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AFEM Ch38
AFEM Ch38
5.1
x2
x=
,
x3
x4
y1
y2
y=
,
y3
y4
z1
z2
z=
,
z3
z4
(5.1.2)
and xi , yi and zi denote the global coordinates of node i. Row vector N contains
the usual bi-linear isoparametric interpolation for a quadrilateral [00]. These
functions and their partial derivatives with respect to and are
1
[ (1 )(1 ) (1 + )(1 ) (1 + )(1 + )
4
1
N, = [ (1 )
(1 )
(1 + ) (1 + ) ] ,
4
1
N, = [ (1 ) (1 + )
(1 + )
(1 ) ] .
4
N =
(1 )(1 + ) ] ,
(5.1.3)
Using these geometric relations the variation of the position vector r can be
written as
x d + x d x x
dx
y y d
y
y
dy = d + d =
d
z d + z d
z
z
dz
(5.1.4)
N, x N, x
d
d
= [ g g ]
= N, y N, y
d
d
N, z N, z
or
dr = Jd .
2
The Jacobian J introduced above is also used for computing partial derivatives
with respect to the natural coordinates and :
()
()
()
=
=
x
x
() x
x
N, x
N, x
+
+
()
y
()
y
N, y
N, y
or
x
=
()
()
x
()
y
(5.1.5)
x
()
y
()
()
= JT
.
(5.1.6)
It should be noted that only the x and y components are included in the above
relationship for the partial derivatives. This is a consequence of assuming that
the element represents a best t of the warped quadrilateral in the (x, y)-plane.
If the z-coordinate is neglected the relationship between (x, y) and (, )
is isoparametric and the inverse relation can be formed as
()
x
()
y
T
Jx
=
T
Jy
T
Jx
T
Jy
()
()
(5.1.7)
(5.1.8)
The unit vector sij along side ij and the outward normal vector nij of side ij
can then be dened as
ni x si y
xji
si x
1
sij = si y =
yji
si x . (5.1.9)
and
nij = ni y =
lij
0
0
0
0
5.2
Nyg
ard [00] developed a 4-node membrane element with drilling degrees of
freedom based on the Free Formulation, which is called the FFQ element. The
element has given accurate results for plane membrane problems. Unfortunately,
the element is computationally expensive because the formation of each element
stiness requires the numerical inversion of a 12 12 matrix. The goal of the
present development is to construct a 4-node membrane element with the same
freedom conguration and similar accuracy as the FFQ, but that avoids those
expensive matrix inversion.
Recall that element stiness of the ANDES element is the sum of the
basic and higher order contributions:
1
T
K = Kb + Kh = LCL +
BTh CBh dA .
(5.2.1)
A
A
These matrices are now developed for the membrane component.
5.2.1 Basic stiness.
The basic stiness for the membrane element is developed by lumping the constant stress state over side edges to consistent nodal forces at the neighboring
nodes according to a boundary displacement eld. When the boundary displacement eld is dened so that interelement compatibility is satised, pairwise cancelation of nodal forces for a constant stress state is assured, and thus
satisfaction of the Individual Element Test [00]. In turn, satisfaction of the Individual Element Test ensures that the conventional multi-element Patch Test
is passed.
A very successful lumping scheme for membrane stresses was rst introduced by Bergan and Felippa [00] in the paper describing the triangular
membrane FF element with drilling degrees of freedoms. This procedure has
since been used by Nyg
ard [00] and Militello [00].
The presentation here rewrites the lumping matrix, in terms of nodal
submatrices. The expressions of the lumping matrix thus becomes valid for
elements of arbitrary number of corner nodes.
It is convenient to order the visible degrees of freedom as translations
along x, y and drilling rotation about z-axis for each node. This gives the
lumping of the constant stress state to nodal forces f as
xx
f = L
where
= yy ,
(5.2.2)
xy
L1
L
L= 2
L3
L4
f1
f2
and f =
f3
f4
where
fx i
.
fy
fi =
i
mz i
(5.2.3)
By using the Hermitian beam shape function for a side edge one obtains a boundary displacement eld that is compatible between adjacent elements because the
displacements along an edge are only functions of the end nodes freedoms. This
again gives a lumping matrix L where each nodal contribution Lj is only a
function of its adjoining side edges ij and jk:
yki
1
Lj =
0
2 2
2
6 (yij ykj )
0
xki
2
2
6 (xij xkj )
xki
.
yki
(5.2.4)
The nodal indices (i, j, k, l) for a four node element undergo cyclic permutations
of (1, 2, 3, 4) in the equation above. Factor represents a scaling of the contributions of the drilling freedom to the normal boundary displacements; see [00]
for details.
