Lecture1 PDF

The Finite Element Method for the Analysis of
Non-Linear and Dynamic Systems
Prof. Dr. Eleni Chatzi

Lecture 1 - 16 September, 2014
Institute of Structural Engineering Method of Finite Elements II 1

Course Information
Instructor
Prof. Dr. Eleni Chatzi, email: chatzi@ibk.baug.ethz.ch
Office Hours: HIL E14.3, Wednesday 10:00-12:00 or by email
Assistant
Adrian Egger, HIL E13.1, email: egger@ibk.baug.ethz.ch
Course Website
Lecture Notes and Homeworks will be posted at:
http://www.ibk.ethz.ch/ch/education
Suggested Reading
Nonlinear Finite Elements for Continua and Structures by T.
Belytschko, W. K. Liu, and B. Moran, John Wiley and Sons, 2000
The Finite Element Method: Linear Static and Dynamic Finite
Element Analysis by T. J. R. Hughes, Dover Publications, 2000
The Finite Element Method Vol. 2 Solid Mechanics by O.C.
Zienkiewicz and R.L. Taylor, Oxford : Butterworth Heinemann, 2000
Course Outline
Review of the Finite Element method - Introduction to

Non-Linear Analysis
Non-Linear Finite Elements in solids and Structural Mechanics

- Overview of Solution Methods
- Continuum Mechanics & Finite Deformations
- Lagrangian Formulation
- Structural Elements
Dynamic Finite Element Calculations

- Integration Methods
- Mode Superposition
Eigenvalue Problems
Special Topics
- Boundary Element & Extended Finite Element methods

Grading Policy
Performance Evaluation - Homeworks (100%)

Homework
Homeworks are due in class 2-3 weeks after assignment
Computer Assignments may be done using any coding language
(MATLAB, Fortran, C, MAPLE) - example code will be
provided in MATLAB
Commercial software such as CUBUS, ABAQUS and SAP will
also be used for certain Assignments
Homework Sessions will be pre-announced and it is advised to bring

a laptop along for those sessions

Lecture #1: Structure
Lecture #1: Structure
Review of the Finite Element Method

Strong vs. Weak Formulation
The Finite Element (FE) formulation
The Iso-Parametric Mapping
Examples
The Bar Element
The Beam Element

Review of the Finite Element Method (FEM)
Classification of Engineering Systems
Discrete Continuous
q|y+dy
q|x
dy
q|x+dx
dx
q|y
h1
h2
Flow
L of water
Permeable Soil
Impermeable Rock

F = KX 2 2
k 2x + 2y =0
Direct Stiffness Method Laplace Equation
FEM: Numerical Technique for approximating the solution of continuous

systems. We will use a displacement based formulation and a stiffness
based solution (direct stiffness method).
How is the Physical Problem formulated?
The formulation of the equations governing the response of a system under

specific loads and constraints at its boundaries is usually provided in the
form of a differential equation. The differential equation also known as the
strong form of the problem is typically extracted using the following sets
of equations:
Axial bar Example

1 Equilibrium Equations
aL + ax q(x)=ax
ex. f (x) = R + (L x) R
2
2 Constitutive Requirements
x
Equations
ex. = E aL
ax
3 Kinematics Relationships
R
du f(x)
ex. =
dx
L-x

How is the Physical Problem formulated?
Differential Formulation (Strong Form) in 2 Dimensions
Quite commonly, in engineering systems, the governing equations are of a
2
second order (derivatives up to u 00 or 2 ux ) and they are formulated in terms
of variable u, i.e. displacement:
Governing Differential Equation ex: general 2nd order PDE
2 2 2
A(x, y ) 2 ux + 2B(x, y ) xy
u
+ C (x, y ) 2 yu = (x, y , u, y
u u
, y )
Problem Classification Boundary Condition Classification
B 2 AC < 0 elliptic Essential (Dirichlet): u(x0 , y0 ) = u0

order m 1 at most for C m1
B 2 AC = 0 parabolic u
Natural (Neumann): y (x0 , y0 ) = u 0
B 2 AC > 0 hyperbolic order m to 2m 1 for C m1
Differential Formulation (Strong Form) in 2 Dimensions

The previous classification corresponds to certain characteristics for each
class of methods. More specifically,
Elliptic equations are most commonly associated with a diffusive or

dispersive process in which the state variable u is in an equilibrium
condition.
Parabolic equations most often arise in transient flow problems where
the flow is down gradient of some state variable u. Often met in the
heat flow context.
Hyperbolic equations refer to a wide range of areas including
elasticity, acoustics, atmospheric science and hydraulics.

