2 Energy methods and

basic 1D finite element methods

 Rak-54.3200
Numerical Methods in Structural Engineering
Contents
1. Modelling principles and boundary value problems in engineering sciences
2. Energy methods and basic 1D finite element methods
- bars/rods, beams, heat diffusion, seepage, electrostatics
3. Basic 2D and 3D finite element methods
- heat diffusion, seepage
4. Numerical implementation techniques of finite element methods
5. Abstract formulation and accuracy of finite element methods
6. Finite element methods for Euler−Bernoulli beams
7. Finite element methods for Timoshenko beams
8. Finite element methods for Kirchhoff−Love plates
9. Finite element methods for Reissner−Mindlin plates
10. Finite element methods for three-dimensional elasticity
11. Extra lecture: other finite element applications in building technology

Rak-54.3200 / 2015 / JN 47
 Rak-54.3200
Numerical Methods in Structural Engineering
Contents
1. Modelling principles and boundary value problems in engineering sciences
2. Energy methods and basic 1D finite element methods
- bars/rods, beams, heat diffusion, seepage, electrostatics
3. Basic 2D and 3D finite element methods
- heat diffusion, seepage
4. Numerical implementation techniques of finite element methods
5. Abstract formulation and accuracy of finite element methods
6. Finite element methods for Euler−Bernoulli beams
7. Finite element methods for Timoshenko beams Research activities
are going on at our
8. Finite element methods for Kirchhoff−Love plates
department in many
9. Finite element methods for Reissner−Mindlin plates topics of the course!
10. Finite element methods for 2D and 3D elasticity
11. Extra lecture: other finite element applications in structural engineering
(time-dependent problems, nonlinearities, isogeometric methods)

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 2 Energy methods and
basic 1D finite element methods
Contents
1. Weak form (based on the principle of virtual work)
2. 1D finite element method (based on the weak form)

Learning outcome
A. Understanding of the main principles behind the finite element method
B. Ability to formulate and apply the finite element method for 1D model problems

References
Lecture notes: chapters 1, 2, 3.1−3, 5.1−4
Text book: chapters 1.1−11

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 2.0 Finite element methods intuitively

How do you understand the name finite element

method − according to the related web images?

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 2.1 Weak form − 1D model problem

Axially loaded elastic bar: The differential equation and the boundary conditions,
i.e., the strong form of the problem is the following:
(1 - DE)  EAu ' ' ( x)  b( x), 0  x  L
E ( x), A( x), b( x) N
(2 - eBC) u (0)  u0 L
x, u ( x )
(3 - nBC) ( EAu ' )( L)  N L
0 L

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 2.1 Weak form − 1D model problem

Axially loaded elastic bar: The differential equation and the boundary conditions,
i.e., the strong form of the problem is the following:
(1 - DE)  EAu ' ' ( x)  b( x), 0  x  L
E ( x), A( x), b( x) N
(2 - eBC) u (0)  u0 L
x, u ( x )
(3 - nBC) ( EAu ' )( L)  N L
0 L

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 2.1 Weak form − 1D model problem

Axially loaded elastic bar: The differential equation and the boundary conditions,
i.e., the strong form of the problem is the following:
(1 - DE)  EAu ' ' ( x)  b( x), 0  x  L
E ( x), A( x), b( x) N
(2 - eBC) u (0)  u0 L
x, u ( x )
(3 - nBC) ( EAu ' )( L)  N L
0 L
u axial displacement (unknown function)
E Young' s modulus (given material data)
A cross-sectional area (given geometrical data)
b axial body load (given loading data)
L length (given geometrical data)
u0 axial end point displacement (given essential/geometric boundary data)
N L axial end point force (given natural/force boundary data).
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MOTIVATION …
 1.1 Modeling and computation
in engineering design and analysis
Changes Physical engineering solution uP = ?
to the problem problem with
and design design criteria

General physico- solution u4D = ?

mathematical model + Idealization error
Changes
to the models:
validation Simplified physico- solution u3D = ?
mathematical model + Modeling error

Changes solution uh = ...

