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The Finite Element Method For The Analysis of Non-Linear and Dynamic Systems
The Finite Element Method For The Analysis of Non-Linear and Dynamic Systems
Course Information
Instructor
Prof. Dr. Eleni Chatzi, email: chatzi@ibk.baug.ethz.ch
Office Hours: HIL E14.3, Wednesday 10:00-12:00 or by email
Assistant
Adrian Egger, HIL E13.1, email: egger@ibk.baug.ethz.ch
Course Website
Lecture Notes and Homeworks will be posted at:
http://www.ibk.ethz.ch/ch/education
Suggested Reading
Nonlinear Finite Elements for Continua and Structures by T.
Belytschko, W. K. Liu, and B. Moran, John Wiley and Sons, 2000
The Finite Element Method: Linear Static and Dynamic Finite
Element Analysis by T. J. R. Hughes, Dover Publications, 2000
The Finite Element Method Vol. 2 Solid Mechanics by O.C.
Zienkiewicz and R.L. Taylor, Oxford : Butterworth Heinemann, 2000
Institute of Structural Engineering
Course Outline
Review of the Finite Element method - Introduction to
Non-Linear Analysis
Non-Linear Finite Elements in solids and Structural Mechanics
-
Eigenvalue Problems
Special Topics
- Boundary Element & Extended Finite Element methods
Institute of Structural Engineering
Grading Policy
Continuous
q|y+dy
q|x
dy
dx
q|x+dx
q|y
h1
h2
Flow
of water
Permeable Soil
Impermeable Rock
F = KX
Direct Stiffness Method
2
2x
2
2y
=0
Laplace Equation
Equilibrium Equations
aL + ax
ex. f (x) = R +
(L x)
2
Constitutive Requirements
Equations
ex. = E
Kinematics Relationships
du
ex. =
dx
Institute of Structural Engineering
x
aL
ax
f(x)
L-x
Method of Finite Elements II
u
u u
A(x, y ) 2 ux + 2B(x, y ) xy
+ C (x, y ) 2 yu = (x, y , u, y
, y )
Problem Classification
B 2 AC < 0 elliptic
B 2 AC = 0 parabolic
B 2 AC > 0 hyperbolic
Institute of Structural Engineering
(Neumann BC)
(Dirichlet BC)
Diff. Equation
+ = 0
+ = 0
Quantities
T=temperature
A=area
k=thermal
conductivity
Q=heat supply
u=displacement
A=area
E=Youngs
modulus
B=axial loading
Constitutive
Law
Fourier
= /
= heat flux
Hooke
= /
= stress
10
11
12
T d = Wext =
T bd +
u
ST TS d +
u
iT RC i
u
where
TS : surface traction (along boundary )
b: body force per unit area
RC : nodal loads
: virtual displacement
u
: virtual strain
: stresses
Institute of Structural Engineering
13
ST Ts dT +
u
i
T
u
i RC
(b Ts , RC as defined previously)
Institute of Structural Engineering
14
[w (0)(c(0)u 0 (0) + C1 ] = 0
15
wg dx =
[wg ]l0
gw 0 dx
w cu dx =
0
wfdx + w (0)C1
0
S = {u|u C 0 , u(l) = 0}
S 0 = {w |w C 0 , w (l) = 0}
Institute of Structural Engineering
16
Weak Form
Notes:
1
A solution to the strong form will also satisfy the weak form, but not
vice versa.Since the weak form uses a lower order of derivatives it can
be satisfied by a larger set of functions.
For the derivation of the weak form we can choose any weighting
function w , since it is arbitrary, so we usually choose one that satisfies
homogeneous boundary conditions wherever the actual solution
satisfies essential boundary conditions. Note that this does not hold
for natural boundary conditions!
Institute of Structural Engineering
17
FE formulation: Discretization
How to derive a solution to the weak form?
Step #1:Follow the FE approach:
Divide the body into finite elements, e, connected to each other
through nodes.
Then break the overall integral into a summation over the finite
elements:
"
#
Z xe
X Z x2e
2
w 0 cu 0 dx
wfdx w (0)C1 = 0
e
x1e
x1e
18
where bold notation signifies a vector and Ni (x) are the shape functions.
In fact, the shape function can be any mathematical formula that helps us
interpolate what happens at points that lie within the nodes of the mesh.
In the 1-D case that we are using as a reference, Ni (x) are defined as 1st
degree polynomials indicating a linear interpolation.
