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CHAP 1
Preliminary Concepts and
Linear Finite Elements
3
1.1
INTRODUCTION
4
Background
Finite Element Method (FEM):
a powerful tool for solving partial differential equations and
integro-differential equations
Linear FEM:
methods of modeling and solution procedure are well established
Nonlinear FEM:
different modeling and solution procedures based on the
characteristics of the problems complicated
many textbooks in the nonlinear FEMs emphasize complicated
theoretical parts or advanced topics
This book:
to simply introduce the nonlinear finite element analysis procedure
and to clearly explain the solution procedure
detailed theories, solution procedures, and implementation using
MATLAB for only representative problems
5
Chapter Outline
2. Vector and Tensor Calculus
Preliminary to understand mathematical derivations in other
chapters
3. Stress and Strain
Review of mechanics of materials and elasticity
4. Mechanics of Continuous Bodies
Energy principles for structural equilibrium (principle of minimum
potential energy)
Principle of virtual work for more general non-potential problems
5. Finite Element Method
Discretization of continuum equations and approximation of
solution using piecewise polynomials
Introduction to MATLAB program ELAST3D
6
1.2
7
Vector and Tensor
Vector: Collection of scalars
Cartesian vector: Euclidean vector defined using Cartesian
coordinates y
2D, 3D Cartesian vectors u2
u1
u1
u , or u u2 e2
e1 x
u2 u
3 e3 u1
u3
z
u u1 e1 u2e2 u3e3
8
Index Notation and Summation Rule
Index notation: Any vector or matrix can be expressed in
terms of its indices
v1 A11 A12 A 13
v [vi ] v2 A [Aij ] A21 A22 A 23
v3 A31 A32 A 33
Einstein summation convention
3
akbk akbk Repeated indices mean summation!!
k 1
In this case, k is a dummy variable (can be j or i) akbk ajbj
The same index cannot appear more than twice
Basis representation of a vector
Let ek be the basis of vector space V
N
Then, any vector in V can be represented by w wk ek wk ek
k 1 9
Index Notation and Summation Rule cont.
Examples
Matrix multiplication: C A B Cij AikBkj
Trace operator: tr(A) A11 A22 A33 Akk
Dot product: u v u1v1 u2v2 u3v3 uk vk
Cross product: u v ujvk ( ej ek ) eijkujvk ei
3 3
J A:B AijBij AijBij
i1 j1
10
Cartesian Vector
X3
Cartesian Vectors u
u u1 e1 u2 e2 u3e3 uiei v e3
v vjej e1 e2
X2
X1
Dot product
u v (uiei ) (vjej ) uv
i j ( ei e
j ) uivj ij uivi
Kronecker delta function
1 if i j
ij jj 11 22 33 3
0 if i j
Equivalent to change index j to i, or vice versa
How to obtain Cartesian components of a vector
ei v ei (vjej ) vj ij vi Projection
Magnitude of a vector (norm):
v v v
11
Notation Used Here
a b ab
i i aT b
A ab Aij ab
i j A abT
b A a bi Aijaj b Aa
b a A bj aA
i ij bT aT A
12
Tensor and Rank
Tensor
A tensor is an extension of scalar, vector, and matrix
(multidimensional array in a given basis)
A tensor is independent of any chosen frame of reference
Tensor field: a tensor-valued function associated with each point
in geometric space
Rank of Tensor
No. of indices required to write down the components of tensor
Scalar (rank 0), vector (rank 1), matrix (rank 2), etc
Every tensor can be expressed as a linear combination of rank 1
tensors
Rank 1 tensor v: vi 11 12 13
Rank-2
Rank 2 tensor A: Aij
[ij ] 21 22 23 stress
tensor
31 32 33
Rank 4 tensor C: Cijkl 13
Tensor Operations
Basic rules for tensors
Different notations
( TS)R T(SR) TS T S
T(S R) TS TR
Identity tensor
( TS) ( T )S T(S) 1 [ij ]
1T T1 T
Tensor (dyadic) product: increase rank
A u v uivjei ej Aij uivj AT Ajiei ej
( u v ) w u( v w)
w ( u v ) v ( w u)
( u v )( w x) ( v w)u x uv vu
A:W 0
A:T A:S
15
Example
Displacement gradient can be considered a tensor (rank 2)
u1 u1 u1
X1 X2 X3
u u2 u2 u2
u X3
X X1 X2
u3 u3 u3
X1 X2 X3
u1 1 ( u1 u2 1 ( u1 u3
X1 2 X2
X1
) 2 X3
)
X1
sym(u) 1 ( u1 u2 u2 1 ( u2 u3 Strain tensor
2 X2
X1
) X2 2 X3
)
X2
1 ( u1 u3 1 ( u2 u3 u3
2 X3
X1
) 2 X3
X2
) X3
1 ( u1 u2 1 ( u1 u3
0 2 X2
X1
) 2 X3
)
X1
skew(u) 21 ( X1
u u2 1 ( u2 u3
X1
) 0 2 X3
)
X2
Spin
2
1 u1 tensor
u3 u u3
2 ( X3 X1
) 21 ( X2 X2
) 0
3
16
Contraction and Trace
Contraction of rank-2 tensors
a : b aijbij a11b11 a12b12 K a32b32 a33b33
contraction operator reduces four ranks from the sum of ranks of
two tensors
magnitude (or, norm) of a rank-2 tensor
a a:a
Constitutive relation between stress and strain
D : , ij Dijklkl
Trace: part of contraction
tr(A) Aii A11 A22 A33
In tensor notation
tr(A) A : 1 1 : A
17
Orthogonal Tensor
In two different coord.
