Continuum 2D Elements

by
y Advanced Approach
pp
T
Two Di
Dimensional
i l Quadrilateral
Q d il t l El Elementt
Linear Quadrilateral Element

-Two dimensional
-4 nodes
-Displacement in the element is linear

Q d ti Quadrilateral
Quadratic Q d il t l El
Elementt

-Two dimensional
-8
8 nodes
-Displacement in the element
- is 2nd order
Shape Functions in Physical Coordinates
or x-y
y Coordinates
Rectangular-shaped element
N d l Di
Nodal Displacement
l tVVector
t

{d } = [u1 v4 ]
T
v1 .. u4
Displacement
p in an element

u = ui + vj

u v is a bilinear functions of x,
u, x y
4 4
u = ∑ N i ( x, y )ui v = ∑ N i ( x, y )vi
i =1 i =1

Characteristics of Shape Function

⎧1 if i= j
Ni ( x j , y j ) = ⎨
⎩ 0 if i≠ j
 Bilinear Shape Function

Bilinear in x and y

( a − x)(b − y )
N1 ( x, y ) =
4ab
4ab
(− a − x)(b − y )
N 2 ( x, y ) =
−4ab Characteristics of shape function
( − a − x )(−b − y ) 4
N 3 ( x, y ) =
4ab ∑ N ( x, y ) = 1
i =1
i

(a − x)(−b − y )
N 4 ( x, y ) =
−4ab
Example 3-node Rod/bar/truss Element (Quadratic Rod Element)
Example 3-node Rod/bar/truss Element (Quadratic Rod Element)
Example 3-node Rod/bar/truss Element (Quadratic Rod Element)
Example 3-node Rod Element (Quadratic Rod Element)

⎧ d1 ⎫
⎪ ⎪
u = [ N1 N2 N3 ] ⎨d 2 ⎬
⎪d ⎪
⎩ 3⎭
 Shape Function for Quadratic Rod Element

1
N1 ( x) = ( x2 − x )( x3 − x )
⎧ d1 ⎫ aL
⎪ ⎪
u = [ N1 N3 ] ⎨d 2 ⎬
1
N2 N 2 ( x) = ( x1 − x )( x3 − x )
bL
⎪d ⎪
⎩ 3⎭ 1
N 3 ( x) = − ( x1 − x )( x2 − x )
ab
Derivation of Element Equation
1) S
Select
l t element
l t ttype

{d } = [u1 v4 ]
T
v1 .. u4

2)) Select displacement

p functions

4
u = ∑ N i ( x, y )ui
4
v = ∑ N i ( x, y )vi
i =1 i =1
Or

{u} = [N ]{d }
⎧u ( x, y ) ⎫ ⎡ N1 0 • • N4 0⎤
{u} = ⎨ ⎬ [N ] = ⎢ 0
⎩ v ( x, y ) ⎭ ⎣ N1 • • 0 N 4 ⎦⎥
 3) Define the strain/displacement

∂u ∂v ∂u ∂v
εx = εy = γ xy = +
∂x ∂y ∂y ∂x
Or
⎧ ε x ⎫ ⎡ ∂∂x 0⎤
⎪ ⎪ ⎢ ⎥ ⎧u ⎫
⎨ε y ⎬ = ⎢ 0
∂
∂y ⎥ ⎨ ⎬
⎪γ ⎪ ⎢ ∂ ∂ ⎥ ⎩ v⎭
⎩ xy ⎭ ⎢⎣ ∂y ∂x ⎥
⎦
Or
{ε } = [∂ ]{u}
⎧εx ⎫ ⎡∂ 0⎤
⎢ ∂x ⎥ ⎧u ⎫
{ε } = ⎪⎨ ε y ⎪⎬ [∂ ] = ⎢ 0 ∂
∂y ⎥
{u} = ⎨ ⎬
⎪γ ⎪ ⎢∂ ⎩v ⎭
∂ ⎥
⎩ xy ⎭ ⎢⎣ ∂y ∂x ⎥
⎦
 4) Strain in terms of nodal displacement

{ε } = [∂ ]{u}
{ε } = [∂ ][ N ]{d } = [ B ]{d }
⎡∂ 0⎤
⎢ ∂x ⎥ ⎡ N1 0 • • N4 0⎤
[ B ] = [∂ ][ N ] = ⎢ 0 ∂
∂y ⎥ ⎢
N1 • • 0 N 4 ⎥⎦
⎢∂ ∂ ⎥ ⎣ 0
⎢⎣ ∂y ∂x ⎥
⎦
⎡ ∂N1 0 • • ∂N 4
0⎤
⎢ ∂x ∂x
⎥
[ B] = ⎢ 0 ∂N1
∂y • • 0 ∂N 4
∂y
⎥
⎢ ∂N ∂N1 ∂N 4 ∂N 4
⎥
⎢⎣ ∂y1 ∂x • • ∂y ∂x ⎥⎦
 5) Constitutive Relations

