STRESS LECTURE 6

Isoparametric elements and numerical

integration
 4-Node Quadrilateral elements
• Since we introduced isoparametric element earlier,
there will be no need to go over it again.
• Refreshing on what it is, isoparametric elements
use mathematical mapping from one coordinate
system into another.
• One coordinate is the natural coordinate ,,
while the coordinate that is being mapped from is
called the global or physical coordinate x,y,z.
 4-Node Quadrilateral elements
contd.
• Like we have seen previously, the shape functions
are defined in terms of the natural coordinate
system.
• As a result, mapping is needed between the two
coordinate systems.
• This type of element is important in the analysis of
complex structures.
• We will deal specifically in this class with the
formulation of 4-node quadrilateral element
stiffness matrix.
 4-Node Quadrilateral elements
contd.
• Consider the parent or master element and
the transformed element of a
quadrilateralelement shown below.q8 q6
(-1, 1) (1, 1) v
 q7 q5
4 3 4 3
u
P(,)  q2 P(x,y)

(0,0) 1 q1 q4
1 2 q3
2
(-1,-1) (1,-1)
 4-Node Quadrilateral elements
contd.
• For the element numbered in CCW as
1,2,3,4 with their nodal displacements in
x,y shown as q1,q2,q3,…q8. For the point
located at P, the x,y displacements is given
as u and v respectively.
• Therefore the displacement vectors for the
nodes and point P can be expressed as;
• q=[q1,q2,q3,…q8]T and u=[u(x,y ),v(x,y )]T
 4-Node Quadrilateral elements
contd.
• Using the same method as previously developed
for finding shape function, with the assumption
that shape function at node 1 is 1 and zero in every
other node,
• But along the natural coordinate center ,, the
shape function at node 1(N1) must be zero.
• Therefore the actual value of N1 will be correctly
represented by the form shown.
• N1=c(1- )(1-)
 4-Node Quadrilateral elements
contd.
• N1=c(1- )(1-).
• Putting the coordinate values of , at node
1, we then calculate the value of the
constant c as 0.25.
• Therefore
• N1=0.25(1- )(1-).
• And for all the nodes, is written as:
 4-Node Quadrilateral elements
contd.
• N1=0.25(1- )(1-).
• N2= 0.25(1+ )(1-).
• N3=0.25(1+ )(1+).
• N4= 0.25(1- )(1+).
• Then the displacement at point P can be expressed
in terms of the shape function as:
• u= N1q1+N2q3+N3q5+N4q7
• v=N1q2+N2q4+N3q6+N4q8
• Or u=Nq in a matrix form.
 4-Node Quadrilateral elements
contd.
• N=[N1,0,N2,0,N3,0,N4,0;
• 0,N1,0,N2,0,N3,0,N4]
• Note, in writing matrix, “;”means next line.
• We can also express the coordinate of a
point within an element in terms of nodal
coordinates.
• x=[N1,N2,N3,N4][x1,x2,x3,x4]
• y=[N1,N2,N3,N4][y1,y2,y3,y4]
 4-Node Quadrilateral elements
contd
• Just like we did in the last class, we can
express the derivative of x and y in terms of
the natural coordinate to obtain the Jacobian
function for the element.
f f x f y
 
 x  y 
f f x f y
 
 x  y 
4-Node Quadrilateral elements
contd
   
  
x y    
  
 
 f     f 
   
    x y  
 x
 f       f 
   
    y 
4-Node Quadrilateral elements
contd
 x y 
   
J  
 x y 
  
 

