Lecture4 - Elementos Isoparametricos

Institute of Structural Engineering Page 1
Chapter 4
Isoparametric Elements
Method of Finite Elements I

Today’s Lecture Contents
• The Shape Function

• Isoparametric elements
• 1D Demonstration: Bar elements
• 2D Demonstration: Triangular elements

30-Apr-10
The Shape Function

Shape functions comprise interpolation functions which relate the
variables in the finite element with their values in the element nodes. The
latter are obtained through solving the problem using finite element
procedures.
In general we may write: u ( x)   H i  x  ui  Hu

i
where:
u ( x) is the function under investigation (for example:
displacement field)
H ( x) is the shape functions matrix
u  u1 u2 uN 
T
is the vector of unknowns in the nodes
(for example: displacements)
30-Apr-10
The Shape Function

Regardless of the dimension of the element used, we have to bear in
mind that Shape Functions need to satisfy the following constraints:
• H i  x  in node i has a value of 1 and in all other nodes assumes a
value of 0.
• Furthermore we have to satisfy the continuity between the
adjoining elements.
Example: rectangular element with 6 nodes
H4 H5

30-Apr-10
The Shape Function

Usually, polynomial functions are used as interpolation functions,
for example:
N
Pn  x    ai x i
i 0
where n is the order of the polynomial; is equal to the

number of unknowns in the nodes (degrees of freedom).
In MFE we use three different polynomials:

 Lagrange
 Serendipity and
 Hermitian polynomials.

30-Apr-10
The Shape Function

Lagrange Polynomials
A function φ(x) can be approximated by a polynomial of the order m

and the values of φ(x) in those m+1 points:
m 1
  x     x    Li  x   i
i 1
where:
Li  x   
m 1 x  xj

 x  x1  x  x2   x  xm 1 
j 1 xi  x j  xi  x1  xi  x2   xi  xm1 
i j

30-Apr-10
The Shape Function

A function φ(x) can be approximated by a polynomial of the order m

and the values of φ(x) in those m+1 points:
m+1
f ( x) » f ( x) = å Li ( x)f i
i=1

30-Apr-10
Lagrange
Polynomials
Example

30-Apr-10
Serendipity Polynomials
These functions are similar to Lagrangian polynomials, but for their
incompleteness. Due to this fact we do not need to introduce
additional inner nodes, as for Lagrangian polynomials of higher order.
Serendipity Polynomials

30-Apr-10
Hermitian Polynomials
Lagrangian polynomials and serendipity functions provide a C0
continuity. If we additionally need continuity of the first derivatives
between the finite elements we use Hermitian polynomials.
A Hermitian polynomial of the order n, Hn(x), is a 2n+1 order
polynomial. For example a Hermitian polynomial of the first order is
actually a third order polynomial.
Let us consider a bar element with nodes on its ends. Unknowns are
values of the function φ in the nodes 1 and 2, φ1 and φ2, and first
derivatives of φ in respect to x , φ1,x and φ2,x
Remember: The 1st derivative of

displacement, corresponds to rotation

30-Apr-10
Hermitian Polynomials

30-Apr-10
In general, we would like to be able to represent any element in a
standardized manner – introducing a transformation between the
natural coordinates and the real coordinates (global or local)
Different schemes exist for establishing such transformations:
1 sub parametric representations (less nodes for

geometric than for displacement representation)
2 isoparametric representations (same nodes for both

geometry and displacement representation)
3 super parametric representations (more nodes for

geometric than for displacement representation)
30-Apr-10
Displacement fields as well as the geometrical representation of the
finite elements are approximated using the same approximating
functions – shape functions
4 uˆ4 , vˆ4
s
y -1, 1 1, 1
uˆ1 , vˆ1 1 3 uˆ3 , vˆ3

r
2 uˆ2 , vˆ2
-1, -1 1, -1
x
This transformation allows us to refer to similar elements (eg. truss, beams, 2D
elements, in a standard manner, using the natural coordinates (r,s), without
every time referring to the specific global coordinate system used (x,y).