Hook’s law

{σ } = [D ]({ε } − {ε 0 })

plane strain
p
⎡1 −ν ν 0 ⎤
E ⎢ ν 0 ⎥⎥
[ 2ε ]
D = ⎢ 1 −ν
(1 +ν )(1 − 2ν )
⎢⎣ 0 0 1− 2ν ⎥
2 ⎦

plane stress

⎡1 ν 0⎤
E ⎢
[ D2σ ] = 2 ⎢ν 1 0 ⎥⎥
1 −ν
⎢⎣ 0 0 1−ν ⎥
2 ⎦
 6) Virtual work principle(Weak Form)

-unit thickness dV = 1dA

-body force per unit area
-traction
traction per unit length

∫ {δε } {σ } dA = ∫ {δ u} {b} dA + ∫ {δ u} {t} dS + {δ d } {P}

T T T T
A A S

⎧bx ⎫ ⎧t x ⎫
{b} = ⎨b ⎬ {t} = ⎨t ⎬
⎩ y⎭ ⎩ y⎭

{P} = ⎡⎣ P1x
T
P1 y • • P4 x P4 y ⎤⎦
 Variation of displacement
p and strain

{u} = [N ]{d } {ε } = [∂ ]{u}

{δ u} = [ N ]{δ d } {δε } = [B]{δd }
{δ u} = {δ d } [ N ] {δε } = {δ d } [ B ]
T T T T T

∫ {δε } {σ } dA = ∫ {δ u} {b} dA + ∫ {δ u} {t} dS + {δ d } { P}

T T T T
A A S
 Left Hand Term

left hand term = ∫ {δε } {σ } dA = ∫ {δε } [ D ] ({ε } − {ε 0 }) dA

T T

A A

([ B ]{δ d }) [ D ] ([ B ]{d } − {ε }) dA
T
=∫ 0
A

= {δ d }
T
(∫ A
[ B ] [ D ][ B ] dA{d } − ∫ [ B ] [ D ]{ε 0 } dA
T
V
T
)
= {δ d }
T
( [ k ] {d } − { f ε } )

[ k ] = ∫A [ B ] [ D ][ B ] dA
T

{ fε } = ∫A [ B ] [ D ]{ε 0 } dA
T
 Right Hand Term

right hand term = ∫ ([ N ]{δ d }) {b} dA + ∫ ([ N ]{δ d }) {t} dS + {δ d } {P}

T T T
A S

= {δ d }
T
(∫ A
[ N ] {b} dA + ∫ [ N ] {t} ds + {P}
T
S
T
)
= {δ d }
T
({ f } + { f } + {P})
b t

{ fb } = ∫A [ N ] {b} dA
T

{ ft } = ∫S [ N ] {t} dS
T
 Virtual work principle

{δ d } ([ k ]{d } − { fε }) = {δ d } ({ fb } + { ft } + { p}) ∀ {δ d }
T T

[ k ]{d } = { fb } + { ft } + { fε } + { p}
Element Equation

[ k ] {d } = { f }
Stiffness Matrix

[ k ] = ∫A [ B ] [ D ][ B ] dA
T

Force Vector

{ f } = ∫A [ N ] {b} dA + ∫S [ N ] {t} dS + ∫A [ B ] [ D ]{ε 0 } dA + {P}

T T T
 Force magnitude per unit thickness of the element

{b} {P} {t}

element thickness t0

[ k ] {d } = { f } dV = t0 dA

[ k ] = t0 ∫A [ B ] [ D ][ B ] dA
T

{ f } = t0 ∫A [ N ] {b} dA + t0 ∫S [ N ] {t} dS + t0 ∫A [ B ] [ D ]{ε 0 } dA + {P}

T T T
Example Computation of Traction

⎧0 ⎫
S1 , S3 , S4 {t} = ⎨ ⎬
⎩0 ⎭
⎧t x ⎫
S2 {t} = ⎨ ⎬
⎩0⎭
Traction
⎧ 0 ⎫
{ ft } = ∫S [ N ] {t} dS ⎪ 0 ⎪
T
⎡ N1 0⎤ ⎪ ⎪
⎢0 N1 ⎥⎥ ⎪ N 2t x ⎪
=∫ [ N ] {t} dS
T
⎢ ⎪ ⎪
S ⎢• • ⎥ ⎧t x ⎫ ⎪ 0 ⎪
{ ft } = ∫S2 ⎢
2

