Professional Documents
Culture Documents
Chap 1
Chap 1
CHAP 1
Preliminary Concepts and
Linear Finite Elements
1.1.INTRODUCTION
3
1.1
INTRODUCTION
4
Background
• Finite Element Method (FEM):
– a powerful tool for solving partial differential equations and
integro-differential equations
• Linear FEM:
– methods of modeling and solution procedure are well established
• Nonlinear FEM:
– different modeling and solution procedures based on the
characteristics of the problems complicated
– many textbooks in the nonlinear FEMs emphasize complicated
theoretical parts or advanced topics
• This book:
– to simply introduce the nonlinear finite element analysis procedure
and to clearly explain the solution procedure
– detailed theories, solution procedures, and implementation using
MATLAB for only representative problems
5
Chapter Outline
2. Vector and Tensor Calculus
– Preliminary to understand mathematical derivations in other
chapters
3. Stress and Strain
– Review of mechanics of materials and elasticity
4. Mechanics of Continuous Bodies
– Energy principles for structural equilibrium (principle of minimum
potential energy)
– Principle of virtual work for more general non-potential problems
5. Finite Element Method
– Discretization of continuum equations and approximation of
solution using piecewise polynomials
– Introduction to MATLAB program ELAST3D
6
1.2
7
Vector and Tensor
• Vector: Collection of scalars
• Cartesian vector: Euclidean vector defined using Cartesian
coordinates y
– 2D, 3D Cartesian vectors u2
u1
u1
u , or u u2 e2
e1 x
u2 u
3 e3 u1
u3
z
8
Index Notation and Summation Rule
• Index notation: Any vector or matrix can be expressed in
terms of its indices
v1 A11 A12 A13
v [vi ] v2 A [Aij ] A21 A22 A23
v3 A31 A32 A33
• Einstein summation convention
3
akbk akbk Repeated indices mean summation!!
k 1
3 3
J A:B AijBij AijBij
i1 j1
10
Cartesian Vector
X3
• Cartesian Vectors u
u u1 e1 u2 e2 u3e3 uiei v e3
v vjej e1 e2
X2
X1
• Dot product
u v (uiei ) (vjej ) uv
i j ( ei ej ) uivjij uv
i i
– Kronecker delta function
1 if i j
ij jj 11 22 33 3
0 if i j
– Equivalent to change index j to i, or vice versa
• How to obtain Cartesian components of a vector
ei v ei (vjej ) vjij vi Projection
ab ab
i i aT b
A ab Aij ab
i j A abT
b Aa bi Aijaj b Aa
b aA bj aA
i ij bT aT A
12
Tensor and Rank
• Tensor
– A tensor is an extension of scalar, vector, and matrix
(multidimensional array in a given basis)
– A tensor is independent of any chosen frame of reference
– Tensor field: a tensor-valued function associated with each point
in geometric space
• Rank of Tensor
– No. of indices required to write down the components of tensor
– Scalar (rank 0), vector (rank 1), matrix (rank 2), etc
– Every tensor can be expressed as a linear combination of rank 1
tensors
– Rank 1 tensor v: vi 11 12 13
Rank-2
– Rank 2 tensor A: Aij [ij ] 21 22 23 stress
tensor
31 32 33
– Rank 4 tensor C: Cijkl 13
Tensor Operations
• Basic rules for tensors
Different notations
( TS)R T(SR) TS T S
T(S R) TS TR
Identity tensor
( TS) (T )S T(S) 1 [ij ]
1T T1 T
• Tensor (dyadic) product: increase rank
A u v uivjei ej Aij uv
i j AT Ajiei ej
( u v ) w u( v w)
w ( u v ) v ( w u)
( u v )( w x) ( v w)u x uv vu
• Rank-4 tensor: D D e e e e
ijkl i j k l
14
Tensor Operations cont.
