Lecture4 All

IFB
A.K. Pickett, 2013-2014

Institut fr Flugzeugbau, University Stuttgart
Finite Elements:
Composites modelling:
1D, 2D and 3D Finite Elements
Derivation of the stiffness matrix

for 1D, 2D and 3D elements
Outline of lecture:
Revision of basic theory (stiffness) for 1D bars elements
Formal derivation of stiffness for a 1D element and application of the

principle for minimum energy
Derivation of stiffness matrix [k] for a simple 2D linear triangle element
Extensions to more complex 2D and 3D elements
Exercise:
A simple 1D example: Analytical and FE solutions
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A.K. Pickett, 2013-2014

Finite Elements: The 1D bar element and

a simple analysis
Contents:
Simple FE theory (for a 1D bar) for stiffness, assembly and boundary conditions.
The principle of minimum potential energy for element stiffness.
Formal derivation of stiffness for a 1D bar element.
IFB
A.K. Pickett, 2013-2014

Revision of the simple (1D) Bar element

Length L, Modulus E and sectional area A
Only axial loads Fi , Fj and axial displacements ui, uj are allowed
It is said to have 1 d.o.f. (degree of freedom) per node: Torsion, bending and transverse
shear are not permissible for this element type.
Sign convention
+ positive forces and displacement (to the right)
Case 1: ui>0 and uj=0
Fj(=-Fi)
Fi = (EA/L)ui, Fj= -(EA/L)ui
Fi
uj= 0
ui
Case 2: ui=0 and uj>0

Fi = -(EA/L)uj, Fj= (EA/L)uj
Fi(=-Fj)
ui= 0
uj
For the general case ui0 and uj0

Fi = (EA/L)*( ui-uj)
{F }= [K ]{d }
In matrix
form
Fj = (EA/L)*(-ui+uj)
3
Fi EA / L EA / L ui
=

F j EA / L EA / L u j
Stiffness matrix
IFB
Fj
Fi k
=
F j k
k ui

k u j
A.K. Pickett, 2013-2014

1D flow formulations: E.g. for heat, electrical current and liquid flow
For example: Consider heat flow (heat conduction) through a bar. In this case:
L
q = k
T j Ti
dT
= k
ds
L
qj , Tj
qi , Ti
where:
q =heat flux per unit area, k =thermal conductivity and T/L is the temperature gradient.
Equivalent to
nodal forces
Equivalent to
element stiffness
Equivalent to strain
(nodal displacements/L
If A is the area and nodal heat flux is positive when directed into the bar then,
Aqi
1 1 Ti
= ( Ak / L)

1 1 T j
Aq j
Fi
1 1 ui
= ( AE / L )

1 1 u j
Fj
Stiffness matrix
Conductivity matrix
4
Analogous
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A.K. Pickett, 2013-2014

Connectivity of two elements (1/2)

L2
L1
E1, A1
E2, A2
k1 = E1A1/L1
k2 = E2A2/L2
u2
u1
k
u3
u 1 , F1
F2
2 ,
1
Force equilibrium
F1
Element 1
f11
Element 2
F1=- f11
3,
F3
dof
1 k1
2 k
1
k1 u1 f
=
k1 u 2 f
2
2 k2
3 k
2
k 2 u2 f 22
=
k 2 u3 f 32
1
1
1
2
Internal
nodal forces
dof
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A.K. Pickett, 2013-2014

Connectivity of two elements (2/2)

The stiffness matrices for each element are:
u1
u2
u3
d.o.f.
0
0
0
0 k 2 k 2 Element 2 only
0 k 2 k 2
u1
u2
u3
k 1 k 1 0
Element 1 only k 1 k 1 0
0
0 0
ASSEMBLY
Global stiffness matrix of the assembly
[K ]{U } = {F }
1
k1
k1
k k + k
1
2
1
0
k2
Force equilibrium at nodes requires:
dof
0 u1 F1

k 2 u2 = F2
k 2 u3 F3
Nodes 1: forces=0 -f11

Nodes 2: forces=0
= F1
-f21 f22 =
Nodes 3: forces=0 -f32
F2
= F3
External loads
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A.K. Pickett, 2013-2014

Solution for unknowns (application of Boundary conditions)

Matrix [K] is singular (it can have any number of solutions since the structure is unsupported
and can undergo arbitrary Rigid Body Motion (RBM). At least one support must be imposed.
To suppress RBM set, for example, u3=0: (u1=0 or u2=0 would also suppress RBM).
k1
k1
k k + k
1
2
1
0 0 k 20
Operations done
to enforce u3 =0
= -P
0 0 u1 F1

k 20 u2 = F2
=0
0
k 2 1 u3 F3
u2 = - P / k2
3 dof
u1 = -P / k1 - P / k2
u3 = 0
Stresses and strains could also be found using:

1 = E1 1 = E1 (u2-u1) /L1 etc.
Note:
Ditto for 2
Of course changing the position of the constraint to suppress RBM changes

the problem and the results.
Exercise: Impose the constraint at d.o.f 2; what are the expressions for displacement
and strain? (hopefully 2 = 0).
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A.K. Pickett, 2013-2014

Further FE concepts
FE structural analysis involves 4 separate conditions which are linked
and solved simultaneously.
Assumptions
The Equations of Equilibrium
The Equations of
Compatibility
F (
)
= [K]u
2
1
3 dof
2
du
dx
The Stress Strain law

= E
Basic assumptions: These concern the FE discretisation of the structure and the limitations
and approximations inherent in the mesh, element types and material laws.
Equilibrium: Enforces that structural (internal) forces balance external applied loading.
Equations of compatibility: Displacements between elements (at nodes) are compatible and
strain distribution is consistent with these nodal displacements.
Stress Strain law: Material constitutive law [E] defining the relationship between the
8 stresses and strains (introduced via the stiffness matrix relating nodal displacements to forces).
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A.K. Pickett, 2013-2014

