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Elasticity PDF
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Finite Element Method 1 – lecture notes LINEAR ELASTOSTATICS Page 2 of 10
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Component notation (Einstein indicial notation) for Cartesian tensors
The notation is used in rectangular Cartesian coordinates. In this notation, writing ui is equivalent to writing the three components u1, u2, u3 of the
displacement field u.
The Einstein summation convention is a tensor notation, which is commonly used to implicitly define a sum. The convention states that when an
index is repeated in a term that implies a sum over all possible values for that index.
Three examples:
∂ui ∂ui ∂u1 ∂u2 ∂u3
=∑ = + +
∂xi i ∂xi ∂x1 ∂x2 ∂x3
∂ui ∂ui ∂u ∂u ∂u
nj = ∑ n j = i n1 + i n2 + i n3
∂x j j ∂x j ∂x1 ∂x2 ∂x3
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Finite Element Method 1 – lecture notes LINEAR ELASTOSTATICS Page 3 of 10
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Strain state:
y ∂u x
ux + dy
3 extensional strains 3 shearing strains ∂y
∂u x ∂u x ∂u y
εx = γ xy = + ∂u y ∂u x
∂x ∂y ∂x u B’ C’
α= β=
∂u y ∂u ∂u x β ∂x ∂y
εy = γ xz = x + z γ xy= α + β
∂y ∂z ∂x D’
∂u ∂u ∂u y A’ α
εz = z γ yz = z + B C ∂u y
∂z ∂y ∂z uy uy + dx
dy ∂x
γxy , γyz, γzx - engineering shearing strains A D
dx
x
The strains may be written in the form of symmetric matrix assuming that
εxy= γxy/2 , εyz= γyz/2 , εzx= γxz/2. In this case the strains components form the symmetrical strain tensor.
The components of the strain tensor εij are often written in the form of symmetric matrix.
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Finite Element Method 1 – lecture notes LINEAR ELASTOSTATICS Page 4 of 10
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ε ij =
1
2
( ui, j + u j ,i ) ( εij=εji ) - kinematic equations
σz (εz)
ν
ε x = 1 [σ x − ν(σ y + σ z )] (ε x + ε y + ε z )
E
σx = εx +
E 1+ ν 1 − 2ν
ν
τzy E
(ε x + ε y + ε z )
τzx
1
E
[
ε y = σ y − ν(σ x + σ z ) ]
σy =
1+ ν
εy +
1 − 2ν
εz + ν
τxz 1
[
εz = σz − ν σx + σy ( )] σz =
E
1+ ν 1 − 2ν
(ε x + ε y + ε z )
E
⇒
σy (εy) γ xy = 1 τ xy
τxy τyx G τ xy = G ⋅ γ xy
1
σx (εx) γ yz = τ yz
τ yz = G ⋅ γ yz
G
1
γ xz = τ xz
G τ xz = G ⋅ γ xz
σx= σxx σy= σyy σz= σzz
E
E-Young’s modulus, G= - shear modulus, ν- Poisson’s ratio
2(1 + ν )
v 1 v
σ ij = 2G ε ij + δ ij ( ε kk ) ε ij = σ ij − δ ijσ kk (εkk= ε11 +ε22 +ε33)
1 − 2v 2G 1+ v
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Finite Element Method 1 – lecture notes LINEAR ELASTOSTATICS Page 5 of 10
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Strain energy density:
σ xε x + σ yε y + σ zε z + τ xyγ xy + τ yzγ yz + τ zxγ zx
1
U'=
2
Matrix notation
Matrix notation is a modification of direct tensor notation in which everything is placed in matrix form, with some trickery used if need be. The
main advantages of the matrix notation are historical compatibility with finite element formulations, and ready computer implementation in
symbolic or numeric form.
The representation of scalars, which may be viewed as 1 × 1 matrices, does not change. Neither does the representation of vectors because
vectors are column (or row) matrices. Two-dimensional symmetric tensors are converted to one-dimensional arrays that list only the independent
components (six in three dimensions, three in two dimensions). Component order is a matter of convention, but usually the diagonal components
are listed first followed by the off-diagonal components.
