Lecture 1: Course Introduction.

What is the Finite Element Method (FEM)?

a numerical method for solving problems of engineering and
mathematical physics. (Logan Pg. #1).
In MECH 420 we are concerned with problems arising in applied mechanics.
Mechanics: That science, or branch of applied mathematics, which treats
of the action of forces on bodies.
Applied Mechanics: the practical application of the laws of matter and
motion to the construction of machines and structures of all kinds.
The FEM is a numerical tool that factors into the design of machines and
structures.
In the modern engineering paradigm:
CAD/CAM & Solids Modelling.

Computational Fluid Dynamics.

Virtual prototyping.

The FEM is equally applicable to fluid flow, heat transfer, solid mechanics.

MECH 420: Finite Element Applications

 Lecture 1: Course Introduction.

COMPUTATIONAL MECHANICS
1. Solids & Structures (statics & dynamics).
2. Fluid Flow
3. Heat Transfer
4. Coupled Systems (Mass transport ie: Fuel cells)

There are several ways to obtain approximate solutions to the DEs that arise
in these fields of study.
Finite Element Method.

Finite Difference Method.

Finite Volume Method.

Computational Fluid Dynamics
Boundary Element Method.

MECH 420: Finite Element Applications

 Lecture 1: Course Introduction.

In terms of the UVic Mech Eng curriculum:

Mechanics

Theoretical Applied Computational

MECH 141
MECH 220
MECH 320 MECH 420
MECH 330
MECH 342
MECH 395
A means for the solution of the
governing equations that are developed
through application of theory and
idealizations.
Applied mechanics generally includes
some idealization (ie: small displacements).
MECH 420: Finite Element Applications
 Lecture 1: Course Introduction

What is the objective of MECH 420?

Vector calculus.
Vibrations.
Elasticity.

Linear algebra.
?
Object oriented
programming.
?
?

MECH 420: Finite Element Applications

 Lecture 1: Course Introduction
Why is MECH 420 a part of a valuable part of a B.Eng. degree?
By its very definition the FEM can NOT give an exact solution (see
comments to come on weak form formulations).
FE modelling is a tool to establish the best approximation possible.

The best approximation can only be identified by evaluation of the

FEM output.
Without knowledge of the FEMs limitations and the assumptions
inherent in element equations the best guess can be a terrible
approximation.
MECH 420 will show that the FEM requires the user to exert a great
deal of creative choice.
Variational formulations choosing a functional.
Weighted Residual Formulations choosing a weak form.
Direct Stiffness Method choosing a displacement field.

MECH 420: Finite Element Applications

 Lecture 1: FEM Introduction
1.1 Brief History.
In historical discussions, FEM is often replaced with MSA.

The evolution of the current FEM/MSA occurred in distinct stages.

1930s: aeronautic engineers begin to put aeroelasticity problems in

discrete, or matrix, form.

British National Physics Laboratory (NPL).
Concerned with flutter and wing vibration.
Divide an airscrew blade into 10 segments and define screw vibration in
terms of ten DOF.
Use an iterative procedure to solve a matrix set of equations.
The expressions Mass, Force, & Stiffness matrices were coined.
WWII interrupted the development of MSA.
Timelines were short and experimentation ruled the day.
Publication restrictions prevented an evolution of the technique.

MECH 420: Finite Element Applications

 Lecture 1: FEM Introduction
1950-1955: Boeings analysis of the Delta Wing.
Engineers couldnt model the wing using 1D beams and struts.
Placed restrictions on the displacement on the nodes of a triangular piece.
Related the displacement field to stresses and then to nodal loads.
Method was referred to as the Direct Stiffness Method (DSM).
In parallel, British Engineers developed a rectangular element.
1956 1959: Direct Stiffness Method (DSM).
Method of relating forces and displacements algebraically (matrix notation).
Solution to these systems was fostered by a growth in computing power.
UNIVAC (1952): 1000 45 bit word capacity.
A lot of work conducted in the solution process.
1960s & 1970s the FEM is born.
Clough (Boeing) coined the phrase Finite Element referring to use of
tangible rectangular and triangular elements to solve plane stress problems.
Sparked by developments in computing power.
The assembly process is mentioned in print.