As will be shown in the application presented in the end of this lecture, for the
case of a truss element the linear polynomials also satisfy the homogeneous
equation related to the bar problem.
Institute of Structural Engineering
19
,
xi1 x < xi
x
local
system of the element (see page
i+1
i
0,
otherwise
25).
Institute of Structural Engineering
20
u = [u1
u2 ]T
w = [w1
w2 ]T
X
he dNi
(Ni +
)wi
dx
i
= coth(
Pe e
2
) e
2
Pe
coth =
e x + e x
e x e x
21
w (x) =
Ni (x)wi = N(x)w
(similarly )
3
X
Ni (x)ui = N1 u1 + N2 u2 + N3 u3
u1
u(x) = [N1 N2 N3 ] u2 = N(x)u
u3
Institute of Structural Engineering
22
0
l
(wT NT )0 c(Nu)0 dx
wT NT fdx wT N(0)T C1 = 0
dN
(x)
j
dx
c
wj
dx
0
i
j
Z l X
X
f
wj Nj (x)dx
wj Nj (x)C1
=0
0
j
j
dNi (x)
ui
dx
x=0
23
"Z
wj
0
X
i
#
fNj (x)dx + (Nj (x)C1 )|x=0 = 0
The above equation has to hold wj since the weighting function w (x) is
an arbitrary one. Therefore the following system of equations has to hold:
!
Z l X
dNi (x) dNj (x)
cui
fNj (x)dx + (Nj (x)C1 )|x=0 = 0 j = 1, ..., n
dx
dx
0
i
After reorganizing and moving the summation outside the integral, this
becomes:
#
"
Z l
X Z l dNi (x) dNj (x)
c
ui =
fNj (x)dx + (Nj (x)C1 )|x=0 = 0 j = 1, ..., n
dx
dx
0
0
i
24
K = Ae K K =
x2e
NT
,x cN,x dx
x1e
f = Ae f e f e =
x2e
x1e
x2e
BT cBdx
x1e
NT fdx + NT h|x=0
25
i=1,2
1
N1 () = (1 ),
2
Institute of Structural Engineering
1
N2 () = (1 + )
2
Method of Finite Elements II
26
where N, =
and x, =
d
d
1
(1
2
1
(1
2
+ )
1
2
1
2
x e x1e
h
dx
= 2
= = J (Jacobian) and h is the element length
d
2
2
,x =
d
= J 1 = 2/h
dx
c
x2e x1e
1
1
1
1
27
1:K1
1
3
1
1 1
1
1
1
2,
0
1
1
1 1
2 =
1 1
2
3
1
2
3
28
u1
u2y
2
1:K1
2
2:K
u2x
u3
u1
1
11
1
12
1
Element Stiffness Matrices (4x4): = 1
13
1
14
u2y
1
12
1
22
1
23
1
24
1
13
1
23
1
33
1
34
1
2
44
+ 22
1
Total Stiffness Matrix (2x2): = 34
0
u2x
1
14
2
u1
11
1
2
24
1
12
2
1 u2y, = 2
34
13
1 2
2
44
14
u2y
1
34
1
33
2
24
u2x
u3
2
12
2
22
2
23
2
24
2
13
2
23
2
33
2
34
0 2
2 u2y
24
2
u2x
11
3
2
14
2
24
2
34
2
44
u2x
2
u3
3
29
30
(x)
R
=
E
AE
Hence, the deformation (x) is obtained from kinematics as:
(x) =
(x)
Rx
(x) =
x
AE
Note: The stress & strain is independent of x for this case of
loading.