e3 e3*
e1 *
u uiei uj* ej*
e2
Direction cosines e1
e2*
[ij ] [ ei* ej ] ei* ijej
We can also show
Change basis ej ijei* u* u
u ujej ui* ei* u T u* T ( u) (T )u
ui*ijej
1 T
uj ijui* T T 1 det() 1
Orthogonal tensor
u T u* Rank-2 tensor transformation
T * T T , Tij* ikTkljl
18
Permutation
The permutation symbol has three indices, but it is not a
tensor
eijk elmk il jm im jl
vector product
u v eieijkujvk
19
Dual Vector
For any skew tensor W and a vector u
u Wu u WT u u
Wu
0
Wu and u are orthogonal
0 W12 W13 W 23
Let Wij eijk wk
W W12 0 W23 w W13
W13 W23 0
W 12
Then, W u e w u e w u
ij j ijk k j ikj k j
Wu w u
20
Vector and Tensor Calculus
Gradient
( X)
ei
X Xi
Gradient is considered a vector
vi
We will often use a simplified notation: vi , j
X j
Laplace operator
2
ei ej
Xi X Xj Xj
j
Gradient of a scalar field (X): vector
2 2 2
( X) ei X12 X22 X32
Xi
21
Vector and Tensor Calculus
Gradient of a Tensor Field (increase rank by 1)
i
iei ej ei ej
Xj Xj
Divergence (decrease rank by 2)
i
ei
Xi
jej
Xi
Ex)
jk,jek
Curl
v eieijk vk,j
22
Integral Theorems
Divergence Theorem
Gradient Theorem
A d n A d c
Stokes Theorem
n ( v ) d
c r v dc
r
Reynolds Transport Theorem
d A
dt
Ad t d (n v)A d
23
Integration-by-Parts
u(x) and v(x) are continuously differentiable functions
1D
b b b
a u(x)v(x) dx u(x)v(x) a
u(x)v(x) dx
a
2D, 3D
u v
xi v d uvni d u xi d
For a vector field v(x)
u v d u( v n) d u vd
Greens identity
2
u v d u v n d u
vd
24
Example: Divergence Theorem
S: unit sphere (x2 + y2 + z2 = 1), F = 2xi + y2j + z2k
Integrate S F n dS
S F n dS F d
2 (1 y z) d
2 d 2 y d 2 z d
2 d
8
3
25
Quiz
A symmetric rank four tensor is defined by
D 1 1 2I
where 1 = [ij] is a unit tensor of rank-two and
I 21 [ik jl il jk ] is a symmetric unit tensor of rank-
four. When E is an arbitrary symmetric rank-two tensor,
calculate S = D:E in terms of E.
26
1.3
27
Surface Traction (Stress)
F
Surface traction (Stress) f1
t (n) t1 e1 t2 e2 t3e3
28
Cartesian Stress Components
Surface traction changes according to the direction of
the surface.
Impossible to store stress information for all directions.
Lets store surface traction parallel to the three
coordinate directions.
Surface traction in other directions can be calculated
from them.