Strong Form - 1D FEM
Reference Problem
Consider the following 1 Dimensional (1D) strong form (parabolic)

d du
c(x) + f(x) = 0
dx dx
d
c(0) u(0) = C1 (Neumann BC)
dx
u(L) = 0 (Dirichlet BC)
Constitutive
Physical Problem (1D) Diff. Equation Quantities
Law
T=temperature
A=area Fourier
One dimensional Heat
+ = 0 k=thermal = /
flow conductivity = heat flux
Q=heat supply
u=displacement
A=area Hooke

Axially Loaded Bar + = 0 E=Youngs = /
modulus = stress
B=axial loading

Weak Form - 1D FEM
Approximating the Strong Form

The strong form requires strong continuity on the dependent field
variables (usually displacements). Whatever functions define these
variables have to be differentiable up to the order of the PDE that
exist in the strong form of the system equations. Obtaining the
exact solution for a strong form of the system equation is a quite
difficult task for practical engineering problems.
The finite difference method can be used to solve the system
equations of the strong form and obtain an approximate solution.
However, this method usually works well for problems with simple
and regular geometry and boundary conditions.
Alternatively we can use the finite element method on a weak
form of the system. This weak form is usually obtained through
energy principles which is why it is also known as variational form.

Weak Form - 1D FEM
From Strong Form to Weak form
Three are the approaches commonly used to go from strong to weak

form:
Principle of Virtual Work
Principle of Minimum Potential Energy
Methods of weighted residuals (Galerkin, Collocation, Least

Squares methods, etc)
*We will mainly focus on the third approach.

Weak Form - 1D FEM
From Strong Form to Weak form - Approach #1
Principle of Virtual Work
For any set of compatible small virtual displacements imposed on the body
in its state of equilibrium, the total internal virtual work is equal to the
total external virtual work.
Z Z Z X
Wint = T d = Wext = T bd +
u ST TS d +
u iT RC i
u
i
where
TS : surface traction (along boundary )
b: body force per unit area
RC : nodal loads
: virtual displacement
u
: virtual strain
: stresses

Weak Form - 1D FEM

Principle of Minimum Potential Energy
Applies to elastic problems where the elasticity matrix is positive definite,
hence the energy functional has a minimum (stable equilibrium).
Approach #1 applies in general.
The potential energy is defined as the strain energy U minus the work of
the external loads W
=UW
Z
1
U= T C d
2
Z Z X
i
W= T bd +
u ST Ts dT +
u T
ui RC
T i
(b Ts , RC as defined previously)

Weak Form - 1D FEM

Galerkins Method
Given an arbitrary weight function w, where
S = {u|u C 0 , u(l) = 0}, S 0 = {w |w C 0 , w (l) = 0}
C 0 is the collection of all continuous functions.
Multiplying by w and integrating over

Z l
w (x)[(c(x)u 0 (x))0 + f (x)]dx = 0
0
[w (0)(c(0)u 0 (0) + C1 ] = 0

Weak Form - 1D FEM
Using the divergence theorem (integration by parts) we reduce the
order of the differential:
Z l Z l
0
wg dx = [wg ]l0 gw 0 dx
0 0
The weak form is then reduced to the following problem. Also, in

what follows we assume constant properties c(x) = c = const.
Find u(x) S such that:
Z l Z l
0 0
w cu dx = wfdx + w (0)C1
0 0
S = {u|u C 0 , u(l) = 0}
S 0 = {w |w C 0 , w (l) = 0}
Weak Form
Notes:
1 Natural (Neumann) boundary conditions, are imposed on the

secondary variables like forces and tractions.
u
For example, y (x0 , y0 ) = u 0 .
2 Essential (Dirichlet) or geometric boundary conditions, are imposed
on the primary variables like displacements.
For example, u(x0 , y0 ) = u0 .
3 A solution to the strong form will also satisfy the weak form, but not
vice versa.Since the weak form uses a lower order of derivatives it can
be satisfied by a larger set of functions.
4 For the derivation of the weak form we can choose any weighting
function w , since it is arbitrary, so we usually choose one that satisfies
homogeneous boundary conditions wherever the actual solution
satisfies essential boundary conditions. Note that this does not hold
for natural boundary conditions!

