ASME NAS WORKSHOP

INTRODUCTION TO THE FINITE

ELEMENT METHOD
Les Sudak, PhD, PEng
Department of Mechanical & Manufacturing
Engineering
November 22, 2019, University of Alberta
 OUTLINE
 Why study the Finite Element Method (FEM)
 Overview of the FEM

 Development of the stiffness matrix

 Element types

 Analysis types
 Linear versus Nonlinear approach

 Solution of stiffness matrix

 Solver types

 Summary
WHY STUDY THE FEM
 Majority of engineering problems involve solving for the field
variables for complicated geometries
 Mathematically field problems are governed by PDEs/integral equations
with associated boundary conditions
 FEM facilitates a way of virtually testing a product design to aid users
to understand their designs and implement appropriate
modifications in the product development stage.
 FEM is a numerical tool used to solve the field problem by
approximating the governing equations by a system of algebraic
equations via discretization
 The French mathematician Henri Poincare once remarked, solution
of a mathematical problem is a phrase of indefinite meaning. Pure
mathematicians sometimes are satisfied with showing that the
nonexistence of a solution implies a logical contradiction, while
engineers might consider a numerical result as the only reasonable
goal.
 OVERVIEW OF THE FEM
 1877 J.W. Strutt (Lord Rayleigh) was the first person to minimize the
energy in the Calculus of Variations to calculate vibration frequency,
 1908-1909 Walther Ritz substituted for the variational problems simpler
approximating admissible functions in which but only a finite number of
parameters need be determined by minimizing the energy
 1915 Boris Galerkin developed the method of weighted residuals that
operate on the weak formulation of a differential equation.
 1943 Richard Courant used variational approach to solve the torsional
problem by dividing the shaft into a triangular mesh which laid the
bases for the modern FEM
 1960 Clough termed the phrase “finite element”
 1970s General purpose computer programs for the FEM evolved
 1980s Development of microcomputers with pre and post processors
 1990s Analysis of large systems, nonlinear and dynamic problems
 2000s Multiscale problems, composite materials, nanocomposites
OVERVIEW OF THE FEM
OVERVIEW OF THE FEM

 Consider a deformable body to be in equilibrium under the action of

surface traction F, body forces b and concentrated forces F.
 Imagine that each point in the body undergoes a virtual displacement
δu. In other words, the virtual work performed is nothing more than the
real force acting through the virtual displacement.
 OVERVIEW OF THE FEM

 The foundations of the FEM in solid mechanics is greatly enhanced through the
use of Principle of virtual work which asserts that a stress field corresponds to (is in
equilibrium with) a given set of external forces and support condition if
IVW=EVW

(1)
where {b} are body forces, {F} surface tractions, {Fi} concentrated forces and {δu}
are the assumed “small” virtual displacements
 PVW yields the equilibrium equations as well as natural boundary conditions
 Displacement based formulation ensures compatibility of displacements.
That is the strain-field derived from an arbitrary displacement field is always
compatible. Not necessary to impose the fourth order strain compatibility
equations as an additional constraint.
 PVW gives more flexibility over direct methods, and can address
discontinuous field variables – such as stress.
DEVELOPMENT OF STIFFNESS MATRIX

 To develop the FEM equations using (1)we must interpolate field

quantities over an element evaluated at nodal points
 For example for displacement based FEM consider the
displacement {u} is interpolated as follows
{u} = [N]{d} (2)
where [N]are called the interpolating or shape functions and {d} are
nodal displacements
 The element strains {𝜺}are determined from the displacements
according to
{𝜺} = [B] {d} (3)
where [B] is the strain displacement matrix and is given by
[B]=𝜕[N] (4)
 DEVELOPMENT OF STIFFNESS MATRIX
 Using equation (2)-(4), (1) is rewritten as

{𝛿𝒅}𝑇 ‫]𝑩[ 𝑪 𝑇]𝑩[ 𝑉׬‬d𝐕 𝒅 − ‫}𝒃{ 𝑇]𝑵[ 𝑉׬‬d𝐕 − ‫}𝑭{ 𝑇]𝑵[ 𝑉׬‬d𝐕− σ𝑖[𝑵]𝑇 {𝑭𝒊 } =0 (5)
 Equation (5) must be valid for any virtual nodal displacement {𝛿𝒅} from the
equilibrium configuration. Therefore (5) yields
[k]{d}={re} (6)
where [k is the element stiffness matrix given by

𝒌 = ‫]𝑩[ 𝑪 𝑇]𝑩[ 𝑉׬‬d𝐕 (7)

the element nodal forces are given by

{re }=‫}𝒃{ 𝑇]𝑵[ 𝑉׬‬d𝐕+‫}𝑭{ 𝑇]𝑵[ 𝑉׬‬d𝐕+ σ𝑖[𝑵]𝑇 {𝑭𝒊 } (8)

