07-CST Elements PDF

SME 3033 FINITE ELEMENT METHOD
Two-Dimensional Problems Using

CST Elements
(Initial notes are designed by Dr. Nazri Kamsah)
8-1 Introduction
A thin plate of thickness t, with a hole in the y
middle, is subjected to a uniform traction
load, T as shown. This 3-D plate can be T
analyzed as a two-dimensional problem.
x
2-D problems generally fall into two
categories: plane stress and plane strain.
A plane stress problem
a) Plane Stress
The thin plate can be analyzed as a plane stress problem, where the normal and
shear stresses perpendicular to the x-y plane are assumed to be zero, i.e.
 z  0;  xz  0;  yz  0
The nonzero stress components are
 x  0;  y  0;  xy  0
SME 3033 FINITE ELEMENT METHOD y
b) Plane Strain
A dam subjected to uniform pressure
and a pipe under a uniform internal
pressure can be analyzed in two-
dimension as plain strain problems.
x
The strain components perpendicular to
A dam subjected to a uniform
the x-y plane are assumed to be zero, z
pressure
i.e.
 z  0;  xz  0;  yz  0 y
Thus, the nonzero strain components

are x ,  y , and xy. x
 x  0;  y  0;  xy  0
Pipe under a uniform

internal pressure
z
8-2 General Loading Condition
A two-dimensional body can be subjected to three types of forces:
a) Concentrated forces, Px & Py at a point, i;
b) Body forces, fb,x & fb,y acting at its centroid;
c) Traction force, T (i.e. force per unit length), acting along a perimeter.
The 2-dimensional body experiences a
deformation due to the applied loads.
At any point in the body, there are two
components of displacement, i.e.
u = displacement in x-direction;
v = displacement in y-direction.
Stress-Strain Relation
Recall, at any point in the body, there are three components of strains,
i.e.
 u 
 
  x   x 
   v 
     y    
   y 
 xy   u v 
  
 y x 
The corresponding stress components at that point are
 x 
 
    y 
 
 xy 
The stresses and strains are related through,
    D 
where [D] is called the material matrix, given by
1 v 0
E  
 
D   v 1
2 
0
1 v  1 v 
0 0 2 
for plane stress problems and

1  v v 0 
E  
 D    v 1 v 0 
1  v 1  2v   0 
2  v
1
 0
for plane strain problems.

8-3 Finite Element Modeling
The two-dimensional body is
transformed into finite element model
by subdividing it using triangular
elements.
Note:
1. Unfilled region exists for curved
boundaries, affecting accuracy of the
solution. The accuracy can be
improved by using smaller elements.
2. There are two displacement
components at a node. Thus, at a
node j, the displacements are:
Q2 j 1 in x-direction
Q2 j in y-direction
Finite element model of a bracket.

8-4 Constant-Strain Triangle (CST)
Consider a single triangular element as shown.
The local node numbers are assigned in the
counterclockwise order.
The local nodal displacement vector for a
single element is given by,
q   q1 , q2 , ..., q6 
T
Within the element, displacement at any

point of coordinate (x, y), is represented
by two components, i.e. u in the x-
direction and v in the y-direction.
Note: We need to express u and v in terms of the nodal displacement components,

i.e. q1, q2, …, q6.
8-5 Displacement Functions
Displacement components u and v at any point (x, y) within the element
are related to the nodal displacement components through
u  N1q1  N 2 q3  N 3 q5
(i)
v  N1 q 2  N 2 q 4  N 3 q 6
where N1, N2 and N3 are the linear shape functions, given by

N1   ; N2  ; N3  1     (ii)
in which  and  are the natural coordinates for the triangular element.
Substituting Eq.(ii) into Eq.(i) and simplifying, we obtain alternative expressions for
the displacement functions, i.e.
u  q1  q5   q3  q5   q5
(iii)
v  q2  q6   q4  q6   q6
Eq.(i) can be written in a matrix form as,
u   N q
 N1 0 N2 0 N3 0
where N    0 N3 
 N1 0 N2 0
q   q1 , q2 , ..., q6 
T
For the triangular element, the coordinates (x, y) of any point within the element can
be expressed in terms of the nodal coordinates, using the same shape functions N1,
N2 and N3. We have,
x  N1 x1  N 2 x2  N3 x3
y  N1 y1  N 2 y2  N3 y3
This is called an isoparametric representation.
Substituting for Ni using eq. (ii), we get
x   x1  x3     x2  x3   x3
y   y1  y3     y2  y3   y3
Using the notation, xij = xi – xj and yij = yi – yj, the above equations can then
be written as
x  x13  x23  x3
y  y13  y23  y3
Note: The above equations relate the x- and y-coordinates to the - and -
coordinates (the natural coordinates). We observe that,
x13  x1  x3
y23  y2  y3
8-6 The Shape Functions
The shape functions for the

triangular element are illustrated
in the figures. Recall, we have
N1   ; N2   ;
N3  1    
Also, N1 + N2 + N3 = 1
Area Coordinate Representation
The shape functions can be physically represented by area coordinates,
A1
N1  ;
A
A
N2  2 ;
A
A3
N3 
A
where A is the area of the triangular element, i.e.

