~icnl Analysb)l_ _ _ __ We cllm>idcrlhe.eigeovalue and Ir.msicnt problems di:;cu~sed in Ex:U'Tlples K.6.1 and 8.6.2. l11e govemingdifferential equmion i~ [~ee EQ... (~.6. I 2aH8.6.12c)1

:;-lO.y.f),""O.
oX

".

,.
OJ

,. -'T""___ (a ~ll. a~u)

at
a.f~

8r

~ I

-:;--{.f.O.r)=O,

u(.f. I.I)"'O,

1i(l.Y.r)""O

CIIAI'IHI. Il COMI'I}I h~ IMf'l. UIF.'"TATIO\l Of" l-Il PIUlIJLI:MS

695

8o~

l3.4.6 The input dala to program FEMlD for

~hc

60,,"' of an

il)\'i~id

Ouid arollnd a cylinder.

Ex~mple 13.4.~{$}:

o o

0
;j

:>

0 tl

Flow arottnd a circub;r cyl:ind(;l,r (vel.. Pottl'lTIALl nypg, !GRAD, .t.1'l>M,NEIGN

tEL, NPE, MESH, NPRNT

... see TABLE l3.4.l (s) tor the MESH200 input ....

,
3

"

0.0

"

O. 0

"o. "o . "

1

,
0

NSPV

O. 0

lSPV\l,J) VS)?ViI) NS$V

1 , 0.5 '.0 1.0 0.0 0 0.0

, 1
1.0

0.0 0.0

11 1 0 5 0.0 0.0

ISsv{I,J} VSSVCr) AlO, AlX,

AGO lCO,,"

An

11..20, A2X, A2Y

0.0

0.0

FO, FX,

,y

Example l3,4.)(bl: Flow around a, cir(:ular cylinder{STRM F"lJNC"N} I'r-YP&, IGAAO, l'l'EM,NEIGN o :2 0 0

o
~

rELTYP,NPE,MESH,NPRNT
~lle MESH2DG

*.

See VUlLE 1). >l ,l(s) tor

input *
NSPV

lJ

,
*~.

1 1
1

, 1 11 1

3 1

0.0 1 0 0

'" "
2.0

5 1 0 0

10 1

O. 0

2. 0

21 1 0 0 2 .0

",
0.0
Exampl~

20 1 " 1 IgPV(I,J)

0.0

0.0
VSpV{t}

0.0

NSSV

Remaining

da~a

is the

~ame

as

~n

~3.4.J(a)

abOve

PoreigcnV'Jlue anaJy~js, we SCI ITEM = I and NElGN:<:: I; for the Iran~iCJlt analysi~. we SCI ITEM :<:: I (parabolic equation) and NElON =- 0. In IIdultjon. we milS! inpul the following paJ1lmClers:

I\'VALU (n umber of eigenv:tlues to be printed) anti NVCfR (if eigcJl\'cctors to be printed).

NTLME =20. NSTP =2J, (:::0 NTJME). I:-ITVL-= l

INTlAL =O. D1'=0.05, ALPA = O.5, OAMA=:0.5 (nol used)

CO "" LO.

ex =: 0.0.

CY = 0.0

The pafinnctcr NSTP allows removal of the SOIlI"Ce (i.e .. j) at a given time step. For e:l:lllTJple. if NSTJ> "" 5, then at the fifth hlnc Step aou at each $UbiiCqueilt lime ~!I.'p f will be set equal 10 zero. In the present ca..~e. the ~ource f "" l i~ kept at aJl time:.: hence. we mUJi! ChOOliC NST/' 10 be greilter than NTlMB{satN:STP "" 11). The input filc~ and p:U1i;)1 outpLU foc the eigtovalue :lnd tr;losieol ilnalyse~ arc presented in Aoxe~ 13.4.7 an(] 13.4.8. re~pectivelr. Fur a discus~ion of the numericill rcsu]ts of the...c two problem" see ExampJc...~ 8.6.1 !lnd &.6.2. The problem~ in Examples R.6.3 and 8.0.4 (!;tn be an;llyzed using FIi:i\t2D. with minor ch;tllges to the input d;t\a &i\"1:11 in Aoxe~ 13.4.7 and 13.4.8. The input dma for lhe two problems of Examples 8.6.3 and 8.6.4 b inclltdcd in 13,1:>; 13.4.9.
Hux 13.4.7 The input dalH and pan.i,Li output of pmgram .FE:\12D for the eigenvalue analysis of a rar.tbQlie equation (E:>;ample 13.4.4).
Example 13.4.4:

..,, ,,
0 0 0 0.0

, ,SIGSNVA.LUg
0

AN~~StS

of a parabolic

~Qua~ion

IT~S,!GRAD,ITEM,NEIGN

,
'0 ,

NVALU. <NcrR
lELTY~.N~E,MESH,NPRNt

0.25
(l.25

,, ",
0 0

0.2S 0.2"5
15

0.25 0.2.$

0.25 0.25
20 1
25

NX,m .xO,DX(I)

'(O,DY{l)

2l'
0.0 0.0

LO

"
0.0

, ,

NSPV

, '"

ISPV
.AIO, AIX, AU

I.O
0.0 0 LO

0.0 0.0

"'0, A2X, An

AOO
ICON\'

0.0

co, ex,

cy

s a L U T tON (from FEM2Dr:

NUmDer of Ja~obi itera~ions NROT .. 371 , , G N"VALUE 11) O. 3<13 2S~E+03 , I G NVAt.(lE III (;I. 253101: .. (l3

, , , , ,

I G N V A to U E I G , I G SNVALO , I G E~VALUE

, , , , NVALUE

(3)

'" 15)
'5l (7'
(11) {12}

SIGENVALUE

, , ,,

, I G , N V"ALU"S (8) 1 G EN VAf.,UE I.) I G , N VJ\LUE (10)

.1 G E N V A L G 1 G< NVA!.UE I G , N V A L G G E N VALU"E E I G E N VA .LOIl I G E NVA1.UE

tl"3)
(H)

{lS)
(J..6)

0.2$3701"03 o . 196500E+O) 0.196500 .. 03 0.174U7$+G3 G.l?-u,27E+(13 0.1641.45+03 o .l.069\lSE.+O.} 0.106.9451>+03 0.$457201;;:"02 O. S>l5720g.. 0.2 0.4.97442+02 0 .,,13114+02 0.21371.48+02
0.499SS4S+~H

Cl IAPTER 13 CO\I I'lT n :M1~IIU"-\llJ"T,(IIOI>o 0I-1 1)"IIOIIU-\IS

697

Hox 13.4.8 The input data and partial output of program parahoth: Cf.jUfltion O::,XlIlllp!C! J 3.4.41.

1<'I~;M2n

for lilt II'JJlsicnt analysis ojf a

Exa!llP1e 13.4.4: 'l'JI.ANSlNT ANALYSIS of 11 pa.rabolic (\(lust ion 0 0 0 ITYPB,IGRAO,lTBM,N~IGN 0 liLTYP,NPE,ME$H,NPRNT NX,NY 0,0 Xo.,DX(I) 0..35 0.25 0..25 0.25 '{o.,D'Y(1) 0,0 0..25: 0..25: 0..25 0.25

, , ,

, , , 10' ", "

NSl'V 15 ,

"

1 25 1 0,0 0..0 0.0. 0.0 0.0 0.0 0.0 0.0 0,0 0 0,0 0,0 l.O 1,0 0,0 0,0 0,0 0 0,0 0,0 l.O ',0 0,0 0,0 21 1 0 0..0.5: O,S 0,5 1.o.E-3

"

21 1

"

>Sl'v
VSpv NSSV

IUD, "lX, AlY .20., A2X, A2Y

AGO
ICON\! po, Fl<, l'Y

co, ex, a
NT!Me, NSTP, INTVL. IN1'IAL DT, ALf'A,GAMA., BPSLN

Bdit~d

output from FEM2D Time Step

"TIME .. 0..500.0.0.:-0.1 SOL V T ION :

Number

Nod>

)vcQord. D.DODDo.E+o.o. 0..250.0.08,,0.0. 0..50.00.0.1;;,,0.0. 0.,750.0.0..,.0.0.

y~coord.

Primary OOF
0.,49867-01 0.49118-0.1 o..4./l620g-01 O.HSo.Sg-Ol

,
1

0.,00.0.00.+0.0. 0..0.0.0.00.+0.0 0..0.00.008" .. 00 O.o.o.o.o.o.B+OO

- TIMS .. 0..10.0.0.0.+01 SOL u T ION

Time Step Number 20.

Node

x-coord. 0.0.0.0.00.&:+00. o..JSo.o.o.!I:+o.o. 0,50.0.00.8+00 0..7500.0&+00.

v-coord,
0.00.0.008+00 0..0.0.0.0.0.+00 0..00.00.0.&.00

primary DOl"
0.J96J1E+OO 0..280.)7:+00 0..230.651::+0.0. 0. .1</.053+00

,
I

O.OOOOOE--t-OO

69~

IN I'ITItOlJllnIOl'; IOTIlFfI.'IITI 1:1 1:.\11;,'1"1 MFlllt~)

Uo~

13.4.9 The input uSia ~nd p.lftial output of progmm FEMll) for vibraliOJl ,lnd trJnsient anti lysis or [he f(."C tflngu lar memb(nlle of E~artJlllC$ 8.6.3 and 8.6.4.

Exampll.'! 1l.4 .4:

0 1

0.0 0.0 16
1 1

"
4

0 0

,
1

Natur~l

vibra tion of a rectangular mel)1brane

ITYP~,lGRAD,ITEM,N~lGN

1 0
1.0

NVALt1, NVOtR
IeLTF,N~E,MESR,~PRNT

NX,NY
0.5
J ,

1.0 0.5
, 1

1.0 0.5

1.0 0.5
1

XO,Dx(l) YO,OY(Il

151
14.5 12.5

15' 20 1 0.0 0.0 0.0 0.0

"

5 221

, , "

NSPV
1

10 1

2.5

o
1

'.0

.00
O
Tran~ient

"" ..

AIO, A1X, AlY

A2l{,

"

25 1

"Y

lCONV

co. Ol<.

C'I
~mbrane

example ll.4.4:
0
-4

analysis of a reCtangular

2
1.

0
()

ITYPE, laRA.!), 1-1'SM, NElON

IgLTF,~FE,HESH,NPRNT

,
0.0 0.0

NX,.t!01
0,5 0.25
O~S

0.5 0.25

0.25
20 1

0.5 0.35
21 1 22 1

XG, OX ll)
YG,D'f(l)

(il

quadrant)

(ia used)

51

10 1

15 1

""'"
'00

0,0000,0

0.0

0.0

23 1 0.0

24 1

25 1
0.0

l'$FV
vSP\'

0.'

NSSV
AlO, AIX, :r<1.Y ),20, Alx, An

1.2.5
0.0 0 .0

1.2.5

0.0 0.0

0.0 0.0

,eoNV
FO, f'X, F'{

0.0

0.0

2.5

{l.a

0.0

co, ex. cy
NTIMS,NSTF,lNTVL,INTIAL OT,ALFA,GAMA,EPSLN
0.175 0.16406
0.13125

20 21. 1 1 0.025 0,5 0.5. 1. Oe-3 0. 400 0.n5 0,300 0.375 0.35156 O.tS~25 0,300 0.28125 0.235 0.175 0.16406 0.1312S 0.0 0:0 '.0 0.0 0.0 '.0 0.0 0.0 0.0 0.0 0.0 0,0 0.0 0.0 0.0 0.0 0.0

0.0 0.0
0.0

0.016563
0.0 0.0

0.0

0.0
0,0 0.0 0,0 0.0 0,0

tnL (;ond.,

O~U(l)

0.0 0.0 0.0 0.0

InL cond., GLV{l)

"~xamp&e

13.4.S (Fluid SquC'Cred bclwco.:n P:\f'Jllci

Phllcs)~

_ _ _ _ _ _ _ _ _ __

6)( -1 mc~h of nine-nOde dements. Most of the dilln j~ eXRet!)' the ,sme for-bOlh
have
ITYP6= I. IORAD,., I. ITE..'\1 ::c:Q (font.uic SlWiy,is)
alHlly~i~).

We;;(:( up t~ d;ltl fOf [I 12 )( 8 unifonn mcsh oflint3f rectanguJar elemenlS and the <!quj'lalcnt mcshe~. We

ITEM ::c: I (for INln$iclIL NX=6.

NElON'"" ()

~Yu4.

NSPV=47

AMU(=/l) >= 1.0.

PF..NLrY{::c: y)= lOS

Sox 13.4. 10 cOlltllin" the complete input data for ute 6 )( 4 mesh Qf nmcnode clements for the truosicnt c.~\C!. For addiliollRI details. . Ex:nnple~ [0.6.1 and 1u.6.4. ,cc
Boli: 13.4.10 The input datOi to progl'".nn .. ..:\\120 ror the IJ1III)iCnlllnalysi, fir Huitl \tjucczcd between

plates j~ample 13.4.5).

&~~le

13.4.S, TRANSIENT ANALYSIS of fluid

'1
9

aqu~ezed

between plate.
NV!>. MESH. NP,"",

, ,
1
0.0 0.0

1
1

0
0 1.0 0.' 1.0 0, , 1.0 1.0 1.0

l.1'Y5'E, tGRAD, ITEM,NEION

I~t.,

"X, NY XO,

1.0

ox{:n

0,'

o. ,

"

, 1

10

92 1
109 2
114. 2

0.0

0.0
-1.0

'.0
-1.0

,, , , ,, , ,, ,, ,, ,, , , , , , , " '" ", 10' ". '" '" " , , " , '" '"
NSPV
11

II

YO, OY{lJ

1
1

10'

106 1

10'1 2

108 1

108

10.

110 1

110 2

III 1

1.11

1.12 1

11.22

113

llSl
0.0

115 2

1.16 1

1162

H71

1112

tSI;>v{r.J}
0.0 0,0 0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.0

0.'

0.0

0.0

0.0

0.0

'.0

0,0

0.0

-1.0

0.0

-1. 0

0.0

...1.0

-J.O

0.0

0.0 0.0
1.0ga

-1.0
-1.0

0.0 0.0

-1.0
-1.0

0.0 0.0

-1.0

'.0

-.1. .0

0.0

-1.0

VSPVlI)
NSSV

0 1.0 0,0 1.0 0.0 0.0

50

AMU. PSNI,TY

0.0 0.0
1

FO, FX, F<

CO,

ex,

C'{

20
U

0
1.0!>-)

NTIMS, NSTP. IN'I'Vl<.lN'l'lAL

01', ALFA, GAMA, EPSLN

0.'

0.2S

TI1 next C

cxamplcdell1.~

with pllllle cI">;ticity problem of Examples 11.7 .2 and 11.7 .3.

Exumple 13A.6

{E I ;l~ t icl t y

I'l'I.lbkm)I_ _ _ _...._ _ _ _ _ _ _ _ _ _ _ _ __

This b. a plane el;.~ticity problcnJ with pl:mc ~tress assumption {i.e., LNSTRS = I}. Ikre we
con~jder both Irian~ul;lr ilnd

recl:lrlgular clement

!1.lc~hes (~~

Fig. iJ.4.(l); M ES 1I2DH. Can be

used In generate the meshes (i.e., MEsn = I). l<Qf thc.S x 2 mesh of liltc;),rctcmems. we have " the fOllowing inpul p:lramelers:
ITVPE = 2. IGRAD = 1 (or > 0), ITEM = 0
IQr static IIn;lly$i~ and ITEM = 2 for dynamic analy~i~. 111cre ru:e (nur spccilied primill)' \,Ilrillblcs and three n<)O/.t:(I) ~pec:i6cd forces f()r the mc~h:

NSSV=4.

ISVP(I,J)=(9.1: 1{{.1; 18.2:27.1)

VSPV(II == <0.0. 0.0, 0.0. 0.0)

:-lSSV :c: 3. ISSV(J. 1) = (I. 2; Hl,2; 19,2), VSSV(O:c: {- 75.0. - 150.0. - 75.0)

For the 4 x I mc~h ofninc-ncx!e qUi\drmicelerncflI:., the datil remainS Ihe galneas above, except for ihe value!, of tbe ~pecified ful\.'l!S {- 50.D, - 200.0. - 50.0). Box 13.4.11 COl1lajn~ the datil sets for ntllural vibration and tr,tnSiell1 'U1alysis for the 4 )( I !tlc~h of nine-node quatll'.ltk elements. The da til fQr Ule statk ca.se follows ea~i!y frum the
IJ';lnsient cascoThe re~ult~ were discu~~ed in
Hxam]llc~ !

1.7.2- ;ll1d 11.73.

E .. aO Msi,v",O.25 a"<>IOin .. b~2jn .. 1{} "" 150p~i

.5{llb

200'bl l9
501b Q4 x lQleSh

r L

IQ . \2 I

"
J

F'

,
5

. 14
4

.,.

2S

6/'

..." ,
4

,t.. = t,. * O
=O
1.. ..

u .. ,", u1

t~ "' O

Figure 13.4.6 Hend ing o f (l canli!e,cr rIme u~ing II~ c!a~tici ty equ,ltions: (tI) gcomclfy Md Loading: and (b) me~hcs of fQtJr~nodc linear cJemen.tS" (8 x 2) ilQ.tl ninc-node

quadr,Ltic clements (4

X"

n.

IJ(J~

13.4. 11 The input datil I(l Pf'Ol,'li.llll 1<' :\'I2D for nalural Vlbr'JllOll and Ir:lnsient a naly~is of :J.
cantilever plate (El!:ample 13.4.6).

IXMple 13.4.6: Natural vibration of a

2
10

, , ,
1

bea~

by plane ela.ticiry
tTYPS, IGAAD,l1'H, NBl.ON
!NALU.NVCT~

,
'-'
18'

If,LTYP, NPELMSSR. NPRNT

me,
2-5

NY

0.' 0.'

2-5

2.'
18 1

'"
27
1

XO, ext])

YO, oyo:)

"spv tspv
LNSTRS

1 1

30.0E06

30.006 8.82S5E~03 0.0

13.4.61

0.25
0.0

12.006

1.0

Bl,!2,ANU12,G12,TRKNS

co, ex,
III

C't

Example
l

fran.lent analysis of
0 0

2:

1 9

2 1

beam by plane elasticity tTYPB,IGRAD,ITEM,NEIGN IELTYP, NPi. MESH. NPRm' NX, NY

XO,OXU) YO,DY(]l
NSPV

0.0 1 2.S

2.5

2.5

2.5

J
1

0.0

2.0

9 1 0.0
2

18 1 0.0
2

18 l 0.0
19

21 1 0.0

IS'"

" 50.0 -200.0

1

,
1.0

vs'"

-so.o

NSSV !SSV VS$V

LNStRS

.30.0E06" .oe06 0.25 1.2.0EOtl o. , 0.0 8.82558-03 0.0 0.0 202110 0.25-03 O.S 0.5 1.0-3

,., "

El,S2,ANU12.G12,TIIKNS
FO, FX, FY co, ex, CY lITIMa, NSTP. IN'l'VL.IN'l'IAL

OT.ALFA.GAMA, BPSLN

The nexllWO exa l1lple~ are concerned with ph.le bending problems (see Chapler 12).

Example 13.4.7
Con~ider

( B enJ in~

of a PMe)'-_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __

beoding of a Mlu,U't plate under- uniromlly JI\tributcd lond. Tbe I x I mesh or Hermite clemenl' and 4 )( 4 InC!>h of Jlinenooe elements ate u'>Cd to model the square plate. Only J'e(.'tangul,tr elel1)ent.' arc aIlO'o\'OO:

Classical PInt,. The.Qry (Cpn (ITYPE

="

Of

5)

rrYPE ..,. 5 (~lIlfoml ing clement).

ICRAD I : I

702

,\~ 1' 1rKOOI.ICno.'< i"j)TIlEH'I111. ~l 0IF'Il" ~U'IW}I) .

