CHAP 3 WEIGHTED RESIDUAL AND

ENERGY METHOD FOR 1D PROBLEMS

FINITE ELEMENT ANALYSIS AND DESIGN

Nam-Ho Kim

1
 INTRODUCTION
• Direct stiffness method is limited for simple 1D problems
• FEM can be applied to many engineering problems that are
governed by a differential equation
• Need systematic approaches to generate FE equations
– Weighted residual method
– Energy method
• Ordinary differential equation (second-order or fourth-order)
can be solved using the weighted residual method, in
particular using Galerkin method
• Principle of minimum potential energy can be used to derive
finite element equations

2
 EXACT VS. APPROXIMATE SOLUTION
• Exact solution
– Boundary value problem: differential equation + boundary conditions
– Displacements in a uniaxial bar subject to a distributed force p(x)
d 2u
2
+ p( x ) = 0, 0 £ x £ 1
dx
u(0) = 0 üïï
ïý Boundary conditions
du
(1) = 1ïï
dx ïþ
– Essential BC: The solution value at a point is prescribed (displacement
or kinematic BC)
– Natural BC: The derivative is given at a point (stress BC)
– Exact solution u(x): twice differential function
– In general, it is difficult to find the exact solution when the domain
and/or boundary conditions are complicated
– Sometimes the solution may not exists even if the problem is well
defined
3
 EXACT VS. APPROXIMATE SOLUTION cont.
• Approximate solution
– It satisfies the essential BC, but not natural BC
– The approximate solution may not satisfy the DE exactly
– Residual: d 2u%
2
+ p( x ) = R( x )
dx
– Want to minimize the residual by multiplying with a weight W and
integrate over the domain
1
ò0 R( x )W ( x )dx = 0 Weight function

– If it satisfies for any W(x), then R(x) will approaches zero, and the
approximate solution will approach the exact solution
– Depending on choice of W(x): least square error method, collocation
method, Petrov-Galerkin method, and Galerkin method

4
 GALERKIN METHOD
• Approximate solution is a linear combination of trial functions
N
u%( x ) = å ci f i ( x ) Trial function
i= 1
– Accuracy depends on the choice of trial functions
– The approximate solution must satisfy the essential BC
• Galerkin method
– Use N trial functions for weight functions
1
ò0 R( x )f i ( x )dx = 0, i = 1,K , N

1æd 2u
% ö
çç ÷
ò0 çè dx 2 + p( x ) ÷÷øf i ( x )dx = 0, i = 1,K , N
1 d 2u
% 1
ò0 dx 2 f i ( x )dx = - ò0 p( x )f i ( x )dx, i = 1,K , N

5
 GALERKIN METHOD cont.
• Galerkin method cont.
– Integration-by-parts: reduce the order of differentiation in u(x)
1
du% %d f
1 du 1
ò0 dx dx dx = - ò0 p( x )f i ( x )dx,
i
f - i = 1,K , N
dx i 0

– Apply natural BC and rearrange

1 df du% 1 du du
ò0 ò0
i
dx = p( x )f i ( x )dx + (1)f i (1) - (0)f i (0), i = 1,K , N
dx dx dx dx

– Same order of differentiation for both trial function and approx. solution
– Substitute the approximate solution
N
1 df df j 1 du du
ò0 åi
c j
dx j = 1 dx
dx = ò0 p( x )f i ( x )dx +
dx
(1)f i (1) -
dx
(0)f i (0), i = 1,K , N

6
 GALERKIN METHOD cont.
• Galerkin method cont.
– Write in matrix form
N

å K ij c j = Fi , i = 1,K , N [K] {c} = {F}

(N´ N )(N´ 1) (N´ 1)
j= 1

1 df i df j
K ij = ò0 dx dx
dx

1 du du
Fi = ò0 p( x )f i ( x )dx +
dx
(1)f i (1) -
dx
(0)f i (0)

– Coefficient matrix is symmetric; Kij = Kji

– N equations with N unknown coefficients

7
 EXAMPLE1
• Differential equation Trial functions
d 2u f 1( x ) = x f 1¢( x ) = 1
2
+ 1 = 0,0 £ x £ 1
dx f 2(x) = x2 f 2¢( x ) = 2 x
u(0) = 0 üïï
ïý Boundary conditions
du
(1) = 1ïï
dx ïþ
• Approximate solution (satisfies the essential BC)
2
u%( x ) = å ci f i ( x ) = c1x + c2 x 2
i= 1

