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LECTURE_2

SPATIAL DISCRETISATION OF
A GEOMETRICAL DOMAIN
q CONTROL (FINITE) - VOLUME GRIDS
q PIECE - WISE FINITE ELEMENT INTERPLATION

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From reality to its computer simulation


REALITY

OBSERVATION,
MEASUREMENTS

ANALYSED
PHENOMENA

PHYSICAL
MODEL

COMPUTER SIMULATION

MODELLING:
APPROXIMATIONS
SIMPLIFCATIONS

ALGEBRAIC
EQUATIONS
SOLUTION

LECTURE 2
DISCRETIZATION

COMP. SIMULATION
MODEL & ITS CODE

NUMERICAL
METHODS

MATHEMATICAL MODEL
PART. DIFFER. / INTEGRAL

CONSERVATION EQUATION
INITIAL & BOUNDARY CONDS
CLOSURE RELATIONS

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FROM MATHEMATICAL MODEL TO ITS


COMPUTER SIMULATION MODEL
LECTURE 2
MATHEMATICAL
MODEL
(CONTINUOUS)

DISCRETISATION
OF GEOMETRICAL
DOMAIN

STEADYSTATE
PROBLEM

COMPUTER
SIMULATION MODEL

FULLY-DICSRETE
MODEL
(ALGEBRAIC)

TIME DISCRETISATION

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SPATIAL
DISCRETISATION OF
MODEL EQUATIONS

TRANSIENT
PROBLEM

SEMI-DISCRETE
MODEL
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GEOMETRICAL DISCRETISATION
Basic Definitions:
Node a selected point in a domain or on a domain boundary
Control volume, finite element a sub-domain created by linking
neigbouring nodes
Discretisation - given by a number of nodes, their locations and the
way they are connected to form a grid of sub-domains
finite elements

control volume
internal and
boundary nodes

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WHAT DETERMINES A PROPER DISCRETISATION


Decisions involved: number of nodes, their locations, shapes and
sizes of sub-domains (control-volumes, finite elements)
Engineering art: no theoretical basis, the intuition and judgment
based on experience
Some reasonable rules for a well- planned discretisation:

the need for good approximation of complex shapes of a domain with


curvilinear boundaries - solution of the field theory problems are
sensitive to even minor changes of the domain shape

a grid must distinguish interfaces of discontinuities in material


properties and boundary conditions

general knowledge on behaviour of calculated unknowns helpful in


creating a grid that can cope with local gradients, vortices, etc.

the used method of discretisation of the conservation equations


(FEM, finite difference, control volume, BEM regular, irregular grids)
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I. Finite Difference Grids


q Classical Finite Difference Method regular grids
Finite difference approximation of a second order derivative requires
three nodes along a line parallel to the coordinate axis a restriction
to orthogonal grids and regular shapes of a discretised domain
q Control-Volume Method
based on the integral formulation of mass, momentum and
energy conservation equation - what implies a basic divison of
the domain into balance sub-domains (control volumes)
two different practices of creating a control-volume grid

PRACTICE 1
For chosen nodes locations in the domain and on its boundaries;
then a control volume is defined around each of the nodes

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Faces (boundaries) of a control volume are placed midway


between neighbouring grid points (nodes)
Control volume of
an internal node

B
Control volume of a
boundary node

Characteristic features:
1. Node P does not lie in the geometric centre of the control volume
2. Point e, where an averaged diffusive flux through AB boundary
surface is calculated, does not lie at the geometric centre of this
control volume face
3. Boundary node has a half control volume
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PRACTICE 2
First the control volumes are defined and then nodes are placed in their
geometrical centres faces do not lie midway between nodes

B
Control volume
of a boundary
node

Control volume
of an internal
node

Characteristic features:
1. Node P lies in the geometrical centre of its control volume
2. Point e, where an averaged diffusive flux through AB
boundary surface is calculated, lies in the geometric centre
of this control volume face
3. Control volume of a boundary node is full the node does
not lie on the boundary surface
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Comparison of Practice_1 and Practice_2


1. Both Practice_1 and Practice_2 are identical on uniform grids
(uniform control volume sizes)

e
A

2. In Practice_1, where the grid point may not


be at the geometrical centre of the control
volume, the nodal value P cannot be
regarded as a good representative of an
averaged value of the unknown

3. In Practice_1, where the point e may not be at the geometrical


centre of the control volume face, the diffusive flux calculated at
this location cannot be regarded as a good representative of an
averaged value of the flux over the entire face

