Introduction to Finite Element Methods

MCE 565
Wave Motion & Vibration in Continuous Media
Spring 2005
Professor M. H. Sadd

Need for Computational Methods

Solutions Using Either Strength of Materials or Theory of
Elasticity Are Normally Accomplished for Regions and
Loadings With Relatively Simple Geometry
Many Applicaitons Involve Cases with Complex Shape,
Boundary Conditions and Material Behavior
Therefore a Gap Exists Between What Is Needed in
Applications and What Can Be Solved by Analytical Closedform Methods
This Has Lead to the Development of Several
Numerical/Computational Schemes Including: Finite
Difference, Finite Element and Boundary Element Methods

Introduction to Finite Element Analysis

The finite element method is a computational scheme to solve field problems in
engineering and science. The technique has very wide application, and has been used on
problems involving stress analysis, fluid mechanics, heat transfer, diffusion, vibrations,
electrical and magnetic fields, etc. The fundamental concept involves dividing the body
under study into a finite number of pieces (subdomains) called elements (see Figure).
Particular assumptions are then made on the variation of the unknown dependent
variable(s) across each element using so-called interpolation or approximation functions.
This approximated variation is quantified in terms of solution values at special element
locations called nodes. Through this discretization process, the method sets up an
algebraic system of equations for unknown nodal values which approximate the
continuous solution. Because element size, shape and approximating scheme can be
varied to suit the problem, the method can accurately simulate solutions to problems of
complex geometry and loading and thus this technique has become a very useful and
practical tool.

Advantages of Finite Element Analysis

-

Models Bodies of Complex Shape

- Can Handle General Loading/Boundary Conditions

- Models Bodies Composed of Composite and Multiphase Materials
- Model is Easily Refined for Improved Accuracy by Varying
Element Size and Type (Approximation Scheme)
- Time Dependent and Dynamic Effects Can Be Included
- Can Handle a Variety Nonlinear Effects Including Material
Behavior, Large Deformations, Boundary Conditions, Etc.

Basic Concept of the Finite Element Method

Any continuous solution field such as stress, displacement,
temperature, pressure, etc. can be approximated by a
discrete model composed of a set of piecewise continuous
functions defined over a finite number of subdomains.
One-Dimensional Temperature Distribution
T

T
Approximate Piecewise
Linear Solution

Exact Analytical Solution

Two-Dimensional Discretization

u(x,y)
-1

-2

-3
4
3.5
3

Approximate Piecewise
Linear Representation

2.5
2
1.5
y

-1

-0.5

0.5
x

1.5

2.5

Discretization Concepts
T

Exact Temperature Distribution, T(x)

Finite Element Discretization

Linear Interpolation Model
(Four Elements)

T1

T2

T2

T3 T3

Quadratic Interpolation Model

(Two Elements)
T
1

T2
T4 T4

T3

T5

T3

T4

T5

T
T1

T1
T2

T2
T3

T4

T5

T3

T4

T5

x
Piecewise Linear Approximation

x
Piecewise Quadratic Approximation

Temperature Continuous but with

Discontinuous Temperature Gradients

Temperature and Temperature Gradients

Continuous

Common Types of Elements

One-Dimensional Elements
Line
Rods, Beams, Trusses, Frames

Two-Dimensional Elements
Triangular, Quadrilateral
Plates, Shells, 2-D Continua

Three-Dimensional Elements
Tetrahedral, Rectangular Prism (Brick)
3-D Continua

Discretization Examples

One-Dimensional
Frame Elements

Two-Dimensional
Triangular Elements

Three-Dimensional
Brick Elements

Basic Steps in the Finite Element Method

Time Independent Problems
-

Domain Discretization
Select Element Type (Shape and Approximation)
Derive Element Equations (Variational and Energy Methods)
Assemble Element Equations to Form Global System

[K]{U} = {F}
[K] = Stiffness or Property Matrix
{U} = Nodal Displacement Vector
{F} = Nodal Force Vector
- Incorporate Boundary and Initial Conditions
- Solve Assembled System of Equations for Unknown Nodal
Displacements and Secondary Unknowns of Stress and Strain Values

Common Sources of Error in FEA

Domain Approximation
Element Interpolation/Approximation
Numerical Integration Errors
(Including Spatial and Time Integration)
Computer Errors (Round-Off, Etc., )

