MECh300H Introduction to Finite

Element Methods

Finite Element Analysis (F.E.A.) of 1-D

Problems
 Historical Background
Hrenikoff, 1941 frame work method
Courant, 1943 piecewise polynomial
interpolation
Turner, 1956 derived stiffness matrice for truss,
beam, etc
Clough, 1960 coined the term finite element
Key Ideas: - frame work method
piecewise polynomial approximation
 Axially Loaded Bar
Review:

Stress: Stress:

Strain: Strain:

Deformation: Deformation:
 Axially Loaded Bar
Review:

Stress:

Strain:

Deformation:
 Axially Loaded Bar Governing
Equations and Boundary
Conditions
Differential Equation
d du
EA( x ) f ( x) 0 0 x L
dx dx
Boundary Condition Types
prescribed displacement (essential BC)

prescribed force/derivative of displacement

(natural BC)
 Axially Loaded Bar Boundary
Conditions

Examples
fixed end

simple support

free end
 Potential Energy
Elastic Potential Energy (PE)
- Spring case
Unstretched spring

PE 0
Stretched bar
1 2
PE kx
2
x
- Axially loaded bar
undeformed: PE 0
L
1
deformed: PE Adx
20
- Elastic body
1 T
PE
2V
dv
 Potential Energy
Work Potential (WE)
f
P f: distributed force over a line
A B P: point force
L
u: displacement
WP u fdx P uB
0

Total Potential Energy

L L
1
Adx u fdx P uB
20 0

Principle of Minimum Potential Energy

For conservative systems, of all the kinematically admissible displacement fields,
those corresponding to equilibrium extremize the total potential energy. If the
extremum condition is a minimum, the equilibrium state is stable.
 Potential Energy + Rayleigh-Ritz
Approach
Example: f
P
A B

Step 1: assume a displacement field u aii x i 1 to n

i

is shape function / basis function

n is the order of approximation

Step 2: calculate total potential energy

 Potential Energy + Rayleigh-Ritz
Approach
Example: f
P
A B

Step 3:select ai so that the total potential energy is minimum

 Galerkins Method
Example: f
P
A B
d du Seek an approximation u~ so
EA( x ) f ( x) 0
dx dx d du~
u x 0 0 V i dx
w EA ( x )
dx
f ( x ) dV 0

EA( x )
du
P u~ x 0 0
dx x L du~
EA( x ) P
dx x L

In the Galerkins method, the weight function is chosen to be the same as the shape
function.
 Galerkins Method
Example: f
P
A B

du~ du~ dwi du~

L L L
d
V i dx
w EA( x ) f ( x ) dV 0 EA( x ) dx wi fdx wi EA( x ) 0
dx 0
dx dx 0
dx 0
1 2 3

3
Finite Element Method Piecewise
Approximation
u

x
 FEM Formulation of Axially
Loaded Bar Governing Equations
Differential Equation
d du
EA( x) f ( x) 0 0 xL
dx dx

Weighted-Integral Formulation
L d du
0
w EA( x) f ( x) dx 0
dx dx

Weak Form
L L
dw du du
0 EA( x) wf ( x) dx w EA( x)
0
dx dx dx 0
 Approximation Methods Finite
Element Method
Example:

Step 1: Discretization

Step 2: Weak form of one element P2

P1
x1 x2
x2 x2
dw du du
x dx EA( x )
dx


w( x ) f ( x )

dx w( x )

EA( x )
dx
0
x1
1

x2
dw du
x dx
EA( x )
dx
w( x ) f ( x ) dx w x2 P2 w x1 P1 0
1

 Approximation Methods Finite
Element Method
Example (cont):

Step 3: Choosing shape functions

- linear shape functions u u 1 1 2u2
x
x2
x1 l
x2 x x x1 1 1
1 ; 2 1 ; 2
l l 2 2
2
x x1 1; x
1 l x
1
l 2
 Approximation Methods Finite
Element Method
Example (cont):

Step 4: Forming element equation

E,A are constant x2

x2
u2 u1
x2 EA EA
1 u1 u2 1 f dx P1
Let w 1 , weak form becomes x l EA l dx x 1 f dx 1P2 1P1 0 l l x1
1 1

x
x2
u2 u1
x EA EA 2

1 u1 u2 2 f dx P2
2

Let w 2 , weak form becomes x l

EA
l
dx 2 f dx 2 P2 2 P1 0
x1
l l x1
1

x2
1 fdx
EA 1 1u1 x1 P1 f1 P1

l 1 1 u2

x2
P2 f2 P2
2 fdx
x1
 Approximation Methods Finite
Element Method
Example (cont):