Consider the x-face of an infinitesimal cube
x
t (x)
t1(x) e1 t2(x) e2 + t3(x) e3
z
t (x)
11 e1 12 e2 + 13e3 13
z F
Normal
11 12
Shear
stress stress y
x y 29
Stress Tensor
First index is the face and the second index is its direction
When two indices are the same, normal stress, otherwise shear
stress.
Continuation for other surfaces.
Total nine components
Same stress components are defined for the negative planes.
31 32
Sign convention z
13 23
z
sgn(11 ) sgn(n) sgn( Fx ) 21
11 12 22
sgn(12 ) sgn(n) sgn( Fy ) y
x y
30
Symmetry of Stress Tensor
Stress tensor should be symmetric
9 components 6 components 21
Equilibrium of the angular moment A B
y
M l(12 21 ) 0 12 l O x 12
12 21
l
Similarly for all three directions: C D
12 21 , 23 32 , 13 31 21
11
22 11 12 13
Lets use vector notation:
Cartesian components 33 [ij ] 12 22 23
of stress tensor { }
12 13 23 33
23
13 31
Stress in Arbitrary Plane
If Cartesian stress components are known, it is possible to
determine the surface traction acting on any plane.
Consider a plane whose normal is n.
Surface area (ABC = A) y
B
PAB An3 ; PBC An1 ; PAC An2
n
31 33 t(n)
The surface traction 13
11 32
t ( n ) t1( n ) e1 t2( n) e2 t3(n ) e3
12 P 23 A x
21
22
Force balance z C
1 1 A 11An1 21An2 31An3 0
F t (n)
Tensor
( n ) notation
t n t ( n) n
t ( n) nn n n n
Principali directions
n n j 0, i are
j mutually perpendicular
37
Principal Directions
There are three cases for principal directions:
1. 1, 2, and 3 are distinct principal directions are three unique
mutually orthogonal unit vectors.
2. 1 = 2 and 3 are distinct n3 is a unique principal direction, and
any two orthogonal directions on the plane that is perpendicular
to n3 are principal directions.
3. 1 = 2 = 3 any three orthogonal directions are principal
directions. This state of stress corresponds to a hydrostatic
pressure.
n3
38
Strains (Simple Version)
Strain is defined as the elongation per unit length
u2
x2
P x1 P
u1
u1 u1
11 lim
Tensile (normal) 0 x1 inx
x1 strains x11- and x2-directions
Textbook has different, but
more rigorous derivations
u2 u2
22 lim
x2 0 x2 x2
39
Shear Strain
Shear strain is the tangent of the change in angle between two
originally perpendicular axes
u1
u2
1 ~ tan 1
x1 2
u1 x2
/2 12
2 ~ tan 2
x2 P
1 u2
x1
u
2 u1 u2 u1
12 strain
Shear 2 lim
1 (change of angle) lim
x1 0 x1 x2 0 x2 x1 x2
1 1 u2 u1
12 12
2 2 x1 x2
Positive when the angle between two positive (or two negative) 40
Strains (Rigorous Version)
Strain: a measure of deformation
Normal strain: change in length of a line segment
Shear strain: change in angle between two perpendicular line
segments
Displacement of P = (u1, u2, u3)