⎥ ⎨ ⎬ dS = ∫S ⎨ ⎬ dS
⎢• • ⎥ ⎩0⎭ 2
⎪ N 3t x ⎪
⎢ N4 0⎥ ⎪ 0 ⎪
⎢ ⎥ ⎪ ⎪
⎢⎣ 0 N 4 ⎥⎦ ⎪ 0 ⎪
⎪ 0 ⎪
⎩ ⎭
 N1 ( x2 , y ) = 0
y3 − y
N 2 ( x2 , y ) =
S2 2b
2b
y1 − y
N 3 ( x2 , y ) =
−2b
2b
N 4 ( x2 , y ) = 0

Traction t x = − w0 ( y3 − y ) / 2b

y3 w0 ( y3 − y )
2
2 w0b
f t 3 = ∫ N 2t x dS = − ∫ 2
dyy = −
S2 y2 4b 3
y3 w ( y − y )( y − y ) w0b
f t 5 = ∫ N 3t x dS = − ∫ 0 1
2
3
dy = −
S2 y2 4b 3
 Force Vector from Traction

⎧ 0 ⎫ ⎧ 0 ⎫
⎪ 0 ⎪ ⎪ 0 ⎪
⎪ ⎪ ⎪ ⎪
⎪ N 2t x ⎪ ⎪ 2 w0b ⎪
− 3
⎪ ⎪ ⎪ ⎪
⎪ 0 ⎪ ⎪ 0 ⎪
{ ft } = ∫S2 ⎨ ⎬ dS = ⎨ w0b ⎬
⎪ N 3t x ⎪ ⎪− 3 ⎪
⎪ 0 ⎪ ⎪ 0 ⎪
⎪ ⎪ ⎪ ⎪
⎪ 0 ⎪ ⎪ 0 ⎪
⎪ 0 ⎪ ⎪ 0 ⎪
⎩ ⎭ ⎩ ⎭
Shape Functions in Parametric
Coordinates or Natural Coordinates
 General Quadrilateral Element

4
u = ∑ N i ( x, y )ui
4
u = ∑ N i ( x, y )ui
i =1 i =1

( a − x)(b − y )
N1 ( x, y ) = N1 ( x, y ) = ?
4ab
4ab
 Calculation of stiffness matrix

[ k ] = ∫A [ B( x, y)] [ D ][ B( x, y)] dA
T

[k ] = ∫ [ B( x, y)] [ D ][ B( x, y)] dxdy

2b 2a
∫
T
0 0

[ k ] = ∫−b ∫− a [ B( x, y)] [ D ][ B( x, y)] dxdy

b a T

Change of Variable Mapping

x = aξ , y = bη

[ k ] = ∫−1 ∫−1 ⎡⎣ B(ξ ,η ) ⎤⎦ [ D ] ⎡⎣ B% (ξ ,η ) ⎤⎦ dξ dη

1 1 T
%
 Mapping

x = f x (ξ ,η )
y = f y (ξ ,η )
Mapping
 Displacement Interpolation

u4 u3 u4 u3

u u

u2
u1 u1 u2
How to get?
Bilinear
4
u = ∑ N i ( x, y )ui
4
u = ∑ N i (ξ ,η )ui
i=
41 i=1
v = ∑ N i ( x, y )vi 4
i=1 v = ∑ N i (ξ ,η )vi
i =1
 Shape Functions in Parametric Coordinates

1 1
N 1 (ξ ,η ) = (1 − ξ )(1 − η ) N 2 (ξ ,η ) = (1 + ξ )(1 − η )
4 4
1 1
N 3 (ξ ,η ) = (1 + ξ )(1 + η ) N 4 (ξ ,η ) = (1 − ξ )(1 + η )
4 4
 ξ = g ( x, y )
η = g ( x, y )

1
N i (ξ ,η ) = (1 ± ξ )(1 ± η )
4

N i ( x, y )
Mapping From x, y to ξ,η

ξ = g ( x, y )
η = g ( x, y )
Mapping From x, y to ξ,η

ξ = g ( x, y )
η = g ( x, y )
Mapping from ξ,η to x, y

x = f x (ξ ,η )
y = f y (ξ ,η )
 Displacement Interpolation

u4 u3
( x4 , y 4 )
( x3 , y3 )
u
( x, y )

u1 u2
( x1 , y1 ) ( x2 , y 2 )
4
u = ∑ N i (ξ ,η )ui
4
x = ∑ N i (ξ ,η ) xi
i =1 i=1
4 4
y = ∑ N i (ξ ,η ) yi v = ∑ N i (ξ ,η )vi
i =1 i =1
 Coordinates Interpolation

( x4 , y 4 )
( x3 , y3 )
( x, y )