Measures of Accuracy in FEA

Accuracy
Error = |(Exact Solution)-(FEM Solution)|
Convergence
Limit of Error as:
Number of Elements (h-convergence)
or
Approximation Order (p-convergence)
Increases
Ideally, Error 0 as Number of Elements or
Approximation Order

Two-Dimensional Discretization Refinement

(Node)

(Discretization with 228 Elements)

(Triangular Element)

(Discretization with 912 Elements)

One Dimensional Examples

Static Case
Bar Element

Beam Element

Uniaxial Deformation of Bars

Using Strength of Materials Theory

Deflection of Elastic Beams

Using Euler-Bernouli Theory

u1

w1

u2
1

Differenti al Equation :
d
( au ) cu q 0
dx
Boundary Condtions Specification :
du
u,a
dx

w2
2

Differenti al Equation :
d2
d 2w
2 (b 2 ) f ( x )
dx
dx
Boundary Condtions Specification :
dw
d 2w d
d 2w
w,
,b 2 ,
(b
)
dx
dx
dx dx 2

Two Dimensional Examples

Triangular Element

Triangular Element

Scalar-Valued, Two-Dimensional
Field Problems

Vector/Tensor-Valued, TwoDimensional Field Problems

v3

u3

3
2

Example Different ial Equation :

2 2

f ( x, y )
x 2 y 2
Boundary Condtions Specification :
d

nx
ny
dn x
y

v1

v2

u1

u2

Elasticity Field Equations in Terms of Displacements

2 u
2 v

E
u v
Fx 0

2(1 ) x x y
E
u v
Fy 0

2(1 ) y x y
Boundary Conditons

u v
u
v
Tx C11
C12 n x C66
n y
x
y

y x
u v

u
v
n x C12
C 22 n y
x
y
y x

T y C66

Development of Finite Element Equation

The Finite Element Equation Must Incorporate the Appropriate Physics
of the Problem
For Problems in Structural Solid Mechanics, the Appropriate Physics
Comes from Either Strength of Materials or Theory of Elasticity
FEM Equations are Commonly Developed Using Direct, VariationalVirtual Work or Weighted Residual Methods

Direct Method
Based on physical reasoning and limited to simple cases, this method is
worth studying because it enhances physical understanding of the process

Variational-Virtual Work Method

Based on the concept of virtual displacements, leads to relations between internal and
external virtual work and to minimization of system potential energy for equilibrium

Weighted Residual Method

Starting with the governing differential equation, special mathematical operations
develop the weak form that can be incorporated into a FEM equation. This
method is particularly suited for problems that have no variational statement. For
stress analysis problems, a Ritz-Galerkin WRM will yield a result identical to that
found by variational methods.

Simple Element Equation Example

Direct Stiffness Derivation
u1

u2

F1

F2
1
k

Equilibrium at Node 1 F1 ku1 ku 2

Equilibrium at Node 2 F2 ku1 ku 2
or in Matrix Form
k
k

k
k

u1
F1

u
F
2
2

Stiffness Matrix

[ K ]{u} {F }

Nodal Force Vector

Common Approximation Schemes

One-Dimensional Examples
Polynomial Approximation
Most often polynomials are used to construct approximation
functions for each element. Depending on the order of
approximation, different numbers of element parameters are
needed to construct the appropriate function.

Linear

Quadratic

Cubic

Special Approximation
For some cases (e.g. infinite elements, crack or other singular
elements) the approximation function is chosen to have special
properties as determined from theoretical considerations

One-Dimensional Bar Element

Approximation : u k ( x )uk [ N ]{d }
k

du
d
d[N ]
k ( x )u k
{d } [ B]{d }
dx
dx
k dx
Stress - Strain Law : Ee E [ B]{d }
Strain : e

edV P u

i i

Pj u j fudV

L
Pi
T
T

{
d
}
A
[
N
]
fdx

0
P
j

{d }T A[ B ]T E [ B]dx{d } {d }T
0

A[ B ]T E [ B]dx{d } {P } A[ N ]T fdx
0

[ K ] A[ B]T E [ B ]dx Stiffness Matrix

0

[ K ]{d } {F }

L
Pi
{F } A[ N ]T fdx Loading Vector
0
Pj

ui
{d } Nodal Displacement Vector
uj

One-Dimensional Bar Element

Axial Deformation of an Elastic Bar
x
f(x) = Distributed Loading
Typical Bar Element
ui
uj

du
Pi AE i
dx

(i)