5.2.2 Higher order stiness.
To construct Kh a set of higher order degrees of freedoms that vanish for rigid
body and constant strain states is constructed.
Higher order degrees of freedom.
The 12 visible nodal degrees of freedom vx , vy and for each node are ordered
in an element displacement vector v as
vx
v = vy ,
where
vTx = [ vx1
vx2
vx3
vx4 ] ,
vTy = [ vy1
vy2
vy3
vy4 ] ,
T = [ 1
(5.2.5)
4 ] .
The correct rank of the element stiness matrix for the quadrilateral membrane
element is 9, coming from 12 degrees of freedom minus 3 rigid body modes. The
basic stiness gives is rank 3 from the 3 constant strain modes. The higher order
stiness must therefore be a rank 6 matrix. This can be conveniently achieved
by introducing 6 higher order intrinsic degrees of freedom, which are collected
dened below.
in a vector v
Experience from the 3-node ANDES membrane element with drilling
degrees of freedom [00] and the 4-node ANDES tetrahedron solid element with
rotational degrees of freedom [00], suggests using the hierarchical rotations
as higher order degrees of freedom:
= 0 ,
T0 = [ 0
0 ] ,
(5.2.6)
where the subtracted 0 represents the overall or mean rotation of the element,
associated with rigid body and constant strain rotation motions. Furthermore,
splitting the hierarchical rotations into their mean and deviatoric parts as
=
+ ,
T = [ ] ,
(5.2.7)
has the advantage of singling out the often troublesome drilling mode, or
torsional mode, where all the drilling node rotations take the same value with
all the other degrees of freedom being zero.
Unfortunately, the hierarchical rotations give only 4 higher order degrees
of freedom and at most a rank 4 update of the stiness matrix. Two more higher
order degrees of freedom must be found. The element has 8 translational degrees
of freedom represented by vx and vy . The 3 rigid body and 3 constant strain
modes can all be described by the translational degrees of freedom. There are
still 2 higher order modes which can be described by the translational degrees
of freedom. These two modes must be recognized so as to associate two higher
order degrees of freedom with them. The amplitudes of the six higher order
degrees of freedom are then represented as
T = [ 1
v
2
3
4
2 ] ,
(5.2.8)
where 1 and 2 are associated with the two higher order translational modes.
Although 7 degrees of freedom appear in this vector, the hierarchical rotation
constraint
4
i = 0
(5.2.9)
i=1
) = [ N,y
2 x y
2
N,x ]
vx
vy
.
(5.2.10)
By using the partial derivative expressions in equation (5.1.7) one obtains the
expressions for the rigid body and constant strain rotation as
1
[ x24 x31 x42 x13 ] ,
16|J|
1
T
T
[ y24 y31 y42 y13 ] ,
= (Jx
N, + Jx
N, ) =
16|J|
T
T
N,y = (Jy
N, + Jy
N, ) =
N,x
(5.2.11)
where
|J| =
1
((x1 y2 x2 y1 ) + (x2 y3 x3 y2 ) + (x3 y4 x4 y3 ) + (x4 y1 x1 y4 )). (5.2.12)
8
Hv
h = Hv v,
Th = [ 1
2
3
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
x42
f
x13
f
x24
f
x31
f
y42
f
y13
f
y24
f
y31
f
4
3
4
14
14
14
1
4
] ,
14
3
4
14
14
1
4
(5.2.13)
14
14
3
4
14
1
4
14
14
14
3
4
1
4
(5.2.14)
and f = 16|J|.
where
v=
vx
vy
.
(5.2.15)
ry
rz
cxx
cyy
cxy ] ,
(5.2.16)
where rx , ry and rz are the rigid translations in the x and y directions, and the
rigid rotation about the z axis, respectively. cxx , cxx and cxx are the constant
strain displacement modes. By combining equations (5.2.15) and (5.2.16), and
requiring that the higher order displacement vector be orthogonal to the rcmodes, that is RT vh = 0, one obtains
a = (RT R)1 RT v .
RT v = RT Ra + RT vh
(5.2.17)
On the basis of this relation two projector matrices Prc and Ph that project
the displacement vector v on the rc and h subspaces, respectively, can be constructed:
vrc = Prc v ,
vh = Ph v ,
where
Ph = I R(RT R)1 RT .