 Assembly of elements to form the FE structure is indicated by simply placing a
summations sign on the LHS of (5) resulting in structure equation
[K]{D}={R} (9)
 ELEMENT TYPES
 Consider the 1-D bar element which consists of 2 degrees of freedom
(i.e. one axial displacement at each node)

 Consider linear varying displacement field across the element of the

form
𝑢 𝑥 = 𝑎0 + 𝑎1 𝑥, 0≤𝑥≤𝐿 (10)
 Shape function can be determined to be
𝑁1 𝜉 = 1 − 𝜉, 𝑁2 𝜉 = 𝜉 (11)
𝑥
𝜉= , 0≤𝜉≤1 (12)
𝐿,

 Since N1 + N2 = 1 ensures that rigid body translation is represented

by the chosen shape functions
ELEMENT TYPES 1-D BAR ELEMENT

 The field variable {u} across the element can now be expressed in terms
of the shape functions and nodal displacements as
{u}=[N]{d} (13)
 Strains are now given by
𝜕 𝜕𝜉 −1 1
{𝜺} = [B]{d}, 𝑩 = 𝜕𝜉 𝑵 = , 𝐿 (14)
𝜕𝑥 𝐿

 Element Stiffness matrix is determined to be a 2X2 square matrix given as

𝐿 𝐸𝐴 1 −1
𝒌 = ‫ 𝑩 𝑪 𝑇]𝑩[ 𝑉׬‬d𝐕 = [𝑩]𝑇 𝑬 𝑩 = ‫׬ = 𝑉𝑑 ׬‬0 𝐴𝑑𝑥 = (15)
𝐿 −1 1
ELEMENT TYPE – LINEAR TRIANGLE (CST)

 Triangular finite elements is the first finite element proposed for

continuous problems for 2-D problems.

 Since the element has three nodes with 2 degrees of freedom at each
node a, linear approximation for displacements u and v is selected
across the element – produces constant strain
 𝑢 𝑥, 𝑦 = 𝑎1 + 𝑎2 𝑥 + 𝑎3 𝑦, 𝑣 𝑥, 𝑦 = 𝑎4 + 𝑎5 𝑥 + 𝑎6 𝑦 (16)
 ELEMENT TYPE – LINEAR TRIANGLE (CST)
 Solving (16) for the unknown coefficients in terms of nodal displacements
and coordinates yields the expression for the element displacement
𝑢1
𝑣1
𝑢 𝑁1 0 𝑁2 0 𝑁3 0 𝑢2
= (17)
𝑣 0 𝑁1 0 𝑁2 0 𝑁3 𝑣2
𝑢3
𝑣3
where the shape functions are found to be linear in x and y
1
𝑁1 = 𝑥 𝑦 − 𝑥3 𝑦2 + 𝑦2 − 𝑦3 𝑥 + 𝑥3 − 𝑥2 𝑦 ,
2𝐴 2 3
1 𝑥1 𝑦1
1 1
𝑁2 = 𝑥3 𝑦1 − 𝑥1 𝑦3 + 𝑦3 − 𝑦1 𝑥 + 𝑥1 − 𝑥3 𝑦 , 𝐴= 𝑑𝑒𝑡 1 𝑥2 𝑦2 (18)
2𝐴 2
1 𝑥3 𝑦3
1
𝑁1 = 𝑥 𝑦 − 𝑥2 𝑦1 + 𝑦1 − 𝑦2 𝑥 + 𝑥2 − 𝑥1 𝑦
2𝐴 1 2
ELEMENT TYPE – LINEAR TRIANGLE (CST)
 The strain displacement matrix[B] is found to be

𝑢1
𝜀𝑥 𝑣1
𝑦2 − 𝑦3 0 𝑦3 − 𝑦1 0 𝑦1 − 𝑦2 0
𝜀𝑦 = 1 𝑢2
0 𝑥3 − 𝑥2 0 𝑥1 − 𝑥3 0 𝑥2 − 𝑥1 𝑣2 (19)
2𝐴
2𝜀𝑥𝑦 𝑥3 − 𝑥2 𝑦2 − 𝑦3 𝑥1 − 𝑥3 𝑦3 − 𝑦1 𝑥2 − 𝑥1 𝑦1 − 𝑦2 𝑢3
𝑣3
 The element stiffness matrix can be written as

𝒌 = ‫ 𝑩 𝑪 𝑇]𝑩[ 𝑉׬‬d𝐕 = [𝑩]𝑇 𝑪 𝑩 ‫𝐴𝑡 𝑩 𝑪 𝑇]𝑩[ = 𝐴𝑑𝑡 ׬‬ (20)

