Department of

Mechanical & Aerospace

Engineering

Finite Element Analysis I – MECH 5605

Fall 2018
1
 Course Outline
Chapter 1: Introduction: Overview of the Finite Element Method

Chapter 2: Direct Approach

• Scalar spring elements
• 1D-problem: stress elements; heat conduction elements
• 2D-problem: truss structure; truss structure – Special cases (oblique constraints and MPC); Constant Strain Triangle (CST)

Chapter 3: Mathematical Approach

• Variational Formulations (Rayleigh-Ritz Method (minimum potential energy theory)) – Integral formulation
• Weighted Residual Method: Collocation method; Subdomain method; Least-squares method; Galerkin method

Chapter 4: Application of Mathematical Approach

• 1D elements: Axial members – Rod Elements; Beam elements; Frame elements; 1D heat conduction element
• higher order 1D elements: quadratic and cubic elements; Global, local and natural coordinates; Isoparametric elements
• 2D elements: Rectangular linear elements: Heat conduction element; Stress element
• Numerical integration (Gauss Quadrature)

Chapter 5: Special Topics: Model Order Reduction

• Model Symmetry
• Model Axisymmetry
• Model condensation
2
 2. Direct Approach
 Notes:

• Direct physical reasoning is used to establish the element properties in terms of relevant variables.

• Can only be used for simple problems

• Becomes difficult to apply for complex problems, especially in 2D and 3D

• Generally not used for most practical problems

 We will consider five separate applications:

1. Scalar spring system,

2. 1-D Stress and heat conduction problems,

3. 2-D trusses, 2-D truss with special cases, and

4. 2-D continuum stress problems using constant strain (stress) triangles.

3
 2. Direct Approach
 Scalar spring system: Example:
F2
F4
1 2
2 6
3
4 5
1 5
3
4 F3

Fixed Fixed

 For the spring system shown:

• External forces, F2, F3, and F4, are applied horizontally as shown
• Walls are considered rigid
• Bodies move only in horizontal direction (1D system)
• Walls 1 and 5 are fixed.
4
 2. Direct Approach
 Scalar Problems
Solution Steps:

1. Idealize the problem and discretize the domain

2. Interpolation functions (shape functions)

3. Establish element properties through developing equations of motion for an

element (e.g. from linear elastic theory)

4. Assemble the global system

5. Apply loads (natural) and displacement (essential) boundary conditions

6. Solve

7. Post-process

5
 2. Direct Approach
 Scalar spring system: (1) Idealization and Discretization:
F2
F4
1 2
2 6
3
4 5
1 5
3
4 F3

Fixed Fixed

• No need to discretize the system (it is already discretized!)

• Walls are considered rigid body  will be considered as NODES
• Springs are the ELEMENTS

6
 2. Direct Approach
 Scalar spring system: (2) Interpolation Functions: as springs are scalar element, field variable distribution is ignored
 Scalar spring system: (3) Establishing element properties: Generic Element e

e
• Spring Element e ui , fi(e ) u j , f j(e )
i j
• Consists of Nodes i and j
x
• Spring constant k(e)
• Nodal internal forces are (flow variables): fi e  ,fj e 
• Nodal Displacement (field variables) ui and uj
• Elongation: (e)  u j  ui
• Force in the spring: P e  k  e  e  k  e  u j  ui 
• Relation between spring force and nodal forces: fj e  P e
• Equilibrium: fi e   fj e   0 or fi e   fj e  7
 2. Direct Approach
 Scalar spring system: (3) Establishing element properties: Generic Element e

• Spring Element e
e
ui , fi(e ) u j , f j(e )
• Relation between nodal forces and displacements i j

fi   k 
e
u  u 
e
i j
 k e
 e
k    ui  fi(e) 
e

 
 e  u   f (e) 
f    k    u  u   k k   j   j 
e e
j i j

ui  fi(e) 
k      (e) 
(e)

• Matrix notation: u j  f j 

   
[k (e) ] q(e)  f (e)
k q  f
• k: stiffness matrix
• q: vector of nodal displacements (field variables)
• f: vector of nodal forces (flow variables)
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 2. Direct Approach
 Scalar spring system: (3) Establishing element properties:
 k1 k1   u1  f1(1)   k e k    ui  fi(e) 
e

 u    (1)   e  
• Element 1 Stiffness Matrix  k  e  u   f (e) 
 1 k 1  2 f2   k k   j   j 

 k2 k 2  u2  f2(2) 
 k   
k 2  u4  f4(2) 
• Element 2 Stiffness Matrix
 2

 k3 k 3  u2  f2(3) 
k   
• Element 3 Stiffness Matrix
 3 k 3  u3  f3(3) 

 k4 k 4  u1  f1(4) 
k   
• Element 4 Stiffness Matrix  4 k 4  u3  f3(4) 

• Element 5 Stiffness Matrix  k5 k 5  u3  f3(5) 

 k   
 5 k 5  u4  f4(5) 

 k 6 k 6  u4  f4(6) 
• Element 6 Stiffness Matrix k  u    (6) 
 6 k 6  5 f5  9
 2. Direct Approach
F2
 Scalar spring system: (4) Assembly: 2
F4
1
2 6
3
4 5
1 5
3
F3
• Element 1  Global stiffness matrix 4
Fixed Fixed
 k1 k1 0 0 0   u1  f (1)
1

 
 k k1 0 0 0  u2  f (1)
 1    
2
 k1 k1   u1  f1(1) 
 k  u    (1)   0 0 0 0 0  u3    0 
 