(5.2.18)
The higher order translational modes can now be found either as the
null-space of Prc , or as eigenvectors of Ph with associated eigenvalues equal
to one, that is Ph vh = vh . The latter scheme is the simpler one because the
projector matrices enjoy the property PP = P. Every column in Ph is thus its
own eigenvector with eigenvalue one, and a higher order mode.
To write down these higher order modes in compact form it is convenient
to expresses the vector that goes from the element centroid to the nodes ri with
respect to the local coordinate system (g , g ). These base vectors are the and - gradient vectors computed at the element center according to equation
(5.1.4). The nodal vector ri can thus be expressed as
ri =
xi
yi
= [ g
g ]
i
i
.
(5.2.19)
3 3 a
4
4 4 a
,
vh =
=
1
1 1 a
2
2 2 a
1
i i .
a=
4 i=1
4
(5.2.21)
The higher order translational degrees of freedom are the components along this
higher order mode for the x and y nodal displacements vx and vy respectively.
Expressed in term of the visible degrees of freedom this becomes
t = Htv v ,
v
vx
vy
= 3
0
4
0
1
0
2
0
0
3
0
4
0
1
(5.2.22)
0
2
0 0 0 0
v.
0 0 0 0
(5.2.23)
If one denes the higher order translational degrees of freedom to be the higher
order translational components along the and directions the relationship
becomes
3 s x 4 s x 1 s x 2 s x 3 s y 4 s y 1 s y 2 s y 0
v
=
v
3 s x 4 s x 1 s x 2 s x 3 s y 4 s y 1 s y 2 s y 0
v
(5.2.24)
where 0 = [ 0 0 0 0 ], and si and si denotes the unit vectors along the and -directions, respectively:
s =
s x
s y
s =
s x
s y
.
(5.2.25)
= Hv
v
where
Hv
H=
Hvt
T = [ 1
v
and
v = [ vTx
2
vTy
3
4
v ]
].
(5.2.26)
3
4
Figure 5.1.
1 =
, 2 =
, 3 =
, 4 =
.
(5.2.27)
24
13
24
13
The next step is to connect these readings to the higher order degrees of freedom.
This can be done by dening a generic template
,
i = Qi v
where Qi are 3 7 matrices. These templates are worked out below.
10
(5.2.28)
l
l
d |1
d |1
1
Figure 5.2.
d|i
,
l
|i =
d|i
,
l
(5.2.29)
where
d|i =
(ri s ) (ri s ) ,
l =
(ri s ) (ri s ) ,
l =
r r ,
r =
1
(r2 + r3 r1 r4 ) ,
2
1
(r3 + r4 r1 r2 ) .
2
The quantities d|i , d|i , l and l are illustrated in Figure 4.2.
d|i =
r r ,
11
r =
Figure 5.3.
The strain distribution sensed by the diagonal strain gages are similarly
assumed to be proportional to the curvature along the diagonal, and proportional
to the distance from the diagonal as
24 =
d24
,
2l24
13 =
d13
,
2l13
(5.2.30)
where
(r31 e24 ) (r13 e24 ) ,
= (r31 e24 ) (r13 e24 ) ,
d24 =
l24 =
d13
l13 =
r24 r24 ,
r24 = (r2 r4 ) ,
r13 r13 ,
r13 = (r1 r3 ) .
l
= t ,
l
=
12
l
= t .
l
(5.2.31)
1 |1
1 |1
5 24
Q2 =
2 |2
4 |2
8 13
Q3 =
3 |3
3 |3
7 13
Q4 =
4 |4
2 |4
6 13
2 |1
3 |1
4 |1
4 |1
6 24
3 |1
7 24
2 |1
8 24
t
0
1 |2
4 |2
3 |2
1 |2
5 13
2 |2
6 13
3 |2
7 13
t
0
4 |3
1 |3
2 |3
2 |3
8 13
1 |3
5 13
4 |3
6 13
t
0
3 |4
2 |4
1 |4
3 |4
7 13
4 |4
8 13
1 |4
5 13
t
0
1 |1
l
0
2
c24
l24
,
1 |1
l
c
2 l24
24
1 |2
l
c13
l13
1 |3
l
c13
l13
1 |4
l
0
2
c13
l13
(5.2.34)
1 |3
l
c
2 l13
13
0
2
(5.2.33)
,
1 |2
l
c13
2 l13
0
2
(5.2.32)
(5.2.35)
,
1 |4
l
c
2 l13
13
where c13 = sT13 s , c13 = sT13 s , c24 = sT24 s and c24 = sT24 s .