Numerical method
to the methods: + Discretization error
verification
u3D  uh
Observations and
conclusions + Human errors

step 5 Acceptance

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 Computer exercise 2 − Matlab (2015)

(i) Implement the finite element method with linear basis functions for the
axially loaded rod (derived above) in MATLAB with the following initial data:
E  50 GPa , L  7 m, E ( x), A( x), b( x) N
L
A0  0,25 m 2 , A1  0,5 m 2 x, u ( x )
b  ? kN/m, N L  ? kN 0 L
(ii) Solve the finite element problem with E , A, b NL
x, u
− two elements u  u0 
− 10 elements
and graphically compare the finite element approximations
of the axial displacement and stress to the corresponding
exact solutions of Home exercise 1.1 and Computer exercise 1.
Hint: Modify the given model m-file.

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 Computer exercise 2 − Matlab (2015)

(i) Implement the finite element method with linear basis functions for the
axially loaded rod (derived above) in MATLAB with the following initial data:

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 Computer exercise 2 − Matlab (2015)

(i) Implement the finite element method with linear basis functions for the
axially loaded rod (derived above) in MATLAB with the following initial data:

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… BACK TO WORK
 2.1 Weak form − 1D model problem
1. Multiply the differential equation (1) by a (smooth) test function (specified later):
 EAu ' ' ( x)  b( x)   EAu ' ' ( x) v( x)  b( x) v( x), 0  x  L

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 2.1 Weak form − 1D model problem
1. Multiply the differential equation (1) by a (smooth) test function (specified later):
 EAu ' ' ( x)  b( x)   EAu ' ' ( x) v( x)  b( x) v( x), 0  x  L
2. Integrate over the domain (interval):
L L
   ( EAu ' )' ( x) v( x) dx   b( x) v( x) dx
0 0

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 2.1 Weak form − 1D model problem
1. Multiply the differential equation (1) by a (smooth) test function (specified later):
 EAu ' ' ( x)  b( x)   EAu ' ' ( x) v( x)  b( x) v( x), 0  x  L
2. Integrate over the domain (interval):
L L
   ( EAu ' )' ( x) v( x) dx   b( x) v( x) dx
0 0

3. Integrate by parts (the left hand side) for moving one derivative from u to v:
L L
  ( EAu ' )( L) v( L)  ( EAu ' )(0) v(0)   EAu' v' dx   b v dx
0 0

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 2.1 Weak form − 1D model problem
1. Multiply the differential equation (1) by a (smooth) test function (specified later):
 EAu ' ' ( x)  b( x)   EAu ' ' ( x) v( x)  b( x) v( x), 0  x  L
2. Integrate over the domain (interval):
L L
   ( EAu ' )' ( x) v( x) dx   b( x) v( x) dx
0 0

3. Integrate by parts (the left hand side) for moving one derivative from u to v:
L L
  ( EAu ' )( L) v( L)  ( EAu ' )(0) v(0)   EAu' v' dx   b v dx
0 0

4. Utilize the natural boundary condition (3): ( EAu ' )( L)  N L

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 2.1 Weak form − 1D model problem
1. Multiply the differential equation (1) by a (smooth) test function (specified later):
 EAu ' ' ( x)  b( x)   EAu ' ' ( x) v( x)  b( x) v( x), 0  x  L
2. Integrate over the domain (interval):
L L
   ( EAu ' )' ( x) v( x) dx   b( x) v( x) dx
0 0

3. Integrate by parts (the left hand side) for moving one derivative from u to v:
L L
  ( EAu ' )( L) v( L)  ( EAu ' )(0) v(0)   EAu' v' dx   b v dx
0 0

4. Utilize the natural boundary condition (3): ( EAu ' )( L)  N L

5. Set a zero essential boundary condition (2) for the test function: v(0)  0
L L
  EAu' v' dx  N
0
L v( L)   b v dx
0

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 2.1 Weak form − 1D model problem
L
u such that it satisfies u(0)  u0 ,  dx   and
2
Weak form. Find (u ' )
L L 0

 EAu' v' dx  N
0
L v( L)   b v dx,
0L

v satisfying v(0)  0,  dx  .
2
for all ( v ' )
0

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 2.1 Weak form − 1D model problem
L
u such that it satisfies u(0)  u0 ,  dx   and
2
Weak form. Find (u ' )
L L 0

 EAu ' v' dx  N

0
L v( L)   b v dx,
0L

v satisfying v(0)  0,  dx  .
2
for all ( v ' )
0
Remark. Note that the solution and the test function, respectively, have to
satisfy the boundary conditions u(0)  u0 , v(0)  0 and the regularity
conditions
L L

 dx  ,  dx  .
2 2
(u ' ) ( v ' )
0 0
Then they are called kinematically admissible.