A = A1 + A2 + A3
Exercise 8-1
Consider a triangular element shown below. Evaluate the shape functions
N1, N2, and N3 at an interior point P.
x
The triangular element for solution.
Solution
x  N1 x1  N 2 x2  N 3 x3  1.5 N1  7 N 2  4 N 3  3.85
y  N1 y1  N 2 y2  N 3 y3  2 N1  3.5 N 2  7 N 3  4.8
Using the notation, xij = xi – xj and yij = yi – yj, the above become
x   x1  x3     x2  x3   x3  2.5  3  4  3.85
y   y1  y3     y2  y3   y3  5  3.5  7  4.8
Simplifying the equations yields,

2.5  3  0.15
5  3.5  2.2
Solving the equations simultaneously, we obtain  = 0.3 and h = 0.2. Thus, the
shape functions for the triangular element are,
N1  0.3 N 2  0.2 N 3  0.5
8-7 Area of the Triangular Element
The area, A of any arbitrarily oriented straight-sided triangular elements
can be determined using a formula
1
A  det  J 
2
where [J] is a square matrix called the Jacobian, given by
 x13 y13 
J   x y23 
 23
The determinant of the Jacobian [J] is
det  J   x13 y23  x23 y13
Note: “l l” represents the “magnitude of”. Most computer software use counter-
clockwise order of local node numbering, and use det[J] for computing the area
of the triangular element.
8-8 Strain-Displacement Matrix
The strains within the triangular element are related to the components of
the nodal displacement by a relation
    Bq
where [B] is a (3 x 6) rectangular matrix called the strain-displacement matrix,
given by
 y23 0 y31 0 y12 0
1 
 B   0 x32 0 x13 0 x21 
det  J 
 x32 y23 x13 y31 x21 y12 
Note: For the given magnitude of {q}, the strains within the element depend only on
[B] matrix, which in turns depends on the nodal coordinates, which are constant.
Hence the strains are the same everywhere within the element, thus the name
constant-strain triangle (CST).
Exercise 8-2
Consider a triangular element in Exercise 8-1. a) Write the Jacobian
matrix; b) Find the determinant of the Jacobian matrix; c ) Compute the
area of the triangular element; d) Establish the strain-displacement
matrix for the element.
x
The triangular element for solution.
7-9 Potential Energy Approach
The total potential energy of a 2-D body,
discretized using triangular elements, is
given by
1
     D  tdA
T
e 2 e
   u  f  tdA   u T tdL

T T
e L
e
  ui Pi
T
The first term represents the sum of internal strain

energy of all elements, Ue. For a single element, the
internal strain energy is
1
    D   t  dA

T
Ue 
2 e
8-10 Element Stiffness Matrix
We will derive the stiffness matrix of a triangular element using the
potential energy approach. Recall, the internal strain energy of an
element, Ue is given by
1
U e      D   t  dA (i)
T
2e
The strains {} are related to nodal displacements {q} by,
   Bq (ii)
Substituting Eq.(ii) into Eq.(i), we get

1
      D  B q t  dA
T T
Ue  q B (iii)
2e
Taking all constants in Eq.(iii) out of the integral we obtain,
1
2
T T

U e  q  B   D  B  t  dA q
e
 (iv)
Note that,  dA  A , i.e. the area of the triangular element.
e
e
Substituting this into eq.(iv) and further simplifying, we get,
U e  q t e Ae B  D B q

1 T T
(v)
2
The internal strain energy of the element can now be written as
1
    q (vi)
T e
Ue  q k
2
From eq.(vi) we identify the stiffness matrix [k]e of the triangular (CST) element as,
k   te Ae  B   D    B 
e T
Note: Since there are 6 DOFs for a given element, [k]e will be a (6 x 6) rectangular
symmetric matrix.
Exercise 8-3
Determine the stiffness matrix for the straight-sided triangular element of
thickness t = 1 mm, as shown. Use E = 70 GPa, n = 0.3 and assume a
plane stress condition.
Solution
Element stiffness matrix is given by
 k   te Ae  B   D    B 
e T
(i)
where,
te  1 mm
1 1
Ae  det  J   x13 y23  x23 y13
2 2
1
 23.75 (Dimension is in mm)
2
Ae  11.875 mm 2
The strain-displacement matrix, [B] is given by
 y23 0 y31 0 y12 0

