Professional Documents
Culture Documents
Isoparemetric elements
Theoretical Reminders
1 Goal
Represent complex geometries with a limited number of elements.
BIJECTION
−→
i.e.
(1)
x=T ξ
This transformation must be:
one to one,
polynomial,
a
1
a2
x = a +a ξ+a η
1 2 3 a3 1 ξ η 0 0 0
and M =
i.e. a =
y = b +b ξ+b η b1 0 0 0 1 ξ η
1 2 3
b2
b3
2.2 Connectors
The line vector of the connectors xN of length ndim. × nconn. is known: they are the
coordinates of the nodes.
xN = Q a (3)
x ξ = M ξ Q−1 xN (4)
| {z }
N (ξ )
c
i.e.
x ξ = N c ξ xN
N c ξ = M ξ Q−1
1 0 0 0 0 0
a1 = x1
−1 1 0 0 0 0
a2 = x2 − x1
= x3 − x1 −1
a3 0 1 0 0 0
i.e Q−1 =
b1 = y1
.0 0 0 1 0
0
b2 = y2 − y1
0 0 −1 1
0 0
b3 = y3 − y1
0 0 0 −1 0 1
(5)
u=N ξ q
where N is the matrix of the physical shape functions.
∂y = J −1 ∂η
∂ ∂
(7)
∂ ∂
∂z ∂θ
,
∂ˆ
∂ξ
.
∂
0
∂x
Reminder: = ∂u
∂x
i.e. in 2D ∂
∂x
=0
∂ .
∂y
∂ ∂
∂y ∂x
!T
Z +1 Z +1 Z +1 ˆ
∂N ˆ
∂N
⇒ K= D detJ dξ dη dθ (9)
−1 −1 −1 ∂ξ ∂ξ
⇒ COMPUTED NUMERICALLY!
Denition: If f (ξ) is a continuous function dened on the interval [−1, 1], the quadra-
ture formula n
X
I(f ) = wi f (ξi )
i=1
is dened by the given set of n points −1 ≤ ξ1 < ξ2 < . . . < ξn ≤ 1 named integration points
and the given set of n real numbers w1 , w2 , . . . , wn named weight of the quadrature formula.
These n points Rand these n weights will be determined such that I(f ) is an numerical ap-
proximation of −11
f (ξ) dξ .
Z 1 Z 1 Z 1
Ke = F (ξ, η, ζ) dζdηdξ
−1 −1 −1
Z 1 Z 1 n
X
= wk F (ξ, η, ζk ) dηdξ
−1 −1 k=1
Z n X
1 X n
= wj wk F (ξ, ηj , ζk ) dξ
−1 j=1 k=1
n X
X n X n
= wi wj wk F (ξi , ηj , ζk ) ,
i=1 j=1 k=1
where wi , wj and wk are the weights of each integration point (ξi , ηj , ζk ) where F is computed.
i=1 −1
of degree r as higher as possible. In other words, the objective is to maximize the order of
accuracy of the quadrature rule for a xed number of integration points n whose locations
are no longer dened arbitrary by the user.
*P is the vector space generated by all the polynomials of degree up to n. It is well known that Pn is a
n
vector space of dimension (n + 1) and its canonical basis is given by 1, t, t2 , t3 , . . . , tn .
rev. 9 9
3. Ln has exactly n distinct real roots between −1 and 1. These roots are named Gauss
points.
Proof
1. It can be easily veried that Lj (ξ) is actually a polynomial of degree j and thus
L0 , L1 , L2 , . . . , Ln are linearly independant. So they generate a basis of Pn .
Since (ξ 2 − 1)i has a root of order i at 1 and at −1, the (i − 1)th derivative of (ξ 2 − 1)i
is null at ξ = 1 and at ξ = −1. Thus one gets
1 1
di−1 h 2 i i dj+1 h 2
Z Z
(−1) j i
Li (ξ)Lj (ξ) dξ = (i+j) ξ − 1 ξ − 1 dξ
−1 2 i! j! −1 dξ i−1 dξ j+1
ξ=1
(−1)j (2j)! di−j−1 h 2 i i
= ξ − 1 =0
2(i+j) i! j! dξ i−j−1 ξ=−1
By using the rst property, one notice that there are α0 , α1 , α2 , . . . , αs such that
s
X
p(ξ) = αj Lj (ξ)
j=0
Z 1
Since p(ξ)Ln (ξ) dξ is not null, one has necessarily s = n and therefore the n roots
−1
of Ln are ξ1 , ξ2 , . . . , ξn .
, where l1 , l2 , . . . , ln are the Lagrange basis of Pn−1 associated with n Gauss points.
