2D

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Ramadas Chennamsetti
Two Dimensional FEA
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Contents
Introduction
2D Triangular Elements
Three Node
Six Node
Interpolation Function
2D Quadrilateral Elements
Four Node
Eight Node
Nine Node
Isoparametric Elements
Numerical Integration
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Introduction
A typical 2D problem
P
x
y
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Introduction
2D problems
Two independent variables e.g. x & y
Formulation Virtual work, Minimum total PE,
Weak formulation etc.
Plane stress, plane strain and axi-symmetric, 2D
heat transfer etc.
Stress, strain, displacement, temperature
functions of x & y.
Elements can be used for plane stress, plane
strain and axi-symmetric problems
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Introduction
In 2D FE two approximations are made
Approximation on domain
Approximation on field variable
Mesh generation in 2D
Select elements that characterize the governing
equations of the problem.
The number, shape and type of elements the
geometry of domain is represented accurately
Fine mesh or higher order elements in large
gradient areas
Gradual mesh refinements from high gradients to
low gradients
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Introduction
Various types of 2D elements
Triangle - 1956 Turner analyzed thin aerospace structures
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Introduction
Dependent variable polynomial should
have
Sufficiently differentiable terms
Complete
Terms should be linearly independent
Satisfies essential boundary conditions of the
element
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2D Element Triangular

x
y
Field variables u & v are displacements in x & y
directions. Six DOF Two at each node.
Assuming
x & y basis functions & a
i
, b
i
basis coefficients
y b x b b v
y a x a a u
3 2 1
3 2 1
+ + =
+ + =
(x
2
, y
2
)
(x
1
, y
1
)
(x
3
, y
3
)
u
1
v
1
u
3
v
3
1
u
2
v
2
2
3
First element for 2D solids
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{ } [ ]{ } X U
b
b
b
a
a
a
y x
y x
v
u
= =>
=
)
`
3
2
1
3
2
1
1 0 0 0
0 0 0 1
{ } [ ]{ } A d
b
b
b
a
a
a
y x
y x
y x
y x
y x
y x
v
v
v
u
u
u
= =>
(
(
(
(
(
(
(
(
3
2
1
3
2
1
3 3
2 2
1 1
3 3
2 2
1 1
3
2
1
3
2
1
1 0 0 0
1 0 0 0
1 0 0 0
0 0 0 1
0 0 0 1
0 0 0 1
{ } [ ] { } d A
1
=
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{ } [ ][ ] { } [ ]{ } d N d A X U = =
1
=
)
`
3
2
1
3
2
1
3 2 1
3 2 1
0 0 0
0 0 0
v
v
v
u
u
u
N N N
N N N
v
u
3 3 2 2 1 1
u N u N u N u + + =
3 3 2 2 1 1
v N v N v N v + + =
N
i
shape function
Calculation of strains
Strains are constant over
element => CST element
2
a
x
u
x
=
=
3
b
y
v
y
=
=
2 3
b a
x
v
y
u
xy
+ =
=
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{ } [ ]{ } [ ][ ]{ } [ ]{ } d B d N U
v
u
x y
y
x
x
v
y
u
y
v
x
u
xy
y
x
= = =
)
`
(
(
(
(
(
(
(
= 0
0
{ } [ ]{ } C =
{ } [ ]{ } { } { } { } { }