The cartesian strain displacement matrices at the nodes are obtained by
the transformations
2
s x s y
s x s 2y
Bh1 = T13 Q1 ,
s 2 s 2
where T1
s x s y ,
(5.2.36)
13 =
x
y
Bh3 = T13 Q3 ,
2
2
s24 x s24 y s24 x s24 y
Bh2 = T24 Q2 ,
Bh4 = T24 Q4 ,
where
T1
24
s 2x
= s 2x
s13 2x
13
s 2y
s 2y
s13 2y
s x s y
s x s y .
s13 x s13 y
(5.2.37)
A higher order strain eld over the element can now be obtained by interpolating
the nodal Cartesian strains by use of the bi-linear shape functions dened in
(5.1.3).
Bh (, ) =
(5.2.38)
2 = 0.1
6 = 0.5
1 = 0.6
3 = 0.1 4 = 0.1
7 = 0.0 8 = 0.5
2 = 0.0
14
(5.2.41)
Figure 5.4.
K = LCL + H Kd H where Kd =
BTd CBd dA .
(5.2.42)
A
A
Numerical experiments, however, indicate that the element performs better when
the element stiness is computed as
1
T
T
h =
BTh CBh dA ,
(5.2.43)
K = LCL + H Kh H where K
A
A
that is when the non-deviatoric higher order strains are used. This is not strictly
justied according to the standard ANDES formulation since the higher order
strains displacement matrix Bh is not energy orthogonal with respect to the
constant strain modes for arbitrary element geometries. However, both of the
above element stiness matrices satisfy the Individual Element Test and thus
also the conventional Patch Test.
Rank of the stiness matrix.
Performing an eigenvalue analysis of the element stiness matrices given in equations (5.2.42) and (5.2.43) it was found that the element has one spurious zero
energy mode in addition to the correct three rigid body modes. This spurious
mode occurred using a 22 Gauss integration rule. It is expected that this spurious mode would disappear with a 33 integration rule. For a square element
15
as shown in Figure 5.4 this spurious mode is dened by the nodal displacement
pattern
vT = [ vx1
vx2
vx3
vx4
= [ 1 1
vy1
vy2
vy4
z1
z2
4 4
z3
z4 ]
4 ] .
(5.2.44)
Analysis of a mesh of two elements shows that this the pattern (5.2.44) can
not occur in a mesh of more than one element. The spurious mode is then not
practically signicant for the performance of the element.
5.3
1 1
vy3
The current approach to deriving the quadrilateral plate bending element utilizes
reference lines. Hrenniko [00] rst used this concept for plate modeling where
the goal was to come up with a beam framework useful as a model for bending
of at plates.
Park and Stanley [ 00, 00] used the reference line concept in their development of several plate and shell elements based on the ANS formulation. The
reference lines were used to nd beam-like curvatures; these curvatures were
then used to nd the plate curvatures through various Assumed Natural Strain
distributions. These plate and shell elements were of Mindlin-Reissner type, and
the reference lines were treated as Timoshenko beams.
The present element is a Kirchho type plate and the reference lines are
thus treated like Euler-Bernoulli (or Hermitian) beams.
5.3.1 Basic stiness.
The basic stiness for a at quadrilateral bending element has been developed
by extending the triangle element lumping matrices Ll and Lq of Militello to
four node elements. Ll and Lq denotes lumping with respect to a linear and
quadratic variation in the normal side rotation respectively.
By ordering the element degrees of freedom as rotation about x and y
axis and translation in z direction for each node one obtains the lumped forces
from bending as
mxx
f = Ll or f = Lq where = myy ,
(5.3.1)
mxy
Ll 1
L
Ll = l 2 ,
Ll 3
Ll 4
Lq 1
L
Lq = q 2
Lq 3
Lq 4
16
(5.3.2)
and
f1
f1
f=
f1
f1
where
mx
f i = my .
fz
(5.3.3)
The lumped node forces at a node j given by lumping matrix Lj , receive contributions from the moments from adjoining sides ij and jk. The lumped force
vector at a node j is thus a function of the coordinates of the sides ij and jk
only. With linear interpolation of the normal and tangential rotations along a
side the lumping matrix becomes
Ll j
0
1
=
0
2
yki
0
xki
0
0
yki ,
xki
(5.3.4)
2
1 2
2 (sjk yjk
+ s2ij yij )
2
1 2
2 (cjk yjk
+ c2ij yij )
(5.3.5)
where superscript q is used to denote quadratic variation of normal rotations.
