Professional Documents
Culture Documents
Finite Element CJ Reddy
Finite Element CJ Reddy
December 1994
December 1994
Contents
Symbols
Abstract .
1. Introduction
2. Two-Dimensional Problems
vii
2.1.1. Formulation
2.1.5. Summary .
10
2.2.1.1. Formulation
10
2.2.1.2. Discretization
10
11
12
12
12
2.2.2.1. Formulation
13
2.2.2.2. Discretization
13
13
14
14
15
2.2.3.1. Formulation
15
2.2.3.2. Discretization
16
16
17
17
17
2.2.4.1. Formulation
17
2.2.4.2. Discretization
17
18
18
19
19
19
19
3.1.1. Formulation
20
3.1.2. Discretization .
21
22
22
iii
23
3.1.6. Summary .
4. Concluding Remarks
24
24
Appendix
26
Reference s
27
iv
Tables
Table 1. Cuto Wave Numbers for Rectangular Waveguide . . . . . . . . . . . . . 5
Table 2. Cuto Wave Numbers for Circular Waveguide
. . . . . . . . . . . . . . 5
. . . . . . . . . . 8
12
. . . . . . . . . . . . .
13
14
. . . . . . . . . . . . .
14
17
19
20
21
23
24
24
24
Figures
Figure 1. Geometry of problem. . . . . . . . . . . . . . . . . . . . . . . . . . 2
Figure 2. Single triangular element. . . . . . . . . . . . . . . . . . . . . . . . 2
Figure 3. Flowchart for FEM solution. . . . . . . . . . . . . . . . . . . . . . . 4
Figure 4. Geometry of rectangular waveguide.
. . . . . . . . . . . . . . . . . . 5
. . . . . . 7
. . . . . . . . . 9
. . . . . . . . . . . . . .
11
. . . . . . . . . . . . . . . . . .
17
Figure 12. Partially lled rectangular waveguide with br =ar = 0:45, d=br = 0:5,
and "r = 2:45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19
Figure 13. Partially lled waveguide with br=ar = 0:45 and "r = 2:45. . . . . . . .
19
21
Figure 15. Air-lled rectangular cavity. Size: 1 by 0.5 by 0.75 cm. . . . . . . . . .
23
Figure 16. Half-lled rectangular cavity with dielectric material "r = 2:0 and lled
from z = 0:5 to 1 cm. Size: 1 by 0.1 by 1 cm. . . . . . . . . . . . . . . . . .
23
Figure 17. Air-lled circular cylindrical cavity. Dimensions are in centimeters.
24
vi
. . .
Symbols
A, B
A
Am; Axm; Aym; Azm
ai; bi; ci
ar ; br
atm; btm; ctm; dtm
Bm; Bxm; Bym; Bzm
Cm; Cxm; Cym; Czm
Dm
dl
ds
dv
d0
E
Et
Ex; Ey ; Ez
em
etm
ezi
FEM3D0, FEM3D1
f
H
Ht
Hx; Hy ; Hz
HELM10
HELMVEC, HELMVEC1,
HELMVEC2, HELMVEC3
kc
ko
Lm
Ltm
2
o
length of edges for tetrahedral element, m = 1; 2; 3; 4
length of edges for triangular element, m = 1; 2; 3
free-space wave number,
vii
LSM
nb
PEC
r
r1
r2
S, T
Sel; Tel
Sel(tt); Sel(tz ),
Sel(zt); Sel(zz)
Stt; Stz ; Szt; Szz
St; Tt
Sz ; Tz
T
Tel(tt); Tel(tz),
Tel(zt); Tel(zz )
Tt
Ts
Ttt; Ttz ; Tzt; Tzz
Tx ; Ty ; Tz
components of vector T
TE
transverse electric
TM
btm
transverse magnetic
bttm
V
Wm
Wtm
X; Y; Z
x; y; z
xb; by ; bz
xtet; y tet; z tet
xtri ; y tri
ZoTM
i
viii
tm
0
1
"r
o
r
i
r
r
ix
Abstract
Finite element method (FEM) has been a very powerful tool to solve
many complex problems in electromagnetics. The goal of the current
research at the Langley Research Center is to develop a combined
FEM/method of moments approach to three-dimensional scattering/
radiation problem for objects with arbitrary shape and lled with complex
materials. As a rst step toward that goal, an exercise is taken to
establish the power of FEM, through closed boundary problems. This
paper demonstrates the development of FEM tools for two- and threedimensional eigenvalue problems in electromagnetics. In section 2,
both the scalar and vector nite elements have been used for various
waveguide problems to demonstrate the
exibility of FEM. In section 3,
vector nite element method has been extended to three-dimensional
eigenvalue problems.
1. Introduction
used to formulate the FEM matrices. The eigenvalues for dierent types of waveguides are obtained
and the eld intensity plots are presented for various
waveguide modes.
In section 2.2, a vector FEM is introduced with
two-dimensional edge elements for analyzing inhomogeneous waveguides. For the sake of clarity in
formulation, section 2.2 is divided into four sections.
Section 2.2.1 gives the solution of homogeneous waveguide problem with two-component transverse vector
elds. Section 2.2.2 gives the calculation of eigenvalues for inhomogeneous waveguides using the threecomponent vector elds. Combination of edge and
nodal basis functions have been used for transverse
and longitudinal eld components, respectively. Sections 2.2.3 and 2.2.4 extend the formulation in section 2.2.2 to determine either the wave number or
the propagation constant for inhomogeneously lled
waveguides when one of them is specied.
