Chap 9 Shape Functions Consist Load

F.E.M.
: Chapter 9
Shape functions and consistent loading in 1D
J.-P. Ponthot
University of Liège - Belgium
December 6, 2021
Introduction
F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 2 / 41

Introduction
Shape function and consistent loads in 1D

● allows interpolation from nodal values to values anywhere into the element
● necessary for stiffness matrix and consistent loading evaluations
intra
● enforce inter element continuity (slope can be discontinuous)
● completeness is also capital for convergence
PROPERTIES (requirement - some exceptions do exist - see e.g. Hermitian

interpolation)
● N
PI (xJ ) = δIJ ∀xJ = nodal point
● NI (x) = 1 ∀x ∈ element (rigid body motion)
⇒ interpolation conditions
● compact support (→ sparse matrix)

Lagrange interpolation
0
C continuity

Lagrange interpolation in 1D
● So far the shape functions were computed using identification of internal

parameters with connectors
● They can also be computed using Lagrange interpolation
● Elements based on Lagrange interpolation are called ”Lagrange Elements”

Lagrange interpolation: the bar element
What we already know:
ORDER 1
u(x) = N1 (x)u1 +N2 (x)u2

N1 (x) = 1 − Lx
N1 + N2 = 1 ∀x ∈ [0, L]
N2 (x) = Lx
First order bar element

EA 1 −1 u1 γ̄L 1
K= L q= g= 2
−1 1 u2 1

ORDER 2
1 1 1
x1 x3 x 2 x1 x3 x2 x1 x3 x2
u(x) = N1 (x)u1 + N2 (x)u2 + N3 (x)u3


2x2
N1 (x) = 1 − 3x
L + L2

 3
X
4x 4x2
N2 (x) = L − L2 2
⇒ NI (x) = 1 ∀x ∈ [0, L]

N3 (x) = − Lx + 2x
L2
 i=I

Alternative numbering - Bar element
x1 x12 or x3 x2 x1 x2 x3
     
7 1 −8  u1   1 
E  γ̄L
K = 3L 1 7 −8  q = u2 g= 6  1 
 
−8 −8 16 u12 4
● All numbering are equivalent → They deliver same results

● You have to be consistent

Systematic construction of the Lagrange polynomial of degree n

(x−xI )
omitted
(x − x1 )(x − x2 ) · · · (x − xI−1 ) z}|{ (x − xI+1 ) · · · (x − xn+1 )
LnI (x) =
(xI − x1 )(xI − x2 ) · · · (xI − xI−1 ) |{z} (xI − xI+1 ) · · · (xI − xn+1 )
(xI −xI )
omitted
n : degree of the polynomial

I : node or sampling point
Basic property : LnI (xJ ) = δIJ
● note : subintervals do not have to be equal but they are generally taken so

Application : interpolating polynomial of degree n of a function F (x) (we just
assume we can evaluate F (x) ∀ x).
n+1
X
ψ(x) = FI LnI (x) with FI = F (xI )
I=1
Discrete values at sampling points
Basic interpolation property : ψ(xJ ) = F (xJ ) ∀J; J = 1 · · · n + 1

i.e. both ψ and F have the same values at the sampling points (if not, ψ would
just be an approximating function).
● If F (x) is a complex function
Z Z Z n+1
X
→ F (x) dx ≃ ψ(x) dx = FI LnI (x) dx
I=1
n+1
X Z
= FI LnI (x) dx
| {z }
I=1
POLYNOMIAL
→ Approximation technique to
numerically evaluate integrals
→ See Gauss Legendre integration
● LnI (x) ⇒ Systematic generation of shape functions of degree n in 1D!

Lagrange interpolation - Order 1
(x − x1 )(x − x2 ) I = 1 or 2 (the singular term

L1I (x) =
(xI − x1 )(xI − x2 ) has to be omitted)
Node x1
x − x2
L11 (x) = valid ∀ x1 6= x2
x1 − x2
Particular
cases:
x1 = −1
if ⇒ L11 (x) = 1−x
2
x 2 = +1
x1 = 0
if ⇒ L11 (x) = 1 − x
x2 = +1

Node x2
x − x1
L12 (x) = valid ∀ x1 6= x2
x2 − x1
Particular
cases:
x1 = −1
if ⇒ L12 (x) = x+1
2
x 2 = +1
x1 = 0
if ⇒ L12 (x) = x
x2 = +1
Any node xI : NI (x) = L1I (x) = 12 (1 + x xI )

where xI = coordinates of node I (−1 or + 1)
⇒Compact form for interval [−1, 1]

