General Lecture in Magister Teknik Sipil

Universitas Diponegoro, 1 Feb 2014

Isoparametric
Finite Elements
Wong Foek Tjong, Ph.D.

Petra Christian University

Surabaya
Lecture Outline
1. Overview of the FEM
2. Governing equations of plane-
strain/plane-stress problems
3. Finite element formulation
4. Isoparametric elements
5. Element tests and applications
6. References

2014/2/12 2
 Behavior of a
Real Structure

Simulation Experiment

Simplifications and Replicate conditions of the

assumptions of the structure (possibly on a
real structure smaller scale) and observe
the behavior of the model
Mathematical
Model Physical
Model
2014/2/12 3
An example of the FEM
applications
Real experiment FE simulation
It is often expensive or It replicates conditions of
dangerous the real experiment

Source: W.J. Barry (2003), “FEM Lecture Slides”, AIT Thailand

2014/2/12 4
The need for modeling
 A real structure cannot be analyzed, it
can only be “load tested” to determine
the responses
 We can only analyze a “model” of the
structure (perform simulation)
 We need to model the structure as
close as possible to represent the
behavior of the real structure

Source: W. Kanok-Nukulchai
2014/2/12 5
 Mathematical
Models

Analytical Solution Numerical Solution

Techniques Techniques

Closed-form •Finite difference methods

Solutions •Finite element methods
•Boundary element methods
Only possible for •Mesh-free methods
simple geometries and •etc.
boundary conditions

2014/2/12 6
What is FEM?
 It is a computational technique used to
obtain approximate solutions of
engineering problems.
 The results are generally not exact.
 However, the accuracy of the results can be
improved either using finer mesh (h-
refinement) or higher degree elements (p-
refinement)

2014/2/12 7
Solution refinements in FEM

h-refinement

h=1

h=1/2

h=1/4
Solution refinements in FEM
(cont‟d)
p-refinement

u=a+bx+cy

u=a+bx+cy+
h=1 h=1/2
dx 2+exy+fy 2
Examples of FEM software
 For General purposes:
NASTRAN, ANSYS, ADINA, ABAQUS, etc.
 For structural analysis, particularly in Civil
Engineering:
SANS, SAP, STAAD, GT STRUDL, MIDAS,
DIANA, STRAND 7, etc.
 For building structures:
ETABS, BATS etc.

2014/2/12 10
Focus of lecture
 FEM is originated as a method of structural
analysis but is now widely used in various
disciplines such as heat transfer, fluid flow,
seepage, electricity and magnetism, and others.
 The present discussion will focus on FEM for
structural analysis, with the scope:
 Plane stress/plane strain problems
 Linear static analysis
 Isoparametric formulation
 Bilinear isoparametric quadrilateral element (Q4)

2014/2/12 11
Lecture Outline
1. Overview of the FEM
2. Governing equations of plane-
strain/plane-stress problems
3. Finite element formulation
4. Isoparametric elements
5. Element tests and applications
6. References

2014/2/12 12
Plane stress
 A stress condition that
prevails in a thin plate
z, w
y, v loaded only in its own
plane, say xy plane, and
without restraint in its
perpendicular direction.
 ζz=ηyz= ηzx=0
x, u  Typical examples are thin
plates loaded in the plane of
the plate.
Example:

12-Feb-14 14
Plane strain
 A deformation state in
One unit which
length  w=0 everywhere
 u=u(x, y)
y,v
 v=v(x, y)
 Thus,
 εz=γxz= γyz=0
 A state of strain in which
z,w
the strain normal to the x-
y plane and the shearing
x,u strains γxz and γyz are
O zero.
Plane strain (cont‟d)
 The plane strain model is
One unit
length
realistic for a long body with
constant cross section
y,v subjected to planar loads that
do not vary along the body.
 Examples:
 A slice of an underground
tunnel that lies along z axis
 A slice of an earth retaining wall
z,w  Only a unit thickness of the
body is considered in an
x,u
analysis using the plain strain
O
model.
Example:

12-Feb-14 17
Basic concepts from the theory of
elasticity
 Consider a plane stress/strain
model of a body (structure) as
p1=p(x) illustrated here.
y,v
p2=p(y)  The body is subjected to:
P  Concentrated force P
 Distributed surface forces p1 and
p2, can be given in the unit of
[force]/[area] or [force]/[length]
x,u  Body force b=b(x,y), e.g. due to
O
the self-weight of the body,
[force]/[volume]
Note that a force is a vector,
while temperature is a scalar.  Temperature change T 0C
 p1=p(x)
y,v
p2=p(y)
P

x,u
O

 The plane stress/strain problem is: given the

external loads, temperature change, and
displacement boundary condition, find the
displacement field, the strain field and the stress
field.

12-Feb-14 19
Output of an analysis
 The results of an analysis are:
 Two displacement components, i.e. u and v
 Three strain components, i.e. εx , εy , γxy
 Three stress components, i.e. ζx , ζy , ηxy

 In most FE softwares we can express the

stress results in terms of:
 Principal
stresses
 von Mises stress

12-Feb-14 20
Governing equations

 Three basic set of equations in the theory

of elasticity are:
 Strain-displacement equations
 Stress-strain equations
 Equations of equilibrium

12-Feb-14 21
Strain-displacement relations
Stress-strain relations
 Plane stress
 For a body made up from isotropic materials, the
stress-strain relation is
 x  1  0  x  1 
   1   E T  
0    y  
E

 y   1 
  1   2
  1  0 
 xy   0 0 1 
2 (1  )   xy   

 Notice that the strain in z direction may not be zero


z   ( x   y )  T
E
Stress-strain relations (cont‟d)
 Plane strain
 For a body made up from isotropic materials, the
stress-strain relation is
 x  1   0  x  1 
  E      E T  

 y   1  0    y   1  2 1 
  (1  )(1  2 )  0   0 
2 (1  2 )   xy 
1
 xy   0  

 Notice that stress ζz may not be zero

 z   ( x   y )  ET

The Ord River Dam. Source:

www.australiaadventures.com
Equations of equilibrium

 x  yx
  bx  0
x y
 xy  y
  by  0
x y
Strong form problem statement
 Given geometrical and material properties
and external actions P, p, b, T, and
support displacement u0, find u(x,y) that
satisfies:
 Strain-displacement equations: 𝛆 = 𝛛𝐮
 Stress-strain equations: 𝛔 = 𝐄(𝛆 − 𝛆𝟎 )
 Equations of equilibrium: 𝛛𝐓 𝛔 + 𝐛 = 𝟎
 on the whole body and satisfies the given
boundary conditions.
12-Feb-14 26
The principle of virtual work
 The FEM does not directly use the strong
form of governing equations, instead it
uses the weak form of the equations.
obtained from the principle of virtual work.
 The weak form can be obtanied using:
 The principle of stationary potential energy
 The principle of virtual work

12-Feb-14 27
 
𝛿𝑈 = 𝛿𝑊

p1=p(x)
y,v
p2=p(y)
P
(xP, yP)

x,u
O

S1: the surface on which p1 acts

S2: the surface on which p2 acts

28
 p1=p(x)
y,v
p2=p(y)
P
(xP, yP)

x,u
O

12-Feb-14 29
Weak form problem statement
 Given geometrical and material properties and
external actions P, p, b, T, and support
displacement u0, find u(x,y) such that for all
admissible δu
𝛿𝛆T 𝛔 𝑑𝑉 = 𝛿𝐮T 𝐏 𝑥P , 𝑦P + 𝛿𝐮T 𝐩 𝑑𝑆 + 𝛿𝐮T 𝐛 𝑑𝑉
𝑉 𝑆 𝑉
 where σ is defined in terms of u using the strain-
displacement and stress-strain relations

12-Feb-14 30
Lecture Outline
1. Overview of the FEM
2. Governing equations of plane-
strain/plane-stress problems
3. Finite element formulation
4. Isoparametric elements
5. Element tests and applications
6. References

2014/2/12 31
Lecture Outline
1. Overview of the FEM
2. Governing equations of plane-
strain/plane-stress problems
3. Finite element formulation
4. Isoparametric elements
5. Element tests and applications
6. References

2014/2/12 32
Discretization (1)
 Fundamental concept is discretization, i.e. dividing a
continuum (continuous body, structural system) into a
finite number of smaller and simple elements whose
union approximates the geometry of the continuum.