FE formulation: Discretization
How to derive a solution to the weak form?
Step #1:Follow the FE approach:

Divide the body into finite elements, e, connected to each other
through nodes.
1 2
Then break the overall integral into a summation over the finite
elements:
" #
X Z x2e Z xe
2
w 0 cu 0 dx wfdx w (0)C1 = 0
e x1e x1e

1D FE formulation: Galerkins Method
Step #2: Approximate the continuous displacement using a discrete
equivalent:
Galerkins method assumes that the approximate (or trial) solution, u, can
be expressed as a linear combination of the nodal point displacements ui ,
where i refers to the corresponding node number.
X
u(x) u h (x) = Ni (x)ui = N(x)u
i
where bold notation signifies a vector and Ni (x) are the shape functions.
In fact, the shape function can be any mathematical formula that helps us
interpolate what happens at points that lie within the nodes of the mesh.
In the 1-D case that we are using as a reference, Ni (x) are defined as 1st
degree polynomials indicating a linear interpolation.
As will be shown in the application presented in the end of this lecture, for the
case of a truss element the linear polynomials also satisfy the homogeneous
equation related to the bar problem.

Shape function Properties:
Bounded and Continuous

One for each node
Nie (xje ) = ij , where

1 if i = j
ij =
0 if i 6= j
The shape functions can be written as piecewise functions of the x

coordinate:
This is not a convenient notation.
x x
i1 Instead of using the global coordinate
, xi1 x < xi
xi xi1 x, things become simplified when

Ni (x) = xi + 1 x using coordinate referring to the
, xi x < xi+1

xi+1 x i local system of the element (see page
0, otherwise 25).

Step #2: Approximate w (x) using a discrete equivalent:
The weighting function, w is usually (although not necessarily) chosen to

be of the same form as u
X
w (x) w h (x) = Ni (x)wi = N(x)w
i
i.e. for 2 nodes:

N = [N1 N2 ] u = [u1 u2 ]T w = [w1 w2 ]T
Alternatively we could have a Petrov-Galerkin formulation, where w (x) is

obtained through the following relationships:
X he dNi
w (x) = (Ni + )wi
dx
i
Pe e 2 e x + e x
= coth( ) e coth =
2 Pe e x e x

Note: Matrix vs. Einsteins notation:
In the derivations that follow it is convenient to introduce the

equivalence between the Matrix and Einsteins notation. So far we
have approximated:
X
u(x) = Ni (x)ui (Einstein0 s notation) = N(x)u (Matrix notation)
i
X
w (x) = Ni (x)wi = N(x)w (similarly )
i
As an example, if we consider an element of 3 nodes:
3
X
u(x) = Ni (x)ui = N1 u1 + N2 u2 + N3 u3
i

u1
u(x) = [N1 N2 N3 ] u2 = N(x)u
u3
Step #3: Substituting into the weak formulation and rearranging
terms we obtain the following in matrix notation:
Z l Z l
0 0
w cu dx wfdx w (0)C1 = 0
0 0
Z l Z l
(wT NT )0 c(Nu)0 dx wT NT fdx wT N(0)T C1 = 0
0 0
Since w, u are vectors, each one containing a set of discrete values
corresponding at the nodes i, it follows that the above set of equations can
be rewritten in the following form, i.e. as a summation over the wi , ui
components (Einstein notation):
!
Z l X dNi (x) dN j (x)X
ui c wj dx
0 dx dx
i j

Z l X X

f wj Nj (x)dx wj Nj (x)C1 =0
0 j j
x=0

This is rewritten as,
"Z ! #
l
X X dNi (x) dNj (x)
wj cui fNj (x)dx + (Nj (x)C1 )|x=0 = 0
0 dx dx
j i
The above equation has to hold wj since the weighting function w (x) is
an arbitrary one. Therefore the following system of equations has to hold:
Z l X !
dNi (x) dNj (x)
cui fNj (x)dx + (Nj (x)C1 )|x=0 = 0 j = 1, ..., n
0 dx dx
i
After reorganizing and moving the summation outside the integral, this
becomes:
" #
X Z l dNi (x) dNj (x) Z l
c ui = fNj (x)dx + (Nj (x)C1 )|x=0 = 0 j = 1, ..., n
0 dx dx 0
i

We finally obtain the following discrete system in matrix notation:
Ku = f
where writing the integral from 0 to l as a summation over the
subelements we obtain:
Z x2e Z x2e
e e
K = Ae K K = NT
,x cN,x dx = BT cBdx
x1e x1e
Z x2e
f = Ae f e f e = NT fdx + NT h|x=0
x1e
where A is not a sum but an assembly (see page and, x denotes

differentiation with respect to x.
dN(x)
In addition, B = N,x = is known as the strain-displacement
dx
matrix.
1D FE formulation: Iso-Parametric Formulation
Iso-Parametric Mapping
This is a way to move from the use of global coordinates (i.e.in
(x, y )) into normalized coordinates (usually (, )) so that the finally
derived stiffness expressions are uniform for elements of the same
type.

