Intro To FEM

EAS454 : ADVANCED STRUCTURAL ENGINEERING
- Finite Element Method

KKChoong
Finite element method : a tool for analysis
- Structural analysis
Major steps involved :
Generation
of input
data
Computation
Display of
output data
Pre-
processing
Solution Post-
processing
(Pre-processor) (Solver) (Post-processor)
KKChoong
Generation
of input
data
Computation
Display of
output data
-coordinates of joints
- arrangement of
members/elements
- member properties
-material properties
- loading conditions
- support conditions/
boundary conditions
- stresses
- displacements
- reactions
- frequencies
- vibration mode
- buckling mode
KD F =
F K D
1
=
Generation
of input
data
Computation
Display of
output data
Pre-
processing
Solution Post-
processing
(Pre-processor) (Solver) (Post-processor)
-To solve equilibrium equation in
order to determine the unknowns (
e.g. displacements, stresses,
reactions, etc)
Static analysis
- Finite Element Method (FEM)
Formulation used in FEM
- Displacement type
: unknown to be solved is displacement quantities
- Force type
: unknown to be solved is force/stress quantities
- Mixed type
: unknown to be solved is displacement as well as
force/stress quantities
FEM (Displacement type)
C x = b
stiffness
properties
(known)
Displacement
(unknown)
External forces
(known)
C x : vector (= internal forces)
INTERNAL FORCES= EXTERNAL FORCES
- equilibrium equation
C x = b
Solution : x = C
-1
b
- To obtain C (or the
generation of C) is a very
important part of finite
element method
C : stiffness matrix
C x = b
-the above stiffness equation (and also
stiffness matrix) is derived using
PRINCIPLE OF VIRTUAL DISPLACEMENT
(PvD)
-FEM is a method for solving structural
problem based on principle of work and
energy
- Elastic system is considered
- Material behaviour : linearly elastic
- Deformation : Small in comparison to the geometric of the
structure
- LINEAR PROBLEM
- SYSTEM CONSIDERED IS CONSERVATIVE
- the system obeys the law of conservation of energy
- the work done is independent of loading path ;
it only depends on the initial and final state of
deformation
Strain energy
- is energy stored in an elastic structure due to deformation
- equals to work done by the external force
- Axially loaded bars
- Bending of beams
L, E, A
L, E, I
}
=
e
V
e x
T
x p
dV U c o
2
1
dx EI dx M U
L
z z
T
z
L
z
T
z p
} }
= =
0 0
2
1
2
1
_ _ _
L, E, A
s
e
s
p e
de F U W
}
= =
0
External work :
s
x
s
A F o =
s
x
s
l e c =
uniform
throughout the
bar
s
x
s
x
c o ,
L, E, A
s
x
s
x p
d Al U
x
c o
c
}
=
0
External work :
- strain energy per
unit volume
- strain energy density
s
x
s
x p
d v
x
c o
c
}
=
0
L, E, A
s
x
s
x
Ec o =
Linearly elastic material : - Hookes Law
s
x
s
x p
d E v
x
c c
c
}
=
0
2
2
2
2
1
2
1
2
1
l
e
E E v
x x x p
= = = c c o
L, E, A
2
2
2
1
2
1
e
l
AE
AEl U
x p
= = c
- constant cross-section (prismatic bar)
- stress (and strain) is uniform throughout
the bar
}
=
vol
p p
vol d v U ) ( In general : dx
dx
du
AE U
l
p
2
0
2
1
}
|
.
|
\
|
= or
Characteristics of strain energy expressions :
- For small-displacement linearly elastic behaviour,
the strain energy of the bar can be expressed as a
quadratic function of the strain or as a quadratic
function of the extension
- Derivatives of strain energy with respect to
extension is the corresponding force
- Derivatives of strain energy density with respect to
the strain is the corresponding stress
: also valid for other types of body, be they 1D,
2D or 3D
- Bending of beams
L, E, I
y, v
x
- based on Bernoulli-Euler theory
2
2
dx
v d
Ey Ey E
z x x
= = = _ c o
y
2
2
2
2
2
2
2
2
1
2
1
2
1
|
|
.
|
\
|
= = =
dx
v d
Ey Ey E v
z x p
_ c
}
=
vol
p p
vol d v U ) (
- Bending of beams
L, E, I
y, v
x
dx dA v U
l
p
A
p
} }
=
dA y dx
dx
v d
E U
A l
p
} } |
|
.
|
\
|
=
2
2
2
2
2
1
- Bending of beams
L, E, I
y, v
x
} |
|
.
|
\
|
=
l
z p
dx
dx
v d
EI U
0
2
2
2
2
1
}
=
l
z z p
dx EI U
0
2
2
1
_ or
PRINCIPLE OF VIRTUAL DISPLACEMENT (PvD)
- A deformable body is in equilibrium if the
total work done by all the external forces
plus the total work done by all the internal
forces during any kinematically admissible
virtual displacement is zero
kinematically admissible virtual displacement:
- The virtual displacement must be such that it
maintains continuity between all parts of the
structure and is also compatible with the
kinematic(or geometric) constraints at the
structure boundary
PRINCIPLE OF VIRTUAL DISPLACEMENT (PvD)
0 = +
e i
W W o o
i
W o
: total virtual work done by the
internal forces
e
W o
: total virtual work done by the
external forces
Example
P
A
Derive the equilibrium eq
uation in terms of P, k an
d A using PvD.
k
Solution
Specialization of PvD to conservative system
0 = +
e i
W W o o
i p
W U =
0 =
p p
V U o o
p e
V W o o =
( ) 0 = +
p p
V U o
0 = H
p
o
: Principle of Minimum
Potential Energy
p
V o
: change in potential
energy of load
Principle of Minimum Potential Energy(PMPE)
p p p
V U + = H
0 = H
p
o
- Of all kinematically admissible displacement
configurations that an elastic body can take up, the
configuration that satisfies equilibrium makes the
total potential energy assume a minimum value.
: total potential energy
p p p
V U + = H
p
U
p
V
: potential energy of deformation
: potential energy of external load
- for loads unchanging in
magnitude, as occurs in static
problems, V
p
is the negative of the
sum of all products of external
load and corresponding
displacement at the load position
measured in the direction that the
load acts
i
N
i
i p
d F V
=
=
1