A = Cross-sectional Area
E = Elastic Modulus

(j)

Pj AE

du j
dx

(Two Degrees of Freedom)

Virtual Strain Energy = Virtual Work Done by Surface and Body Forces

ij eij dV Ti n ui dS Fi ui dV
St

For One-Dimensional Case

edV P u

i i

Pj u j fudV

Linear Approximation Scheme

ui
(1)

uj
L

(2)

x (local coordinate system)

u(x)

Approximate Elastic Displacement

u a1 a 2 x

u1 a1
u2 a1 a 2 L

u u1
x

x
u u1 2
x 1 u1 u2
L
L

L
1 ( x )u1 2 ( x )u2
u1
x x u1

u 1 2 1
[ N ]{d }

u
L
L

u2
2
[ N ] Approximation Function Matrix
{d } Nodal Displacement Vector

(1)
1(x)

(2)
2(x)
1

(1)

(2)

k(x) Lagrange Interpolation Functions

Element Equation
Linear Approximation Scheme, Constant Properties

L
L

1 1
[ K ] A[ B]T E[ B]dx AE [ B]T [ B] dx AE L
L
0
0
1 L L

L
x

L
L
P1
P1
P
Af L
T
{F } A[ N ] fdx Af o L dx 1 o
0
0
x
2
P2
P2
P2

L
u
{d } 1 Nodal Displacement Vector
u2

AE 1 1
[ K ]{d } {F }
L 1 1

AE
L

1 1
1 1

u1
P1
Af o L

u
P
2

2
2

Quadratic Approximation Scheme

u2

u1
(1)

(2)

u3
(3)

L
u(x)

Approximate Elastic Displacement

u1 a1

u a1 a 2 x a3 x

L
L2
u2 a1 a 2 a3
2
4
2
u3 a1 a 2 L a3 L

(1)

u 1 ( x )u1 2 ( x )u2 3 ( x )u3

u 1 2

u1

3 u2 [ N ]{d }
u3

(2)
2(x)

1(x)

(3)
3(x)

Element Equation
F1
7 8 1 u1
AE

8 16 8 u2 F2

3L
F
1 8 7 u3
3

(1)

(2)

(3)

Lagrange Interpolation Functions

Using Natural or Normalized Coordinates
1, i j
0,i j

i ( j )

(1)

1 1

(2)

(2)

(1)

1
(1 )
2
1
2 (1 )
2
1

(3)

1
1 (1 )
2
2 (1 )(1 )
3

9
1
1
(1 )( )( )
16
3
3
27
1
2
(1 )(1 )( )
16
3
27
1
3
(1 )(1 )( )
16
3
9 1
1
4 ( )( )(1 )
16 3
3
1

(1)

(2)

(3)

(4)

1
(1 )
2

Simple Example
P
A1,E1,L1

A2,E2,L2

(1)

(3)

(2)

Take Zero Distributed Loading

f 0

Global Equation Element 1

Global Equation Element 2

P1(1)
1 1 0 U 1
A1 E1

1 1 0 U 2 P2(1)

L1
0
0 0 U 3
0

0 U1
0
0 0
A2 E 2

0 1 1 U 2 P1( 2 )

L2
P ( 2)
0 1 1 U 3
2

Assembled Global System Equation

A1 E1
L
1

A
1 E1

L1
0

A1 E1
L1
A1 E1 A2 E 2

L1
L2
AE
2 2
L2

P1(1)
P1
U1
A2 E 2

(1)

(2)

U 2 P2 P1 P2
L2

P
P2( 2 )
3

A2 E 2 U 3

L2

Simple Example Continued

P
A1,E1,L1

A2,E2,L2

(1)

(3)

(2)

