Introduction

to
Finite
Element
Analysis
Using
MATLAB and
Abaqus
Amar Khennane
Taylor
& Francis
Croup
Boca Raton London New York
CRC Press is an imprint
of the
Taylor
&
Francis
Croup,
an informa business
Contents
List of
Figures
xiii
List of Tables xxv
Preface xxvii
Author
xxix
Chapter
1
Introduction
'
1.1
Prologue
1
1.2 Finite Element
Analysis
and the User 1
1.3 Aim of the Book 2
1.4 Book
Organization
2
Chapter
2 Bar Element 5
2.1 Introduction
5
2.2 One-Dimensional Truss Element 5
2.2.1 Formulation
of the
Stiffness Matrix:
The Direct
Approach
5
2.2.2 Two-Dimensional Truss Element
7
2.3 Global Stiffness Matrix
Assembly
9
2.3.1 Discretization
9
2.3.2 Elements' Stiffness Matrices in Local Coordinates
9
2.3.3
Elements' Stiffness
Matrices
in
Global
Coordinates 10
2.3.3.1 Element
1 II
2.3.3.2 Element 2
11
2.3.3.3 Element 3 12
2.3.4 Global Matrix
Assembly
12
2.3.4.1
Only
Element
1
Is Present
13
2.3.4.2
Only
Element 2 Is Present 13
2.3.4.3
Only
Element 3 Is Present 13
2.3.5 Global Force Vector
Assembly
14
2.4
Boundary
Conditions 15
2.4.1 General Case
15
2.5 Solution of the
System
of
Equations
16
2.6
Support
Reactions
'7
2.7 Members' Forces
18
2.8
Computer
Code: truss.m
19
2.8.1 Data
Preparation
20
2.8.1.1 Nodes Coordinates 20
2.8.1.2 Element
Connectivity
20
2.8.1.3 Material and Geometrical
Properties
20
2.8.1.4
Boundary
Conditions 20
2.8.1.5
Loading
21
2.8.2 Element Matrices
21
2.8.2.1
Stiffness Matrix in Local Coordinates 21
2.8.2.2 Transformation Matrix
22
v|
Contents
2.8.2.3 Stiffness Matrix in Global Coordinates
22
2.8.2.4
"Steering"
Vector
22
2.8.3
Assembly
of
the Global
Stiffness Matrix 23
2.8.4
Assembly
of the Global Force Vector
23
2.8.5 Solution of the Global
System
of
Equations
23
2.8.6
Nodal
Displacements
23
2.8.7 Element Forces
23
2.8.8
Program Scripts
24
2.9 Problems
27
2.9.1 Problem 2.1
27
2.9.2 Problem 2.2
32
2.10
Analysis
of a
Simple
Truss
with
Abaqus
35
2.10.1 Overview of
Abaqus
35
2.10.2
Analysis
of a Truss with
Abaqus
Interactive Edition 36
2.10.2.1
Modeling
36
2.10.2.2
Analysis
51
2.10.3
Analysis
of a Truss with
Abaqus Keyword
Edition
57
Chapter
3 Beam Element
63
3.1 Introduction
63
3.2 Stiffness
Matrix 63
3.3
Uniformly
Distributed
Loading
67
3.4
Internal
Hinge
71
3.5
Computer
Code: beam.m
73
3.5.1 Data
Preparation
73
3.5.1.1 Nodes Coordinates
73
3.5.1.2
Element
Connectivity
74
3.5.1.3 Material and Geometrical
Properties
74
3.5.1.4
Boundary
Conditions 74
3.5.1.5 Internal
Hinges
74
3.5.1.6
Loading
75
3.5.1.7 Stiffness Matrix
76
3.5.2
Assembly
and Solution of the Global
System
of
Equations
76
3.5.3 Nodal
Displacements
76
3.5.4 Element Forces 77
3.6 Problems
81
3.6.1
Problem
3.1 81
3.6.2 Problem 3.2
84
3.6.3 Problem 3.3 87
3.7
Analysis
of a
Simple
Beam
with
Abaqus
90
3.7.1 Interactive Edition 90
3.7.2
Analysis
of a Beam
with
Abaqus Keyword
Edition
103
Chapter
4
Rigid
Jointed Frames
107
4.1 Introduction 107
4.2
Stiffness Matrix
of a Beam-Column
Element
107
4.3 Stiffness Matrix of a Beam-Column Element in the Presence
of
Hinged
End 107
Contents
vii
4.4 Global and Local Coordinate
Systems 108
4.5 Global Stiffness
Matrix