In section 3.1, formulation for three-dimensional
vector FEM is described. Edge basis functions for
tetrahedral elements are introduced to formulate nite element matrices for three-dimensional cavities
lled with inhomogeneous material.
In sections 2.1, 2.2, and 3.1, numerical examples
are presented to show the validity of the analysis and
the computer programs developed. For all the examples, FEM results in good accuracy. All the numerical examples have been checked for numerical
convergence. By virtue of FEM, the computer codes
presented in this paper can handle any arbitrarily
shaped geometries lled with inhomogeneous materials, unless otherwise mentioned.
2. Two-Dimensional Problems
2.1. Homogeneous Waveguides|Scalar
Formulation
This section deals with the solution of twodimensional waveguide problems with closed boundaries using the Galerkin nite element method. The
wave equation is solved for a generalized problem with nodal-based rst-order triangular elements
(ref. 1). Finite element matrices are derived and a
computer program to calculate the eigenvalues and
electric eld distributions is presented.
2.1.1. Formulation
r2t
+ kc2 = 0
(1)
Ts
r2
t
+ k 2T
c s
ds = 0
(2)
(rtTs 1 rt ) ds = kc2
Ts
r2
t
ds =
ZZ
0
Ts (rt 1 rt ) ds
and
ZZ
The problem region is discretized with the rstorder triangular elements. Within the triangular element given in gure 2, is adequately approximated
by the expression (ref. 1)
= a + bx + cy
rt 1 rt ds = rt 1 nb dl
(5)
d0
(rtTs 1 rt ) ds 0 kc2
ZZ
0
Ts ds =
Z
d0
Ts
(8)
(9)
2 = a + bx2 + cy2
(10)
3 = a + bx3 + cy3
(11)
Y
d
(3)
(7)
rt 1 [Ts(rt
Ts ds
2.1.2. Discretization
ZZ
@
dl
@n
(6)
X
Figure 1. Geometry of problem.
1
(x1,y1)
2
(x2,y2)
3
(x3,y3)
X
Figure 2. Single triangular element.
6
4
7
5
6
4
7
5
6
4
7
5
=[ 1
x y ]4 b 5 =[ 1 x y ]4 1 x2 y25
c
1 x3 y3
3
X
=1
2
4
2
3
(x; y )
(13)
Using the testing function (as per Galerkin's technique (ref. 1)),
(j = 1; 2; 3)
(20)
Ts = j (x; y )
and the element representation in equation (14), the
left-hand side of equation (7) can be evaluated over
a single element as
Z Z
3
=
i
i=1
1
Z Z
Ts dxdy =
3
i
i=1
1
Z Z
ZZ
=1
(j = 1; 2; 3)
(21)
(j = 1; 2; 3)
= kc2
ZZ
=1
ij dx dy
(j = 1; 2; 3) (23)
1ZZ
[Tel] =
(ij ) dx dy
@
i
ri = @
xb + i by
@x
@y
From equation (15), ri can be written as
1 (b bx + c by)
ri = 2A
i
i
and hence,
11 r1
4
[ri 1 rj] = r21 r1
r3 1 r1
2
(22)
(ri 1 rj ) dx dy
11 r2
r2 1 r2
r3 1 r2
r
(24)
(25)
(26)
(27)
(28)
11 r33
r21 r35 (29)
r31 r3
r
(30)
The matrix [Sel] can be evaluated by using equation (30) to obtain
2
el
Z Z
(ri 1 rj) dxdy 5 = A[ri 1 rj]
2
(rti 1 rtj) dxdy
ij dxdy
[S ] =4
(rtTs 1 rt ) dxdy
Z Z
(14)
i i
[Tel] =
ZZ
(31)
ij dx dy 5
(32)
3
2
3
2 1 1
A
[Tel] = 6
41 2 17
5
12
1 1 2
(33)
(34)
3
X
i=1
x; y )
i i(
(35)
@
1
c
=
@y 2A i=1 i i
@
@x
(40)
Ey = 0ZoTM
@
@y
(41)
A computer code HELM10 was written to implement the formulation presented in section 2.1. The
owchart for the implementation of the FEM solution is given in gure 3. Numerical examples for the
rectangular waveguide, the circular waveguide, and
the coaxial line are given as follows:
Rectangular waveguide: The cuto wave numbers
HELM10 are presented in table 1 along with analytical results from reference 9. The geometry of the
rectangular waveguide (ar =br = 2) is shown in gure 4. The numerical results presented are achieved
with 400 triangular elements over the cross section
of the waveguide. The eigenvectors for some of the
modes have been calculated and the electric elds of
the corresponding modes are plotted in gure 5.
Waveguide geometry
(37)
@
Ex = 0
@y
(38)
@
@x
(39)
Ex = 0ZoTM
(36)
For the TE modes, the transverse electric eld components Ex and Ey inside an element are given by
Ey =
walls of the waveguide to satisfy the Dirichlet boundary conditions for the longitudinal electric eld component. A very simple way of implementing this is to
ignore the nodes on PEC while forming nite element
matrices. This will result in lower order matrices for
the TM case than those for the TE case. Once the
scalar potential is obtained, the transverse electric
elds for the TM modes are given by
COSMOS
(mesh generator)
HELM10
(FEM code)
Eigenvalues
field distribution
TECPLOT/AVS
br
ar
TE
10
20
01
11
12
21
TM
11
12
21
Analytical (ref. 9)
3.142
6.285
6.285
7.027
12.958
8.889
HELM10
3.144
6.308
6.308
7.027
13.201
8.993
Mode
TE01
TE11
TE12
TE21
TE22
TM01
TM11
TM12
TM21
TM22
Analytical (ref. 9)
3.832
1.841
5.331
3.054
6.706
2.405
3.832
7.016
5.135
8.417
HELM10
3.858
1.843
5.379
3.068
6.688
2.413
3.854
7.136
5.210
8.668
kcr1
r1
r2
HELM10
0.412
0.754
1.055
1.030
1.120
ZZ
Vector Fields
rt 2
1
r
rt 2 Et 0 kc2"r Et = 0
(42)
rt 2
1
"r
rt 2 Ht 0 kc2r Ht = 0
(43)
where r and "r are the permeability and permittivity, respectively, of the material in the waveguide.