• Coefficient matrix and RHS vector

1 2 1 du 3
K11 = ò0 (f 1¢) dx = 1 F1 = ò0 f 1( x )dx + f 1(1) -
dx
(0)f 1(0) =
2
1 1 du 4
K12 = K 21 = ò0 (f 1¢f 2¢)dx = 1 F2 = ò f 2 ( x )dx + f 2 (1) -
0 dx
(0)f 2 (0) =
3
1 2 4
K 22 = ò0 (f 2¢) dx =
3
8
 EXAMPLE1 cont.
• Matrix equation
1 ìï 9 ü ìïï 2 ü ï
1 é3 3 ù {F} = í ý
ï {c} = [K] {F} = í 1 ïý
- 1
[K] = ê ú ïïî - 2 ïïþ
3 êë3 4 ú
û 6 ïïî 8 ïïþ

• Approximate solution
x2
u%( x ) = 2x -
2
– Approximate solution is also the exact solution because the linear
combination of the trial functions can represent the exact solution

9
 EXAMPLE2
• Differential equation Trial functions
d 2u f 1( x ) = x f 1¢( x ) = 1
2
+ x = 0, 0£ x£ 1
dx f 2(x) = x2 f 2¢( x ) = 2 x
u(0) = 0 üïï
ïý Boundary conditions
du
(1) = 1ïï
dx ïþ
1 ìï 16 ü ï
• Coefficient matrix is same, force vector: {F} = í ý
12 ïïî 15 ïïþ
ìï 19 ü ï x2
{c} = [K] {F} = ïí 121 ïý
- 1 19
u%( x ) = x-
ïïî - 4 ïïþ 12 4
• Exact solution
3 x3
u( x ) = x -
2 6

– The trial functions cannot express the exact solution; thus,

approximate solution is different from the exact one

10
 EXAMPLE2 cont.
• Approximation is good for u(x), but not good for du/dx

1.6

1.4

1.2

1.0
u(x), du/dx

0.8

0.6

0.4

0.2

0.0
0 0.2 0.4 x 0.6 0.8 1

u-exact u-approx. du/dx (exact) du/dx (approx.)

11
 HIGHER-ORDER DIFFERENTIAL EQUATIONS
w (0) = 0 ü ïï
• Fourth-order differential equation ïý Essential BC
dw
(0) = 0 ïï
d 4w dx ïþ
- p( x ) = 0, 0£ x£ L
dx 4 d 2w ü
ïï
( L ) = M ïï
– Beam bending under pressure load dx 2 ïý Natural BC
d 3w ïï
• Approximate solution 3
(L ) = - V ïï
dx ïþ
N
w%( x ) = å ci f i ( x )
i= 1

• Weighted residual equation (Galerkin method)

L æd 4w
% ö÷
çç
ò0 çè dx 4 - p( x ) ø÷÷f i ( x )dx = 0, i = 1,K , N
– In order to make the order of differentiation same, integration-by-parts
must be done twice

12
 HIGHER-ORDER DE cont.
• After integration-by-parts twice
3 L 2% L
d w% d w df i L d 2w
%d 2f L
ò0 ò0
i
f
3 i
- + dx = p( x )f i ( x )dx, i = 1,K , N
dx 0 dx 2 dx 0 dx 2
dx 2

L L
L d 2w
%d 2f L d w% 3 2%
d w df i
ò0 ò0
i
2 2
dx = p( x )f i ( x )dx - f
3 i
+ , i = 1,K , N
dx dx dx 0 dx 2 dx 0

• Substitute approximate solution

N L L
L d 2f j d 2f i L d w% 3 2%
d w df i
ò0 å c j dx 2 dx 2 dx = ò0 p( x )f i ( x )dx -
dx
f
3 i
+
dx 2 dx
, i = 1,K , N
j= 1 0 0

– Do not substitute the approx. solution in the boundary terms

• Matrix form L d 2f d 2f j
ò0
i
K ij = 2 2
dx
[K] {c} = {F} dx dx
N´ N N´ 1 N´ 1 L L
3 2
L d w d w df i
Fi = ò0 p( x )f i ( x )dx -
dx
f
3 i
+
dx 2 dx
0 0
13
 EXMAPLE
• Fourth-order DE dw
w (0) = 0 (0) = 0
dx
d 4w d 2w d 3w
4
- 1 = 0, 0£ x£ L (1) = 2 (1) = - 1
dx dx 2 dx 3
• Two trial functions

f 1 = x 2, f 2 = x 3 f 1¢¢= 2, f 2¢¢= 6 x

• Coefficient matrix
1 2
K11 = ò0 (f 1¢¢) dx = 4
1 é4 6 ù
K12 = K 21 = ò0 (f 1¢f¢¢
2¢)dx = 6 [K] = ê ú
êë6 12 ú
û
1 2
K 22 = ò0 (f 2¢¢) dx = 12