- in FEM, degrees of
freedom(dof) of a
structural problem is
finite
For system with finite dof,
0 = H
p
o
will result in the
following sets of
simultaneous equations to
be solved
0
1
=
c
H c
d
p
0
2
=
c
H c
d
p
0 =
c
H c
N
p
d
a system of N
algebraic
equations
Example
P
A
Derive the equilibrium equ
ation in terms of P, k and A,
using Principle of Minimum
Potential Energy.
k
Solution
Basic procedures in the derivation of stiffness matrix i
n FEM
Nodes
- Select the assumed displacement
field
- Express the strain in terms
of displacement
- Obtain the total potential
energy
- Apply PMPE to derive the
stiffness equation
- Displacement field =
displacement within
the element
- Stiffness matrix for the basic bar element
Basic procedures in the derivation of stiffness matrix in FEM
2 1
, U U
2 2
, u U u x ,
1 2
L
2 1
, u u
: nodal axial forces
: nodal axial displacement
1 1
, u U
u : axial displacement field
- Select the assumed displacement field
d N = u
- Express the strain in terms of displacement
d
N
(
= =
dx
d
dx
du
x
c
)
`
=
2
1
,
u
u
d
Bd =
x
c
(
=
l
x
l
x
1 , N
(
=
l l
1 1
B ,
- Obtain the total potential energy
e x
V
T
x p
dV U
e

2
1
c o
}
=
x x
Ec o = ,
e x
V
T
x p
dV E U
e

2
1
c c
}
=
is used
d B B d
|
.
|
\
|
=
}
e
V
T T
p
dV E U
e

2
1
Bd =
x
c ,
is used
( ) d B B d
|
.
|
\
|
=
}
l
T T
p
dx AE U
0

2
1
, A: cross-section
2 2 1 1
u U u U V
pn
=
)
`
= =
2
1
,
U
U
V
T
pn
P P d
pn p p
V U + = H
P d kd d
T T
p
-
2
1
= H
- Apply PMPE to derive the stiffness equation
,... 2 , 1 , 0 = =
c
c
+
c
c
=
c
H c
i
d
V
d
U
d
i
pn
i
p
i
p
2 2 1 1
, u d u d = =
for bar element,
0 P kd = -
kd P =
, stiffness equation
( )
|
.
|
\
|
=
}
l
T
dx AE
0
B B k
, stiffness matrix
: the individual stiffness coefficient in
the i-th row and j-th column of k
ij
j i
p
k
d d
U
=
c c
c
2
ij
k
(
=
22 21
12 11
k k
k k
k
i j
p
j i
p
d d
U
d d
U
c c
c
=
c c
c
2 2
: k is symmetrical, i.e.k
ij
=k
ji
(