1 
 
B   0 x32 0 x13 0 x21 
det  J 
 x32 y23 x13 y31 x21 y12 
3.5  7 0 72 0 2  3.5 0 

1  
 0 4  7 0 1.5  4 0 7  1.5
23.75  
 4  7 3.5  7 1.5  4 7  2 7  1.5 2  3.5 
 3.5 0 5 0 1.5 0 
1  
 
B  0 3 0 2.5 0 5.5
23.75  
 3 3.5 2.5 5 5.5 1.5
The transpose of [B] matrix is,
 3.5 0 3 
 0 3 3.5 
 
1  5 0 2.5
 B
T
  
23.75  0 2.5 5 
 1.5 0 5.5 
 
 0 5.5 1.5 
For a plane stress condition, the material’s matrix [D] is given by
1 n 0   1 0.3 0 
E   70 10  
3
 
D  2 
n 1 0  0.3 1 0 
1 n 1  0.32
2 1 n   2 1  0.3  
 0 0 1   0 0 1 
Substituting all the terms into eq.(i) we have,
 3.5 0 3 
 0  3  3 .5 
   1 0.3 0 
1  5 0  2.5 70  10 3 0.3 1 
k e  1  11.875   
23.75  0  2.5 
5  1  0.3 2  
 0
0 
0 0.35
  1.5 0 5.5 
 
 0 5.5  1. 5 
  3.5 0 5 0  1.5 0 
1  
 0  3 0  2 . 5 0 5 . 5
23 .75  
  3  3.5  2.5 5  5.5  1.5
Multiplying and simplifying, we obtain
q1 q2 q3 q4 q5 q6
 2.494 1.105 2.409 0.425 0.085 0.68 
 2.152  0.233 0.223 0.873  2.374 
 
 4.403 1.316 1.994 1.549 
k 
e
 10  
4

 2.429 1.741 2.652 
 2.079 0.868
 
 symmetry 5.026 
Note: Connectivity with the local DOFs is shown.

8-11 Element Force Vector
We will derive the force vector for a single element, which is contributed by
a) body force, f and b) traction force, T.
We need to convert both f and T into the equivalent nodal forces.
Note: The concentrated forces can be included directly into the global load
vector, appropriate DOF direction.
a) Body Force
Suppose body force components, fx and fy, act at
the centroid of a triangular element.
The potential energy due to these forces is
given by,
 u  f t  dA  te e uf x  vf y  dA
T
(i)
e
Recall, u  N1q1  N 2 q3  N 3 q5
v  N1 q 2  N 2 q 4  N 3 q 6
1
Also, e i 3 Ae
N dA 
Substituting the above into eq.(i), we get
 u  f t  dA  q f

T T e
e
where {f}e is the element body force vector,

given by
t A
f
T
 e e  f x , f y 
e
fy, fx , fy, fx ,
3
Note: Physical representation of force vector {f}e is shown.

b) Traction Force
Suppose a linearly varying traction components act along edge 1-2 of a
triangular element.
The potential energy due to the traction force is,
e u T tdL  l
T
12
uT
x  vTy  tdL
(ii)
Using the relations,

u  N1q1  N 2 q3
v  N1q2  N 2 q4
Tx  N1Tx1  N 2Tx 2 with,
Ty  N1Ty1  N 2Ty 2
 x2  x1    y2  y1 
2 2
l1 2 
1 1 1
Also, l12 1  l12 2 3l12 ,
 l12 1 2 6l12

2 2
N dl l1 2 , N dl N N dl
3
Substitution into eq.(ii) yields,
e u T tdL  q1, q2 , q3 , q4  T 

T T e
where {T}e is the equivalent nodal force vector due to traction force, given by
T e  t e l12 2Tx1  Tx 2  2Ty1  Ty 2  Tx1  2Tx 2  Ty1  2Ty 2 T (iii)

6
Note:
The physical representation of the
nodal force vector {T}e is shown.
Special Case: If the traction forces are uniform, then
Tx1  Tx 2  Tx ; Ty1  Ty 2  Ty
Thus, the nodal force vector in eq.(iii) becomes
tel1 2
T 
T
Tx , Ty , Tx , Ty 
e
 (iv)
2
8-12 Concentrated Force
The concentrated force term can be easily considered by having a node at
the point of application of the force.
If concentrated load components Px and Py are applied at a point i, then
ui Pi  Q2i 1Px  Q2i Py

