Beruflich Dokumente
Kultur Dokumente
DRAFT
FINITE ELEMENT II
Solid Mechanics
CVEN 6525
c VICTOR
E. SAOUMA,
SPRING 2001
Draft
02
Victor Saouma
Draft
Contents
1 PREREQUISITE
1.1 Variational Formulations . . . . . . . . . . . . . . . . . . . . .
1.2 Finite Element Formulation . . . . . . . . . . . . . . . . . . .
1.2.1 Strain Displacement Relations . . . . . . . . . . . . .
1.2.1.1 Axial Members . . . . . . . . . . . . . . . . .
1.2.1.2 Flexural Members . . . . . . . . . . . . . . .
1.2.2 Virtual Displacement and Strains . . . . . . . . . . . .
1.2.3 Element Stiness Matrix Formulation . . . . . . . . .
1.2.3.1 Stress Recovery . . . . . . . . . . . . . . . .
1.3 Direct Stiness Method . . . . . . . . . . . . . . . . . . . . .
1.3.1 Global Stiness Matrix . . . . . . . . . . . . . . . . .
1.3.1.1 Structural Stiness Matrix . . . . . . . . . .
1.3.1.2 Augmented Stiness Matrix . . . . . . . . .
1.3.2 Logistics . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.2.1 Boundary Conditions, [ID] Matrix . . . . . .
1.3.2.2
LM Vector . . . . . . . . . . . . . . . . . . .
1.3.2.3 Assembly of Global Stiness Matrix . . . . .
E 1-1 Assembly of the Global Stiness Matrix . . . . . . . .
1.3.2.4 Algorithm . . . . . . . . . . . . . . . . . . .
E 1-2 Direct Stiness Analysis of a Truss . . . . . . . . . . .
E 1-3 Analysis of a Frame with MATLAB . . . . . . . . . .
E 1-4 Analysis of a simple Beam with Initial Displacements
2 INTRODUCTION
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . .
2.2 Elliptic, Parabolic and Hyperbolic Equations . . .
E 2-1 Seepage Problem;(Bathe 1996) . . . . . . .
E 2-2 Diusion Problem; (Bathe 1996) . . . . . .
E 2-3 Wave Equation, (Bathe 1996) . . . . . . . .
2.3 Solution of Discrete-System Mathematical models .
2.3.1 Steady State Problems . . . . . . . . . . . .
2.3.1.1 Elastic Spring . . . . . . . . . . .
2.3.1.2 Heat Transfer . . . . . . . . . . .
2.3.1.3 Hydraulic Network . . . . . . . . .
2.3.1.4 DC Network . . . . . . . . . . . .
2.3.2 Equivalent Truss/Direct Stiness Models
2.3.2.1 Nonlinear Elastic Spring . . . . .
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Draft
02
2.3.3
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3 FUNDAMENTAL RELATIONS
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.1 Notation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.1.1 Indicial Notation . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.1.2 Tensor Notation . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.1.3 Voigt Notation . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.2 Tensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Vector Fields; Solid Mechanics . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.1 Kinetics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.1.1 Force, Traction and Stress Vectors . . . . . . . . . . . . . . .
3.2.1.2 Traction on an Arbitrary Plane; Cauchys Stress Tensor . . .
E 3-1 Stress Vectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.2 Kinematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.3 Fundamental Laws of Continuum Mechanics . . . . . . . . . . . . . .
3.2.3.1 Conservation of Mass; Continuity Equation . . . . . . . . . .
3.2.3.2 Linear Momentum Principle; Equation of Motion . . . . . .
3.2.3.3 Conservation of Energy; First Principle of Thermodynamics
3.2.4 Constitutive Equations . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.4.1 General 3D . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.4.2 Transversly Isotropic Case . . . . . . . . . . . . . . . . . . .
3.2.4.3 Special 2D Cases . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.4.3.1 Plane Strain . . . . . . . . . . . . . . . . . . . . . .
3.2.4.3.2 Axisymmetry . . . . . . . . . . . . . . . . . . . . . .
3.2.4.3.3 Plane Stress . . . . . . . . . . . . . . . . . . . . . .
3.2.4.4 Pore Pressures . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.5 Field Equations for Thermo- and Poro Elasticity . . . . . . . . . . .
3.3 Scalar Field: Diusion Equation . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.1 Heat Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.2 Derivation of the Diusion Problem . . . . . . . . . . . . . . . . . . .
3.3.2.1 Simple 2D Derivation . . . . . . . . . . . . . . . . . . . . . .
3.3.2.2 Generalized Derivation . . . . . . . . . . . . . . . . . . . . .
3.3.2.3 Boundary Conditions . . . . . . . . . . . . . . . . . . . . . .
3.4 Summary and Tonti Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . .
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2.4
2.5
2.6
Propagation Problems . . . . . . .
2.3.3.1 Dynamic Elastic System
2.3.3.2 Transient Heat Flow . . .
2.3.4 Eigenvalue Problems . . . . . . . .
2.3.4.1 Free Vibration . . . . . .
2.3.4.2 Column Buckling . . . .
Solution Strategies . . . . . . . . . . . . .
2.4.1 Euler Equation . . . . . . . . . . .
E 2-4 Flexure of a Beam . . . . . . . . .
Computer Programs . . . . . . . . . . . .
Examples of applications . . . . . . . . . .
CONTENTS
Victor Saouma
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Draft
CONTENTS
4 MESH GENERATION
4.1 Introduction . . . . . . . . . . . .
4.2 Triangulation . . . . . . . . . . .
4.2.1 Voronoi Polygon . . . . .
4.2.2 Delaunay Triangulation .
4.2.3 MATLAB Code . . . . . .
4.3 Finite Element Mesh Generation
4.3.1 Boundary Denition . . .
4.3.2 Interior Node Generation
4.3.3 Final Triangularization .
03
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Draft
04
7.2
7.3
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CONTENTS
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Draft
CONTENTS
9.6.3
05
9.6.2.1
9.6.2.2
9.6.2.3
9.6.2.4
9.6.2.5
Plott of
stiff.m . . . . .
dmat.m . . . . .
sfr.m . . . . . .
jacob.m . . . . .
bmatps.m . . . .
Shape Functions
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EQUATION
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Draft
06
CONTENTS
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. 134
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. 136
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. 139
. 1310
14 GEOMETRIC NONLINEARITY
14.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . .
14.1.1 Strong Form . . . . . . . . . . . . . . . . . . . .
14.1.1.1 Lower Order Dierential Equation . . .
14.1.1.2 Higher Order Dierential Equation . .
14.1.2 Weak Form . . . . . . . . . . . . . . . . . . . . .
14.1.2.1 Strain Energy . . . . . . . . . . . . . .
14.1.2.2 Euler Equation . . . . . . . . . . . . . .
14.2 Finite Element Discretization . . . . . . . . . . . . . . .
14.3 Elastic Instability; Bifurcation Analysis . . . . . . . . .
E 14-1 Column Stability . . . . . . . . . . . . . . . . . .
E 14-2 Frame Stability . . . . . . . . . . . . . . . . . . .
14.4 Second-Order Elastic Analysis; Geometric Non-Linearity
E 14-3 Eect of Axial Load on Flexural Deformation . .
E 14-4 Bifurcation . . . . . . . . . . . . . . . . . . . . .
14.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . .
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141
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. 146
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. 1410
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. 1422
15 PLATES
15.1 Fundamental Relations . . . . . . . . . . . . . . . . .
15.1.1 Equilibrium . . . . . . . . . . . . . . . . . . .
15.1.2 Kinematic Relations . . . . . . . . . . . . . .
15.1.3 Constitutive Relations . . . . . . . . . . . . .
15.2 Plate Theories . . . . . . . . . . . . . . . . . . . . .
15.2.1 Reissner-Mindlin . . . . . . . . . . . . . . . .
15.2.1.1 Fundamental Relations . . . . . . .
15.2.1.2 Dierential Equation . . . . . . . .
15.2.1.3 Variational Formulation . . . . . .
15.2.2 Kirchho . . . . . . . . . . . . . . . . . . . .
15.2.2.1 Fundamental Relations . . . . . . .
15.2.2.2 Dierential Equation . . . . . . . .
15.2.2.3 Stresses . . . . . . . . . . . . . . . .
15.2.2.4 Variational Formulation . . . . . . .
15.2.3 Summary . . . . . . . . . . . . . . . . . . . .
15.3 Finite Element Formulations . . . . . . . . . . . . .
15.3.1 Rectangular Element . . . . . . . . . . . . . .
15.3.1.1 Formulation . . . . . . . . . . . . .
15.3.1.2 Shear Locking . . . . . . . . . . . .
15.3.2 Nonconforming Kirchho Triangular Element
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. 159
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. 1510
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. 1517
Victor Saouma
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Draft
CONTENTS
15.3.2.1 Formulation . . .
15.3.2.2 Nonconformity . .
15.3.3 Discrete Kirchho Triangle
15.4 Summary . . . . . . . . . . . . . .
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. 1517
. 1519
. 1520
. 1524
16 MATERIAL NONLINEARITIES
16.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.1.1 Linearization . . . . . . . . . . . . . . . . . . . . . . .
16.1.2 Solution Strategies . . . . . . . . . . . . . . . . . . . .
16.2 Load Control . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.2.1 Newton-Raphson . . . . . . . . . . . . . . . . . . . . .
16.2.1.1 Newton-Raphson/Tangent Stiness Method .
16.2.1.2 Modied Newton-Raphson . . . . . . . . . .
16.2.1.3 Secant Newton . . . . . . . . . . . . . . . . .
16.2.2 Acceleration of Convergence, Line Search Method . .
16.2.3 Convergence Criteria . . . . . . . . . . . . . . . . . . .
16.3 Direct Displacement Control . . . . . . . . . . . . . . . . . .
16.4 Indirect Displacement Control . . . . . . . . . . . . . . . . . .
16.4.1 Partitioning of the Displacement Corrections . . . . .
16.4.2 Arc-Length . . . . . . . . . . . . . . . . . . . . . . . .
16.4.3 Relative Displacement Criterion . . . . . . . . . . . .
16.4.4 IDC Methods with Approximate Line Searches . . . .
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161
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. 1610
. 1610
. 1613
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. 1617
. 1618
A VECTOR OPERATIONS
A.1 Vector Dierentiation . . . . . . . . . . . . . . . . . . . . .
A.1.1 Derivative WRT to a Scalar . . . . . . . . . . . . . .
E A-1 Tangent to a Curve . . . . . . . . . . . . . . . . . .
A.1.2 Divergence . . . . . . . . . . . . . . . . . . . . . . .
E A-2 Divergence . . . . . . . . . . . . . . . . . . . . . . .
A.1.3 Gradient . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.4 Scalar . . . . . . . . . . . . . . . . . . . . . . . . . .
E A-3 Gradient of a Scalar . . . . . . . . . . . . . . . . . .
E A-4 Stress Vector normal to the Tangent of a Cylinder .
A.2 Vector Integrals . . . . . . . . . . . . . . . . . . . . . . . . .
A.2.1 Integral of a Vector . . . . . . . . . . . . . . . . . . .
A.2.2 Line Integral . . . . . . . . . . . . . . . . . . . . . .
A.2.3 Integration by Parts . . . . . . . . . . . . . . . . . .
A.2.4 Gauss; Divergence Theorem . . . . . . . . . . . . . .
A.2.5 Stokes Theorem . . . . . . . . . . . . . . . . . . . .
A.2.6 Green; Gradient Theorem . . . . . . . . . . . . . . .
E A-5 Physical Interpretation of the Divergence Theorem
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A1
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. A1
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. A5
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THERMAL
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LOAD
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B1
. B1
. B1
. B2
. B2
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Draft
08
CONTENTS
Victor Saouma
Draft
List of Figures
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
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2.11
2.12
3.1
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3.9
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4.1
4.2
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42
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45
Draft
02
LIST OF FIGURES
5.3
6.1
6.2
6.3
6.4
6.5
6.6
6.7
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6.9
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7.1
7.2
7.3
7.4
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8.1
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9.20
9.21
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. . . . . . . . . . . . . . . . . . . . . . . . 129
Victor Saouma
Draft
LIST OF FIGURES
03
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Cor. . .
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14.1
14.2
14.3
14.4
. 136
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. 139
Level of Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Euler Column . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Simply Supported Beam Column; Dierential Segment; Eect of Axial Force P
Solution of the Tanscendental Equation for the Buckling Load of a Fixed-Hinged
Column . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.5 Summary of Stability Solutions . . . . . . . . . . . . . . . . . . . . . . . . . . .
. 145
. 1423
15.1
15.2
15.3
15.4
15.5
15.6
15.7
15.8
15.9
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. 151
. 152
. 153
. 154
. 156
. 1513
. 1517
. 1520
. 1521
. 163
. 165
. 166
. 167
. 168
. 169
. 169
. 1611
. 1613
. 1613
. 1616
. 1617
. 1620
A.1
A.2
A.3
A.4
A.5
A.6
A.7
A.8
. A2
. A2
. A3
. A4
. A4
. A7
. A8
. A11
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. 141
. 142
. 144
Draft
04
LIST OF FIGURES
Victor Saouma
Draft
List of Tables
1.1
3.1
3.2
3.3
5.1
5.2
6.1
6.2
6.3
8.1
9.1
9.2
9.3
9.4
9.5
9.6
. 913
. 916
. 919
. 921
. 923
. 925
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. B2
. B2
. B2
. B3
. B5
Draft
02
LIST OF TABLES
Victor Saouma
Draft
LIST OF TABLES
03
NOTATION
A
c
E
h
I
J
L
Q
t
T
u, v, w
U0
U
U0
U
W
M
P
U
W
SCALARS
Area
Specic heat
Elastic Modulus
Film coecient for convection heat transfer
Moment of inertia
St Venants torsional constant
Length
Rate of internal heat generation per unit volume
Time
Temperature
Translational displacements along the x, y, and z directions
Strain energy density
Strain energy
Complementary strain energy density
Complementary strain energy
Work
Potential energy
Coecient of thermal expansion
Shear modulus
Poissons ratio
mass density
Rotational displacement
Virtual moment
Virtual force
Virtual rotation
Virtual displacement
Virtual curvature
Virtual internal strain energy
Virtual external work
TENSORS order 1
a
b
c
F
p
N
N
p
P
q
R
R
t
Victor Saouma
Draft
04
t
u
(x)
u
u
ue
u
u
V
LIST OF TABLES
Specied tractions along t
Displacement vector
Specied displacements along u
Displacement vector
Nodal element displacements
Nodal displacements in a continuous system
Structure nodal displacements
Shear forces in a plate Vx , Vy
Element nodal displacements
Virtual strain vector
Virtual stress vector
Stress vector
Initial stress vector
TENSORS order 2
d
I
k
kg
K
Kg
lij
M
N
0
k
Constitutive matrix
CONTOURS, SURFACES, VOLUMES
t
u
T
c
q
Surface
Boundary along
Boundary along
Boundary along
Boundary along
Boundary along
Volume of body
which
which
which
which
which
FUNCTIONS, OPERATORS
Victor Saouma
Draft
LIST OF TABLES
B
L
.u = div .u
v 2
. . .
05
T
Divergence, (gradient operator) on scalar
x
y
z
u
y
ux
z
Divergence, (gradient operator) on vector x + y + u
z
Euclidian norm.
Innity norm.
PROGRAM ARRAYS
ID
LM
Victor Saouma
Draft
06
Victor Saouma
LIST OF TABLES
Draft
LIST OF TABLES
1
2
3
4
5
6
7
8
9
10
12
13
14
15
16
Jan. 16
18
23
25
30
Feb. 1
6
8
13
15
20
22
27
29
Mar. 5
7
12
14
19
21
Apr. 2
4
9
11
16
18
23
25
30
May 2
Victor Saouma
07
6.1-6.14
Ch. 16
9.1-9.6
11.1-11.5
Ch. 14.
Ch. 17
Ch. 13
Draft
08
Victor Saouma
LIST OF TABLES
Draft
Chapter 1
PREREQUISITE
In the rst course (CVEN4525/5525, Finite Element I; Framed Structures), the direct stiness
method was rst introduced (element stiness matrix, transformation matrix, global stiness
matrix assembly, internal force recovery). As an interlude we then covered the exibility method
and stiness-exibility relationship. The second part of the course began with a thorough coverage of variational method (duality between extremization of a functional and a corresponding
euler dierential equation) followed by a rigorous introduction/derivation of the various energy
methods.
1
1.1
Variational Formulations
1.2
1.2.1
The displacement at any point inside an element can be written in terms of the shape
functions N and the nodal displacements {}
3
= N{}
(1.1)
= [B]{}
(1.2)
Axial Members
u = (1
x
L)
N
x
L
u1
u2
{}
(1.3-a)
Draft
12
PREREQUISITE
div + b = 0
t
t = 0 t
def
U0 =
0
Natural B.C.
Essential B.C.
Du = 0
u = 0 u
def
Gauss
T d
uT bd t uT
td = 0
Wi We = 0
Principle of Stationary
Potential Energy
= 0
def
= U We
= U0 d ( ui bi d + t ui ti d)
Principle of Complementary
Stationary Potential Energy
= 0
def
= Wi +
We
= U0 d + u ui ti d
Castiglianos
First Theorem
Castiglianos
Second Theorem
Wi
k
=P
k
Wi
k
=
Pk
Rayleigh-Ritz
n
cji ji + j0
uj
cji
Principle of Complementary
Virtual Work
i ti d = 0
ij
ij d u u
Wi We = 0
ij,j = 0
ti = 0 t
Gauss
ij (ui,j + uj,i ) = 0
= 0 u
ui u
U0 =
1
2
i=1
=0
i = 1, 2, , n;
j = 1, 2, 3
Victor Saouma
Draft
13
Principle of Stationary
Complementary Energy
Principle of Complementary
Virtual Work
Principle of Stationary
Potential Energy
Victor Saouma
Draft
14
PREREQUISITE
U
P2
dx
0 AE
1
2
Axial
Shear
Virtual Displacement U
General
Linear
L
L
du d(u)
dx
E
Adx
dx dx
0
0
d
...
M2
dx
0 EIz
1
2
Torsion
L
0
M dx
0
T2
dx
GJ
L
0
w(x)v(x)dx
0L
dx d(x )
GJ
dx
dx dx
L
0
T dx
0
M
M
dx
EIz
T
T
dx
GJ
Virtual Force W
i Pi i
M
L i i i
w(x)v(x)dx
Virtual Displacement W
i Pi i
M
L i i i
w(x)v(x)dx
...
M dx
P
M
V xy dx
d2 v d2 (v)
EIz 2
dx
2
dx dx
T dx
0
W
1
i 2 Pi i
i 12 Mi i
...
0L
1
2
Flexure
V xy dx
Virtual Force U
General
Linear
L
L
P
dx
P
dx
AE
0
0
Table 1.1: Summary of Variational Terms Associated with One Dimensional Elements
1
1
du
L
L
=
= x =
dx
N1
N2
x
[B]
1.2.1.2
u1
u2
{}
(1.3-b)
Flexural Members
Using the shape functions for exural elements previously derived in Eq. 6.41 we have:
d2 v
y
=y 2
dx
M
=
EI
d2 v
= y 2
dx
6
2
2
6
L2 (2 1) L (3 2) L2 (2 + 1) L (3 1)
= y
(1.4-a)
(1.4-b)
2 N1
x2
2 N2
x2
[B]
Victor Saouma
2 N3
x2
2 N4
x2
(1.4-c)
v1
1
(1.4-d)
v2
2
{}
Draft
1.2.2
15
(1.5-a)
= [B]{}
(1.5-b)
(1.5-c)
1.2.3
x
E
due to load
ix
initial strain
(1.6)
thus:
x = Ex Eix
(1.7)
{} = [D]{} [D]{i }
(1.8)
or in matrix form:
where [D] is the constitutive matrix which relates stress and strain.
Load: q(x) along it.
Let us apply the principle of virtual work.
= W
{}dvol
U =
vol
{} = [D]{} [D]{i }
(1.9-b)
{} = [B]{}
(1.9-d)
{} = [B]{}
(1.9-e)
= [B]
(1.9-a)
(1.9-c)
(1.9-f)
(1.9-g)
Combining Eqns. 1.9-a, 1.9-b, 1.9-c, 1.9-f, and 1.9-e, the internal virtual strain energy is
given by:
T
[B]T [D]{i }dvol
[B] [D][B]{} dvol
U =
vol
vol
[B]T [D][B] dvol{}
[B]T [D]{i }dvol
(1.10-a)
=
vol
vol
the virtual external work in turn is given by:
W =
Victor Saouma
{F}
+ q(x)dx
(1.11)
l
Virt. Nodal Displ. Nodal Force
Finite Elements II; Solid Mechanics
Draft
16
PREREQUISITE
{} = [N]{}
(1.12)
l
W = {F} + [N]T q(x) dx
(1.13)
Equating the internal strain energy Eqn. 1.10-a with the external work Eqn. 1.13, we obtain:
T
[B] [D][B] dvol{}
[B]T [D]{i }dvol =
vol
vol
[K]
init
{F
}
l
[N]T q(x) dx
(1.14-a)
{F} +
0
{Fe }
where:
The element stiness matrix:
[K] =
[B]T [D][B]dvol
(1.15)
(1.16)
vol
Element initial force vector:
{Fi }
=
vol
[N] q(x) dx
(1.17)
{} = [D] [N]{}
(1.18)
1.2.3.1
Stress Recovery
1.3
1.3.1
{} = [D]{}
{} = [B]{}
4 The physical interpretation of the global stiness matrix K is analogous to the one of the
element, i.e. If all degrees of freedom are restrained, then Kij corresponds to the force along
global degree of freedom i due to a unit positive displacement (or rotation) along global degree
of freedom j.
5
For instance, with reference to Fig. 1.3, we have three global degrees of freedom, 1 , 2 , and
Victor Saouma
Draft
17
1A
0
0
1
11
00
00
11
P/2
EI
w
2 1
0
A
B
w
C
111
000
000
111
1
K211
0
K22
C
00
L/2 0000
L/211
0000
1111
1111
00
11
A
1
0
0
1
1
0
11A
00
0
1
00
111 11
000
0
1
00
11
K31
1
0
0
1
1111
0000
0 K11
1
A
11
00
00
11
C
11
00
00
11
11
00
K23
0
1
K32
0
1
0
111K121
000
0
1
01
1
B
0
1
0
1
0
1
A
1
0
0
1
111
000
C
000
111
K 33
1
0
0
1
1111
0000
0 K13
1
1
C
111
000
000
111
(1.19)
and the rst column corresponds to all the internal forces in the unrestrained d.o.f. when a
unit displacement along global d.o.f. 1 is applied.
1.3.1.1
6 The structural stiness matrix is assembled only for those active degrees of freedom which
are active (i.e unrestrained). It is the one which will be inverted (or rather decomposed) to
determine the nodal displacements.
1.3.1.2
7 The augmented stiness matrix is expressed in terms of all the dof. However, it is partitioned into two groups with respective subscript u where the displacements are known (zero
otherwise), and t where the loads are known.
Ktt Ktu
Pt
t ?
=
Ru ?
Kut Kuu
u
(1.20)
Draft
18
8
PREREQUISITE
(1.21)
(1.22)
10 For internal book-keeping purpose, since we are assembling the augmented stiness matrix,
we proceed in two stages:
(e)
(1.23)
(e)
at the element level where pint is the six by six array of internal forces, k(e) the element
stiness matrix in local coordinate systems, and (e) is the vector of nodal displacements in local
coordinate system. Note that this last array is obtained by rst identifying the displacements
in global coordinate system, and then premultiplying it by the transformation matrix to obtain
the displacements in local coordinate system.
1.3.2
1.3.2.1
Logistics
Boundary Conditions, [ID] Matrix
12 Because of the boundary condition restraints, the total structure number of active degrees of
freedom (i.e unconstrained) will be less than the number of nodes times the number of degrees
of freedom per node.
13 To obtain the global degree of freedom for a given node, we need to dene an [ID] matrix
such that:
ID has dimensions l k where l is the number of degree of freedom per node, and k is the
number of nodes).
ID matrix is initialized to zero.
1. At input stage read ID(idof,inod) of each degree of freedom for every node such that:
0
if unrestrained d.o.f.
ID(idof, inod) =
(1.24)
1
if restrained d.o.f.
Victor Saouma
Draft
19
2. After all the node boundary conditions have been read, assign incrementally equation
numbers
(a) First to all the active dof
(b) Then to the other (restrained) dof, starting with -1.
Note that the total number of dof will be equal to the number of nodes times the number
of dof/node NEQA.
3. The largest positive global degree of freedom number will be equal to NEQ (Number Of
Equations), which is the size of the square matrix which will have to be decomposed.
14
[ID]T
000
110
000
100
0 1 0 1
ID = 0 1 0 0
0 0 0 0
1 1
ID = 2 2
3 4
Victor Saouma
would have:
5 3
6 8
7 9
(1.25)
(1.26)
Draft
110
1.3.2.2
PREREQUISITE
LM Vector
15 The LM vector of a given element gives the global degree of freedom of each one of the element
degree of freedoms. For the structure shown in Fig. 1.4, we would have:
LM = 1 2 4 5 6 7 element 1 (2 3)
LM = 5 6 7 1 2 3
element 2 (3 1)
LM = 1 2 3 3 8 9
element 3 (1 4)
1.3.2.3
16 As for the element stiness matrix, the global stiness matrix [K] is such that Kij is the
force in degree of freedom i caused by a unit displacement at degree of freedom j.
Whereas this relationship was derived from basic analysis at the element level, at the structure level, this term can be obtained from the contribution of the element stiness matrices
[K(e) ] (written in global coordinate system).
17
For each Kij term, we shall add the contribution of all the elements which can connect degree
of freedom i to degree of freedom j, assuming that those forces are readily available from the
individual element stiness matrices written in global coordinate system.
18
19
There are usually more than one element connected to a dof. Hence, individual element
stiness matrices terms must be added up.
20
21 Because each term of all the element stiness matrices must nd its position inside the global
stiness matrix [K], it is found computationally most eective to initialize the global stiness
matrix [KS ](N EQAN EQA ) to zero, and then loop through all the elements, and then through
(e)
The assignment of the element stiness matrix term Kij (note that e, i, and j are all known
since we are looping on e from 1 to the number of elements, and then looping on the rows and
S is made through
columns of the element stiness matrix i, j) into the global stiness matrix Kkl
the LM vector (note that it is k and l which must be determined).
22
Since the global stiness matrix is also symmetric, we would need to only assemble one side
of it, usually the upper one.
23
24
Contrarily to the previous method, we will assemble the full augmented stiness matrix.
Example 1-1: Assembly of the Global Stiness Matrix
Victor Saouma
Draft
111
50kN
4 kN/m
2
8m
00
11
11
00
00
11
00
11
3m
1
000
111
111
000
000
111
000
111
0001
111
7.416 m
8m
1 0 1
[ID] = 1 0 1
1 0 1
We then modify it to generate the global degrees
4
[ID] = 5
6
(1.27)
1 7
2 8
3 9
(1.28)
Finally the LM vectors for the two elements (assuming that Element 1 is dened from node 1
to node 2, and element 2 from node 2 to node 3):
2
3
4 5 6 1
(1.29)
[LM ] =
1
2
3 7 8 9
Let us simplify the operation by designating the element stiness matrices in global coordinates
as follows:
K (1) =
4 A11
5
A21
6
A31
1
A41
2 A51
3 A61
5
A12
A22
A32
A42
A52
A62
6
A13
A23
A33
A43
A53
A63
1
A14
A24
A34
A44
A54
A64
2
A15
A25
A35
A45
A55
A65
A16
A26
A36
A46
A56
A66
1
1 B11
2
B21
3
B31
7
B41
8 B51
9 B61
2
B12
B22
B32
B42
B52
B62
3
B13
B23
B33
B43
B53
B63
7
B14
B24
B34
B44
B54
B64
8
B15
B25
B35
B45
B55
B65
B16
B26
B36
B46
B56
K (2) =
(1.30-a)
(1.30-b)
B66
We note that for each element we have shown the corresponding LM vector.
Victor Saouma
Draft
112
PREREQUISITE
K=
A41
A51
A61
A11
A21
A31
0
0
0
A42
A52
A62
A12
A22
A32
0
0
0
A43
A53
A63
A13
A23
A33
0
0
0
B14
B24
B34
0
0
0
B44
B54
B64
B15
B25
B35
0
0
0
B45
B55
B65
B16
B26
B36
0
0
0
B46
B56
B66
(1.31)
We note that some terms are equal to zero because we do not have a connection between
the corresponding degrees of freedom (i.e. node 1 is not connected to node 3).
1.3.2.4
25
Algorithm
Draft
113
7. For each element, transform its nodal displacement from global to local coordinates
{} = [(e) ]{}, and determine the internal forces [p] = [k]{}.
26
Some of the prescribed steps are further discussed in the next sections.
Example 1-2: Direct Stiness Analysis of a Truss
Using the direct stiness method, analyze the truss shown in Fig. 1.6.
4
5
1
6
8
50k
12
100k
16
16
Figure 1.6:
Solution:
1. Determine the structure ID matrix
Node #
1
2
3
4
5
ID =
Bound.
X
0
0
1
0
0
Cond.
Y
1
0
1
0
0
0 0 1 0 0
1 0 1 0 0
N ode 1 2 3 4
1 2 2 4
1 3 3 5
(1.32-a)
5
6
7
(1.32-b)
Victor Saouma
LM 1 = 1 1 4 5
(1.33-a)
LM 2 = 1 1 2 3
(1.33-b)
LM 3 = 2 3 4 5
(1.33-c)
Draft
114
PREREQUISITE
LM 4 = 4 5 6 7
(1.33-d)
LM 5 = 2 3 4 5
(1.33-e)
LM 6 = 2 3 6 7
(1.33-f)
LM 7 = 2 3 2 3
(1.33-g)
LM 8 = 2 3 6 7
(1.33-h)
3. Determine the element stiness matrix of each element in the global coordinate system noting
that for a 2D truss element we have
[K (e) ] = [(e) ]T [k(e) ][(e) ]
2
c
cs c2 cs
EA
s2 cs s2
cs
=
2
c cs c2
cs
L
s2
cs s2 cs
x2 x1
L ;
where c = cos =
Element 1 L = 20 , c =
120
20
= 0.8, s =
Element 2 L = 16 , c = 1 , s = 0 ,
EA
L
1
1
18, 750
1
0
2 18, 750
3
0
Element 3 L = 12 , c = 0 , s = 1 ,
[K3 ] =
2 0
3
0
4 0
5 0
Element 4 L = 16 , c = 1 , s = 0 ,
[K4 ] =
Victor Saouma
(30,000
4
9, 600
7, 200
9, 600
7, 200
ksi)(10 in2 )
20
7, 200
5, 400
7, 200
5, 400
(1.35)
[K2 ] =
EA
L
= 0.6,
1
7200
5, 400
7, 200
5, 400
1
1
9, 600
1
7,
200
4 9, 600
5 7, 200
[K1 ] =
(1.34-b)
Y2 Y1
L
s = sin =
160
20
(1.34-a)
EA
L
1
2
0 18, 750
0
0
0
18, 750
0
0
(1.36)
3
0
25, 000
0
25, 000
EA
L
0
0
0
0
4
5
0
0
0 25, 000
0
0
0 25, 000
(1.37)
4 18, 750
5
0
6 18, 750
7
0
5
6
0 18, 750
0
0
0 18, 750
0
0
0
0
0
0
(1.38)
Draft
Element 5 L = 20 , c =
115
160
20
[K5 ] =
= 0.8 , s = 0.6 ,
2 9, 600
3
7, 200
4 9, 600
5
7, 200
[K6 ] =
2 9, 600
3
7, 200
6 9, 600
7 7, 200
Element 7 L = 16 , c = 1 , s = 0 ,
[K7 ] =
EA
L
2
3
6
7
EA
L
4
9, 600
7, 200
9, 600
7, 200
7, 200
5, 400
7, 200
5, 400
(1.39)
3
7, 200
5, 400
7, 200
5, 400
6
9, 600
7, 200
9, 600
7, 200
7, 200
5, 400
7, 200
5, 400
(1.40)
2
18, 750
3
0
2 18, 750
3
0
Element 8 L = 12 , c = 0 , s = 1 ,
[K8 ] =
EA
L
3
7, 200
5, 400
7, 200
5, 400
EA
L
3
2
0 18, 750
0
0
0 18, 750
0
0
0
0
0
0
(1.41)
2
3
0
0
0
25, 000
0
0
0 25, 000
6
7
0
0
0 25, 000
0
0
0 25, 000
(1.42)
4. Assemble the global stiness matrix in k/ft Note that we are not assembling the augmented
stiness matrix, but rather its submatrix [Ktt ].
8
>
>
>
>
>
>
>
<
>
>
>
>
>
>
>
:
0
0
100k
0
0
50k
0
9 2
>
>
>
6
>
>
>
>
6
= 6
6
=6
6
>
>
6
>
>
>
4
>
>
;
18, 750
9, 600 + (2) 18, 750
0
7, 200
5, 400 + 25, 000
9, 600
0
0
18, 750 + (2)9, 600
SYMMETRIC
7, 200
0
25, 000
7, 200 7, 200
25, 000 + 5, 400(2)
0
9, 600
7, 200
18, 750
0
18, 750 + 9, 600
0
7, 200
5, 400
0
0
7, 200
25, 000 + 5, 400
(1.43)
2, 362.5
1, 562.5
0
800
600
0
0
0
3, 925.0
600
0
0
800
600
0
2,
533.33
0
2,
083.33
600
450
100
=
3, 162.5
0
1, 562.5
0
0
SYMMETRIC
2,
983.33
0
0
2, 362.5
600
50
2, 533.33
0
Pt
Ktt
(1.44)
Victor Saouma
38
>
>
>
7
>
>
7
>
>
7
<
7
7
7
>
>
7
>
>
5>
>
>
:
U1
U2
V3
U4
V5
U6
V7
ut
u1
u2
v3
u4
v5
u6
v7
9
>
>
>
>
>
>
>
=
>
>
>
>
>
>
>
;
Draft
116
PREREQUISITE
0.0223 in
U1
U
0.00433 in
V3 0.116 in
=
U4
0.0102 in
V
0.0856 in
0.00919 in
U6
V7
0.0174 in
(1.45)
7. Solve for member internal forces (in this case axial forces) in local coordinate systems
V1
c
s c s
u1
=
(1.46)
u2
U
c s
c
s
V2
Element 1
p1
p2
1
0.0223
1 ft
0.8
0.6 0.8 0.6
0
= (15, 000 k/ft)(
)
(1.47-a)
0.8 0.6
0.8
0.6
0.0102
12 in
0.0856
52.1 k
Compression
(1.47-b)
=
52.1 k
Element 2
p1
p2
2
= 18, 750 k/ft(
=
43.2 k
43.2 k
1 ft
)
12 in
0.0233
1 0 1 0
0
1 0
1 0
0.00433
0.116
Tension
(1.48-a)
(1.48-b)
Element 3
p1
p2
3
= 25, 000 k/ft(
=
Victor Saouma
63.3 k
63.3 k
1 ft
)
12 in
0.00433
0
1 0 1
0.116
0 1 0
1
0.0102
0.0856
Tension
(1.49-a)
(1.49-b)
Draft
117
Element 4
0.0102
1 ft
1 0 1 0
0.0856
= 18, 750 k/ft(
)
(1.50-a)
1 0
1 0
0.00919
12 in
0.0174
1.58 k
Tension
(1.50-b)
=
1.58 k
4
p1
p2
Element 5
p1
p2
0.0102
1 ft
0.8
0.6
0.8 0.6
0.0856
= 15, 000 k/ft(
)
(1.51-a)
0.8 0.6 0.8
0.6
0
12 in
0
54.0 k
Compression
(1.51-b)
=
54.0 k
5
Element 6
p1
p2
6
= 15, 000 k/ft(
=
60.43 k
60.43 k
1 ft
)
12 in
0.00433
0.8
0.6 0.8 0.6
0.116
(1.52-a)
0.8 0.6
0.8
0.6
0.00919
0.0174
Tension
(1.52-b)
Element 7
p1
p2
7
= 18, 750 k/ft(
=
6.72 k
6.72 k
1 ft
)
12 in
0.00433
1 0 1 0
0.116
1 0
1 0
0
Compression
(1.53-a)
(1.53-b)
Element 8
p1
p2
8
= 25, 000 k/ft(
=
Victor Saouma
36.3 k
36.3 k
1 ft
)
12 in
0
1 0 1
0 1 0
1
Compression
0
0
0.00919
0.0174
(1.54-a)
(1.54-b)
Draft
118
PREREQUISITE
1 3
9 14
2
5
8
13
19
25
4
7
12
18
24
MAXA =
[K] =
6
11
17
23
10 16 22
15 21
20
1
2
4
6
10
15
20
(1.55)
4 kN/m
2
8m
0
1
1
0
0
1
0
1
0
1
3m
1
111
000
000
111
000
111
0001
111
000
111
7.416 m
8m
Draft
119
-4 -5 -6 1 2 3;
1 2 3 -7 -8 -9];
% Assemble augmented stiffness matrix
Kaug=zeros(9); for elem=1:2
for r=1:6
lr=abs(LM(elem,r));
for c=1:6
lc=abs(LM(elem,c));
Kaug(lr,lc)=Kaug(lr,lc)+K(r,c,elem);
end
end
end
% Extract the structures Stiffness Matrix
Ktt=Kaug(1:3,1:3);
% Determine the fixed end actions in local coordinate system
fea(1:6,1)=0; fea(1:6,2)=[0,8*4/2,4*8^2/12,0,8*4/2,-4*8^2/12];
% Determine the fixed end actions in global coordinate system
FEA(1:6,1)=Gamma(:,:,1)*fea(1:6,1); FEA(1:6,2)=Gamma(:,:,2)*fea(1:6,2);
% FEA_Rest for all the restrained nodes
FEA_Rest=[0,0,0,FEA(4:6,2)];
% Assemble the load vector for the unrestrained node
P(1)=50*3/8;P(2)=-50*7.416/8-FEA(2,2);P(3)=-FEA(3,2);
% Solve for the Displacements in meters and radians
Displacements=inv(Ktt)*P
% Extract Kut
Kut=Kaug(4:9,1:3);
% Compute the Reactions and do not forget to add fixed end actions
Reactions=Kut*Displacements+FEA_Rest
% Solve for the internal forces and do not forget to include the fixed end actions
dis_global(:,:,1)=[0,0,0,Displacements(1:3)];
dis_global(:,:,2)=[Displacements(1:3),0,0,0]; for elem=1:2
dis_local=Gamma(:,:,elem)*dis_global(:,:,elem);
int_forces=k(:,:,elem)*dis_local+fea(1:6,elem)
end
function [k,K,Gamma]=stiff(EE,II,A,i,j)
% Determine the length
L=sqrt((j(2)-i(2))^2+(j(1)-i(1))^2);
% Compute the angle theta (careful with vertical members!)
if(j(1)-i(1))~=0
alpha=atan((j(2)-i(2))/(j(1)-i(1)));
else
alpha=-pi/2;
end
% form rotation matrix Gamma
Gamma=[ cos(alpha) sin(alpha) 0 0
0
0; -sin(alpha)
cos(alpha) 0 0
0
0; 0
0
1 0
0; 0
0
0 cos(alpha) sin(alpha) 0; 0
0
Victor Saouma
Draft
120
PREREQUISITE
0 -sin(alpha) cos(alpha) 0; 0
0
0 0
1];
% form element stiffness matrix in local coordinate system
EI=EE*II; EA=EE*A; k=[EA/L,
0,
0, -EA/L,
0,
12*EI/L^3, 6*EI/L^2,
0, -12*EI/L^3, 6*EI/L^2;
0,
6*EI/L^2,
4*EI/L,
0, -6*EI/L^2,
2*EI/L;
-EA/L,
0,
0, EA/L,
0,
0;
0, -12*EI/L^3, -6*EI/L^2,
0, 12*EI/L^3, -6*EI/L^2;
0,
6*EI/L^2,
2*EI/L,
0, -6*EI/L^2,
4*EI/L];
% Element stiffness matrix in global coordinate system
K=Gamma*k*Gamma;
0,
0;
int_forces =
int_forces =
141.8530
2.6758
13.3742
-141.8530
-2.6758
8.0315
149.2473
9.3266
-8.0315
-149.2473
22.6734
-45.3557
We note that the internal forces are consistent with the reactions (specially for the second node
of element 2), and amongst themselves, i.e. the moment at node 2 is the same for both elements
(8.0315).
Victor Saouma
Draft
121
M1 6EI/L2
V2 12EI/L3
M2 6EI/L2
1
6EI/L2
4EI/L
6EI/L2
2EI/L
[ke ] =
v2
12EI/L3
6EI/L2
12EI/L3
6EI/L2
6EI/L2
2EI/L
6EI/L2
4EI/L
(1.56)
This matrix is singular, it has a rank 2 and order 4 (as it embodies also 2 rigid body motions).
27
1
0
0
1
0
1
0
1
-2
-4
1
1
0
0
1
0
1
-3
1
0
0
1
0
1
1
0
0
1
0
1
-4
-3
1
0
0
1
0
1
0
1
-4
1
0
0
1
0
1
1
12EI/L3
6EI/L2
12EI/L3
6EI/L2
2
3
6EI/L2
2EI/L 7
7
6EI/L2 5
4EI/L
3
12EI/L3
6EI/L2
12EI/L3
6EI/L2
4
3
6EI/L2
2EI/L 7
7
6EI/L2 5
4EI/L
k=
3
2
3 12EI/L3
2
46
6 6EI/L
1 4 12EI/L3
2
6EI/L2
12EI/L2
6 6EI/L2
=6
4 12EI/L3
R3 ? >
>
>
>
:
;
6EI/L2
R4 ?
6EI/L2
4EI/L
6EI/L2
2EI/L
12EI/L3
6EI/L2
12EI/L3
6EI/L2
38
6EI/L2 >
1 ?
>
< ?
2EI/L 7
2
7
6EI/L2 5 >
>
: 3
4EI/L
4
9
>
>
=
>
>
;
4. Ktt is inverted (or actually decomposed) and stored in the same global matrix
2
L3 /3EI
6
6
6 L2 /2EI
6
4 12EI/L3
6EI/L2
Victor Saouma
L2 /2EI
12EI/L3
6EI/L2
L/EI
6EI/L2
2EI/L
6EI/L2
2EI/L
12EI/L3
6EI/L2
6EI/L2
4EI/L
3
7
7
7
7
5
Draft
122
PREREQUISITE
8
9
>
P >
>
>
>
>
<
=
L3 /3EI
6
6
0
L2 /2EI
6
6
>
>
3
0 >
>
>
>
:
; 4 12EI/L2
0
6EI/L
8
9
>
>
P
>
>
>
>
<
=
0
0
0
>
>
>
:
L2 /2EI
12EI/L3
6EI/L2
L/EI
6EI/L2
2EI/L
6EI/L
2EI/L
6EI/L2
4EI/L
12EI/L
6EI/L2
9
8
P >
>
7>
>
<
7
0 =
7
7> 0 >
>
5>
;
:
0
>
>
>
;
6. Now we solve for the displacement t = K1
tt Pt , and overwrite Pt by t
8
>
1
>
>
<
2
0
0
>
>
>
:
9
>
>
>
=
6
6
6 L2 /2EI
6
4 12EI/L3
>
>
>
;
L3 /3EI
2
8 6EI/L
>
P L3 /3EI
>
>
>
<
2
>
>
>
>
:
P L /2EI
0
0
L2 /2EI
12EI/L3
L/EI
6EI/L2
2EI/L
12EI/L3
6EI/L2
6EI/L2
4EI/L
6EI/L
2EI/L
9
6EI/L2
38
9
>
> P >
>
7>
>
7< 0 =
7
7> 0 >
>
5>
>
: 0 >
;
>
>
>
>
=
>
>
>
>
;
9
>
>
>
=
>
>
>
;
L3 /3EI
L2 /2EI
6
6
6
6 12EI/L3
4
6EI/L
8
P L3 /3EI
>
>
>
2
<
L2 /2EI
L/EI
12EI/L3
6EI/L2
6EI/L2
12EI/L3
2
2EI/L
6EI/L
1
6EI/L2
4EI/L
6EI/L2
2EI/L
4
12EI/L3
6EI/L2
12EI/L3
6EI/L2
9
>
>
>
=
38
6EI/L2 >
>
P L3 /3EI
>
>
>
2EI/L 7
<
7
P L2 /2EI
7
6EI/L2 7 >
5>
>
0
>
>
:
4EI/L
0
P L /2EI
P
>
>
>
>
>
>
:
;
PL
k=
2
3
6EI/L2
2EI/L 7
7
6EI/L2 5
4EI/L
K=
2
2EI/L
4EI/L
6EI/L2
6EI/L2
3
6EI/L2
6EI/L2
12EI/L3
12EI/L3
4
3
6EI/L2
2 7
6EI/L 7
12EI/L3 5
12EI/L3
Victor Saouma
4EI/L
6 2EI/L
6
=
> 4 6EI/L2
R3 ? >
>
>
;
6EI/L2
R4 ?
2EI/L
4EI/L
6EI/L2
6EI/L2
6EI/L2
6EI/L2
12EI/L3
12EI/L3
38
6EI/L2
1 ?
>
>
< ?
6EI/L2 7
2
7
12EI/L3 5 >
3
>
:
3
12EI/L
4
9
>
>
=
>
>
;
9
>
>
>
>
>
=
>
>
>
>
>
;
Draft
123
6
6 L/6EI
6
6
4 6EI/L2
6EI/L
L/6EI
6EI/L2
6EI/L2
L/3EI
6EI/L2
6EI/L2
6EI/L2
12EI/L3
12EI/L3
6EI/L2 7
7
12EI/L3 5
12EI/L3
L3 /3EI
7
7
8
>
>
<
0
M
>
>
: 0
0
8
>
>
<
0
M
>
>
: 0
0
9
>
>
=
6
6
L/6EI
6
6
>
>
4
;
6EI/L2
6EI/L2
9
>
>
=
L/6EI
6EI/L2
6EI/L2
L/3EI
6EI/L2
6EI/L2
6EI/L2
6EI/L2
12EI/L3
12EI/L3
12EI/L3
12EI/L3
L3 /3EI
9
8
0 >
>
7>
>
<
7
M =
7
7> 0 >
>
5>
;
:
0
>
>
;
6. Solve for the displacements, t = K1
tt Pt , and overwrite Pt by t
8
>
1
>
>
<
>
>
>
:
9
>
>
>
=
2
>
0 >
>
;
0
L3 /3EI
6
6 L/6EI
6
6
4 6EI/L2
8 6EI/L
>
M L/6EI
>
>
>
<
2
>
>
>
>
:
L/6EI
6EI/L2
L/3EI
6EI/L2
6EI/L
2
6EI/L
9
M L/3EI
0
0
>
>
>
>
=
12EI/L3
12EI/L3
8
9
0 >
7>
>
>
<
=
7
M
6EI/L2 7
7
> 0 >
>
12EI/L3 5 >
:
;
6EI/L2
12EI/L3
>
>
>
>
;
R1
R2
9
>
>
>
=
>
>
>
;
6
6
6
6
4
L3 /3EI
L/6EI
L/6EI
L/3EI
6EI/L2
6EI/L2
6EI/L2
6EI/L2
6EI/L2
6EI/L2
12EI/L3
12EI/L3
6EI/L2
6EI/L2
12EI/L3
12EI/L3
8
M L/6EI
>
>
>
>
< M L/3EI
9
>
>
>
>
=
>
>
>
>
:
>
>
>
>
;
M/L
M/L
38
>
> M L/6EI
7>
>
7 < M L/3EI
7
7>
5>
0
>
>
:
0
k=
2
2
2 12EI/L3
2
36
6 6EI/L 3
4
4 12EI/L
1
6EI/L2
3
6EI/L2
4EI/L
6EI/L2
2EI/L
4
12EI/L3
6EI/L2
12EI/L3
6EI/L2
1
3
6EI/L2
2EI/L 7
7
6EI/L2 5
4EI/L
3
2EI/L
6EI/L2
4EI/L
6EI/L2
4
3
6EI/L2
12EI/L3 7
7
6EI/L2 5
3
12EI/L
K=
Victor Saouma
1
2
1
4EI/L
2
26
6 6EI/L
4
3 2EI/L
4 6EI/L2
2
6EI/L2
12EI/L3
6EI/L2
12EI/L3
9
>
>
>
>
=
>
>
>
>
;
Draft
124
PREREQUISITE
6EI/L2
12EI/L3
6EI/L2
12EI/L3
4EI/L
6 6EI/L2
R2 ?