Shear /)ejor/fl(Jliul1 Theory (SDl)

Il'YPI"3=3, ICiRAO = I
The "ht~sical pJ;ltc model has three dcgrce~ of freedom per node when the nonconforming elemi!(lt i$ used (i.e .. ITYPE = 4), and four de~es of freedom per nodc for lhe cOllfomling elemcllI (i.e., ITYPE := 5). Thi~ Olllst be taken into considcraHon ill Iopecifyi ng boundary conditions, I'VI" uddit ional dt.llail~. I>~e E~;lmplc 12.5. I. The input data for $t;llic analysi~ Of II j,imply ~uppOrted. ~quare. isotropic pl~te usi.ng CPT(C) and SOT modcb is presented in Box 13.4.12 ..1\ quadran! of the Jlt:ue is u~ed as the tom puliltion.al domain. For the nonconformi ng ctcmelll. the dilla is the ~ame as that usud for t.he shcar defi)f(Il11lion IU(KIcl. except Ibut ITYPE <= 4 , For free vibr:llion (NEIGN "'" I) :md Mabilily analy.sis (.NEI G~ "'" 2), most of lhe OllIS rumain the same. For transicm ani!.JYl>i~. lhe time Slep u~ed fur unconditiullally slttble schemes is arbitfl\I)', but ~hould be small enough to gh'C complete and nccu r:lIe rc'pon:>e curve.

,I

80)( 13.4.12 The inpm oJatn to progUln n:. 2D fOr \s l:ltic) bending anill%is of a M

~ilf1pJy

supported,

square, iSQiropic Jlhltc (sec Fig. 12.$.1).

gx~mpl~

13.4.7, Sending of a

simply~ suppo~ted

3 1
~

0.0 0.0 1 10 3

1.25
1.2S
3

0 0
1. 2$

plate (S~l ITYPR , !GRAD,ITM.NEIGN IEL, N"P~, MESH, NPRNT

NY

me,
1.25
1..2S

1.25

1.25

",
"
o
0.0 0.0 0.0

1 J

,,
15 1 2J 1

."

xc, bxn)

"' 22'
0.0 0,0 0.0

,. J
0.' 0,0 0,0

0.0 0.0 0.0

",
0.4&7
~

"

16
"

, ,
1

YO, DY(t)

NSPV

0.0

o. ,
0.0
O. ~ E7

0.0 0.0 0.0

",
NSSV

1 201

J
20 J 251 0.0 0.0 0.0

,, ",
1 25 0.0 0.0 0.0

10 1

21

,
J

"

0.0 0.0 0.0

~tc.

1.0B1 l.GE? 0.25 1.0 0.0 0.0

0. ~ E1

1,0

El,E2,ANU12,G12,

",n,n
simply-supported plate (CPT (C)]
I1YPE,IGRAD.IT8M.NE!G~

Example 13.4.71 Bendiog of

5 1
1)

1
1

,
1

tEL, NPE, MESH. NPRnT

Nl{, NY XO, DXC!) YO, DYCl)

0.0 0.0

'.0

S.O
,

"
1

1 0.0 0.0

, , ,
J
1
3

.SPV
J 3

ISPV(I,J)

.,
0.0

0.0 0.0

0.0 0.0

0.0 0.'

0.0

0.0 0.0 VSPV (Il

o
1.0E7

.SSV

t.O

1.0S7 0.0

0 . 25 0.0

0.4&7

0.4S7

0. 47 l.G El,E2,ANU12,Gl2,etc. FO,FX, FY

{"lIM'tHo/. 11 COl<I I'I. 'lHII~U~J ~U

'(r"no'! 01 :.1) 1'1111) ~.,

703

Example IJA.8 (1'r.tJll'iellI

Con.~jder

R~poo~

of 1:1 Claroped Circular Platel_ _ _ _ _ _ _ __

a clampetJ circular plate of l'ildius R "" 100 in .. thicknc..,~ h = 20 in., mooulus . "'" 100 psi, Poisson... ratto 11 .... 0.3, and denSity p = 10 sluglill.-', DOd subjcctc<l to 11 suddenly applied pressure load of inlc Jl~ily qQ '" J psi. We analyJclhe problem by modeling otlc quadranl (u ~ ing thel>ymoICtty) uf lhe plme by fivc nine-node clCmClltb (sec Pig. 13.4.7) and 41 = 2,5 s. The io put dati, to fEM20 i~ prcM!nled in Bo" 13.4. 13. 1'10" o r the cenlcr deflection and Slrc~S VC(I; US tlmcare bhown in Pig. 13 .4.8.
80lt 13.4.1.3 The inpul JaIl) to

progronl Ft;~O fOl" IrJI)~ie nl isolropic plme under ul)i rormload.

Tr~neient ~nal ysis

oln3 ly~ is

of ol clamped. ci reul olr.

ISOTj

Jxample 13. 4 . 8 ,
1 2 1
9:

of a

ei~~lar plat~

2 0
7 17

0 0
9 2

ITYPi, IGRA,D, ITEM,NEIGH tEL. NPE. Mil-S it , NPRNT

S
1

29
S IS

NEM. NNM
6
8 4

10 16 12 6 8 12 18 14 13 ;2'1 11 ;20 26 24 .16 2 1 27 29 18 :12 28 24 2') 0.0000 16.5000 O.OGOO 16.5 33.0 0.0 2).3345 12.6286 30.488 49.5 0.0 45.'132 l8.9428 18.9428 45.732 0.0 4 9.5 60.976 2S.lS71 46.669 46.6:69 0.0 66.0 83.0 0.0 58.69~ 8 58.6898 31,?627 76.682 100.0 0.0 92.388 39.2683 )8.2693 92.388 0.0 100.0 21 1 2 1 3 2 3 4 2 5 3 ],,9 2 20 3 l4 2 25 1 25 2 27 1 27 2 21 3 28 1 28 2 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
17

5 9: 7 15 .25 19 .17 0.0000 0.0000 23.3)45

1 19

3 11

NOOI1,II. t .. l. NPE NOOU,I), I .. l . NPR NOD!),I), r .. l,N PE

NOPI 9 , I ) , 1"1, NPR NODIS, I. ). I ...1, NI?&

11.6673 11.6673 10.488 12.6286 0.0 )'3.0 35.0 3S.0 66.0 0.0 25.25'1l 60.976 76.682 31.7627 0.0 83.0 70.1107 70.7107 GLXYU,J)
NS PV

.9 l 25 3 29 3 0.0 0.0 0.0

NSSV

10 1 26 1 29 1 0.0 0.0 0.0

14 2 26 2 29 2 0.0 0.0 0.0

15 3 26 3 29 3 0.0 0.0 0.0

1.0&2 1.082 1.0 0.0 10.0 0.0 200 201 2.5 0.5

0.3 0.384SB2 0.384582 0.3945&2 20.0 e1,B2. etc. 0.0 FO, FX. PY 0.0 CO, CX. CY
10 0
l.0~03

NTI M ttSTP,INTVL . I N1'IAL H,

0.5

PT, ALPA, GAMA, gPSLN

13.5 SUMMARY
A dc"Cription of finit e clement C{Jmputer program FEM21) ,1110 it<; applicalion \u proble m... d iscu!'>!'>cd in Chaplcr-; 8-12 h;we been presenled . The program can be u\Cd 10 anal yze I.... o-dimensional field prob l e m ~ :Ino problems of plane cla!'> licily. Iwo-di me nsional now!'> or \I;<;:Ou,> incompressible Iluid!\. and plale bend ing. It allow.. ~ I a li c. eigenvalue. and lime depe ndcnt anal yses. Lincar and quadratic. and Iriangular and rcctang ular c lemenI'> can be u'lcd. The pmgr.tm FEM21) i ~ a InI C refl ection of the thcory prc!\cl1t(!d in Cha pter... 8-12. an u it can be extcnd(!d 10 ana lY / c olhcr fiel d probl c m ~ wi lh appropriate modification,.

, ,,

, ,,

, -'
~ e<- Q

-24 19
14

9 ...._,/

E -* 100 pili, " "" 0.3, Pg 10 II.lugafin.3

R ~ 100 in .," .. 20 in., !Io '" J psi

a .. 0.5, y",O.5,At s> 2.5s

....Igul'l' 13.5.7 The ge.()1TICll)'. boundary conditions. :i.nd finile clement mesh of tJle clumped circu l:1te plate of ExmJlple 13.4.S.
oo+-~~~4-~~~~~

E"" 100 psi, 1',",, 0.3

p " JOsJugslin.:l R "" 100 in ., h = 20 in.

,
I

,-' ,, ,,

,..... ,,' " '\

,,

,,, ,, ,

, .......,

of'"~ .~.,-"_

.. __ ___ -- ....

w10,0)

,-' ,--' ,, ;-_.. -....

-_. (1 ,#(A,A)

-20 ~""''T'"''''1''",.".,'';'''".".crrr=r~=Fo .50 100 150 200 250 300 3SO 400 450 500 'Hme.t.
"lgure 13.5.8 Centc.r ue f1ecli()J\ :md ~Iress versus time, for t~ damped circular p13lC of Example. 13.4.8.

A ... tbe fust GS\UIII point of element I

CllAl'l'ER I' ("()\IPlJIU, IMI, .E\ln<TAT IO!\ (l1' !_[) l'Ronl.E\IS

705

PROBLEMS
Note that most of the problems may be analyzed u~ing E<' El\'12D. TIn: results ohtained from the prognun be evaluated for their llCcuracy in the light of analytical ~ollllion~ for qualitative under~tanding of the soluti()n~ of the prohlcl1l~. New problems can be generated from those given here by changing the problem d<.lla. mesh. I)'pe of element, etc. For time-dependent problem~. the time step (whose order of nwgnilUde is given by the critical time step) and number of time steps shou ld be chosen \uch Ihat lhe sulution pattcrn is e, tabli shed or a steady state is reached. When specific material properties <.Ire not given. USl' values ., ueh th,11 the ~()Jution can be interpreted as t11e nondimensional solutiun of the problem.
~hould

General Field

I~roblem s

(Chapler H)

13. 1 Inve'i tigat e the converge nc e of sulutions to Problem 8.18 using 2 x 2.4 x 4. and 8 x 8 me~hcs of linear triangular e l cmen t~ . and compare Ihe re, ull, (in gr<.lphi<.:al or tabular formi with th e analytical solution. 13.2 Rcpc<.lt Problem 13.1 with recwngularelemenls. 13.3 Repc<.ll Prublcm 13 . 1 for the case
HOI(X)

= I (sec Problem 8.19 for the <.Inalytical sulutiun).

13.4 Repc<.ll Problem 13..1 with rectanguJarelemenh.

13.5 Irweqigale the convergence of the ,ollitioll 10 Problem 8.23

u~illg 2 x 2. 4 x 4. and 8 x S meshes uf linear triangular dements and eq uivalent meshc~ of quadnl1ic tl"iungular element~. Allswer: For a4 x 4 mesh of quadratic Iriangles. the values of II(.\". 0.12S) at nodes II through 17 are 0.1 145. 0.1977. 0.2S29. O.37S7. 0.4SS0. 0.61 I I, and 0.7436.

13li Repe:lt Problem 13.S using rectangular elcmems. AI/slt'a: For ~ 4 x 4 Illesh of quadratic rectangles. the value\ of u(.\". 0.1 2S) at nodcs 11 tltrough 17 arc 0.1165, 0 . 1982. 0.2834. 0.37)19.0.4884.0.6114, and 0.7449.

13.7 Analyl.c the axisymilletric prohlem in Problem 8.26 u,ing 4 x I and 8 x I linear rectangular eleme nt~. ami co mpare thc ~olution with the eX:l(;t solution. Allswa: For (I 8 x I mesh th e va lllesllt r = 0. O.OOS. 0.01. 0.0 15 und 0.02 are : VI = 150.S3. U 1 = 147.05. V. = 137.59. ami V7 = 121.91. The exact values arc TI = ISO.O. T! = 146.87S. 7"1 = I 37.S0. ami T~ = 12Ui7S. 13.1'1 Anal)'lC th e axisymmetric problem in Problem 8.27 using 4 x 4 and S x 8 meshes of linear rectlillgular clements.

13.9 Analy,..:: Prohlem 8.18 for eigenvalues (take (" = 1.0). u,ing a 4 x 4 uniform mesh of triangular clements. Ca lculate lhe critic(tI tillle step for a parabolic equation. AII.I'I\"l'r: tHen = 2.172 x 10 1. 13.10 Analyze Prob lem 8.18 u,ing <.I 4 x 4 mesh of triangles for tTaII,icllt re~ponse . Assuille zero in iti(IJ COllditions. Usc 0' = O.S and 6.1 = 0.001. I n\'e~tigate the ~tabili ty of the ~oJllti()n when 0' = 0.0 and 6.1 = 0.0025. The number of time steps shou ld be ~uch thaI the solution reaches its peal-.. value or a -teady ~Ia le. 13.11 AnalY/.e Prublem 8.23 for trlll1 .. ie1l1 response (luke (" = 1.0) Il"ing a 4 x 4 mesh of linear rect:lI1gular elemenh and a 2 x 2 mesh of nine-node qU<.ldrali t rectan gular clements. Assume zero initial eundit ions. Investigate thc stability and accuracy of th e C[(lnk- Nicolson scheme (a = 0.5) and the forward difference ~e h e m e (a = 0). 13.12 Repe(lt Problem 13.11 for the axi,ymrnctrk problem in Fig. PS. 27. A.,sulllc ,eTt) initial condition~.

I-Ieat Tnlllsfer (Cha pter 8)

13. 13 An:lIYl.e Ihe heat transfer problem in Pwhlem 8.28 using an I:! x 16 elcmcn!' and (Lil equiva lent mc~h of linear rectanguhLr clcmcnts. 1]. 14 A!lalYlc the he31 transfer problem in Fig. PlU<). 13.15 A!lalY/c Problem 8.30 for noda l temperatu res :md heat now across the bou ndaries. Usc the follov.lI1g dat<l;!.:=30Wf(m C),fj=60 Wf(!lll. C), T.... =O(", 7(1= 100 (,l/n=2x 10' W/m ~, lill =- 107 W/m \ and (I = I Clll. 13. 16 Repeal Prob lcm 13.15 with an equivalcnt mesh of IriangulHr e lemcms. 13. 17 Analy7.e Problcm 8.35 fur noda l tcmpcr:Hu re and heal tlows (tcross thc bounuary. Take ~ =5 W/lm 0. 13.18 Con~ ider heal tr.m\ fer 111 ;Ll\.'Ct:mgul,Lr domain wilh lL cemml heated circuliLf cylinder (see rig. P1 1.18 for the gel)llletry). AnalYlc the problem u\lng the lIIt$h of line;lr quadri lateral e lcment~ shown in Fig. 13.4.2(/').
me~h

of linear tri rmglliar

T=300 k,,=-k.r 10 W/{m C) fJ",40 W/(m 2 -C,

.' igure 1' 13. 18

13.19 Anal)'lc the heal lnln~fer problcm in Fig. I'K.J I with (II) 2 x 2 and (h) 4 x 4 rer:tangular clements.
m c\ h c~

of linear

13.20 Repeat Problem 13.19 with trian gular clemems. 13.21 Analyle Ihe problem in Fig. 1'8.32 wilh (1I) 3 x 3. and (b) 6 )( 6 meshes of line:lr f(.'Ctllngular elemcnh. Take ~ = 10 W/(m Cj. 13.22 Repc,11 l>roblem 13.21 \\. ilh Iincar triangular e lemenK 13.23 Ana lY/-c th e hem lran~fer pruhlern in Fig. PS.34 with a 4 x 4 mesh of linear reelllilgular eleIllC!1I'- nnd :LIl cq uivul ent mesh uf qLwdra tic (ninc~node) e l e!lle llt ~. Take (/ = I elll. 0= 100 C. '
nnd ~

= 3 W/(Ill C).
tr,LIl~ient rc.~pon'>C u~ing (Il) a

13.24 AnalY/c lhc prohlem in "iI; , 1'8 .35 ft)r

c=p,(',.=I.O.

= () and (11) a = 0.5. Use

13.25 Analyzc the a'a~ym llletrie problem in Fig. P8.26 u\ing lhe Cmnk-Nicolson method. Usc 8 x ) me,h nflinear reel,lngu JurclcmCnL\. L''-C c = pCp = 3.6 x 10" J/( m \. K).

,Ill

Groundwater and Inviscid Flows (Chapter 8)

l .l26 Analyze the groundw;llcr tlow in J>rohlem 8.3M u~ing the me,1t of linear quadril,l1eml clements in Fig. K.J.R (remmc lhe d iagt)na lline~ 10 obtai!l the mesh of qu adrilalcml elcmcnt \,.

13.27 Repeat Problem 13.26 with the mesh of linear tri angular clement~

~ h()\\.

n in Fig. 8.3J!.

13.2K AnalY/c Problem 8.39 with an g x 4 mesh of (a) line.lr tria ngular elemenb ,lIld (h) linear quadrilatcml elements. 13.29 Repeat Problem 8.39 with II 4 x 2 me.~h of (a) quadratic tnangu lar clement.'. <lnd (b) quadnllic (ninenOOe) quadrihlteral clements. 13 .m Analyze Problem 8.37 u~in g linear rectangu lar element~ and an eq uivalell1 me"h of quadmtic rectllngular clements. Use an II x 6 mesh in the /if" recw nglcand lm 8 x 4 mesh in lhe se(;ond. The mcshes sho uld he refined in the horiLO ntal dircctlon to have smaller clemen ts around the ~heet pile. 13.] I Anal yzcthe flow arou nd a cylinderof elliptical cross sc(;tlon (sec I'ig. P8.4 1). Use the ~yrn metry and an <lpproprime me~h of linear triangular clements. Usc the "ream fU lietion approach. 13.32 Repeat Problem 13.31 u, ing the veloci ty potential fon nuhllitln.

Membrane and Torsion rrol.llcms (Chapter 8)

13.33 AnalYl.e the torsion of a member of ci rcu l<lr lo ro,S sect ion (sec I ill.. 1'8.43) for the state of _hcar stres~ distribution. 1 11ve'tig:ltc th e accuracy with mesh re tinement\ (by subdividing the me~h in Fig. P8.43 with horil.()ntal and vertical lines). 13.34 Anal yl.C the torsiOI1 prob lcm in Fig. 1'11.45. 13.35 Anal y/e the hollow-..::ro\~-se(;lIun tor~ ion proble m in Fig. 1'8.46 u~illg a mesh of (a) lincar triangular clements in an octlUlt and (b) linea r reet,lng ular elcl1lcnb in <I qu'ldr,i111. The me\hes ,hould be nodewisc eq uIVale nt . 13.36 Analyze the rectangular membmne problem in Fig. ?S.48 wi th 4 x 4 and 8 x 8 me\hcs of linear rect<lll gular clemcnt~ in the compu tational dom ain. T,lkc (III =all = I and ill = I. 13.37 Repeat Problem 13.36 wllh e(lui va len t mc~hes of quadratic ciemellK 13 .\1'1 Determine the eigenva lu e~ Ilf the recta ngular membra ne in Fig. I' K.41! linear rc(;ta nguillr clements in the tHIIl~dumain. U~c c = 1.0.
Il~illg ~

4 )( 4 mesh Ilf

13.39 Dcteml ine th e eigcnvalues of th e (;i rClllar membrane problem in Pig. 1'8.49 wi th a mesh of four qll:ldratic triangular c1ement~. U~c (. = 1.0. 13.40 Determine the Ir.U1~ielll response of Ihe problem in Fig. 1'8.49 (-.ce Problem I 3.39). A~sumc I.ero initial condi tion,. (. = I and ill "" I. Use ex = y = 0.5 nnd /)1 = 0.05. and pint the center dc neelion vef'U' time 1 for 1 = 0 to 1 = 2.4.

