Reading assignment:

MANE 4240 & CIVL 4240

Introduction to Finite Elements Logan 10.2 + Lecture notes

Summary:

Prof. Suvranu De • Computation of shape functions for 4-noded quad

• Special case: rectangular element
• Properties of shape functions
• Computation of strain-displacement matrix
Four-noded • Example problem
•Hint at how to generate shape functions of higher order
rectangular element (Lagrange) elements

Finite element formulation for 2D: Summary: For each element

Displacement approximation in terms of shape functions
Step 1: Divide the body into finite elements connected to each
other through special points (“nodes”) u=Nd
py
v3 Strain approximation in terms of strain-displacement matrix
3 px
4 3 ε=Bd
u3
v4 ⎧u 1 ⎫ Stress approximation
v 2 Element ‘e’ v2 ⎪v ⎪
⎪ 1⎪ σ = DB d
1 4
u ST u4 ⎪u 2 ⎪
u2 ⎪ ⎪ Element stiffness matrix
v1 2 ⎪v 2 ⎪
y d=⎨ ⎬ k = ∫ e B D B dV
T
x y
Su ⎪u 3 ⎪ V

1 u1 ⎪v 3 ⎪ Element nodal load vector

v ⎪ ⎪
x x ⎪u 4 ⎪ f = ∫ e N X dV + ∫ e N T S dS
T T

u ⎪v ⎪ V
 
 ST

 

⎩ 4⎭ f
b f
S

1
 Formula for the shape functions are
v1 a1 + b1x + c1 y
Constant Strain Triangle (CST) : Simplest 2D finite element v3 N1 =
1 u1 2A
(x1,y1) (x3,y3) a + b x + c2 y
v u3 N2 = 2 2
v1 v2 2A
v3 y u 3 a + b x + c3 y
(x,y)
1 u1 N3 = 3 3
(x1,y1) (x3,y3) u2 2A
v2 v u3 where 2 (x2,y2)
y u 3
(x,y) x
u (x,y)≈ N1(x,y)u1 + N2(x,y)u2 + N3(x,y)u3
u2 ⎡1 x 1 y1 ⎤
2 (x2,y2) v (x,y)≈ N1(x,y)v1 + N2(x,y)v2 + N3(x,y) v3 1
A = area of triangle = det ⎢⎢1 x 2 y 2 ⎥⎥
x 2
• 3 nodes per element ⎣⎢1 x 3 y3 ⎦⎥
• 2 dofs per node (each node can move in x- and y- directions) a1 = x2 y3 − x3 y 2 b1 = y 2 − y3 c1 = x3 − x2
• Hence 6 dofs per element
a2 = x3 y1 − x1 y3 b2 = y3 − y1 c2 = x1 − x3
a3 = x1 y 2 − x2 y1 b3 = y1 − y 2 c3 = x2 − x1

Approximation of displacements Element stiffness matrix

⎧ u1 ⎫
u=Nd ⎪v ⎪ t
k = ∫ e B D B dV
T
⎪ 1⎪
⎧u (x, y)⎫ ⎡ N1 0 N2 0 N3 0 ⎤ ⎪⎪u 2 ⎪⎪ V
u=⎨ ⎬=⎢ ⎨ ⎬
⎩ v (x, y)⎭ ⎣ 0 N1 0 N2 0 N 3 ⎥⎦ ⎪v 2 ⎪
⎪u 3 ⎪ Since B is constant
⎪ ⎪ A
Approximation of the strains
⎧ ∂u ⎫ ⎩⎪ v 3 ⎭⎪
⎪ ∂x ⎪
⎧ ε x ⎫ ⎪ ⎪
∂ t=thickness of the element
k = B D B∫ e dV = B D B At
⎪ ⎪ ⎪ v ⎪ T T
ε = ⎨ε y ⎬ = ⎨ ∂y ⎬ ≈ B d
⎪γ
⎩ xy
⎪
⎭
⎪ ⎪ V A=surface area of the element
⎪ ∂u ∂v ⎪
⎪ ∂y + ∂x ⎪
⎩ ⎭ Element nodal load vector
⎡∂N1(x,y) ∂N2(x,y) ∂N3(x,y) ⎤
⎢ 0 0 ⎥ 0
⎢ ∂x ∂x ∂x ⎥ ⎡b1 0 b2 0 b3 0 ⎤ f = ∫ e N X dV + ∫ e N T S dS
T T
∂N1(x,y) ∂N2(x,y) ∂N3(x,y)⎥ 1 ⎢
B=⎢ 0 0 0 = ⎢ 0 c1 0 c2 0 c3 ⎥⎥ V
 
