Finite Elements for Structural Analysis An Introduction

Yvona Kolekov
Slovak University of Technology

and Gnther Schmid

Ruhr University Bochum

Lecture held at Faculty of Civile Engineering 2007/2008

Edition, May 07

Finite Elements

_____________________________________________________________________________________________________________________

FINITE ELEMET METHOD (FEM) IN LINEAR ELASTICITY FOR STATIC LAODING

1
V dV d

Boundary Value Problem

1.1 Definitions
elastic region infinitesimal element of V boundary of the region V infinitesimal element of x point in V or on u(x) displacement vector u(x) prescribed displacement vector, x on 1

p(x) prescribed load vector, x on 2 pV ( x) prescribed body force vector in V (x) stress tensor in V (x) strain tensor in V

x3
2 d dV

u
pV

x2

x1

Fig. 1.1: Boundary value problem in 3-dimensional space V with boundary .

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

1.2 Basic Equations

Material equation (Hookes law; stress-strain relation)

=E
Kinematic relation

(1.1)

= (u )
Principle of Virtual Work Wint = Wext where Wint = dV
V

(1.2)

(1.3)

(1.4b) (1.4b)

Wext = u pV dV + u p d
V

Wext
u u
DIFFERENTIAL EQUATION

pV

KINEMATIC COMPATIBILITY

STATIC COMPATIBILITY

=E
Wint

Fig.1.2: Structure of Theory of Elasticity

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

1.2.1 Temperature Loading

We assume that at an initial state the structure is stress free and that thereafter the structure is subjected to a temperature change T (x) . The temperature will produce a pure dilatation of the material, resulting in strain due temperature T (x) = T where is the coefficient of thermal expansion. If the structure is statically determined the known temperature related strains will produce a kinematic motion and will not produce stresses in the structure. The total strain will be equal to the strain due to temperature change: ( x) = T ( x) : In general the temperature change will create stresses which will result in additional elastic strains el ( x) and the total strains will be

( x) = el (x) + T ( x)
from where we have

(1.5)

(1.6) As only elastic stains produce elastic stresses the material law in equ. (1.1) is extended as = E [( x) T ( x)] = E (x) ET (x) (1.7) Note that equation (1.2) stays valid for the total strains.

el ( x) = (x) T ( x)

2 One-Dimensional Region; Classical Ritz-Approach

Beam under longitudinal loading q(x)
B

dx

u(x) EA

Fig. 2.1: One-dimensional structural system

2.1 System
Coordinate in longitudinal direction x Length a E-modulus E Cross section A Load p(x) Horizontal displacement u(x) Longitudinal strain (x) Normal stress (x) m m N/m2 m2 N/m m N/m2

Reaction Forces in B and C: FB , FC N Note: The reaction forces are positive in positive x-direction

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

2.2 Boundary value problem

Find for the beam with boundary conditions u (0) = u ( a ) = 0 the displacement u(x), the stress (x) and the reaction forces FB , FC due to the load p(x). Note: 1)The kinematic terms (displacements, strains) and the dynamic terms (forces, stresses) are dual: u p, , uB FB , uC FC . 2)Multiplication of dual terms give work.

2.3 Approximation 2.3.1 Solution Method

We choose shape functions N i ( x ) multiplied with unknown parameters u i (weights of the shape functions) as approximation for u(x). The shape functions have to satisfy the kinematic (displacement) boundary conditions. Using equations (1.2) and (1.1) the unknown parameters (which are generalized kinematic degrees of freedom) are determined form equation (1.3). With
n

u(x) =

N ( x)u
i =1 1

+ N 2 ( x)u 2 + ..... + N n ( x )u n

(2.1a)

or, using index notation (summation over repeated indices)

u(x) = N i ( x) u i , i = 1, 2,..., n
we obtain from equation (1.3) with equation (1.4), with dV=Adx

(2.1b) (2.2)