T
Thus, Px and Py, i.e. the x and y components of {P}i get added to the (2i - 1)th
component and (2i)th components of the global force vector, {F}.
Note: The contribution of the body, traction and concentrated forces to the global
force vector, {F} is represented by,
F    e  f   T    P
e e
Exercise 8-4
Consider a portion of finite element model of a plate as shown. A uniform
traction force of 2 kN/m2 acts along the edges 7-8 and 8-9 of the model.
Determine the equivalent nodal forces at nodes 7, 8, and 9.
Solution
We will consider the two edges, 7-8 and 8-9 separately, and then merge
the final results.
20 4 4
cos    Tx  T cos   2   1.6 kN/m  1.6 N/mm
15 5 5
15 3 3
sin    T y  T sin   2   1.2 kN/m  1.2 N/mm
25 5 5
For edge 7-8 (edge 1-2 local)
l12  100  852  20  40 2  25 mm

t e  10 mm
Equivalent nodal forces due to uniform traction force T = 2 kN/m2 is,
T 1  1025  1.6 1.2 1.6 1.2  200 150

T
200 150 
T
N
2
For edge 8-9 (edge 1-2 local)
l12  85  70 2  40  602  25 mm

t e  10 mm
Equivalent nodal forces due to uniform traction force T = 2 kN/m2 is,
10  25 
T  1.6 1.2 1.6 1.2 
2 T

2
T    200 150 200 150  N
2 T
These loads add to global forces F13,

F14, …,F18 as shown.
8-13 Strains and Stress Calculations
a) Strains
The strains in a triangular element are,
 
x   du
dx 
   
    y   
e

dv
dy
   
 xy   

du
dy  dx
dv
 
    B q
e
Note: We observed that {}e depends on the [B] matrix, which in turn depends
only on nodal coordinates (xi, yi), which are constant. Therefore, for a given
nodal displacements {q}, the strains {}e within the element are constant.
Hence the triangular element is called a constant-strain triangle.
b) Stresses
The stresses in a triangular element can be determined using the
stress-strain relation,
 x 
 
    y    D     D  B q
e e e
 
 xy 
Note:
1. Since the strains {}e are constant within the element, the stresses are also
the same at any point in the element.
2. Stresses for plane stress problem differ from those for plane strain problem
by the material’s matrix [D].
3. For interpolation purposes, the calculated stresses may be used as the
values at the centroid of the element.
4. Principal stresses and their directions are calculated using the Mohr circle.
Example 8-1
Consider a thin plate having thickness t = 0.5 in. being modeled using two
CST elements, as shown. Assuming plane stress condition, (a) determine
the displacements of nodes 1 and 2, and (b) estimate the stresses in both
elements.
Solution
Element connectivity
Local Nodes
Element No 1 2 3
1 1 2 4
2 3 4 2
For plane stress problem, the

materials matrix is given by
1 n 0 
E  
 D  n 1 0
1 n 2  
 0 0 2 1 n  
1
 1 0.25 0 
 D   32 106 0.25 1 0 
 0 0 0.375
Element 1
1 1
Area of element, A1  det  J    6   3 in 2
2 2
The strain-displacement matrix,
 y23 0 y31 0 y12 0  2 0 3 0 2 0 

1 
x21    0 3 0 3 0 0 
 1
 B   0 x32 0 x13 0
det  J  6
 x32 y23 x13 y31 x21 
y12   3 2 3 0 0 2 
Multiplying matrices [D][B] we get,
1.067 0.4 0 0.4 1.067 0 

 D  B   107  0.267 1.6 0 1.6 0.267 0 
(1)
 0.6 0.4 0.6 0 0 0.4 

The stiffness matrix is given by,
k   t1 A1  B 1  D  B 1
(1) T
Substitute all parameters and multiplying the matrices, yields

Q1 Q2 Q3 Q4 Q7 Q8
0.983 0.5 0.45 0.2 0.533 0.3 
 1.4 0.3 1.2 0.2 0.2 
 
 0.45 0 0 0.3
k 
(1)
 10 
7

 1.2  0.2 0 
 symmetric 0.533 0 
 
 0.2 
Note: Connectivity with global DOFs are shown.

Element 2
1 1
Area of element, A2  det  J    6   3 in 2
2 2
The strain-displacement matrix is
 y23 0 y31 0 y12 0   2 0 0 0 2 0 