 ST

 

⎢ ∂y ∂y ∂y ⎥ 2A
⎢∂N (x,y) ∂N (x,y) ∂N (x,y) ∂N2(x,y) ∂N3(x,y) ∂N3(x,y)⎥ ⎢⎣c1 b1 c2 b2 c3 b3 ⎥⎦ f
b f
S
⎢ 1 1 2
⎥
⎣⎢ ∂y ∂x ∂y ∂x ∂y ∂x ⎦⎥

2
Class exercise Class exercise
f S = t∫
T
N T S dS
l1−3e along 2 −3
For the CST shown below, compute the vector of nodal loads due to surface traction 1
⎧0⎫
f = ∫ e N T S dS
T TS =⎨ ⎬
S ST y fS3y ⎩− 1⎭
fS2y fS2x fS3x The only nonzero nodal loads are
1
2 3 x f S2 y = t ∫ N 2 along 2 −3 p y dx
x1= 0
py=-1 f S3 y = t ∫ N 3 along 2−3 p y dx
1 x =0
f S = t∫
T
N T S dS
a2 + b2 x (x3 y1 − x1 y3 ) + ( y3 − y1 )x
l1−3e along 2 −3
y fS3y ⎡ a + b x + c2 y ⎤
N 2 along 2−3 = ⎢ 2 2 ⎥ = 2A =
fS2y fS2x fS3x ⎣ 2A ⎦ y =0 2A
y1 − y1 x y1 (1 − x) y (1 − x)
2 3 x = = = 1
(0,0)
⎡1 x1 y1 ⎤ ⎡1 x1 y1 ⎤ y1 ( x3 − x2 )
det ⎢⎢1 x 2 y2 ⎥⎥ det ⎢⎢1 x 2 0 ⎥⎥
py=-1 (1,0)

⎣⎢1 x 3 y3 ⎥⎦ ⎣⎢1 x 3 0 ⎦⎥
= 1− x (can you derive this simpler?)

4-noded rectangular element with edges parallel to the

coordinate axes:
1
⇒ f S2 y = t ∫ N 2 along 2−3 p y dx
x=0 (x4,y4) 4 3 (x3,y3)
1
= t ∫ (1 − x)(−1) dx 4
x =0
u (x,y) ≈ ∑Ni (x,y)ui
t v i =1
=− u 2b 4
2 (x,y) v (x, y) ≈ ∑ N i (x, y)v i
y i =1
Now compute
1 2a 2 (x2,y2)
(x1,y1)
1
f S3 y = t ∫ N 3 along 2−3 p y dx
x =0 x

• 4 nodes per element

• 2 dofs per node (each node can move in x- and y- directions)
•8 dofs per element

3
 Generation of N1: x − x2 Using similar arguments, choose
At node 1 l1 ( x ) =
x1 − x 2 1
y N1 = (x − x 2 )( y − y 4 )
4 ab
has the property 1
l1(y) l1 ( x1 ) = 1 N2 = − (x − x1 )( y − y 3 )
4 3 4 ab
l1 ( x 2 ) = 0 1
N3 = (x − x 4 )( y − y 2 )
4 ab
2b Similarly y − y4 1
l1 ( y ) =
y1 − y 4
N4 = − (x − x 3 )( y − y1 )
4 ab
N1 1 2 1
has the property
2a x l1 ( y 1 ) = 1
l1(x) l1 ( y 4 ) = 0
1
Hence choose the shape function at node 1 as

⎛ x − x2 ⎞⎛ y − y 4 ⎞ 1
N 1 = l1 ( x )l1 ( y ) = ⎜⎜ ⎟⎟⎜⎜ ⎟⎟ = (x − x 2 )( y − y 4 )
⎝ x1 − x 2 ⎠⎝ y1 − y 4 ⎠ 4 ab

Properties of the shape functions:

3. Along lines parallel to the x- or y-axes, the shape functions
1. The shape functions N1, N2 , N3 and N4 are bilinear functions are linear. But along any other line they are nonlinear.
of x and y
4. An element shape function related to a specific nodal point is
2. Kronecker delta property
zero along element boundaries not containing the nodal point.
⎧ 1 at node ' i '
N i ( x, y ) = ⎨ 5. The displacement field is continuous across elements
⎩0 at other nodes
6. The strains and stresses are not constant within an element
3. Completeness
nor are they continuous across element boundaries.
4

∑
i =1
Ni =1
4

∑
i =1
N i xi = x
4

∑
i =1
N i yi = y

4
 The strain-displacement relationship Computation of the terms in the stiffness matrix of 2D elements (recap)

⎧εx ⎫
⎪ ⎪ v3
ε = ⎨ε y ⎬
v4
4
u4
3 The B-matrix (strain-displacement) corresponding to this element is
⎪γ xy ⎪ u3
⎩ ⎭ u3 v3 u4 v4
u1 v1 u2 v2
⎧u1 ⎫ v
⎡ ∂N (x,y) ⎤
⎪v ⎪ y ⎢ 1 0
∂N 2 (x,y)
0
∂N 3 (x,y)
0
∂N4 (x,y)
0 ⎥
⎡ ∂N1(x, y) ∂N 2 (x, y) ∂N3(x, y) ∂N 4 (x, y) ⎤⎪ 1 ⎪ v1 (x,y)
u v2 ⎢
⎢
∂x
∂N1 (x,y)
∂x
∂N2 (x,y)
∂x
∂N 3 (x,y)
∂x ⎥
∂N4 (x,y) ⎥
⎢ 0 0 0 0 ⎥⎪u 2 ⎪ ⎢ 0 0 0 0 ⎥
⎢ ∂x ∂x ∂x ∂x ∂y ∂y ∂y ∂y
⎥⎪ ⎪ ⎢ ⎥
∂N1(x, y) ∂N 2 (x, y) ∂N3(x, y) ∂N 4 (x, y)⎥⎪v 2 ⎪ u2 ⎢ ∂N1 (x,y) ∂N1 (x,y) ∂N 2 (x,y) ∂N2 (x,y) ∂N 3 (x,y) ∂N 3 (x,y) ∂N4 (x,y) ∂N4 (x,y) ⎥
=⎢ 0
1 u1 2
⎢ ⎥
0 0 0 ⎨ ⎬ ⎣⎢ ∂y ∂x ∂y ∂x ∂y ∂x ∂y ∂x ⎦⎥
⎢ ∂y ∂y ∂y ∂y ⎥⎪u 3 ⎪ x
⎢ ∂N (x, y) ∂N (x, y) ∂N (x, y) ∂N (x, y) ∂N (x, y) ∂N (x, y) ∂N (x, y) ∂N (x, y)⎥
⎢ 1 1 2 2 3 3 4 4
⎥⎪v3 ⎪ We will denote the columns of the B-matrix as
⎣⎢ ∂ ∂x ∂y ∂x ∂y ∂x ∂y ∂x ⎥⎪ ⎪
 
⎦⎪u 4 ⎪
y

B ⎪v ⎪ ⎡ ⎤
⎩ 4⎭ ⎡ ∂ N 1 (x,y) ⎤ ⎢ ⎥
⎢ ⎥ 0
⎡y − y4 0 y3 − y 0 y − y2 0 y1 − y 0 ⎤ ∂ x ⎢ ⎥
1 ⎢ ⎢ ⎥ ⎢ ∂ N 1 (x,y) ⎥ ; and so on...
B= ⎢ 0 x − x2 0 x1 − x 0 x − x4 0 x3 − x⎥⎥ B u1 =⎢ 0 ⎥ ; B v1 = ⎢ ⎥
4ab ⎢ ∂ N (x,y) ⎥ ∂ y
⎢ ⎥
⎣⎢ x − x2 y − y4 x1 − x y3 − y x − x4 y − y2 x3 − x y1 − y⎦⎥ ⎢ 1 ⎥ ⎢ ∂ N 1 (x,y) ⎥
⎣⎢ ∂y ⎦⎥ ⎢⎣ ⎥
∂x ⎦
Notice that the strains (and hence the stresses) are NOT constant within an element

