MAE4700/5700

Finite Element Analysis for

Mechanical and Aerospace Design
Cornell University, Fall 2009

Nicholas Zabaras
Materials Process Design and Control Laboratory
Sibley School of Mechanical and Aerospace Engineering
101 Rhodes Hall
Cornell University
Ithaca, NY 14853-3801

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

N. Zabaras (11/06/2009)
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 Mathematical preliminaries
• Let us consider a domain Ω with interior Ω and
boundary ∂Ω.
• Usually the boundary ∂Ω is defined
parametrically as follows: x( s), y ( s) , where s is the
arc length along ∂Ω.
• For a function f(x,y) on the boundary ∂Ω, we can
write: f ( s) = f ( x( s), y ( s)), s ∈∂Ω.
• We denote the primary (scalar) variable in 2D as
u(x,y). Until further notice, we assume that all
functions used here are smooth enough for the
operations shown to be valid.

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

N. Zabaras (11/06/2009)
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 Mathematical preliminaries
• Recall that the gradient ∇u ( x, y ) is the rate of change of u as we
move from (x,y) to nearby locations:
∂u ( x, y ) ∂u ( x, y )
∇u ( x, y ) = i+ j
∂x ∂y
• Many times we will interpret this as a mathematical operation of the
differential operator ∇ = ∂ i + ∂ j on u( x, y ).
∂x ∂y

• The gradient ∇u ( x, y ) determines the rate of change of u at (x,y) in

any direction
• The rate of change of u in a given direction t = cos θ i + sin θ j
is given as:
du ( x, y ) ∂u ( x, y ) ∂u ( x, y )
= ∇u ( x, y )it = cos θ + sin θ
dt ∂x ∂y

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

N. Zabaras (11/06/2009)
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 Flux σ ( x, y )
• Similarly to the gradient ∇u ( x, y ) the flux σ ( x, y ) is a vector-valued
function or vector field.

• The flux σ ( s ) at the boundary can be decomposed in normal and

tangential components:

σ n ( s ) = σ ( s )i n ( s )
σ τ ( s) = σ ( s) • τ ( s)

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

N. Zabaras (11/06/2009)
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 Flux σ ( x, y )
• Consider an arbitrary part ω ⊂ Ω containing point ( x0 , y0 ) of the
domain Ω . Consider the normal flux σ n ( s) = σ ( s)in( s)
across the boundary ∂ω. The total flux across this boundary is

Σω = ∫ σ n ( s )ds
∂ω

• If you divide Σω by the area Aω of the subregion, we can view the

result as the amount of σ flowing into ω per unit area.

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

N. Zabaras (11/06/2009)
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 Divergence of the flux σ ( x, y )
• The limit of Σω / Aω = ∫ σ n ( s)ds / Aω as ω decreases in size always
∂ω
containing point ( x0 , y0 ) is called the divergence of the flux at P0 :
divσ ( x0 , y0 )

• Taking as ω the square region shown,

then:
Σω = Δσ x Δy + Δσ y Δx
• Dividing by the area ΔxΔy and taking the
limit Δx, Δy → 0 :
∂σ x ( x, y ) ∂σ y ( x, y ) ⎛ ∂ ∂ ⎞
divσ ( x, y ) =
∂x
+
∂y
=⎜ i+
⎝ ∂x ∂y ⎠
( )
j ⎟ • σ x i + σ y j ≡ ∇ •σ

So ∇ • σ is the density of the net flux per unit area at a point

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

N. Zabaras (11/06/2009)
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 Gauss divergence theorem
• The total flux out of the region Ω is then:
Σ = ∫ ∇ • σ dxdy
Ω

• We can now write using an earlier expression:

Σ = ∫ ∇ • σ dxdy = ∫ σ • nds
Ω ∂Ω

• This is the Gauss divergence theorem.

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 Constitutive equation and balance law
• Constitutive equation: We consider problems with the
following constitutive equation between the flux σ
and the state variable u(x,y).
σ ( x, y ) = − k ( x, y ) ∇u ( x, y )
material mod ulus
k ( x , y ) >0 in Ω

• Conservation principle: Within any portion of the

domain, the net flux across the boundary of that part
must be equal to the total quantity
produced by internal sources.