1 
0 x13 0 x21    0 3 0 3 0 0 
1
 
B   0 x32
det  J  6
 x32 y23 x13 y31 x21 y12   3 2 3 0 0 2 
Multiplying matrices [D][B] we get,
 1.067 0.4 0 0.4 1.067 0 

 D  B   107   0.267 1.6 0 1.6 0.267 0 
(2)
 0.6 0.4 0.6 0 0 0.4 

The stiffness matrix is given by,
k   t2 A2  B 2  D  B 2
(2) T
Substituting all parameters and multiplying the matrices yield
Q5 Q6 Q7 Q8 Q3 Q4
0.983 0.5 0.45 0.2 0.533 0.3 
 1.4 0.3 1.2 0.2 0.2 
 
 0.45 0 0 0.3
k 
(2)
 10 
7

 1.2  0.2 0 
 symmetric 0.533 0 
 
 0.2 
Note: Connectivity with global DOFs are shown.

Write the global system of linear equations, [K]{Q} = {F}, and then apply
the boundary conditions: Q2, Q5, Q6, Q7, and Q8 = 0.
The reduced system of linear equations are,
 0.983 0.45 0.2   Q1   0 

   
107   0.45 0.983 0  Q3    0 
 0.2 0 1.4  Q4  1000 
Solving the reduced SLEs simultaneously yields,
 Q1   1.913 
    5
Q3    0.875  10 in.
Q   7.436 
 4  
Stresses in element 1
For element 1, the element nodal displacement vector is
q 5
1.913, 0, 0.875, 7.436, 0 0
(1) T
 10
The element stresses, {}(1) are calculated from [D][B](1){q} as
    93.3, 1138.7, 62.3

(1) T
psi
Stresses in element 2
For element 2, the element nodal displacement vector is
q  105  0, 0, 0 0, 0.875, 7.436

(2) T
The element stresses, {}(2) are calculated from [D][B](2){q} as
   93.4, 23.4, 297.4

(2) T
psi

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SME 3033 FINITE ELEMENT METHOD

Two-Dimensional Problems Using

Thus, the nonzero strain components

Pipe under a uniform

The corresponding stress components at that point are

for plane stress problems and

for plane strain problems.

Finite element model of a bracket.

Within the element, displacement at any

Note: We need to express u and v in terms of the nodal displacement components,

where N1, N2 and N3 are the linear shape functions, given by

The shape functions for the

where A is the area of the triangular element, i.e.

Simplifying the equations yields,

The determinant of the Jacobian [J] is

det  J   x13 y23  x23 y13

   u  f  tdA   u T tdL

The first term represents the sum of internal strain

Substituting Eq.(ii) into Eq.(i), we get

Substituting this into eq.(iv) and further simplifying, we get,

U e  q t e Ae B  D B q

 y23 0 y31 0 y12 0

3.5  7 0 72 0 2  3.5 0 

For a plane stress condition, the material’s matrix [D] is given by

Substituting all the terms into eq.(i) we have,

Multiplying and simplifying, we obtain

Note: Connectivity with the local DOFs is shown.

Substituting the above into eq.(i), we get

 u  f t  dA  q f

where {f}e is the element body force vector,

Note: Physical representation of force vector {f}e is shown.

Using the relations,

e u T tdL  q1, q2 , q3 , q4  T 

T e  t e l12 2Tx1  Tx 2  2Ty1  Ty 2  Tx1  2Tx 2  Ty1  2Ty 2 T (iii)

ui Pi  Q2i 1Px  Q2i Py

l12  100  852  20  40 2  25 mm

T 1  1025  1.6 1.2 1.6 1.2  200 150

l12  85  70 2  40  602  25 mm

These loads add to global forces F13,

For plane stress problem, the

The strain-displacement matrix,

 y23 0 y31 0 y12 0  2 0 3 0 2 0 

Multiplying matrices [D][B] we get,

1.067 0.4 0 0.4 1.067 0 

 0.6 0.4 0.6 0 0 0.4 

Substitute all parameters and multiplying the matrices, yields

Note: Connectivity with global DOFs are shown.

The strain-displacement matrix is

 y23 0 y31 0 y12 0   2 0 0 0 2 0 

Multiplying matrices [D][B] we get,

 1.067 0.4 0 0.4 1.067 0 

 0.6 0.4 0.6 0 0 0.4 

Substituting all parameters and multiplying the matrices yield

Note: Connectivity with global DOFs are shown.

 0.983 0.45 0.2   Q1   0 

Solving the reduced SLEs simultaneously yields,

    93.3, 1138.7, 62.3

q  105  0, 0, 0 0, 0.875, 7.436

The element stresses, {}(2) are calculated from [D][B](2){q} as

   93.4, 23.4, 297.4

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