( x) ( x) Adx = u(x) p(x) dx

o 0

With Hookes law ( x ) = E ( x ) and the kinematic relation d = u(x)= N i( x) ui = Bi ( x) ui dx and with u = N i ( x) ui = B j ( x) u j one obtains

(2.3) (2.4)

= Bi ( x) ui

(2.5) (2.6) (2.7)

ui B i ( x) EA B j ( x) dx u j = ui N i (x) p(x) dx
A 0

or
K ij u j =Pi

with
K ij = B i ( x) EA B j ( x) dx = N i ( x) EA N j ( x) dx
A a A

P i = N i (x) p(x) dx
0

(2.8a,b)

The linear equation system (2.7) is written in matrix notation as

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

Ku = P (2.9) From equation (2.7) the unknown parameters ui are obtained and the approximate solution is given by equ (2.1). The stress distribution in the beam is obtained from the displacements ui with equations (2.3) and (2.4).
Note: 1) The solution is only possible if the shape functions Ni(x) are linear independent. 2) As the parameters ui determine the kinematic of the system they are also called kinematic degrees of freedom (DOF). Example 2.1 Solve the problem specified in section 2.1 and 2.2 with q(x) = q = constant. Choose 1 DOF, u1, x with shape function N 1 ( x) = sin . a Verify that the shape function satisfies the kinematic B.C.s. Calculate the displacement at the center of the beam, the stresses at the ends of the beam and the reaction forces.

a/2

a/2 C

N1(x)

Fig. 2.2: Shape function continuous along the beam

With

N1 ( x) = sin

x
a

, B1 ( x) =

cos

x
a
a

we obtain from equations (2.8) and (2.9)

K11 =
0

2
a
2

cos

x
a

dx =

2 EA
2a

, P1 = p sin
0

x
a

dx =

2ap

The displacement (at the middle of the beam) becomes

u1 =
and

P1 4a 2 p a2 p = 3 = 0.129 K11 EA EA

u( x) =
and

4a 2 p 4a p x 4ap x ( x ) cos ( x ) cos x = = sin , , 3 EA a a a 2 EA 2A

(0) =
Version March 07

4ap 4ap , (a) = 2 2 A A

Finite Elements

_____________________________________________________________________________________________________________________

FB =

4ap

= 0.405 ap, FC =

4ap

= 0.405 ap

Note: The exact solution is

u( x) =

a2 p x x pa 2 x 1 , ( x) = 1 2 EA a a 2A a

u ( a / 2 ) = 0.125

a2 p pa pa , (0) = , (0) = 2A 2A EA pa pa , FC = FB = 2 2

Example 2.2 Solve the problem in example 2.1 with n (generalized) DOFs choosing the shape functions i x N i ( x ) = sin ; i = 1, 2,LL , n a and discus the result.

3 One-Dimensional Region; FEM-Approach

Beam under longitudinal loading
3.1 Approximation with 1 DOF In the finite element method we allow shape functions Ni (x) with relaxed continuity conditions. We find from equations (2.8) that the functions to be integrated have zero- and firstorder derivatives. Therefore it is sufficient if the shape functions have C0-continuity, i.e. the functions Ni (x) have to be continuous but may have discontinuous first derivatives. Such a function can be constructed by selecting a node point x1. The node divides the beam in two finite beam elements. For simplicity we choose x1 in the middle of the beam such that the beam elements are of equal length L(1) = L(1) = L = a/2. 1 x1 x N1(x)

Fig. 3.1: Longitudinal beam, subdivided into two elements, with C0-continuous shape function We verify that N1(x) satisfies the kinematic B.C.s. If we choose N1(x1) = 1 we obtain by inspection:
N 1 ( x) = x a x , 0 < x < ; N 1 ( x) = 1 , 2 L L a <x<a 2

(3.1)

or
(1) N1 (x ) =

x a x a , 0 < x < ; N 1( x ) = 1 , 0 < x < L L 2 2

(3.2)