With the previous properties of Legendre polynomials, one can demonstrate the following
theorem :
i=1
tegration points and f a polynomial of degree r = 2n − 1. Clearly, it can be dened for ξ ∈ R
: n X
f˜(ξ) = li (ξ)f (ξi )
i=1
, where
(ξ − ξ1 ) · · · (ξ − ξi−1 )(ξ − ξi+1 ) · · · (ξ − ξn )
li (ξ) =
(ξi − ξ1 ) · · · (ξi − ξi−1 )(ξi − ξi+1 ) · · · (ξi − ξn )
rev. 9 11
is the Lagrangian polynomial which generates the Lagrange basis of Pn−1 associated with
the Gauss points. In other words, the polynomial f˜ is the interpolation polynomial of f of
degree n − 1 generated from the n Gauss points ξ1 , ξ2 , . . . , ξn :
The error polynomial q is a polynomial of degree 2n−1 which cancels at the points ξ1 , ξ2 , . . . , ξn ,
i.e. q(ξi ) = 0 if i = 1, 2, . . . , n. Therefore q can be divided by a polynomial v of degree n
dened by :
v(ξ) = (ξ − ξ1 )(ξ − ξ2 )(ξ − ξ3 ) . . . (ξ − ξn ) ∀ξ ∈ R,
i.e. there is a polynomial w of degree n − 1 such that
q(ξ) = v(ξ)w(ξ) ∀ξ ∈ R.
n
(10)
X
P (ξ) = lj (ξ) F (ξj ),
j=1
where
(ξ − ξ1 ) · · · (ξ − ξj−1 )(ξ − ξj+1 ) · · · (ξ − ξn )
lj (ξ) = . (11)
(ξj − ξ1 ) · · · (ξj − ξj−1 )(ξj − ξj+1 ) · · · (ξj − ξn )
Remark:
where
V (ξ) = (ξ − ξ1 ) · · · (ξ − ξn ). (14)
Remark:
V (ξi ) = 0. (15)
In other words, the integrand F (ξ) may be written under the following form:
n
(16)
X
F (ξ) = lj (ξ)F (ξj ) + V (ξ)W (ξ).
j=1
rev. 9 13
In this way, one may determine n coordinates of Gauss points in each dimension, i.e.,
if ndim denotes the number of dimensions of the problem at hand, F (ξ) will be evaluated at:
n ξi wi
1 0.000000000000000 2.000000000000000
2 ±0.577350269189626 1.000000000000000
3 ±0.774596669241483 0.555555555555556
0.000000000000000 0.888888888888889
4 ±0.861136311594053 0.347854845137454
±0.339981043584856 0.652145154862546
5 ±0.906179845938664 0.236926885056189
±0.538469310105683 0.478628670499366
0.000000000000000 0.568888888888889
6 ±0.932469514203152 0.171324492379170
±0.661209386466265 0.360761573048139
±0.238619186083197 0.467913934572691
The Gauss integration points and the corresponding weights are given in the numerical
table (2). Knowing the Gauss quadrature rule for n integration points, it can be proved that
the magnitude of the global error Rn of the integration of an arbitrary given function f (ξ)
over [−1, 1] is bounded by :
Z 1 n
X
f (ξ) dξ − wi f (ξi ) ≤ Ch2n
−1 i=1
| {z }
Rn
For example, we will determine the Gauss-Legendre quadrature rule with 2 integration
points.
rev. 9 15
First, we have the Legendre polynomial L2 (ξ) = 12 (3ξ 2 − 1) with its two roots :
1 1
ξ1 = − √ and ξ2 = √
3 3
The Lagrange basis l1 , l2 of P2 associated to the points ξ1 and ξ2 is dened by :
√ √
1− 3ξ 1+ 3ξ
l1 (ξ) = and l2 (ξ) =
2 2
Thus, the weights associated with the integration points are :
Z 1 Z 1
w1 = l1 (ξ) dξ = 1 and w2 = l2 (ξ) dξ = 1
−1 −1
The Gauss-Legendre quadradure formula introduced have all the integration points
that lies strictly between −1 and 1. The Gauss-Legendre-Lobatto quadrature formula
takes into account of the integration interval end points −1 and 1 and the roots of
the rst derivative of Legendre polynomial Ln . Finally, it can be also proved that
Gauss-Legendre-Lobatto quadrature formula integrate exactly polynomials of degree
2n − 1.
There are Gauss quadrature formula based on the Tchebyche polynomials instead of
Legendre polynomials ;
In the case where the integration domain is semi-innite or innite, there are Gauss
quadrature formula based on the Laguerre or Hermite polynomials.
isparametric
−→
transformaion
rev. 9 16
Stiness matrix
Z Z +1 Z +1
K= T
∂N D ∂N dV = t ˆ T D∂N
∂N ˆ det J dξ dη
V −1 −1 | {z }
F (ξ,η)
Gauss integration F (ξ) is evaluated at nndim = n2 Gauss points, and one has:
n
X
K≈ wi wj F (ξi , ξj ),
i,j=1
Therefore, there are two Gauss points per dimension, i.e. 2 × 2 = 4 Gauss points .
Referring to the table 2, one has:
√
3
ξ1 , ξ2 = ± = ±0.57735.
3
The four Gauss points are
√ √
3 3
1 → (ξ1 , ξ1 ) = , ,
3√ 3√
2 → (ξ2 , ξ1 ) = − 3 , 33 ,
√3 √
3 → (ξ2 , ξ2 ) = − 33 , − 33 ,
√ √
3 3
4 → (ξ1 , ξ2 ) = 3
, − 3
.
w1 = w2 = 1.