In this section, we illustrate the procedure for the
TE mode and the same procedure can be applied
for the TM mode, except the Neumann boundary
conditions are applied at PEC boundaries instead of
the Dirichlet boundary conditions.
2.2.1.1. Formulation. For the TE mode, reconsider the wave equation (42), which is
rt 2
1
r
rt 2 Et 0 kc2"r Et = 0
ZZ
Tt 1 rt 2
1
r
r 2 Et
0 k 2"
T 1 Et ds = 0
c r t
(44)
b = 0Tt 1 (nb 2 A)
(Tt 2 A) 1 n
(46)
ZZ
0
10
rt 1 (Tt 2 A) ds =
d0
b dl
(Tt 2 A) 1 n
(47)
r
0 Tt 1 nb 2 1 rt 2 Et
d0
ZZ
0
dl
Tt 1 Et ds
(48)
ZZ
0
r
ZZ
0
Tt 1 Et ds
(49)
The most elegant and simple approach to eliminate the disadvantages of the nodal-based elements
is to use edge elements. Edge elements are recently
developed nite element bases for vector elds. With
edge elements, only the tangential continuity of the
vector elds is imposed across the element boundaries. The advantages of edge elements are as follows:
1. The edge elements impose the continuity of
only the tangential components of the electric
and magnetic elds, which is consistent with
the physical constraints on these elds.
2. The interelement boundary conditions are
automatically obtained through the natural
boundary conditions.
3. The Dirichlet boundary condition can be easily imposed along the element edges.
1
(x1,y1)
et1
et3
2
(x2,y2)
3
(x3,y3)
et2
4. As the edge elements are chosen to be divergence free, the spurious nonphysical solutions
are completely eliminated.
For a single triangular element shown in gure 10,
the transverse electric eld can be expressed as a
superposition of edge elements. The edge elements
permit a constant tangential component of the basis
function along one triangular edge while simultaneously allowing a zero tangential component along the
other two edges. Three such basis functions overlapping each triangular cell, provide the complete
expansion (ref. 11):
3
X
e
E =
t
=1
Wtm =
where
(50)
tmWtm
(51)
i is the rst-order shape function associated with
nodes 1, 2, and 3 dened by equation (15); and Ltm
is the length of edge m connecting nodes i and j, that
is, explicitly, the basis functions representing edges 1,
2, and 3 with coecients et1, et2, and et3 written as
(52)
Wt1 = Lt1(1rt2 0 2rt1)
Wt2 = Lt2(2rt3 0 3rt2)
(53)
Wt3 = Lt3(3rt1 0 1rt3)
(54)
The three unknown parameters are etm. It can be
shown that
ttm 1 Et = etm
(on edge m)
(55)
where ttm is a unit vector along edge m in the
direction of the edge; for example,
(x 0 x )x + (y2 0 y1)y
t = 2 1
b1
t
(57)
Bm = cibj 0 cj bi
(58)
Cm = aicj 0 aj ci
(59)
Dm = bicj 0 bj ci = 0Bm
(60)
From equation (56), rt 1 Wtm = 0, which results in
a divergenceless electric eld; that is, rt 1 Et = 0.
Substituting
equation (50) into equation (49) for a single triangular element gives the following equation:
1
Ltm
where
bL
r
ZZ X3 (r 2 W ) 1 (1 2 W )e
1
=1
= kc2"r
tn
ZZ X3 (W
1
=1
tm
tn
tm
ds
1 Wtn)etm ds
(n = 1; 2; 3)
(61)
where 1 indicates the integration over the triangular
element. By interchanging the integration and summations, equation (61) can be written in a matrix
form as
(62)
[Sel][et] = kc2[Tel][et]
Hence the nite element matrices for a single element
are given by
[S ] = 1 (r 2 W ) 1 (r 2 W ) ds (63)
el
and
r
ZZ
tm
[Tel] = "r
ZZ (W
tm
tn
1 Wtn) ds
(64)
11
(65)
ZZ
1
and
ZZ
LtmLtn
4A3
DmDn
(66)
W W
L L
( tm1 tn) ds = tm 3tn(It1+It2+It3+It4+It5) (67)
16A
where
1
It1 = (AmAn + CmCn)
A
It2 =
It3 =
1
(C D + CnDm)
A m n
1
(A B + AnBm)
A m n
It4 =
It5 =
1
(B B )
A m n
1
(D D )
A m n
ZZ
ZZ
1
ZZ
ZZ
1
ZZ
dx dy
(68)
x dx dy
(69)
y dx dy
(70)
y 2 dx dy
(71)
x2 dx dy
(72)
12
(73)
(74)
(75)
It4 =
BmBn
It5 =
DmDn
12
12
3
X
yi2 + 9y 2tri
=1
3
X
i
=1
2
xi2 + 9xtri
(76)
(77)
2.2.1.5. Numerical examples. A computer program HELMVEC was written to solve the eigenvalue
problem presented in section 2.2.1. Numerical data
computed with this program for a rectangular waveguide and a circular waveguide are given as follows.