Viscous Incom pressibh. Fluids (Cll:Iplcr 10)

13.41 AnalY/.e the v i ..cou~ nnw problem in Proble m 10.8 u_!IIg an 8 x 8 me<;h of linear f{x:la ng ul ar cleme nts. Plotthc huri/.ontal veloci ty II (0.5. -,) ver~u, l. an d th e pre~surc :1 1 0ng the lOp ~u rfa ce o f the cav ity. ln ve~tigate th e clrcet of the penalty parameter lin th e s(1lution (sce Fig. PIO.g). 13.42 Repeut Problem 13.4 1 with nine'HOOe quadratic elcments. 13.43 Analyzc the slider bearing pruhl elll of Exam ple 10.6.2 \t) invc<; ti gme the effec t of the penalty par.ulIetcron the \'cloc it y li nd press ure fields. U'iC an 8 x 8 mc.h of li near rt."C t:mgutar eleme nts. 13.4-1 Repem Problem 13.43 with ninc- node quadratic clemen" 13.45 AnalyJ".e the problem of a vi~c\lus ill(,;ompres~i ble nU ld being MjueeJ"cd through a 4: I eon trae t ioll,a~.'.hown in Fig. 1' 13.45. Take LI = 10. L =6. RI =4. and H. , = I. and linear quadrilateral clement.'.. The inlet veloc it y 11,(\') is the fully de"cl()p(:d ~()l u t i()11 of the flow between p~r.lllcl pl:lles. Plolthe velocity II, (. I .~) and pre~sllrc along the III.rin'IlIa l centerline.

708

\, IfI"ROlJlCTIOfl, TO TIll. ~l"rll' II 1'\lf", \IFlIIOO

t',

"v... (yl

_I'~_ ~~:

v.. ,, 0

-ml ~".:~,":o3
Lincofsymmetry
!I...

= V.

t'ij!un' I'I3A5

l .l46 Ana lylelhel:avily pruoklllill Problem 13.41 for it.'. tran.,ient 'oltllion. L:~e p = 1.0. I~rn imlial condition<;. penalty paramet"r y = IO!. time paramctcra = 0.5. and a lime ~tep of I':.t "" 0.005 to capltlrc Ihe cvolution of II, (OJ .I') wi lh time. 1.1.47 Anal),/" the ~ Iid cr bcarlllt: prohlem of Example 10.(,.2 for il~ trull,iellt \ollllion. Icro initial condition,. lit. Q "" 0.5. :lIld :I time ~tep of 10 I.
L:~e

r ""

f' "" 20.

(JIlU1C ElasticitJ (Chlll>ter II)

13.48 Anal)",g Ilw pl:lne cI,L,tlcit)' problcm in Fig. 1' 11.7 U'Lng. 10 x 4 mesh of linear rcclan gular elemelLh. b "Iuale Ihe rc,ult~ (i.e .. displace ment' :1I1d \ trc"es) qualil:lll\cly. Usc Ihe plane Sire\" :L\\\ullption 13.49 Repeat Problem 13.4R u<,ing triang ular clemcms. U .SII - I3.S9 Alwlyze the pl:1I11: ela~ticity problell1\ show!! in Figs. P I!.I II ..l and 1'10. 10-1'1 0.16 using sui l:lblc mc~he~ oftri:ln gularor rec tangu larclemenls (the in,lructof,hould specify Ihe clemcnt type nnd mesh).

13.60 Annl)"lc lhc pl;Ulc eI:I'liciIY problem in Fig. PI 1.7 for na tu ral frequencies. Use a den,ilY of p = O.OOg):l kg/em '. 13.6 1 Repeal Problem 13.60 wll h tri;mgular e lemc nt ~.

13.62 Analyze the plane ela<,ticilY problem 111 Fig. 1'1 1.7 forthe \nln\icnt rC'plln,e. U:;c 0' = ~. y =~. :md 1':.1 = JO " A,!>umc Icm ini tial (:ondi t lon ~. 13.6]-I3.Mj Analyze Problcm~ J3.50-13.S3 for tr.l.n ~lcn t rc'pon-.c. U"c O'=~. r = :md 61;;:::

1.

61",.

Platc !lcnding (Chapter 12)

13.67 Ana lyze the plale prublcm in Fig. P 12.2 uSing (lI) 2 x 4 :llld (b) 4 x 8 mc~ltcs of CPT(N) ele111cnt' inlhe Iwlfplatc, and t:ornparc Ihe 111J}(irHUI11 de neclion~ and 'tres..c,. U<;e E "" 101 p,i. L' "" 0.25. Ii = 0.25 in .. and qll = 10 Iblin.! 13.tiS Repeat Problcm 13.67 I'o"lIh :1 CPT(C) clemen!. 13.69 Repent Problem 13.67 with an 4 x 8 mesh of line;J r plate clement.. and a 2 x 4 mc,h of ni ne node qU;Jdr:tlic pllue clcmcnt~ based on the hN-ordcr plale 1hool). 13.70- 13.72 Analyze the platc hc nding problem!> shown in Fig" P I:!.]. P12.4 and !l 12.S with till" CPT (C) clement.,. U,e th e me~hcs ~hown in the figLlre,. and ta ke E = 10J p~i. I' = 0.25. II =0.25 in .. and q'l "" 10 Ib/in .!

13.73- 13.75 Rcpc:u Problem .. 1J.70-1J.12 ur.ing SOT :tnd mc .. hc .. ,hown in Fig... ]I 12.3. PI2.4. and P I2.i!. 13.7(, AnalYlc the annu lar plate in Fig. P 12.5 u .. ing a four clement mesh of CI'T(C) c lements , U~e 1:"= 101 psi. I' =0.25. (/ = 10111 . h=5 in .. II =0.25 in .. and QIJ= I Ihlin 13.77 Repeat Problem 13.76 with four nude SDT clernenh. 13.78 A II:dY/.c thc plate problem in Fig. P12.2 for it .. tran~ic nl rc~p(JII5C, L\C a Illc,h of:2 x" CPTCN) ekmcnls and E = lO? p,i. I' =0.25. p = I Iblin. '. h =0.25 10 q" = 10 Ihlin ..

At =0.05. and u = y =0.5.

13.79 Repc:lt Problem 13.7i1 lJ',il1g:2)( 4 me,h of/nur-node SDT clement~. 13.MU Determine the tran,iel1l rc,ponsl' uf Ihe annu lar plate in Fig. 1' 12,5 using four SDT eICI11C111". AI = 0.05. P = 1.0. and 11 = Y = U.S, PIOllhc deflection at nude I a~:1 function til' time fo r at lea~t twu pc r iod~.

REFERENCES FOR ADDITIONAL READING

nuid l\'lcdmnics
I Bird. R, B.. Stew;",.
2.
Gr~~h".

w. E.. "nd Li);hlfool. E. N..

f'rrm~pf)rI P/i,'II01l1fIW,

John Wiley. New York. 1'J6(1

MnllOlI. JoIlli Wiley. ""-1.",1 Su"", .....

P M lInd Sani. R. L..IoU'oml'fl"'Mhir 1'/",,' mul/II/' hlll/1'

(-."/<'IIWIII

UK,200l),
3.
Schlichul1~.

II . Hm""llIfl'-U!\l'r Th ...,n

(IrJn~laIL-d

hy Ke'llll.

n.
1<)1)<),

7lh ed .. McGrJ'" II til. 'Ie" Yorl..

1979.
4 VemolJI. A .. TIwon'ofGrm",d","lu 1-'/",,: Gordon and Breach. Nc" York. 1':nO

5 White. F. \I . FlIII(I Mnlultlin . .jlh cd.

M~Gmw

lI ill. Ncv.

Y<i'r~.

HC~lt

Tnmsfcr
PrC'~.

6 Caf'law. 1\ S ar>J J.leger. J C. e,""I",/i,", (1/1"m '" Soli,l!. O~f()rd LIlIICf'il) 7. HollonHln. J. I' .. U ..<lI Tnmsfl'r. 71h ld. fo.kGrnv.- III II. Nc" Yurl.. 1990
II Kreilh.l and U()hn.:-' I S.. I'ritl<i,,/I" (1111'111 '/rllll,f"r. 51h
~x1,.

Od,lrd. 1959.

We,! I'ubh,hmg Co .. St.!',,,.I. MN I<)IJ).

9, M),crs. G. I. .. IIII(IIl1ical Mer/""/.I ilt COlilluoi"'1 ",,"( Trall"il'r. McGmv. Il ili. Ncv. York. 1'J72.

10. b/i~ i k. M. Nu/l,,,1 COllduo;on, 2nd cd .. John Wi II."Y. ;>.lew Yor~. 1993

Elasticity
II Bud)n;u;.
I(

G .1(/I'IlIIa(1 S/"."!<llllm(/I,,pli ..d Slrl"" A,,,,I\$I.<. 2nd cd .. McGra,,_lhll. 'lev. )'nrk.

Cred~. B ir~h,nl<;er.

1m
S~dd l e

12. Harris. C fool and

C. E.. lilliKk IIml Wmmoll/l","ll"x,k, \',,1. 1. McGrawH,II. Ncw Y{)f\;:. 1961. BII'IOn. MA. 2002.
Prenli~e-I!:d l .

13. Siaughlcr. W S.. 71, .. UII""r;~l'd 'f1tc(tn' (If /;/11,1'/'(;11'. 14. Ugrual. A. C and RI\'l."r. NJ. 1'1'9.'i 15, Vohernl. L
Icn'l~(.

S. K.. Adnmad

S/r(II.~11r Will

A"I,lil'd I-:lm/id/.-,

Upper

~nd G,une~.

J, II .. A"",,,,a,/ S/'nr.~II,

,1M",,,,;,./). l'renll,c- llall. Engle"'ood Chrr~. 1\]. 1971.

16, Rl."ddy. J. 1\' ..

711{''''~

m,d ,-1"11/1,"_ "r Ulllli, l'IIlI"!. Ta> lor and I mllcil. 1'11iIadclpll,a. rA. '

1m

17, Reddy. J. N.. fIH"!<' Principl," on" 1\''';1'110110/ Mrlll<J(l~ in AI'IIIi,'" Mecham",. 2ml cd .. John Wiley. Ncv. Y,'r~. 2002,

7 10

AI'I1VIlU~)U("fl()N10ntL rt.'11tl U ~\lL,.,t MFrtlOl)

18 Keddy. J. K. Mt'clu",,...<orf~lmm(l/n C<lmposilt' PIOIe.<aoJSI"l/f r"l'<m (md A,w" .<i ... 20d ed .. eRe I~<'s. Boea K:,IOIl. FL. 1004.
20 TilllO,l\cnlu. S. and WOlllow,l)
1')~9

19 SI_,lard. R.. 71lt'Oriu ami AfIP/UiIIIWI' '" /'/ml' Atl(l/His. John Wi l<'~. '1e\\ Yorl. 2fJO.1 Kneg~r. S,. I"/wIJrl' of I'h,ll" m,d Shrl/,. 2m! ed,. I>kGm .... - Ihll. New York.

Computer Implementation
21 Alay. II
L~hornlor}'.

u.. Willhil<'. I'. G .. ,md J)id.lIukh. II . "UCODEl. Vcr-nm 87,1:' Computat,onal Fluid D)n;/rlHC' Depanmell1 or Mcrh;mical l ' llglllecrill~. lm!iana J.;U"CN;I) I\m:lue Un;,'er.,t} a1 lodianapoh\
1987.
Ch ff~.

( I UPU 1 1. l ndianapCJIo~,

22, Bdtn.:, K J .. "-''"/,, Elt'II,t'm l'm"n/uri'S, Prentice Hall, Englc\\(.>d

'IS, 1996.
I'''g'''''t'rlll,~.

D. lIumen, D,S .. "-'m/,. Ef"mrm AlIlllul~'_ Addl'>On-\\c~k)'. Rc,Klmg, MA, 1'0187.

24 C'hamln'p.ula. T. R, and Bcle~undu , A I) , /mr"d", lioll to Fimlt' 1'./'-111""1\' III lI all. t O pper Saddle River . ..... S. 2flU2
25 I.,ctlk,ewin. O. C. amI Ta)'lor. K 1... rill' Flllil" FI"lIIe"l Melhod. 41h ~d .. wI. I I'ml>ll'llll, McGraw- HilI. Lnnd(]l1. UK. 19k9.

J rd <-..:I .. Prentice

flIiI/('

forlll"I",,,," ",,,/ Lil/t'M

Chapter 14 PRELUDE TO ADVANCED TOPICS

14. 1 INTRODUCTION
The introduction to the finite element method presented in the preceding chapters i~ sufficient to provide the essential background for the development of finite element models and the associated computer programs for mosl linear boundary, initi u!. and eigenvalue problems in one and Iwo dimensions. The background ~hou ld also help one to intelligent ly usc commercially available finite e lement software. However. then! afC Illany additional idca~ that deserve some aUention. In this chapter. we discuss ~ome immediate extensions of the m<llcrial presented in Chapters 8 through 12. TIlc<;e include alternative finite clement models. finite c lement models of three-dimensional prob lems. tinite element analysi~ of nonlinear problems. and errors in fin ite clement analysis . The discussions presented here arc brief and they are only meant 10 give some idea of the applicability of the finite element method to the ~e advanced topics. The reader intere~ted in a detailed treatment of any of these topil:~ should t:On~ll lt the book~ listed at the end of the chapter.

14.2 AL.TERNATIVE FINITE EL.EMENT MODEL.S

14.2.1 Introductory COlll ments The Ii nile clement models pre~ented in Chapter~ 3 through 12 were based on \\,('okforlllulaliolls of governi ng differential equation~. These models can be termed the Rir:;jillile I'll'mel/l models or weak-form/illite elemem models. The phrase "Oalerkin finite c lement models" i ~ used in the literature often to mean the weak-form (R itz) models. A truly Galerkin finite element model is based on weighted integral statement~ and not on weak forms. Thi, distinction is made here to d ifferen tiate between Oakrkin's method and the Ritz method. In most case~. espe(.; ially when the governing differential equat ions (.;onlain derivatives of even order. weak forms (wh idl always include the natural boundary conditions) can be deve loped using the three-step procedure. In some cases. the governing equations may be recast in an a lternative form that fa(.;ilitates the use of lower-order (e u) interpolations. [n th is ~ection . we discuss a couple of ~uch formulations and demonstrate the use of the weighted residu:J1 methods of Section 2.5.5 to develop alternative finite clement models. More spc(.; ifically, we shall study the followi ng formulations:

712

\\

I.' rM()IlI '("II(l~' TIJ HII' n~IT[ EU:MF'>T MlillOlJ

I. Weigillcd residual fommlat iom. 2, Mixed formulat ion" Whi Ie spec ific sets of equati oll~ arc cho~cl1 to illustratc the basic idea~ behind the twO formu lation". the idea~ arc applicable to other tield equations nnd tolwO- and thrce -dilllen~ional problems. 14.2.2 Weighted Residual Finite E lem('nl Models In a weak formulation. integration by parts is used to introduce the secondary variable" (i.e .. natural boundary condi tions ) into the integml fonn, On the other hand. \\eightc(1 rc:-.idual me th od ~ arc based un a weighted integral <., tate1l1cm of a given differential C(luation and no illlegration by part~ is employed. They arc the natural and on ly choice for tir~t-or(kr cqumions. which do not .tdrnit a weak formu lation. Fur second- and higher-urder eqllation~. we have a choice between the weak furnllliation and the weighted re~idtlal formul:llion to construct finite elemelll models that \dll be differerll from e:lch other. We begin with the de,criptioll of weightcd rc~iduallinitc clemen! mood); of a fiN-order different;al equation in one dirnen~ion . rirst-Ordcr ECluatiulI in One Dimension
Con.~ider

lhe first-order equation

a-

(Ix

d" +cu = /

for

O< x < L

( 1..l.2.1)

where a. c. and f are given functions of x. An example of a situation in which the above equation ari~cs i~ given by Newton"s Jaw of cooling of a body with temperature 1/ in an environmen t at lemper:lIure /10 :
-+ k(/I~lI u ) = O

dll

dx

which is the ~<lme a~ (14.2. I) with c = k. a = I. and / = kilo. When II i~ approximated by an /I -parameter npproximatiotl
II (X) :>:::: /1 /, (.1) =

" L IIJV-;'(.\")
J", I

( 14.2.2)

we nced II algehraic equations 10 solve for the paramcte r~ II). Thc /I equa tion~ arc provided by /I d ifferent (i.e .. linearly independent) choices of the weight function II' in the weighted rc~ i dual statement
0=

f "'
'.

\l'R~

d.\".

R~=

du; ) ( a -+ clI ;;~ J dx

(14.2.3)

where I?~ is the error. ca lled the residual, in the appro:<imation of the differenti:!1 equation. Different choice~ of II" dictate different methods. Since the equation under consideration is fi r~t-order. there i~ no advanlage in tramlerring the derivative \0 the weight function 11". Nole that there are no "nux" terms in (14.2.3). An exam in"tion of the weighted integral statement (14.2.3) shows th;lt the minimum di tfercrrtiabil ity on the approximation functions V, j i~ the ~all1e a~ in the original differential

CHM-lI:Jl1 4 f'II.fI.L'tll W"'IJ\ANCW1011C,

7 13

equation. In Ihe presenl ca~e. I/I J ~hould be once-dinerentiable with rcspL"Ct to x. Consequent ly. Ihe Lagmnge famil y of IIltcrpolation functions (i.e .. CO approximations) are admi ..siblc. The only requirements on Ihe weight funclion 11" arc that it (j) be i11legmble in the se n~e Ihat (14.2.3) can be evaluated and (h) belong to a linearly indepcndcnt sct bf , 17",,1 ~o thaI the re~ulting algebraic cquation~ :Lre solvable. The ith algebraic equlItion is obtained by replacing II' in ( 14.2.3) with \\Ii. Different choices for Ihe "el I w,) have been ~ugge~ted. and the re~ulting mcxlcl~ bear the names of the original ",ienti,t~ who ~ugge~ted them. The bc~t-known choice~ for 11'; are given below.

I. Pctrov-Galerkin method : 11", =t/J, and t/J, # 1/1, 2. Bubno .. -Galerkin method: 11", = 1/1, J. Colloc:ltion melhod: 11" , =o(x - ,r,).lhe Dirac delta function (14.2.4) 4. Suhdomain method : 11', = 0,) (i.e., If) = I in the ith subdomain) 5. Least-sq uares method: 11", = A(1/I,). where A i~ the operator in the differential equation

Au =!
Allhough the le<lst-square~ mel hod j" li"ted as a member of weighted residual methods, it is ba~ed on the idea of minimi/ing the error ( R~) it1\roduced in the approximation of :In equation. The finite elernentmodcls of (14.2.1). based on variou~ method". are d i",u'iscd next.
The PeJrQl'--Galerkin M(}(Il'i.

Substitute (14.2.3)

ror II and II' =t/J,

I K ~III1~1 = lr l

into ( 14.2.2) to obtain

(14.2.50)

0=

L , , K'jllj -

"

J,

or

where

K '. (<iV" i D= (I(/>;" dx

The IJu/)IIQI-Galerkill Model.

J"

+crp,"'/Ij ) dx. f.' =

I\"

J"
"

(Prj dx

(l4.2.5b)

Here we substitute

'/I; into (14.2.3) to obtain the finite

(14.2.60)

element model

where
( 14. 2.6/)

ColIOC(l/iOI1 Mudd.

collocation points 1\". xhl. We have

Xi

In Ihi ... c:t'c, we take II" = Mx - x,). the Dirac delta function . The can be cho~cn arbitrarily. u~u<llly OIl> the quadrature points in nr =

K;, = lI(1,) _ _ (x,) + C(Xi )"','(x,). 1 (Ix

SIII)(I(II//(/;11 M(}(Il'i.
~ulxlomain'.

(Il/J~

j,' =

I(x;)

( 1-1 .2.7)

In thi~ model the clement domain The weight function for the jlh subdomain

n,
n~

is ~ulxl iv i ded further into" i" unity over the ~ ubdomain

and

l..em

olltside it fo r

x E

ni

for
We obtain

1n~

(14.2.8)

( 14.2.9)
Le(/Sl-Sq/((l,.e.~ Model.

The weight function in thi s case is II ' ~ A (1/1; )

:= a(/1{i,"/dx)

+ ('''',~.