(x − x1 )(x − x2 )(x − x3 ) I = 1, 2 or 3 (the singular

L2I (x) =
(xI − x1 )(xI − x2 )(xI − x3 ) term has to be omitted)
Node x1
(x − x2 )(x − x3 )
L21 (x) =
(x1 − x2 )(x1 − x3 )
Particular
 case:
 x1 = −1
x(x−1)
if x2 = 0 ⇒ L21 (x) = 2

x3 = +1

Node x2
(x − x1 )(x − x3 )
L22 (x) =
(x2 − x1 )(x2 − x3 )
Particular
 case:
 x1 = −1
if x2 = 0 ⇒ L22 (x) = (1 − x)(1 + x)

x3 = +1

Node x3
(x − x1 )(x − x2 )
L23 (x) =
(x3 − x1 )(x3 − x2 )
Particular
 case:
 x1 = −1
x(x+1)
if x2 = 0 ⇒ L23 (x) = 2

x3 = +1

Element Interpolation and Local
Coordinates

● So far the shape functions depend on the element geometry (at least its length,
which is defined on [0, L])
● Interest for defining a “local” or “natural” coordinate system (e.g. ξ ∈ [−1, 1]
or r ∈ [0, 1] so that the calculations for a typical element may be standardized
● By an appropriate change of variables any interval x ∈ [x1 , x2 ] can be mapped
onto ξ ∈ [−1, +1] using x = x2 −x 2
1
ξ + x2 +x1
2
L
Example: [0, L] → [−1, +1] : x = 2 (1 + ξ)
● Shape functions can thus be defined independently of the element geometry ⇒
systematic computation
● Finite Elements that have shape functions built on Lagrange interpolation
function are called LAGRANGE ELEMENTS

Element Interpolation and Local Coordinates
−1 ≤ ξ ≤ 1 0≤r≤1
A) Linear
x1 x2 (1−ξ) 1
N1 = 2 or NI = (1 + ξξI ) N1 = (1 − r)
2
(1+ξ)
N2 = 2 with I = 1 or 2 N2 = r
B) Quadratic
ξ(1−ξ)
N1 = 2 N1 = (r − 1)(2r − 1)
x1 x3 x2 ξ(1+ξ)
N2 = 2 N2 = r(2r − 1)
N3 = (1 + ξ)(1 − ξ) N3 = 4r(1 − r)
C) Cubic
N1 = (1 − ξ)(3ξ + 1) (3ξ−1)
16 N1 = (1 − r)(r − 3r) (1−3r)
2
(3ξ−1) (1−3r)
x1 x3 x4 x2
N2 = (1 + ξ)(3ξ + 1) 16 N2 = r(2 − 3r) 2
N3 = 9(1 + ξ)(ξ − 1) (3ξ−1)
16 N3 = 9r(1 − r) (2−3r)
2
(3ξ+1) (3r−1)
N4 = 9(1 + ξ)(1 − ξ) 16 N4 = 9r(1 − r) 2

Consistent nodal forces in 1D

Consistent nodal forces
Work done by applied loads:
applied load
Z L nodal value
P= u(x)t̄(x)dx and since u(x) = NI (x)uI , one gets P = uI gI
0
Continuum Mechanics Discrete Approximation
Z L Z +1
L
with gI = NI (x)t̄(x) dx = NI (ξ)t̄(ξ) dξ
0 2 −1

ξ ∈ [−1, 1] L
note : ⇒ dx = 2 dξ
x ∈ [0, L]
● systematic computation of nodal forces
● Since u(x) = NI (x)uI ; u(x) is polynomial (this is a restriction) but t̄(x) is
quite arbitrary (as long as integrals remain well defined!).

Z +1 Z +1
L L
P= u(ξ)t̄(ξ) dξ = NI (ξ)t̄(ξ) dξ uI = g I uI
2 −1 2 −1 |{z}
| {z } | {z } Finite Element
Continuum Mechanics gI approximation
g2
t(x)
g1
x u1 u2
Continuum F.E. approx
t(x) = applied load Discrete nodal loads
● discrete nodal loads gI do represent the actually applied load in an energy

consistent way. They are called consistent nodal forces.
● gI and uI are energy conjugated.
● In 2D or 3D, both u and t̄ are vectors and loading t̄ can have any direction.
Any component of u and t̄ will result in the same component for uI and gI .
Body forces can also be applied in a similar way.

