Introduction to

Finite Element Analysis

한양대학교 기계공학과

Finite Element Method

 A general technique for constructing approximate solutions of a wide range of
engineering problems
 Applications range from deformation and stress analysis of automotive, aircraft,
building, and bridge structures to field analysis of heat flux, fluid flow, magnetic
flux, seepage, and other flow problems

Brief History
 Matrix method in structural mechanics (1940) for aircraft
 Force method (Levy 1947)
 Generalized by Agyvis & Kelsey (1953-1954) using unknown variable u with energy
principle
 Stiffness method (Levy & Schuech 1953)
• Turner, Clough, Martin, and Copp (1956): members of Boeing
• Finite Element Method (1960)
• Felippa (1966): Fundamental theory (math  FE theory)
• Wilson (Berkeley)  SAP, Bathe (MIT)  ADINA
• FEM book by Zienkiewicz (1967) and Oden (1969)

2
Examples of FEM

From Physical Phenomenon to FEM

물리현상  물리적 가정
• 재료 물성 (ex. 선형 탄성)
• 형상 (ex. 2D, 3D, 축대칭)
모델링 오차 지배 방정식 • 경계조건 etc
Continuous
 적분형 Eq. (Weak Form) Discrete
Truncation 오차
수치해석 모델 • Potential Energy 정리
(차분 오차) • Galerkin’s Method

• Each Element (Shape Function)

Matrix 구성 • Global Domain (Assembly)
KQ = F
Round-off 오차
수치해 도출
(버림 오차)
 결과 비교
• Experiment
검증 • Exact Solution (엄밀해)
• Convergence Test

분석 및 적용

4
Main Procedures for FE Simulation

전처리 수치해석 후처리

(Pre-process) (Simulation) (Post-process)
• 재료물성 정의
• 기하학적 형상 모델링
• 수치해석 기법 설정 • 각종 계산결과 가시화
• 계산 격자 (Nodes &
• 경계조건 및 초기조건 • 수치해 검증 및 분석
Elements) 생성
설정

 전처리 (Pre-process)
• 해석 대상의 기하학적 형상을 모델링하고 수치해석을 위한 이산 격자를 생성하는 작업
• 절점 (Node) 및 요소 (Elements) 구성
 수치해석 (Simulation)
• 재료물성을 정의하고 수치해석 기법과 경계조건 및 초기조건을 설정
• Solver를 사용하여 Matrix Eq. Solving
 후처리 (Post-process)
• 각종 해석 결과를 분석하고 결과를 가시화 하는 작업
• 수치해의 검증과 분석이 요구

1) Stress and Equilibrium

T: distributed force per unit area (surface traction)

u: deformation of a point x
f: body force per unit volume
P: concentrated load acting at a point i

T T
T  Tx Ty Tz  u  u x uy u z 
T T
f   f x fy f z  Pi   Px Py Pz 
i

x  x z
T
y

 xx  xy  xz    xx  xy 2  xz 2 
   

 xy  yy  yz  
 xy 2  yy  yz 2 
 xz  yz  zz    xz 2  yz 2  zz 
   
6
1) Stress and Equilibrium

 xx  yx 
F x  0 : ( xx 
x
dx)(dydz )  ( yx 
y
dy )(dzdx)  ( zx  zx dz )(dxdy )
z
  xx (dydz )   yx (dzdx)   zx (dxdy )  f x dxdydz  0 Eq. (1)
 xx  yx  zx
 xx  yx  zx
   fx  0
F x  0:
x

y

z
 fx  0
x y z
 xy  yy  zy
F y  0:
x

y

z
 fy  0

 xz  yz  zz
F z  0:
x

y

z
 fz  0
7

2) Strain-displacement relations
Strain-displacement Equations for small displacements