=
=
n
i
i i
T T T
P dV B U dS T U dV C
1
2
1

Minimum total PE,
[ ] [ ] [ ][ ]tdA B C B k
T
A
=
Stiffness matrix,
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Non-uniform thickness of element should be
considered in evaluation of integration
e.g. Stiffness matrix calculation
Assuming variation of thickness linear over the
domain => t = N
1
t
1
+N
2
t
2
+N
3
t
3
N
i
=> shape functions used in dependent &
geometric interpolations
Carry out integration incorporating thickness
variation also
[ ] [ ] [ ][ ]tdA B C B k
T
A
=
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Cartesian co-ordinates are not very
convenient for triangular elements
Calculation of coefficients in stiffness
matrix and load vector integration limits
Finding inverse of [A]
-1
computationally
expensive
Alternative Natural co-ordinate system
Area co-ordinate system - a remedy for
above problems
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x
y
A
3
A
2
A
1
1
2
3
side 1
side 2
side 3
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Natural coordinates
A
A
N
A
A
N
A
A
N
3
3
2
2
1
1
, , = = =
N
1
, N
2
& N
3
=> linear functions in
x and y
N
1
+ N
2
+ N
3
= 1
u = N
1
u
1
+N
2
u
2
+N
3
u
3
x
N
N
u
x
N
N
u
x
N
N
u
x
u
3
3
2
2
1
1
A
1
2
A
3
A
2
1
3
P(x, y)
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y
N
N
u
y
N
N
u
y
N
N
u
y
u
3
3
2
2
1
1
P(x,y)
A
3
A
2
1
3
2
P(x, y) on side 2-3
A
A
N
A
A
N N
3
3
2
2 1
, , 0 = = =
P(x,y)
1
3
2
P(x, y) coincides with vertex 1
0 , 0 , 1
3 2 1
= = = N N N
1 0
i
N
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Properties of shape functions area co-
ordinates
i
j
k
N
i
= 1
N
i
= 0
N
i
= 0
i
j
k
N
k
= 0
N
k
= 1
N
k
= 0
j
i
k
N
j
= 1
N
j
= 0
N
j
= 0
N
i
+ N
j
+ N
k
= 1
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Adding nodes on three edges 4, 5 & 6
2
3
6
5
u
3
v
3
1
u
1
v
1
u
2
v
2
4
u
4
v
4
u
5
v
5
u
6
v
6
Higher order element LST element
12 DOF, 2 at
each node
Place secondary nodes after
L from vertex nodes
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( )
( )
2
12 11
2
10 9 8 7
2
6 5
2
4 3 2 1
y a xy a x a y a x a a y , x v
y a xy a x a y a x a a y , x u
+ + + + + =
+ + + + + =
{ }
=
)
`
=
12
11
10
9
8
7
6
5
4
3
2
1
2 2
2 2
1 0 0 0 0 0 0
0 0 0 0 0 0 1
a
a
a
a
a
a
a
a
a
a
a
a
y xy x y x
y xy x y x
v
u
U
{ } [ ]{ } X U =
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) )) )

` `` `

( (( (
( (( (
( (( (
( (( (
( (( (
( (( (
( (( (
( (( (
( (( (
( (( (
( (( (

( (( (

= == =

) )) )

` `` `

12
11
10
9
8
7
6
5
4
3
2
1
2
6 6 6
2
6 6 6
2
2 2 2
2
2 2 2
2
1 1 1
2
1 1 1
2
6 6 6
2
6 6 6
2
2 2 2
2
2 2 2
2
1 1 1
2
1 1 1
6
2
1
6
2
1
a
a
a
a
a
a
a
a
a
a
a
a
y y x x y x 1 0 0 0 0 0 0
y y x x y x 1 0 0 0 0 0 0
y y x x y x 1 0 0 0 0 0 0
0 0 0 0 0 0 y y x x y x 1
0 0 0 0 0 0 x y x x y x 1
0 0 0 0 0 0 y y x x y x 1
v
v
v
u
u
u
M M M M M M M M M M M M
M M M M M M M M M M M M
M
M
{ } [ ]{ } { } [ ] { } d A A d
1
= => =
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{ } [ ]{ } X U =
{ } [ ] { } d A
1
=
{ } [ ][ ] { } d A X U
1
= { } [ ]{ } d N U =
[ ] [ ][ ]
1
= A X N
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{ } [ ]{ } U
v
u
x y
y
x
x
v
y
u
y
v
x
u
xy
y
x
=
)
`
(
(
(
(
(
(
(
= 0
0
Strain displacement relations

{ {{ { } }} }

) )) )

` `` `

( (( (
( (( (
( (( (
( (( (

( (( (

= == =
12
2
1
a
a
a
0 y x 2 0 1 0 y 2 x 0 1 0 0
y 2 x 0 1 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 y x 2 0 1 0
M
Strains vary linearly => Linear Strain Triangle (LST)
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{ } [ ]{ } d N U = { } [ ]{ } U =
{ } [ ][ ]{ } [ ]{ } d B d N => =
[ ] [ ] [ ][ ]
[ ] [ ] [ ][ ]tdA B C B k
dV B C B k
T
A
T
V
=
=
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Natural coordinate system for LST element
1
2
3
4
5
6
(1, 0, 0) (0, 1, 0)
(0, 0, 1)
(1/2, 1/2, 0)
(0, 1/2, 1/2)
(1/2, 0, 1/2)
L
1
= 0 L
2
= 0
L
3
= 0
For node 1
C = 1
For node 4
C = 4
) 1 2 (
1 1 1
= L CL N
2 1 4
L CL N =
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Evaluation of boundary integrals
Natural BCs appear in boundary integrals in
weak formulation
In minimum total PE formulation appear as
change in potential
In structural mechanics Tractions & heat
transfer heat flux
In PE formulation
{T} = {T
x
T
y
}
T
and {U} = {u v}
T
{U} = [N]{d}
{ } { }ds T U
T
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T
x
& T
y
- tractions on boundary 1-2 of a
triangle element as shown
No tractions on sides 2-3 & 3-1
Order of {Q} => 61
On side 1-2 N
3
= 0
1
2
x
y
3
T
x
T
y
{ } { } { } { } { } { } { } { }