Actual P
load P
L L 2/3
1/2 1/2
Consistent 1/3
load linear
4/6 2/3
1/6 1/6 1/3
0
quadratic
36/60
1/8 3/8 3/8 1/8 2/60 9/60 13/60
cubic
Fraction of total load (respectively P L & P L/2) applied to each node

32/90 32/90
12/90
7/90 7/90
degree 4
75/288 75/288
50/288 50/288
19/288 19/288
degree 5
Fraction of total load (P L) applied to each node

Hermitian interpolation :
Bar element (1)

Hermitian interpolation : Bar element (1)
● Lagrange interpolation only enforces C 0 interelement continuity

● Aim : Enhance higher order continuity
● Example : C 1 bar element : 2 DOF’s per node
T

q = u1 u′1 u2 u′2
X4
u(ξ) = NI uI ξ ∈ [−1, 1]
I=1
Physical interpretation :
● u → displacement
● u′ → derivative, slope, ...
● NI =?? (shape functions)

Hermitian interpolation : Bar element (2)
assumed displacement and derivative :
u(ξ) = α0 + α1 ξ + α2 ξ 2 + α3 ξ 3 ξ ∈ [−1, 1]
⇒ u′ (ξ) = α1 + 2α2 ξ + 3α3 ξ 2
identification :
u1 = u(−1) = α0 − α1 + α2 − α3
u′1 = u′ (−1) = α1 − 2α2 + 3α3
u2 = u(1) = α0 + α1 + α2 + α3
u′2 = u′ (1) = α1 + 2α2 + 3α3
inversion :
⇒ αi = f ct(u1 , u′1 , u2 , u′2 )
leads to :
4
X
⇒ u(ξ) = f ct(u1 , u′1 , u2 , u′2 , ξ) = NI (ξ)uI
I=1
where the NI are the shape functions

Hermitian interpolation
Hermitian shape function plots in terms of ξ ∈ [−1, 1]
1 N1 N1 (ξ) = 14 (1 − ξ)2 (2 + ξ)
N2 (ξ) = 41 (1 − ξ)2 (1 + ξ)
N3 (ξ) = 41 (1 + ξ)2 (2 − ξ)
N2 N4 (ξ) = − 14 (1 + ξ)2 (1 − ξ)
tg q=1
P
1 N.B. NI 6= 1
N3
This is an exception as mentionned at
the beginning of the chapter.
N4 tg q=1 This property is valid for Lagrangian
interpolation, not for Hermitian inter-
x=-1 x=1
polation.

du
● Subtlety: So far we have both u(ξ) and u′ (ξ) = that are polynomials in ξ.
dξ
They have thus the same physical dimensions (e.g. meters) and so have the
NI .
2x
● The strains in the bar have to be computed as (remember: ξ = − 1)
L

du(ξ) du(ξ) dξ 2 2 X dNI
ε(ξ) = = = u′ (ξ) = qI
dx dξ dx L L dξ
| {z } |{z} I
u′ Jacobian

Element shape functions in terms of r ∈ [0, 1]
d()
x = Lr ⇒ dx = Ldr ()′ =
dx
C 1 continuity : u(r) = H1 u1 + H2 u′1 + H3 u2 + H4 u′2
H1 (r) = (2r3 − 3r2 + 1)
H2 (r) = (r3 − 2r2 + r)L
H3 (r) = (3r2 − 2r3 )
H4 (r) = (r3 − r2 )L
where
du du dr 1 du
u′1 = = = L
dx x=0 dr dx dr r=0
du du dr 1 du
u′2 = = =
dx x=L dr dx L
|{z} dr r=1
Explains the
appearance of L
in H2 and H4

C 2 continuity :
U (r) = H1 u1 + H2 u′1 + H3 u′′1 + H4 u2 + H5 u′2 + H6 u′′2
H1 (r) = (1 − 10r3 + 15r4 − 6r5 )

H2 (r) = (r − 6r3 + 8r4 − 3r5 )L
2 3 4 5 L2
H3 (r) = (r − 3r + 3r − r ) 2
H4 (r) = (10r3 − 15r4 + 6r5 )
H5 (r) = (7r4 − 3r5 − 4r3 )L
3 4 5 L2
H6 (r) = (r − 2r + r ) 2