The stiffness matrix corresponding to this element is

k = ∫ e B D B dV
T
which has the following form
V

u2 v2 u3 v3 u4 v4
u1 v1
Notice that these formulae are quite general (apply to all kinds
⎡ k11 k12 k13 k14 k15 k16 k17 k18 ⎤ u1
⎢k of finite elements, CST, quadrilateral, etc) since we have not
⎢ 21 k 22 k 23 k 24 k 25 k 26 k 27 k 2 8 ⎥⎥ v1
used any specific shape functions for their derivation.
⎢ k 31 k 32 k 33 k 34 k 35 k 36 k 37 k 38 ⎥ u2
⎢ ⎥
k k 42 k 43 k 44 k 45 k 46 k 47 k 48 ⎥ v2
k = ⎢ 41
⎢ k 51 k 52 k 53 k 54 k 55 k 56 k 57 k 58 ⎥ u3
⎢ ⎥
⎢ k 61 k 62 k 63 k 64 k 65 k 66 k 67 k 68 ⎥ v3

⎢k k 72 k 73 k 74 k 75 k 76 k 77 k 78 ⎥ u4
⎢ 71 ⎥
⎢⎣ k 8 1 k 82 k 83 k 84 k 85 k 86 k 87 k 8 8 ⎥⎦ v4

The individual entries of the stiffness matrix may be computed as follows

k11 = ∫ e Bu1 D Bu1 dV; k12 = ∫ e Bu1 D Bv1 dV; k13 = ∫ e Bu1 D Bu2 dV,...
T T T
V V V

k 21 = ∫ e Bv1 D Bu1 dV; k21 = ∫ e Bv1 D Bv1 dV;.....

T T
V V

5
 Example 1000 lb
Realize that this is a plane stress problem and therefore we need to use
y 300 psi
⎡ ⎤
3 1 ν 0 ⎥ ⎡3.2 0.8 0 ⎤
4 E ⎢
D= ⎢ν 1 0 ⎥ = ⎢⎢0.8 3.2 0 ⎥⎥ ×10 7 psi
Thickness (t) = 0.5 in 1 −ν ⎢
2
1 −ν ⎥
2 in E= 30×106 psi ⎢0 0 ⎥ ⎢⎣ 0 0 1.2⎥⎦
⎣ 2 ⎦
ν=0.25
1 2 Write down the shape functions
x
3 in x y
N1 =
1
(x − x2 )( y − y 4 ) = ( x − 3)( y − 2) 0 0
4 ab 6
(a) Compute the unknown nodal displacements. N2 = −
1
(x − x1 )( y − y3 ) = − x ( y − 2) 3 0
(b) Compute the stresses in the two elements. 4 ab 6 3 2
1
N3 = (x − x4 )( y − y 2 ) = xy 0 2
This is exactly the same problem that we solved in last class, except 4 ab 6
now we have to use a single 4-noded element N4 = −
1
(x − x3 )( y − y1 ) = − ( x − 3) y
4 ab 6

Compute only the relevant columns of the B matrix

We have 4 nodes with 2 dofs per node=8dofs. However, 5 of these are fixed.
The nonzero displacements are ⎧ ∂N 2 ⎫ ⎧ ( 2 − y ) ⎫
⎪ ∂x ⎪ ⎪ 6 ⎪
⎪ ⎪ ⎪ ⎪
u2 u3 v3 B u2 = ⎨ 0 ⎬ = ⎨ 0 ⎬
⎪ ∂N 2 ⎪ ⎪ − x ⎪
⎪ ∂y ⎪ ⎪ 6 ⎪⎭
Hence we need to solve ⎩ ⎭ ⎩
u2 u3 v3
⎡ k11 k12 k13 ⎤ ⎧u 2 ⎫ ⎧ 0 ⎫ ⎧ ∂N 3 ⎫ ⎧ y ⎫
⎢k ⎪ ⎪ ⎪ ⎪ ⎪ ∂x ⎪ ⎪ 6 ⎪
⎢ 21 k 22 k 23 ⎥⎥ ⎨u 3 ⎬ = ⎨ 0 ⎬ B u3
⎪ ⎪ ⎪ ⎪
= ⎨ 0 ⎬ = ⎨0⎬
⎣⎢ k 31 k 32 k 33 ⎦⎥ ⎪⎩ v3 ⎪⎭ ⎪⎩ f 3 y ⎪⎭ ⎪ ∂N 3 ⎪ ⎪ x ⎪
⎪ ∂y ⎪ ⎪ 6 ⎪
⎩ ⎭ ⎩ ⎭
Need to compute only the relevant terms in the stiffness matrix
⎧ ⎫ ⎧ ⎫
⎪ 0 ⎪ ⎪0⎪
k11 = ∫ e Bu2 D Bu2 dV; k12 = ∫ e Bu2 D Bu3 dV; k13 = ∫ e Bu2 D Bv3 dV
T T T
⎪ ⎪
V V V
⎪ ∂N 3 ⎪ ⎪⎪ x ⎪⎪
B v3 =⎨ ⎬=⎨ ⎬
k 21 = ∫ e Bu3 D Bu2 dV; k22 = ∫ e Bu3 D Bu3 dV; k13 = ∫ e Bu3 D Bv3 dV ⎪ ∂y ⎪ ⎪ 6 ⎪
T T T