∫ω σ • nds = ω∫ fdxdy
∂
f is source
per unit area

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

N. Zabaras (11/06/2009)
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 Balance law
• Using the divergence theorem:

∫ω σ • nds = ω∫ fdxdy ⇒ ∫ (∇ • σ − f )dxdy = 0 for all ω ⊂ Ω.

∂ ω

• Since ω is arbitrary, we conclude that

the local form of the balance equation is:

∇ • σ ( x, y ) = f ( x, y )
• To make things more interesting, we assume an
additional source term proportional to u(x,y):

∇ • σ ( x, y ) + b( x, y )u ( x, y ) = f ( x, y )

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

N. Zabaras (11/06/2009)
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 Conservation principle at interfaces
• Consider an interface Γ separating two materials with
different modulus k1 and k2. Take a thin strip of the
body around a point on this interface. The balance law
takes the form:
s2 (−) (+)
Σ = ∫ (−σ • n +σ • n)ds = 0
s1

• The local balance at the interface

reduces to:

(+) (−)
σ n (s) = σ (s) • n − σ ( s ) • n = 0, s ∈ Γ

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

N. Zabaras (11/06/2009)
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 Boundary conditions
• Let us assume that in the boundary
Γ q ≡ ∂Ω 2 we apply natural boundary
conditions:

σ n ( s ) ≡ σ ( s ) • n( s ) = σ ( s ) =
= p ( s )(u ( s ) − u ( s )),
s ∈ ∂Ω 2

• On the boundary Γu ≡ ∂Ω1 , we assume essential

boundary conditions: u ( s ) = u ( s ), s ∈ ∂Ω1
MAE 4700 – FE Analysis for Mechanical & Aerospace Design
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 Summary of the problem of interest
• What we are given:
– ∂Ω1 , ∂Ω 2 and the interface Γ
– The source f = f ( x, y) in Ωi , i = 1, 2
k = k ( x, y ), ( x, y ) ∈ Ω , i = 1, 2
i i i
– The material moduli b = b ( x, y), ( x, y) ∈ Ω , i = 1, 2
i i i

– The boundary coefficients p( s), u( s) in ∂Ω 2

or σ ( s) in ∂Ω 2

• With this data we want to compute u(x,y) in Ω:

−∇ • (k ( x, y )∇u ( x, y )) + b( x, y )u ( x, y ) = f ( x, y ), ( x, y ) ∈ Ωi , i = 1, 2
∂u ( s ) ∂u ( s )
−k ( s) = p ( s )[u( s ) − u( s )], s ∈∂Ω 2 or −k ( s) = σ ( s ), s ∈ ∂Ω 2
∂n ∂n
u ( s ) = u ( s ), s ∈ ∂Ω1 k ∇u • n = 0, s ∈ Γ

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 A note regarding the boundary conditions
• The special case in which b=0 and when only natural
∂u ( s )
BC of the form − k ( s ) = σ ( s ), s ∈ ∂Ω is applied and when
∂n
2

∂Ω ≡ ∂Ω , needs special attention:

2

– The solution u(x,y) can only be determined up to a

constant
– For u to exist, the following compatibility condition
needs to be satisfied:

∫ fdxdy = ∫ σ ds
Ω ∂Ω

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 Variational problem: Weak form
• We start by multiplying the residual r(x,y) by a
sufficient smooth function w(x,y) and integrate over
each domain in which rw is smooth and set the
resulting weighted average equal to zero:

r ( x, y ) = −∇ • (k ( x, y )∇u ( x, y )) + b( x, y )u ( x, y ) − f ( x, y )

∫ ⎡⎣−∇ • (k ( x, y)∇u ( x, y)) + b( x, y)u( x, y) − f ( x, y) ⎤⎦ w( x, y)dxdy +

Ω1

∫ ⎡⎣ −∇ • (k ( x, y)∇u ( x, y)) + b( x, y)u ( x, y) − f ( x, y) ⎤⎦ w( x, y)dxdy = 0

Ω2

• We need to integrate by parts the first terms in each

of these integrals

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 Variational problem
∫ ⎡⎣ −∇ • (k ( x, y)∇u ( x, y)) + b( x, y)u ( x, y) − f ( x, y) ⎤⎦ w( x, y)dxdy +
Ω1

