Faculty of Applied Sciences PhD. TRUONG Tich Thien Faculty of Applied Sciences PhD.

TRUONG Tich Thien

Hochiminh City University of Technology Department of Engineering Mechnics Hochiminh City University of Technology Department of Engineering Mechnics

Linear Structural Analyse

- Truss Structure
- Beam
The Finite Element Method - Shell
Introduction - 3-D Solid

Material nonlinear
- Plasticity (Structure with stresses above yield stress)
- Hyperelasticity (ν = 0.5, i.e. Rubber)
- Creep, Swelling
HCMUT 2004 HCMUT 2004

The Finite Element Method The Finite Element Method

Faculty of Applied Sciences PhD. TRUONG Tich Thien Faculty of Applied Sciences PhD. TRUONG Tich Thien
Hochiminh City University of Technology Department of Engineering Mechnics Hochiminh City University of Technology Department of Engineering Mechnics

Geometric nonlinear Stability

- Large Deflection - Buckling
- Stress Stiffening
Field Analysis
Dynamics - Heat Transfer
- Natural Frequency - Magnetics
- Forced Vibration - Fluid Flow
- Random Vibration - Acoustics

HCMUT 2004 HCMUT 2004

The Finite Element Method The Finite Element Method

 Faculty of Applied Sciences PhD. TRUONG Tich Thien Faculty of Applied Sciences PhD. TRUONG Tich Thien
Hochiminh City University of Technology Department of Engineering Mechnics Hochiminh City University of Technology Department of Engineering Mechnics

Evolution of the Finite Element Method

FE = Finite Element
1941 HRENIKOFF, MC HENRY, NEWMARK i, j, k = Nodal points (Nodes)
Approximation of a continuum Problem through a Framework of an Element
1946 SOUTHWELL
Relaxation Methods in theoretical Physics
1954 ARGYRIS, TURNER - Dividing a solid in Finite Elements
Energy Theorems and Structural Analysis (general Structural - Compatibility between the Elements through a displacement
Analysis for Aircraft structures) function
1960 CLOUGH - Equilibrium condition through the principal of virtual work
FEM in Plane Stress Analysis

HCMUT 2004 HCMUT 2004

The Finite Element Method The Finite Element Method

Faculty of Applied Sciences PhD. TRUONG Tich Thien Faculty of Applied Sciences PhD. TRUONG Tich Thien
Hochiminh City University of Technology Department of Engineering Mechnics Hochiminh City University of Technology Department of Engineering Mechnics

The stiffness relation:

Kd=F
[K] {d} = {F}
dT = [u1 v1 w1 . . . un vn wn]

or Kd =F FT = [Fx1 F y1 . . . F xn F yn F zn]

K is a n x n matrix
K = Total stiffness matrix K is a sparse matrix and symmetric
d = Matrix of nodal displacements
F = Matrix of nodal forces

HCMUT 2004 HCMUT 2004

The Finite Element Method The Finite Element Method

 Faculty of Applied Sciences PhD. TRUONG Tich Thien Faculty of Applied Sciences PhD. TRUONG Tich Thien
Hochiminh City University of Technology Department of Engineering Mechnics Hochiminh City University of Technology Department of Engineering Mechnics

Kd=F

Solving the stiffness relation by:

- CHOLESKY – Method
- WAVE – FRONT – Method

HCMUT 2004 HCMUT 2004

The Finite Element Method The Finite Element Method

Faculty of Applied Sciences PhD. TRUONG Tich Thien Faculty of Applied Sciences PhD. TRUONG Tich Thien
Hochiminh City University of Technology Department of Engineering Mechnics Hochiminh City University of Technology Department of Engineering Mechnics

Spring Element
é k - kù é u1 ù é F1 ù
k ê- k k ú êu ú = êF ú
F1
1 2
F2 ë%"$"#û ë! 2û ë! 2û
F1 = k (u1 – u2)
k d F
F2 = k (u2 – u1)
u1 u2 Element stiffness matrix