• Symmetric and skew tensors
– Symmetric S ST
– Skew W WT
– Every tensor can be uniquely decomposed by symmetric and
skew tensors
T SW
S 21 ( T T T )
W 21 ( T T T )
– Note: W has zero diagonal components and Wij = - Wji
tr(A) A : 1 1 : A
17
Orthogonal Tensor
• In two different coord.
e3 e3*
e1 *
u uiei uj* ej*
e2
• Direction cosines e1
e2*
[ij ] [ ei* ej ] ei* ijej
We can also show
• Change basis
ej ijei* u* u
u ujej ui* ei* u T u* T ( u) (T )u
ui*ijej
1 T
uj ijui* T T 1 det() 1
Orthogonal tensor
u T u* Rank-2 tensor transformation
T * T T , Tij* ikTkljl
18
Permutation
• The permutation symbol has three indices, but it is not a
tensor
• vector product
u v eieijkujvk
19
Dual Vector
• For any skew tensor W and a vector u
u Wu u WT u u Wu 0
– Wu and u are orthogonal
0 W12 W13 W23
• Let Wij eijk wk
W W12 0 W23 w W13
W13 W23 0 W
12
• Then, W u e w u e w u
ij j ijk k j ikj k j
Wu w u
20
Vector and Tensor Calculus
• Gradient
( X)
ei
X Xi
– Gradient is considered a vector
vi
– We will often use a simplified notation: vi , j
X j
• Laplace operator
2
ei ej X
Xi j Xj Xj
• Gradient of a scalar field f(X): vector
2 2 2
( X) ei X12 X22 X32
Xi
21
Vector and Tensor Calculus
• Gradient of a Tensor Field (increase rank by 1)
i
iei ej ei ej
Xj Xj
• Divergence (decrease rank by 2)
i
ei
jej
Xi Xi
– Ex) jk,jek
• Curl
v eieijk vk,j
22
Integral Theorems
• Divergence Theorem
• Gradient Theorem
A d n A d c
• Stokes Theorem
G
n ( v ) d c r v dc r
• Reynolds Transport Theorem
d A
dt
A d t d (n v )A d
23
Integration-by-Parts
• u(x) and v(x) are continuously differentiable functions
• 1D
b b b
a u(x)v(x) dx u(x)v(x) a a u(x)v(x) dx
• 2D, 3D
u v
xi v d uvni d u xi d
• For a vector field v(x)
u v d u( v n) d u v d
• Green’s identity
u v d uv n d u2v d
24
Example: Divergence Theorem
• S: unit sphere (x2 + y2 + z2 = 1), F = 2xi + y2j + z2k
• Integrate S F n dS
S F n dS F d
2 (1 y z) d
2 d 2 y d 2 z d
2 d
8
3
25
Quiz
26
1.3
27
Surface Traction (Stress)
F
• Surface traction (Stress) f1
Normal
s11 s12
Shear
stress stress Dy
x y 29
Stress Tensor
– First index is the face and the second index is its direction
– When two indices are the same, normal stress, otherwise shear
stress.
– Continuation for other surfaces.
– Total nine components
– Same stress components are defined for the negative planes.
30
Symmetry of Stress Tensor
– Stress tensor should be symmetric
9 components 6 components 21
– Equilibrium of the angular moment A B
y
M l(12 21 ) 0 12 l O x 12
12 21
l
– Similarly for all three directions: C D
12 21 , 23 32 , 13 31 21
11
22 11 12 13
– Let’s use vector
Cartesian notation: 33
components [ij ] 12 22 23
of stress tensor {}
12 13 23 33
23
13 31
Stress in Arbitrary Plane
– If Cartesian stress components are known, it is possible to
determine the surface traction acting on any plane.
– Consider a plane whose normal is n.
– Surface area (ABC = A) y
B
PAB An3 ; PBC An1 ; PAC An2
n
s31 s33 t(n)
– The surface traction s13
s11 s32
t ( n ) t1( n) e1 t2( n) e2 t3( n ) e3
s12 P s23 A x
s21
s22
z C
– Force balance
F1 t1(n)
A 11An1 21An2 31An3 0
• Tensor
( n ) notation
t n t( n) n
t ( n) n n n nn
1 2 3
36
Principal Directions
• Stress Invariants: I1, I2, I3
– independent of the coordinate system
• Principal directions
– Substitute each principal stress to the eigenvalue problem to get n
– Since the determinant is zero, an infinite number of solutions
exist
– Among them, choose the one with a unit magnitude
2
ni (n1i )2 (n2i )2 (n3i )2 1, i 1,2,3
• Principali directions
n n j 0, i are
j mutually perpendicular
37
Principal Directions
• There are three cases for principal directions:
1. σ1, σ2, and σ3 are distinct principal directions are three unique
mutually orthogonal unit vectors.