The nodal indices (i, j, k, l) in the equations above undergo cyclic permutations
of (1, 2, 3, 4) as for the membrane lumping.
5.3.2 Higher order stiness
The higher order stiness is computed as the deviatoric part of an ANS type
element using the Euler-Bernoulli beam as a reference line strain guide.
17
2 ( 2 + )(1 + )2
1 l ( 1 + )(1 + )2
T
N =
2
8
2 ( 2 )( 1 + )2
l (1 + )( 1 + )
(5.3.6)
and vb ij
wi
ni
=
.
wj
nj
1 l (1 + 3)
2w
= 2
vb ij ,
=
6
x2
l
l (1 + 3)
The nodal curvatures are then
1 6
ij|i
= 2
ij|j
6
l
4l
2l
6
6
2l
v
4l bij
(5.3.7)
(5.3.8)
wi
n i
=
0
w
0
n j
nij x
0
0
nij y
0
0
0
0
0
0
1
0
0 nij x
(5.3.9)
xi
0 y i
.
wj
0
nij y
y
(5.3.10)
yj
The nodal curvatures expressed in terms of the visible dofs at node i and j then
become
1 6 4l nij x 4l nij y
6 2l nij x 2l nij y
ij|i
= 2
v.
6
2l nij x
2l nij y 6
4l nij x
4l nij y
ij|j
l
(5.3.11)
18
3
4
Figure 5.5.
(5.3.12)
12|1
13|1
12|2
23|2
24|2
23|3
34|3
13|3
34|4
41|4
24|4 ] ,
(5.3.13)
6
4
4
0
0
0
0
0
0
6
2
2
6 2 2
0
0
0
0
0
0
6 4 4
0
0
0
6 2 2
0
0
0
6 4 4
2
2 6
4
4
0
0
0
0
0
0
6
0
0 6 4 4
6 2 2
0
0
0
0
0
0 6 4 4
0
0
0
6 2 2
0
QF =
,
0
0
6
2
2 6
4
4
0
0
0
0
0
0
0
0
0 6 4 4
6 2 2
0
2
2
0
0
0 6
4
4
0
0
0
6
0
0
0
0
0
0
6
2
2
6
4
4
6 2 2
0
0
0
0
0
0 6 4 4
0
0
0
6
2
2
0
0
0 6
4
4
(5.3.14)
19
F41
F12
F13
F12
F23
F24
F=
F23
F34
F13
F34
F41
F24
F41
F12
F13
F41
F12
F13
F12
F23
F24
F12
F23
F24
F23
F34
F13
F23
F34
F13
F34
F41
F24
F34
F41
F24
F41
F12
F13
F12
F23
F24
F23
F34
F13
F34
F41
F24
F12 =
F23 =
where
F34 =
F41 =
F13 =
F24 =
1
2
l12
1
2
l23
1
2
l34
1
2
l41
1
2
l13
1
2
l24
n12 x
l12
n23 x
l23
n34 x
l34
n41 x
l41
n13 x
l13
n24 x
l24
n12 y
l12
n23 y
l23
n34 y
l34
n41 y
l41
n13 y
l13
n24 y
l24
. (5.3.15)
B1
T 1 Q1
|1
|2
B
T Q
= 2 v = 2 2 v ,
B3
T 3 Q3
|3
|4
B4
T 4 Q4
where
T 1
1
T 1
2
T 1
3
T 1
4
s41 2x
= s12 2x
s13 2x
2
s12 x
= s23 2x
s24 2x
2
s23 x
= s34 2x
s13 2x
2
s34 x
= s41 2x
s24 2x
s41 2y
s12 2y
s13 2y
s12 2y
s23 2y
s24 2y
s23 2y
s34 2y
s13 2y
s34 2y
s41 2y
s24 2y
s41 x s41 y
s12 x s12 y ,
s13 x s13 y
s12 x s12 y
s23 x s23 y ,
s24 x s24 y
s23 x s23 y
s34 x s34 y ,
s13 x s13 y
s34 x s34 y
s41 x s41 y .
s24 x s24 y
The Cartesian curvatures over the element can then be obtained by interpolation
of the nodal values as
= B(, )v ,
(5.3.17)
20
where
B(, ) =
(5.3.18)
(5.3.19)
(5.3.20)
i.e. without extracting the mean part of the strain displacement matrix and not
including the basic stiness described in Section 5.3.1.
