Computational Continuum Mechanics

Course Leader: Dr Daniel Balint (513)

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Course Structure Lectures

11 two-hour lectures

Tutorials
5 tutorials (5 sheets), none marked as coursework

Assessment
Examination (3 hr, closed book)

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Syllabus
Introduction to Continuum Mechanics Deformation and Flow Kinetics of Deformation Fundamental Laws of Continuum Mechanics Constitutive Relationships Application of Fundamental Laws Introduction to the Finite Element Method

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Introduction
Continuum mechanics provides a general framework for the mathematical study of engineering problems
Starts from the fundamental physical laws (conservation of mass, energy, momentum, etc). These laws can, in principle, be applied to any material. Thus solid mechanics, heat transfer and fluid mechanics are special cases of continuum mechanics

Continuum mechanics dates back to the late 18th/early 19th centuryEuler, Cauchy, Navier etc. Some analytical solutions available:
Approximations/assumptions required to obtain the analytical solution Analytical solutions often impossiblecomplex three dimensional geometries, non-linear material laws, complex solid/liquid interactions Experiments too expensive or not possible

When solving engineering problems numerically, continuum mechanics provides a strong basis for the implementation of the fundamental laws within a computer program Computational continuum mechanics dates from 1950s, Argyris and Kelsey (Imperial, UK); Turner and Clough (Boeing, USA)
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Examples: Blade design

Complex blade shape Complex material (anisotropic, nonlinear, time & pressure dependent) Large temperature gradients Centrifugal forces & aerodynamic stresses act on the blade Finite element analysis:
Temperature (oC) Accumulated inelastic strain

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Examples: Non-wetting droplet heat transfer

Droplet cooling of fuel pins in a PWR LOCA (severe accident) Complex droplet deformation Multiphase (vapour & liquid) Large temperature gradients Finite volume analysis:

!
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Physical Laws & Constitutive Relations

Temperature (oC)

Physical Laws
Conservation of mass, energy, momentum

Accumulated inelastic strain

Constitutive relations
Hookes Law, etc

Differential equations
Navier, Stokes

FEM, FV,
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Background
Vectors Vector algebra
Dot, cross products, triple products

Vector calculus
Grad, div, curl Line, surface, volume integrals, jacobians Stokes theorem

Tensors.?

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Notation & other basic ideas I

Material is continuous: we neglect the molecular structure of matter A continuum is an idealisation of the real material (solid, fluid or gas) Often we assume the continuum is isotropic (material behaviour is the same in all directions) and homogeneous (material properties are the same at all points) Note that a heterogeneous continuum is not a contradiction provided the material properties vary smoothly Thus we can define quantities such as stress and strain at a point and use standard mathematical principles to analyse the material

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Notation & other basic ideas II Particles & points

A particular position in space is called a point while a particular (infinitesimal) volume of material within the continuum is called a particle

x

X3

In practice to define the position of a point or particle we need a coordinate system. It is often convenient to work with rectangular Cartesian coordinates Here we define orthogonal axes, X1, X2, X3, and the components of a vector are defined relative to these axes The position vector x can be defined by its three components (x1, x2, x3) relative to the Cartesian axes

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Notation & other basic ideas III Vectors

Consider the vector u with components (u1, u2, u3)
Note the convention: bold face for the vector, italic for the component We represent the individual components of u as ui with i going from 1 to 3 (in 3D) so we can write,

u = v ! u i = vi
We can represent the dot product of two vectors: u!v = u1v1+ u2v2+ u3v3
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free index
3

!u v
i =1

i i

Notation & other basic ideas IV Summation convention

We can represent the dot product of two vectors:

u!v = u1v1+ u2v2+ u3v3

We usually, unless there is room for ambiguity leave off the summation sign, so we write

u ! v = ui vi

This is the summation convention (Einstein). Summation is always implied where any index (i above) is repeated in a term. This significantly simplifies our expressions Note that the index i above is now a dummy index, not a free index, we could equally write u!v = u v
m m
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Notation & other basic ideas V

A vector is NOT simply three numbers ui. We also need these coefficients to change appropriately under any coordinate transformation. (Shown shortly) Furthermore, a vector is viewed (mathematically) as a linear operator. It must be able to act on another vector, to give a scalar. The dot product does this for us: u v = u ! v = ui vi = "

