transparent

SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
SMA01: Advanced numerical modeling of
mechanical structures
Finite Element - Basics
D.Brancherie, A. Rassineux
1 / 27
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SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
Strong and weak forms
Denitions
A scalar problem : the thermal diusion problem
A vectorial problem : the elasticity problem
linear elasticity
quasi-static
2 / 27
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SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
Strong and weak form
Denitions
Strong form :
set of dierential or partial dierential equations + boundary
conditions written on each point of a domain
D(u(x)) = 0 x
with boundary conditions
BC(u(x)) = 0 x
weak form (or variational formulation) :
an integral version of the strong form

w(x) D(u(x)) = 0 w(x)

with boundary conditions
BC(u(x)) = 0 x
3 / 27
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SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
A scalar problem : the thermal diusion
The strong form :
Equilibrium
c
T
t
= div q
th
+ P
th
for stationary problem :
div q
th
+ P
th
= 0 x
Behavior : Fouriers law
(homogeneous material)
q
th
= kT
Boundary conditions
q
th
= q
d
on
t

T = T
d
on
u

q
d

T
d

Thermal problem
kT = P
th
x
with q
th
= q
d
on
t
and T = T
d
on
u

4 / 27
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SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
A sclar problem : the thermal diusion
Weak form of equilibrium
_

_
div q
th
P
th
_
wd = 0 w
use of the integral theorems :
_

wkT d
_

wP
th
d
_

(kT
. .
q
th
n)wdS = 0 w
remark : weak form and strong form are equivalent
practically, for FEM issues, w can be chosen in KA0
KA0 = {wregular | w = 0 on
u
}
Weak form for FE issues
nd T KA such that
_

wkT d
_

wP
th
d
_

(kT
. .
q
th
n)w dS = 0 w KA
0
where KA = {T regular | T = T
d
on
u
}
5 / 27
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SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
A vectorial problem : the continuum mechanics problem
The strong form :
Equilibrium (quasi-static)
div +b = 0 x
n = t = t
d
on
t

Kinematics
(small perturbation hypothesis)
(u) =
1
2
_
u +u
T
_
u = u
d
on
u

Behavior (linear elasticity, isotropic,

homogeneous)
= C : (u)
ou = tr((u))1 + 2(u)

t
d

u
d

Navier equation for elasticity

( + )(div u) + u +b = 0 x
with u = u
d
on
u
and n = t = t
d
on
t

6 / 27
transparent
SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
Continuum mechanics problem
Weak form of equilibrium
_

(div +b) wd = 0 w
use of the integral theorems (Green formula) :
_

: (w) d
_

b wd
_

n
. .
t
wdS = 0 w
remark : weak form and strong form are equivalent
practically, for FEM issues, w can be chosen in KA0
KA0 = {wregular | w = 0 on
u
}
Weak form for FE issues
nd u KA such that
_

: (w) d
_

b wd
_

t
d
wdS = 0 w KA
0
where KA = {uregular | u = u
d
on
u
} and = ((u))
7 / 27
transparent
SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
Continuum mechanics problem
Weak form for FE issues
In the case of linear elastic isotropic homogeneous material, the
solution u solves :
_

(u) : C : (w) d =
_

b wd +
_

t
d
wdS w KA0
Remarks :
for elastic problems, the solution u can also be dened as the
minimum of the potential energy
potential energy :
(v) =
1
2
_

(v) : C : (v) d
_

b v d
_

t
d
v dS
u = arg min
vKA
(v)
strong /weak form :
derivatives order lower in the weak form than in the strong form
8 / 27
transparent
SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
Summary (for elasticity problem)
Objective
nd u KA solution of :
_

(u) : C : (w) d =
_

bwd+
_

t
d
wdS w KA0
where u = u(x) is a eld dened on
9 / 27
transparent
SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
Summary (for elasticity problem)
Tensor to vector notations (Voigt notations)
Second order tensors :
=
_
_
_
_
_
_
_
_

xx

yy

zz
2
xy
2
xz
2
yz
_

_
and =
_
_
_
_
_
_
_
_

xx

yy

zz

xy

xz

yz
_

_
Fourth order tensor : elasticity tensor
C =
_
_
_
_
_
_
_
_
+ 2 0 0 0
+ 2 0 0 0
+ 2 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
_

_
9 / 27
transparent
SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
Summary (for elasticity problem)
Objective
nd u KA solution of :
_

(u) : C : (w) d =
_

bwd+
_

t
d
wdS w KA0
where u = u(x) is a eld dened on
Weak form in Voigt notations
_

(w)
T
C(u) d =
_

w
T
bd+
_

w
T
t
d
dS w KA0
9 / 27
transparent
SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
Summary (for elasticity problem)
Objective
nd u KA solution of :
_