 1 1  2
0 0 0  u4   0 
k f2 
 0 0
   
 0 0 
0 0 0  u5   0 
• Element 2  Global stiffness matrix

 k1 k1 0 0 0   u1   f1(1) 
 
 k k  k 0 k 2 0  u2  f2(1)  f2(2) 
 k2 k 2  u2  f2(2)   1 1 2    
 k     0 0  u3    0 
k 2  u4  f4(2) 
0 0 0
 2  
 0 k 2 0 k2 0  u4   f4(2) 
   
 0 0 0 0 0  u5   0  10
 2. Direct Approach
F2
 Scalar spring system: (4) Assembly: 2
F4
1
2 6
3
4 5
1 5
3
4 F3

Fixed Fixed

 k1 k1 0 0 0   u1   f1(1) 
• Element 3  Global stiffness matrix  
 k k  k  k k 3 k 2 0  u2  f2(1)  f2(2)  f2(3) 
 k3 k 3  u2  f2(3)   1 1 2 3    
 k     0 k 3 k3 0 0  u3    f3(3) 
k 3  u3  f3(3)   
 3
 0 k 2 0 k2 0  u4   f4(2) 
   
 0 0 0 0 0  u5   0 
• Element 4  Global stiffness matrix
k1  k 4 k1 k 4 0 0   u1   f1(1)  f1( 4) 
 
 k k1  k 2  k 3 k 3 k 2 0  u2  f2(1)  f2(2)  f2(3) 
 k4 k 4   u1  f1(4)   1    
 k     k 4 k 3 k3  k 4 0 0  u3    f3(3)  f3(4) 
 4 k 4  u3  f3(4)   
 0 k 2 0 k2 0  u4   f4(2) 
   
 0 0 0 0 0  u5   0  11
 2. Direct Approach
F2
 Scalar spring system: (4) Assembly: 2
F4
1
2 6
3
4 5
1 5
3
4 F3

• Element 5  Global stiffness matrix Fixed Fixed

k1  k 4 k1 k 4 0 0   u1   f1(1)  f1( 4) 
 
 k k1  k 2  k 3 k 3 k 2 0  u2   f2(1)  f2(2 )  f2(3) 
 k 5 k 5  u3  f3 
(5)  1    
 k  u    (5)   k 4 k 3 k3  k 4  k5 k 5 0  u3    f3( 3 )  f3(4)  f3(5) 
 5 k 5  4 4 
f  
 0 k 2 k 5 k2  k5 0  u4   f4(2)  f4(5) 
   
 0 0 0 0 0  u5   0 
• Element 6  Global stiffness matrix

k1  k 4 k1 k 4 0 0   u1   f1(1)  f1(4 ) 

 k  
k1  k 2  k 3 k 3 k 2 0  u2   f2(1)  f2(2)  f2(3) 
 k6 k 6  u4  f4(6)   1     
    k 4 k 3 k3  k5  k4 k 5 0  u3   f3(3)  f3( 4 )  f3(5) 
 k k 6  u5  f5(6)   
 6
 0 k 2 k 5 k2  k5  k6 k 6  u4   f4( 2)  f4(5)  f4(6) 
   
 0 0 0 k 6 k 6  u5   f5( 6) 
12
 2. Direct Approach
 Scalar spring system: Observations: k1  k 4 k1 k 4 0 0   u1   f1(1)  f1( 4 ) 
 k  
k1  k 2  k 3 k 3 k 2 0  u2   f2(1)  f2(2)  f2(3) 
• Stiffness matrix is  1     
 k 4 k 3 k3  k5  k 4 k 5 0  u3    f3(3)  f3(4 )  f3(5) 
(1) square,  
 0 k 2 k 5 k2  k5  k6 k 6  u4   f4( 2)  f4(5)  f4(6) 
   
(2) symmetric,  0 0 0 k 6 
k 6  u5   f5( 6)

(3) singular (determinant is equal to zero – before applying boundary conditions)
and
(4) positive semidefinite (due to presence of zero eigenvalues).

• Force equilibrium (internal and applied forces)

F2
F4
ie  f1(1)  f1(4)  R1  1 2

Fi   fi   0  (1) (2) (3)   

e 2
 f2  f2  f2   F2 
6
3
e 1 4 5
f3  f3  f3    F3 
(3) (4) (5) 1 5
ie
Fi   fi  , i  1,...ND
e  f (2)  f (5)  f (6)   F  3
4 4 4
  4 4 F3
e 1
 f5(6)
 R5 
Fixed Fixed

13
 2. Direct Approach
 Scalar spring system: Observations:

k1  k 4 k1 k 4 0 0   u1  R1 

 k k1  k 2  k 3 k 3 k 2 0  u2   F2 
 1     
 k 4 k 3 k3  k5  k 4 k 5 0  u3    F3 
 
 0 k 2 k 5 k2  k5  k6 k 6  u4   F4 
   
 0 0 0 k 6 k 6  u5  R5 

[K s ]{Q s }  {Fs }

R1 and R5 are unknown reaction forces

14
 2. Direct Approach
 Scalar spring system: (5) Applying Boundary Conditions: F2
F4
1 2
2 6
3
4 5
1 5
3
4 F3

Fixed Fixed

u1  u5  0

15
 2. Direct Approach
 Scalar spring system: (6) Solving the resulting system of equations:

k1  k 2  k 3 k 3 k 2  u2  F2 

 k 3 k3  k 4  k5 k 5  u   F  [K]{Q }  {F}
• Global Matrix Equation   3  3
 k 2 k 5 k 2  k 5  k 6  u4  F4 

• Global Stiffness Matrix [K]

• square, symmetric and positive definite and hence non-singular
• Solution
{Q }  [K ]1 {F}

16
 2. Direct Approach
 Scalar spring system: (7) Post-processing of results:

Once nodal displacements are obtained, spring forces can be calculated from

P   k       k 
e e e e
u  u 
j i

17