1, 2 = Nodes
F1, F2 = Nodal forces é k - kù
k = Spring rate
k =ê ú
u1, u2 = Nodal displacements ë- k k û
HCMUT 2004 HCMUT 2004

The Finite Element Method The Finite Element Method

 Faculty of Applied Sciences PhD. TRUONG Tich Thien Faculty of Applied Sciences PhD. TRUONG Tich Thien
Hochiminh City University of Technology Department of Engineering Mechnics Hochiminh City University of Technology Department of Engineering Mechnics

Spring System the stiffness relation by using superposition

k1 k2 é k1 - k1 0 ù é u1 ù é F1 ù
1 2 3 ê- k k + k - k ú êu ú = êF ú
F1
ê 1 1 2 2 úê 2 ú ê 2ú
F2 F3 êë 0 - k2 k 2 úû êë u3 úû êë F3 úû
u1 u2 u3
%""""$"""" #! !
K d F
Element stiffness matrices Total stiffness matrix

é k - k1 ù ék - k2 ù é k1 - k1 0 ù
k1 = ê 1 k2 = ê 2 ê - k2 ú
k1 úû k 2 úû
K = - k1 k1 + k 2
ë- k1 ë- k 2 ê
êë 0 - k2
ú
k 2 úû

HCMUT 2004 HCMUT 2004

The Finite Element Method The Finite Element Method

Faculty of Applied Sciences PhD. TRUONG Tich Thien Faculty of Applied Sciences PhD. TRUONG Tich Thien
Hochiminh City University of Technology Department of Engineering Mechnics Hochiminh City University of Technology Department of Engineering Mechnics

y Fy3
Truss Element Element : Element ‚:
3 Fx3
y
u2 ! = length Node 1 º 1 Node 1 º 2
AE AE
F2 A = cross-sectional area  ‚ Node 2 º 3 Node 2 º 3
! a2 = 1350
u1 2 E = Young´s modulus a1 = 450
A 1 x
a
2
F1 1 x AE é1 0 0 0 0 0ù é u1 ù é 0 ù
Spring rate of a truss element k = ê ú
!
ê0
ê 1 0 0 0 0úú êê v1 úú ê 0 ú
é c2 cs - c 2 - cs ù AE ê0 0 1 0 0 0ú êu2 ú ê 0 ú
ê ú Stiffness relation ê úê ú = ê ú
AE ê cs s 2 - cs - s 2 ú Element stiffness matrix 2! ê0 0 0 1 0 0 ú ê v2 ú ê 0 ú
k=
!" ê- c 2 - cs c 2 cs ú c = cosα ê0 0 0 1 2 0ú êu3 ú ê Fx 3 ú
k ê ú s = sinα ê úê ú ê ú
ë - cs - s
2
cs s2 û êë0 0 0 0 0 2úû êë v3 úû êë Fy 3 úû
HCMUT 2004 HCMUT 2004

The Finite Element Method The Finite Element Method

 Faculty of Applied Sciences PhD. TRUONG Tich Thien Faculty of Applied Sciences PhD. TRUONG Tich Thien
Hochiminh City University of Technology Department of Engineering Mechnics Hochiminh City University of Technology Department of Engineering Mechnics

Beam Element the stiffness relation

y
y é EA EA ù
j1 2 j2 ê & 0 0 - 0 0 ú
1 &
ê 12EI 6EI 12EI 6EI ú u
M1 M2 v1 v2 é Qx1 ù ê 0 0 - 3 úé 1 ù
EJ êQ ú ê & 3
& 2
& &2 úê v ú
x x
1 2 ê y1 ú ê 6EI 4EI 6EI 2EI ú ê 1 ú
ê M1 ú ê 0 0 - 2
Q1 Q2 & 2
& & & ú ê j1 ú
! ê ú = ê EA EA úê ú
êQ x 2 ú ê - 0 0 0 0 ú êu2 ú
êQ y 2 ú ê & & úêv ú
ê ú ê 0 12EI 6EI 12EI 6EI ú ê 2 ú
Forces Displacements M
ë $#2û
- - 0 - j2 û
% ê & 3
& 2
& 3
& ú ë!
2