Con~cquently. we have

K r. =
'J

j'.." ( d" ' + ' ) ( <IV + nV ) Ifx dx Jt:= j "(,,,,,, + n/!! ) f d x a--; ./.1'
a --'
c1{i'
J a __

(/.1'

(14.2. 10(/)

(1-I.l.IOh)

.1.

Note [ha t onl y the least-squares mcthoJ gives a ),ymmctri c coefficient matrix. Thb. b.:1stron g. point (in audition to the fact lhat it actually minimize" lhe error fl,) of the le"~I -S(IUareS method over other methoJ~.

Exampit> 14.2.1

Here. we solve Eq. (l4,2,1) Wiih U1C boundary c(lllcdili(lllll(O) = I and dalH fI = I, C "" 2. / = t, and L:= I. WeshaU U!;C twO linearelc mcnl~ in rhedolTIain. For the Bubnov-(lajerk.lJl JTkXicL we hilve

rK'J=

i [= :
0 _I I 1 1 -I 6 0 I 1 2

1/')=1'

l:l
-I

(14.2.1 J)

111C BSi,cmbled L'<I u ation~ (here, IDisembly is required oilly i(J reduce the fl llJ'Q.ber of cqlJalioo~ IQ Ihc num~r of unknowns) are given by

.:. 1 (1[-' '0] + . ,[2 I 0])(U' l 1'1

-:;

-'1
Q

U3

U1

=- 1

(14.2.12)

U~ng

the bol!ndary condiliQJl. V! "" I. 'I.e (lhlAin the following conden,eJ equations:

H-~ ;J[~; I = W51

The M1Juti{ln is V 1 = 0.6786 and V) =0.5714. The ex,!clsolution of the PfQblem i~

(14. 2.13)

/l(.f)= II(O)e~{(M... ~

(J _e-to'M~) =: e~b _
c

~(I _ e-4)
2

(14.2.14)

ThO;' e.(;lt:1 v-JJues of II :II x,... ;lnd J are 0.6389 and 0.5677. rc'\pec"lively. For the col t{x.:atiOlI model. we chooSt!: x\ =- {II, 3nd .r! ~ jh .. and obluin

(l4.2.IS)

CHAI'1'l1l I~ I'IIU tOil TO AOVASCED1Ul'lt\

715

'nIbie 14.2.1 Compari~(lQ or lhe numerical .solution of {14.2.n wilh Ibe exact ')Iution {~ple 14.2. 1).
Nodal
~a1l.1C!>
Buhoo~ ~[-

GaJertln
IlMil6 0.,5114

CQll<)Cati(ll1

Subooflls;n
O.fiOSJ 0.4737

lIquan:'

ExltCt

1010.51
1l(l.O)

(1.6186
0.5714

0.6793

0.5094

0.6839 0.$677

Clearly. [he clement eyutllioos Qbtailled llr-jng the colloctttion point, XI ,., 4h~ and x! """ fh. nee the same as thQ5e {lbl...ined in the Bubll(: V-<ialerkin OlCthod {:Il'1.ually a multiple of ~h.). ) Hence. we obtain the ~ame ~(lluti(ln M in the Bubno,....(Jaierkin mcthod. In thc case of thc ~ubo.lomain model. we use QJ =(0. and ~ = (jh. , h~). f'()l'thi 1>

th.)

choice. we Qbtain

lKfl=i[= :
Tbe tlsscmb!cd equation, become

(14.2.16)

8 -~

,[-' 50] IV' \

6 5 -3 7

U}.::o:Uj 16

' 1'\
2 1

(14.2.17)

'ThellQlmion. from the lastlwo equations, is U~ ==0.6053 and U\ =0.4737. LIst, we con.~ider the lcaSH.quilll:lo model. We have

( 14.2.18a)

(l4.2.18b)

The a~nlbled equalion~ arc

-

, [-2.5
- O.S

-O.S 7.0
~O.5

-o.S
9.5

3
The !>olution of Ihc~e

0.0
i,

0.0] IV' j== 11.0 \ -0.5 U

2

(14,2.19)

U)

J.5

equatiQfl~

U2 ,., 0.6793.

U1=O.S094

T:l.ble 14.2.1 gives a summary of the solutions obtained using vari()U~ mooels. Since-tile e.xatt SQIlItion is cxponeotl:l! or hypcrb{llic. it i~ obviuus Ihm the me~hes anI.! degree of inierpo!ation used are- very crude. The ~ccuracy of the jlnile e1emcnl solutioos ClIn he improved by higher degree ()QlYOi)f1liills.

Second-Order EClwllions in One Dimension

U:-.e

or weighted residual finite clement models in the solution of second- and higher-order

eq uatio n ~

is more involved . There arc two poss ible ways to con~truct the weighted residual form .. of higher-order equat i on~: (I ) Use the higheHlrder equatjot1~ but use C l-continuous function ... where k 2: III. III being the order of the highe .. t derivative in the differential

7 16

.."" nto'~nl(')f'> 1(J

till.

"~Il' 'U MI' f

\WlnOf)

equation: and (2) rewntc the higher-order equation., Ole, a '>Ct of lir-.t-order equat ion" :md the CO-conti nuotl.'!i fu nction,. The laller fC(luirc<, a con,istent ),et of <lppro'tirnation" for the ncw \,an.lble., introduced in rcwriting the hIgher-order L'qtlalion., :1'0 a !jr.-I-order '\CI. !-Iere we con~ider Ihe firsl mcthod and leave the ~econd as an exerci,c 10 the reader (~ee Problem It I ). Con"idcr the model e,ccotKI-order equation ( I-U.20) ll =/ d.1 (Ix For the weak fomllliation of thi, equ:lliol1. the approximation function), '/II" must be .. uch th:1I II i.. eontinuou~ acro),), inlerelcrnent bound:lTic1'>. Thc wea~ form includes thc natural bound:.ry condition), a~Q")Ciatcd with thc cquation. and therefore interpolation of only /I (but not it<, derivathes) j., reqUired. In the weighted rc .. idual formula tion o f Eq. ( 14.2.20), v.e use the weighted integr;11 form of thc differential equation wit hOlu we:tkening the diiTercntiabil ity 01111. T herefore. the conti ll uity condition), 011 the intcrpo lation fUlictiom used in the \\'eighled re~idual metho(h arc dictatcd by the order of the differenti .. l equation. For exumplc. the ,ccond-order differential equation (14.2.20) requi re., the approx imation functions \0 be twice-di rfe remi'lblc with respcctlO x. In addit ion. the approx imate solution must ),ati~ry the end condi tion:. on thc prim.try lind secondary variable ... (ident ified with the help o f the weak formu lation) of the problem. Thi" amount .. 10, for {,Ccond-order (.'qu:lllOn". thing approximation function., thai m:lke the primary and !.Ccondary \:ui:lbles continuous bct"",,ccn clemcnt~ (Le .. intcrclement nodc~). For the <'ccond-order equation~ undcrcon<;ideration, the natural boundary condition involve<, ... pt.~ifying Ihe "econd:lry v:lriable (I(dll/dx) :II thc clement boundaries. T herelore. the interpolation functions mu~t be ..cll:ctcd stich Ihatll and a(l/II / dx) arc continuous acro.'s an interface between ciclllcnh. Thi~ in tum. implic, thaI. if {/ is cont inuou ... dll/dx i~ continuou~ throughout the domain n = (0. L). Hence." C l appmxim'ltion (i.e .. Hermi te imerpollllion) of 11 i~ required. Bcc(lll'>C /I :md (/11 / (/\ nrc rC(lu ircd 10 be con li nuou~ acro" an interface between elc+ menK and a typic"l elcment (in one dimension) has IWO ... ueh i nterfacc~. the polynomial approximation of /I must ill"(lhe four p:tramcte.-... i.c .. it mu ..., be:1cubic polynomial. Thu .... the finite element is :I line clcment with two node.. and two degrcc .. of freedom, /I .lIld (I" /d.\, lit each node. nle element i, different from the L:lgr.:lIlgC cubic clement. which has fOllr nodc~ wi th one dcgree of freedom per node. The L.1gmngc interpolation func tions (of any order) do not It.1tbfy the continuity of lIU/l/.r acro),~ element IIltcrface:. and therefore do not belong to C l (0. L ). The two-node element with continuous 1/ and (11//1I.r at clemcnt il11erfal,;e~ i~ the Hermitc cubic e lelllCIll developed in Section 5.2 for thc Euler~Bcrnoul l i bc<:tlll clement. We havc
--

" ( "u)

/I~(_l)=

L/:tfJ;(x)
J-=I

(14.2.2 1)

whcre II~ and II ~ are thc nodal \'aluc~ of II;;. II~ and 1I~ :lI"e the nod:11 valuc., o f (III;;/l/X at the two node,. OInd j are the Hennile cu bic interpolmion function., in (5.2.12). We consider va riou~ weighted residualli nite clement models of (14.2.20). T he weighted re:.iduni foml of ( 14.2.20 ) over an e lement n, = (.l" ..lb) is.

0=

/ " II R~(I.I.
r.

R,= - -

[ 1I1" ((1 --' -/1 d dU') d.l"

( 14.2.22)

Suh~tituting '/I,~

for the weight function

, 0= L K,jll) ,,
'.. dx

II'

and (14.2.21) for

II,

we obtain

ft.

or [K~ ](II~! =

(f'"l

(14.2.23a)

whcre

K= r
j

Equation ( 14.2.23(/) is the Petrov-Galerkin model of (14.2.20) when 4>," i lj.t;. For different choices of lj.t,~ in (14.2.23b). we obtain different finite element models. These are presented below.
The Bllb!lVl'-GlI /erkill Model.

f"[-'N -d(d')]
J a __ dx

fix .

f/=

f'""

'/Itfdx

( 14.2.23h)

For lj.tt
-

=4>;'. (14.2.23/)
( II d;

bccome~

K:~ =
U'lI.I"t-Sqllllrt'S Mode!.

f "[
'..

d 4>f fix

' '1/)]

dx,

(14.2.24)

For lj.t," = A(4)t) ;:; -Cd Idx)(ael4>r Ielx j, we havc

K ~.= f'h ~
IJ,,"

dx

(<_/_' ) .fix- (<< __j )dX' '!. d dx dx

K;'j=-

ft=-

f"

-d ( a--' '. dx dx

<I') !lIx

( 14.2.25)

Col/ow/ioll Modet.

For lj.t; = Ii (x - x,), (14.2.23b) takes the form

L;~ [(I(X)(~~\r)J} " =\"i'

f,e=!(Xi)

( 14.2.26)

where x, arc the collocation points. While the Bubnov-Galcrkin :.lI1d ka~I -~quare s models have the samc form a~ the Ritl model. i.e .. they are defined by integral expres~ions, the collocation model docs no\. In the latter, we simply evaluate the cocflicient matrices and column vector at the collocation points, instead of evaluating the integra l expressions. The number of collocation point~ should be equal to the number of unknowns after imposition of the boundary conditions of the problem. For second-order equations. we have two boundary conditions and 2(N + I) nodal degrees of freedom for an N-element model. Hel1ce. a tota l of 2N col location points. two per clement. arc needed. Also, note that the coefficient matrix in (14.2.26) is of order 2 )( 4 (i = 1.2). and there is 110 overlap of clement matrices because there is no summation of equations over the Ilumber of element~. However, the continuity cOlldition~ on noo,,1 vnriables are imposed in all the other modeb.

Example 14.2.2
C(JnSider the boundary value pmblefll
- - (1+:c)- =0 fur (/x d.>:
11(0)=0,

d[

'I"]

O<.r<[

(!4.2.27a)

d"] ~ .. [(I +.n- 1 = 1 dx

r

(14.2.27b)

1'ht.! C)l3Ct \Olotion or (hl~ problem 110

II ~

InCl

+x)

(14.2.28)

We wish 10 I>Oh-e the problem usio V'Mious weighted rcsidullliinile clemem models. CQn:;ickr II t wQ-eleruent discreli /atioo of the problem. There are three nodes aJtd ~ix degrees of rr&:dom. The known deg~ ur freedom fOf the weighted rc,iduillllIodels are

UI = 0. Ue.=O.S

04.2,29)

y.'/!ert..'aS. in !.be fOU(o('lement Ritl mode.! (i.e.. the weak-form 6nile element model) wilh linear eiemcnt-'. I~y are
( 14.2.30)

for the collocation mode!. thc twn-point Gauss-Legendre quadrature point~ are u~d as the collocation p(linl~. the two- and four-c lement fin ite clement Sl,IUlio!J~ obtained from Ihrc.c weighted rertidual linite clement mlXk:ls. all u~ ing the fkrmi te cubic polynomialS. are-com pared with the ClIucl SOlution lind the sohnion of the weakfoml !inite clement model in ThbJc 14.2.2. Allihe modcl~ give a<.'(;urale rc~ulb.
Thblc 14.2.2 Compari-.on ofweip;hted ~idu31 finite dement solution" I with the CXitCt solution

of lhe problem in (l4.2.27u) and ( 14.2.27b).

,
0.00

Huboovf:.;o:;:K't

......
sqU:tf'CS

C(lI1(1C'4IJQn

Galel1;ul

Rtt:l.

" .'

0.25

O.S<!

.' .'
" " ,i
,i

.'"
,,' ,,'

0.00000 1.00000
I.OUOOO

0.00000 0.99390 0.99967

O.ll.l26

0.00000 0.991;)4 0.99930

0.22313

OJXlOOO
O .9')I)()1 0 .999'))

0.00000
0.996 12 0.99930
0.21313

0.22314
0,22314 0.80CK)0

0.22315
0.19'197

O.llOOOO
O.4()~7

O,AOO28

0.40487
Q.40}()2

0.40547
0.66(>67

0.80001 0.40537 0.0546

O.66ro7

0.-105>'
0.40547 06/'i&S 0.666(,5
0.55%2

0.75

0.66661 05$962
0.55962
0.57143

0.66299 0.661>46

0.66673
U.55%1
0.57 146 0.69309

.0.80001
o.40~38

0.66728 0.66674

t).SS975
0571 23

0.5596 1

O.s7W
0.69315

0,57 142
O .Ci9JU
06'}3 15 050000
O.~

100

,,,,. lIN llIld thlRll'lll'-' foreach ".J\lCQ(, ckmtnl>.,

.'

,i

0.69202

0.69315 0.>0000 0.>0000

O.6932S 0.>0000 0.50000

0.693 14

0.>0000 0.>0000

0.57 148 0$3 15 0.693 1 ' 0.50102 0.50010

rom~ >I~~"""

,110 ~ aNI 1hIInII_lOfO\Or

eHAI'I'E1! 14

I'II.~_LUIJ~. '10 AIJVA_~ChlJ-llJI'ICS

7 19

Second-Order 1i:(luations in Two Ilimensions Here wedescribc the Bubnov-Galerkin.lea~t -squares. and col location finiteelcment models of a second-order equation in two dimensions. We con~ider the Poisson equation (All = f)
-ax

a ( {lilax -()y ((l22 au) =f "u) a

oy

in

(14.2.31)

In the weighted residual finite clement moclcl. we seek an approximate solution II'; of 1/ in

nc in the fonn
11;;(X.y)= Lujj(x .y)
j=1

'"

(14.2.32)

where rp; (x. y) arc the conforming Hermite interpolation functions of the four-nocle rectangu lar clement (see Table 9.2.1): IIr. II;. II;. and II ~J arc the nodal values of u~ at the four nodes of the c lement: II;, " 6 II~O' and ui~ arc the nodal values of our.; ax at the four nodes; , and so on. The weighted residual statement of (14.2.31) over an clement is given hy

Substituti ng equations

I\'

o ~ l w[_ ~(u,,~) _~ (a,,~ u) _ f] (14.2.33) n.ax ax iJy iJy = "'i and replacing 11 by (14.2.32). we obtain the u~llal form of the clemeT1l
(14.2.34)

dxd"

The specific forms of[K P ] and

The Hllhllov-(ialukin Model. {rl arc defined hy

Irl arc defined below for various models.

For I\' =

"'t. the coefficient matrix / K"1 and column vector

K~ = 'i

a 1 [ax (
n,

,),~ 'f',

ii" __ J

a.p,) + ~ ({/'l,--' dxdy ') D.p")]

ax ay - ay

( 14.2.350)

ft=l "'tfdxdy n,

(14.2.35h)

The Lea.fl-Squares Model. For w = A(1/Jt), where A is the differel1lial operator in (14.2.31), the coefficiel1ls of / K"/ and I I are defmed by

K,)

1 [a (
Q.

x ft= -

J.p') + -a ( 8>J;')] a [ a ( J.p,) +- ( av")]

:-ax
{/II-,-'

ax
J

ay

(/22-,-'

()y
J

:-ax

{/II - -

ax

ay

{/22 - -

ay

dxdy

(14.2.36(/) (14.2,361J)

1 [a (
11,

ax

(111 - '

J>J;') + :-- ({/u ".p,)] fdxdy a --' iJx tly oy

The Cvlloc(//io/l Modd. In this model , we select four collocation points per element and ~atisry (14.2)1) exactly at those four points of each clemen\. Fur the best results. the

G:mSos- Legendrc quadrature poll1b arc <,elected. We have

K'
'J

~ [_~
ax

(a" iJ~; ) _~ (a"iJ~;)ll

ax iJy
~~ Jy

(,

( 14.2.37(/)
,'1,,-1<, ',J

it

J(Xi. Yi)

(14.2.37h)

for i = I. 2. 3. 4 and j = I. 2..... 16. Note tlwI the coefficien t matrix i~ rcctangu1:lf (4 x 1(1) and thaI each coc ffkicnt of Ihe global matrix and column vector has a contribution from no more than one element. After impo!<.ing the boundary conditions orlhe problem. the number of linearly independent equation" (which is equal [0 four time' the number of e lel11e nl ~ in the finite clement mesh) wil l be equal to the numbcr ofunknown nodal dcg n.Csof freedom . '

K"umplc 14.2.3 _ _

__

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __

Consider too Dirichlet problem for the Poisso(l equation

_<;l'lu =2

in

u=O on " 0
<oj

n r
y
o

{I 4 .2.3~}

11 ", 0

2"

<b)

U~- ..

"'"
"
2x2U1csh

,.
,

If""ih'~

V
,

,\
FIAU~

-ily

Y iJu

..
,

4 xAm('lh

14.2. 1 ((I) Domain, bound;try,-,mdilions and (b) finitcckment meshC!i of~ problem in ~ample 14.2.3.

OIAI'rUI I.

I'It~J t 'lJf. l0AIWAM"I])TOf'I('S

72 1

where Q is a Mluare region (see Fig. 14.2..1(0)). The elact solution ofthi~ problem is gi\'en by (8.5.620). Exploiting the biaj;ial i:.ymmctry. we m<>dcJ only a quadrant. say the region bounded by the pVsilive axes. Two differen! uniform mcshe~. ~how n in Fig. 14.2..I(b). of Itermite rect;l ngulur elements :Ire used 10 )olve the problem, cm("loying \'ariou~ fini te clemen! moocis. Since the elcmcl'll has II, fJu/8x.lJu/{Jy, and a2'I /a~a.\, a~ 00031degrees of frcednm, we mU ~l im pmcull known boundary Values of these quanti lies. Forthc problem at hand, we irnpoJ:;C the fOllowi ngbounda!'y conditions: u =0 Qt\ the 1inc~ ~ =- I and)' 0:::. 1. au/ax .... on the line .o=: O. and Qu/ily "'" 0 all fhe line y "'" O. TIle boundary condition .. for the weighted residu!\lmooels are ilNiicated ill Fig. 14.2.1(b). FQr the 2 x 2 mesh, the nu mber of known boundary conditions ill 20. wherea~ the numlx:roftotaJ nodal \'3riablcs i ~ 36. Th u~. for tbecollocation model. .....e have 16 uoknO\vns and 16 cquutiOO$," from eacb elcment. Similurly, foe Ihe 4 x 4 Illcsh, we ha\'C 36 boundary condition!>, among 100 nodal \~\riable5, ~ujri ng 64 collocmion (:(Iulltiofl!,., which are provided by the 16 cle.mems. The finite elemem M)lulions ohlaincd from the three finite clement models fQf the IWI) me,\ h;;s an:: compart..'(,! with the exact solution (R.5.62(1) in 1"olble 14.2.3. The o.:QII(>eation fl" nile clcmem solution is relatively more accumte Ihan tbe ot\lcr two !>Ql lilion~. '!'be Illnncnenl convcrgence of aU th ree m<xIcI~ i~ appurcnt from the r~<,ults.