1 2 1 1
Shape Functions in Natural Coordinates

X
x() = Ni ()xie = N1 ()x1e + N2 ()x2e
i=1,2
1 1
N1 () = (1 ), N2 () = (1 + )
2 2
Map the integrals to the natural domain element stiffness matrix.
Using the chain rule of differentiation for N((x)) we obtain:
Z x2e Z 1
Ke = NT,x cN,x dx = (N, ,x )T c(N, ,x )x, d
x1e 1
d 1 1
1 1

where N, = 2
(1 ) 2
(1 + ) = 2 2
d
dx x e x1e h
and x, = = 2 = = J (Jacobian) and h is the element length
d 2 2
d
,x = = J 1 = 2/h
dx
From all the above,

c 1 1
Ke =
x2e x1e 1 1
Similary, we obtain the element load vector:
Z x2e Z 1
fe = NT fdx + NT h|x=0 = NT ()fx, d + NT (x)h|x=0
x1e 1
Note: the iso-parametric mapping is only done for the integral.

So what is meant by assembly? (Ae )
It implies adding the components of the stiffness matrix that correspond to
the same degrees of freedom (dof).
In the case of a simple bar, it is trivial as the degrees of freedom (axial
displacement) are as many as the nodes:
1:K1 2:K2
Red indicates the node each
1 2 3
component corresponds to
1 2 2 3
1 1 1 1 1 2
Element Stiffness Matrices (2x2): 1 = 2, 2 = 3
1 1 1 1
1 2 3
1 1 0 1

Total Stiffness Matrix (4x4): = 1 1 + 1 1 2
0 1 1 3

In the case of a frame with beam elements, the stiffness matrix of the elements is
typically of 4x4 size, corresponding to 2 dofs on each end (a displacement and a
rotation):
1 2
*The process will be shown explicitly
during the HW sessions
u1 u2y
2
1 1:K1 2 u2x
Green indicates the dof each
2
component corresponds to
2:K
3
u3 u1 1 u2y 2 u2x 2 u3 3
3
1 1
12 1
13 1
14 2 2
12 2
13 2
14
111 1 1 1
u1 112 2 2 2
u2x
1 12 22 23 24 1 2 12 22 23 24 2
Element Stiffness Matrices (4x4): = 1 1 1 1 u2y, = 2 2 2 2
13 23 33 34 13 23 33 34
u3
1 1 1 1 2 2 2 2 2 3
14 24 34 44 14 24 34 44
2 u2y u2x Fixed dofs are

1 2 1 not included in
44 + 22 34 0 2
1 1 2 u2y
Total Stiffness Matrix (2x2): = 34 33 24 the total
2 2
0 24 11 u2x stiffness matrix

Axially Loaded Bar Example
A. Constant End Load
Given: Length L, Section Area A, Youngs modulus E

Find: stresses and deformations.
Assumptions:
The cross-section of the bar does not change after loading.
The material is linear elastic, isotropic, and homogeneous.
The load is centric.
End-effects are not of interest to us.

A. Constant End Load
Strength of Materials Approach

From the equilibrium equation, the axial force at a random point x
along the bar is:
R
f(x) = R(= const) (x) =
A
From the constitutive equation (Hookes Law):
(x) R
(x) =
=
E AE
Hence, the deformation (x) is obtained from kinematics as:
(x) Rx
= (x) =
x AE
Note: The stress & strain is independent of x for this case of
loading.
B. Linearly Distributed Axial + Constant End Load
From the equilibrium equation, the axial force at random point x