14
 EXAMPLE cont.
• RHS
3 2
1 d w (0) d w (0) 16
F1 = ò0 2
x dx + V f 1(1) +
dx 3
¢
f 1(0) + Mf 1(1) -
dx 2
¢
f 1(0) =
3
1 d 3w (0) d 2w (0) 29
F2 = ò0 3
x dx + V f 2 (1) +
dx 3
f 2 (0) + M f ¢
2 (1) -
dx 2
f ¢
2 (0) =
4

• Approximate solution
ì
ï 41 ü
- 1 ï 24 ïï 41 2 1 3
{c} = [K] {F} = í 1 ý %( x ) =
w x - x
ïïî - 4 ïïþ 24 4

• Exact solution
1 4 1 3 7 2
w(x) = x - x + x
24 3 4

15
 EXAMPLE cont.

2
w'', w'''

-1

-2

-3
0 0.2 0.4 x 0.6 0.8 1
w'' (exact) w'' (approx.) w''' (exact) w''' (approx.)

16
 FINITE ELEMENT APPROXIMATION
• Domain Discretization
– Weighted residual method is still difficult to obtain the trial functions
that satisfy the essential BC
– FEM is to divide the entire domain into a set of simple sub-domains
(finite element) and share nodes with adjacent elements
– Within a finite element, the solution is approximated in a simple
polynomial form
u(x)
Approximate
solution
x

Finite Analytical
elements solution

– When more number of finite elements are used, the approximated

piecewise linear solution may converge to the analytical solution
17
 FINITE ELEMENT METHOD cont.
• Types of finite elements

1D 2D 3D

• Variational equation is imposed on each element.

1 0.1 0.2 1
ò0 dx = ò0 dx + ò0.1 dx + L + ò0.9 dx

One element

18
 TRIAL SOLUTION
– Solution within an element is approximated using simple polynomials.
1 2 n1 n
1 2 3 n1 n n+1

xi xi+1
li
– i-th element is composed of two nodes: xi and xi+1. Since two
unknowns are involved, linear polynomial can be used:

u%( x ) = a0 + a1x, xi £ x £ xi + 1

– The unknown coefficients, a0 and a1, will be expressed in terms of

nodal solutions u(xi) and u(xi+1).

19
 TRIAL SOLUTION cont.
– Substitute two nodal values

ìïï u%( xi ) = ui = a0 + a1xi

í
ïïî u%( xi + 1) = ui + 1 = a0 + a1xi + 1

– Express a0 and a1 in terms of ui and ui+1. Then, the solution is

approximated by

xi + 1 - x x - xi
u%( x ) = (i )
u i + (i )
ui + 1
L 4443
14442 L 443
1442
Ni ( x ) Ni + 1( x )

– Solution for i-th element:

u%( x ) = Ni ( x )ui + Ni + 1( x )ui + 1, xi £ x £ xi + 1

– Ni(x) and Ni+1(x): Shape Function or Interpolation Function

20
 TRIAL SOLUTION cont.
• Observations
– Solution u(x) is interpolated using its nodal values ui and ui+1.
– Ni(x) = 1 at node xi, and =0 at node xi+1.
Ni(x) Ni+1(x)

xi xi+1
– The solution is approximated by piecewise linear polynomial and its
gradient is constant within an element.
u ui+2 du
ui dx
ui+1

xi xi+1 xi+2 xi xi+1 xi+2

– Stress and strain (derivative) are often averaged at the node.

21
 GALERKIN METHOD
• Relation between interpolation functions and trial functions
– 1D problem with linear interpolation
ìï 0, 0 £ x £ xi - 1
ïï
ïï ( i - 1) x - xi - 1
ND ïï Ni ( x ) = ( i - 1)
, xi - 1 < x £ xi
L
f i ( x ) = ïí
u%( x ) = å ui f i ( x ) ïï ( i )
ïï i N ( x ) =
xi + 1 - x
, xi < x £ xi + 1
i= 1 (i )
ïï L
ïïî 0, xi + 1 < x £ xND
– Difference: the interpolation function does not exist in the entire
domain, but it exists only in elements connected to the node
• Derivative
ìï 0, 0 £ x £ xi - 1 1
ïï
ïï 1 1/ L(i - 1)
f i (x )
ï , xi - 1 < x £ xi
d f i ( x ) ïï L( i - 1)
= í xi - xi- 1 xi xi + 1
dx ïï 1
2

