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1
5.1 Geometric denitions for a quadrilateral element.
This section describes geometric relationships for a quadrilateral element. The
development covers both warped geometry and the at best t element ob-
tained by setting the z coordinate for each node equal to zero. The at pro-
jection relationships are later used for the development of the membrane and
bending stiness of the shell element. The non-at relationships are needed for
the development of the nonlinear projector for quadrilaterals.
A vector r to a point on a nonat quadrilateral element can be parametrized
with respect to the natural coordinates and as
x N 0 0 x
r(, ) = y = 0 N 0 y , (5.1.1)
z 0 0 N z
where
x y1 z1
1
x2 y2 z2
x= , y= , z= , (5.1.2)
x3
y3
z3
x4 y4 z4
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
N = [ (1 )(1 ) (1 + )(1 ) (1 + )(1 + ) (1 )(1 + ) ] ,
4
1
N, = [ (1 ) (1 ) (1 + ) (1 + ) ] ,
4
1
N, = [ (1 ) (1 + ) (1 + ) (1 ) ] .
4
(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 y y d
dy = d + d =
z d + z d
d
dz z z
(5.1.4)
N, x N, x
d d
= N, y N, y = [ g g ]
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 :
() () () y
x y ()
x
x + y x
() = () x () y
= x y ()
x + y y
() (5.1.5)
N, x N, y x
= ()
N, x N, y y
or
() ()
= JT . (5.1.6)
x
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
()
() T T
x
Jx Jx
() = T T () . (5.1.7)
y
Jy Jy
The unit vector sij along side ij and the outward normal vector nij of side ij
can then be dened as
si x xji ni x si y
1
sij = si y = yji and nij = ni y = si x . (5.1.9)
lij
0 0 0 0
3
5.2 The quadrilateral membrane element.
Nygard [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
4
L1 f1
fx i
L f2
L= 2 and f = where fi = fy . (5.2.3)
L3 f3
i
mz i
L4 f4
By using the Hermitian beam shape function for a side edge one obtains a bound-
ary 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 0 xki
1
Lj = 0 xki yki . (5.2.4)
2 2
6 (yij ykj ) 6 (xij xkj ) 3 (xkj ykj xij yij )
2 2 2
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 contri-
butions of the drilling freedom to the normal boundary displacements; see [00]
for details.
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
5
rotational degrees of freedom [00], suggests using the hierarchical rotations
as higher order degrees of freedom:
= 0 ,
T0 = [ 0 0 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 1 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
6
Higher order rotational degrees of freedom.
0 is evaluated as the rotation of the bi-linear quadrilateral computed at the
element center given by ( = 0, = 0), and is function of the translational
degrees of freedom only:
1 v u 1 vx
0 = ( ) = [ N,y N,x ] . (5.2.10)
2 x y 2 vy
By using the partial derivative expressions in equation (5.1.7) one obtains the
expressions for the rigid body and constant strain rotation as
T T 1
N,y = (Jy N, + Jy N, ) = [ x24 x31 x42 x13 ] ,
16|J|
(5.2.11)
T T 1
N,x = (Jx N, + Jx N, ) = [ y24 y31 y42 y13 ] ,
16|J|
where
1
|J| = ((x1 y2 x2 y1 ) + (x2 y3 x3 y2 ) + (x3 y4 x4 y3 ) + (x4 y1 x1 y4 )). (5.2.12)
8
The higher order rotational degrees of freedom h can be expressed in terms of
the visible degrees of freedoms as
h = Hv v, Th = [ 1 2 3 4 ] , (5.2.13)
0 0 0 0 0 0 0 0 3
4 14 14 14
0 0 0 0 0 0 0 0 14 3
14 14
4
Hv =
0 0 0 0 0 0 0 0 14 14 3
4 14
0 0 0 0 0 0 0 0 14 14 14 3
4
x42 x13 x24 x31 y42 y13 y24 y31 1 1 1 1
f f f f f f f f 4 4 4 4
(5.2.14)
and f = 16|J|.
7
Higher order translational degrees of freedom.
The translational degrees of freedom can be split into rigid body and constant
strain displacements and higher order displacements:
vx
v = vrc + vh where v= . (5.2.15)
vy
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 rc-
modes, that is RT vh = 0, one obtains
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 con-
structed:
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
xi i
ri = = [ g g ] . (5.2.19)
yi i
8
The nodal coordinates i and i in the (g , g ) coordinate system are then
obtained from
i xi 1
= T , T = J1 = [ g g ] . (5.2.20)
i yi
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 (5.2.22)
vx 4 1 2 0 0 0 0 0 0 0 0
= 3 v. (5.2.23)
vy 0 0 0 0 3 4 1 2 0 0 0 0
If one denes the higher order translational degrees of freedom to be the higher
order translational components along the and directions the relationship
becomes
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
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
(5.2.24)
where 0 = [ 0 0 0 0 ], and si and si denotes the unit vectors along the -
and -directions, respectively:
s x s x
s = , s = . (5.2.25)
s y s y
(5.2.26)
3
4
1
2
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 (5.2.28)
10
3
4
l
l
d |1
d |1
1
2
d|i d|i
|i = , |i = , (5.2.29)
l l
where
1
d|i = (ri s ) (ri s ) , l = r r , r = (r2 + r3 r1 r4 ) ,
2
1
d|i = (ri s ) (ri s ) , l = r r ,
(r3 + r4 r1 r2 ) .
r =
2
The quantities d|i , d|i , l and l are illustrated in Figure 4.2.