∫ ⎡⎣ −∇ • (k ( x, y)∇u ( x, y)) + b( x, y)u ( x, y) − f ( x, y) ⎤⎦ w( x, y)dxdy = 0

Ω2

• Integration by parts gives:

∫ ⎡⎣k ( x, y)∇u ( x, y) • ∇w( x, y) + b( x, y)u( x, y) w( x, y) − f ( x, y) w( x, y) ⎤⎦ dxdy +

Ω1

∫ ⎡⎣k ( x, y)∇u ( x, y) • ∇w( x, y) + b( x, y)u ( x, y)w( x, y) − f ( x, y)w( x, y) ⎤⎦ dxdy

Ω2

− ∫ ∇ • ( wk ∇u )dxdy − ∫ ∇ • (wk ∇u )dxdy = 0

Ω1 Ω2

• The last 2 integrals can be simplified with use of the

divergence theorem.
MAE 4700 – FE Analysis for Mechanical & Aerospace Design
N. Zabaras (11/06/2009)
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 Variational problem
∫ ⎡⎣k ( x, y)∇u ( x, y) • ∇w( x, y) + b( x, y)u ( x, y)w( x, y) − f ( x, y)w( x, y) ⎤⎦ dxdy +
Ω1

∫ ⎡⎣k ( x, y)∇u ( x, y) • ∇w( x, y) + b( x, y)u ( x, y)w( x, y) − f ( x, y)w( x, y) ⎤⎦ dxdy

Ω2

∂u ∂u
− ∫
∂ ( Ω1 )
k
∂n
wds − ∫
∂ ( Ω2 )
k
∂n
wds = 0
Boundary of the Boundary of the
domain Ω1 domain Ω2

• We can separate integration over Γ in the last 2 terms:

∂u ∂u ∂u ∂u
− ∫
∂ ( Ω1 )
k
∂n
wds − ∫ k wds = − ∫ k wds − ∫ k wds
∂ ( Ω2 )
∂n ∂ ( Ω1 ) −Γ
∂n ∂ ( Ω 2 ) −Γ
∂n
∂u ∂u
+ ∫ (−k )1wds + ∫ (−k ) 2 wds
Γ
∂n Γ
∂n
evaluated in region 1 evaluated in region 2

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

N. Zabaras (11/06/2009)
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 Variational problem
∂u ∂u ∂u ∂u ∂u ∂u
− ∫
∂ ( Ω1 )
k
∂n
wds − ∫ k wds = − ∫ k wds − ∫ k wds + ∫ (−k )1wds + ∫ (− k ) 2 wds
∂ ( Ω2 )
∂n ∂ ( Ω1 ) −Γ
∂n ∂ ( Ω 2 )−Γ
∂n Γ
∂n Γ
∂n
evaluated in region 1 evaluated in region 2

• Note that the outward normal n1 to

region Ω1 is the negative of n2 at
each point on Γ.

(+) (−)
∂u ∂u ( + ) ∂u ( − ) ∂u
∫Γ (−k ∂n )1wds + ∫Γ (−k ∂n )2 wds = ∫Γ (−k ∂n + k ∂n )wds
evaluated in region 1 evaluated in region 2

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

N. Zabaras (11/06/2009)
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 Variational problem
(+) (−)
∂u ∂u ( + ) ∂u ( − ) ∂u
∫Γ (−k ∂n )1wds + ∫Γ (−k ∂n )2 wds = ∫Γ (−k ∂n + k ∂n )wds
evaluated in region 1 evaluated in region 2

• The last integral is nothing else but: w σ n (s) , which is 0!

• Finally, we can summarize our weak form as:

∫ ⎡⎣ k ( x, y)∇u( x, y) • ∇w( x, y) + b( x, y)u ( x, y)w( x, y) − f ( x, y)w( x, y) ⎤⎦ dxdy +

Ω1

∫ ⎡⎣ k ( x, y)∇u ( x, y) • ∇w( x, y) + b( x, y)u ( x, y)w( x, y) − f ( x, y)w( x, y) ⎤⎦ dxdy