along the bar is:
aL + ax a(L2 x 2 )
f(x) = R + (L x) = R + ( depends on x)
2 2
In order to now find stresses & deformations (which depend on x)
we have to repeat the process for every point in the bar. This is
computationally inefficient.
From the equilibrium equation, for an infinitesimal element:
d
A = q(x)x + A( + ) A |{z}
lim + q(x) = 0 A + q(x) = 0
x dx
x0
du d 2u
Also, = , = E , q(x) = ax AE 2 + ax = 0
dx dx
Strong Form
d 2u
AE + ax = 0
dx 2
u(0) = 0 essential BC

du
f(L) = R AE = R natural BC
dx x=L
Analytical Solution
ax 3
u(x) = uhom + up u(x) = C1 x + C2
6AE
C1 , C2 are determined from the BC
An analytical solution cannot always be found
Approximate Solution - The Galerkin Approach (#3): Multiply by the weight function
w and integrate over the domain
Z L d 2u
Z L
AE wdx + axwdx = 0
0 dx 2 0
Apply integration by parts
L du l
Z L
d 2u
Z
du dw
AE
2
wdx = AE w AE dx
0 dx dx 0 0 dx dx
Z L Z L
d 2u

du du du dw
AE 2 wdx = AE (L)w(L) AE (0)w(0) AE dx
0 dx dx dx 0 dx dx
But from BC we have u(0) = 0, AE du

dx
(L)w(L) = Rw(L), therefore the approximate
weak form can be written as
Z L du dw
Z L
AE dx = Rw(L) + axwdx
0 dx dx 0

Variational Approach (#1)
Let us signify displacement by u and a small (variation of the) displacement by u. Then

the various works on this structure are listed below:
Z L
Wint = A dx
0
Wext = Ru|x=L
Z L
Wbody = qudx
0
In addition, = E du
dx
Then, from equilibrium: Wint = Wext + Wbody
Z L du d(u)
Z L
A E dx = qudx + Ru|x=L
0 dx dx 0
This is the same form as earlier via another path.

In Galerkins method we assume that the approximate solution, u can be expressed as
n
X
u(x) = uj Nj (x)
j=1
w is chosen to be of the same form as the approximate solution (but with arbitrary
coefficients wi ),
n
X
w(x) = wi Ni (x)
i=1
Plug u(x),w(x) into the approximate weak form:
L n n n Z L X n
dNj (x) X dNi (x)
Z X X
AE uj wi dx = R wi Ni (L) + ax wi Ni (x)dx
0 j=1
dx i=1
dx i=1 0 i=1
wi is arbitrary, so the above has to hold wi :
n Z L Z L
X dNj (x) dNi (x)
AE dx uj = RNi (L) + axNi (x)dx i = 1...n
j=1 0 dx dx 0
which is a system of n equations that can be solved for the unknown coefficients uj .
The matrix form of the previous system can be expressed as
Z L
dNj (x) dNi (x)
Kij uj = fi where Kij = AE dx
0 dx dx
Z L
and fi = RNi (L) + axNi (x)dx
0
Finite Element Solution - using 2 discrete elements, of length h (3 nodes)

From theiso-parametric
formulation we know the element stiffness matrix
e AE 1 1
K = h . Assembling the element stiffness matrices we get:
1 1
e 1

K11 K12 0
Ktot = 1
K12 1 2
K22 + K11 2
K12
2 2
0 K12 K22

1 1 0
AE
Ktot = 1 2 1
h
0 1 1
We also have that the element load vector is

Z L
fi = RNi (L) + axNi (x)dx
0
Expressing the integral in iso-parametric coordinates Ni () we have:

d 2
= , x = N1 ()x1e + N2 ()x2e ,
dx h
Z L
2
fi = R|i=4 + a(N1 ()x1e + N2 ()x2e )Ni () d
0 h

The Beam Element
After the vectors are formulated we proceed with solving the main equation
Ku = f u = K1 f.
The results are plotted below using 3 elements:
Notice how the approximation is able to track

the displacement u(x), despite the fact that in
reality the solution is a cubic function of x
(remember the analytical solution).
Since the shape functions used, Ni (x), are
linear the
P displacement is approximated as:
u(x) = i Ni (x)ui , where ui corresponds to
nodal displacements.
The strain is then obtained as
du dN
= = ui where in slide 25 we have
dx dx
dN
defined B = to be the so-called
dx
strain-displacement matrix.