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

where x is the element related (local) coordinate with origin at the left end of each element. From PVW we obtain as before from equations. (2.7), (2.8) K11u1 = P1
where K11 = P1 =

B
L
(1)

(1) 1

( x ) EAB1(1) ( x ) dx + ( x ) p( x ) dx +

B
L
( 2)

(2) 1

( x ) EAB1(2) ( x ) dx

(3.3) (3.4)

L(1)

(1) 1

L( 2 )

N1(2) ( x ) p ( x ) dx

Due to the discontinuities in the shape functions the intergral over the beam has to be written as sum over the beam elements. We obtain
K11 = EA EA 2 EA pL pL + = + = pL , P1 = L L L 2 2

(3.5)

The midpoint displacements results in P pL2 pa 2 pa 2 u1 = 1 = = = 0.125 K11 2 EA 8 EA EA and

(3.6)

u (1) ( x) = N1(1) ( x )u1 =

pa 2 x , 8 EA L

u (2) ( x) = N1(2) ( x )u1 =

pa 4 EA

pa 2 8 EA

x 1 L

(3.7)

(1) ( x ) = B1(1) u1 = (1) ( x ) =

FB = pa , 4A

pa , 4 EA

(2) ( x ) = B1(2) u1 =
pa 4A

(3.8) (3.9)

(2) ( x ) =
FC = pa 4

The reaction forces are

pa , 4

(3.10)

Exercise: Discuss the result

3.2 Approximation with n DOFs

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

(1) 1

(2)

....... . 2 ... i-1

(e) i j

.... j+1 .... n

(E)

x
x

L(e)

Figure 3.2: Longitudinal beam subdivided in E elements We choose n node points xi , i = 1,2, , n which subdivide the beam into E elements with length L(e) , e = 1,2 , E. For each node we choose, as shown in Figure 3.3, the global tent-function N i ( x ) with the property N i ( x j ) = i j . ( i j is the Kronecker-symbol, being one for i = j and zero for i j ). We consider a typical element (e) with length L(e) = xj - xi for which the element-related local shape functions Ni(e) , N (e) j are indicated in Fig.3.3
Ni

N i(e)

N (e) j
Nj

(1) 1

(2)

....... . 2 ... i-1

(e) i
L(e)
x

.... j j+1 .... n

(E)

Fig. 3.3: Global and local shape functions According to equations (2.7), (2.8) we obtain the equations to determine the nodal displacements ui, i = 1, 2, ...., n of the beam, i.e. of the global system. Due to the discontinuities of the shape functions we have to calculate the integrals as sum of the integrals of the finite elements:
K ij u j =P j

(3.11)

K i j = e =1
E

B
L
(e)

(e) i

( x ) EAB (j e ) ( x ) dx = e =1 K i(e) j
E

(3.11a)

Pi = e

L( e )

N i( e ) ( x ) p ( x ) dx = e Pi(e)
E

(3.11b)

3.3 Element matrices

ui, Pi i ui i

u(e) ( x )
uj (e)

uj, Pj
j

(e)

Fig.3.4: Linear axial beam element; rod element. Definition of nodal variables and displacement approximation

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

10

We assume that in each element with nodes i and j and with length L the elasticity modulus E, the cross section A and the loading p is constant. Then we have from equations (3.11) with x x 1 1 (3.12) N i(e ) ( x ) = 1 , N j(x ) = ; Bi(e ) ( x ) = , B j(x ) = L L L L the stiffness and load coefficients EA EA (e) (e) K (e) , K i(e) , (ii) =K (j j) = j =K ji = L L (ii) means: no summation pL (e) (e) Pi = Pj = 2 Whence the force-displacement relation for the linear beam element in longitudinal direction is
K ( e )u ( e ) = P ( e )

with

K (e) =

ui Pi pL 1 EA 1 1 , u( e ) = , P ( e ) = = L 1 1 u j Pj 2 1

(3.13)

Note: The element matrices can be referred to global or local nodes: Local

K K ( e ) = 11 K 21 K ii K (e) = K ji

K 12 P , P( e ) 1 K 22 P 2 K ij Pi , P( e ) = , no sum on repeated indices K jj P j

Global

Note: As the beam element is not supported (no displacement specified) the beam element can undergo a (horizontal) rigid body motion. Therefore the element matrix is singular.