(u) : C : (w) d =
_

bwd+
_

t
d
wdS w KA0
where u = u(x) is a eld dened on
Weak form in Voigt notations
_

(w)
T
C(u) d =
_

w
T
bd+
_

w
T
t
d
dS w KA0
FE purpose
nd an approximation u
h
S
h
KA of the solution u solving
the previous equation by choosing a priori the form of the
solution
the weak form is not solved w KA0 but only for
w V
h
0
KA0
FE mesh, FE approximation
9 / 27
transparent
SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
Outline
Discretisation of the domain : mesh
Approximation, shape functions
10 / 27
transparent
SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
Mesh
Discretisation of the domain into
h
Geometry approximation :
h
approximation of
Mesh :
partition of
h
into elements connected through their nodes

h
=
Nel
_
e=1

e
with
e

f
(e = f) =
_
_
_

an edge
a vertex
node element
1
2
3
Forbidden situation
11 / 27
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SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
Mesh
Practical denition of the mesh
The mesh is fully dened by giving
the node coordinate table
denition of the node position
node number x y z
1 x
1
y
1
z
1
.
.
.
.
.
.
.
.
.
.
.
.
i x
i
y
i
z
i
.
.
.
.
.
.
.
.
.
.
.
.
the connectivity table
denition of the elements through their nodes
element number node 1 node 2 node 3
1 node 1(1) node 2(1) node 3(1)
.
.
.
.
.
.
.
.
.
.
.
.
node 1() node 2() node 3()
.
.
.
.
.
.
.
.
.
.
.
.
12 / 27
transparent
SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
FE approximation and shape functions
Main idea
representation of a eld through a minimum number of
parameters (the degrees of freedom)
parameters : the value of the eld on the nodes of the mesh
Shape (interpolation) functions
For each node i of the mesh, a spatial function N
i
(x) is dened
such that :
N
i
(x
j
) =
_
0 if j = i
1 if j = i
N
i
(x)
13 / 27
transparent
SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
FE approximation
1 2 3 4 5 6 7 node
For elasticity, approximated displacement eld :
u
h
(x) =
Nnode

i=1
N
i
(x)d
i
= N(x)d
with d
i
= u
h
(x
i
), d the nodal solution vector (displacement,
temperature, ...) and N
i
(x) the FE shape functions.
u
h
(x) =

N
1
0 N
2
0 ... N
Nnode
0
0 N
1
0 N
2
... 0 N
Nnode

N(x)

d
1x
d
1y
.
.
.
d
Nnodex
d
Nnodey

d
14 / 27
transparent
SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
FE approximation
1 2 3 4 5 6 7 node
Remarks
the eld u
h
(x) is dened for all x through the denition of
d
d is a vector of parameters, of limited length Nnode dening the
solution
for standard FE, shape functions are polynomial functions (more
elaborated for XFEM or isogeometric elements)
15 / 27
transparent
SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
Outline
FE formulation
16 / 27
transparent
SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
From continuum mechanics to FEM
Construction of the FE problem
Weak form (recall)

(u) : C : (w) d =

b wd +

t
d
wdS w KA0
FE formulation (Voigt notations)

h
(u
h
)
T
C(w
h
) d =

h
w
T
bd +

h
w
T
t
d
dS w
h
KA0
FE approximation
solution : u
h
(x) =
Nnode

i=1
N
i
(x)d
i
= N(x)d
test function : w
h
(x) =
Nnode

i=1
N
i
(x)q
i
= N(x)q
(u
h
) = Bd where B = LN with L the matrix form of
s
17 / 27
transparent
SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
From continuum mechanics to FEM
FE problem
nd u
h
such that

h
(u
h
)
T
C(w
h
) d =

h
w
T
bd +

h
w
T
t
d
dS w
h
KA0

FE formulation
nd d such that q s.t. q = 0 on
u

h
q
T
_
_

h
B
T
CBd
_
d = q
T
_
_

h
N
T
bd +
_

h
N
T
t
d
dS
_
18 / 27
transparent
SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
FE problem
nd d such that q s.t. q = 0 on
u

h
q
T
__

h
B
T
CBdd
_

h
N
T
bd
_

h
N
T
t
d
dS
_
= 0

nd d solution of
__

h
B
T
CBd
_
. .
K
d =
__

h
N
T
bd +
_

h
N
T
t
d
dS
_
. .
f
ext
FE problem
nd d solution of
Kd = f
ext
Remarks :
K : (Ndof Nnode, Ndof Nnode)
f
ext
: (Ndof Nnode, 1)
K is a symmetric, def., positive matrix (with a lot of zeros !)
19 / 27
transparent
SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
Outline
Construction of K and f
ext
Reference element
Numerical integration
Numerical resolution
20 / 27
transparent
SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
Construction of the FE problem
FE problem - construction of K and f
ext
K =
_