=
31
aL + ax
a(L2 x 2 )
(L x) = R +
( depends on x)
2
2
32
d
A = q(x)x + A( + ) A |{z}
lim
+ q(x) = 0 A
+ q(x) = 0
x
dx
x0
Also, =
du
d 2u
, = E , q(x) = ax AE 2 + ax = 0
dx
dx
Strong Form
d 2u
+ ax = 0
dx 2
u(0) = 0 essential BC
du
f(L) = R AE
dx
AE
= R natural BC
x=L
Analytical Solution
u(x) = uhom + up u(x) = C1 x + C2
ax 3
6AE
33
AE
0
d 2u
wdx +
dx 2
axwdx = 0
0
AE
dx
2
dx
dx
dx dx
0
0
0
Z L
Z L
d 2u
du dw
du
du
AE 2 wdx = AE
(L)w(L) AE
(0)w(0)
AE
dx
dx
dx
dx
dx dx
0
0
AE
AE
0
du dw
dx = Rw(L) +
dx dx
axwdx
0
34
Z
Wint = A
dx
0
Wext = Ru|x=L
L
qudx
Wbody =
0
In addition, = E du
dx
Then, from equilibrium: Wint = Wext + Wbody
L
E
0
du d(u)
dx =
dx dx
qudx + Ru|x=L
0
35
u(x) =
n
X
uj Nj (x)
j=1
w is chosen to be of the same form as the approximate solution (but with arbitrary
coefficients wi ),
w(x) =
n
X
wi Ni (x)
i=1
AE
0
n
X
j=1
uj
Z L X
n
n
n
X
dNj (x) X dNi (x)
ax
wi Ni (x)dx
wi
dx = R
wi Ni (L) +
dx
dx
0
i=1
i=1
i=1
Z L
dNj (x)
dNi (x)
AE
dx uj = RNi (L) +
axNi (x)dx
dx
dx
0
i = 1...n
which is a system of n equations that can be solved for the unknown coefficients uj .
Institute of Structural Engineering
36
Z
Kij uj = fi where Kij =
0
dNj (x)
dNi (x)
AE
dx
dx
dx
axNi (x)dx
Ktot
e
K11
1
K12
=
0
Ktot
1
AE
1
=
h
0
1
K12
1
2
K22 + K11
2
K12
1
2
1
0
2
K12
2
K22
0
1
1
37
38
39
Exterior
model
95% are
shell
elements
FEM model:
150000 Nodes
Internal structure
zoom. Some Brick
and tetrahedral
elements
http://www.colorado.edu/engineering/CAS/Felippa.d/FelippaHome.d/Home.html
40
Beam Elements
Two main beam theories:
Euler-Bernoulli theory (Engineering beam theory) -slender beams
Timoshenko theory thick beams
Euler - Bernoulli Beam
41
Beam Elements
Euler Bernoulli Beam Assumptions - Kirchhoff Assumptions
Normals remain straight (they do not bend)
Normals remain unstretched (they keep the same length)
Normals remain normal (they always make a right angle to the neutral
plane)
42
43
shear force
44
(2)
(S)
(3)
Simple support
(4)
Clamped support
(5)
45
Second integration
by by
parts
gives
Second integration
parts gives
Second integration by parts gives
46
(W)
Note:
Note:1. The spaces are C1 continuous, i.e. the derivative must also be
continuous
1. The
spaces are C 1 continuous, i.e. the derivative must also be
continuous
2. The left side is symmetric in w and v (bi-linear form: a(v,w)=a(w,v)
2. The
left
is to
symmetric
instiffness
w and matrix
(bi-linear form:
this
willside
lead
symmetric
a(, w )=a(w , )) this will lead to a symmetric Stiffness Matrix
Institute of Structural Engineering
47
Physical domain
Natural domain
Element
displacement
vector
Element
force
vector
48
49
50
51
Force vector
52
Pre-processing
53
[1]
[2]
[3]
[4]
[3]
[4]
[5]
[6]
54
[4]
[5]
[6]
55
(Point loads)
56
=KNOWN
Post-processing
57
58
Equilibrium Eq:
Kinematic Eq:
Constitutive Eq:
Traction B.C.:
Displacement B.C:
s + b = 0
= s u
=D
n = Ts
u = u
t
u
1
0
E
1
0
D=
1 2
0 0 1
2
zz = xz = yz = 0, zz 6= 0
1
E
D=
(1 )(1 + )
0
1
0
0
0
12
2
59
2D FE formulation: Discretization
Divide the body into finite elements connected to each other through
nodes
60
1
N2 (, ) = (1 + )(1 )
4
1
N4 (, ) = (1 )(1 + )
4
Iso-parametric Mapping
x=
y=
4
X
i=1
4
X
Ni (, )xie
Ni (, )yie
i=1
61
62
2D FE formulation: Matrices
from the Principle of Minimum Potential Energy (see slide #9)
=0Kd =f
d
where
Ke =
BT DBd,
fe =
N T Bd +
Z
eT
N T ts d
Gauss Quadrature
Z 1Z 1
I =
f (, )dd
=
1 1
Ngp
Ngp
XX
Wi Wj f (i , j )
i=1 i=1
63