C 3 continuity :
U (r) = H1 u1 + H2 u′1 + H3 u′′1 + H4 u′′′ ′ ′′ ′′′
1 + H5 u 2 + H6 u 2 + H7 u 2 + H8 u 2
H1 (r) = (1 − 35r4 + 84r5 − 70r6 + 20r7 )

H2 (r) = (r − 20r4 + 45r5 − 36r6 + 10r7 )L
2 4 5 6 7 L2
H3 (r) = (r − 10r + 20r − 15r + 4r ) 2
3 4 5 6 7 L3
H4 (r) = (r − 4r + 6r − 4r + r ) 6
H5 (r) = (35r4 − 84r5 + 70r6 − 20r7 )
H6 (r) = (10r7 − 34r6 + 39r5 − 15r4 )L
4 5 6 7 L2
H7 (r) = (5r − 14r + 13r − 4r ) 2
7 6 5 4 L3
H8 (r) = (r − 3r + 3r − r ) 6

EXAMPLE :
1
BAR ELEMENT WITH C
CONTINUITY

Hermitian interpolation for bars (1)
● Displacement interpolation
4
X 2x dξ 2
u(ξ) = N I qI = N q ξ= −1⇒ = ξ ∈ [−1, 1]
L dx L
I=1
with
● Generalized displacements
T

q = u 1 ε1 u 2 ε2
N.B. Nodal values for strains:
du du dξ 2 ′ L
ε1 = = = u1 ⇒ u′1 = ε1
dx ξ=−1 dξ ξ=−1 |{z}
dx L 2
| {z }
2/L
u′1
du du dξ 2 ′ ′ L
ε2 = = = u 2 ⇒ u 2 = ε2
dx ξ=+1 dξ ξ=+1 |{z}
dx L 2
| {z }
2/L
u′2

To interpolate the displacement in terms of εI , instead of u′I , we have to introduce

a modification in the notation:
u(ξ) = N1 u1 + N2 u′1 + N3 u2 + N4 u′2
L L
= N 1 u 1 + N 2 ε1 + N 3 u 2 + N 4 ε2
2 2
= N1 u1 + N2∗ ε1 + N3 u2 + N4∗ ε2
with
L 1
N2∗ = N2 = L(1 − ξ)2 (1 + ξ)
2 8
L 1
N4∗ = N4 = − L(1 + ξ)2 (1 − ξ)
2 8
N.B. To alleviate the notation, we will omit the ∗

● So finally, we write the displacement interpolation as
4
X
u(ξ) = N I qI = N q
I=1
with:
● Generalized displacements (yields continuity for both u and ε)
T

q = u 1 ε1 u 2 ε2
● Shape functions
N = [N1 , N2 , N3 , N4 ] ξ ∈ [−1, 1]
with
N1 (ξ) = 14 (1 − ξ)2 (2 + ξ)
N2 (ξ) = L8 (1 − ξ)2 (1 + ξ)
N3 (ξ) = 41 (1 + ξ)2 (2 − ξ)
N4 (ξ) = − L8 (1 + ξ)2 (1 − ξ)

This leads to Kq = g with:

● Stiffness matrix
 
36 3L −36 3L
EA  3L 4L 2 −3L −L 2  X
K=   N.B. K IJ 6= 0!!
30L  −36 −3L 36 −3L 
I
3L −L2 −3L 4L2
N.B. RBM = qT = [ 1 0 1 0 ]
● Generalized loading for constant load γ̄
T γ̄L L
g = 1 6 1 − L6 (uniform loading)
2

Continuum mechanics Discrete model
    
36 3L −36 3L u1 1
EA  3L 4L 2 −3L −L 2  ε 
1 γ̄L  L 
  =  6 
30L  −36 −3L 36 −3L   u2  2  1 
3L −L2 −3L 4L2 ε2 − L6
γ̄L2 ∂u γ̄L ∂u
⇒ u2 = ε1 = = ε2 = =0
2EA ∂x 1 EA ∂x 2
EXACT SOLUTION AT THE NODES