( x1 , y1 ) ( x2 , y 2 )

4
y = ∑ N i (ξ ,η ) yi
4
x = ∑ N i (ξ ,η ) xi
i =1 i =1
 Displacement Interpolation

x = f x (ξ ,η ) u4 u3
y = f y (ξ ,η ) u

u1 u2

4
u = ∑ N i (ξ ,η )ui
i=1
4
v = ∑ N i (ξ ,η )vi
i =1
 Isoparametric Elements

Coordinates Interpolation
p Displacement
p Interpolation
p
4
u = ∑ N i (η , ξ )ui
4
x = ∑ N i (ξ ,η ) xi
i=1 i=1
4
v = ∑ N i (η , ξ )vi
4
y = ∑ N i (ξ ,η ) yi
i =1 i =1
Derivation of Element Equation
for Linear Quadrilateral Element
 1) S
Select
l t element
l t ttype

{d } = [u1 v4 ]
T
v1 .. u4

2) Select displacement functions

N ≡ N% i ( x, y ) = N i (ξ ,η )

{u} = [N ]{d }
⎧u ⎫ ⎡ N1 0 • • N4 0⎤
{u} = ⎨ ⎬ [N ] = ⎢ 0
⎩v ⎭ ⎣ N1 • • 0 N 4 ⎥⎦
 3) Define the strain/displacement

{ε } = [∂ ]{u}
⎧εx ⎫ ⎡∂ 0⎤
⎪ ⎪ ⎢ ∂x ⎥ ⎧u ⎫
{ε } = ⎨ ε y ⎬ [∂ ] = ⎢ 0 ∂
∂y ⎥
{u} = ⎨ ⎬
⎪γ ⎪ ⎢∂ ⎩v ⎭
∂ ⎥
⎩ xy ⎭ ⎢⎣ ∂y ∂x ⎥
⎦
4) St
Strain
i iin tterms off nodal
d l di
displacement
l t

{ε } = [∂ ][ N ]{d } = [ B ]{d }
⎡ ∂N1 0 • • ∂N 4
0⎤
⎢ ∂x ∂x
⎥
[ B] = ⎢ 0 ∂N1
∂y • • 0 ∂N 4
∂y
⎥
⎢ ∂N ∂N1 ∂N 4 ∂N 4
⎥
⎢⎣ ∂y1 ∂x • • ∂y ∂x ⎥⎦
 5) Constitutive Relations

Hook’s law

{σ } = [D ]({ε } − {ε 0 })

plane strain
p
⎡1 −ν ν 0 ⎤
E ⎢ ν 0 ⎥⎥
[ 2ε ]
D = ⎢ 1 −ν
(1 +ν )(1 − 2ν )
⎢⎣ 0 0 1− 2ν ⎥
2 ⎦

plane stress

⎡1 ν 0⎤
E ⎢
[ D2σ ] = 2 ⎢ν 1 0 ⎥⎥
1 −ν
⎢⎣ 0 0 1−ν ⎥
2 ⎦
 6) Virtual work principle(Weak Form)

-unit thickness dV = 1dA

-body force per unit area
-traction
traction per unit length

Element Equation

[ k ] {d } = { f }
Stiffness Matrix

[ k ] = ∫A [ B ] [ D ][ B ] dA
T

Force Vector

{ f } = ∫A [ N ] {b} dA + ∫S [ N ] {t} dS + ∫A [ B ] [ D ]{ε 0 } dA + {P}

T T T
 6) Virtual work principle

∫ {δε } {σ } dA = ∫ {δ u} {b} dA + ∫ {δ u} {t} dS + {δ d } { P}

T T T T
A A S

[ k ] {d } = { f }

[ k ] = ∫A [ B ] [ D ][ B ] dA
T

{ f } = ∫A [ N ] {b} dA + ∫S [ N ] {t} dS + ∫A [ B ] [ D ]{ε 0 } dA + {P}

T T T
 Area Integration

[ k ] = ∫A [ B ] [ D ][ B ] dA
T

[ k ] = ∫? ∫? [ B ] [ D][ B ] dxdy
? ? T
Integration in Parametric Coordinates

x = f x (ξ ,η )
y = f y (ξ ,η )