5.4
The objective of this section is to develop a technique that allows the use of
the at quadrilateral membrane and bending element as parts of a non-at shell
element for linear problems. This is obtained by formulating a linear projector matrix, which for the linear case restores equilibrium at the undeformed
element geometry. This can also be obtained by using the nonlinear projector
with respect to the initial geometry. In fact the linear and nonlinear projector gives identical results for linear problems. However the linear projector is
recommended for linear nite element codes due to its greater simplicity.
The four node shell element is obtained by assembling the membrane
element and bending element to the appropriate degrees of freedom. This is
sucient as long as the shell element is strictly at since both the membrane
and bending elements are developed as at elements. Unfortunately, four node
shell elements on a real structure quite often end up being warped. To restore
or improve the behavior of the warped element one can use a projection technique
similar to that developed by Rankin and coworkers [ 00, 00].
The element stiness matrix does not have the correct rigid body modes
if the element geometry is warped since the element stiness has been developed
using the projected at positions of the element nodes. This causes two deciencies of the element stiness:
1. The element picks up strains and thus forces from a rigid body displacement vector i.e. f r = Kvr = 0.
21
2. The element forces are not in self equilibrium and the force vector will
thus pick up energy for a rigid body motion. vTr f = vTr Kv = 0.
These two statements are equivalent for a symmetric element stiness matrix.
If an element stiness has columns that are in self equilibrium the element has
the correct rigid body modes and vice versa.
The foregoing deciencies lead to the investigation of the element internal energy
1
1
= vT Kv = (vTr + vTd )K(vr + vd )
2
2
(5.4.1)
1 T
= (vd Kvd + vTd Kvr + vTr Kvd + vTr Kvr ).
2
If the element fails the equilibrium and rigid-body conditions;
vTr Kvr = 0 ,
vTr Kvd = 0
(5.4.2)
To extract the deformational energy, the total displacements are split into deformational and rigid body motions, the latter being spanned by the matrix
R:
v = vd + vr = vd + Ra.
(5.4.3)
By requiring that the deformational displacement vector be orthogonal to the
rigid body modes one must have RT vd = 0. On pre-multiplying the equation
above with RT the rigid body amplitudes can be solved for:
RT v = RT Ra
a = ( RT R )1 Rv ,
(5.4.4)
(5.4.5)
(5.4.6)
1 T
1
1
vd Kvd = vT PTd KPd v = vT Kd v .
2
2
2
22
(5.4.7)
v2
v=
v3
v4
where
vxi
yi
vzi
vi =
xi
yi
zi
(5.4.9)
R1
R2
R=
,
R3
R4
Ri =
I
0
1
0
Spin(ri )
0
=
I
0
0
0
0
1
0
0
0
0
0
0
1
0
0
0
zi
yi
1
0
0
zi
0
xi
0
1
0
yi
x
i
0
.
0
0
1
(5.4.10)
4I
R R=
0
T
0
S
with S = 4I
4
(5.4.11)
Spin(ri )Spin(ri ) .
i=1
This simplies the computation of the projector matrix because only the lowest
33 submatrix of RT R is non-diagonal, and (RT R)1 can be eciently formed.
23
5.5
vi = G
v.
vi
(5.5.1)
The local coordinate relationship is sought since this is is needed in forming the
geometric stiness of the element as expressed in equation (0.0.0) .
The rotation of the shadow element is most easily obtained from the
rotation of the shared or common local frame for the C0n and Cn congurations.
This orthogonal element coordinate frame with unit axis vectors e1 , e2 and e3
is rigidly attached to the shadow element C0n , since this element only moves
as a rigid body, and elastically attached to the deformed and elastic element
Cn . This local coordinate system for a quadrilateral element can be dened in
various ways. Most researchers select the element z-axis unit vector as the cross
product of the diagonals vectors d13 and d24
d13 d24
e3 =
Ap
where
Ap = (d13 d24 )T (d13 d24 )
(5.5.2)
This denes Ap as the area of the element projection on the local x y plane.