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4. Practice_2 enables drawing the control volume boundaries along


interfaces of different materials where the discontinuity in material
properties occurs, and/or discontinuity of boundary conditions
can be conveniently handled ( the control volume can be designed
so as to avoid two different boundary conditions along a one face)
Isothermal
boundary
surface

Adiabatic
boundary
surface

MATERIAL 1

Composite
solid
MATERIAL 2

5. Midway faces in Practice_1 do provide higher accuracy in


calculating the diffusive flux across the face (the slope of the linear
profile is the same as the slope of a less crude parabolic interpolation
evaluated midway between grid points)
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FINITE DIFFERENCE GRID FOR CURVILINEAR GEOMETRY


1. REGULAR GRID WITH BLOCKED-OFF CONTROL VOLUMES
Some control volumes are made
inactive so the remaining subdomains form good approximation
of the irregular domain

Blocking-off - establishing known


values of in inactive control
volumes through the use of large
source terms or a large diffusivity in
the conservation equation

Advantage: the possibility of using computationally efficient program


written for a regular geometry
Drawbacks: star-case approximation of the domain boundaries; waste
of computing time and storage (computations must be performed
for inactive zones and the results must be stored)

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2. ORTOGONAL CURVILINEAR COORDINATES

x2

qn

cylindrical, spherical
or general orthogonal
curvilinear coordinates

x1
The orthogonal property of the grid is essential - a diffusion flux across
a control-volume face calculated in terms of the difference between two
nodal values of the face must be normal to the line joining the two
grid points.
The method does not solve the problem of a good approximation of
boundaries, which are not parallel to the curvilinear grid lines.
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3. NON-ORTHOGONAL CONTROL-VOLUME GRIDS


S
T

S
T

Control volume of
internal node P

Fragment of P- control
volume in a triangle

Grid points at 2D triangle (or 3D tetrahedra) vertices


Control-volume faces obtained by joining respective segments of midperpendiculars of corresponding triangle sides only acute triangles
(midperpendiculars of an obtuse triangle do not intersect in a common point)

More precise approximation of curvilinear boundaries but at the expense


of a higher number of neighbouring nodes less sparse matrices of a
final set of algebraic equations, and thus more expensive calculations
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4. BOUNDARY FITTED CO-ORDINATES


Numerical generation of curvilinear co-ordinates locally
fitted to fragments of boundary surfaces

= const

= const
F

x2
x1

The need for solution of sets of coupled elliptic equations to


determine local curvilinear co-ordinates ( ,), complex partial
differential equations computationally intensive method
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II.Finite Element geometrical discretisation

THE MOST USEFUL, COMMONLY ACKNOWLEDGED FEATURE:


the possibility of using various curvilinear elements for close
approximation of local segments of complex boundaries

A FUNDAMENTAL PRINCIPLE:
arbitrary geometrical shape can be accurately modelled by
an assemblage of locally simple shapes finite elements
linear element

piece-wise
interpolation
parabolic
element

parabolic
element

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LOCAL POLYNOMIAL INTERPOLATION - A KEY IDEA


Example - 1: one dimensional parabolic element
lP
l
x2

x2P

x1P
x1

C
3

xi ( ) = ai + bi + ci 2 for i = 1, 2

= 1

GLOBAL
COORDINATE SYSTEM

1
l l AC
2
=
1
l AC
2

=1

LOCAL (NATURAL)
COORDINATE SYSTEM

1 1

x1 ( ) = a1 + b1 + c1 2 for i = 1
x2 ( ) = a2 + b2 + c2 2 for i = 2

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( xi )1 = ai + bi (1) + ci (1)2
( xi )2 = ai + bi (0) + ci (0)2
( xi )3 = ai + bi (1) + ci (1)2
xi ( ) =

ai = ( xi )2

( xi )3 ( xi )1

bi =
2

( xi )3 ( xi )1
ci = ( xi )1 ( xi )2 +
2

(1 ) ( xi )1 + 1 2

( xi )2 +

(1 + ) ( xi )3 for i = 1, 2

OR
Sum of products of interpolation functions

xi ( ) = N k ( ) ( xi )k for k = 1, 2,3 and respective global coordinates of nodes

Interpolation functions shape functions


N
=

(1 )
1
2
defined in the natural coordinate system

associated with the element


where: N 2 = 1 2

Number of shape functions equal to

N 3 = (1 + )
the number of nodes used in the

2
interpolation
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Characteristic features of shape functions