2. σ1 = σ2 and σ3 are distinct n3 is a unique principal direction, and
any two orthogonal directions on the plane that is perpendicular
to n3 are principal directions.
3. σ1 = σ2 = σ3 any three orthogonal directions are principal
directions. This state of stress corresponds to a hydrostatic
pressure.
n3
38
Strains (Simple Version)
– Strain is defined as the elongation per unit length
Du2
Dx2
P Dx1 P
Du1
u1 u1
11 lim
– Tensile (normal) 0 x1 inx
x1 strains x11- and x2-directions
Textbook has different, but
more rigorous derivations
u2 u2
22 lim
x2 0 x2 x2
39
Shear Strain
– Shear strain is the tangent of the change in angle between two
originally perpendicular axes
Du1
u2
1 ~ tan 1
x1 q2
u1 Dx2
p/2 – g12
2 ~ tan 2
x2 P
q1 Du2
Dx1
40
Strains (Rigorous Version)
• Strain: a measure of deformation
– Normal strain: change in length of a line segment
– Shear strain: change in angle between two perpendicular line
segments
• Displacement of P = (u1, u2, u3)
• Displacement of Q & R
Q u1 u1
u1 u1 x1 u1 u1
R
x2
x1 x2
u2
R'
Q u
u2 u2 x1 u2R u2 2 x2
x1 x2 Q'
x1
x3 41
Displacement Field
• Coordinates of P, Q, and R before and after deformation
P : (x1 , x2, x3 )
Q : (x1 x1 , x2 , x3 )
R : (x1, x1 x2, x3 )
P : (x1 u1P , x2 u2P , x3 u3P ) (x1 u1, x2 u2, x3 u3 )
Q : (x1 x1 u1Q , x2 u2Q , x3 u3Q )
u1 u u
(x1 x1 u1 x1 , x2 u2 2 x1, x3 u3 3 x1 )
x1 x1 x1
R : (x1 u1R , x2 x2 u2R , x3 u3R )
u1 u u
(x1 u1 x2 , x2 x2 u2 2 x2, x3 u3 3 x2 )
x2 x2 x2
2 2 2
PQ x1P x1Q x2P x2Q x3P x3Q
42
Deformation Field
• Length of the line segment P'Q'
2 2 2
u1 u2 u3
PQ x1 1 x
x1 x
1 1
1/2
2 2 2
u1 u1 u2 u3
x1 1 2
x1 x1 x1 x1
u1 1 u1
2
1 u2
2 2
1 u3 u1
x1 1 x 1
x1
x1 2 x1 2 x1
2 x1
Linear Nonlinear Ignore H.O.T. when displacement
gradients are small
• Linear normal strain
PQ PQ u1
11
PQ x1
u2 u3
22 , 33
x2 x3 43
Deformation Field
• Shear strain gxy
– change in angle between two lines originally parallel to x– and y–
axes xQ xQ u xR x R u
2 2 2 1 1 1
1 2
x1 x1 x2 x2
u1 u2
12 1 2
x2 x1
u2 u3
23 Engineering shear strain
x3 x2
u3 u1
13
x1 x3 Different notations
1 u u
1 2
1 ui uj
12 ij
2 x2 x1
2 xj xi
u
1 u
23 2 3
2 x3 x2 ij 21 (ui,j uj,i )
1 u3 u1
13
2 x1 x3
sym(u) 44
Strain Tensor
• Strain Tensor
ijei ej
11 12 13
• Cartesian Components [ij ] 12 22 23
13 23 33
• Vector notation
11 11
22 22
33 33
{}
212 12
223 23
213 13
45
Volumetric and Deviatoric Strain
• Volumetric strain (from small strain assumption)
V V0
V (1 11 )(1 22 )(1 33 ) 1 11 22 33
V0
V 11 22 33 kk
• Deviatoric strain x3
e 31 V 1 eij ij 31 V ij e22
e33
e Idev : 1
x2 1
1
e11 x1
s
Ultimate
Fracture
stress
Yield stress
Proportional
limit Young’s
modulus
e
Strain Necking
hardening
47
Generalized Hooke’s Law
• Linear elastic material D : , ij Dijklkl
– In general, Dijkl has 81 components
– Due to symmetry in sij, Dijkl = Djikl
– Due to symmetry in ekl, Dijkl = Dijlk 21 independent coeff
– Volumetric strain:
kk 11 22 33 v
– Off-diagonal part:
12 212 12 m is the shear modulus
– Bulk modulus K: relation b/w volumetric stress & strain
p m ( 23 )kk Kv
Bulk modulus
2 we can separate volumetric part
K that
– Substitute so
3
49
Generalized Hooke’s Law cont.