2014/2/12 33
Discretization (2)

Source: http://members.ozemail.com.au/~comecau/autostep.htm
Element formulation
 In FE formulation, we need to formulate an
element to obtain the element stifness
equation
𝐤𝐝 = 𝐟
 Once we have this equation, the solution
for the whole structure can be obtained
using the direct stiffness method.

12-Feb-14 35
 You may visit http://ta29.petra.ac.id/# to
learn the direct stiffness method step-by-
step (only for 2D frame structures)

12-Feb-14 36
 Consider a quadrilateral element of the
thickness h as illustrated here
v4
v3
4 u4
v1
3 u3
y, v u1 1
v2
o x, u
2
u2

 The displacement field within the element:

𝑢 𝑢(𝑥, 𝑦)
𝐮= =
𝑣 𝑣(𝑥, 𝑦)

12-Feb-14 37
 v4 v3
u4
v1 4
3 u3
u1 1
v2

2 u2

 Nodal displacement vector:

𝐝 = 𝑢1 𝑣1 𝑢2 𝑣2 𝑢3 𝑣3 𝑢4 𝑣4 T
 The first and fundamental step in the finite
element formulation is to assume the
displacement field within the element in terms of
its nodal displacements.

12-Feb-14 38
 The assumed displacement field within the
element can be expressed as:
4
𝑢= 𝑁𝑖 𝑢𝑖
𝑖<1
4
𝑣= 𝑁𝑖 𝑣𝑖
𝑖<1
 Or written in matrix form:
𝐮 = 𝐍𝐝
where
𝑁1 0 𝑁2 0 𝑁3 0 𝑁4 0
𝐍= 0 𝑁1 0 𝑁2 0 𝑁3 0 𝑁4
 𝐮 = 𝐍𝐝
 N is the matrix of shape functions
 N is also called the matrix of interpolation
functions, because it interpolates the
displacement field u=u(x, y) from the nodal
displacements
Interpolation
function

40
 Strain-displacement relationships

𝛆 = 𝛛𝐮 Matrix of differential
operators
𝛆 = 𝛛𝐍𝐝
 Thus we can write
𝛆 = 𝐁𝐝
where
𝐁 = 𝛛𝐍
3x8 3x2 2x8

 Matrix B gives strains at any point within the element

due to unit values of nodal displacements.
12-Feb-14 41
 Stress-strain relationships (without considering
temperature effect)
𝛔 = 𝐄𝛆
thus
𝛔=𝐄𝐁𝐝
 The principle of virtual work
𝜹𝑼e = 𝜹𝑾e
where
δUe : the virtual strain energy of internal stresses
δWe : the virtual work of external forces on the
elements
 𝜹𝑼e = 𝜹𝑾e
 Assume there exist a vector of small virtual
displacements, δd
 The resulting virtual generic displacements and
virtual strains are

 The virtual strain energy of the element is

 (1)

 The external virtual work of nodal and body

forces are

(2)
 Substituting the eqs. (1) and (2) into

and cancelling δdT form both sides of the eq.

result in

 Thus, the element stiffness matrix is

 The equivalent nodal load vector due to body
forces is

 Let us rename the actual nodal force vector

Lecture Outline
1. Overview of the FEM
2. Governing equations of plane-
strain/plane-stress problems
3. Finite element formulation
4. Isoparametric elements
 Bilinear isoparametric quadrilateral
element
5. Element tests and applications
6. References

2014/2/12 47
Q4 Isoparametric Element
 Consider the quadrilateral element
v4
v3
4 u4
v1
3 u3
y, v u1 1
v2
o x, u
2
u2

 We need to obtain the expression for the shape

functions N1,..., N4
12-Feb-14 48
 If we formulate the quadrilateral element
directly in the cartesian coordinate system,
we will face technical difficuties:
 The expression for the shape functions is
complicated
 It is difficult to evaluate the integration in the
stiffness matrix and equivalent nodal force
vectors expressions exactly

12-Feb-14 49
 To overcome the difficulties and moreover,
to facilitates the use of elements with
curved edges, we map the element onto a
square element defined in natural (ξ, η)
coordinates.
 The square element is called parent or master
element.