Table 14.2.3 Comparison of thc various finite element wlulions t with the l!.(;tCt solution (lfthe Dirichlet problem for the Pois.."CI1 equaliQn ( 14.2.38) (E~lUllple 14.2.3).
u(.t , )'}

,
0.0 0.0 0.0 0.0

Q..58<)4

."'"

8I.1t>llo... -

'-'

Galer"in
O.51W1) 0.51\<)4 0.S577 0.4584 0.45g7 0.2794 0.0000 0..5283 0.4.156 0.2666 0.0000 0.3619 0.362:.1 0.2254 0.0000 0.1456

'\Cjllllres

..

<JII/h
Coltoc~tion
.,~

8I1bI1>0\'-

I~-

Col
Ioc" tion ..

Oalcrl.tn

squares

0.25
O.SO 0.75
1.00

0.5578 0.4587

0.0 0.2795 0.00 O.OOOQ

0.2.S 0.$283 0.4356 0.1667 O.OOOQ 0.)62:3 0.1255 0.0000
0.14$6

0.5890 0.S89J 0,5577 {).45!15 {).4589 0.2795 0.0000

{),5283 0.4356 Q,26lJ7 0.0000 0.3620 (1.3623 0,225:'1
0,(0)()

0.S893 O.Sl!94 0.5578 OA586 0.4587 0.2195 0.0000

O.OOOQ 0.2554 O.S455 0.9027 1.3349 0.1:.t83 0..5111 O.1i551 1.2819 0.4079 0.7042 1.1102 0.4242

O.OOOQ 0.2551 0.5444 0.5454

O.OOOQ 0.2557 054>1 054>1 0.9018 1.3491 13506 0-""> 0.5116 0.8543
1.2914

0.0000
0.2557 OS455 05456
0.9019

0.9018
1.3463
1.351).1

1.3507
1"06

0.25 O .SO 0.75

0-5:283
0.4.1..'\6

0.2368
0.5116 0.11542 1.291 1

0.25

0.25 0.25 O.SO O.SO

1.00

0.2667 0.0000 0.3623 0.1(,23

023M 0.5117 0.8544 12975

0.4072 0.4078

0.4074

0._
0.7031
1.1158

0.75
1.00

0.50 OJ()

0.2255
0.0000
O,IJ56

0. _ n.407S 0.7031
1.1182

0.7034 1.1227
1..12552

1.12448

I 1252
0.4231

0.75

0.15

Q,I JS6

OAm

0.4232

'1'IIt fin.t lJJJe.ilJ~c:;o,<t~t(>1he ooIuti<lolabcalllrd1Nll ~ ~,,2 ~:o.nd!hl: ~ ",.4 "' 4~. The Ri'l finIte ~kll)ft!' ~ """"Mh ""lUI ~ GakritiQ ..:.Iut"", )f lilt- woe choo 0( !hi: t-lmq.1I;\

,net.."ol.-;;:.,..

722

AN INTRUUUCTION TO Till: FINITE ElF.MENT .\l ETHO I)

14.2.3 Mixed Form ula tions Higher-order differential equations place higher-order continuity on the appro)(imation functions. as witnessed in the case of Euler- Bernoulli beam theory (Chapter 5) and the classical plate theory in Chapter 12. When the governing differential equations ;Ire secondor higher-order, it is possible to rewrite them as a set of lower-order differential equations and then develop their finite c lement models by using either the ir weak fonns or weighted residual statements. Such nlternative formulations are often considered primarily in the interest of using ell finite e lement approx imations. Rewriting of hi gher-order differential equat ions as a set of lower-order equations requires introduction of additional variables. which arc often physical quantities. The variables appearing in the original differential equations and the additional variables introduced in rewriting as a set of lower-order equations have quite different meaning. In fact, they arc like primary and secondary variables of the original higher-order eq uation. Fonnulations that independently approximate both primary and secondary variables (of the traditional formulation) arc termed mixed or ilybri(i formulations. The mixed formulations in turn can be based on weak forms or weighted residual methods. We shall illustrate these ideas with the he lp of the equations governing the Euler-Bernoulli beam theory.

Model Elluatioll
The equation governing the bend ing of beams according to the Euler- BenlOulli beam theory is given by [Eq. (5.2. 1) with C f = 0]
-2

dx

d' (EI-- -'1 = 0 d2 'w)

dx

( 14.2.39)

where II' is the transverse deflection. q the d.istributcd transverse load. (lild EI the bending stiffness. As we have seen in Chapter 5. the weak-form finite element model of this fourth-order equation requires Hermite c ubic interpolation of II' that includes II' and dw ldx as the nodal variables (i.e .. a e l clement). On the other hand. a weighted integral tinite element model of (14.2.39) requires an approximation of II' that includes w. ({wlc/x. Eld 2 11'lllx 2. and (ijdx)(Eld2wldx2) as the nodal degrees of freedom (i .e .. ~evenlh-degree Hermite polynom ial and e 3 element). To reduce the differentiability requirements on w in the weak fonn and include the bending moment (or stress) as a nodal degree of freedom, Eq. (14.2.39) can be decomposed into a pair of lower-order equat ions:
d 2M - -- - q = O,

dx 2

d2w M - - - - = 0 (1 > 0) 2 dx 1

( 14.2.40)

The assumption EI =f. 0 always holds in practice becausc neither the modulus of elast icity nor the moment of inertia is zero. We can develop either a weak-fornl finite clement model or a wcighted integml finite element model of the pair of equations in ( 14.2.40). These two modeb are discussed next. It is <.Ilso possible to further reduce the order of the equati ons. say, to four first -order equations and thcn usc the weightcd residual method . Such a mixed formulation would incl ude the deflection. rotation. bending moment. and shear force and wil l result in CO approximation of all unknowns. We will not discuss the details here.

CHAPTI;R 14, PRfLUDll TO ADVA~CF.l'TOf'ICS

723

Weak-Form Mixed Finite Element Model

The weak forms of the two equations in (14.2.40) are

J"(d"' dM) o~ J " M)

O ~
x.

- - - vlq dX - VI(Xo)QI - VI(X/Q2.

dx dx dx 112(X,,)8 1

( 14. 2.4 1(1) ( 14.2.4lb)

(dVI dw _ 112

x.

dx dx

EI

+ III(Xb)8 2.

where (VI, V2) are the weight functions that have the interpretation of virtua l denection 811' and virtual moment 8M. respectively, and
Q2 =

_ (dM) dx
.t=x.

El,~(_dW)
dx x=x,

B 2 = (-dW) dx

(14.2.42)

... "'~.

The weak forms (l4.2.4 la) and ( 14.2.4lb) suggest that both IV and M nllly be approximated us ing the Lagrange interpo lation. Suppose that IV and M are approximated as (see Fig. 14.2.2)
w(x) "'"

L WirPi (X).

M(x) "'"

" L M,1f!,(x)
,= 1

(14.2.43)

where (rPi. 1/1;) are the Lagrange interpolation functions of dilTerent degree used for IV and M. respectively. Substituting Eq. (14.2.43) for wand M. and III = rPi and V2 = J/Ji into Eqs. (14.2.4 1a) and ( 14.2.4 1b), we obtai 11

[(K~)T -~:] I::"j~ r ;"Q 'j

where

( 14.2.44)

(14.2.45)

Thi s completes the deve lopment of the weak-form mi xed model.

(hI

Figun! 14.2.2 (a) Generalized displncemenls and <h) generatized forces for Ihe mixed finile ete

menl forllwlntion of the fourl h-order equation (14.2.39) lor the weak-form model of (14.2.40)].

724

A~ IN1'~{)l)lJCI'ION 1'1.1 Till' FINITE ELE\IENT I.1hTIIOD

The puir of mutrix equations (14.2.44) in terms of the nodal values of the displacements llnd momcnts can be reduced to a single matrix equation in terms of the generalized displacement~ w~ and B r (i.e., converting a mixed model to a displacement model). In the interest of brevity, we omit the element label .. /;''' in the qUHntities. Solving the second equation in (14.2.44) for M . we obtain
( 14.2.46(1)

Substituting the

re~ult

into the first equation in (14.2.44), we obtain

( 14.2.46b)

Now we CHn write Eqs. (14.2.46(/) and ( 14.2.46b) in a single matrix equation as
(14.2.47(/)

where
(14.2.47b)

It is interesting to note that for the choice of linear interpolation of both W Hnd M. the clement stiffness matrix in (14.2 .47a) can be shown to be the ~ame as that in Eq. (5.2.18) (see Problem 14.5).

Weighted Residual Mixed Finite Element Model The weighted residual mixed finite element model of the pair in Eq. (14.2.40) requires higher-order approx irnmions of both wand M because they must satisfy both essential and 1l:J.llIral boundllry conditions. Thi s leads to 11 compl icated set of finite element equations. Here we present the main ideHs behind the deve lopment of the modc l. The weighted residual statements of the pai r of equations is

1', o~ 1 '"
0=
t.

VI

(d'''o M)
--- 2 -

dx

EI

dx

(14.2.48a)

.<.

2 V2 ( - d M 2

dx

q)

dx

(14.2.48b)

where (UI. V2) are the weight functions. A close examination of the above silltements indicate that VI --- M and lI2 -- w. Suppose that 1\1 and Mare ;Jpproxim:lted as
II"

(x) ~

, L

l'../fP;II)(X),

M(x) ~

L A;<p?I(X)
L:d

(14.2.49)

,=1

For the Galerkin finite elemen! model, we take !II "'-' l/!i121 and c lement model

V2

--- rp;l) and obtain the finite

(14.2.50a)

CH"'I'Tl:~ 14 I'IIU.UUI; TO "' I)VA ~ (,1iO ~li' ln

725

where

K 2.1
'J

X'

( 14.2.50b)

J2 (I) 1{J(2) ~ dx
'(/x2

"

TIle coefficient matrix in &1. ( 14.2.50a) is 1101 sym metric . TIle least-squares /inite clement model is based on the variational statement

0= 8

~2

-2+ f" [(d'W M)' + (d'M )'] --+ f " [(d'W M) (d'8'" -8M ) + (d'M
'.

-- + 2
dx

EI

dx

dx

-<

--+~

dx 2

EI

dx 2

EI

- - +'1 - 2 2
dx

) d M] dx '8 dx
(14.2.5 Ia)

0'

o~

f" [8 (d2~ + M) + E/28~ (d2 ~ + q)] dx M

.<,

dx

EI

dx

dx

( 14.2.5Ib)

Substit ut ing lhe approximations in (14.2.49) into Eqs. (14.1.5Ia) and (14.2.5 I b), we obtain
(14.2.52a )

where

(14.2.52b)

14.3 T HREEDIMENSIONAL PROBLEMS

Most o f the basic ideas covered in Chapter 8 for two-dimensional problems can be extended to three-dimensional problems. For the sake of completeness, here we disclLss finite element fonnulations of ( I) the Poisson equatio n govern ing three-dimensional heal tran sfer, (2) three-dimensional elasticity equations. and (3) equations governing three-dimensional fl ows or viscous incompressi ble flu ids. [n addition, some of the com monl y used threedimensional tinite elements will be presented. To keep the size as well as the scope o f the book to reasonable limits. only essential steps arc presented and o nly one numerical example is included.

726

AN

l~fltODLC'I I O'" roTHE fl'iTfl' F.1.nl l~'ff MFTIJOD

14.3. 1 Heal Tra nsfer Consider the

Poi ~~o n

equation

_ ~ (k~ ~T)
ax ax
subjected
10

_!- (k'O _~ (k/az T) az T) ay ay

il l'

= g

III

( 14.3. 1)

boundary conditions of the form on

T=T

r"

k, -lI x

aT

ax

+ k ) , - II ), + kz - Il z + (J(T
ay

aT
ilz

- 7'0.:, ) =q

on

r,
(14.3,2)

, where k x k,< and k~ lire conductiviti es of an orthotropic solid in the three coordinate direction s, g is the intcrnal hcat genemtio n per unit volume in a three- dim c n ~ i onal do main Q, and T and (j are spec ified funct io ns of position on the portions r 1 and r z rc~pcctive l y, , of the surface r of the domain (sec Fig. 14.3.1); (J is the convect ion coefficient and T,,- is the ambient temperature. The weak form 01" (14.3. 1) ovcr lin clemcnt Q . is give n by
0=

a k,,-,- - , a [11, IV [-ax (aT) - ay k.\.- - - az kz -,vz ih ily awa T owar aw oT [11, [k,, - - +k>- - +k, -Jz -ilz - IVg dx ax ax By By

a(aT)

(a T)

- 8 dx

+ J

J Yr, (JIVTds- fr.

(qn

+ {JT,,,,;)ds

( 14.3.3)

where II' is the weight function. Assume a finite element interpolation of the fo rm
T =

LT/o/;(x. y, z)
)=1

"

( 14.3.4)

over Ihe element r.!, (see Fig. 14 .3.1). Substituting w = obtain the finite element model

0/: and ( 14.3.4) into (14.3.3), we

(14.3 .50)
Parts of the boundary r

. -:-:-:
Domain

n r

Surface

A sb;face 30 fini te elem ent n.,

Figure 14.3. 1 A lhrced imcnsional domain n, its boundary r with uni t normal fl . and a typical th reedimcnsional finite clement .

O IAI'1HI14 I'IlELUI>I: roA'WANCED'TOf'lCS

727

where
K' =
I)

( a,I,' ax 1 ax
D,

k - ' - - ' +k - - _ ' '

1

a~'

a~' a~'

ay oyJ

+k.--' __ f/ X+ i Jz

o~' a~' )

OZ

r"

fJl/lr.v
)

lis

( 14 .3.5&)

Note that the bound:lry of :1 three-dimensional element i~ a collectio n of twodi rnensional elements. The numerical integration of volume and surface in tegra l ~ is carried out in the same way as described in C hapter 9.

rr

14.3.2 Flows of Viscous Incomlu'cssible Fluids

Here we develop the penalty finite element model o f the Stokes equations governing threedimensional flows of incompressible fluids. The governing equations consist of three momentum equation s :md a continuity equation

a2v..iJ 2~--+Il 2
ox
2

oy

( - . + - ) +~- (au..- + - ) -of + I ou., ovv a - DU~ I)y ax 8z oz iJx

Ilx iJtJ y )

'

0
(14.3.6)

J)' +1)' ay2 +/.t ox i)y + ax + /.t az QZ + oy J!v: a (i)V.< i)V~ ) a ( - +Jill ) --+ /-=0 (IV,. - 01' 21'-+~ - - + - + 11. QZ2 ax az ax Jy J;; <Jy (I;; ~ av~ all,. au: _ 0 ax + oy + Jz -

i)

/.t

vy

~ ( iJv.,

~ (av ,.

(IV:) _ap

-0

In developing the penalty tinite element modeL we replace the pressure P in the momentum equations with (14.3.7) and omi t the continuity equation. The variational problem of the resulting equations can bc cast in v(:Clor form as Iscc Eqs. (10.4. 18) and (10.4.19)1
IJ,,( w , v) =/(w)
( 14 .3.8)

where the bilinear fonllS IJ,(w. v) and H,,(w , P ) and the linear form /( \11) are defined as in E(ls. ( 10. 3. 1Oll) and (10.4. 19)

\11 =

/' "1 /" 1 /"'1 1 1 1

11' 2 ,

v=

uy
v~

f=

11'\

J. , I:
n.

t=

Iy

(14.3.9)

I::.

B,,(w . v )

1
0,

(J)W)TC(J)v)dx +

y,( n Tw)T o Tv(/x

( 14.3. 10)

/(w) = [

10.,

wT f lixdy+i. \IITl ds

Yr,

728

"'N INTlIOIJtJl;rlO" lUTlill rlNn'E El''\lEN'T ML'IllOI)

iJ

ax
0

0
iJ iJy
0

0
0

il

0 0 0 0
0
0

0
I) ~

0
ilz

ax
0 1=
iJ

il oy
iJ

0
iJx

0
iJ

ily
iJ

C=M

0 2 0 0 0 0 2 0
0 0 0

(14.3.11)

il,

0
iJ
il z

ilz

0 0 0 0 1 0 0 0 0 0 0

ilx

a
ily

We assume finite element approximation of the form

( 14. 3.12)

where

~
L\

= =

[~' ~

0
~,

0 0

~,

.p"
0 0
0

Iv; ,,' ,

", , ,,', ,,,

0
0

.p,

0
~,

.,.,

,,',

,," ," ,

IJ , v;1
<p"
T

(3

311) ( 14.3.13)

(3nx 1)

Substituting (14.3. 12) into the variational statement (14.3.8), we obtain the following finite c lement equation: (14.3. 14)

where K" is the contribution of the viscous tcmlS (i.e., terms containing the viscosity t-t),
KI' is the contribution of the pena lty terms (i.e., tcnns containing the penalty parameter y), and Kv und Kr ;)rc of the order 311 x 311: and F is the contribu ti on of the body forces (J,. I}"~ f~) as well as the boundary stresses (I~ . t). I: ). and F is orthe order3f1 x 1

K" =

( T if. H"eB" (ix. n,

K" =

( Jfn, y~ BTB p dx . p
(14.3.15)

.'= (

In,

41T((ix+i llI Tt d.\

Yr,

Bu = D4I , Bp= DTllI This completcs the finite e lement model development. 14.3.3 Elasticity Here. we develop the finite clement models of three-dimensional elasticity problems [see Eqs. (2.3.48)-(2.3.53)[. First. we write the govcrning equations (2.3.51)-(2.3.53) in vector fonn.

C IlAI'l'IiR I~ l'IIi:LUL>ETOAUVAN<U)TOI'I("S

729

Sfmi" - Di~plaamellt

Relations
F:u

= -,

au~

ax

2...) , = - + -

au,
ay

aa )'
ilx

(14.3.100)

10 ......

'"
e = Du ,
,~

'u

DT:=:

[a/ax 0
0

0
0

ajiJ z.
0

a/ay
0

Jja t.

y a/a ]
ajax
0
(14.3.16b)

2 8n

28)" ~
2 8 .....

iljaz.

ajox

a/ay

Equations of Motio/l

(14.3. 17a)

oc
(l4.3. 17b)
where f ... . f ,.. and f . denote the componel1ls of the body force vector (measured per unit volume) along the x, y. and z. directions, respectively, p is the density of the material, and

(l4.3.17c)

Stress-Slmill (or CO/will/live) RellIIirms au

a"
au
~

'"
0 0 0

(."1 2
(."22

CIJ C2J
C33

0
0 0

0
0 0 0

c...,
lOy,.

el 2 CIJ

0 0 0

Cn

cz.
2 10.<, 28)"<

a
(1y t
(1,)"

0 0

or U =CE

( 14.3. 18 )

0 0

''"' 0
0

'" 0

''''

2,,'.,

where ('Ij (I'l' = ("if) are the elasti city (muterial) co n s tant ~ for nn orthotropic medium with the mnterial principal directions (Xl.X2. X 1) coinciding with the coordin:LIe axes (x. ,Y .:) used to descri be the problem. The c') can be expressed in terms of Ihe engi neering const:IIlIS (E 1 E2. E1. "12. "ll.1i2l. G12, Gu. Gn) for an ortholropic 1TI:lleri,.1 by Eqs. (2.3.48/).
Boulldary COlldiriOIl.\

I..