ïï - (i )
, xi < x £ xi + 1 - 1/ L(i )
ïï L d f i (x )
ïïî 0, xi + 1 < x £ xND dx
22
 EXAMPLE
• Solve using two equal-length elements
u(0) = 0 üïï
d 2u ïý Boundary conditions
+ 1 = 0,0 £ x £ 1 du
dx 2
(1) = 1ïï
dx ïþ

• Three nodes at x = 0, 0.5, 1.0; displ at nodes = u1, u2, u3

• Approximate solution u%( x ) = u1f 1( x ) + u2f 2 ( x ) + u3f 3 ( x )
ìï 1 - 2 x, 0 £ x £ 0.5 ìï 2 x, 0 £ x £ 0.5
f 1( x ) = í f 2(x) = í
ïïî 0, 0.5 < x £ 1 ïïî 2 - 2 x, 0.5 < x £ 1
ìï 0, 0 £ x £ 0.5
f 3(x) = í 1

ïïî - 1 + 2 x, 0.5 < x £ 1

f_1
f 0.5 f_2
f_3

0
0 0.5 1
x

23
 EXAMPLE cont.
• Derivatives of interpolation functions
d f 1( x ) ìï - 2, 0 £ x £ 0.5 df 2 ( x ) ìï 2, 0 £ x £ 0.5
= í = í
dx ïîï 0, 0.5 < x £ 1 dx ïîï - 2, 0.5 < x £ 1
df 3 ( x ) ìï 0, 0 £ x £ 0.5
= í
dx ïïî 2, 0.5 < x £ 1

• Coefficient matrix
df 1 df 2
1 0.5 1
K12 = ò dx = ò (- 2)(2)dx + ò (0)(- 2)dx = - 2
0 dx dx 0 0.5
1 df df 0.5 1
K22 = ò 2 2
dx = ò 4dx + ò 4dx = 4
0 dx dx 0 0.5
• RHS
0.5 1 du du du
F1 = ò0 1´ (1- 2 x )dx + ò0.5 1´ (0)dx +
dx
(1)f 1(1) -
dx
(0)f 1(0) = 0.25 -
dx
(0)

0.5 1 du du
F2 = ò0 2xdx + ò0.5 (2 - 2 x )dx +
dx
(1)f 2 (1) -
dx
(0)f 2 (0) = 0.5
24
 EXAMPLE cont.
• Matrix equation
é 2 - 2 0 ùìï u1 üï ìï F1 ü ïï Consider it as unknown
ê úïï ïï ïï ï
ê- 2 4 - 2 úí u2 ý = í 0.5 ý
ê úïï ïï ïï ïï
êë 0 - 2 2 û
úîï u3 þ
ï îï 1.25 þ ï

• Striking the 1st row and striking the 1st column (BC)
é 4 - 2 ùìï u2 ü ï ìï 0.5 ü ï
ê úí ý = í ý
úïïî u3 ïïþ
êë- 2 2 û îïï 1.25 þ
ïï
• Solve for u2 = 0.875, u3 = 1.5
• Approximate solution
ìï 1.75 x, 0 £ x £ 0.5
%
u( x ) = í
ïïî 0.25 + 1.25 x, 0.5 £ x £ 1

– Piecewise linear solution

25
 EXAMPLE cont.
• Solution comparison 1.6

• Approx. solution has about 1.2

8% error

u(x)
0.8
• Derivative shows a large
discrepancy 0.4
u-exact
u-approx.
• Approx. derivative is 0
constant as the solution is 0 0.2 0.4 x 0.6 0.8 1

piecewise linear 2

1.5
du/dx

du/dx (exact)
0.5
du/dx (approx.)