12-Feb-14 50
 To introduce the isoparametric concept,
we will consider a type of quadrilateral
element with four nodes for analysis of
plane stress/plane strain problems.
 This element is the standard “plane
bilinear isoparametric element” (Q4).

12-Feb-14 51
Mapping of the element

12-Feb-14 52
  Nodal coordinates:
1 𝑥1 , 𝑦1
2 𝑥2 , 𝑦2
3 (𝑥3 , 𝑦3 )
4 (𝑥4 , 𝑦4 )

 The geometry of the quadrilateral element is

described by:
4 4
𝑥= 𝑁𝑖 𝑥𝑖 ; 𝑦= 𝑁𝑖 𝑦𝑖
𝑖<1 𝑖<1

12-Feb-14 53
 Or, written in matrix form:
𝐱 = 𝐍𝐜
where
𝑁1 0 𝑁2 0 𝑁3 0 𝑁4 0
𝐍= 0 𝑁1 0 𝑁2 0 𝑁3 0 𝑁4
and
𝐜 = 𝑥1 𝑦1 𝑥2 𝑦2 𝑥3 𝑦3 𝑥4 𝑦4 T

12-Feb-14 54
 The shape functions are functions of
natural coordinates ξ and η.

(ξ, η)=(0, 0) is the center of the element

12-Feb-14 55
 Displacement interpolation
u=Nd
x=Nc Geometry interpolation

 The element is called bi-linear because

the shape functions Ni are linear in ξ and
linear in η.
 It is called isoparametric because the
shape functions for interpolation of the
geometry are the same as those for
interpolation of the displacement field.

12-Feb-14 56
 The strain vector is

 The math difficulty here is that we have to

diffentiate u and v with respect to x and y,
but u and v are functions of ξ and η.

12-Feb-14 57
 To overcome the difficulty, we apply the
chain rule for partial differentiation

 Then,

12-Feb-14 58
 Written in matrix form,
𝑓,𝜉 𝑥,𝜉 𝑦,𝜉 𝑓,𝑥
= 𝑥,
𝑓,𝜂 𝜂 𝑦,𝜂 𝑓,𝑦

𝑥,𝜉 𝑦,𝜉
 The matrix 𝑥, 𝑦, is Jacobian matrix,
𝜂 𝜂
J.
 Inverting the equation we obtain
𝑓,𝑥 ;1
𝑓,𝜉
=𝐉
𝑓,𝑦 𝑓,𝜂

12-Feb-14 59
 Let define Γ as the inverse of the Jacobian
matrix

 Thus the derivatives of u and v can be

written as

12-Feb-14 60
 d

12-Feb-14 61
 Since ε=Bd, it can be concluded that the
strain-displacement matrix is

12-Feb-14 62
 The derivatives of the shape functions

 Is B a polynomial function?

12-Feb-14 63
 The Jacobian matrix for the bilinear
element can be written as

12-Feb-14 64
 The element stiffness matrix is

𝐤= 𝐁 T 𝐄𝐁 𝑑𝑉 = ℎ 𝐁 T 𝐄𝐁 𝑑𝐴
𝑉 𝐴
 The integration can be carried out in the
isoparametric space, over the parent
element, efficiently and accurately.
 To illustrate the integration, tet consider
the computation of the area of an element

12-Feb-14 65
 The area of an element:

 Example:
Calculate the area of the element as shown in
the following figure.