MECH 420: Finite Element Applications

 Lecture 1: FEM Introduction

Most general purpose structural FE packages use element

equations derived in or prior to the 1970s using DSM.
However, DSM is a natural fit for only structural problems.
Weighted Residuals Formulations & Variational Methods (which
is called the work-energy method when applied in structural
analysis) bridge the gap between structural analysis and multi-
physics applications.
Multi-physics: Fluid Flow, Mass Transport, Electromagnetic fields.
2000 and beyond: Bio-engineering (non-linear elasticity); large
displacement or finite rotation problems (non-linear structural
FEA); MEMS; two-phase flows;

MECH 420: Finite Element Applications

 Lecture 1: FEM Introduction

The FEM as a whole includes DSM, variational, and weighted

residual formulations
Grey Matter Bits and Bytes

Logan Ch# 2,3,4, & 5

1960s
1950s

Logan Ch#
4,6,9,13,14, &
16

MECH 420: Finite Element Applications

 Lecture 1: FEM Introduction

Recovery &
Interpretation

MECH 420 will provide knowledge of how an FE code or package can generate a
solution.
MECH 420 will focus on the importance of the human presence in the FE analysis
loop.
MECH 420 will begin by looking at structural analysis but will conclude by extending
the FE technique to other classes of problems.

MECH 420: Finite Element Applications

 Lecture 1: FEM Introduction

1.2 Introduction to Matrix Notation.

The FEM translates differential equations into a matrix set of
algebraic equations.

du
x = and x = E x
dx

FEM

AE 1 1 d1 x f1 x
1 =
L 1 d 2 x
f 2 x

MECH 420: Finite Element Applications

 Lecture 1: FEM Introduction
The state of the structural system is defined by a matrix of
displacements (generalized displacements), D .
D = {d1x d1 y d Nz }
T
d1z d 2 x " d Ny

The external factors acting on the system are given by a force

(generalized force) matrix, F.

F = { f1x f Nz }
T
f1 y f1z f 2 x " f Ny

However, cartesian coordinate systems are used to define the sense of

each displacement and force term.

Force is a vector with the sense of components

being set by some x-y coordinate system
G
f35 = { f35 x f35 z }
T
f35 y
Node 35
MECH 420: Finite Element Applications
 Lecture 1: FEM Introduction

1.3 Role of the Computer.

The assembly process takes advantage of computing power.
We will see in Chapters 2 and 3 how assembly occurs.
Assembly can be automated.
It only requires knowledge of where an element sits within the finite
element model.
When working by hand we can use a connectivity table to help us
perform assembly.
Modern FE packages will handle assemblies of thousands of elements.
The FE procedure has the advantage of producing a banded set of
equations.
Banded equations are less expensive to solve.

MECH 420: Finite Element Applications

 Lecture 1: FEM Introduction
1.4 General Steps to the Finite Element Method (p.6-13).
1) (Discretize and) Set the Element Type.
2) Set the Displacement Function.
3) Define the Governing DE(s).
4) Derive the Element Equations*.
5) Assemble the Element Equations to Produce the Global
Equations & Apply BCs to Reduce the Global System.
6) Solve for the Unknowns.
7) Recovery.
8) Interpret.
*Step 4 has wildly differing looks depending on whether we
apply a DSM, Variational, or Weighted Residual (WR)
formulation.

MECH 420: Finite Element Applications

 Lecture 1: The Generalized FEM.

For now, we preview a WR formulation to emphasize the multi-

physics nature of the FEM, and give some meaning to FEM
terminology.

d du ( x) 2
x = 2 The governing DE is the actual
dx dx x
problem: find u(x).

1.0 x 2.0 The global domain of the problem

du
[ ]x=1.0
u = 2.0 ; x dx =1 The conditions that must hold at the
x =2.0 2 boundaries: the BCs.