=6
R ? > 4 2EI/L
>
>
: 3 >
;
6EI/L2
R4 ?
38
6EI/L2
1 ?
>
>
<
12EI/L3 7
2
7
2 5
6EI/L
>
>
: 3
4
12EI/L3
2EI/L
6EI/L2
4EI/L
6EI/L2
9
>
>
=
>
>
;
4. Ktt is inverted (or actually decomposed) and stored in the same global matrix
2
6EI/L2
L/4EI
6EI/L2
2EI/L
6EI/L2
12EI/L3
6EI/L2
12EI/L3
6EI/L2
4EI/L
6EI/L2
6
6 6EI/L2
6
4 2EI/L
3
7
12EI/L3 7
7
6EI/L2 5
3
12EI/L
8
9
M >
>
>
>
<
=
Pt Ktu u
2
6
6 6EI/L
>
4 2EI/L
>
;
2
6EI/L
9
0
0
0
>
>
:
8
>
M + 6EI0 /L2 >
>
>
>
>
<
=
0
0
0
>
>
>
:
6EI/L2
2EI/L
6EI/L2
12EI/L3
6EI/L2
12EI/L3
6EI/L2
4EI/L
6EI/L2
12EI/L3
6EI/L2
12EI/L3
L/4EI
38
>
>
7>
<
7
7
5>
>
>
:
0
>
>
>
: 00 >
;
L/4EI
6EI/L2
2EI/L
6EI/L2
12EI/L3
6EI/L2
12EI/L3
6EI/L2
4EI/L
6EI/L2
6
6 6EI/L2
6
4 2EI/L
9
>
>
>
=
>
>
>
;
>
>
>
;
6. Now we solve for the displacements, t = K1
tt Pt , and overwrite Pt by t
8
9
1 >
>
>
>
<
=
1
0
0
8
>
M L/4EI + 30 /2L
>
>
<
9
>
>
>
=
>
>
>
:
>
>
>
;
0
0
0
38
>
> M + 6EI0 /L2
7>
<
3 7
12EI/L 7
0
6EI/L2 5 >
>
0
>
:
3
0
6EI/L2
12EI/L
9
>
>
>
=
>
>
>
;
9
>
>
>
=
>
>
>
:
>
>
>
;
R2
R3
R4
Victor Saouma
6
6
6
6
6
4
L/4EI
6EI/L2
2EI/L
6EI/L2
6EI/L2
12EI/L3
6EI/L2
12EI/L3 7
2EI/L
6EI/L2
4EI/L
6EI/L2
6EI/L2
12EI/L3
6EI/L2
12EI/L3
8
>
M L/4EI + 30 /2L
>
>
>
<
9
>
>
>
>
=
>
>
>
>
:
8
>
>
>
>
>
<
>
>
>
>
;
0
0
M L/4EI + 30 /2L
3M/2L 3EI0 /L3
>
M/2 3EI0 /L2
>
>
>
>
: 3M/2L + 3EI0 /L3
7
7
7
7
5
9
>
>
>
>
>
=
>
>
>
>
>
;
Draft
Chapter 2
INTRODUCTION
2.1
Introduction
Whereas the rst course focused exclusively on one dimensional rod elements, this course
will greatly expand our horizons by considering introducing a methodology to solve partial
dierential equations, with special emphasis on solid mechanics.
1
The eld of mechanics, can itself be subdivided into four major disciplines:
Theoretical which deals with the fundamental laws and principles of mechanics. A Continuum
Mechanics course is a must.
Applied mechanics seeks to apply the theoretical knowledge to engineering applications. Elasticity or Fracture Mechanics solutions are such an example of applied mechanics.
Computational mechanics combines mathematical models with numerical methods to solve
problems on a digital computer.
Experimental mechanics is conducted exclusively in a laboratory through physical measurements.
3 Any problem characterized by a PDE can be analyzed by the nite element method. The
process of nite element analysis is illustrated by Fig. 2.12.
2.2
4 Since the nite element method is a numerical scheme to solve (partial) dierential equations,
let us closely examine some of the major PDE which can be solved.
The general form of a partial dierential equation is (note that we adopt the tensor notation
where u,x = du ):
dx
5
Draft
22
INTRODUCTION
Physical Problem
Change
Physical Problem
Mathematical Model
Improve
Mathematical Model
Refine mesh,
solution parameters
Interpretation of Results
Refine Analysis
Design Improvements
Structural Optimization
Victor Saouma
Draft
23
u,xx + u,yy =
Note:
1. The Laplace equation (2 u = 0) is a special case of Poissons equation, where the right
hand side is zero. Laplace associated with the equilibrium problem.
2. The Heat equation (Hu,t K 2 2 u = 0) corresponds to exponential decay. Also
referred to as Diusion equation (uid ow through porous media, irrotational uid
ow, Saint Venant torsion of elastic bars...).
3. The Wave equation (u,tt K 2 2 u = 0) corresponds to harmonic motion
9 This classication is established when solving Eq. 2.1 using the method of characteristics
because it is then observed that the character of the solutions is distinctly dierent for the
three categories of equations.
h
L
q(y+dy)
h2
dy
h1
111
000
000
111
000
111
000
111
Impermeable wall
000
111
000
111
000
111
000
111
000
111
000
111
000
111
000
111
q(x)
q(x+dx)
Seepage
q(y)
y Permeable soil
dx
0000000000000000000000000
1111111111111111111111111
1111111111111111111111111
0000000000000000000000000
Impermeable rock
Draft
24
INTRODUCTION
equation governing the steady-state seepage of water through the soil and give the corresponding
boundary conditions.
Solution:
1. For a typical element of widths dx and dy (and unit thickness), the total ow into the
element must be equal to the total ow out of the element. Hence we have
qy
qx
dx + qx qx +
dy = 0
(2.2-a)
qy qy +
y
x
qy
qx
dydx
dxdy = 0
(2.2-b)
y
x
2. Using Darcys law, the ow is given in terms of the total potential (water elevation),
qx = k
qy = k
(2.3)
where we assume a uniform permeability k. Substituting from Eq. 2.3 into Eq. 2.2-b, we
obtain the Laplace equation
k
2 2
+ 2
x2
y
=0
(2.4)
3. It may be noted that this same equation is also obtained in heat transfer analysis and in
the solution of electrostatic potential and other eld problems.
4. The boundary conditions are no-ow boundary conditions in the soil at x = and
x = +,
= 0;
=0
(2.5)
x x=
x x=+
at the rock-soil interface,
=0
y y=0
(2.6)
=0
y h x+ h ,y=L
(2.7)
10
(2.8)
The dierential equation in Eq. 2.4 and the boundary conditions in Eq. 2.5 to Eq. 2.8
dene the seepage ow steady-state response.
Victor Saouma
Draft
111
000
000
111
000
111
1.0
dz=1.0
z
q (t)
t>0
111
000
000
111
000
111
1
0
0
1
0
1
0
1
0q(x)
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
11111111
00000000
00000000
11111111
00000000
11111111
00000000
11111111
00000000
11111111
00000000
11111111
00000000
11111111
00
11
00
11
00
11
00
11
00
11
00
11
00
11
00
11
00
11
00
11
00
11
00
11
00
11
q(x+dx)
dy
=1
.0
y
111
000
000
111
000
000111
111
000
111
000
111
25
dx
2
= c
2
x
t
(2.9)
where is the mass density, c is the heat capacity per unit mass (amount of heat needed to raise
a unit mass by one degree), k is the conductivity, and the temperature is the state variable.
State also the boundary and initial conditions.
Solution:
1. We consider a typical dierential element of the slab. The element equilibrium requirement is that the net heat ow input to the element must equal the rate of heat stored in
the element. Thus
q
dx A = Ac
(2.10)
qA q +
x
t
2. The constitutive relation is given by Fouriers law of heat conduction
q = k
(2.11)
Victor Saouma
= c
2
x
t
(2.12)
Draft
26
INTRODUCTION
1
0
0
1
x
u(x,t)
0
1
0 11
1
00 00
11 11
00 00
11 00
11
dx
F(t)
F0
F0
A + d d x x+dx
dx
(0,t)
q0 (t)
k
(2.13-a)
|(L,t) = i
(2.13-b)
|(x,0) = i
(2.14)
where E is the Youngs modulus, the mass density, and A the cross sectional area, c corresponds to the velocity of sound in the elastic medium, and u is the state variable. Also state
the boundary and initial conditions.
Solution:
1. The element force equilibrium requirements of a typical dierential element are, using
dAlemberts principle 1 which states that with inertia forces included, a system is in
1
Thinking in terms of equilibrium of forces, it is more appealing to invoke DAlemberts principle of dynamic equilibrium rather than Newtons second law of motion. This principle is based on the notion of a
ctitious inertia force, equal to the product of mass times acceleration and acting in a direction opposite to
the acceleration.
Victor Saouma
Draft
27
2u
dx A = A 2 dx
x
t
u
x
(2.16)
(2.17)
(2.18)
4. The element interconnectivity requirements are satised because we assume that the displacement u is continuous, and no additional compatibility conditions are applicable.
5. The boundary conditions are for t > 0
u|(0,t) = 0
u
= F0
EA
x
(2.19-a)
(2.19-b)
(L,t)
(2.19-c)
and the initial conditions are
u(x,0) = 0
u
= 0
t
(2.20-a)
(2.20-b)
(x,0)
With the above two sets of conditions, the formulation of the problem is complete, and
Eq. 2.18 can be solved for the displacement response of the rod.
10
Observations
Victor Saouma
Draft
28
INTRODUCTION
1. Comparing the governing dierential equations given in the three examples we note
that in contrast to the elliptic equation, the parabolic and hyperbolic equations
Eq. 2.12 and Eq. 2.18 include time as an independent variable and thus dene
propagation problems. These problems are also called initial value problems
because the solution depends on the initial conditions.
2. We may note that analogous to the derivation of the dynamic equilibrium equations
of lumped-parameter models, the governing dierential equations of propagation
problems are obtained from the steady-state equations by including the resistance
to change (inertia) of the dierential elements.
3. The parabolic and hyperbolic dierential equations Eq. 2.12 and Eq. 2.18 would
become elliptic equations if the time-dependent terms were neglected. In this way
the initial value problems would be converted to boundary value problems with
steady-state solutions.
4. The solution of a boundary value problem depends on the data at all points of the
boundary. However, in propagation problem, the solution at an interior point may
depend only on the boundary conditions of part of the boundary and the initial
conditions over part of the interior domain.
2.3
12 In the following sections, we shall illustrate, through a number of dierent physical problems,
the solution of discrete-systems. This preliminary exposure is a snap-shot of the type of
problems which can be addressed by the nite element method.
2.3.1
13 In this rst class of problem, we shall focus on equilibrium problems, that is problems
where the solution does not change with time.
Victor Saouma
Draft
29
Elastic Spring
14 We seek to determine the displacements of each of the rigid carts connected by linear elastic
springs, as well as the force in each spring, Fig. 2.5. Conceptually, this can be viewed as a one
dimensional truss, with the spring stiness k corresponding to AE/L
u 1, R
11
00
00
11
11
00
k1
1111111
0000000
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
1
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
k4
u 2, R
u 3, R
0000000
k1111111
3
0000000
1111111
k2
1111111
0000000
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
2
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
k5
1111111
0000000
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
3
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
Figure 2.5: System of Rigid Carts Interconnected by Linear Springs, (Bathe 1996)
1. Considering the rst two springs, we can write the following equations of equilibrium
(1)
k1 u1 = F1
(2.21-a)
(2)
F1
(2)
F2
(2.21-b)
k2 (u1 u2 ) =
k2 (u2 u1 ) =
2. By extension, we can write the equation of equilibrium for each spring in terms of the
displacement state variables
(2)
1 1
u1
F1
(2.22-a)
=
k
2
(2)
u2
1 1
F2
(4)
1 1
u1
F1
(2.22-b)
= k4
(4)
u3
1 1
F3
(3)
1 1
u1
F1
(2.22-c)
= k3
(3)
u2
1 1
F2
(5)
1 1
u2
F2
(2.22-d)
= k5
(5)
u3
1 1
F3
3. The global equations of equilibrium being
(1)
(2)
(3)
(4)
= R1
F1 + F1 + F1 + F1
(2)
(3)
(5)
F2 + F2 + F2
= R2
(4)
(5)
F3 + F3
= R3
(2.23)
4. We next substitute the equilibrium equations of each element into the three global equations of equilibrium
(k2 + k3 )
k4
(k1 + k2 + k3 + k4 )
u1 R1
(k2 + k3 + k5 )
k5
u
R
(k2 + k3 )
=
(2.24)
K=
2 2
k4
k5
(k4 + k5 )
u3
R3
Victor Saouma
Draft
210
INTRODUCTION
5. The state variables (nodal displacements) ui can be solved through the inversion of K.
6. The forces in each spring can be determined from equilibrium of each individual spring.
2.3.1.2
Heat Transfer
3
4
111
000
000
111
000
111
000
111
000
111
000
111
000
111
000
111
000
111
000000000
111111111
0
1
0
1
000000000111111111111111111
111111111
000000000000000000
000000000
111111111
0
1
0
1
000000000
111111111
000000000000000000
111111111111111111
000000000
111111111
0
1
0
1
000000000
111111111
000000000000000000
111111111111111111
000000000
111111111
0
1
0
1
000000000
111111111
000000000000000000
111111111111111111
2k
3k 00
000000000
111111111
00
11
0
1
0
1
000000000
111111111
000000000000000000
111111111111111111
11
000000000
111111111
00
11
0
1
0
1
000000000
111111111
000000000000000000
111111111111111111
000000000
111111111
0
1
0
1
000000000000000000
111111111111111111
000000000
111111111
000000000
111111111
0
1
0
1
000000000
111111111
000000000000000000
111111111111111111
000000000
111111111
0
1
0
1
000000000
111111111
000000000000000000
111111111111111111
000000000
111111111
0
1
0
1
000000000
111111111
000000000000000000
111111111111111111
000000000
111111111
0
1
0
1
000000000
111111111
000000000000000000
111111111111111111
000000000
111111111
A 111111111
B
C
D
0
1
0
1
000000000000000000
111111111111111111
000000000
000000000
111111111
0
1
0
1
000000000000000000
111111111111111111
000000000
111111111
000000000
111111111
0
1
0
1
000000000000000000
111111111111111111
000000000
111111111
3k
000000000
111111111
2k
000000000
111111111
0
1
000000000000000000
111111111111111111
0
1
000000000
111111111
0
1
000000000000000000
111111111111111111
0
1
000000000
111111111
000000000
111111111
0
1
000000000000000000
0
1
111111111111111111
Conductance
Figure 2.6: Slab Subjected to Temperature Boundary Conditions, (Bathe 1996)
(2.25)
where q is the total heat ow, A the area, the temperature drop in the direction of
heat ow, and k the conductance or surface coecient.
2. The state variables are 1 , 2 and 3 .
3. We then apply the equilibrium equation for each interface
q1 = 3k(0 1 ) Convection A B
q2 = 2k(1 2 ) Conduction B
q = 3k(2 3 ) Conduction C
3
q4 = 2k(3 4 ) Convection C D
(2.26)
(2.27)
Draft
211
thus
3k(0 1 ) = 2k(1 2 )
(2.28-a)
2k(1 2 ) = 3k(2 3 )
(2.28-b)
3k(2 3 ) = 2k(3 4 )
(2.28-c)
5k 2k
0
1 3k0
2k 5k 3k
0
=
2
0
3k 5k
3
2k4
2.3.1.3
(2.29)
Hydraulic Network
In this example, we seek to establish the equations that govern the steady-state pressure
and ow distribution in the hydraulic network shown in Fig. 2.7. We assume the uid to be
incompressible and the pressure drop in a branch to be proportional to the ow q through that
branch, (Darcys law)
d4 p
p = Rq
(2.30)
q=
128L
16
where d is the pipe diameter, the uid kinematic viscosity, L the pipe length, R is the branch
eective resistance coecient.
E
q
R=10b
R=
5b
R=2b
5
R=
R=3b q
1. We consider each branch of the pipe to constitute an element, and we select as state
variables pA , pC , and pD the pressures at A, C, and D respectively.
2. Thus from equilibrium of each element
q1
q3
q2 |AC
q |
2 DB
q4
Victor Saouma
=
=
=
=
=
pA
10b
pC pD
2b
pA pC
5b
pD
5b
pC pD
3b
(2.31)
Draft
212
INTRODUCTION
Q = q1 + q2
q2 |AC = q3 + q4
q2 |DB = q3 + q4
(2.32)
Substituting, we get
3 2
0
pA 10bQ
6 31 25
p
=
0
C
pD
0
1 1
1
(2.33)
9
6
0
pA 30bQ
6 31 25
p
=
0
C
pD
0
0 25 31
(2.34)
or
4. The pressures are determined through the inversion of the matrix, and the ow can in
turn be determined from Eq. 2.31
2.3.1.4
DC Network
Considering the network shown in Fig. 2.8, determine the steady state current distribution
in the network.
17
I3
I3
I3
6R
2R
I - I3
1
I - I3
2
4R
2
1
I
2R
I2
B
2E
1. The state variables will be the currents I1 , I2 , and I3 . Ohms law will be applied
E = RI
(2.35)
= 2E
2RI1 + 2R(I1 I3 )
(2.36)
= E
4R(I2 I3 )
Victor Saouma
Draft
213
4R
0
2R I1 2E
0
I
=
E
4R 4R
2
I3
0
2R 4R 12R
2.3.2
(2.37)
Each of the preceding problems can be discretized by an equivalent truss framework, and the
direct stiness method applied to assemble the global stiness matrix, Fig. 2.9.
u1 , R1
01
1010
1010
u2 , R2
u3 , R3
3K
2K
3K
2K
1
0
0
1
0
1
0
1
0
1
0110
100
11
1010
1010
2
5b
110
20
1010
10 b
3
2b
3b
u2 , R2
u1 , R1
1
0
0
31
0
1
0
1
5
5b
1
0
0
1
0
1
0
1
0
1
0
1
0
1
0
1
u3 , R3
u2 , R2
01
1010
10
1
2R
1
0
0
21
0
1
0
1
0
11
0
1
0
1
0
1
3
4R
2
2R
u1 , R1
1
0
0
1
0
1
0
31
0
1
0
1
0
1
0
1
0
1
4
6R
1
0
0
1
0
1
0
1
u3 , R3
Victor Saouma
Draft
214
INTRODUCTION
Spring 1:
Spring 2: 2K
Spring 3: 3K
1 1
1 1
1 1
1 1
Spring 4:
3Ku1 = F
1
(1)
u1
F1
=
(2)
u2
F2
(3)
F2
u2
=
(3)
u3
F3
(4)
2Ku3 = F3
(2.38)
(2)
F1
2K
2K
0
u
1
(2)
(3)
2K 2K + 3K 3K
=
u
F +F
2 (3) 2
2
u3
0
3K
3K
F3
(2.39)
(1)
(2)
(2)
(1)
= R1
F1 + F1
= R1 F1
= 3K0 3Ku1
F1
(2)
(3)
R
=
0
F2 + F2
= R2
2
(3)
(4)
(3)
(4)
= R3 F3
= 2K4 2Ku3
F
F3 + F3
= R3
3
(2.40)
5K 2K
0
u1 R1 3K0
2K 5K 3K
u
R
0
=
=
=
2 2
u3
R3
2K4
0
3K 5K
(2.41)
Spring 2:
1
5b
Spring 3:
1
2b
Spring 4:
1
3b
1 1
1 1
1 1
1 1
1 1
1 1
1
10b
u1
u2
u2
u3
u2
u3
1
5b u3
Spring 5:
(1)
= F
1
(2)
F1
=
(2)
F2
(3)
F3
=
(3)
F4
(4)
F3
=
(4)
F4
(2.42)
(5)
= F4
1
5b
1
5b
Victor Saouma
1
5b
1
1
1
5b + 2b + 3b
1
f rac12b 3b
(2)
F1
0
u
1
(2)
(3)
(4)
1
1
2b
3b
u
=
F3 + F3 + F3
2
1
1
(3)
(4)
u3
F4 + F4
2b + 3b
(2.43)
Draft
215
(1)
(2)
(2)
(1)
1
= R1
F1 + F1
= R1 F1
= Q 10b
u1
F1
(2)
(3)
(4)
R2 = 0
F3 + F3 + F3
= R2
(3)
(4)
(5)
(3)
(4)
(5)
1
= R3 F4
= 0 5b
u3
F4 + F4
F4 + F4 + F4
= R3
(2.44)
4. Rearrange state variables and multiply by 30
9
6
0
u1 30bQ
6 31 25
u
=
0
2
u3
0
0 25 31
(2.45)
(1)
Spring 2: 2R
Spring 3: 4R
1 1
1 1
1 1
1 1
Spring 4:
2Ru1 = F
1
(2)
u1
F1
=
(2)
u2
F3
(3)
F2
u2
=
(3)
u3
F3
(4)
6Ru3 = F3
(2.46)
(2)
F1
2R
0
2R
u1
(3)
0
u
=
4R
4R
F2
2
(2)
(3)
u3
2R 4R 2R + 4R
F3 + F3
(2.47)
(2)
(2)
(1)
+ F1
= R1
= R1 F1
= 2E 2Ru1
F1
(3)
(3)
F2
= R2
F2
= R2
= E
(2)
(3)
(4)
(2)
(3)
(4)
F3 + F3 + F3
= R3
= R3 F3
= 6Ru3
F3 + F3
(2.48)
(1)
F1
4R
0
2R u1 2E 3K0
0
u2
0
=
E
=
=
4R 4R
u3
2K4
0
2R 4R 12R
2.3.2.1
2.3.3
(2.49)
Propagation Problems
18 The main characteristic of a propagation dynamic problem is that the response of the system
changes with time. In principle, we may apply the same analysis procedure as in steady-state
problems, however in this case the state variables and the the equilibrium relations depend on
time.
Victor Saouma
Draft
216
2.3.3.1
INTRODUCTION
Let us reconsider the system of rigid carts previously analysed.We assume the springs to be
massless, but the carts have masses mi .
1. Invoking dAlemberts principle, the interelement
(1)
(2)
(3)
(4)
F1 + F1 + F1 + F1
(2)
(3)
(5)
F2 + F2 + F2
(4)
(5)
F3 + F3
where
u
i =
d2 ui
dt2
for
i = 1, 2, 3
(2.50)
(2.51)
(2.52)
0
m1 0
M = 0 m2 0
0
0 m3
(2.53)
where
Fig. 2.10 illustrates an idealization of the heat ow inside an electron tube. A lament is
heated to a temperature f by an electric current; heat is convected from the lament to the
surrounding gas and is radiated to the wall which also receives heat by convection of the gas.
The wall itself convects heat to the surrounding atmosphere, which is at temperature a . It is
required to formulate the system-governing heat ow equilibrium equations.
1. The state variables are the temperature of the gas, 1 , and the temperature of the wall
2 .
2. The governing equations for heat transfer are
Gas
C1 d1 = k1 (f 1 ) k2 (1 2 )
dt
!
"
d
2
4
4
= kr (f ) (2 ) + k2 (1 2 ) k3 (2 a ) Wall
C2
dt
(2.54)
Note that the rst equation is Newtons law of cooling, and the second is the StefanBoltzman law of radiation.
3. The two equations can be written in matrix form as
C + K = Q
C1 0
C =
0 C2
Victor Saouma
(2.55-a)
(2.55-b)
Draft
217
Wall
Co
n
ve
c ti
on
Gas 1
k2
Atmosphere
Gas
1
0
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
n
tio
ec
nv
Co
1
0
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
Filament f
Radiation kr
Wall 2
Convection
k3
Atmosphere a
Filament
K =
(2.55-c)
(2.55-d)
(2.55-e)
4. We note that because of the radiation boundary conditions, the heat ow equilibrium
equations are nonlinear in .
2.3.4
2.3.4.1
19
Eigenvalue Problems
Free Vibration
(2.56)
where the motion is referred to being free, since there are no applied loads.
20
(2.57)
the natural frequencies and the corresponding mode shapes can be determined from
the generalized eigenvalue problem
(2.58)
2 M = K
or
Since is nontrivial
Victor Saouma
(K 2 M) = 0
(2.59)
|K 2 M| = 0
(2.60)
Draft
218
INTRODUCTION
or with 2 =
|K M| = 0
(2.61)
which is the characteristic equation, and is called the eigenvalue of the equation, and the
structure is said to respond in the mode corresponding to a particular frequency.
For computational purposes, if we premultiply each side of the preceding equation by M1 ,
then
21
(M1 K I) = 0
(2.62)
It should be noted that a zero eigenvalue is obtained for each possible rigid body motion of a
structure that is not completely supported.
22 Depending on which mass matrix is adopted, slightly dierent results are obtained.
In
general, lumped mass matrices approach the exact value (consistent mass matrix) from below.
23 The mode shapes are shapes , anfd give a relative magnitude of the DOF, not the
absolute values (since they are the solution to a set of homogeneous equations).
24 The natural frequencies and mode shapes provide a fundamental description of the vibrating
structure.
2.3.4.2
Column Buckling
25 Next we consider the two rigid bar problem illustrated in Fig. 2.11. For this problem, we
must consider equilibrium of the deformed state (rather than undeformed), because of the large
deformation in presence:
P
P
C
L
B
k
Ak
0000000
1111111
0000 C
1111
1111111
0000000
0000
1111
1
0000000
1111111
0000
1111
0000000
1111111
0000
1111
0000000
1111111
0000
1111
0000000
1111111
0000
1111
0000000
1111111
0000
1111
0000000
1111111
0000
1111
0000000
1111111
0000
1111
0000000
1111111
0000
1111
2
0000000
1111111
0000
1111
0000000
1111111
0000
1111
0000000
1111111
0000
1111
0000000
1111111
0000
1111
0000000
1111111
0000
1111
0000000
1111111
0000
1111
0000000
1111111
0000
1111
0000000
1111111
0000
1111
0000000
1111111
0000
1111
0000000
1111111
0000
1111
0000000
1111111
0000
1111
B
0000000
1111111
0000
1111
L
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
1
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
1
0
0
1
0
1
0
1
0
1
0
1
0
1
0
0000000
1111111
C 1
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
L
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
2
0P
1
0000000
1111111
0
1
0000000
1111111
0
1
0000000
1111111
0
1
0000000
1111111
0
1
0000000
1111111
0
1
0000000
1111111
0
1
0000000
1111111
0
1
0000000
1111111
0
1
0000000
1111111
B
0000B
1111
0000
1111
0000
1111
0000k( 1111
k(2 - )1 1111
0000
2
0000
1111
0000
1111
0000
1111
0000
1111
P
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
A 1111
k1
0000
1111
0
1
0
1
0
1
0
1
0
1
0
1
P
0
1
0
1
0
1
0
P1
0
1
0
1
1
0
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
)1
1
0
0
1
0
1
0
1
0
1
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
1.618
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
1
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0 P
1
1
0
0
1
0
1
0
1
0
1
0
1
0
1
000
111
000
111
000
111
000
111
000
111
000
111
000
111
.618
000
111
000
111
000
111
000
111
000
111
000
111
000
111
000
111
000
111
000
111
000
111
000
111
000
111
000
111
000
111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
1
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
(2.63-a)
(2.63-b)
Draft
26
MA = P L1 + k(2 1 ) k1 = 0
PL
1
21 2 =
k
1,2 =
27
(2.63-d)
(2.64)
(2.65-a)
(2.65-b)
3 5
3 94
=
2
2
(2.65-d)
(2.65-e)
k
3 5k
= 0.382
2 L
L
k
3+ 5k
= 2.618
2
L
L
Pcr1 =
Pcr2 =
28
(2.63-c)
(2.65-c)
3 + 1 = 0
2
219
(2.66)
(2.67)
We now seek to determine the deformed shape for each of the rst critical loads
3 5
1 =
2
$
#
3 5
1
0
1
2 2
=
3 5
0
2
1
1 2
$
#
1+ 5
1
0
1
2
=
1+ 5
0
2
1 1 2
0
1.618 1
1
=
2
0
1 0.618
(2.68-a)
(2.68-b)
(2.68-c)
(2.68-d)
we now arbitrarily set 1 = 1, then 2 = 1/0.618 = 1.618, thus the rst eigenmode is
Victor Saouma
1
2
=
1
1.618
(2.69)
Draft
220
29
INTRODUCTION
2 =
1
1
2 3+2 5
=
2
1
1 3+2 5
#
$
1 5
1
1
2
=
2
1 1 12 5
0.618
1
1
=
2
1
1.618
$
3+ 5
2
0
0
0
0
0
0
(2.70-a)
(2.70-b)
(2.70-c)
(2.70-d)
we now arbitrarily set 1 = 1, then 2 = 1/1.618 = 0.618, thus the second eigenmode is
2.4
1
2
=
1
0.618
(2.71)
Solution Strategies
Within the context computer based simulation of a partial dierential equation, we have
three alternatives for a numerical solution
30
Strong Form
Weak Form
FE
Variational Form
Discretization
Mathematical
Model
Discrete
Model
Solution
Physical
System
Idealization
FD
Discrete
Solution
Solution error
Discretization + solution error
Modeling + discretization+ solution error
Figure 2.12: Idealization, Discretization and Solution of a Numerical Simulation, (Felippa 2000)
31 Two of the three alternative forms for discretization have already been introduced in Finite
Element I and are:
Strong Form/Dierential Form, SF/DF which are the Euler Equations corresponding to
the variational formulation. The strong form is represented by a system of ordinary or
partial dierential equations in space and/or time complemented by appropriate boundary
conditions. The strong form is numerically solved by the nite dierence FDM method.
Victor Saouma
Draft
221
Note that:
1. The variational method provides a relatively easy way to construct the system of governing equations. This ease stems from the fact that in the variational formulation scalar
quantities (energies, potentials and so on) are considered rather than vector quantities
(forces, displacements, etc.),
2. Not all problems can be solved by the VF, whereas most can be solved by the WF.
3. In complex problems, a combination of techniques is used
Fluid-structure interaction: FEM for the structure, FDM for the uid.
Structural dynamics: FEM in space, and FDM in time.
2.4.1
33
Euler Equation
Given a functional
(u) =
F (x, u, u )dx
(2.72)
= 0 in a < x < b
u
dx u
(2.73)
This dierential equation is called the Euler equation associated with and is a necessary
condition for u(x) to extremize .
34 Generalizing for a functional which depends on two eld variables, u = u(x, y) and v =
v(x, y)
(2.74)
=
F (x, y, u, v, u,x , u,y , v,x , v,y , , v,yy )dxdy
F
x v,x
F
y v,y
2 F
x2 v,xx
F
2
xy v,xy
2 F
y 2 v,yy
= 0
= 0
(2.75)
Victor Saouma
Draft
222
INTRODUCTION
(2.76)
Solution:
1. From Eq. 2.75
&
%
= 12 (EIw )w pw
F
w
'
( = p
F
= (EIw )
w,xx
F
2
x2
(EIw ) = p
(2.77)
(2.78-a)
(2.78-b)
(2.78-c)
(2.78-d)
for all x
or
or
Natural
EIw = M = 0
(EIw ) = V = 0
at x = 0 and x = L
3. The variational form is thus given by
L
"
!
(EIw ) + p wdx = 0
0
Euler Eq.
4. The weak form will be given by
L
0
Victor Saouma
"
(EIw ) + p r(x)dx = 0
Euler Eq.
!
(2.79)
(2.80)
Draft
2.5
35
223
Computer Programs
36
NASTRAN Originally developed by NASA, primarily used by NASA and its contractors.
Original version public domain, later version (McNeal Schwindler) commercial.
SAP Originally developed by Ed. Wilson at Berkeley. First version public domain, later ones
available only for PC (SAP90). NONSAP is the nonlinear version of SAP
ANSYS Commercial program mostly used in the Nuclear industry.
ABAQUS Probably the most modern and widely used commercial nite element. (Available
in Bechtel Lab).
ALGOR Very widely used PC/based code, mechanical/civil applications.
FEAP Public domain code listed in Zienkiewicz et al., often used in academia as a base for
extension.
MERLIN our very own!.
2.6
Examples of applications
Victor Saouma
Draft
224
Victor Saouma
INTRODUCTION
Draft
Chapter 3
FUNDAMENTAL RELATIONS
3.1
Introduction
Whereas, ideally, a course in Continuum Mechanics should be taken prior to a nite element
course, this is seldom the case. Most often, students have had a graduate course in Advanced
Strength of Materials, which can only provide limited background to a solid nite element
course.
1
2 Accordingly, this preliminary chapter (mostly extracted from the authors lecture notes in
Continuum Mechanics) will partially remedy for occasional deciencies and will be often referenced.
3 It should be noted that most, but not all, of the material in this chapter will be subsequently
referenced.
3.1.1
4
Notation
(3.1)
Indicial Notation
5 Whereas the Engineering notation may be the simplest and most intuitive one, it often leads
to long and repetitive equations. Alternatively, the tensor will lead to shorter and more compact
forms.
Draft
32
FUNDAMENTAL RELATIONS
6 While working on general relativity, Einstein got tired of writing the summation symbol with
)
its range of summation below and above (such as n=3
i=1 aij bi ) and noted that most of the time
the upper range (n) was equal to the dimension of space (3 for us, 4 for him), and that when
the summation involved a product of two terms, the summation was over a repeated index
) (i
in our example). Hence, he decided that there is no need to include the summation sign
if
there was repeated indices (i), and thus any repeated index is a dummy index and is summed
over the range 1 to 3. An index that is not repeated is called free index and assumed to take
a value from 1 to 3.
7
a1
a
i = 1, 3
(3.2)
ai = ai = a1 a2 a3 =
2
a3
assuming that n = 3.
2. A repeated index will take on all the values of its range, and the resulting tensors summed.
For instance:
a1i xi = a11 x1 + a12 x2 + a13 x3
(3.3)
3. Tensors order:
First order tensor (such as force) has only one free index:
ai = ai = a1 a2 a3
(3.4)
(3.5)
xi
= ,i
vi
xi
= vi,i
vi
xj
= vi,j
Ti,j
xk
= Ti,j,k
(3.6)
Usefulness of the indicial notation is in presenting systems of equations in compact form. For
instance:
Victor Saouma
Draft
3.1 Introduction
33
Similarly:
3.1.1.2
A11
A12
21
A22
=
=
=
=
B11 C11 D11 + B11 C12 D12 + B12 C11 D21 + B12 C12 D22
B11 C11 D11 + B11 C12 D12 + B12 C11 D21 + B12 C12 D22
B21 C11 D11 + B21 C12 D12 + B22 C11 D21 + B22 C12 D22
B21 C21 D11 + B21 C22 D12 + B22 C21 D21 + B22 C22 D22
(3.8)
Tensor Notation
10 In tensor notation the indices are not shown. While cartesian indicial equations apply only to
Cartesian coordinates, expressions in tensor notation are independent of the coordinate system
and apply to other coordinate systems such as cylindrical, curvilinear, etc.
11 In tensor notation, we indicate tensors of order one or greater in boldface letters. It is usually
recommended to use lower case letters for tensors of order one, and upper case letters for tensors
of order 2 and above.
12 We distinguish between tensor notation and matrix notation by using dots and colons between
terms, as in a.b ai bi , (the . indicates a contraction of a pair of repeated indices which appear
in the same order), and A : B Aij Bij . or ij = Cijkl kl is equivalent to = C : .
3.1.1.3
Voigt Notation
In nite element, symmetric second-order tensors are often written as column matrices. This
conversion, and the one of other higher-order tensors into column matrices are called Voigt
notation.
13
11 12
21 22
11 12
21 22
14
3.1.2
11 1
22
=
= {}
2
12
3
11 1
22
=
= {}
2
212
3
(3.9-a)
(3.9-b)
Tensors
We generalize the concept of a vector by introducing the tensor (T), which essentially exists
to operate on vectors v to produce other vectors (or on tensors to produce other tensors!). We
designate this operation by Tv or simply Tv.
15
16
We hereby adopt the tensor (or dyadic) notation for tensors as linear vector operators
u = Tv or ui = Tij vj
u = vS where S = T
Victor Saouma
(3.10-a)
T
(3.10-b)
Draft
34
FUNDAMENTAL RELATIONS
17 Whereas a tensor is essentially an operator on vectors (or other tensors), it is also a physical
quantity, independent of any particular coordinate system yet specied most conveniently by
referring to an appropriate system of coordinates.
18 Tensors frequently arise as physical entities whose components are the coecients of a linear
relationship between vectors.
19 A tensor is classied by the rank or order.
A Tensor of order zero is specied in any
coordinate system by one coordinate and is a scalar. A tensor of order one has three coordinate
components in space, hence it is a vector. In general 3-D space the number of components of
a tensor is 3n where n is the order of the tensor.
20
21
22
(3.11)
(3.12)
In a contraction, we make two of the indices equal (or in a mixed tensor, we make a subscript
equal to the superscript), thus producing a tensor of order two less than that to which it is
applied. For example:
2 0
Tij Tii ;
2 0
ui vj ui vi ;
mr
r
(3.13)
4 2
Amr
..sn A..sm = B.s ;
3 1
Eij ak Eij ai = cj ;
mp
Ampr
Ampr
qs
qr = Bq ; 5 3
23
The outer product of two tensors (not necessarily of the same type or order) is a set of
tensor components obtained simply by writing the components of the two tensors beside each
other with no repeated indices (that is by multiplying each component of one of the tensors by
every component of the other). For example
24
ai bj
i
Bj.k
= Tij
= C
(3.14-a)
i.k
.j
(3.14-b)
vi Tjk = Sijk
(3.14-c)
The inner product is obtained from an outer product by contraction involving one index
from each tensor. For example
25
ai bi
(3.15-a)
ai Ejk ai Eik = fk
(3.15-b)
ai bj
A
Victor Saouma
Bi.k
Bi.k
=D
(3.15-c)
(3.15-d)
Draft
26
35
(3.16)
3.2
3.2.1
3.2.1.1
27
body forces: act on the elements of volume or mass inside the body, e.g. gravity, electromagnetic elds. dF = bdV ol.
surface forces: are contact forces acting on the free body at its bounding surface. Those will
be dened in terms of force per unit area.
28 The surface force per unit area acting on an element dS is called traction or more accurately
stress vector.
tdS = i
tx dS + j
ty dS + k
tz dS
(3.17)
Most authors limit the term traction to an actual bounding surface of a body, and use the term
stress vector for an imaginary interior surface (even though the state of stress is a tensor and
not a vector).
The traction vectors on planes perpendicular to the coordinate axes are particularly useful.
When the vectors acting at a point on three such mutually perpendicular planes is given, the
stress vector at that point on any other arbitrarily inclined plane can be expressed in terms
of the rst set of tractions.
29
30 A stress, Fig 3.1 is a second order cartesian tensor, ij where the 1st subscript (i) refers to
the direction of outward facing normal, and the second one (j) to the direction of component
force.
11 12 13
t1
t
(3.18)
= ij = 21 22 23 =
2
31 32 33
t3
In fact the nine rectangular components ij of turn out to be the three sets of three vector
components (11 , 12 , 13 ), (21 , 22 , 23 ), (31 , 32 , 33 ) which correspond to the three tractions
t1 , t2 and t3 which are acting on the x1 , x2 and x3 faces (It should be noted that those tractions
are not necesarily normal to the faces, and they can be decomposed into a normal and shear
traction if need be). In other words, stresses are nothing else than the components of tractions
(stress vector), Fig. 3.1.
31
32 The state of stress at a point cannot be specied entirely by a single vector with three
components; it requires the second-order tensor with all nine components.
Victor Saouma
Draft
36
FUNDAMENTAL RELATIONS
X3
X3
V3
33
32
t3
23
31
t2
13
V2
X2
22
V1
X1
21
X2
12
t1
11
33 Let us now consider the problem of determining the traction acting on the surface of an
oblique plane (characterized by its normal n) in terms of the known tractions normal to the
three principal axis, t1 , t2 and t3 . This will be done through the so-called Cauchys tetrahedron
shown in Fig. 3.2, and will be obtained without any assumption of equilibrium and it will apply
X2
-t
1
-t
t*n S
h N
S3
n
A
X1
V
*
-t 2 S2
*
X3
This equation is a vector equation, and the corresponding algebraic equations for the com-
Victor Saouma
Draft
37
ponents of tn are
tn1
tn2
tn3
Indicial notation tni
Tensor notation
tn
=
=
=
=
=
11 n1 + 21 n2 + 31 n3
12 n1 + 22 n2 + 32 n3
13 n1 + 23 n2 + 33 n3
ji nj
n = T n
(3.19)
We have thus established that the nine components ij are components of the second order
tensor, Cauchys stress tensor.
35
7 5 0
t1
t
= 5 3 1 =
2
t3
0
1 2
(3.20)
We seek to determine the traction (or stress vector) t passing through P and parallel to the
plane ABC where A(4, 0, 0), B(0, 2, 0) and C(0, 0, 6).
Solution:
The vector normal to the plane can be found by taking the cross products of vectors AB and
AC:
e 1 e2 e3
(3.21-a)
N = ABAC = 4 2 0
4 0 6
(3.21-b)
= 12e1 + 24e2 + 8e3
The unit normal of N is given by
n=
6
2
3
e1 + e2 + e3
7
7
7
7 5 0
37 76 27 5 3 1 = 97
0
1 2
and thus t = 97 e1 + 57 e2 +
3.2.2
36
(3.22)
5
7
10
7
(3.23)
10
7 e3
Kinematic
Draft
38
FUNDAMENTAL RELATIONS
Spatial Coordinates (x1 , x2 , x3 ) dened in the deformed coordinate system. This gigives rise
to the Eulerian coordinate system
1. If both the displacement gradients and the displacements themselves are small, then
ui
ui
Xj xj and thus the Eulerian and the Lagrangian innitesimal strain tensors may be
.
taken as equal Eij = Eij
2. If the displacement gradients are small, but the displacements are large, we should use
the Eulerian innitesimal representation.
3. If the displacements gradients are large, but the displacements are small, use the Lagrangian nite strain representation.
4. If both the displacement gradients and the displacements are large, use the Eulerian nite
strain representation.
37
or:
38
uj
ui
uk uk
+
+
Xj
Xi Xi Xj
or E =
1
(uX + X u + X uuX )
2
J+Jc
J c J
#
$
u1 2
u1
1
u2 2
u3 2
+
+
+
E11 =
X1 2
X1
X1
X1
1 u1
u2
u2 u2
u3 u3
1 u1 u1
+
+
+
+
E12 =
2 X2 X1
2 X1 X2 X1 X2 X1 X2
=
(3.24)
(3.25-a)
(3.25-b)
(3.25-c)
If large deformation is accounted for (such as in buckling), the Eulerian nite strains are:
xx =
u 1
+
x 2
yy =
v 1
+
y 2
zz =
xy =
xz =
yz =
Victor Saouma
#
#
u
x
2
+
v
x
2
+
w
x
2 $
$
2
u 2
v
w 2
+
+
y
y
y
#
$
u 2
w 1
v 2
w 2
+
+
+
z
2
z
z
z
u u u v v w w
1 v
+
+
+
+
2 x y
x y
x y
x y
1 w u u u v v w w
+
+
+
+
2 x
z
x z
x z
x z
1 w v u u v v w w
+
+
+
+
2 y
z
y z
y z
y z
(3.26)
(3.27)
(3.28)
(3.29)
(3.30)
(3.31)
Draft
39
or
ij =
1
(ui,j + uj,i + uk,i uk,j )
2
(3.32)
(i = j)
(3.33)
2. If the strains are given, then these strain-displacements provide a system of (6) nonlinear
partial dierential equation in terms of the unknown displacements (3).
3. ik is the Green-Lagrange strain tensor.
4. The strains have been expressed in terms of the coordinates x, y, z in the undeformed state,
i.e. in the Lagrangian coordinate which is the preferred one in structural mechanics.
5. Alternatively we could have expressed ds 2 ds2 in terms of coordinates in the deformed
state, i.e. Eulerian coordinates x , y , z , and the resulting strains are referred to as the
Almansi strain which is the preferred one in uid mechanics.
6. In most cases the deformations are small enough for the quadratic term to be dropped,
the resulting equations reduce to
xx =
yy =
zz =
xy =
xz =
yz =
u
x
v
y
w
z
u
v
+
x y
w u
+
x
z
w v
+
y
z
(3.34)
(3.35)
(3.36)
(3.37)
(3.38)
(3.39)
or
ij =
1
(ui,k + uk,i )
2
(3.40)
In nite element, the strain is often expressed through the linear operator L
= Lu
Victor Saouma
(3.41)
Finite Elements II; Solid Mechanics
Draft
310
or
3.2.3
FUNDAMENTAL RELATIONS
xx
yy
zz
xy
xz
yz
=
y
0
0
0
0
x
ux
uy
uz
(3.42)
In this section, we will derive dierential equations governing the way stress and deformation
vary at a point and with time. They will apply to any continuous medium, and yet we will
not have enough equations to determine unknown tensor eld. For that we need to wait for
the next section where constitututive laws relating stress and strain will be introduced. Only
with constitutive equations and boundary and initial conditions would we be able to obtain a
well dened mathematical problem to solve for the stress and deformation distribution or the
displacement or velocity elds.
40
41 In this section we shall summarize the dierential equations which express locally the conservation of mass, momentum and energy.
These dierential equations of balance will be derived from integral forms of the equation of
balance expressing the fundamental postulates of continuum mechanics.
42
43 Conservation laws constitute a fundamental component of classical physics. A conservation law establishes a balance of a scalar or tensorial quantity in voulme V bounded by a surface
S. In its most general form, such a law may be expressed as
d
AdV +
dS
=
AdV
(3.43)
dt V
S
V
Rate of variation
Exchange by Diusion
Source
where A is the volumetric density of the quantity of interest (mass, linear momentum, energy,
...) a, A is the rate of volumetric density of what is provided from the outside, and is the
rate of surface density of what is lost through the surface S of V and will be a function of the
normal to the surface n.