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 2.1 Weak form − 1D model problem
L
u such that it satisfies u(0)  u0 ,  dx   and
2
Weak form. Find (u ' )
L L 0

 EAu ' v' dx  N

0
L v( L)   b v dx,
0L

v satisfying v(0)  0,  dx  .
2
for all ( v ' )
0
Remark. Note that the solution and the test function, respectively, have to
satisfy the boundary conditions u(0)  u0 , v(0)  0 and the regularity
conditions
L L

 dx  ,  dx  .
2 2
(u ' ) ( v ' )
0 0
Then they are called kinematically admissible.

Remark. (Home exercise 2.1) Starting from the weak form we could
correspondingly derive the strong form (integrating by parts ”backwards”).

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 2.1 Weak form − 1D model problem

Abstract weak form formalism. Find a solution u  S such that

a (u, uˆ )  l (uˆ ) uˆ V
with the bilinear form a : S V  R
L
a (u, uˆ ) :  u' AEuˆ ' dx
0
the functional l : V  R
L
l (uˆ ) : uˆ ( L) N L   buˆ dx
0

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 2.1 Weak form − 1D model problem

Abstract weak form formalism. Find a solution u  S such that

a (u, uˆ )  l (uˆ ) uˆ V
with the bilinear form a : S V  R
L
a (u, uˆ ) :  u' AEuˆ ' dx
0
the functional l : V  R
L
l (uˆ ) : uˆ ( L) N L   buˆ dx
0
and the function spaces for the trial and test functions, respectively:
L L
S : { v |  (v' ) dx  , v(0)  u0 }, V : { v |  dx  , v(0)  0 }.
2 2
( v ' )
0 0

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 2.1 Weak form − 1D and 2D generalizations

1D and 2D heat diffusion:

L L L L

 EAu' v' dx   b v dx
0 0
  kT ' v' dx   f v dx
0 0
EA, b k, f
u  u0  T  T0 

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 2.1 Weak form − 1D and 2D generalizations

1D and 2D heat diffusion:

L L L L

 EAu ' v' dx   b v dx   kT ' v' dx   f v dx

0 0 0 0 T  T0
EA, b  
  k, f
u  u0
 kT  v d   f v d
 

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 2.1 Weak form − 1D and 2D generalizations

1D and 2D heat diffusion:

L L L L

 EAu ' v' dx   b v dx   kT ' v' dx   f v dx

0 0 0 0 T  T0
EA, b  
  k, f
u  u0
 kT  v d   f v d
 

1D beam: L L

 EAu ' v' dx

0
  b v dx
0
 
L L L L L L

 EAu ' v' dx   GI  '  ' dx   EI w' '  ' ' dx

t z   b v dx   r  dx   q  dx

0
 
0
 
0

 
0
 
0
 
0


tension-compression torsion bending axial torsional transversal

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 2.1 Weak form − 1D and 2D generalizations

1D and 2D heat diffusion:

L L L L

 EAu ' v' dx   b v dx   kT ' v' dx   f v dx

0 0 0 0 T  T0
EA, b  
  k, f
u  u0
 kT  v d   f v d
 

1D beam: L L

 EAu ' v' dx

0
  b v dx
0
 
L L L L L L

 EAu ' v' dx   GI  '  ' dx   EI w' '  ' ' dx

t z   b v dx   r  dx   q  dx

0
 
0
 
0

 
0
 
0
 
0


tension-compression torsion bending axial torsional transversal

This one is of
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a different form!
 2.1 Weak form

Break exercise 2

Find an example function defined on interval   (0,1)

and belonging to the function spaces

L2 () : { v is defined on   R | 
v 2 dx   }

H 1 () : { v  L2 () | 

(v' ) 2 dx   }
but not, however, to the function space

H 01 () : { v  H 1 () | v  0 on  }.

