Finite element method for structural dynamic

and stability analyses

Module-7

Analysis of 2 and 3 dimensional continua

Lecture-21 3D solid element

Prof C S Manohar
Department of Civil Engineering
IISc, Bangalore 560 012 India

1
  B
Linear quadrilateral element 1,1 1,1
4 3

A 4  x4 , y4  
   , 
y, v  x, y, t   3  x3 , y3  2
1
 x, y   1, 1 1, 1
  2  x2 , y2 
1 x1 , y1  K e   hB t DBdA
A

M e   h  N t NdA
x, u  x, y, t 
A
4
x  ,    N j  ,  x j
j 1
4
y  ,    N j  ,  y j 2
j 1
 4
x  ,    N j  ,  x j 
j 1 1,1 1,1
4
y  ,    N j  ,  y j 4 3
j 1

 1 
4

y, v  x, y, t    1 3 2
1
 1 1, 1 1, 1
1  2
  1

x, u  x, y, t 

3
 References
• M Petyt, 1998, Introduction to finite element vibration
analysis, Cambridge University Press, Cambridge

• S S Rao, 2011, The finite element method in

engineering, 5th Edition, Elsevier, Amsterdam.

4
Isoparametric formulation
4 4
x  ,    N j  ,  x j & y  ,    N j  ,  y j
j 1 j 1
4 4
u  , , t    N j  ,  u j  t  & v  , , t    N j  ,  v j  t 
j 1 j 1
1 1
M e    h  N   N  dA     h  N   N  J d d
t t

Ae 1 1
1 1
 K e   hB t DBdA    DB J d d
hB t

A 1 1

Use Gauss quadrature to evaluate these integrals.

A polynomial of order p is integrated exactly by employing
n=smallest integer greater than 0.5  p  1 .
Choice of order of integration needs to be made carefully.
5
Discussion & miscellaneous remarks
Convergence and choice of order of interpolation polynomial.
What happens if we reduce the element size successively? Does
the FE solution converge?
Requirements to be satisfied by the interpolation functions
A The displacement field must be continuous within the element domains.
This is automatically satisfied if since we are using polynomials as
interpolation functions.
 B Consider the Lagrangian L  T - V . This would be a function of the field
variables and its spatial derivatives. Let n=highest order of partial derivative
of field variable that appears in L. All the uniform states of the field variable
and its derivatives up to order n must be correctly represented in the limit of
element size going to zero.
 C  The displacement field and its derivatives up to order n -1,
6
must be continuous at the element boundaries.
  B 
If all nodal displacements are identical, the field variable must be constant
within the element, that is the element must permit rigid body state.
Requirement on derivative  requirement that the element must permit
constant strain state.
u1  t  u2  t 

P1  t  1 u  x, t  2
P2  t 

 u 
L 2
1
Axially deforming element V   AE   dx; Field variable: u  x, t 
20  x 
 x x
Highest order of derivative: 1; Interpolation used: u  x, t   u1  t  1    u2  t 
 l l
 x x
u  x, t   constant=u0  t   u1  t   u2  t   u0  u0  u0 1    u0  u0  OK 
 l l
u2  t   u1  t 
u   x, t    constant  the requirement on 1st derivative is satisfied.
7
l
 1 s 1 2
s2 3
2

x  x x
u  x, t   u 2  t  u  x, t   u2  t  1    u3  t 
l1  l2  l2
 u  l1 , t   u2  t  u  0, t   u2  t 

x  l1  u  l1 , t   u2  t   u  0, t   u2  t  @ x  0
Element 1 Element 2 8
Remarks
Elements which satisfy conditions A and C are called compatible or
conforming elements.
Elements which satisfy B are called complete elements.
The field variable is said to possess Cr  continuity if its r th derivative is
continuous.
Completeness requirement  field variable has Cn  continuity within the
element.
Compatibility requirement  field variable has Cn 1  continuity across
element interface.

9
If the requirments A,B and C are satisfied, the FE approximation converges
to the correct solution if the FE mesh is refined (that is if we use
inreasing number of elements with smaller dimensions).
Note:
While the mesh is refined, the form of the interpolation function
must remain unchanged and the mesh refinement must be such that the mesh
with larger number of elements contains the mesh with smaller
number of elements.
Also, the mesh refinement must ensure that all points in the stucture are within
an element.