𝜆 + 2𝜇 𝜆 0
Where 𝜆 𝜆 + 2𝜇 0 is the elastic matrix with Lame’s constants
0 0 𝜇
 Stiffness matrix is a 6X6 array
ELEMENT TYPE – LINEAR TRIANGLE (CST)

 The CST element is not useful in bending as it is quite stiff. Element

displays a transverse shear strain which should not be present. Spurious
shear strain absorb energy as more load is required to produce a given
deformation hence the stiffness issue.
 Element is suitable for use in mesh transition areas
 Applicable for use where the strain gradient is small
ELEMENT TYPES – BILINEAR RECTANGLE (Q4)
 Q4 element is a 4 node rectangular element with 8 degrees of freedom

 Displacement field is given by

(21)
 Shape functions are found to be

(22)
ELEMENT TYPES – BILINEAR RECTANGLE (Q4)

 Alternatively, the shape functions can be rewritten in terms of element

coordinates 𝜉, 𝜂 as
𝑥 𝑏
𝜉= , −1 ≤ 𝜉 ≤ 1, 𝜂= , −1 ≤ 𝜂 ≤ 1
𝑎 𝑦
 Since σ41 𝑁𝑖 = 1 ensures that rigid body motion is captured by the
element
 The element displacement field is now given by

(23)

)
ELEMENT TYPES – BILINEAR RECTANGLE (Q4)
 In view of (23) the strain displacement matrix is given by

(24)

 The stiffness matrix is 6X6 and contains x, y to first and second powers
and is given by
𝑏 𝑎
𝒌 = ‫׬‬−𝑏 ‫׬‬−𝑎[𝑩]𝑇 𝑪 𝑩 𝑡𝑑𝑥𝑑𝑦 (25)
 Q4 element is restricted to rectangular shapes only
 Cannot handle bending problems as shear strain develops in the
element
 ELEMENT TYPE - ISOPARAMETRIC
 Although rectangular elements are easy to formulate they are often impractical
since its difficult to mesh a complicated geometry especially with curved
geometries.
 Solution to this problem is isoparametric (meaning same parameter)
elements which can be nonrectangular and can have curved sides
 Drawback for this generality of shape is dealing with coordinate
transformation and these transformations introduce algebraic terms that
difficult to integrate.
 Idea behind these elements is having the same shape function not only
interpolate the field variable but also the coordinates of a point in the element
 Element displacements 𝒖 = 𝑵 {𝒅}
 ෩ {𝒄}, where {𝒄},are nodal coordinates
Element coordinates 𝒙 = 𝑵

 ෩ the element is isoparametric

If 𝑵 = 𝑵

 ෩ > 𝑵 element is superparametric

If degree of 𝑵

 ෩ < 𝑵 element is called subprametric

If degree of 𝑵
ELEMENT TYPE – ISOPARAMETRIC Q4

 Shape function for the quadrilateral isoparametric element are

(26)

 It is easy to verify that σ41 𝑁𝑖 = 1 which ensures that rigid body motion is
captured by the element
ELEMENT TYPE – ISOPARAMETRIC Q4
 The element displacements and element coordinates are given by
(27)

where (28)

𝜕𝑢(𝜉,𝜂)
 The strains within an element are determined via 𝜀𝑥𝑥 = 𝜕𝑥 etc.
Therefore, to the required derivatives we require a transformation rule

(29)
ELEMENT TYPE – ISOPARAMETRIC Q4

 Recall that to calculate the stiffness matrix requires a knowledge of the

strains which are related to the matrix [B]. So using equations (26)-
(29)yields

𝑁1,𝜉 0 𝑁2,𝜉 0 𝑁3,𝜉 0 𝑁4,𝜉 0

𝐴11 𝐴12 0 0 𝑁1,𝜂 0 𝑁2,𝜂 0 𝑁3,𝜂 0 𝑁4,𝜂 0
[B]= 0 0 𝐴21 𝐴22 (30)
0 𝑁1,𝜉 0 𝑁2,𝜉 0 𝑁3,𝜉 0 𝑁4,𝜉
𝐴21 𝐴22 𝐴11 𝐴12
0 𝑁1,𝜂 0 𝑁2,𝜂 0 𝑁3,𝜂 0 𝑁4,𝜂
 [B] is a 3X8 matrix and the stiffness matrix will be an 8X8 array given by
1 1

