CE 551

Finite Element Analysis

Dr. James N. Craddock
ENGR B-26
craddock@ce.siu.sdu
453-7808

10/14/08 CE 551 - Introduction 1

 Review Topics

Linear Algebra
Matrix Operations
Basic Elasticity

10/14/08 CE 551 - Introduction 2

Matrix Algebra

A matrix is an m x n array of numbers

arranged in m rows and n columns.
m = n A square matrix.
m = 1 A row matrix.
n = 1 A column matrix.
aij Element of matrix a row i,
column j
10/14/08 CE 551 - Introduction 3
Matrix Operations

●Multiplication of a matrix by a
scalar.
[a] = k [c] aij = kcij
●Addition of matrices.
Matrices must be of same order (m x n)
Add them term by term
[c] = [a] +[b] cij = aij + bij

10/14/08 CE 551 - Introduction 4

Matrix Operation

●Multiplication of two matrices

If [a] is m x n then [b] must have n
rows
[c] = [a] [b]
n
cij   a iebej
e 1

10/14/08 CE 551 - Introduction 5

Matrix Operations

●Transpose of a matrix:
Interchange of rows and columns
T
 aij    a ji 
If [a] is m x n then [a]T is n x m
If [a] = [a]T then [a] is symmetric.
[a] must be a square matrix

10/14/08 CE 551 - Introduction 6

Matrix Operations

●The identity matrix (or unit matrix)

is denoted by the symbol [I]:

[a][I] = [I][a] = [a]

 1 0 0
 
 I    0 1 0
 0 0 1 
10/14/08 CE 551 - Introduction 7
Matrix Operations

●The inverse of a matrix is such

that:

 a  a
1
 [I]

10/14/08 CE 551 - Introduction 8

Matrix Operations

●Differentiating a matrix:

d  daij 
dx
 a  
dx

 
10/14/08 CE 551 - Introduction 9
Matrix Operations

Differentiating a matrix:
1  a11 a12   x 
U  [x y]    
2  a 21 a 22   y 
 U 
 x   a a12   x
 
11
   
  U a
  21 22  a  y
 y 
10/14/08 CE 551 - Introduction 10
Matrix Operations

●Integrating a matrix.

 
 [a]dx 
  ij 
a dx

10/14/08 CE 551 - Introduction 11

Finding the Inverse of a
Matrix
●Need to find the determinant

a  determinant of matrix [a]

Need to find the co-factors of [a]

10/14/08 CE 551 - Introduction 12

Cofactors
Cofactors of [aij] are given by:
Cij  ( 1)i  j d
where matrix d is the first minor
of  aij  and is matrix  a 
with row i and column j deleted.

Then : [a ]1   C
T

ij
a
10/14/08 CE 551 - Introduction 13
 Review of Elasticity
Equations
Linear, homogeneous,
isotropic material behavior.

10/14/08 CE 551 - Introduction 14

Stress Equilibrium Equations
 x  xy  xz
   Xb  0
x y z
 xy  y  yz
   Yb  0
x y z
 xz  yz  z
   Zb  0
x y z
10/14/08 CE 551 - Introduction 15
 Strain Displacement
u u v
εx  γ xy  
x y  x
v u w
εy  γ xz  
y z x
w  w v
εz  γ yz  
z y z
(u,v,w) are the x, y and z
components of displacement
10/14/08 CE 551 - Introduction 16
Stress-Strain Relationships
 1    0 0 
0
  1   0  
 x   0 0 x 
      1  0 0 0    y 
 y  
   E  0 1  2    z 
z 0 0 0 0
      xy 
 xy   1     1  2  
2
 
  1  2
 0 0 0 0 0   yz 
  yz
 2  
 zx   1  2    zx 
 0 0 0 0 0 
 2 
10/14/08 CE 551 - Introduction 17
3D Stress-Strain Matrix
 1    0 0 0 
  1   0 0 0 

   1  0 0 0 
 
 0 1  2
E
 D  1   1  2  0 0 0 0 

   2

1  2
 0 0 0 0 0 
 2 
 1  2 
 0 0 0 0 0 
 2 
E
Note : G
2 1  
10/14/08 CE 551 - Introduction 18
 Plane Stress Matrix

 
 1  0 
E  
 D  1     1 0 
   1
 0 0 
 2 
10/14/08 CE 551 - Introduction 19
 Plane Strain Matrix
 