+ + =
1 3 3 2 2 1
ds T U ds T U ds T U ds T U
T T T
T
{ } { } { } { } { } [ ] { }ds T N Q ds T U ds T U
T
T
T

= => =
2 1 2 1
{ } { } ds T N T N T N T N T N T N Q
T
y x y x y x
=
2 1
3 3 2 2 1 1
{ } { } ds T N T N T N T N Q
T
y x y x
=
2 1
2 2 1 1
0 0
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Evaluate along boundary 1-2
Shape functions N
1
& N
2
=> 1-D shape
functions = [1-x/L x/L]
For constant T
x
& T
y
=
l
i
l
dl N
2
0
0
2
0
0
2
2
2
2
3
3
2
2
1
1
y
x
y
x
y
x
y
x
y
x
y
x
y
x
T
T
T
T
l
l T
l T
l T
l T
f
f
f
f
f
f
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Degree of
polynomial
p
1
2
Number of
terms
n
3
6
CST
LST
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Degree of
polynomial
p
3
4
Number of
terms
n
10
15
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Higher order elements For accurate
representation of domain with curved
boundaries
Number of terms in polynomial = number
of nodes
If k = number of nodes per side => total
number of nodes = k (k+1)
Number of terms in a polynomial of order
n => (n+1)(n+2)/2
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2D Element - Quadrilateral
b
b
h
h
x, u
y, v
1 2
3
4
u
3
u
4
u
1
u
2
v
1
v
2
v
3
v
4
Eight DOF two at each node
Bilinear element Q4
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( )
( )
( )
( )( ) ( )( )
( )( ) ( )( )
( )
( )( ) ( )( )
( )( ) ( )( )
|
|
\
|
+ + + + +
+ +
=
|
|
\
|
+ + + + +
+ +
=
+ + + =
+ + + =
4 3
2 1
4 3
2 1
8 7 6 5
4 3 2 1
4
1
,
4
1
,
,
,
v y h x b v y h x b
v y h x b v y h x b
bh
y x v
u y h x b u y h x b
u y h x b u y h x b
bh
y x u
xy a y a x a a y x v
xy a y a x a a y x u
Displacement fields -
Incomplete polynomial
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( (( ( ) )) ) ( (( ( ) )) )
( (( ( ) )) ) ( (( ( ) )) )
( (( ( ) )) ) ( (( ( ) )) )
( (( ( ) )) ) ( (( ( ) )) )
1
2
3
4
b x h y
N
4bh
b x h y
N
4bh
b x h y
N
4bh
b x h y
N
4bh

= == =
+ + + +
= == =
+ + + + + + + +
= == =
+ + + +
= == =
Shape functions
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=
)
`
4
4
3
3
2
2
1
1
4 3 2 1
4 3 2 1
0 0 0 0
0 0 0 0
v
u
v
u
v
u
v
u
N N N N
N N N N
v
u
{ } [ ]{ } d N U
v
u
= =
)
`
Displacement fields in terms of shape

functions
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{ {{ { } }} }
{ {{ { } }} } [ [[ [ ] ]] ]{ {{ { } }} } d B
x
v
y
u
y
v
x
u
xy
y
x
= == =

) )) )

` `` `

+ ++ +

= == =

) )) )

` `` `

= == =
[ [[ [ ] ]] ]
( (( (
( (( (
( (( (

( (( (

+ ++ + + ++ + + ++ + + ++ +
+ ++ + + ++ +
+ ++ + + ++ +
= == =
) y h ( ) x b ( ) y h ( ) x b ( ) y h ( ) x b ( ) y h ( ) x b (
) x b ( 0 ) x b ( 0 ) x b ( 0 ) x b ( 0
0 ) y h ( 0 ) y h ( 0 ) y h ( 0 ) y h (
bh 4
1
B
Stress displacement relations
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[ [[ [ ] ]] ] [ [[ [ ] ]] ] [ [[ [ ] ]] ] [ [[ [ ] ]] ]
{ {{ { } }} } [ [[ [ ] ]] ] { {{ { } }} } { {{ { } }} } [ [[ [ ] ]] ] { {{ { } }} }
{ {{ { } }} } [ [[ [ ] ]] ]{ {{ { } }} }
h b
T
h b
T T
V S
k B D B t dx dy
f N X dV P N T dS
f k d