Ω2

∂u ∂u
− ∫
∂ ( Ω1 ) −Γ
k
∂n
wds − ∫ k wds = 0 ⇒
∂ ( Ω 2 ) −Γ
∂n
∂u
∫ ⎡⎣ k ( x, y)∇u ( x, y) • ∇w( x, y ) + b( x, y)u ( x, y)w( x, y) − f ( x, y)w( x, y) ⎤⎦ dxdy −
Ω
∫k
∂Ω
∂n
wds = 0

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 Variational problem
∂u
∫ ⎡⎣ k ( x, y)∇u ( x, y) • ∇w( x, y) + b( x, y)u ( x, y )w( x, y ) − f ( x, y)w( x, y) ⎤⎦ dxdy −
Ω
∫
∂Ω
k
∂n
wds = 0
Boundary of the
whole domain Ω

• Substitution of the natural boundary condition

∂u ( s )
−k ( s) = p ( s )[u ( s ) − u ( s )], s ∈ Γ q ≡ ∂Ω 2 gives:
∂n

∫ ⎡⎣k ( x, y)∇u ( x, y) • ∇w( x, y ) + b( x, y )u ( x, y)w( x, y) − f ( x, y) w( x, y) ⎤⎦ dxdy + ∫

Ω ∂Ω 2
p (u − u )wds = 0

for all admissible functions w( x, y ) ( w = 0 on ∂Ω1 ,sin ce we require u ( s ) = u ( s ), s ∈ ∂Ω1 )

• We write:

∫
∂Ω 2
p (u − u )wds = ∫
∂Ω 2
puwds − ∫
∂Ω 2
puwds = ∫
∂Ω 2
puwds − ∫ γ wds
∂Ω 2
γ

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 Space of admissible functions: H1(Ω)
• Finally the weak form looks like:

∫ ⎣⎡ k ( x, y)∇u ( x, y) • ∇w( x, y) + b( x, y)u ( x, y)w( x, y) ⎦⎤ dxdy + ∫

Ω ∂Ω 2
puwds = ∫ f wdxdy +
Ω
∫ γ wds
∂Ω 2

for all admissible functions w( x, y ), w = 0 on ∂Ω1

• What is the class of admissible functions?

⎡⎛ ∂w ⎞ 2 ⎛ ∂w ⎞2 ⎤
∫Ω ⎢⎢⎜⎝ ∂x ⎟⎠ + ⎜⎝ ∂y ⎟⎠ + w ⎥⎥ dxdy < ∞
2

⎣ ⎦
We indicate this space of functions as H (Ω),
1
•
– 1 reflecting that first derivatives are square integrable
– Ω indicates the domain over which these functions are defined.

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 Summary of weak problem
• Find a function u( x, y ) ∈ H 1 (Ω), such that u(s) = u (s), s ∈ ∂Ω and 1

the following holds:

∫ ⎡⎣ k ( x, y)∇u ( x, y) • ∇w( x, y) + b( x, y)u ( x, y)w( x, y) ⎤⎦ dxdy + ∫
Ω ∂Ω 2
puwds = ∫ f wdxdy +
Ω
∫ γ wds
∂Ω 2

for all functions w( x, y ) ∈ H 1 (Ω) with w = 0 on ∂Ω1.

• We can repeat the above weak statement using matrix

notation as follows (more appropriate for FEM
implementation)
Find u ( x, y ) ∈ H (Ω), u ( s ) = u ( s ), s ∈ ∂Ω1 , such that
1

∀w( x, y ) ∈ H 1 (Ω) with w = 0 on ∂Ω1 the following holds:

⎡ ⎤
∫Ω ⎢⎢( ∇w) k ( x, y) ∇2 xu1 + b( x, y)u ( x, y)w( x, y) ⎥⎥ dxdy + ∂Ω∫ puwds = Ω∫ f wdxdy + ∂Ω∫ γ wds
T

⎣ 1x 2 1 x1 ⎦ 2 2

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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 Matrix form of the weak statement
Find u ( x, y ) ∈ H (Ω), u ( s ) = u ( s ), s ∈ ∂Ω1 , such that
1

∀w( x, y ) ∈ H 1 (Ω) with w = 0 on ∂Ω1 the following holds:

⎡ ⎤
∫Ω ⎢⎢( ∇w) k ( x, y) ∇2 xu1 + b( x, y)u ( x, y)w( x, y) ⎥⎥ dxdy + ∂Ω∫ puwds = Ω∫ f wdxdy + ∂Ω∫ γ wds
T