Displacement of Q & R
Q u1 u1
u1 u1 x1 u1 u1
R
x2
x1 x2
u2
R'
Q u
u2 u2 x1 u2R u2 2 x2
x1 x2 Q'
x1
x3 41
Displacement Field
Coordinates of P, Q, and R before and after deformation
P : (x1 , x2, x3 )
Q : (x1 x1, x2, x3 )
R : (x1, x1 x2, x3 )
P : (x1 u1P , x2 u2P , x3 u3P ) (x1 u1, x2 u2, x3 u3 )
Q : (x1 x1 u1Q , x2 u2Q , x3 u3Q )
u1 u u
(x1 x1 u1 x1, x2 u2 2 x1, x3 u3 3 x1 )
x1 x1 x1
R : (x1 u1R , x2 x2 u2R , x3 u3R )
u1 u u
(x1 u1 x2 , x2 x2 u2 2 x2 , x3 u3 3 x2 )
x2 x2 x2
2 2 2
PQ x1P x1Q x2P x2Q x3P x3Q
42
Deformation Field
Length of the line segment P'Q'
2 2 2
u1 u 2 u3
PQ x1 1
x1
x
1 x1
1/2
2 2 2
u u1 u 2 u3
x1 1 2 1
x1 x1
x
1 x1
u 1 u1
2
1 u 2
2
1 u3
2
u1
x1 1 1 x 1
x1
x1 2 x1
2 x 1 2 x1
Linear Nonlinear Ignore H.O.T. when displacement
gradients are small
Linear normal strain
PQ PQ u1
11
PQ x1
u2 u3
22 , 33
x2 x3 43
Deformation Field
Shear strain xy
change in angle between two lines originally parallel to x and y
axes xQ xQ u xR x R u
2 2 2 1 1 1
1 2
x1 x1 x2 x2
u1 u2
12 1 2
x2 x1
u2 u3
23 Engineering shear strain
x3 x2
u3 u1
13
x1 x3 Different notations
1 u1 u2 1 ui uj
12
2 x2 x1
ij
2 xj xi
1 u2 u3
23
2 x3 x2 ij 21 (ui,j uj,i )
1 u3 u1
13
2 x1 x3
sym(u) 44
Strain Tensor
Strain Tensor
ijei ej
11 12 13
Cartesian Components [ij ] 12 22 23
13 23 33
Vector notation
11 11
22 22
33 33
{ }
212 12
223 23
213 13
45
Volumetric and Deviatoric Strain
Volumetric strain (from small strain assumption)
V V0
V (1 11 )(1 22 )(1 33 ) 1 11 22 33
V0
V 11 22 33 kk
Deviatoric strain x3
e 31 V 1 eij ij 31 V ij e22
e33
e Idev : 1
x2 1
1
e11 x1
Ultimate
Fracture
stress
Yield stress
Proportional
limit Youngs
modulus
Strain Necking
hardening
47
Generalized Hookes Law
Linear elastic material D : , ij Dijklkl
In general, Dijkl has 81 components
Due to symmetry in ij, Dijkl = Djikl
Due to symmetry in kl, Dijkl = Dijlk 21 independent coeff
48
Generalized Hookes Law cont.
Stress-strain relation
ij Dijklkl [ijkl (ik jl il jk )]kl kk ij 2ij
Volumetric strain:
kk 11 22 33 v
Off-diagonal part:
12 212 12 is the shear modulus
Bulk modulus K: relation b/w volumetric stress & strain
I1 3m jj kk jj 2 jj (3 2)kk
p m ( 23 )kk K v
Substitute so that we can separate
Bulkvolumetric
modulus part
K 23
Total deform. = volumetric + deviatoric deform.
49
Generalized Hookes Law cont.
Stress-strain relation cont.
ij (K 23 )kk ij 2ij
Kkk ij 2ij 23 kk ij
Kijklkl 2[ik jl 31 ijkl ]kl
Kijkl 2(Idev )ijkl kl
K1 1 2Idev :
Deviatoric part
e Idev :
Volumetric part Deviatoric strain
Kv 1 2e s Idev :
m 1 s Deviatoric stress
11 u1,1 11
u2,2
22 22
33 u3,3 33
D
212 u1,2 u2,1 12
223 23
u
2,3 u3,2
213 u u
13
1,3 3,1
51
3D Solid Element cont.