0
0 0.2 0.4 x 0.6 0.8 1

26
 FORMAL PROCEDURE
• Galerkin method is still not general enough for computer code
• Apply Galerkin method to one element (e) at a time
• Introduce a local coordinate
x - xi x - xi
x = xi (1 - x ) + x j x x= =
x j - xi L(e )

• Approximate solution within the element

N 1( x) N 2 ( x)
u%( x ) = ui N1( x ) + u j N2 ( x )

N1(x ) = (1- x ) Element e

N2 (x ) = x xi xj
x
æ x - xi ö L(e )
÷ dN1 dN1 d x 1
N1( x ) = çç1 - ÷
÷ = = - (e )
è L( e ) ø dx d x dx L
x - xi dN2 dN2 d x 1
N2 ( x ) = = = + (e )
L( e ) dx d x dx L
27
 FORMAL PROCEDURE cont.
• Interpolation property
N1( xi ) = 1, N1( x j ) = 0 u%( xi ) = ui
N2 ( xi ) = 0, N2 ( x j ) = 1 u%( x j ) = u j

• Derivative of approx. solution

du% dN1 dN2
= ui + uj
dx dx dx
du% êdN1 dN2 úìï u1 ü ï 1 êdN1 dN2 úìï u1 üï
= ê úí ý = (e ) ê úí ý
dx êë dx dx ûïïî u2 ïïþ L êë d x
ú ûïïî u2 ïïþ
dx ú

• Apply Galerkin method in the element level

xj dNi du% xj du du
òx i dx dx
dx = òx i
p( x )Ni ( x )dx +
dx
( x j )Ni ( x j ) - ( x )N ( x ), i = 1,2
dx i i i

28
 FORMAL PROCEDURE cont.
• Change variable from x to x
1 1 dNi êdN1 dN2 ú ìï u1 üï 1

L( e ) ò0 d x
ê úd x gí ý = L ò p( x )Ni (x )d x
(e )
êë d x û ïïî u2 ïïþ
dx ú 0

du du
+ ( x )N (1) - ( x )N (0), i = 1,2
dx j i dx i i
– Do not use approximate solution for boundary terms
• Element-level matrix equation
ìï ü
( xi ) ïïï
du
ïï - 1 ìï N1(x ) üï
[k( e ) ]{u( e ) } = {f ( e ) }+ ïí ïý
ò0
dx {f (e ) (e )
}= L p( x ) í ýdx
ïï du ï ïïî N2 (x ) ïïþ
ïï + ( x j ) ïï
î dx ïþ
é ædN ö2 dN1 dN2 ùú
êç 1 ÷ ÷
1 1ê ç
è d x ÷
ø dx dx ú é 1 - 1ù
ék ù= ê úd x = 1 ê
û L( e ) ò0 ê ú
( e )
ë 2 ú L ë- 1 1 úû
(e ) ê
2´ 2 êdN2 dN1 ædN2 ÷ö ú
çç
ê dx dx
ë è dx ÷
ø úû
÷
29
 FORMAL PROCEDURE cont.
• Need to derive the element-level equation for all elements
• Consider Elements 1 and 2 (connected at Node 2)
ìï du ü
ïï
ék11 (1) ï
(1) - ( x )
k12 ù ìï u1 üï ìï f1 ü ï ïï dx 1
ïï
ê ú í ý= í ý + í ý
êëk21 k22 ú ï u ï ï
û ïî 2 ïþ ïî 2 ïþf ï ï du ï
ïï + ( x2 ) ïï
ïî dx ïþ
ìï du ü
ïï
ék11 (2) (2) ï - ( x )
k12 ù ìï u2 ü ï ìï f2 üï ïï dx 2
ïï
ê ú í ý= í ý + í ý
êëk21 k22 ú ï u ï ï
û ïî 3 ïþ ïî 3 ïþ f ï ï du ï
ïï + ( x3 ) ïï
ïî dx ïþ
• Assembly
Vanished
ì
ï du ü
ï
ék (1)
ê 11
(1)
k12 0 ùúìï u1 üï ìïï f1(1) üïï ïï - dx ( x1 ) ïï unknown term
êk (1) (2) úï
ï ïï ïï (1) (2) ï
ï ïïï ïï
ýï
(1) (2)
ê 21 k22 + k11 k12 úí u2 ý = í f2 + f2 ý + í 0
ê ï ï ïï ïï ïï ïï
(2) úïï u ïï
ê0
ë
(2)
k21 k22 ûúî 3 þ ïîï f3(2) ïï ïï du
þ ï
ï
( x3 ) ïï
îï dx þï
30
 FORMAL PROCEDURE cont.
• Assembly of NE elements (ND = NE + 1)
é (1) ù ïìï - ü
( x1 ) ïïï
du
êk11 (1)
k12 0 K 0 úìï u ü ìï f (1) üï ïï
ê úï 1 ïï ïï 1 ïï dx ïï
êk (1) k (1) + k (2) ïï ïï ïï
ê 21 22 11
(2)
k12 L 0 ú u
úï 2 ï
ïï f (1) + f (2) ïï
ïï 2 2 ï ï 0 ïï
ê (2) (2) (2) úïï
í ý
ïï ïí (2) (3) ïï +
ý ïïí 0 ïýï
ê0 k221 k22 + k11 0 ú 3 = u
ïï f3 + f3 ïï
L
ê úïï ïï ïï ï
ê M M M O M úïï Mïï ïï M ïï ïï M ïïï
ê úï ï ïï ïï ïï ïï
ê0 (NE ) ( NE ) úïï u ïï du
êë 0 0 k21 k22 úî N þ ( NE )
ïîï fN ïþ ï ïï + ( xN ) ïï
û(ND´ 1) (ND´ 1) îï dx ï
þ
(ND´ ND ) (ND´ 1)