• Stress-strain relation cont.
ij (K 23 )kk ij 2ij
Kkk ij 2ij 23 kk ij
Kijklkl 2[ik jl 31 ijkl ]kl
Kijkl 2(Idev )ijkl kl
σ K1 1 2Idev : ε
Deviatoric part
e Idev :
Volumetric part Deviatoric strain
σ Kv 1 2e s Idev :
σ m 1 s Deviatoric stress
51
3D Solid Element cont.
• Elasticity matrix 2 1 1 0 0 0
1 31 23 3
1 3 3 3
1 0 0 0
D K1 1 2Idev 1 1 2 0 0 0
1
1 Idev 3 3 3
0 0 0
0 0 0 1
2
• Relation b/w 0 0 0 0 1
0 2 0
Lame’s constants 0
0 0 21
0 0 0
and Young’s modulus
and Poisson’s ratio 2 0 0 0
2 0 0 0
(3 2)
, E
2( ) 2 0 0 0
D
E E 0 0 0 0 0
,
(1 )(1 2) 2(1 ) 0 0 0 0 0
0 0 0 0 0
52
Plane Stress
• Thin plate–like components parallel to the xy–plane
• The plate is subjected to forces in its in-plane only
• s13 = s23 = s33 = 0
11 1 0 11
E
{ } 22 1 0
22
2
1 0 0 1 (1 )
12 2 12
33 ( 11 22 )
1
53
Plane Strain
• Strains with a z subscript are all zero: e13 = e23 = e33 = 0
• Deformation in the z–direction is constrained, (i.e., u3 = 0)
• can be used if the structure is infinitely long in the z–
direction
11 1 0 11
E
{ } 22 1 0 22
(1 )(1 2) 0 0 1
12 2 12
54
1.4
MECHANICS OF
CONTINUOUS BODIES
55
Governing Equations for Equilibrium
• Governing differential equations for structural equilibrium
– Three laws of mechanics: conservation of mass, conservation of
linear momentum and conservation of angular momentum
• Boundary-valued problem: satisfied at every point in W
– Governing D.E. + Boundary conditions
– Solutions: C2–continuous for truss & solid, C4–continuous for beam
– Unnecessarily requirements for higher-order continuity
• Energy-based method
– For conservative system, structural equilibrium when the potential
energy has its minimum: Principle of minimum potential energy
– If the solution of BVP exists, then that solution is the minimizing
solution of the potential energy
– When no solution exists in BVP, PMPE may have a natural solution
• Principle of virtual work
– Equilibrium of the work done by both internal and external forces
with small arbitrary virtual displacements
56
Balance of Linear Momentum
• Balance of linear momentum
57
Balance of Linear Momentum cont
• Balance of linear momentum
( fb a) d n d d
Divergence Theorem
[ ( fb a)] d 0
( fb a) 0
– For a static problem
fb 0 ij,i fjb 0
x fb d x t n d x a d
T ij ji
58
Boundary-Valued Problem
• We want to determine the state of a body in equilibrium
• The equilibrium state (solution) of the body must satisfy
– local momentum balance equation
– boundary conditions
G
• Strong form of BVP
W
– Given body force fb, and traction t X
• Solution space
DA u [C2 ()]3 | u 0 on x h , n t on x s 59
Boundary-Valued Problem cont.