= == =
= + + = + + = + + = + +
= == =

Element stiffness matrix & force vector
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Interpolation functions
5 4 3 2 2 3 4 5
4 3 2 2 3 4
3 2 2 3
2 2
y xy y x y x y x x
y xy y x y x x
y xy y x x
y xy x
y x
1
order fifth
quartic
cubic
quadratic
linear
constant
Pascals Triangle
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In Q4 element,
If a
i
xy term is replaced by a
i
(x
2
+y
2
)
In Q4, polynomial is incomplete
Conforming when parallel to co-ordinate axes
Geometrically variant
Use mapping technique
( )
( ) xy a y a x a a y x v
xy a y a x a a y x u
8 7 6 5
4 3 2 1
,
,
+ + + =
+ + + =
( ) ( )
( ) ( )
2 2
8 7 6 5
2 2
4 3 2 1
,
,
y x a y a x a a y x v
y x a y a x a a y x u
+ + + + =
+ + + + =
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Natural coordinate system Lagrange family
+1
-1
+1
-1
(0, 0)
1 2
3 4
Limits -1 , +1 => integration point of view
Shape functions in natural csys
N
1
= C (eqn. 2-3)(eqn. 3-4) = C (1- )(1- )
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41
Substitute (-1, -1) at node 1 and N
1
= 1
=> C = .
( )( )
( )( )
( )( )
( )( )

+ =
+ + =
+ =
=
1 1
4
1
1 1
4
1
1 1
4
1
1 1
4
1
4
3
2
1
N
N
N
N
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42
Express displacements in terms of shape
functions in natural coordinates
u & v are functions of &
If the field variable is temperature No. of
DOF is four one at each node.
4 4 3 3 2 2 1 1
4 4 3 3 2 2 1 1
v N v N v N v N v
u N u N u N u N u
+ + + =
+ + + =
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43
Calculation of strains in natural csys
Using chain rule
[J] Jacobian matrix
relates derivatives in
two coordinate frames.
{ }
=
x
v
y
u
y
v
x
u
xy
y
x
y
y
x
x
y
y
x
x
[ ]
(
(
(
(
y
x
J
y
x
y x
y x

Q4 element comes under both Lagrange & Serendipity

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44
Q9 element Lagrange family
Add mid-nodes & central (internal) => 9 node element
Shape function at node 1
=> N
1
= (N
1
of 1-4)(N
1
of eqn.1-2)
+1
-1
+1
-1
(0, 0)
1 2
3 4
5
6
7
8 9
( )( ) = 1 1
4
1
1
N
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45
Shape function node 5
N
5
= (N
5
of 1-2)(N
5
of 5-7)
+1
-1
+1
-1
(0, 0)
1 2
3 4
5
6
7
8 9
( )( ) = 1 1
2
1
2
5
N
N
9
Bubble function
Order of an element => Degree of interpolation
function
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46
Higher order cubic element Q16
Lagrange interpolations products of 1-D
Q4 => (A
1
+A
2
x)(B
1
+B
2
y) Linear functions
Four constants
Q9 => (A
1
+A
2
x+A
3
x
2
)(B
1
+B
2
y+B
3
y
2
) Quad
Nine constants
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Q16 element sixteen constants cubic
functions
(A
1
+A
2
x+A
3
x
2
+A
4
x
3
)(B
1
+B
2
y+B
3
y
2
+B
4
y
3
)
Lagrange interpolations obtained from 1-D
polynomials of order m are incomplete to
order 2m
Order of interpolation in x & y directions is
same
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48
Lagrange elements internal nodes more and
higher degree terms in polynomial shape
functions.
p order of polynomial => number of nodes in
the element n = (p+1)
2
Internal nodes do not connect adjoining elements

no contribution to the interelement
connectivity
Internal nodes incomplete higher order
polynomial
Condense out static condensation eliminate
DOF of internal nodes from solution.
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Develop elements without internal nodes
Serendipity family only boundary nodes.
Serendipity means shape functions have
been determined by inspection
Use Lagrange shape function properties for
construction of shape function of
Serendipity family.
Both Lagrange & Serendipity elements
incomplete polynomials
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Add mid-side nodes to Q4 element => Q8
The field variable - [ ]{ } N N
i
i
i
= =