Reduced Global System Equation

A1 E1
L
1

A1 E1

L1

Boundary Conditions
U1 0
P2( 2 ) P

P2(1) P1( 2 ) 0

A1 E1 A2 E 2
L L
2
1
A
E

2 2

L2

A2 E 2
L2

A2 E 2
L2

U2
0

P
U3

A1 E1
L1
A1 E1 A2 E 2

L1
L2
AE
2 2
L2

For Uniform
Properties A, E , L

Solving U 2

P1(1)
0
AE

2 2 U2 0
L2

A2 E 2 U 3

L2
AE
L

PL
2 PL
, U3
, P1(1) P
AE
AE

0
2 1 U 2

1 1 U
P

One-Dimensional Beam Element

Deflection of an Elastic Beam
f(x) = Distributed Loading
x
I = Section Moment of Inertia
E = Elastic Modulus
Typical Beam Element
w2
w1
1
2

(1)

M1

V1

(2)

M2
V2

(Four Degrees of Freedom)

d
d 2w
EI 2
Q1
dx
dx

d 2w
, Q2 EI 2
dx

d
d 2w
Q3 EI 2
dx
dx

d 2w
, Q4 EI 2
dx 2

2
dw
dw
u1 w1 , u2 1
, u3 w2 , u4 2
dx 1
dx 2

Virtual Strain Energy = Virtual Work Done by Surface and Body Forces

edV Q u

1 1

Q2 u2 Q3u3 Q4 w4 fwdV

EI [ B]T [ B]dx{d } Q1u1 Q2 u2 Q3u3 Q4 w4 f [ N ]T dV

Beam Approximation Functions

To approximate deflection and slope at each
node requires approximation of the form

w( x ) c1 c2 x c3 x 2 c4 x 3
Evaluating deflection and slope at each node
allows the determination of ci thus leading to

w( x ) 1 ( x )u1 2 ( x )u2 3 ( x )u3 4 ( x )u4 ,

where i are the Hermite Cubic Approximation Functions

Beam Element Equation

L

EI [ B]T [ B]dx{d } Q1u1 Q2 u2 Q3u3 Q4 w4 f [ N ]T dV

0

u1
u

{d } 2
u3
u4

[ K ] EI

2 EI
[ B] [ B]dx 3
L
T

[ B]

d [ N ] d1 d2 d3 d4
[
]
dx
dx dx dx dx

6
3L 6 3L
3L 2 L2 3L
L2

6
3L
6
3L

3L L2
3L 2 L2

3L 6 3L
2

3L
L2
2 EI 3L 2 L

3
3L
6
3L
L 6

2
3L 2 L2
3L L

u1

u2

u3
u4

1
6

L
L 2
fL

f [ N ]T dx f dx

6
12
3

4
L

Q1

fL
2

Q
12
3

Q4

6
L

6
L

FEA Beam Problem

f

Uniform EI

2
(2)

(1)

(3)

Element 1
6 / a3

3 / a2

6 / a3

3 / a2

2
3/ a
6 / a3

2/a
3 / a2

3 / a2
6 / a3

1/ a
3 / a2

2
3/ a

1/ a
0
0

3 / a2
0
0

2/ a
0
0

2 EI

0 0

0 0
0 0

0 0
0 0

0 0

U1

U 2
U 3

U4
U5

U 6

6 Q1(1)
a (1)

Q2
fa 6 Q3(1)

12 a Q4(1)
0 0

0 0

Element 2
0
0

0
2 EI
0
0

0
0
0
0
0 6 / b3
0 3 / b2
0 6 / b3
0 3 / b2

0
0
3 / b2
2/b
3 / b2
1/ b

0
0
6 / b3
3 / b2
6 / b3
3 / b2

0
0
3 / b2

1/ b
3 / b2

2 / b

U1 0
U 0
2

U 3 Q1( 2 )

( 2)
U 4 Q2
U 5 Q3( 2 )

U 6 Q4( 2 )

FEA Beam Problem

1

2
(2)

(1)

(3)

Global Assembled System

3 / a2

6 / a3

3 / a2

2/a

3 / a2
6 / a3 6 / b3

1/ a
3 / a 2 3 / b2

0
6 / a3

2/a 2/b

3 / a2
6 / a3

6 / a3

2 EI

Boundary Conditions

U1

0 U2

U
3/ a 3
fa


12
1/ a U 4
2

U
3/ a
5

2 / a U 6
0

6
a
6

Q1(1)

a
0

Q2(1)
Q3(1) Q1( 2 )

