CE 595:

Finite Elements in Elasticity

Instructors: Amit Varma, Ph.D.

Timothy M. Whalen, Ph.D.

School of Civil Engineering Spring 2007

Section 1: Review of Elasticity

1. Stress & Strain

2. Constitutive Theory
3. Energy Methods

Review of Elasticity -2-

Section 1.1: Stress and Strain

 Stress at a point Q :

Fx Fy Fz

 x  lim ; xy  lim ; xz  lim .
 A 0  A  A 0  A  A 0  A

 x 
 
 x  xy  xz   y 
   z 
Stress matrix σ(Q)    xy  y  yz  ; Stress vector  σ(Q)     .
 xz  yz  z   xy 
   
 yz 
 xz 

Review of Elasticity -3-

1.1: Stress and Strain (cont.)

 Stresses must satisfy equilibrium equations in pointwise

manner:

“Strong Form”

Review of Elasticity -4-

1.1: Stress and Strain (cont.)

 Stresses act on inclined surfaces as follows:

 x  xy  xz   nx 
  
Snˆ  Q    xy  y  yz   n y 
 xz  yz  z   nz 
 
 σ (Q)  nˆ  .

  Snˆ  Q  nˆ ;   Snˆ  Q    2 .
2

Review of Elasticity -5-

1.1: Stress and Strain (cont.)

 Strain at a pt. Q related to displacements :

Q :  x, y, z   Q :  x, y , z  
Displacement functions
u  x , y , z  , v  x , y , z  , w  x, y , z 
defined by:
x   x  u  x, y , z  ;
y   y  v  x, y , z  ;
z   z  w  x, y , z  .

Review of Elasticity -6-

1.1: Stress and Strain (cont.)

 Normal strain relates to changes in size :

QD  QD QD  dx
x   ;
QD dx
QD  xD  xQ  x  dx  u  x  dx, y    x  u  x, y  =dx  u  x  dx, y   u  x , y  .
u  x  dx, y   u  x, y  u v w
 x    Q  . Also,  y   Q  ; z   Q  .
dx x y z

Review of Elasticity -7-

 1.1: Stress and Strain (cont.)

 Shearing strain relates to changes in angle :

v  x  dx, y  u  x, y  dy  v u w u w v
 xy       =  Q    Q  . xz   Q    Q  . yz   Q    Q  .
dx dy x y x z y z
Review of Elasticity -8-
1.1: Stress and Strain (cont.)

 Sometimes FEA programs use elasticity

shearing strains :
 xy  12  xy .  xz  12  xz .  yz  12  yz .

 Strains must satisfy 6 compatibility equations:

  xy
2
 x   y 2 2
E.g.:  2  2 .
xy y x

(usually automatic for most formulations)

Review of Elasticity -9-
Section 1.2 : Constitutive Theory

 For linear elastic materials, stresses and strains are

related by the Generalized Hooke’s Law :
 σ   C ε    ε o   σ o .
 x   x   c11 c12 c13 c14 c15 c16 
    c c22 c23 c24 c25 c26 
 y  y   12
 z   z   c13 c23 c33 c34 c35 c36 
 σ     ;  ε     ; C    Elasticity matrix;
 xy   xy  c14 c24 c34 c44 c45 c46 
 yz   yz  c15 c25 c35 c45 c55 c56 
     
 xz   xz  c16 c26 c36 c46 c56 c66 
 σ o  residual stresses;  ε o  residual strains.

Review of Elasticity -10-

1.2 : Constitutive Theory (cont.)

 For isotropic linear elastic materials, elasticity matrix

takes special form:

1     0 0 0 
  1   0 0 0 
 
E    1  0 0 0 
 C   .
2
1  2    0
1   0 0 1
1  2  0 0 
2
 0 0 0 0 1
1  2  0 
 
2
 0 0 0 0 0 1
1  2  
E = Young's modulus,  = Poisson's ratio.

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 1.2 : Constitutive Theory (cont.)