12-Feb-14 66
12-Feb-14 67
12-Feb-14 68
 Equivalent nodal loads

12-Feb-14 69
 Practical formulas for evaluating
equivalent nodal loads

12-Feb-14 70
12-Feb-14 71
Gauss Quadrature
 Quadrature: evaluating an integral
numerically
 For 1D integration:

 First, transform from arbitrary integration limits

to −1 to +1
12-Feb-14 72
  The transformation (mapping) is given by

 Thus,

 Here 𝜙(𝜉) incorporates the Jacobian of the

transformation,
𝑑𝑥
𝐽=
𝑑𝜉

12-Feb-14 73
  Then evaluate the integral as follows,

A n-point Gauss qaudrature can integrate

exactly a polynomial of degree 2n-1
 For a nonpolynomial function, the result will
not be exact-- the higher the number of
sampling points, the better the accuracy of the
result.
12-Feb-14 74
12-Feb-14 75
  Examples:
Using two sampling point, we can

This intergral cannot be exaclty evaluated:

0
1
exp(−12𝑥 2 ) 𝑑𝑥 ≈ 0.5
2𝜋 ;∞

12-Feb-14 76
 For 2D integration:

12-Feb-14 77
 Gauss point locations in a quadrilateral
element using:
 Four points (order 2 rule)

12-Feb-14 78
  Nine points (order 3 rule)

12-Feb-14 79
Computation of stiffness matrix

12-Feb-14 80
 If we use four sampling points:

ki: stiffness
matrix at
sampling point i
12-Feb-14 81
Computation of equivalent body
force

12-Feb-14 82
Stress evaluation
 Once we have obtanied the nodal
displacement d from the direct stiffness
method, we can evaluate the stess at a
point of interest within the element using

 We may evaluate the stess direcly at the

nodes.
12-Feb-14 83
 Example

12-Feb-14 84
 However, according to many FEM texts,
more accurate results can be achieved if
we evaluate the stresses first at the Gauss
points and then the stresses at the nodes
are extrapolated from those at the Gauss
points.

12-Feb-14 85
12-Feb-14 86
Degenerated Q4

 If nodes 3 and 4 are coinsides, the

quadrilateral becomes a triangle
 Another possibility

12-Feb-14 87
Lecture Outline
1. Overview of the FEM
2. Governing equations of plane-
strain/plane-stress problems
3. Finite element formulation
4. Isoparametric elements
5. Element tests and applications
6. References

2014/2/12 88
1. Pure tension problem
 For a thin plate in tension as shown in the figure,
determine the nodal displacements, support reactions,
and the stresses within the element

Dimension:
400 mm x 400 mm
4 kN/mm h= 10 mm
E= 210 kN/mm2
ν= 0.3

12-Feb-14 89
 R1

4 kN/mm
R2

 The displacement

 The support reactions

𝑅1 = 𝑅2 = 400×4
2
= 800 kN
 The stress within the whole body

12-Feb-14 90
 These analytical results are useful for testing the
performence of the Q4 element
 Suppose the the plate is discretized into two Q4
elements as follows
4 5 6
R1

4 kN/mm
1

2
R2
1 2 3
100 300

 Compare the results from the finite element to the exact

solutions

12-Feb-14 91
 See the Matlab files Pure_tension_dat.m then
„Go‟
 To see the resulting displacement, see the
content of variable Xdisp, DOF number 5 and 11
 To see the resulting stresses at the nodes, see
the content of variables Stress
 It can be seen that the resulting displacement,
support reactions and stresses are all exact!
 Please check using your commercial software,
Strand.

12-Feb-14 92
2. Pure shear problem
 For the same thin plate but in pure shear stress state as
shown in the figure, test the CST performance

12-Feb-14 93
 The shear stress and shear modulus:
𝑝 4000
η= = = 400 N/mm2 = 0.4 kN/mm2
ℎ 10
E 210000
G= = = 80769 N/mm2 = 80.769 kN/mm2
2:2𝑣 2 : 2 x 0.3
 The shear strain within the whole body
τ 400
γ= = = 0.004952381
G 80769.23077
 The dispalcement of the top surface
D = 400 x 0.004952381 = 1.981 mm

12-Feb-14 94
 800 800
4 kN/mm 600 800 200

4 kN/mm

4 kN/mm
1

800
2
200 800 600

4 kN/mm
800

 See the Matlab files Pure_shear_dat.m then „Go‟

 See the content of variable Xdisp, DOF number
7, 9, and 11
 It can be seen that the resulting displacement,
support reactions and stresses are all exact!
 How about the results from your software?

