24 The finite element method 24.1 — Introduction In this chapter the finite element method proper"? will be described with the aid of worked examples. The finite element method is based on the matrix displacement method described in Chapter 23, but its description is separated from that chapter because it can be used for analysing much more complex structures, such as those varying from the legs of an integrated circuit to the legs of an offshore drilling rig, or from a gravity dam to a doubly curved shell roof. Additionally, the method can be used for problems in structural dynamics, fluid flow, heat transfer, acoustics, magnetostatics, electrostatics, medicine, weather forecasting, etc. ‘The method is based on representing a complex shape by a series of simpler shapes, as shown in Figure 24.1, where the simpler shapes are called finite elements. Finite elements Figure 24.1 Complex shape, represented by finite elements. Using the energy methods described in Chapter 17, the stiffness and other properties of the finite element can be obtained, and then by considering equilibrium and compatibility along the inter-element boundaries, the stiffiness and other properties of the entire domain can be obtained. "Tumer M J, Clough R W, Martin H C and Topp L J, Stiffness and Deflection Analysis of Complex Structures, J Aero, Sci, 23, 805-23, 1956.628 ‘The finite element method This process leads to a large number of simultaneous equations, which can readily be solved ona high-speed digital computer. It must be emphasised, however, that the finite element method is virtually useless without the aid of a computer, and this is the reason why the finite element method has been developed alongside the advances made with digital computers. Today, it is possible to solve massive problems on most computers, including microcomputers, laptop and notepad computers; and in the near future, it will be possible to use the finite element method with the aid of hand-held computers. Finite elements appear in many forms, from triangles and quadrilaterals for two-dimensional domains to tetrahedrons and bricks for three-dimensional domains, where, in general, the finite clement is used as a ‘space’ filler. Each finite element is described by nodes, and the nodes are also used to describe the domain, as shown in Figure 24.1, where comer nodes have been used. If, however, mid-side nodes are used in addition to comer nodes, it is possible to develop curved finite elements, as shown in Figure 24.2, where itis also shown how ring nodes can be used for axisymmetric structures, such as conical shells. Leet (a) Curved triangle, (b) Curved quadrilateral, (©) Curved tetrahedron. (A) 20 node brick. Ring node Figure 24.2. Some typical finite elements.Stiffness matrices for some typical finite elements 629 The finite element was invented in 1956 by Turner e al. where the important three node in- plane triangular finite element was first presented. ‘The derivation of the stiffness matrix for this element will now be described. 24.2 Stiffness matrices for some typical finite elements ‘The in-plane triangular element of Tumer et al. is shown in Figure 24.3. From this figure, it can be seen that the element has six degrees of freedom, namely, u,°, u;°, us°, ¥;°, ¥p" and v,°, and because of this, the assumptions for the displacement polynomial distributions u° and v° will involve six arbitrary constants. It is evident that with six degrees of freedom, a total of six simultaneous equations will be obtained for the element, so that expressions for the six arbitrary constants can be defined in terms of the nodal displacements, or boundary values. Figure 24.3 In-plane triangular element. Convenient displacement equations are “we a, +ax° +ay* (24.1) and vo = a tan? tay? (242) where a, to a, are the six arbitrary constants, and u° and v° are the displacement equations. Suitable