Jacobian
dA = JdAp
∂x ∂y ∂y ∂x
dxdy = Jd ξ dη J= −
∂ξ ∂η ∂ξ ∂η
 Jacobian

4 4
x = ∑ N i (ξ ,η ) xi y = ∑ N i (ξ ,η ) yi
i 1
i= i 1
i=

x = aξ y = bη

J = dA / dAp = dxdy / d ξ dη = ab
 Integration in Parametric Coordinates

[ k ] = ∫ [ B ] [ D ][ B ] dA [ k ] = ∫−1 ∫−1[ B ] [ D ][ B ] Jdξ dη

T 1 1 T
A

⎡ ∂N1 0 • • ∂N 4
0⎤
⎢ ∂x ∂x
⎥
[ B] = ⎢ 0 ∂N1
∂y • • 0 ∂N 4
∂y
⎥
⎢ ∂N ∂N1 ∂N 4 ∂N 4
⎥
⎢⎣ ∂y1
∂x • • ∂y ∂x ⎥⎦
∂N i
∂x ξ ,η
in terms of
∂N i
∂y
 1
Method #? N1 (ξ ,η ) = (1 − ξ )(1 − η )
4
4 1
N 2 (ξ ,η ) = (1 + ξ )(1 − η )
x = ∑ N i (ξ ,η ) xi 4
i =1 1
4 N 3 (ξ ,η ) = (1 + ξ )(1 + η )
y = ∑ N i (ξ ,η ) yi
4
1
i =1 N 4 (ξ ,η ) = (1 − ξ )(1 + η )
4

1 1 1 1
x= (1 − ξ )(1 − η ) x1 + (1 + ξ )(1 − η ) x2 + (1 + ξ )(1 + η ) x3 + (1 − ξ )(1 + η ) x4
4 4 4 4
1 1 1 1
y = (1 − ξ )(1 − η ) y1 + (1 + ξ )(1 − η ) y2 + (1 + ξ )(1 + η ) y3 + (1 − ξ )(1 + η ) y4
4 4 4 4
ξ = gξ ( x, y ) 1
N i (ξ ,η ) = (1 ± ξ )(1 m η )
η = gη ( x, y ) 4

4
x = ∑ N i (ξ ,η ) xi ∂N1 ( x, y )
∂Ni
∂x (ξ ,η ) i =1
4
∂x
N i ( x, y )
y = ∑ N i (ξ ,η ) yi
i =1
∂N i
∂x ξ ,η
in terms of
∂N i
∂y
 Chain Rule

∂N i ( x, y ) ∂N i ( x, y ) ∂x ∂N i ( x, y ) ∂y ⎧ ∂ ⎫ ⎡ ∂x ∂y ⎤ ⎧ ∂ ⎫
= + ⎪⎪ ∂ξ ⎪⎪ ⎢ ∂ξ
∂ξ ∂x ∂ξ ∂y ∂ξ ∂ξ ⎥ ⎪⎪ ∂x ⎪⎪
⎨ ∂ ⎬ = ⎢ ∂x ∂y ⎥
⎥⎨ ∂ ⎬
∂N i ( x, y ) ∂N i ( x, y ) ∂x ∂N i ( x, y ) ∂y ⎪ ⎪ ⎢ ⎪ ⎪
∂η
=
∂x ∂η
+
∂y ∂η
⎪⎩ ∂η ⎪⎭ ⎢⎣ ∂η ∂η ⎥⎦ ⎪⎩ ∂y ⎪⎭

⎧∂ ⎫ ⎧∂⎫
⎨ ⎬ = [J ]⎨ ⎬
⎩ ∂ξ ⎭ ⎩ ∂x ⎭
Jacobian matrix
⎧ ∂ ⎫ ⎧∂⎫
⎡ ∂x ∂y ⎤
⎧ ∂ ⎫ ⎪⎪ ∂ξ ⎪⎪ ⎢ ∂ξ ∂ξ ⎥ ⎧ ∂ ⎫ ⎪⎪ ∂x ⎪⎪
⎨ ⎬=⎨ ⎬ [ J ] = ⎢ ∂x ⎥ ⎨ ⎬=⎨ ∂ ⎬
⎩ ∂ξ ⎭ ⎪ ∂ ⎪ ⎢ ∂y ⎥ ⎩ ∂x ⎭ ⎪ ⎪
⎪⎩ ∂η ⎪⎭ ⎢ ∂η ⎩⎪ ∂y ⎭⎪
⎣ ∂η ⎥⎦
 −1
⎧ ∂ ⎫ ⎡ ∂x ∂y ⎤ ⎧ ∂ ⎫
⎧∂ ⎫ ⎧∂⎫ ⎪⎪ ∂x ⎪⎪ ⎢ ∂ξ ∂ξ ⎥ ⎪ ∂ξ ⎪
⎨ ⎬ = [J ]⎨ ⎬
⎪ ⎪
⎨ ∂ ⎬=⎢ ⎥ ⎨ ⎬
⎩ ∂ξ ⎭ ⎩ ∂x ⎭ ⎪ ⎪ ⎢ ∂x ∂y ⎥ ⎪ ∂ ⎪
⎪⎩ ∂y ⎪⎭ ⎣⎢ ∂η ∂η ⎦⎥ ⎩⎪ ∂η ⎭⎪