10
Mesh with larger number of elements contains the mesh with with smaller
number of elements

11
All points in the stucture are not
within an element.

12
Factors contributing to the development of an accurate FE model
Accuracy with which the structure geometry is represented
Choice of polynomials used for interpolation
Distribution of elements and nodes
Details of integration used in time marching
How to refine the FE model to improve accuracy?
Reduce the element size (h-refinement)
Increase the order of polynomial (p-refinement)
Locate node points differently in a fixed element topology (r -refinement)
Alter the mesh having differing element distributions
Improvments to the time integration schemes
Alternatives invovling a combination of the above strategies.

13
Selection of the interpolation polynomial
The polynomials should satisfy to the extent possible conditions A,B and C.
The representation of the field variable must be invariant with respect to
change in the local coordinate system of the element.
Geometric invariance
Spatial isotropy
Geometric isotropy
The number of generalized coordinates must match the number of nodal dofs
of the element

Geometric invariance can be achieved if the poynomial contains terms

which do not violate symmetry in the Pascal trianlge (two dimensions)
or Pascal pyramid (three dimensions).
14
 1
x y
2 2
x xy y
x3 x2 y xy 2 y3
x4 x3 y x2 y 2 xy 3 y4
x5 x4 y x3 y 2 x2 y3 xy 4 y5

 x  y  1
0

    x y
1
x y
 x  y   x 2  2 xy  y 2
2

 x  y   x3  3x 2 y  3xy 2  y 3
3

 x  y   a0 x n  a1 x n1 y  a2 x n2 y 2  ...  an1 xy n1  an y n

n 15
Triangle element: u  x, y, t   1   2 x   3 y
Rectangular element: u  x, y, t   1   2 x   3 y   4 xy
Not appropriate.
u  x, y, t   1   2 x   3 y   4 x 
2

2
Interchanging of x and y
u  x, y, t   1   2 x   3 y   4 y 
would change the representation

Four noded element with 3 dofs/node

u  x, y, t   1
  2 x  3 y
  4 x 2   5 xy   6 y 2
  7 x3   8 x 2 y   9 xy 2  10 y 3
 11 x3 y  12 xy 3
16
 x  y  z 1
0
1
Pascal’s 
     x yz
1
pyramid x y z
 x  y  z   x 2  2 xy  2 yz  2 xz  y 2  z 2
2

x y
 
Eight noded 3d element with 2 dofs per node
z u  x, y, z , t   1  t 
x2 xy y2   2 t  x  3 t  y   4 t  z
  
   5  t  xy   6  t  yz   7  t  xz
 yz
xz   8  t  xyz
z 2
2
x y xy 2 y3

3
x  
 
xyz 
2 2 2 zy 2
x z xz  3
z y
z

17
How to decide on dof-s?
Inspect the functional in the variational formulation.
Identify the field variables and the order of their highest derivatives (n)
DOFS: field variables and their derivatives up to order n -1.

Axially deforming element Euler Bernoulli beam

2
L
 u 
2 1
L
  2v 
1
V   AE   dx V  t    EI  x   2  dx
20  x 
20  x 
Field variable: v  x, t 
Field variable: u  x, t 
Highest order of derivative: 2
Highest order of derivative: 1
v
DOF: u  x, t  DOF: v  x, t  &
x

18
Plane stress element
  x, y   σ xx  x, y  σ yy  x, y  σ xy  x, y  ;   x, y    xx  x, y   yy  x, y   xy  x, y 
t t

  x, y   D  x, y 
 
 0
 x 
   u  x, y  
  x, y    0  
 y   v  x, y  
 
 
 y x 
1 2h t 2h t
V           D dA
t
dV0 dA
2 V0 2 A 2 A
Field variables: u  x, y, t  & v  x, y, t 
Highest order of derivative: 1
DOFs: u  x, y, t  & v  x, y, t 
19
3D solid elements
   xx  yy  zz  xy  xz  yz 
t

   xx  yy  zz 2 yz 
t
2 xy 2 xz
  D
1    0 0 0 
  1    0 0 0 
 
   1  0 0 0 
 
E  0 1  2 
D 0 0 0 0
1  1  2    

1  2
 0 0 0 0 0 
  
 1  2 
 0 0 0 0 0 
  
1
V     dV0 =
2 V0
t 1 t

2 V0
 D dV 0 & T 
1

2 V0
  u 2
 v 2
 w 2
 dV0 20
 1
V     dV0 =
2 V0
t 1 t

2 V0
 D dV0 & T 
1

2 V0
  u 2
 v 2
 w 2
 dV0

 
 x 0 0
 
0 
0
 y 
 
0 
0 u 
 z   
   v 
 
0   w
 y x 
 
 0

 z x 
  
0 
 z y 
21
  
 x 0 0 
 
0 
0
 y 
 
 
u   ue  0 0
     z 
 v    N   ve   Nue      
 Nue  Bue
 w w   0 
   e  y x 
 
   
0
 z x 
  
0 
 z y 
1 t t 1
 V   ue B DBue dV0 & T    uet N t Nue dV0
2 V0 2 V0
22
 




 
  