⎣ 1x 2 1 x1 ⎦ 2 2

• The gradient operator here is defined as a column

vector:
⎡∂⎤ ⎡ ∂u ⎤
⎢ ∂x ⎥ ⎢ ∂x ⎥ ⎡ ∂w ∂w ⎤
∇ = ⎢ ⎥ , ∇u = ⎢ ⎥ , ( ∇w ) = ⎢
T

⎢∂⎥ ⎢ ∂u ⎥ ⎣ ∂x ∂y ⎥⎦
⎢⎣ ∂y ⎥⎦ ⎢⎣ ∂y ⎥⎦

• We will be interchanging the 2 notations here hoping

that from the context you know which notation is
implied.
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 Appendices
Some extra slides are included here with:

9 mathematics background,
9 proof of equivalence of weak and strong formulations,
9 Examples of deriving weak forms for 2D BVP,
9 Including anisotropy (e.g. generalized Fourier’s law),
etc.

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

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Equivalence between the weak and strong problems
• Consider the following simplified BVP and the
corresponding weak form:
∇ • (q ( x, y )) = f ( x, y ), ( x, y ) ∈ Ω
∂u ( s )
where : q = − k ∇u , −k (s) ≡ q ⋅ n = q on Γ q , and u = u on Γu , with Γ q ∪ Γu ≡ Γ(≡ ∂Ω)
∂n

• The weak form is: Find u ( x, y ) ∈ H 1 (Ω) : ∀w ∈ H 1 (Ω) with w = 0 on Γu :

∫ q • ∇wdxdy + ∫ fwdxdy = ∫ qwd Γ

Ω Ω Γq

• We want to show that this weak form is equilavent to

the strong problem (recover the PDE + natural BCs)

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Equivalence between the weak and strong problems

∫ q • ∇wdxdy + ∫ fwdxdy = ∫ qwd Γ

Ω Ω Γq

• Integration by parts of the first term gives the

following:

∫ wq • nd Γ − ∫ w∇ • qd Ω + ∫ fwdxdy = ∫ qwd Γ ⇒
Γ Ω Ω Γq

∫ wq • ndΓ + ∫ wq • ndΓ − ∫ w ( ∇ • q − f ) d Ω − ∫ qwd Γ = 0 ⇒

Γu Γq Ω Γq

∫ w q(• n − q )
d Γ + ∫ wq • nd Γ − ∫ w ∇(• q − f d Ω =)0 ∀w ∈ H 1
(Ω) with w = 0 on Γu
Γq Γu Ω

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Equivalence between the weak and strong problems

∫ w q (
• n − q)d Γ + ∫ wq • nd Γ − ∫ w ∇ • q (
− f d Ω =)0 ∀w ∈ H 1
(Ω) with w = 0 on Γu
Γq Γu Ω

• Deriving the PDE first: Select w as follows:

( )
w = ψ ( x) ∇ • q − f , with ψ = 0 on Γ and ψ > 0 on Ω

• The first equation above then results in:

∫ψ ( ∇ • q − f )
2
d Ω = 0 ⇒ ∇ • q − f = 0 in Ω
Ω

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Equivalence between the weak and strong problems

∫ w (
q • n − q d Γ)+ ∫ wq • nd Γ = 0 ∀w ∈ H 1
(Ω) with w = 0 on Γu
Γq Γu

• We next derive the natural BC: Select w as follows:

( )
w = ζ ( x) q • n − q , with ζ = 0 on Γu and ζ > 0 on Γ q

• The first equation above then results in:

∫ ζ (q • n − q)
2
dΓ = 0 ⇒ q • n − q = 0 on Γ q
Γq

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 Generalized Fourier’s law
• In general, the flux q and temperature gradient are
related with the anisotropic (generalized) Fourier’s
law: ⎡ ∂u ⎤
⎡q ⎤ ⎡k k ⎤⎢ ⎥ ∂x
⎢q ⎥ = − ⎢k ⎢ ⎥=− ∇u
x xx xy
⎥
k yy ⎦ ⎢ ∂u ⎥
[ D]
⎣ y⎦ ⎣ yx 2 x 2 conductivity matrix 2 x1
⎢⎣ ∂y ⎥⎦