Truss element: The four conditions

1. FE Assumption
fi
Fi
ui
uj
A, E
fj
Fj
Assumed displacement field

(using shape functions that vary
linearly with x)
2. Compatibility
x
x
u(x ) = 1 ui + u j
L
L
k
k
3. Force equilibrium
du
dx
Strain displacement relations
k ui f i
=
k u j f j
[K ]{U } = {F }
1 1
k = EA
L 1 1
Set equal to external loads
{ } = [E ]{ }
4. Material behaviour
9
used for internal forces (*Area)
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A.K. Pickett, 2013-2014

Truss element: Formal derivation via shape

functions and energy minimisation
Shape functions
ui
fi
Fi
A, E
uj
fj
Fj
N i (x ) = 1 x / L
Displacement at any position x

Nodal displacements
N j ( x) = x / L
{u x } = 1 x ,
L
N=1
Nj
Ni
x ui
= N i , N j {u} = [N ]{u}
L u j
N=0
x=0
x=L
{ } = du = d [ N ] {u } = [B ]{u }
dx
dx
Strain displacement relation
Strain-displacement matrix for a simple truss
[B ] = 1 ,
L
1
L
{ x } =
u2 u1
L
Isoparametric shape functions

Note: Sometimes you will see this formulated in terms of local coordinates =x/L having
the range 01. It makes numerical integration for complex elements easier.
N
N
10
( ) =
j ( ) =
{u x } = [N
Displacement at any position x
ui
= [N
u j
]{u }
Nodal displacements
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A.K. Pickett, 2013-2014

Element formulations for stiffness are usually based on the principle
for minimum potential energy

For the simple spring with 1 d.o.f. If the free node
undergoes a displacement u, the potential energy of the
system is:
x(u)
Lo
undeformed
deformed
Potential energy p
u
f
= Stored (elastic energy) + External energy

ku
Stored energy
External energy
Total potential
energy
U = ku2/2
u
= -uf
p =
ku2/2
U
ueq
- uf
p
displacement (u)
Equilibrium is at the stationary value of p

p/du = ku f = 0
>
ueq = f / k
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A.K. Pickett, 2013-2014

Formal derivation of stiffness: For the 1D element

x=L
Stored Energy
U=
1 T
1 T
x=0 2 Adx = 2 0 EAdx
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External energy
= u T f
Potential energy
p =U + =
Minimisation with
respect to
unknown
displacements
d p
du
=0
1 T T
B u EBuAdx
2 0
1 T T
u B EBdV u u T f
2 V
f = B T EBdV u
f = [k ] u
Simple Exercise: Compute

the previous [K] siffness
matrix for the bar element
using the integral
expression
[k ] = EA
1
L 1 1
1
IFB
A.K. Pickett, 2013-2014

Finite Elements: Derivation of 2D and 3D

elements and applications
Contents:
Review the simple 1D bar element: The [N], [B] and [k] matrices.
Derivation of the constant strain triangular element stiffness.
Derivation of shape function for more advanced 2D elements.
Shape functions for 3D elements.
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A.K. Pickett, 2013-2014

Review: Relationship between material displacements and strains for 1D
Strain is related to displacement gradient

14
U= constant rigid body motion
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A.K. Pickett, 2013-2014

Review: The relationship between material displacements and

strains for 2D
deformed element
Strain in x (=x)
= change in length (OA-OA)
original length (OA)
V+
y(v)
Ditto for strain in y (=y)
A
dy
Shear strain is the change in angle

AOB to AOB
Note if this was an element each

corner must move in x,y for the 3
strain components
O
A
dx
Original element
x(u)
u
u +
dx u
u
x
=
=
dx
x
xy
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= ditto
v
u
v
1
dx
x
x
x
=
+ .... =
u
1 + u 1
dx +
dx
Neglect second order terms

for small deflection theory
v
y
+ ... = x
v
x
u
x
x + ... = v + u
x
2
A.K. Pickett, 2013-2014

Review: The shape function, strain-displacement and stiffness matricies

The shape function matrix [N] maps nodal quantities
(e.g. displacements) over the element length. It is also
the building block for the element strain-displacement
matrix [B] and stiffness matrix [k]:
uj
ui
ux
L
From the previous 1D element the shape

x ui
x
ux = 1 ,
= N u
function matrix [N] interpolates nodal
L u j
L
displacements to displacements at a point x
within the element.
Displacement at a point x Nodal displacements
[ ]{ }
{ }
Also, the [B] matrix relates nodal

displacements to element strains.
And the element stiffness matrix [k]

is derived from the [B] and material
constitutive matrix [E].
16
{ } =
du
d
=
[ N ] {u } = [B ]{u }
dx
dx
f = B T EBdV u = [k ]u
V
EA / L EA / L
EA / L EA / L
[k ] =
IFB
A.K. Pickett, 2013-2014

Tutorial example
Stiffness matrix for the constant strain

(linear) triangular element
Example 2 analyses a
plate with a hole:
It uses shell elements
but the inplane
(membrane) part of this
element is similar to the
following 2D element
derivation
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A.K. Pickett, 2013-2014

Moving on to 2D elements: The constant strain (linear)

triangular element
We shall now derive the stiffness matrix (k) for the
simple 2D constant strain triangular element. It has
3 nodes (2 dof per node) and plane stress or plane
strain through-the-thickness can be assumed.
v3
u3
(x3,y3)
y (v)
v
u
(x,y)
v1
The element is simple and practical, but many

elements are needed in areas of high strain/stress
gradients for good results.
(x1,y1)
The displacements are assumed to be linearly

distributed within the element from the 3 nodal
displacements using two linear functions:
The 6 dof linear

triangle element
u1
u2
x (u)
18
v2
(x2,y2)
c1
c
2
u ( x, y ) = c1 + c2 x + c3 y
u 1 x y 0 0 0 c3
=

v( x, y ) = c4 + c5 x + c6 y
v 0 0 0 1 x y c4
c5
We need to derive these constants