Elasticity matrix 2 31 31 0 0 0
1 3
1 31 2 1
3 0 0 0
D K1 1 2Idev
3
31 31 23 0 0 0
1
1 Idev
0 0 21 0 0
0
0
Relation b/w 0 0 0 1
0 0 2 0
Lames constants 0
0 0 0 21
0 0
and Youngs modulus
and Poissons ratio 2 0 0 0
2 0 0 0
(3 2)
, E
2( ) 2 0 0 0
D
E E 0 0 0 0 0
,
(1 )(1 2) 2(1 ) 0 0 0 0 0
0 0 0 0 0
52
Plane Stress
Thin platelike components parallel to the xyplane
The plate is subjected to forces in its in-plane only
13 = 23 = 33 = 0
11 1 0 11
E
{ } 22 1 0 22
2
1 1 (1 )
12 0 0 2 12
13 = 23 = 0, but 33 0
33 can be calculated from the condition of 33 = 0:
33 (11 22 )
1
53
Plane Strain
Strains with a z subscript are all zero: 13 = 23 = 33 = 0
Deformation in the zdirection is constrained, (i.e., u3 = 0)
can be used if the structure is infinitely long in the z
direction
11 1 0 11
E
{ } 22 1 0 22
(1 )(1 2) 1
12 0 0 12
2
13 = 23 = 0, but 33 0
33 can be calculated from the condition of 33 = 0:
E
33
(1 )(1 2)
11 22
54
1.4
MECHANICS OF
CONTINUOUS BODIES
55
Governing Equations for Equilibrium
Governing differential equations for structural equilibrium
Three laws of mechanics: conservation of mass, conservation of
linear momentum and conservation of angular momentum
Boundary-valued problem: satisfied at every point in
Governing D.E. + Boundary conditions
Solutions: C2continuous for truss & solid, C4continuous for beam
Unnecessarily requirements for higher-order continuity
Energy-based method
For conservative system, structural equilibrium when the potential
energy has its minimum: Principle of minimum potential energy
If the solution of BVP exists, then that solution is the minimizing
solution of the potential energy
When no solution exists in BVP, PMPE may have a natural solution
Principle of virtual work
Equilibrium of the work done by both internal and external forces
with small arbitrary virtual displacements
56
Balance of Linear Momentum
Balance of linear momentum
11 12 13
ijei ej ij
21 22 23
31 32 33
Surface traction
X
t n n
Cauchys Lemma
X3
t n t n e3
n
e1 X2
e2
t n n t n n X1 tn
57
Balance of Linear Momentum cont
Balance of linear momentum
( fb a) d n d d
Divergence Theorem
[ ( fb a)] d 0
( fb a) 0
For a static problem
fb 0 ij,i fjb 0
x fb d x t n d x a d
T ij ji
58
Boundary-Valued Problem
We want to determine the state of a body in equilibrium
The equilibrium state (solution) of the body must satisfy
local momentum balance equation
boundary conditions
Strong form of BVP
X
Given body force fb, and traction t
on the boundary, find u such that fb
X3
fb 0 (1)
e3
and e1 n
e2 X2
u0 on h essential BC (2) X1 t
t n on s natural BC (3)
Solution space
DA u [C2 ()]3 | u 0 on x h , n t on x s 59
Boundary-Valued Problem cont.
How to solve BVP
To solve the strong form, we want to construct trial solutions that
automatically satisfy a part of BVP and find the solution that
satisfy remaining conditions.
Statically admissible stress field: satisfy (1) and (3)
Kinematically admissible displacement field: satisfy (2) and have
piecewise continuous first partial derivative
Admissible stress field is difficult to construct. Thus, admissible
displacement field is used often
60
Principle of Minimum Potential Energy (PMPE)
Deformable bodies generate internal forces by
deformation against externally applied forces
Equilibrium: balance between internal and external forces
For elastic materials, the concept of force equilibrium can
be extended to energy balance
Strain energy: stored energy due to deformation
(corresponding to internal force)
1
U( u) ( u) : ( u) d ( u) D : ( u)
2
Linear elastic material
W( u) u fb d s u t d
.
( u) U( u) W( u) x1
1
( u) : ( u) d u fb d s u t d
.
2
62
PMPE cont.
PMPE: for all displacements that satisfy the boundary
conditions, known as kinematically admissible
displacements, those which satisfy the boundary-valued
problem make the total potential energy stationary on DA
d d F Fx
(U W) EALc1 FL 0 c1 u(x)
dc1 dc1 EA EA
64
Virtual Displacement
Virtual displacement is not experienced but only assumed to exist so
that various possible equilibrium positions may be compared to
determine the correct one
Let mass m and springs are in equilibrium at the current position
Then, a small arbitrary perturbation, r, can be assumed
Since r is so small, the member forces are assumed unchanged
The work done by virtual displacement is
W F1 r F2 r F3 r F
4 r (
F1 F2 F3 F
4) r
If the current position is in force equilibrium, W = 0
F2 F3
F1 F4
65
Virtual Displacement Field
Virtual displacement (Space Z)
Small arbitrary perturbation (variation) of real displacement
1 d
u lim [( u ) ( u)] ( u ) u.