Isoparametric hexahedron
 Tetrahedron
 
8 7 Pentahedron

4 3
5
6

1  
2

Rectangular hexahedron
 23
 Tetrahedron element

4 noded element with 3 dof-s per node

Dofs=12
u  x, y, z , t   1  t    2  t  x   3  t  y   4  t  z
v  x, y , z , t    5  t    6  t  x   7  t  y   8  t  z  4

w  x, y, z , t    9  t   10  t  x  11  t  y  12  t  z

z
1
 3
y

x 2 24
At  x1 , y1 , z1  u  x, y, z , t   u1  t  , v  x, y, z , t   v1  t  , w  x, y, z , t   w1 t 
At  x2 , y2 , z2  u  x, y, z, t   u2  t  , v  x, y, z , t   v2  t  , w  x, y , z , t   w2 t 
At  x3 , y3 , z3  u  x, y, z , t   u3  t  , v  x, y, z , t   v3  t  , w  x, y, z , t   w3  t 

4
u  x, y, z , t    ui  t  N i  x, y, z ;
i 1
4
v  x, y, z , t    vi  t  N i  x, y , z 
i 1
4
w  x, y, z , t    wi  t  N i  x, y , z 
i 1

 N1   a1 b1 c1 d1   1  1 x1 y1 z1
N  a b2 c2 d 2   x 
 2  1  2 1 1 x2 y2 z2
  ;V0 
 N 3  6V0  a3 b3 c3 d3   y  6 1 x3 y3 z3
   
 4
N  a4 b4 c4 d 4   z  1 x4 y4 z4
x2 y2 z2 1 y2 z 2 1 x2 z2 1 x2 y2
a1  x3 y3 z3 ; b1   1 y3 z3 ; c1  1 x3 z3 ; d1  1 x3 y3
x4 y4 z4 1 y4 z4 1 x4 z4 1 x4 y4
Obtain other constants by cyclic interchange of subscripts in the order
1, 2,3, 4. Sign of a3 will be same as a1 and both a2 and a4 will have sign
opposite to that of a1. Similar rules apply to the coefficients b, c, and d .
 u  x, y , z , t  
 
 v  x, y, z , t     N ue
 w  x, y , z , t  
 
ue  u1 w4 
t
v1 w1 u4 v4
 N1 0 0 N4 0 0
0 0 
  
N  N1 0 0 N4
 0 0 N1 0 0 N 4 
M e    N   N  dVe
t

Ve

This integral can be evaluated exactly.

27
 2 0 0 1 0 0 1 0 0 1 0 0
0 2 0 0 1 0 0 1 0 0 1 0 

0 0 2 0 0 1 0 0 1 0 0 1
 
1 0 0 2 0 0 1 0 0 1 0 0
0 1 0 0 2 0 0 1 0 0 1 0
 
V0  0 0 1 0 0 2 0 0 1 0 0 1
Me 
20 1 0 0 1 0 0 2 0 0 1 0 0
 
0 1 0 0 1 0 0 2 0 0 1 0
0 0 1 0 0 1 0 0 2 0 0 1
 
1 0 0 1 0 0 1 0 0 2 0 0
 
0 1 0 0 1 0 0 1 0 0 2 0
 0 0 1 0 0 1 0 0 1 0 0 2 

28
    
 x 0 0  x 0 0
   
0  
0 0 0
 y   y 
   
0  
0 u   0 0
 z     z 
   v      N ue   B ue
 
0   w 
 
0
 y x   y x 
   
 0
  0

 z x   z x 
     
0  0 
 z y   z y 

29
  b1 0 0 b2 0 0 b3 0 0 b4 0 0
0 c 0 0 c 0 0 c3 0 0 c4 0 
 1 2

1  0 0 d1 0 0 d2 0 0 d3 0 0 d4 
B  
6V0  c1 b1 0 c2 b2 0 c3 b3 0 c4 b4 0
 0 d1 c1 0 d 2 c2 0 d3 c3 0 d4 c4 
 
 d1 0 b1 d 2 0 b2 d3 0 b3 d4 0 b4 
Note: B is independent of x, y, and z.
K e   B t DBdVe  V0 B t DB
Ve

