POTENTIAL ENERGY APPLIED IN

FINITE ELEMENT METHOD

by
Suhaimi Abu Bakar, PhD
 INTRODUCTION

Finite difference method is suitable to used if the structure to be

analysed has the specific governing differential equation.

For structures which are so complex that is difficult or impossible

to determine the governing differential equation, a powerful
method for analysing such complex structures is the finite
element method.
The way finite element analysis obtains the temperatures,
stresses, flows, or other desired unknown parameters in
the finite element model are by minimizing an energy
functional. An energy functional consists of all the
energies associated with the particular finite element
model. Based on the law of conservation of energy, the
finite element energy functional must equal zero.
The finite element method obtains the correct solution
for any finite element model by minimizing the energy
functional. The minimum of the functional is found by
setting the derivative of the functional with respect to the
unknown grid point potential for zero. Thus, the basic
equation for finite element analysis is:
∂F
=0
∂p

where F is the energy functional and p is the unknown grid

point potential (In mechanics, the potential is
displacement) to be calculated. This is based on the
principle of virtual work, which states that if a particle is
under equilibrium, under a set of a system of forces, then
for any displacement, the virtual work is zero. Each finite
element will have its own unique energy functional.
 PRINCIPLE OF MINIMUM
POTENTIAL ENERGY

For conservative systems, of all the kinematically admissible

displacement fields, those corresponding to equilibrium extremize
the total potential energy. If the extremum condition is a minimum,
the equilibrium state is stable.

Satisfy the single-valued nature of displacements (compatibility)

and the boundary conditions.
 SPRING EXAMPLE strain energy

work done
potential energy
1 2
Π = kδ − W δ
2 minimum
dΠ potential energy
= 0:
spring stiffness, k dδ external force
dΠ
= kδ − W = 0
dδ

internal force
in the spring
δ is an equilibrium
W
displacement, if displacement
< δ, the spring still moving δ inequilibrium We get equation of
A equilibrium Æ
(inequilibrium)Æ has kinetic
energy satisfy equilibrium
equilibrium condition
 STRAIN ENERGY

When loads are applied to a body, they will deform the

materials. Provided no energy is lost in the form of heat, the
external work done by the loads will be converted into internal
work called strain energy. This energy, which is always
positive, is stored in the body and is caused by the action of
either normal or shear stress.
 STRAIN ENERGY DUE TO NORMAL STRESS

dx
dy The force σxdydz does work on an
extension εxdx
σx
dz
Work done during deformation, dW=
Area of triangle OAB
σxdydz
A 1
dW = σ xε x dxdydz
2
or
1
dW = σ xε x dV
εxdx 2
O B Strain energy is an amount of energy
stored in the material due to work
done
In general, if the body is subjected only to a uniaxial normal
stress σ, acting in a specified direction, the strain energy in the
body is then

σε
W =∫ dV
V 2

Also, if the material behaves in a linear-elastic manner, Hooke’s

law applies, σ=Eε, and therefore:

σ2
W =∫ dV
V 2E
 STRAIN ENERGY DUE TO SHEAR STRESS

dy
The force τdxdy does work on a
dx γdz shear slip γdz
τ dz
γ
Work done during deformation, dW=
Area of triangle OAB
1
τdxdy dW = (τ dxdy ) γ dz
A 2
or
1
dW = τγ dV
2
γdz Strain energy is an amount of energy
O B stored in the material due to work
done
In general, if the body is subjected only to a shear stress τ, the
strain energy due to shear stress in the body is then

τγ
W =∫ dV
V 2

Also, if the material behaves in a linear-elastic manner, Hooke’s

law applies, τ=Gγ, therefore:

τ2
W =∫ dV
V 2G
 STRAIN ENERGY DUE TO MULTIPLE STRESSES

σz
1
τzy τzx
dW =
2
( σ xε x + σ yε y + σ zε z + τ xyγ xy + τ yzγ yz + τ xzγ xz )
τxz
τyz τ σx or
yx τxy
σy 1 T
dW = ∫ σ ε dV
z 2Ω

where
x
σ x  εx 
y σ  ε 
 y  y
σ z   εz 
σ=  ε= 
τ xy  γ xy 
τ yz  γ yz 
   
τ xz  γ xz 
 STRAIN ENERGY – PURE BENDING
x dx
1
dU = ∫ σ xε x dV q
V 2

 1  My   σ x  
= ∫    dA  dx le
 A 2  I  E  
1  My  My 
=∫    dAdx
A
2  I  EI  dA
1 M2 N.A
2 ∫
= y 2
dAdx
2 EI A
2
x
1M
= Idx
2 EI 2
Strain energy stored
1 M2 due to bending of a
= dx very small length of
2 EI
beam element, dx
 STRAIN ENERGY IN BEAM DUE TO TRANSVERSE
SHEAR

dA VQ
τ=
Ib
x y N.A
τ τ2 1  VQ 
2

W =∫ dV = ∫ dAdx
x V 2G V 2G  Ib 
 
z V L V 2  Q2 
W =∫ 2  ∫A 2
dA  dx
0 2GI  b 
A Q2
Define the form factor for shear as f s = 2
I ∫A b2 dA
Substituting into the above equation, we get
L f sV 2
W =∫ dx
0 2GA
 EXTERNAL WORK – BAR ELEMENT
Consider the work done by an axial force applied
to the end of the bar. As the magnitude of force, F
is gradually increased from zero to some limiting
value F=P, the bar displaced from x=0 to x=∆.
∆
External Work, W = ∫0 Fdx
∆
x F = ∫ ( kx ) dx
∆ 0
∆
P = k ∫ xdx
0

