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Isoparametric Formulation (Lec 19, 20)
Isoparametric Formulation (Lec 19, 20)
Prof. Suvranu De
Summary:
Displacement interpolation
u N 1u1 N 2 u 2 N 3u 3 N 4 u 4
s v N 1v1 N 2 v 2 N 3 v3 N 4 v 4
1 1
2 1
Shape functions in local coord system
1
r 1
N1 (r , s ) (1 r )(1 s )
4
1
3 4
1
N 2 (r , s ) (1 r )(1 s )
4
1
N 3 (r , s ) (1 r )(1 s )
4
1
N 4 (r , s ) (1 r )(1 s )
4
Recall that
N1r1 N 2 r2 N 3 r3 N 4 r4 r Constant
N1s1 N 2 s2 N 3 s3 N 4 s4 s strain states
Goal is to map this element from local coords to a general
quadrilateral element in global coord system
1
s
1
x x(r , s )
2 1
y y (r , s ) y
1
r
1
3 4
r r ( x, y )
s s ( x, y )
Local coordinate system Global coordinate system
N1 ( r , s ) N 1 ( x, y )
N1 (r , s ) N1 (r ( x, y ), s ( x, y )) N1 ( x, y )
In the mapped coordinates, the shape functions need to satisfy
Then 1 at node i
Ni
0 at all other nodes
2. Polynomial completeness
N
i
i 1
N x
i
i i x
N y
i
i i y
The relationship
x N i (r , s) xi
i
y N i ( r , s ) yi
i
r r
y
1
x
1D isoparametric mapping
1 3 2 x1 x3 x2
x
r 1 2
1 1 3
Isoparametric mapping
Local (isoparametric) 3
coordinates x N i (r ) xi
r 1 r i 1
N1 ( r )
2 r 1 r r 1 r
r 1 r x
2
x1
2
x2 1 r 2 x3
N 2 (r )
2
N 3 (r ) 1 r 2
NOTES
1. Given a point in the isoparametric coordinates, I can obtain the
corresponding mapped point in the global coordinates using the
isoparametric mapping equation
r 1 r r 1 r
x
2
x1
2
x2 1 r 2 x3
At r 1; x x1
At r 0; x x3
At r 1; x x2
Question
x=? at r=0.5?
2. The shape functions themselves get mapped
In the isoparametric coordinates (r) they are polynomials.
In the global coordinates (x) they are in general nonpolynomials
Lets consider the following numerical example
x1 0; x2 6; x3 4 4 2 x
1 3 2
Isoparametric mapping x(r)
r 1 r r 1 r
x x1 x2 1 r 2 x3
2 2
r 1 r r 1 r
0 6 1 r 2 4
2 2
4 3r r 2
Simple polynomial
Inverse mapping r(x)
3 25 4 x Complicated function
r
2
Now lets compute the shape functions in the global coordinates
r 1 r
N 2 (r )
2
1 3 25 4 x 3 25 4 x
1
2 2 2
1
10 x 2 25 4 x
2
N 2 ( x)
Now lets compute the shape functions in the global coordinates
N2(x)
N2(r)
1 3 2 1 4 2 1
x
r 1 2
1 1 3
N 2 (r )
r 1 r N 2 ( x)
1
2
10 x 2 25 4 x
2
However, thanks to isoparametric mapping, we always ensure
1. Knonecker delta property
2. Rigid body and constant strain states
Element matrices and vectors for a mapped 1D bar element
1 3 2 x
r 1 2
1 1 3
I know x N i (r ) xi
i 1
3
Hence dx dN i (r ) xi J ( Jacobian of mapping )
dr i 1 dr
dN i (r ) 1 dN i (r )
From (*)
dx J dr
What does the Jacobian do?
dx J dr
1 2r 1 2r 1
B 2 r
J 2 2
The element stiffness matrix
x2
k EA B B dx
T
x1
1
EA B B Jdr dx Jdr
T
1
NOTES
1. The integral on ANY element in the global coordinates in now an
integral from -1 to 1 in the local coordinates
2. The jacobian is a function of ‘r’ in general and enters the integral.
The specific form of ‘J’ is determined by the values of x1, x2 and x3.