Displacements for any position x,y
c6
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A.K. Pickett, 2013-2014

y(v)
The 6 constants of the interpolation functions

must satisfy the following conditions at the 3
nodes (x1,y1), (x2,y2), (x3,y3):
u1 = c1 + c2 x1 + c3 y1
v1 = c4 + c5 x1 + c6 y1
u2 = c1 + c2 x2 + c3 y2
v2 = c4 + c5 x2 + c6 y2
u3 = c1 + c2 x3 + c3 y3
v3 = c4 + c5 x3 + c6 y3
In abbreviated form
E.g. node x2,y2 has

displacements u2,v2
x(u)
In matrix form,
u1 1 x1
v 0 0
1
u 2 1 x2
=
v 2 0 0
u3 1 x3

v3 0 0
{ue } = [A]{C}
y1
x1
y2
0
0 0
1 x2
y3
x3
0 c1
y1 c2
0 c3

y2 c4
0 c5

y3 c6
The co-ordinate matrix
The constants c1, c2.. are found by inversion of this matrix system,
{C} = [A]1{ue }
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A.K. Pickett, 2013-2014

where
and
1 0 2 0 3 0
1 0 2 0 3 0
0 2 0 3 0
[A ]1 = 1 1
2 A 0 1 0 2 0 3
0 1 0 2 0 3
0 1 0 2 0 3
1 = ( x2 y3 x3 y2 ) 1 = ( y2 y3 ) 1 = (x3 x2 )
2 = ( x3 y1 x1 y3 ) 2 = ( y3 y1 ) 2 = (x1 x3 )
3 = (x1 y2 x2 y1 ) 3 = ( y1 y2 ) 3 = (x2 x1 )
2 A = 2(Area of element) = (1 + 2 + 3 )
20
Beware: Dont confuse [A] or

[A]-1 with the area A
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A.K. Pickett, 2013-2014

c1
c
1
2
u 1 x y 0 0 0 c3
=

v 0 0 0 1 x y c4
c5

c6
(6*6)
The constant strain triangular element:

The shape function matrix [N]
combine
N
u 1 x y 0 0 0 1
[A] {ue } = 1
=
v 0 0 0 1 x y
0
where,
0
N1
1
{(x2 y3 x3 y2 ) + ( y2 y3 )x + (x3 x2 ) y}
2A
1
N2 =
{(x3 y1 x1 y3 ) + ( y3 y1 )x + (x1 x3 ) y}
2A
1
{(x1 y2 x2 y1 ) + ( y1 y2 )x + (x2 x1 ) y}
N3 =
2A
IFB
{C} = [A]1{ue }
and
0
N2
N2
0
N3
0
0
{ue }
N 3
Shape function matrix [N]
N1 =
21
and A is the area of the

triangle given by,
1 x1
1
A = det 1 x2
2
1 x3
y1
y2
y3
A.K. Pickett, 2013-2014

The constant strain triangular element: Strain relations

From the assumed displacement field,
u ( x, y ) = c1 + c2 x + c3 y
v ( x, y ) = c4 + c5 x + c6 y
c1
c
x 0 1 0 0 0 0 2
c
{ e } = y = 0 0 0 0 0 1 3
0 0 1 0 1 0 c4
c
xy
5

c6
The corresponding strains for this element are,
u
v
= c2 y =
= c6
x
y
u v
=
+
= c3 + c5
y x
x =
xy
In abbreviated form
{ e } = [X ]{C}
Note: The strains are constants and do not vary with position (x,y) across the element.
Hence the name for this element Constant strain triangular element.
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A.K. Pickett, 2013-2014

The constant strain triangular element: Strain-displacement matrix [B]

3
2
combine
{ e } = [X ]{C}
1 0 2 0 3 0
0 2 0 3 0
1
0 1 0 0 0 0
0 2 0 3 0
1
0 0 0 0 0 1 1
e = X A 1 u e
0
0 2 0 3
2A
1
0 0 1 0 1 0
0 1 0 2 0 3
Strain displacement matrix [B]

0 1 0 2 0 3
{C} = [A] {ue }

1
and
{ } [ ][ ] { }
u

x x
y23
v 1
y = =
0
y 2 A x
32
xy u v
y x
0
x32
y31
0
0
x13
y12
0
y23
x13
y31
x21
where
Note: Once again the element strains are

constant over the element surface
23
IFB
u1
v
0 1
u
x21 2
v
y12 2
u3

v3
xij = xi x j
yij = yi y j
A.K. Pickett, 2013-2014

The constant strain triangular element: Element stiffness matrix

The element stiffness matrix is derived using the following integral (=stiffness according to
the principle for minimisation of potential energy) which requires the strain-displacement
matrix [B] and elasticity matrix [E].
f = B T EBdV u = [k ] u
V
Stiffness matrix [k]

T
y23 0 y31 0 y12 0

y23 0 y31 0 y12 0
1
1
[k ] = t A 0 x32 0 x13 0 x21 [E] 0 x32 0 x13 0 x21
2A
2A
x32 y23 x13 y31 x21 y12
x32 y23 x13 y31 x21 y12
Elasticity matrix [E]
The elasticity law for the element depends on material
type; plane stress, plane strain, orthotropic, elastoplastic, etc. This is a 3*3 matrix relating the 3 element
stresses to strains, e.g. for 2D plain stress:
x
E

y =
1
2

xy
1
1
0 0
x

y
1
2 xy
0
0
Exercise: If you would like some matrix multiplication practice compute the full [k] for the
linear triangle element with plane strain. It is a symmetric 6*6 matrix for the 6
d.o.f element.
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12
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A.K. Pickett, 2013-2014