⎧∂⎫ ⎡ ∂y ∂y ⎤ ⎧ ∂ ⎫
⎪⎪ ∂x ⎪⎪ 1 ⎢ ∂η − ⎥⎪ ⎪
∂ξ ⎪ ∂ξ ⎪
⎨ ∂ ⎬= ⎢ ⎥⎨ ⎬
⎪ ⎪ J ⎢ − ∂x ∂x ⎥ ⎪ ∂ ⎪
⎪⎩ ∂y ⎪⎭ ⎢ ∂η ∂ξ ⎥⎦ ⎩⎪ ∂η ⎭⎪
⎣

∂x ∂y ∂y ∂x
Jacobian J= − cf. dA = JdAp
∂ξ ∂η ∂ξ ∂η
∂N1 ⎛ ∂y ∂N1 ∂y ∂N1 ⎞ ⎛ ∂x ∂y ∂y ∂x ⎞
=⎜ − ⎟ ⎜ − ⎟
∂x ⎝ ∂η ∂ξ ∂ξ ∂η ⎠ ⎝ ∂ξ ∂η ∂ξ ∂η ⎠

∂N i ⎛ ∂x ∂N i ∂x ∂N i ⎞ ⎛ ∂x ∂y ∂y ∂x ⎞
= ⎜− + ⎟ ⎜ − ⎟
∂y ⎝ ∂η ∂ξ ∂ξ ∂η ⎠ ⎝ ∂ξ ∂η ∂ξ ∂η ⎠
 ⎡ ∂N1 0 • • ∂N 4
0⎤
⎢ ∂x ∂x
⎥
[ B] = ⎢ 0 ∂N1
∂y • • 0 ∂N 4
∂y
⎥
⎢ ∂N ∂N1 ∂N 4 ∂N 4
⎥
⎢⎣ ∂y1 ∂x • • ∂y ∂x ⎥⎦

[ k ] = ∫A [ B(ξ ,η )] [ D][ B(ξ ,η )] JdAp

T

∫ [ B(ξ ,η )] [ D][ B(ξ ,η )] Jdξ dη

1 1
=∫
T
−1 −1
Example Derivation of [ B]
∂x ∂ ⎛ 4 ⎞ 4 ∂N i
= ⎜ ∑
∂ξ ∂ξ ⎝ i =1
N i xi ⎟ = ∑
⎠ i =1 ∂ξ
xi

N1 (ξ ,η ) =
1
(1 − ξ )(1 − η ) ∂N1 (ξ ,η ) 1 ∂N1 (ξ ,η ) 1
= − (1 − η ) = − (1 − ξ )
4 ∂ξ 4 ∂η 4
1
N 2 (ξ ,η ) = (1 + ξ )(1 − η ) ∂N 2 (ξ ,η ) 1 ∂N 2 (ξ ,η ) 1
= (1 − η ) = − (1 + ξ )
4 ∂ξ 4 ∂ξ 4
1
N 3 (ξ ,η ) = (1 + ξ )(1 + η ) ∂N 3 (ξ ,η ) 1 ∂N 3 (ξ ,η ) 1
4 = (1 + η ) = (1 + ξ )
∂ξ 4 ∂η 4
1
N 4 (ξ ,η ) = (1 − ξ )(1 + η ) ∂N 4 (ξ ,η ) 1 ∂N 4 (ξ ,η ) 1
4 = − (1 + η ) = (1 − ξ )
∂ξ 4 ∂ξ 4

∂x 1 1 1 1
= − (1 − η ) x1 + (1 − η ) x2 + (1 − η ) x3 − (1 − η ) x4
∂ξ 4 4 4 4
Similarly
∂x 1 1 1 1
= − ((1 − ξ ) x1 − ((1 + ξ ) x2 + ((1 + ξ ) x3 + ((1 − ξ ) x4
∂η 4 4 4 4
 ∂y ∂ ⎛ 4 ⎞ 4 ∂N i
= ∑ Ni yi ⎠⎟ = ∑
∂ξ ∂ξ ⎝⎜ i =1 i =1 ∂ξ
yi