u v u v Eq. (2)
 xx   yy   xy  
x y y x
w w v w u
 zz   yz    xz  
z y z x z

8
 3) Stress-strain relations
Generalized Hooke’s Law for Isotropic Materials

 xx 
1
 xx  v  yy   zz   T  xx 
E
(1   )(1  2 )
(1   ) xx  v  yy   zz   (1  v)T 
E
 yy   yy  v  xx   zz   T
1
E
 yy 
E
(1   )(1  2 )
(1   ) yy  v xx   zz   (1  v)T 
 zz   zz  v  xx   yy   T
1
E  zz 
E
(1   )(1  2 )
(1   ) zz  v  xx   yy   (1  v)T 
 yz
 yz   yz  G yz
G
 xz  xz  G xz
 xz   xy  G xy
G
 xy
 xy 
G

ε( 61)  S( 66) σ( 61) matrix form σ( 61)  C( 66) ε( 61)

3) Stress-strain relations
In summary, generalized Hooke’s Law is in the matrix form like below:

ε( 61)  S( 66) σ( 61)  1

E
v
E
v
E
0 0 0

 
 xx    v 1 v
0 0 0   xx  T 
   E E E   yy  T 
 yy    v v 1    
0 0 0    T 
 zz   E E E   zz 
  
    
 yz   0
1
0 0 0 0   yz   0 
 xz   G    xz   0 
1
   0
 xy  0 0 0 0   xy   0 
 G  
 1
 0 0 0 0 0
G 
σ( 61)  C( 66) ε( 61) Eq. (3)
 E (1   ) E E 
 0 0
0
 xx   (1   )(1  2 ) (1   )(1  2 ) (1   )(1  2 ) 
  xx   
   E E (1   ) E    
 yy   (1   )(1  2 ) 0 0 0   yy   
(1   )(1  2 ) (1   )(1  2 ) 
 zz   E E E (1   )  
  zz 
 E (1   )  T  
  0 0 0     (1   )(1  2 )  0 

   (1   )(1  2 ) (1   )(1  2 ) (1   )(1  2 )    
yz yz

  xz   0 0 0 G 0 0   xz  0
       
 xy  0 0 0 0 G 0  xy  0
 
 0 0 0 0 0 G 
10
3) Stress-strain relations
Special Cases

 1D   E
 2D
• Plane Stress:  zz   xz   yz  0  xx  f ( x, y ),  yy  f ( x, y ),  xy  f ( x, y )
1 E
 xx  ( xx  v yy )  xx  ( xx  v yy )  
E 1  2  xx  1  0   xx 
  E  1  
1 E  yy   0   yy 
 yy  ( yy  v xx )  yy  ( yy  v xx ) 1  2   
E 1  2  
 xy   0 0 (1  )   xy 
 xy  xy  G xy  2
 xy 
G
• Plane Strain:  zz   xz   yz  0 u  f ( x, y ), v  f ( x, y ), w  const.
E  
 xx  [(1   ) xx  v yy ]
(1   )(1  2 )  xx  1   0   xx 
E   E   
 yy  [v xx  (1   ) yy ]  yy     1  0   yy 
(1   )(1  2 )    (1   )(1  2 )  1   xy 
 xy   0 0  v
 xy  G xy  2 

11

3) Stress-strain relations
Special Cases

Plane Stress

Plane Strain

12
4) Boundary Conditions
Displacement BC

 u is specified on part of the boundary denoted by Su

• u = 0 on Su
Eq. (4)
• u = a on Su (a is a given displacement vector)

Surface Loading Condition

T
n   nx ny nz  : unit normal vector to dA
T
T  Tx Ty Tz  : stress vector acting on dA
(surface traction)

Tx  nx xx  n y xy  nz xz
Eq. (4)
Ty  nx xy  n y yy  nz yz
Tz  nx xz  n y yz  nz zz

13

참조) Surface Loading Condition

Stress Vector σ x   xx i   xy j   xz k
F σ y   yx i   yy j   yz k
σ  lim
A0 A σ z   zx i   zy j   zz k
Note)  xx  σ X  i,  xy  σ X  j,  xz  σ X  k
(i, j, k: normal vector for each direction)