P = k ( ∆2 2)
1
= (k∆) ∆
2
x
O ∆ 1
= P∆
2
 EXTERNAL WORK DUE TO BODY FORCES

dz
bz final position
bx dx dy
by
z displacement
original position bx, by, bz = Body forces per unit
x volume with respect to x, y and z axes,
respectively
y

d x  bx 
    Work due to body forces =
d = d y  b = by 
d  b  ∫ bdV
T
 z  z d
Ω
 EXTERNAL WORK DUE TO SURFACE TRACTIONS

qz
dS qx, qy, qz = Surface tractions with
z qx
respect to x, y and z axes, respectively
qy
x
y
 qx 
 
q = q y  Work due to surface tractions =
q 
∫ qdS
T
 z d
Γ
 CONSERVATION OF ENERGY

Most energy methods used in mechanics are based on a balance of

energy, often referred to as the conservation of energy. The energy
developed by heat effects will be neglected. As a result, if a loading
is applied slowly to a body, so that kinetic energy can also be
neglected, then physically the external loads tend to deform the body
so that the loads do external work We as they are displaced. This
external work caused by the loads is transformed into internal work
or strain energy Wi, which is stored in the body. Furthermore, when
the loads are removed, the strain energy restores the body back to its
original undeformed position, provided the material’s elastic limit is
not exceeded. The conservation of energy for the body can therefore
be stated mathematically as

We = Wi
 CONSERVATION OF ENERGY - EXAMPLE
Beam P

∆
2
1 L M
P∆ = ∫ dx
2 0 2 EI

Truss We assumed that the

load is gradually
increased from 0 to P

∆
P
1 N 2L
P∆ = ∑
2 2 AE
DIFFERENT CONCEPT IN ENERGY METHOD
static External Work = Internal Work
1 1 2
Gradually Wx = kx strain energy
increase the load 2 2
W
up to W (let say gives x=
0 kN to W kN) k
Equilibrium Principle
W = kx
W Same
Initial position gives x= answer
k
Internal load Potential Energy Concept
in spring
1 2
Π = kx − Wx dynamic
2
External load dΠ
= kx − W = 0
Equilibrium velocity, v=0 dx W
position Kinetic energy zeros at this point gives x=
k
 THE FOUR-NODE QUADRILATERAL (2D)
u24 u23
4 u1
4
3 u1 3 u1 = N1u11 + N 2u12 + N 3u13 + N 4u14
u2 η u2 = N1u12 + N 2u22 + N 3u23 + N 4u24
u21 ξ u22
u1
1 u11 2 u12 d=Nu
 u11 
1 where  1
N1 = (1 − ξ )(1 − η )
4  u2 
1  u1  u12 
N 2 = (1 + ξ )(1 − η ) d =   2
4 u2  u2 
1 u =  3
N 3 = (1 + ξ )(1 + η )
4 u1 
1 u23 
N 4 = (1 − ξ )(1 + η ) N=Shape function  4
4 u1 
 N1 0 N2 0 N3 0 N4 0   4
N =  u2 
0 N1 0 N2 0 N3 0 N4 
 ∂ 
 0
 ε x   ∂x 
   ∂   u1 
ε y  =  0   
γ   ∂y u2 

 xy   ∂ ∂
∂ 
 ∂y ∂x   0

 ∂x 
 ∂
ε = Ld where L= 0
∂y 
 
ε = LNu ∂ ∂
 ∂y ∂x 

ε = Bu where B = LN
STRAIN-STRESS RELATIONSHIP

 1 ν ν 
 E − − 0 0 0
E E
 
− ν 1
−
ν
0 0 0  σ x 
εx   E E E 
ε    σ y 
 y  − ν −
ν 1
0 0 0  
εz   E E E  σ z 
 =  τ xy 
γ xy   0 0 0
1
0 0  
γ yz   G  τ yz 
   1  τ zx 
γ zx 
 0 0 0 0
G
0
 
 0 1
0 0 0 0
 G 
 STRESS-STRAIN RELATIONSHIP
For plane stress:  1 ν 
 E − 0
εx   E
 σ x 
   ν 1  
ε y  = − 0  σ y 
γ   E E  
τ
 xy   1   xy 
 0 0 
 G 