 Special cases of GHL:

– Plane Stress : all “out-of-plane” stresses assumed zero.
 x   x  1  0 
    E  
 σ     y  ;  ε     y  ;  C   1 0 .
    1  2
2
 xy   xy 
 0 0 1
1   

Note:  z  
1 
 x   y  required.

– Plane Strain : all “out-of-plane” strains assumed zero.

  
 1  0 
 x   x  1 
 
    1  2  
 σ     y  ;  ε     y  ; C 0 .
1
  1
    E  1  
 xy   xy   
 0 2 
0
 1  
Note:  z    x   y  required.

Review of Elasticity -12-

 1.2 : Constitutive Theory (cont.)

 Other constitutive relations:

– Orthotropic : material has “less” symmetry than isotropic case.
FRP, wood, reinforced concrete, …

– Viscoelastic : stresses in material depend on both strain and strain rate.

Asphalt, soils, concrete (creep), …

– Nonlinear : stresses not proportional to strains.

Elastomers, ductile yielding, cracking, …

Review of Elasticity -13-

 1.2 : Constitutive Theory (cont.)

 Strain Energy
– Energy stored in an elastic material during deformation; can be
recovered completely.
Work done during 1  1 :
dW   F  dF  dL   FdL.
F   x Ao ; dL  d  x Lo .
 dW   x d  x  Ao Lo  .
 final
 W   Ao Lo    xd x .
o

If all external work is stored,

 final
U  W  Vo    x d x .
o

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 1.2 : Constitutive Theory (cont.)

 Strain Energy Density : strain energy per unit

volume.
 final
U  U Vo    x d x .
o

U   UdV
Volume

 In general,
 final  final  final  final  final  final
U   x d x    y d y    z d z    xy d xy    yz d  yz    xz d xz .
o o o o o o
Review of Elasticity -15-
 Section 1.3 : Energy Methods

 Energy methods are techniques for satisfying equilibrium

or compatibility on a global level rather than pointwise.

 Two general types can be identified:

– Methods that assume equilibrium and enforce displacement
compatibility.
(Virtual force principle, complementary strain energy theorem, …)
– Methods that assume displacement compatibility and enforce
equilibrium.
(Virtual displacement principle, Castigliano’s 1st theorem, …)

Most important for FEA!

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1.3 : Energy Methods (cont.)

 Principle of Virtual Displacements (Elastic case):

(aka Principle of Virtual Work, Principle of Minimum Potential Energy)

Elastic body under the action of body force b

and surface stresses T.
 Apply an admissible virtual displacement  u
– Infinitesimal in size and speed
– Consistent with constraints
– Has appropriate continuity
– Otherwise arbitrary
 PVD states that  We   Wi for any admissible  u
is equivalent to static equilibrium.
Review of Elasticity -17-
 1.3 : Energy Methods (cont.)

 External and Internal Work:

 We  
volume
b  δudV  
surface
T  δudA  
volume
b  δudV   σ nˆ   δudA.
surface

 Wi   U   U  δu  dV
volume

  
volume
x   x   y   y   z   z   xy   xy   yz   yz   xz   xz  dV .

 So, PVD for an elastic body takes the form


volume
b  δudV   σnˆ   δudA   σ   δε  dV .
surface volume

Review of Elasticity -18-

 1.3 : Energy Methods (cont.)

 Recall: Integration by Parts

b b

 f  x  g   x  dx   f  x  g  x    g  x  f   x  dx.
b
a
a a

 In 3D, the corresponding rule is:

g f
 f  x, y , z   x , y , z  dV   f  x , y , z  
g x , y , z  x
n dA   g  x , y , z   x, y, z  dV .
volume
x surface volume
x

Review of Elasticity -19-

 1.3 : Energy Methods (cont.)