From force equilibrium,

N  li  mj  nk
h l 2  m2  n2  1 σ P ABC  σ x OBC  σ y OAC  σ z OBA
 σ P  lσ x  mσ y  nσ z
N: unit normal vector to
plane P Note) from volume equivalence
l, m, n: direction cosine of N OBC OAC OBA
l m n
ABC ABC ABC
h: perpendicular distance ex) h  ABC  O A  OBC

14
참조) Surface Loading Condition
From the previous derivation, σ P  lσ x  mσ y  nσ z (1)
σP can be also expressed as σ P   Px i   Py j   Pz k (2)
From (1) = (2),

 Px  l xx  m yx  n zx (i component)

 Py  l xy  m yy  n zy (j component)

 Pz  l xz  m yz  n zz (k component)

Normal stress PN and shear stress PS on the plane P

 PN  σ P  N  ( Px i   Py j   Pz k )  (li  mj  nk )
 l 2 xx  m 2 yy  n 2 zz  2mn yz  2ln xz  2lm xy

 PS   P2   PN
2
  Px
2
  Py
2
  Pz
2
  PN
2

15

5) Temperature Effects
 Isotropic materials: material properties such as E and  are independent of
orientation in the body

ε total  ε th  ε mech principal of superposition

εth  T T T 0 0 0

T

Stress-strain relations: σ = D  ε  ε th 

Plane stress: ε th  T T 0

T

Plane strain: ε th  1    T T 0

T

16
 6) Potential Energy and Equilibrium
 Our purpose is to determine the displacement u satisfying the equations (1) to (3)
• Eq (1): equilibrium eq (stress term)
• Eq (2): strain-displacement relations B.C. (Eq (4))
• Eq (3): stress-strain relations
 For example, 2D plane stress problem
 xx  yx u v 1 E
  Bx  0  xx  ,  yy   xx  ( xx  v yy )  xx  ( xx  v yy )
x y x y E 1  2
 xy  yy u v 1 E
 xy    yy  ( yy  v xx )  yy  ( yy  v xx )
  By  0 y x E 1  2
x y
 xy  xy  G xy
 xy 
(1) (2) G (3-1)
(3)
E u v
 xx  ( v )   2u  2u  1     u v 
1   x
2
x G  2  2   G     Bx  0
(2)(3-1) (4)(1)  x y  1   x  x y 
E v u
 yy  ( v )   2v  2v  1     u v 
1   2 x x G  2  2   G     By  0
u v  x y  1   y  x y 
 xy  G(  )
y x + Boundary Conditions  Solve the Equation for (u, v)
VERY COMPLICATED AND DIFFICULT!! (Strong form)

17

6) Potential Energy and Equilibrium

 Strong form
• Differential equations that satisfy the conditions at all points inside an object
• For complex geometries and general BCs, obtaining solutions is an almost
impossible task
 Weak form
• Integral equations that satisfy the conditions in an average sense over the
small region of interest
• Less stringent conditions on the functions, so approximate solutions can be
obtained

18
6) Potential Energy and Equilibrium
Potential Energy 

Total potential energy () = strain energy (U) + work potential (WP)
1
U    xx xx   yy yy   zz zz   yz yz   xz xz   xy xy  dV
V
2
1
=
2 V
σ Tε dV

WP    u Tf dV   u T T dS   u Ti Pi
V S
i
Body force Surface traction Nodal point load

1
σ Tε dV   u Tf dV   u T T dS   u Ti Pi
2 V
 
V S
i

Principle of Minimum Potential Energy

 For conservative systems, of all the kinematically admissible displacement fields,
one that minimizes the potential energy is the solution in the equilibrium state
 Kinemetically admissible displacements: differentiable + compatibility + BCs