Rectangular waveguide: The cuto wave numbers
of an air-lled rectangular waveguide (shown in g. 4,
ar =br = 2) were calculated with the procedure in section 2.2.1 (HELMVEC) and are presented in table 4
for both the TE and TM modes along with analytical data from reference 9. Four hundred triangular
elements have been used to represent the geometry.
Mode
TE10
TE20
TE30
TE01
TE11
TE21
TE31
TE02
TM11
TM12
TM13
TM21
TM22
TM23
TM31
TM32
Analytical (ref. 9)
TE mode
3.142
6.285
9.428
6.285
7.027
8.889
11.331
12.571
TM mode
7.027
8.889
11.331
12.958
14.055
15.710
19.117
19.877
HELMVEC
3.140
6.274
9.396
6.274
7.024
8.897
11.339
12.497
7.024
8.889
11.340
12.902
14.044
15.757
18.906
19.728
In this section, a generalized approach for nding the cuto frequencies of inhomogeneously lled
waveguides is described.
kc
Mode
Analytical (ref. 9)
ZZ
HELMVEC
TE mode
3.832
1.841
3.054
4.201
7.016
5.331
6.706
8.015
TM mode
2.405
3.832
5.136
6.380
5.520
7.016
8.417
9.761
TE01
TE11
TE12
TE13
TE20
TE21
TE22
TE23
TM10
TM11
TM12
TM13
TM20
TM21
TM22
TM23
r
rt 2
r
rt 2 E 0 kc2"r E = 0
(78)
E = Et + bz Ez
(79)
1
rt 2 rt 2 Et 0 kc2"r Et = 0
r
(80)
rt 1 1 rtEz + kc2"rEz = 0
(81)
ZZ
0
r
ZZ
0
2.416
3.831
5.155
6.358
5.508
7.054
8.403
9.644
Tz Ez ds (83)
3.834
1.846
3.070
4.192
7.002
5.332
6.620
8.178
Ez =
2.2.2.1. Formulation.
1
ZZ
Tt 1 Et ds
(82)
3
X
i=1
ezii
(84)
r
ZZ X
3
1
m=1
ZZ X
2
(Wtm 1 Wtn)etm ds
1 m=1
(n = 1; 2; 3)
= kc2"r
3 ZZ
X
r i=1 ezi
(85)
(rti 1 rtj) dxdy
1
3 ZZ
X
= kc2"r ezi
i=1
1
ij dxdy (j = 1; 2; 3) (86)
13
#
"
et 2 Tel(t) 0 et
= kc
(87)
Sel(z ) ez
0
Tel(z ) ez
Sel(t)
Sel(t) =
r
ZZ
Sel(z) =
kcar
r
Tel(t) = "r
ZZ
ZZ
Tel(z ) = "r
(ri 1 rj ) dx dy
(89)
(Wtm 1 Wtn) ds
(90)
ZZ
ij dx dy
(91)
St 0 et 2 Tt 0 et
=k
0 Sz ez
0 Tz ez
(92)
2.2.2.4. Finite element matrices. The nite element matrices shown in equations (88) through (91)
are already derived in the previous sections. Equation (88) is given by equation (66), equation (89) by
equation (31), equation (90) by equation (67), and
equation (91) by equation (33).
2.2.2. 5. Numerical examples. A computer program HELMVEC1 was written for the threecomponent vector formulation to calculate cuto
wave numbers of waveguides with arbitrary cross sections. Numerical data computed with HELMVEC1
for a rectangular waveguide and a circular waveguide
are given as follows.
HELMVEC1 for|
Mode
TE10
TE20
TE30
TE01
TE11
TE21
TE31
TE02
TM11
TM21
TM31
TM02
Analytical (ref. 9)
TE mode
3.142
6.285
9.428
6.285
7.027
8.889
11.331
12.571
TM mode
7.027
8.889
11.331
12.571
3.142
6.274
9.396
6.274
7.024
8.897
11.339
12.497
3.144
6.308
9.511
6.308
7.024
8.897
11.340
12.772
7.072
8.995
11.541
12.498
7.207
8.993
11.537
12.772
HELMVEC1 for|
Mode
TE01
TE11
TE12
TE13
TE20
TE21
TE22
TE23
TM10
TM11
TM12
TM13
TM20
TM21
TM22
TM23
Analytical (ref. 9)