()

A scalar is a 0-rank tensor (it has no free indices) and a vector is a 1st rank tensor (it has one free index). Hence a 1st rank tensor acts on a vector to give a 0-rank tensor). This generalizes: We can (and do) have quantities that have two free indices. These act on two vectors (via the dot product) to give a scalar. Higher order tensors follow similarly.
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Notation & other basic ideas V Tensors

Be careful with your indices, note:

ui v j ! ui vi

The RHS above is a scalar, the LHS is an example of a 2nd order (rank) Tensor. In 3D it has 9 coefficients, one for each pair (i,j). ! u1v1 u1v2 u1v3 $ # & U = U ij = ui v j = # u2 v1 u2 v2 u2 v3 & #u v u v u3v3 & " 3 1 % 3 2 The operation on the LHS is sometimes called the tensor or outer product of two vectors. (In contrast with the inner (dot) product of two vectors). As indicated above, we sometimes represent 2nd rank tensors in the form of matrices. This does NOT generalize to higher orders, however. Not all 2nd order tensors are the products of two vectors, this is just used as an example.
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Notation & other basic ideas VI Tensors

Generally 2nd rank tensors are linear vector functions, that is they act on two vectors, resulting in a scalar. If x and y are two vectors, the effect of a 2nd rank tensor U acting on x and y is a scalar given by: U x, y ! U ij xi y j

Note also that a 2nd rank tensor acting on just one vector may also be defined, eg: U x ! U ij xi or U x ! U ij x j

( )

( )

Note - these two expressions are generally not equal to each other. Thus the vector notation is ambiguous - the index notation is clear In the above the action of the 2nd rank tensor on the vector results in a 1st rank tensor. There is only one free index (j in the first expression, i in the second)
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Next lecture (2)

Algebra of vectors and tensors
Kronecker delta Permutation tensor Cross products

More Properties of Tensors

Trace Transpose Symmetry, anti-symmetry Orthogonality

Examples
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Lecture 2: More about vectors & tensors

Algebra of vectors and tensors
Kronecker delta Permutation tensor Cross products

More Properties of Tensors

Trace Transpose Symmetry, anti-symmetry Orthogonality

Examples
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Algebra of vectors and tensors I

The Kronecker delta, ij, is a second order tensor and is defined as
"1 if i = j ! ij = # % $0 otherwise

Represented as a matrix, it is the unit matrix and is often given the symbol I.
" 1 0 0% ! ij = $ 0 1 0' = I $ ' $ 0 0 1' # &

Some properties:
! kk = !11 + ! 22 + ! 33 = 3
A = AI = IA ! Aij = Aik " kj = " ik Akj

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Algebra of vectors and tensors II

The Permutation tensor, ijk is a third order tensor and is defined as
! ijk
#1 % = $"1 %0 & if ijk is an even permutation of if ijk is an odd permutation of otherwise

{123} {123}

The - identity:
! ijk ! ipq = " jp" kq # " kp" jq

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Algebra of vectors and tensors III

The Permutation tensor can be used to define vector and tensor cross products axb

For two vectors: For a vector and a tensor: For two tensors:

( a ! b )i = " ijk a j bk
( a ! A)ij = " ipq a p Aqj

( A ! B )i = " ijk Ajl Bkl

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More properties of 2nd order tensors I

Trace of a tensor Length of a vector Transpose of a tensor A:
AT

trace A = Aii = A11 + A22 + A33

u = u!u = ui ui

( )

B = AT Bij = A ji

A is symmetric if A = AT A is anti-symmetric if A = -AT Determinant of a tensor: det A :

det A = 1 ! ! A A A 6 ijk pqr pi qj rk

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More properties of 2nd order tensors II

Inverse of a tensor A-1 :
AA!1 = I Aij A!1

( )

jk

= " ik

( )
A!1

ij

1 " ipq " jrs Arp Asq 2 det A

In order for A-1 to exist we require: It can be shown that:

!1

det A ! 0
!1

(A ) = (A )
T

A tensor (or matrix) is orthogonal if:

A!1 = AT

Eg, a rotation matrix is an important example of an orthogonal matrix

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