0 d 0
Let be the virtual displacement, then u +
must be kinematically
admissible, too
Then, must satisfy homogeneous displacement BC
u a u u V u Z
Z u u [H1 ()]3, u h
0 u
Space Z only includes homogeneous
essential BCs
In the literature, u is often used instead of
Property of variation
du d(u)
dx dx
66
PMPE As a Variation
Necessary condition for minimum PE
Stationary condition <--> first variation = 0
1 d
( u; u ) lim [( u u ) ( u)] ( u u ) 0
0 d 0
for all u Z
Variation of strain energy
u d u u u
x d x 0 x
( u) ( u ) D :
U( u; u ) (u ) : D : (u) ( u) : D : (u )
1
2
d
( u ) : D : ( u) d
a( u, u ) Energy bilinear form
67
PMPE As a Variation cont.
Variation of work done by applied loads
b
W( u; u ) u f d s u t d l ( u ) Load linear form
( u; u ) U( u; u ) W( u; u ) 0
Thus, PMPE becomes
a( u, u ) l ( u ), u Z
Load form is linear with respect to
l (u )
Energy form a(u, ) is symmetric, bilinear w.r.t. u and
Different problems have different a(u, ) and , but they share
l (u )
the same property
How can we satisfy for all requirement?
Can we test an infinite number of ?
68
Example Uniaxial Bar
Assumed displacement u(x) = cx u(x) cx
virtual displacement is in the same space with u(x):
Variation of strain energy
d 1 L 2 1 L
U
d 2 0
EA (u u) dx
0
2EA(u u)u dx
2 0 0
L
0 EAuu dx EALcc
Variation of applied load
d
W F u(L) u(L)
Fu(L) FLc
d 0
PMPE
Fx
U W c(EALc FL) 0 u(x) cx
EA
Arbitrary u(x) arbitrary c coefficient of c must be zero 69
Principle of Virtual Work
Instead of solving the strong form directly, we want to
solve the equation with relaxed requirement (weak form)
Virtual work Work resulting from real forces acting
through a virtual displacement
Principle of virtual work when a system is in equilibrium,
the forces applied to the system will not produce any
virtual work for arbitrary virtual displacements
Balance of linear momentum is force equilibrium fb 0
Thus, the virtual work can be obtained by multiplying the force
equilibrium equation with a virtual displacement
W ( fb ) u d
If the above virtual work becomes zero for arbitrary , then it
satisfies the original equilibrium equation in a weak sense
70
Principle of Virtual Work cont
PVW (ij,i fjb )uj d 0
u Z
ij,iuj d fjbuj d
Integration-by-parts
The
n uj ddecomposed
boundary
u byd fjbuj d
i ij is ij j,i
h s
uj 0 on h and niij tj on s
b
t u
S j j
d ij j,i
u d j uj d
f
0 u
71
Principle of Virtual Work cont
Since ij is symmetric
1 ui uj
ijuj,i ijsym(uj,i ) ij ij sym(ui,j ) ij
2 Xj Xi
Weak Form of BVP
ij ij d fjbuj d s tjuj d u Z
a( u, u ) l ( u ) u Z [K]{ d} {F }
FE equation
Energy form:
a( u, u ) : d
Load form:
l (u ) u fb d s u t d
72
Example Heat Transfer Problem
Steady-State Differential Equation
T = T0
T T
kx ky Q 0 ST
x x y y domain
A
Boundary conditions qn Sq Q
T T0 on ST
dT dT
nq n k
x x n k
y y on Sq n = {nx,
dx dy ny}T
Space of kinematically admissible temperature
Z T H1 () T( x) 0, x ST
Multiply by virtual temperature, integrate by part, and
apply boundary conditions
T T T T
x x x y y y d
k k TQ d S Tqn dSq,
q
T Z
73
Example Beam Problem
Governing DE f(x)
d4 v
EI 4
f(x), x [0, L] x L
dx
Boundary conditions for cantilevered beam
dv d2 v d3 v
v(0) (0) (L) (L) 0
dx dx 2
dx 3
75
1.5
76
Finite Element Approximation
Difficult to solve a variational equation analytically
Approximate solution n
Linear combination of trial functions u(x) c (x)
i i
Smoothness & accuracy depend on i1
the choice of trial functions
If the approximate solution is expressed in the entire domain, it is
difficult to satisfy kinematically admissible conditions
Finite element approximation
Approximate solution in simple sub-domains (elements)
Simple trial functions (low-order polynomials) within an element
Kinematically admissible conditions only for elements on the
boundary u(x)
Nodes Approximate
solution
Piecewise-
x
linear
approximation
Finite elements
Exact solution 77
Finite Elements
Types of finite elements
1D 2D 3D
Linear
Quadratic
One element
78
Trial Solution
Solution within an element is approximated using simple
polynomials.