44 Hence, we read the previous equation as: The input quantity (provided by the right hand
side) is equal to what is lost across the boundary, and to modify A which is the quantity of
interest. The dimensions of various quantities are given by
dim(a) = dim(AL3 )
(3.44-a)
dim() = dim(AL
2 1
(3.44-b)
dim(A) = dim(AL
3 1
(3.44-c)
Hence this section will apply the previous conservation law to mass, momentum, and energy.
The resulting dierential equations will provide additional interesting relation with regard to
45
Victor Saouma
Draft
311
The ux across a surface can be graphically dened through the consideration of an imaginary surface xed in space with continuous medium owing through it. If we assign a
positive side to the surface, and take n in the positive sense, then the volume of material
owing through the innitesimal surface area dS in time dt is equal to the volume of the cylinder
with base dS and slant height vdt parallel to the velocity vector v, Fig. 3.3 (If vn is negative,
48
vn dt
vdt
dS
Figure 3.3: Flux Through Area dS
then the ow is in the negative direction). Hence, we dene the volume ux as
Volume Flux =
vndS =
S
vj nj dS
(3.45)
We can generalize this denition and dene the following uxes per unit area through dS:
Mass Flux =
vndS =
vj nj dS
(3.46)
S
S
v(vn)dS =
vk vj nj dS
(3.47)
Momentum Flux =
S
S
1 2
1
v (vn)dS =
vi vi vj nj dS (3.48)
Kinetic Energy Flux =
2
S2
S
qndS =
qj nj dS
(3.49)
Heat ux =
S
S
JndS =
Jj nj dS
(3.50)
Electric ux =
S
Victor Saouma
Draft
312
3.2.3.1
FUNDAMENTAL RELATIONS
(3.51)
The vector form is independent of any choice of coordinates. This equation shows that the
divergence of the velocity vector eld equals (1/)(d/dt) and measures the rate of ow of
material away from the particle and is equal to the unit rate of decrease of density in the
neighborhood of the particle.
50 If the material is incompressible, so that the density in the neighborhood of each material
particle remains constant as it moves, then the continuity equation takes the simpler form
vi
= 0 or v = 0
xi
(3.52)
51 The momentum principle states that the time rate of change of the total momentum of a
given set of particles equals the vector sum of all external forces acting on the particles of the
set, provided Newtons Third Law applies. The continuum form of this principle is a basic
postulate of continuum mechanics.
d
tdS +
bdV =
vdV
(3.53)
dt V
S
V
Then we substitute ti = Tij nj and apply the divergence theorm (Appendix A, (Schey 1973)) to
obtain
dvi
Tij
dV
(3.54-a)
+ bi dV =
x
j
V
V dt
dvi
Tij
dV = 0
(3.54-b)
+ bi
xj
dt
V
or for an arbitrary volume
Tij
dv
dvi
or T + b =
+ bi =
xj
dt
dt
(3.55)
Victor Saouma
(3.56-a)
Draft
313
We note that these equations could also have been derived from the free body diagram
shown in Fig. 3.4 with the assumption of equilibrium (via Newtons second law) considering
an innitesimal element of dimensions dx1 dx2 dx3 . Writing the summation of forces, will
yield
53
(3.57)
Tij,j + bi = 0
where is the density, bi is the body force (including inertia).
yy+ yy d y
y
dy
yx+
yx y
d
y
xx+
xx
xy
xy+
xx d x
x
xy x
d
x
yx
yy
dx
3.2.3.3
The rst principle of thermodynamics relates the work done on a (closed) system and the
heat transfer into the system to the change in energy of the system. We shall assume that
the only energy transfers to the system are by mechanical work done on the system by surface
traction and body forces, by heat transfer through the boundary.
54
If mechanical quantities only are considered, the principle of conservation of energy for
the continuum may be derived directly from the equation of motion given by Eq. 3.55. This is
accomplished by taking the integral over the volume V of the scalar product between Eq. 3.55
and the velocity vi .
dvi
dV
(3.58)
vi Tji,j dV +
bi vi dV =
vi
dt
V
V
V
55
(3.59)
Draft
314
FUNDAMENTAL RELATIONS
this equation relates the time rate of change of total mechanical energy of the continuum on
the left side to the rate of work done by the surface and body forces on the right hand side.
56 If both mechanical and non mechanical energies are to be considered, the rst principle states
that the time rate of change of the kinetic plus the internal energy is equal to the sum of the
rate of work plus all other energies supplied to, or removed from the continuum per unit time
(heat, chemical, electromagnetic, etc.).
57 For a thermomechanical continuum, it is customary to express the time rate of change of
internal energy by the integral expression
d
dU
udV
(3.60)
=
dt
dt V
where u is the internal energy per unit mass or specic internal energy. We note that U
appears only as a dierential in the rst principle, hence if we really need to evaluate this
quantity, we need to have a reference value for which U will be null. The dimension of U is one
of energy dim U = M L2 T 2 , and the SI unit is the Joule, similarly dim u = L2 T 2 with the
SI unit of Joule/Kg.
3.2.4
Constitutive Equations
ceiinosssttuu
Hooke, 1676
Ut tensio sic vis
Hooke, 1678
3.2.4.1
58
General 3D
(3.61)
i, j, k, l = 1, 2, 3
The (fourth order) tensor of elastic constants Dijkl'has 81((34 ) components however, due to
distinct elastic terms.
the symmetry of both and , there are at most 36 9(91)
2
59
For the purpose of writing Hookes Law, the double indexed system is often replaced by a
simple indexed system with a range of six:
60
62 =36
k = Dkm m
61
k, m = 1, 2, 3, 4, 5, 6
(3.62)
Tij
ij Tkk
Eij =
2
3 + 2
Victor Saouma
or
or
T = IE + 2E
1
IT +
T
E=
2(3 + 2)
2
(3.63)
(3.64)
Draft
63
315
; =
(3 + 2)
2( + )
E
E
; = G =
(1 + )(1 2)
2(1 + )
(3.65)
(3.66)
212 =
G
(3.67-a)
(3.67-b)
65
66
E
ij +
ij kk
+
I
ij =
or =
(3.68)
1+
1 2
1+
1 2
1+
1+
ij ij kk or =
I
(3.69)
ij =
E
E
E
E
When the strain equation is expanded in 3D cartesian coordinates it would yield:
0
0
0
xx
xx
0
0
0
yy
yy
1 1
0
0
0
zz
zz
=
0
0 1+
0
0
xy (2xy )
xy
E 0
(2
)
0
0
0
0
1
+
yz
yz
yz
zx
zx (2zx )
0
0
0
0
0
1+
If we invert this equation, we obtain
xx
1
xx
yy
yy
(1+)(12)
zz
zz
1
0
0
xy
xy (2xy )
(2 )
0
G 0 1 0
yz
yz yz
zx
zx (2zx )
0 0 1
(3.70)
(3.71)
3.2.4.2
67
Victor Saouma
xx
yy
zz
xy
yz
xz
=
=
=
=
=
=
Draft
316
and
a11 =
FUNDAMENTAL RELATIONS
1
;
E
a12 =
;
E
a13 =
;
E
a33 =
1
;
E
a44 =
(3.73)
where E is the Youngs modulus in the plane of isotropy and E the one in the plane normal
to it. corresponds to the transverse contraction in the plane of isotropy when tension is
applied in the plane; corresponding to the transverse contraction in the plane of isotropy
when tension is applied normal to the plane; corresponding to the shear moduli for the plane
of isotropy and any plane normal to it, and is shear moduli for the plane of isotropy.
3.2.4.3
68
Special 2D Cases
Often times one can make simplifying assumptions to reduce a 3D problem into a 2D one.
3.2.4.3.1 Plane Strain 69 For problems involving a long body in the z direction with no
variation in load or geometry, then zz = yz = xz = xz = yz = 0. Thus, replacing into Eq.
3.71 we obtain
(1
xx
xx
(1 )
0
yy
(3.74)
=
yy
(1
+
)(1
2)
zz
xy
12
xy
0
0
2
3.2.4.3.2
and
Axisymmetry
70
rr =
=
zz =
rz =
71
u
r
u
r
w
z
u w
+
z
r
0
rr
E
zz
1
0
=
(1 + )(1 2)
1
0
rz
12
0
0
0
2
(3.75-a)
(3.75-b)
(3.75-c)
(3.75-d)
rr
zz
rz
(3.76)
3.2.4.3.3 Plane Stress 72 If the longitudinal dimension in z direction is much smaller than
in the x and y directions, then yz = xz = zz = xz = yz = 0 throughout the thickness.
Victor Saouma
Draft
317
1
0
xx
xx
1
=
yy
1
0
yy
1 2
1
xy
0 0
xy
2
1
zz =
(xx + yy )
1
3.2.4.4
(3.77-a)
(3.77-b)
Pore Pressures
73 In porous material, the water pressure is transmitted to the structure as a body force of
magnitude
bx =
p
x
by =
p
y
(3.78)
74
ij
= ij + mij p
mT = [ 1, 1, 0 ]
(3.79)
i.e simply removing the hydrostatic pressure component from the total stress.
3.2.5
In the absence of thermal/initial stresses and pore pressures, the eld equations are written
as
+ bi = 0 Equilibrium
ij,j
ij nj ti = 0 Natural B.C.
(3.80)
where bi and ti are the body forces and surface tractions respectively.
These equations will form the basis of the variational formulation of the nite element
method.
76
77 To account for the eect of thermal/initial stresses and pore pressures we seek to modify Eq.
3.80, in such a way that bi and ti are replaced by b i and t i .
Thermal strains are caused by a change in temperature with respect to the stress-free condition.
78
79 In Thermo- or poro-elasticity problems, the thermal strains and pore pressures are treated
as initial strains and stresses, respectively.
In porous media, the total stress is equal to the sum of and p. This last term is the pore
pressures and acts only in the voids of the material, and the eective stresses act only on
the skeleton of the material, (Terzaghi and Peck 1967).
80
Victor Saouma
Draft
318
FUNDAMENTAL RELATIONS
81 It must be noted that the pore pressures p being considered in this discussion and throughout
the remainder of this course are the steady state pore pressures; excess pore pressures resulting
from dilatant behavior in the skeleton of the material are not considered.
82
(3.81)
= T Dijkl kl
ij
(3.82)
ij = kl T kl
(3.83)
= Dijkl (kl 0kl )
ij
(3.84)
bi = p,i
(3.85)
0
= p ij
ij
(3.86)
Pore pressure
p the pore pressure dened using the compression positive sign convention (the minus
sign corrects the discrepancy in the sign conventions)1
Eective body force b i = bi ij,j
(3.87)
t i = ti + p ni + T Dijkl ni kl
(3.88)
83
The eective stress principle for the case of combined thermo- and poro-elasticity is
0
ij = ij
ij
+ ij
(3.89)
ij
Pore pressures are typically dened using the sign convention for soil mechanics in which compression is
positive, but in the sign convention for standard solid mechanics tension is considered to be positive.
Victor Saouma
Draft
319
84 The general stress-strain relationship obtained by substituting the constutive law into the
eective stress principle is
0
ij = Dijkl (kl 0kl ) + ij
(3.90)
85 When thermal strains and pore pressures are considered in combination the constitutive law
is dened as a simple combination of Equations ?? and ??
ij = Dijkl (kl T kl ) p ij
(3.91)
86 The equilibrium equation and natural boundary conditions, respectively, can be rewritten in
terms of the eective stresses ij
where
3.3
:
ij,j
+ b i = 0 Equilibrium
t : ij nj t i = 0 Natural B.C.
(3.92)
(3.93)
87 Scalar eld problems are encountered in almost all branches of engineering and physics. Most
of them can be viewed as special forms of the general Helmholtz equation given by
kx
+
ky
+
kz
+ Q = c
(3.94)
x
x
y
y
z
z
t
Temperature
T
Piezometric
head h
ion
concentration
Prandtls
stress function
div(Dr) + Q = 0
D
Q
Thermal
Heat
conductivity supply/sink
Permeability Fluid
Coecients
supply
Permeability Ion
coecients
supply
1
Rate
of
twist 2
q
Heat
ux
Volume
ux
Ion
ux
Constitutive law
Fourrier
q = DrT
Darcy
q = Dr
Fick
q = Dr
Hooke
Victor Saouma
Draft
320
3.3.1
89
FUNDAMENTAL RELATIONS
Heat Transfer
Conduction: takes place when a temperature gradient exists within a material and is governed
by Fouriers Law, Fig. 3.5 on q :
qx = kx
(3.95)
qy
(3.96)
where T = T (x, y) is the temperature eld in the medium, qx and qy are the componenets
of the heat ux (W/m2 or Btu/h-ft2 ), k is the thermal conductivity (W/m.o C or Btu/hT
ft-o F) and T
x , y are the temperature gradients along the x and y respectively. Note
that heat ows from hot to cool zones, hence the negative sign.
Convection: heat transfer takes place when a material is exposed to a moving uid which is
at dierent temperature. It is governed by the Newtons Law of Cooling
q = h(T T ) on c
(3.97)
where q is the convective heat ux, h is the convection heat transfer coecient or lm
coecient (W/m2 .o C or Btu/h-ft2 .o F). It depends on various factors, such as whether
convection is natural or forced, laminar or turbulent ow, type of uid, and geometry of
the body; T and T are the surface and uid temperature, respectively. This mode is
considered as part of the boundary condition.
Radiation: is the energy transferred between two separated bodies at dierent temperatures
by means of electromagnetic waves. The fundamental law is the Stefan-Boltmans Law of
Thermal Radiation for black bodies in which the ux is proportional to the fourth power
of the absolute temperature, which causes the problem to be nonlinear. This mode will
not be covered.
Victor Saouma
Draft
3.3.2
321
Consider a solid through which there is a ow q of some quantity, mass, heat, chemical, etc...
The rate of transfer per unit area is q which is nothing else than the ux.
90
The direction of ow (i.e. ux) is in the direction of maximum potential (such as temperature, piezometric head, or ion concentration) decrease (Fourrier, Darcy, Fick...). Hence the
ux is equal to the gradient of the scalar quantity.
q
x
x
qy
= D
= D
(3.98)
q=
y
qz
91
Anisotropic
Orthotropic
1 0 0
D = k 0 1 0
0 0 1
(3.99)
(3.100)
0
kxx 0
D = 0 kyy 0
0
0 kzz
(3.101)
Note that for ow through porous media, Darcys equation is only valid for laminar ow.
3.3.2.1
92
Simple 2D Derivation
If we consider a unit thickness, 2D dierential body of dimensions dx by dy, Fig. 3.6 then
1. Rate of heat generation/sink is
I2 = Qdxdy
(3.102)
2. Heat ux across the boundary of the element is shown in Fig. ?? (note similarity with
equilibrium equation)
qy
qx
qy
qx
dx qx dx dy + qy +
dy qy dy dx =
dxdy +
dydx
qx +
I1 =
x
y
x
y
(3.103)
3. Change in stored energy is
d
.dxdy
(3.104)
dt
where we dene the specic heat c as the amount of heat required to raise a unit mass by
one degree.
I3 = c
Victor Saouma
Draft
322
FUNDAMENTAL RELATIONS
q + qy dy
y
y
qx
qx +
qx
x dx
dy
qy
dx
I1 + I2 I3 = 0
qy
d
qx
dxdy +
dydx + Qdxdy c dxdy = 0
x
y
dt
I2
94
(3.105-b)
I3
I1
3.3.2.2
(3.105-a)
Generalized Derivation
The amount of ow per unit time into an element of volume and surface is
q(n)d =
D.nd
I1 =
(3.106)
vnd =
div vd
(3.107)
div (D)d
(3.108)
I1 =
Victor Saouma
Draft
323
Finally, we dene the specic heat of a solid c as the amount of heat required to raise a unit
mass by one degree. Thus if is a temperature change which occurs in a mass m over a time
t, then the corresponding amount of heat that was added must have been cm, or
cd
(3.110)
I3 =
97
I1 + I2 I3 = 0
d = 0
div (D) + Q c
t
(3.111-a)
(3.111-b)
=0
t
(3.112)
(3.113)
qx qy
+
+ Q = c
x
y
t
(3.114)
div (D) + Q c
or
div (D) + Q = c
This equation can be rewritten as
1. Note the similarity between this last equation, and the equation of equilibrium
2 ux
xx xy
+
+ bx = m 2
x
y
t
xy
2 uy
yy
+
+ by = m 2
y
x
t
(3.115-a)
(3.115-b)
2. For steady state problems, the previous equation does not depend on t, and for 2D
problems, it reduces to
kx
+
ky
+Q=0
(3.116)
x
x
y
y
3. For steady state isotropic problems,
Q
2 2 2
+ 2 + 2 =
2
x
y
z
k
(3.117)
Victor Saouma
Draft
324
FUNDAMENTAL RELATIONS
(3.118)
which is an Elliptic (or Laplace) equation. Solutions of Laplace equations are termed
harmonic functions (right hand side is zero) which is why Eq. 3.116 is refered to as the
quasi-harmonic equation.
5. If the function depends only on x and t, then we obtain
=
kx
+Q
c
t
x
x
(3.119)
Boundary Conditions
The boundary conditions, for thermal problems, are mainly of three kinds:
Essential: Temperature prespecied on T
Natural: Flux
Specied Flux prescribed on q , qn = cst
Convection Flux prescribed on c , qc = h(T T ). Note this type of boundary condition is analogous to the one in structural mechanics where we have an inclined
support on rollers.
similar boundary conditions can be written for uid ow.
3.4
99
The analogy between scalar and vector problems is shown in Table 3.2.
To graphically illustrate the inter-relationship between eld equations and variables, Tonti
diagrams, Fig. 3.8 have been used.
100
Specified
Primary Variable
Essential
B.C.
(EBC)
Primary Variable
Kinematic
Equation
(KE)
Intermediate
Variable
Field
Equations
Constitutive
Equations
(CE)
Source Function
Balance
Equations
(BE)
Flux
Variable
Natural
B.C.
(NBC)
Specified
Flux Variable
Victor Saouma
Draft
325
Essential B.C.
ui : u
Body Forces
State variable
bi
ui
Balance
Kinematics
LT + b = 0
" = Lu
Flux variable
ij
Constitutive Rel.
ij = Dijkl kl
Interm. variable
ij
Natural B.C.
t i : t
Heat Supply
Essential B.C.
T : T
Balance
r.q
State variable
= Q
Flux variable
q
Constitutive Rel.
q = Dg
Interm. variable
g=rT
Natural B.C.
qn : q c
Victor Saouma
Draft
326
FUNDAMENTAL RELATIONS
Scalar
Conduction
T
g
q
div q + Q = 0
g = T
q = Dg
Fourrier
Vector
Solid Mechanics
Variables
u
Field Equations
LT + b = 0
= Lu
=D
State
Intermediate
Flux
Balance
kinematic
Constitutive
Hooke
Boundary Conditions
T on T
u on u
Essential BC
qn = qT n on q c
t = n on t
Natural BC (Flux)
Table 3.2: Comparison of Scalar and Vector Field Problems
101 However, we here expand on the standard Tonti diagram to graphically show the fundamental equations of solid mechanics and heat ow in Fig. 3.9.
Similarly, many other physical problems can be solved by the nite element method, Table
3.3.
102
Victor Saouma
Victor Saouma
Magnetostatic
Flow through
porous media
Electrostatics
Fluid ow
Heat transfer
Electric potential
Magnetic
potential
Conservation of electric ux
Conservation of magnetic potential
Magnetic ux
Electric ux
Flow rate
Shear stress
Magnetic permeability
Permitivity
Permeability
Thermal conductivity
Viscosity
Material Constants
Youngs
Modulus,
Poissons
ratio
Electric conductivity
Shear
Current
Charge
Fluid sources
Body force or
traction
Source
Hydraulic head
Velocity
Heat ux
Rate of twist
Electric ux
Stress or strain
Displacement
or forces
Voltage or intensity
Stress or warping function
Temperature
Flux
State Vriable
Conservation of momentum
Conservation of mass
Equilibrium of currents
Conservation of potential energy
Conservation of energy
Electric
work
Torsion
net-
Conservation Principle
Equilibrium of forces
Physical
Problem
Deformation of
an elastic body
Maxwells law
Coulombs law
Darcys law
Stokes law
Fourriers law
Hookes law
Kirchhos law
Constitutive
Equation
Hookes law
Draft
3.4 Summary and Tonti Diagrams
327
Draft
328
Victor Saouma
FUNDAMENTAL RELATIONS
Draft
Chapter 4
MESH GENERATION
Requires further editing
4.1
Introduction
1 Finite element mesh generation is now an integral part of a nite element analysis. With the
increased computational capabilities, increasingly more complex structures are being analysed.
Those structures must be discretized.
2 The task is one of developing a mathematical model (discretization or tessalation) of a continuum model. This is not only necessary in nite elment analysis, but in computer graphics/rendering also.
3 In computer graphics, we focus on the boundary representation, and assign colors and shades
on the basis of light source and outward normal direction of the polygon.
Hence, in the most general case, meshing can be dened as the process of breaking up a physical domain into smaller sub-domains (elements) in order to facilitate the numerical solution of a
partial dierential equation. Surface domains may be subdivided into triangle or quadrilateral
shapes, while volumes may be subdivided primarily into tetrahedra or hexahedra shapes. The
shape and distribution of the elements is ideally dened by automatic meshing algorithms.
4
Draft
42
4.2
MESH GENERATION
Triangulation
5 The concept of Voronoi diagrams rst appeared in works of Descartes as early as 1644.
Descartes used Voronoi-like diagrams to show the disposition of matter in the solar system and
its environs.
6 The rst man who studied the Voronoi diagram as a concept was a German mathematician
G. L. Dirichlet. He studied the two- and three dimensional case and that is why this concept
is also known as Dirichlet tessellation. However it is much better known as a Voronoi diagram
because another German mathematician M. G. Voronoi in 1908 studied the concept and dened
it for a more general n-dimensional case.
7 Very soon after it was dened by Voronoi it was developed independently in other areas like
meteorology and crystalography. Thiessen developed it in meteorology in 1911 as an aid to
computing more accurate estimates of regional rainfall averages. In the eld of crystalography
German researchers dominated and Niggli in 1927 introduced the term Wirkungsbereich (area
of inuence) as a reference to a Voronoi diagram.
During the years this concept kept being rediscovered over and over again in dierent elds
of science and today it is extensively used in about 15 dierent elds of sciences. Some of them
being mathematics, computer science, biology, cartography, physiology and many others.
8
Vb
Va
Vc
1
4f
5
6
6f
Voronoi
Delaunay
4.2.1
Voronoi Polygon
9 Given a nite set of poits in the plane, the idea is to assign to each point a region of inuence
in such a way that the regions decompose the plane, (Voronoi 1907).
Victor Saouma
Draft
43
Each point x R 2 has at least one nearest point in S, so it lies in at least one Voronoi region.
Two Voronoi regions lie on opposite sides of the perpendicular bisector separating the two
generating points.
4.2.2
Delaunay Triangulation
The dual of the Voronoi diagram is obtained by drawing straight Delaunay edges connecting
points p, q S if and only if their Voronoi regions intersect along a common line segment. Thus
in general, the Delaunay edges decompose the convex hull of S into triangular regions which
are referred to as Delaunay triangles, (Delaunay 1934).
11
12 Using Eulers relation, it can be shown that a planar graph with n 3 vertices has at most
3n 6 edges and at most 2n 4 faces. THe same bounds hold for the number of Delaunay
edges and triangles.
14 Additional detailed information on Voronoi tesselation, (Okabe, Boots, Sugihara and Chiu
2000) is an excellent reference.
4.2.3
MATLAB Code
rand(state,4);
x = rand(1,3);
y = rand(1,3);
TRI = delaunay(x,y);
subplot(1,2,1),...
trimesh(TRI,x,y,zeros(size(x))); view(2),...
axis([0 1 0 1]); hold on;
plot(x,y,o);
set(gca,box,on);
[vx, vy] = voronoi(x,y,TRI);
subplot(1,2,2),...
plot(x,y,r+,vx,vy,b-),...
axis([0 1 0 1])
4.3
4.3.1
15 In order to discretize the continuum into a nite element mesh, rst key geometrical information of the must be specied hierarchically:
Victor Saouma
Draft
44
MESH GENERATION
Vertices: with nodal coordinates, and approximate desired element size in the immediate
vicinity (thus describing the mesh density).
Edges: which connect vertices. Those can be either linear segments, polylines, or curves.
Surfaces: composed of edges, dened counterclockwise.
Volumes: (3D only) composed of surfaces.
16
Associated with surfaces (2D0, or volumes (3D) are dierent material properties.
17
Examples of the hierarchical boundary denition is shown in Fig. 4.2 and 4.3.
4.3.2
18 Once the boundary has been dened, we need to insert internal nodes at a spacing which
respect the required mesh density. There are numerous techniques to insert those internal
nodes. We present one approach, FIg. 4.4
1. Decompose the region into a disjoint ensemble of subregions with equal mesh density.
2. Shrink the mesh to avoid elements near the boundary with very acute interior angles.
3. Starting with the rst zone, circumscribe it by the smallest possible rectangle.
4. Superimpose a square rectangular grid over the circumscribing rectangle.
Victor Saouma
Draft
45
Boundary discretization
Zone II, r2
Zone III, r3
Zone I, r1
Region to be meshed
Boundary shrinking by
r
Generation of internal nodes
in zone I within shrunk boundary
Disk
r
Victor Saouma
Draft
46
MESH GENERATION
5. Use a random number generator to randomly generate one interior node in each square.
A disk of radius r centered at each node is used to test that no other surrounding nodes
are enclosed in the disk. If so, the node in question is regenerated.
19
4.3.3
20
Final Triangularization
21 It should be noted that recent algorithms, which can generate quadrilateral elements out of
the Delaunay triangularization have recently emerged.
Victor Saouma
Draft
Chapter 5
VARIATIONAL and
RAYLEIGH-RITZ METHODS
Adapted from (Reich 1993)
5.1
A Multield variational principle is one that has more than one master eld (or state
variable), that is more than one unknown eld is subject to independent variations.
1
2 In linear elastostatics, we can have displacement, u, strains , or stress as potential candidates for master elds. Hence seven combinations are possible, (Felippa 2000), Table 5.1.
3 In this course, we shall focus on only the Total Potential Energy, and the Hu-Washizu variational principles.
Y
Y
Y
Y
Y
Y
Y
Y
Name
Single Field
Total Potential Energy
Total Complementary Potential Energy
No name
Two Fields
Hellinger-Reissner
de Veubeke
No name
Three Fields
Hu-Washizu
Draft
52
5.2
5.2.1
4
Static; Euler
We
U
def
def
def
U We
uT bd +
uT td + uP
t
1
T
T
D d
D 0 d +
T 0 d
2
(5.1-a)
(5.1-b)
(5.1-c)
the functional for the general form of the potential energy variational principle is obtained
1
=
2
D d
T
D 0 d +
T
0 d
T
u bd
uT td uP
t
T
(5.2)
We
5 A variational statement is obtained by taking the rst variation of and setting this scalar
quantity equal to zero.
The variational statement for the general form of the potential energy functional (i.e. Equation 5.2) is
T
T
T
T
D d
D 0 d +
0 d
u bd
uT td = 0
(5.3)
=
6
y
0
0
L=
y x
z 0
0 z
0
0
z
(5.5)
8 Since the dierential operator L is linear, the variation of the strains can be expressed in
terms of the variation of the displacements u
= (Lu) = Lu
9
(5.6)
Victor Saouma
Draft
53
1. In terms of strains: which is more suitable for the derivation of the corresponding Euler
equations,
(Lu) D d
T
(Lu) D 0 d +
U
uT bd
uT td = 0
t
(Lu)T 0 d
(5.7)
We
2. In terms of displacements: (using Equation 5.7) which is more suitable for the subsequent discretization.
(Lu) D(Lu)d
T
=
uT bd
(Lu) D 0 d +
(Lu)T 0 d
We
uT td = 0
(5.8)
10 To obtain the Euler equations for the general form of the potential energy variational principle
the volume integrals dening the virtual strain energy U in Equation 5.7 must be integrated by
parts in order to convert the variation of the strains (Lu) into a variation of the displacements
u.
11
(5.9)
yields
,
(Lu) D d =
u G(D )d
T
uT LT (D )d
(Lu)T D 0 d =
uT G(D 0 )d uT LT (D 0 )d
,
T
T
(Lu) 0 d =
u G 0 d uT LT 0 d
(5.10-a)
(5.10-b)
(5.10-c)
where G is a transformation matrix containing the direction cosines for a unit normal vector
such that the surface tractions t are dened as t = G and the surface integrals are over the
entire surface of the body .
12
Substituting Equation 5.10-a into Equation 5.7, the variational statement becomes
= uT {LT [D( 0 ) + 0 ] +b}d
Victor Saouma
Draft
54
^
t
^u
Figure 5.1: Tonti Diagram for the Total Potential Energy, (Cervenka,
J. 1994)
+
uT {G [D( 0 ) + 0 ] t}d = 0
(5.11)
13 Since u is arbitrary the expressions in the integrands within the braces must both be equal
to zero for to be equal to zero. Recognizing that the stress-strain relationship appears in
both the volume and surface integrals, the Euler equations are
(BE): Equilibrium
(NBC): Natural B.C.
LT + b = 0 on
G t = 0 on t
(5.12)
(5.13)
where the rst Euler equation is the equilibrium equation and the second Euler equation denes
the natural boundary conditions. The natural boundary conditions are dened on t rather
than because both the applied surface tractions t and the matrix-vector product G are
identically zero outside t .
In general, only certain forms of dierential equations are Euler equations of a variational
functional.
14
15 For the elastostatic problem, it is possible to start from the Euler equations, and then derive
the total potential energy functional by performing the operations just presented in reverse
order.
16 The Tonti diagram for the TPE is shown in Fig. 5.2. In this diagram, strong connections are
shown by solid lines, weak connections by spring-like symbols, boxes with solid lines denote the
primary unknown eld, variables inside dashed boxes are internally derived elds, and shaded
boxes indicate prescribed elds.
5.2.2
Dynamic; Euler/Lagrange
In dynamics, we dene the Lagrangian function as the dierence between the kinetic and
the potential energies
LK
(5.14)
17
and Hamiltons principle states that The motion of a particle acted on by conservative forces
between two arbitrary instants of time t1 and t2 is such that the line integral over the Lagrangian
function is an extremum for the path motion.
t2
Ldt
(5.15)
I
t1
Victor Saouma
Draft
55
is an extremum.
If the path can be dened in terms of generalized coordinates qi (i = 1, 2, 3), then it can be
shown that
t2
L(q1 , q2 , q3 , q1 , q2 , q3 )dt = 0
(5.16-a)
I =
18
t1
t2
3
t1 i=1
qi
d
dt
L
qi
qi dt
(5.16-b)
If all qi are linearly independent (i.e. no constraints among them), the variations qi are
independent of t, except qi = 0 at t1 and t2 . Therefore, the coecients of q1 , q2 , and q3
vanish separately yielding the Lagrangian equations of motion, also known as the EulerLagrange equations.
d L
L
(5.17)
= 0,
i = 1, 2, 3
qi dt qi
19
t1
t2
(K )dt +
t1
t2
Wnc dt
(5.18)
t1
t2
Wnc dt = 0
(5.19)
t1
where K is the kinetic energy, the potential energy, and Wnc the work done by nonconservative
forces acting on the system (including damping).
It should be noted that TPE is a special case of Hamiltons principle in the absence of
kinetic energy.
The Kinetic energy is given by
u u
. d
(5.20)
K=
2 t t
A conservative force is one for which the sum of the potential and kinetic energies is conserved).
k
A, E
L
Victor Saouma
Draft
56
1. Show that the kinetic energy and the strain energy are given by
u 2
dx
K =
t
L
k
EA u 2
d + [u(L)]2
U =
x
2
0 2
A
0 2
(5.21)
(5.22)
2. For Wnc = 0 derive an expression for the rst variation of the Hamiltons functional H
3. If we are interested in determining the periodic motion, which has the form
u(x, t) = u0 (x)eit
(5.23)
where is the frequency of natural vibration, and u0 (x) is the amplitude. Show that
#
2 $
L
du
1
k
0
A 2 (u0 )2 EA
dx [u0 (L)]2 = 0
(5.24)
dx
2
0 2
4. Show that the Euler equations of the preceding functional are
du0
d
EA
+ A 2 u0 = 0 for 0 < x < L
dx
dx
du0
+ ku0
= 0 for x = L
EA
dx
5. Rewrite Eq. 5.24 in terms of x =
x
L,
u=
u0
L,
kL
EA ,
(5.25)
(5.26)
2 L2
E
6. Show that if this problem was to be solved by the Rayleigh-Ritz method with
u = c1 x + c2 x2
(5.27)
(5.28)
7. Solve for 1 and 2 , and compare with the exact solution given by
+ tan = 0
(5.29)
Solution:
1. Kinetic energy
L
u 2
A u 2
d =
dx
K =
t
t
0 2
L
k
E u 2
EA u 2
d =
dx + [u(L)]2
U =
2
x
2
x
2
0
Victor Saouma
(5.30)
(5.31)
Draft
57
2. For Wnc = 0
H
t2
(K )dt
2 $
t2 L # 2
u
1
u
A
dx k[u(L)]2
EA
2
t
x
0
t1
(5.32)
t1
dt
(5.33)
3. If we adopt
u(x, t) = u0 (x)eit
(5.34)
where is the frequency of natural vibration, and u0 (x) is the amplitude. Then substituting, we obtain
#
$
L
k
u0 2
1
2
2
dx [u0 (L)]2 = 0
(5.35)
A [u0 (x)] EA
2
x
2
0
t2
where
t1
2
dx
2
0
L
u0
u0
(5.36)
(5.37)
but
L
L
u0
u0
u0
EA
dx = EA
u0
x
x
x
0
v
v
Substituting
L
0
u0
EA
u0 dx
x
x
v
(5.38)
u
u0 u0
or
d
dx
Victor Saouma
du0
EA
+ A 2 u0 = 0 for 0 < x < L
dx
du0
+ ku0
= 0 for x = L
EA
dx
(5.41)
(5.42)
Draft
58
kL
dx = Ldx, u = uL0 , and = EA
, = EL we have
2 $
L #
1
du
k
0
A 2 (u0 )2 EA
dx [u0 (L)]2
dx
2
0 2
2 $
1 #
du0
k
1 EA
(Lu)2 EA
Ldx [Lu0 (1)]2
=
2
L
dx
2
02
#
2 $
1
du0
kL2
1
EAL (u)2
[u0 (1)]2
dx
=
2
dx
2
0
#
$
1
2 1 du0 2
KL2
dx [u0 (1)]2
=
(u)
2
dx
0
#
#
$
$
1
KL2
2 1 du0 2
2
(u)
dx [u0 (1)]
=0
2
dx
0
#
$
du0 2
1 1
2
(u)
dx [u0 (1)]2 = 0
2 0
dx
2
5. Substituting x =
x
L,
(5.43)
(5.44)
(5.45)
(5.46)
(5.47)
(5.48)
(5.49)
1 1
(u)2
dx [u(1)]2 = 0
2 0
dx
2
1
"
!
(c1 x + c2 x2 )(c1 x + c2 x2 ) (c1 + 2c2 x)(c1 + 2c2 x) dx
(5.50)
(c1 + c2 )(c1 + c 2) = 0
(5.51)
Collecting the coecients of c1 and c2 and setting them to zero separately, we have
1
"
!
(5.52)
(c1 x + c2 x2 )x (c1 + 2c2 x) dx (c1 + c2 ) = 0
c1 :
0
1
"
!
(5.53)
(c1 x + c2 x2 )x2 (c1 + 2c2 x)2x dx (c1 + c2 ) = 0
c2 :
0
2 73
1
3
1
4
1
4
1
5
c1
c2
2 4
7
=0
3 5
=
0
0
(5.54)
(5.55)
or
152 640 + 2400 = 0
Victor Saouma
(5.56)
Draft
59
2 = 38.512
(5.57)
which correspond to
2.038
1 =
L
E
6.206
2 =
L
(5.58)
(5.59)
5.3
E
4.91318
2 =
L
(5.60)
(5.61)
Victor Saouma
Draft
510
26
HW = TPE +
T (L u ) d
(5.62)
Where is the Lagrange multiplier and to be consistent with the integrals in the TPE functional
(i.e. Equation 5.2) the Lagrange multiplier must have the units of stress. Since this is the case,
will be used for the Lagrange multiplier instead of the more typical such that the physical
meaning of the Lagrange multiplier is more apparent.
27
U
uT b d
uT t d + T (L u ) d
t
We
Constraint
(5.63)
28 A variational statement is obtained by taking the rst variation of the functional and setting
this scalar quantity equal to zero.
The rst variation of the HW functional, with terms arranged according to which eld
variable is varied, is
T
T
(L u) d
u b d
uT t d
HW =
t
(5.64)
T D d
T D 0 d +
T 0 d
T d
+
T (L u ) d = 0
+
29
Note that the 4th and 7th term were added and cancell each others, and that we are not using
Eq. 5.6 in this formulation.
Since u, , and are independent eld variables, terms involving u, , and must add up
to zero individually and are, therefore grouped together to form three separate variational statements (analogous to the method of separation of variables in the solution of partial dierential
equations)
(Lu)T d uT b d
uT t d = 0 (5.65)
t
T [D( 0 ) + 0 ] d = 0 (5.66)
T (L u ) d = 0 (5.67)
30
Victor Saouma
Draft
511
31 To obtain the corresponding Euler equations for the general form of the HW variational
principle the volume integral in Equation 5.65 containing the variation of the strains (Lu)
dened in terms of the displacements u must be integrated by parts using Greens theorem in
order to obtain a form of the variational statement in terms of the variation of the displacements
u.
32
(5.68)
where G is a transformation matrix containing the direction cosines for a unit normal vector
such that the surface tractions t are dened as t = G and the surface integral is over the
entire surface of the body .
33
Substituting Equation 5.68 into Equation 5.65, the rst variational statement becomes
T
T
uT (G t) d = 0
(5.69)
u (L + b) d +
Since u is arbitrary the expressions in the integrands within the parentheses must both be
equal to zero for the sum of the integrals to be equal to zero.
34 Likewise, and are also arbitrary and the expressions within the braces in the second
variational statement (i.e. Equation 5.66) and within the parentheses in the third variational
statement (i.e. Equation 5.67) must both be equal to zero for the integral to be equal to zero.
35
LT + b = 0
on
(5.70)
D ( 0 ) + 0 = 0 on
(5.71)
Lu = 0
G t = 0
on
(5.72)
on t
(5.73)
where the rst Euler equation is the equilibrium equation; the second Euler equation is the
stress-strain relationship; the third Euler equation is the strain-displacement equation; and the
fourth Euler equation denes the natural boundary conditions.
The natural boundary conditions are dened on t rather than because both the applied
surface tractions t and the matrix-vector product G are identically zero outside t . Starting
from the Euler equations, it is possible to derive the HW functional by performing the operations
just presented in reverse order.
36
37 This last set of four Euler equations, should be compared with the two (Eq. 5.12 and 5.13)
obtained from the original TPE. The additional two equations bring into play stress-strain and
strain displacement. Also, whereas the original formulation (Eq. 5.12 and 5.13) was in terms
of the displacement only (u), the Hu-Washizu formulation is in terms of three independent
variables (u, and ), Table 5.2.
38
Victor Saouma
Draft
512
Equilibrium
Stress-Strain
Strain-Displacement
Natural B.C.
Euler Equations
LT + b = 0
D ( 0 ) + 0 = 0
Lu = 0
G t = 0
Variables
Displacement
Strain
Stress
TPE
HW
Y
N
N
Y
Y
Y
Y
Y
Y
N
N
Y
Y
Y
Table 5.2: Comparison Between Total Potential Energy and Hu-Washizu Formulations
^
u
^
t
Victor Saouma
Draft
5.4
513
Rayleigh Ritz
39 In the principle of virtual displacement (or minimum total potential energy), the Euler equations are the equilibrium equations. The Euler equations are usually in the form of dierential
equations that are not always solvable by exact methods of solutions.
Indeed we do have available a number of approximate methods such as the nite dierence
but an alternative approach is to bypass entirely the Euler equations and start directly from a
variational statement of the problem to the solution of the Euler equation.
40
41 Such a direct method was rst proposed by Lord Rayleigh, and then independently generalized by Ritz.
Hence, this section will briey review the Rayleigh-Ritz method (which solves the variational
problem, but which does not require a topological discretization (i.e. nite element). The
similarity between those two approaches should by now be apparent. In both cases we are
dealing with an approximate method.
42
43 Application of the principle of total potential energy (or virtual displacement) requires an
assumed displacement eld. This displacement eld can be approximated by interpolation
functions written in terms of:
1. Unknown polynomial coecients most appropriate for continuous systems, and the
Rayleigh-Ritz method
(5.74)
y = a1 + a2 x + a3 x2 + a4 x3
A major drawback of this approach, is that the coecients have no physical meaning.
2. Unknown nodal deformations most appropriate for discrete systems and Potential Energy based formulations
y = u = N1 u1 + N2 u2 + . . . + Nn un
(5.75)
44 This chapter will focus on the rst type of approximation, whereas subsequent ones will
adopt an approximation based on the nodal deformations.
45
i=1
n
i=1
n
c1i 1i + 10
(5.76-a)
c2i 2i + 20
(5.76-b)
c3i 3i + 30
(5.76-c)
i=1
where cji denote undetermined parameters, and are appropriate functions of positions.
46
Victor Saouma
Draft
514
2. Must be admissible, i.e. satisfy the essential boundary conditions (the natural boundary
conditions are included already in the variational statement. However, if also satisfy
them, then better results are achieved).
3. Must be independent and complete (which means that the exact displacement and their
derivatives that appear in can be arbitrary matched if enough terms are used. Furthermore, lowest order terms must also be included).
In general is a polynomial or trigonometric function.
We determine the parameters cji by requiring that the principle of virtual work for arbitrary
variations cji . or
47
(u1 , u2 , u3 ) =
n
i=1
c1
c1i i
+ 2 c2i + 3 c3i
ci
ci
=0
(5.77)
for arbitrary and independent variations of c1i , c2i , and c3i , thus it follows that
cji
=0
i = 1, 2, , n; j = 1, 2, 3
(5.78)
Thus we obtain a total of 3n linearly independent simultaneous equations. From these displacements, we can then determine strains and stresses (or internal forces). Hence we have replaced
a problem with an innite number of d.o.f by one with a nite number.
48
Kc + f = 0
c
(5.79)
Draft
515
y
w
x
111
000
111
000
L
Figure 5.3: Uniformly Loaded Simply Supported Beam Analysed by the Rayleigh-Ritz Method
5.4.1
Examples
(5.80)
for this particular solution, let us retain only the rst term:
v = a1 x(L x)
(5.81)
We observe that:
1. The essential B.C. are immediately satised at both x = 0 and x = L.
L
o
Recalling that:
M
EIz
Victor Saouma
L
2)
M2
dx
2EIz
and take
vmax
= 0.
wv(x)dx
(5.82)
2
= d v2 , the above simplies to:
dx
$
2
L#
EIz d2 v
wv(x) dx
=
2
dx2
0
L
EIz
2
(2a1 ) a1 wx(L x) dx
=
2
0
L3
L3
EIz 2
4a1 L a1 w
+ a1 w
=
2
2
3
3
a
wL
1
= 2a21 EIz L
6
(5.83)
(5.84)
Draft
516
If we now take
a1
= 0, we would obtain:
4a1 EIz l
wL3
6
= 0
wL2
24EIz
a1 =
(5.85)
x
x2
2
L L
L
2:
a1
wL4
96EIz
(5.86)
4
wL
exact = 5 wL =
This is to be compared with the exact value of vmax
384 EIz
76.8EIz which constitutes
17% error.
wL2
w
& a2 = 24EI
Note: If two terms were retained, then we would have obtained: a1 = 24EI
z
z
exact . (Why?)
and vmax would be equal to vmax
(5.87)
where 1 (t), 2 (t), and 3 (t) are the undetermined parameters. Use the Rayleigh-Ritz method
procedure to generate the governing heat transfer equilibrium equations, using the following
functional
2
L
L
1
k
dx
q B dx |x=0 q0
(5.88)
=
2
x
0
0
with the essential boundary condition |x=L = i
Solution:
1. Substituting
L
L
"
!
"
1 !
k (2 )2 + 42 3 x + 4(3 )2 x2 dx
1 + 2 x + 3 x2 q B dx 1 q0 (5.89)
=
0 2
0
2. Invoking
= 0;
1
we obtain
0 0
k 0 L
0 L2
Victor Saouma
= 0;
2
=0
3
L B
0
1
0 q dx + q0
L
B
2
=
L2
0 xq dx
4 3
L 2 B
3
3L
0 x q dx
(5.90)
(5.91)
Draft
517
3. In this problem q0 varies with time, hence heat capacity must be accounted for
q B = c
4. Substituting
0 0
k 0 L
0 L2
0
L
1
1 2
2
+ c 2 L
2
4 3
1 3
L
3
3
3L
1 2
2L
1 3
3L
1 4
4L
(5.92)
1 3
3L
1 4
4L
1 5
5L
1 q0
0
=
2
0
3
(5.93)
5. The nal equilibrium equation are now obtained by imposingon the last equation the
condition that |x=L = i , i.e.
1 (t) + 2 (t)L + 3 (t)L2 = i
(5.94)
Victor Saouma
Draft
518
Victor Saouma
Draft
Chapter 6
INTERPOLATION FUNCTIONS;
NATURAL COORDINATE
SYSTEMS
6.1
Introduction
In the Rayleigh Ritz method we solved the variational problem using a functional approximation for the displacement eld (Chapter ??). This powerful method has its limitation in terms
of the complexity of solvable problems.
1
6.2
3 For an element (nite or otherwise), we can write an expression for the generalized displacement (translation/rotation), u at any point in terms of all its nodal ones, u.
u=
Ni (X)i = N(x){u}
(6.1)
i=1
where:
1. ui is the (generalized) nodal displacement corresponding to d.o.f i
2. Ni is an interpolation function, or shape function which has the following characteristics:
(a) Ni = 1 at ui
(b) Ni = 0 at uj where i = j.
3. N can be derived on the bases of:
(a) Assumed deformation state dened in terms of polynomial series.
(b) Interpolation function (Lagrangian or Hermitian).
Draft
62
C 0 where only displacement continuity must be ensured across elements (truss, torsion, plane
stress/strain, 3D Elasticity).
C 1 where we must ensure continuity of both displacements and their derivatives (such as beams,
plates, and shells).
6.2.1
6.2.1.1
5
C0
Truss element
(6.2)
x = N1 x1 + N2 x2
(6.3)
(6.4)
where u can be either u or , and the B.C.s are given by: u = u1 at x = 0, and u = u2 at
x = L. Thus we have:
u1 = a2
(6.5)
u2 = a1 L + a2
(6.6)
L
L
= u1
a1 =
(6.7)
a2
(6.8)
u = (
N1
Victor Saouma
(6.9)
(6.10)
N2
Draft
63
or:
N1 = 1
N2 = Lx
6.2.1.2
9
x
L
(6.11)
Generalization
(6.12)
{a}
where [p] corresponds to the polynomial approximation, and {a} is the coecient vector.