TE mode
3.832
1.841
3.054
4.201
7.016
5.331
6.706
8.015
TM mode
2.405
3.832
5.136
6.380
5.520
7.016
8.417
9.761
3.798
1.869
3.092
4.258
6.899
5.426
6.653
7.930
3.891
1.875
3.172
4.084
6.912
5.226
6.746
8.116
2.481
3.798
5.228
6.507
5.493
7.490
8.591
9.769
2.439
3.891
5.183
6.335
5.551
7.410
8.449
9.804
0 1
ZZ
ZZ
2.2.3.1. Formulation.
r2
r
r 2 E 0 ko2"rE = 0
rt 2
r
rt 2 Et 0 1
j rt Ez 0 2Et = ko2"r Et
(94)
(95)
(96)
0Ez
(97)
rt2
r 2E
r t t
1
2rtEz + 2Et
10
r
2 Et (98)
= ko"r
(99)
Tt 1 rt 2
= ko"r
ZZ
2
r
2
E
+
(T 1r E + T 1 E ) ds
t
t
r
r t t z t t
1
Tt 1 Etds
(100)
(101)
d0
d0
rt 1 (A 2 B) ds = (A 2 B) 1 bn dl = 0 A 1 (nb 2 B) dl
rt 1 fA = A 1 rtf + f rt 1 A
ZZ
rt 1 A ds =
d0
A 1 nb dl
(103)
(104)
(105)
ZZ
r
2"r
= ko
ZZ
Tt 1 Etds 0
ZZ
r
ZZ
= k2"
o r
Tz Ez ds
(93)
ZZ
Tz
Tz Ez ds +
r
d0
@Ez
+ Tz nb 1 Et ds
@n
(107)
r
ZZ h
i
ZZ
Tt 1 Et ds
(108)
15
2 Z Z
(rtTz 1 rtEz + rtTz 1 Et ) ds
r
0
= ko2 2"r
ZZ
Tz Ez ds
3 ZZ
2 X
(ri 1 rj )ezi ds
r i=1
(109)
Ez =
=1
"
(114)
2 Z Z
(ri 1 Wtn) ds
Sel(zt) =
r
(115)
2 Z Z
(ri 1 rj ) ds
r
(116)
Tel(tt) = "r
ZZ
(Wtm 1 Wtn) ds
Tel(zz) = 2"r
ZZ
ij ds
(117)
(118)
ZZ
3
X
2
= ko
"r
(Wtm 1 Wtn)etm ds
m=1
1
16
(113)
Sel(zz) =
(n = 1; 2; 3; j = 1; 2; 3)
(Wtm 1 Wtn) ds
r m=1
1
2 Z Z
r
(112)
(Wtm 1 Wtn)etm ds
2 Z Z
(Wtm 1 rj ) ds
Sel(tz) =
r
3 ZZ
2 X
+
(Wtm 1 rj )ezj ds
r m=1
ZZ
r
+
3 ZZ
2 X
"
r m=1
(111)
3 ZZ
1 X
Subscripts for indicate node numbers and subscripts for Wt indicate edge numbers.
Equations (110) and (111) can be written in matrix form
as
2.2.3.3.
(ri 1 Wtn)etn ds
(j = 1; 2; 3; n = 1; 2; 3)
Sel(tt) =
ezii
r i=1
ZZ
3
X
= ko2
2"r
ij ezi ds
i=1
0
2.2.3.2. Discretization.
3
X
1
3 ZZ
2 X
(110)
(119)
2.2.3.4.
Finite element matrices.
Closed-form
expressions are derived for the nite element matrices in equations (113) through (117). From equations (66) and (67),
"
Sel(tt) =
5
X
1 LtmLtn
D
D
+
Itk
m
n
r 16A3
k=1
!#
Mode
1
2
3
4
5
6
7
8
9
10
(120)
With equations (73) through (77) and the procedures in sections 2.2.1 and 2.2.2, the remaining element matrices are derived as follows:
3
2 Ltm2
bj(Am+ Bmytri)+cj(Cm+Dmxtri)
2
r 8A
(121)
2
Ltn
[b (A + Bny tri )+ ci(Cn + Dnxtri )]
Sel(zt) =
r 8A2 i n
(122)
2 bibj + ci cj
(123)
Sel(zz) =
r
4A
Sel(tz) =
Tel(tt) = "r
A
6
A
= 2"r
12
Tel(zz ) = 2"r
5
X
LtmLtn
I
16A3 k=1 tk
(124)
>
(m = n) >
=
(m 6=
>
;
n) >
(125)
Numerical example.
HELMVEC2
8.815
9.443
10.35
11.141
11.2890
11.4246
12.146
12.5894
12.8237
12.9987
This section is simply an extension of section 2.2.3. The nite element equations are rearranged to obtain when the operating frequency
(or the wave number) is specied.
2.2.4. 1. Formulation. The weak form derived in
section 2.2.3.1 can be rearranged and equations (108)
and (109) can be written as
1
r
ZZ
2
=0 @
r
2
r
ZZ
ZZ
r T 1r E
t
Tt 1 rtEz ds +
= ko2 2"r
ZZ
z ds +
Tz Ez ds
ZZ
2
r
0
ZZ
ZZ
Tt 1 Et dsA (126)
r T 1E
t
Tt 1 Et ds
ds
(127)
0
Y
r = 1.0
L/2
X
r = 1.5
L/2
17
Ez =
=1
"
ezii
Sel(tt) =
X ZZ
r m=1
3
X
2 ds 0 ko2 "r (Wtm 1 Wtn)etm ds
m=1
1
2
3 ZZ
1 X
(Wtm 1 rj )ezj ds
= 0 24
r m=1
1
3
ZZ
3
X
1
r m=1
(n = 1; 2; 3; j = 1; 2; 3)
(128)
r
1
ZZ
0 ko2"r (Wtm 1 Wtn) ds
1
Tel(tz) =
r
ZZ
ZZ
ZZ
r
Tel(zt) =
Tel(zz) =
ZZ
ZZ
Tel(tt) = "r
(130)
2.2.4.3.
Tel(tt) Tel(tz ) et
Sel(tt) 0 et
2
= 0
Tel(zt) Tel(zz) ez
0
0 ez
(Wtm 1 Wtn) ds
1 ZZ
1
(133)
(ri 1 Wtn) ds
(ri 1 rj ) ds 0 ko2"r
ZZ
r i=1
= 2
=1
Ttt Ttz et
Stt 0 et
2
= (0 )
Tzt Tzz ez
0 0 ez
ZZ
2.2.4.4.