 4-Node Quadrilateral elements
contd
• Therefore,    
   
   
 f   f 
   J 
   
 x
 f   f 
   
    y 
 4-Node Quadrilateral elements
contd
• Putting the shape functions equations into the
equation for x,and y,
• x=[N1,N2,N3,N4][x1,x2,x3,x4]
• y=[N1,N2,N3,N4][y1,y2,y3,y4]
 (1  ) x1  (1  ) x2  (1   ) x3  (1   ) x4  (1   ) y1  (1  ) y 2  (1   ) y3  (1   ) y 4
J
 (1   ) x1  (1   ) x2  (1   ) x3  (1   ) x4  (1   ) y1  (1   ) y 2  (1   ) y3  (1   ) y 4
 4-Node Quadrilateral elements
contd
• Or the Jacobian can be written as:
J 11 J 12
J 21 J 22
• Similarly,
4-Node Quadrilateral elements
contd
 f   f 
 x    
1  
 f   J  
   f 
 y    

 f   f 
 x  1  J 22  J 12    
 f    J J   f 
  det J  21 11   
 y    
 4-Node Quadrilateral elements
contd
• In other to effectively use the last equation
in the determination of the stiffness matrix
of a 4-node quadrilateral element, we need
to get: dx and dy values in terms of the
natural coodinate.
• dxdy= detJd d
• Read up this derivative in any calculus book
for better understanding.
 4-Node Quadrilateral elements
Stiffness Matrix.
• Just like in the previous chapters we will
derive the stiffness matrix using strain
energy equation.
• We will replace f as it has been appearing in
the formula with u.
1 T
U    dV
v
2
1 T
U   te   dA
e e
2
 4-Node Quadrilateral elements
Stiffness Matrix.
• The strain displacement relation can then be
expressed in terms of the 3-strain values of
a 2-D structure.
 u 
 
  x   x 
   v 
   y    
   y 
 xy   v u 

 x y 
 
 4-Node Quadrilateral elements
Stiffness Matrix.
• From the general derivation we did using f
instead of u and v, we do have the
expression of the partial derivatives in terns
of the Jacobian equation.
• So,
 u   u 

 x 
 1  J 22  y12  
  

 u    J J   u 
  det J  21 11   

 y 
 
  

 4-Node Quadrilateral elements
Stiffness Matrix.
• And for the v,

 v   v 
   

 x 1  22
J  y12    
 v     J J   v 
  det J  21 11   

 y 
 
  

 4-Node Quadrilateral elements
Stiffness Matrix.
• The strain equation can then be written in a
compact form as:
 
 
 
 u 
  
 
 u 
  A 
  
 v 
  
 
  v 

  
 4-Node Quadrilateral elements
Stiffness Matrix.
• Where A is:

 J 22  J 12 0 0 
1  
A 0 0  J 21 J 11
det J  
 J 21 J 11 J 22  J 21
 4-Node Quadrilateral elements
Stiffness Matrix.
• From the general equation for displacement,
we had: 



 
• u= N1q1+N2q3+N3q5+N4q7  u 
  
• v=N1q2+N2q4+N3q6+N4q8 
  u


 
• Therefore if we have to write the   
 v 
  
 
 v 

  

• In terms of the shape function we have:
4-Node Quadrilateral elements
Stiffness Matrix.
 
 
 
 u 
  
 
 u 
   Gq
  
 v 
  
 
 v 
  
 4-Node Quadrilateral elements
Stiffness Matrix.
• Where G is:
 (1   ) 0 (1   ) 0 (1   ) 0  (1   ) 0 
 (1   ) 0  (1   ) 0 (1   ) 0 (1   ) 0  
1
G
4 0  (1   ) 0 (1   ) 0 (1   ) 0  (1   )
 
 0  (1   ) 0  (1   ) 0 (1   ) 0 (1   ) 
 4-Node Quadrilateral elements
Stiffness Matrix.
• Then

  Bq
B  AG
  DBq
 4-Node Quadrilateral elements
Stiffness Matrix.
• Therefore;
1 T 1 
1
U   q te  1 B DB det Jdd  q
T

e 2 
1

1 T e
 q k q
e 2
1
1
k  te 
e
B
T
DB det Jdd
1
1
 4-Node Quadrilateral elements
Force Vector.
• The point force: F
• The body force is given as;
1 1
 fx 
f  te   N det Jdd  
e T