Low order polynomials with:
1 for k = m
N k ( m ) =
0 for k m
Piece-wisenature of interpolation
local support of shape functions
N 2(1) ( 1 ) 0

for 1 el.(1)

for 1 el.(1)

N 4(2) ( 2 ) 0

for 2 el.(2)

for 2 el.(2)

N 2(1) ( 1 ) = 0

N 4(2) ( 2 ) = 0

N 3 ( ) =

e=2

N ( ) 0
(e)
3

( e)

e=1

for 1 el.(1) U 2 el.(2)


N 3 ( ) = 0

outside el.(1) and el.(2)

NATURAL COORDINATE SYSTEM


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Example- 2: interpolation of a curvilinear boundary with linear


two-node elements
xi ( ) = Nk ( ) ( xi )k

for k = 1, 2 and i = 1, 2

N
=
1 2 (1 )
where
N = 1 (1 + )
2 2

N 2 ( ) =

e=2

e=1

( )

N 2(e) ( e) 0

for 1 el.(1) U 2 el.(2)


N 2 ( ) = 0

otherwise
Shape functions in the local natural coordinates
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ESSENTIAL FEATURES OF FINITE ELEMENT


INTERPOLATION OF A GEOMETRICAL DOMAIN
a piece-wise polynomial interpolation of curved boundaries
for a specified numer of nodes (a degree of interpolation)
an element in the natural coordinate system a parent element
can map various shapes in the global coordinate system

Library of parent elements


TWO-NODE LINEAR ELEMENT
REAL ELEMENTS
2

1
PARENT ELEMENT
= 1

x2 1

x1

=1

1
2
natural coordinate system

global coordinate system


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THREE-NODE PARABOLIC ELEMENT


3

REAL
ELEMENTS

PARENT ELEMENT

x2

x1

global coordinate system

= 1

=1

natural coordinate system

shape functions defined in local curvilinear coordinates,


where the parent element has simple shapes and always
the same length

assured continuity of global coordinates in a node shared


by two elements, and no continuity of a tangential line
across the elements
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FORMULA
FOR FINITE ELEMENT APPROXIMATION
OF A CURVILINEAR BOUNDARY

1. Divide the boundary into a finite number of segments


finite elements

2. For each of these segments choose:

order of the polynomial interpolation that satisfactory


approximates a corresponding fragment of the curve

select a number and positions of nodes in the element,


which match the chosen interpolation (a number of nodes
must exceeds the polynomial order by one)

3. Assemble fragments of the piece-wise interpolation through


the obvious fact that at common nodes the global coordinates
must be continuous

xi =

( ) N ( ) ( x )
xi ( e) =

(e)
k

( e)

i k

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LIBRARY OF TWO DIMENSIONAL ELEMENTS


QUADRILATERAL BILINEAR ELEMENT
s

x2

( 1,1)

(1,1)

x1

1
GLOBAL COORDINATES

xi (r, s) = ai + bi r + ci s + di rs
xi ( -1, -1) = ai + bi (-1) + ci (-1) + di (-1)(-1)

xi (1, -1) = ai + bi (1) + ci (-1) + di (1)(-1)

xi (1,1) = ai + bi (1) + ci (1) + di (1)(1)

xi ( -1,1) = ai + bi (-1) + ci (1) + di (-1)(1)

( 1, 1)

(1, 1)

NATURAL COORDINATES

for i = 1, 2; r 1; s 1

where

xi = Nk (r , s) ( xi )k for k = 1, 2,3, 4

1
(1 r )(1 s )
4
1
N 2 (r , s ) = (1 + r )(1 s )
4
1
N 3 (r , s ) = (1 + r )(1 + s )
4
1
N 4 (r , s ) = (1 r )(1 + s )
4
N1 (r , s ) =

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QUADRILATERAL BI-QUADRATIC ELEMENT


s

x2

x1

( 1,1)

xi = Nk (r, s) ( xi )k for k = 1, 2,...,9


1
r s (1 r )(1 s )
4
1
N 3 (r , s ) = r s (1 + r )( s 1)
4
1
N 5 (r , s ) = r s (1 + r )(1 + s )
4
1
N 7 (r , s ) = r s ( r 1)(1 + s )
4

(0,0)

( 1, 1)

(1, 1)
2

NATURAL COORDINATES

GLOBAL COORDINATES

N1 (r , s ) =

(1,1)