Other 2D and higher order elements: Derived using higher order

displacement field functions
The stiffness matrix for higher order 2D elements, having improved accuracy, and 3D solid
elements are derived in an identical manner. The only important decision is choice of the
displacement field function from which the [N] and [B] matrices, leading to the element
stiffness matrix [k], are derived.
Examples of 2D elements are shown below. The higher order triangle and quadrilateral
have extra nodes (and d.o.f) to improve accuracy of the displacement field (how the
displacements, stresses and strains are interpolated from nodal values within an element).
They are much better in areas of high stress gradients, but are computationally more
expensive and solutions require more memory.
Constant strain
(linear) triangle
Linear strain
(quadratic) triangle
Constant strain
(linear) quadrilateral
Linear strain (quadratic)

quadrilateral
Note:For the linear triangle (or linear quadrilateral) the element sides are straight (linear).
Curved sides are only possible with quadratic elements.
The terms constant strain, or linear strain, declare the manner in which the strain varies
25
across the element.
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A.K. Pickett, 2013-2014

Exercise
3
1
Constant strain
(linear) triangle
26
2
Linear strain
Constant strain
u ( x, y ) = c1 + c2 x + c3 y
1.
Using the previous approach write down appropriate

displacement fields for elements 2 through 4
comparable to 1.
2.
Similarly, state the strain relations for each comparable

to 1 (i.e. how the strains vary with x,y): Constant,
linear
3.
Based on these results do you agree with the names for

each element?
4.
How large [n*n] is the stiffness matrix for each?

Note: Pascal's triangle is used to select terms
to construct the displacement functions
Linear strain
(quadratic) quadrilateral
v ( x, y ) = c4 + c5 x + c6 y
u
v
= c2 y =
= c6
y
x
u v
=
+
= c3 + c5
y x
x =
xy
1
x
x2
y
y2
xy
2
x y
xy
y3
13
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A.K. Pickett, 2013-2014

Other element assumed displacement fields
3D elements
1D elements
4 node tetrahedron (constant

element)
w( x ) = c1 + c2 x
2D elements
3 node triangle (linear element)
u ( x, y ) = c1 + c2 x + c3 y
v( x, y ) = c4 + c5 x + c6 y
u ( x, y, z ) = c1 + c2 x + c3 y + c4 z
v( x, y, z ) = c5 + c6 x + c7 y + c8 z
3 node triangle (quadratic element)
u ( x, y ) = c1 + c2 x + c3 y + c4 xy + c5 x 2 + c6 y 2
v( x, y ) = c7 + c8 x.....
4 node quad (linear element)
w( x, y, z ) = c9 + c10 x + c11 y + c12 z

10 node tetrahedron (linear
element)
u ( x, y ) = c1 + c2 x + c3 y + c4 xy
v( x, y ) = c5 + c6 x.....
8 node quad (quadratic element)
27
IFB
u ( x, y, z ) = c1 + c2 x + c3 y + c4 z
u ( x, y ) = c1 + c2 x + c3 y + c4 xy
+ c5 xy + c6 yz + c7 xz + c8 x 2 + c9 y 2 + c10 z 2
+ c5 x 2 + c6 y 2 + c7 xy 2 + c8 yx 2
v( x, y, z ) = c11 + c12 x...
v( x, y ) = c9 + c10 x.....
w( x, y, z ) = c21 + c22 x....
A.K. Pickett, 2013-2014

Example comparison of element performance

Example comparison of PAM-CRASH solid elements (100mm3 with 50kg
and 2.5mm/msec initial velocity). Ogden model
4 node tetra
very stiff
10 node tetra,
single brick
8 bricks
all give similar good results
28
14
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A.K. Pickett, 2013-2014

Other 2D and higher order elements: Derived using isoparametric

formulations
Usually the shape functions and stiffness matrix can be derived more easily using a system
of natural co-ordinates (so-called isoparametric formulation). This is now done for the
linear and quadratic triangular element. Followed by the concepts for the linear and
quadratic quadrilateral elements.
The four 2D elements to be considered are shown below.
Constant strain
(linear) triangle
Linear strain
Constant strain
Linear strain (quadratic)

quadrilateral
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A.K. Pickett, 2013-2014

Finite Elements: A simple 1D truss

example
Contents:
Review of an in-line example having elements in a common Global Frame.
Stiffness transformation (Local to Global frame).
Assembly, boundary conditions and solution in the Global Frame.
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15
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A.K. Pickett, 2013-2014

Worked Example using the [B] matrix

1
Example (descretisation)
2A, E
k1 =
Element No. 1
u2 =
Solution
f12
F1
PL
3EA
f21
31
IFB
P
3A
1 0 0 u1 0
EA

0 3 0 u2 = P
L
0 0 1 u3 0
u
P
]
=+
L u
3A
1
tension
Exercise: Check equilibrium of internal forces
(stresses*area) and the external force at node 2
compression
F1=- f11-f21
EA 1 1
L 1 1
k2 =
Apply
BCs
and
loads
1 = E1 = EB 1u1 = E 1
2 =
2 EA 1 1
L 1 1
2 2 0 u1 F1
EA

2 3 1 u 2 = F2
L
0 1 1 u3 F3
Global system
A, E
2
L
Local stiffness matrices
Nodes 1 and 3
constrained; node
2 applied load P
A.K. Pickett, 2013-2014

Shape function can be usefully used to covert uniform or non-uniform

distributed loads to equivalent nodal forces
q2
q1
x
re2
re1
q=
Total applied
load = total
reaction load
Lx
x
q1 + q2
L
L
{re } = [N ] qdx = L x , x qdx

L L
0
0
T
After integration etc.
re1 L 2q1 + q2
=
re 2 6 q1 + 2q2
32
If q1=q2=q then
re1 L q
=
re 2 2 q
Note: Perhaps this result seems obvious, but for higher order shell elements with
distributed loading the manner to distribute the loading is less straightforward
16
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A.K. Pickett, 2013-2014