=
8
1
Higher order element Structures 16 DOF, 2 at each
node. Temperature 8 DOF, one at each node
+1
-1
+1
-1
(0, 0)
1 2
3 4
5
6
7
8
Serendipity
family
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Shape functions in natural csys
+1
-1
+1
-1
(0, 0)
1 2
3 4
5
6
7
8
Shape function for node 1
N
1
= C(eqn.2-3)(eqn.3-4)(eqn.8-5)
At (-1, -1) => C = -1/4
( )( )( ) + + = 1 1 1
1
C N
( )( )( ) + + = 1 1 1
4
1
1
N
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Shape function for node 5
N
5
= C (eqn. 4-1)(eqn. 4-3)(eqn. 3-2)
At N
5
(0, -1), C=1/2
+1
-1
+1
-1
(0, 0)
1 2
3 4
5
6
7
8
( )( )( ) + = 1 1 1
5
C N
( )( )( ) + = 1 1 1
2
1
5
N Same procedure for rest
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Pascals triangle Lagrange family Qn
1
x y
x
2
x y y
2
x
3
x
2
y x y
2
y
3
x
4
x
3
y x
2
y
2
x y
3
y
4
x
5
x
4
y x
3
y
2
x
2
y
3
x y
4
y
5
Linear
Quadratic
Cubic
More
incomplete
higher order
polynomial
terms
computationally
inefficient
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Pascals triangle Serendipity family Qn
1
x y
x
2
x y y
2
x
3
x
2
y x y
2
y
3
x
4
x
3
y x
2
y
2
x y
3
y
4
x
5
x
4
y x
3
y
2
x
2
y
3
x y
4
y
5
x
6
x
5
y x
4
y
2
x
3
y
3
x
2
y
4
xy
5
y
5
Linear
Quadratic
Cubic
Elements have
better curve
fitting
properties
Completeness
of higher order
terms - better
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12 node Serendipity element
Total DOF = 24, two at each
node cubic shape function
Number of constants 24
16 node Lagrange element
Total DOF = 32
4
th
order shape function.
No. of constants 32
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Triangular & Quad elements
Formulation of CST is the simplest compared to any
other element
CST elements fit well in complex regions than Q4
difficult to generate mesh with Q4s
Higher order elements are more accurate LST & Q8.
No of elements required depends on element type and
accuracy required.
These elements are C
0
compatibility only
displacements are continuous across element
boundaries like Lagrange family
CST - Q4 & LST Q8 elements can be combined
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57
Triangular & Quad elements
C
m
compatibility derivatives up to and including
m degree are interelement continuous
Construct C
1
compatibilty triangular elements
=> displacements & strains will be continuous. DOF
at each node = five
Total => 5*3 = 15 DOF
Over-connected or connected with excess
continuity
Needs higher order polynomial.
High computational cost etc.- not preferred.
Use of these elements in bending ---????
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58
Continuum infinite DoF
FE discretisation limitation on DoF
structure more stiff
Higher total P.E than actual value
k
P
k P u ku P
Pu Pu Pu
2
2
1
2
1
2
1
= =>
= => =
= =
For a given load FE

model has lower than
analytical estimate
Keep refining the mesh
FE => Analytical estimate
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59
Total potential vs number of elements
n
-
True value
Approximate
Total potential gives a bound
Interpolation function plays a
major role
Shape function = solution of
governing equation All
parameter match well with
analytical estimates or true
values
FE lower order shape functions
and piecewise interpolation
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Interpolation functions need to meet certain
requirements mesh refining => converged
solution
No free choice of shape functions
FE results depend on computation of [k] & {f}
Computing [k] & {f} more accurately FE results
more accurate
[k] depends on [B] and [B] on [N] similarly {f}
depends on [N]
Shape function plays a major role
[N] shape functions should be accurate for
exact computation of [k] & {f}
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61
Number of terms in the assumed polynomial
Number of coefficients in polynomial = no. of DOF
associated with the element.
All terms in polynomial should be linearly
independent
Differentiability Assumed polynomial and its
derivatives should be continuous within an
element.
Rigid body modes Displacements without
invoking strains
To achieve this requirement polynomial expression
should include a constant term N
i
= 1
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Monotonic convergence
Constant strain state consider an example
integration = summation
Area under curve, f(u)
u
f
u
0 u
o
( ) ( )