Assembly
and Solution for
Unknown
Displacements 109
4.6
Computer
Code: frame.m
109
4.6.1 Data
Preparation 109
4.6.1.1 Nodes Coordinates
110
4.6.1.2 Element
Connectivity 110
4.6.1.3
Material and Geometrical
Properties 110
4.6.1.4
Boundary
Conditions
110
4.6.1.5 Internal
Hinges 1' 1
4.6.1.6
Loading Ill
4.6.2
Element Matrices
112
4.6.2.1 Stiffness Matrix in
Local Coordinates
112
4.6.2.2
Transformation Matrix
113
4.6.2.3 Stiffness Matrix in
Global Coordinates 113
4.6.2.4
"Steering"
Vector 113
4.6.2.5
Element Loads
113
4.6.3
Assembly
of the Global Stiffness
Matrix 113
4.6.4 Solution of the
Global
System
of
Equations
114
4.6.5 Nodal
Displacements 114
4.6.6
Element Forces
,
114
4.7
Analysis
of a
Simple
Frame
with
Abaqus
124
4.7.1
Interactive Edition
124
4.7.2
Key
word Edition
132
Chapter
5 Stress and
Strain
Analysis 135
5.1 Introduction
135
5.2 Stress Tensor
135
5.2.1
Definition
135
5.2.2 Stress Tensor-Stress
Vector
Relationships
137
5.2.3 Transformation of the Stress Tensor
139
5.2.4
Equilibrium
Equations
139
5.2.5
Principal
Stresses
140
5.2.6 von Mises Stress
141
5.2.7 Normal and
Tangential Components
of the Stress
Vector
141
5.2.8
Mohr's
Circles for Stress 143
5.29
Engineering Representation
of Stress 144
5.3 Deformation and Strain
144
5.3.1 Definition
144
5.3.2
Lagrangian
and Eulerian
Descriptions
145
5.3.3
Displacement 146
5.3.4
Displacement
and Deformation Gradients 147
5.3.5 Green
Lagrange
Strain Matrix 148
5.3.6 Small Deformation
Theory
149
5.3.6.1
Infinitesimal Strain 149
5.3.6.2 Geometrical
Interpretation
of the Terms of the Strain
Tensor 150
5.3.6.3
Compatibility
Conditions 152
5.3.7
Principal
Strains 152
viii
Contents
5.3.8 Transformation
of the Strain Tensor
153
5.3.9
Engineering Representation
of Strain
153
5.4 Stress-Strain
Constitutive Relations
154
5.4.1 Generalized
Hooke's Law
154
5.4.2 Material
Symmetries
'55
5.4.2.1
Symmetry
with
respect
to a Plane 155
5.4.2.2
Symmetry
with
respect
to Three
Orthogonal
Planes 157
5.4.2.3
Symmetry
of Rotation with
respect
to One Axis 157
5.4.3
Isotropic
Material
158
5.4.3.1 Modulus of
Elasticity
160
5.4.3.2
Poisson's Ratio
160
5.4.3.3 Shear Modulus
160
5.4.3.4 Bulk Modulus
160
5.4.4 Plane Stress
and Plane Strain 162
5.5 Solved Problems
163
5.5.1
Problem 5.1 163
5.5.2 Problem 5.2
164
5.5.3
Problem 5.3 167
5.5.4 Problem 5.4
168
5.5.5 Problem 5.5 170
5.5.6
Problem 5.6 171
5.5.7 Problem 5.7 172
5.5.8 Problem 5.8 174
Chapter
6
Weighted
Residual Methods 175
6.1 Introduction 175
6.2 General Formulation 175
6.3 Galerkin Method 176
6.4
Weak
Form
178
6.5
Integrating by
Part over Two and Three Dimensions
(Green Theorem)
179
6.6
Rayleigh
Ritz Method
183
6.6.1 Definition
183
6.6.2
Functional Associated with an
Integral
Form 183
6.6.3
Rayleigh
Ritz Method
183
6.6.4
Example
of a Natural Functional 185
Chapter
7 Finite Element
Approximation
191
7.1 Introduction
191
7.2 General and Nodal
Approximations
191
7.3 Finite
Element
Approximation 193
7.4 Basic
Principles
for the Construction
of Trial Functions 195
7.4.1
Compatibility Principle 195
7.4.2
Completeness Principle 196
7.5 Two-Dimensional Finite