19

6) Potential Energy and Equilibrium

Example

q1: nodal displacement of node 1

q2: nodal displacement of node 2
q3: nodal displacement of node 3

1 1 1 1
 k112  k2 22  k3 32  k4 42  F1q1  F3 q3
2 2 2 2
where 1  q1  q2 ,  2  q2 ,  3  q3  q2 ,  4  q3
1 1 1 1
 k1 (q1  q2 ) 2  k2 q22  k3 (q3  q2 ) 2  k4 q32  F1q1  F3 q3
2 2 2 2

To minimize ,  0, i  1, 2,3
qi

Kq = F
 k1 (q1  q2 )  F1  0
q1  k1 k1 0   q1   F1 
 k    

 k1 (q1  q2 )  k2 q2  k3 (q3  q2 )  0  1 k1  k2  k3 k3  q2    0 
q2
 0  k3 k3  k4   q3   F3 

 k3 (q3  q2 )  k4 q3  F3  0 K q F
q3

20
6) Potential Energy and Equilibrium
Rayleigh-Ritz Method

 One of the methods that find approximate solutions

 Assume that u, v, w must be kinematically admissible and satisfy BCs.

u   aii ( x, y, z ) i  1 to l
v   b j j ( x, y, z ) j  1 to l
w   ck  k ( x, y, z ) k  1 to l

 a: unknown, : pre-defined, usually polynomials ( shape function)

u  a11 ( x)  a22 ( x)  a33 ( x)  a1  a2 x  a3 x 2

 1  1, 2  x, 3  x 2

   (q1 , q2 , , qr )   (a1 , a2 , , ar )

 0, i  1, 2, , r
ai
r : number of unknowns

21

6) Potential Energy and Equilibrium

du
Example 1D axial deformation,   E ,   , V  Adx
dx
2
1 1  du 
  σ Tε dV   u Ti Pi   EA   dx  2u1
2 V i 2 V  dx 
Assume a polynomial function
u  a1  a2 x  a3 x 2
u  0 at x  0, and u  0 at x  2
0  a1
0  a1  2a2  4a3
 a2  2a3
 u  a3 (2 x  x 2 ), u1   a3
du
 2a3 (1  x) and
dx
1 4
 =  4a32  1  x  dx  2(a3 )  a32  2a3
2

2 V 3
Here
 8
 a3  2  0  a3  0.75, u1   a3  0.75
a3 3
du
Stress   E  1.5(1  x)  exact solution
dx
22
7) Galerkin’s Method
Overview

 Galerkin’s method develops an integral form by using the set of governing equations
 It is usually presented as one of the weighted residual methods
 For a simple 1D problem

From Eq. (1) 0
x
Exact solution needs
du   du  to satisfy at every
From Eq. (2)    EA  =0
dx x  dx  point (strong form)
From Eq. (3)   E
d d
 For a general representation Lu  P, where L  E ()
dx dx
 For an approximate solution u , error R(x) is introduced R ( x)  Lu  P (Residual)

 W  Lu  P  dV  0,
 Setting the residual relative to a weighting i  1, 2, , n
i
function Wi to zero gives an approximate solution V

(Wi are chosen from the same basis functions for u )

23

Beam deflection equations

7) Galerkin’s Method d 2v
EI  M ( x)
Method of Weighted Residuals dx 2
d  d 2v 
z, v w  f ( x) EI = const.  EI   V ( x)
dx  dx 2 
x d 2  d 2v 
 EI   w( x)
dx 2  dx 2 
L

d 4v Approximate v
EI  f ( x)  0 v   ai Gi  a1G1  a2G2    anGn ,  Gi
dx 4 Displacement ai
(ai: coefficients, Gi: basis function )
d 4 v
R ( x)  EI 4  f ( x) (Residual Error)
dx Family of weighted residuals

Collocation Method R ( xi )  0 W ( x)   ( x  xi ) L

L

0
W ( x) R( x) dx  0
Subdomain Method 
0
R ( x) dx  0 W ( x)  1 Weight Residual Error
L
W ( x)  R ( x)
Least Square Method 
0
R( x) 2 dx  0
e3 <Orthogonality>
F
v R = F  F
L R  ei  0
Galerkin’s Method: use
ai
for weight 
0
Gi ( x) R ( x) dx  0 e2
F
R(x) is orthogonal to Gi(x) (similar to dot product of vectors) e1 ei : weights (basis vectors)
Gi : weights (basis functions)