F ê 6EI 2EI 6EI 4EI ú d

ê 0 0 - 2 ú
A = Cross – sectional area E = Young’s modulus ë%""""&" 2
""" & "$"""""&" """& #û
I = Moment of inertia ! = Length k

HCMUT 2004 HCMUT 2004

The Finite Element Method The Finite Element Method

Faculty of Applied Sciences PhD. TRUONG Tich Thien Faculty of Applied Sciences PhD. TRUONG Tich Thien
Hochiminh City University of Technology Department of Engineering Mechnics Hochiminh City University of Technology Department of Engineering Mechnics

Example for practical FEM application Plane stress Triangular Element

y v3
3
u3
v2
v1
2 u2
1 u1
x

Equilibrium condition: Principal of virtual work

Compatibility condition: linear displacement function
Engineering system Possible finite element model
HCMUT 2004 HCMUT 2004

The Finite Element Method The Finite Element Method

 Faculty of Applied Sciences PhD. TRUONG Tich Thien Faculty of Applied Sciences PhD. TRUONG Tich Thien
Hochiminh City University of Technology Department of Engineering Mechnics Hochiminh City University of Technology Department of Engineering Mechnics

General displacements (Displacement function)

u = Nd General displacements to nodal
u(x,y) = α1 + α2x + α2y displacements
v(x,y) = α4 + α5x + α6y
ε = Bd Strains to nodal displacements
Nodal displacements
u1= α1 + α2x1+ α3y1 σ = Dε Stresses to strains
v1= α4 + α5x1+ α6y1
σ = DBd Stresses to nodal displacements
similar for node 2 and node 3.

HCMUT 2004 HCMUT 2004

The Finite Element Method The Finite Element Method

Faculty of Applied Sciences PhD. TRUONG Tich Thien Faculty of Applied Sciences PhD. TRUONG Tich Thien
Hochiminh City University of Technology Department of Engineering Mechnics Hochiminh City University of Technology Department of Engineering Mechnics

3
Other displacement functions
7
8 Triangular element with 10
6
3 9
10
nodes
5 2
6 Triangular element with 6 nodes 5
1 4
2
4
1 cubic displacement function

quadratic displacement function - stress field can be better approximated

- more computing time
u(x,y) = α1 + α2x + α3y+ α4x2 + α5y2+α6xy - less numerical accuracy
v(x,y) = α7 + α8x + α9y+ α10x2 + α11y2+α12xy - geometry cannot be good approximated
HCMUT 2004 HCMUT 2004

The Finite Element Method The Finite Element Method

 Faculty of Applied Sciences PhD. TRUONG Tich Thien Faculty of Applied Sciences PhD. TRUONG Tich Thien
Hochiminh City University of Technology Department of Engineering Mechnics Hochiminh City University of Technology Department of Engineering Mechnics

Principal of Virtual Work

δU + δW = 0 Element stiffness matrix

δU = virtual work done by the applied force

k = ò B T D B dV
δW = stored strain energy
V

dW = ò rf mT du dV + ò p du dA
T

V As
é ù
δU = ò δU dV = ò σ δε dV T
ê 1 n 0 ú
E
V V
D= ên 1 0 ú D = Elasticity matrix
1- n2 ê 1- nú
σ = stress matrix p = force matrix ê0 0 ú
ë 2 û
ε = strain matrix u = displacement matrix
HCMUT 2004 HCMUT 2004

The Finite Element Method The Finite Element Method

Faculty of Applied Sciences PhD. TRUONG Tich Thien Faculty of Applied Sciences PhD. TRUONG Tich Thien
Hochiminh City University of Technology Department of Engineering Mechnics Hochiminh City University of Technology Department of Engineering Mechnics