30-Apr-10
Isoparametric elements can be one-, two- or three-dimensional:
n n n
x   hi xi ; y   hi yi ; z   hi zi
i 1 i 1 i 1
n n n
u   hi uî ; v   hi vî ; w   hi wˆ i
i 1 i 1 i 1
The principle is to assure that the value of the shape function hi

is equal to one in node i and equals zero in other nodes.

30-Apr-10
In order to establish the stiffness matrixes we must differentiate
the displacements with respect to the coordinates (x, y, z).
Since the shape functions are usually defined in natural

coordinates we must introduce the necessary coordinate
transformation between natural and global or local coordinate
system. For example:
  x  y  z
  
r x r y r z r
  x  y  z
   Chain rule of differentiation!
s x s y s z s
  x  y  z
  
t x t y t z t
30-Apr-10
Written in matrix notation:
  x  y  z     x y z    
  
r x r y r z r  r   r r r   x 
   
  x  y 
  
z
      x y z    
s x s y s y s  s   s s s   y 
    
  x  y 
  
z     x y z    
t x t y t z t  t   t t t   z 

30-Apr-10
We recall the Jacobian operator J:
    x y z    
 r   r r r   x 
       1 
     x y z     J  J
 s   s s s   y  r x x r
    
    x y z    
 t   t t t   z 

30-Apr-10
Let us now consider the derivation of the stiffness matrix K.
Firstly, we write for the strain matrix (using matrix B):
ε  Buˆ
and than we can write up the integrals for calculating the stiffness
matrix:
K   BT CBdV
V
  BT CB det J dr ds dt
V

30-Apr-10
Bar Element

30-Apr-10
Bar Element
x2
The relation between the x-coordinate y
x1
and the r-coordinate is given as:
1 1 x
x (1  r ) x1  (1  r ) x2 û1 û2
2 2
2 r  1 r 0 r 1
  hi xi
i 1
The relation between the displacement 1 1

u and the nodal displacements are u  (1  r )uˆ1  (1  r )uˆ2
2 2
given in the same way: 2
  hi uî
i 1

30-Apr-10
Bar Element
We need to be able to establish the strains – meaning we need to
be able to take the derivatives of the displacement field in regard
to the x-coordinate
x2
y
du du dr x1
 
dx dr dx
du d 1 1 1 x
 ( (1  r )uˆ1  (1  r )uˆ2 )  (uˆ2  uˆ1 ) û1 û2
dr dr 2 2 2
dx d 1 1 1 L r  1 r 0 r 1
 ( (1  r ) x1  (1  r ) x2 )  ( x2  x1 ) 
dr dr 2 2 2 2

du (uˆ2  uˆ1 ) (uˆ2  uˆ1 )
  
dx ( x2  x1 ) L

30-Apr-10
Bar Element
The strain-displacement matrix then becomes:
1
B   1 1
L
and the stiffness matrix is calculated as:
AE  1
1
dx L
K  2     1 1 Jdr , J 
L 1  1 dr 2

AE L  1 1 1 AE  1 1
K   r 1 K
L 2  1 1
2
L  1 1

30-Apr-10
Bar Elements
The natural coordinates for the 3-node bar element:
0.3L 0.7L
1
Node 1 Node 2 Node 3
r  1 r 0 r 1
r  1 r 0 r 1 1 1
x0 x  0.3L xL
h1  (1  r )  (1  r 2 )
2 2
1 1
r  1 r 0 r 1 r  1 r 0 r 1
1 1
h2  1  r 2
h3  (1  r )  (1  r 2 )
2 2
30-Apr-10
Bar Elements
The natural coordinates for the generalized bar element:
Node 1 Node 3 Node 4 Node 2
r  1 r 0 r 1 Three nodes
1 1
r  1 r   r r 1 Four nodes
3 3

30-Apr-10
Bar Elements
The shape functions for the
generalized bar element:
Shape functions Include only if Include only if nodes 3 and 4

node 3 is present are present
1 1 1
h1  (1  r )  (1  r 2 )  (9r 3  r 2  9r  1)
2 2 16
1 1 1
h2  (1  r )  (1  r 2 )  (9r 3  r 2  9r  1)
2 2 16
1
h3  (1  r 2 )  (27r 3  7 r 2  27r  7)
16
1
h4  (27r 3  9r 2  27r  9)
16

