118 where is also chosen from the basis function used for constructing approximate solution function u .

Let
n

Finite Element Analysis 119

Assembling Stiffness EquationsGalerkin's Method, Virtual Work Method

u =
i i

8
i 1

Q G
(8.5)

where Qi is the basic unknown vector and Gi are basis functions. Gi are usually polynomial in space coordinates x, y, z. Then in Galerkins method the weighting function is taken as
n

=
i

Gi
(8.6)
i 1

In the above equation i are arbitrary, except at the points where boundary conditions are satisfied. Since is constructed similar to that as u , Galerkins method leads to simplified method. Thus in Galerkins
n

Assembling Stiffness EquationsGalerkin's Method, Virtual Work Method

method we choose basis function Gi and determine i in u =
i v i

Q G
to satisfy
i 1

zb
g

Lu PdV = 0 where

8.1 INTRODUCTION
coefficient i are arbitrary except at specified boundaries.

8.3 GALERKINS METHOD APPLIED TO ELASTICITY PROBLEMS

In case of three dimensional problems in elasticity the equations of equilibrium are:

Finite Element Analysis is a versatile method which is used for solving a set of differential equations specified over a region, the solution satisfying specified boundary conditions. In the solid mechanics we try to get the displacements in a structure by solving the equations of equilibrium specified over the structure and the displacements obtained are such that the specified support conditions and the values of loads are satisfied. Galerkin has given a method for solving such differential equations which can be used by the analysts of solid mechanics, fluid mechanics, heat flow, electrical engineering. Galerkins general method is briefly explained first and then its application in elasticity is presented. It will be found that in elasticity problems this method turns out to be principle of virtual work.

x xy xz + + + Xb = 0 x y z xy
+

(8.7) (Refer 2.2)

y y
+

yz z

8.2 GALERKINS METHOD

x
and Let the governing differential equation on a specified region V be L (u ) = P (8.1) Where L is a differential operator on a basic unknown u. The value of u to be found has to satisfy specified values on the boundary of the region. If we take u as approximate solution, then we may get error ( x ) at a point x and

+ Yb = 0

xz yz z + + + Zb = 0 x y z

x =Lu P
(8.2)

bg bg
(8.3) and

The stresses { } are in terms of displacements {u}. The displacements are arbitrary in the entire region of structure except at specified boundaries and the solution has to see that specified load values are obtained, wherever loading is existing. For simplicity we take two dimensional problem in elasticity and then extend the results to three dimensional problems. In two dimensional elasticity, the equations of equilibrium is

( x ) is called residual at point x. The solution sought revolve around setting the residual, relative to a weighting function wi to zero i.e. to get

x xy + + Xb = 0 x y xy x
+

z
wi Lu P dV = 0 for i = 1 to n

y y

+ Yb = 0

(8.8)

Depending upon the selection of weighting function, there can be different approaches. In the Galerkins method the equation 8.3 is taken as,

If Xs and Ys are the surface forces and is the angle made by normal to surface with x-axis (refer Fig. 8.1), then from the equilibrium of the element we find,

z
Lu P = 0
(8.4)

120
A ys
Normal to surface

Finite Element Analysis

Assembling Stiffness EquationsGalerkin's Method, Virtual Work Method

121

zz
C

LM + OP dx dy = LM + OP dx dy + LM l + mOP ds MN x y PQ N x x y y Q N x y Q
2 2

(8.11) Now let us consider the integration of the first term in equation 8.11

xs
x

zz zz

x u dx dy x
Assuming = x

B
90
xy

= 0, from Greens function we get = u and y x

x u dx dy = x
Similarly

Fig. 8.1 Two dimensionally stressed element

zz
y

zz

b g dx dy +
x

x l u ds

Xs AC t = x AB t + xy BC t
i.e.