• How to solve BVP
– To solve the strong form, we want to construct trial solutions that
automatically satisfy a part of BVP and find the solution that
satisfy remaining conditions.
– Statically admissible stress field: satisfy (1) and (3)
– Kinematically admissible displacement field: satisfy (2) and have
piecewise continuous first partial derivative
– Admissible stress field is difficult to construct. Thus, admissible
displacement field is used often
60
Principle of Minimum Potential Energy (PMPE)
• Deformable bodies generate internal forces by
deformation against externally applied forces
• Equilibrium: balance between internal and external forces
• For elastic materials, the concept of force equilibrium can
be extended to energy balance
• Strain energy: stored energy due to deformation
(corresponding to internal force)
1
U( u) ( u) : ( u) d ( u) D : ( u)
2
Linear elastic material
W( u) u fb d s u t d.
( u) U( u) W( u) x1
1
( u) : ( u) d u fb d s u t d.
2
62
PMPE cont.
• PMPE: for all displacements that satisfy the boundary
conditions, known as kinematically admissible
displacements, those which satisfy the boundary-valued
problem make the total potential energy stationary on DA
• But, the potential energy is well defined in the space of
kinematically admissible displacements
Z u [H1 ()]3 | u 0 on x h ,
H1: first-order derivatives are integrable
W Fu(L) FLc1
d d F Fx
(U W) EALc1 FL 0 c1 u(x)
dc1 dc1 EA EA
64
Virtual Displacement
• Virtual displacement is not experienced but only assumed to exist so
that various possible equilibrium positions may be compared to
determine the correct one
• Let mass m and springs are in equilibrium at the current position
• Then, a small arbitrary perturbation, dr, can be assumed
– Since dr is so small, the member forces are assumed unchanged
• The work done by virtual displacement is
W F1 r F2 r F3 r F4 r (F1 F2 F3 F4 ) r
• If the current position is in force equilibrium, dW = 0
F2 F3
dr
F1 F4
65
Virtual Displacement Field
• Virtual displacement (Space Z)
– Small arbitrary perturbation (variation) of real displacement
1 d
u lim [( u ) ( u)] ( u ) u.
0 d 0
– Let ū be the virtual displacement, then u + ū must be kinematically
admissible, too
– Then, ū must satisfy homogeneous displacement BC
u u u V u Z ū
Z u u [H1 ()]3, u h
0 u
for all u Z
• Variation of strain energy
u d u u u
x d x 0 x
( u) ( u ) D :
( u ) : D : ( u) d
a( u, u ) Energy bilinear form
67
PMPE As a Variation cont.
• Variation of work done by applied loads
W( u; u ) u fb d s
u t d ( u ) Load linear form
( u )
– Load form is linear with respect to ū
– Energy form a(u, ū) is symmetric, bilinear w.r.t. u and ū
– Different problems have different a(u, ū) and ( u ) , but they share
the same property
• How can we satisfy “for all ū ” requirement?