=
1 1
1 1
l
AE
k
)
`

=
)
`
2
1
2
1
1 1
1 1
u
u
l
AE
U
U
| |
)
`

=
2
1
2 1
1 1
1 1
2
1
u
u
l
AE
u u U
p
| |
)
`

=
2
1
2 1
1 1
1 1
2
1
u
u
l
AE
u u U
p
( )d k d
T
p
U
2
1
=
- quadratic function of
displacement
About origin of x-axis
2 2
, u U u x ,
1 2
L
1 1
, u U
2 2
, u U u x ,
1 2
L/2
1 1
, u U
L/2
- Choice of the origin will NOT affect the stiffness equation
Exercise
2 2
, u U u x ,
1 2
L/2
1 1
, u U
L/2
- Derive the stiffness equation used in finite element
analysis for the basic bar shown above. Show that
the same equation will be obtained regardless of
the location of the origin of x-axis.
- Stiffness matrix for the basic beam element
Basic procedures in the derivation of stiffness matrix in FEM
2 2
, v V
x
1 2
L
1 1
, v V
v y,
1 1
,
z z
M u
2 2
,
z z
M u
2 2 1 1
, , ,
z z
M V M V
2 2 z1 1
, , ,
z
v v u u
: nodal forces
: nodal displacements
v : displacement field
- Select the assumed displacement field
d N = v
| |
T
z z
v v
2 2 1 1
u u = d
(
+ + + =
2
3 2
3
3
2
2
2
3 2
3
3
2
2
2 3 2 2 3
1
l
x
l
x
l
x
l
x
l
x
l
x
x
l
x
l
x
N
- Express the strain in terms of displacement
Bd =
z
_ ,
2
2
dx
v d
y
x
z
= =
c
_
z z
I E M _
z
=
- pseudo-strain
- pseudo-stress
-more
convenient
in beam
analysis
d N
(
= =
2
2
2
2
dx
d
dx
v d
z
_
(
=
2 3 2 2 3 2
6 2 12 6 6 4 12 6
l
x
l
l
x
l l
x
l
l
x
l
B
dx EI U
z z
l
T
z p
_ _
}
=
0
2
1
( ) d B B d
l
0
|
.
|
\
|
=
}
dx EI U
z
T T
p
2
1
kd d
T
p
U
2
1
=
( )
|
.
|
\
|
=
}
dx EI
z
T
l
0
B B k ,
2 2 2 2 1 1 1 1 z z z z pn
M v V M v V V u u =
| |
T
z z
T
pn
M V M V V
2 2 1 1
, = = P P d
pn p p
V U + = H
P d kd d
T T
p
-
2
1
= H
- Apply PMPE to derive the stiffness equation
,... 2 , 1 , 0 = =
c
c
+
c
c
=
c
H c
i
d
V
d
U
d
i
pn
i
p
i
p
1 2 1 1
,
z
d v d u = = for beam element,
0 P kd = -
kd P =
, stiffness equation
( )
|
.
|
\
|
=
}
l
z
T
dx EI
0
B B k
, stiffness matrix
2 4 2 3
,
z
d v d u = =
- stiffness matrix for basic beam element
(
(
(
(
(
(
(
(
(

=
l
l
l
l
l l l
sym
l
l
l
EI
z
4 6 2 6
12 6 12
.
4 6
12
2 2
3 2 3
2
3
k
Exercise
Obtain the expression of stiffness matrix by using
eq.1 to represent v instead of eq.2 :
( )d C
1