∂y 1 1 1 1
= − (1 − η ) y1 + (1 − η ) y2 + (1 − η ) y3 − (1 − η ) y4
∂ξ 4 4 4 4
Similarly
∂y 1 1 1 1
= − (1 − ξ ) y1 − (1 + ξ ) y2 + (1 + ξ ) y3 + (1 − ξ ) y4
∂η 4 4 4 4
⎧∂⎫ ⎡ ∂y ∂y ⎤ ⎧ ∂ ⎫
⎪⎪ ∂x ⎪⎪ 1 ⎢ ∂η −
∂ξ ⎥ ⎪⎪ ∂ξ ⎪⎪ J=
∂x ∂y ∂y ∂x
−
⎨ ∂ ⎬= ⎢ ⎥⎨ ⎬
∂ξ ∂η ∂ξ ∂η
⎪ ⎪ J ⎢ − ∂x ∂x ⎥ ⎪ ∂ ⎪
⎢ ∂η ∂ξ ⎥⎦ ⎩⎪ ∂η ⎭⎪
⎩⎪ ∂y ⎭⎪ ⎣

∂N i ⎛ ∂y ∂N i ∂y ∂N i ⎞
=⎜ − ⎟ J (ξ ,η )
∂x ⎝ ∂η ∂ξ ∂ξ ∂η ⎠
∂N i ⎛ ∂x ∂N i ∂x ∂N i ⎞
= ⎜− + ⎟ J (ξ ,η )
∂y ⎝ ∂η ∂ξ ∂ξ ∂η ⎠
Finally

⎡ ∂N1 0 • • ∂N 4
0⎤
⎢ ∂x ∂x
⎥
[ B] = ⎢ 0 ∂N1
∂y • • 0 ∂N 4
∂y
⎥
⎢ ∂N ∂N1 ∂N 4 ∂N 4
⎥
⎢⎣ ∂y 1
∂x • • ∂y ∂x ⎥⎦
Numerical Integration
[ k ] = ∫−1 ∫−1[ B(ξ ,η )] [ D ][ B(ξ ,η )] Jdξ dη
1 1 T

+1 +1
[ k ] = ∫−1 ∫−1 [ g (ξ ,η )]dξ dη
⎡∫ ∫ +1 +1

g11 (ξ , η ) d ξ dη • • •⎤
⎢ −1 −1

⎥
⎢ • • •⎥
[ ] ⎢
k =
• •⎥
⎢ ⎥
⎢⎣ sym. •⎥⎦
Newton-Cotes Integration Formulas for 1-D
b b
I = ∫ f ( x)dx ≈ ∫ f n ( x)dx
a a

f n ( x ) = a0 + a1 x + ... + an x n
Trapezoidal rule

x y
x1=a f(x1)

x2=bb f( 2)
f(x

f ( x0 ) + f ( x1 )
I ≈ (b − a )
2
 Simpson’s 1/3 rule

x y
x0=a f(x0)
x1=(a+b)/2 f(x1)
x2=b f(x2)

f ( x0 ) + 4 f ( x1 ) + f ( x2 )
I ≈ (b − a)
6
Choice of Integration Points

Integration points are spaced equally each other, including both ends

f (a ) + f (b)
I ≈ (b − a )
2

f ( x0 ) + 4 f ( x1 ) + f ( x2 )
I ≈ (b − a)
6

n
I ≈ ∑ wi f ( xi )
i =0
i=
Gauss Quadrature for 1-D
Ch i off IIntegration
Choice t ti P
Points
i t

Integration points are determined optimally

so that the resulting integration can get the exact value
One-point Gauss Quadrature
Two point Gauss Quadrature
Two-point
 One-point
One point Gauss Quadrature

+1 1
I =∫ f ( x)dx ≈ ∑ wi f ( xGi )
−1
i =1

w1 = 2,, xG1 = 0
 Two-point
Two point Gauss Quadrature

+1 2
I =∫ f ( x)dx ≈ ∑ wi f ( xGi )
−1
i =1

1 1
w1 = w2 = 1, xG1 = − , xG 2 = +
3 3
Gauss Quadrature for 2-D
One-point Gauss Quadrature

+1 +1
I =∫ ∫ f (ξ, η)d ξd η ≈ w1 f (ξG1 , ηG1 )
−1 −1

w1 = 4,
4 ξG1 = ηG1 = 0
 2x2 point Gauss Quadrature

+1 +1 2 2
I =∫ ∫ f (ξ, η)d ξd η ≈ ∑∑ wij f (ξGi , ηGj )
−1 −1
i =1 j =1

1 1
wij = 11, ξGi = ± , ηGj = ±
3 3
 3x3 point Gauss Quadrature

+1 +1 3 3
I =∫ ∫ f (ξ, η)d ξd η ≈ ∑∑ wij f (ξGi , ηGj )
−1 −1
i =1 j =1

8 5
w22 = , wij = i, j ≠ 2
9 9
3 3
ξ G 2 = η G 2 = 0, ξ Gi =± , η Gj =± i, j ≠ 2
5 5
Gauss Quadrature v.s. Newton-Cotes Integration