Truss elements are usually in a local co-ordinate systems that is not

coincident with the Global Frame
j (2)
y
Transformation operations
i (1)
u = u Cos + v Sin
v = -u Sin + v Cos
Or,
Local element
frame (x, y)
u = u Cos - v Sin
v = u Sin + v Cos
Global coordinate
frame (x, y)
Transformation of displacements, coordinates or forces
ui ' l
m 0
0 ui
v '

0
0 vi
i m l
=

l
m u j
0
u j ' 0
v j ' 0
0 m l v j
{u} = [T ]{u}
{u} = [T ]T {u}
where l = Cos and m = sin
33
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A.K. Pickett, 2013-2014

Stiffness matrix in Global coordinates

In practice each truss element has its own local co-ordinate system (x,y); for assembly of the
global stiffness matrix [K] each element must be converted to a common global frame. Only
in the common Global frame can stiffness from adjoining elements be added.
x'
1D Bar element in 2-D space
L = [(xj - xi)2 + (yj - yi)2]

sin = (yj - yi)/L
cos = (xj - xi)/L
j (xj, yj)
y'
x
and
1
1
[k] = stiffness in Global frame (to find)
Transformations: Displacements {u}' = [T]{u}

Also, due to [T] being orthogonal: {u} = [T]T{u }'
or {f} = [k] {u}
and forces {f}' = [T]{f}

and forces {f} = [T]T{f}'
l2
lm
m2
EA lm
k=
L l 2 lm
2
Exercise:
lm m
[T]{f} = [k] [T]{u}

{f} = [T]T [k]' [T]{u}
34
L 1
i (xi, yi)
Let [k]' = stiffness in Local frame (known)
Conversion: {f} = [k] {u}
[K ] = EA
[k] = [T]T [k]' [T]
derive this
expression
lm
lm m 2
l2
lm
lm
m 2
l2
17
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A.K. Pickett, 2013-2014

Worked example of a simple truss structure

3
The problem
dof 5,6
P2
P1
dof 3,4
1
Local matrices
k1' = k 2' =
1
FE system
Worked solution
k1' = k2' =
3
2
EA 1 1
L 1 1
P2
Bar 1 transform through 45:
[k ]1G
45o
l=cos 45 , m=sin45,
l2=, m2=, lm=
P1
Bar 2 transform through 135: l=cos135 , m=sin135,
l2=, m2=, lm=-
X
1
12 1 2
12
2
1
1
1 2 1 2
EA 2
2
=
1
1
1
L 2 2 12
2
1
1
2
2 1 2 12
Assembled FE system
36
dof
A.K. Pickett, 2013-2014

1 1 1 1 0 0 u1 F1 X
1 1 1 1 0 0 v F
1 1Y
EA 1 1 2 0 1 1 u 2 F2 X
2 L 1 1 0 2 1 1 v2 F2Y
0 0 1 1 1 1 u3 F3 X
0 0 1 1 1 1 n3 F3Y
35
IFB
dof 1,2
EA 1 1
L 1 1
45o
[k ]G2
12 12 12 12
1
1 2
EA 1 2 1 2
2
=
1
1
1
12
L 2
2
2
1
2 12 12 12
1 1 1 1 0 0 u1 F1 X

1 1 1 1 0 0 v1 F1Y
EA 1 1 2 0 1 1 u2 F2 X
2 L 1 1 0 2 1 1 v2 F2Y
0 0 1 1 1 1 u3 F3 X
0 0 1 1 1 1 n3 F3Y
18
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A.K. Pickett, 2013-2014

Student example
Compute using hand calculations nodal displacements and element
forces/stresses for this simple truss. Work through the following steps:
1) Structure discretisation.
2) Compute element stiffness matrices (in
local frame).
A=30cm2, E=7.0*1010 N/m2
3) Covert matrices to common Global

frame.
A=40cm2
E=21.0*1010 N/m2
4) Assemble the global stiffness matrix.
A=25cm2
E=21.0*1010 N/m2
5) Apply boundary conditions and loads.
45
6) Solution of the system of equations.
20kN
7) Compute results (global displacements).
2
2.2m
8) Convert global displacements to local

element displacements.
Node number
9) Compute element forces and stresses.
Element number
80kN
37
IFB
A.K. Pickett, 2013-2014

Example
Use PAM-IMPLICIT to solve the simple
truss problem.
A=30cm2, E=7.0*1010 N/m2

A=40cm2,
E=21.0*1010 N/m2
A=25cm2,
E=21.0*1010 N/m2
45
x
1
2
2.2m
3
20kN
80kN
Some hints and guidelines:

1) Start Visual-Mesh for the mesh generation with File > New for a new model.
2) Use the option Node > By XYZ to generate the three nodes:
Chose any convenient origin, e.g. Node 1 at 0,0,0.
Use a consistent units system throughout; e.g. kN, mm, kg, msec
3) Use Curve > Sketch to create lines for the elements to be assigned to (see next step).
Click (in sequence) on pairs of nodes for each line and then apply to create them.
38
19
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A.K. Pickett, 2013-2014

Some hints and guidelines (cont.):

4) Use 1D > On curve to place elements on
each line (note only use 1 bar element per
line or the model will be a mechanism!)
For each line click on Generate 1D
Elements and Apply to confirm it.
5) Save the mesh using the File > Export
option and close Visual Mesh.
6) Start Visual-Crash for PAM and read in
the new mesh model using File > Open.
7) It is wise to remove free nodes that were
generated in the construction phase. Use
the option Check > Coincident Nodes
and then Check > Fuse All > Apply and
Close.
8) Then fully constrain (111111) the two side
nodes 1, 2 using Crash > Loads >
Displacement BC. You will have to select
and assign the two nodes and it is wise to
specify a sensible title.
39
IFB
A.K. Pickett, 2013-2014


9) Specify the loading. Use Crash > Loads >
Conc. Loads for each direction (x = 20kN
and y = -80kN):
Specify the load direction: IDR =1 (for x)

and IDR =2 (for y).
Assign the node.
Specify a load curve; use a constant load

value (20kN or -80kN) on the y-axis from say
0 to 100 on the x-axis.
10) Finally assign the parts (Physical/