Finite element matri ces.
Closed-form
expressions are derived for the nite element matrices in equations (130) through (134). From equations (66) and (67),
+ cj (Cm + Dmxtri )
(129)
Subscripts for indicate node numbers and subscripts for Wt indicate edge numbers. Equations (84)
18
!#
1 Ltm 2
b (A + Bmy tri )
r 8A2 j m
Tel(tz ) =
ij ezi ds
(j = 1; 2; 3; n = 1; 2; 3)
(136)
(137)
With equations (73) through (77) and the procedures in sections 2.2.1 and 2.2.2, the remaining element matrices are derived as follows:
(ri 1 Wtn)etn ds
ko2"r
ij ds
5
X
1 LtmLtn
2
D
D
0
k
"
Itk
Sel(tt) =
m n
o r
r 16A3
k =1
3 ZZ
2 X
(ri 1 rj )ezi ds
r i=1
+
(134)
(135)
These element matrices can be assembled over all
the triangles in the cross section of the waveguide to
obtain a global eigenvalue equation.
"
1
3 ZZ
2 X
(132)
(Wtm 1 rj ) ds
r
(131)
Tel(zt) =
1 Ltn
[b (A + Bny tri)
r 8A2 i n
+ ci(Cn + Dnxtri )]
(138)
(139)
Sel(zz) =
Tel(tt) = "r
1 bibj + cicj
r
4A
(140)
5
LtmLtn X
I
16A3 k=1 tk
(141)
9
(i = j ) >
>=
>;
(i 6= j ) >
A
1 b2i + c2i
+ ko2"r
Tel(zz ) =
r 4A
6
A
1 bibj + cicj
+ ko2"r
=
r
4A
12
(142)
d
Y
r
br
Numerical examples.
=ko
Analytical (ref. 9)
0.48
1.00
1.18
1.26
1.30
HELMVEC3
0.47
1.01
1.17
1.28
1.35
ar
3. Three-Dimensional Problems
r = 1.0
X
br
r = 2.45
br=o
0.2
0.3
0.4
0.5
0.6
For the second example for a partially lled rectangular waveguide with br =ar = 0:45 and "r = 2:45
shown in gure 13, the dispersion characteristics were
also calculated and compared with those given by
Harrington (ref. 9, p. 162). The numerical results are
presented in table 10. The rectangular waveguide for
this second example is also modelled by 100 triangular elements.
ar
ar=o
0.4
0.5
0.6
0.7
0.8
0.9
1.0
0.4
0.5
0.6
0.7
0.8
0.9
1.0
0.4
0.5
0.6
0.7
0.8
0.9
1.0
0.4
0.5
0.6
0.7
0.8
0.9
1.0
0.4
0.5
0.6
0.7
0.8
0.9
1.0
0.4
0.5
0.6
0.7
0.8
0.9
1.0
0.4
0.5
0.6
0.7
0.8
0.9
1.0
20
=ko
Analytical (ref. 9)
d=ar = 0
0.03
0.52
0.70
0.79
0.83
0.88
d=ar = 0:167
0.21
0.60
0.72
0.82
0.88
0.91
d=a = 0:286
0.51
0.78
0.90
0.99
1.03
1.10
d=ar = 0:375
0.68
0.91
1.05
1.13
1.20
1.25
d=ar = 0:5
HELMVEC3
0.04
0.56
0.71
0.78
0.83
0.87
0.18
0.59
0.74
0.81
0.87
0.90
0.44
0.74
0.88
1.05
1.03
1.09
0.66
0.90
1.03
1.11
1.18
1.23
0.42
0.89
1.09
1.19
1.24
1.31
1.35
0.70
1.02
1.18
1.23
1.31
1.38
1.41
0.67
1.03
1.19
1.27
1.33
1.37
1.40
0.90
1.18
1.29
1.38
1.41
1.43
1.44
0.91
1.18
1.30
1.37
1.42
1.44
1.47
d=ar = 0:8
r2
where
1
r
r 2 E 0 ko2"r E = 0
(143)
E = Exxb + Ey yb + Ez zb
ZZZ
T 1r2
1
r
r2E 0
o r T 1 E dv = 0
k2"
(144)
A 1 (r 2 B) = (r 2 A) 1 B 0 r 1 (A 2 B)
(145)
ZZZ
v
0.40
0.90
1.10
1.20
1.25
1.30
1.35
d=ar = 0:6
3.1.1. Formulation
ZZZ
2
(r2 T ) 1
r2 E dv = ko"r
T 1 E ds
r
ZZZ
1
r1 T 2 rr2 E dv
(146)
ZZZ
v
and
r 1 A dv =
ZZ
S
A1n
b ds
b = 0A 1 (nb 2 B)
(A 2 B) 1 n
(147)
(148)
ZZZ
ZZZ
r2 T ) 1 1rr2 E dv = ko2"r
T 1 E dv
v
v
ZZ 1
0 T 1 bn 2 rr2 E ds
(149)
(
Z Z Z
T r
(r2 )1
r2
E dv = ko2"r
Z Z Z
T Edv (150)
1
3.1.2. Discretization
The volume of the cavity is discretized by using rst-order tetrahedral elements such as the one
shown in gure 14. The rst-order tetrahedron has
four nodes and six edges. The six edges are formed
as shown in table 11.