24
 7) Galerkin’s Method
Galerkin’s method

 In Galerkin’s method, Wi uses the same basis functions as u

n
u   ai Gi ( x, y, z ) ai: coefficients to be determined
Gi: basis function (polynomials as a function of x, y, z)
i 1
u should satisfy boundary conditions
 The weighting functions  (=W),
n i: arbitrary coefficients
   i Gi ( x, y, z ) Gi: same basis function for u
i 1  should satisfy boundary conditions for u
 Galerkin’s method states ( R( x)  Lu  P )
n
Determine the coefficient ai in u   a G ( x, y , z )
i 1
i i such that

   Lu  P  dV  0
V
or

V
Gi  Lu  P  dV  0 (i  1, 2,..., n)
n
for every  of the type     G ( x, y, z ) where coefficient  are arbitrary
i 1
i i i

except for requiring that  satisfy boundary conditions.

 Solving n equations for ai  Approximate solution u

25

7) Galerkin’s Method
Example 1.3 on page 31
n
1) V
  Lu  P  dV  0 for every i where    i Gi ( x, y, z ) cf)  = W (weighting function)
i 1

Consider the differential equation Using integraion by parts,

du 1 du 1 dW

dx
 2u  1, 0  x  1, u (0)  1 0 W dx dx  0 u dx dx  W (1)u (1)  W (0)u (0)
Assume a polynomial basis function Since W (0)  0, the variatioal form is
u  a  bx  cx 2  a1G1 ( x)  a2G2 ( x)  a3G3 ( x) 1 dW 1 1
 u dx  W (1)u (1)  2 Wudx   Wdx=0
From BC u (0)  1, a  1 0 dx 0 0

with u (1)  1  b  c
Then u  1  bx  cx 2
du
1
Substituting W  Bx  Cx 2 , we get
Galerkin's method  W (  2u  1)dx  0, W (0)  0 Bf (b, c)  Cg (b, c)  0
0 dx
W  A  Bx  Cx 2  1G1 ( x)  2G2 ( x)  3G3 ( x) Because B and C are arbitraty, f (b, c)  0 & g (b, c)  0
(same basis function) f (b, c)  0 : 1.167b  1.167c  0.5
W  0 at x = 0 g (b, c)  0 : 0.8333b  0.9c  0.333
(  u is specified at this point and a is determined)  b  0.7857, c  0.3571
W  Bx  Cx 2 Approximate solution u ( x)  1  0.7857 x  0.3571x 2

 Galerkin’s method provides approximate solutions directly from the different equation

26
 7) Galerkin’s Method
Same example 1.3
n
2)  Gi  Lu  P  dV  0 (i  1, 2,..., n) where u   ai Gi ( x, y, z ) cf) Gi: basis function
V
i 1

Consider the differential equation When i  2, 3, substitute u  1  bx  cx 2 into eqns

du 1du 
 2u  1, 0  x  1, u (0)  1
dx 0 dx
 2u  1)dx  0 
x(
  1.167b  1.167c  0.5
  
Assume a polynomial basis function 2 du 0.8333b  0.9c  0.333
0 x ( dx  2u  1)dx  0 
1

u  a  bx  cx 2  aG1 ( x)  bG2 ( x)  cG3 ( x)

From BC u (0)  1, a  1  b  0.7857, c  0.3571
Then u  1  bx  cx 2 Approximate solution u ( x)  1  0.7857 x  0.3571x 2
1 du
Galerkin's method  G ( dx  2u  1)dx  0,
0
i i  1, 2,3

G1  1, G2  x, G3  x 2 (same basis function)

i  1: No need because a is already determined
1 du
i  2 :  x(  2u  1)dx  0
0 dx  The two approaches are basically the
1 du same
i  3 :  x2 (  2u  1)dx  0
0 dx