= =
L
i i
u u f du u f A
0
Sum of area of small rectangles
=> Area under curve
Function value constant over an interval u
Size of interval determines error in estimation of area
Smaller interval size => error reduces
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Apply same analogy to FE
Strain energy (1D case)
( ) ( )

= = |
\
|
=
|
\
|
= =
i i
L L
L V
x x f dx x f dx
dx
du
EA U
Adx
dx
du
E V d U
0
2
0
2
2
1
2
1

2
1

State of strain in each element approaches constant value
when mesh is refined Total strain energy = summation
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Constant strain field should represent
uniform strain (stress)
To achieve this add linear term in polynomial
When mesh is refined => converge close to
exact solution
Each element represents a state of constant
strain
Lower order terms of a polynomial field must
not be omitted contain constant & linear
terms
Polynomial is balanced
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No preferred directions
Geometrically invariant
No change in polynomial expansion under linear
transformation
Polynomial in shape function complete
Select terms symmetrically in Pascal's triangle
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66
5 4 3 2 2 3 4 5
4 3 2 2 3 4
3 2 2 3
2 2
y xy y x y x y x x
y xy y x y x x
y xy y x x
y xy x
y x
1
order fifth
quartic
cubic
quadratic
linear
constant
Pascals Triangle
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Compatibility Across element boundaries the
dependent variable
should be continuous and
single valued function of position
Element satisfying compatibility condition
conforming element no overlaps & gaps
p nodes on an edge => polynomial of order p-1
continuous
1
2 Continuity of field variable
along boundary
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Displacement compatibility slope & deflection
compatibility in bending problems. Compatibility up
to m-1
Compatibility may or may not be satisfied across
interelement boundaries
Compatibility prevails when displacements along
any element side are entirely determined by DOF
nodes on that side & adjacent elements share these
nodes & all their DOF
Complete polynomials conforming & incomplete
polynomials non-conforming elements => Q4, Q8
elements
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69
Compatibility within an element Polynomial
function and its derivatives should be continuous
and single valued.
Degree of continuity Lagrange polynomial C
o
continuous & Hermite C
m
continuous, m 1
Geometry Isotropy FE results should be
independent of local elemental csys geometric
invariance
Polynomial expression remains unchanged under a
linear transformation from one csys to another
Element stiffness matrix doesnt depend on the
elemental csys
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Complete polynomials geometric invariants
Symmetric / balanced polynomials
Results varying wrt elemental csys not good
approximation
Results sensitive to elemental csys artificial bias
/ induced anisotropy.
Solution for non-conforming???
Mapping to a regular shaped elements
Completeness of n include all the terms in
polynomial expression (x
l
y
m
) => n l + m
Actual variation of dependent variable
assumed variation of dependent variable stiff
behavior
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Monotonic convergence
Monotonic convergence mesh
refinement
Exact solution
Non-monotonic
Monotonic
Number of elements
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Isoparametric elements
Satisfying compatible & completeness => converge to
correct solution when mesh is refined.
Representation of curved boundaries with straight side
elements needed more elements
Elements with curved sides fit well into complex regions
less no.of elements close representation of the
boundary.
Interpolation functions are easily derivable & easy to
evaluate integrals over the rectangular elements
difficult in case of quadrilateral elements
Basic idea Coordinate transformation Mapping or
transforming simple geometric shapes in local or natural
csys into distorted shapes in global csys or vice - versa
and then evaluating the element equation
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73
4
2
3
8
1
5
7
6
1
4
2
5
3
6
1
2
3
4
5
6
1 2
3 4
5
6
7
8
P
h
y
s
i
c
a
l
d
o
m
a
i
n
C
o
m
p
u
t
a
t
i
o
n
a
l
d
o
m
a
i
n
Main purpose of transformation
Compatibility, Numerically evaluating the
integrals & shape function derivation
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Transformation Needs some mapping
functions.
Map nodal co-ordinates of parent element
in computational domain in to physical
domain.
2 (x2, y2)
y
x
1 (1, 1) 2 (1, 1)
3 (1, +1)
4 (1, +1)
3 (x3, y3)
4 (x4, y4)
1 (x1, y1)
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x and y coordinates are,
n => no. of nodes
F
i
=> Mapping function order depends on
number of nodes per edge used in geometric
mapping .
If same shape function N used for field
variable used in geometric mapping =>
Isoparametric element.
( )
i
n
i
i
x F x , ) , (
1
=
= ( )
i
n
i
i
y F y , ) , (
1
=
=
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76
The coordinate transformation from physical
domain to computational domain is unique
and invertible.
( )
( )
( )
( ) y x
y x
y y
x x
,
,
,
,