boundary conditions, or boundary values, at node 1 are: atx’ = x,° and y° vn Substituting these boundary values into equations (24.1) and (24.2),630 ‘The finite element method uy? = a, + ax, + ay,” (24.3) + agX,° + Oey," (24.4) Similarly, at node 2, atx? = n° and y° = y,°, u? = u,° and v° = y, ‘When substituted into equations (24.1) and (24.2), these give wu,” = a, +0,x,° + ay,” (24.5) andy,” = G, tay," +09," (24.6) Likewise, at node 3, atx’ = x,° and y? = y,°, uw? and v? which, when substituted into equation (24.1) and (24.2), yield us° = a, +ax,° + ay," (24.7) and v9 = a, tag tag? (24.8) Rewriting equations (24,3) to (24.8) in matrix form, the following equation is obtained: 1x? y ” Uru Cs u”| 1x? yy? = ° (249) Tix yy? 0, 1 x," y,° 1x’, or 40, uy} = fa) (24.10) fu" 0, 4 fh andStiffness matrices for some typical finite elements 631 fa} = (24.11) where a, a, a {A}? = |b, 5, by} / detiA (24.12) er (24.13) det |Al = x,°y5° ~y2°x5° —x1° (5 ~y2°) ty? Gy” —a2°) = 2A A = area of triangle Substituting equations (24.13) and (24.12) into equations (24.1) and (24.2)632 ‘The finite element method ue Iv, M,N, 0 0 0 - (24.14) |v 00 0% N, My or = IN) &} (24.15) where [N] = a matrix of shape functions: rey") + bx + oy") (24.16) N= has bet + oy") 2a For a two-dimensional system of strain, the expressions for strain!" are given by e, = strain in the x° direction = Gu°/dk® e, = strain in the y° direction = dv/g* (24.17) Yo = shear strain in the x°-y* plane = OU/B? + BaP which when applied to equation (24.14) becomes "Fenner RT, Engineering Elasticity, Elis Horwood, 1986.Stiffness matrices for some typical finite elements Qhey = by? + byuy® + b313° 2dey = cys? envy" +03V3° 2AY gy = C1” + CpUQ? + C3uz” + bry? + byv2° + b3v5° Rewriting equation (24.18) in matrix form, the following is obtained: or {eh {Bl fut where [B] is a matrix relating strains and nodal displacements b, bb, 0 0 0 B) - Llo00q,q 6 by by by 633 (24.18) (24.19) (24.20) (24.21) ‘Now, from Chapter 5, the relationship between stress and strain for plane stress is given by (24.22)634 ‘The finite element method where G, = direct stress in the x°-direction 6, = direct stress in the y°-direction 1, = shear stress in the x°-y® plane E = Young's modulus of elasticity vy = Poisson's ratio €, = direct strain in the x°-direction e, = direct strain in the y°-direction. Yq = shear strain in the x°-y° plane E G = shear modulus = 21 + v) Rewriting equation (24.22) in matrix form, s. tv oo J{& at = 5 i s\yt oo {fs (24.23) | ~Y" lo 0 a - 2 or {s} = [D] {e} (24.24) where, for plane stress, {p) = (24.25) = a matrix of material constantsStiffness matrices for some typical finite elements and for plane strain,"? Pj=-—-—] » (1-9) 0 (1+¥)(1-2y) or, in general, 14 0] [DP] = E'lp 10 Oo where, for plane stress, Bl = El-¥) wey y= (-y2 and for plane strain, E! = E(l~ vyif(1 + (1 -2v)) Hw = W1~y) y = (1 -2vy(2(1 - vy] 635 (24.26) (2427) ‘Now from Section 1.13, itcan be seen that the general expression for the strain energy of an elastic system, U,, is given by IE d(vol) but Ee = z fee (vol) " Ross, CT F, Mechanics of Solids, Prentice Hall, 1996.636 ‘The finite element method which, in matrix form, becomes U, = $ J I" (D) (ea wor (24.28) where, a vector of strains, which for this problem is fe} fe} = 46, (24.29) [D] = a matrix of material constants It must be remembered that U, is a scalar and, for this reason, the vector and matrix multiplication of equation (24.28) must be carried out in the manner shown. Now, the work done by the nodal forces is WD = -{u, 3 (P,F (24.30) where /P, 9 is a vector of nodal forces and the total potential is U, + WD 7 a a (24.31) = Sf (PB feb vo) — fu} {P,"} It must be remembered that WD isa scalar and, for this reason, the premultiplying vector must be a row vector, and the postmultiplying vector must be a column vector. Substituting equation (24.20) into (24.31): 5°} (ET