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 2.2 1D finite element method −
model problem
1. Divide the solution interval (domain) into n subintervals ei (elements)
with nodes xi and the element size hi  xi  xi 1 :
e1 ei en

x0  0 xi 1 xi xn  L

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 2.2 1D finite element method −
model problem
1. Divide the solution interval (domain) into n subintervals ei (elements)
with nodes xi and the element size hi  xi  xi 1 :
e1 ei en

x0  0 xi 1 xi xn  L
2. Choose a trial function for the finite element approximation as a sum
uh ( x)  0 ( x)d 0  1 ( x)d1    n ( x)d n    j ( x)d j
n
j 0

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 2.2 1D finite element method −
model problem
1. Divide the solution interval (domain) into n subintervals ei (elements)
with nodes xi and the element size hi  xi  xi 1 :
e1 ei en

x0  0 xi 1 xi xn  L
2. Choose a trial function for the finite element approximation as a sum
uh ( x)  0 ( x)d 0  1 ( x)d1    n ( x)d n    j ( x)d j
n
j 0

with suitable local basis functions i of some polynomial order (now linear)

0 i i 1 n
1

x0  0 xi xi 1 xn  L

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 2.2 1D finite element method −
model problem
1. Divide the solution interval (domain) into n subintervals ei (elements)
with nodes xi and the element size hi  xi  xi 1 :
e1 ei en

x0  0 xi 1 xi xn  L
2. Choose a trial function for the finite element approximation as a sum
uh ( x)  0 ( x)d 0  1 ( x)d1    n ( x)d n    j ( x)d j
n
j 0

with suitable local basis functions i of some polynomial order (now linear)

0 i i 1 n
1
i ( x j )   ij

x0  0 xi xi 1 xn  L
The unknown scalar values d i  uh ( xi ) are called the degrees of freedom.

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 2.2 1D finite element method −
model problem
Ensure that the trial function satisfies the essential boundary conditions:

u0  uh (0)  0 (0)d 0  1 (0)d1    n (0)d n  d 0

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 2.2 1D finite element method −
model problem
Ensure that the trial function satisfies the essential boundary conditions:

u0  uh (0)  0 (0)d 0  1 (0)d1    n (0)d n  d 0

3. Choose a test function of a similar form (Galerkin method) with the

corresponding condition:
v( x)  0 ( x)c0  1 ( x)c1    n ( x)cn  i 0 i ( x)ci
n

0  v(0)  c0  0

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 2.2 1D finite element method −
model problem
Ensure that the trial function satisfies the essential boundary conditions:

u0  uh (0)  0 (0)d 0  1 (0)d1    n (0)d n  d 0

3. Choose a test function of a similar form (Galerkin method) with the

corresponding condition:
v( x)  0 ( x)c0  1 ( x)c1    n ( x)cn  i 0 i ( x)ci
n

0  v(0)  c0  0
4. Insert the functions − trial and test − into the weak form:
L L

 EAu ' v ' dx

0
h  N L v( L)   b v dx
0

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 2.2 1D finite element method −
model problem
Ensure that the trial function satisfies the essential boundary conditions:

u0  uh (0)  0 (0)d 0  1 (0)d1    n (0)d n  d 0

3. Choose a test function of a similar form (Galerkin method) with the

corresponding condition:
v( x)  0 ( x)c0  1 ( x)c1    n ( x)cn  i 0 i ( x)ci
n

0  v(0)  c0  0
4. Insert the functions − trial and test − into the weak form:
L L

 EAu ' v ' dx

0
h  N L v( L)   b v dx
0
L L

 EA  j 'd j   ' ci dx  N L i 0 i ( L)ci   b i 0 i ci dx

n n n n
 j 0 i 0 i
0 0

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 2.2 1D finite element method −
model problem
This results in a simple equation system
Kd  f
with the stiffness matrix (computable for i,j = 1, …, n), force vector (computable
for i = 1, …, n) and the displacement vector (unknown for i = 1, …, n):

 
L
K  K ij , K ij   EAi '  j ' dx,
0

di d0
 
L L
f   f i , f i   b i dx  N L i ( L)  u0  AE dx, d  d j .
0 0
dx dx

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 2.2 1D finite element method −
model problem
This results in a simple equation system
Kd  f
with the stiffness matrix (computable for i,j = 1, …, n), force vector (computable
for i = 1, …, n) and the displacement vector (unknown for i = 1, …, n):