=
=
=
=
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An important consideration in the construction of
mapped elements preservation of continuity
conditions in the global csys.
If two adjacent mapped elements are generated
from parent elements whose interpolation
functions satisfy interelement continuity, these
mapped elements will be continuous
If the interpolation functions are given in the local
csys and they ensure continuity of dependent
variable () in the parent element, will also be
continuous in the mapped element
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Isoparametric element => Same shape
function for both field variable and
geometric mapping - widely used
Nodes used for interpolation of
dependent variables
Interpolation of
geometry
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Sub-parametric element => Order of shape
function for geometry mapping is lower than that
used for field variable.
Geometry simple & field variable complex
Example Beam element geometry linear
interpolation & dependent variable cubic
interpolation
Nodes used for
interpolation of
dependent variables
Interpolation of
geometry
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80
Super-parametric element => Order of shape
function used for geometry mapping is higher
than that used for field variable.
Not popular
Nodes used for
interpolation of
dependent variables
Interpolation of
geometry
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81
For isoparametric element Q4
( )
i
n
i
i
x F x , ) , (
1
=
= ( )
i
n
i
i
y F y , ) , (
1
=
=
( )
i
n
i
i
x N x , ) , (
1
=
= ( )
i
n
i
i
y N y , ) , (
1
=
=
( )( ) ( )( ) ( )( ) ( )( )
4 4 3 3 2 2 1 1
4 3 2 1
1 1
4
1
1 1
4
1
1 1
4
1
1 1
4
1
x N x N x N x N x
x x x x x
+ + + =
+ + + + + + + =
( )( ) ( )( ) ( )( ) ( )( )
4 4 3 3 2 2 1 1
4 3 2 1
1 1
4
1
1 1
4
1
1 1
4
1
1 1
4
1
y N y N y N y N y
y y y y y
+ + + =
+ + + + + + + =
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Calculation of strains in natural csys
Using chain rule
[J] Jacobian matrix
relates derivatives in
two coordinate frames.
{ }
=
x
v
y
u
y
v
x
u
xy
y
x
y
y
x
x
y
y
x
x
[ ]
(
(
(
(
y
x
J
y
x
y x
y x

Q4 element comes under both Lagrange & Serendipity

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Evaluation of Jacobian matrix
Coefficients in Jacobian matrix find by
using
[ ]
(
(
(
(
y
x
J
y
x
y x
y x

( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
4 3 2 1
4 3 2 1
1 1 1 1
4
1
1 1 1 1
4
1
x x x x
x
x x x x
x

+ + + + =
+ + + + =
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84
Similarly,
( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
4 3 2 1
4 3 2 1
1 1 1 1
4
1
1 1 1 1
4
1
y y y y
y
y y y y
y

+ + + + =
+ + + + =
[ ]
( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
(
=
(
(
(
(
+ +
+ +
=
22 21
12 11
4 4
3 3
2 2
1 1
1 1 1 1
1 1 1 1
4
1
J J
J J
y x
y x
y x
y x
J

[ ] [ ]
=>
(
(
(
(
y
x
y
x
J
y
x
y x
y x
[ ] [ ]
1
= J
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85
Strain vector,
{ }
(
(
(
=
y
v
x
v
y
u
x
u
B
y
v
x
v
y
u
x
u
x
v
y
u
y
v
x
u
xy
y
x
] [
0 1 1 0
1 0 0 0
0 0 0 1
1
=>
22 21
12 11
y
x [ ]
(
(
(
(
v
v
u
u
B
v
v
u
u
y
v
x
v
y
u
x
u
2
22 21 0 0
12 11 0 0
0 0 22 21
0 0 12 11
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Strain vector,
{ } [ ] [ ]
1 4
4 4 2 4 3 1 1 3
v
v
u
u
B B [ ] { }
1 8 8 4 3
1 4

d B
v
v
u
u
{ } [ ] [ ] [ ] { } [ ] { }
1 8 8 3 1 8 8 4 3 4 4 2 4 3 1 1 3
= = d B d B B B
Order of [B
3
] (derivatives of shape functions)
changes based on DOF
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Stiffness matrix from physical domain to
computational domain
[ ] [ ] [ ] [ ]
[ ] [ ] [ ] [ ]

d d J t B D B k
d d J f dy dx y x f
dy dx t B D B k
T
A A
T
A

=
=
=
1
1
1
1
) , ( ) , (
[ ] [ ] [ ] [ ] d d J t B D B k
T
) , ( ) , ( ) , (
1
1
1
1