Step 5: Assembling to form system equation

Approach 1:
1 1 0 0u1I f1I P1I
I I I
Element 1: E I AI 1 1 0 0u2 f 2 P2

l I 0 0 0 00 0 0

0 0 0 00
0 0
0 0 0
00 0 0
Element 2:
0 1 1
E II AII 0u1II f II P II

1 1
II II
l II 0 1 1 0 II
u2 f 2 P2

0 0 0
0 0
0 0

0 0 0 0 0 0 0

Element 3:
0 0 0 0

E III AIII 0 0 0


III III
l III
0 0 1 1
III
u1 f1 P1
III III III
0 0 1 1
u2 f2 P2
 Approximation Methods Finite
Element Method
Example (cont):

Step 5: Assembling to form system equation

Assembled System:

E I AI E I AI
lI I 0 0
l
I I
u1 f1 P1 f1 P1I
I
E A E I AI E II AII E II AII
I II 0 I II I II
l lI l l II u2
f 2 P2 f 2 f1 P2 P1
II
III II III
0 E II AII E II AII E III AIII E III AIII u3 f 3 P3 f 2 f1 P2 P1
II III
l l II l III l u4 f 4
P4 f 2III P2III

0 E III AIII E III AIII
0 III
l l III
 Approximation Methods Finite
Element Method
Example (cont):

Step 5: Assembling to form system equation

Approach 2: Element connectivity table Element 1 Element 2 Element 3

kije K IJ 1 1 2 3

2 2 3 4

local node global node index

(i,j) (I,J)
 Approximation Methods Finite
Element Method
Example (cont):

Step 6: Imposing boundary conditions and forming condense system

Condensed system: E I AI E II AII E II AII

I II II 0
l l
II II II II
l u2 f 2 0
E A E A E III AIII III III
E A
l II l II

l III
III u3 f 3 0
l
u4 f 4 P

E III AIII III III
E A
0 III
l l III
 Approximation Methods Finite
Element Method
Example (cont):

Step 7: solution

Step 8: post calculation

du d d d1 d
u u11 u22 u1 1 u2 2 E Eu1 Eu2 2
dx dx dx dx dx
 Summary - Major Steps in FEM
Discretization
Derivation of element equation
weak form
construct form of approximation solution
over one element
derive finite element model
Assembling putting elements together
Imposing boundary conditions
Solving equations
 Exercises Linear Element

Example 1:
E = 100 GPa, A = 1 cm2
 Linear Formulation for Bar Element
u1 f(x) u2
u
P1 P2
x x=x1 L = x2-x1 x= x2

P1 f1 K11 K12 u1

P2 f 2 K12 K 22 u2

di d j
x2 x2

where K ij EA
x1 dx dx
dx K ji , f i

f dx
x1
i

1 2

x=x1 x=x2
x
Higher Order Formulation for Bar Element
u1 u2 u3
u
x 1 2 3

u(x) u11 (x) u2 2 (x) u3 3 (x)

u1 u2 u3 u4
u
x 1 2 3 4

u(x) u1 1 ( x ) u2 2 ( x ) u3 3 ( x ) u4 4 ( x )

u1 u4 un
u u2 u3

x 1 2 3 4 n

u(x) u11 ( x ) u2 2 ( x ) u3 3 ( x ) u4 4 ( x ) un n ( x )
Natural Coordinates and Interpolation Functions
=-1 =1

x x=x1 x= x2
x 0 x l
x x x1
x1 x2
x
2
Natural (or Normal) Coordinate:
l/2
=-1 =1
1 1
1 , 2
1 2 2 2
=-1 =1
1 1
1 , 2 1 1 , 3
2 2
1 2 3
9 1 1
=-1 =1 1 1 , 2
27
1 1 1
16 3 3 16 3

1 2 3 4 3
27
1 1 1 , 4 9 1 1 1
16 3 16 3 3
Quadratic Formulation for Bar Element
P1 f 1 K 11 K 12 K 13 u1

P2 f 2 K 12 K 22 K 23 u2
P f K K 23 K 33 u3
3 3 13
di d j di d j 2
x2 1
where Kij EA dx
EA d K ji
x1 dx dx 1 d d l
x2 1
l
and f i ji f dx ji f d , i, j 1, 2, 3
x1 1
2

=-1 =0 =1
 Quadratic Formulation for Bar Element
u1 f(x) u2 u3
P2
P1 P3
x1 x2 x3
=-1 =0 =1

1 1
u( ) u1 1 ( ) u2 2 ( ) u3 3 ( ) u1 u2 1 1 u3
2 2

1 1
1 , 2 1 1 , 3
2 2
x1 x2
x l d 2
2 d dx
l/2 2 dx l

d1 2 d1 2 1 d2 2 d2 4 d3 2 d3 2 1
, ,
dx l d l dx l d l dx l d l
 Exercises Quadratic Element

Example 2:

E = 100 GPa, A1 = 1 cm2; A1 = 2 cm2

 Some Issues

Non-constant cross section:

Interior load point:

Mixed boundary condition:

k