Wm = Lm(ti rtj 0 tj rti)
(152)
V
V2
t 2 =
V
V3
t3 =
V
V4
t4 =
V
(154)
(155)
(156)
e1
e3
e2
1
2
3
4
5
6
1
2
1
1
2
3
Node
j
2
3
3
4
4
4
E=
m=1
emWm
(158)
1 x1 y1 z1
1 1 x y z
V2 =
6 1 x3 y3 z3
1 x4 y4 z4
(159)
1 x1 y1 z1
1 1 x2 y2 z2
V3 =
6 1 x y z
1 x4 y4 z4
(160)
1 x1 y1 z1
1 1 x2 y2 z2
V4 =
6 1 x3 y3 z3
1 x y z
(161)
1 x y z
1 1 x2 y2 z2
V1 =
6 1 x3 y3 z3
1 x4 y4 z4
Edge,
(157)
1
1 1
V=
6 1
1
e6
e5
z1
z2
z3
z4
(151)
x1
x2
x3
x4
y1
y2
y3
y4
ti =
(162)
21
L
Wm = m2 [(Axm + Bxmy + Cxmz )xb
36V
+ (Aym + Bymx + Cymz )yb
(163)
+ (Azm + Bzmx + Czmy )zb]
where
(edge m)
(other edges)
(165)
(166)
(167)
(168)
(169)
(170)
(171)
(172)
(173)
6 ZZZ
X
r m=1
= ko2
m=1
"r
ZZZ
(174)
22
ZZZ
r
(r 2 Wm) 1 (r 2 Wn) dv
(176)
ZZZ
(Wm 1 Wn) dv
(177)
(178)
r2W
1
Lm 0
Czmxb + Cxmyb + Bymbz (179)
2
18V
and hence
LmLn
(18V 2)2
2 (CzmCzn + CxmCxn + BymByn) (180)
(r 2 Wm) 1 (r 2 Wn) =
From equations (176), (177), and (180), and making use of the integration formulas given in reference 18, the closed-form expressions for element matrices are given as
(Wm 1 Wn)em dv
(n = 1; 2; : : : ; 6)
[Tel] = "r
(r 2 Wm) 1 (r 2 Wn)em dv
6
X
[Sel] =
(164)
(175)
Sel =
LmLn
324V 3r
Tel = "r
10
X
LmLn
I
1296V 3 k=1 k
(181)
(182)
where
I1
I2
I3
I4
1
I5 =
(B C + BznCzm)
20 zm zn
I6
1
(B C + BxnCxm)
20 xm xn
1
I7 =
(B C + BynCym)
20 ym yn
1
I8 =
(B B + BzmBzn)
20 ym yn
1
I9 =
(B B + CzmCzn)
20 xm xn
1
I10 =
(C C + CymCyn)
20 xm xn
4
X
i=1
X
i=1
i=1
4
X
i=1
4
X
i=1
4
X
i=1
4
X
!
yizi + 16ytetz tet
!
xizi
+ 16xtetz tet
2
xi2 + 16xtet
A computer program FEM3D0 was written to calculate the eigenvalues of a three-dimensional cavity.
For a three-dimensional problem, the number of variables increases drastically compared with those for a
two-dimensional problem. Hence it is not economical to use a generalized eigenvalue solver. The program FEM3D1 was written to take advantage of the
sparse nature of the nite element matrices. This
program exploits the symmetry of the matrices and
stores only the nonzero entries in the lower triangle
of the matrices; hence, considerable savings in memory result. It also makes use of the sparse eigenvalue
solvers available in VECLIB (ref. 19) and results in
faster computation.
The following numerical examples have been
taken from Chatterjee, Jin, and Volakis (ref. 17), in
which the resonant wave numbers for various threedimensional cavities have been calculated by using
a dierent kind of edge elements. The analytical results mentioned here are also taken from reference 17.
Air-lled rectangular cavity: The eigenvalues of
an air-lled rectangular cavity (shown in g. 15)
Figure 16. Half-lled rectangular cavity with dielectric material "r = 2:0 and lled from z = 0:5 to 1 cm. Size: 1 by
0.1 by 1 cm.
01
Mode
TE101
TM110
TE011
TE201
TE111
TM111
TM210
TE102
Analytical
(ref. 17)
5.236
7.025
7.531
7.531
8.179
8.179
8.886
8.947
ko, cm
FEM3D1
(343 elements)
5.242
6.942
7.372
7.560
8.064
8.164
8.725
8.871
Reference 17
5.213
6.977
7.474
7.573
7.991
8.122
8.572
8.795
ko, cm 1
Mode
TEz101
TEz201
TEz102
TEz301
TEz202
TEz103
Analytical
3.538
5.445
5.935
7.503
7.633
8.096
FEM3D1
(615 elements)
3.524
5.401
5.931
7.382
7.562
8.003
ko, cm 1
Reference 17
3.534
5.440
5.916
7.501
7.560
8.056
FEM3D1
Mode
Analytical (473 elements) Reference 16
TM010
2.744
2.799
2.799
2.744
2.802
2.802
TM010
2.744
2.807
2.811
TM010
3.870
3.961
3.948
TM021
TM121, even
3.870
3.976
3.986
3.870
3.986
3.994
TM121, odd
3.870
3.994
4.038
TM221, even
3.870
3.998
4.048
TM221, odd
4.493
4.421
4.433
TE0011
4.493
4.478
4.472
TE111, even
TE111, odd
4.493
4.501
4.549
3.1.6. Summary
Z
Y
0.5
ko, cm 1
Mode
TM010
TE111
TE111
TM110
TM110
TM011
TE211
TE211
Analytical
4.810
7.283
7.283
7.650
7.650
7.840
8.658
8.658
FEM3D1
(633 elements)
4.782
7.210
7.290
7.575
7.620
7.901
8.676
Reference 17
4.809
7.202
7.288
7.633
7.724
7.940
8.697
8.865
A thorough formulation of FEM for various eigenvalue problems in electromagnetism has been presented. The use of recently developed edge basis
functions for vector nite elements has been demonstrated for two-dimensional and three-dimensional
problems. Triangular elements for two-dimensional
problems and tetrahedral elements for threedimensional problems are used to model complex geometrical shapes because of their ability to represent
such shapes accurately.
