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FEM Lecture
FEM Lecture
MCE 565
Wave Motion & Vibration in Continuous Media
Spring 2005
Professor M. H. Sadd
Need for Computational Methods
T T
Approximate Piecewise
Exact Analytical Solution Linear Solution
x x
Two-Dimensional Discretization
0
u(x,y)
-1
-2
-3
4
3.5
3
3 2.5
2
2.5 1.5
Approximate Piecewise 1
2
Linear Representation 0.5
1.5 0
-0.5
1 -1
y x
Discretization Concepts
T
T T
T1 T1
T2 T2
T3 T3
T4 T5 T4 T5
x x
Piecewise Linear Approximation Piecewise Quadratic Approximation
Temperature Continuous but with Temperature and Temperature Gradients
Discontinuous Temperature Gradients Continuous
Common Types of Elements
Two-Dimensional Elements
One-Dimensional Elements Triangular, Quadrilateral
Line Plates, Shells, 2-D Continua
Rods, Beams, Trusses, Frames
Three-Dimensional Elements
Tetrahedral, Rectangular Prism (Brick)
3-D Continua
Discretization Examples
Three-Dimensional
One-Dimensional Two-Dimensional Brick Elements
Frame Elements Triangular 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
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)
w1 w2
u1 u2
q2
1 2 q1 1 2
3 3 u3
v2
f2
2
u2
2
v1
1
f1 1 u1
Elasticity Field Equations in Terms of Displacem ents
Example Different ial Equation :
E u v
2 u Fx 0
2f 2f
f ( x, y ) 2(1 ) x x y
x 2 y 2
E u v
2 v Fy 0
2(1 ) y x y
Boundary Condtions Specificat ion :
df f f
f, nx n y Boundary Conditons
dn x y
u v u v
Tx C11 C12 n x C66 n y
x y y x
u v u v
T y C66 n x C12 C22 n y
y x x y
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, Variational-
Virtual 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
F1 F2
1 2
k
Equilibriu m at Node 1 F1 ku1 ku2
Equilibriu m at Node 2 F2 ku1 ku2
or in Matrix Fo rm
k k u1 F1
k
k u2 F2
Stiffness Matrix Nodal Force Vector
[ K ]{u} {F }
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.
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
Approximat ion : u k ( x )uk [ N ]{d }
k
du d d[N ]
Strain : e k ( x )u k {d } [ B]{d }
dx k dx dx
Stress - Strain Law : Ee E[ B]{d }
edV P u
i i Pj u j fudV
L Pi L
{d }T A[ B]T E[ B]dx{d} {d }T {d }T A[ N ]T fdx
Pj
0 0
L L
T T
A[ B] E [ B]dx{d } {P } A[ N ] fdx
0 0
L
[ K ] A[ B]T E[ B]dx Stiffness Matrix
0
Pi L
[ K ]{d } {F } {F } A[ N ]T fdx Loading Vector
Pj
0
ui
{d } Nodal Displacem ent Vector
u j
One-Dimensional Bar Element
Axial Deformation of an Elastic Bar
Virtual Strain Energy = Virtual Work Done by Surface and Body Forces
V
ij eij dV Ti n ui dS Fi ui dV
St V
edV P u
i i Pj u j fudV
Linear Approximation Scheme
ui uj
x (local coordinate system)
(1) L (2)
u(x)
Approximate Elastic Displacement
u1 a1
u a1 a 2 x
u2 a1 a 2 L
x
u u1 x x (1) (2)
u u1 2 x 1 u1 u2
L L L
1 ( x )u1 2 ( x )u2 1(x) 2(x)
u1 x x u1
u 1 2 1 [ N ]{d }
u2 L L u2 1
[ N ] Approximat ion Function Matrix
x
{d } Nodal Displacem ent Vector (1) (2)
k(x) Lagrange Interpolation Functions
Element Equation
Linear Approximation Scheme, Constant Properties
1
L L L 1 1 AE 1 1
[ K ] A[ B] E[ B]dx AE[ B] [ B] dx AE
T T
1 L L
L 1 1
0 0
L
L
x