= o v
.. Eq.1
Nd = v
.. Eq.2
where
| |
T
3 2
x x x 1 = o
(
(
(
(
(
(
2 3 2 3
2 2
1
1 2 1 2
1 3 2 3
0 0 1 0
0 0 0 1
l l l l
l l l l
C ,
Summary of stiffness matrix k derived for basic bar
and beam element
( )
}
=
l
z
T
dx EI
0
B B k
( )
}
=
l
T
dx AE
0
B B k
( )
}
=
l
T
dx E
0
1
B B k
- Bar element
- Beam element
- Applicable to the generation of any
straight bar or beam elements;
(including variable cross-sections)
The exact nature of the basic bar and beam elements
Finite element method through
application of PMPE
Exact approach
k k =
-Basic conditions of
Elasticity
Compatibility
Equilibrium
are satisfied everywhere in the case
of basic bar and beam element
It is noted that in
finite element
analysis, satisfaction
of all three basic
conditions within
an element is not
at all usual.
The exact nature of the basic bar and beam elements
It is noted that in finite element analysis,
satisfaction of all three basic conditions within
an element is not at all usual.
It is simple to meet the requirements of the
elasticity and compatibility conditions within an
element. Usually the equilibrium condition is
not satisfied at all points within an element.
Consideration of distributed loading
kd P =
Nodal forces
Nodal
displacement
The effect
must be
represented
as nodal
forces
- Through appropriate
expression in potential
energy of external load, V
p
distributed loading
surface force (or traction), t(x)
- force per unit length over
part of the element length
body force, r(x)
- force per unit length over
the entire element length
- for the case of 1D
element
,u x
body force, r(x)
surface force (traction), t(x)
Potential energy of external load
} }
=
x x
pd
utdx urdx V
T T
u N d Nd = =
} }
=
x x
T T T T
pd
tdx rdx V N d N d
Q d
T
pd
V =
} }
+ =
x x
T T
tdx rdx N N Q
Total potential energy
p p p
V U + = H
Q d P d kd d
T T T
p
- = H
2
1
kd Q P = +
- stiffness equation where
distributed load are present
, 0 = H
p
o
Q
: kinematically
consistent/equivalent load
or consistent/equivalent load
potential energy due to
concentrated load
potential energy
due to
distributed load
Point load / concentrated load acting at point along
the element
,u x
concentrated load T
c
at x
c
c
x
C
T
C
T
C
T N Q =
Case of basic beam element
x
body force, r(x)
surface force (traction), t(x)
v y,
}
=
x
T
rdx N Q
}
=
x
T
tdx N Q
c
x
C
P
C
T
C
P N Q , =
( )
C C
T
C
M
dx
d
M N Q = ,
kd Q P = +
*Note that Q are reverse of the
fixed-end-forces
Example
A uniform bar element carries a uniformly distributed
loading along its whole length of intensity p per unit
length. Evaluate the nodal forces which are
kinematically consistent with this distributed loading.
Solution

= =
} }
2
1
2
1
0
1
pl dx p tdx
l
l
x
l
x
x
T
N Q
- Half of the total distributed load is
allocated to each end node
Example
A uniform basic beam element carries a concentrated
load together with the linearly varying distributed
surface loading. Determine Q for this loading.
a
b
x
v
1
2
W
4 3l
l
a,b : intensity of load per unit length
Solution
Assemble process in finite element
kd Q P = +
D K Q P = +
- The process of assembling structure stiffness
matrix from element stiffness matrix is basically
the same as that used in matrix displacement
method(MDM)
Element stress
Analysis of
structures
- To determine deformation
- To determine internal
forces/stresses
kd Q P = +
Solution:
d
- displacement deformation
o - stresses internal forces
x x
c E o =
- For a bar element
Bd E o =
x (
=
l l
1 1
B ,
)
`
=
2
1
1 1
u
u
l l
x
E o
( )
1 2
u u
l
x
=
E
o
x
o : constant within
the element
z z z
_ EI M =
- For a beam element
Bd
z z
EI M =
=
2
2
1
1
2 3 2 2 3 2
6 2 12 6 6 4 12 6
z
z
z
v
v
l
x
l
l
x
l l
x
l
l
x
l
EI M
u
u