Implementation of conventional nodal-based
scalar formulation for two-dimensional homogeneous
problems is demonstrated in section 2.1. The computer code developed can be used to calculate the
eigenvalues and eld intensity patterns of any arbitrarily shaped waveguide lled with homogeneous
material. The numerical results for various waveguides and the eld intensity patterns for various
modes have been presented in section 2.1 which show
the validity of the analysis and computer code. Simple waveguide shapes have been chosen for demonstration purposes because their eld distributions are
well known.
In section 2.2, the two-dimensional edge basis
functions for triangular elements are introduced to
model transverse vector elds in waveguides. For
waveguides or microwave circuit design problems in
general, knowledge of a propagation constant at a
given frequency is desirable. A step-by-step formulation is done to determine either the wave number
or the propagation constant, if one of them is specied. Numerical examples are presented to validate
the analysis and the computer codes.
Since real problems involve three-dimensional geometries, a formulation for the calculation of eigen-
25
Appendix
Computer Programs
Computer programs were written to implement
the analysis presented in this report. All the programs are written in FORTRAN language. These
programs take *.MOD le containing the meshing
information from COSMOS/M (ref. 4). Also these
computer programs make use of the optimized library
routines of EISPACK (refs. 7 and 8) and VECLIB
(ref. 18) on the CONVEX computer.
HELM10 is a two-dimensional nite element program to calculate the eigenvalues of homogeneously
lled waveguides. This program implements the
analysis described in section 2.1.
HELMVEC is a two-dimensional nite element
program to calculate the eigenvalues of homogeneously lled waveguides. Unlike HELM10, this
program uses the vector basis functions and implements the analysis presented in section 2.2.1.
HELMVEC1 is a two-dimensional nite element
program to calculate the eigenvalues of inhomogeneously lled waveguides. This program implements the three-component vector eld formulation
discussed in section 2.2.2 and makes use of edge basis
functions for transverse elds and scalar basis functions associated with nodes for longitudinal elds.
26
References
Electrical Engineers.
IEEE
1990.
Penalty
12. Whitney,
Hassler:
Full-Wave
Finite Elements.
4.
Analysis
and
5.
Method
Volume 1|Preprocessing,
Postprocessing
Interface,
Version
1.70.
Without Any Spurious Solutions for Dielectric Waveguiding Problems Using Transverse Magnetic-Field Component.
Universal Matrices.
vol. 12,
Matrix
Inhomogeneously-Filled Cavities.
Second Ed.,
vol.
40,
no.
9,
Sept.
1992,
pp. 1767{1773.
Springer-Verlag, 1976.
17. Chatterjee, A.; Jin, J. M.; and Volakis, J. L.: Computa8. Garbow, B. S.; Boyle, J. M.; Dongarra, J. J.; and Moler,
C. B.:
ments.
. Springer-Verlag, 1977.
McGraw-Hill
, vol. 40,
19.
Seventh
ed.,
27
Form Approved
OMB No. 0704-0188
Public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources,
gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this
collection of information, including suggestions for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jeerson
Davis Highway, Suite 1204, Arlington, VA 22202-4302, and to the Oce of Management and Budget, Paperwork Reduction Project (0704-0188), Washington, DC 20503.
1. AGENCY USE ONLY(Leave blank)
2. REPORT DATE
December 1994
Technical Paper
5. FUNDING NUMBERS
WU 505-64-52-04
6. AUTHOR(S)
L-17392
10. SPONSORING/MONITORING
AGENCY REPORT NUMBER
NASA TP-3485
Reddy: NRC-NASA Resident Research Associate, Langley Research Center, Hampton, VA; Deshpande:
ViGYAN, Inc., Hampton, VA; Cockrell and Beck: Langley Research Center, Hampton, VA.
12a. DISTRIBUTION/AVAILABILITY STATEMENT
Unclassied{Unlimited
Subject Category 32
Availability: NASA CASI (301) 621-0390
13. ABSTRACT (Maximum 200 words)
Finite element method (FEM) has been a very powerful tool to solve many complex problems in electromagnetics. The goal of the current research at the Langley Research Center is to develop a combined FEM/method
of moments approach to three-dimensional scattering/radiation problem for objects with arbitrary shape and
lled with complex materials. As a rst step toward that goal, an exercise is taken to establish the power of
FEM, through closed boundary problems. This paper demonstrates the development of FEM tools for twoand three-dimensional eigenvalue problems in electromagnetics. In section 2, both the scalar and vector nite
elements have been used for various waveguide problems to demonstrate the
exibility of FEM. In section 3,
vector nite element method has been extended to three-dimensional eigenvalue problems.
36
A03
Unclassied
Unclassied
Unclassied