Introduction to Finite Element Method

Judy P. Yang (楊子儀)

Sept. 27, 2016

Department of Civil Engineering

National Chiao Tung University (NCTU)
 Chapter 3 Direct Approach:
Axial Springs
• 3.1 Axial Springs
• 3.2 The Element Equation
• 3.3 Assembly of Element Equations to Obtain the
Structural Equation
• 3.4 Boundary Conditions
• 3.5 Examples
 3.1 Axial Springs
• Axial spring
 A simple element, which carries only axial forces and
causes axial deformation (lengthening or shortening)
• Consider a spring with stiffness 𝑘 subjected to an
axial load 𝑇, the displacement is denoted by 𝑑
Linear behavior of the load and the displacement
• 𝑇 = 𝑘𝑘

d
 3.2 The Element Equation
• Consider a spring element with two nodes at its
ends
 Sign convention
f1 f2

u1 u2

• 𝑓1 and 𝑓2 are the internal forces at node 1 and node 2

• 𝑢1 and 𝑢2 are the displacement at node 1 and node 2
• The spring element is assumed to be one of several
elements which construct the structural domain
 3.2 The Element Equation
f f2
1
u1 u2
d

• From above two figures:

d = u2 − u1 ⇒ T = kd = k ( u2 − u1 )
f 2= T= k ( u2 − u1 ) (1)
f1 =−T =k ( u1 − u2 ) (2)
• The equilibrium equation
f1 + f 2 =
0

• Combine (1) & (2) into

 f1   k −k   u1 
 f  =  −k k  u2 
 2 
 3.2 The Element Equation
• Element stiffness equation
 Describe the relation between element
displacements and element forces at end points
 k − k   u1   f1 
 −k =    =  or kd f
 k  u2   f 2 
where
 k −k 
k=  element stiffness matrix
 −k k 
u 
d =  1  (element) nodal displacement vector
u2 
 f1 
f =   element force vector
 f2 
3.3 Assembly of Element Equations to
Obtain the Structural Equation
 Consider a two-spring system under axial load

 The system has 3 DOFs as displacements 𝑢1 , 𝑢2 , 𝑢3 at 3 nodes

 Split the system into two elements

In element 1 In element 2
f1(1) f 2(1) f1(2) f 2(2)

 k1 −k1  u1(1)   f1(1)   k2 −k2  u1(2)   f1(2) 

 −k   (1)  =  (1)  (1)  −k   (2)  =  (2)  (2)
 1 k1  u2   f 2   2 k 2  u2   f 2 
 3.3 Assembly of Element Equations to
Obtain the Structural Equation
• Displacement compatibility
 The elements are connected or compatible
 Global displacements 𝑢1 , 𝑢2 , 𝑢3 are related to element
displacements as
u=
(1)
1 u1 , =
u (1)
2 u=
1
(2)
u 2 , u=(2)
2 u3

f1(1) f 2(1) f1(2) f 2(2)

 3.3 Assembly of Element Equations to
Obtain the Structural Equation
• Element stiffness equation
 k1 −k1  u1(1)   f1(1) 
 −k   (1)  =  (1)  (1)
 1 k1  u2   f 2 
 k2 −k2  u1(2)   f1(2) 
 −k   (2)  =  (2)  (2)
 2 k 2  u2   f2 

 Use displacement compatibility and rewrite eqs. (1) and (2) as

 k1 −k1 0   u1   f1(1) 
 −k  (1) 
 1 k1 0  u2  = f 2  (3)
 0 0 0   u3   0 
0 0 0   u1   0 
0 k −k2  u2  =  f (2)  (4)
 2  1 
0 −k2 k2   u3   f 2(2) 
 3.3 Assembly of Element Equations to
Obtain the Structural Equation
• Relate the element forces to the external forces
 Consider the nodal force in equilibrium
 The external force at a node is equal to the sum of all
element forces related to that node
For node 1, F1 = f1(1)
For node 2, f 2(1) + f1(2) =
F2
For node 3, f 2(2) = F3
 In matrix form
f1(1) f 2(1) f1(2) f 2(2)
f1
(1)
  0   F1 
   (2)   
 +  f1  =
(1)
f2  F2  (5)
 0   f 2(2)   F3 
 
 3.3 Assembly of Element Equations to
Obtain the Structural Equation
• Assembly
 (Global/structural) system of equations
 k1 −k1 0   u1   F1 
 −k k + k −k  =u   F  (6) ⇒=
Kd F
 1 1 2 2 2  2
 0 − k2 k2  u3   F3 
  
K d F

The process by which the system of equations 𝑲𝑲 = 𝑭 is

constructed from the response of each element for the
entire structure is called assembly
• 𝑲: global stiffness matrix
• 𝒅: displacements of nodes of the structure
• 𝑭: external forces applied at the nodes of the structure
 3.4 Boundary Conditions
• Since 𝑲 is singular, the system of equations has no
unique solution though we have used the fact that the
structure is in equilibrium
• If no displacements are prescribed, the structure has
rigid body motions
The structure has infinite positions in equilibrium and may move
with a constant velocity

• Boundary Conditions (BCs)