 
σ x  1 ν 0  εx 
  E   
σ y  = 2 
ν 1 0  ε y 
τ  1 −ν  1 − ν  γ 
 xy  0 0  
xy

 2 

σ = Dε
 POTENTIAL ENERGY
1 T
Π = ∫ σ εdV − ∫ d T bdV − ∫ d T qdS
2Ω Ω Γ

1
= ∫ ( Dε ) εdV − ∫ d T bdV − ∫ d T qdS
T

2Ω Ω Γ

1
= ∫ ( DBu ) BudV − ∫ d T bdV − ∫ d T qdS
T

2Ω Ω Γ

1
= ∫ ( DBu ) BudV − ∫ ( Nu ) bdV − ∫ ( Nu ) qdS
T T T

2Ω Ω Γ

1 T
= ∫ u ( DB ) BudV − ∫ uT N T bdV − ∫ uT N T qdS
T
Note : ( PQ ) = QT PT
T

2Ω Ω Γ

1 T
= ∫ u ( DB ) ( B ) udV − ∫ uT N T bdV − ∫ uT N T qdS
T T
T

2Ω Ω Γ

1 T Τ
= ∫ u ( Β DB ) udV − ∫ uT N T bdV − ∫ uT N T qdS
T

2Ω Ω Γ
Π = ∑ Πe
e

Thus,
1
Π e = ∫ u ( B DB ) udV − ∫ uT N T bdV − ∫ uT N T qdS
T T T

2 Ωe Ωe Γ

1 T
= u ∫ ( Β DB ) dV u − uT ∫ N T bdV − uT ∫ N T qdS
Τ T

2 Ωe Ωe Γ

1 T  
= u ∫ ( Β DB ) dV u − u  ∫ N bdV + ∫ N qdS 
Τ T T T T

2 Ωe Ω 
 e Γ 
1 T
= u ku − uT f
2
k=element stiffness
 1 T Consider 4 nodes/element
from Π e = u ku − uT f :
2
 u11k11u11 + u11k12u12 + " + u11k1nu24 + 
 1 
1  u2 k21u1 + u2 k22u2 + " + u2 k2 nu2 + 
1 1 1 1 4
Πe = − ( u11 f1 + u12 f 2 + " + u24 f n )
2 " + 
 
 u 4 k u1 + u 4 k u1 + " + u 4 k u 4 
 2 n1 1 2 n 2 2 2 nn 2 
Note: n=2x4=8
∂Π e
Taking the derivative 1 = 0 :
∂u1
∂Π e  1 1 1 1 1 4 
=  k11u1 + k12u2 + " + k1nu2 + u2 k21 + " + u2 kn1  − ( f1 ) = 0
1 1 4

∂u1 
1
2 2 2 2 
or

( 11 1 12 2
k u 1
+ k u 1
+ " + k1n 2 ) − ( f1 ) = 0
u 4
( A1)
  u11k11u11 + u11k12u12 + " + u11k1nu24 + 
 1 
1  u2 k21u1 + u2 k22u2 + " + u2 k2 nu2 + 
1 1 1 1 4
Πe = − ( u11 f1 + u12 f 2 + " + u24 f n )
2 " + 
 
 u 4 k u1 + u 4 k u1 + " + u 4 k u 4 
 2 n1 1 2 n 2 2 2 nn 2 

∂Π e original equation
Taking the derivative 1 = 0 :
∂u2
∂Π e  1 1 1 1 1 4 
= u
 1 12 k + k u
21 1
1
+ k u
22 2
1
+ " + k u
2n 2
4
+ " + u2 k n 2  − ( f 2 ) = 0
∂u2  2
1
2 2 2 
or (k u
21 1
1
+ k u
22 2
1
+ " + k 2n 2 ) − ( f2 ) = 0
u 4
( A2)

∂Π e
Similarly, taking the derivative = 0:
∂u2
4

( n1 1 n 2 2
k u 1
+ k u 1
+ " + k nn 2 ) − ( f n ) = 0
u 4
( A ' n ')
 Collecting equations A1, A2, …, A’n’ one gets the element
equilibrium equation:
∂Π e
by minimizing the potential energy, =0
ku-f = 0 ∂u

∫ (Β DB ) dV
T
vector k= Τ

where Ωe

∫ ( DB ) ( B )
T T T

∫ (Β DB ) dV
k= Τ T
= dV
Ωe
Ωe

∫ ( B) ( D) ( B )
T T T T
= dV
f = ∫N bdV + ∫ N qdS
T T
Ωe
Ωe Γ

∫ (B) ( D ) BdV
T T
=
Load vector Ωe

= ∫
Ωe
BT DBdV
stiffness matrix DT = D
 PROCEDURE OF FINITE ELEMENT ANALYSIS

• Assemble the element equilibrium equation (ku=f) for all

finite elements in the structure and form global equilibrium
equation, KU=F
• Consider boundary condition and modify the K matrix, U
and F vectors. Form the following equation: AX=B where X
= unknown vectors, B = known vectors.
• Solve the equation AX=B
• Calculate other parameters – displacements, strains, stresses
etc