11
4 3
2
1
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
d24 d13
24 = , 13 = , (5.2.30)
2l24 2l13
where
d24 = (r31 e24 ) (r13 e24 ) , l24 = r24 r24 , r24 = (r2 r4 ) ,
d13 = (r31 e24 ) (r13 e24 ) , l13 = r13 r13 , r13 = (r1 r3 ) .
12
Generic nodal strain templates.
With the strain assumptions just described, the nodal strain gage readings can
be written down as
Q1 = (5.2.32)
1 |1 2 |1 3 |1 4 |1 t 1 |1
l 0
1 |1 4 |1 3 |1 2 |1 t 0
1 |1 ,
l
c24 c
5 24 6 24 7 24 8 24 0 2 l24 2 l24
24
Q2 = (5.2.33)
2 |2 1 |2 4 |2 3 |2 t 1 |2
l 0
4 |2 1 |2 2 |2 3 |2 t 0
1 |2 ,
l
c13 c13
8 13 5 13 6 13 7 13 0 2 l13 2 l13
Q3 = (5.2.34)
3 |3 4 |3 1 |3 2 |3 t 1 |3
l 0
1 |3
3 |3 2 |3 1 |3 4 |3 t 0 l
,
c13 c
7 13 8 13 5 13 6 13 0 2 l13 2 l13
13
Q4 = (5.2.35)
4 |4 3 |4 2 |4 1 |4 t 1 |4
l 0
2 |4 3 |4 4 |4 1 |4 t 0
1 |4 ,
l
c13 c
6 13 7 13 8 13 5 13 0 2 l13 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 2y s x s y
Bh1 = T13 Q1 ,
where T1 13 =
s 2 s 2 s x s y , (5.2.36)
x y
Bh3 = T13 Q3 , 2 2
s24 x s24 y s24 x s24 y
s 2x s 2y s x s y
Bh2 = T24 Q2 ,
where T1
24 = s 2x s 2y s x s y . (5.2.37)
Bh4 = T24 Q4 ,
s13 2x s13 2y s13 x s13 y
13
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).
14
4 3
1 2
Numerical experiments, however, indicate that the element performs better when
the element stiness is computed as
1 T T h =
K = LCL + H Kh H where K BTh CBh dA , (5.2.43)
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 equa-
tions (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 spu-
rious 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
16
and
f1
mx
f1
f= where f i = my . (5.3.3)
f1
fz
f1
The lumped node forces at a node j given by lumping matrix Lj , receive con-
tributions 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
0 0 0
1
Ll j = 0 xki yki , (5.3.4)
2
yki 0 xki
17
Nodal curvatures of a Euler-Bernoulli beam.
The transverse displacement of a Euler-Bernoulli beam, written as a function of
the nodal displacements and rotations is
w = Nw vbij , (5.3.6)
where
2 ( 2 + )(1 + )2 wi
T 1 l ( 1 + )(1 + )2
ni
N = and vb ij = .
8 2 ( 2 )( 1 + )2
wj
2
l (1 + )( 1 + ) nj
The beam curvatures are
6
2w 1 l (1 + 3)
= = 2 vb ij , (5.3.7)
x2
l 6
l (1 + 3)
The nodal curvatures expressed in terms of the visible dofs at node i and j then
become
ij|i 1 6 4l nij x 4l nij y 6 2l nij x 2l nij y
= 2 v.
ij|j l 6 2l nij x 2l nij y 6 4l nij x 4l nij y
(5.3.11)
18
3
4
1
2
g = Qv = QF Fv , (5.3.12)
19
F41 F41 F41 F41
F12 F12 F12 F12
F13 F13 F13 F13
1 n12 x n12 y
F12 =
F12 F12 2
l12 l12 l12
F12 F12
1 n23 x n23 y
F23 F23 F23 F23 F23 = 2
l23 l23 l23
F24 F24 F24 F24 F34 =
1 n34 x n34 y
2
l34 l34 l34
F= where n41 y . (5.3.15)
F41 =
1 n41 x
F23 F23 F23 F23
2
l41 l41 l41
1 n13 x n13 y
F34 F34 F34 F34 F13 = 2
l13 l13 l13
F13 F13 F13 F13 1 n24 x n24 y
F24 = 2
l24 l24 l24
F34 F34 F34 F34
F41 F41 F41 F41
F24 F24 F24 F24
or
B1 T 1 Q1
|1
|2 B T Q
= 2 v = 2 2 v ,
|3
B3 T 3 Q3
|4 B4 T 4 Q4
where
s41 2x s41 2y s41 x s41 y
T 1
1 = s12 2x s12 2y s12 x s12 y ,
s13 2x s13 2y s13 x s13 y
2
s12 x s12 2y s12 x s12 y
T 1
2
= s23 2x s23 2y s23 x s23 y ,
s24 2x s24 2y s24 x s24 y
2
s23 x s23 2y s23 x s23 y
T 1
3
= s34 2x s34 2y s34 x s34 y ,
s13 2x s13 2y s13 x s13 y
2
s34 x s34 2y s34 x s34 y
T 1
4
= s41 2x s41 2y s41 x s41 y .