10
{a}
[L]
11
(6.13)
[L]1
(6.14)
{u}
(6.15)
[N]
12
(6.16)
Note that in some cases L1 is not always possible to obtain, and that in others there may
be considerable algebraic diculties for arbitrary geometries. Hence, we shall introduce later
on Lagrangian and Hermitian interpolation functions.
13
6.2.1.3
14
Next we consider a triangular element, Fig. 6.2 with bi-linear displacement eld (in both x
Victor Saouma
Draft
64
u = 1 x y
[p]
(6.17)
a1
a2
a3
(6.18)
(6.19)
{a}
15 As before, we rst seek the shape functions, and hence we apply the boundary conditions at
the nodes for the u displacements rst:
1 0 0
a1
u1
u
= 1 x2 0
a
(6.20)
2
2
u3
a3
1 x3 y 3
{u}
16
[L]
{a}
We then multiply the inverse of [L] in Eq. 6.20 by [p] and obtain:
u = N1 u1 + N2 u2 + N3 u3
(6.21)
where
N1 =
N2 =
N3 =
1
(x2 y3 xy3 x2 y + x3 y)
x2 y3
1
(xy3 x3 y)
x2 y3
y
y3
(6.22)
We observe that each of the three shape functions is equal to 1 at the corresponding node, and
equal to 0 at the other two.
17
Victor Saouma
(6.23)
Draft
65
u
v
=
N1 0 N2 0 N3
0 N1 0 N2 0
u1
v1
0
u2
N3
v2
u
3
v3
(6.24)
The element is refereed to as Constant Strain Triangle (CST) because it has a linear displacement eld, and hence a constant strain.
19
6.2.1.4
20
By following these operations, we have in eect dened the Lagrangian Interpolation Functions for problems with C 0 interelement continuity (i.e continuity of displacement only).
21
22 The Lagrangian interpolation denes the coecients ([N] in our case) of a polynomial series
representation of a function in terms of values dened at discrete points (nodes in our case).
For points along a line this would yield:
Ni =
23
m+1
j=1,j=i (xxj )
m+1
j=1,j=i (xi xj )
(6.25)
24
Q
Q
(x x2 )(x x3 ) (x xm+1 )
(x1 x2 )(x1 x3 ) (x1 xm+1 )
(x x1 )(x x3 ) (x xm+1 )
(x2 x1 )(x2 x3 ) (x2 xm+1 )
(x x1 )(x x2 ) (x xm )
(xm+1 x1 )(xm+1 x2 ) (xm+1 xm )
(6.26)
For the axial member, m = 1, x1 = 0, and x2 = L, the above equations will result in:
u=
x
x
x
(x L)
u1 + u2 = (1 ) u1 +
u2
L
L
L
L
N1
(6.27)
N2
Draft
66
Next we consider a quadrilateral element, Fig. 6.3 with bi-linear displacement eld (in both
x and y).
25
26 Using the Lagrangian interpolation function of Eq. 6.25, and starting with the u displacement, we perform two interpolations: the rst one along the bottom edge (1-2) and along the
top one (4-3).
27
28
x2 x
x1 x
u1 +
u2
x2 x1
x1 x2
ax
x+a
u1 +
u2
2a
2a
(6.28)
Similarly
u43 =
=
x2 x
x1 x
u4 +
u3
x2 x1
x1 x2
ax
x+a
u4 +
u3
2a
2a
(6.29)
Next, we interpolate in the y direction along 1-4 and 2-3 between u12 and u43 . Again, we
use Eq. 6.25 however this time we replace x by y:
29
y1 y
y2 y
u12 +
u43
(6.30)
y2 y1
y1 y2
byx+a
y+bax
y+bx+a
byax
u1 +
u2 +
u4 +
u3
=
2b 2a
2b 2a
2b 2a
2b 2a
(a x)(b y)
(a + x)(b y)
(a + x)(b + y)
(a x)(b + y)
=
u1 +
u2 +
u3 +
u4
4ab
4ab
4ab
4ab
u =
N1
Victor Saouma
N2
N3
N1
Draft
67
30 One can easily check that at each node i the corresponding Ni is equal to 1, and all others
to zero, and that at any point N1 + N2 + N3 + N4 = 1. Hence, the displacement eld will be
given by:
u1
u
N1 0 N2 0 N3 0 N4 0
v2
=
(6.31)
v
u3
0 N1 0 N2 0 N3 0 N4
v3
u
4
v4
6.2.1.6
31 By extension to the previous derivation, the shape functions of a solid rectangular trilinear
solid element, Fig. 6.4 will be given by:
0 N2 0
0 N3 0
0 N4 0
N1 0
u
0 N2 0
0 N3 0
0 N4
v
= 0 N1 0
0 N2 0
0 N3 0
0
0
0 N1 0
w
where
Ni =
Victor Saouma
(a x)(b y)(c z)
8abc
N4
u1
v1
w1
u2
v2
w2
u3
v3
w3
u4
v4
w4
(6.32)
(6.33)
Draft
68
6.2.2
6.2.2.1
C1
Flexural
With reference to Fig. 6.5. We have 4 d.o.f.s, {u}41 : and hence will need 4 shape functions,
N1 to N4 , and those will be obtained through 4 boundary conditions. Therefore we need to
assume a polynomial approximation for displacements of degree 3.
32
v = a1 x3 + a2 x2 + a3 x + a4
dv
= 3a1 x2 + 2a2 x + a3
=
dx
33
(6.34)
(6.35)
v = x3
a1
a2
2
x x 1
a3
[p]
a4
(6.36)
{a}
34
or:
v1
0
0
0
0
1
=
L3 L2
v
3L2 2L
2
{u}
Victor Saouma
[L]
0
1
L
1
1
a1
0
a2
1
a
3
0
a4
{a}
(6.37)
Draft
N1
N2
N3
N4
69
=0
Ni Ni,x
1
0
0
1
0
0
0
0
Function
= (1 + 2 3 3 2 )
= x(1 )2
= (3 2 2 3 )
= x( 2 )
=1
Ni Ni,x
0
0
0
0
1
0
0
1
1
a2
= 3
a
3
a4
{a}
36
2
L
2
L
v1
3L 2L2 3L L2 1
0
L3
0
0
v
2
3
L
0
0
0
2
[L]1
{u}
2
L
2
L
v1
2 3L L2
1
3L
2L
1
u = x3 x2 x 1 3
L3
0
0
v
L 0
2
[p]
0
0
0
L3
2
[L]1
(6.38)
{u}
v1
(1 + 2 3 3 2 ) x(1 )2 (3 2 2 3 ) ( 2 ) 1
=
N1
N2
N3
N4
v2
2
[p][L]1
{u}
(6.39)
(6.40)
[N]
where = xl .
37
Hence, the shape functions for the exural element are given by:
N1 = (1 + 2 3 3 2 )
N2 = x(1 )2
N3 = (3 2 2 3 )
N4 = x( 2 )
(6.41)
6.2.2.2
For problems involving the rst derivative of the shape function, that is with C 1 interelement
continuity (i.e continuity of rst derivative or slope) such as for exure, Hermitian interpolation
functions rather than Lagrangian ones should be used.
39
Victor Saouma
Draft
610
1.0
0.8
N1
N3
N2
N4
0.6
0.4
0.2
0.0
0.2
0.0
0.2
0.4
0.6
0.8
1.0
(x/L)
6.2.3
6.3
Natural coordinates are dimensionless and dened with respect to element length/area/volume
rather than the global coordinate system.
41
42 They are often used in element formulation of simplex elements (where in an n dimensional
space, there are n + 1 vertices and n + 1 surfaces of dimensionality n 1).
Victor Saouma
Draft
611
L
L2
L1
P
x1
x1
L
=
2
x2
L
1
= x + x
1 1
2 2
x =x+L
2
6.3.1
43
Straight Line
L1
L
and 2 =
L2
L
(6.42)
since L1 + L2 = L, we have
1 + 2 = 1
44
45
(6.43)
47
(6.45)
Furthermore
Victor Saouma
xdL
=
L (1 x1 + 2 x2 )dL =
L2
2
dL
=
L
=
L 1 2
4!
L
2 (x1
L
12
+ x2 )
(6.47)
Draft
612
L =1
3
A
P 1
A2
A
L =0
2
Side
e
Sid
L =0
L =1
Side 3
L =0
L =1
6.3.2
Triangular Coordinates
49 For a triangular surface, any point P divides the triangle 1-2-3 into three subareas A1 , A2 , A3 ,
Fig. 6.8 thus we dene area coordinates as ratios of areas
L1 =
A1
,
A
L2 =
A21
,
A
L3 =
A3
A
(6.48)
Since A = A1 + A2 + A3 then
L1 + L2 + L3 = 1
51
52
The centroid is at L1 = L2 = L3 =
(6.49)
1
3
1 1 1
L1
1
L2
x
= x1 x2 x3
y1 y2 y3
L3
y
(6.50)
[A]
inverting
x2 y3 x3 y2 y2 y3 x3 x2 1
L1
L
= x3 y1 x1 y3 y3 y1 x1 x3
x
2
L3
x1 y2 x2 y1 y1 y2 x2 x1
y
[A]1
2A23 y23 x32 1
1
2A31 y31 x13
x
2A
2A12 y12 x21
y
(6.51-a)
(6.51-b)
where xij = xi xj
Victor Saouma
Draft
613
(6.52)
and if the labels are reversed such that 1-2-3 is clockwise, then the determinant is negative.
54
L1
L2
L3
=
+
+
x
L1 x
L2 x
L3 x
L1
L2
L3
=
+
+
y
L1 y
L2 y
L3 y
and
L1
x
L1
y
y2 y3
2A ;
x3 x2
2A ;
=
=
L2
x
L2
y
y3 y1
2A ;
x1 x3
2A ;
=
=
L3
x
L3
y
=
=
y1 y2
2A ;
x2 x1
2A ;
(6.53-a)
(6.53-b)
(6.53-c)
(6.54)
55 Integration for the stiness matrix will require integration in area coordinate of expressions
of the form A Lk1 Ll2 Lm
3 dA. To accomplish this operation, and with reference to Fig. 6.9,
(Eisenberg and Malvern 1973):
h2
3
3
L =0
2
ds
ds 1
11
00
00
11
00
11
00
11
00
11
00
11
00
11
L =0
2
L =0
3
h1
Victor Saouma
(6.55-a)
(6.55-b)
= 2AdL1 dL2
(6.55-c)
Finite Elements II; Solid Mechanics
Draft
614
Thus
Lk1 Ll2 Lm
3 dA
= 2A
1 1L1
0
Lk1 Ll2 (1
L1 L2 ) dL2 dL1
m
(6.56)
Lk1 Ll2 Lm
3 dA
1
1
k
l+m+1
= 2A L1 (1 L1 )
dL1 tl (1 t)m dt
0
(6.57)
each of the integrals on the right-hand side is of the form of the beta function (Abramowitz
and Stegun 1970)
1
(z)(w)
(6.58)
tz1 (1 t)w1 dt =
B(z, w) =
(z + w)
0
where denotes the gamma function which satises (n + 1) = n! for integers n 0. Thus
(k + 1)(l + 1)(m + 1)
(6.59)
Lk1 Ll2 Lm
3 dA = 2A
(k + l + m + 3)
A
Since k, l, and m are nonnegative integers,
A
Lk1 Ll2 Lm
3 dA = 2A
k!l!m!
(k + l + m + 2)!
(6.60)
56 It should be noted that the above relation is used only if we have straight sided elements and
the element formulation can thus be analytically derived. Alternatively, if we have a curvilinear
side, this formula will not be used, and the element will be numerically integrated within the
context of an isoparametric formulation.
6.3.3
57
Volume Coordinates
An internal point P subdivide the tetrahedron into four subtetrahedra, and thus Li =
for i = 1, 4.
58
59
x
=
z
L1
1 1 1 1
L
x1 x2 x3 x4
2
y1 y2 y3 y4
L
3
z1 z2 z3 z4
L4
Vi
V ,
(6.61)
[A]
60
Victor Saouma
k!l!m!n!
(3 + k + l + m + n)!
(6.62)
Draft
6.3.4
615
Interpolation Functions
61 Triangular elements allow a complete polynomial in Cartesian coordinate to be used for the
eld (e.g. temperature, displacement) quantity. Thus, all terms of a truncated Pascal triangle
are used in the shape functions. (This will not be the case for the bilinear quadrilateral element).
)
62 We seek to determine =
Ni i where i are nodal d.o.f. and Ni = Ni (L1 , L2 , L3 ).
)n
q
r
s
63 We start with =
i=1 ai L1 , L2 , L3 ) where q, r and s range over the n possible combinations
for which q + r + s = p and where p is the order of the polynomial. For example for
Linear element:
= a1 L1 + a2 L2 + a3 L3 = a 1 + a 2 x + a 3 y
(6.63)
Quadratic element:
= a1 L21 + a2 L22 + a3 L23 + a4 L1 L2 + a5 L2 L3 + a6 L3 L1 = a 1 + a 2 x+ a 3 y + a 4 x2 + a 5 xy + a 6 y 2
(6.64)
64
The shape functions for the Linear Triangle are simply the area coordinates,
N1 = L1
N2 = L2
N3 = L3
(6.65)
and each one is equal to unity at one node, zero at the others, and varies linearly.
65 The shape functions for other elements can be obtained from the Lagrangian interpolation
function used earlier Eq. 6.25
-n
i=0,i
=k (L Li )
n
(6.66-a)
lk = -n
i=0,i
=k (Lk Li )
(6.66-b)
66 Hence, denoting a typical node i by three numbers q, r and s corresponding to the position
of coordinates L1i , L2i and L3i , we can write the shape functions in terms of three Lagrangian
interpolation functions
(6.67)
Ni = lqq (L1 )lrr (L2 )lss (L3 )
67
Using this formula, the shape functions for higher order elements are
Linear triangle
Ni = Li
(6.68)
Quadratic triangle
Ni = Li (2Li 1) Corner nodes
Midside nodes, i, j, k are on the same side
Nj = 4Li Lk
Victor Saouma
(6.69)
Draft
616
Cubic triangle
Ni = 12 Li (3Li 1)(3Li 2) Corner nodes
Midside nodes, i, j, k are on the same side
Nj = 92 Li Lk (3Li 1)
Internal node
N10 = 27L1 L2 L3
6.4
(6.70)
Pascals Triangle
Constant
Linear
Quadratic
Cubic
Quartic
a11 x4
a1
3
a7 x
a4 x2
a12 x3 y
a2 x
2
a8 x y
a3 y
a5 xy
a13 x2 y 2
a9 xy
a6 y 2
a14 xy 3
a10 y 3
(6.71)
a15 x4
Table 6.2: Interpretation of Shape Functions in Terms of Polynomial Series (1D & 2D)
69
Terms
Linear
Quadratic
Bi-Linear (triangle)
Bi-Linear (quadrilateral)
Bi-Quadratic (Serendipity)
Bi-Quadratic (Lagrangian)
a1 ,
a1 ,
a1 ,
a1 ,
a1 ,
a1 ,
a2
a2 ,
a2 ,
a2 ,
a2 ,
a2 ,
a4
a3 ,
a3 , a5
a3 , a4 , a5 , a6 , a8 , a9
a3 , a4 , a5 , a6 , a8 , a9 , a13
# of Nodes
(terms)
2
3
3
4
8
9
Table 6.3: Polynomial Terms in Various Element Formulations (1D & 2D)
70
A complete polynomial contains all the terms above a certain line in the Pascal triangle.
71 The more terms are included, the higher the accuracy. For instance u = a1 +a2 x+a3 y +a5 xy
is more accurate than u = a1 +a2 x+a3 y, however the rate of convergence is unchanged (because
the second approximation is not a complete quadratic one).
72 Terms in the approximation which do not improve the rate of convergence are called parasitic
terms.
Victor Saouma
Draft
Chapter 7
FINITE ELEMENT
DISCRETIZATION and
REQUIREMENTS
7.1
Discretization
7.1.1
Discretization of the Variational Statement for the General TPE Variational Principle
The discretization of Equation 5.8 will be performed on an element domain e using the
procedures described in Chapter 2 of (Zienkiewicz and Taylor 1989);
1
2 The surface of the element subjected to surface tractions t comprises one or more surfaces
of the element boundary . For the present time this discussion will be kept on a very general
level with no mention of the dimensionality of the elements; the number of nodes dening the
elements; or the nature of the constitutive law.
The rst step in the discretization process is to dene the displacements u at a point inside
the element in terms of the shape functions N and the nodal displacements ue for the element
3
(7.1)
u = Nue
4 The virtual displacements u at a point inside the element can also be dened in terms of
the shape functions N and the nodal virtual displacements ue for the element
(7.2)
u = Nue
5
uT td = 0
t
(7.3)
Draft
72
dening the virtual strain energy for the element due to the nodal displacements u, the strains
at a point inside the element are expressed in terms of the nodal displacements ue using
Equation 7.1
= Lu = LNue
(7.4)
and the virtual strains at a point inside the element are expressed in terms of the nodal
virtual displacements ue using Equation 7.2
= (Lu) = LNue
6
(7.6)
B = LN
the virtual strain energy for an element is written as
T
T
(Lu) D(Lu)d = ue
e
(7.5)
BT DBdue
(7.7)
Ke =
(7.8)
(7.9)
e
8 In order to discretize the volume integrals in Equation 7.3 dening the virtual strain energy
for the element due to the initial strains 0 and stresses 0 , Equations 7.5 and 7.6, which dene
the virtual strains at a point inside the element in terms of the nodal virtual displacements
ue , are substituted into the integrands
T
T
(Lu) D 0 d = ue
BT D 0 d
(7.10)
e
9
(Lu)T 0 d = uTe
BT 0 d
(7.11)
B D 0 d
T
BT 0 d
Victor Saouma
(7.12)
(7.13)
Draft
7.1 Discretization
73
10 In order to discretize the volume integral dening the work done by the body forces and the
surface integral dening the work done by the surface tractions in Equation 7.3, Equation 7.2
is substituted into the integrands
uT bd = uTe
NT bd
(7.14)
uT td = uTe
t
11
NT td
(7.15)
NT td
(7.16)
NT bd +
fe =
e
the sum of the internal and external virtual work due to body forces and surface tractions is
T
u bd +
uT td = uTe fe
(7.17)
e
12 Having obtained the discretization of the various integrals dening the variational statement
for the TPE variational principle, it is now possible to dene the discrete system of equations. Substituting Equations 7.7, 7.13, and 7.17 into Equation 7.3 and rearranging terms, the
discretized Principle of Virtual Work is
(7.18)
Since uTe is an arbitrary (i.e. non-zero) vector appearing on both sides of Equation 7.18,
the discrete system of equations can be simplied into
13
Ke ue = fe + f0e + Pu
(7.19)
7.1.2
14 The discretization of the three variational statements dened in Equation 5.65, 5.66, and
5.67 will be performed on an element domain e using the procedures described in Chapter
2 of (Zienkiewicz and Taylor 1989) assembly of the discrete element equations into a discrete
global system of equations is straightforward and will be omitted from this discussion.
The surface of the element subjected to surface tractions t comprises one or more surfaces
of the element boundary e . For the present time this discussion will be kept on a very general
level with no mention of the dimensionality of the elements; the number of nodes dening the
elements; or the nature of constitutive law.
15
The rst step in the discretization process is to dene the displacements u, strains , and
stresses at a point inside the element in terms of the shape functions Nu , N= , and N ,
respectively, and the element nodal displacements ue , strains e , and stresses e
16
Victor Saouma
Draft
74
(7.20)
= N = e
(7.21)
= N e
(7.22)
We note that contrarily to the previous case (Eq. 7.1) we now have three discretizations (instead
of just one).
17 The virtual displacements u, virtual strains , and virtual stresses at a point inside
the element can also be dened in terms of the shape functions Nu , N= , and N , respectively,
and the nodal virtual displacements ue , virtual strains e , and virtual stresses e for the
element
18
u = Nu ue
(7.23-a)
= N= e
(7.23-b)
= N e
(7.23-c)
t
T [D( 0 ) + 0 ] d
T (L u ) d
equations:
= 0
(7.24-a)
= 0
(7.24-b)
= 0
(7.24-c)
In order to discretize the volume integral in the rst variational statement (i.e. Equ. 7.24-a)
dening the virtual strain energy for the element, Equation 7.23-a is substituted into the virtual
strain-displacement relationship (i.e. Equation 5.6) to dene the virtual strains at a point
inside the element in terms of the nodal virtual displacements ue
19
(L u) = L u = L Nu ue
20
(7.25)
(7.26)
and substituting Equation 7.22 into the integrand, the virtual strain energy for an element is
written as
T
T
(Lu) d = ue
BTu N d e
(7.27)
e
21
BTu N d
(7.28)
(7.29)
Victor Saouma
Draft
7.1 Discretization
75
22 In order to discretize the volume integral dening the work done by the body forces and the
surface integral dening the work done by the surface tractions in the rst variational statement
(i.e. the rst equation in Equation ??), Equation 7.23-a is substituted into the integrands
T
T
u b d = ue
NTu b d
(7.30)
uT t d = uTe
NTu t d
(7.31)
NTu b d +
NTu t d
(7.32)
(7.33)
23 Having dened the discretization of the various integrals in the rst variational statement
for the HW variational principle (i.e. Equ. 7.24-a), it is now possible to dene the discrete
system of equations. Substituting Equations 7.29 and 7.33 into the variational statement and
rearranging terms, the discretized Principle of Virtual Work is
(7.34)
where the left-hand side is the virtual strain energy and the right-hand side is the internal and
external virtual work. Since ue is an arbitrary (i.e. non-zero) vector appearing on both sides
of Equation 7.34, the discrete system of equations can be simplied into
FTe e = fe
(7.35)
+ Te
e
25
NT= 0 d Te
NT= N d e = 0
(7.36)
(7.37)
NT= N d
Ce =
(7.38)
Victor Saouma
Draft
76
NT= 0 d
(7.39)
(7.40)
Since the nodal virtual strains are arbitrary they can be eliminated from Equation 7.40
yielding
Ae e Ce e = ge
(7.41)
Recognizing that
NT Bu d = Fe
(7.43)
NT N= d = CTe
(7.44)
(7.45)
Since the nodal virtual stresses e are arbitrary they can be eliminated from Equation 7.45
yielding
Fe ue CTe e = 0
(7.46)
Ae Ce 0
e ge
CTe
0
Fe
e
0
(7.47)
=
T
0
Fe
0
ue
fe
Draft
77
28 Since it would be computationally expensive to solve the system of equations in Eq. 7.47
using direct method, an indirect or iterative procedure (i.e. Gauss-Seidel instead of GaussJordan) is often selected, (Zienkiewicz and Taylor 1989).
Step
Step
Step
Step
1:
2:
3:
4:
uk+1
n
k+1
n
k+1
n
rk+1
n
=
=
=
=
ukn + K1 rkn
CT Fuk+1
n
C1 Ak+1
n
f FT k+1
n
(7.48)
30
7.2
(7.50)
Compatibility or Conformity: The approximation of the eld over element boundaries must
be continuous (C0 or C1 continuity). Most nite elements are conforming, but some are
not.
32 For instance, with respect to Fig.
7.1, element A must be capable of undergoing rigid
body motion without internal strains/stresses, and at node B we should have continuity of
displacement (but not slope for this element).
33 If those two requirements are satised, then convergence is assured. In the FE method
approximate solution are obtained, and the more elements we use, the more accurate is the
Victor Saouma
Draft
78
111
000
000
111
000
111
000
111
000
111
111
000
000
111
000
111
000
111
000
111
B
A
35
Patch test: Completeness can be assessed through the patch test which will be discussed
later.
Zero Strain Energy: For structural problems, there should be zero strain energy when the
element is subjected to a rigid body motion. Recall that in the stiness matrix formulation, the matrix is singular as it embodies not only the force displacement relations,
but the equilibrium equations also. To each of those equations, corresponds a rigid body
mode which can be detected by an eigenvalue analysis (more about this later).
7.3
Approximation will yield an exact solution in the limit as the size h of element approaches
zero.
36
37 In some cases the exact solution is obtained with a nite number of elements (or even with
only one) if the polynomial expansion used in that element can t exactly the correct solution.
(e.g. Truss, beam elements, plane stress element used in a plate under pure axial load).
38
The exact solution can always be expanded in the vicinity of any node i as a polynomial
u
u
(x xi ) +
(y yi ) + ...
(7.51)
u = ui +
x i
y i
If within an element of size h a polynomial of degree p is used, then the Taylor expansion up
to that degree can be accommodated and the error is of the order O(hp+1 ).
Victor Saouma
Draft
79
Thus for a linear element, the convergence rate is of order O(h2 ), i.e., the error in displacement is reduced to 1/4 of the original error by halving the mesh.
39
40 By a similar argument, it can be shown that the strains (or stresses) which are given by
the mth derivatives of the displacement should converge with an error of O(hp+1m ), and the
strain energy (which is given by the square of the stresses) error will be O(h2(p+1m) )
41 From the above arguments, knowledge of the order of convergence may help in extrapolating
the solutions to the correct one. Hence, for instance, if the displacement converges at O(h2 ),
and we have two approximate solutions u1 and u2 obtained with meshes of sizes h and h/2,
then we can write
O(h2 )
u1 u
=
=4
(7.52)
u2 u
O(h/2)2
Finally, additional errors may come from round-o within the computer.
Victor Saouma
Draft
710
7.4
A numerical solution that is derived from the principle of minimum total potential energy is
a lower bound solution, because the strain energy is smaller than the exact one (i.e. obtained
from an innite number of elements).
45
This can be readily shown if we consider the displacement ui caused by a load Pi which is
increased from zero to its stipulated value. The work done is Pi2ui and must be equal to the
internal strain energy U . Alternatively, the potential of the applied load is Pi ui , and the exact
potential energy is
Pi uexact
Pi uexact
i
i
Pi uexact
(7.53)
=
exact =
i
2
2
similarly, the approximate value of the potential energy is
46
approx
Pi uapprox
i
=
2
(7.54)
We know that the approximation of is algebraically higher than the exact value (since the
exact value is a minimum), hence
Pi uiapprox
Pi uiexact
<
2
2
exact
(7.55)
approx
or
uapprox
< uexact
i
i
(7.56)
7.5
48
In an exact solution over each dierential element equilibrium and compatibility prevails.
49
Draft
711
x2
u
2
6
2
y,v
x,u
1
5
Figure 7.4: Interelement Continuity of Strain
Equilibrium Inside Elements: is not always satised. In general satisfaction of equilibrium
at every point demands relations between dof which do not necessarily result from ke u
f =0
Displacement Compatibility Inside an Element: is satised as we only require that the
element displacement be continuous and single-valued.
Victor Saouma
Draft
712
Victor Saouma
Draft
Chapter 8
Introduction
1 Having rst introduced the method of virtual displacements, than the interpolation (or shape)
functions [N], which relate internal to external nodal displacements, and nally having applied
the virtual displacement method to nite element in chapter 7, we derive the stiness matrices
of some simple elements.
8.2
Rod Elements
8.2.1
Truss Element
The shape functions of the truss element were derived in Eq. 6.11:
x
N1 = 1
L
x
N2 =
L
xx =
(8.1)
[B]
Draft
82
L
AE
L2
AE
L
L
L1
E L1
1
L
1 1
1
1
0
1 1
1 1
1
L
dx
(8.2-a)
dx
(8.2-b)
We observe that this stiness matrix is identical to the one earlier derived in Eq. ??.
8.2.2
Beam Element
6 For a beam element, for which we have previously derived the shape functions in Eq. 6.41
and the [B] matrix in Eq. 1.4-d, substituting in Eq. 1.15:
l
e
[B]T [D][B] y 2 dA dx
[k ] =
0
(8.3)
[B]T [D][B]Iz dx
[k ] =
(8.4)
[ke ] = EIz
[B]T [B] dx
(8.5)
0
8 Using the shape function for the beam element from Eq. 6.41, and noting the change of
integration variable from dx to d, we obtain
[ke ] = EIz
1
0
6
L2 (2 1)
L2 (3 2)
6
L2 (2 + 1)
L2 (3 1)
6
L2 (2
1) L2 (3 2)
6
L2 (2
+ 1) L2 (3 1)
Ld (8.6)
dx
or
[ke ] =
v1
z
V1 12EI
L3
6EI
z
M
1
L2
12EIz
V2
L3
6EI
z
M
2
2
6EIz
L2
4EIz
L
z
6EI
L2
2EIz
L
v2
z
12EI
L3
6EIz
L2
12EIz
L3
z
6EI
L2
6EIz
L2
2EIz
L
z
6EI
L2
4EIz
L
(8.7)
Victor Saouma
Draft
83
8.3
8.3.1
Triangular Elements
Cartesian Coordinate System (CST)
Having retrieved the stiness matrices of simple one dimensional elements using the principle
of virtual displacement, we next consider two dimensional continuum elements starting with
the triangular element of constant thickness t made out of isotropic linear elastic material. The
element will have two d.o.fs at each node:
10
{u} = u1 u2 u3 v1 v2 v3 T
11
12
For the 2D plane elasticity problem, the strain vector {} is given by:
{} = xx yy xy T
(8.8)
(8.9)
hence we can rewrite the strains in terms of the derivatives of the shape functions through the
matrix [B]:
0
xx
u
x
N
0
(8.10)
=
y
v
yy
N
N
xy
y
x
[B]
13 We note that because we have 3 u and 3 v displacements, the size of [B] and [u] are 9(33)6
and 6 1 respectively.
Victor Saouma
Draft
84
14
1
1
0
0
0
0
xx
x
x2
2
N3
yy
x
N1
N2
u1
x
x
xy
u
x
x
x
1
2
3
2
3
2
0
0
0
xx
u
3
x
y
x
y
y
2
2
3
2
3
3
yy
=
v1
2
N1
N2
N3
xy
y
y
y
v
2
x3
1
x3 x2
1
1
xx
0
3
3
yy
x2 y3
x2 y3
y3
x
x2
N3
2
3
{u}
x
N1
N2
xy
N1
N1
N3
x
x
y
y
x
{}
(8.11)
[B]
15 With the constitutive matrix [D] given by Eq. ??, the strain-displacement relation [B] by
Eq. 8.11, we can substitute those two quantities into the general equation for stiness matrix,
Eq. 7.8:
[ke ]
[B]T [D][B]d
6
6
6
6
6
6
6
4
Z
=
x12
|
2
=
6
6
6
6
6
6
4
where =
x3 x2
x2 y 3
3
xx
2 y3
1
y3
x12
1
x2
0
0
0
1
x2
0
0
0
0
x3 x2
x2 y 3
3
xx
2 y3
1
y3
{z
[B]T
y32 + x232
y32 x3 x32
x2 x32
y3 x32
x3 y3 + y3 x32
x2 y3
1
2 ,
1+
2 ,
3
7
2
7
1
7 E
7
4 1
7
7 1 2
0 0
7
5|
{z
1
)
2
[D]
32
x12
56
0
4
}|
x3 x2
x2 y 3
1
x2
0
0
3
xx
2 y3
1
y3
ET
,
2(1 2 )x2 y3
{z
x3 x2
x2 y 3
x12
3
xx
2 y3
1
y3
1
x2
x2 x32
x2 x3
x22
x2 y3
x2 y3
0
y3 x32
y3 x32 + x3 y3
x2 y3
y32 + x232
y32 x3 x32
x2 x32
x3 y3 + y3 x32
x3 y3
x2 y3
y32 x3 x32
y32 + x23
x2 x3
x2 y3
x2 y3
0
x2 x32
x2 x3
x22
16 For the evaluation of the internal stresses {} = [D][B]{u} hence for this particular element
we will have:
u1
u
1
1
0
0
0
0
x2
1
0
x
x2
E
u
x
x
x
3
1
3
2
3
0
0
0
y
=
1
0
x 2 y3
x 2 y3
y3
v1
1 2
x3 x2
x3
1
1
1
xy
)
0 0 1
2
x 2 y3
x 2 y3
y3
x2
x2
v2
{ }
[D]
v3
[B]
{u}
y3
y3
0 x32
= y3
y3
0
x32
x32 x3 x2 y3
Victor Saouma
u1
u2
x3 x2
u
3
x3
x2
(8.12)
v1
y3
0
7 tdxdy
5
| {z }
} dV ol
[B]
y32 x3 x32
y32 + x23
x2 x3
y3 x32 + x3 y3
x3 y3
x2 y3
0
0
3
7
7
7
7
7
7
5
Draft
8.3.2
85
E
(1 2 )x2 y3
From Eq. 8.12 we note that the element must be positioned in such a way that neither x2
nor y3 is equal to zero.
17
18
8.3.2.1
Linear, T3
19
20
For the linear triangle, the shape functions are given by Eq. 6.68, thus
u =
Li ui =
i=1
i=1
Ni ui
(8.13)
Li v i
i=1
Ni v i
i=1
or Ni = Li .
21
L3
2A12 y12 x21
(8.14)
where xij = xi xj .
22
Derivatives required for strain-displacement relationships are obtained from Eq. 6.54:
L1
x
L1
y
23
24
=
=
y2 y3
2A ;
x3 x2
2A ;
L2
x
L2
y
=
=
Ni,x
0
Ni,y
Bi = 0
Ni,y Ni,x
y3 y1
2A ;
x1 x3
2A ;
L3
x
L3
y
=
=
(i = 1, 2, 3)
y1 y2
2A ;
x2 x1
2A ;
(8.15)
(8.16)
(8.17)
25 This expression is then analytically integrated using Eq. 6.60. In general an isoparametric
numerical integration is preferred (Section 9.2.3).
Victor Saouma
Draft
86
8.3.2.2
26
Ni ui
v =
i=1
Ni vi
(8.18)
i=1
N4 = 4L1 L2
N2 = (2L2 1)L2
N5 = 4L2 L3
N3 = (2L3 1)L3
N6 = 4L3 L1
(8.19)
27 It should be noted that alternatively, we could have obtained those shape functions by
assuming
(8.20)
u(L1 , L2 ) = a1 + a2 L1 + a3 L2 + a4 L21 + a5 L1 L2 + a6 L22
and then determine the coecients through satisfaction of the appropriate boundary conditions.
The shape functions and their derivatives with respect to the natural coordinates L1 and L2
are given in Table 8.1 (in terms of L1 , L2 , and L3 ).
28
i
1
2
3
4
5
6
Ni
(2L1 1)L1
(2L2 1)L2
(2L3 1)L3
4L1 L2
4L2 L3
4L1 L3
Ni,L1
4L1 1
0
0
4L2
0
4L3
Ni,L2
0
4L2 1
0
4L1
4L3
0
Ni,L3
0
0
4L3 1
0
4L2
4L1
0
xx
x
= 0 y
yy
xy
y
x
L
u
v
(8.21)
or
xx (L1 , L2 , L3 )
xx
(L , L , L )
=
yy 1 2 3
yy
xy
xy (L1 , L2 , L3 )
Victor Saouma
(8.22-a)
Draft
i=1
2A
where
87
0
Ni (L1 ,L2 ,L3 )
y
L1
x
B=LN
L2
L3
x
x
L1
y
L2
y
L3
y
N1
L1
N1
L2
N1
L3
N2
L1
N2
L2
N2
L3
N3
L1
N3
L2
N3
L3
0
[NL ] =
ui
vi
(8.22-b)
[NL ]
[NL ]
N4
L1
N4
L2
N4
L3
0
L1
y
L1
x
N5
L1
N5
L2
N5
L3
L2
y
L2
x
N6
L1
N6
L2
N6
L3
L3
y
L3
x
[NL ]
[NL ]
(8.23-a)
0
0
4L2
0 4L3
4L1 1
0
4L2 1
0
4L1 4L3
0
=
0
0
4L3 1 0 4L2 4L1
30
Nx 0
xx
u
yy
0 Ny
=
v
xy
Ny Nx
where
NTx |NTy
"
2A
L1
x (4L1 1)
L2
x (4L2 1)
L3
x (4L3 1)
L2
1
4 L
x L2 + 4 x L1
L3
2
4 L
x L3 + 4 x L2
L3
1
4 x L1 + 4 L
x L3
u
(8.22-c)
v
L1
y (4L1 1)
L2
y (4L2 1)
L3
y (4L3 1)
L2
1
4 L
y L2 + 4 y L1
L3
2
4 L
y L3 + 4 y L2
L3
1
4 y L1 + 4 L
y L3
(8.23-b)
(8.24)
u v = u1 u2 u3 u4 u5 u6 v 1 v 2 v 3 v 4 v 5 v 6
(8.25-a)
(8.25-b)
31 This expression is then analytically integrated using Eq. 6.60. In general an isoparametric
numerical integration is preferred (Section 9.2.3).
8.4
The structure stiness matrix of the bilinear rectangular shown in Fig. 8.1 is described by
the Mathematica code shown below.
32
Draft
88
Victor Saouma
Draft
e (a2 2 b2 +a2 ) t
6 a b (1+) (1+)
(e t)
8 (1+)
e (a2 +4 b2 +a2 ) t
12 a b (1+) (1+)
(e (1+3 ) t)
8 (1+) (1+)
(e (a2 2 b2 +a2 ) t)
12 a b (1+) (1+)
et
8 (1+)
(e (a2 +b2 +a2 ) t)
6 a b (1+) (1+)
e (1+3 ) t
8 (1+) (1+)
ke18;58
89
(e t)
8 (1+)
(e (2 a2 +b2 b2 ) t)
6 a b (1+) (1+)
e (1+3 ) t
8 (1+) (1+)
(e (a2 b2 +b2 ) t)
6 a b (1+) (1+)
et
8 (1+)
e (2 a2 +b2 b2 ) t
12 a b (1+) (1+)
(e (1+3 ) t)
8 (1+) (1+)
e (4 a2 b2 +b2 ) t
12 a b (1+) (1+)
e (a2 +4 b2 +a2 ) t
12 a b (1+) (1+)
e (1+3 ) t
8 (1+) (1+)
e (a2 2 b2 +a2 ) t
6 a b (1+) (1+)
et
8 (1+)
(e (a2 +b2 +a2 ) t)
6 a b (1+) (1+)
(e (1+3 ) t)
8 (1+) (1+)
(e (a2 2 b2 +a2 ) t)
12 a b (1+) (1+)
(e t)
8 (1+)
(e (1+3 ) t)
8 (1+) (1+)
(e (a2 b2 +b2 ) t)
6 a b (1+) (1+)
et
8 (1+)
(e (2 a2 +b2 b2 ) t)
6 a b (1+) (1+)
e (1+3 ) t
8 (1+) (1+)
e (4 a2 b2 +b2 ) t
12 a b (1+) (1+)
(e t)
8 (1+)
e (2 a2 +b2 b2 ) t
12 a b (1+) (1+)
(e (a2 2 b2 +a2 ) t)
12 a b (1+) (1+)
et
8 (1+)
(e (a2 +b2 +a2 ) t)
6 a b (1+) (1+)
e (1+3 ) t
8 (1+) (1+)
e (a2 2 b2 +a2 ) t
6 a b (1+) (1+)
(e t)
8 (1+)
e (a2 +4 b2 +a2 ) t
12 a b (1+) (1+)
(e (1+3 ) t)
8 (1+) (1+)
et
8 (1+)
e (2 a2 +b2 b2 ) t
12 a b (1+) (1+)
(e (1+3 ) t)
8 (1+) (1+)
e (4 a2 b2 +b2 ) t
12 a b (1+) (1+)
(e t)
8 (1+)
(e (2 a2 +b2 b2 ) t)
6 a b (1+) (1+)
e (1+3 ) t
8 (1+) (1+)
(e (a2 b2 +b2 ) t)
6 a b (1+) (1+)
e (1+3 ) t
8 (1+) (1+)
e (4 a2 b2 +b2 ) t
12 a b (1+) (1+)
(e t)
8 (1+)
e (2 a2 +b2 b2 ) t
12 a b (1+) (1+)
(e (1+3 ) t)
8 (1+) (1+)
(e (a2 b2 +b2 ) t)
6 a b (1+) (1+)
et
8 (1+)
(e (2 a2 +b2 b2 ) t)
6 a b (1+) (1+)
(8.26-a)
8.5
8.5.1
Element Assessment
CST
34 The CST gives good results in a region of the FE model where there is little strain gradient.
Otherwise, the CST will not work well.
35 A natural extension would be to go linear, i.e. LST. This element would have midside nodes
in addition ot vertex nodes.
36 We should note that for this element the stress is independent of x and y because a linear
displacement relation was assumed resulting in a constant strain and stress (for linear elastic
material).
37 If we consider the element shown in Fig. 8.2 we apply a moment M such that: 1) origin does
not move, and 2) the displacement is u = u at x = l on top of the beam, then from the exact
solution (Timoshenko and Goodier 1970), the correct displacements are
u=
Victor Saouma
u
xy
cl
v=
u
(x2 y 2 )
2cl
(8.27)
Draft
810
u
y
cl
yy =
u
y
cl
xy = 0
(8.28)
which are clearly wrong. Hence, we conclude the CST element can not properly perform in
bending problems (As is expected from a constant strain element behavior when used in a linear
strain problem).
This deciency will later be addressed by including an additional internal drilling degree
of freedom.
39
40
Zero energy mode can be veried by considering for example the strain xx which is given by
xx =
1
(y3 u1 + y3 u2 )
x2 y3
(8.30)
since u1 = u2 for a rigid body motion, we see that xx = 0, similar conditions can be found for
yy and xy
8.5.2
41
BiLinear Rectangular
Under exure, the top and bottom sides remain straight giving rise to erroneous strains.
42 From Pascalss triangle (Sect. 6.4), the displacement eld for a bilinear rectangular element
is given by
(8.31)
u = a1 + a2 x + a3 y + a5 xy
which is consistent with the element shape functions derived earlier (Eq. 6.31)
43 We note that whereas there is a quadratic term (a5 xy) convergence is governed by the full
linear expansion, and that this last term may cause parasitic eects.
Victor Saouma
Draft
811
hence, u varies quadratically with x along the inclined boundary. However, this boundary is
uniquely dened by only two nodal displacements u1 and u2 , thus the quadratic expression is
not uniquely dened and we may have dierent variation along the side from one element to
the adjacent one.
45
Continuity across the element not being satised, the element is non-conforming.
We conclude that the bilinear quadrilateral element must always have its four edges parallel
to the coordinate system.
46
47 This severe restriction will be alleviated in the next lecture by Isoparametric element
formulations.
Renement of this element include the addition of two degrees of freedom to allow a state of
constant curvature
48
(8.33-a)
+ (1 )g3 + (1 )g4
(8.33-b)
v =
ni=1 Ni v i
Other renements (mostly in shells) include the inclusion of additional rotational degrees of
freedom termed drilling dof.
49
Victor Saouma
Draft
812
Victor Saouma
Draft
Chapter 9
ISOPARAMETRIC ELEMENTS;
2nd GENERATION
9.1
Introduction
1 We have previously examined simple nite elements, in this lecture we shall distort those
simpler elements into others of more arbitrary shape.
Correspondingly, the natural coordinates will be distorted into new curvilinear sets when
plotted in a cartesian x, y, z space, Fig. 9.1.
2
(-1,1)
(1,1)
(-1,-1)
(1,-1)
3
L 1 =0
L 2 =0
L 3 =0
Nodal displacements at any point inside the element can be written in terms of the nodal
Draft
92
y,v
Mapping
x,u
(1,1)
(-1,1)
(-1,-1)
(1,-1)
Parent Element
Actual Element
u
2
= Nue
u = N1 u1 + N2 u2 + = N
..
.
v1
v2
= Nve
v = N1 v 1 + N2 v 2 + = N
..
.
w1
w2
= Nwe
w = N1 w 1 + N2 w2 + = N
..
.
(9.1)
or
u = u v w T = [N]ue
(9.2)
When elements are also distorted, the coordinates of any point can also be expressed in terms
of nodal coordinates
2
= Nx
x = N1 x1 + N2 x2 + = N
..
.
y1
y2
2 y 2 + = N
1 y 1 + N
(9.3)
= Ny
y = N
..
.
z1
z2
= Nz
z = N1 z 1 + N2 z 2 + = N
..
.
or
c = x y z T = [N]c
(9.4)
Victor Saouma
Draft
93
Geometric
Nodal
Config.
Displacement
Nodal
Config.
Isoparametric
Subparametric
Superparametric
9.2
9.2.1
Element Formulation
Bar Element
9 The simplest introduction to isoparamteric elements is through a straight three noded quadratic
elements, Fig. 9.4.
= 1
= 0
= +1
x,u
L
Victor Saouma
Draft
94
of order n 1 would be
Nkn
-n
( i )
-ni=1,i
=k
i=1,i
=k (k i )
(9.5-a)
( 1 )( 2 ) ( k1 )( k+1 ) ( n )
(k 1 )(k 2 ) (k k1 )(k k+1 ) (k n )
(9.5-b)
(2 )(3 )
(1 2 )(1 3 )
(1 )(3 )
(2 1 )(2 3 )
(1 )(2 )
(3 1 )(3 2 )
=
=
=
(1)(0)
(11)(10)
(+1)(0)
(1+1)(10)
(+1)(1)
(0+1)(01)
=
=
1 2
2 (
1 2
2 (
)
+ )
(9.6)
= 1 2
Hence,
x() = N x1 x2 x3 T
and
u() = N u1 u2 u3 T
(9.7)
where
N =
1 2
2 (
1 2
2 (
+ ) 1 2
(9.8)
The strain displacement relation is given by Eq. 7.4, = Lu = LNue = Bue , and the
dierential operator L is equal to d . For this one dimensional case, this reduces to
dx
u1
d
du
=
N
u
(9.9)
x =
2
dx
dx
u3
L
11
12 We invoke the chain rule since the shape functions are expressed in terms of natural coordinates:
dN d
dN
=
(9.10)
B=
dx
d dx
The rst term may be readily available from the shape functions, Eq. 9.8, however the second
one is not.
d is not available, we may determine its inverse dx , from Eq. 9.7, which we shall
13 Whereas,
dx
d
denote by J or Jacobian. The Jacobian operator J is a scale factor which relates cartesian to
natural coordinates dx = Jd.
x1
x1
d
dx
x2
x2
=
N
(9.11)
= 1 (2 1) 12 (2 + 1) 2
J() =
2
d
d
x3
x3
dN
d
dx
d
14
Victor Saouma
d dN
dN
=
(9.12)
dx
dx d
J 1
Finite Elements II; Solid Mechanics
Draft
95
15
1
1 d
N =
J d
J
1
2 (2
1)
1
2 (2
+ 1) 2
16
(9.13)
(9.14)
Substituting, the element stiness matrix is nally obtained from Eq. 7.8
L
T
Ke () =
+1
B ()AEB()dx =
BT ()AEB()J()d
(9.15)
17 We observe that B, in general, contains terms in both the numerator and denominator, and
hence the expression can not be analytically inverted. Furthermore, the limits of integration
are now from -1 to +1, and we shall see later on how to numerically integrate it.