P1 L P1 L
P1 Af o L 1
{F } A[ N ] fdx Af o
T L
dx
2
P 2
P x P 2 1
0 0
2
L
u1
{d } Nodal Displacem ent Vector
u2
AE 1 1 u1 P1 Af o L 1
[ K ]{d} {F }
L 1 1 2 2
u P 2 1
Quadratic Approximation Scheme
u1 u2 u3
x
(1) (2) (3)
L
Approximate Elastic Displacement u(x)
u1 a1
L L2
u a1 a 2 x a3 x 2
u2 a1 a 2 a3
2 4 x
u3 a1 a 2 L a3 L2
(1) (2) (3)
u 1 ( x )u1 2 ( x )u2 3 ( x )u3
2(x)
u1 3(x)
1(x)
u 1 2 3 u2 [ N ]{d }
u3 1
Element Equation
x
7 8 1 u1 F1 (1) (2) (3)
AE
8 16 8 u2 F2
3L
1 8 7 u3 F3
Lagrange Interpolation Functions
Using Natural or Normalized Coordinates
1 , i j
i ( j )
0 , i j
1
1 (1 )
2
(1) 1 1 (2) 1
2 (1 )
2
1
1 (1 )
2
2 (1 )(1 )
(1) (2) (3)
1
3 (1 )
2
9 1 1
1 (1 )( )( )
16 3 3
27 1
2 (1 )(1 )( )
16 3
27 1
(1) (2) (3) (4) 3 (1 )(1 )( )
16 3
9 1 1
4 ( )( )(1 )
16 3 3
Simple Example
P
A1,E1,L1 A2,E2,L2
Take Zero Distribut ed Loading
1 2
f 0
(1) (2) (3)
Global Equation Element 1 Global Equation Element 2
1 1 0 U 1 P1 0 0 0 U1 0
(1)
A1 E1
1 1 0 U 2 P2(1)
A2 E 2
0 1 1 U 2 P1( 2 )
L1 L2
0 0 0 U 3 0 0 1 1 U 3 P2( 2 )
A1,E1,L1 A2,E2,L2
1 2
(1) (2) (3)
Reduced Global System Equation
Boundary Conditions A1 E1 A1 E1
L 0
U1 0 1 L1 0 P1
(1)
A1 E1 AE
2 2 U 2 0
A1 E1 A2 E 2
P2( 2 ) P
L1 L1 L2 L2
P2(1) P1( 2 ) 0 AE A2 E 2 U 3 P
0 2 2
L2 L2
A1 E1 A2 E 2 A2 E2
L L
L2 U 2 0 For Unifor m AE 2 1 U 2 0
1
A2 E 2 U 3 P L 1 1 U 3 P
2
2 2A E Properties A, E , L
L2 L2
PL 2 PL
Solving U 2 , U3 , P1(1) P
AE AE
One-Dimensional Beam Element
Deflection of an Elastic Beam
Virtual Strain Energy = Virtual Work Done by Surface and Body Forces
edV Q u
1 1 Q2u2 Q3u3 Q4 w4 fwdV
L L
EI [ B]T [ B]dx{d} Q1u1 Q2u2 Q3u3 Q4 w4 f [ N ]T dV
0 0
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
u1
u d [ N ] df1 df2 df3 df4
[ B] [
{d } 2 ]
dx dx dx dx dx
u3
u4
6 3L 6 3L f1 6
L
2 EI 3L 2 L
2
3L L2 L L f 2 fL
f [ N ]T dx f dx
L
[ K ] EI [ B] [ B]dx 3
T
0 L 6 3L 6 3L 0 0 f
3 12 6
2 f4 L
3L L2
3L 2 L
6 3L 6 3L u1 Q1 6
2 EI 3L 2 L
2
3L L2 u2 Q2 fL L
L 6
3
3L 6 3L u3 Q3 12 6
3L L
2
3L 2 L2 u4 Q4 L
FEA Beam Problem
f Uniform EI
a b
1 2
(1) (2) (3)
Element 1
6 / a3 3 / a2 6 / a3 3 / a2 0 0 U1 6 Q1(1)
a (1)
3 / a
2
2/a 3 / a2 1/ a 0 0 U 2 Q2
6 / a 3 3/ a 2
6/a 3
3 / a2 0 0 U 3 fa 6 Q3(1)
2 EI
3 / a
2
1/ a 3 / a2 2/a 0 0 U 4 12 a Q4(1)
0 0 0 0 0 0 U 5 0 0
0 0 0 0 0 0 U 6 0 0
Element 2
0 0 0 0 0 0 U1 0
0
0 0 0 0 0 U 2 0
0 0 6/b 3
3/ b 2
6 / b3 3 / b 2 U 3 Q1( 2 )
2 EI
0 0 3 / b2 2/b 3 / b2 1 / b U 4 Q2( 2 )
0 0 6 / b3 3 / b2 6 / b3 3 / b 2 U 5 Q3( 2 )
0 0 3 / b2 1/ b 3 / b2 2 / b U 6 Q4( 2 )
FEA Beam Problem
1 2
(1) (2) (3)
Reduced System
6 / a 3 6 / b 3 3 / a 2 3 / b 2 6 / a3 3 / a 3 U1 6 0
2/a 2/b 3 / a2 1 / a U 2 fa a 0
2 EI
6 / a3 3 / a 2 U 3 12 0 0
0 0
2 / a U 4
k=AE/L
s sin q , c cos q
Frame Element
Generalization of Bar and Beam Element with Arbitrary Orientation
w1 w2
q1 q
u1 2
u2
P1 P2
(1) L (2)
M2
M1
V1 V2
AE AE
L 0 0 0 0
L
12 EI 6 EI 12 EI 6 EI u P
0 0 1 1
L3 L2 L3 L2 w Q
0 6 EI 4 EI 6 EI 2 EI 1 1
0 2
L2 L L L q1 Q2
AE AE u2 P2
0 0 0 0
L L w2 Q3
2 q 2 Q4
12 EI 6 EI 12 EI 6 EI
0 0
L3 L2 L3 L
0 6 EI 2 EI
0
6 EI
2
4 EI
L2 L L L