Displacement field:
u(ξ) = N1 u1 + N2 ε1 + N3 u2 + N4 ε2
Strain field :
du(ξ) du dξ 2 dN1 dN2 dN3 dN4
ε(ξ) = = = u1 + ε1 + u2 + ε2
dx dξ dx L dξ dξ dξ dξ
with ξ = −1 ξ = +1
dN1 3 2 dN1
= (ξ − 1) 0 0
dξ 4 dξ
dN2 L dN2
= (ξ − 1)(3ξ + 1) L/2 0
dξ 8 dξ
dN3 3 dN3
= (1 − ξ 2 ) 0 0
dξ 4 dξ
dN4 L dN4
= (ξ + 1)(3ξ − 1) 0 L/2
dξ 8 dξ
which leads to
ε(−1) = ε1 and ε(+1) = ε2

Displacement field:
u(ξ) = N1 u1 + N2 ε1 + N3 u2 + N4 ε2
L 2 γ̄L 1 2 γ̄L2
= (1 − ξ) (1 + ξ) + (1 + ξ) (2 − ξ)
8 EA 4 2EA
γ̄L2 2 2

= (1 − ξ) (1 + ξ) + (1 + ξ) (2 − ξ)
8EA
γ̄L2 2x
= (1 + ξ)(3 − ξ) with ξ= −1
8EA L
γ̄L2 2x x
= 2(2 − )
8EA L L
γ̄x
= (2L − x) EXACT SOLUTION
2EA

Strain field:

2 dN1 dN2 dN3 dN4
ε(ξ) = u1 + ε1 + u2 + ε2
L dξ dξ dξ dξ
2

2 dN2 γ̄L dN3 γ̄L
= +
L dξ EA dξ 2EA

2 γ̄L L 3
= (ξ − 1)(3ξ + 1) + (1 − ξ 2 )L
L EA 8 8
2γ̄L 2x
= 2(1 − ξ) with ξ= −1
8EA L
γ̄
= (L − x) EXACT SOLUTION
EA

Chap 9 Shape Functions Consist Load

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Chap 9 Shape Functions Consist Load

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F.E.M.

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 2 / 41

Shape function and consistent loads in 1D

PROPERTIES (requirement - some exceptions do exist - see e.g. Hermitian

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 3 / 41

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 4 / 41

● So far the shape functions were computed using identification of internal

● They can also be computed using Lagrange interpolation

● Elements based on Lagrange interpolation are called ”Lagrange Elements”

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 5 / 41

What we already know:

u(x) = N1 (x)u1 +N2 (x)u2

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 6 / 41

u(x) = N1 (x)u1 + N2 (x)u2 + N3 (x)u3

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 7 / 41

Alternative numbering - Bar element

● All numbering are equivalent → They deliver same results

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 8 / 41

Systematic construction of the Lagrange polynomial of degree n

n : degree of the polynomial

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 9 / 41

Basic interpolation property : ψ(xJ ) = F (xJ ) ∀J; J = 1 · · · n + 1

● If F (x) is a complex function

● LnI (x) ⇒ Systematic generation of shape functions of degree n in 1D!

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 11 / 41

(x − x1 )(x − x2 ) I = 1 or 2 (the singular term

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 12 / 41

Any node xI : NI (x) = L1I (x) = 12 (1 + x xI )

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 13 / 41

(x − x1 )(x − x2 )(x − x3 ) I = 1, 2 or 3 (the singular

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 14 / 41

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 15 / 41

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 16 / 41

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 17 / 41

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 18 / 41

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 19 / 41

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 20 / 41

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 21 / 41

● discrete nodal loads gI do represent the actually applied load in an energy

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 22 / 41

Fraction of total load (respectively P L & P L/2) applied to each node

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 23 / 41

Fraction of total load (P L) applied to each node

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 24 / 41

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 25 / 41

● Lagrange interpolation only enforces C 0 interelement continuity

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 26 / 41

assumed displacement and derivative :

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 27 / 41

Hermitian shape function plots in terms of ξ ∈ [−1, 1]

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 28 / 41

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 29 / 41

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 30 / 41

H1 (r) = (1 − 10r3 + 15r4 − 6r5 )

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 31 / 41

H1 (r) = (1 − 35r4 + 84r5 − 70r6 + 20r7 )

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 32 / 41

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 33 / 41

N.B. Nodal values for strains:

F.E.M. - Chapter 9 - Shape functions and consistent loading in 1D 34 / 41

To interpolate the displacement in terms of εI , instead of u′I , we have to introduce

N.B. To alleviate the notation, we will omit the ∗

u(x) = N1 (x)u1 +N2 (x)u2