Can we test an infinite number of ū? 68
Example – Uniaxial Bar
• Assumed displacement u(x) = cx u(x) cx
– virtual displacement is in the same space with u(x):
• Variation of strain energy
d 1 L 2 1 L
U
d 2 0
EA (u u) dx 2EA(u u)u dx
0 2 0 0
L
0 EAuu dx EALcc
• Variation of applied load
d
W F u(L) u(L) 0 Fu(L) FLc
d
• PMPE
Fx
U W c(EALc FL) 0 u(x) cx
EA
Arbitrary u(x) arbitrary c coefficient of c must be zero 69
Principle of Virtual Work
• Instead of solving the strong form directly, we want to
solve the equation with relaxed requirement (weak form)
• Virtual work – Work resulting from real forces acting
through a virtual displacement
• Principle of virtual work – when a system is in equilibrium,
the forces applied to the system will not produce any
virtual work for arbitrary virtual displacements
– Balance of linear momentum is force equilibrium fb 0
– Thus, the virtual work can be obtained by multiplying the force
equilibrium equation with a virtual displacement
W ( fb ) u d
– Integration-by-parts
b
ij j ,i ij j,i
( u ) u d j uj d
f
– Divergence Thm
niijuj d ijuj,i d fjbuj d
– The boundary is decomposed by h s
uj 0 on h and niij tj on s
b
t u
S j j
d ij j,i
u d j uj d
f
0 u
71
Principle of Virtual Work cont
• Since sij is symmetric
1 ui uj
ijuj,i ijsym(uj,i ) ij ij sym(ui,j ) ij
2 Xj Xi
• Weak Form of BVP
– Energy form:
a( u, u ) : d
– Load form: ( u ) u fb d s u t d
72
Example – Heat Transfer Problem
• Steady-State Differential Equation
T = T0
T k T
kx
x x
y y
y Q 0 domain A ST
• Boundary conditions qn Sq Q
T T0 on ST
dT dT
q
n n k
x x n k
y y on Sq n = {nx, ny}T
dx dy
• Space of kinematically admissible temperature
Z T H1 () T( x) 0, x ST
• Multiply by virtual temperature, integrate by part, and
apply boundary conditions
T T T T
x x x y y y
k k d
TQ d S Tqn dSq,
q
T Z
73
Example – Beam Problem
• Governing DE f(x)
d4 v
EI 4
f(x), x [0, L] x L
dx
75
1.5
76
Finite Element Approximation
• Difficult to solve a variational equation analytically
• Approximate solution n
– Linear combination of trial functions u(x) c (x)
i i
– Smoothness & accuracy depend on i1
the choice of trial functions
– If the approximate solution is expressed in the entire domain, it is
difficult to satisfy kinematically admissible conditions
• Finite element approximation
– Approximate solution in simple sub-domains (elements)
– Simple trial functions (low-order polynomials) within an element
– Kinematically admissible conditions only for elements on the
boundary u(x)
Nodes Approximate
solution
Piecewise-
x
linear
approximation
Finite elements
Exact solution 77
Finite Elements
• Types of finite elements
1D 2D 3D
Linear
Quadratic
One element
78
Trial Solution
– Solution within an element is approximated using simple
polynomials.
1 2 n1 n
1 2 3 n1 n n+1
xi xi+1
li
u(x) a a x,
0 is composed
1 x xx
i of two nodes:
i 1
– i-th element xi and xi+1. Since two
unknowns are involved, linear polynomial can be used:
u(xi ) ui a0 a1xi
u(xi1 ) ui1 a0 a1xi1
80
–
Trial Solution cont.
• Observations
– Solution u(x) is interpolated using its nodal values ui and ui+1.
– N1(x) = 1 at node xi, and =0 at node xi+1.
N1(x) N2(x)
xi xi+1
81
1D Finite Elements
• 1D BVP d2u
2
p(x) 0, 0 x 1
dx
u(0) 0
du Boundary conditions
(1) 0
dx Space of kinematically
admissible displacements
1 d2u
• Use PVW
0 dx2 p u dx 0
Z u H(1) [0,1] u(0) 0
• Integration-by-parts
1
du du du
1 1
u dx pu dx
dx 0
0 dx dx 0
– This variational equation also satisfies at individual element level
xj du du xj
(1) xi dx dx
dx xi
pu dx u
82
1D Interpolation Functions
• Finite element approximation for one element (e) at a time
u(e) (x) uN
i 1 (x) u N
i1 2 (x) N (e)
d(e)
(e) ui
d N(e) N1 N2
ui1
• Satisfies interpolation condition u(e) (xi ) ui
u(e) (xi1 ) ui1
• Interpolation of displacement variation (same with u)
u (e) (x) uN
i 1 (x) u N
i1 2 (x) N(e)
d (e)
[K]{ d} {F }
• Coefficient matrix [K] is singular; it will become non-
singular after applying boundary conditions
86
Example
• Use three equal-length elements
d2u
x 0, 0 x 1 u(0) 0, u(1) 0
2
dx
• All elements have the same coefficient matrix
(e) 1 1 1 3 3
k
22 L(e) 1 1 3 3 , (e 1,2,3)
• RHS (p(x) = x)
87
Example cont.