 
L
K  K ij , K ij   EAi '  j ' dx,
0

di d0
 
L L
f   f i , f i   b i dx  N L i ( L)  u0  AE dx, d  d j .
0 0
dx dx
 details on blackboard or exercises 0 1 2 
 1 
  the general case 
  an example with two elements 
 x0  0
e1 e2 
x2  L 


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 2.2 1D finite element method −
model problem
This results in a simple equation system
Kd  f
with the stiffness matrix (computable for i,j = 1, …, n), force vector (computable
for i = 1, …, n) and the displacement vector (unknown for i = 1, …, n):

 
L
K  K ij , K ij   EAi '  j ' dx,
0

di d0
 
L L
f   f i , f i   b i dx  N L i ( L)  u0  AE dx, d  d j .
0 0
dx dx
 details on blackboard or exercises 0 1 2 3 4 
 1 
 the general case
 
  an example with two elements 
 x0  0
e1 e2
x2  L 
  implications of quadratic basis functions

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 2.2 1D finite element method −
model problem
This results in a simple equation system
Kd  f
with the stiffness matrix (computable for i,j = 1, …, n), force vector (computable
for i = 1, …, n) and the displacement vector (unknown for i = 1, …, n):

 
L
K  K ij , K ij   EAi '  j ' dx,
0

di d0
 
L L
f   f i , f i   b i dx  N L i ( L)  u0  AE dx, d  d j .
0 0
dx dx
Remark. The stiffness matrix is (very often) symmetric (due to derivative orders) and
its entries are concentrated in a narrow diagonal band forming a band matrix (due to
local trial and test functions). These features can can be utilized in computer
impelementation − implying small amounts of memory needs and quick processing.

Rak-54.3200 / 2014 / JN 86
 2.2 1D finite element method −
model problem
This results in a simple equation system
Kd  f
with the stiffness matrix (computable for i,j = 1, …, n), force vector (computable
for i = 1, …, n) and the displacement vector (unknown for i = 1, …, n):

 
L
K  K ij , K ij   EAi '  j ' dx,
0

di d0
 
L L
f   f i , f i   b i dx  N L  ni  u0  AE dx, d  d j .
0 0
dx dx
Remark. The stiffness matrix is (very often) symmetric (due to derivative orders) and
its entries are concentrated in a narrow diagonal band forming a band matrix (due to
local trial and test functions). These features can can be utilized in computer
impelementation − implying small amounts of memory needs and quick processing.
Remark. Test and trial functions have to be (only) once locally differentiable (and will
be then integrated over the domain) and (only) locally evaluable on the boundary.

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 2.2 1D finite element method −
model problem
5. Use an appropriate solver for the equation system:

1
  j ( x) d j
n
dK f  uh ( x)  j 1

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 2.2 1D finite element method −
model problem
5. Use an appropriate solver for the equation system:

1
  j ( x) d j
n
dK f  uh ( x)  j 1

6. Recover (and postprocess) the stress quantities and visualize:

N h ( x)
 N h ( x)  ( EAu h )' ( x)   j 1 ( EA j )' ( x)d j   h ( x) 
n

A( x)

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 2.2 1D finite element method −
model problem
5. Use an appropriate solver for the equation system:

1
  j ( x) d j
n
dK f  uh ( x)  j 1

6. Recover (and postprocess) the stress quantities and visualize:

N h ( x)
 N h ( x)  ( EAuh )' ( x)   j 1 ( EA j )' ( x)d j   h ( x) 
n

A( x)
7. Evalute possible error indicators, change the discretization (steps 1−4) ... rerun ...

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 2.2 1D finite element method −
model problem
5. Use an appropriate solver for the equation system:

1
  j ( x) d j
n
dK f  uh ( x)  j 1

6. Recover (and postprocess) the stress quantities and visualize:

N h ( x)
 N h ( x)  ( EAuh )' ( x)   j 1 ( EA j )' ( x)d j   h ( x) 
n

A( x)
7. Evalute possible error indicators, change the discretization (steps 1−4) ... rerun ...