zz
It leads to

u dx dy can be found by taking

= y, =0 = v , x y

Xs = x = x cos + xy sin = x l + xy m

AB BC + xy AC AC

where l and m are the direction cosines of normal to the surface. Similarly, considering the equilibrium of the forces on the element in y direction, we get

y y
on the same lines, we can get,

u dx dy =

u dx dy + y m v ds y

b g
xy x
(8.9) and

z
v dx dy =

Ys = xy l + y m
Thus the surfaces forces on the element are

Xs = x l + xy m
and Now consider the integral

xy

v dx dy + xy l v ds x

b g
xy y
Hence equation 8.10 is equal to

z
u dx dy = xy

Ys = xy l + y m

zz zz zz
I OP JK PQ
x

u + xy m u ds y

b g

z
b g b g

zz LMMNFGH
x xy + + Xb u + x y x
+

xy y

I JK

zz FGH
y
xy

+ Yb v dx dy

where u and v are the elemental displacements in x and y directions. The above bounded integral is zero, since

zz zz zz LM zz N
+

u + y v + xy v + xy u x y x y

b g

b gOPQ dx dy
+ x l u + y m v + xy l v + xy m u ds +

xy y x xy + + X b = 0 and + + Yb = 0 (from equation 8.8). Thus, x y x y

x

z
y y

zz
+

xy y
b

zz
I O + Y J v P dx dy = 0 K PQ
b

Xb u dx dy +
(8.10) Regrouping the terms, we get,

LMF MNHG x

I F + X J u + G K H x

zz
+

Yb v dx dy = 0

Now we can expand the integral 8.10 using Greens theorem. According to Greens theorem, if ( x , y ) and ( x, y) are continuous functions then their first and second partial derivatives also continuous,

zz zz b

R S T

u + y v + xy v + u x y x y

b g

b g

b g

dx dy b gU V W X b u + Yb v dx dy +

zd

x l + xy m u ds +

zd

xy l + y m v ds = 0

(8.12)

122

Finite Element Analysis Now consider the term

Assembling Stiffness EquationsGalerkin's Method, Virtual Work Method It may be noted that due to virtual displacement u the change in strain x is given by

123

zz b zd
and Hence,

X b u + Yb v dx dy in equation 8.12

x =

LMu + bug dxOP u N x Q

dx
Substituting it in equation 8.14, we get virtual work done by Xb is the body force in x direction and u is arbitrary (virtual) displacement in x direction. Similarly Yb and v are the body force and virtual displacements in y directions. Hence the above term represents virtual work done by the body forces. Now consider the term,

u x

b g
x stresses = x x dx dy x l + xy m u + xy l + y m v ds
from equation 8.9, we have X s = x l + xy m (8.15)

Similarly it can be shown that the terms

zz
Ys = xy l + y m
i.e.

v dx dy and y

b g

zz
zz

xy y y dx dy and

R U dx dy + S Ty b vg x b ugV W

zz

xy xy dx dy ,

l + xy m u + xy l + y m v ds =

represent the work done by y and xy stresses.

Xs u + Ys v ds

(8.13) Thus the above expression represents the virtual work done by surface forces. Barring the first term the other terms in equation 8.12, represents the virtual work done by external forces due to virtual displacements

First term in equation 8.12 is

U =

zz d
u and v. Now let us try to attach physical meaning to first term in equation 8.12. Consider the element of unit thickness shown in Fig. 8.2. Let a virtual displacement u be given to the element. Dotted position shows the
element with virtual displacement. Hence work done by x stresses are
= x dy u +
y

x x + y y + xy xy dx dy

(8.16) Thus the first term represents the work done by internal forces with negative sign. Therefore equation 8.12 may be looked as,

U + We = 0
U = We
(8.17)

LM N

u dx x dy u = x u dx dy x x

b g OPQ

b g

(8.14)

where U is internal work done and We external work done. Thus in elasticity problems Galerkins method turns out to be the principle of virtual work which may be stated as a deformable body is in equilibrium when the total work done by external forces is equal to the total work done by internal forces. The work done considered in the above derivation is called virtual, since the forces and deformations considered are not related. The displacements ' u' and ' v' are arbitrary. It may also be noted that the principle of virtual work is independent of the material properties.
u
u

d dx

b gd
u

Extention to Three Dimensional Problems

The principal of virtual work holds good for the three dimensional problems also. In this case

We =
dx x
0

zzz b
v

X b u + Yb v + Zb w dV +

X s u + Ys v + Z s w ds
s

g
We =
Fig. 8.2 Element with virtual displacement in n-direction

(8.18) where s is the surface on which forces are acting. The above expression in the matrix form is,

zzz l q l q
u
T

X dV +

zz b zz l q l q

p ds
s

(8.19)

where

luq

= u v w