27

7) Galerkin’s Method
Example 1.4 on page 34

Consider the differential equation

d  du 
 EA   0, u (0)  0 & u (2)  0
dx  dx 
d  du 
2
Galerkin's method
dx  
0 dx 

 EA  dx  0
Thus,
Using integraion by parts,
2 du d  du 
2  2

0 
1 u1  (2  2 x) 2 dx  2  0
0  EA
dx dx
dx    EA   0
 dx 0  8 
1   u1  2   0
 (0)  0 &  (2)  0 ( u is specified at these points)  3 
Since this is to be satisfied for every 1 ,
du
EA is tension, which takes a jump of 2 at x  1 u1  0.75
dx
2 du d  Approximate solution u  0.75(2 x  x 2 )
0  EA dx dx dx  2 (1)  0
Using the same polynomial basis function,  Galerkin’s method works directly from the
u  u1 (2 x - x 2 ) differential equation, so it is preferred to
  1 (2 x - x )
2
the Rayleigh-Ritz method

28
 7) Galerkin’s Method Governing Eq.
t
Example of the 1D Bar problem    d  F  (  d ) A  tdX   A  0
d du
t  cX (traction: force per unit length) dX A  t ,   E  E
dX dX
X
 d 2u 
 EA  2   cX
L  dX 
(2nd order ODE with 2 BCs) Essential BC: u (0)  0 d 2uapprox cX
du Residual
Non-Essential BC:  ( L)  0  0 Error R ( x )  
dX X L dX 2 EA

Approximation Function Weight Func (Wi) = Trial Basis Func (Gi(X))

uapprox  a0G0 ( X )  a1G1 ( X )  a2G2 ( X )  a3G3 ( X ) W1  G1 ( X )  X , W2  G2 ( X )  X 2 , W3  G3 ( X )  X 3

uapprox  a0  a1 X  a2 X 2  a3 X 3
 d 2uapprox cX 
L

Essential Boundary Conditions  Wi R( x) dX  0  o Wi  dX 2  EA  dX  0

 
uapprox (0)  0  a0  0 L  d 2uapprox cX 
 o
X
 dX 2
  dX  0
EA 
uapprox  a1 X  a2 X 2  a3 X 3  3 eqns with 3 unknowns,
L  d 2uapprox cX 
but infinite solutions
which satisfies Essential BC  o
X2
 dX 2
  dX  0
EA 
 (We did not consider the
 Determine a1, a2, and a3 L  d 2uapprox cX 
 o
X3
 dX 2
  dX  0
EA 
non-essential BC yet)


29

7) Galerkin’s Method
Example of the 1D Bar problem

t  cX (traction: force per unit length)

du
X Non-Essential BC:  ( L)  0  0
dX X L

L
To incorporate the non-essential BC, we will rearrange the equation
L  d 2uapprox cX  L  d 2uapprox  L  cX 
o
Wi 
 dX 2
  dX  0 
EA  o
Wi 
 dX 2  dX  o Wi   dX
 EA 
  
then we use integration by parts for the left-hand side
X L
L  d 2uapprox   duapprox  L  dW   duapprox 
o Wi  dX 2 
dX  Wi 
 dX

 X 0
 
o
 dX
i

  dX
 dX

 

 dWi   duapprox   cX 
W  X , W 
L L
Finally, we get o 
 dX

  dX
 dX  o Wi 

 dX
 EA 
1 2  X 2 , W3  X 3

L   duapprox 
 dX L  cX  cL3
o 
 dX
  dX 
 dX  o X 
 EA 
 dX a1 L  a2 L2  a3 L3 
3EA cL2 c
a1  , a2  0, a3  
L  dX   duapprox 
2
L
2  cX  4a L 3
3a L4
cL4 2 EA 6 EA
o  dX   dX  dX  o X  EA  dX a1 L2  2  3 
3 2 4 EA cL2 c
uapprox  X X3
3a2 L4 9a3 L5 cL5 2 EA 6 EA
L  dX   duapprox 
3
3  cX  a1 L   
L 3

o  dX   dX  dX  o X  EA  dX 2 5 5 EA

30
 7) Galerkin’s Method
For elasticity
From Eq (1),
  xx  yx  zx    xy  yy  zy     yz  zz  
      f x  x      f y   y   xz    f z  z  dV  0
 x y z   x y z   x y z  
V