18 A simple Mathematica code to generate the stiness matrix of three noded (quadratic)
element:
x1=0;x2=L;x3=L/2;
N1[x_,L_]:=(x-x2) * (x-x3)/( (x1-x2) * (x1-x3));
N2[x_,L_]:=(x-x1) * (x-x3)/( (x2-x1) * (x2-x3));
N3[x_,L_]:=(x-x2) * (x-x1)/( (x3-x2) * (x3-x1));
BMat={D[N1[x,L],x], D[N2[x,L],x], D[N3[x,L],x]};
Integrate[EA Outer[Times, BMat, BMat], {x,0,L}];
MatrixForm[%]
9.2.2
9.2.2.1
Quadrilaterals
Linear Element (Q4)
19 We have previously derived the stiness matrix of a rectangular element (aligned with the
coordinate axis), this formulation will generalize it to an arbitrary quadrilateral shape.
20
= 1
= 1/2
= 1
= 1/2
= 1/2
= 1
4
1
4
1
3
1
= 1/2
y,v
= 1
1
1
x,u
Victor Saouma
Draft
96
21
Nij uk =
Nj ()Ni ()uk
(9.16)
i=1 j=1
Ni ui
=
(9.17-a)
(9.17-b)
i=1
22
( 1)
1
( 2 )
=
= (1 )
(1 2 )
(1 1)
2
( + 1)
1
( 1 )
=
= (1 + )
(2 1 )
(1 + 1)
2
( 1)
1
( 2 )
=
= (1 )
(1 2 )
(1 1)
2
( + 1)
1
( 1 )
=
= (1 + )
(2 1 )
(1 + 1)
2
(9.18-a)
(9.18-b)
(9.18-c)
(9.18-d)
1
4 (1
1
4 (1
)(1 ); N2 (, ) =
+ )(1 + ); N4 (, ) =
1
4 (1
1
4 (1
+ )(1 );
)(1 + );
(9.19)
It should be noted that for this simple case, the shape functions could have been determined
by mere inspction.
23
24
xx
x
0
yy
=
{} =
y
xy
y
x
L
(9.20)
u
v
(9.21)
u
v
| {z }
u
=
Victor Saouma
N1 (, )
0
0
N1 (, )
N2 (, )
0
8 u 9
1 >
>
>
>
>
v1 >
>
>
>
>
>
>
>
u2 >
>
>
>
< v >
=
0
N3 (, )
0
N4 (, )
0
2
(9.22)
N2 (, )
0
N3 (, )
0
N4 (, )
u
>
>
3
>
>
>
>
{z
}>
v3 >
>
>
>
>
>
>
>
N
>
>
: u4 >
;
v4
Finite Elements II; Solid
Mechanics
| {z }
u
Draft
97
4
xx (, )
x
0
yy (, )
=
N
i (,)
i=1
xy (, )
y
Ni (,)
y
Ni (,)
x
B=LN
=
N2,x
0
N2,y
0
N2,y
N2,x
ui
vi
(9.23-a)
N3,x
0
N3,y
0
N3,y
N3,x
N4,x
0
N4,y
0
N4,y
N4,x
0
N1,y
N1,x
N1,x
0
N1,y
Ni (,)
Ni (,)
Ni (,)
i=1
Ni (,)
u1
v1
u2
v2
u3
v3
u4
v4
$
(9.23-b)
[J]1
26 Considering the local set of coordinates , and the corresponding global one x, y, the chain
rules would give
#
$
Ni
Ni
Ni
x
Ni
y
=
J
= [J]
Ni
x
Ni
y
(9.24-a)
Ni
Ni
(9.24-b)
This last equation is the key to get all the components which will go inside the B matrix.
27
Ni (,)
=
#
=
1
4
J
N1
N1
N2
N2
Ni
x
Ni
y
N3
N3
i=1
N4
N4
Ni
xi
Ni
xi
x1
x2
x3
x4
y1
y2
y3
y4
Ni
x
Ni
y
(9.25-a)
Ni
x
Ni
y
(1 ) (1 ) (1 + ) (1 + )
(1 ) (1 + ) (1 + ) (1 )
$
Ni
y i
Ni
y i
(9.25-b)
x1
x2
x3
x4
y1
y2
y3
y4
Ni
x
Ni
y
(9.25-c)
Victor Saouma
Draft
98
28
[J]1 =
def
29
1
=
detJ
=
detJ
4
i=1
Ni
y i
i
N
xi
i
N
y i
Ni
xi
$
(9.26)
From calculus, if and are some arbitrary curvilinear coordinates, Fig. 9.6, then
y
y
d
ds
y
d
de
dr
x
d
x
d
d
and
ds =
(9.27)
From vector algebra, the cross product of two vectors lying in the x-y plane, Fig. 9.7 is
C=A x B
|B| sin
(9.28-a)
(9.28-b)
Finite Elements II; Solid Mechanics
Draft
99
i
j
k
= Ax Ay 0 = (Ax By Bx Ay ) k
Bx By 0
Area
|C| = |A||B| sin
(9.28-c)
(9.28-d)
hence, the dierential area dxdy is then equal to the length of the vector resulting from the
cross product of drds and is equal to
#
d(area) = dxdy = det
31
dd
(9.29)
[B]T83 [D]3x3 [B]38 tdxdy
= [k] =
1
[B]T [D][B]t|J|dd
(9.30)
The evaluation of the element stiness matrix involves dA. If we consider an innitesimal
element, of length dr and ds, at the vertex of an element, it has the boundaries of the element
as its sides. Then, from Eq. 9.28-d
32
dA = dx.dy. sin
(9.31)
dx.dy
sin
d.d
(9.32)
Thus we observe that if is small or close to 180o , then det J will be very small, if the angle is
greater than 180 o , the determinant is negative (implying a negative stiness which will usually
trigger an error/stop in a FE analysis).
33
34 The inverse of the jacobian exists as long as the element is not much distorted or folds back
upon itself, Fig. ?? in those cases there is no unique relation between the coordinates.
In general J is an indicator of the amount of element distorsion with respect to a 2x2 square
one. Some times it is constant, others it varies within the element.
36
Victor Saouma
Draft
910
9.2.2.1.1 Example: Jacobian Operators, (Bathe 1996) Determine the Jacobian operators J for the following 2 dimensional elements. (Bathe 1982).
y
2
1
1
x
4
3
3/4
3
4
2
x 1
60
The coordinates are given by Eq. 9.4, the shape functions by Eq. 9.19, and the Jacobian
by Eq. 9.24-b.
Element 1:
x =
y =
[J] =
1
1
(1 )(1 )x3 + (1 + )(1 )x4
4
4
1
1
+ (1 + )(1 + )x1 + (1 )(1 + )x2
4
4
1
1
(1 )(1 )(3) + (1 + )(1 )(3)
4
4
1
1
+ (1 + )(1 + )(3) + (1 )(1 + )(3)
4
4
1
1
(1 )(1 )y 3 + (1 + )(1 )y 4
4
4
1
1
+ (1 + )(1 + )y 1 + (1 )(1 + )y 2
4
4
1
1
(1 )(1 )(2) + (1 + )(1 )(2)
4
4
1
1
+ (1 + )(1 + )(2) + (1 )(1 + )(2)
4
4
3 0
0 2
(9.33-a)
(9.33-b)
(9.33-c)
(9.33-d)
(9.33-e)
1
1
(1 )(1 )((3 + 1/(2 3))) + (1 + )(1 )(3 1/2 3))
4
4
1
1
+ (1 + )(1 + )(3 + 1/2 3)) + (1 )(1 + )((3 1/2 3)))
4
4
1
1
(1 )(1 )(2) + (1 + )(1 )(2)
y =
4
4
x =
Victor Saouma
(9.34-a)
Draft
[J] =
911
1
1
+ (1 + )(1 + )(2) + (1 )(1 + )(2)
4
$
#4
3
0
1
2 3
(9.34-b)
(9.34-c)
1
2
Element 3:
1
1
(1 )(1 )(1) + (1 + )(1)
4
4
1
1
+ (1 + )(1 + )(1) + (1 )(1)
4
4
1
1
y =
(1 )(1 )(3/4) + (1 + )(1 )(3/4)
4
4
1
1
+ (1 + )(1 + )(5/4) + (1 )(1 + )(1/4)
4
4
1 4 (1 + )
[J] =
4 0 (3 + )
x =
9.2.2.2
37
(9.35-a)
(9.35-b)
(9.35-c)
Quadratic Element
For a quadratic quadrilateral element, there are two possibilities, Fig. 9.9.
9
6
1
5
2
5
2
9.2.2.2.1
39
(9.36)
In this formulation, the x2 y 2 term is missing and the 8 terms in the assumed polynomial
expansion correspond the 8 nodes (4 corner and 4 midside).
40
Victor Saouma
Draft
912
Constant term
Linear terms
2
Quadratic terms
3
Cubic terms
Quartic terms
Linear element
Quadratic element
3
Cubic element
Constant term
Quadratic terms
Cubic terms
Linear terms
3
3
Quartic terms
2
2 2
3 2
Quintic terms
Linear element
Quadratic element
3
Cubic element
3
2 3
3 3
Sixtic terms
Quadratic terms
Cubic term
Linear terms
Linear elements
Quadratic element
3
Cubic element
Triangle Elements
Figure 9.10: Pascal Triangles for Quadrilateral and Triangle Elements
Victor Saouma
Draft
913
y,v
1
6
1
5
5
1
x,u
2
1
Figure 9.11: Serendipity Isoparametric Quadratic Finite Element: Global and Parent Element
41
1
4
1
2
1
2
(1
% + 2i&) (1 + i ) (i + i 1) i = 1, 2, 3, 4
i = 5, 7
1 (1
% + i&)
(1 + i ) 1 + 2
i = 6, 8
(9.37)
Ni
1
2
3
4
5
6
7
8
1
4 (1 )(1 )( 1)
1
4 (1 + )(1 )( 1)
1
4 (1 + )(1 + )( + 1)
1
4 (1 )(1 + )( 1)
1
2
2 (1 )(1 )
1
2
2 (1 + )(1 )
1
2
2 (1 )(1 + )
1
2
2 (1 )(1 )
Ni,
+ )(1 )
)(1 )
+ )(1 + )
)(1 + )
(1 )
1
2
2 (1 )
(1 + )
12 (1 2 )
1
4 (2
1
4 (2
1
4 (2
1
4 (2
Ni,
)(2 + )
+ )(2 )
+ )(2 + )
)(2 )
12 (1 2 )
(1 + )
1
2
2 (1 )
(1 )
1
4 (1
1
4 (1
1
4 (1
1
4 (1
42
The shape functions for the corner and midisde nodes are shown in Fig. 9.12.
9.2.2.2.2
43 If we were to follow a similar procedure to the one adopted to extract the bilinear shape
fuctions, we would obtain 9 shape functions, which must in turn correspond to 9 (rather than
Victor Saouma
Draft
914
1
0.8
0.5
0.6
0
0.4
0.5
0.2
1
1
0
1
1
0.5
0.5
0.5
0
0
0.5
0.5
0.5
1
0.5
0
0.5
1
1
0
0.1
0.2
0.8
0.8
0.6
0.6
0.6
0.4
0.4
0.4
0.2
0.2
0
0.2
0.2
0.4
0.7
0.2
0.3
0.8
0.4
0.4
0.6
0.6
0.2
0.4
0.8
0.8
1
1
0.5
0.9
0.8
0.6
0.8
0.6
0.4
0.2
0.2
0.4
0.6
0.8
1
1
0.8
0.6
0.4
0.2
0.2
0.4
0.6
0.8
(9.38)
Serendipity
45 All the quadratic terms are present, hence there are 9 terms in the polynomial expansion,
and the 9th node will correspond to an internal node.
46 The shape functions in this case can be directly obtained from the Lagrangian interpolation
functions, yielding
Ni
Ni
Ni
N9
= 14 (1
% + i&) (1 + i ) (i + i 1)
= 12 1 2 (1
% + 2i&)
1
= 2 (1 + i ) 1
= (1 2 )(1 2 )
i = 1, 2, 3, 4
i = 5, 7
i = 6, 8
i=9
47
48
Those shape function dier slightly from those of the serendipity element.
Victor Saouma
(9.39)
Draft
915
49
Q9 elements perform much better than the Q8 if edges are not parallel or slightly curved.
50
The shape functions for the corner and midisde nodes are shown in Fig. 9.13.
1
1
0.5
0.8
0.6
0
0.4
0.2
0.5
1
1
0.2
1
0.5
0.5
0.5
1
0.5
0.5
0.5
1
0.8
0.8
0.6
0.6
0.4
0.6
0.4
0.6
0.2
0.5
0.5
0.2
0.2
0
0.4
0.2
0.2
0.8
0.4
0.4
0.4
0.6
0.8
0.8
1
1
0.8
0.8
0.2
0.6
0.6
0.2
0.4
0.6
0.4
0.2
0.2
0.4
0.6
0.8
1
1
0
0.8
0.6
0.4
0.2
0.2
0.4
0.6
0.8
0.1
0.8
0.4
0.6
0.6
0.2
0.8
0.4
0.8
0.6
0.2
0.4
0.2
0.2
0.9
0.4
0
1
0.7
0.5
0.5
0
0
0.5
0.5
1
0.5
0.6
0.3
0.8
1
1
0.8
0.6
0.4
0.2
0.2
0.4
0.6
0.8
In its simplest formulation, it has four nodes, and has a linear variation along all sides, and
Victor Saouma
Draft
916
N1
N2
N3
N4
N5
N6
N7
N8
N9
1
4 (1 )(1 )
1
4 (1 + )(1 )
1
4 (1 + )(1 + )
1
4 (1 )(1 + )
1
2
2 (1 )(1 )
1
2
2 (1 + )(1 )
1
2
2 (1 )(1 + )
1
2
2 (1 )(1 )
(1 2 )(1 2 )
i=5
12 N5
12 N5
i=9
1
4 N9
1
4 N9
1
4 N9
1
4 N9
12 N9
12 N9
12 N9
12 N9
9.2.3
Triangular Elements
For the six noded triangle, the partial derivatives of a variable with respect to x and y can
be expressed as, (Felippa 2000)
#
$ )6 i Ni
)i=1 L1
L2
L3
L1
6
Ni
x
x
x
x
= L
(9.40)
L
L
i=1 i L2
1
2
3
)
6
y
y
y
Ni
y
i=1 i L3
55
56
)6
Ni
i=1 i L1
Victor Saouma
)6
Ni
i=1 i L2
)6
Ni
i=1 i L3
L1
x
L2
x
L3
x
L1
y
L2
y
L3
y
=
(9.41)
Draft
917
i
L1
L2
)i=1
)i=1
6
6
Ni
Ni
i=1 yi L1
i=1 yi L2
)6 Ni
3
)6 i=1 L
Ni
x
i
L3
)i=1
6
Ni
i=1 yi L3
L1
x
L2
x
L3
x
L1
y
L2
y
L3
y
1
x
x
x
y
x
1
y
x
y
y
y
(9.42)
y
y
1
1
x
But x
x = y = 1, and x = y = y = x = 0 since x and y are independent coordinates.
Furthermore all entries in the rst row are equal to a constant (3 for the T6 element), and since
the corresponding right hand side, this row can be normalized, yielding the Jacobian matrix
for this element
L
L1
1
1
1
1
0 0
x
y
)
)
)
6
6
6
N
N
N L
L
(9.43)
)i=1 xi L1i )i=1 xi L2i )i=1 xi L3i x2 y2 = 1 0
6
6
6
Ni
Ni
Ni
L3
L3
0
1
y
y
y
i=1 i L1
i=1 i L2
i=1 i L3
x
y
58
59
1
4 x1 (4L1 1) + 4x4 L2 + 4x6 L3
y1 (4L1 1) + 4y4 L2 + 4y6 L3
1
x2 (4L2 1) + 4x5 L3 + 4x4 L1
y2 (4L2 1) + 4y5 L3 + 4y4 L1
2
6
4
L1
x
L2
x
L3
x
L1
y
L2
y
L3
y
{z
J
3
0
7=4 1
5
0
1
x3 (4L3 1) + 4x6 L1 + 4x5 L2 5
y3 (4L3 1) + 4y6 L1 + 4y5 L2
(9.44)
0
0 5
1
60 Next we invert the matrix and solve for the six triangular coordinates partials and substitute
in Eq. 9.40 which in turn will enable us to determine the B matrix in Eq. 9.23-a
Ni (L1 ,L2 ,L3 )
0
6
xx (L1 , L2 , L3 )
x
ui
y
vi
N
N
(L
,L
,L
)
(L
,L
,L
)
1
2
3
1
2
3
i
i
i=1
xy (L1 , L2 , L3 )
y
x
u
B=LN
9.3
Numerical Integration
Understanding numerical integration is not only essential for a proper integration of the
isoparameteric family of elements, but also helpful in understanding the Weighted Residual
methods (Chapter 11),
61
A crucial aspect of isoparametric element formulation is the numerical integration which can
be expressed as
62
F()d
63
or
F(, )dd
(9.46)
Wi F(i ) + Rn or
F(, )dd =
Wij F(i , j ) + Rn
F()d =
i
Victor Saouma
(9.47)
Draft
918
where the summations extend over all i and j, and Wi , Wij are weighting factors, and F(i )
and F(i , j ) are the matrices evaluated at the points specied in the arguments.
The matrices Rn are error matrices, which are in general not computed.
64
As shown above, F = BT .D.B for nite element stiness matrix evaluation, and each element
is integrated individually.
b
66 The integration of
is essentially based on passing a polynomial P () through given
a F ()d
b
values of F () and then use a P ()d as an approximation.
65
F ()d
(9.48)
P ()d
a
li ()F (i )
=
(9.49-a)
(9.49-b)
i=1
9.3.1
Newton-Cotes
68 In Newton-Cotes integration, it is assumed that the sampling points are equally spaced,
Fig. 9.15, thus we dene
P( )
F( )
-1
P ()d =
or
Approximation
Weights
b
a
li ()dF (i )
(9.50)
)n
(n)
P ()d =
Wi F (i )
i=1
b
(n)
(n)
Wi
= a li ()d = (b a)Ci
(9.51)
a i=1
li ()F (i )d =
i=1
(n)
where Ci are the weights of the Newton-Cotes quadrature for numerical integration
with n equally spaced sampling points.
Victor Saouma
Draft
(n)
C0
1
2
1
6
1
8
7
90
919
(n)
C1
1
2
4
6
3
8
32
90
(n)
C2
1
6
3
8
12
90
(n)
C3
1
8
32
90
(n)
C4
7
90
Error
101 (b a)3 F II ()
103 (b a)5 F IV ()
103 (b a)5 F IV ()
106 (b a)7 F V I ()
Newton-Cotes constants, and corresponding reminder are shown in Table 9.3, (Bathe 1982).
70 It can be shown that this method permits exact integration of polynomial of order n 1,
and that if n is odd, then we can exactly integrate polynomials of order n. Hence we use in
general odd values of n,
711 For n = 2 over [1, 1], we select equally spaced points at 1 = 1 and 2 = 1 to evaluate
1 P ()d
P () =
li ()F (i )
(9.52-a)
i=1
l1 () =
l2 () =
(2)
(2)
W1
W2
1
1
F ()d
2
1
= (1 )
1 2
2
1
1
= (1 + )
2 1
2
1
1 1
l1 ()d =
(1 )d = 1
2 1
1
1
1 1
l2 ()d =
(1 + )d = 1
2 1
1
1
2
(2)
P ()d =
Wi F (i ) = F (1) + F (1)
1
(9.52-b)
(9.52-c)
(9.52-d)
(9.52-e)
(9.52-f)
i=1
P () =
li ()F (i )
(9.53-a)
i=1
1
( 2 )( 3 )
= ( 1)
(1 2 )(1 3 )
2
( 1 )( 3 )
= (1 + )( 1)
l2 () =
(2 1 )(2 3 )
1
( 1 )( 2 )
= (1 + )
l3 () =
(3 1 )(3 2 )
2
1
1
1
1
(3)
=
l1 ()d =
( 1)d =
W1
2 1
3
1
l1 () =
Victor Saouma
(9.53-b)
(9.53-c)
(9.53-d)
(9.53-e)
Draft
920
(3)
W2
1
1
1
1
(3)
W3
l2 ()d =
1
2
l3 ()d =
P ()d =
1
(1 + )d =
1
i=1
4
3
(1 + )( 1)d =
1
F ()d
(9.53-f)
1
3
(9.53-g)
1
(3)
Wi F (i ) = [F (1) + 4F (0) + F (1)] (9.53-h)
3
9.3.2
Gauss-Legendre Quadrature
73 In Gauss-Legendre quadrature, the points are not xed and equally spaced, but are selected
to achieve best accuracy.
74
F ()d
P ()d =
1
(n)
(n)
(9.54)
Wi F (i )
i=1
since we want the left side to be exactly equal to P () at the integration points, we dene
() = ( 1 )( 2 )...( n )
(9.56)
Integrating
F ()d =
P () +
j=0
() j d
(9.57)
j=0
78
() d =
1
n1
j=0
() d +
1
j=n
() j d
(9.58)
1
1
Victor Saouma
F ()d
P () +
1
n1
j=0
() j d
(9.59)
Draft
921
we observe that the rst integral on the right-hand side involves a polynomial of order n 1,
and the second integral a polynomial of order 2n 1. Thus we set
1
() j d = 0
j = 0, 1, , n 1
(9.60)
1
which would result in a set of n simultaneous equations of order n in terms of the unknowns
i , i = 0, 1, , n 1.
79
1
1
F ()d
P () =
1
Approximation
Weights
Gauss Points
F (i )
i=1
or
80
1
1 F ()d
(n)
Wi
1
j
1 () d
li ()d =
(n)
Wi F (i )
(9.61)
i=1
)n
(n)
W F (i )
1i=1 i
= 1 li ()d
= 0
j = 0, 1, , n 1
(n)
(9.62)
i
0
3
1/
1/
0
03
3/5 0
3/5
Wi
2
1 1
5/9 8/9 5/9
Error
1 (2)
()
3F
1
(4)
()
135 F
1
(6) ()
F
15,750
Table 9.4: Integration Points and Weights for Gauss-Quadrature Formulaes Over the Interval
[1, 1]
9.3.2.1
Legendre Polynomial
81 The solutions (Gauss integration points) are equal to the roots of a Legendre polynomial
dened by
L0 () = 1
L1 () =
(9.63)
2k1
k1
2kn
Lk () =
k Lk1 () k Lk2 ()
and the n Gauss integration points are determined by solving Ln () = 0 for its roots i ,
i = 0, 1, , n 1.
82
Wi
Victor Saouma
2(1 i2 )
[nLn1 (i )]2
(9.64)
Draft
922
9.3.2.2
1
1
( 1 )( 2 ) 1 d = 0
(9.65-b)
(9.65-c)
1
3
1
1 =
3
and 1 + 2 = 0
(9.66)
1
and 2 =
3
(9.67)
(2)
W1
(2)
W2
9.3.3
(n)
Wi
1
1
1
1
=
1
li ()d
(9.68-a)
22
2
d =
= 1.0
1 2
1 2
(9.68-b)
21
1
d =
= 1.0
2 1
1 2
(9.68-c)
1
1
1
1
F (.)dd
P (, )dd =
1
(m)
Wi
(n)
Wj F (i , j )
(9.69)
i=1 j=1
and the total number of integration points will thus be m n, Fig. 9.16.
9.3.4
Triangular Regions
85 For the numerical integration over a triangle, the Gauss points are shown in Fig. 9.17, and
the corresponding triangular coordinates are given by Table 9.5.
Victor Saouma
Draft
= 1/ 3
923
= +1/ 3
= + 0.6
= 0.6
= +1/ 3
= + 0.6
6
3
5
4
7
= 1/ 3
= 0.6
b
a
b
a
c
d
Quadratic
Linear
Cubic
Order
Linear
Quadratic
Error
R = O(h2 )
R = O(h3 )
Cubic
R = O(h4 )
Points
a
a
b
c
a
b
c
d
Triang. Coord.
1 1 1
3, 3, 3
1 1
2, 2, 0
0, 12 , 12 ,
1
1
2 , 0, 2
1 1 1
3, 3, 3
0.6, 0.2, 0.2
0.2, 0.6, 0.2
0.2, 0.2, 0.6
Weights
1
1
3
1
3
1
3
27
48
25
48
25
48
25
48
Table 9.5: Coordinates and Weights for Numerical Integration over a Triangle
Victor Saouma
Draft
924
9.4
86
(9.70)
in general, it is desirable to have them evaluated at the elements nodal points. However, it
should be kept in mind that stresses computed at a given nodes from dierent elements need
not be the same (since stresses are not required to be continuous in displacement based nite
element formulations).
87
88 In the isoparametric formulation, nodal stresses are very poor, and best results are obtained
at the Gauss points.
89
Figure 9.18: Extrapolation from 4-Node Quad Gauss Points (Felippa 1999)
nates and which are related to and through Table 9.6 or
= 3
= 3
(9.71)
hence any scalar quantity (such as xx ) whose values i is known at the Gauss element corners
can be interpolated through the usual bilinear shape functions now expressed in terms of and
2
( , ) = N1e N2e N3e N4e
(9.72)
4
Victor Saouma
Draft
925
1
+1
+1
1
1
1
+1
+1
3
+3
+3
3
3
3
+3
+ 3
Gauss
Node
1
2
3
4
1/3
+1/3
+1/3
1/ 3
1/3
1/3
+1/3
+1/ 3
1
+1
+1
1
1
1
+1
+1
N2e
N3e
N4e
=
=
=
=
1
(1 )(1 )
4
1
(1 + )(1 )
4
1
(1 + )(1 + )
4
1
(1 )(1 + )
4
(9.73-a)
(9.73-b)
(9.73-c)
(9.73-d)
Similarly, we can extrapolate to the cornersof the element. For corner 1, for instance, we
replace and in the preceding equations by 3. Doing that for the four corners, we obtain
12 1 12 3
12
1 + 12 3
1
1
1
1
1
2
2 1 + 2 3
2 1 2 3
2
=
(9.74)
1 1 3
3
3
12 1 + 12 3
12
4
4
12
1 12 3
12
1 + 12 3
As expected, the sum of each row is equal to one, and for stresses we replace by xx , yy ,
and xy
As we know, dierent nodal stresses will be obtained from adjacent elements. To obtain a
single value we can either take
91
9.5
In the nite element formulation, all loads must be replaced by an energy equivalent nodal
load.
92
93
We shall consider the following cases: nodal load, gravity, tractions, and thermal.
9.5.1
Gravity Load
94 Gravity forces are equivalent to a body force/unit volume acting within the solid in the
direction of the gravity axis, Fig. 9.19,
Victor Saouma
Draft
926
Volume d
6
5
Direction of Gravity
(9.75-a)
= gd cos
dGy
(9.75-b)
NT bd
fe =
(9.76)
we obtain
Pxi
Pyi
Ni g
=
e
sin
cos
d
(9.77)
96
Pxi
Pyi
=
ngaus
ngaus
j=1
k=1
gt
sin
cos
Ni (j k )Wj Wk detJ(j , k )
(9.78)
9.5.2
Traction Load
Any element edge can have a distributed load per unit length in a normal and tangential
direction prescribed.
97
98 The variation of the distributed load is polynomial and its order can not exceed the order of
the element.
99
For the sake of consistency, loaded nodes are listed also counterclockwise.
100 First we determine the components of the distributed loads in the x and y directions by
considering the forces acting on an incremental length dS of the loaded edge, Fig. 9.20:
(9.79)
Draft
927
6
dy
Pt
dx
Pn
Pn
x
d
dy =
y
d
(9.80)
Substituting
x
y
pn
d
x
y
+ pt
d
=
pn
dPx =
dPy
(9.81-a)
pt
(9.81-b)
(9.81-c)
102
NT td
fe =
(9.82)
or
x
y
pn
d
=
Ni pt
t
x
y
+ pt
d
=
Ni pn
t
Pxi
Pyi
(9.83-a)
(9.83-b)
The integration is again carried on numerically (along the edge) and the energy equivalent
nodal forces for node i are
Pxi =
Pyi =
ngaus
j=1
ngaus
j=1
Victor Saouma
Ni
Ni
x
y
pn
pt
x
y
+ pt
pn
Wj
(9.84)
Wj
(9.85)
Draft
928
where the integration is carried on numerically along the edge. and note that
taken straight out of the Jacobian matrix.
103
Note that since integration is to be carried along the edge, we have used .
104
and
are
9.5.3
105
(9.86-a)
0yy
0
xy
= T
(9.86-b)
= 0
(9.86-c)
0xx =
(9.87-a)
0yy
(9.87-b)
0
xy
0zz =
0
zz
+ T = 0
(9.87-c)
(9.87-d)
0 , we obtain
Using the last expression to eliminate zz
Victor Saouma
0xx = (1 + )T
(9.88-a)
0yy
0
xy
0
zz
= (1 + )T
(9.88-b)
= 0
(9.88-c)
= ET
(9.88-d)
Draft
929
(9.89)
9.6
9.6.1
Computer Implementation
Algorithm
107 The computer implementation of a numerically integrated isoparametric element is summarized as follows.
But rst, it is assumed that this operation is to be performed in a function called stiff and
it takes as input arguments elcod, young, poiss, type, ndime, ndofn, ngaus. In turn it
will compute the stiness matrix KELEM of element ielem.
1. Retrieve element geometry and material properties for the current element
2. Zero the stiness matrix
3. Call function dmat to set the constitutive matrix De of the element
4. Enter (nested) loop covering all integration points
(a) Look up the sampling position of the current point (p , q ) (s, t) and their weights
(weigp)
(b) Call shape function routine sfr given p , q which will return the shape function Nie
N e
N e
(sfr) and the derivatives i and i (deriv) at the point p , q
Nie
Nie
and at point p , q will return
Nie
Nie
e
x and y (cartd), the Jacobian matrix J
determinant det Je (djac) and the x and y
Nie Nie
x , y ,
Victor Saouma
Draft
930
idime, ndime
idofn,ndofn
ielem,nelem
igaus,jgaus,ngaus
inode, nnode
kgasp,ngasp
type
poiss
young
elcod(ndime,nnode)
s
t
gpcod(ndime,ngasp)
posgp(mgaus)
weigp(mgaus)
shape(nnode)
deriv(ndime,nnode)
cartd(ndime,nnode)
djacb
jacm(ndime,ndime)
jaci(ndime,ndime)
bmat(nstre,nevab)
(
,
)
p
p
p
p
N1
8
(p , p ) N
(p , p )
dbmat(istre,ievab)
9.6.2
9.6.2.1
Ni
x
stores DB
MATLAB Code
stiff.m
Victor Saouma
Draft
931
% lnods
Global variable LNODS
% coord
Global variable COORD
%
% stifsize
Number of columns in the element stiffness matrix
% nrowcount
Position indicator for element stiffness matrix
% elmt
Current element for formation of stiffness matrix
% young
Modulus of elasticity for current element
% poiss
Poissons ration for current element
% D
Constitutive matix
% elcod
Matrix of element coordinates
% row
Counter
% kelem
Element stiffness matrix
% KELEM
Element stiffness matricies for all elements returned by function
% s
Current integration position
% t
Current integration position
% shape
Shape function at current point
% deriv
Derivative of shape function at current point
% cartd
Cartesian shape function derivatives
% jacm
Jacobian matrix
% jaci
Jacobian matrix inverse
% djac
Determinant of Jacobian matrix
% xy
x and y coordinates at the current point in the element
% bmat
Strain matrix [B]
% dbmat
Strain matrix * constitutive matrix [B]*[D]
%----------------------------------------------------------------------------------tic
fprintf(Calculating ELEMENT STIFFNESS matricies\n)
stifsize = 2*nnode;
nrowcount = stifsize-1;
for ielem = 1:nelem
%----------------------------------------% Extract material constants from lnods
%----------------------------------------elmt = lnods(ielem,1);
young = lnods(ielem,2);
poiss = lnods(ielem,3);
%----------------------------------------% Extract element coordinates
%
% elcod = [ X1 X2 X3 . . . Xn]
%
[ Y1 Y2 Y3 . . . Yn]
%----------------------------------------elcod = zeros(2,nnode);
for inode = 1:nnode
row = find(coord(:,1:1)==lnods(ielem,inode+3));
elcod(:,inode:inode) = coord(row:row,2:3);
end
%----------------------------------------% Constitutive matrix
%----------------------------------------D = dmat(young,poiss,type);
%----------------------------------------% Element stiffness matrix - element ielem
%----------------------------------------kelem = zeros(stifsize);
for igaus = 1:ngaus
Victor Saouma
Draft
932
9.6.2.2
dmat.m
function D = dmat(young,poiss,type)
%----------------------------------------------------------------------------------% This function calculates the constitutive matrix for an element
%----------------------------------------------------------------------------------%
VARIABLES
%----------------------------------------------------------------------------------% young
Youngs modulus/Modulus of elasticity
% poiss
Poissons ratio
% E
Modulus of elasticity
% type
type of problem - plain stress = 1, plain strain = 2
% D
Constitutive matrix returned by function
%----------------------------------------------------------------------------------tic
%fprintf(Calculating element constitutive matrix\n)
E = young;
v = poiss;
%-------------------------% Plain stress
%-------------------------if type == 1.0
D = (E/(1-v^2))*[
1
v
0
%-------------------------% Plain strain
%-------------------------else
Victor Saouma
v
1
0
0;
0;
(1-v)/2];
Draft
933
v
1-v
0
0
;
0
;
(1-2*v)/2];
end
t = toc;
%fprintf(1,Elapsed time for this operation =%3.4fsec\n\n,t)
9.6.2.3
sfr.m
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
-2*s*(1-t^2);
-2*t*(1-s^2);
-.5*(1-t^2) -.5*dN9ds;
-t*(1-s)
-.5*dN9dt;
-s*(1+t)
-.5*dN9ds;
.5*(1-s^2) -.5*dN9dt;
.5*(1-t^2) -.5*dN9ds;
-t*(1+s)
-.5*dN9dt;
-s*(1-t)
-.5*dN9ds;
-.5*(1-s^2) -.5*dN9dt;
-.25*(1+t) -.5*dN7ds .25*(1-s)
-.5*dN7dt .25*(1+t)
-.5*dN6ds .25*(1+s)
-.5*dN6dt .25*(1-t)
-.5*dN5ds -.25*(1+s) -.5*dN5dt -.25*(1-t) -.5*dN5ds -.25*(1-s) -.5*dN5dt -
Victor Saouma
.5*dN8ds
.5*dN8dt
.5*dN7ds
.5*dN7dt
.5*dN6ds
.5*dN6dt
.5*dN8ds
.5*dN8dt
.25*dN9ds;
.25*dN9dt;
.25*dN9ds;
.25*dN9dt;
.25*dN9ds;
.25*dN9dt;
.25*dN9ds;
.25*dN9dt;
Draft
934
deriv = [dN1ds dN2ds dN3ds dN4ds dN5ds dN6ds dN7ds dN8ds dN9ds;
dN1dt dN2dt dN3dt dN4dt dN5dt dN6dt dN7dt dN8dt dN9dt];
%------------------% Q8 Element
%------------------elseif nnode == 8
N8 = .5*(1-s)*(1-t^2);
N7 = .5*(1-s^2)*(1+t);
N6 = .5*(1+s)*(1-t^2);
N5 = .5*(1-s^2)*(1-t);
N4 = .25*(1-s)*(1+t) -.5*N7
N3 = .25*(1+s)*(1+t) -.5*N6
N2 = .25*(1+s)*(1-t) -.5*N5
N1 = .25*(1-s)*(1-t) -.5*N5
.5*N8;
.5*N7;
.5*N6;
.5*N8;
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
-.5*(1-t^2);
-t*(1-s);
-s*(1+t);
.5*(1-s^2);
.5*(1-t^2);
-t*(1+s);
-s*(1-t);
-.5*(1-s^2);
-.25*(1+t) -.5*dN7ds
.25*(1-s)
-.5*dN7dt
.25*(1+t)
-.5*dN6ds
.25*(1+s)
-.5*dN6dt
.25*(1-t)
-.5*dN5ds
-.25*(1+s) -.5*dN5dt
-.25*(1-t) -.5*dN5ds
-.25*(1-s) -.5*dN5dt
.5*dN8ds;
.5*dN8dt;
.5*dN7ds;
.5*dN7dt;
.5*dN6ds;
.5*dN6dt;
.5*dN8ds;
.5*dN8dt;
=
=
=
=
=
=
=
=
-.25*(1+t);
.25*(1-s);
.25*(1+t);
.25*(1+s);
.25*(1-t);
-.25*(1+s);
-.25*(1-t);
-.25*(1-s);
Victor Saouma
Draft
935
9.6.2.4
jacob.m
9.6.2.5
bmatps.m
Victor Saouma
Draft
936
%----------------------------------------------------------------------------------tic
%fprintf(Calculating strain matrix [B]\n)
numcols = 2*length(cartd);
bmat = zeros(3,numcols);
cartdcol = 0;
for ibmatcol = 1:2:numcols
cartdcol = cartdcol+1;
bmat(:,ibmatcol:ibmatcol+1) = [cartd(1,cartdcol)
0
;
0
cartd(2,cartdcol);
cartd(2,cartdcol)
cartd(1,cartdcol)];
end
dbmat = D*bmat;
t = toc;
%fprintf(1,Elapsed time for this operation =%3.4fsec\n\n,t)
9.6.3
108
% Shape FUnctions
X=-1:1/20:1;
Y=X;
YT=Y;
XT=X;
N9=(1-YT.*YT)*(1-X.*X);
N8=0.5*(1-YT.*YT)*(1-X);
N7=0.5*(1-XT.*XT)*(1+Y);
N6=0.5*(1-YT.*YT)*(1+X);
N5=0.5*(1-XT.*XT)*(1-Y);
N4=0.25*(1-XT)*(1+Y)-0.5*(N7+N8);
N3=0.25*(1+XT)*(1+Y)-0.5*(N6+N7);
N2=0.25*(1+XT)*(1-Y)-0.5*(N5+N6);
N1=0.25*(1-XT)*(1-Y)-0.5*(N8+N5);
meshc(X,Y,N1)
print -deps2 shap8-1.eps
c=contour(X,Y,N1);
clabel(c)
print -deps2 shap8-1-c.eps
meshc(X,Y,N8)
print -deps2 shap8-8.eps
c=contour(X,Y,N8);
clabel(c)
print -deps2 shap8-8-c.eps
N1=N1-0.25*N9;
meshc(X,Y,N1)
print -deps2 shap9-1.eps
c=contour(X,Y,N1);
clabel(c)
print -deps2 shap9-1-c.eps
N8=N8-0.5*N9;
meshc(X,Y,N8)
print -deps2 shap9-8.eps
c=contour(X,Y,N8);
Victor Saouma
Draft
937
clabel(c)
print -deps2 shap9-8-c.eps
meshc(X,Y,N9)
print -deps2 shap9-9.eps
c=contour(X,Y,N9);
clabel(c)
print -deps2 shap9-9-c.eps
Victor Saouma
Draft
938
Victor Saouma
Draft
Chapter 10
10.1
Element Formulation
ervenka, J. 1994)
Taken from (C
It is necessary to select appropriate interpolation functions for all three elastic elds (i.e. u,
and ). The choice of these shape functions must be such that the BB condition is satised
(Appendix ??). In this work, the same interpolation functions are used for all three elds (i.e.
displacements, strains and stresses), which implies that there is a full number of unknowns in
each node.
dim(un ) = N dim R,
(10.1)
where N denotes the number of nodes, dim is the problem dimension and R is the number
of rigid body modes. In Section 10.3, it will be shown that this formulation guarantees the
satisfaction of the BB condition.
The polynomial orders of the eld approximations are given in Table 10.1.
Table 10.1: Polynomial orders of the shape
eld
2D
T3
T6
T4
displacement u linear quadratic linear
strain
linear quadratic linear
stress
linear quadratic linear
functions.
3D
T10
quadratic
quadratic
quadratic
In general case a variable x is interpolated over a nite element using the expression:
x=
Nen
i xi
(10.2)
Draft
102
where Nen is the number of element nodes, i is an interpolation function associated with node
i, and xi is the value of variable x at element node i. For the linear triangular element (T3)
the interpolation functions are:
i = li ,
i = 1, 2, 3
(10.3)
and for the six noded triangular element (T6) with three corner nodes and three mid-side nodes
the interpolation functions are:
i = li (2li 1)
i = 1, 2, 3,
4 = 4l1 l2 ,
5 = 4l2 l3 ,
6 = 4l3 l1 ,
(10.4)
where element nodes 1 to 3 indicate the element corner nodes and 4 to 6 are the mid-side nodes.
Symbols li denote the natural area coordinates of the element, which are related to the element
natural coordinates and by relations:
l1 = ,
l3 = 1
l2 = ,
(10.5)
For three-dimensional nite elements, the interpolation functions are similar. For the linear
tetrahedron T4 element they are:
i = li ,
i = 1, 2, 3, 4
(10.6)
and for the T10 element with four corner nodes and six mid-edge nodes they are dened
analogically to the six noded triangular T6 element as:
i = 1, 2, 3, 4, 5 = 4l1 l2 , 6 = 4l2 l3 ,
i = li (2li 1),
8 = 4l1 l4 ,
9 = 4l2 l4 , 10 = 4l3 l4
7 = 4l3 l1 ,
(10.7)
Similarly to the two-dimensional elements, symbols li denotes the volumetric natural coordinates, which are again related to the element natural coordinates by relations:
l1 = ,
10.2
l2 = ,
l3 = ,
l4 = 1
(10.8)
Strain Recovery
ervenka, J. 1994)
Taken from (C
In Equation ??, Step 2 is essentially an expression for the computation of nodal strains from
nodal displacements. It involves the inversion of a symmetric matrix C T , or in other words
the solution of a system of linear simultaneous equations. Three strain recovery techniques,
described below, represent an attempt to avoid the direct solution of a large linear system of
equations in this step, as its assembly and factorization is computationally expensive.
Three algorithms are discussed and compared: (1) C-lumping (CL), (2) Strain smoothing
(SS) and (3) C-splitting (CS). The CL as the simplest algorithm, in which a lumped form of
matrix C is constructed, and the inversion of the resulting diagonal matrix is trivial. The other
two algorithms are dierent iterative techniques to solve the system of equations. Between
them, the CS method is tailored for the fastest convergence for linear elements.
In the sequel, the MIM iteration index k is omitted as it focuses on faster solution techniques
for the Step 2 only.
Victor Saouma
Draft
10.2.1
103
C-lumping.
The inversion of C for the C-lumping (CL) technique is simplied by forming a diagonalized
C matrix. This lumped C matrix 1 is evaluated by the following expression:
(I )dV
(10.9)
CL =
V
where I is the identity matrix and is the shape function matrix. Since identical shape functions are used for all three primary elds, the subscript at is no longer necessary. Replacing
C by C L Step 2 of Equation ?? reduces to:
n = C 1
L Eun
At the element level, the lumped C matrix
0
C eL =
0
0
(10.10)
0 0 0
5 0 0
(10.11)
0 5 0
0 0 5
10.2.2
Strain smoothing.
Strain Smoothing (Zienkiewicz, Vilotte, Toyoshima and Nakazawa 1985) (SS) is an indirect
procedure within Step 2 that avoids the direct decomposition of the C matrix. Nodal strains
are iteratively evaluated until the ratio of the Euclidean norms of strain correction to total
strains satises a prescribed limit.
This technique exploits the diagonal matrix C L previously described and the consistent
matrix C dened below. Iteratively the nodal strains are evaluated by:
j
= jn + C 1
j+1
n
L (Eun C n ).
(10.12)
where j = 0, 1, 2 . . . is the strain-iteration count. Note that this represents an internal iteration,
not to be confused with the MIM iteration of (??). The iteration process involves the nodal
strains in the whole mesh since Step 2 is equivalent to the least square t of the nodal based
strain eld to the strain eld derived from the displacement eld (Zienkiewicz and Taylor 1989).
For a four noded linear tetrahedral element (T4), the consistent matrix C is given at the
element level by:
2 1 1 1
1 2 1 1
e
T dV =
(10.13)
C =
1 1 2 1
V
e
1
Note: The diagonalized matrix C L and the consistent matrix
in Section 10.2.2 and 10.2.3 are
1 1 C 1described
2
determined in an analogous way as the standard lumped and consistent mass matrices in dynamics. The only
dierence is the exclusion of the weight density of the material which is replaced by unity.
Victor Saouma
Draft
104
(j 1)
A() = I C 1
L C
(10.14)
(10.15)
where A() is a xed amplication matrix having a spectral radius = 45 . The spectral radius
is dened as the largest eigenvalue of amplication matrix A(). Since Equation 10.15 involves
a product of C and inverse of C L , the constants are cancelled out. By Banachs xed point
theorem (Haser and Sullivan 1991) it is necessary for the spectral radius to be less than 1
to ensure convergence of the iterative process given by Equation 10.12. Thus, this value of the
spectral radius indicates an error decay of 15 .
10.2.3
C-splitting.
(10.16)
where:
C D = diag(C)
CR = C CD
(10.17)
is a splitting coecient controlling the splitting of the matrix C. Using this method Step
2 in Equation ?? is modied to:
j
= C 1
j+1
n
D (Eun C R n ).
(10.18)
(j 1)
(10.19)
(10.20)
It is possible to select the coecient such that the spectral radius of the amplication matrix
is minimal. For four-node tetrahedron elements using = 32 , which as shown below minimizes
the spectral radius of the amplication matrix, C splits at the element level into the following
matrices:
3 0 0 0
0 3 0 0
(10.21)
C eD =
0 0 3 0
0 0 0 3
and
C eR
Victor Saouma
1 1
1
1
1 1 1
1
=
(10.22)
1
1 1 1
1
1
1 1
Finite Elements II; Solid Mechanics
Draft
105
Then the spectral radius is equal to 23 . Thus, CS has an error decay rate of 13 allowing
for a faster convergence than the SS method. For example, 10 steps of CS can be expected to
10
reduce the initial strain errors by ( 23 ) 0.0173 whereas 10 steps of SS would reduce those
10
errors by only ( 45 ) 0.1074.
This technique was investigated also for other low order element types. The best splitting
coecients and resulting spectral radii of the operator A() (Eq. 10.20) for other element
types are summarized in Table 10.2. The coecients for four node quadrilateral and eight
node brick element are however valid only for elements with parallel or almost parallel sides.
Therefore, the (SS) technique would be probably more reliable for these element types.
10.3
The BB condition for uniqueness and existence of a solution of the three-eld variational principle is stated in Appendix ??. This condition was derived by (Babuska 1971), (Babuska 1973)
and (Brezzi 1974). Xue and Atluri (1985) extended the condition to a general three-eld problem, and derived its discrete form. The continuous and discrete forms of the BB conditions are
again described in Appendix ??, and it is shown that they are equivalent to the following three
conditions:
rank(E) = nu n
(10.23)
rank(C) = n n= + nu
A is positive denite
where matrices E, C and A are derived in Appendix ?? and are given by the following integrals:
T
BdV, C =
dV, A =
DT dV
(10.24)
E=
V
The third condition is satised as long as the material does not exhibit softening. This is always
guaranteed in the discrete crack approach, since softening is modeled only along the interface
elements which are not included in the mixed iterative solution.