 3.4 Boundary Conditions
• Consider the spring system

 Recall eq. (6)

 k1 − k1 0   u1   F1 
 −k k1 + k2 − k2  u2  =F 
 1  2
 0 −k2 k2   u3   F3 
 BCs: 𝑢1 = 0, 𝐹2 = 0, 𝐹3 = 𝐹
 k1 −k1 0   0   F1  −k1u2 =
F1 (7)
 −k k1 + k2 −k2  u2  =0
 1    k1 + k2 −k2  u2   F2 
 −k    = 
 0 − k2 k2   u3   F   2 k2   u3   F3 
 3.4 Boundary Conditions
• Consider the spring system

 Solution
 k1 + k2 −k2  u2   F2 
 −k    = 
 2 k2   u3   F3 

Kg

• Global stiffness matrix 𝑲𝒈 : non-singular (det𝑲𝒈 ≠ 0)

• Unique solution
1 F 1 1
u2 = ( F2 + F3 ) (8) u3 = 2 +  +  F3 (9)
k1 k1  k1 k2 

 Check: 𝐹1 + 𝐹2 + 𝐹3 = 0 as required for equilibrium

 3.4 Boundary Conditions
• Comments
 Once 𝑢1 , 𝑢2 , and 𝑢3 are known, the element forces (internal
forces) can be computed according to eqs. (1)&(2)
 k1 −k1  u1(1)   f1(1) 
 −k   (1)  =  (1)  (1)
 1 k1  u2   f2 
 k2 −k2  u1(2)   f1(2) 
 −k   (2)  =  (2)  (2)
 2 k 2  u2   f 2 

 The enforcement of at least one displacement BC is necessary

to solve the system of equations
 If 𝑢𝑖 is specified, then 𝐹𝑖 is initially unknown; if 𝐹𝑖 is specified,
then 𝑢𝑖 is initially unknown
• It is not possible to prescribe the force and the
displacement at the same position
 𝑲𝒈 is positive definite, shown by xT K g x = k1 x12 + k2 ( x1 − x2 ) > 0
2
 Steps in the FE method
1. Construct stiffness relations for each element
2. Enforce compatibility, i.e. the elements are
connected
3. Enforce equilibrium conditions for the whole
structure (nodes in equilibrium)
4. By means of 2. and 3., the structural equation is
formed through assembly
5. Prescribe boundary conditions
6. Solve the system of equations
 3.5 Examples
• Example 1
Consider the spring system with two fixed ends

Given 𝑘1 = 𝑘2 = 𝑘3 = 20𝑁⁄𝑚𝑚 and 𝐹3 = 1000𝑁

Obtain the nodal displacements and element internal
forces
 3.5 Examples
• Solution
 Element stiffness equation
• element 1  20 −20   u1   f1(1) 
 −20 20  u  =  (1) 
   2   f2 
• element 2  20 −20  u2   f1(2) 
 −20 20  u  =  (2) 
   3   f2 
• element 3  20 −20   u3   f1(3) 
 −20 20  u  =  (3) 
   4   f2 
 Assembly: structural equation
 20 −20 0 0   u1   F1 
 −20 40 −20 0  u   F 
  2 =  2
 0 −20 40 −20   u3   F3 
    
 0 0 −20 20  u4   F4 
 3.5 Examples
• Solution

BCs: 𝑢1 = 𝑢4 = 0, 𝐹2 = 0, 𝐹3 = 1000𝑁
 20 −20 0 0   0   F1 
 −20 40 −20 0  u   0 
  2 =  
 0 −20 40 −20  u3  1000 
    
 0 0 −20 20    4 
0 F

 40 −20  u2   F2 = 0 
 −20 40   u  =  F = 1000 
  3  3 
= =
u2 16.67 mm, u3 33.33mm
 3.5 Examples
• Solution

 Reaction force at node 1

F1 =
−20u2 =
−333.3 N

 Reaction force at node 4

F4 =
−20u3 =
−666.6 N

 Internal forces for the ith element

 f1(i )   ki −ki  u1(i ) 
 (i )  =   
 f 2   − ki ki  u2(i ) 
 3.5 Examples
• Solution
Internal forces
• element 1
 f1(1)   20 −20   u1 = 0   −333.3
 (1)  =    
 f2   −20 20  u2 = 16.67   333.3 
• element 2
 f1(2)   20 −20  u2 = 16.67   −333.3
 (2)  =    
 f2   −20 20  u3 = 33.33  333.3 
• element 3
 f1(3)   20 −20  u3 = 33.33  666.67 
 (3)  =    
 f2   −20 20   u4 = 0   −666.67 
 3.5 Examples
• Example 2
Consider the following spring system, where node 3
is displaced by a magnitude 𝛿

Obtain the reaction forces 𝐹1 and 𝐹3

 3.5 Examples
• Solution
 Element stiffness equation
 k1 −k1  u1(1)   f1(1) 
 −k   (1)  =  (1) 
 1 k1  u2   f2 
 k2 −k2  u1(2)   f1(2) 
 −k   (2)  =  (2) 
 2 k 2  u2   f 2 

 Assembly
 k1 −k1 0   u1   F1 
 −k k1 + k2 −k2  u2  = F 
 1  2
 0 − k2 k2   u3   F3 
 3.5 Examples
• Solution
BCs: 𝑢1 = 0, 𝑢3 = 𝛿
 k1 −k1 0   0   F1 
 −k k1 + k2 −k2  u2  =0
 1  
 0 − k2 k2   δ   F3 

( k1 + k2 ) u2 =
k2δ

Reaction forces
F1 = −k1u2
−k2u2 + k2δ
F3 =