[K]{q} = {F}

• Coefficient matrix [K] is singular; it will become non-singular

after applying boundary conditions

31
 EXAMPLE
• Use three equal-length elements
d 2u
2
+ x = 0, 0£ x£ 1 u(0) = 0, u(1) = 0
dx

• All elements have the same coefficient matrix

é 1 - 1ù é 3 - 3ù
ék(e ) ù = 1 ê
ë û2´ 2 L(e ) ê- 1 1 ú
ú
= ê ú, (e = 1,2,3)
êë- 3 3 ú
ë û û
• Change variable of p(x) = x to p(x): p(x ) = xi (1 - x ) + x j x
• RHS
1 ìï N1(x ) üï 1 ìï 1 - x üï
{f (e )
}= L (e )
ò0 p( x ) í ý d x = L ò [xi (1 - x ) + x j x ]í
ïîï N2 (x ) ïþï
(e )
0 ïîï x ïþï
ýdx

ìï xi x j üï
ïï + ïï
= L( e ) ïí
3 6ï
ý, (e = 1,2,3)
ïï xi x j ïï
ïï + ï
î 6 3 ïþ
32
 EXAMPLE cont.
• RHS cont. ìï f (1) ü ìï f (2) ü ìï f (3) ü
ïí 1 ïýï = 1 íìï 1 ýü ï
, ïí 2 ïýï = 1 íìï 4 ýü ï
, ïí 3 ïýï = 1 íìï 7 ýü ï
ïï f (1) ïï 54 ïïî 2 ïïþ ïï f (2) ïï 54 ïïî 5 ïïþ ïï f (3) ïï 54 ïïî 8 ïïþ
î 2 þ î 3 þ î 4 þ
• Assembly
ìï 1 du ü
ïï - (0) ïïï
ïï 54 dx ïï Element 1
é 3 - 3 0 ì
0 ùï u1 ï ï ü ïï
ê úïï ïï ïï 2
+
4
ï Element 2
ê- 3 3+ 3 - 3 0 úïï u2 ïï ïï 54 54 ïï
ê úí ý = í ý Element 3
ê0 - 3 3 + 3 - 3 úïï u3 ïï ïï 7 5 ïï
ê úï ï ï + ï
êë 0 0 - 3 3úûïïî u4 ïïþ ïïï 54 54 ïï
ïï 8 du ïïï
ïïî + (1)
54 dx ïïþ
• Apply boundary conditions
– Deleting 1st and 4th rows and columns
u2 = 4
é 6 - 3 ùìï u2 ü ï 1 ìï 1ü ï 81
ê úí ý = í ý
úïïî u3 ïïþ 9 ïîï 2 ïþ
êë- 3 6 û ï u3 = 5
81

33
 EXAMPLE cont.
• Approximate solution
ìï 4 1
ïï x, 0£ x£
ïï 27 3 0.08
u-approx.
ïï 4 1æ 1ö 1 2
u-exact

u%( x ) = ïí + çç x - ÷
÷,
÷ 3 £ x £ 0.06

ïï 81 27 è 3ø 3

u(x)
ïï 0.04

ïï 5 5æ ö 2
2÷
- çç x - , £ x£ 1
ïïî 81 27 è 3÷
÷
ø 3
0.02

• Exact solution 0 0.2 0.4

x
0.6 0.8 1

1
u( x ) = x (1 - x 2 )
6
– Three element solutions are poor
– Need more elements

34
 ENERGY METHOD
• Powerful alternative method to obtain FE equations
• Principle of virtual work for a particle
– for a particle in equilibrium the virtual work is identically equal to zero
– Virtual work: work done by the (real) external forces through the virtual
displacements
– Virtual displacement: small arbitrary (imaginary, not real) displacement
that is consistent with the kinematic constraints of the particle
• Force equilibrium
å Fx = 0, å Fy = 0, å Fz = 0