∂
V V V
⎪ 3⎪ ⎪y⎪
N
k31 = ∫ e Bv3 D Bu2 dV; k 22 = ∫ e Bv3 D Bu3 dV; k13 = ∫ e Bv3 D Bv3 dV
T T T
⎪⎩ ∂x ⎪⎭ ⎩⎪ 6 ⎭⎪
V V V

6
 How do we compute f3y
k11 = ∫ e Bu2 D Bu2 dV
T
V
3 2
⎡ 2− y 5 2⎤
= 0.5 ∫ ∫ ⎢(0.1067 × 10 − 0.533 × 10 )( 6 ) + 3.33 × 10 x ⎥ dxdy
8 7
f 3 y = − 1000 + f S 3 y ⎡ xy ⎤ x
x=0 y=0 ⎣ ⎦ N 3 edge = N 3 y =2
=⎢ ⎥ =
3
4 −3
⎣ 6 ⎦ y =2 3
= 0.656 × 107
f S3 y = t ∫ N3 along ( − 300 ) dx
x =0 edge 3 − 4

3 x
Similarly compute the other terms = ( 0 .5)( − 300 ) ∫ dx 4 3
x =0 3
3
= − 150 ×
2
= − 225 lb

⇒ f 3 y = − 1000 + f S 3 y = − 1225 lb

How about a 9-noded rectangle?

Corner nodes
⎡ x(a + x) ⎤ ⎡ y(b + y) ⎤ ⎡ x(a − x) ⎤ ⎡ y(b + y) ⎤
y 5 N1 = ⎢ 2 ⎥⎢
⎣ 2a ⎦ ⎣ 2b ⎦
2 ⎥ N 2 = ⎢− 2a 2 ⎥ ⎢ 2b 2 ⎥
⎣ ⎦⎣ ⎦
2 a a 1
⎡ x(a − x) ⎤ ⎡ y(b − y ) ⎤ ⎡ x(a + x) ⎤ ⎡ y(b − y) ⎤
N 3 = ⎢− − N = −
b 2a 2 ⎦⎥ ⎣⎢ 2b 2 ⎦⎥ ⎢⎣ 2a 2 ⎥⎦ ⎢⎣ 2b 2 ⎥⎦
4
⎣
9 8
6 x
b Midside nodes
7 ⎡ a 2 − x 2 ⎤ ⎡ y(b + y) ⎤ ⎡ x (a − x ) ⎤ ⎡ b − y ⎤
2 2
3 4 N5 = ⎢ 2 ⎥⎢ 2 ⎥ N 6 = ⎢⎣− 2a 2 ⎥⎦ ⎢ b 2 ⎥
⎣ a ⎦ ⎣ 2b ⎦ ⎣ ⎦
⎡ a 2 − x 2 ⎤ ⎡ y(b − y) ⎤ ⎡ x( a + x) ⎤ ⎡ b − y ⎤
2 2
N7 = ⎢ ⎥⎢ − N = ⎢⎣ 2a 2 ⎥⎦ ⎢ b 2 ⎥
2b 2 ⎦⎥
2 8
⎣ a ⎦⎣ ⎣ ⎦

Center node
⎡ a 2 − x2 ⎤ ⎡ b2 − y 2 ⎤
N9 = ⎢ 2 ⎥⎢ 2 ⎥
⎣⎢ a ⎦⎥ ⎣⎢ b ⎦⎥

Question: Can you generate the shape functions of a 16-noded rectangle?

Note: These elements, whose shape functions are generated by multiplying the
shape functions of 1D elements, are said to belong to the “Lagrange” family