1 1  fy 
• The traction force is given as:
e tel23
T   0 0 Tx Ty Tx Ty 0 0 T

2
 Numerical Integration
• In order to effectively evaluate the local or natural
coordinate, numerical integration of the element
needs to be performed.
• There are several numerical integration that can be
applied, such as Simpson’s rule;trapezoidal
methods; gauss-legendre method, etc.
• Of all these methods, the Gauss-Legendre offers
the a better result.
• The other methods mentioned can be used to
evaluate integrals dealing with discrete data,
• The Gauss formulae evaluates known function at
uniformly spaced points.
 Numerical Integration
( Gauss quadratures)
• This formula represents an integral in terms of
the sum of the product of certain weighting
coefficients and the value of the function at
some selected points.
• Thus if we have a function such as:
c n
I   f ( x)dx   wi f ( xi )
b i 1
 Numerical Integration
( Gauss quadratures)
• There are two question we should ask:
• 1) How do we determine the value of the weighting
coefficients represented by wi
• 2) where do we evaluate the function in other words,
how do we select these points.
• To answer these questions, limits are changed from b
– c to –1 and 1
• Then,the function becomes
Numerical Integration
( Gauss quadratures)

x  ao  a1
 Numerical Integration
( Gauss quadratures)
• Now trying to match the limits,

b  ao  a1 (1)
c  ao  a1 (1)
 Numerical Integration
( Gauss quadratures)
• We solve for the ao and a1,
• cb
ao 
2
c b
a1 
2
cb cb
x  
2 2
cb
dx  d
2
 Numerical Integration
( Gauss quadratures)
• We see that any integral in the form of
c n
I   f ( x ) dx  w
i 1
i f ( xi )
b

• Can be expressed so;

1 n
I   f ( ) d  w i 1
i f ( i )
1
 Numerical Integration
( Gauss quadratures)
• let us assume that the value of n in the last
equation is 1
1
I  
1
f ( ) d  w1 f (1 )
• Putting the values of ao and a1,
1
Error 
1
 (a o  a1 ) d  w1 f (1 )  0
 Numerical Integration
( Gauss quadratures)
• The function error can be minimized and
the value at which this error is minimized
becomes the weighting value with its
corresponding
1
point.
Error 
1
 (a
1
o  a1 )d  w1 (ao  a11 )  0
I   (a
1
o  a1 )d  2ao
Error  2ao  w1 ( ao  a11 )  0
Error  ao ( 2  w1 )  w1a11  0
 Numerical Integration
( Gauss quadratures)
• To get the left hand side to be equal to the
right hand side, we get w1=2 and 1=0
• For n = 2;
• We have a function of polynomial of cubic
order. So the function becomes:
 Numerical Integration
( Gauss quadratures)
1 2
I   f ( )d   wi f ( i )
1 i 1

f ( )  ao  a1  a2  a3

2 3

Or
f ( )  ao  a1  (  1 )(   2 )(bo  b1 )
 Numerical Integration
( Gauss quadratures)
• We need to calculate the constants;
1 ,  2 , ao , a1 , bo , b1
So;
1
Error   ( 1 )(   2 )d  0
1

and
1
Error    ( 1 )(   2 )d  0
1
 Numerical Integration
( Gauss quadratures)
• Evaluating the integral gives
1
1  
3
1
2 
3
• Therefore,
1
I 
1
f ( )d  w1 f (1 )  w2 f ( 2 )
 Numerical Integration
( Gauss quadratures)
• Or
1
I  
1
f ( ) d  w1 f ( ao  a11 )  w2 f ( ao  a1 2 )

1
 ao ( w1  w2 )  a1 ( w1  w2 ).........(1)
3
and
1
I   (a
1
o  a1 )d  2ao ..................(2)
 Numerical Integration
( Gauss quadratures)
• Solving (1) and (2) yields
• W1=1 and w2=1
 Numerical Integration
( Examples)
• Question 1
• Perform the following integral using n=2:
1
 1  2  3 d 2

1
 Numerical Integration
( Examples)
• Solution using:
1
I       )  w1 f (1 )  w2 f ( 2 )
2
(1 2 3
1

1 1 2 1 1 2
(1)(1  2( )  3( ) )  (1)(1  2( )  3( ) )  4
3 3 3 3
 The stiffness matrix value

B'*D*B*w1  *w2  *detJ

W1=w2=1
1= 1=+ or - 0.5774