⎡k 0 ⎤
• For isotropic materials [ D] = ⎢ ⎥=k [I ]
⎣ 0 k ⎦ 2 x 2 identity matrix

• For a 2D BVP with prescribed flux on Γ and q

temperature on Γ and a source term f, can you show

u

that the weak form in matrix notation is: Find

∫( )
T
u ( x, y ) ∈ H 1 (Ω) : ∀w ∈ H 1 (Ω) with w = 0 on Γu : ∇w [ D] ∇u dxdy = − ∫ qwd Γ + ∫ fwdxdy
Ω 2 x 2 2 x1 Γq Ω
1x 2

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 Appendix: Green’s theorem
• If u ( x, y ) ∈ C 0 int egrable, then:

∫ ∇ud Ω = ∫ und Γ
Ω Γ

• Recall the one-dimensional version of this (where the

boundary is only 2 points):

du
∫Ω dx dx =un |Γ = u ( x = L) − u ( x = 0)

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 Appendix: Divergence theorem
• If q( x, y ) ∈ C 0 int egrable, then:

∫ ∇ • qd Ω = ∫ q • nd Γ
Ω Γ

∂qx ∂q y
• Note that: ∇•q = +
∂x ∂y

• Explicilty, we can write the divergence theorem as:

⎛ ∂qx ∂q y ⎞
∫Ω ⎜⎝ ∂x + ∂y ⎟⎠ d Ω = ∫ (q n
Γ
x x + q y ny ) d Γ

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 Appendix: Green’s theorem
• This is the analogue of integration by parts in 1D:

∫ w∇ • qd Ω = ∫ wq • nd Γ − ∫ ∇w • qd Ω
Ω Γ Ω

• The proof of this is simple if you notice that:

∂ ∂ ∂w ∂qx ∂w ∂q y
∇ • ( wq ) = ( wqx ) + ( wq y ) = qx + w+ qy + w⇒
∂x ∂y ∂x ∂x ∂y ∂y

∇ • ( wq ) = w∇ • q + ∇w • q

• This together with the divergence theorem give:

∫ w∇ • qd Ω = ∫ ∇ • (wq)d Ω − ∫ ∇w • qd Ω = ∫ wq • nd Γ − ∫ ∇w • qd Ω
Ω Ω Ω Γ Ω

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

N. Zabaras (11/06/2009)
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 Appendix: Green’s theorem in 1D
∫ w∇ • qd Ω = ∫ wq • nd Γ − ∫ ∇w • qd Ω
Ω Γ Ω

• The 1D analogue of Green’s theorem is as follows:

∂qx ∂w
∫w
Ω
∂x
dΩ = ∫ wqx nd Γ − ∫
Γ Ω
∂x
qx d Ω

or more explicitly as:

∂qx ∂w ∂w
∫w dx =wqx n |Γ − ∫ qx dx = ( wqx |x = L − wqx |x =0 ) − ∫ qx dx
Ω
∂x Ω
∂x Ω
∂x

Recall that we had used this compact form in 1D to treat boundary conditions
on the left (x=0) and the right (x=L) end points in a unified way

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

N. Zabaras (11/06/2009)
32
 Example problem on divergence theorem
• Consider the vector function q = (qx .q y ) = (3x 2 y + y 3 ,3x + y 3 ),
defined in the domain shown in the figure below.
• Demonstrate the validity of the divergence theorem,
i.e.

∫ ∇ • qd Ω = ∫ q • nd Γ
Ω Γ

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

N. Zabaras (11/06/2009)
33
 Example problem on divergence theorem
• From q = (qx .q y ) = (3x 2 y + y 3 ,3x + y 3 ), we compute the
following: ∂q ∂q
∇•q = + = ( 6 xy ) + (3 y ) = 6 xy + 3 y
x y 2 2

∂x ∂y

• Using this, we compute ∫ ∇ • qd Ω as follows:

Ω

2 1−0.5 x 2

∫ ∇ • qd Ω = ∫ ∫ (6 xy + 3 y )dydx = ∫ [3 x(1 − 0.5 x) 2 + (1 − 0.5 x)3 ]dx = 1.5