éb1 0 b 2 0 b 3 0 ù Dynamics
1 ê
B= 0 c1 0 c 2 0 c 3 ú m0 k1 m1 k2 m2
2A D ê ú
êë c1 b1 c 2 b 2 c 3 b 3 úû
Equation of motion
c1 c2
b1 = y2 – y3 c1 = x 3 – x 2 u0 u1 u2
b2 = y3 – y1 c2 = x 1 – x 3 AΔ = Area of element F0 F1 F2
b3 = y1 – y2 c3 = x 2 – x 1
ém 0 0 0 ù é&u& 0 ù é c1 - c1 0 ù éu& 0 ù é k1 - k1 0 ù éu 0 ù éF0 ù
linear displacement function yields : ê0 m 0 u1 + - c1 c1 + c 2 - c 2 u1 + - k1 k1 + k 2 - k 2 ú ê u1 ú = ê F1 ú
ú ê && ú ê ú ê & ú ê
- linear displacement field ê 1 úê ú ê úê ú ê úê ú ê ú
êë 0 0 m 2 úû êë&u& 2 úû êë 0 - c2 c 2 úû êëu& 2 úû êë 0 - k2 k 2 úû êëu 2 úû êëF2 úû
- constant strain field %""$""# ! %"""$"""# ! %""" "$"""" #! !
- constant stress field M &&
d C d& K d F
HCMUT 2004 HCMUT 2004

The Finite Element Method The Finite Element Method

 Faculty of Applied Sciences PhD. TRUONG Tich Thien Faculty of Applied Sciences PhD. TRUONG Tich Thien
Hochiminh City University of Technology Department of Engineering Mechnics Hochiminh City University of Technology Department of Engineering Mechnics

or !! + Cd! + Kd = F
Md
for a continuum

M = Mass matrix u=Nd

C = Damping matrix ε=Bd
K = Stiffness matrix
d = Nodal displacement matrix
d! = Nodal velocity matrix
!d! = Nodal acceleration matrix

HCMUT 2004 HCMUT 2004

The Finite Element Method The Finite Element Method

Faculty of Applied Sciences PhD. TRUONG Tich Thien Faculty of Applied Sciences PhD. TRUONG Tich Thien
Hochiminh City University of Technology Department of Engineering Mechnics Hochiminh City University of Technology Department of Engineering Mechnics

the element matrices General Equation of Motion

!! + Cd! + Kd = F(t )
Md
M e = ò r N N dV T

V ρ = Mass density Types of dynamic solution

o Modal analysis
k e = ò BT D B dV μ = Viscosity matrix
o Harmonic response analysis
V
- Full harmonic
C e = ò N T µ N dV - Reduced harmonic
V o Transient dynamic analysis
- Linear dynamic
- Nonlinear dynamic
HCMUT 2004 HCMUT 2004

The Finite Element Method The Finite Element Method

 Faculty of Applied Sciences PhD. TRUONG Tich Thien Faculty of Applied Sciences PhD. TRUONG Tich Thien
Hochiminh City University of Technology Department of Engineering Mechnics Hochiminh City University of Technology Department of Engineering Mechnics

Modal Analysis for harmonic motion: d = d0 cos (ωt)

Purpose: To determine the natural frequencies and mode (-ω2M + K) d0 = 0

shapes for the structure
Eigenvalue extraction procedures
Assumptions: Linear structure (M, K, = constant)
No Damping (c = 0 ) Transformation methods Iteration methods
Free Vibrations (F = 0)
JACOBI INVERSE POWER
!! + Kd = 0
Md GIVENS INVERSE POWER WITH SHIFTS
HOUSEHOLDER SUB – SPACE ITERATION
Q – R METHOD
HCMUT 2004 HCMUT 2004

The Finite Element Method The Finite Element Method

Faculty of Applied Sciences PhD. TRUONG Tich Thien Faculty of Applied Sciences PhD. TRUONG Tich Thien
Hochiminh City University of Technology Department of Engineering Mechnics Hochiminh City University of Technology Department of Engineering Mechnics

Harmonic Response Analysis Forcing funktion F = F0e-iωt

Purpose: To determine the response of a linear system Response will be harmonic at input frequency d = d0 e-iωt