Natural

I, =0".,11 .,

= 0nll " + O'I.fv/I J + 0".: 11 : = i. + (1n II , + (1, ;: 11 : = iv

II .,

1
(14.3. 19) ( 14.3.20)

I~ :: (1H

+ (1,, ~ n, + (1:;: 11 ::, = i;:

[~u

Essential

u = II

on

The principle of virtu:!l displ:!cemellh for the three-dimension:!1 el:!sticilY problem ciln be expressed in vector fonn :!s in ( 11.3.4)
( 14 ,3,2 1)

The ti lli te clement approximation is "",sumed to be in the form

u=

1"' 1
II ;:

II,

= o.v 6.,

w = 8u =

r'
0 0

\\12 = 811,. W OIl , .l=

=h",

1= o.v 56.
0

(14.3.22)

where

lj,I =

[, , ~
0

0 0

,
0 0
II ;

,
0
11;_

0 0

,
/l~

,
liz
,

.
0

J']
T

6. = l u~

II:

,,', II;

(14.3.23)

u~ 1

Substituting Eq. ( 14.3.22) into the statement of the principle of virtua l work ( 14.3.2 1), we arrive at the tinite clement model of a th ree-dimensional clast ic body

(14.3.24)
where

Kr =

In, uTen

tl x ,

M' =

la,

plj,lT lj,I ' dx

...... =

r o.vTrdx , 1>1,

(14.3.25)

Q'= 1. lj,ITt ds J;.,

The e lement muss matrix M< and slilTnes~ matrix K' arc of order 311 x 3" and the clement load vector ...... and the veclOr ofintemal forces Q" is of order 31/ x I. where 1/ is the number of nodc~ in a finite element. Computer implementation of three classes of problems described in this section is <;trai ghtforward, and we ctln modify the computer program FEM2D to implement the finite

CHIII'IEK 14 PRElU DF TO !lIWANClDTOI'ICS

73 1

clement models in (14.3.5a), (14.3.14), and ( 14.3.24). TIle main change is in the subroutine

SI-.APE3D in which the interpolation function s and their global derivatives are evaluated. In
the next section, interpolation functions for a number of commonly used three-dimensional finite c lements arc presented. We note that in going from two dimensions to three dimensions. we increase the number of geometries (i.e., shapes) that can be used to define finite clement interpolation functions.

14.3.4 ThreeDimensional .'illi te Elements

The clement matrices in (l4.3.5b ), (14.3.15), and ( 14.3.25) require the usc of CO (i.e .. the Lagrange) family of interpolation fun ctions. The interpolation functions can be derived as described in Chapters 8 and 9 for two-dimensional elements, and they have the same interpolation properties as those of two-dimensional clements
L1/ft(x.y.z)= I .

"

1/fF(Xj.Yj.Zj)= oij

( 14.3.26)

For example. consider the linear clements shown in the first column of Fig. 14.3.2. The polynomials used to develop the interpolation function s for these clements are of the form
I/ (X, y. z)
/l eX,

= ao + {/IX + (l2Y + a3Z

(four-node tetrahedral clement) (six-node prism clement) (eight-node brick or hexahedral clement) ( 14.3.27)

Y. z) = ao

/I( X, y . z) =

+ {/IX + {/2Y + (/ 3Z + (/4X Z + a5Y Z ao + (l IX + (/zY + {/ 3Z + (/4Y Z + {/5X Z

In evaluating the clement matrices numerically, the geometry of the elements can be described by the transformation equations

L x,,i,(,.". iJ. y~ L y,,i,c, ". o.

1=1
1", 1

,~

L ",i,(,. ". n
1", 1

(14.3.28)

Under these transfonnmions , the master tetrahedral and prism clements transform to the arbitrary tetrahedral. prism. and hexahedral clements shown in Fig. 14.3.2. The definition of the Jacobian matrix and the numerical quadrature rules described in C hapter 9 can ea~ily be extended to the threc-dimcnsional case. For exmnple, Eqs. (9.3 .8) and (9.3.9) take the foml

ax a,
[J[ ~

a(

ax ay a, a" ihl a" ax ay -a,

8(

a, a,
o(

oy

i:Jz

--

a{J1

a, afl af2

a~ 2

afm

"'

a,

y,
'~.2 [X '
Xm

a~m a~m
a(

Yz

all

,)Jji 2 afl - a( D(

a"

a"

''"]
lm

(14.3 .29)

Ym

732

AN I~C!!tJ)<' TomE 1"1'1'11 rlJ"MCYT Ml ltiOll

3 3

.. +l

k, '
f.J=O

"

1' 1= 0

10

t a- l

~ = +I

2 __

--- 1'; ---,(

3

2_ _ _
10

II

I<' igure 14.3.2 Linear and quadrmic tetrahedral. prism. and brick clcmcms (whose surfaces are IWOdimensional triangu lar or quadrilatcml elements).

al/lt

Jl/Ir

ax
JI/t;

a,

a,
il ,

= IJI- 1

a1/l;

a'i
fJ1/IF
a(

(14.3.30)

rhjJr

CHAI'I1:R I. l'KU .LIJII roAI)VA~n illl'011t'S

733

Intcrpolation functions for some ~ 1 :LIldard elements are recorded in Eqs. (14.3.31 H 14.3.35) [see Reddy and Ganling (200 1)1.
Linear ami Qmllimfic lIexilel/ml (Brid;J Elemellls
( I -~ )(I-'O( I - ()

(I H )( I - ./)( 1 - ()
(1

+1;)(1 + 11)( 1 - 0
(14.3.3 1)

WI = ~ R

(1 - 0(1 + ./)( I - () (1 - <)( 1 -./)(1 +() (I +<)(, - ")(' + () (I +~)(I +")(' + () ( 1 - <)(1 +.,)(1 +()

(1 - 0(1-./)( 1 - ()( - ~ - ./ - ( - 2)

(I H)(I - ./)( 1 (I H)(I + ,)(1 (I - ~)( I

0 - ./ - ( O( -~

2)

()f< + ./ - ( - 2)

+ ./)( 1 -

+ ./ - ( -

2)

( 1 - 0(1 - .)(1 +()( - ~ - ./+( - 2)

(1

+ 1;)( 1 - 1/)(1 + 1;)(1; - I/+ { - 2)

( I H )( I + 0)(1 +() +./+ ( - 2)

( 1 - 1;)(1 +'0(1 +0(-1; +1/ +1; - 2)

2( 1 - , ' )( 1 - '0( 1 - ()

1""1 = 8 '

2(1 + 1;)(1 - 1/2)(1_ 0

2(1-~ ' )(1 +./)(I - ()

( 14.3 .32)

2(1 - ,)( 1 - .,')(1 - () 2(1 - <)( 1 - ,/)(1 - (') 2( 1 H)( I - ,/)(I - ( ' )

2( 1 +1;)(1

+ ,/)(1

_ ( 2)

2( 1 - <)(1 + ,,)(1 _ ( 2)
2( 1 _ ~ 2 )( 1 _'/)(1 +()

2(1 + 1;)(1 - 1}2)(1 +() 2(1 _1;2)(1 +

'O(l

+ ()

2(l-I;)( I - I}2)( I + O

Linear and QI/adm/ic IlrislII /('11/('111,\'

LI(I L ,( I - O
L J(I -

-n
(14.3.33)

n L iC] +n L 2( 1 + n
L 3 (1

+ I;)

I.d(n, - 1)(1 - 0 - (1 - (') 1

L , I(2L, - I )(I - ( ) - (I - ( ' ))

1. , 1(21. , - 1)( 1 - 0 - ( I - ( ' )1 Ld(2L, - 1)(1 +0 - (l _{2 )] 1., 1(21., - 1)( 1 +0 - ( 1 - ( ' )1 1.,1(21., - 1)(1 +0 - ( 1 - ('))
4L IL 2(1 - () -lL 2L )( 1 - (') 4LJL di 2L I (I _ { I )

(14.3.34)

2 L 2 (1 _ ( 2) 2 L J( I - { 2)

4L I L 2(1 + ()

4Lz L 3(1 + () 4L,L I (I + 0

Lil/ear (lml QUI/(/mfic Ti'lmhedrtd [,Ielllellls

L I (n, - I)
L 2(2L 2 - 1)

L , (n l - I ) L 4 (2L 4
141') =
-

I)

4LIL I

4L2L, 4L ,) L,
4L,L 4

(14.3.35)

4L zLJ
4L,L4
The volume coordinates. L ;. arc u'\Cd to dc"Cribe the interpolat io n func tions for linear and quadratic elemcnts, wherc L l + L2 + L,1 + LJ = I.

ClllwrOl14 I'IIEI.I.II)I-;lU MWANcrDTOI'ICS

735

m 14.3.5 A Numeric1l1 E: mplc I-Iere. we consider an ex,lIllple o f hem conduction in a th ree-dimensional solid. The problem is analyzed using program FEM3D. which is an extension o f FEM21). The program .' EM3D is not discussed here.

1~lImplc

14.3.1

Com;ider an isotropic slab of dimen:\ions I x: J x 10 nl. The left face. is maintained at a temperature of 100 C while the bouQIn, top and the right face..~ are m:tintaincd at O C. as 'hown ' il) Fi- 14.3.3(0). The front and bao::k fllCe.,~ arc ~sumed 10 be in!o'ul:.ttd. 1ltcre is 00 intt:rn.11 hem generation. Since only lempeNllure boundary conditions are invohC(!, the solution will be independent of the conductivity of the nlooimn. Using tbe IoYfIlOietry, a quadram of the domitin is modeled u~iJlg a 4 )( 2 x 2 mesh of eighl-nodc brick c1clllen~ lsee Fig.14.3.3(b)}.

c,
lOO'C
I

On ADCD: JOO'C 01'1 ~WGII. AEHO. nod BI"GC: O"C

IO'C ,
I II

.~, <f'" ___ --:.b__ ._ F-"::"';;::.:;z=:r. ," 1 ./'

,/
,~--- ..... --p

,'.,-' _:?'..I-.______ ._ '.~-\..yOOC

A C':...,_ _ _ _J '

0.1; Ul 61-,4-....-4-.Jl'

II

jC-l\o,;L1'-+.1l(
1m -

"/

f
(b)

~,'-'-+-+--4-*+

/4-

"

,..-

lOO'C

58.48"C 27.86' C 10.

II

J~~ -I27 C
"I
7.J.5~

58.48~C

27.86"C 10.09

I04Y~VI

1! 2l
R

I~ 3 507O"C

I" 19,~ I" I"

)8 ($'1

O'C

1.l,s"C

(iO.~

"I "I

'

5O.7O"C19.29"C7.ta'C ~.

O'C

p;r
11

19.29"(::'

P'
OC '

lOO"C
I

U)(rC

,
(b)

, O'C

0'0

" "

, " 0'C" 0' 0"

O'C O'C

Oc

~)

folgure J4.3.3 Heal conduction in an isotropic ~ Iab. (a) Geometry lind boundary oonditions.

Computational dQrnain. (e) PrIictoo temper-It.un: fie ld.

The n~~ulting temperalure fie ld is depicleli in Fig. 14.3.3(c). As we millhl t'ltpect, the three dimen.,inflal roluti(ln i:. the .... me as the lw<HJlmensional (in the .lY plane) solution lx'Cnu~ the tW()..dimell~ona l problem b equivalent to assuming that the slab is infini:ly lon~ in the .t directioQ. Thus. all planes parallel to the pl;lUe z =- 0 hOlve the S ::lme tcmpcrnture distribution. The threc-dirnensillnal solution would huvc been different from the Iwo- d irnen~iunaJ one if we had specified, fQr exumple, the temperature on the fronl and back faces (AEFO and DHGC).

14.4 NONLINEAR I'ROBLEMS

14.4. 1 General Comlllc nis

Many cnginl.:cring problcm:. arc descri bed by nonlinear d ifrerenlial cqualions. Under certain simpl ifying a<;su mpti ol1 ~, the..e problems C::lll be described by linear differential eq uatio ns. While a small perccntage (about 10 l>crI.:Cllt) of practil.:ul cnginecring problems require nonlinear analysis. it is not a trivial tnsk to determine whcn to U'\C nonlinear anal y~ i ~. It requires a good unde .... landing of the ~yslem being analyzed and Ihe allowed de .. ign tolemnees in manufacluri ng the system. In thi" section, we give some taste of nonlinear finit e c lement formulations by co n ~ id ering the one-dimensio na l pro bl em of beam bending and two-dimension;1I flow s of v i sco u ~ incompress ible flu ids. The fini te element formulati o n of nonlinear problems prccee d ~ in much the same way as for linear problem... The main d ifference lics in Ihe solution or the fini le element algebraic cq u"lion ~. For more complele del:lils and applic:ltions 10 nonline:lr probl e m ~ in heat transfer, fluid dynam ic... and solid and ~Iru c turallll echan ics (e.g .. beam ... pl a t c~. and she l1 s).lhe rCllder is advised to consult the companion nonlinear finite dement anal ysis book by the author (2004).

14.4.2 Uending of Euler- Bcnloulli Belllns

The equati ons governing the large-defl ection bending of elasti c be:um are Isee Reddy (2004) 1
--

dx

" (EA [dU 2I (<I"' )'] ) -J~O , -+- dx dx

(1.4.1 4 )

- 2 dx

<I'

("2,, )
1- 2 dx

- - ( EA " ... d dx tlx

4.4.2) -+- ["u 21(""' )']) - q- O (1 dx tlx -

whcrc /I i" the longitudinal displacement. II' is Ihe transverse defl ect ion. E is Ihe modul us of elastic ity, II is the cross-"cctional area, f is the ax ial distributed load, and q is the tra n svcr~c loading. Under Ihe assumptio n that the slope (III' / dx b sma ll compared with unity !i.e .. (d w /fix )(dll/f/.t) ::::: O. (tf lll Idx)2 ~ 01. Eqs. (1 4.4. 1) and (J 4.4. 2) become uncoupled and reduce to the bar e(luation (3.2. 1) and beam equation (14.2.39), respectiVely. However, when the slope dlV/dx is not too .. mall , we must '>Olve the coupled set of no nlinear equ:ll ion.. ( 14.4.1) and ( J4.4.2).

CHAPTU11 4 PIIltUUIl TOAllv.... NCF.nTQPI('<;

737

These weak forms of ( 14.4. 1) and (14.4.2) over an clement

(X a , XI

are (14.4.3a)

0=/" 1 dx [dU + ~(dW)2] _ ",f ldX _ Q;",(X") _ Q:"'(Xh) lEAd", dx 2 dx ~.

where
VI

is the weight function

(VI

""" ou) and

Q, = - (EA [~': + ~ (~;)']

Similarly,

II", Q: (A [~:
=
.l.

~ ('~:)']

II"
(14.4.3b) (14.4.4a)

- Q 2V2(X,,) - QJ

.( d~) I
- d;

- Q~1I2(XI - Q 6

'

.( d~)1
-

,Ix

....

where 112 is the weight function (112 """ ow), and

Q~=

(01 -

2 (ddX2 - EA -du [dU + -2I (dU)'] I EI - U) dx dx dx dx

.t,

Q5 - -

_ (d (/-d 2 - /~A dw [dU 2I (dW )'] 'U) , - -+- -dx dx dX dx dx

dx 2 (E/ d'W) I~..

II

.t,

(14.4.4&)

Q3 =

Q6= -

(/ -d'U) I" dx

The primary variables of the formulation (as in the frame c lement formulation of the Euler- Bernoulli beam theory) are
U.

W.

From the discussions presented in Chapters 3 and 5, it is c lear that we must usc a Lagrange interpol::llion of II and a Hermite interpolation of 11': u = Lll j t/!;(x).
j= 1

"

II'

L 6. J(x)
j

(14.4.5)

j=l

where Vlj are the Lagrange interpolation functions of degree II - I and j are the Herm ite cubic interpolation functions. For II = 2 (i.e .. linear approximation of /I). the clements used for II and II' contain the same num ber of nodes, whieh is convenient in the computer implementation of the mode l (see Fig. 14.4. 1). Substituting the approximations ( 14.4.5) for II and w. and VI = 1/1; and IIZ= ;. into (14.4.3a) and ( 14.4.4a). we obtain thc finitc clcment model

K" [ K"

( 14.4.00)

738

,," 1"11!OI)UC11ON "ro Ti lt IlNIHi I:I.F\II:.NT ~lI'mOIl

FiJ.:u re 14.4.1 Nonlincar Eulcr- Bcmoulli Ocam clemcnt based on linear inlerpol:llion of thc axial displao.:cll1Cm If und I-icr1l1itc cubic interpohuion of the lranwe~ dd1ection It".

where
K},I = )

1"
-',
'.
~

E"d1J! , d1J!j dx. dx dx

K.~ =
Ij

"

f A~ 1
t.

- " - - - dx 2 dx dx dx

dll' dWI dj

K. =
IJ

" f "EI - - d 2) dx+ fA, - f.A (tllI') 2- d j d, lI2, di -I _

(/.(2

dx l

-'. 2

dx

(/x dx

lllV (IJ d1J!, K " = f -'' EA - - - - - (Ix.

j ;

{I.r {Ix {Ix

F/ =

I'
'.

( 14.4.6b)

"',fdx

+ Q"

fi~ =

f'."

rp,' q (Ix

+ Q i->-I

nli s completes the finite elemen! model of the 110n lincar bending of beams.
14.4.3 The Navier-Slokes E{luations in Two Dimensions
When the inenial cffL'1:t), are larger than the \liscous effect.. , Eqs. (10.2.9) and (10.2. 10) must be modified 10 include thc convecti\le temlS. i.e .. the following Navier- Stokes equatio n ~ must be solved:
P(
P (

I ~ 1

1=2

if ; = I or 2 if ; = 3 or 4

u
.t

ou..ax

+ j' (1.V
Y

v alJ~ )

_,[2
I

02

\1..-

i.lx2

+ ay
ay

(JI!'f + av ay ax
ax

v )]

D - IT P_ ax
( 14.4.71
.

iJVy iJlI. , -ax +" -oy,.)

A

- 11.

[-" (au..- + - v ) au. ilx

-+-~ O

i.l 11" ai' +2- - ] + - ~f ay2 iJy

av..

all,

ax ny where p is the density of the Iluid and all the other sy l1lbol~ have the same meaning a~ in Chapter 10. 1 lere. we present the penalty finite element model of the Navier-Stokes equat i ol1~ ( 14.4.7) over an elemcnt. Le .. replace the pressure P by

P =- y

,", ""') (-+_. ax

i.ly

( 14 .4.S)

iltld omit the cont inuity equ:ltion. The we:lk form is given by (see Section 10.3 for det:lils)

l, (v. ~~: + v, (~~) + I... I} /0,

{WIP dx -

11"1[ dx ..

i.,

"ll"d.f =

0
(14.4.9)

where 1 1 denotes the expressions (omitting the time-derivative terms) in the squ:Lre ... brackets of Eqs. (10.4.2 1) and ( 10.4.22) (also. note that IVL = av.. and 1V2 ='\:vv). The fini te clement model of these equ:lt ions i" given by

[ I ( ax
n,

a"~ a"~,) Wzp Vx-,-+V,'-,- +1 .I I (}X- { '

ily

i... ln, 1I'2f dx- 1;.,

1

\\' 2 f

"ds=O

(J4.4. 10l1)
where K", K p ' and F are defined in Eq . ( 10.4.28) lalso, sec Eq, (IO.3.lOb)J and contribution of the nonlinear (conv(.'Ctive) terms to the cocflicienl matrix

K.- is the

( 14.4.10/)
and

11 is the solution vector known

from the previous iteration .