2

Ω 0 0 0

y = 1 − 0.5 x

dx

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

N. Zabaras (11/06/2009)
34
 Example problem on divergence theorem
• Also: ∫ q • nd Γ = ∫ q •
Γ AB
n dΓ +
(0,−1) dx
∫ q•
BC
n
5
dΓ +
5
∫ q•
CA
n dΓ
( −1,0) − dy
(1,2) − dx
5 2

5 (2) 5
• Note that on segment BC: ds = − dx and n = (1, 2) . Thus
2 5

5⎡ 2 ⎤
0 0
5
∫ q • nd Γ = ∫
2
−(3 x + y )dx + ∫ ⎢(3 x y + y ) + 2(3 x + y ) ⎥ ( − dx) + ∫ ( −3 x y − y 3 )( −dy ) ⇒
3 3 3 2

Γ
0
0 2
5 ⎢⎣ 1−0.5 x ⎥⎦ 2 1 0

2
1
∫ q • nd Γ = −6 + ∫ 2 ⎡⎣(3x (1 − 0.5 x) + (1 − 0.5 x)3 ) + 2(3 x + (1 − 0.5 x)3 ) ⎤⎦ dx − 0.25 ⇒
2

Γ 0

∫ q • nd Γ = −6 + 7.75 − 0.25
y = 1 − 0.5 x Γ

| ds |= dx 2 + dy 2 = ∫ q • nd Γ = −6 + 7.75 − 0.25 = 1.5 ⇒

Γ
2
⎛ dx ⎞ 5
dx 2 + ⎜ ⎟ =
∫ ∇ • qd Ω = ∫ q • nd Γ
| dx |
⎝ 2⎠ 2
Ω Γ
dx

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

N. Zabaras (11/06/2009)
35
 Example: Deriving the weak form
• Consider isotropic heat conduction in the domain
shown with the boundary conditions indicated. Provide
a complete weak statement of the problem.
−∇ • (k ( x, y )∇T ( x, y )) = f ( x, y )

• We start by
multiplying with the
weight function w
and integrating over the domain:

∫ ⎡⎣ −∇ • (k ( x, y)∇T ( x, y)) − f ( x, y) ⎤⎦ w( x, y)dxdy = 0, ∀ sufficiently smooth w

Ω

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

N. Zabaras (11/06/2009)
36
 Example: Deriving the weak form
∫ ⎡⎣ −∇ • (k ( x, y)∇T ( x, y)) − f ( x, y) ⎤⎦ w( x, y)dxdy = 0, ∀ sufficiently smooth w
Ω

• Integration by parts gives:

∂T
∫ ⎡⎣ k ∇T • ∇w − fw⎤⎦ dxdy −
Ω
∫
Γ q +Γ h
k
∂n
wds = 0, ∀ w ∈ H 1 (Ω), with w = 0 on ΓT

• The boundary term

can be further
simplified as:

∂T
∫
Γ q +Γ h
k
∂n
wds = ∫ (− q ) wds + ∫ (−h(T − T∞ )) wds = − ∫ qwds − ∫ hTwds + ∫ hT∞ wds
Γq Γh Γq Γh Γh

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

N. Zabaras (11/06/2009)
37
 Example: Deriving the weak form
∂u
∫ ⎡⎣ k ∇T • ∇w − fw⎤⎦ dxdy −
Ω
∫
Γ q +Γ h
k
∂n
wds = 0, ∀ w ∈ H 1 (Ω), with w = 0 on ΓT

• The final weak form is then:

Find T ( x, y ) ∈ H 1 (Ω), with T = T on ΓT such that

∫⎣
⎡ ∇ • ∇ − ⎤ + ∫ = − ∫ + ∫ ∀ ∈ (Ω), with w = 0 on ΓT
1
k T w fw ⎦ dxdy hTwds qwds hT∞ wds , w H
Ω Γh Γq Γh

In matrix form, we can also

write the weak form as:
⎡ ⎤
∫Ω ⎢⎢( ∇w) 1kx1 ∇2 xT1 − fw⎥⎥ dxdy
T

⎣ 1x 2 ⎦
+ ∫ hTwds = − ∫ qwds + ∫ hT∞ wds
Γh Γq Γh

∀ w ∈ H 1 (Ω), with w = 0 on ΓT

MAE 4700 – FE Analysis for Mechanical & Aerospace Design

N. Zabaras (11/06/2009)
38