Geometrical) data and material (Mechanical)
data. At the moment the bars all have the
same part; you will need to separate these
into 3 parts (see next slide) for the 25cm2,
40cm2 and 30cm2 areas. Also two (new)
materials will be needed for the 21E+1010
N/m2 and 7E+1010 N/m2 materials.
40
20
IFB
A.K. Pickett, 2013-2014


11) Make sure the selection type is set to element in the
top panel. Then click on each element and, with the
left mouse key, open the sub-options to Change
PID. Change each element to have an different PID,
e.g. 4, 5 and 6.
12) Using Crash > Material Editor define the two

material types. Specify a 201_Elastic_Beam_Bar
model and give a title, modulus, density and Poisons
ratio for the two material types.
41
IFB
A.K. Pickett, 2013-2014


13) Unfortunately element types Beam have been
generated by default and we want bars. Use
Tools > Convert Element type to convert
all beams to bars. NB you will need to draw a
box over all elements with the left mouse key
to select them. Then click convert and
close.
14) In the explorer panel (on the left) click on
each material with the right mouse key. Then
Edit (open with the left mouse key) and
enter the appropriate material model
(parameter IMAT) and geometry data (Area
only for simple bars).
42
21
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A.K. Pickett, 2013-2014


Parts to
be
deleted
15) In the explorer panel delete the unwanted

materials (this is a bug!). Click on each with
the left mouse key open the option to delete,
and delete them.
16) Finally, for the controls (Crash > Controls >
Model Basic Controls) make sure the
adjacent options are assigned.
17) Then save the dataset using (File >
Export).
18) Run the model using PAM-CRASH. Make
sure the double precision version is used.
Note that higher precision is generally needed
for Implicit codes due to potential
accumulation of round-off errors in the
stiffness matrix inversion.
43
IFB
A.K. Pickett, 2013-2014

Use Visual-Viewer to study the results:

(you should get the same as below which were obtained using another FE code
LUSAS (Note PAM-CRASH only gives axial extension not strains for bars and beams)
Axial Forces
(Fx in the bars)
Axial strains
(Ex in the bars)
0.135e-06
113.14 kN
-0.114e-06
-60 kN
Note: The vertical bar has zero force and strain due to being fully constrained.
The above plots show undeformed and deformed meshes.
44
22
IFB
A.K. Pickett, 2013-2014

Finite Elements: Isoparametric elements
Contents:
Natural coordinate systems.
1D, 2D and 3D isoparametric elements
Stiffness and Jacobian matricies for 1D, 2D and 3D isoparametric elements
45
IFB
A.K. Pickett, 2013-2014

Isoparametric Finite elements

So far element stiffness matrices for the bar and triangle have been computed in terms of the
local element coordinates (x,y,z) and the assumed displacement were also expressed as
functions of this coordinate system. The following elements will be derived using
Isoparametric element formulations in terms of a natural coordinate system (,,)
= Xi, = Eta
and = Zeta
Isoparametric elements use a dimensionless natural coordinate system (1D (), 2D (,)
or 3D(,,)) which is tied to the element and not to coordinates that refer to a global
frame. Natural coordinates have limits 1 which makes formulation and numerical
integration of the element stiffness matrix much easier.
Isoparametric elements use interpolation functions (called shape functions Ni) which
directly relate displacements at an element point to nodal displacements.
There is an isoparametric family of elements including 1D, 2D and 3D elements.
46
Note: Isoparametric means same parameters and simply refers to the fact that the same
interpolation functions are used to relate;
1. Coordinates at a point to nodal coordinates.
2. And displacements at a point to nodal displacements.
23
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A.K. Pickett, 2013-2014

Natural coordinates for the simple bar and the shape function matrix [N]
Natural coordinates 1, 2 specify any point x between the two nodes at coordinates x1 and
x2; note that the natural coordinates have (in this case) the limits 01.
L
Arbitrary point X
x1
L2
L1
x =1x1+2x2
x2= x1+L
The natural coordinates are; 1 =
1 =
L2
L
2 =
L1
L
L2
L
2 = 1
L
L
which must satisfy the constraint, 1 + 2 = 1
The position x in terms of natural coordinates and nodal coordinates is,

Imposing the constraint and transformation equations gives
the mapping between the x and coordinate systems,
1 1
=
x x1
47
Exercise: For the following

positions of x compute the
natural coordinates 1, 2
1. x = x1
2. x = x2
3. x = (x1+x2)/2
1 1
1 1 x2 1 1
by inversion, =

x2 2
2 L x1 1 x
Note: In this case the shape functions N1= 1 and N2= 2
IFB
x = 1 x1 + 2 x2
A.K. Pickett, 2013-2014

Derivation of the strain-displacement matrix [B] for the simple bar

(isoparametric formulation)
The mapping functions for nodal coordinates and displacements are,
x
x = [1 2 ] 1 = [N1
x2
x
N 2 ] 1
x2
u = [N1
u
N 2 ] 1
u2
For calculation of the element stiffness matrix (in natural coordinates) we will need the
element strains,
=
from
u
,
x
using the chain rule
1 N1 1 x2 1 1
= =

2 N 2 L x1 1 x
1
x
x2
L
L
1
x
N 2 = x1 +
L
L
N1 =
48
also
u = N1u1 + N 2u 2
u N1 u N 2
+
N1 x N 2 x
1
L
1
L
= u1 + u2 =
1
=
L
u 2 u1
L
1 u1

L u2
[B] strain-displacement matrix
24
IFB
A.K. Pickett, 2013-2014

Derivation of the stiffness matrix [k] for the simple bar (isoparametric
formulation)
f = B T EBdV u
V
From the usual relation
for the bar [B] =
1
L
1
L
[k] = element stiffness matrix