 1   0 
E  
 D    1  0 
 1     1  2   1  2 
 0 0 
 2 

10/14/08 CE 551 - Introduction 20

Sets of Linear Algebraic
Eqs.
●Cramer’s Rule
●Inverse Method
●Gaussian Elimination
●Gauss-Seidel Iteration

10/14/08 CE 551 - Introduction 21

Cramer’s Rule
 a  {x}  {c}
or in index notation:
n

a
j1
ij x j  ci

Let matrix [d ( i ) ] be matrix [a]

with column i repaced by {c}.
Then:
d( i )
xi 
a

10/14/08 CE 551 - Introduction 22

Example:
Consider the following equations:
 x1  3x 2  2x 3  2
2x1  4x 2  2x 3  1
4x 2  x 3  3

10/14/08 CE 551 - Introduction 23

Example:

In matrix form :
 − 1 3 − 2  x 1   2 
     
 2 − 4 2  x 2  = 1 
    
 0 4 1   x 3   3 

10/14/08 CE 551 - Introduction 24

Solving:
2 3 −2
1 −4 2
d( 1 ) 3 4 1 − 41
x1 = = = = 4 .1
a −1 3 − 2 − 10

2 −4 2
0 4 1

10/14/08 CE 551 - Introduction 25

 −1 2 − 2
2 1 2
d( 2)
0 3 1
x2 = = = 1.1
a −1 3 −2
2 −4 2
0 4 1

10/14/08 CE 551 - Introduction 26

 −1 3 2
2 −4 1
d( 3)
0 4 3
x3 = = = −1.4
a −1 3 −2
2 −4 2
0 4 1

10/14/08 CE 551 - Introduction 27

Inversion
 a  x   c
 a  a  x   a  c
1 1

 I   x   a  c
1

 x   a  c
1

10/14/08 CE 551 - Introduction 28

Example
 − 1 3 − 2  x 1   2 
     
 2 − 4 2  x 2  = 1 
    
 0 4 1   x 3   3 

10/14/08 CE 551 - Introduction 29

Example
 x 1   1.2 1.1 0.2   2   4.1 
       
 x 2  =  0.2 0.1 0.2   1  =  1.1 
      
 x 3   − 0.8 − 0.4 0.2   3   − 1.4 

10/14/08 CE 551 - Introduction 30

 −1 3 2

2 −4 1
(3)
d 0 4 3
x3 = = = −1.4
a −1 3 −2

2 −4 2
0 4 1
10/14/08 CE 551 - Introduction 31
Gaussian Elimination

General System of n equations with n unknowns:

 a 11 a 12  a1n   x 1   c1 
    
 a 21 a 22  a 2 n   x 2   c 2 
   =  
         
    
 a n 1 an2  a nn   x n   c n 
10/14/08 CE 551 - Introduction 32
Steps in Gaussian
Elimination
Eliminate the coefficient of x1 in
every equation except the first
one. Select a11 as the pivot
element.
① Add the multiple -a21/ a11 of the first
row to the second row.
② Add the multiple -a31/ a11 of the first
row to the third row.
③ Continue this procedure through the
nth row
10/14/08 CE 551 - Introduction 33
After this Step:

 a 11 a 12  a1n   x 1   c1 
    
 0 a ′22  a ′2 n   x 2   c ′2 
   =  
         
    
 0 a ′n 2  a ′nn   x n   c n 

10/14/08 CE 551 - Introduction 34

Steps in Gaussian
Elimination
Eliminate the coefficient of x2 in
every equation below the second
one. Select a′22 as the pivot
element.
① Add the multiple -a ′32/ a ′22 of the
second row to the third row.
② Add the multiple -a ′42/ a ′22 of the
second row to the fourth row.
③ Continue this procedure through the
nth row
10/14/08 CE 551 - Introduction 35
After This Step:

 a 11 a 12 a 13  a1n 
   x1   c1 
 0 a ′22 a ′23  a ′2 n     
   x 2   c ′2 
 0 0 a ′33
′  a ′3′ n    =  
      
        
   x n   c n 
 0 0 a ′n′ 3  a ′′ nn 

10/14/08 CE 551 - Introduction 36

Steps in Gaussian
Elimination

❸ Repeat the process for the

remaining rows until we have a
triangularized system of equation.
a11 a12 a13 a14    x 1   c1 
a1n
 0 a′ a′23 a′24    x   c′′ 
a′2n
 22  2   2 
 0 0 a′33
′ a′34
′  a′3′n
  x 3   c′3′ 
   =  
 0 0 0 a′44
′′  a′4′′n
  x 4   c′4′′ 
           