• Virtual displacements: du, dv, and dw

• Virtual work
dW = du å Fx + dv å Fy + dw å Fz = 0
• If the virtual work is zero for arbitrary virtual displacements,
then the particle is in equilibrium under the applied forces
35
 PRINCIPLE OF VIRTUAL WORK
• Deformable body (uniaxial bar under body force and tip force)
x
E, A(x)
F
Bx

L
ds x
• Equilibrium equation: + Bx = 0 This is force equilibrium
dx
• PVW L
æd s x ÷ ö
ò ò çè dx + Bx ÷÷ødu( x )dAdx = 0
ç
0 A

• Integrate over the area, axial force P(x) = As(x)

L
ædP ö
ò çè dx + bx ø÷÷÷du( x )dx = 0
ç
0
36
 PVW cont.
• Integration by parts
L L
L d (du )
Pdu -
0
òP dx
dx + ò bx du( x )dx = 0
0 0
– At x = 0, u(0) = 0. Thus, du(0) = 0
– the virtual displacement should be consistent with the displacement
constraints of the body
– At x = L, P(L) = F
• Virtual strain de( x ) = d (du )
dx
• PVW:
L L
F du(L) + ò bx du( x )dx = ò Pde( x )dx
0 0

dWe - dWi

dWe + dWi = 0
37
 PVW cont.
• in equilibrium, the sum of external and internal virtual work is
zero for every virtual displacement field
• 3D PVW has the same form with different expressions
• With distributed forces and concentrated forces
dWe = ò (t x du + t y dv + tzdw )dS + åi (Fxi dui + Fyi dv i + Fzi dw i )
S

• Internal virtual work

dWi = - ò (s x dex + s y dey + .... + t xy dg xy )dV
V

38
 VARIATION OF A FUNCTION
• Virtual displacements in the previous section can be
considered as a variation of real displacements
• Perturbation of displ u(x) by arbitrary virtual displ du(x)
ut ( x ) = u( x ) + t du( x )
• Variation of displacement
dut ( x )
= du( x ) Displacement variation
dt t = 0

• Variation of a function f(u)

df (ut ) df
df = = du
d t t = 0 du

• The order of variation & differentiation can be interchangeable

ædu ö d (du )
dex = d çç ÷ =
è dx ÷
÷
ø dx
39
 PRINCIPLE OF MINIMUM POTENTIAL ENERGY
• Strain energy density of 1D body
1 1
U0 = s x ex = E ex2
2 2

• Variation in the strain energy density by du(x)

dU0 = E ex dex = s x dex

• Variation of strain energy

L L L
dU = ò ò dU0dAdx = ò ò s x dex dAdx = ò Pdex dx
0 A 0 A 0

dU = - dWi

40
 PMPE cont.
• Potential energy of external forces
– Force F is applied at x = L with corresponding virtual displ du(L)
– Work done by the force = Fdu(L)
– The potential is reduced by the amount of work

dV = - F du(L) F is constant
dV = - d(Fu(L) )
virtual displacement
– With distributed forces and concentrated force
L
V = - Fu(L ) - ò0 bxu( x )dx dV = - dWe

• PVW dU + dV = 0 or d(U + V ) = 0

– Define total potential energy P = U + V

dP = 0

41
 EXAMPLE: PMPE TO DISCRETE SYSTEMS
• Express U and V in terms of u2
displacements, and then F3
1 3
differential P w.r.t displacements 2

• k(1) = 100 N/mm, k(2) = 200 N/mm 1 3 F3

k(3) = 150 N/mm, F2 = 1,000 N 2 u3
F3 = 500 N u1
• Strain energy of elements (springs)
1 2 1 é k (1) - k (1) ùìï u1 üï
U (1)
= k (1) (u2 - u1 ) U (1)
= êëu1 u2 úûê (1) úí ý
2 2 (1´ 2 ) êë- k k úûïïî u2 ïïþ
(1)
(2´ 2 ) (2´ 1)
1 é k (2) - k (2) ùìï u1 ü
ï
(2)
= êëu1 u3 úê ú
(2) úíï u ý
U ûê (2)
2 ë- k k ûïî 3 ïïþ