Assumptions: Linear Structure (M, C, K = constant) (-ω2M – iωC + K) d = F0

Harmonic forcing function at known
frequency Kd 0 = F0

!! + Cd! + Kd = F0 ei w t
Md
K is a complex matrix
d will be complex (amplitude and phase angle)
HCMUT 2004 HCMUT 2004

The Finite Element Method The Finite Element Method

 Faculty of Applied Sciences PhD. TRUONG Tich Thien Faculty of Applied Sciences PhD. TRUONG Tich Thien
Hochiminh City University of Technology Department of Engineering Mechnics Hochiminh City University of Technology Department of Engineering Mechnics

Transient Dynamic Analysis

Limiting cases:
!! + Cd! + Kd = F(t )
Md
ω=0: K d = F0 Static solution
F(t) = arbitrary time history forcing function
C=0: (-ω2M + K) d = F0 Response in phase

C = 0, ω = ωn : (-ωn2M + K) d = F0 infinite amplitudes

C = 0, ω = ωn : (-ωn2M - iωnC + K) d = F0 finite amplitudes,

large phase shifts
periodic forcing function
HCMUT 2004 HCMUT 2004

The Finite Element Method The Finite Element Method

Faculty of Applied Sciences PhD. TRUONG Tich Thien Faculty of Applied Sciences PhD. TRUONG Tich Thien
Hochiminh City University of Technology Department of Engineering Mechnics Hochiminh City University of Technology Department of Engineering Mechnics

Two major types of integration:

- Modal superposition
impulsive forcing function - Direct numerical integration

Earthquake in El Centro,
California18.05.1940

HCMUT 2004 HCMUT 2004

The Finite Element Method The Finite Element Method

 Faculty of Applied Sciences PhD. TRUONG Tich Thien Faculty of Applied Sciences PhD. TRUONG Tich Thien
Hochiminh City University of Technology Department of Engineering Mechnics Hochiminh City University of Technology Department of Engineering Mechnics

0ne-dimensional heat flow principle

lA
l1, A1 l2, A2
Heath flow through a conduction element: Q= (T2 - T1 )
ƒ
, ‚ = conductivity elements !
0 1 2
 ! ‚ ! a, Aa ƒ = convection element
1 2
0, 1, 2 = temperature elements
T0 T1 T2 Heat stored in a temperature element: Q = rc p VT! = CT!
Q0 Q1 Q2
cp = specific heat capacity
A = Cross-sectional area ! = Length C = specific heat
λ = Conductivity Aα = Convection surface
T = Temperature Q = Heat flow
C = Specific heat α = Coefficient of Heat transition for a convection element: Q = aAa(Ta – T2)
thermal expansion
HCMUT 2004 HCMUT 2004

The Finite Element Method The Finite Element Method

Faculty of Applied Sciences PhD. TRUONG Tich Thien Faculty of Applied Sciences PhD. TRUONG Tich Thien
Hochiminh City University of Technology Department of Engineering Mechnics Hochiminh City University of Technology Department of Engineering Mechnics

Heat balance ! + KT = Q
CT
é l1A1 lA ù
ê & - 1 1 0 ú C = specific heat matrix
éC 0 0 '
0 ù éT0 ù ê 1 & ú éT0 ù é Q0 ù
ê0 C
1
ú ê T' ú + ê- l1A1 l1A1 + l 2 A 2 l 2A 2 ú ê ú ê ú
K = conductivity matrix
0 - T = Q
ê 1 úê 1 ú ê & & & & úê 1 ú ê 1 ú Q = heat flow matrix
êë 0 0 C 2 úû êëT' 2 úû ê 1 1
l A
2
l A
2
ú êëT2 úû êëQ 2 + aA a Ta úû
%""$""# ! ê 0 - 2 2 2 2
+ aA a ú ! %""$"" # T = temperature matrix
C ' êë
T & &2 ú T Q
T!
%"""""""2$"""" """#û = time derivation of T
K
For the stationary state with T! = 0
or ! + KT = Q
CT
KT = Q

HCMUT 2004 HCMUT 2004

The Finite Element Method The Finite Element Method