Order of Polynomials for Full(Exact) Integration

# of Integration Gauss Newton-Cotes

Points Quadrature
Q Integration
g
1 1st order
2 2nd order 1st order
3 5th order 2nd order
n (2n-1)th order (n-1)th order
Example Computation of Stiffness Matrix

2x2 point Gauss quadrature

1) Evaluate xGi , yGi when ξi = ± 1
3
,η j ± 1
3

1
4 N1 (ξ ,η ) = ((1 − ξ )(1
)( − η )
x = ∑ N i (ξ ,η ) xi
4
1
i =1 N 2 (ξ ,η ) = (1 + ξ )(1 − η )
4
4
y = ∑ N i (ξ ,η ) yi 1
N 3 (ξ ,η ) = (1 + ξ )(1 + η )
4
i =1
1
N 4 (ξ ,η ) = (1 − ξ )(1 + η )
4
2) Write the expressions in terms of ξ , η

∂N1 (ξ ,η ) 1 ∂N1 (ξ ,η ) 1
= − (1 − η ) = − (1 − ξ )
∂ξ 4 ∂η 4

∂N 2 (ξ ,η ) 1 ∂N 2 (ξ ,η ) 1
= (1 − η ) = − (1 − ξ )
∂ξ 4 ∂η 4

∂N 3 (ξ ,η ) 1 ∂N 3 (ξ ,η ) 1
= (1 + η ) = (1 + ξ )
∂ξ 4 ∂η 4

∂N 4 (ξ ,η ) 1 ∂N 4 (ξ ,η ) 1
= − (1 + η ) = (1 − ξ )
∂ξ 4 ∂η 4

∂N i ∂N i
Evaluate , at ξi = ± 1
,η j ± 1

∂ξ ∂η
3 3
3) Write the expressions ∂x / ∂ξ , ∂x / ∂η , ∂y / ∂ξ , ∂y / ∂η in terms of ξ , η

∂x ∂ ⎛ 4 ⎞ 4 ∂N i ∂x ∂ ⎛ 4 ⎞ 4 ∂N i
= ⎜ ∑ N i xi ⎟ = ∑ xi = ⎜ ∑
∂η ∂η ⎝ i =1
N i xi ⎟ = ∑
⎠ i =1 ∂η
xi
∂ξ ∂ξ ⎝ i =1 ⎠ i =1 ∂ξ

∂y ∂ ⎛ ⎞ ∂N i ∂y ∂ ⎛ 4 ⎞ 4 ∂N i
∑ N i yi ⎟ = ∑
4 4
= ⎜ ∑
∂ξ ∂ξ ⎝ i =1
N i i⎟
y = ∑
⎠ i =1 ∂ξ
yi = ⎜
∂η ∂η ⎝ i =1 ⎠ i =1 ∂η
yi

att ξi = ± ,η j ±
1 1
E l t
Evaluate ∂x / ∂ξ , ∂x / ∂η , ∂y / ∂ξ , ∂y / ∂η 3 3
4) Write the expressions for Jacobian J in terms of ξ , η

∂x ∂y ∂y ∂x
J= −
∂ξ ∂η ∂ξ ∂η

Evaluate J at ξi = ± 1
3
,η j = ± 1
3
5) Write the expressions ∂N i / ∂x, ∂N i / ∂y in terms of ξ,η

∂N i ⎛ ∂y ∂N i ∂y ∂N i ⎞
=⎜ − ⎟ J (ξ ,η )
∂x ⎝ ∂η ∂ξ ∂ξ ∂η ⎠

∂N i ⎛ ∂x ∂N i ∂x ∂N i ⎞
= ⎜− + ⎟ J (ξ ,η )
∂y ⎝ ∂η ∂ξ ∂ξ ∂η ⎠

at ξi = ± ,η j ±
1 1
Evaluate ∂N i / ∂x, ∂N i / ∂y 3 3
6) Evaluate

⎡ ∂N1 0 • • ∂N 4
0⎤
⎢ ∂x ∂x
⎥
[ B] = ⎢ 0 ∂N1
∂y • • 0 ∂N 4
∂y
⎥
⎢ ∂N ∂N1 ∂N 4 ∂N 4
⎥
⎢⎣ ∂y1 ∂x • • ∂y ∂x ⎥⎦
at ξi = ± 1
3
,η j ± 1
3
7) Evaluate

[ k ]ξ , η = [ B ] [ D ][ B ] J
T
i j

att ξi = ± 1
3
,η j ± 1
3

8) Evaluate stiffness matrix

[ k ] = 1× [ k ]ξ , η 1 1
+ 1× [ k ]ξ , η + 1× [ k ]ξ
1 2 2 , η1
+ 1× [ k ]ξ
2 , η2
END