Element
Approximation 197
7.5.1 Plane Linear
Triangular
Element for C Problems 197
7.5.1.1
Shape
Functions
197
7.5.1.2 Reference Element
199
7.5.1.3
Area Coordinates
202
7.5.2 Linear
Quadrilateral Element for C Problems
203
Contents
lx
7.5.2.1 Geometrical
Transformation 203
7.5.2.2
Construction of a Trial Function over a Linear
Quadrilateral
Element
206
7.6
Shape
Functions of Some
Classical Elements for Cu Problems 207
7.6.1
One-Dimensional Elements
207
7.6.1.1 Two-Nodded
Linear Element 207
7.6.1.2
Three-Nodded
Quadratic
Element
207
7.6.2 Two-Dimensional
Elements 207
7.6.2.1
Four-Nodded Bilinear
Quadrilateral
207
7.6.2.2
Eight-Nodded Quadratic Quadrilateral 208
7.6.2.3
Three-Nodded Linear
Triangle
208
7.6.2.4
Six-Nodded
Quadratic Triangle 208
7.6.3 Three-Dimensional Elements
208
7.6.3.1
Four-Nodded Linear Tetrahedra 208
7.6.3.2 Ten-Nodded
Quadratic
Tetrahedra 209
7.6.3.3
Eight-Nodded
Linear Brick Element 209
7.6.3.4
Twenty-Nodded Quadratic
Brick
Element 210
Chapter
8 Numerical
Integration 211
8.1 Introduction
211
8.2
Gauss
Quadrature 211
8.2.1
Integration
over an
Arbitrary
Interval
[a,
b]
214
8.2.2
Integration
in Two and Three Dimensions
215
8.3
Integration
over a Reference Element 216
8.4
Integration
over a
Triangular
Element
217
8.4.1
Simple
Formulas
217
8.4.2 Numerical
Integration
over a
Triangular
Element 218
8.5 Solved Problems
219
8.5.1
Problem
8.1
219
8.5.2 Problem 8.2
221
8.5.3 Problem 8.3
226
Chapter
9 Plane Problems
231
9.1 Introduction 231
9.2 Finite Element Formulation for Plane
Problems 231
9.3
Spatial
Discretization 234
9.4 Constant Strain
Triangle
235
9.4.1
Displacement
Field 236
9.4.2 Strain Matrix 237
9.4.3
Stiffness Matrix
237
9.4.4 Element Force Vector 237
9.4.4.1
Body
Forces
238
9.4.4.2 Traction Forces 238
9.4.4.3
Concentrated
Forces 239
9.4.5
Computer
Codes
Using
the Constant Strain
Triangle
240
9.4.5.1
Data
Preparation
241
9.4.5.2 Nodes Coordinates 243
9.4.5.3 Element
Connectivity
243
9.4.5.4 Material
Properties
243
Contents
9.4.5.5
Boundary
Conditions 243
9.4.5.6
Loading
243
9.4.5.7 Main
Program
243
9.4.5.8
Element Stiffness Matrix 245
9.4.5.9
Assembly
of the Global Stiffness Matrix 246
9.4.5.10 Solution of
the
Global
System
of
Equations
246
9.4.5.11 Nodal
Displacements
246
9.4.5.12
Element Stresses and Strains 246
9.4.5.13
Results and Discussion 247
9.4.5.14
Program
with Automatic Mesh Generation 249
9.4.6
Analysis
with
Abaqus Using
the CST 253
9.4.6.1 Interactive
Edition
253
9.4.6.2
Keyword
Edition
260
9.5
Linear
Strain
Triangle
263
9.5.1
Displacement
Field
264
9.5.2 Strain Matrix
265
9.5.3 Stiffness Matrix 266
9.5.4
Computer
Code:
LST_PLANE_STRESS_MESH.m 266
9.5.4.1 Numerical
Integration
of the
Stiffness Matrix 270
9.5.4.2
Computation
of the Stresses and Strains
271
9.5.5
Analysis
with
Abaqus Using
the LST
272
9.5.5.1 Interactive Edition
272
9.5.5.2
Keyword
Edition
278
9.6 The
Bilinear
Quadrilateral 279
9.6.1
Displacement
Field 280
9.6.2 Strain Matrix
281
9.6.3 Stiffness Matrix
282
9.6.4 Element Force Vector
282
9.6.5
Computer
Code:
Q4_PLANE_STRESS.m 284
9.6.5.1 Data
Preparation 284
9.6.5.2 Main