Gaussian quadrature is used to evaluate the stiffness matrix
3. In general B is a vector of rational functions in ‘r’
Isoparametric mapping in 2D: Rectangular parent elements
s
y,v
r=12 3 (x3,y3)
4 (x4,y4) EDGE s=1
s s=12
4(-1,1) 1 1 P (x,y)
3 (1,1) r
EDGE r=-1
EDGE r=1
1 (x1,y1)
1
EDGE s = -1 2 (x2,y2)
r x,u
1
1(-1,-1) 2(1,-1)
y N i ( r , s ) yi
i
Shape functions of parent element in isoparametric
coordinates
1
N1 ( r , s ) (1 r )(1 s )
4
1
N 2 (r , s ) (1 r )(1 s )
4
1
N 3 (r , s ) (1 r )(1 s )
4
1
N 4 (r , s ) (1 r )(1 s )
4
Isoparametric mapping
x N i (r , s) xi
i
y N i ( r , s ) yi
i
NOTES:
1. The isoparametric mapping provides the map (r,s) to (x,y) , i.e.,
if you are given a point (r,s) in isoparametric coordinates, then
you can compute the coordinates of the point in the (x,y)
coordinate system using the equations
x N i (r , s) xi
i
y N i ( r , s ) yi
i
s 7 y,v
4 1 1 3 EDGE s=1
s
7 (0,1) 3(1,1)
4(-1,1)
r
1 8 (-1,0) 6 (1,0)
6 EDGE r = -1
EDGE r=1
8
2(1,-1)
r 1(-1,-1)
5 (0,-1)
EDGE s = -1
x,u
1 5
1 2
8-noded Serendipity element: element shape functions in
isoparametric coordinates
1
N1 ( r , s ) (1 r )(1 s )( r s 1)
4
1
N 2 ( r , s ) (1 r )(1 s )( r s 1)
4
1
N 3 ( r , s ) (1 r )(1 s )( r s 1)
4
1
N 4 ( r , s ) (1 r )(1 s )( r s 1)
4
1
N 5 ( r , s ) (1 s )(1 r )(1 r )
4
1
N 6 ( r , s ) (1 s )(1 s )(1 r )
4
1
N 7 ( r , s ) (1 s )(1 r )(1 r )
4
1
N 8 ( r , s ) (1 r )(1 s )(1 s )
4
NOTES
1. Ni(r,s) is a simple polynomial in r and s. But Ni(x,y) is a complex
function of x and y.
2. The element edges can be curved in the mapped coordinates
3. A “midside” node in the parent element may not remain as a
midside node in the mapped element. An extreme example
s 5 y
2 1 1
1 1
1 5
8 2,6,3 8
6 r x
1 7
3 4 7
4. Care must be taken to ensure UNIQUENESS of mapping
2
s y
2 1 1 1
1 3 1
r x
1
3 4
4
Isoparametric mapping in 2D: Triangular parent elements
1
1 y 3 (x3,y3)
r r
3 x 1 (x1,y1)
1
Parent shape functions Isoparametric mapping
N1 r x N1 (r , s) x1 N 2 (r , s ) x2 N 3 (r , s ) x3
N2 s y N1 (r , s ) y1 N 2 (r , s ) y2 N 3 (r , s ) y 3
N3 1 r s
Element matrices and vectors for a mapped 2D element
Recall: For each element
V ST
f f
b S
ST e
e
In isoparametric formulation
1. Shape functions first expressed in (r,s) coordinate system
i.e., Ni(r,s)
2. The isoparametric mapping relates the (r,s) coordinates with the
global coordinates (x,y)
x N i (r , s) xi
i
y N i ( r , s ) yi
i
N i x y N i
r r r
x
N x y N i
i
s s s
y
N i N i
r
x
N J N
i i
s
y
N i N i
x
1 r
N J N
i
i
y
s
y N i ( r , s ) yi
i
x N (r , s ) x N (r , s )
i xi ; i xi
r i r s i s
y N (r , s ) y N (r , s )
i yi ; i yi
r i r s i s
x y
r r
J
x y
s s
N i ( r , s ) N i ( r , s )
r
xi r
y i
i i
N i ( r , s ) xi
N i ( r , s )
yi
i s i s
Ve
f (r , s ) dV e f (r , s ) h dA
A f (r , s )
1 1
h det( J ) drds
h=thickness of element
x N1 (r , s) x1 N 2 (r , s ) x2 N 3 (r , s ) x3 N 4 (r , s ) x4
y N1 (r , s ) y1 N 2 (r , s ) y2 N 3 (r , s ) y3 N 4 (r , s) y4
In this case, we may compute the inverse map, but we will NOT do that!
The Jacobian matrix
x y
r r
J
x y
s s
3 3(1 r )
2 0 x
2
5 since
(7 5s )
0 y
2 2
NOTE: The diagonal terms are due to stretching of the sides along the x-and y-
directions. The off-diagonal terms are zero because the element does not shear.
2 / 3 0 15
J 1 and det( J )
0 2 / 5
4
Hence, if I were to compute the first column of the B matrix along the
positive x-direction
N1
x
B1 0
N
1
y
I would use
N1 N1 1 s 1 s
x 2 0
1 r 6
N J N 3 4
0 2 1 r 1 r
1
1
5
y s 4 10
Hence
N1 1 s
x 6
B1 N
1 r
1
y 10
The element stiffness matrix
1 1
T
k B DB dV B DB det( J ) hdrds
T
Ve 1 1