 n −1     n −1 
 0 0 0 0  a nn  x n  c n 
10/14/08 CE 551 - Introduction 37
Solve Using Back-
substitution

n −1
cn
xn = n −1
a nn

1 a n 
xi =  1, n + 1 − ∑ a ir x r 
a ii  r = i +1 

10/14/08 CE 551 - Introduction 38

Example

 2 2 1   x 1  9 
 2 1 0   x  = 4 
  2   
1 1 1 x 3  6

10/14/08 CE 551 - Introduction 39

 Eliminate the coefficient of x1 in
every equation except the first
one.
Select a11 =2 as the pivot element.
①Add the multiple -a21/ a11 = -2/2 = -1 of
the first row to the second row.
②Add the multiple -a31/ a11 = -1/2=-0.5
of the first row to the third row.
10/14/08 CE 551 - Introduction 40
Step 1

2 2 1   x1   9 
 0 − 1 − 1  x  =  − 5
  2   
0 0 0.5 x 3  1.5 

10/14/08 CE 551 - Introduction 41

Steps in Gaussian
Elimination
Eliminate the coefficient of x2 in
every equation below the second
one. Select a′22 as the pivot
element. (Already done in this
example.)

10/14/08 CE 551 - Introduction 42

Step 2

2 2 1   x1   9 
 0 − 1 − 1  x  =  − 5
  2   
0 0 0.5 x 3  1.5 

10/14/08 CE 551 - Introduction 43

 Solve Using Back-
substitution

x3 =
c3′′ 3
= 2 =3
( )
a′33
′ 1
2
( )

x2 =
( − 5 + 3)
=2
−1

x2 =
( 9 − 2( 2) − 3 )
=1
2
10/14/08 CE 551 - Introduction 44
Gauss-Seidel Iteration
Write equations in form :
1
x1 = ( c1 − a12 x 2 − a13 x 3 −  − a1n xn )
a11
1
x2 = ( c 2 − a 21x1 − a 23 x 3 −  − a 2n xn )
a 22

1
xn = ( c n − a n 1 x 1 − a n 2 x 2 −  − a n .n − 1 x n − 1 )
a nn
10/14/08 CE 551 - Introduction 45
Gauss-Seidel Iteration
Assume a set of initial values for
unknowns. Substitute into RHS of first
equation. Solve for new value of x1
Use new value of x1and assumed values
of other x’s to solve for x2 in second
equation.
Continue till new values of all variables
are obtained.
Iterate until convergence.
10/14/08 CE 551 - Introduction 46
Example
4x1 − x 2 =2
− x1 + 4x 2 − x 3 =5
− x 2 + 4x 3 − x 4 =6
− x 3 + 2x 4 = 6

x1 = 1 x2 = 1 x3 = 1 x 4 = −1
2
10/14/08 CE 551 - Introduction 47
Example

x1 = 1
4
( 2 + x 2 ) = 1 ( 2 + 1) = 3
4 4
x2 = 1 ( 5 + x1 + x 3 ) = 1 ( 5 + 3 + 1) = 1.68
4 4 4
x3 = 1
4
( 6 + x 2 + x 4 ) = 1 ( 6 + 1.68 + ( − 1) ) = 1.672
4
x4 = 1
2
( − 2 + x 3 ) = 1 ( − 2 + 1.67 ) = −0.16
2

10/14/08 CE 551 - Introduction 48

Example

x1 = 1
4
( 2 + x 2 ) = 1 ( 2 + 1.68 ) = 0.922
4
x2 = 1
4
( 5 + x1 + x 3 ) = 1 ( 5 + 0.922 + 1.672 ) = 1.899
4
x3 = 1
4
( 6 + x 2 + x 4 ) = 1 ( 6 + 1.899 + ( − 0.16 ) ) = 1.944
4
x4 = 1
2
( − 2 + x 3 ) = 1 ( − 2 + 1.944 ) = −0.0.28
2

10/14/08 CE 551 - Introduction 49

Iteration x1 x2 x3 x4
0 0.5 1.0 1.0 -1.0
1 0.75 1.68 1.672 -0.16
2 0.922 1.899 1.944 -0.028
3 0.975 1.979 1.988 -0.006
4 0.988 1.9945 1.9983 -0.0008
Exact
4
1.0 2.0 2.0 0.0

10/14/08 CE 551 - Introduction 50