30-Apr-10
Triangular Elements
Let us now move in the 2D. The natural coordinates for the
standard triangular element (r and s) may be represented as:
s
(0,1)
3
1 2 r
(0, 0) (1, 0)
h1  1  r  s
and the shape functions may be given as: h2  r
h3  s

30-Apr-10
Triangular Elements
Let us establish the stiffness matrix for a triangular constant strain
element:
y s
(1,3) (0,1)
3 3
1 2 1 2
(0, 0) (4, 0) x r
(0, 0) (1, 0)
h1  1  r  s
h2  r
h3  s x  4r  s
3 3
x   hi xi , y   hi yi y  3s
i 1 i 1

30-Apr-10
Triangular Elements
In this case (2D) we obtain for the Jacobi matrix :
    x y z     4 0
J 
 r   r r r   x  1 3
   
     x y z     
 s   s s s   y  1  3 0
     1
J 
    x y z    
det J  1 4 
 t   t t t   z 
1  3 0
 
12  1 4 
x  4r  s
y  3s  
 J 1
x r
30-Apr-10
Triangular Elements
Further on, we obtain for the interpolation matrix H and for
displacement field (u, v) in element:
(1  r  s) 0 r 0 s 0
H
 0 (1  r  s) 0 r 0 s 
u  (1  r  s)uˆ1  0vˆ1  ruˆ2  0vˆ2  suˆ3  0vˆ3

v  0uˆ1  (1  r  s)vˆ1  0uˆ2  rvˆ2  0uˆ3  svˆ3

30-Apr-10
Triangular Elements
For plane stress problems one has
u v u v
 xx  ,  yy  ,  xy  
x y y x
 r  s       r s    
   
x x r x s x   x x   r 
    
 r  s       r s    
 
y y r y s   y   y y   s 
     x y   
 r   x   r r   x 
  J   
     x y   
 s   y   s s   y 

30-Apr-10
Triangular Elements
Having in mind that
u v u v
 xx  ,  yy  ,  xy  
x y y x
u  (1  r  s)uˆ1  0vˆ1  ruˆ2  0vˆ2  suˆ3  0vˆ3

v  0uˆ1  (1  r  s)vˆ1  0uˆ2  rvˆ2  0uˆ3  svˆ3
u u
 uˆ1  uˆ2 ,  uˆ1  uˆ3
one obtains r s
v v
 vˆ1  vˆ3 ,  vˆ1  vˆ2
s r
30-Apr-10
Triangular Elements
and so u/r
 u 
 x 
1  1 0 1 0 0 0
 J   uˆ
 u   1 0 0 0 1 0
 y  u/s
v/r
 v 
 x 
1  0  1 0 1 0 0
 J   uˆ
 v   0 1 0 0 0 1
 y 
v/s
1 1  3 0
with J  
12  1 4 
30-Apr-10
Triangular Elements
one gets
 u 
 x  1  3 0   1 0 1 0 0 0
   uˆ
 u  12  1 4   1 0 0 0 
1 0
 y 
 v 
 x  1  3 0  0 1 0 1 0 0
   uˆ
 v  12  1 4   0  1 0 0 
0 1
 y 

30-Apr-10
Triangular Elements
and u/x
 u 
 x  1  3 0 3 0 0 0  3 0 3 0 0 0
1
    uˆ B   0  3 0  1 0 4 
 u  12  3 0  1 0 4 0 12
 y   3  3  1 3 4 0  v/y
 v 
 x  1  0  3 0 3 0 0
   uˆ u/y + v/x

 v  12  0  3 0  1 0 4
 y 
strain vector does not
depend on r or s so it is
constant strain triangle

30-Apr-10
Triangular Elements
We now calculate the stiffness matrix as:
K   BT CBdV   BT CB det J dr ds dt
V V
 3 0  3
 0 3  3   
 1  0   3 0 3 0 0 0
E t  3 0 1   
0 4  det Jdrds
144(1  2 ) S  0  1
K    1 0   0  3 0 1
3 
 1    3  3  1 3 4 0 
 0 0 4   0 0 
   2 
 0 4 0 