MECH 420: Finite Element Applications

 Lecture 1: The Generalized FEM

u ( x) node 1 node 2 node 3 node 4 node 5 Step 1: (Discretize and) Set the
element 1 Element Type.
domain element 2
domain element 3 We will use line segments to model
domain element 4
domain the 1D function u(x).
u1 Step 2: Set the Displacement
u ( x)
(1)
Function.
u2 For this problem the displacement
is u.
u (1) ( x) = u1 1 ( x) + u2 2 ( x)

1 ( x)
1

0
x1 = 1.0 x2 = 1.25

x1 = 1.0 x2 = 1.25 x3 = 1.50 x4 = 1.75 x5 = 2.0

x 2 ( x )
1

0
x1 = 1.0 x2 = 1.25
MECH 420: Finite Element Applications
 Lecture 1: The Generalized FEM.
Step 3: Define the Governing DE(s).
The problem defines the governing DE in this case.
Step 4: Derive the Element Equations.
We are using a WR formulation.
In Step 4 we are only concerned with satisfying the governing DE
within the element.
The WR formulation forces the approximate elemental solution to
be a good one.
How does one define a good approximation?
Each existing WR method uses a different criterion for the measure of
goodness.
Collocation WR Method

Least-Squares WR method

Galerkin WR Method used exclusively in MECH 420.

MECH 420: Finite Element Applications

 Lecture 1: The Generalized FEM.
Step 4: Derive the Element Equations. (contd)
d du (1) ( x) 2
x2

Element 1 x dx x dx x 2 1 ( x)dx = 0
x ( x1 x2 )
1

d du (1) ( x) 2
x2

x dx x dx x 2 2 ( x)dx = 0
1

du ( x)
(1)
k1,1 ( x1 , x2 )u1 + k1,2
(1)
( x1 , x2 )u2 = x + f (1)
= F (1)

dx x1
1 1

du ( x)
(1)
k2,1 ( x1 , x2 )u1 + k2,2
(1)
( x1 , x2 )u2 = x + f (1)
= F (1)

dx x2
2 2

k1,1
(1) (1)
k1,2 u1 F1(1)
(1) (1) = (1)
k2,1 k2,2 u2 F2

MECH 420: Finite Element Applications

 Lecture 1: The Generalized FEM

Step 4: Derive the Element Equations. (contd).

The evaluation of the residual equations for elements 1, 2, 3, and 4
produces 4 sets of element equations.

k1,1
(1) (1)
k1,2 u1 F1(1) k1,1
(2) (2)
k1,2 u2 F2(2)
(1) (1) = (1) (2) (2) = (2)
k2,1 k2,2 2 F2
u k2,1 k2,2 u3 F3
Element 1 Element 2
x ( x1 x2 ) x ( x2 x3 )

k1,1
(3) (3)
k1,2 u3 F3(3) k1,1
(4) (4)
k1,2 u4 F4(4)
(3) (3) = (3) (4) (4) = (4)
k2,1 k2,2 u4 F4 k2,1 k2,2 u5 F5
Element 3 Element 4
x ( x3 x4 ) x ( x4 x5 )

MECH 420: Finite Element Applications

 Lecture 1: The Generalized FEM

Step 5: Assemble the Element Equations to form the Global System.

The assembly process (or superposition process as in Logan 2.4)
produces a set of global equations.
The global equations form a boundary value problem

du (1)
x
k1,1
(1) (1)
k1,2 0 0 0 u f (1)
dx x1
(1) (1) 1 1

k k + k (2)
k (2)
0 0 u2 f 2(1) + f 2(2) 0
2,1 2,2 1,1 1,2

0 (2)
k2,1 (2)
k2,2 + k1,1
(3) (3)
k1,2 0 u3 = f 3(2) + f 3(3) + 0

(4) u (3) (4)
+ k1,1 4 f4 + f4 0
(3) (3) (4)
0 0 k2,1 k2,2 k1,2

0 0 0 k (4) (4) u
k2,2 5 f (4)

x du (4)

2,1 5

dx x
5

Banded matrix structure makes numerical solution inexpensive.