• RHS cont. f1(1) 1 1 f2(2) 1 4 f3(3) 1 7
(1) , (2) , (3)
f2 54 2 f3 54 5 f
4 54 8
• Assembly
ìï 1 du üï
ïï - (0) ïï
ïï 54 dx ïï Element 1
é 3 - 3 0 ì ü
0 ùï u1 ï ï 2 ïï
ê úïï ïï ïï 4 Element 2
ê- 3 3 + 3 - 3 0 úïï u2 ïï ïï 54 + 54 ïïï Element 3
ê úí ý = í ý
ê0 - 3 3+ 3 ú ï ï
- 3 ï u3 ï ï 7 ï 5 ïï
ê úï ï ï + ï
êë 0 0 - 3 ú ï ï
3 ûïî u4 ïþ ï ï 54 54 ïï
ïï 8 du ïï
ïï + (1) ïï
• Apply boundary conditions îï 54 dx þï
– Deleting 1st and 4th rows and columns
4
6 3 u2 1 1 u2 81
3 6 u 9 2 5
3 u3 81
88
EXAMPLE cont.
• Approximate solution
4 1
x, 0x
27 3 0.08
u-approx.
u-exact
4 1 1 1 2 0.06
u(x) x , x
81 27 3 3 3
u(x)
0.04
5 5 2 2
x , x1
0.02
81 27 3 3 0
0 0.2 0.4 0.6 0.8 1
• Exact solution x
1
u(x) x 1 x2
6
– Three element solutions are poor
– Need more elements
89
3D Solid Element
• Isoparametric mapping
– Build interpolation functions on the reference element
– Jacobian: mapping relation between physical and reference elem.
• Interpolation and mapping
8 8
Same for mapping
u( ) NI ()uI x ( ) NI ()xI and interpolation
I 1 I 1
1
NI () (1 I )(1 I )(1 I )
8
z
x8 x7 (–1, –1,1) (–1,1,1)
x5 (1, –1,1)
(1,1,1)
x6 h
x 4
x3 (–1,1,–1)
x 1
(1, –1,–1)
x3
x (1,1,–1)
x2
x2
x1 (a) Finite Element (b) Reference Element
90
3D Solid Element cont.
• Jacobian matrix
8
x NI () J : Jacobian
J33 xI
I 1
x1 x1 x1
• Derivatives of shape functions
NI NI NI NI NI NI x2 x2 x2
x1 x2 x3
x3 x3 x3
NI NI
J
x
NI NI
J 1
x
– Jacobian should not be zero anywhere in the element
– Zero or negative Jacobian: mapping is invalid (bad element shape)
91
3D Solid Element cont.
• Displacement-strain relation NI,1 0 0
8
0 NI,2 0
( u) BI uI 0 0 NI,3
I 1 BI
8 NI,2 NI,1 0
( u ) BI uI 0 NI,3 NI,2
I 1 N 0 NI,1
I,3
Ni
NI,i
xi
92
3D Solid Element cont.
• Transformation of integration domain
1 1 1
d 1 1 1 J ddd
• Energy form
8 8
1 1 1 BT DB J ddd u { d }T [k]{ d}
a( u, u ) uIT
1 1 1 I J J
I 1 J 1
• Load form
8
T 1 1 1
( u )
uI
1 1 1
NI ()fb J ddd { d }T { f }
I 1
• Discrete variational equation
{ d }T [k]{ d} { d }T { f }, { d } Z h
93
Numerical Integration
• For bar and beam, analytical integration is possible
• For plate and solid, analytical integration is difficult, if
not impossible
• Gauss quadrature is most popular in FEM due to simplicity
and accuracy
• 1D Gauss quadrature
NG
1
1 f() d
i1
if(i )
– NG: No. of integ. points; xi: integ. point; wi: integ. weight
– xi and wi are chosen so that the integration is exact
for (2*NG – 1)-order polynomial
– Works well for smooth function
– Integration domain is [-1, 1]
94
Numerical Integration cont.