1
s (1 r 2 ) ( s 1)
2
1
N 4 (r , s ) = r (1 s 2 ) (1 + r )
2
1
N 6 (r , s ) = s (1 r 2 ) (1 + s )
2
1
N8 (r , s ) = r (1 s 2 ) ( r 1)
2
N 9 (r , s ) = (1 r 2 )(1 s 2 )
N 2 (r , s) =

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LINEAR TRIANGULAR ELEMENT

x2

AREA COORDINATES
L1 =0

L1 =0,5
L1

L1 =1

x1

s S
L1 = = P 23
h S 123

S P 31
L2 =

S 123

S 12 P
L3 =

S 123

Local (natural) area coordinates

L1 + L2 + L3 =

SP 23 + SP 31 + S12 P
=1
S123

location of any point within a triangle is


completely described by any two of this
triple of the area coordinates

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Lk = ak + bk ( x1 )k + ck ( x2 )k

k = 1, 2,3

P
1

xi ( L1 , L2 , L3 ) = Nk ( L1 , L2 , L3 ) ( xi )k
three-node linear element:

N k ( L1 , L2 , L3 ) = Lk

k = 1, 2,3

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CURVILINEAR TRIANGLE PARABOLIC ELEMENT

xi = Nk ( L1 , L2 , L3 ) ( xi )k
N1 ( L1 , L2 , L3 ) = L1 ( 2 L1 1)

N 3 ( L1 , L2 , L3 ) = L2 ( 2 L2 1)
N 5 ( L1 , L2 , L3 ) = L3 ( 2 L3 1)

N 2 ( L1 , L2 , L3 ) = 4 L1 L2
N 4 ( L1 , L2 , L3 ) = 4 L2 L3
N 6 ( L1 , L2 , L3 ) = 4 L3 L1

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LIBRARY OF THREE-DIMENSIONAL ELEMENTS


LINEAR (EIGHT-NODE) HEXAHEDRON ELEMENT

s
r

global coordinate system

natural coordinate system

xi (r , s, t ) = N k (r , s, t )( xi ) k for k = 1, 2,...8

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PARABOLIC (27-NODE) HEXAHEDRON ELEMENT

s
r

global coordinate system

xi (r, s, t ) = Nk (r, s, t )( xi ) k

natural coordinate system

for k = 1, 2,...27

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TETRAHEDRONS VOLUME COORDINATES


LINEAR

PARABOLIC

Lm volume coordinates, m=1,2,3,4

where L1 + L2 + L3 + L4 = 1

xi ( L1 , L2 , L3 , L4 ) = N k ( L1 , L2 , L3 , L4 ) ( xi )k
for i = 1, 2,3 and k = 1, 2,3,...no.of .nodes
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PENTAHEDRONS AREA AND LINEAR COORDINATES


LINEAR

PARABOLIC

L1 , L2 and L3 area coordinates, t linear coordinate

xi ( L1 , L2 , L3 , t ) = Nk ( L1 , L2 , L3 , t ) ( xi )k
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APPEALING FEATURES OF FINITE ELEMENT


INTERPOLATION OF A GEOMETRICAL DOMAIN
q the possibility of using various irregular shapes of elements in
different parts of the solution domain;
Restrictions: elements cannot overlap and they must cover the
whole analysed domain (no gaps between elements)

q an element shape uniquely defined by the element nodal coordinates


and by an assumed interpolation between nodes

q types of elements and corresponding interpolations specified in


local curvilinear coordinates the mapping of simple shapes of
parent elements into various complex shapes in global coordinates
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q one-to-one correspondence between global and local coordinates


calculation of line, surface and volume integrals in simple integration
limits of local coordinates
differential length of arc

differential surface element

dl = dx12 + dx22
dxi =

dxi
dN ( )

d = k
( xi )k d
d
d

dN ( )
dN ( )

dl = k
( x1 )k + k ( x2 )k d
d
d

J =

x1
1
x1
2

x2

1
and
x2
2

xi N k ( 1 , 2 )
=
xi
1
1

( )

xi N k ( 1 , 2 )
=
xi
2
2

( )

d = dx1 dx2 = det [J ] d 1 d 2

differential volume element

det [ J ] 0

x1

1
x
where: [ J ] = 1
2
x1

x2
1
x2
2
x2
3

x3

1
x3

2
x3

Jacobi matrix and


its determinant

d = det [J ] d 1d 2d 3

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