1 é k (3) - k (3) ùìï u2 üï

U (3)
= êëu2 u3 úûê (3) úí ý
2 ê
ë- k k (3) úûïïî u3 ïïþ

42
 EXAMPLE cont.
3
• Strain energy of the system U = å U (e )
e= 1

ék (1) + k (2) - k (1) - k (2) ùìï u1 ü

1 ê úï ïï
êu u u3 úê (1)
k (1) + k (3) - k (3) ú ïu ï
U=
2ë 1 2 ûê - k úíï 2 ýïï
ê - k (2) (3) úï
êë - k (3) (2)
k + k ú ûïî u3 ïþ
1
U = {Q}T [K]{Q}
2 {Q } = {u1, u2 , u3 }T

• Potential energy of applied forces

ìï F1 ü
ïï ïïï
V = - (F1u1 + F2u2 + F3u3 ) = - êëu1 u2 u3 ú í
ûï ï F2 ý = - {Q }T
{F}
ïï F ïï
î 3þ
• Total potential energy
1
P = U+V = {Q}T [K]{Q} - {Q}T {F}
2
43
 EXAMPLE cont.
• Total potential energy is minimized with respect to the DOFs
¶P ¶P ¶P ¶P
= 0, = 0, = 0 or, = 0
¶ u1 ¶ u2 ¶ u3 ¶ {Q }
ìï u1 ü ìï F1 ü
ïï ïïï ïï ïïï
[K ]í u2 ý = í F2 ý [K]{Q} = {F}
ïï ïï ïï ïï
ïî u3 ïþ ïî F3 ïþ
Finite element equations
• Global FE equations
é 300 - 100 - 200 ùìï 0 üï ìï F1 ü ïï u2 = 6.538mm
ê úïï ïï ïï ï
ê- 100 250 - 150 úí u2 ý = í 1,000 ý u3 = 4.231mm
ê úïï ïï ïï ïï
êë- 200 - 150 350 û
úîï u3 þ
ï îï 500 þ ï F1 = - 1,500N

• Forces in the springs P (e ) = k (e ) (u j - ui )

P (1) = k (1) (u2 - u1 ) = 654N P (2) = k (2) (u3 - u1 ) = 846N
P (3) = k (3) (u3 - u2 ) = - 346N
44
 RAYLEIGH-RITZ METHOD
• PMPE is good for discrete system (exact solution)
• Rayleigh-Ritz method approximates a continuous system as a
discrete system with finite number of DOFs
• Approximate the displacements by a function containing finite
number of coefficients
• Apply PMPE to determine the coefficients that minimizes the
total potential energy
• Assumed displacement (must satisfy the essential BC)
u( x ) = c1f1( x ) + L + cn fn ( x )
• Total potential energy in terms of unknown coefficients
P (c1, c2 ,...cn ) = U + V
• PMPE
¶P
= 0, i = 1,K n
¶ ci
45
 EXAMPLE
bx
F

• L = 1m, A = 100mm2, E = 100 GPa, F = 10kN, bx = 10kN/m

2
• Approximate solution u( x ) = c1x + c2 x
2
L L1 L1 æ du ö
• Strain energy U = ò UL ( x )dx = ò AE ex dx = ò AE çç ÷÷ dx
2
0 0 2 0 2 ÷
çè dx ø

1 L 1 æ 4 ö
U (c1, c2 ) = AE ò (c1 + 2c2 x ) dx = AE ççLc12 + 2L2c1c2 + L3c22 ÷
2
2 0 2 è 3 ÷
÷
ø
• Potential energy of forces
L L
V (c1, c2 ) = - ò bx ( x )u( x )dx - (- F )u(L ) = - ò bx (c1x + c2 x 2 )dx + F (c1L + c2L2 )
0 0
æ L2 ö
÷ æ 2 L3 ö÷
ç
= c1 ç FL - bx ÷ ç
çè 2ø ÷+ c2 èççFL - bx 3 ø÷÷

46
 EXAMPLE cont.
• PMPE P (c1, c2 ) = U + V
¶P 2 L2 - b± b 2 - 4ac
= AELc1 + AEL c2 + FL - bx = 0
¶ c1 2 2a
¶P 2 4 3 2 L3
= AEL c1 + AEL c2 + FL - bx = 0
¶ c2 3 3

107 c1 + 107 c2 = - 5,000 c1 = 0

7 4 ´ 107 c2 = - 0.5 ´ 10- 3
10 c1 + c2 = - 6,667
3

• Approximate solution u( x ) = - 0.5 ´ 10- 3 x 2

• Axial force P( x ) = AEdu / dx = - 10,000 x
• Reaction force R = - P (0) = 0

47