dx
dM
S
z
=
=
2
2
1
1
2 3 2 3
6 12 6 12
z
z
z
v
v
l l l l
EI S
u
u

- linear
- constant
( ) Sd =
z x
M o
S
- stress matrix
For basic bar and beam elements, the
displacement and stress calculated will be the
same for both cases of FEM or MDM(matrix
displacement method) so long as any actual
loading is concentrated at the nodes.
However, for cases where distributed loads are
present, significant difference will be observed for
the stress quantities calculated using the two
approaches.
Example
The uniformly loaded cantilever is illustrated in the
figure below. Determine the distribution of
bending moment along the beam by the FEM.
L
p per unit
length
Solution
Exact solution
1-element solution
2-element solution
2
2
pL
0
Bending moment diagram
Note:
Only on rare occasions will stresses calculated from
the nodal displacements using the FEM be the exact
ones throughout a structure. The reason for this is
that equilibrium conditions are not satisfied within
the individual finite element other than in the overall
sense. Equilibrium equation can be expected to be
approximated more and more closely throughout a
structure as more and more finite elements are
employed in an analysis.
Requirements for element displacement field
- Selection of element displacement field is a
critical step in FE displacement method.
d
no. of elements
- convergence to the exact
solution as more and more
elements are used(or element
mesh is refined)
1. The element displacement field should
include the proper representation of any
possible rigid body motion of the element
- if an element happens to have values of
nodal d.o.f. which are consistent with a rigid
body motion, then no strains should be
developed within the element
2. The element displacement field should
include representation of any possible states
of constant strain
- if the size of elements is sufficiently small,
the strains within each element will clearly
be very uniform
- the representation of constant strain
states is necessary in the limit of
infinitesimal size elements to ensure
ultimate convergence to the true solution
- to help giving a rapid rate of convergence
3. Within each element, the displacement field
should be smooth and continuous.
4. At the boundaries between adjacent
elements, the compatibility condition should
be satisfied.
- no discontinuities of displacement (or of
the displacement derivative in bending
problem) should occur anywhere in the
assemblage, i.e. no gaps or overlaps (or
kinks) should occur within an elements or an
element boundaries
- formally :
- the complete satisfaction of
compatibility is obtained if continuity of
derivatives of one order less than the
highest-order derivative appearing in the
energy expression is maintained.
Elements whose displacement fields satisfy all
compatibility requirements are called
conforming elements
Elements whose displacement fields violate the
compatibility requirements (at interelement
boundaries) are called non-conforming
elements
Example 1
Basic bar element
x A A u
0 1
+ =
Condition 1:
0
A u =
- Rigid body motion is
contained
Condition 2:
1
A
dx
du
x
= = c
- State of constant
strain is included
Conditions 3 and 4:
dx
dx
du
AE U
l
p
2
0
2
1
}
|
.
|
\
|
=
- Highest order derivative (du/dx) is 1
- Derivatives until one order less is
function u itself
- is continuous ;
x A A u
0 1
+ =
- conditions 3 and 4 are satisfied
continuity
0
-C
Example 2
Basic beam element
3
3
2
2 1
x A x A x A A v
0
+ + + =
Condition 1:
0
A v =
1 z
A
dx
dv
= =u
: translational rigid body motion
: rotational rigid body motion
- Both types of rigid body motion
are included
Basic beam element
3
3
2
2 1
x A x A x A A v
0
+ + + =
Condition 2:
2
2
2
A
dx
v d
z
= = _ : state of constant strain
- State of constant strain is
contained
Basic beam element
3
3
2
2 1
x A x A x A A v
0
+ + + =
Conditions 3 and 4:
: highest order derivative is 2
- v and dv/dx must be continuous
} |
|
.
|
\
|
=
l
z p
dx
dx
v d
EI U
0
2
2
2
2
1
- Derivatives until one order less are
function v and dv/dx
- conditions 3 and 4 are satisfied
3
3
2
2 1
x A x A x A A v
0
+ + + =
2
3 2 1
3 2 x A x A A
dx
dv
+ + =
continuous
1
-C continuity
If all 4 conditions are satisfied by the element
displacement field, then the finite element
solution will converge to true solution with
mesh refinement
However, it should be noted that in practice
convergence to true solution can be achieved
even when an element displacement field does
not exactly satisfy all 4 conditions.
Nature of shape functions
d N = u
(
=
l
x
l
x
1 N
d N = v
(
+ + + =
2
3 2
3
3
2
2
2
3 2
3
3
2
2
2 3 2 2 3
1
l
x
l
x
l
x
l
x
l
x
l
x
x
l
x
l
x
N
Polynomials
- Commonly used as shape
functions
| |
2 1
N N = N
: has unit value at the nodal
point i where the
displacement is di and
zero value at all other
nodal points
i
N
(
=
l
x
l
x
1 N
: has unit value at node 1
and zero value at node
2, and zero slope at
nodes 1 and 2
1
N
(
+ + + =
2
3 2
3
3
2
2
2
3 2
3
3
2
2
2 3 2 2 3
1
l
x
l
x
l
x
l
x
l
x
l
x
x
l
x
l
x
N
| |
4 3 2 1
N N N N = N
2
N : has zero value at nodes
1 and 2 , unit slope at
node 1 and zero slope
at node 2
Use of basic bar element in truss structures
2 2
, u U u x ,
1 2
L
1 1
, u U
x
x
x
y
x
x
)
`

=
)
`
2
1
2
1
1 1
1 1
u
u
l
AE
U
U
T
x
y
)
`
(
(
2
1
2
1
u
u
k k
k k
U
U
22 21
12 11
- Coordinate transformation
x
x
x
y
(
(
(

=
l
x x
l
y y
l
y y
l
x x
1 2 1 2
1 2 1 2
T
: coordinate
transformation matrix
- global to local

Intro To FEM

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EAS454 : ADVANCED STRUCTURAL ENGINEERING

- Finite Element Method

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