If identical shape functions are used for all three elds, then the number of unknowns for
each eld is given by Equation 10.1, and the inequalities in the rst and second condition of
Equation 10.23 are always satised.
n
=
N dim()
nu = N dim R
n = N dim() n= + nu = N dim() + N dim R
Victor Saouma
(10.25)
Draft
106
We note that the rank condition of matrix C is also satised, as it is analogous to the
consistent mass matrix of isoparametric elements, which has always full rank, as can be seen
from Equation 10.13.
More complex is the verication of the rank condition of matrix E. In Equation 10.24, E
is given by the integral:
E=
B dV
(10.26)
where matrix B is the matrix relating strains at a certain point to the nodal displacements
and is the matrix of shape functions relating strains or stresses at a certain point to their
nodal counterparts. Matrix E will have a rank equal to nu if the following two conditions are
satised.
x V
: B(x)un = 0
un = 0,
(10.27)
T
(x) = (x) n : (x) is unique
n ,
The rst condition is equivalent to the requirement that a nonzero vector of nodal displacements
must cause non-zero strain eld. It should be noted that the rigid body modes are excluded
from vector un . They would be the only modes allowed to produce a zero strain eld. In
this case, matrix B corresponds to that of a standard isoparametric triangular or tetrahedral
element, and will therefore satisfy this condition.
The second condition is also satised, since the shape functions in matrix are those of a
standard isoparametric element, and the uniqueness of the interpolation is guaranteed.
For higher order triangular and tetrahedral elements (i.e. 6 noded triangle and 10 noded
tetrahedron), it would seem preferable to select interpolation functions for strains and stresses,
which are one order lower than those for the displacements. This would correspond to the
mathematical relation between strains and displacements, since the strains are determined by
dierentiation of the displacement eld. For this formulation, there would be unknown displacements, strains and stresses at each element corner node, but only displacement unknowns
at the midside element nodes. The strains and stresses would be interpolated using linear shape
functions and displacement using quadratic shape functions. Now, it is possible to show that
this formulation would not guarantee the satisfaction of the inequality in the rst condition of
Equation 10.23.
We consider a patch of two six-noded triangular element as shown in Figure 10.1. From
F
2F
5
20
5
F
8 and 9 noded isoparametric quadrilaterals; Pure Axial and Flexure
8 noded Isoparametric constant axial stress
the previous assumptions of linear stress and strain interpolation and quadratic displacement
interpolation, the unknown stresses and strains are only at the element corner nodes, while all
nodes have unknown displacements. The total number of stress and displacement unknowns is
Victor Saouma
Draft
107
(10.28)
and clearly the important inequality nu n is not satised and the existence and uniqueness
of a solution cannot be guaranteed. This should be contrasted by the previous formulation, in
which the same interpolation functions are used for all three elds, and the satisfaction of the
BB is guaranteed by Equation 10.25 and 10.27.
Victor Saouma
Draft
108
Victor Saouma
Draft
Chapter 11
WEIGHTED RESIDUAL
METHODS
Adapted from (Ottosen and Petersson 1992)
11.1
Introduction
1 Thus far, the nite element method was derived from a variational principle through the
Rayleigh-Ritz method.
2 In Elasto-Statics, the variational principle used is the minimization of the total potential
energy, and the resulting weak formulation is equivalent to the equation of equilibrium (strong
form).
3 In many branches of physical sciences, a variational principle may not be available, and all
what is available is a dierential equation and its associated boundary conditions.
It should be noted that a variational formulation is not possible when the order of the dierential equation is odd.
4
It is for those problems that the weighted residual methods are employed.
11.2
General Formulation
11.2.1
Dierential Operators
(11.1)
Draft
112
8
(L[u])ud > 0
Positive Denite
(11.2)
where u and v are any functions which satisfy essential and natural boundary conditions.
11.2.1.1
9 As an example, let us consider the steady state response of an axial bar. The governing
dierential equation and boundary conditions are
EA xu2 = 0
u|x=0 = 0
EA u
x x=l = P
(11.3)
= u;
g = 0;
L[] = EA x
2;
q1 = 0; B2 = EA x
; q2 = P ;
B1 = 1;
(11.4)
l
2u
u l
u v
dx
EA 2 vdx = EA v +
EA
x
x 0
x x
0
l
v l
2v
u l
EA 2 udx
= EA v + EAu
x
x
x
0
(11.5-a)
(11.5-b)
l
0
11.2.2
11
2u
EA 2 udx =
x
EA
0
u
x
2
dx
(11.7)
Residual Formulation
w(L + g)dx = 0
Z
1
From Eq.1.39:
a
Victor Saouma
(11.8)
v(x)u (x)dx
Draft
113
where w is an arbitrary weight function2 . We note that through this equation, the governing
dierential equation is satised in a weak sense.
12 We now seek an approximate numerical solution for the unknown function (x), hence, in
general we may assume
(11.9-a)
where ai are the unknown parameters, and (x) are prespecied trial functions3 of x.
13
w(Lapp + g)dx = 0
(11.10)
Since app will in general not satisfy the dierential equation exactly, then
Lapp + g = R
b
wR = 0
(11.11)
(11.12)
where R(x) is a measure of the error, and is called the Residual; We thus impose the requirement that weights and residuals be orthogonal functions4 .
14 The residual clearly depends on the coecients ai , thus our objective is to select the weight
w(x) in such a way that the weighted residuals w(x)R(x) over a b is zero.
15
c1
c2
= W1 (x) W2 (x) Wn (x)
cn
(11.13-a)
and Wi (x) are predened functions of x, ci are parameters. Hence, we can rewrite Eq. 11.8 as
WT Rdx = 0
(11.14)
WT Rdx = 0
(11.15)
2
Note similarity with the derivation of the principle of virtual work from the equilibrium equation and boundary condition.
3
Later on in the Galerkin Method, which is a special form of Weighted Residuals, will correspond to the
to the shape functions N, and a to the nodal displacements u.
displacement,
4
T
R Two vectors a and b are orthogonals if a b = 0, similarly, two functions u(x) and v(x) are orthogonals if
v(x)u(x) = 0.
Victor Saouma
Draft
114
Substituting Eq. 11.8, and since a does not depend on the coordinates
(11.16)
R = L(a) + g = L()a + g
Hence, taking the weighted average
W L()dx a =
a
T
or
Ke
Wgdx
(11.17)
W1 L(1 )dx
W1 L(2 )dx
W1 L(n )dx
W1 gdx
a
a
a
ab
b
b
b
W
L(
)dx
W
L(
)dx
W
L(
)dx
W2 gdx
2
1
2
2
2
n
Ke = a
;f =
a
a
a
..
..
..
..
..
.
.
.
.
.
b
b
b
Wn L(1 )dx
Wn L(2 )dx
Wn L(n )dx
Wn gdx
(11.18)
Ke is thus an n by n matrix, and from the preceeding equation we can solve for thee unknown
coecients a.
17
11.3
18 The previous formulation was very general, and dierent techniques will vary according to
the selected weights, i.e. our choice for W.
11.3.1
In this method, the weight function w is based on Diracs delta function (x xi ) and
thus the residual is set to be exactly equal to zero at n points. This is achieved by adopting for
the weight function w the Diracs delta function (x xi ) where
if x = xi
(11.19-a)
(x xi ) =
0 otherwise
(x xi )dx = 1
(11.19-b)
19
11.3.2
20 We subdivide the region of interest into n subregions, and within each one of them the
integral of the residual is set to zero.
Victor Saouma
Draft
11.3.3
21
Least-Squares Method
The integral of the square of the residuals are minimized with respect to ai .
I =
R2 (x, y, z, a1 , , an )dx
I
ai
11.3.4
22
115
= 0;
(11.20-a)
i = 1, 2, , n
(11.20-b)
Galerkin Method
(11.21)
i.e. the weight functions are equal to the trial functions. Since the trial functions are orthogonal
to the residuals (Eq. 11.8), then Eq. 11.15 becomes
b
T Rdx = 0
(11.22)
a
and
1 L(1 )dx
1 L(2 )dx
1 L(n )dx
1 gdx
a
a
a
ab
b
b
b
L(
)dx
L(
)dx
L(
)dx
2 gdx
2
1
2
2
2
n
Ke = a
;f =
a
a
a
..
..
..
..
..
.
.
.
.
.
b
b
b
n L(1 )dx
n L(2 )dx
n L(n )dx
n gdx
(11.23)
1. We rst write Newtons equation of motion in the transverse direction (sigf y = ma) for
an element of the string
w(x, t) 2 w(x, t)
2 w(x, t)
w(x, t)
T (x)
dx
+
= dx
dx
+ p(x, t)dx T (x)
T (x) +
2
x
x
x
x
t2
(11.24)
Victor Saouma
Draft
116
T (x)
+ p(x, t =
x
x
t2
which reduces to
(11.25)
w
T(x)+
p(x,t)
w(x,t)
x
T(x) dx
x
w(x,t) + w(x,t) dx
x
x2
w(x,t)
T(x)
x+dx
2. In the case of free vibration p(x, t) = 0, and for constant tension T =cst, we obtain
T w,xx w,tt = 0
(11.26)
(11.27)
where w = Nw
4. Integrate by parts
NT,x T w,x dx
L
0
!
"L
NT wdx
+ NT T w,x 0 = 0
(11.28)
The last term is equal to zero because the shape functions at the corresponding nodes
are equal to zero. By analogy to the virtual displacement method, N corresponds to the
virtual displacement which must be equal to zero at the supports in order to satisfy the
essential boundary conditions.
5. Substituting w = Nw and w,x = N,x w we obtain
L
L
T
=0
N,x T N,x dx w +
NT Ndx w
0
0
m
where
N=
Lx
L
x
L
6. Substituting
k =
m =
Victor Saouma
(11.29)
and N,x =
1
1 1
L
T
1 1
L 1 1
L 2 1
1 2
6
(11.30)
(11.31)
(11.32)
Draft
117
7. If we consider a two elements assemblage, and suppress the xed d.o.f (1 and 3), then
L
T
2 w 2 + 4 w2 = 0
L
6
(11.33)
2
L
T
T
4 2 A sin t = 0 2 = 3 L
2
L
6
11.4
23
(11.34)
(11.35)
(11.36)
2 T
4L2
We start with elasticity problems, to show that the Galerkin Method would result in exactly
the same formulation as the one obtained from the variational principle.
24
25 Following this validation of the method, we shall consider (in the next chapter) a class of
problems which does not have a variational principle, and thus the Galerkin method is the only
applicable technique. The second application will be the heat equation.
11.4.1
26 We will now apply the Galerkin method to the equation of elasticity and show that we will
retrieve the principle of virtual work which was derived from a variational principle. Hence, in
this particular case the two methods are indeed (as anticipated) equivalent.
27
where = Lu and
LT = 0
0
Victor Saouma
0
0
xx
yy
zz
z ; =
xy
xz
yz
(11.37)
bx
b
;
; b=
(11.38)
Draft
118
28
+
+
+
xy
y
yy
y
zy
y
+ zxz + bx = 0
+ zyz + by = 0
+
zz
z
(11.39)
+ bz = 0
We multiply the rst equation in Eq. 11.39 by the arbitrary function wx and we integrate
over the volume5 :
xy
xx
xz
d +
d +
d +
wx
wx
wx
wx bx d = 0
(11.40)
x
y
z
29
30
31
wx
xz d +
wx xz nz d
wx bx d = 0
+
32
(11.41-a)
(11.42)
wx bx d = 0
(11.43)
wz
wz
wz
zx +
zy +
zz d +
wz tz d
x
y
z
wy by d = 0 (11.44-a)
wz bz d = 0 (11.44-b)
WT t
wT b
(11.45)
wy
wz
wx
xx +
yy +
zz +
5
x
y
z
Note similarity
the
derivationRof the principle
with
R w
R of virtualwork.
6
T
w
wIfy we w
x
y vd =
x ndw
z (r)T vd.
z vT = [ 0 0 ], we obtain
From Eq. w
1.43,
r
v
set
R
R
+ R
xy +
+
+
yz d = 0
xz +
d = y
nx dx
x d
z
x
z
y
x
33
Victor Saouma
Draft
119
We next focus on the third term in the preceding equation. For w = wx wy wz T , then
34
(Lw)T =
wy
y ;
wx
x ;
wz
z ;
wx
y
wy
x ;
wx
z
wz
x ;
wy
z
wz
y ;
(11.46)
and
(Lw)T =
wx
x' xx
x
+ w
y
+
+
wy
z
+ w
y
z zz
(yy
%
wy
x
xy + w
x
z
wz
x
&
'
xz +
35
wy
z
wT bd
wz
y
(
yz
(11.47)
(11.48)
But since the L operator is symmetric, from Eq. 11.2, the above equation can also be written
36
as
w (L )d =
T
wT bd
w td +
(11.49)
which is the weak form of the dierential equation of equilibrium subjected to the traction
(natural) boundary conditions.
37 The weight vector w is completely arbitrary. In the principle of virtual displacement, it
would correspond to the virtual displacement, compare this last equation with Eq. 5.11.
(11.50)
+ uT {G [D( 0 ) + 0 ] t}d = 0
11.4.2
38
FE Discretization
u = Nu
where N are the shape functions, and u are the nodal known displacements. Note that this is
the application of Eq. 11.9-a
39 The Galerkin method uses the shape functions for the weight (functions Wi ) Hence, Eq.
11.13-a will be
wT = cT NT
w = Nc;
(11.52-a)
and
Lw = LNc = Bc
(11.53)
40 Inserting the last two equations into the weak form, and recalling that the L operator is
symmetric, Eq. 11.49, yields
T
T
T
T
B d
N td
N bd = 0
(11.54)
c
Victor Saouma
Draft
1110
(Note similarity with Eq. 11.14). Since c is an arbitrary matrix, we conclude that
BT d =
NT td +
NT bd
(11.55)
This equation is applicable to both linear and nonlinear systems. The right hand side represent
the eect of the load.
41
Next we introduce a constitutive model, Eq. 3.90 which is rewritten in vector form
= D( 0 )
42
43
(11.56)
(11.57-a)
= DBu D0
(11.57-b)
B DBd u =
Ke
N td +
f1
N bd +
fb
BT D0 d
(11.58)
f0
Thus, using the Galerkin approach, we have recovered the same stiness formulation as the
one previously obtained from a Variational Principle.
44
45 Whereas, there may not be any clearer advantage in using the Galerkin approach when a
variational principle is available, this may be the only formulation possible in the absence of
the second.
Victor Saouma
Draft
Chapter 12
FINITE ELEMENT
DISCRETIZATION OF THE
FIELD EQUATION
Adapted from Ottosen (1992)
1 Having proven the validity of the Galerkin method by its ability to recover the variational
based formulation, we now turn our attention to a problem which (strictly speaking) could only
be handled by such an approach.
2 As a vehicle for such an application, we will consider the eld equation which was discussed
in Chapter 3.3.
12.1
3
(12.1)
Recalling (Eq. 3.98) that q = D, and that for steady state problems the right hand side
reduces to zero, and nally (for the mere sake of clarity) substituting by T , this equation
reduces to
(12.2)
div q Q = 0
4
L+g
5
(12.3)
Note that in a n, the convection heat loss can be considered as a negative heat source.
Draft
122
7
w(div q Q)d = 0
(12.4)
wQtdA = 0
(12.5)
(12.6)
wtq nd
(w) qtdA =
A
wQtdA
(12.7)
(w)T qtdA =
A
wqn td
wqf td +
q
wQtdA
(12.8)
where along q the ux (which may include convection) is known but the temperature is not, and
along T , the temperature is known but ux is not. This equation is valid for any constitutive
relation and is analogous to Eq. 11.49.
11
(w) DT tdA =
wqf td
wqn td +
wQtdA
(12.9)
,
wqf dS
(w)T DT dV =
V
12.2
13
Sq
wqn dS +
ST
wQdV
(12.10)
FE Discretization
T = NT
where N are the shape functions, and T are the nodal known temperatures.
1
RR
div qdA =
Victor Saouma
qT nd
RR
(r)T qdA
Draft
12.2 FE Discretization
14
123
T
T
y
T
x
(12.12)
Substituting
T = NT = BT
#
where
B=
(12.13)
Ni
x
Ni
y
(12.14)
Note, this denition of the B matrix for scalar eld problems, should not be confused with
the one for vector problems, Eq. ??
N
i
i
0
0
x Ni
Ni
1
(12.15)
B= 0
0
y = J
16
Ni
y
12.2.1
17
Ni
Ni
No Convection
18
Ni
x
wQtdA
(12.16)
(12.17)
(12.18)
w = cT NT
(12.19)
19
20
N qn td
T
N QtdA = 0
(12.20)
But since this expression should hold for any arbitrary cT matrix, we conclude that
Ke T
Ke
fbe
e
fQ
e
= fbe + fQ
=
BT DBtdA
A
T
=
N qf td
q
=
NT QtdA
(12.21)
(12.22)
NT qn td
(12.23)
(12.24)
Victor Saouma
Draft
124
12.2.2
21
Convection
(12.25)
The presence of the convection term aects only fb in Eq. 12.23 which now becomes
fb =
NT qf td
NT qn td
NT qc d
q
(12.26)
(12.27)
qc = hNT hT
(12.28)
or
22
23
hNT Nd T + T
NT hd
(12.29)
e
= fbe + fQ
=
BT DBtdA
A
=
hNT Nd
c
T
=
N qf d
q
=
NT QtdA
(12.30)
(12.31)
(12.32)
T
N qn d + T
NT hd
(12.33)
(12.34)
It should be noted that convection occurs around the perimeter of an element, and conduction
occurs inside its volume.
24 Note the analogy between this load case and P- eects in structural engineering. As will
be seen in chapter 14, the geometric stiness matrix (KG ), which accounts for large deformation,
will be very similar to Kc .
12.3
Illustrative Examples
Victor Saouma
Draft
125
T0 = 20 c
K1
K2
K3
0.3 m
0.15 m 0.15 m
inf
4
20
1
0
0
1
0
1
0
1
0
1
0
1
0
1
Natural B.C.
11
00
00
11
00
11
00
11
00
11
00
11
00
11
Essential B.C.
The outer temperature is T0 = 20o C, convection heat transfer takes place on the inner surface
of the wall with the uid temperature T = 800o C, the lm coecient (or convection term)
h = 25 W/m2 .o C. We seek the temperature distribution across the wall.
Solution:
1. Selecting linear elements, we have
T () = NT =
1
1+
T1 +
T2
2
2
N1
=
d =
dx =
dT
dx
=
=
B =
(12.35-a)
N2
2
2
(x x1 ) 1 = (x x1 ) 1
x2 x1
L
2
dx
L
L
d
2
dT d
2 dN
=
.T
d dx
L d
2! 1 1 "
2 2 T = BT
L
"
1!
1, 1
L
(12.35-b)
(12.35-c)
(12.35-d)
(12.35-e)
(12.35-f)
(12.36)
Draft
126
20
0.3
K2 =
30
0.15
K3 =
50
0.15
1
2
1
1 1
66.67
=
1 1
66.67
(12.37-b)
3
200.00
200.00
3
4
3
1 1
333.34
=
1 1
333.34
4
333.34
333.34
1
66.67
66.67
2
66.67
66.67 + 200.00
200.00
1
66.67
66.67
0.
0.
2
66.67
266.67
200.00
0.
2
66.67
66.67
2
3
2
1 1
200.00
=
1 1
200.00
K =
(12.37-a)
(12.37-c)
(12.37-d)
200.00
200.00 + 333.34
333.34
3
0.
200.00
533.34
333.34
(12.37-e)
333.34
333.34
0.
0.
333.34
333.34
(12.37-f)
Element Convection Matrix: Since convection occurs only at one point, 1, we just
add the convection term h = 25 to K1,1
1
66.67 + 25
66.67
0.
0.
K =
1
91.67
66.67
0.
0.
Victor Saouma
2
66.67
266.67
200.00
0.
2
66.67
266.67
200.00
0.
3
0.
200.00
533.34
333.34
3
0.
200.00
533.34
333.34
0.
0.
333.34
333.34
0.
0.
333.34
333.34
(12.38-a)
Draft
127
q
T
T
N hd = 0) and we only have a point convection load
T
c
(800)(25)
P1
0
P2
=
0
P
3
P4 ?
P4 ?
(12.39)
0.
91.67
66.67
0.
T1 ?
T2 ?
66.67 266.67 200.00
0.
0.
200.00 533.34 333.34
T3 ?
T4 = 20
0.
0.
333.34 333.34
(800)(25)
0
=
0
P4 ?
(12.40)
In this case, one of the essential boundary conditions is non-zero, hence following a
procedure similar to the one outlined in Eq. this reduces to
0
81.67
66.67
0.
20, 000.
T1 ?
66.67 266.67 200.00
=
0
20.
(12.41-a)
0
T2 ?
0
333.34
T3 ?
0.
200.00 533.34
20, 000.
=
0
(12.41-b)
6, 666.80
T1 304.6
o
T2
119.0
C
=
T3
57.1
(12.42)
T1 T2
x1 x2
k1
=q=
T2 T3
x2 x3
k2
=q=
T3 T4
x3 x4
k3
(12.43)
Victor Saouma
Draft
128
Tinf= 20o C
2
h = 9 W/m
oc
0.1 cm
10 cm
1
Tinf= 20o C
We seek to determine the temperature distribution and amount of heat transfered from the n
to the air at 20o C where the lm coecient h=9 W/mo C.
Using a three element discretization, and assuming the tip of the n to be isolated.
Solution:
25
=
=
=
=
K1 =
Victor Saouma
BT DBdx
0
kL 1 T
B Bd
2 1
"
kL 1
1 !
1, 1 d
1
2 1
k
1 1
L 1 1
360
0.033
K2 =
360
0.033
K3 =
360
0.033
1
2
1 1
1 1
2
3
1 1
1 1
3
4
1 1
1 1
(12.44-a)
(12.44-b)
(12.44-c)
(12.44-d)
Draft
129
1
2
1
1
360
1 1 + 1
1
0.033
K =
1
1
1
1+1
1
1
2
3
4
1 1
360
1 2 1
1 2 1
0.033
1 1
(12.44-e)
(12.44-f)
Convection Matrix The shape functions for the linear element are given by Eq. 12.35-a.
1 1+
N =
2
2
N1
1
2
1+
2
NT N =
'
=
N N =
1
1
3
N2
1
2
1
2
(2
1+ 1
2
2
2 1
1 2
(12.45-a)
1+
2
1+ 1
2
2
'
(2
1+
2
(12.45-b)
(12.45-c)
(12.45-d)
With respect to Fig. 12.1 heat transfer by convection occurs across the perimeter of the
co
nv
ec
tio
he
at
lo
ss
q
dx
Victor Saouma
Draft
1210
=
"
L
2 d,
P L
hNT Ndx
Ac 0
2h L T
N Ndx
t 0
(12.46-a)
(12.46-b)
thus
hL
Kc =
t
NT Nd
(12.47)
(12.48)
As for the conduction stiness matrix, the assembled convection stiness matrix will
26
be
1
2
2
(9)(3.33 10 ) 1
Kc =
3(103 )
2 3
1
4 1
1 4
1
1
2
NT htd
(12.49)
(12.50)
= T h
=
=
NT htd
(12.51-a)
NT d
(12.51-b)
2T hL
2t
c
T hL 1
1
t
1
2
1+
2
1
(20)(9)(3.33 102 ) 2
fb =
2
103
Victor Saouma
(12.51-c)
(12.51-d)
(12.52)
Draft
360
1
0.033
1211
becomes
2
3
4
1
(9)(3.33 102 )
2 1
+
1 2 1
3(103 )
1 1
(20)(9)(3.33 102 ) 2
2
103
1
2
3
10, 800. 10, 800.
0.
10, 800. 21, 600. 10, 800.
0.
10, 800. 21, 600.
0.
0.
10, 800.
2
1
2 3 4
1
4 1
1 4 1
1 2
T1
T2 ?
T3 ?
T4 ?
(12.53-a)
0.
0.
+
10, 800.
10, 800.
P1 ?
12, 000.
12, 000.
6, 000.
0.
0.
11, 000. 10, 700.
10, 700. 22, 000. 10, 700.
0.
200.
100.
0.
0.
2
100.
400.
100.
0.
3
0.
100.
400.
100.
4
0.
T1 = 235
T2 ?
0.
T
100.
3?
T4 ?
200.
(12.53-b)
235.
P
?
T2 ? 12, 000.
T3 ? = 12, 000.
T4 ?
6, 000.
3
6, 000.
0.
T4 ?
0.
10, 700. 11, 000.
2.514 106
12, 000.
(12.54-a)
=
6, 000.
Solving, we obtain
T2 208.77
o
T
C
(12.55)
=
194.25
3
T4
189.50
)
Heat loss in the n can be computed from H = e H e where H e = h(Tavg T )As sand the
surface area of each element is As = 2(1 0.0333)m2
Victor Saouma
(12.53-c)
Draft
1212
12.4
25 We now complement Table 3.2, by contrasting major governing equations in both scalar and
vector problems, Table 12.1.
Scalar
Vector
Conduction
Solid Mechanics
I Dierential Equation
div q Q
qn
q
T
qn
=
T
rT
q
=
=
on
on
LT + b
"
qT n
DrT
T
q c
w (L )d =
t
u
t
(Ke + Kec )T
Kec
fbe
e
fQ
NT bd
B DBtdA
Zc
Ni
x
Ni
y
NT td
e
fbe + fQ
+P
Z
n
D"
u
t
wT bd
NT
BT
"
Balance/Equilibrium
State variable
kinematic
Flux vector
Flux at boundary
Constitutive law
Essential BC
Natural BC
Lu
=
=
BT d
w td
+
T
T
=
u
=
=
=
on
on
u
"
=
=
Nu
Bu
2
6
4
Ke ue
Ke
Ni
x
Ni
y
Ni
x
0
Ni
y
3
7
5
fe + f0e + P
B DBd
hNT Ntd
NT qf td
T
A
fe
fe
NT qn td
NT QtdA
State variables
Flux
R
t
NT td
Z
Z
NT bd
Boundary forces
Body forces
BT D0 d
Initial strain
BT 0 d
Initial stress
Victor Saouma
Draft
Chapter 13
TOPICS in STRUCTURAL
MECHANICS
13.1
Condensation/Substructuring
(13.1)
where the subscripts r and c refer to retained and condensed d.o.f. respectively.
3
For substructuring, subscripts r and c refer to interface and interior d.o.f. Hence,
dr
pr
krr krc
=
kcr kcc
dc
pc
or
k dr = p
(13.2)
(13.3)
where
k = krr krc k1
cc kcr
p r
krc k1
cc pc
(13.4-a)
(13.4-b)
4 Noting the common form of the above two equations, we deduce that condensation may
also be viewed as a transformation from a d, p, k system to a dr , p , k through the following
transformation
k = Tc kc
Tc p
(13.5-a)
(13.5-b)
Draft
132
where
c =
k1
cc kcr
I
(13.6)
k is a r by r matrix, whereae k was r+c by r+c (yet we still have to separately decompose
kcc which is c by c).
5
13.2
Element Evaluation
13.2.1
Patch Test
6 The patch test is a check which ascertains whether a patch of innitesimally small elements
subjected to constant strain reproduces exacly the constitutive behavior of the material through
correct stresses.
7 It has been argued that an element which passes the patch test satises the two essential
conditions for convergence.
First we assemble a small number of elements into a patch in such a way that there is at
least one internal node shared by two or more elements, and that one or more interelement
boundaries exist. Enough support must be provided to prevent rigid body motion, Fig. 13.1.
8
2F
5
20
5
F
8 and 9 noded isoparametric quadrilaterals; Pure Axial and Flexure
8 noded Isoparametric constant axial stress
10
The patch test may pass by an individual element, but fail by an assemblage of such elements.
11 Failure of the patch test is also an indication of lack of stability. That is we have zero-energy
deformation (as detected by the eigenvalue test) is present.
13.2.2
Eigenvalue Test
12 The stiness matrix is, by denition, singular due to the fact that equilibrium relations are
embedded in its formulation, or alternatively, the assumed displacement eld on which it is
based is supposed to provide for rigid body motions (translations and/or rotations).
Victor Saouma
Draft
133
(13.7)
where B is the statics (or equilibrium) matrix, relating external nodal forces to internal forces;
d is a exibility matrix, and d1 is its inverse or reduced stiness matrix. We note that the
stiness matrix is obviously singular, since the second row is linearly dependent on the rst
one (through [B]) and thus, its determinent is equal to zero.
14
The reduced stiness matrix, which is the inverse of a exibility matrix, is not.
15
=
=
1
u {F}
2
1
u[K] {u}
2
(13.8)
16 If we consider a system where the load {F} applied to each node is proportional to the
element nodal displacement {u} by a factor , we have:
(13.9)
(13.10)
or
(13.11)
(13.12)
Victor Saouma
Draft
134
Order: corresponds to the number of degrees of freedom (i.e size of the matrix).
Rank: corresponds to the total number of linearly independent equations which is equal to the
order minus the number of rigid body motions.
Rank Deciency: would be equal to the total number of zero eigenvalues minus the rank.
21
For a square bilinear element the non-zero eigenvectors are shown in Fig. 13.2.
Figure 13.2: Eigenvectors Corresponding to a) Non-Zero and b) Zero Eigenvalues for a Square
Bilinear element
13.2.3
13.2.3.1
Order of Integration
Full Integration
22
High: it would certainly result in an exact formulation, which however may be computationally
expensive.
Low: Then we may have rank deciency.
Hence, we ought to properly select the order of numerical quadrature.
23
We recall that
Victor Saouma
Draft
135
Those orders of approximations are only valid for parallelograms, as the edge becomes inclined, then the error increases.
25
13.2.3.2
Reduced Integration
26 Reduced integration, i.e. using fewer Gauss points than required for an exact integration,
will cause the element to soften because higher order polynomial terms may vanish at the points
of lower order rule.
27 In an elastic body, the FE solution permits only those displacements which can be represented
by a linear combination of the shape functions. In general, the exact displacement eld will
dier from the assumed displacement, in other words the shape functions prevent the structure
from deforming the way it wants1 .
Given that the stiness formulation is too sti, (Ref. Sect. ??), the softening introduced by
a reduced numerical integration is benecial.
28
29
Recommended orders of integration for quadrilaterla elements are shown in Table 13.1.
Element
4-node
4-node distorted
8-node
8-node distorted
9-node
9-node distorted
Reliable Integration
2x2
2x2
3x3
3x3
3x3
3x3
Reduced Integration
2x2
2x2
2x2
2x2
Table 13.1: Full and Reduced Numerical Integrations for Quadrilateral Elements
.
30 If the element is articially softened, then there will be spurious zero energy modes, and
the stiness matrix will be rank decient, i.e. its rank is less than the number of element
d.o.f. minus the number of rigid body modes.
31
The independent displacement modes of a bilinear element are shown in Fig. 13.3. First
1
This is analogous to trucating a Fourrier series, which otherwise could have been an exact substitute to a
set of physical observations.
Victor Saouma
Draft
136
3
2
Q4 For a single point integration, the Gauss point is at the center. At the center of an element
under bending xx = yy = xy = 0, accordingly U = 0 for the corresponding modes 4
and 5 in Fig. 13.2, those spurious modes will disappear if n = 2.
Q9 Displacement is given by u = 3 2 2 2 2 and v = 0. If the element is integrated by
2x2 points, at = = 13 it can be shown that in those points the strains are zero and
the corresponding mechanisms, or hourglass are shown in Fig. 13.4.
35 In selective integration, we integrate the dierent strain terms with dierent orders of integration.
Victor Saouma
Draft
137
Figure 13.5: Rectangular Bilinear Element Subjected to Bending; Bilinear Element and Correct
Geometry
36
13.3
13.3.1
37
The shape functions for the bilinear element are given by Eq. 9.19
N1 (, ) =
N3 (, ) =
1
4 (1
1
4 (1
)(1 ); N2 (, ) =
+ )(1 + ); N4 (, ) =
1
4 (1
1
4 (1
+ )(1 );
)(1 + );
(13.13)
u
v
xx
yy
xy
Bilinear
Element
u
0
ua
0
ub
Exact
Formulation
u
au
bu
2
(1 ) 2b + (1 2 ) 2a
ua
ua
0
40
(13.14)
hence, as a/b increases, the element locks (a term which will be explained in later chapters).
41
Hence, the unwanted shear strain that produces M1 > M2 is called parasitic shear.
Victor Saouma
Draft
138
Figure 13.6: Displacements Associated with Incompatible Modes for the Q6 Element
13.3.2
42 Comparing the displacement elds in Table 13.2 we observe that the bilinear element errs
from the exact solution by omitting the displacement mode associated with (1 2 ) and (1 2 ).
43
We can remedy to this situation by adding the missing modes as internal nodes
u =
Ni ui + (1 2 )a1 + (1 2 )a2
v =
Ni v i + (1 2 )a3 + (1 2 )a4
(13.15-a)
(13.15-b)
where the Ni are given by Eq. 13.13, and ai are nodeless d.o.f. The element now has 6 degrees
of freedom, and hence the element is referred to as Q6.
The B matrix would have to be correspondingly adjusted and following its formulation, the
additional d.o.f. ai are eliminated through condensation (Sect. 13.1).
44
The softening in this case counters the inherent overstiness of the standard assumed displacement formulation.
46
13.3.3
47
It can be shown that the Q6 element passes the patch test only if it is rectangular.
To remedy to this deciency, we consider that portion of the B matrix associated with the
nodeless d.o.f. and label it Ba , and then the corresponding consistent nodal load vector is
e
e
BTa 0 d
(13.16)
pa =
48
where 0 represent the initial stresses caused by the standard element formulation associated
with dr on the nodal d.o.f.
49 Because the standard isoparametric element passes the patch test, when 0 is constant,
without this additional load associated with the ai , then pea should also be zero for constant 0
Victor Saouma
Draft
139
1
1
1
1
BTa tdetJdd = 0
(13.17)
For general (non-rectangular elements) this equation is not satised and the patch test fails.
50 This can be articaily remedied in forming Ba and integrating by using J0 where the jacobian is evaluated at = = 0 rather than at the Gauss quadrature point, and we use the
corresponding t0 for the thickness.
51 When such an operation is performed, the resulting element is called the QM6, and it works
almost as well as the quadratic element if rectangular, and is considerably more accurate than
the bilinear element.
52 Stresses are computed with all the d.o.f., including the ai . Better results are achieved if
element nodal loads pe that are associated with incompatible modes are set to zero during
recovery of the associated d.o.f. ai (following condensation).
13.4
Rotational D.O.F.
53 Drilling d.o.f. are rotations at corner nodes. In the context of plane elements, they are
associated with parabolic displaced shapes of the edges, Fig. 13.7. They are of importance
in shells dened as an assemblage of at elements. Hence, the element can model exure and
membrane action.
Assuming rotation i and j at nodes i and j of an element side of length L, the end moments
of an immaginary beam will be
54
Mi =
Victor Saouma
2EI
(2 i + j )
L
(13.18-a)
Draft
1310
Mj
2EI
( i + 2 j )
L
(13.18-b)
Hence, from M = Mi + (Mj Mi ) Lx and the vitual force method we can solve for the midside
edge-normal displacement
L
(13.19)
= ( j i )
8
55
Hence the edge displacement is caused by two parts: translation and parabolic distorsion:
s
Ls
L s ui
cos
uj
u
s(j i )
(13.20)
+
+
=
sin
vi
vj
v
L
L
2L
13.5
Constraints
Victor Saouma
Draft
Chapter 14
GEOMETRIC NONLINEARITY
14.1
1
Introduction
Load
First order
elastic analysis
Stiffening
Bifurcation
Bifurcation
Second order
elastic analysis
Displacement
First Level elastic which excludes anly nonlinearities. This is usually acceptable for service
loads.
Elastic Critical load is usually determined from an eigenvalue analysis resulting in the
buckling load.
Secon-order elastic accounts for the eects of nite deformation and displacements, equilibrium equations are written in terms of the geometry of the deformed shape, does not
account for material non-linearilties, may be able to detect bifurcation and or increased
stiness (when a member is subjected to a tensile axial load).
Draft
142
GEOMETRIC NONLINEARITY
First-order inelastic equilibrium equations written in terms of the geometry of the undeformed structure, accounts for material non-linearity.
Second-order inelastic equations of equilibrium written in terms of the geometry of the
deformed shape, can account for both geometric and material nonlinearities. Most suitable
to determine failure or ultimate loads.
2 This chapter will focus on elastic critical load determination. We will begin by reviewing the
derivation of some of the fundamental equations in stability analysis. We will examine both
the strong form, and the weak formulation.
14.1.1
3
Strong Form
An initially straight member is concentrically loaded, and all bers remain elastic until buckling occur. For buckling to occur, it must be assumed that the column is slightly bent as shown
in Fig. 14.2. Note, in reality no column is either perfectly straight, and in all cases a minor
4
x and y are
principal axes
5 At any location x along the column, the imperfection in the column compounded by the
concentric load P , gives rise to a moment
Mz = P y
(14.1)
Recalling that
Mz
d2 y
=
dx2
EI
upon substitution, we obtain the following dierential equation
P
d2 y
y=0
2
dx
EI
Victor Saouma
(14.2)
(14.3)
Draft
14.1 Introduction
7
Letting k2 =
P
EI ,
143
(14.4)
(14.5)
This last equation can be satised if: 1) A = 0, that is there is no deection; 2) kL = 0, that
is no applied load; or 3)
kL = n
(14.6)
%
&
2
P
= n
or
Thus buckling will occur if EI
L
9
P =
n2 2 EI
L2
10 The fundamental buckling mode, i.e. a single curvature deection, will occur for n = 1; Thus
Euler critical load for a pinned column is
2 EI
L2
(14.7)
2 E
cr = % &2
L
(14.8)
Pcr =
11
where I = Ar 2 .
12
Note that buckling will take place with respect to the weakest of the two axis.
14.1.1.2
In the preceding approach, the buckling loads were obtained for a column with specied
boundary conditons. A second order dierential equation, valid specically for the member
being analyzed was used.
13
In the next approach, we derive a single fourth order equation which will be applicable to
any column regardelss of the boundary conditions.
14
15 Considering a beam-column subjected to axial and shear forces as well as a moment, Fig.
dv
between the
14.3, taking the moment about i for the beam segment and assuming the angle dx
axis of the beam and the horizontal axis is small, leads to
(dx)2
dV
dv
dM
dx + w
+ V +
dx P
dx = 0
(14.9)
M M+
dx
2
dx
dx
Victor Saouma
Draft
144
GEOMETRIC NONLINEARITY
w
w(x)
1111
0000
0000
1111
0
1
0
1
0
1
0 y, u
1
1111
0000
1111
0000
dx
V+ V dx
x
P
v
x
P
dx
P
M+ M dx
x
i
j
Figure 14.3: Simply Supported Beam Column; Dierential Segment; Eect of Axial Force P
Neglecting the terms in dx2 which are small, and then dierentiating each term with respect
to x, we obtain
d2 v
dV
d2 M
=0
(14.10)
dx2
dx
dx2
16
17
18
(14.11)
d2 v
dx2
(14.12)
19 Substituting Eq. 14.11 and 14.12 into 14.10, and assuming a beam of uniform cross section,
we obtain
d4 v
d2 v
(14.13)
EI 4 P 2 = w
dx
dx
P
Introdcing k2 = EI
, the general solution of this fourth order dierential equation to any set
of boundary conditions is
20
v = C1 sin kx + C2 cos kx + C3 x + C4
21
(14.14)
If we consider again the stability of a hinged-hinged column, the boundary conditions are
v = 0, v,xx = 0 at x = 0
v = 0, v,xx = 0 at x = L
(14.15)
(14.16-a)
C1 k sin kl = 0
(14.16-b)
2 EI
L2
(14.17)
Draft
14.1 Introduction
145
which was derived earlier using the lower order dierential equation.
Next we consider a column with one end xed (at x = 0), and one end hinged (at x = L).
The boundary conditions are
22
v = 0, v,xx = 0 at x = 0
v = 0, v,x = 0 at x = L
(14.18)
(14.19)
But since cos kL can not possibly be equal to zero, the preceding equation can be reduced to
tan kL = kL
(14.20)
which is a transcendental algebraic equation and can only be solved numerically. We are
essentially looking at
the intersection of y = x and y = tan x, Fig. 14.4 and the smallest
10.0
8.0
6.0
4.0
2.0
0.0
-2.0
-4.0
-6.0
-8.0
-10.0
0.0
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0
Figure 14.4: Solution of the Tanscendental Equation for the Buckling Load of a Fixed-Hinged
Column
positive root is kL = 4.4934, since k2 =
Pcr =
P
EI ,
(4.4934)2
2
EI =
EI
2
L
(0.699L)2
(14.21)
Note that if we were to solve for x such that v,xx = 0 (i.e. an inection point), then x = 0.699L.
We observe that in using the higher order dierential equation, we can account for both
natural and essential boundary conditions.
23
Victor Saouma
Draft
146
14.1.2
14.1.2.1
GEOMETRIC NONLINEARITY
Weak Form
Strain Energy
24 Considering a uniform section prismatic element, Fig. ??, subjected to axial and exural
deformation (no shear), the Lagrangian nite strain-displacement relation is given by 3.26
1
2
2
xx = u,x + (u2,x + v,x
+ w,x
)
2
(14.22)
2
1 dv 2
d v
du
+
y
dx
dx2
2 dx
Axial Flexure Large Deformation
(14.23)
25 We note that the rst and second terms are the familiar components of axial and exural
strains respectively, and the third one (which is nonlinear) is obtained from large-deection
strain-displacement.
26
27
28
(14.24)
Noting that
dA = A;
y 2 dA = I
ydA = 0;
A
4
% dv &4
dx
(14.26)
(14.25-a)
(14.27)
29 Under the assumption of an independent prebuckling analysis for axial loading, the axial
load Px is
du
(14.28)
Px = EA
dx
Victor Saouma
Draft
14.1 Introduction
147
EA
du
dx
2
+ EI
d2 v
dx2
2
+ Px
dv
dx
2 $
dx
(14.29)
We can thus decouple the strain energy into two components, one associated with axial and
the other with exural deformations
30
U e = Uae + Ufe
2
1
du
e
EA
dx
Ua =
2 L
dx
#
2 $
2 2
dv
d
1
v
EI
dx
Ufe =
+ Px
2
2 L
dx
dx
14.1.2.2
(14.30-a)
(14.30-b)
(14.30-c)
Euler Equation
Recall, from Eq. 2.74 that for a functional in terms of two eld variables (u and v) with
higher order derivatives of the form
(14.31)
=
F (x, y, u, v, u,x , u,y , v,x , v,y , , v,yy )dxdy
31
there would be as many Euler equations as dependent eld variables, Eq. 2.75
F
F
F
2 F
2
2 F
F
u x u,x y u,y + x2 u,xx + xy u,xy + y 2 u,yy = 0
32
F
v
F
x
v,x
F
y v,y
F
+ x
2 v,xx +
F
2
xy v,xy
2 F
y 2 v,yy
(14.32)
= 0
(14.33)
2 F
F
+ 2
=0
x v,x x v,xx
(14.34)
= Px v,x
(14.35-a)
= EIv,xx
(14.35-b)
Substituting into the Euler equation, and assuming constant Px , and EI, we obtain
EI
d4 v
d2 v
P
=0
x
dx4
dx2
(14.36)
Draft
148
14.2
GEOMETRIC NONLINEARITY
v = Nu
dv
= N,x u
dx
d2 v
= N,xx u
dx2
34
(14.37-a)
(14.37-b)
(14.37-c)
Substituting this last equation into Eq. 14.30-c, the element potential energy is given by
e = Ufe + W e
1
1
ue [ke ] {ue } + ue [kg ] {ue } u {P}
=
2
2
where
(14.38-a)
(14.38-b)
EI {N,xx } N,xx dx
[ke ] =
(14.39)
and
[kg ] = P
{N,x } N,x dx
(14.40)
Using the shape functions for exural elements, Eq. 6.41, and substituting into Eq. 14.39
and Eq. 14.40 we obtain
36
u1
EA
L
ke = EA
L
0
0
v1
0
1
0
12EI
L3
6EI
L2
6EI
L2
4EI
L
12EI
L3
6EI
L2
6EI
L2
2EI
L
u2
EA
L
0
0
EA
L
0
0
v2
0
12EI
L3
6EI
L2
0
12EI
L3
6EI
L2
0
6EI
L2
2EI
L
6EI
L2
(14.41)
4EI
L
which is the same element stiness matrix derived earlier in Eq. 8.7.
37
P
0
kg =
L 0
0
0
Victor Saouma
v1
0
1
0
6
5
L
10
L
10
2 2
15 L
0
65
L
10
0
L
10
2
L30
u2 v2
2
0
0
0
L
0 65
10
2
L
0 10 L30
(14.42)
0
0
0
6
L
0
10
5 Elements
Finite
II; Solid Mechanics
2 2
L
0 10 15 L
Draft
149
(14.43)
where the element stiness matrix is expressed in terms of both the elastic and geometric
components)
39
k = ke + kg
(14.44)
K = Ke + Kg
(14.45)
we note that the structure becomes stier for tensile load P applied through Kg , and weaker
in compression.
We assume that conservative loading is applied, that is the direction of the load does not
follow the deected direction of the member upon which it acts.
40
14.3
41 In elastic instability, the intensity of the axial load system to cause buckling is yet unknown,
the incremental stiness matrix must rst be numerically evaluated using an arbitrary chosen
load intensity (since Kg is itself a function of P ).
42 For buckling to occur, the intensity of the axial load system must be times the initially
arbitrarily chosen intensity of the force. Note that for a structure, the initial distribution of P
must be obtained from a linear elastic analysis. Hence, the buckling load, P is given by
P = P
(14.46)
43 Since the geometric stiness matrix is proportional to the internal forces at the start, it
follows that
(14.47)
Kg = Kg
where Kg corresponds to the geometric stiness matrix for unit values of the applied loading
( = 1).
44
(Ke + Kg )u P = 0
45
u = (Ke + Kg )1 P
and for the displacements to tend toward innity (i.e buckling/bifurcation/instability), then
|Ke + Kg | = 0
Victor Saouma
(14.48)
Draft
1410
GEOMETRIC NONLINEARITY
(14.49)
46 Alternatively, it can simply be argued that there is no unique solution (bifurcation condition)
to u.
The lowest value of , crit will give the buckling load for the structure and the buckling
loads will be given by
47
Pcrit = crit P
48
(14.50)
The corresponding deformed shape is directly obtained from the corresponding eigenvector.