14.4.4 Solution Methods for Nonlinear Algebraic EqUlltions

Note that the element coefficient m:ltrices in Eqs. ( 14.4.&1) :lIld ( 14.4. 10a) arc nonlinear and unsymmetric. In the C:ISC o f beams. the clement stiffness matrix is a function of the unknown transverse deflection, where:ls in the case of fluid flow. the coefficient matrix is a function of unknown velocity comlXlnents. The assembled nonlinear equations must be solved, ;Jfler imlXlsing boundHry cond itions, by a suitable method. Here, we describe two iterati ve methods in which wc ~ee k an approximate soluti on to the nonlinear algebraic equations by lineari"at ion. The iterative methods arc outlined using a nonlinear matrix equation of the form

(14.4.[1)
where A is the vector of unknown nodal value": the dCI>cndence of K on .6. i" clearly indicated. TIle direct ilenllion melluxl. al so known as the Picard mel/tfxl. is based on the scheme
(14,4,12)

where A r denotes the solution at the r th iterati on. Thus, in the direct iteration method. the cocfficients K ,j (and hence K~fJ) are evaluated u~ing the solution ~ r from the previous iter..llion. and the solution:lt the (r + I)th iteration is obt:lined by <;olving (14.4.12):

( 14.4.13)
At the beginning of the itcrmion (i.e., r = 0), we aSl'oUIllC :t solution A 0 based on our qualitative understanding o f the solution behavior. ForexampJc, A 0 = 0 for large-deflection bending would reduce Ihe nonlinear stiffness matrix to a linear one, and (14.4.13) would

yield the linear solution of the problem ill the end of the Ii ..... t itemtion, 6 1. The iter.:ltion is continued [i.e .. (14.4 .13) is ...oh cd in each iteration] until thc dilTerence Octween 6 ' ;lnd 6 ,+ 1 rL"<iuce<, to a pre>;clcctcd error tolerance. The error criter;o/l is of the form (other criteria may aho be used)
l a r ~ 1 _ tl..'" :'::c-:-;c;+:; ,"'-~ < f

( .) ,
~,ly.

la '

1(

(14.4.14)

where [ . [ denotes the Euclidean norm ( root - m can- ~quare va lue) of N nodal value~. where N i, the 101a1 number of primary unk.nowns (i.e .. generali/cd di'placemel1ls) in the fini te clement me~h. The olher ilcr.Jlive method is Ihe Nt'lI'fOlI- Rtlph.wm IIIellul(/. which i~ b:'<>ed o n the Taylor series cxpansion o f the al gebr:lic t:quations ( 14.4. r I) aboUllhe known solution 6 ' . To deM:ribe the method. we rewrite ( 14.4. 11 ) in Ihe ronn (14.4.1 5) where K den01es the ohl:lin
re~idwli

due to the linearilation of K. Exp:lI1ding R about

a ", we

(14.4.16(/)
0'
(I 4.4. I6IJ)

where 5 ~ denotes the increment in K;

and Kr is the lallRellt

<II

(.\ti.ff" e.\.~) II/lIIr;x

0" == iJ 6

evaluated

= 6 '
( 14.4. 17)

86 =

a r+ 1 - a '

(incremental solution)

For ~ true tural prohlem ~ with variational principles. it can be shown that KT is symmetric eve n ir K is not. From ( 14.4 . 161J), we have ( 14.4.1 &,) and the tot:.l solution althe (r

+ I)th iteration is give n by

.a.:~ 1

= a ' +8a

( 14.4.ISb)

The iteration in (14.4. I Sa) is continued untiltheeonvergence crit eria in (14.4.14) is satisfi ed or the rc~idual K Imeasured in the same way as the solution error in (14.4. 14)1 is less than <I certain prc!o.Clected value. For "dditional detail~ on iterative method ~, con ~ ult the rererenccs .11 Ihe e nd or the chapler le.g., Reddy (2004) and Redd y and Gartling (2001)1.
14.45 Numerical Exampll.'S

In this seclion we present some representative numerical examples or no nlinear bending of beams and nuid now. A more complete di scussion of the nonlinear rormul:ltions presented in SL"Clions 14.4.2 and 14.4.3 as well as examples presented here ean he round in Redd y
(2004).

CIlAI'n :K

I~ l'MI HIlI' IOADVA)o.CEI)TOPICS

74 1

Example 14.4.1
Con\ider a ~tmight beam made of ~Iecl (f =30)( 111' psi). of length 1. "" 100 in.. width H, ilnd height H. anti suhjCctl.'(j to unifonnly distributed lood of inten~ily qo) tblin. TM beam i~ a.\$ullled to be fixed at bolh ends. NOIing th<:-r-ymllktry oflhe SOl utiol' nbout x = /.. /2. one-half of the domain is u~ed liS the computational domain. The geometric boundary conditions for the compU!3t!Qoa! domain (lft he pJ'Qblcm arc

(14.4.19)

The load incremenl~ or 6'h1 == 1.0 Iblin . a t(tienance of f "'" 10 ) , and maxi mun'l allo"'able iterationl> of IS (per load step) 0IfC u:.ed in Ihe an;dysi~. TIle initial ..o lullnll vector is chosen to be the J;cro vector. The exact solution to thc linear problem i~

(14.4.20)

.100 the ma;.::.jmum defll'elilms occur<; 8t L.IZ. For ql) 0: J IMo .. L or 100 in .. IJ x H = I in. )( I in., and . =30)( If!' psi, they an: givcn by ( 0 "" EH l/ 12, U ", I)
\>.

I.) q"L' ("2 "'" 3K4D =0.10-'2

in.

( 14.4.2 1)

Table 14.4. 1 C()l1tain.\ the rulllt ~ o f the nonlinear ana l y~i~ or the clamped-clampt.'<I beam; the re.wll$ were obtained with hoth Ibe dil'\!Cl and Newton- Rnph"D n iletaliQn met hods. 1M two-point G{)w.~ rule for the linear terms and one-point <;IUL, $ rule for nonlinear tenns j, " u,cd 10 eliminate the S(M!alled membrane locking (Reddy, 2(J04). Figure 14.4.2 shows the IlIadd~flectioll curve for the bea m.

Tllble 14.4.1 Finit(' clement I"CSUlb for the deHections of a dampcd-e lampcd beam under uniform load.
I)u~t

it(flliion

N~ tQll

Raphson ilcralion

,-"'" '"
1O 20 :>-0
5.0 6.0
,~

4 tltll1(!nl!. O. !03J (3)' 0.2022 (4) 0.29J8 (4) 0.377.1 (5) 0.4529 (5) 0.52lJ (6) 0.5840 (7) 064J 2 (g) 0.6945 (9) 0.7433 (10)

II elemenl.'i

4 tkrllCrll~ 01034(3) 0.2022 (3) 0.2939 (3) 0.377J (3) 0.4528 m 0.5214 (3) 0.S8J9 (3) 0.6413 (3J 0.6943(.\) 0.7435 (.1)

8 cltmenb
0.1034(3) 0,2023 (3) (),2939 (3) 0.3774 (3) 0,4530(3) O.5216(3) 0.584t (3) 0.6414 (3) 0.6943 (3) 0.7433 (.1)

4.
9~

I .~

0.1034 (3) 0.202.,1 (4) 0.2939(4) 0,3774 (5) 0.4531 (5) 0.52 15 (6) 0.51$42 (7) 0.64 12 (8) 0.6944 (9) 0.74.11 (10)

:-Iuml>tr\tf 1~~,*,,,,,,,,!SUn .... ~_.~.

742

"f',

II'mIO\)UCl'lO'I mnlF. Fl'lIlv. I'l L.... b'lT MI:TIIOO

1.20
J. JO

'.00

q.

.- 0.70
0.60 0.40 0.30 0.20 0.10 0.00

0.90 0.80

,!l 0.50

tm'l"''''l'''''1''"'1-1'''''l''''''l''"",m+
0.0 1.02.03.04.05.06.07.08.09.0 to.O I.{Ia.d.qo

Figure 14.4.2 Load veNUS deflection CUI"\'CS for /I clamped !)cam.

f;Xamplt> J4.4.2

_~

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __

Here. W~ eonSltler the Iid-drivell cavity problem of fiAamplc 10.6.3 for nonlinear illltilysh (i.e., solve Navier-SlOkesequ.aLion~). For the pwblem III hand, lheReynolds nu~r. Rt .., PlIUll I ,l. CilIl be varied by vllrying lheden!>ity .... hiJc keeping the \iSl:OSitYC{)nMllnI. Thu'!., ..... e take {l'O "" 1 IU.ld (1 ... I) Jt = I so tl\31 Rc: p. The problem is solved u,sing unifOfllJ 8 x 8 ~~h of linear elements:l~ welt:b 4 x 4 mesh of nine-node quadratic e1crnenll" and the mullS Me pre~ented LII Table 14.4.2 f()r Re ~ 100. 500, ami 700 (y "'" ]Qi! and ( .., 10- 1). Tbe converged nonlinear solution of the preceding Reynold~ number, is used ~ the initiol gue~s to the first iteration of the next ReY(lolds number. In gCflCI'iII, for very higb Reynold)" nUlllbers. uo(\em:loxation lIIust be used 10 accelernlc the convergence by using I~ .... eightcd 3\Crage of ,,'tlocitic.~ from IWO

Tltble J4.4.2 Velocity 1I. (0.5. y) obtflincd with line:ar and quadratic clemen~ and for various Yaruc.~ (,Ir the Reynolds number.

R,

,
~

S xSL

4>< 409
700(9)
1()()(5)
~O.OSS4

1000S)
-t)0498 -t).0870

500(8)

500(8)

70011U)~

Q125

- 0.0242

- 0.0140
- 0.0345

- 0.0141

0.250
0.375

- 0.05G3
-0.0133

O.SOO 0.625 0.750

(l.S75

- 0. 1164 -O .I1.'J
- 0.0635 0.0649 0.3750

- 0.0564
~O.OS86

- 0.09611 _ 0. 1313
_ 0,1414
~0.08t4

- 0.0540
- O.1J43

....(1.0700
0.0027 0.0359 0.1761

- 0.1252
- 0.0455

- 0.0106 - 0,0089 - 0.0672 - 0./181

- 0.0831

0,0039

0.0354
{U24t

O.04H6 0.3629

0.1045
0.2.1 IJ

0._

0.1628

NIth,Iboet: itl ,....,..~ ~ {hj;: oombolr.,.. ,ItQ:tiQ<ll. tUi:ll fnr ~\."te'I(~

1.0
0.'

0.' 0.4 is 0.' 0.' 0.1

0.8 0.7 0.6

16 x 20 mesh of

bill.nc:ar elcmellt$
Re ... J04

ne :lt5)( 103 ~ {te .. 103

, Re ",500

-0.4 -0.2

HorilwnW velocity, 11..(0.5,)')

0.2

0.'

0.6 0.8

1.0

,"'igure 14.".3 VclocilY v., (O.5, y) versull .II for VMIOU~ Reynolds numberS.

(14.4.22)

to compute the cl)tffi ci(:lIt matrix. Here "

i~

\i.n()wn a) Ihe accckmtion l'ar:lmelCt. Pigure 14.4,3

cUf)lnins plOtS of the horizontal velocity Obtaiued with 16 x 20 mesh for Re~500, I<Y. 5)( 10', 10" (the increment of Ht: i~ taken to ~500and IJ 0.5),

14.5 ERRORS IN FINITE ELEMENT ANALYSIS

14.5.1 "') .pes of Errors
The crron. imroduccd into the finite c lCllu:nt solution of II given differentia l equ<tlio n ca n be attributed 10 three ba<;ic source.';:

I. Dom"i" appro.rima/io/l error. which is due to the 'Ipprox imation o f the domain. 2. Ql/(llJrml/re lI/Ill jini,e arithmetic error,f. which arc due to the numerical eval uat ion o f int eg ral~ and the numerical computation on a computer. 3. Approximation e,.mr. wh ich
i~

due 10 the approxi mation of the solut ion:

N

1I ~ lIh= L VlctJl
Ld

( 14.5. 1)

where V, dcnotes the value of /I at glob;) l node I :md 41 , denotes the global interpolation funct io n associated with global node I (see Fig. 3.2.9). In the onc-dimen"ional problcm'l. the domain .. con ~i dercd have been stmight li nc,. Therefore. no approx imatio n of the dom:tin has been necessary. In two-d imcnsional prob lems involving no nrectlUlgular doma ins. domain (or boundary) approximat ion errors are introduced inlo the finite clement ..olulion ... In gcnel1l l. (hc"e can he interpretcd a ~ crro .... in

744

AN !.'fI'NOI)L L"1I0N TOnIE HNIl'I! [LEMfXr MI!1'HOI)

the specificat ion of the da ta of the problem because we are now sol ving the given ditTerenti .. 1 equati on on a modified donwin . As we refine the mesh, the domain is more accu rately rep .. resentcd, and, the refore, the boundary approximation errors are expected to approach zero. When finit e clement computations arc performcd on a computer, round .. off errors in thc computation o f nu mbers and errors due [0 the numerical cvaluation of intcgrals arc introduced into the sol ution. In most lincar probl ems with a fc:)sonably small number of lotal uegrccs of freedom in the sy~ te m , thcse errors arc expected to be small (or zero when o nly a cerlain decimal point ilccumcy is desired). The error introduced into the finite clement solution u;; because o f the approximat ion oflhe dcpcndclll variable II in an e lement Q" is inherent \0 any problem
II :::::: Uh

L Lllrl/!:= LU,,
r= I ; .. 1 1", 1

"

( 14.5.2)

where IIh is the finite element soluti on over the domain (Ilk = II~ in Q,), N is the number of clemen ts in the mesh, M is the 1 0lal number o f g lobal nodes, and 1/ is the number of nodes in an elemelli . We wish 1 know how theelTor E. = If - II h. me:lsured in a meaningful 0 way. behaves (IS the number of elemellis in the mesh is increased . It can be shown thaI the ap proxi mati on error is zero ror the single sccond ..ordcr and fourth .. order eq uations wi th e lement wise-constant cocllieienls. 14,5.2 Measures of Errors There arc scveri.l l ways in which we can mcasure the "differcnce" (or dis tance) between any two functions II and /I/r . The l){Jilllwi.~e error is the difference o f II and II /r at each poi nt of the domain. We can also defi ne Ihe di ffcrence of /I and IIh to be the maximum of all absolute values of the difTerences of II lind IIh in the domain Q = (a, b): ( 14.5.3) Thi s measure of difference is ca ll ed the slIpmctric. Note Ihatthc supmclric is a real number, whereas the pointwise error is a function and does not quali fy as a distance or norm in:1 striclmathematical sense. The noml of a fu nction is a nonnegative real number. More generally used measures (or nomls) of the difference o f twO functions arc the ellergy lIomi :lIld Ihe L 2 /lorm (pronounced 'L-!wo norm'). For any square-integrable runctions II and 1111 defined on the domain n = (a, b), the two norms are defined by energy norm

11 11

~ It/, IIm= (
II u

f. ,m I - -. I' )'" L -. .
d'lI (I'll},
" id)

dx'

dx'

dx
1/2

( 14.5.4)

~ /l h 110= (/. 1 - 11112 (IX ) 11 1

( 14.5.5)

where 2m is the order of the difTerential cquati on being solved. The term "cnergy norm" is used to indicate Ihat thi s norm contai ns thc sarne ..order derivatives as the quadratic function:.1 (which, for most solid mechanics proble ms, dcnotes thcenergy) associated with the c(luation . Various measures of the distancc belwecn two fu nctions are illustmted in Fig. 14.5. 1. These dclinitions CHII easily be modified for I wo-dimcnsionul domains.

Maximum vslue: J. _ - norm or the error

)
Ares shsded: ~ - norm orthe error

L -_ _ _ _ _ _ x
Figure 14.5.1 Differeru measures of the erro r E:= 11 ~ U h between tile ellact solution II and the finite clement solution 11 h . lllc mallimum norm and the L 2 nomlS arc illuslnlted.

14.5.3 Con\'ergence and Accunu.'y of Solutions

The finite elemcnt !oOlutio n IIh in (14.5. 1) is said to {'O/Il'ery:e ill Ihe energy narm 10 Ihe true solution II if

(14.5.6)
where (' is a constant independent of /1 and II h. and II j.; the characteristic length of an cicmcnt. The eo n ~ tall t I' i~ called the rale oj (ol1l'ergella. Note that Ihe convergence depe nds on II as well a ~ on 1': J) dcpends on the order o f the derivalive of 1/ in Ihe weak form IUld the degree o f the polynomials used to approxi mi.lIC II (see ( 14.5.15) belowl . Therefore. lhe error in the approximation can Ix: reduced either by reducing the sit); of the clements or increasing the degree of approximmion. Convergencc of the finite clemen t solutions with mcsh refinemen ts (Le., more of the samc kind of c l emenl~ are used) is termed II -convergence. Convergence wi th inercllsing deg ree o f polynolllial ~ is called p -col1lelgell"e. Returni ng to the question of eSlimating the approximation error. we con,ider a 2mthorderdiffercntial e(luatio n in one dimension (m = I, ~cond -orderequations: /II = 2, fourthorder C{luations):
L (- I )' - . (I/ ; ",, 1

'"

.d (d'U) =/ '
dx' dx'
.

for

0<x < L

( 14.5.7)

where the coc fl1cient s (I/ (x) are assumed to be positive. Suppose that the esscntilll boundary conditions of the problem are
11(0)

= II(L) = 0

(III

= I . 2)
(m=2)

( 14.5.8) ( 14.5.9)

dU) (-Jx 1 - (du)1 ' '''[ -- 0 Jx

X"'U -

The variational formulation of (14.5. 7) and ( 14.5.9) is given by

o ~ i r'"(ta,"'Ud'U UI) <Ix o ;= 1 dx' dx'

The quadrll!ic functional corresponding to the variation:!1 form is
1(11 ) =

( 14.5.10)

1',

o 2

-I [ m

L(I; (d'U)'] -, ,... Jx

1

(14.5.11)

746

AI> 1N11l(}1)UC1'IO~ TO TilL H~ln: EU:'W:Nl MVIlI(>I)

Now co n ~ider a linite clement di ~c rct il.at i on of the domain by N clements of equal length fl. Ifllh denotes the linitcclement solution in ( 14.5.1). we have. from (14.5.11).
I (Uh) =

1"

-1 [ "' o 2 i:d

L aj (d'a)'] dx --+ d.1

l'
0

IIh/dx

(14.5. 12)

In the rollowi ng par.:lgraphs. we show that thecnergy I associated with the fi nite element approaches the true energy rrom above, and we then give an error estimate. We confine our discussion. for the sake of ~implici t y, to the second-order equation (III = I). From (14.5. 11 ) '.ll1d ( 14.5.12). and
~ol uti on

/ =-dx

d ( da)
(/1 -

dx

we have
I(lfh) - / (II)

] 1" [(da,,)' (da)' -1' [", (da,,)' a, (da)' d ( da) 1"('" [("a,,)' (da)'] da d d ~ 1"~ [(da,) ,+ (da)' _2'''la,]dx ~ l' ~ (tlllh _ dll)2 dx ~ O
= -1 o 2
(/1 -

(Ix

(/1

dx

+2/(II - lI h)

{Ix

dx

--

d .f

--

(Ix

{/I -

dx

(II - Ilk)

] dx

I)

dx

dx

+al - - (II - Uh)

dx dx

)dx

\I

dx

dx

dx ilx

o 2

dx

dx

( 14.5.13)

Thus, ( 14. 5. 14) The equality ho lds only fOI" II = 11 /,. Equation ( 14.5. 14) implies that the convergence or the energy of the finite element sol ution to the tnle energy is from above. Since the relation in (1 4.5.14) holds for any 1IJ,.the ineq ual ity also ind icates that the true solu tion II minimizes the energy. A sim il ar re lation can be established for the fourth-order eq uation (III = 2). Now suppose that the fin ite clement interpolation fu nct ions I/ (I = 1,2 . .... M ) arc complete polynomi:lls of degree k. Then the error in the e nergy norm can be shown to s:ltisfy the inequality lsee Reddy ( 199 1). p. 401 J
I l ell", = I III~llh l lm ::5 ("h",

p = k+ l-m > O

(14.5.15)

where (" is a constant. This estimate impl ies that the error goes to zero as the plh power of II as II is decrC<lscd (or the number o f d ements is increased). In other words. lhe log<lrilhm o f the error in the energy norm versus the logarithm of" is a strai ght line whose slope is k + 1 - m. The greater the degree of the interpolation functions. the more rapid the rate of convergence. Note a lso that the error in the energy goes to zero at the rate of k + I ~ m:

CHA!'T'EI< !4- PR(!.VOETO AIWA'KTI)1UPICS

747

the error in the L2 norm will decrease even more rapidly, namely, at the rate of k. + I, i.e., derivatives converge more slowly than the solution itself. Error estimates of the type in (14.5.15) are very useful because they give an idea of the accuracy of the approximate solution, whether or not we know the true solution . While the estimate gives an idea of how rapidly the finite element solution converges to the true solution, it docs not tell us when to stop refining the mesh. This decision rests with the analysts, because only they know what a reasonable tolerance is for the problems they are solving. As an example of estimating the error in the approximation, i.e., (14.5. 15), consider the linear (two-node) clemenl for a second-order equation (m = I). We have for an element (14.5. 16) where s = i / II and i is the local coordinate. Since 11 2 can be viewed as a function of (14.5.16), we can expand 112 in ;1 Taylor series around node 1 to obtain
11 2= 111+111+2111+'"

III via

1 "

( 14.5.17)

where II' '=. (Jli/ds . Substituting this into ( 14.5.16), we obtain

I

II

IIh = 1I1 +[/15+"21115+"

(14.5.18)

Expanding the true solution in a Taylor series about node I. we obtain

/i=III + U I 5 +

I " 2

2
2

11 I S

+ ...
max
O~i ~h

(14.5. 19)

Therefore, we have, fr0111 (14.5. 18) and (14.5.19),

I IlIh - u l<- (.f - .f 2 )

max
O~s ~ 1

I(PIII I
ds 2

-2

I 2 - - = -(.1'-.1')11 2

Id111 2
2

di

(14 .5.20)

( 14.5.21) These lead to (14.5.22) where the constants ('I and (.'2 depend only on the length L of the domain. The rellder may wish to perform a similar error unalysis for the fourth -order equation (14.2.39).