The Beam Element
*The section on the Beam Element is taken from Prof. H. Waismans
notes of the FEM II course - CEEM Department, Columbia University
F-16 Aeroelastic Structural Model
Exterior
model
95% are
shell
elements
Internal structure
zoom. Some Brick
FEM model: and tetrahedral
150000 Nodes elements
http://www.colorado.edu/engineering/CAS/Felippa.d/FelippaHome.d/Home.html

Beam Elements
Two main beam theories:
Euler-Bernoulli theory (Engineering beam theory) -slender beams

Timoshenko theory thick beams
Euler - Bernoulli Beam

Beam Elements
Euler Bernoulli Beam Assumptions - Kirchhoff Assumptions
Normals remain straight (they do not bend)
Normals remain unstretched (they keep the same length)
Normals remain normal (they always make a right angle to the neutral
plane)

Beam Elements - Strong Form

Equilibrium
distributed load per unit length
shear force
Combining the equations

(1)
Free end with applied load
(2)
(S) (3)
Simple support
(4)
Clamped support
(5)

Beam Elements - Strong Form to Weak Form
Multiply
Multiply Eqns. (1), Eq.
(4) (1), (4)w(5)
(5) by byintegrate
and w and integrate
over theover the domain
domain
First integration by parts
First integration by parts

First integration
First integration by parts by parts
Second integration by by
Second integration parts gives
parts gives
Second integration by parts gives
Second integration by parts gives

Beam Elements - Strong Form to Weak Form
Arrive at
Arrive at the
the weak
weak form
form
(W)
Note:
Note:1. The spaces are C1 continuous, i.e. the derivative must also be
continuous
1. The spaces are C 1 continuous, i.e. the derivative must also be
continuous
2. The left side is symmetric in w and v (bi-linear form: a(v,w)=a(w,v)
2. The left
this willside is to
lead symmetric instiffness
symmetric w and matrix
(bi-linear form:
a(, w )=a(w , )) this will lead to a symmetric Stiffness Matrix
Beam Elements - FE Formulation
Physical domain
Natural domain
Element Element
displacement force
vector vector

Beam Elements - Shape Functions
HermitePolynomials
Hermite Polynomials
Note: The choice of a cubic polynomial is related to the homogeneous

strong form of the problem EI 0000 = 0.
Beam Elements - Galerkin
Finally, the weight functions and trial solutions are:

d d
() = H1 1 + H2 + H3 2 + H4
d 1 d 1 2
However note, that the rotation is actually the derivative of the (vertical)
d
deflection: =
dx
d d
The connection between and is delivered via the Jacobian. This is
dx d
calculated from the coordinate transformation relationship:
1 e 1+ e d l e d
x= x1 + x2 ==
2 2 d 2 dx
dx le
J= =
d 2
where l e is the length of the element.

Beam Elements - FE Matrices
From the weak form, we had
The second derivative of the shape functions of the element, He ,

therefore needs to be calculated:
dHe dHe 2

e 1 6 6
=B = J = e e 3 1 e 3 + 1
dx 2 d 2 l l l
le
where J =
2
d 2
Matrix Be now connects the curvature of the element, to the
e
dx 2
nodal displacement vector d :
d 2
= Be de
dx 2
Beam Elements - FE Matrices
Stiffness matrix
Force vector
Assuming constant distributed force

Beam Elements - Example
Consider a clamped-free beam
Consider a clamped-free beam
with EI = 104 Nm2
s = 20N
m = 20Nm
Pre-processing

For element (1) For element (2)
[1] [2] [3] [4] [3] [4] [5] [6]
Assembly into a Global Stiffness Matrix

Boundary force matrix
Element (1) has no boundary on S or M
[3]
For element (2) we have [4]
[5]
[6]
Assembly to global boundary force vector

Body force vector
(distributed
loads) (Point loads)
For element (1) Given:
For element (2) Given:

The global force vector
-9
-
15.3
-4 =KNOWN
15.3
-20
20
Post-processing

The Beam Element
The results are plotted below using 2 elements:
Notice how the approximation is able to

accurately track the displacement u(x)
Since the shape functions used, Hi (x),
are cubic the moment is linear as a 2nd
derivative and the shear is constant as a
3rd derivative.
If one wishes a better approximation, the
use of 3 elements instead f two would be
preferable in this case.
Strong Form - 2D Linear Elasticity FEM
Governing Equations
Equilibrium Eq: s + b = 0
Kinematic Eq: = s u
Constitutive Eq: =D
Traction B.C.: n = Ts t
Displacement B.C: u = u u
Hookes Law - Constitutive Equation