𝒌 = න න[𝑩]𝑇 𝑪 𝑩 𝑡𝑑𝜉𝑑𝜂
1 −1
ANALYSIS TYPE – NONLINEAR APPROACH
 Essentially three types of nonlinearities
 Material nonlinearity such plasticity, creep
 Geometric nonlinearity such as large strains, displacements
 Contact nonlinearity such as contact problems where the boundary
conditions change
 Derivation of nonlinear FEM based on Continuum Mechanics
principles
 For discussion consider geometric nonlinearities
 Nonlinear solutions involves incremental procedure
 Equilibrium of body at some time step t+△t is expressed via PVW
 ANALYSIS TYPES
Linear Approach
 Displacement gradient considered
small (i.e. gradu <<1)
• Small strain approximation is valid
• No distinction between reference
and deformed configuration
• Material is linear elastic
• Boundary conditions remain
unchanged during deformation
Nonlinear Approach
 Displacement gradient is large
 Boundary conditions change during
the deformation
 Distinction between reference and
deformed configuration is necessary
• Equilibrium of the system must be
established in the deformed
configuration
 Inelastic material behavior
 Analysis is based on the Lagrangian
approach
 An incremental formulation and a
time variable is used the describe the
loading and motion of the body
ANALYSIS TYPE – NONLINEAR APPROACH

(31)

 LHS is the internal virtual work and the RHS is external virtual work .
This is equation is identical to equation (1) except for no
concentrated forces.
 it is not possible to apply(31)directly at this stage because the
integration is performed considering the configuration of the body
at time t+Δt and the configuration is not known at this time.
 Since the body is changing continuously the Cauchy stress 𝜏𝑖𝑗 cannot be
readily obtained. This is addressed by using the 2nd Piola stress and
Green-Lagrange strain to pull-back to the reference configuration
𝟏
𝑺 = J𝑨−1 𝝉𝑨−𝑻 𝝐 = 𝟐 (𝑨T 𝑨 − 𝑰) (32)
ANALYSIS TYPE – NONLINEAR APPROACH

(33)

 The IVW can now be integrated over a known reference volume

and the 2nd Piola stress and the Lagrange strain can be
decomposed incrementally. The RHS does not change
 Equation (3) or (4) are highly nonlinear in the displacements. The task
is to linearize the equations. This is based on two approaches
 Total Lagrange approach,
 The static and kinematic variables correspond to the
reference configuration at time t=0
 Updated Lagrange approach
 The static and kinematic variables correspond to the last
calculated configuration – intermediate configuration
 Both formulations are identical except what we label as the
reference configuration
ANALYSIS TYPE – NONLINEAR APPROACH

Finite Element Procedures Bathe,

Prentice Hall1996
 ANALYSIS TYPE – NONLINEAR APPROACH
 FEM equations for static analysis using the Total Lagrangian
approach
𝐿 𝑡+Δ𝑡
𝑂𝐊 + 𝑁𝐿
𝑂𝐊 𝐔 = 𝐑 − 𝑂𝐅 (34)
Where 𝑂𝐿𝐊 linear strain incremental stiffness matrix, 𝑁𝐿
𝑂𝐊 nonlinear
strain incremental strain matrix, 𝑂𝐅 vector of nodal point force
vectors at time t, 𝑡+Δ𝑡𝐑 vector of externally applied nodal point
loads at time 𝑡 + Δ𝑡, 𝐔 vector of increments in the nodal point
displacements
 FEM equations for static analysis using the Updated Lagrangian
approach
𝐿 𝑡+Δ𝑡
𝑡𝐊 +𝑡 𝐔= 𝐑 − 𝑡𝐅 (35)
 Both formulations are identical except what we label as the reference
configuration
 SOLUTION FOR THE FEM

 Refining the mesh in a FE simulation will cause the numerical

solution to converge to the required solution
 Reduce the size of the element
 Increase the order of the interpolating polynomial
 Combination of the two above
 Stiffness matrix is typically solved numerically using Gauss
quadrature rules.
 The idea is to approximation the definite integral of a function,
usually stated as a weighted sum of function values at specified
points within the domain of integration. In 1-D we write
1
‫׬‬−1 𝑓 𝑥 𝑑𝑥 ≈ σ𝑖 𝑤𝑓 𝑓(𝑥𝑖 ) (36)
SOLUTION FOR THE FEM

 Solving for the system of algebraic equations {U}=[K}-1{R} typically can be

a daunting task. However, finite element equation systems are:
symmetric, positive definite and sparse.
 Solution methods for linear equation systems can be divided into
two large groups: direct methods and iterative methods. Direct
solution methods are usually used for problems of moderate size. For
large problems iterative methods require less computing time and
hence they are preferable
 Newton-Raphson is typically used to solve the algebraic system of
equations
 N-R method converges quadratically and typically involves less iterations
 May fail to converge which results in oscillations between points
SUMMARY

 The use of the FEM in industry or academia is becoming standard

practice
 FEM formulations in ready-to-use form are now contained in
many commercial packages
 The use of FEM while having little or no fundamental knowledge
of the method is becoming more apparent inviting potential
serious consequences for the user