011
1010 2
10
1010
1010
10
1010
6 1
0 5
100
4 1
10
1010
1010
010 8
9 1
10 000
111
10107
1
0
0
1
0
1
11
00
0110
10
1010
1010
1010
1010
10
1010
1010
1010
Solution:
The following elastic stiness matrices are obtained
k1e =
Victor Saouma
1
EA
L
EA
L
0
0
2
0
3
0
12EI
L3
6EI
L2
6EI
L2
4EI
L
12EI
L3
6EI
L2
6EI
L2
2EI
L
4
EA
L
0
0
EA
L
0
0
5
0
6
0
12EI
L3
6EI
L2
0
6EI
L2
2EI
L
12EI
L3
6EI
L2
6EI
L2
(14.51-a)
4EI
L
Draft
k2e =
4
EA
L
EA
L
0
0
5
0
6
0
12EI
L3
6EI
L2
6EI
L2
4EI
L
12EI
L3
6EI
L2
6EI
L2
1411
7
2EI
L
EA
L
0
0
EA
L
0
0
8
0
9
0
12EI
L3
6EI
L2
0
6EI
L2
2EI
L
12EI
L3
6EI
L2
6EI
L2
(14.51-b)
4EI
L
5
L
P
0
10
L 0 0
0 65
L
0 10
k1g =
4 5
0 65
L
0 10
P
0 0
L
0 65
L
0 10
k2g =
3
0
L
10
2 2
15 L
0
L
10
2
L30
6
L
10
2 2
15 L
0
L
10
2
L30
4
5
0
0
0 65
L
0 10
0
0
6
0
5
L
0 10
7
8
0 65
L
0 10
0
0
6
0
5
L
0 10
0
L
10
2
L30
0
L
10
2 2
15 L
9
L
10
2
L30
(14.52-a)
0
L
10
2 2
15 L
(14.52-b)
The structures stiness matrices Ke and Kg can now be assembled from the element stinesses. Eliminating rows and columns 2, 7, 8, 9 corresponding to zero displacements in the
column, we obtain
1
4
3
5
6
AL2
AL2
I
0
0
0
I
AL2 2 AL2
0
0
0
I
I
EI
2
(14.53)
Ke = 3 0
6L 2L2
0
4L
L
0
0
6L 24
0
0
8L2
0
0
2L2
and
1
0
0
P
0
Kg =
L
0
0
Victor Saouma
4
0
0
0
0
0
3
0
0
2 2
15 L
L
10
L2
30
5
0
0
L
10
12
5
0
0
L2
30
0
(14.54)
4 2
15 L
Draft
1412
GEOMETRIC NONLINEARITY
introducing =
AL2
I
4
2
AL
I
2
2 AL
I
0
0
0
3
0
0
2 L4
2
4L 15
EI
1 L3
6L + 10
EI
1 L4
2L2 + 30
EI
and =
L2
EI ,
5
0
0
1 L3
6L + 10
EI
L2
24 12
5 EI
0
6
0
0
1 L4
2
2L + 30
EI
0
4 L4
8L2 15
EI
=0
(14.55)
1
4
3
5
6
1
0
0
0
4 2
0
0
0
%
&
6L
+ 10&
3 0
0 2 2 15
2 + 30 = 0
%
5 0
0
6L + 10
12 2 5
% 0 &
0
4 2 15
6 0
0
2 + 30
(14.56)
(14.57)
(4.4934)2
(4.4934)2
EI
=
EI = 5.0477 EI
L2
l2
(2L)2
(14.58)
and thus, the numerical value is about 2.6 percent higher than the exact one. The mathematica
code for this operation is:
(* Define elastic stiffness matrices
ke[e_,a_,l_,i_]:={
{e a/l , 0
, 0
,
{0
, 12 e i/l^3 , 6 e i/l^2 ,
{0
, 6 e i/l^2
, 4 e i/l
,
{-e a/l , 0
, 0
,
{ 0
, -12 e i/l^3 , -6 e i/l^2 ,
{ 0
, 6e i/l^2
, 2 e i/l
,
}
ke1=N[ke[e,a,l,i]]
ke2=N[ke[e,a,l,i]]
*)
-e a/l
0
0
e a/l
0
0
,
,
,
,
,
,
0
-12 e i/l^3
-6 e i/l^2
0
12 e i/l^3
-6 e i/l^2
,
,
,
,
,
,
0
6 e i/l^2
2 e i/l
0
-6 e i/l^2
4 e i/l
},
},
},
},
},
}
Victor Saouma
Draft
1413
{0 , 0
, 0
, 0 , 0
, 0
},
{0 , 6/5 , l/10
, 0 , - 6/5 , l/10
},
{0 , l/10 , 2 l^2/15 , 0 , - l/10 , - l^2/30 },
{0 , 0
, 0
, 0 , 0
, 0
},
{0 , -6/5 , - l/10
, 0 , 6/5
, - l/10
},
{0 , l/10 , - l^2/30 , 0 , - l/10 , 2 l^2/15 }
}
kg1=kg[p,l]
kg2=kg[p,l]
(* Assemble structure geometric stiffness matrices *)
kg={
{kg1[[3,3]], kg1[[3,5]]
, kg1[[3,6]]
},
{ kg1[[5,3]], kg1[[5,5]]+kg2[[2,2]], kg1[[5,6]]+kg2[[2,3]]},
{ kg1[[6,3]], kg1[[6,5]]+kg2[[3,2]], kg1[[6,6]]+kg2[[3,3]]}
}
(* Determine critical loads in terms of p (note p=1) *)
p=1
keigen= l^2 (Inverse[kg] . ke)/( e i)
pcrit=N[Eigenvalues[keigen]]
(* Alternatively*)
knew =ke - x kg
pcrit2=NSolve[Det[knew]==0,x]
1
0
0
1
0
1
0
1
11
00
u1
3
u1
I=200
I=50
10
I=100
1111
0000
0000
1111
15
11111111111111111111
00000000000000000000
Solution:
The element stiness matrices are given by
u1
20
1, 208
k1e =
Victor Saouma
2
1, 208
96, 667
(14.59-a)
Draft
1414
GEOMETRIC NONLINEARITY
u1
0.01
0.10
= P
k1g
k2e =
128, 890
64, 440
u1
47
1, 678
k3e =
3
1, 678
80, 556
u1
0.01667
0.1
= P
k3g
2
0.10
16.00
(14.59-b)
64, 440
128, 890
3
0.1
9.6
(14.59-c)
(14.59-d)
(14.59-e)
2
(1, 208.33) P (0.1)
(225, 556.) P (16.)
(64, 444.) P (0)
(14.60)
3
(1, 678.24) P (0.1)
(64, 444.4) P (0) = 0
(209, 444.) P (9.6)
(14.61)
The smallest buckling load amplication factor is thus equal to 2, 017 kips.
(* Initialize constants *)
a1=0
a2=0
a3=0
i1=100
i2=200
i3=50
l1=10 12
l2=15 12
l3=6 12
e1=29000
e2=e1
e3=e1
(* Define elastic stiffness matrices
ke[e_,a_,l_,i_]:={
{e a/l , 0
, 0
,
{0
, 12 e i/l^3 , 6 e i/l^2 ,
{0
, 6 e i/l^2
, 4 e i/l
,
{-e a/l , 0
, 0
,
{ 0
, -12 e i/l^3 , -6 e i/l^2 ,
Victor Saouma
*)
-e a/l
0
0
e a/l
0
,
,
,
,
,
0
-12 e i/l^3
-6 e i/l^2
0
12 e i/l^3
,
,
,
,
,
0
6 e i/l^2
2 e i/l
0
-6 e i/l^2
},
},
},
},
},
Draft
1415
{ 0
, 6e i/l^2
, 2 e i/l
, 0
, -6 e i/l^2 , 4 e i/l
}
}
ke1=ke[e1,a1,l1,i1]
ke2=ke[e2,a2,l2,i2]
ke3=ke[e3,a3,l3,i3]
(* Define geometric stiffness matrices *)
kg[l_,p_]:=p/l{
{0 , 0
, 0
, 0 , 0
, 0
},
{0 , 6/5 , l/10
, 0 , - 6/5 , l/10
},
{0 , l/10 , 2 l^2/15 , 0 , - l/10 , - l^2/30 },
{0 , 0
, 0
, 0 , 0
, 0
},
{0 , -6/5 , - l/10
, 0 , 6/5
, - l/10
},
{0 , l/10 , - l^2/30 , 0 , - l/10 , 2 l^2/15 }
}
kg1=kg[l1,1]
kg3=kg[l3,1]
(* Assemble structure elastic and geometric stiffness matrices *)
ke={
{ ke1[[2,2]]+ke3[[2,2]] , ke1[[2,3]]
, ke3[[2,3]]
},
{ ke1[[3,2]]
, ke1[[3,3]]+ke2[[3,3]] , ke2[[3,6]]
},
{ ke3[[3,2]]
, ke2[[6,3]]
, ke2[[6,6]]+ke3[[3,3]] }
}
kg={
{ kg1[[2,2]]+kg3[[2,2]] , kg1[[2,3]] , kg3[[2,3]] },
{ kg1[[3,2]]
, kg1[[3,3]] , 0
},
{ kg3[[3,2]]
, 0
, kg3[[3,3]] }
}
(* Determine critical loads in terms of p (note p=1) *)
p=1
keigen=Inverse[kg] . ke
pcrit=N[Eigenvalues[keigen]]
modshap=N[Eigensystems[keigen]]
14.4
49 From Eq. 14.44 it is evident that since kg depends on the magnitude of Px , which itself may
be an unknown in a framework, then we do have a geometrically non-linear problem.
50
(14.62)
Victor Saouma
Draft
1416
GEOMETRIC NONLINEARITY
1
0
0
1
0
1
0
1
0
1
0
80,000 kN1
0
1
1
0
0
1
0
1
0
1
0000000000000000
1
0
6
m
6
m
111111111111111000000000000000
1111111111111111
80,000 kN
Solution:
Using two elements for the beam column, the only degrees of freedom are the deection and
rotation at midspan (we neglect the axial deformation).
The element stiness and geometric matrices are given by
0
0
0
0
0 222, 222.
0 666, 666.
1
[Ke ] =
0
0
0 222, 222.
0 666, 666.
0
0
666, 666.
2, 666, 666
0
666, 666.
1, 333, 333
0
0
0
0.
0
0
0.
v1
0
222, 222.
666, 666.
0
222, 222.
666, 666.
0
666, 666.
1, 333, 333
666, 666.
2, 666, 666
0
v1
0
0
0 222, 222.
0 666, 666.
2
[Ke ] =
0
0
0 222, 222.
0 666, 666.
2
0
666, 666.
2, 666, 666
0
666, 666.
1, 333, 333
0
0
0
0.
0
0
0.
0
0
222, 222.
666, 666.
0
222, 222.
666, 666.
0
666, 666.
1, 333, 333
666, 666.
(14.65)
(14.66)
2, 666, 666
0
0
0
0
0 16, 000
0 8, 000
1
[Kg ] =
0
0
0 16, 000
0 8, 000
0
0
8, 000
64, 000
0
8, 000
16, 000
0
v1
0
0
0
16, 000
0
8, 000
0
0
0 16, 000
0.
8, 000
0
v1
0
0
0 16, 000
0 8, 000
2
[Kg ] =
0
0
0 16, 000
0 8, 000
Victor Saouma
2
0
8, 000
64, 000
0
8, 000
16, 000
0
0
0
0
0
0
0
16, 000
8, 000
0
8, 000
16, 000
(14.68)
0
0
0
0 16, 000
8, 000
0.
8, 000
64, 000
Finite Elements II; Solid Mechanics
0
8, 000
16, 000
8, 000
64, 000
(14.67)
Draft
1417
v1
412, 444.
0.
2
0.
5, 205, 330
(14.69)
and the
Plf t
Vlf t
Mlf t
Prgt
Vrgt
Mrgt
v1
2
=
0.00012123
0
(14.70)
ulf t
lf
t
"
! 1
lf t
1
= [Ke ] + [Kg ]
urgt
vrgt
rgt
0
0
0
0
0 206, 222.
0 658, 667.
=
0
0
0 206, 222
0 658, 667.
25.
79.8491
=
0.
25.
79.8491
0
0
658, 667.
260, 2670
0
658, 667.
1, 349, 330
0
v1
0
0
0 206, 222.
0 658, 667.
0
0
0 206, 222.
0 658, 667.
,0
0
658, 667.
0
1, 349, 330
0
0
0
658, 667.
0.00012123
2, 602, 670
0
(14.71-a)
Note that had we not accounted for the axial forces, then
0.0001125
v1
=
2
0
0
Plf t
V
25.
lf
t
Mlf t
75.
=
Prgt
0.
Vrgt
25.
Mrgt
75.
(14.72-a)
(14.72-b)
Victor Saouma
Draft
1418
GEOMETRIC NONLINEARITY
Plf t
Vlf t
Mlf t
Prgt
rgt
Mrgt
0
25.
70.8022
0.
25.
70.8022
(14.73-b)
We observe that the compressive force increased the displacements and the end moments,
whereas a tensile one stiens the structure by reducing them.
The Mathematica to solve this problem follows
(* Initialize constants *)
OpenWrite["mat.out"]
a1=0
a2=0
e=2 10^9
i=2 10^(-3)
i1=i
i2=i1
l=6
l1=l
l2=6
p=-80000 (* negative compression *)
load={-50,0}
(* Define elastic stiffness matrices *)
ke[e_,a_,l_,i_]:={
{e a/l , 0
, 0
, -e a/l , 0
{0
, 12 e i/l^3 , 6 e i/l^2 , 0
, -12 e i/l^3
{0
, 6 e i/l^2
, 4 e i/l
, 0
, -6 e i/l^2
{-e a/l , 0
, 0
, e a/l , 0
{ 0
, -12 e i/l^3 , -6 e i/l^2 , 0
, 12 e i/l^3
{ 0
, 6e i/l^2
, 2 e i/l
, 0
, -6 e i/l^2
}
ke1=N[ke[e,a1,l1,i1]]
ke2=N[ke[e,a2,l2,i2]]
(* Assemble structure elastic stiffness matrices *)
ke=N[{
{ ke1[[5,5]]+ke2[[2,2]], ke1[[5,6]]+ke2[[2,3]]},
{ ke1[[6,5]]+ke2[[3,2]], ke1[[6,6]]+ke2[[3,3]]}
}]
WriteString["mat.out",MatrixForm[ke1]]
WriteString["mat.out",MatrixForm[ke2]]
WriteString["mat.out",MatrixForm[ke]]
(* Define geometric stiffness matrices *)
kg[p_,l_]:=p/l {
{0 , 0
, 0
, 0 , 0
, 0
},
{0 , 6/5 , l/10
, 0 , - 6/5 , l/10
},
{0 , l/10 , 2 l^2/15 , 0 , - l/10 , - l^2/30 },
{0 , 0
, 0
, 0 , 0
, 0
},
{0 , -6/5 , - l/10
, 0 , 6/5
, - l/10
},
{0 , l/10 , - l^2/30 , 0 , - l/10 , 2 l^2/15 }
}
kg1=N[kg[p,l1]]
kg2=N[kg[p,l2]]
(* Assemble structure geometric stiffness matrices *)
kg=N[{
{ kg1[[5,5]]+kg2[[2,2]], kg1[[5,6]]+kg2[[2,3]]},
{ kg1[[6,5]]+kg2[[3,2]], kg1[[6,6]]+kg2[[3,3]]}
Victor Saouma
,
,
,
,
,
,
0
6 e i/l^2
2 e i/l
0
-6 e i/l^2
4 e i/l
},
},
},
},
},
}
Draft
1419
}]
(* Determine critical loads and normalize wrt p *)
keigen=Inverse[kg] . ke
pcrit=N[Eigenvalues[keigen] p]
(* Note that this gives lowest pcrit=1.11 10^6, exact value is 1.095 10^6 *)
(* Add elastic to geometric structure stiffness matrices *)
k=ke+kg
(* Invert stiffness matrix and solve for displacements *)
km1=Inverse[k]
dis=N[km1 . load]
(* Displacements of element 1*)
dis1={0, 0, 0, 0, dis[[1]], dis[[2]]}
k1=ke1+kg1
(* Member end forces for element 1 with axial forces *)
endfrc1=N[k1 . dis1]
(* Member end forces for element 1 without axial forces
knopm1=Inverse[ke]
disnop=N[knopm1 . load]
disnop1={0, 0, 0, 0, disnop[[1]], disnop[[2]]}
(* Displacements of element 1*)
endfrcnop1=N[ke1 . disnop1]
*)
1,000
1
0
0
1
0
1
0000000000
1111111111
12
0000000000
1111111111
0
1
0000000000
1111111111
0000000000
1111111111
12
0
1
0000000000
1111111111
0000000000
1111111111
0000000000
00000000001111111111
1111111111
/8
/8
0
1
0
1
0
1
0
1
Solution:
In the following solution, we will rst determine the axial forces based on the elastic stiness
matrix only. Then, on the basis of those axial forces, we shall determine the geometric stiness
matrix, and solve for the displacements. Because of the non-linearity of the problem, we may
have to iterate in order to reach convergence. Following each analysis, we shall recompute the
geometric stiness matrix on the basis of the axial loads detemined from the previous iteration.
Note that convergence will be reached only for stable problems. If the method fails to
converge, it implies possible biurcation which could be caused by elastic displacements approaching L sin , due to either being too small, or E being too small (i.e not sti enough).
Victor Saouma
Draft
1420
GEOMETRIC NONLINEARITY
Victor Saouma
,
,
,
,
,
,
0
6 e i/l^2
2 e i/l
0
-6 e i/l^2
4 e i/l
0
0
0
0
0
1
},
},
},
},
},
}
,
,
,
,
,
,
0
0
0
0
0
1
},
},
},
},
},
}
},
},
},
},
},
}
Draft
Victor Saouma
1421
Ke2[[1,3]] },
Ke2[[2,3]] },
Ke2[[3,3]] }
Kg2[[1,3]] },
Kg2[[2,3]] },
Kg2[[3,3]] }
Draft
1422
GEOMETRIC NONLINEARITY
(*
Solve
*)
Ks = Ke + Kg;
diseg = Inverse[Ks] . load;
normnew = Sqrt[ diseg . diseg ];
ratio = ( normnew-normold ) / normnew;
Print["Iteration ",N[iter],"; u1 ",N[u1],"; p1 ",N[p1]," ratio ",N[ratio]];
normold = normnew;
If[ Abs[ ratio ] < epsilon, Break[] ]
]
Print[" p1 ",N[p1]," up1 ",N[up1]," p1/up1 ",N[p1/up1]," ratio ",N[ratio]]
14.5
Summary
Victor Saouma
Draft
14.5 Summary
1423
STRONG FORM
WEAK FORM
x =
du
dx
d2 y
dx2
=0
v = A sin kx B cos kx
P
EI
U=
1
2
'
(
2
d v
dx2
d4 v
EI dx
4
d2 v
dx2
P
=w
v = C1 sin kx + C2 cos kx + C3 x + C4
1
2
% dv &2
dx
2
E d
K=
Kg
Ke
P = (Ke + Kg )u
|Ke + Kg | = 0
Victor Saouma
Draft
1424
Victor Saouma
GEOMETRIC NONLINEARITY
Draft
Chapter 15
PLATES
Adapted from Pilkey & Wunderlich
Draft
1 This chapter will cover the transverse deformation of plates. The approach followed will be
consistent with the nite element formulation, Fig. 15.1.
Fundamental Relations
Kinematics
Constitutive
Equilibrium
Dierential Equation
Variational Formulation
15.1
Fundamental Relations
15.1.1
Equilibrium
Considering an arbitrary plate, the stress are given by, Fig. 15.2, resultants per unit width
Draft
152
PLATES
Nxx
2
dz
Nyy
Membrane Force N =
2t
Nxy
Mxx
2
zdz
Bending Moments M =
Myy
2t
Mxy
V =
t
2
2t
dz
=
=
=
=
=
=
Vx =
Vy =
t
2
t
2
2t
t
2
2t
t
2
2t
xx dz
yy dz
xy dz
t
2
2t
t
2
2t
t
2
2t
2t
t
2
2t
xx zdz
(15.1-a)
yy zdz
xy zdz
xz dz
yz dz
Note that in plate theory, we ignore the eect of the membrane forces, those in turn will be
accounted for in shells.
3
4 The equation of equilibrium is derived by considering an innitesimal element tdx dy subjected to an applied transverse load pz . We would have to consider three equations of equilibrium, Fig. 15.3:
or
Victor Saouma
Vy
Vx
dxdy +
dxdy + pz dxdy = 0
x
y
(15.2)
Vx Vy
+
+ pz = 0
x
y
(15.3)
Draft
Draft
153
x
-
Vy
;
;
6 Mxy
;
;
Myy
;
;
z ?V
-;
x
6 Mxx
pz
;;
;
-?
;
Mxy
Mxx + @M@x dx ;
Mxy + @M@x dx
?
;
Myy + @M@y dy ;;
Vx + @V@x dx
?Vy + @V@y dy
;
Mxy + @M@y dy
xx
yy
xy
xy
or
Myy
Mxy
dxdy +
dxdy Vy dxdy = 0
x
y
(15.4)
Myy
Mxy
+
Vy = 0
x
y
(15.5)
(15.6)
0
0
1
0
0
1
0 x
y
LT
Mxx
Myy
Mxy
Vx
Vy
M
0 0
+
0
=
0
p
0
(15.7)
Note that the left matrix corresponds to LT where the 1 term has been substituted by 1
Victor Saouma
Draft
154
15.1.2
PLATES
Kinematic Relations
5 From Fig. 15.4 we have ve displacements u, v, w, xx and yy . However, two of the three
displacements, u, v can be expressed in terms of the xx and yy which are the rotations of the
7 The middle surface will be assumed to remain unstrained, and that plane sections remain
plane. When shear deformations will later be taken into account, then the plane will not
necessarily remain normal to the middle surface.
8
z
u
= 0
v
w
0
However, from Eq. ?? we have = Lu or
x
xx
yy
zz
xy
xz
yz
0
assumption, we have,
0 0 xx
yy
z 0
w
0 1
L
0
0
0
x
u
v
w
(15.8)
(15.9)
10 Since w corresponds to the transverse deection of the middle surface, and does not vary
with z, then zz = 0.
Victor Saouma
Draft
155
zxx,x
xx
zyy,y
yy
zz
0
=
+ yy,x )
z(
xy
xx,y
(xx + w,x )
xz
yz
(yy + w,y )
zxx
zyy
0
=
2z
xy
xz
yz
(15.10)
Note that this equation assumes that the displacement w is small compared to the thickness of
the plate, and the rotation is small. Because the rotation is small, its square is negligible with
respect to unity, and hence the curvature
=
(1
x
+ 2 )3/2
(15.11)
0
0
x
xx
0
yy
xx
y
0
2xy
yy
= y
1
0 x
xz
yz
0
1 y
u
15.1.3
13
(15.12)
Constitutive Relations
xx
yy
0
1
zz
1
=
xy
2(1 + )
0
0
0
2(1
+
)
0
0
xz
yz
0
0
2(1 + )
1
0
xx
0
0
yy
E
0 0 1
xy
=
2
1 2
1
0
xz
0
1
yz
0
2
D
Note that the shear modulus is =
Victor Saouma
xx
yy
zz
xy
xz
yz
(15.13)
xx
yy
xy
xz
yz
(15.14)
E
2(1+) .
Draft
156
PLATES
Mxx =
=
t
2
E
E
xx zdz =
(xx + yy )zdz =
(zxx + zyy )zdz
t
t 1 2
t 1 2
2
2
2
t
2
Et3
E
2
(xx + yy )
(
+
)
z
dz
=
(15.15-a)
xx
yy
1 2
12(1 2 )
t
t
2
t
2
1
Mxx
Et3
Myy
=
12(1 2 )
Mxy
0
0
0
1
2
xx
yy
2xy
(15.16)
Et
The 12(1
2 ) term is referred to as the exural rigidity and is analogous to the exural
stiness EI of a beam (if the plate has unit width, and = 0, then EI = Et3 /12).
16
15.2
Plate Theories
15.2.1
Reissner-Mindlin
This theory, is primarily applicable to thick plates in which shear deformations can not be
neglected.
17
15.2.1.1
Fundamental Relations
In this formulation, shear deformation is accounted for and is the extension of the Timoshenkos beam theory.
18
Victor Saouma
Draft
157
Kinematic: The kinematic relation of Eq. 15.12 still holds and is written in slightly modied
form
0
xx
x xx
(15.17-a)
yy
= 0 y
yy
2xy
y
x
Lf
w
xz
x 1 0
=
(15.17-b)
yz
xx
y 0 1
yy
Ls
u
Mxx
0
1
0
Myy
x
y
Mxy
0 y x 0 1
0
0
0 x y
Vx
Vy
LT = LT
LTs
f
M
still holds
0 0
+
0
=
0
p
0
Constitutive: the constitutive relation of Eq. 15.16 must be augmented to account for the
relationships between xz and yz (which are no longer negligible in this case) with Vx
and Vy respectively. This is obtained by equating the internal work with the external one
xz xz dzdA =
Vx xz dA
(15.18)
A
xz
,
5
t
5 t
A
A
A
Hence, comparing with Eq. 15.18
matrix becomes
1
Mxx
Myy
0
Mxy
=
Vx
Vy
M
where K =
19
Et3
12(1 2 )
we conclude that xz =
1
0
0
2
1 0
0 1
0
0
(15.20)
and = 56 t
Victor Saouma
6 Vx
5 t ,
(15.21)
Draft
158
15.2.1.2
19
Dierential Equation
The dierential equation for the Mindlin plate will not be derived in this course.
Variational Formulation
15.2.1.3
20
PLATES
Substituting
"
Z
W
xx
{z
yy
1
+ y
x x
2 y
+
y x
x 2 y
|
2
Z
w
A
xx
{z
yy 4
uT
{z
1
+ y
x y
2 x
1
+
y y
x 2 x
Ke
f
{z
5t
Internal, Bending
x x
y y
{z
1
0
Ke
s
{z
38
<
0 5
:
1
}|
w
+
A
xx
{z
uT
yy
8
9
< pz =
0
}: 0 ;
| {z }
pv
(15.22-c)
w
xx
{z
uT
}|
xx
yy
{z
dA
}
}
{z
u
Z
dA +
#
w =
xx
dA
;
yy
Internal, Shear
(15.22-b)
Kes
kef
21
(15.22-a)
yy
8
9
< ps =
0
dA
}: 0 ;
| {z }
{z
(15.23-a)
External
(15.24)
Kef
= LTf Df Lf
(15.25)
Kes
LTs Ds Ls
(15.26)
W =
2
6
4
w xx
A
5t
5t
+ y
x 6 x
6 y
5t
y 6
5t
6 x
Victor Saouma
yy
5t
y 6
K(1)
K x + y
+ 5t
x
2
y
6
K(1)
K x + x
y
2
y
5t
6 x
K(1)
K y + y
x
2
x
K(1)
K y + x
+ 5t
y
2
x
6
38
9
< w =
7
5 : xx ; dA
yy
Draft
159
w
A
15.2.2
xx
yy
8
9
< pz =
:
0
dA +
;
0
w
yy
xx
8
9
< ps =
:
0
dA = 0
;
0
(15.27-a)
Kirchho
This theory, is primarily applicable to thin plates in which shear deformations can be neglected.
22
15.2.2.1
Fundamental Relations
In this formulation, shear deformations are neglected, and formulation is analogous to the
conventional Euler-Bernouilli beam theory.
23
Kinematic Relations Since shear deformations are neglected, xz = yz = 0 and thus the
last two relation of Eq. 15.10 reduce to
xx = w,x
and yy = w,y
(15.28)
2w
;
x2
xx
yy
2xy
Oyy = z
2w
;
y 2
x
2
2
y2
=
2
x y
L
1
Mxx
Et3
Myy
=
12(1 2 )
Mxy
0
M
xy = 2z
2w
;
xy
(15.29)
+
w
(15.30)
0
xx
1
0
yy
1
2xy
0
2
(15.31)
Equilibrium The equilibrium equation, as expressed by Eq. 15.7 still holds. If we were to
substitute the second and third relations into the rst one, then we would obtain the
following equilibrium relation in terms of the moments
2 Myy
2 Mxy
2 Mxx
+
+
2
+ pz = 0
x2
xy
y 2
(Note the similarity with the corresponding equations for beam exure
Victor Saouma
(15.32)
d2 M
dx2
Vx = 0)
Draft
1510
15.2.2.2
PLATES
Dierential Equation
24 If we combine the kinematic with the constitutive relation, 15.30 and 15.31 respectively we
obtain
2
2
+ y
2
Mxx
x2
3
*
+
Et
2
2
Myy
=
(15.33)
y2 + x
w
2
2
12(1 )
Mxy
(1 )
x y
Finally, we substitute the equilibrium equation, 15.32, into the previous one,
25
4w
4w
4w
+2 2 2 +
=
4
x
x y
y 4
pz
Et3
12(1 2 )
(15.34)
or
4 w =
pz
Et3
12(1 2 )
(15.35)
(15.36)
Stresses
26 Combining the stress-strain relation of Eq. 15.14, with Eq. 15.29, and 15.33, the stresses
could be expressed in terms of the moments
xx =
Mxx
t3
12
z;
yy =
Myy
t3
12
z;
xy =
Mxy
t3
12
again we note the analogy with the exural stress expression in beams =
dimensional equilibrium equation, Eq. 3.57:
xz
xx xy
+
+
x
y
z
yz
yx yy
+
+
x
y
z
zz
zx zy
+
+
x
y
z
integrating the rst equation yields
z
xx xy
+
dz =
xz =
x
y
t/2
12 t/2
zVx dz
= 3
t
z
Finally
xz
Victor Saouma
t/2
z
(15.37)
z
My
I .
= 0
= 0
(15.38-a)
= 0
12z
t3
Mxx Mxy
+
x
y
dz
(15.39-a)
#
#
2 $
2 $
2z
2z
3Vx
3Vy
1
1
=
and yz =
2t
t
2t
t
(15.40)
Draft
1511
Thus, the shear stress distribution across the plate thickness is parabolic (though they tend to
be very small compared to xy , and the peak shear stresses occur at the middle surface (z = 0)
where
3 Vx
3 Vy
xz |max =
and yz |max =
(15.41)
2 t
2 t
Finally, it can be shown that zz varies cubically.
15.2.2.4
Variational Formulation
27 Prior to the nite element discretization, we seek to obtain from the previously derived
relations a variational formulation of the problem.
28
T MdA
(15.42)
where M = D is obtained from Eq. 15.31, and = Lu is obtained from Eq. 15.30.
29
uT pd = 0
p
(15.43)
where pv contains the applied transverse loading pz , and p the edge loading ps .
30
Ke = LT DL = x
2
= K
2
x2
y
2
2
2
+ 2
2
x
y
2 x
y
1
1
12(1 2 )
0 0
+ 2(1 )
x y
0
0
Et3
x y
2
+ 2
y
1
2
x22
y
2
2
x y
2
2
+ 2
2
y
x
(15.44-a)
W = K
w (Lwpz ) dA +
A
p wps d = 0
(15.45)
15.2.3
Summary
31 Table 15.1 summarizes some of the major equations governing plate bending, and contrasts
them with the equivalent elasticity ones.
Victor Saouma
Victor Saouma
2
6
6
4
{z
xx
yy
zz
xy
yz
zx
0
0
0
D
{z
1
0
0
0
{z
0
0
0
0
0
8
3>
>
>
>
>
<
7
7
5>
>
>
>
>
}:
|
0
0
0
0
0
0
{z
0
0
0
0
0
xx
yy
zz
xy
xz
yz
"
38
xx
>
>
>
7
>
7>
< yy
7
zz
7
xy
7
>
>
5>
>
>
: yz
zx
} | {z
>
>
>
>
>
;
}
9
>
>
>
>
>
=
8
9
< bx =
by
+
>
: bz ; = 0
>
>
>
>
; | {z }
b
}
9
>
>
>
>
>
=
3
7
8
9
7
7
< ux =
7
7
u
y
7
: uz ;
7
7
5 | {z }
; = 12
= (1+)(12) ; = 1
2(1)
0
0
0
E(1)
2
6
6
6
= 6
6
>
>
>
4
>
>
;
} |
9
>
>
>
>
>
=
LT
{z
Elasticity
{z
2
6
6
4
xx
yy
2xy
{z
Mxx
Myy
Mxy
Vx
Vy
W = K
Z
A
0
0
{z
{z
Z
)
{z
1
2
0
0
Et3
;
12(1 2 )
1
0
{z
1
0
38
>
>
>
<
7
7
5>
>
>
:
}|
38
>
>
>
<
7
7
5>
>
>
:
}|
}|
{z
3
5
"
1
0
38
<
5
:
}|
0
1
0
1
9
=
;
}
u pV dA +
{z
0
0
0
0
0
0
u pd = 0
9
>
>
>
=
>
>
>
;
}
9
=
;
9
=
;
w
xx
yy
9
=
:
;
} | {z }
#8
<
xx
yy
2xy
xz
yz
9 8
= <
;=:
9 8
= <
;=:
38
>
>
7
>
<
7
7
7
>
5>
>
:
}|
{z
Ls
1
0
p wps d = 0
{z
0
0
pz
0
0
pz
xx
yy
2xy
9
>
8
>
>
= <
+
:
>
>
>
;
}
u Ks udA +
9
8
>
>
>
= <
+
> :
>
>
;
}
9
>
>
>
=
w
>
>
|
{z
>
; u }
}
= 5
t
6
1
2
0
0
{z
Mxx
Myy
Mxy
Vx
Vy
Mxx
Myy
Mxy
Vx
Vy
{z
xz
yz
{z
2
2
y
2 x
y
2
2
x
w (KLwpz ) dA +
K =
9
2
=
=K4
;
} |
x
{z
A
6ks (1
t2
W =
xx
yy
8
9 >
>
= >
<
;=>
>
>
} :
|
3
7
5
LT
s
2
K4
Mxx
Myy
Mxy
LT
f
{z
LT
9 2
>
>
>
= 6
6
=6
6
>
>
>
; 4
} |
8
<
:
|
{z
xx
yy
2xy
{z
Lf
8
<
:
|
Kf dA +
T
Virtual Work
8
>
>
>
<
>
>
>
:
|
Constitutive
2
6
6
4
LT =
9 2
= 6
;=4
} |
Equilibrium
8
<
:
|
Kinematic
1512
td = 0
= (Lu)T Dd uT bd uT
t
>
>
>
>
>
:
|
8
>
>
>
>
>
<
>
>
>
>
>
:
|
8
>
>
>
>
>
<
2
9
xx >
6
>
>
6
yy >
>
= 6
6
zz
=6
6
xy >
>
6
>
>
xz >
; 6
4
yz
{z }
|
"
Draft
PLATES
Draft
15.3
1513
32 Numerous elements have been proposed for plate bending. An ideal plate element should
have the following properties:
1. Formulation should be based on continuum mechanics and plate theory, the nodal d.o.f.
are the transverse displacement w, and sectional rotations xx and yy .
2. The element should be numerically correct, and convergent. The element stiness
matrix must contain the three rigid-body modes and no rank deciency (spurious zeroenergy modes).
3. The element should not lock in thin plate analyses.
4. The predictive capability of the element should be insensitive to element geometric distortions.
Since plate structure is a special case of shell structures, and plates under large displacement
exhibit shell characteristics (through membrane actions), similar formulations can be employed
for both plates and shells.
33
15.3.1
15.3.1.1
Rectangular Element
Formulation
The stiness matrix, including shear deformation eects, for a rectangular element, Fig. ??
will be developed.
34
0
N1 N2 N3 N4
w
xx
0
N1 N2 N3 N4
=
yy
0
0
w
Nw 0
=
0 N
35
0
0
N1 N2 N3 N4
xx
yy
where
N1 = (1 )(1 );
Victor Saouma
N2 = (1 );
N3 = ;
N4 = (1 )
(15.47)
Draft
1514
PLATES
Note that the natural coordinate system selected has its origin at node 1, and 0 , 1. Thus
through these shape functions, we will have a rst order (C0 ) element, for which displacement
and rotations will be continuous along the boundaries (since xx and yy are also variables).
36 The stiness matrix, for a Mindlin plate, will be derived on the basis of the principle of
virtual work from Eq. 15.24
Wi = K
6ks (1
Kef dA +
2
Flexure
uT Kes udA
A
Shear
(15.48)
38
=
and
=
x
a
y
b
(15.49)
1
a
0
1
b
{z
Lf
1
b
1
a
7
5
}
|
(1 )(1 )
0
(1 )
0
(1 )
0
{z
0
(1 )(1 )
0
(1 )
0
(1 )
1
a
= 0
1
b
1
a
0
b
a
0
1
b
0
0
b
1
b
1
a
1
a
1
b
a
}
(15.50)
(15.51)
2
t
We note that Lf = Lu (used in elasticity) for in plane deformation, and Df = 12
D, thus
the stiness matrix for bending can be formed directly from the stiness matrix for in-plane
deformation.
39
40
t2
Et
24(1 2 ) 12
2 w1 w2 w3 w4 x1
6 0
0
6
0
6
0
6
A
6
6
6
6
6
6
6
6
6
6
4
x2
x3
x4
y1
y2
0
C
A
A /2
B
A
B
A /2
C
A
2
3
2
3
A
3
2
3
2
B
A
y3
y4
7
7
7
7
2
3
7
7
3
2
7
2
3 7
3
2 7
7
A /2
C 7
C
A /2 7
7
A
B 7
5
A
(15.52)
Victor Saouma
Draft
1515
Considering the second integral in Eq. 15.48, and substituting from Eq. 15.21
Kes = LTs Ds Ls
1 0
Ds =
0 1
5
t
=
6
we obtain
(15.53-a)
(15.53-b)
(15.53-c)
Kes udA
= K
(15.54-a)
(15.54-b)
BTs Bs dAu
(15.54-c)
= K
= KuT
A
(15.55-a)
(15.55-b)
Note that the rst row and second row in the second equations correspond to xz and yz
respectively.
42
Upon substitution,
1
B11 =
B12 =
B21 =
B12 =
!
1
!
(1)
a
(1)
a
(1 )(1 ) (1 ) 1
2
(1)
(1)
b
b
b
b
(15.56-a)
"
(1 )(1 ) (1 ) (1 )
(15.56-b)
"
(15.56-c)
(15.56-d)
TB
B
s s dA
Ks =
(15.58)
Victor Saouma
Draft
1516
PLATES
which gives
Ks
1
24
2
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
6
4
w1
6
w2
6
6
w3
6
6
6
w4
6
6
6
6
x1
3b
3b
3b
3b
1.5ab
x2
3b
3b
3b
3b
1.5ab
1.5ab
x3
3b
3b
3b
3b
1.5ab
1.5ab
1.5ab
x4
3b
3b
3b
3b
1.5ab
1.5ab
1.5ab
1.5ab
y1
3a
3a
3a
3a
y2
3a
3a
3a
3a
y3
3a
3a
3a
3a
y4
3a
3a
3a
3a
7
7
7
7
7
7
7
7
7
7
7
7
7
7
1.5ab 1.5ab 1.5ab 1.5ab 7
7
1.5ab 1.5ab 1.5ab 7
7
1.5ab 1.5ab 5
1.5ab
(15.59-a)
where = ab , = ab , = + , and = .
44
(15.60)
15.3.1.2
P
K
(15.61)
Shear Locking
Through inspection of the previous equation, and noting that = 6ks (1)
, we observe that
t2
for very thin plates is very large, hence as t 0, . Hence, unrealistic u = 0 can be
obtained independently of the load. This phenomena is called locking (of the displacements).
45
46
Locking occurs also in thin beam elements when shear deformation eects are accounted for.
To alleviate the locking problems is to make Ks singular so that Ks is nite. This can
be accomplished through reduced numerical integration for Ks , Table 15.2, which in turn will
reduce the rank of the matrix.
47
Bilinear
Quadratic
Serendipity
4 nodes, 12 d.o.f.
9 nodes, 27 d.o.f.
8 nodes, 24 d.o.f.
Integration Rule
Full
Reduced Selective
e
e
Kf Ks Kef Kes Kef Kes
2x2 2x2 1x1 1x1 2x2 1x1
3x3 3x3 2x2 2x2 3x3 2x2
3x3 3x3 2x2 2x2 3x3 2x2
Victor Saouma
Draft
1517
48 The same phenomena occurs for beams. This is illustrated by evaluating the deection of a
cantilever beam, due to both exural and shear deformation, under a point load
PL
P L3
3EI
P L3
+
=
1+
(15.62)
w=
3EI
ks A
3EI
ks AL2
or
w=
P L3
3EI
1+
;
ks AL2
= ks
EI
E
2
2
L
L
=O
r
h2
(15.63)
Hence, as the slenderness ratio increases, shear deformation decreases. Furthermore, Euler
theory is recovered if the shear stiness , however shear locking can occur for small .
49
15.3.2
15.3.2.1
Victor Saouma
Draft
1518
PLATES
ments rather than through the distortions of a rectangular element, we consider next the three
noded, nine d.o.f. Kirchho element.
51 The element is shown in Fig. 15.7, has the following 3 dof at each node: displacement w, and
w
slopes xx = w
x and yy = y . Because the complete cubic polynomial expansion contains
10 terms (1, , , 2 , , 2 , 3 , 2 , 2 , 3 ), yet we have only nine dofs, thus we opt instead to
a natural coordinate system and we express the displacement as
w = w1 + w2
(15.64)
where w1 corresponds to the rigid body part, and w2 the displacements incurred when the
triangle is simply supported at the nodes.
52
(15.65)
53 Since the element has 9 dof, a cubic polynomial will be used for shape functions; i.e. the
shape function can be a linear combination of the cubic terms
x2 y3 x3 y2 y23 x32 1
L1
L
x
= x3 y1 x1 y3 y31 x13
2
L3
x1 y2 x2 y1 y12 x21
y
(15.66)
(15.67)
55
Since w1 took already care of the rigid body movements, the cubic terms can be used for w2 .
Zienkiewicz found it convenient to form the terms of w2 as follows
1
1
2
2
4 L3 L1 + L1 L2 L3 + w
5 L3 L2 + L1 L2 L3
w2 = w
2
2
1
1
2
2
7 L1 L2 + L1 L2 L3
+w
6 L1 L3 + L1 L2 L3 + w
2
2
1
1
2
2
9 L2 L1 + L1 L2 L3
w
8 L2 L3 + L1 L2 L3 + w
2
2
Victor Saouma
(15.68-a)
Draft
1519
Hence
w = w1 + w2 = Nu w
(15.69)
(15.70)
1 u = Gu and
=N
where u = w1 x1 y1 w3 x3 y3 thus w
u
w = Nu Gu = Nu
(15.71)
g 21 L2 + L21 L3 L1 L2 L1 L23
L1 + L
b3 (L21 L
g 2 + 12 L1 L2 L3 ) + b2 (L21 L
g 3 + 12 L1 L2 L3 )
N1 =
g 2 + 12 L1 L2 L3 ) c2 (L21 L
g 3 + 12 L1 L2 L3 )
c3 (L21 L
(15.72)
(15.73)
where
Ke = LT DL
(15.74)
Thus
Ke =
NT LT DLNdA (15.75)
NT pz dA
(15.76)
15.3.2.2
k!l!m!
(2 + k + l + m)!
(15.77)
Nonconformity
Victor Saouma
Draft
1520
PLATES
1
1
2
x
3
2
yy =
w
= 0 + 1 x + 2 x2
y
(15.78)
but since we only have two d.o.f. (yy at nodes 2 and 3), then the parameters can not be
uniquely expressed in terms of these two d.o.f. Hence, we will have discontinuity of normal
slope, or kinks.
63
64 This nonconforming element, nevertheless is a viable one as the 3 rigid body modes, and
constant strains are present. In addition, it passes the patch test.
Despite its nonconformity, this element is quite appealing because the deformation is expressed only in terms of the middle surface deection w.
65
15.3.3
A viable approach consists in starting with the thick plate, or Reissner-Mindlin plate theory,
by separating the d.o.f. for translation and rotations and making them independent one from
the other. These in turn are made continuous at the inter-element boundaries, thus ensuring
C0 continuity. Since the plate is very thin, the term corresponding to shear deformation in the
virtual work will be neglected. The shape functions will be designed to ensure compatibility,
thus the element will be conforming. Finally, the Kirchho plate theory assumptions will be
only introduced at discrete points along the element boundaries.
67
68
uT LTs Ds Ls udA
(15.79)
where the rst term corresponds to exure, and the second one to the eect of shear which will
be neglected.
Victor Saouma
Draft
1521
3
6
5
y
1
4
2
x
Ni xi ;
yy =
Ni yi
(15.80)
xx =
i=1
70
i=1
The shape functions Ni for the natural coordinates with quadratic expansions are
N1 = L1 (2L1 1) = (1 L2 L3 )(1 2L2 2L3 )
N2 = L2 (2L2 1)
N3 = L3 (2L3 1)
N4 = 4L2 L3
N5 = 4L1 L3 = 4(1 L2 L3 )L3
N6 = 4L1 L2 = 4(1 L2 L3 )L2
(15.81-a)
For this element, so far we have a total of 12 dof, and we seek to formulate it in terms of only
i
i
9 dof, 3 at each corner node corresponding to wi , xx and yy thus we need to impose certain
constraints for this reduction.
71
72
Victor Saouma
Draft
1522
PLATES
w
1
0
w,x
0
xx
xz
x
=
=
=
yz
yy
w,y
0
xx
y 0 1
yy
(15.82)
(15.83)
where k is a superscript denoting the midside nodes only, tk is a rotation about the normal
to the boundary at node k, and wsk is the derivative of w with respect to the s direction
along the boundary.
3. Linear variation of the tangential slope: , i.e the rotation about the s direction at the
middle nodes is the average of the rotations at the end nodes
1
nk = (ni + nj )
2
(15.84)
where the corner nodes i j are 2-3, 3-1, and 1-2. k corresponds to the midside nodes.
73
w = a1 + 2a2 s + 3a3 s
(15.85)
and thus w = w,s varies quadratically and the three coecients can be obtained by matching
w,s = n at the three points along the edge. Applying the boundary conditions at s = 0 and
s = lij in terms of both w and w,j , we have 4 equations to determine the four coecients,
wi = 0
wi
wj = a0 +
wj
2
a1 lij + a2 lij
= a1 + a2 lij +
ats = 0 node i
(15.86-a)
= a1
ats = 0
(15.86-b)
3
a3 lij
2
a3 lij
(15.86-c)
ats = lij
(15.86-d)
yielding
k
=
w,s
3 i 1 i
3 j 1 j
w w,s +
w w,s
2lij
4
2lij
4
(15.87)
74 Since the rst term of Eq. 15.22-c, does not involve w, there is no need to dene an interpolation function for w inside the element.