Example 14.5.1 Here we consider 11 compuUltiollaJ example- [0 verify Ule e.rror e~timales in (14.5.22). Consider the differential equaHoo 04.5.23)
with

u(O)=-u(l)=Q

TIle e:tllCI solution is

U(x) "".l(l - :r)

(l4.S.24 )

whill! the fill ite clement solutiolllio are. for N =. 2.

forO ~xj; "

for h !E x $. 211

for N =3.
1Itl (X1h)
II ~= 21t ~ (2 -x/ h) +2h 2 (.t l h - I)

for Os x $ h

2h (3 -x/ h)

for h !S.l "S UI for 211 S .t $. 3h

(1 4.5.25)

and, fOr N ""' 4.

3h1.('l / lI)
for 0 :5 .>: 'JE ll

3h 2(2
" .~

- x / h) + 4h 10;jh - l )

forh s x $.2h
for 31i $. x !S 4h

4h 1(3 - x / h)

+ 3hl(X/ h -

2} for 2" S..f !!: 311

3/l l (4 _.1' / h)

Por Inc tWQoClement case ( h = 0.5), the err<)r$ are given by

== OJJQZ083

(14.5.26)

II"" ""'II' /.'

-- -

(Ix

dx

"'"

( I - ~' - hid).'

I."
It

(! - '2;;

+ /i)1dx

= 0.08333
SiOliiar c;l lt:ul;ltion~ CliO be performed for N
N~2.

=- 3 and N ::,;. 4. Table 14.5. 1 gives (he etTQn; for

log I e I,"" log" + log l) (14.5.27)

3. and 4. Pl04 Qf log I ~ III and log I ~ I I \'crsus Iogh shOw ,hal (o;ee fig. 14.5.2)

log d(! III= 2 1 0g11 + log ej .

In other wortis, the rate of c()n\'crgcnct: of the finite elemenl .\ olution ilio 2 in tbe L) nonn and I
in the energy noon, ",er:i!ying the eStimates i.n (14.5,22).

T.ble 14,5. 1 The [.1 error and error in the cl"tergy noml of the wluti(1Il 14.5.I).

I()

( 14.5.23) (Exartlpl~

laglO},

It H n
O .Ot564 002028
0.01 141

~Io' ~ lo

I t II
02887
0.192'
0.1443

k>s,1O ,,.11
- 0..5396

l, , , ,

- 0.30 1
_ 0.477

- 1341
- 1.693
~ I.943

- 0.7"7
- 0.8406

- 0.601

ettll!'"!t It 14 l'ltn Ll>E 1U "'1)\ ... ,('Wll)f'l('~

749

loglel a ", logel + 2 log h

I/
, ,
I

I<>gk" 01""" I""

+
I"" h

,I

f i= -IOKct

Figure 14.5.2 Plots of the L1 and energy I,lOmIS of crror~ '"crsus the mesh si/e. The loSlllg plot~ give Ihe rolC~ of C(lIilli,:rgcn..:c in the res~li\c norms. The r;ttc." of convergence ilr given by the $l o~ of the lines (the plOl.~ shown are f(\l" linear clcmcOlS).

Muc h orlhe discussion presented in this section can be carried over to curved clements and two-di men<.ional clemcnts. When Ihe fomlcr. i.e .. clement:'> with nonstr:Jighl ~i des. arc involved. the eITOr estimate also depends o n the Jacobian of the transformation. Because of the introductory nature o f the present study. these topic)' :Ire not discu'i'iCd here. Interested readers can consult Wait and Milchell ( 1985). Oden and Reddy (19S2). Sirang and Fi x ( 1973), and Reddy ( 199 1). As noted earlier. in the case of both second- and fourth -order equ:ltions in 11 si ng le unknown and wilh constanl cocfficicntsa and b, the finile c leme nt s{) lution ~ o f the equations

_!!... (/:c

(a (Ill) =
(Ix

!(x)

( 14.5.28)

_dx'2 (b d2 ~ .{(x) d d x") 2

( 14.5.29)

coincide wi th the e)(act solutions :Lt the nodes. The proof i ~ presented be low for the secondorder equation. COIl\idcr the equation
(/ 2/1

- a-=!
(i.I' 2

for O<x< L

( 14.5.30)

with
11 (0 ) = 0. II ( L ) = O

( 14.5.3 1)

The global finite e le ment Mllutio n is given by (UI = UN = 0)

N

II h

L U , <P ,
for each I = 2, '" . N - I

(14.5.32)

where <PI are the linear global int crpoJ:ltion function s shown in Fig. 3.2.9. Frorl1the defi + nit ion of the variationa l problem, we have

r'
10

(lill _ lI x dx
1"
Q

(11I h - <P

li

) d x= O

( 14.5.33 )

whe re = f / (I . The exact solution also "atisfics this equation. l-!ence, by subtr.J.cting the finite element equatio n ( 14.5.33) frOlllthe eXllct solut io n, we obtain
(dll _

dll ~ )
dx

d <P 1 ,I.,

~0

dx

dx

U = 2, .. .. N - I )

Since we have <1> / = 0 for x :5 (J + I)h and x ::: (I - I)" , and (1<I> ,ftlx = 1/ " for {I 1)11 ~ X ~ II, and (14) ,ftlx = - I / " for If, ~ x .::: (J + I )'" it follows Ihal

for I = 2. 3 .... , N - L Denoting (x) = u (x) - II,.,(X ). we have

*(/ - /
0'

" 1

(till -dl/ h) -1(Ix + j ll !llh (till -(II/ h ) ( - -') (lx = O dx dx"

/I,

(14.5.34)

( / - lIh

(ix

dx

"

d+

(-* )

(I+I- ('} = O

- (- / _ 1+2/ - / +1) = 0

where / = ( 1II) (i.e .. Ihe value of ( at x = I fJ) . Sillce ('0 = tiN = 0 (because both II and /1 /, sati sfy the e" ~e nti a l boundary conditions), it follows from the above homogeneous equatio ns that the .,olution is trivial : ( I = f: 2 = ... = f: N _1 = O This impli e~ that the finit e c lement . w lution coincides with the exact ..olutio n :It the node ~.

"

U =2,3 ... . . N - I)

(1 4.5.35)

14.6 SUMMARY
Three :ld vanced to pics have been discussed in this chapter: ( I) weighted residual and mixed fin ite clemen! fOnlmlations of d ifferential equations; (2) finil e clement models of threedimcnsional problems; and (3) tinile c lement mode ls o f non Ii neilr equations. Thc weighted residunl models discussed incl ude the Pe;:trov-Galcl'k in model . Bubnov- Galerkin model. collocation model. subdo maill mode l. and least-squares modcl. Finot and second-order d iffercntial equ ati on ~ h;lve becn considered. Three-dimcnsional finit e clement models o f heat tr:lIl ~ fer. nows of viscous incompressible fl u i d ~. and elastic ity have been also presented. A libr.lry of interpolation func ti on ~ of ..ome commo nly uscd three-dimensional fi nite c leme nts have been presented. Nonlinear fi nite ele ment mode ls of the Eulcr- IlCOloull i beam theory and the Navier- Stokes equations govcrning two-dimensional viscous incompressible nows have been deve loped. Two iterativc sche mes, Picard and Newton- Raphson. for w iving nonlinellr algebraic equat i o n ~ havc been d i~ u ssed . Finally. vari o u ~ ty pes of errors in the finitc clcment approximat io n o f dilTerenti al equutions h:lvc been disclissed and different

("IIM'Il;R 14. !-'REtUllr TO !l IW"NCEl>'TOI'K'S

75 I

measures of the error have been defined. It has been shown that the tinite element solutions of differential equalions with (.;onstant (.;()effieients are exact at the nodes. This result docs not hold for coupled second-order differential equations with constant coefficients. The alternate finite element models presented in Section 14.2 can also be extended to nonlinear problems. For example, mixed least-squares finite element models of plates and shells as well as the Navier- Stokes equations have been already reported. The reader may consuillhe references listed at the end of the chapter.

PROBLEMS
14. 1 Consider the second-order equation

-~ (:'") =[ dx dx
and rewrite it as a pair of first-order equations,
_ dfl dx

(I)

+!... =0.
(/

ill' - - - [=0 d,

(2)

Construct the weighted re.~idual finite clement model orthe equations. and speeialil.e it to the G31erkin model. Assume illierpolation in the fDnn
If =

,-,

L:> i t,lr j(X).

P=

" L f'/pJC;r)
F.- I
equation~:

(3)

and usc the equ;t1ions in (2) in the right order that yields symmetric clement

IK"I [ IK I ~ y

(4)

The model can also be called 11 mixed model because (u, I arc of different kind~. 14.2 Evalwile the coefficient mal rices 1K~~ J in Problem 14.1 for (/ = constant and column ve!;tors I Fa) for f = !;onstanl. Assume that t,lr, =; Me the linear interpolation fundions. Eliminale I PI from the two set~ of cq\l~ltions (4) to obtain an equation of the fonn

lKJluj = {FI
Comparc the !;oc!licient matrix 1 j and vector If"1 willI those obtained with the weak rOml K finite clement model of (I). What conclusions cun YOll draw'! Develop the lea~t squares finite clement model of (2) ill Problem 14.1. and compute clement eocfficienlmatrices and lIe!;tor~ when 1/1. = , are lhe linear interpolation fUlletions. Sollie the problem in Example 14.3.1 using three clements of the least-squares model developed in Problem 14.3. Compare the result~ with the exact solution ,lIlU lhose orthe weak form finite clement model. Show that Ihe mixed finile clement model of the Euler- Bernoulli beam thcory. Eq. (14.2.47(/), is Ihe same as (hlll used ill Eq. (5.2.18) for the linear interpolation of 'I' and M. Consider the pair of equations
VII-(I /~ = O.

14.3 14.4

145 14.6

V' II + ! = O in

752

AI> IN'I'II.OI)UCTIO~

m 1'111; HNl1ll ELIlMl!Nl

MI:Tlt(~1

whcre II and (I arc the de pendent variables. and k and fare givell fUllctions of posi tion (x. y) in a two-dimensional domai n Q. Derivc the fi nitc eleme nt fOfnlul:lIion of the equations in the fon n

IK"1 [
symill.
II

ClIIl,ion: Do not eli minate the variable

froll1 1hc given equations.

14.7

Co mpute the ele ment cocfliciel1lmatrices I K~~l and vec tors I F~ I of Problem 14.(i using linear triangular clements for :111 vari:1blcs. As~ulllc thai k is II constant.

14.11 RelIC:!! Problem 14.7 wi th linc:lr rttt:lI1 gubr ek men ts. 14.9 Consider the following form of Ihe governing equations of thc classical plate theory:
(a)

(b)

where M" and M ),' arc the bending moments. load, II is the Poisson rmio. and
~

II'

is Ihe tramversc deflection, If

i .~

the di~lributed

D'I
(~)

= 0

O jl

' 0

Do = 011 O~! - LJi2

Give the wC3k fom1 of the equations. and (b) :HSU IllC approximation of the form

,
I\'

= ' " 1\' ,. '1'" L... ,,1

, M,.. = LM"t/I}. ,.,

M.,= LM,/ t/I]

i- I

to develop the (mixed) tinite elcment model in the fonn

IK"1 [
symm.

Comment on the choice of the funetioM 14. 10 Usc the in!crpolation

IJIt

fora = 1,2.).

11' =

, LIY;lJIi.

,-,

, , M ,,= LM~,l/!? M,. = LM)/l/!; ,-, '"'

1JI1

with

=:: (1 - :!.) .
" b

i= - ,

.,
"

CIIAI"TER 14 PRELU[)l!lOAIlVAI'CFJ)1UPlCS

753

for a rect an gular clement with sides Problem 14.9.

(I

and h to evaluate the matrices 1K"~ 1(0',

fJ = 1,2,3) in

14.11 Repeat Problem 14.10 for th e case in which

rM = 4Jj~ = 1/1,.

14. 12 Evaluate the clemelll matricc. in (14.4.6h) hy a~!>u min g Ihat the non line<l r Pllrts in the ele ment .. cocfficiellis <II"\! elemcn twisc constant. 14.13 Give thc finite clement fonllul:ltion of thc following nonl inellrequation over an clement (x~. Xh):
--

li.l"

" ( (Ix +1 = 0 dO)

1/ -

for

O< x < 1

("")1
(Ix

. ~o

~ O.

14.14 Com pllle th e IUngenll:octlicient matrix for the nonlin ear prob l em~ in Problem 14.13. What rcslric lion(s) should be placed on the in ilial gucs~ vCl:tor'! 14.15 Compute the la ngent slilTness Imltrix Kr ill (14.4.17) for thc Euler- Bernoulli beam clemelll in (1 4.4 .6a). 14. 16 Develop the mmline;lr tinite clemcnl model of the Timoshenko beam th eory. & Iualions ( 14.4.1) and (14.4.2) Me valid for this case. with th e following changes. In placc of (d~ /d.r") (11 2 ""11.( 2) lise - (lildx)(1 do.V IrI.n + GAk(dwldx + o.V ) and add the followin g mlditional equation for 11':

- - GM (I....
Sec Section 5.3 for additional de tails. 14. 17 Compute the tangent
st i ffne~~

" [ ("- '" + "" )]

(Ix

=q

matrix for the Tirnoshen ko beam clemelll in Problem 14. 16.

14. 18 (Nmuml ('0I1I'eCliollf/oll' belwee" IIe(ll('(1 ,",'rlieu/ plm/'s) Consider the now of :l viscous incom-

pressible flu id in the prese nce of a tem peratu re grad ient betwccn tWO swti onary long vert ical plmes. Assumi ng I.em press ure gradient between the plmes. we can write v.. = v, (y). v,. =0. T = T(y).and

(P T O= k + lt
(I y l

((/Ii,)'
(Iy

where T.. = (T() + T1) is Ihe mean te mpe ra ture of the two plales. K Ihe gravital iolJaI accelerat ion. p the density, f3 the cocflicicnt of th cml al cxpnnsion. I~ the visco~ it y. and k th e thermal condu ctivit y of th e fluid. Give a finite element form ul.llion of the eq uations and discuss the 'iolution str;llegy for Ihe com pu t:ltiolwl sc heme. 14.19 Derive the interpolation functions 1/11, I/I~. and 1/18 for the eight- node prism clement using the alternative procedure described in St..""Cli{)n 8.2 for rec tan gular elcment~. 14.20 Evaluate the so urce vector co mpo nents and cocffi cients over a maste r prism clement when f is a co nStant, 10. and k .. = k,. = k , =k . a constant in ( 14.3.5b).

It

K0

REFERENCES FOR ADD IT IONAL READING

I. B:n hc. K. J .. Finire t:/I!menl Pmcedltl"l':S. l'ren lice-Ilall. Englewood Cli fT,. NJ. 1996. 2. Bell. B. C. and Sum na. K. 5 .. "A Space-l ime Coup led ,, -Version Lcasl -Sljuares Fini1e Element l'orm ul;l1i un for Un~lcady Fluid Dyn;lInics Probtcm<' /wl!T",/iOlw/ Jmlflw/for NUlllaicld M e/lux/.r ill EnRill~erilmg. J7. 3S45- 3569. 1994.

754

AI<. tl<.'TII.OOU("TION 'm nil, HNI'Il,

U,I;ML~"r

\t!;lHOI)

3. Bdyl>chko. T.. Lill. W. K. , and Moran. B.. NUI,I",.'''' 1';,,;1;: Elemntl, for Cun/ill/l11 ami Slruc""," - JolHl ' Wiley. Chtchoc~lel. UK. 2000. 4. Uochev. I'. B_ and Gun7.burg<'r. M. 789- 837. I99S,
I).

"Finile ElclIlt.'m Mel hOO$ of

Lcast -S'luare~

Type:' SIAM Ne,;e .... 40 .

.'i. Bren.i. F. and r'Urlin. M .. Mix",1 /md Hybrid Fi"ile Ell'''''''''

MelllO/I~'.

Springcr-Vcrlug. Berlin {l991).

6, Crhfield. M. A.. Nlm I.i"~1Ir Fillile F.ln"'! I" AIIllly,is alSolids IIml Sln,,'/""';', Vol. I: [s$O'III;lIls. John Wiley. CIHche~ler. UK. 1991. 7. Crislidd. M. A.. Nm,-Ulli'<Ir 1/,,;1. Elemenl AIlIlil'.l'is (ifSolidof mill Slr"I'IU({'.I. Vul. 2. Wi ley, Chi<;he"er. UK. 1997.
A(A~1I1I'1'i1

"ill'in. John
Su~"C~.

8, Gn:shu. r , M. and S;.ni. R.I... }"l'fm'l'rt'ssibll' F/oU'lII"f II", /'i'llill' innem /.1('11,,,,1. John Wiley. We.\! UK. 2000. 9, Himon. E. (cd.) 1992.
NA~'H,\IS

I,"rot/uelioll

If)

NOlllillflir I"illile Element Analysis. NAFEMS. Glu'gow. UK.

ilL Iron,. B. and Ahm3d. S., "Quadrature Ru les for Brid:-Bascd Fi nite Elements." Imemmiollal J/JI4r1wl for ,vu",eriw/ fIIf:II""ls in /oj'gill<'<'rill}:, J . 293-29-1. 1971 . II. l iallg. O. N.. '111e Lc:"t-&luarcs Finite Element Method for 12. Oden. J. T.. Fillite EII'III/'I1/' uf NUlllim:ar COIlIi""", 13. Oden. J T. and Reddy. J. N.. All Imru..liwliDII Inlersc,encc, New York. 1')82. 14. Owen, D. R.l. and Flinton. E., Fimte Efeml'lI/{ UK. 1991. 15, Ponla;.a, J. f'. :md Reddy.
r;qll:nion~."
III

EI:t~tici l y.

Pari II : Bcndlllg of Thill Plalc<'

IlIIl'ml1lill1",1 Amnwlfrrr ,vumaiml Mrt/IiKls in Ellgine,'rillg . .54. 1459- 1475. 2002.

McGr~w - H il l .

New York. 1972.

Fillil~

IQ

,J/f M ."hcmmiml '/1/fO!)' CIj

I,'JII("I/ . Wiley ,

l'//lJI;c;I)': l1wory ollll l'ratlicl!. I'i n.:ridge l'res. S"'nn>Cil.

j,

Jo"n",1 vjComil"/i",,,,1
R~'tldy.

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