Q4(1) Q2( 2 )

Matching Conditions

U1 w1(1) 0 , U 2 1(1) 0 , Q3( 2) Q4( 2 ) 0

Q3(1) Q1( 2) 0 , Q4(1) Q2( 2) 0

Reduced System
6 / a 3 6 / b3

2 EI

3 / a 2 3 / b2
2/a 2/b

6 / a3
3 / a2
6 / a3

3 / a3

1/ a
3 / a2

U1
U
2

U3

2 / a U 4

6 0

fa a 0

12 0 0
0 0

Solve System for Primary Unknowns U1 ,U2 ,U3 ,U4

Nodal Forces Q1 and Q2 Can Then Be Determined

Q3( 2 )
Q4( 2 )

Special Features of Beam FEA

Analytical Solution Gives

Cubic Deflection Curve

Analytical Solution Gives

Quartic Deflection Curve

FEA Using Hermit Cubic Interpolation

Will Yield Results That Match Exactly
With Cubic Analytical Solutions

Truss Element
Generalization of Bar Element With Arbitrary Orientation
y

k=AE/L
x

s sin , c cos

Frame Element
Generalization of Bar and Beam Element with Arbitrary Orientation
w1
w2

1
2
u1
u2

P1
P2
(1)
(2)
L
M2
M1
V1
V2

AE
L

AE

12 EI
L3
6 EI
L2

6 EI
L2
4 EI
L

12 EI
L3
6 EI
L2

6 EI
L2
2 EI
L

AE
L
0
0

AE
L
0
0

12 EI
3
L
6 EI
2
L

6 EI
L2
2 EI
L

0
12 EI
L3
6 EI
2
L

P1
u1
Q
w1

1

1 Q2

u2
P

2
0
w2
Q3

6 EI

2 2
Q
4
L
4 EI
L

Element Equation Can Then Be Rotated to Accommodate Arbitrary Orientation

Some Standard FEA References

Bathe, K.J., Finite Element Procedures in Engineering Analysis, Prentice-Hall, 1982, 1995.
Beer, G. and Watson, J.O., Introduction to Finite and Boundary Element Methods for Engineers, John Wiley, 1993
Bickford, W.B., A First Course in the Finite Element Method, Irwin, 1990.
Burnett, D.S., Finite Element Analysis, Addison-Wesley, 1987.
Chandrupatla, T.R. and Belegundu, A.D., Introduction to Finite Elements in Engineering, Prentice-Hall, 2002.
Cook, R.D., Malkus, D.S. and Plesha, M.E., Concepts and Applications of Finite Element Analysis, 3rd Ed., John Wiley,
1989.
Desai, C.S., Elementary Finite Element Method, Prentice-Hall, 1979.
Fung, Y.C. and Tong, P., Classical and Computational Solid Mechanics, World Scientific, 2001.
Grandin, H., Fundamentals of the Finite Element Method, Macmillan, 1986.
Huebner, K.H., Thorton, E.A. and Byrom, T.G., The Finite Element Method for Engineers, 3rd Ed., John Wiley, 1994.
Knight, C.E., The Finite Element Method in Mechanical Design, PWS-KENT, 1993.
Logan, D.L., A First Course in the Finite Element Method, 2nd Ed., PWS Engineering, 1992.
Moaveni, S., Finite Element Analysis Theory and Application with ANSYS, 2nd Ed., Pearson Education, 2003.
Pepper, D.W. and Heinrich, J.C., The Finite Element Method: Basic Concepts and Applications, Hemisphere, 1992.
Pao, Y.C., A First Course in Finite Element Analysis, Allyn and Bacon, 1986.
Rao, S.S., Finite Element Method in Engineering, 3rd Ed., Butterworth-Heinemann, 1998.
Reddy, J.N., An Introduction to the Finite Element Method, McGraw-Hill, 1993.
Ross, C.T.F., Finite Element Methods in Engineering Science, Prentice-Hall, 1993.
Stasa, F.L., Applied Finite Element Analysis for Engineers, Holt, Rinehart and Winston, 1985.
Zienkiewicz, O.C. and Taylor, R.L., The Finite Element Method, Fourth Edition, McGraw-Hill, 1977, 1989.