75
and
Victor Saouma
w,n
w,s
=
cos ij sin ij
sin ij
cos ij
xx
yy
(15.88)
(15.89)
Draft
1523
76 Substituting the last three equation into Eq. 15.80 at each node to obtain xi and yi to nd
the shape functions results in
xx = Nx vi ;
yy = Ny vi
or
(15.90)
i
xx
Nx1 Nx2 Nx3 Nx4 Nx5 Nx6 Nx7 Nx8 Nx9
=
i
Ny1 Ny2 Ny3 Ny4 Ny5 Ny6 Ny7 Ny8 Ny9
yy
where
Nx1
Nx2
Nx3
Nx4
Nx5
Nx6
Nx1
Nx2
Nx3
x
and ak = l2ij , bk =
ij
=
=
=
=
=
=
=
=
=
1.5(a6 N6 a5 N5 ),
N1 b5 N5 b6 N6 ,
c5 N5 c6 N6 ,
1.5(a6 N4 a5 N6 ),
N2 b5 N6 b6 N4 ,
c6 N6 c4 N4 ,
1.5(a6 N5 a5 N4 ),
N3 b5 N4 b5 N5 ,
c4 N4 c5 N5 ,
1 2
x 1 y2
4 ij 2 ij
2
lij
, ck =
Ny1
Ny2
Ny3
Ny4
Ny5
Ny6
Ny1
Ny2
Ny3
3 xij yij
,
2
4 lij
=
=
=
=
=
=
=
=
=
w1
1
x
1
y
w2
2
x
2
y
w3
3
x
3
y
v
(15.91)
1.5(d6 N6 d5 N5 )
Nx3
N1 e5 N5 e6 N6
1.5(d4 N4 d6 N6 )
Ny3
N2 e5 N6 e4 N4
1.5(d5 N5 d4 N4 )
Nx3
N3 e4 N4 e5 N5
(15.92)
1 2
y 1 x2
4 ij 2 ij
2
lij
and k = 4, 5, 6
dk = l2ij , ek =
ij
= vi
= vi
Kef
NT LTf Df Lf NdAvi
BT Df BdA vi
A
(15.93-b)
(15.93-c)
Ke
(15.93-d)
Thus the stiness matrix can be evaluated
Victor Saouma
Draft
1524
15.4
78
PLATES
Summary
Major conclusions
1. Two theories: thin plates (Kirchho/Euler-Bernouilli), and thick plates (Mindlin-Reissner/Timoshenko),
without and with shear deformations.
2. Strong analogy between plates and beams.
3. If membrane actions are accounted for, lead to formulation of shell elements.
4. M , .
5. If thick plate theory is applied to thin plates, will have shear locking problems.
6. Shear locking is alleviated by reduced integration of the shear components.
7. For thin plate theory, will have non-conforming elements if only 3 d.o.f. are adopted at
each node.
8. The DKT element alleviated this problem.
9. Reduced integration will alleviate problems arising from mesh distortions.
10. Shear locking is primarily an issue for 3 node and 4 node elements. Higher order expansions perform much better, whereby Lagrangian 6 and 16 node elements perform
signicantly better than their Serendipity counterparts of 8 node and 12 node elements.
11. The usual 3 DOF/node Kirchho elements do not maintain normal slope continuity.
Victor Saouma
Draft
Chapter 16
MATERIAL NONLINEARITIES
16.1
Introduction
16.1.1
Linearization
= ()
(16.1)
+ ) = ()
+
+
(
=
(16.2)
Neglecting quadratic and higher order terms leads to a linearized constitutive law
+ D()
()
(16.3)
(16.4)
We rewrite Eq. 7.8, 7.12 and 7.16 in terms of the newly dened constitutive operator
T
T
T
T
B (Bu)d
=
B D 0 d
B 0 d +
N bd +
NT td
(16.5)
e
e
t
e
t
f
int
f 0e
f
ext
fe
Draft
162
MATERIAL NONLINEARITIES
or
f
int
(u) = f
ext
(16.6)
5 We now develop a linearized expression for the internal forces. Given u as nodal displacements
= (Bu).
Then, the Taylor expansion
yielding strain eld = Bu, and the stress eld = ()
of the internal forces around u yields
int
f
int
int
f (u + u) = f (u) +
u +
(16.7)
u
u=u
int
(u + u) f
int
(u) + KT (u)u
(16.8)
where
int
f
KT
u
(16.9)
f
=
KT =
u
u
B d
=
T
d =
B
u
d =
B
u
BT DBd
(16.10)
which is the well known formula for the stiness matrix, however Del is now replaced by the
tangent moduli D
16.1.2
Solution Strategies
7 Before we discuss solution strategies, it may be helpful to point out the parallelism which
exists between (numerical) solution strategies, and (experimental) testing methods. Modern
testing equipment can be programmed to apply a pre-determined rate of load (as measured by
a load cell), of displacement (as measured by an internal displacement transducer), or of strain
(or relative displacement such as crack mouth opening displacement) measured by a strain/clip
gage or other instruments, Fig. 16.1
Load Control: the cross-head applies an increasing load irrespective of the specimen deformation or response. For all materials, when the tensile strength is reached, there is a sudden
and abrupt brittle failure. The strain energy accumulated in the specimen is suddenly
released once the ultimate load of the specimen is reached, thus the sudden failure can be
explosive.
Displacement/Stroke Control: the cross-head applies an increasing displacement to the
specimen. For softening material there will be a post-peak response with a gradual decrease in stress accompanying an increase in displacement. In this case, there is a gradual
release of strain energy which is then transferred to surface energy during crack formation.
Victor Saouma
Draft
16.1 Introduction
163
P
11
00
11
00
11
00
11
00
,
11
00
111
000
11
00
11
00
111
000
P, , CMOD
11
00
t
11
00
11
00
11
00
111
000
CMOD
Actual
Programmed
10
11
Victor Saouma
Draft
164
MATERIAL NONLINEARITIES
16.2
Load Control
16.2.1
Newton-Raphson
For the sake of discussion, we will assume in the following sections that the incremental
ext
analysis is under load control, with increments of loads f .
12
13 At the end of each load increment, internal forces must be in equilibrium with the external
ones. Hence, we dene the vector of residual forces R as
Rn+1 R(un+1 ) = f
where f
int
int
(un+1 ) f
ext
=0
(16.11)
For equilibrium to be satised, the vector of reactions internal forces f must be equal to
ext
the one of external ones f . This is automatically satised in linear elastic analysis, but not
necessarily so in nonlinear analyses.
14
15
We start the analysis from an equilibrium conguration, at the end of increment n such that
u = un ,
Rn = 0
(16.12)
ext
ext
ext
f n+1 = f n + f n
(16.13)
(16.14)
ext
This is the most rapidly convergent process (albeit computationally expensive) of non-linear
problems.
16
At the beginning of each step n + 1, we start from the displacement un that were computed
int
ext
in the previous step through equilibrium Rn 0 or f n f n . The external forces are
ext
ext
ext
ext
now increased from f n to f n+1 = f n+1 + f , and we seek to determine the corresponding
17
int
ext
As initial guess for u0n+1 we take it to be un and based on the linearization around this initial
state we have
ext
f int (u0n+1 ) + KT (u0n+1 )u1n+1 = f n+1
(16.15)
19
where u1n+1 is the rst approximation for the unknown displacement increment un+1 =
un+1 un .
Victor Saouma
Draft
165
f ext
2
Rn+1
f ext
n+1
3
Rn+1
n+1
1
Rn+1
fnext
n+1
f int,
2
1
T
n+1
f int,
1
f ext
n
un2
un1
un1
un
un2
1
un+1
2
un+1
3
un+1
(16.16)
Observing that
int
f
R
=
= KT
u
u
assuming that f
ext
(16.17)
is constant, and KT is the tangent stiness matrix. Thus, Eq. 16.16 yields
i
(16.18)
(16.19)
or
i
22
with
uin =
ukn
(16.20)
(16.21)
ki
very rapidly.
23
It should be noted that each iteration involves three computationally expensive steps:
Victor Saouma
Draft
166
MATERIAL NONLINEARITIES
int
(or reactions)
Modied Newton-Raphson
This method is essentially the same as the Newton-Raphson however in Eq. 16.23 (KiT ) is
replaced by KT which is the tangent stiness matrix of the rst iteration of either 1) the rst
increment KT = K1T,0 , Fig. 16.4, or 2) current increment, Fig. 16.3 KT = K1T,n Fig. 16.3
24
f ext
2
Rn+1
f ext
n+1
3
4
Rn+1
Rn+1
n+1
1
T
n+1
f int,
2
1
Rn+1
fnext
n+1
f int,
3
1
K
T
f ext
n
un2
n+1
f int,
1
un1
un2
un3
un1
un3
un
1
un+1
2
un+1
3
un+1
(16.22)
In general the cpu time required for the extra iterations required by this method is less than
the one saved by the assembly and decomposition of the stiness matrix for each iteration.
25
26 It should be mentioned that the tangent stiness matrix does not necessarily have to be the
true tangent stiness matrix; an approximation of the true tangent stiness matrix or even the
initial stiness matrix will generally produce satisfactory results, albeit at the cost of additional
iterations.
16.2.1.3
Secant Newton
27 This method is a compromise between the rst two. First we seek two displacements by two
cycles of modied Newton-Raphson, then a secant to the curve is established between those
Victor Saouma
Draft
167
f ext
2
Rn+1
f ext
n+1
3
4
Rn+1
Rn+1
n+1
0
T
n+1
f int,
3
0
T
1
Rn+1
fnext
n+1
f int,
2
n+1
f int,
1
f ext
n
un2
un2
un1
un3
un1
un3
un
1
un+1
2
un+1
3
un+1
(16.23)
28 Subsequently, each step will be taken along a secant connecting the previous two points.
Hence, starting with
1
(16.24)
u1n = K1
T Rn+1
u1n
1
(16.25)
(Rn+1 Rn+1 )
(16.26)
29
16.2.2
uin
i1
(Rn+1 Rn+1 )
(16.27)
(16.28)
Victor Saouma
Draft
168
MATERIAL NONLINEARITIES
f ext
2
Rn+1
f ext
n+1
3
Rn+1
4
Rn+1
n+1
n+1
f int,
3
K0
1
Rn+1
fnext
n+1
f int,
2
T
n+1
f int,
1
f ext
n
un2
un2
un1
un3
un1
un3
un
3
un+1
2
un+1
1
un+1
The displacement corrections are multiplied by a scalar value sk dening the amount of
under- or over-relaxation such that the total displacements uj+1,k are dened as
32
uj+1,k = uj + sk uj
(16.29)
For k = 0 and k = 1, the values of sk are 0.0 and 1.0, respectively. Therefore, uj+1,0 = uj
and uj+1,1 = uj+1 . The orthogonality condition is quantied by a scalar value gk representing
the iterative change in energy, which is dened as
33
j+1,k
gk = uj R
where
j+1,k
=f
ext
int
(16.30)
(uj+1,k )
(16.31)
are the residual loads at the end of solution iteration j and line search iteration k.
gk can be expressed as a function of sk (see Figure 16.6) and the object of the line search is
to nd sk such that gk is zero. An estimate of sk+1 such that gk+1 is zero can be computed
using a simple extrapolation procedure based on similar triangles
34
sk
sk+1
=
g0
g0 gk
On rearranging terms, sk+1 is dened as
s
Victor Saouma
k+1
= s
g0
g0 gk
(16.32)
(16.33)
Draft
169
As a preventative measure, sk+1 is assigned a value of 5.0 for all sk+1 > 5.0 so that unreint
strained over-relaxation is inhibited. Once sk+1 is estimated, uj+1,k+1 , f j+1,k+1 , and Rj+1,k+1
are computed for the next line search iteration, Fig. 16.6.
35
g
g0
g1
s1
s2
(16.34)
and g0 gk 0.001 | g0 |. Smaller tolerances may be used to determine if the line search has
converged, Zienkiewicz and Taylor (1989) prefer to use 0.6, but Criseld, M.A. (1979) concluded
that there was little advantange to be gained by doing such.
37
The owchart illustrating the Line Search algorithm is shown in Fig. 16.7.
Initialize s1
Compute R
DO 30 k=1,3
Do 10 j=0, Niter
Compute gk and sk+1
j
j+1 0
Compute u, u,
j+1
j+1
Compute and
j+1
j+1
No
Compute u
j+1,k+1
j+1,k+1
Compute
Converged
No
Yes
Converged
j+1,k+1
and
Yes
j+1,k+1
Compute fint
and R
j+1,k+1
10
30
Victor Saouma
Draft
1610
16.2.3
MATERIAL NONLINEARITIES
Convergence Criteria
38 In all preceding methods, iterations are performed until one or all of a variety of convergence
criteria are satised. Relative convergence criteria are optionally enforced on the displacements,
loads, and/or incremental energy to dene the termination conditions.
The relative displacement criteria is dened in terms of the displacement corrections uj and
the updated incremental displacements uj+1 as
39
Ou =
uj 2
uj+1 2
(16.35)
The Euclidean norm, which is also known as the L2 norm, of a vector v is dened as
#N
v 2 =
$1/2
vi2
(16.36)
i=1
The relative load criteria is dened in terms of the updated residual loads R
int
reactions f j+1 as either
41
Or =
or
Or =
j+1
2
int
f j+1
2
R
j+1
int
f j+1
R
|vi |
v = max
and the
(16.37)
(16.38)
(16.39)
i=1
j+1
OW =
uj R
int
uj+1 f j+1
(16.40)
where the numerator is the change in the incremental energy for iteration j and denominator
is the incremental energy.
16.3
Victor Saouma
Draft
1611
43 Independently of the choice of iterative algorithm, any solution strategy using load control
fails if the prescribed external loads cannot be maintained in equilibrium by the internal forces.
This would typically occur if the load is monotonically increased until the load-carrying capacity
of the structure is exhausted, Fig. 16.8
f ext
45 However, nite element simulations of complex engineering problems can diverge for a number of other reasons, many of which are purely numerical and have nothing to do with the real
structural failure.
46 If the load-displacement diagram is to be followed beyond the peak, i.e post-peak response
is required, then alternative solution strategy to the load-control one must be devised.
Post-peak response may be of interest not only in problems in structures with imposed
displacements (such as initial settlements), but also to assess the ductility of the structure
(specially when cracks are present).
47
To outline the displacement controlled algorithm, we divide the displacements into two
groups: one with unknown displacements at nodes that are left free, and the second with
prescribed displacements at nodes that are controlled. Accordingly, we partition the displacement vector into {uf , up }T and the internal and external force vectors into {f int,f , f int,p }T and
{f ext,f , f ext,p }T , respectively. External forces f ext,f (corresponding to the unknown displacements uf ) are prescribed, and for simplicity we will assume that they are equal to zero. All
external forces acting on the structure are represented by reactions f ext,p at the supports with
prescribed displacements up .
48
49
(16.41-a)
(16.41-b)
50 For given up , the unknown displacements uf can be computed by solving Eq. 16.41-a. After
that, the reactions f ext,p are obtained by simple evaluation of the left-hand side in (16.41-b).
Victor Saouma
Draft
1612
51
MATERIAL NONLINEARITIES
(n1)
and up
from the previous step, and we replace Eq. 16.41-a by the linearized equations
(n1)
ff
where K11
f int,f
uf
(n1)
+ K11
and K12
f int,f
up
(n,1)
uf
(n1)
+ K12
u(n,1)
=0
p
(16.42)
f int,f
K
K
up
11
12
=
K21 K22
f int,p
up
f int,f
f int uf
=
K
f int,p
u
uf
(16.43)
(n1)
K11
(n,1)
(n1)
up
(n,1)
up
(n,1)
uf
(n1)
(n1)
= f int,f K12
u(n)
p
(n,1)
(n1)
= uf
(n,1)
+ uf
and
(n)
up .
(n,1)
(n,1)
54
K11
(n,i1)
(n,i)
= f int
(n,i)
= uf
uf
uf
(n,i1)
(n,i1)
K12
(n,i)
up
(n,i)
+ uf
i = 1, 2, 3, . . .
where
(n,0)
(n1)
(16.44-a)
u(n,0)
= u(n1)
p
p
(16.44-b)
uf
= uf
(n1)
= u(n)
u(n,1)
p
p up
(16.44-c)
u(n,i)
p
(16.44-d)
= 0
for i = 2, 3, . . .
55 Note that, starting from the second iteration, the correction up is zero, and so the term with
K12 on the right-hand side of (16.3) vanishes. This term is present only in the rst iteration. It
(n,0)
(n)
(n,0)
(n1)
= up instead of up
= up
, and
might seem that one could start immediately from up
then the correction up would be zero already in the rst iteration and the matrix K12 would
never have to be evaluated. However, this is in general not a good idea because such an initial
approximation would be too far from the equilibrium path and the process might diverge.
Victor Saouma
Draft
16.4
1613
56 Direct displacement control can be applied only on structures loaded only at one point, or
when the load is transmitted by a sti platen so that all points on the loaded surface exhibit
the same displacements.
57 However, this is not always the case. As an example, consider a dam loaded by hydrostatic
pressure due to reservoir overow; see Fig. 16.9. Here, the load is applied along a large portion of
l
l
u
Load Control
u
Displacement Control
u
Arc-Length Control
16.4.1
Victor Saouma
Draft
1614
MATERIAL NONLINEARITIES
Restricting the applied loading to be proportional, a scalar load parameter can be used to
ext
scale an arbitrary set of applied loads f .
59
ext
The applied loads at the start of increment i are dened as the scalar-vector product i f ,
where i is the load parameter at the start of increment i. i is zero at the start of the rst
increment.
60
The applied incremental loads for increment i are dened as the scalar-vector product
ext
i f , where i is the incremental load parameter for increment i. The updated load
parameter i+1 at the end of increment i is
61
i+1 = i + i
(16.45)
62 The incremental displacements due to the applied incremental loads are obtained using the
standard modied-Newton algorithm, as described in Zienkiewicz & Taylor (1991). The incremental displacements uj+1 at the end of iteration j for a generic increment are dened
as
(16.46)
Duj+1 = uj + uj
where uj are the incremental displacements at the start of iteration j and uj are the incremental displacement corrections for iteration j.
The incremental load parameter j+1 at the end of iteration j is dened in an analogous
manner as
(16.47)
j+1 = j + j
63
where j is the incremental load parameter at the start of iteration j and j is the incremental
load parameter correction for iteration j. At the start of the rst iteration uj and j are
identically zero.
64
ext
+ j f
ext
+ j f
ext
f int )
(16.48)
elem
e=1
BT D ( + j )
(16.49)
are the reactions for the state of stress at the start of iteration j.
j
65
R = f
ext
+ j f
ext
f int
(16.50)
ext
+ R )
(16.51)
ext
uT = K1 f
Victor Saouma
ext
(16.52)
Draft
1615
The matrix-vector product K1 R denes the displacement corrections ujr due to the residual forces
j
(16.53)
ujr = K1 R
67
but they are obviously not invariant for the increment. The displacement corrections for iteration j are then dened as
uj = j uT + ujr
(16.54)
68 Figure 16.11 shows a owchart for an incremental nonlinear nite element program based on
the modied-Newton algorithm with indirect displacement control capabilities. The numbers
in the boxes in Figure 16.11 correspond to those appearing in Figure ??.
16.4.2
Arc-Length
By adjusting the scaling factor we can amplify or suppress the relative contribution of loads
and displacements. One reasonable choice is derived from the condition that the0
contributions
should be equal as long as the response remains linear elastic, which leads to c = uTe ue where
ue is the solution of Ke ue = f .
71
In some cases, e.g., for frame, plate, and shell models that use both translational and rotational degrees of freedom, the components of the generalized displacement vector u do not have
the same physical dimension. It is then necessary to apply scaling also to the vector u.
72
Victor Saouma
Draft
1616
MATERIAL NONLINEARITIES
Figure 16.11: Flowchart for an incremental nonlinear nite element program with indirect
displacement control
Victor Saouma
Draft
1617
Figure 16.12: Two points on the load-displacement curve satisfying the arc-length constraint
of unknown displacement components (degrees of freedom), and solve it by Newton-Raphson
iteration. However, a more elegant and computationally more ecient procedure treats the
equilibrium equations and the constraint equation to a certain extent separately. Assume for
simplicity that the loading program is described by (??). The linearized equations of equilibrium
in the i-th iteration read
(n,i1)
+ (n,i) f
(16.56)
where u(n,i) is the unknown displacement correction, and (n,i) is the unknown correction of
the load parameter. The rst three terms on the right-hand side are known, and the last term
is an unknown scalar multiple of a given vector f . We can therefore separately solve equations
(n,i1)
(n,i1)
uf
= f
(16.57-a)
(16.57-b)
(16.58)
(16.59)
we obtain a quadratic equation for a single unknown, (n,i) . This equation usually has two real
roots, corresponding to the two points of the equilibrium path that have the prescribed distance
from point (u(n1) , (n1) ); see Fig. 16.12. The correct root is selected depending on the sense in
which we march on the equilibrium path (Criseld, M.A. 1981), and the displacement correction
is determined from (16.58). After standard updates of the displacement vector and the load
parameter, the iteration cycle is repeated until the convergence criteria are satised.
16.4.3
Victor Saouma
Draft
1618
MATERIAL NONLINEARITIES
the point at which the load-displacement diagram snaps back. The same idea can be exploited
by a numerical simulation. It suces to select a suitable linear combination of displacement
components that increases monotonically during the entire failure process, and to use this
combination as the control variable.
de Borst (1985,1986) concluded that arc-length methods (Riks 1979, Ramm 1981, Criseld
1981), which were the original IDC methods, were not satisfactory for analyses involving cracking accompanied by softening.
76
The main problem with the arc-length methods, when used in this context, was that the
constraint involved all displacement components equally when, in fact, only a few displacement
components were dominant. The dominant displacement components were typically those for
nodes at or near the crack mouth. This being the case, de Borst proposed using a transformed
relative displacement component between two nodes as the constraint.
77
78 The transformed relative displacement component can dene the crack mouth opening displacement (CM OD), crack mouth sliding displacement (CM SD), or some arbitrary displacement u between two points on a structure. The arbitrary displacement u may correspond
to a relative displacement measured during an experiment such as the relative vertical displacement between a point on the neutral axis of a 3-point bend beam over a support and the bottom
of the beam at mid-span.
As it is the most general case, the relative displacement criterion will be described in terms
of the arbitrary relative displacement u. A pair of nodes, m and n, are selected to dene u,
with their total displacements being (u)m and (u)n , respectively. The direction associated with
u is dened by a unit vector v. u is thereby dened as
79
u = vT [(u)n (u)m ]
(16.60)
81
Recalling that the total displacements uj+1 at the end of iteration j are dened as
uj+1 = uj + j uT + ujr
(16.61)
16.4.4
1
2
!
"
u vT (uj )n (uj )m vT (ujr )n (ujr )m
vT [(uT )n (uT )m ]
(16.62)
82 Employing a procedure proposed by Criseld (1983) for use with the arc-length method,
the convergence of the solution alogrithm can be accelerated by performing approximate line
searches; approximate line searches under xed (i.e. non-scalable) loads are described in Section
??.
Victor Saouma
Draft
1619
83 This procedure requires an extra iterative loop at the beginning of the line search loop in
which a combination of j and sk+1 satisifying the constraint conditions (i.e. Equations ??
and 16.60) is computed. As j is initially computed for s1 = 1.0, any change in sk requires
a corresponding change in j for the IDC constraint to remain satised. Consequently, an
iterative loop, in which j is recomputed based on the estimated value of sk+1 , is required to
obtain a compatible combination of j and sk+1 .
After recomputing j , the values of g0 and gk are also recomputed using Equation 16.30
j+1,k
j+1,k
caused by the new value of j . f int is not
to reect the change in the residual loads R
j+1,k
, which is strictly not correct,
updated to reect the changes in sk+1 when recomputing R
but it does signicantly reduce the number of computations without causing any diculties
(Criseld 1983).
84
Finally, from the new values of g0 and gk , sk+1 is re-estimated using Equation 16.33. The
loop is terminated when
k+1 |
| sk+1
new s
0.05
(16.63)
| sk+1
new |
85
which generally requires only a few iterations. A ow chart of this procedure is shown in Figure
16.13.
86
(16.64)
reecting the introduction of the relaxation parameter sk , the IDC constraint equations must
be modied accordingly. j for the stress criterion is now dened as
1
2
ft (j )n + sk (jr )n (n)n
(16.65)
j = min
sk (T )n (n)n
and j for the relative displacement criterion is now dened as
1
2
!
"
u vT (uj )n (uj )m sk vT (ujr )n (ujr )m
j =
sk vT [(uT )n (uT )m ]
(16.66)
It is these general forms of the constraint equations that are implemented in MERLIN.
Victor Saouma
Draft
1620
MATERIAL NONLINEARITIES
Figure 16.13: Flow chart for line search with IDC methods
Victor Saouma
Draft
Bibliography
Abramowitz, M. and Stegun, I.: 1970, Handbook of mathematical functions, Technical report,
National Bureau of Standard. Applied Mathematics Series, No. 55.
Babuska, I.: 1971, Error-bounds for nite element methods, Numer. Math 20(3), 179192.
Babuska, I.: 1973, The nite element method with lagrange multipliers, Numer. Math.
20(3), 179182.
Bathe, K.: 1996, Finite Element Procedures, Prentice-Hall Inc.
Brezzi, F.: 1974, On the existence uniqueness and approximation of saddle-point problems
arising from lagrangian multipliers, RAIRO 8-R2 pp. 129151.
Cervenka,
V., Keating, S. and Felippa, C.: 1993, A comparison of strain recovery techniques for
the mixed iterative method, Communications in Applied Numerical Methods 9, 925932.
Criseld, M.A.: 1979, A faster modied newton-raphson iteration, Computer Methods in Applied Mechanics and Engineering 20(3), 267278.
Criseld, M.A.: 1981, A fast incremental/iterative solution procedure that handles snap
through, Computers and Structures 13(1-3), 5562.
Delaunay, B.: 1934, Sur la Sph`ere Vide, Izv. Akad. Nauk SSSR, Otdelenie Matematicheskii i
Estestvennyka Nauk 7, 793800.
Eisenberg, M. A. and Malvern, L.: 1973, On nite element integration in natural co-ordinates,
International Journal for Numerical Methods in Engineering 7, 574575.
Felippa, C.: 1999, Finite element lecture notes, Technical report, Dept. of Aerospace Engineering, University of Colorado, Boulder.
Felippa, C.: 2000, Lecture notes in advanced nite element methods (asen 5367),
Technical report, Dept. of Aerospace Engineering, University of Colorado, Boulder.
http://caswww.colorado.edu/courses.d/AFEM.d/Home.html.
Haser, N. and Sullivan, J.: 1991, Real Analysis, Dover Publications, New-York.
Jirasek, M. and Bazant, Z.: 2001, Inelastic Analysis of Structures, John Wiley, Chichester.
Kardestuncer, H. (ed.): 1987, Finite Element Handbook, McGraw-Hill.
Okabe, A., Boots, B., Sugihara, K. and Chiu, S.: 2000, Spatial Tessellations; Concepts and
Applications of Voronoi Diagrams, John Wiley & Sons.
Draft
2
BIBLIOGRAPHY
Ottosen, N. and Petersson, H.: 1992, Introduction to the Finite Element Method, Prentice-Hall.
Reich, R.: 1993, On the Marriage of Mixed Finite Element Methods and Fracture Mechanics:
An Application to Concrete Dams, PhD thesis, University of Colorado, Boulder.
Schey, H.: 1973, Div Grad Curl and all That; An Informal Text on Vector Calculus, W.W.
Norton.
Terzaghi, K. and Peck, R.: 1967, Soil Mechanics in Engineering Practice, 2nd edition, John
Wiley & Sons, New York, NY.
Timoshenko, S. and Goodier, J.: 1970, Theory of Elasticity, McGraw Hill.
Cervenka,
J.: 1994, Discrete Crack Modeling in Concrete Structures, PhD thesis, University of
Colorado, Boulder.
Voronoi, G.: 1907, Nouvelles Applications des Param`etres Continus `a la Theorie des Formes
Quadratiques, J. Reine Angew. Math 133, 97178.
Xue, W. and Atluri, N.: 1985, Existance and stability, and discrete bb and rank conditions
for general mixed-hybrid nite elements in elasticity, Hybrid and Mixed Finite Element
Methods pp. 91112.
Zienkiewicz, O. C. and Taylor, R. L.: 1989, The Finite Element Method, Vol. 1, Basic Formulation and Linear Problems, 4th ed., McGraw-Hill, London.
Zienkiewicz, O. C., Vilotte, J. P., Toyoshima, S. and Nakazawa, S.: 1985, Iterative method for
constrained and mixed approximations. an inexpensive improvement of fem performance,
Computer Methods in Applied Mechanics and Engineering 51(13), 329.
Victor Saouma
Draft
Appendix A
VECTOR OPERATIONS
1 This appendix covers some elements of Vector Calculus essential to understand some of the
derivations. An excellent reference is (Schey 1973).
A.1
Vector Dierentiation
A eld is a function dened over a continuous region. This includes, Scalar Field g(x),
Vector Field v(x), or Tensor Field T(x).
2
i+
j+
k
x
y
z
(A.1)
4 We also note that there are as many ways to dierentiate a vector eld as there are ways of
multiplying vectors, the analogy being given by Table A.1.
Multiplication
uv
dot
uv cross
u v tensor
Dierentiation
v
divergence
v curl
v
gradient
Tensor Order
A.1.1
5
The derivative of a vector p(u) with respect to a scalar u, Fig. A.1 is dened by
p(u + u) p(u)
dp
lim
du u0
u
(A.2)
(A.3)
Draft
A2
VECTOR OPERATIONS
p=p (u+ u)- p(u)
C
u)
+
u
(
p
p (u)
dp
dt
is the velocity
(A.4)
(A.5)
(A.6)
curvature
(A.7)
1
Radius of Curvature (A.8)
=
= 0 if dp
ds = 0.
Finite Elements II; Solid Mechanics
Draft
A3
"
dp
d ! 2
=
(t + 1)i + (4t 3)j + (2t2 6t)k = 2ti + 4j + (4t 6)k
dt
dt
0
dp
=
(2t)2 + (4)2 + (4t 6)2
dt
T =
=
A.1.2
(1.9-a)
(1.9-b)
(1.9-c)
(1.9-d)
Divergence
The divergence of a vector eld of a body B with boundary , Fig. A.3 is dened by
considering that each point of the surface has a normal n, and that the body is surrounded by
a vector eld v(x). The volume of the body is v(B).
9
v(x)
vndA
(A.10)
where v.n is often referred as the ux and represents the total volume of uid that passes
through dA in unit time, Fig. A.4 This volume is then equal to the base of the cylinder dA
times the height of the cylinder vn. We note that the streamlines which are tangent to the
boundary do not let any uid out, while those normal to it let it out most eciently.
11
Victor Saouma
Draft
A4
VECTOR OPERATIONS
n
dA
v
v.n
x3
-e
e3
-e
x3
e2
e1
x2
-e
x2
x1
x1
Figure A.5: Innitesimal Element for the Evaluation of the Divergence
Eq. A.10) of the two surfaces with normal vectors e1 and e1 is
1
[v(x + x1 e1 )e1 + v(x)(e1 )]dx2 dx3
lim
x1 ,x2 ,x3 0 x1 x2 x3
x2 x3
or
1
x1 ,x2 ,x3 0 x2 x3
lim
v(x + x1 e1 ) v(x)
e1 dx2 dx3 =
x1
x2 x3
(A.11)
v
e
(1.12-a)
1
x1 0 x1
v
e1
(1.12-b)
=
x1
lim
13
v(x)
ei
xi
(1.13)
or alternatively
Victor Saouma
Draft
A5
e1 +
e2 +
e3 )(v1 e1 + v2 e2 + v3 e3 ) (1.14)
x1
x2
x3
v2
v3
vi
v1
+
+
=
= i vi = vi,i
(1.15)
x1 x2 x3
xi
div v = v = (
=
14
15
(1.16)
i+
j+
k (x2 zi 2y 3 z 2 j + xy 2 zk)
v =
x
y
z
x2 z 2y 3 z 2 xy 2 z
+
+
=
x
y
z
= 2xz 6y 2 z 2 + xy 2
16
(1.17-a)
(1.17-b)
(1.17-c)
(1.17-d)
TndA
(1.18)
A.1.3
Gradient
A.1.4
Scalar
Tpq
eq
xp
(1.19)
The gradient of a scalar eld g(x) is a vector eld g(x) such that for any unit vector v,
the directional derivative dg/ds in the direction of v is given by
17
dg
= gv
ds
Victor Saouma
(1.20)
Finite Elements II; Solid Mechanics
Draft
A6
VECTOR OPERATIONS
where v = dp
ds We note that the denition made no reference to any coordinate system. The
gradient is thus a vector invariant.
To nd the components in any rectangular Cartesian coordinate system we use
18
v =
dg
ds
dxi
dp
=
ei
ds
ds
g dxi
xi ds
(1.21-a)
(1.21-b)
g
ei
xi
i+
j+
k
x
y
z
i+
j+
k
x
y
z
(1.22)
=
(1.23-a)
(1.23-b)
g(x)n gives the rate of change of the scalar eld in the direction of n.
(1.24-a)
(1.24-b)
(1.24-c)
(1.24-d)
Draft
A7
3x1 x2
= 5x22
0
5x22 0
(1.25)
0 2x23
2x3 0
Determine the stress vector (or traction) at the point P (2, 1, 3) of the plane that is tangent
to the cylindrical surface x22 + x23 = 4 at P , Fig. A.6.
x3
n
x2
P
3
1
6
5
0
0
2 3
= 5
0
0 2 3
(1.26)
At point P ,
(1.27)
(1.28)
3
1
e3
n = e1 +
2
2
determined from
5
0
0 5/2
1/2
3
0
2 3
=
3/2
3
0
2 3
6
= 5
0
or tn = 52 e1 + 3e2 + 3e3
Victor Saouma
(1.29)
(1.30)
Draft
A8
21
VECTOR OPERATIONS
[x v] =
[vx ] =
vx
x
vx
y
vx
z
vx
x
vy
x
vz
x
x
vy
y
vy
z
vx
y
vy
y
vz
y
vz
x
vz
y
vz
z
vx
z
vy
z
vz
z
(1.31)
(1.32)
that is [v]ij gives the rate of change of the ith component of v with respect to the jth
coordinate axis.
Note the diference between vx and x v. In matrix representation, one is the transpose
of the other.
22
23
24 We can interpret the gradient of a vector geometrically, Fig. A.7. If we consider two points
a and b that are near to each other (i.e s is very small), and let the unit vector m points in
the direction from a to b. The value of the vector eld at a is v(x) and the value of the vector
eld at b is v(x + sm). Since the vector eld changes with position in the domain, those two
vectors are dierent both in length and orientation. If we now transport a copy of v(x) and
place it at b, then we compare the dierences between those two vectors. The vector connecting
the heads of v(x) and v(x + sm) is v(x + sm) v(x), the change in vector. Thus, if we
divide this change by s, then we get the rate of change as we move in the specied direction.
Finally, taking the limit as s goes to zero, we obtain
lim
s0
(1.33)
v(x+ s m ) -v(x)
v(x+ s m )
x3
v(x)
a sm b
x2
x1
Figure A.7: Gradient of a Vector
The quantity Dv(x)m is called the directional derivative because it gives the rate of
change of the vector eld as we move in the direction m.
Victor Saouma
Draft
A.2
A.2.1
25
A9
Vector Integrals
Integral of a Vector
d
(S(u)), then
if a vector S(u) exists such that R(u) = du
d
(S(u)) du = S(u) + c
R(u)du =
du
A.2.2
(1.34)
(1.35)
Line Integral
Given r(u) = x(u)e1 + y(u)e2 + z(u)e3 where r(u) is a position vector dening a curve
C connecting point P1 to P2 where u = u1 and u = u2 respectively, anf given A(x, y, z) =
A1 e1 + A2 e2 + A3 e3 being a vectorial function dened and continuous along C, then the integral
of the tangential component of A along C from P1 to P2 is given by
P2
Adr = Adr = A1 dx + A2 dy + A3 dz
(1.36)
26
P1
If A were a force, then this integral would represent the corresponding work.
27
28
(1.37)
P2
Adr
P1
Adr = 0
(1.38-a)
(1.38-b)
A.2.3
29
Integration by Parts
Victor Saouma
v(x)u (x)dx
(1.39)
Draft
A10
A.2.4
30
VECTOR OPERATIONS
F =
(1.40)
31 The divergence theorem (also known as Ostrogradskis Theorem) comes repeatedly in solid
mechanics and can be stated as follows:
(1.41)
vd =
v.nd or
vi,i d =
vi ni d
That is the vector divergence over a volume is equal to the vector ux over a surface.
32
qdA =
A
qT nds
(1.42)
33
34
Green-Gauss theorem
vT nd
vd =
()T vd
If we select vT = [ 0 0 ], we obtain
d =
d
nxd
x
A.2.5
35
(1.43)
(1.44)
Stokes Theorem
(1.45)
A.2.6
36
,
(Rdx + Sdy) =
Example A-5:
Victor Saouma
S R
x
y
dxdy
(1.46)
Draft
A11
C
V
P(X,Y,Z) H
X
B
a)
S
dV=dxdydz
n
Vt
dS
dS
b)
c)
vx |x,y,z
vx xx/2,y,z
vx
(1.47-a)
1 vx
x
2 x
1 vx
x
vx x+x/2,y,z vx +
2 x
The net inow per unit time across the x planes is
1 vx
x yz vx
vx +
Vx =
2 x
vx
xyz
=
x
Similarly
vx
AFED
GHCB
1 vx
x yz
2 x
vy
xyz
y
vz
xyz
Vz =
z
Hence, the total increase per unit volume and unit time will be given by
(
'
vy
vx
vz
+
+
xyz
x
y
z
= div v = v
xyz
Vy =
Victor Saouma
(1.47-b)
(1.47-c)
(1.48-a)
(1.48-b)
(1.49-a)
(1.49-b)
(1.50)
Draft
A12
VECTOR OPERATIONS
Furthermore, if we consider the total of uid crossing dS during t, Fig. A.8-b, it will be given
by (vt)ndS = vndSt or the volume of uid crossing dS per unit time is vndS.
Thus for an arbitrary
volume, Fig. A.8-c, the total
amount of uid crossing a closed surface
vdV (Eq. 1.50), thus
vdV
vndS =
S
(1.51)
Victor Saouma
Draft
Appendix B
CASE-STUDY: FRACTURING of
A DAM DUE TO THERMAL
LOAD
B.1
INTRODUCTION
The dam is a 60 m high arch gravity dam built in the early fties. In its original conguration,
the crest supported a 5 m wide road bridge. There is no indication of any malfunction until the
ood of 1981 occurred. At that time, the bridge abutment were clogered by trees and debris,
preventing the eective overtopping of the water.
Following that incident, it was decided to dismantle the bridge from the dam crest, and a
new one, parallel to the crest chord, was built.
Soon after, a crack was observed inside the entire upper gallery, on the downstream face.
Crack mouth opening displacement were recorded, and crack maps drawn. Unfortunately,
readings were not taken systematically at the same pool elevation (which varies by +/- 10 m),
and no clear trend can be observed. However, it should be noted that the crack opening is
stable and there is no indication of increased values. Finally, no observation were conducted on
the downstream face to detect the presence of any daylighting crack.
B.1.1
Units adopted:
Mass
Length
Temperature
Time
Kg
m
oK
day
Draft
B2
hair
hwat
1
2,400
36 109
0.2
1 105
34
100
m
Kg/m3
Pa
m/m/o C
W/m2 o C
W/m2 o C
Thickness
Mass density
Youngs modulus
Poissons ratio
Coecient of thermal expansion
Coecient for heat transfer by convection, air
Coecient for heat transfer by convection, water
Specic heat
cb [J/Kg.K]
1,000
1,040
Thermal conductivity
k [J/sec.m.K] J/day.m.K
2.7
233,280
2.7
233,280
uDmax
s1
w1
c1
cw1
25 106
3.75 106
360 109
360 109
40o
20o
400
4,000
0.3
1 102
0.94 106
105
1.21 106
6.2 104
Pa
Pa
Pa
Pa
From Report
From Whittman for Dam Concrete
10 times E
10 times E
N/m
N/m
m
Pa
m
Pa
m
ft /4
0.75 GIF /ft
c/4
0.75 GII F /c
B.1.2
Loads
B.2
In this second analysis, we explore a dierent potential cracking scenario: Thermal Shock
during construction. That is we speculate that during construction, possibly in winter, the heat
Victor Saouma
Draft
B3
786 m
Dam only, not on bridge abutments
62,640 N/m2 (estimated weight of(concrete slab
'
(6)m(5.8)m(.3)m(2400)Kg/m3 (10)N/Kg
(0.8)m(5)m
Water 5o C, Dam 20o C, Air 20o C
B.2.1
Thermal Analysis
Then, we need to undertake a transient thermal analysis, and the heat of hydration must be
known. Ideally, a staged construction simulation should be undertaken, as this would result in
a good estimate for the heat of hydration.
In this analysis, and as a rst order approximation, we made a number of simplifying
assumptions, the rst one is to consider the heat of hydration for Portland Cement type I
(ASTM) at only 20o C (whereas in actuality, it is well known that this quantity is a function of
the temperature, and such a model would be clearly nonlinear).
In the literature (Neville), heat of hydration is often tabulated or graphed for few time
increments. We adopt such set of values in Table B.5. Bold faced values constitute our starting
point, and we deduce all other quantities (i.e Heat/mass/time in J/Kg/day).
In our incremental analysis, we will be focusing on the rst 50-60 days, thus we must
interpolate a set of heat of hydration from these selected points. This is accomplished through
interpolation in Figure B.2, and extracted values are shown in Table B.6.
We note that these set of values were later multiplied by 2.400 Kg/m3 as Merlin needs the
heat per volume as opposed to heat per mass.
Clearly, a number of simplifying assumptions were made so far, and in addtion to further
simplify the analysis we assume:
1. Consider only zones 6, 7, 8 and 9.
2. Assume that at the interfaces 6-3 and 8-5 the temperature is 25o C, whereas 7-4 it is 20o C
3. Assume that the outside temperature, and the one of the gallery is equal to 0o C
4. Do not perform an incremental analysis (i.e. simulating staged construction)
5. Perform a transient analysis with time increment equal to one day. Heat of hydration
values are taken from day 10 to 60.
6. Assume uniform heat of hydration within the considered zones.
7. Dierentiate between the two concrete mixes.
Victor Saouma
Draft
B4
35 34 33 56
32
58 57
55
59
36
60
37
31
54
61
19
51 18
52
30
24
2953 30
49
34
35
6 31 29
36
46
15 28
14
18
3
17 23
19
13
33
50 48 8
32
22
47
16 26
21
16
20
14 12
13
15
17
25
27
40
39
26
24
11 12
38
27
28
10
41
25 24 42
23 43
22
37
44
11
10
20 45
21
7
8
6
9
9
1
2
2
Victor Saouma
Draft
Age
[days]
Hc
[J/g]
0
1.5
3
5
7
17.5
28
59
90
227.5
365
1,368.5
2,372
B5
Hc
[J/g.day]
Hb = Hc mz /b
[J/Kg.day]
mz
180
280
85.000
6,375
9,917
20.000
1,500
2,333
3.09524
232.14
361.11
0.48387
36.29
56.45
0.10909
8.18
12.73
0.01495
1.12
1.74
255
335
400
430
460
490
Days
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
M-180
510
480
440
410
380
340
310
280
250
220
200
180
165
155
140
130
120
119
110
105
M-280
800
745
690
640
580
530
480
440
380
340
300
275
245
230
220
200
190
180
178
165
Days
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
M-180
100
97
94
90
87
85
80
77
75
72
70
67
65
63
61
59
57
55
53
52
M-280
160
154
147
142
135
128
122
115
110
105
100
95
92
87
85
82
80
77
75
73
Days
50
51
52
53
54
55
56
57
58
59
M-180
50
48
47
45
45
43
42
40
38
37
M-280
70
68
66
65
63
62
60
59
59
57
Table B.6: Heat of Hydration Adopted in the Simulation; Days and J/Kg/Day
Victor Saouma
Draft
B6
Victor Saouma
Draft
B7
Contour Plot,
Temperatures, Temperatures
3.00e+1
2.70e+1
2.40e+1
2.10e+1
1.80e+1
1.50e+1
1.20e+1
9.00e+0
6.00e+0
3.00e+0
Y
X
-2.25e-3
B.2.2
Stress Analysis
With the nodal temperature extracted from the previous analysis, a stress analysis was next
undertaken. In this analysis, the only loads considered were thermal and gravity (together in
one increment).
We observe from Fig. B.4 that in this case, the crack did open and the magnitude of the
maximum crack opening displacement is about 0.8 mm. The crest displacements are: -4.1 mm
(horizontal) and 1.6 mm (vertical)
Normal and shear stresses, as well as crack opening and sliding displacements are shown in
Table B.7 and B.8.
Victor Saouma
Draft
B8
Contour Plot,
Principal Stresses, Maximum
1.19e+7
1.05e+7
9.03e+6
7.58e+6
6.14e+6
4.69e+6
3.24e+6
1.80e+6
3.53e+5
-1.09e+6
Y
-2.54e+6
X
Z
Crack Lig.
0.000E+00
4.168E-01
6.947E-01
1.228E+00
1.317E+00
1.690E+00
1.873E+00
2.205E+00
2.537E+00
2.664E+00
2.996E+00
3.059E+00
3.455E+00
3.455E+00
3.959E+00
4.296E+00
4.633E+00
4.969E+00
n
-1.136E+06
-8.677E+05
-9.974E+05
-1.112E+06
-1.123E+06
-7.825E+05
1.907E+05
5.690E+05
8.226E+05
7.725E+05
7.024E+05
6.063E+05
5.663E+05
4.615E+05
3.259E+05
1.699E+05
3.613E+04
3.750E-04
t
-1.341E+06
-1.264E+06
-9.699E+05
-7.180E+05
-7.853E+05
-1.284E+06
-6.107E+05
-5.777E+05
-5.414E+05
-4.123E+05
-3.491E+05
-2.992E+05
-2.918E+05
-2.169E+05
-1.364E+05
-6.244E+04
-1.220E+04
-1.098E-04
Victor Saouma
Draft
B.3 CONCLUSIONS
Crack Lig.
0.00000E+00
2.77864E-01
5.55728E-01
1.08911E+00
1.17780E+00
1.55140E+00
1.73377E+00
2.06576E+00
2.39775E+00
2.52472E+00
2.85671E+00
2.92020E+00
3.31568E+00
3.31568E+00
3.65225E+00
3.98882E+00
4.32540E+00
4.66197E+00
B9
Crack Opening
-3.73773E-06
-1.99149E-06
-2.75825E-06
-3.21438E-06
-3.30575E-06
-2.63906E-06
4.83795E-06
3.44441E-05
1.05330E-04
1.39448E-04
2.40532E-04
2.63296E-04
3.22496E-04
3.95863E-04
4.98598E-04
6.05647E-04
7.18990E-04
8.19540E-04
Crack Sliding
-3.78857E-06
-3.59965E-06
-2.88216E-06
-1.65068E-06
-1.47816E-06
-4.04809E-06
-1.74152E-05
-3.95564E-05
-6.29998E-05
-7.66532E-05
-1.16057E-04
-1.25226E-04
-1.71896E-04
-1.67985E-04
-2.02377E-04
-2.19765E-04
-2.29582E-04
-2.30053E-04
B.2.3
Data Files
B.3
CONCLUSIONS
Victor Saouma
Draft
B10
3. A three dimensional analysis has been initiated (hydrostatic load), but due to limitation
of the authors PC, it was not extended to the thermal analysis. It would be interesting
to contrast results of such an analysis with its 2D counterpart.
4. Through these investigations, some of the possibilities oered by modern computational
tools which address cracking were exercised.
5. It would be interesting to determine if indeed upstream cracks are present in the eld (as
this investigation predicts).
Victor Saouma
Draft
Appendix C
MISC.
C.1
permeability, k
Stress intensity factor, K
Fracture energy GF
Fracture Mechanics
Draft
C2
C.2
MISC.
Victor Saouma
Abbreviation
T
G
M
k
h
da
d
c
m
n
p
Multiplier
1012
109
106
103
102
10
101
102
103
106
109
1012