T
where φ = x  y z  is an arbitrary displacement which satisfies the BC of u
From divergence theorem,  A  n dS     A dV
S V
(n : surface unit normal vector)

By integrating by part, rearranging terms, and using divergence theorem, we get

  σ Tε( )dV   φ TfdV    nx xx  n y xy  nz xz  x   nx xy  n y yy  nz yz   y   nx xz  n y yz  nz zz  z  dS  0
V V S

where
T
   y z  y  x z x  y 
ε( )   x  z   
 x y z z y z x y x 
On the boundary,
Tx  nx xx  n y xy  nz xz , Ty  nx xy  n y yy  nz yz , Tz  nx xz  n y yz  nz zz (Eq. (4))
Thus,
 σ Tε( )dV   φ TfdV   φ T TdS   φ T P  0
V V S
i

•  is an arbitrary displacement consistent with the specified BCs of u

•  and u have the same basis functions (later shape functions)

31

7) Galerkin’s Method
참고) Virtual Work  xx  yx  zx  11  21  31
F x  0:
x

y

z
 fx  0
x1

x2

x3
 f1  0

 xy  yy  zy  12  22  32
Eq. (1) F y  0:
x

y

z
 fy  0
x1

x2

x3
 f2  0

 xz  yz  zz  13  23  33
F z  0:
x

y

z
 fz  0
x1

x2

x3
 f3  0

We multiply the force in each direction by its corresponding virtual displacement

  11  21  31           
    f1  1   12  22  32  f 2  2   13  23  33  f3  3  0
 x1 x2 x3   x1 x2 x3   x1 x2 x3 
3  ji 3

We can simply the equation to a more compact form 

i , j 1 x j
i   fii  0
i 1

Before integrating over the domain, manipulate the equation

 ( jii )  ji i  ji  ( jii ) i
 i   ji i    ji
x j x j x j x j x j x j
By substituting the equation into our equation
  ( jii )   3
3  ( jii ) 3 3
i
   fii  
3

 
i , j 1  x j
  ji i    f ii  0
x j  i 1 i , j 1 x j i 1 i , j 1
ji
x j

32
7) Galerkin’s Method
참고) Virtual Work 3  ( jii ) 3 3
i

i , j 1 x j
  f ii 
i 1

i , j 1
ji
x j

i 1  1     1    j 
Here  ji   ij   ji  i    ij i   ji i    ij  i     ij ij ( ) (Strain)
x j 2 
x j 2  x j 
x j  2  x j xi 

3  ( jii ) 3 3


i , j 1 x j
  fii 
i 1

i , j 1
 ( )
ji ij

Now, we will integrate over the domain

3  ( jii ) 3 3


V
i , j 1 x j
dV  
V
 f
i 1
i i dV  
V

i , j 1
 ( ) dV
ji ij

3  ( jii ) 3 3 3 3


V
i , j 1 x j
dV  
V
 div    dV       n
i , j 1
ji i S
i , j 1
ji i j dS  
S
 
i , j 1
ji n j  i dS  
S
t
i , j 1
i i dS

Divergence theorem
3 3 3
Finally, we will get
 t
S
i , j 1
i i dS  
V
 f
i 1
i i dV  
V

i , j 1
 ( ) dV
ji ij
(index form)

φ t dS   φ Tf dV   σ Tε( ) dV
T
(vector form)
S V V

33

Matrix Algebra
Ax = B

한양대학교 기계공학과

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