h
B
T
CBd =
Nelem

e=1
_

e
B
T
CBd
e
Term ij of matrix K
K
ij
=
Nelem

e=1
_

e
B
T
i
CB
j
d
e
case 1 : i and j have disconnected
supports : K
ij
= 0
case 2 : Supp(i) Supp(j) =
K
ij
=

eSupp(i)Supp(j)

e
B
T
i
CB
j
d
e
only a limited number of elements have a contribution to K
ij
Element stiness :
computation on each element of K
e
=
_

e
B
T
e
CB
e
d
Stiness K obtained by assembly procedure of all K
e
21 / 27
transparent
SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
Construction of the FE problem
FE problem - construction of K and f
ext
K =
_

h
B
T
CBd =
Nelem

e=1
_

e
B
T
CBd
e
Term ij of matrix K
K
ij
=
Nelem

e=1
_

e
B
T
i
CB
j
d
e
case 1 : i and j have disconnected
supports : K
ij
= 0
case 2 : Supp(i) Supp(j) =
K
ij
=

eSupp(i)Supp(j)

e
B
T
i
CB
j
d
e
only a limited number of elements have a contribution to K
ij
Element stiness :
computation on each element of K
e
=
_

e
B
T
e
CB
e
d
Stiness K obtained by assembly procedure of all K
e
21 / 27
transparent
SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
Isoparametric nite elements
Reference element ( to limit the number of geometry to consider)
introduction of the natural coordinates : ,
geometry described by : x =
Nnode

i=1

N
i
(, )x
i
Example for a quadrangular element :
1 2
4 3
1
3
2
4

N
i
(, ) =
1
4
(1
i
)(1
i
)
Example for a linear triangle :

N
1
(, ) = 1 ,

N
2
(, ) = ,

N
3
(, ) =
Isoparametric elements
the geometry and the solution are interpolated with the same
shape functions
u
h
=
Nnode

i=1
N
i
(, )d
i
and x =
Nnode

i=1
N
i
(, )x
i
22 / 27
transparent
SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
Numerical integration
Computation of K
e
, f
e,ext
Numerical integration : only an approximation of the integrals is
computed :
_

ref
g(, ) d
Nint

=1
g(

)w

) : natural coordinates of integration points

w

: integration weight
23 / 27
transparent
SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
Numerical integration
Computation of K
e
(2D case)
K
e
=
_

e
B
T
CB
. .
g(x,y)
dxdy
1
change of variable : (x, y) (, )
K
e
=

e
g(x, y) dx dy =

ref
g (x(, ), y(, )) | det J(, )| d d
2
numerical integration (quadrature formula)
K
e
=
_

e
g(x, y) dxdy
=
_

ref
g (x(, ), y(, )) | det J(, )| d d

Nint

=1
g (x(

), y(

)) | det J(

)|w

K
e
=
Nint

=1
B
T
(, )CB(, )| det J(

)|w

only the shape functions and their derivatives with respect to

and are needed to implement a nite element
24 / 27
transparent
SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
Architecture of a FE code
Global level of FE code
Equilibrium :
Nelem
A
e=1
_
f
e,int
f
e,ext
_
= 0 Ku = f
ext
Element level
Computation :
K
e
=
_

e
B
T
CBdx
f
e,int
=
_

e
B
T
Adx, f
e,ext
Integration points level
Computation : = C
= Bu

u
K
e
f
e,int
, f
e,ext
25 / 27
transparent
SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
Global computation - static
General form to be solved :
Ku = f
Direct method : (Gauss elimination)
triangular decomposition : K = LU
with L lower triangular part, U upper triangular part
(diag(L)=1, diag(U)=diag(K))
solution :
_
Uu = y
Ly = f
2 lower and upper triangular systems to be solved
Iterative method : conjugate gradient or preconditionned
conjugate gradient
use the terms in K directly, no need to decompose K
ecient for large problems
if K symmetric denite matrix
26 / 27
transparent
SMA01
Strong and weak
forms
Finite Element
approximation
Finite Element
formulation
Implementation
issues
Global computation - static
Gauss elimination : computation cost
system of n linear algebraic equations
Triangular decomposition : K = LU
additions
n
3
n
3
n
3
multiplications
n
3
n
3
divisions
n(n1)
2
Lower triangular system : Ly = f
additions
n(n1)
2
n
2
multiplications
n(n1)
2
Upper triangular system : Uu = y
additions
n(n1)
2
n
2
multiplications
n(n1)
2
divisions n
27 / 27