Previously the stiffness matrix was computed by performing the above integral over the
volume, or A * integral of length of the bar. In natural coordinates we now do this over
the range 01.
1
A 1
k = 2 E [ 1 1]J d
L 01
J is the Jacobian relating bar lengths in the natural

and cartesian systems (dx = J d) J=L
k=
EA
L
1
1
1
1
Note: This is the same as for the previous

derivation using cartesian coordinates
49
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A.K. Pickett, 2013-2014

Constant strain (linear) triangle: derivation using natural coordinates

The natural coordinate system for
the triangle is,
2 = 0
The shape functions can be expressed directly

in terms of the natural coordinates,
1 , 2 , 3
The plot of one shape function is shown below
2 = 1
1 = 1
2
2
1 = 0
1 = 0
1
1
We also require that

50
1 = 1
1 + 2 + 3 = 1
25
IFB
A.K. Pickett, 2013-2014

2 = 0
For any point (P) the triangle is divided into 3 areas.
These can be used to define the natural coordinates and
shape functions,
3
Side 2
Side 1
a2
N 1 = 1 = a1 / A
N 2 = 2 = a2 / A
a1
2 = 1
a3
N 3 = 3 = a3 / A
1 = 1
The shape functions must enforce the constraint:
Side 3
1 = 0
1+2+3=1 which is the same as a1+a2+a3=A (total area)
The constraint equations and the linear relations between cartesian and natural coordinates
are,
1
1

x = [A] 2
y

3
1
[A] = x1
y1
1
1

1
[
]
=
A
2
x

y
3

51
IFB
[A]1 =
1
x3
y3
1
x2
y2
Note: We did the same for

the 1D element
x 2 y 3 x3 y 2
1
x3 y1 x1 y 3
2A
x1 y 2 x 2 y1
y 23
y 31
y12
x32
x13
x 21
Note: Dont
confuse
[A] with A
A.K. Pickett, 2013-2014

Shape functions [N]

From the
previous slide
N1 1
x2 y3 x3 y2
1
N 2 = 2 =
x3 y1 x1 y3
N 2A x y x y
3 3
1 2 2 1
Which gives the

shape functions
(as previously
derived)
And in matrix form

for interpolation of
internal element
information from
nodal information
52
y23
y31
y12
x32 1

x13 x
x21 y
1
{(x2 y3 x3 y2 ) + ( y2 y3 )x + (x3 x2 ) y}
2A
1
{(x3 y1 x1 y3 ) + ( y3 y1 )x + (x1 x3 ) y}
N2 =
2A
1
N3 =
{(x1 y2 x2 y1 ) + ( y1 y2 )x + (x2 x1 ) y}
2A
N1 =
u ( x, y ) N1
=
v ( x, y ) 0
N2
N3
N1
N2
u ( x, y )
= [N ]{ue }
v ( x, y )
u1
v
1
0 u 2

N 3 v2
u3

v3
26
IFB
A.K. Pickett, 2013-2014

Strain-displacement matrix [B]
u
v
, y = , xy =
x
y
u N1 0 N2 0 N3
=
v 0 N1 0 N2 0
x =
From the strain relations and the shape

function matrix we can derive the straindisplacement matrix using the procedures
as used for the 1D element
The strains are the differential of
displacements in the cartesian coordinate
system. But the element is formulated in the
natural coordinate system. The chain rule is
used to perform the differentiation.
u u N1 u N 2 u N 3
=
+
+
x N1 x N 2 x N 3 x
v v N1 v N 2 v N 3
=
+
+
y N1 y N 2 y N 3 y
This leads to:
u N1

x x x
v
y =
= 0
y
xy u v N1
y + x y
53
0
N 2
y
N1
x
u v
+
y x
0
{ue}
N3
N1
x
N 3
x
0
N 2
y
N 2
x
0
N 2
y
0
N 3
y
u
1
0 v1

N 3 u 2

y v2
N 3 u
3
x v
3
Strain displacement matrix [B]
IFB
A.K. Pickett, 2013-2014

Exercise:
Derive the [B] matrix
y23
1
[B] = 0
2a
x32
0
x32
y31
0
0
x13
y12
0
y23
x13
y31
x21
0
x21
y12
Note: this result is the same as the

previous derivation, but we did not
have to compute and inverse [A]
The stiffness matrix [k]
[k ]
[B] [E ][B] t dxdy

T
[B] [E ][B] J d d
T
Jacobian: Scaling factor relating the

triangle in the Cartesian system to the
triangle in the Natural system.
54
27
IFB
A.K. Pickett, 2013-2014

Linear strain (quadratic) triangle: derivation using natural coordinates

The natural coordinate system used for
the quadratic triangle is,
N1 = 1 (21 1)
1 = 1
2 = 0
1
1 = 1 2
N 2 = 2 ( 2 2 1)
2 = 12
(eg node 1 has

1=1, 2=0, 3=0;
node 4 has 1=,
2=, 3=0)
N 3 = 3 (2 3 1)
1 = 0
N 4 = 41 2
N 5 = 4 2 3
N 6 = 4 31
2 = 1
1 = 1 2
2 = 12
3 = 0
1 = 0
2 = 0
N1=0
N2=0
N3=0
N4=1
N5=0
N6=0
Exercise
1.
Show that for each node i the shape function Ni = 1 at its

own node with all others (e.g. N2, N3, N4.. ) being zero at
this node. The shape function distribution for N1 is:
2.
N1=1
1
How does the shape function distribution look for a midsided node?
55
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A.K. Pickett, 2013-2014

Shape functions for the linear quadrilateral element (a reasonably

good element)
Quadrilateral isoparametric element
y,v
3
=+1
4
=+1
=-1
1
=-1
56
N1=1
N2=0
N3=0
N4=0
x,u
1
4
1
=
4
1
=
4
1
=
4
(1
)(1
(1
)(1
(1
)(1
(1
)(1
x1
y1