The structure is a result of the choice of node numbering
scheme.

MECH 420: Finite Element Applications

 Lecture 1: The Generalized FEM

Step 5: Applying the Boundary Conditions to Reduce the Global

System. (contd)
Recall the conditions that existed at the boundaries of the global domain
(the BCs):
u1 = 2.0

du
x dx =1
x =2.0 2

This is a condition on a flux term. A flux is a rate of change of

the desired function, u(x). This natural boundary condition is
satisfied by the actual/true function.

MECH 420: Finite Element Applications

 Lecture 1: The Generalized FEM

Step 5: Applying the Boundary Conditions to Reduce the Global

System. (contd)

2.0
du (1)
x
k1,1
(1) (1)
k1,2 0 0 0 u f (1)
dx x1
(1) (1) 1 1

k k + k (2)
k (2)
0 0 u2 f 2(1) + f 2(2) 0
2,1 2,2 1,1 1,2

0 (2)
k2,1 (2)
k2,2 + k1,1
(3) (3)
k1,2 0 u3 = f 3(2) + f 3(3) + 0

(4) u (3) (4)
+ k1,1 4 f4 + f4 0
(3) (3) (4)
0 0 k2,1 k2,2 k1,2

0 0 0 k (4) (4) u
k2,2 5 f (4)

x du (4)

2,1 5

dx x
5

0.5

MECH 420: Finite Element Applications

 Lecture 1: The Generalized FEM

Step 6: Solve for the remaining unknowns.

du (1)
k(1)
1,1 k (1)
1,2 0 0 0 2.0 f (1)
x
(1) 1
dx x1
+ k1,1 f 2 + f 2(2)
(1) (1) (2) (2)
k
2,1 k2,2 k1,2 0 0 u2

0 (2)
k2,1 (2)
k2,2 + k1,1
(3) (3)
k1,2 0 u3 = f3(2) + f3(3) + 0


(4) u (3) (4) 0
+ k1,1 4 f4 + f4
(3) (3) (4)
0 0 k2,1 k2,2 k1,2

0 (4) u 0
k2,2 5
(4)
0 0 (4)
k2,1 f 5
0.5
Reduction

k2,2
(1)
+ k1,1
(2) (2)
k1,2 0 0 u2 f 2(1) + f 2(2) 0 k2,1
(1)


k2,1
(2) (2)
k2,2 + k1,1
(3) (3)
k1,2 0 u3 f3(2) + f3(3) 0 0
= + 2.0
0 (3)
k2,1 (3)
k2,2 + k1,1
(4) (4)
k1,2 u f (3)
+ f (4)
0
4 4 4 0
(4) u
5 f5 0.5 0
(4)

(4)
0 0 k2,1 k2,2

MECH 420: Finite Element Applications

 Lecture 1: The Generalized FEM

Step 7: Recovery.
Knowing the values of the function at the 5 key points, we can recover
some information about other values of interest.
For example, what is the approximate value of the flux term at the point
x=1.1?
The point x=1.1 lies inside the first element
u (1) ( x) = u1 1 ( x) + u2 2 ( x)

1 ( x) du d
1 x
dx 1.1 ( u
1 1 + u )
2 2
x =1.1 dx
0 u u
x1 = 1.0 x2 = 1.25 1.1 2 1
2 ( x ) 0.25
1

0
x1 = 1.0 x2 = 1.25

MECH 420: Finite Element Applications

 Lecture 1: The Generalized FEM

Step 8: Interpret the results.

This case study illustrates the

u(x)
importance of the FEM user in
the solution process:
Interpretation includes looking
at:
Convergence.

Continuity and completeness

conditions

What if you had wanted to know

flux
something about d 2 u ( x) ?
dx 2

MECH 420: Finite Element Applications