s24 2x s24 2y 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(, ) = (1 )(1 )B1 + (1 + )(1 )B2
. (5.3.18)
+(1 + )(1 + )B3 + (1 )(1 + )B4
i.e. without extracting the mean part of the strain displacement matrix and not
including the basic stiness described in Section 5.3.1.
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 inter-
nal 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;
To extract the deformational energy, the total displacements are split into de-
formational and rigid body motions, the latter being spanned by the matrix
R:
v = vd + vr = vd + Ra. (5.4.3)
RT v = RT Ra a = ( RT R )1 Rv , (5.4.4)
vd = v vr = ( I R ( RT R )1 R ) v = Pd v. (5.4.5)
Pd = I RRT . (5.4.6)
1 T 1 1
(vd ) = vd Kvd = vT PTd KPd v = vT Kd v . (5.4.7)
2 2 2
22
5.4.1 Linear projector matrix for a general quad.
In order to express the rigid body modes one denes the vector ri from the
element centroid to node i as
xi 1
4
ri = ri r , where ri = yi and r = ri . (5.4.8)
4 i=1
zi
where
4I 0
4
T
R R= with S = 4I Spin(ri )Spin(ri ) .
0 S
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 Nonlinear extensions for quadrilateral shell element.
The nonlinear extensions for an element consists of dening a procedure that
aligns the shadow element C0n as close as possible to the deformed element Cn .
This denes the element deformational displacement vector vd .
One also needs to form the rotational gradient of the shadow element
with respect to the visible degrees of freedom of the deformed element, as stated
in equation (0.0.0). In the local coordinate system this relation is
r
r =
vi = G v. (5.5.1)
vi
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 = where Ap = (d13 d24 )T (d13 d24 ) (5.5.2)
Ap
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
is chosen at node 1. By applying this to both the C0 and Cn congurations the
shadow element C0n is positioned relative to the deformed element Cn so that
the element centroids coincide and so that the sum of the square of the angles
between the side edges of C0n and Cn is minimized. This represents a least
square t with respect to the side edge angular errors. This procedure gives a
element deformational displacement vector vd which produces an internal force
vector f e = Ke vd that is invariant with respect to the node numbering of the
element, provided that the element stiness matrix Ke satises the correct rigid
body translations.
where
Ap = y31 z42 y42 z31 )2 + (
( x31 z42 + x x31 y42 x
42 z31 )2 + ( 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
e3y
e3y
e3y
x = (
x
i + yi +
zi ) ,
xi yi zi
(5.5.5)
e3x
e3x e3x
y = ( x
i + yi +
zi ) .
xi yi zi
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. (5.5.6)
xi yi xi yi
25
This gives the variation of the in-plane rotations
x and
y as function of the
out of plane displacements only:
e3x x4
lj
x =
zi =
zi ,
zi i=1
Ap
31 y42 x
with Ap = x 42 y31 , (5.5.7)
e3y ylj
4
y =
zi =
zi ,
zi i=1
A p
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
e3 r12
e2 = , (5.5.8)
l12
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
e2x
e2x
e2x
z = (
x
i + yi +
zi ) . (5.5.9)
xi yi zi
Carrying out the derivations gives
1 4
x
lj z21
z =
( y1 + y2 )
zi , (5.5.10)
l12 i=1
A p
26
The rotation gradient matrix as expressed here can be split as G = XA
where X contains all the coordinate dependencies and A is constant matrix.
is a function of more
This is possible since none of the vector components of
thus satises the consistency
than three distinct coordinate expressions. This G
requirement set forth in equation (0.0.0).
where
1 z21 x21 z32 x32 z43 x43 z14 x14
fx = ( + + + ),
4 l21 l32 l43 l14
(5.5.14)
1 z21 y21 z32 y32 z43 y43 z14 y14
fy = ( + + + ),
4 l21 l32 l43 l14
ij and lij is the outward normal and length of side edge ij respectively:
and n
1 yji
nij = xji and lij = x2ij + yij
2 . (5.5.15)
lij
0
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