=
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Numerical integration
Gauss Quadrature for Quad elements
Quadrature name used for numerical
integration.
Function is evaluated at specific points,
multiplying resulting number by an
approximate weighting factor & adding
results.
x
i
sampling point & W
i
- weight
n
i
i i
x f W dx x f
1
1
1
) ( ) (
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Each coefficient in stiffness matrix k
ij
in [k]
integrated over element domain.
n number of Gauss points depend on
order of polynomial => m = 2n 1 => more
number of points for higher order elements
More number of Gauss points
computationally expensive may not give
improved results.
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Less number of Gauss points counteract
the over-stiff behavior Timoshenko
beam shear locking.
Used for two & three dimensional integrals
also. For e.g 2D case n = no. of Gauss
points
( )

= =

=
n
i
n
j
j i j i
f W W d d f
1 1
1
1
1
1
, ) , (
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0.6521451 0.339981
0.347854 0.861136 4
9 8 0.
9 5 5 3 3
1. 3 1 2
2. 0. 1
n Location of sampling point Weight factor

For Quad elements
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Sampling points for 2X2
+1
-1
-1
+1
3
1
+ =
3
1
=
3
1
+ =
3
1
=
+1
-1
-1
+1
6 . 0 + = 6 . 0 =
6 . 0 =
6 . 0 =
0 =
0 =
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+1
-1
-1
+1
3
1
+ =
3
1
=
6 . 0 =
6 . 0 =
0 =
In 2D & 3D integrations no. of Gauss points in
different directions need not be same.
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Computation of stiffness matrix and load vector
carried out in computational domain => (, )
Transforming from physical domain to
computational domain requires Jacobian matrix
and Jacobian
Element distorted heavily => Jacobian is a
function of spatial co-ordinates and varies over
domain
In stiffness matrix Jacobian appears in
denominator not a polynomial
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Difficult to judge order of quadrature rule
introduces errors
Selection of Order of quadrature rule
basis functions
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Jacobian
|J| => Jacobian function of (, )
|J| = (x, y, z)/(, , )
|J| => scale factor dxdy = |J| dd - 2D
Physically ratio between area (volume) element in
physical element and area (volume) element in
computational domain
Transformation is acceptable unique mapping one-
to-one mapping
If element is highly distorted or folds back upon itself,
the unique relation between physical & computational
csys does not exist.
|J| = 0 Mapping to a zero domain
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Jacobian
For [J] non-singular all limitations on interior
angles
|J| - varies from point to point & may become
negative also distorted element.
|J| negative => right hand csys to left hand csys
should be avoided
Acceptably shaped element shouldnt display ve
|J| values.
Well shaped element |J| doesnt change much
from one Gauss point to another
Concave elements should be avoided
Highly distorted element
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Jacobian
Evaluate Jacobian
1(0, 0) 2(1, 0)
x
y 3(2, 2)
4(0, 1)
Geometric mapping to master
element through shape functions
( )( ) ( )( )
( )( ) ( )( )
4
1 1
,
4
1 1

4
1 1
,
4
1 1
and in functions shape
4 3
2 1
4 4 3 3 2 2 1 1
4 4 3 3 2 2 1 1

+
=
+ +
=
+
=

=
+ + + =
+ + + =
N N
N N
y N y N y N y N y
x N x N x N x N x
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Jacobian
Substitute nodal co-ordinates in geometric
interpolation function
( ) ( )
[ ]
satisfied 1 1 , 1 1 for 0
8
1
8
1
2
1
3 1
1 3
4
1
3 3
4
1
, 3 3
4
1
>
+ + = =
(
+ +
+ +
=
(
(
(
(
=
+ + + = + + + =

J
J
y x
y x
J
y x
Mapping is acceptable
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Jacobian
Checking validity of isoperimetric mapping
1(0, 0)
2(1, 5)
3(6, 6)
4(0, 6)
x
y
Geometric mapping is given by
( )( )
1 1 & 1 1
4 . 0 0
4
5 7 5 17
4
5 7 1

= => =
+ +
=
+ +
=

J
y
x
Jacobian is zero along line - = 0.4
Plotting this line in natural csys
Mapping not proper

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9/30/2013

Strain displacement relations

Displacement fields in terms of shape

Q4 element comes under both Lagrange & Serendipity

Internal nodes do not connect adjoining elements

For a given load FE

Q4 element comes under both Lagrange & Serendipity

n Location of sampling point Weight factor

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