The positioning of the x and y axis unit vectors e1 and e2 diers among
researchers. Rankin and Brogan [00] chooses e2 to coincide with the projection
of the side edge 24 on the plane normal to e3 . This eectively lets only one of the
side edges determine the rigid rotation of the element about the local z axis. The
origin of the element coordinate system is chosen to coincide with node 1. When
this procedure is performed for both the C0 and Cn element congurations the
net result is that the shadow element C0n will be positioned relative to Cn so that
nodes 1 coincide and the projections of side edge 24 on the (x, y) plane coincide.
A consequence of this choice is that the element deformational displacement
vector vd , which is the dierence between the coordinate between the Cn and
C0n coordinates, is not invariant with respect to the element node numbering.
Bergan and Nyg
ard [00] choose vector e1 and e2 to coincide with the
directions of side edge 12 and 14 for a rectangle that is positioned relative to
the quadrilateral element so that the sum of the angles between the side edges
of the quadrilateral and rectangle is zero. The origin of the coordinate system
24
1
3 = e3y =
e
x31 z42 + x
42 z31 ,
Ap
e3z
x
31 y42 x
42 y31
(5.5.3)
where
(
y31 z42 y42 z31 )2 + (
x31 z42 + x
42 z31 )2 + (
x31 y42 x
42 y31 )2 .
(5.5.4)
These expressions simplify, but the full expressions has to be kept in order to
obtain the correct variation with respect to the nodal coordinates. The
x and
y variation can now be obtained from the variation of e3y and e3x respectively
Ap =
e3y
x
i +
x
i
e3x
(
x
i +
x
i
x = (
y =
e3y
e3y
yi +
zi ) ,
yi
zi
e3x
e3x
yi +
zi ) .
yi
zi
(5.5.5)
The variation of
x and
y with respect to the in-plane coordinate components
of the nodes x
i and yi is zero since
e3x
e3x
e3y
e3y
=
=
=
=0.
x
i
yi
x
i
yi
25
(5.5.6)
e3x
lj
x =
zi =
zi ,
zi
Ap
i=1
4
ylj
e3y
zi =
zi ,
zi
A
p
i=1
4
y =
with Ap = x
31 y42 x
42 y31 ,
(5.5.7)
where the nodal indices (i, j, k, l) takes cyclic permutations of (1, 2, 3, 4).
The e1 vector is chosen to lie along the projection of side 12 in the x-y
plane. This gives the y axis unit vector as
e2 =
e3 r12
,
l12
(5.5.8)
where l12 is the projected length of side 12 in the x-y plane. By expressing e2
in the local coordinate system the variation of
z can be obtained as
z = (
e2x
e2x
e2x
x
i +
yi +
zi ) .
x
i
yi
zi
(5.5.9)
z =
4
1
x
lj z21
( y1 + y2 )
zi ,
l12
A
p
i=1
(5.5.10)
G = [ G1 G2 G3 ] = G
(5.5.11)
y
Gz
where
1 = 1
G
Ap
2 = 1
G
Ap
3 = 1
G
Ap
4 = 1
G
Ap
0
0
x42
0
0
y42
A
0 l12p x42 z21
0
0
x13
0
0
y13
Ap
0
x
13 z21
l12
0 0
x24
0
0 0
0
y24
0 0 x24 z21 0
0
0 0
x31
0 0
0
y31
0 0 x42 z31 0
26
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0,
0
0
0,
0
0
0,
0
0
0.
0
(5.5.12)
= XA
0
1
0
Gi =
Ap Ap nij x
4 ( lij
where
nki x
lki )
0
0
Ap nij y
4 ( lij
nki y
lki )
xlj
ylj
0 , (5.5.13)
(xlj fx + ylj fy )
1 z21 x21
z32 x32
z43 x43
z14 x14
+
+
+
),
(
4 l21
l32
l43
l14
1 z21 y21
z32 y32
z43 y43
z14 y14
fy = (
+
+
+
),
4 l21
l32
l43
l14
fx =
(5.5.14)
ij and lij is the outward normal and length of side edge ij respectively:
and n
yji
1
xji
nij =
lij
0
and lij =
2 .
x2ij + yij
(5.5.15)
z contains more than three distinct coordinate expressions. This will give a loss
in convergence rate if the deformed conguration Cn and shadow conguration
C0n are far apart since the present tangent stiness expressions have omitted
terms containing the unbalanced element forces. See Section 0.0.0.
27