 Take a closer look at internal work:

  u    x 
 x        dV      u  n dA    x  dV .
 u 
x
x x x x
volume surface volume

  v    y 
 y 
y
  
volume
y   y  dV   
surface
y   v  n y dA  
volume


 v 
y
 dV

  w    z 
 z 
z
  
volume
z   z  dV   
surface
z   w nz dA  
volume
 w 
 z
 dV

  v    u 
 xy   
x y
  xy    xy 
 
volume
xy   xy  dV   
surface
xy   v  nx dA   
volume 
 v 
x
 dV +

 
surface
xy   u  n y dA   
volume 
 u 
y
 dV .

  yz    yz 
 
volume
yz   yz  dV   
surface
yz   w  n y dA   
volume 
 w 
y
 dV +

 
surface
yz   v  nz dA   
volume 
 v 
z
 dV

  xz    xz 
  xz   xz  dV    xz   w  nx dA    x  dV
 w  +   xz   u  nz dA    z  dV
 u 
volume surface volume surface volume

Review of Elasticity -20-

 1.3 : Energy Methods (cont.)
  x  xy  xz 
   
 x y z 
  x  xy  xz   nx     u  u 
        xy  y  yz   
 Wi     xy  y  yz   n y      v  dA         v  dV
surface   volume 
x y z 
  xz  yz  z   nz     w   
 w
 
 yz  z 
 
 x  y  z 
xz
 σ  nˆ δudA
surface  
A

 Wi   We   σ   nˆ   δudA  
surface volume
A  δudV  
volume
b  δudV   σ   nˆ   δudA
surface

  A  b  δudV  0 for an arbitrary δu

volume
• By reversing the steps, can show that
 Ab 0 the equilibrium equations imply  Wi   We
•  Wi   We is called the weak form of
static equilibrium.

Review of Elasticity -21-

1.3 : Energy Methods (cont.)

 Rayleigh-Ritz Method : a specific way of implementing

the Principle of Virtual Displacements.
– Define total potential energy   Wi  We ; PVD is then stated
as    Wi   We  0
– Assume you can approximate the displacement functions as a
sum of known functions with unknown coefficients.
– Write everything in PVD in terms of virtual displacements and
real displacements. (Note: stresses are real, not virtual!)
– Using algebra, rewrite PVD in the form
n

  unknown virtual coefficient  *  equation involving real coefficients 

i1
i i
0

– Each unknown virtual coefficient generates one equation to

solve for unknown real coefficients.
Review of Elasticity -22-
1.3 : Energy Methods (cont.)
 Rayleigh-Ritz Method: Example

Given: An axial bar has a length L, constant modulus of elasticity E, and a

variable cross-sectional area given by the function A( x)  Ao 1   sin  Lx   ,
where β is a known parameter. Axial forces F1 and F2 act at x = 0 and x=
L, respectively, and the corresponding displacements are u1 and u2 .

Required: Using the Rayleigh-Ritz method and the assumed displacement

function u( x)  u1 1  Lx   u2  Lx , determine the equation that relates the
axial forces to the axial displacements for this element.

Review of Elasticity -23-

 1.3 : Energy Methods (cont.)
Solution :
1) Treat u1 and u2 as unknown parameters. Thus, the virtual
displacement is given by
 u( x)   u1 1  Lx    u2  Lx 
2) Calculate internal and external work:

 We  F1 u1  F2 u2 (no body force terms).

 Wi    x x dV    x x A( x)dx.
bar bar

u
x   u1 *   L1   u2 *   L1   u Lu .2 1

x
  x   u L u and  x  E *  u Lu  .
2 1 2 1

Review of Elasticity -24-

 1.3 : Energy Methods (cont.)

(Cont) :
2)  Wi   E *  u Lu  *  u L u * Ao 1   sin  Lx  dx
xL
2 1 2 1

x 0

 E *  u Lu  *  u L u * Ao * L  2  L 
2 1 2 1

  Wi   u2 * EAo  u Lu 2 1
1   
   1 o  L
2
 u * EA 
u u 2 1
 1  .
2


3) Equate internal and external work:

F1 u1  F2 u2   u2 * EAo  u Lu  2 1
1  
   1 o  L
2
  u * 
EA u u 2 1
 1  .
2


For  u1 : F1  EAo  u Lu  1    EA

1 2
1
2
1  u1   F1 
1  
 2
  u    F .
o

 EA   1   L

For  u2 : F2  1
u2 u1 2
o L 
1  2   2 

Review of Elasticity -25-