CHAPTER 1

INTRODUCTION

x Solution of boundary value problems

x Integral formulations for numerical solutions
x Potential energy formulation
x The finite element method

FEA, Chapter 1
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K. Haghighi
SOLUTION OF BOUNDARY VALUE PROBLEMS

x Finite difference method

x Variational method
x Weighted residual methods
- Collocation method
- Subdomain method
- Galerkin’s method
- Least squares method
FEA, Chapter 1
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K. Haghighi
 INTEGRAL FORMULATION
FOR NUMERICAL SOLUTIONS

x Variational Method
It is not applicable to a differential equation
containing a first derivative

Based on “Calculus of Variation”

A functional appropriate for the differential equation
is minimized with respect to undetermined
coefficients in the approximate solution.
FEA, Chapter 1
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K. Haghighi
Example:
Consider the functional integral
⎛
H ⎜ D ⎛ dy ⎞
2 ⎞
Π=∫ ⎜ ⎟ − Qy ⎟ dx
0 ⎜ 2 ⎝ dx ⎠ ⎟
⎝ ⎠
The calculus of variations shows that the particular
equation y = g( x) that yields the minimum numerical
value for Π is also the solution to
d2 y
D +Q =0
dx 2
y (0 ) = y 0
y(H) = y H FEA, Chapter 1
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K. Haghighi
For a simply supported beam with concentrated end
moments:

d2 y
EI EI − M(x ) = 0
dx 2
M0 M0
H

FEA, Chapter 1
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K. Haghighi
 M0 x
y y (x ) = (x − H )
2EI
M 0H 2
8EI Exact Solution

H H x
2

FEA, Chapter 1
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 πx
Trial solution : y(x ) = A sin
H
H ⎡ EI ⎛ dy ⎞ ⎤
2
Π = ∫ ⎢ ⎜ ⎟ + M 0 y ⎥ dx
0 2 ⎝ dx ⎠
⎢⎣ ⎥⎦
dy Aπ πx
= cos
dx H H
H ⎡ EI ⎛ Aπ πx ⎞
2
πx ⎤
Π = ∫0 ⎢ ⎜ cos ⎟ + M 0 A sin ⎥ dx
⎢⎣ 2 ⎝ H H⎠ H ⎥⎦
⎛ EIπ 2 ⎞ 2 ⎛ 2M 0H ⎞
Π=⎜ ⎟ A +⎜ ⎟A
⎜ 4H ⎟ ⎝ π ⎠
⎝ ⎠
FEA, Chapter 1
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K. Haghighi
Value of Π is dependent on A

Minimize with respect to the undetermined

coefficient which will yield the value of A that
gives a minimum Π
∂Π ⎛ EIπ 2 ⎞ 2M 0H
=2 ⎜ ⎟ A+ =0
∂A ⎜ 4H ⎟ π
⎝ ⎠
4M 0H 2
A=
3
π EI
4M 0H 2 πx
y (x ) = − sin
3
π EI H FEA, Chapter 1
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K. Haghighi
x Weighted Residual Methods
d2 y
If y = h (x )is an approximate solution of D +Q =0
2
dx
d 2h( x )
Then D + Q = R (x ) ≠ 0 THE RESIDUAL
dx 2

H
∫ 0 wi (x ) R (x ) dx = 0
Require that

Where w i (x ) is the weighting function

Note: one residual equation for every unknown

FEA, Chapter 1
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Weighted Residual Techniques:

w i (x ) Method

δ (x − x i ) Collocation - residual vanishes at points(Impulse function)

1 Subdomain - residual vanishes over interval

Approx. function Galerkin’s method - similar results to variational

R (x )
Least Squares Method - error minimized with respect to
unknown coefficients in the approximating solution

FEA, Chapter 1
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K. Haghighi
For the example problem:
πx
Approximating function y(x ) = A sin
H

d2 y Aπ 2 πx
R (x ) = EI − M(x ) = −EI sin − M0
dx 2
H 2 H
H
∫ 0 wi (x )R (x ) dx = 0

FEA, Chapter 1
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 Method w i (x )
H
Collocation R (x ) = 0 at x =
2
Subdomain ∫ R (x ) dx = 0 over 0 < x < H
πx H
Galerkin wi (x ) = sin ; ∫ 0 wi (x ) R (x ) dx = 0
H
H 2
Least squares w i (x ) = R (x ) ; ∫ 0 (R (x )) dx = 0

FEA, Chapter 1
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• Galerkin’s Method

∫ w i (x ) R (x ) dx is evaluated u sin g the same functions

for w i (x ) that were used in the approximate solution.

For the example problem :

πx
weighting function wi = sin
H
H πx ⎡ Aπ 2
πx ⎤
∫ 0 sin H ⎢ − EI 2 sin H − M0 ⎥ dx = 0
⎢⎣ H ⎥⎦
FEA, Chapter 1
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K. Haghighi
Integrating yields Elπ 2 A 2M 0H
− + =0
2H π
4M 0H 2
Solving gives A=−
3
π EI
and the approximate solution is
4M 0H 2 πx
y (x ) = − sin
3
π EI H
This solution is identical to the solution obtained using
the variational method.
FEA, Chapter 1
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 30 Comparison of Errors
y
y
20 y Subdomain method
Percent error in deflection

10 y
y 0.125 0.25 0.375 0.50
x
0
y y H
y
Variational method
10 y Galerkin’s method
Least squares method
y
20 y Collocation method

y y
30 y
y
Collocation and subdomain method errors depend on choice FEA, Chapter 1
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of collocation point/subdomain. K. Haghighi
 STRUCTURAL AND SOLID MECHANICS
• Potential Energy Formulation
Π =Λ−w
Π = total potential energy
Λ = strain energy
W = work done by an external force
The displacements at the equilibrium position occur such
that the potential energy of a stable system is a minimum
value.

FEA, Chapter 1
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K. Haghighi
σ F
1 1
σε = Eε 2
2 2
F = Kx
2
1σ
= 1
2 E Fx
2

ε x
1
σε = strain energy per unit volume W = ∫ F dx
2
1 1
= K x 2 = Fx
σ x x ε xx 2 2
In general Λ = ∫ dV
V
2
FEA, Chapter 1
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K. Haghighi
x The Finite Element Method (FEM) is a numerical
technique for obtaining approximate solutions to
engineering problems.
x Subdivisions:
- Discrete element formulation (Matrix Analysis of
Structures): Utilizes discrete elements to obtain the joint
displacements and member forces of a structural
framework.
- Continuum element formulation: yields approximate
values of the unknowns at nodes.
x The FEM produce a system of linear or nonlinear
equations.
FEA, Chapter 1
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 THE FINITE ELEMENT METHOD

Basic Steps
1. Discretize the region => nodes
2. Specify the approximation equation (linear, quadratic)
3. Develop the system of equations

[A ] { x} = { b} Galerkin - 1/node
Potential Energy - 1/displ.

4. Solve the system

5. Calculate quantities of interest σ, q x , v x , etc. = derivative

of the parameter
FEA, Chapter 1
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K. Haghighi
 y
z
(a )
1 2 3 4 5 6 7
y y y y y y y
y y
y y y
y = f (x )
1 2 3 4 5 6 7
(b ) y
y y y y y
y y = g( x )
Discontinuous
slope

(a) A linear finite element mode. (b) A quadratic finite element model.
FEA, Chapter 1
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