u(x) a a x,
i-th element 1 x xx
0 is composedi of two nodes:
i 1 xi and xi+1. Since two
unknowns are involved, linear polynomial can be used:
xi xi+1
81
1D Finite Elements
1D BVP d2u p(x) 0, 0 x 1
2
dx
u(0) 0
du Boundary conditions
(1) 0
dx Space of kinematically
admissible displacements
1 d2u
Use PVW 0 dx2 p u dx 0
Z u H(1) [0,1] u(0) 0
Integration-by-parts
1
du du du
1 1
u dx pu dx
dx 0
0 dx dx 0
This variational equation also satisfies at individual element level
xj du du xj
(1) xi dx dx
dx x i
pu dx u
82
1D Interpolation Functions
Finite element approximation for one element (e) at a time
u(e) (x) uN
i 1 (x) u N
i1 2 (x) N (e)
d(e)
(e) ui
d N(e) N1 N2
ui1
Satisfies interpolation condition u(e) (xi ) ui
u(e) (xi1 ) ui1
Interpolation of displacement variation (same with u)
u (e) (x) uN
i 1 (x) u N
i1 2 (x) N(e)
d (e)
(1)
k11 (1)
k12 0 K 0 u f1(1) dx 1 (x )
1
(1) (1) (2) (2) (1) (2)
k21 k22 k11 k12 L 0 u2 f2 f2 0
0 (2) (2) (2) (3)
k221 k22 k11 L 0 u3 (2)
f3 f 3 0
M M M O M M M M
NE (N ) du
k22E uN fN E
(N )
0 0 0 k21 (x
dx N )
ND 1 ND 1
ND ND ND 1
[K]{ d} {F }
Coefficient matrix [K] is singular; it will become non-
singular after applying boundary conditions
86
Example
Use three equal-length elements
d2u
x 0, 0 x 1 u(0) 0, u(1) 0
2
dx
All elements have the same coefficient matrix
(e) 1 1 1 3 3
k
22 L(e) 1 1 3 3 , (e 1,2,3)
RHS (p(x) = x)
87
Example cont.
RHS cont. f1(1) 1 1 (2)
f 2 1 4 f3
(3)
1 7
(1) , (2) , (3)
f2 54 2 f3 54 5 f
4 54
8
Assembly
1 du
- (0)
54 dx Element 1
3 - 3 0
0 u1
2 4 Element 2
- 3 3 + 3 - 3 0 u2 +
= 54 54 Element 3
0 - 3 3 +3 - 3 u3 7 5
+
0 0 - 3 3 u4 54 54
8 du
+ (1)
Apply boundary conditions 54 dx
Deleting 1st and 4th rows and columns
4
6 3 u2 1 1 u2 81
3 6 u
3 9
2 u3 5
81
88
EXAMPLE cont.
Approximate solution
4 1
x, 0x
27 3
4 1 1 1 2
u(x) x , x
81 27 3 3 3
5 5 2 2
x , x1
81 27 3 3
Exact solution
1
u(x) x 1 x2
6
Three element solutions are poor
Need more elements
89
3D Solid Element
Isoparametric mapping
Build interpolation functions on the reference element
Jacobian: mapping relation between physical and reference elem.
Interpolation and mapping
8 8
Same for mapping
u( ) NI ()uI x( ) NI ()xI and interpolation
I 1 I 1
1
NI () (1 I )(1 I )(1 I )
8
x8 x7 (1, (
1,1) 1,1,1)
x5 (1, 1,1)
(1,1,1
x6 )
x4 x3 (1,1,
x 1
(1, 1,
x3 1)
1) (1,1,1)
x2
x2
x1 (a) Finite Element (b) Reference
90
Element
3D Solid Element cont.
Jacobian matrix
8
x NI () J : Jacobian
J33 xI
I 1
x1 x1 x1
Derivatives of shape functions
NI NI NI NI NI NI x2 x2 x2
x1 x2 x3
x3 x3 x3
NI NI
J
x
NI NI
J 1
x
Jacobian should not be zero anywhere in the element
Zero or negative Jacobian: mapping is invalid (bad element shape)
91
3D Solid Element cont.