Plane Stress Plane Strain
6 0
zz = xz = yz = 0, zz = zz = xz = yz = 0, zz 6= 0

1 0 1 0
E E
D= 1 0 D= 1 0
1 2 (1 )(1 + )
0 0 1 2
0 0 12
2

2D FE formulation: Discretization
Divide the body into finite elements connected to each other through
nodes

Shape Functions in Natural Coordinates

1 1
N1 (, ) = (1 )(1 ), N2 (, ) = (1 + )(1 )
4 4
1 1
N3 (, ) = (1 + )(1 + ), N4 (, ) = (1 )(1 + )
4 4
Iso-parametric Mapping
4
X
x= Ni (, )xie
i=1
X4
y= Ni (, )yie
i=1

Bilinear Shape Functions

2D FE formulation: Matrices
from the Principle of Minimum Potential Energy (see slide #9)

=0Kd =f
d
where
Z Z Z
Ke = BT DBd, fe = N T Bd + N T ts d
e e eT
Gauss Quadrature
Z 1Z 1
I = f (, )dd
1 1
Ngp
XX Ngp
= Wi Wj f (i , j )
i=1 i=1
where Wi , Wj are the weights and

(i , j ) are the integration points.

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The Finite Element Method for the Analysis of

Non-Linear and Dynamic Systems

Prof. Dr. Eleni Chatzi

Institute of Structural Engineering Method of Finite Elements II 1

Review of the Finite Element method - Introduction to

Non-Linear Finite Elements in solids and Structural Mechanics

Dynamic Finite Element Calculations

Institute of Structural Engineering Method of Finite Elements II 3

Performance Evaluation - Homeworks (100%)

Homework Sessions will be pre-announced and it is advised to bring

Institute of Structural Engineering Method of Finite Elements II 4

Lecture #1: Structure

Review of the Finite Element Method

Institute of Structural Engineering Method of Finite Elements II 5

FEM: Numerical Technique for approximating the solution of continuous

The formulation of the equations governing the response of a system under

Axial bar Example

Institute of Structural Engineering Method of Finite Elements II 7

Problem Classification Boundary Condition Classification

B 2 AC < 0 elliptic Essential (Dirichlet): u(x0 , y0 ) = u0

Differential Formulation (Strong Form) in 2 Dimensions

Elliptic equations are most commonly associated with a diffusive or

Institute of Structural Engineering Method of Finite Elements II 9

Consider the following 1 Dimensional (1D) strong form (parabolic)

Institute of Structural Engineering Method of Finite Elements II 10

Approximating the Strong Form

Institute of Structural Engineering Method of Finite Elements II 11

From Strong Form to Weak form

Three are the approaches commonly used to go from strong to weak

Principle of Minimum Potential Energy

Methods of weighted residuals (Galerkin, Collocation, Least

*We will mainly focus on the third approach.

Institute of Structural Engineering Method of Finite Elements II 12

Institute of Structural Engineering Method of Finite Elements II 13

From Strong Form to Weak form - Approach #2

Institute of Structural Engineering Method of Finite Elements II 14

From Strong Form to Weak form - Approach #3

S = {u|u C 0 , u(l) = 0}, S 0 = {w |w C 0 , w (l) = 0}

C 0 is the collection of all continuous functions.

Multiplying by w and integrating over

Institute of Structural Engineering Method of Finite Elements II 15

The weak form is then reduced to the following problem. Also, in

1 Natural (Neumann) boundary conditions, are imposed on the

Institute of Structural Engineering Method of Finite Elements II 17

Step #1:Follow the FE approach:

Institute of Structural Engineering Method of Finite Elements II 18

Institute of Structural Engineering Method of Finite Elements II 19

Bounded and Continuous

The shape functions can be written as piecewise functions of the x

Institute of Structural Engineering Method of Finite Elements II 20

The weighting function, w is usually (although not necessarily) chosen to

i.e. for 2 nodes:

Alternatively we could have a Petrov-Galerkin formulation, where w (x) is

Institute of Structural Engineering Method of Finite Elements II 21

In the derivations that follow it is convenient to introduce the

Institute of Structural Engineering Method of Finite Elements II 23

Institute of Structural Engineering Method of Finite Elements II 24

where A is not a sum but an assembly (see page and, x denotes

Shape Functions in Natural Coordinates

Note: the iso-parametric mapping is only done for the integral.

Institute of Structural Engineering Method of Finite Elements II 28

2 u2y u2x Fixed dofs are

Institute of Structural Engineering Method of Finite Elements II 29