yPlA(vorfur}~ fur} {2} (2432) but according to the method of minimum potential (see Chapter 17), on, ye {u,"}Stiffness matrices for some typi finite elements or 0 = J [BY [D} [B} d(vol) {u, 9 - (P,4 ie. {P,3 = J (BF (D] [B) (vol) {u, 3 but, {P,9 = [k°] {4,9 or, (k°] = { (BY (D] [B] (vol) Substituting equations (24.21) and (24.27) into equation (24.34): Py 2, {ke] = 0, &, P, = 0.25 E' (bb, + ye JIA Q, = 0.25 E (ube, + yobJld Q, = 0.25 E! (ube, + yobyid R, = 0.25 E! (ce, + yobylA where i and j vary from 1 to 3 and + is the plate thickness 637 (24.33) (24.34) (24.35) (24.36) Problem 24.1 Working from first principles, determine the elemental stiffness matrix for a rod element, whose cross-sectional area varies linearly with length. The element is described by three nodes, one at each end and one at mid-length, as shown below. The cross-sectional area at node | is 4 and the cross-sectional area at node 3 is 24638 ‘The finite element method 2 + — 12 —+| Solution As there are three degrees of freedom, namely u,, u, and u,, it will be convenient to assume a polynomial involving three arbitrary constants, as shown by equation (24.37): u = a tax+ax? (24.37) To obtain the three simultaneous equations, it will be necessary to assume the following three boundary conditions or boundary values: Atx = Ou =u, Atx =12,u =u, (24.38) Atx Substituting equations (24.38) into equation (24.37), the following three simultancous equations will be obtained: 4 = a (24.39a) uw = a, + ali2 + al7/4 (24.39b) wy = a, +a + al? (24.39¢) From (24.39a) a = 4 (24.40) Dividing (24.39c) by 2 gives uj2 = uy2 + ald + al?2 (24.41)Stiffness matrices for some typical finite elements 639 Taking (24.41) from (24.39b), uy - uy2 = uy - wl2 - ald p Foe m2 yr ye 1 a, = 7mm - 4u, + 2u3) (24.42) Substituting equations (24.40) and (24.42) into equation (24.39), al = uy ~ 4, ~ 2m + 4u, - 20, or % = + (3m + Au (24.43) Substituting equations (24.40), (24.42) and (24.43) into equation (24.37), Ae w+ 1+ Au = uy )g+ (21g - 4u, + 2u5)6? = u (1-35 +262) +0 (46-46?) +05 (5 +25?) uy ue = [(1-35 +262) 45-462) (-54262)} un uy =IN]{4} where & = ofl (24.44) IN] = {1-38 +26") (4g -4e?) (-§ +263]640 ‘The finite element method du 1a RIE 1 FU-3 + 49) 4 - 88 1+ 48) fy = (Bl Hh or (B] = Hi3 +48) (4-88) (-1+48)) (24.45) Now, for a rod, Zak € o = Fe Dp] - £ Now. Uk] =f (B)* [Dj (B] avo) =f (BIT (D) [B) at where @ = areaat& = A(l + &) [ics ml Ala a E[(-3 + 48) (4-86) (-1448)] (1 +8) dewhere, kn hy koa Stiffness matrices for some typical finite elements 641 yy ky kis = ln a bs eax baa be AE casa uaa one 2.8333 AE/I : AE Pg - seP (1 + [4 - SPU + Bae ° 8 AEIL 1 AE Pea + ae + rf 46? (1 + &) de 4.167 AE/I \ BeAr Te eee ky = The 48) (4-88) (1 +8)de -3.334EIl AE wh BE fea eager aa og AEI2 AE | = 4B pa -sy(-r+ +8 key 7 fe BE) (-1 + 48) (1 + Ga 4.667 AE/L642 ‘The finite element method In this chapter, it has only been possible to introduce the finite element method, and for more advanced work on this topic, the reader is referred to Ross, C T F, Advanced Applied Finite Element Methods, Ellis Horword; Zienkiewicz, O C, and Taylor, RL. The Finite Element Method, McGraw-Hill, Vol 1, 1989, Vol 2, 1991. Further problems (answers on page 698) 24.2 243 24.4 24.5 Using equation (24.34), determine the stiffness matrix fora uniform section rod element, with two degrees of freedom. A rod element has a cross-sectional area which varies linearly from A, at node 1 to A, at node 2, where the nodes are at the ends of the rod. If the rod element has two degrees of freedom, determine its elemental stiffness matrix using equation (24.34). Using equation (24.34), determine the stiffness matrix for a uniform section torque bar which has two degrees of freedom. Using equation (24.34), determine the stiffness matrix for a two node uniform section ‘beam, which has four degrees of freedom; two rotational and two translational.