  Bue 
 constant over the element
  DBue 

30
 Rectangular hexahedron element

8 z,  7
y,
4 x,  3
5 
6
2c 2b
1 2

2a Field variables
u  x, y , z , t 
8 noded element with 24 dofs v  x, y , z , t 
Dof-s at each node: u, v, w
w  x, y , z , t 
x y z
  ,  ,   31
a b c
Each of the variables u  x, y, z , t  , v  x, y, z , t  , & w  x, y, z, t 
needs to be represented by a polynomial with 8 terms.
Terms: 1, x, y, z , xy, xz, yz, xyz
 Ensures geometric invariance

u  x , y , z , t   1  t    2  t  x   3  t  y   4  t  z
  5  t  xy   6  t  yz   7  t  xz   8  t  xyz
Select  i  t  , i  1, 2, ,8 so that the value of u  x, y, z, t 
matches with its respective nodal values at the 8 nodes.

32
 8
u  , ,  , t    N j  , ,   u j  t 
j 1
8
v  , ,  , t    N j  , ,   v j  t 
i 1
8
w  , ,  , t    N j  , ,   w j  t 
i 1

N j   , ,   
1
8
1   j 1   j 1   j  , j  1, 2, ,8

Remark
Continuity of field variables across element boundaries
is ensured.  Why? 
u 
 
 v    N ue
 w
  33
  u1 
v 
 1
u   N1 0 0 N8 0 0   w1 
  0  
    e 
v  N u  N1 0 0 N8 0   
 w N8   u8 
   0 0 N1 0 0
 
 v8 
w 
 8
1 1 t  1
T    ue N Nue dV0  ue    N NdV0  ue  uet  m e ue
t t t

2 V0 2 V0  2
1 1 1

 meij      abcNi  , ,   N j  , ,   d d d
1 1 1

34
 1 1 1

 meij      abcNi  , ,   N j  , ,   d d d
1 1 1

 abc 1 1

64   1    1    1     1    1    1     d d d
1 1
i i i j j j

 abc  1 1 
   1  i  1   j  d    1  i  1   j  d 
64  1   1 
1 
  1   i  1   j  d 
 1 
 abc  1  1  1 
  1   
i j  1   
i j  1   
i j 
8  3  3  3 
 2m m 
me   
 m 2 m 
35
 4 0 0 2 0 0 1 0 0 2 0 0
0 4 0 0 2 0 0 1 0 0 2 0 

0 0 4 0 0 2 0 0 1 0 0 2
 
2 0 0 4 0 0 2 0 0 1 0 0
0 2 0 0 4 0 0 2 0 0 1 0
 
 abc  0 0 2 0 0 4 0 0 2 0 0 1
m
27 1 0 0 2 0 0 4 0 0 2 0 0
 
0 1 0 0 2 0 0 4 0 0 2 0
0 0 1 0 0 2 0 0 4 0 0 2
 
2 0 0 1 0 0 2 0 0 4 0 2
 
0 2 0 0 1 0 0 2 0 0 4 0
 0 0 2 0 0 1 0 0 2 0 0 4 
36
  
 x 0 0
 
0 
0
 y 
 
0 
u  0
   z 
 v    N ue &     
  N ue  B ue
 w  0
   y x 
 
 0

 z x 
  
0 
 z y 
1 1 t 1
V     dV0 =   D dV0   ue B t DB ue dV0
t t

2 V0 2 V0 2 V0

1  t  1
 ue   B DBdV0  ue  ue K e ue
t t
37
2 V0  2
 1
V  ue K e ue
t

2
1 1 1
K e   B t DBdV0   abcB t
DBd  d d 
V0 1 1 1

 N i 
 x 0 0 
 
 0 N i
0 
 y 
 
 0 N i 
0
 z 
B   B1 B8  with Bi   
 N i N i
0 
 y x 
 
 N i 0
N i 
 z x 
 N i N i 
 0 
 y z  38
N i 1 N i i
  1  i 1   i 
x a  8a
N i 1 N i i
  1  i 1   i 
y b  8b
N i 1 N i i
  1  i 1   i 
z c  8c
 K e   B t DBdV0 can be evaluated.
V0
1 1 1
Simpler alternative: evaluate K e   DBd  d d 
t
abcB
1 1 1

using Gaussian quadrature.