σ x εx
σ ε
y y
σ z ε
For the strain and stress tensors this “vectorization” process produces the vectors σ = , {ε } = z ,
τ xy γ xy
τ yz γ yz
τ zx γ zx
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Finite Element Method 1 – lecture notes LINEAR ELASTOSTATICS Page 6 of 10
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The relation between the strains and the displacement components in matrix notation:
{ ε ( x, y , z ) } = [ R ] { u ( x, y , z ) } ,
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Finite Element Method 1 – lecture notes LINEAR ELASTOSTATICS Page 7 of 10
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Hook’s law:
1− v v v 0 0 0
v 1− v v 0 0 0
v v 1− v 0 0 0
1 − 2v
{σ } = [D ]{ε }, [ D] =
E
(1 + v )(1 − 2v )
0 0 0
2
0 0
1 − 2v
0 0 0 0 0
2
1 − 2v
0 0 0 0 0
2
.
1 v 0 1− v v 0
E
[ D] = 2 v 1 0 [D] = E
v 1− v 0 .
1− v (1 + v)(1 − 2v) 1 − 2v
1− v 0 0
0 0 2
2
Strain energy density
1
U' = ε {σ }
2
1
V = U − Wz = ε {σ }d Ω − ∫ X {u}d Ω − ∫ p {u} d Γ
Total potential energy :
2 Ω∫ Ω Γ
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Finite Element Method 1 – lecture notes LINEAR ELASTOSTATICS Page 8 of 10
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Finite element method for 2D and 3D problems of theory of elasticity:
LE
The domain Ω is divided into the subdomains (finite elements) Ωi : Ω = ∪ Ωi Ωi ∩ Ω j = 0 i≠ j .
i =1
v
2Delementy dwuwymiarowe
elements
u
LWE=3
6DOF LWE=6
12DOF LWE=4
8DOF LWE=8
16DOF
w
3D elements
elementy trójwymiarowe
v
u
Displacement field over the element is interpolated from the nodal displacements:
{u} = [ N ( x, y, z )] {q}e ,
where {q}e - nodal displacements vector , [N ] - shape functions matrix.
For example for the simplest trangular element with 3 nodes and 6 DOF the relation is
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Finite Element Method 1 – lecture notes LINEAR ELASTOSTATICS Page 9 of 10
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u1
υ
1
u ( x, y ) 1
N ( x , y ) 0 N ( x , y ) 0 N ( x , y ) 0 u2
=
2 3
where Ni are the linear functions
υ ( x, y ) 0 N1 ( x, y ) 0 N 2 ( x, y ) 0 N 3 ( x, y ) υ2
u3
υ3
Shape functions Nij are usually polynomials defined in local (element) coordinate systems.
Displacements, strains and stresses within each element are defined as the functions of the coordinates of the considered point and the nodal
displacements
{u} = [ N ] {q}e ,
{ε } = [ R ] {u} = [ R ][ N ] {q}e = [ B ] {q}e , [B] – strain-displacement matrix
{σ } = [ D ] {ε } = [ D ][ B ] {q}e .
The strain energy of the element Ωe is:
1
Ue = ε {σ } d Ω e .
2 Ω∫e
1
q e [ k ]e {q}e .
1
Ue = ∫ q e [ B ] [ D ] [ B ] {q}e d Ω e , Ue =
T
2 Ωe 2
Where
[ k ]e = ∫ [ B ] [ D ][ B ] d Ωe = ∫ B∗ d Ωe ,
T
Ωe Ωe
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Finite Element Method 1 – lecture notes LINEAR ELASTOSTATICS Page 10 of 10
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is called the stiffness matrix of the element (symmetrical, singular, semi-positive defined) with the range equal to the number of DOF of the
element. Matrix [B] depends on the position within the element so the integration requires the special numerical techniques.
Total strain energy of the structure is the sum of the finite elements energy:
LE
U = ∑ U e . (LE- number of finite elements in the model)
e =1
1
Using the global nodal displacement vector {q} U= q [ K ] {q} ,
2 1×n n×n nx1
where n is total number of DOF of the model and [ K ] is the stiffness matrix of the model.
The next step in FEM algorithms is finding the equivalent nodal forces {F} corresponding to the distributet loads {p} and {X}.
The total potential energy of the model is:
1
V = U − Wz = q [ K ]{q} − q { F } ,
2 1×n n×n n×1 1×n n×1
The minimum is determined by the conditions
∂V
= 0,
∂qi
{ε } = [ B ] {q}e , {σ } = [ D ] {ε } = [ D ] [ B ] {q}e
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