12-Feb-14 95
3. Pure bending problem
 Consider a two dimensional body under pure bending
condition as shown in the figure.
 Test the performance of the Q4 in this problem.

12-Feb-14 96
 The deflection of the neutral axis according to the beam
bending theory:

𝑀𝐿2 6666.7 × 1002

Δ= 2𝐸𝐼
= 1
2 ×210 × 12× 20 × 403
= 1.4881 mm

12-Feb-14 97
 Finite element model
 See Pure_bending_dat
Q4 Test: Pure Bending

50

40
7 8 9 500/3

30
3 4
Y axis

4 5 6
20

10
1 2
1 2 3 500/3
0

-10

0 20 40 60 80 100
X axis

12-Feb-14 98
 The deflection of the neutral axis from FEA using
different degrees of mesh refinement:

MESH Q4 Percentage
2x2 0.9154 61.5%
4x4
8x8
16x16
Exact 1.4881 100.0%

 It needs a fine mesh to obtain Q4 accurate solution.

 We can conclude that the performance of the Q4 is not
so satisfactory in bending problem.

12-Feb-14 99
4. Plane Elasticity Beam

 The analytical solution for the (plane stress) cantilever beam

problem is given by Timoshenko and Goodier as follows:
5. Cook‟s Membrane Problem
F=
16 C 1.0
See
Cook_m4auto_d
44
at and
Cook_m8_dat
48

E=1.0, ν=1/3, and h=1.0

The reference solution: vC= 23.91

12-Feb-14 101
 F=
16 C 1.0

44

48

# elements Q4 Percentage
on each side
4 18.30 76.5
8 22.08 92.3
16
Ref. soluion 23.91 100%

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6. An infinite plane-stress plate
with a hole
The plate subjected to
uniform tension Tx at infinity

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Lecture Outline
1. Overview of the FEM
2. Governing equations of plane-
strain/plane-stress problems
3. Isoparametric elements
 Bilinear isoparametric quadrilateral
element
4. Element tests and applications
5. References

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References- Basics of the FEM
 D.L. Logan (2007)
A First Course in the Finite Element Method
the 4th Ed., Toronto, Nelson
 D.V. Hutton (2004)
Fundamentals of Finite Element Analysis
New York, McGraw-Hill
 S.W. Alisjahbana (1998)
Prinsip Dasar Metode Elemen Hingga
Jakarta, UPT Penerbitan Universitas Tarumanagara
 P.B. Kosasih (2012)
Teori dan Aplikasi Metode Elemen Hingga
Yogyakarta, Andi Offset
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References- More Advance
 R. D. Cook, D.S. Malkus, M.E. Plesha and R.J. Witt
(2002)
Concepts and Applications of Finite Element Analysis
4th Ed., John Wiley and Sons
 W. Weaver, Jr. and P.R. Johnston (1984)
Finite Elements for Structural Analysis
New Jersey, Prentice-Hall
 K.J. Bathe (1996)
Finite Element Procedures
New Jersey, Prentice-Hall

2014/2/12 106
References- Software Oriented
 W. Dewobroto (2013)
Komputer Rekayasa Struktur dengan SAP2000
New Jersey, Prentice-Hall
 Computers and Structures, Inc. (2006)
SAP2000 Documentation, Berkeley, CSI

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References- Internet Resources
 C. Felippa (2008)
Introduction to Finite Element Methods
http://www.colorado.edu/engineering/cas/courses.d/IF
EM.d/
 R. Krisnakumar (2010)
Introduction to Finite Element Methods
http://www.youtube.com
(Video of lecture series on FEMs)
 K. J. Bathe (2009)
Finite Element Procedures for Solids and Structures
http://ocw.mit.edu/resources/res-2-002-finite-element-
procedures-for-solids-and-structures-spring-
2010/index.htm#
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