Displacement-strain relation NI,1 0 0
8
0 NI,2 0
( u) BI uI 0 0 NI,3
I 1 BI
8 NI,2 NI,1 0
( u ) BI uI 0 NI,3 NI,2
I 1 N 0 NI,1
I,3
Ni
NI,i
xi
92
3D Solid Element cont.
Transformation of integration domain
1 1 1
d 1 1 1 J ddd
Energy form
8 8
1 1 1 u { d }T [k]{ d}
a( u, u ) uIT T
1 1 1 I J
B DB J d d d
J
I 1 J 1
Load form
8
T 1 1 1
l (u )
uI
1 1 1
NI ()fb J ddd { d }T { f }
I 1
{ d }T [k]{ d} { d }T { f }, { d } Zh
93
Numerical Integration
For bar and beam, analytical integration is possible
For plate and solid, analytical integration is difficult, if
not impossible
Gauss quadrature is most popular in FEM due to simplicity
and accuracy
1D Gauss quadrature
NG
1
1 f() d
i1
if( i )
NG: No. of integ. points; i: integ. point; i: integ. weight
i and i are chosen so that the integration is exact
for (2*NG 1)-order polynomial
Works well for smooth function
Integration domain is [-1, 1]
94
Numerical Integration cont.
Multi-dimensions
NG NG
1 1
1 1 f(, ) dd
i1 j1
ijf(i, j )
NG NG NG
1 1 1
1 1 1 f(, , ) ddd ijk f(i, j, k )
i1 j1 k 1
Integration
NG Weights (i)
Points (i)
1 0.0 2.0
2 .5773502692 1.0
.7745966692 .5555555556
3 (a)
0.0 .8888888889
11
.8611363116 .3478546451
4
.3399810436 .6521451549
.9061798459 .2369268851
5 .5384693101 .4786286705
.5688888889 (b) (c) 33
0.0 95
22
ELAST3D.m
A module to solve linear elastic problem using NLFEA.m
96
How to Solve Linear Problem in Nonlinear Code
Linear matrix solver
[K]{ d} {F } {fint} = {fext} {f} = {fext} {fint} = {0}
n 1 n f
{f } { f } { d} { 0 }
d
{F } [K]{ dn } [K]{ d} 0
100
One Element Tension Example
x3
%
% One element example 10kN 10kN
%
% Nodal coordinates 10kN 5 10kN
XYZ=[0 0 0;1 0 0;1 1 0;0 1 0;0 0 1;1 0 1;1 1 1;0 1 1]; 8
%
% Element connectivity
LE=[1 2 3 4 5 6 7 8];
6 7
%
% External forces [Node, DOF, Value]
EXTFORCE=[5 3 10.0E3; 6 3 10.0E3; 7 3 10.0E3; 8 3 10.0E3]; x2
% 1 4
% Prescribed displacements [Node, DOF, Value]
SDISPT=[1 1 0;1 2 0;1 3 0;2 2 0;2 3 0;3 3 0;4 1 0;4 3 0];
% 2
% Material properties x1 3
% MID:0(Linear elastic) PROP=[LAMBDA NU]
MID=0;
PROP=[110.747E3 80.1938E3];
%
% Load increments [Start End Increment InitialFactor FinalFactor]
TIMS=[0.0 1.0 1.0 0.0 1.0]';
%
% Set program parameters
ITRA=30; ATOL=1.0E5; NTOL=6; TOL=1E-6;
%
% Calling main function
NOUT = fopen('output.txt','w');
NLFEA(ITRA, TOL, ATOL, NTOL, TIMS, NOUT, MID, PROP, EXTFORCE, SDISPT, XYZ, LE);
fclose(NOUT); 101
One Element Output
Command line output
Time Time step Iter Residual
1.00000 1.000e+00 2 5.45697e-12
Contents in output.txt
TIME = 1.000e+00
Nodal Displacements
Node U1 U2 U3
1 0.000e+00 0.000e+00 0.000e+00
2 -5.607e-08 0.000e+00 0.000e+00
3 -5.607e-08 -5.607e-08 0.000e+00
4 0.000e+00 -5.607e-08 0.000e+00
5 -5.494e-23 1.830e-23 1.933e-07
6 -5.607e-08 4.061e-23 1.933e-07
7 -5.607e-08 -5.607e-08 1.933e-07
8 -8.032e-23 -5.607e-08 1.933e-07
Element Stress