Shape function matrix [N]
x2

x N 1 0 N 2 0 N 3 0 N 4 0 y 2
=

y 0 N 1 0 N 2 0 N 3 0 N 4 x3
y 3

u ( x, y )
ui
Similarly,
x4
= [N ]
displacements
v ( x, y )
vi
y 4

Coordinates transformation
= 1
= 1
Interpolation in natural coordinates
Note: This element has constant strains x in x,

constant y in y and linear varying shear strains in x,y.
28
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A.K. Pickett, 2013-2014

Shape functions for the quadratic

quadrilateral element (a good element widely
used for 2D analysis)
y,v
=+1
4
3
7
The quadratic (16 dof) quadrilateral element
=+1
8
=-1
d)
=-1
x,u
1
1
N1 = (1 )(1 ) ( N 8 + N 5 )
4
2
1
1
Logic to determine the shape functions
N 2 = (1 + )(1 ) ( N 5 + N 6 )
4
2
is as follows:
1
1
a) N5 is selected so that N5=1 at
N 3 = (1 + )(1 + ) ( N 6 + N 7 )
b)
4
2
node 5 and zero at other nodes
1
1
(quadratic in and linear in ).
N 4 = (1 )(1 + ) ( N 7 + N 8 )
4
2
b) Ditto for N8, N6, N7
1
N 5 = (1 2 )(1 )
c) N1 is first assumed as (1-)(1-)
2
c)
d) This is then corrected by
1
N 6 = (1 + )(1 2 )
subtracting (N8+N5).
2
1
Note: 4 extra nodes are introduced which allow a quadratic
N 7 = (1 2 )(1 + )
2
interpolation between element and nodal information and
1
linear strain distribution >> greater accuracy.
57
N 8 = (1 )(1 2 )
2
a)
IFB
A.K. Pickett, 2013-2014

Shape functions for a 3D solid element

Shape functions and elements formulation are easily extended
from 2D to 3D. Three dimensional elements are used for
accurate 3D stress analysis but the CPU and storage
requirements (and complexity to build the models) increase
significantly. As usual the element stiffness is given by:
[k ] = [B ][E ][B] dv
v
Now we need to develop [B] for a 3D element,

use the 3D elasticity matrix and integrate over
the volume.
4 node element
58
The two most popular elements

are the Tetrahedron and
Hexahedron. The Tetrahedron is
often regarded as slightly
overstiff but it is very convenient
in automatic meshing methods.
Mid- sided nodes for higher order
variations are possible.
8 node element
29
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A.K. Pickett, 2013-2014

Isoparametric shape functions for the 3D

Hexahedron
6
4
y
N2 =
N3 =
N1 =
N4 =
N5 =
N6 =
N7 =
Eg i=1, ===-1
Mapping functions for natural coordinates

,, to element x,y,z coordinates are:
N8 =
1
(1 )(1 )(1 )
8
1
(1 + )(1 )(1 )
8
1
(1 + )(1 + )(1 )
8
1
(1 )(1 + )(1 )
8
1
(1 )(1 )(1 + )
8
1
(1 + )(1 )(1 + )
8
1
(1 + )(1 + )(1 + )
8
1
(1 )(1 + )(1 + )
8
x = N i xi
y = N i yi
z = N i zi
i =1
i =1
u = N i ui
v = N i vi
w = N i wi
i =1
i =1
i =1
i =1
The stiffness matrix [k] would be as follows. In this case it is a 24*24 matrix and
numerical integration using 2*2*2 (reduced) or 3*3*3 (full) gauss quadrature would be
used.
+1 +1 +1
59
[k ] = 1 1 1 [B ]T [E ][B ](det[ J ]) ddd
30

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IFB

A.K. Pickett, 2013-2014

Derivation of the stiffness matrix

Revision of basic theory (stiffness) for 1D bars elements

Formal derivation of stiffness for a 1D element and application of the

Derivation of stiffness matrix [k] for a simple 2D linear triangle element

Extensions to more complex 2D and 3D elements

A simple 1D example: Analytical and FE solutions

A.K. Pickett, 2013-2014

Finite Elements: The 1D bar element and

A.K. Pickett, 2013-2014

Revision of the simple (1D) Bar element

+ positive forces and displacement (to the right)

Case 1: ui>0 and uj=0

Fi = (EA/L)ui, Fj= -(EA/L)ui

Case 2: ui=0 and uj>0

For the general case ui0 and uj0

A.K. Pickett, 2013-2014

A.K. Pickett, 2013-2014

Connectivity of two elements (1/2)

A.K. Pickett, 2013-2014

Connectivity of two elements (2/2)

Force equilibrium at nodes requires:

Nodes 1: forces=0 -f11

Nodes 3: forces=0 -f32

A.K. Pickett, 2013-2014

Solution for unknowns (application of Boundary conditions)

Stresses and strains could also be found using:

Of course changing the position of the constraint to suppress RBM changes

A.K. Pickett, 2013-2014

The Equations of Equilibrium

The Stress Strain law

A.K. Pickett, 2013-2014

Truss element: The four conditions

Assumed displacement field

Strain displacement relations

Set equal to external loads

used for internal forces (*Area)

A.K. Pickett, 2013-2014

Truss element: Formal derivation via shape

Displacement at any position x

Strain displacement relation

Strain-displacement matrix for a simple truss

Isoparametric shape functions

Displacement at any position x

A.K. Pickett, 2013-2014

Element formulations for stiffness are usually based on the principle

for minimum potential energy

= Stored (elastic energy) + External energy

Equilibrium is at the stationary value of p

A.K. Pickett, 2013-2014

Formal derivation of stiffness: For the 1D element

Simple Exercise: Compute

A.K. Pickett, 2013-2014

Finite Elements: Derivation of 2D and 3D

A.K. Pickett, 2013-2014

Review: Relationship between material displacements and strains for 1D

Strain is related to displacement gradient

U= constant rigid body motion

A.K. Pickett, 2013-2014

Review: The relationship between material displacements and

Ditto for strain in y (=y)

Shear strain is the change in angle