1 1 1

   f  , ,   d dd   w w w f  , ,  
n n n
I i j k i j k
1 1 1 i 1 j 1 k 1

Use 2  2  2 quadrature.
39
 Isoparametric hexahedron element

8 7


8 5 6 

7 4 3
5 

6 1 2
4  3


1
z  8 noded element with 3dofs/node
2
y

x 40
Coordinates
8 8 8
x   N i  , ,   xi ; y   N i  , ,   yi ; z   N i  , ,   zi
i 1 i 1 i 1

 x1 
 8
 y 
 i  N  ,  ,   i
x  1
x  8   N1 0   z1 
i 1
0 0 N8 0
      
   i 
y  N  ,  ,   i  0
y N1 0 0 N8 0   
 z   i 1  0 N8   x8 
   8  
0 N1 0 0
 
  N i  , ,   zi   y8 
 i 1  z 
 8
N j   , ,   
1
8
1   j 1   j 1   j  , j  1, 2, ,8

41
  
 x 0 0  N i 
 x 0 0 
 
0   
0  0 N i
 y  0 
   y 
0   
u  0  0 N i 
   z  0
 v    N ue &     
  N ue  B ue  z 
 Bi   
 w
  0  N i N i
 y x  63 0 
   y x 
   
 z
0
x   N i 0
N i 
  z x 
  
0  N i N i 
 z y   0 
 z y 
B   B1 B2 B8 

42
Ni   Ni x Ni y Ni z   x y z   Ni   Ni 
    x   y 
 z         x   x 
       
 Ni   Ni x N i y N i z   x y z   Ni   N i 
         
 J 
    x  y  z         y   y 
 Ni   Ni x N i y N i z   x y z   Ni   N i 
           
    x  y  z         z   z 

 x y z   8 N i 8
N i 8
N i 
      xi  yi  zi 
    i 1 i 1  i 1 
 
 x y z   8 N i 8
N i 8
N i 
  
J     xi  yi  zi 
33       i 1  i 1  i 1  
 x y z   8 N i 8
N i 8
N i 
    xi  yi  zi 
     i 1  i 1  i 1  
43
  x y z   8 N i 8
N i 8
N i 
      xi  yi  zi 
    i 1 i 1  i 1 
 
 x y z   8 N i 8
N i 8
N i 
J       xi  yi  zi 
33       i 1  i 1  i 1  
 x y z   8 N i 8
N i 8
N i 
    xi  yi  zi 
     i 1  i 1  i 1  
1
N i  , ,    1  i 1  i 1   i  , i  1, 2, ,8
8
N i 1
 i 1  i 1   i  , i  1, 2, ,8  N i  N i 
 8   
 x 
N i 1    
 i 1  i 1   i  , i  1, 2, ,8  N i  1  N i 
 8    J   
 y     
N i 1
  i 1  i 1  i  , i  1, 2, ,8  N i   N i 
 8    
 z    
Elements of J are tri-quadratic functions
44
 1 1 1
K e   B t DBdV0     DB J d d d
B t

V0 1 1 1

Elements of this matrix ratios of triquadratic functions of  , , & .

These elements cannot be evaluated exactly.
Use 2  2  2 Gauss quadrature to get

K ers    wi w j wk  B t DB J  i , j ,  k 
2 2 2

rs
i 1 j 1 k 1

Note :
1 1 1
Ve     J d d d
1 1 1

The integrand is a triquadratic function and hence the integral can

be evaluated exactly using 2  2  2 Gauss quadrature.

45
 Cantilever block
E=210 GPa
Nu=0.3
Rho=7800 kg/m3

108 dofs
16 elements
8-noded hexahedron elements

46
Mode 1, 84.80 Hz Mode 2, 122.81 Hz Mode 3, 379.27 Hz
DOFs=600
128 elements
8 noded hexahedron elements

48
Mode 1, 83.33 Hz Mode 2, 120.43 Hz Mode 3, 357.38 Hz
2D approximations

Object is so thin that stresses across the thickness are

neglected (plane stress)

Object so thick that displacements across the thickness

are neglected (plane strain)

Objects possessing rotational symmetry about an axis and

loaded and supported in an axisymmetric manner.

50
 Axisymmetric problems z, w
,v
r, u
Geometry
Rotational
3D axisymmetric solid Symmetry
 Not necessarily prismatic about an axis

 Not necessarily thin or thick

Loads
Surface tractions f  r ,  , z  =f  r , z 
Body force: F  r ,  , z   0,
Fr  r ,  , z  =Fr  r , z  , Fz  r ,  , z  =Fz  r , z 
Displacements
Material
v  r , , z   0
Linear, homogeneous
u  r , , z   u  r , z 
elastic, isotropic
w  r , , z   w  r , z  51
 Plate bending element

least lateral
longitudinal dimension transverse load face
load edge
x

y t thickness
middle plane

52