30-Apr-10
Triangular Elements
which yields
 
 3  3 3  0 4 
E t T  
2 
K B  3 3 3 1 0 4  det Jdrds
12(1  ) S  3(1  ) 3(1  ) 
(1  ) 3(1  ) 4(1  )
 0 
 2 2 2 2 2 

30-Apr-10
Triangular Elements
and further
 9(1  ) 9(1  ) 3(1  ) 9(1  ) 12(1  ) 

9  2 9  9 3   12 
2 2 2 2
 
 9(1  ) 3(1  ) 9(1  ) 12(1  )
9  9  3  12 
 2 2 2 2 
 (1  ) 3(1  ) 4(1  ) 
E t  9  3  12 
12(1  2 ) S
K  2 2 2  drds
 9(1  ) 12(1  ) 
 Symmetrical 1 4 
 2 2 
 16(1  ) 
 0 
 2 
 16 

30-Apr-10
Triangular Elements
finally delivering the stiffness matrix for plane stress problem:
 9(1  ) 9(1  ) 3(1  ) 9(1  ) 12(1  ) 

 9  9   9 3   12 
2 2 2 2 2
 
 9(1  ) 3(1  ) 9(1  ) 12(1  )
9  9  3  12 
 2 2 2 2 
 (1  ) 3(1  ) 4(1  ) 
E t  9  3  12 
K  2 2 2 
24(1  2 )  
9(1  ) 12(1  )
 Symmetrical 1 4 
 2 2 
 16(1  ) 
 0 
 2 
 16 

30-Apr-10

Lecture4 - Elementos Isoparametricos

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Institute of Structural Engineering Page 1

Method of Finite Elements I

Today’s Lecture Contents

• The Shape Function

Method of Finite Elements I

The Shape Function

In general we may write: u ( x)   H i  x  ui  Hu

The Shape Function

Method of Finite Elements I

The Shape Function

where n is the order of the polynomial; is equal to the

In MFE we use three different polynomials:

Method of Finite Elements I

The Shape Function

A function φ(x) can be approximated by a polynomial of the order m

Method of Finite Elements I

The Shape Function

A function φ(x) can be approximated by a polynomial of the order m

Method of Finite Elements I

Method of Finite Elements I

Method of Finite Elements I

Remember: The 1st derivative of

Method of Finite Elements I

Method of Finite Elements I

Different schemes exist for establishing such transformations:

1 sub parametric representations (less nodes for

2 isoparametric representations (same nodes for both

3 super parametric representations (more nodes for

uˆ1 , vˆ1 1 3 uˆ3 , vˆ3

Method of Finite Elements I

The principle is to assure that the value of the shape function hi

Method of Finite Elements I

Since the shape functions are usually defined in natural

Method of Finite Elements I

Method of Finite Elements I

Method of Finite Elements I

Method of Finite Elements I

The relation between the displacement 1 1

Method of Finite Elements I

Method of Finite Elements I

and the stiffness matrix is calculated as:

Method of Finite Elements I

Node 1 Node 3 Node 4 Node 2

Method of Finite Elements I

Shape functions Include only if Include only if nodes 3 and 4

Method of Finite Elements I

Method of Finite Elements I

Method of Finite Elements I

u  (1  r  s)uˆ1  0vˆ1  ruˆ2  0vˆ2  suˆ3  0vˆ3

Method of Finite Elements I

Method of Finite Elements I

u  (1  r  s)uˆ1  0vˆ1  ruˆ2  0vˆ2  suˆ3  0vˆ3

Method of Finite Elements I

Method of Finite Elements I

Method of Finite Elements I

Method of Finite Elements I

 9(1  ) 9(1  ) 3(1  ) 9(1  ) 12(1  ) 

Method of Finite Elements I

 9(1  ) 9(1  ) 3(1  ) 9(1  ) 12(1  ) 

Method of Finite Elements I

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