Program 287
9.6.5.3
Integration
of the Stiffness Matrix
289
9.6.5.4
Computation
of the Stresses and Strains
290
9.6.5.5
Program
with
Automatic Mesh Generation
291
9.6.6
Analysis
with
Abaqus
Using
the
Q4 Quadrilateral 295
9.6.6.1 Interactive Edition
295
9.6.6.2
Keyword
Edition
302
9.7 The
8-Node
Quadrilateral 304
9.7.1
Formulation
304
9.7.2
Equivalent
Nodal Forces
307
9.7.3
Program Q8_PLANE_STRESS.m 307
9.7.3.1 Data
Preparation 307
9.7.3.2 Main
Program 311
9.7.3.3
Integration
of the
Stiffness Matrix
314
9.7.3.4 Results with the
Coarse Mesh
314
9.7.3.5
Program
with Automatic
Mesh Generation
315
9.7.4
Analysis
with
Abaqus Using
the
Q8 Quadrilateral 321
9.8
Solved Problem with
MATLAB
326
Contents
*'
9.8.1
Strip
Footing
with the CST Element
326
9.8.2
Strip Footing
with the LST
Element 331
9.8.3
Bridge
Pier with the
Q8
Element
336
Chapter
10
Axisymmetric
Problems
353
10.1 Definition
353
10.2
Strain-Displacement Relationship
353
10.3 Stress-Strain
Relations
354
10.4 Finite Element Formulation
355
10.4.1
Displacement
Field
355
10.4.2 Strain Matrix
355
10.4.3 Stiffness Matrix
356
10.4.4
Nodal Force Vectors
356
10.4.4.1
Body
Forces
356
10.4.4.2 Surface Forces Vector
356
10.4.4.3 Concentrated
Loads
357
10.4.4.4
Example
357
10.5
Programming
358
10.5.1
Computer
Code: AXI_SYM_T6.m
359
10.5.1.1
Numerical
Integration
of the Stiffness
Matrix
362
10.5.1.2 Results
363
10.5.2
Computer
Code:
AXI_SYM_Q8.m
365
10.5.2.1 Numerical
Integration
of the Stiffness
Matrix
368
10.5.2.2 Results
370
10.6
Analysis
with
Abaqus Using
the 8-Node
Quadrilateral
372
Chapter
11 Thin and Thick
Plates
379
11.1 Introduction
379
11.2 Thin
Plates
379
11.2.1 Differential
Equation
of Plates Loaded
in
Bending
379
11.2.2
Governing
Equation
in terms of
Displacement
Variables
382
11.3 Thick
Plate
Theory
or Mindlin Plate
Theory
383
11.3.1 Stress-Strain
Relationship
384
11.4 Linear
Elastic Finite Element
Analysis
of Plates
385
11.4.1 Finite Element
Formulation for Thin Plates
385
11.4.1.1
Triangular
Element
385
11.4.1.2
Rectangular
Element
387
11.4.2 Finite
Element Formulation for
Thick Plates
388
11.5
Boundary
Conditions
389
11.5.1
Simply
Supported Edge
389
11.5.2
Built-in or
Clamped
Edge
390
11.5.3 Free
Edge
390
11.6
Computer
Program
for
Thick Plates
Using
the 8-Node
Quadrilateral
390
xij
Contents
11.6.1
Main
Program: Thick_plate_Q8.m
390
11.6.2 Data
Preparation
395
11.6.2.1 Stiffness Matrices
395
11.6.2.2
Boundary
Conditions
395
11.6.2.3
Loading
396
11.6.2.4 Numerical
Integration
of the Stiffness
Matrix
397
11.6.3 Results
398
11.6.3.1 Determination of
the
Resulting
Moments
and Shear Forces 398
11.6.3.2
Contour Plots 399
11.7
Analysis
with
Abaqus
400
11.7.1
Preliminary
400
11.7.1.1
Three-Dimensional Shell Elements 401
11.7.1.2
Axisymmetric
Shell Elements 401
11.7.1.3 Thick versus Thin Conventional Shell 401
11.7.2
Simply Supported
Plate 401
11.7.3 Three-Dimensional Shells 406
Appendix
A: List of MATLAB Modules
and
Functions 419
Appendix
B:
Statically Equivalent
Nodal Forces 445
Appendix
C: Index Notation and Transformation Laws for Tensors
447
References and
Bibliography
453
Index
455