Remark. Steps 1−7 are automated − by means of mathematics and programming:

1. Elements ei Kd  f 5. Equation solution
2−3. Basis functions i 6. Visualization
4. Matrix entries K ij , f i uh (x) 7. Error evaluation

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 2.2 1D finite element method −
further steps

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 2.X Related methods

Weighted residuals methods. Omitting integration by parts (step 3) in the

derivation process for the weak form above would have implied the following:

1. Multiply the differential equation by a (smooth) weight function (specified later):

 EAu ' ' ( x)  b( x)   EAu ' ' ( x) v( x)  b( x) v( x), 0  x  L
Integrate over the domain (interval):

L L
   ( EAu ' )' ( x) v( x) dx   b( x) v( x) dx
0 0
L
   {( EAu ' )' ( x)  b( x)} v( x) dx  0
0

Take into account the natural boundary condition ( EAu )' ( L)  N L  0

L
   [( EAu ' )' ( x)  b( x)] v( x) dx   [( EAu )' ( L)  N L ] v( L)  0
0

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 2.X Related methods

2. Choose a trial function for the finite element approximation as a sum

uh ( x)  0 ( x)d 0  1 ( x)d1    n ( x)d n    j ( x)d j
n
j 0

with suitable basis functions  j , say  j ( x)  x , for instance. The unknown

j

scalar values d i are called the degrees of freedom.

Ensure that the trial function satisfies the essential boundary conditions:
u0  uh (0)  0 (0)d 0  1 (0)d1    n (0)d n  d 0
3. Choose the weight function in a similar form (Galerkin method if  j  j )
with the corresponding condition:
v( x)   0 ( x)c0   1 ( x)c1     n ( x)cn  i 0 i ( x)ci
n

0  v(0)  c0  0
4. Insert the functions − trial and weight − into the residual form:
L 
i 0   [ j 0 d j ( EA  j ' )'b] i dx   [ j 0 d j ( EA  j )' ( L)  N L ] i ( L) ci  0

n n n

0 
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 2.X Related methods

This results in a simple equation system

Kd  f
with the stiffness matrix (computable), force vector (computable) and the
displacement vector (unknown):

   
L
K  K ij , K ij    i ( EA j ' )' dx   i ( L)( EA  j )' ( L), d  d j
0
L
f   f i , f i   i [b  u0 ( EA 0 ' )' ]dx   i ( L)[ N L  d 0 ( EA 0 )' ( L)] .
0

Remark. Weight functions can be chosen fairly freely since they are only
integrated over the domain (interval) and evaluated on the boundary (points),
while the trial functions have to twice differentiable (and will be then integrated
over the domain) and once differentiable (and will be then evaluated on the
boundary).

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 2.X Related methods

Collocation methods. Choosing (in step 3 above) the weight functions as Dirac
delta distributions corresponding to a set of grid points xi implies the following:
3. Choose the Dirac delta distributions for the weight functions as
 i ( x)   ( x  xi ), having their basic feature for any function f  f (x) as
L

  ( x  x ) f ( x)dx  f ( x ),
0
i i

and choose the boundary values in a proper way (as  i ( L)  1).

4. Insert the functions − trial and weight − into the residual form:

 
n
i 0
 [ n
j 0
n

d j ( EA  j ' )'b]( xi )   [ j 0 d j ( EA  j )' ( L)  N L ] ci  0
 
 K  K ij , K ij  ( EA j ' )' ( xi )   ( EA  j )' ( L), d  d j  
f   f i , f i  b( xi )  u0 ( EA 0 ' )' ( xi )   [ N L  u0 ( EA 0 ' ) ( L)].

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 2.X Related methods

Coffee exercise 2

Starting from the total (elastic) potential energy expression for an axially loaded rod,
L L
1
 (v)   EA(v' ) 2 dx  N L v( L)   b v dx,
20 0
derive the corresponding expression of the principle of virtual work by applying the
principle of minimum potential energy. Hint: Assuming that u minimizes the energy
functional above find the minimum at   0 for function f defined as
f ( ) : (u   u),
where u is chosen properly.

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QUESTIONS?

ANSWERS”

LECTURE BREAK!