• Multi-dimensions
NG NG
1 1
1 1 f(, ) dd
i1 j1
ijf(i, j )
NG NG NG
1 1 1
1 1 1 f(, , ) ddd
i1 j1 k 1
ijk f(i, j, k )
h
Integration
NG Weights (wi)
Points (xi)
1 0.0 2.0
2 .5773502692 1.0 x
3 .7745966692 .5555555556
0.0 .8888888889 h (a) 11 h
.8611363116 .3478546451
4
.3399810436 .6521451549
.9061798459 .2369268851 x x
5 .5384693101 .4786286705
0.0 .5688888889 (b) 22 (c) 33
95
ELAST3D.m
• A module to solve linear elastic problem using NLFEA.m
96
How to Solve Linear Problem in Nonlinear Code
• Linear matrix solver
[K]{ d} {F } {fint} = {fext} {f} = {fext} − {fint} = {0}
100
One Element Tension Example
x3
%
% One element example 10kN 10kN
%
% Nodal coordinates 10kN 5 10kN
XYZ=[0 0 0;1 0 0;1 1 0;0 1 0;0 0 1;1 0 1;1 1 1;0 1 1]; 8
%
% Element connectivity
LE=[1 2 3 4 5 6 7 8];
6 7
%
% External forces [Node, DOF, Value]
EXTFORCE=[5 3 10.0E3; 6 3 10.0E3; 7 3 10.0E3; 8 3 10.0E3]; x2
% 1 4
% Prescribed displacements [Node, DOF, Value]
SDISPT=[1 1 0;1 2 0;1 3 0;2 2 0;2 3 0;3 3 0;4 1 0;4 3 0];
% 2
% Material properties x1 3
% MID:0(Linear elastic) PROP=[LAMBDA NU]
MID=0;
PROP=[110.747E3 80.1938E3];
%
% Load increments [Start End Increment InitialFactor FinalFactor]
TIMS=[0.0 1.0 1.0 0.0 1.0]';
%
% Set program parameters
ITRA=30; ATOL=1.0E5; NTOL=6; TOL=1E-6;
%
% Calling main function
NOUT = fopen('output.txt','w');
NLFEA(ITRA, TOL, ATOL, NTOL, TIMS, NOUT, MID, PROP, EXTFORCE, SDISPT, XYZ, LE);
fclose(NOUT); 101
One Element Output
Command line output
Time Time step Iter Residual
1.00000 1.000e+00 2 5.45697e-12
Contents in output.txt
TIME = 1.000e+00
Nodal Displacements
Node U1 U2 U3
1 0.000e+00 0.000e+00 0.000e+00
2 -5.607e-08 0.000e+00 0.000e+00
3 -5.607e-08 -5.607e-08 0.000e+00
4 0.000e+00 -5.607e-08 0.000e+00
5 -5.494e-23 1.830e-23 1.933e-07
6 -5.607e-08 4.061e-23 1.933e-07
7 -5.607e-08 -5.607e-08 1.933e-07
8 -8.032e-23 -5.607e-08 1.933e-07
Element Stress
S11 S22 S33 S12 S23 S13
Element 1
0.000e+00 1.091e-11 4.000e+04 -2.322e-13 6.633e-13 -3.317e-12
0.000e+00 0.000e+00 4.000e+04 -3.980e-13 1.327e-13 -9.287e-13
-3.638e-12 7.276e-12 4.000e+04 -1.592e-12 -2.123e-12 -3.317e-12
0.000e+00 0.000e+00 4.000e+04 2.653e-13 -2.123e-12 5.307e-13
0.000e+00 0.000e+00 4.000e+04 5.638e-13 3.449e-12 -1.327e-12
0.000e+00 0.000e+00 4.000e+04 -1.194e-12 4.776e-12 1.061e-12
0.000e+00 0.000e+00 4.000e+04 -7.960e-13 2.919e-12 -3.449e-12
3.638e-12 3.638e-12 4.000e+04 -5.307e-13 3.715e-12 1.061e-12
*** Successful end of program *** 102