3.4 Temperature loading

3.4.1 Element matrices According to chapter 3.2 it is sufficient to consider one typical element, (e), only, "loaded" by a temperature increase T . (We assume here also p = 0 ). (e) i x L(e)

T ( x )
j

Fig 3.5: Longitudinal beam element under temperature load Applying equations (1.2), (1.5)-(1.7) to the beam element we write, omitting for simplification the upper index e: du ( x ) (3.14) = u ( x ) , ( x ) = el . ( x ) + T ( x ) , ( x ) = E el . ( x ) = E ( ( x ) T ( x ) ) . (x ) = dx We use the P.V.W. as given in equation (2.2):
Version March 07

Finite Elements
L

_____________________________________________________________________________________________________________________

11

( x) ( x) Adx = u(x) p(x) dx

0 0

(3.15)

and obtain with p=0

( x) ( x) Adx = 0 .
0

(3.16)

Inserting equations (3.14) into (3.16) we obtain

( x ) EA ( x ) dx ( x ) EA
0 0

( x ) dx = 0 .

(3.17)

With the shape functions, as given already in equation (2.5)

( x ) = B j ( x ) u j = N j ( x ) u j , ( x ) = Bi ( x ) ui = Ni( x ) u i equation (3.17) gives

ui Bi ( x ) EAB j ( x ) dx u j = ui Bi ( x ) EA T ( x ) dx
0 0

(3.18)

(3.19)
(e) (e) K ij u j =Pj(e) , K ( e )u ( e ) = PT where again the upper index has been introduced for the considered element. The left integral in equation (3.19) defines the already derived element stiffness matrix given in equation (3.13). The right integral in equation (3.19) is the consistent equivalent element load vector with

or

(e)

Pi ,T ( e ) = Bi ( x ) EA T ( x ) dx,
0

P j ,T ( e ) = B j ( x ) EA T ( x ) dx ,
0
(e)

where T ( x ) = T ( x ) . (3.20)

The equivalent temperature load P T creates the strain in the element consistent with the strain due to the temperature increase T ( x ) . 1 1 With Bi = , B j = and the assumption that T is constant along the element one has L L 1 1 PT( e ) = EA T = EA T (3.21) 1 1 Note: PT( e ) is a self-equilibrating system. The system equations, and from those the system displacements, are obtained according to equations (3.11)-(3.13) or according to chapter 4.
3.4.2 Element stresses With the element list we select from the system displacements ui, i = 1, n the displacements related to element (e), i.e. u i(e) and u (e) j and obtain the element stress

(e) (e) (e) ( e ) ( x ) = E el ( x ) E T ( x ) = E ( Bi ( x ) ui( e ) + B j ( x )u (je ) ) E T , no sum on i,j . ( x ) = E

or
E (e) ( ui u (je) ) E T (el ) L or in matrix notation ( e ) ( x ) = E B ( e )u ( e ) E T ( e )

(e) ( x ) =

(3.22a) (3.22b)

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

12

Direct Stiffness Procedure

The assembly of the finite elements to the global structure is done using the direct stiffness method. We explain the procedure in an example
Example 4.1

Figure 4.1: Fixed longitudinal beam under distributed constant load

EA = const P = const a = 10 m

Determine the displacement function of the beam and the reaction forces at the support using an approximation with 4 linear finite elements with equal length L. 1 (2) 2 3 (1) (3) (4)

Fig. 3.5: Discretization of longitudinal beam 1. Element list

(e) 1 2 3 4

i 0 1 2 3

j 1 2 3 0

The nodes with zero displacements are denoted as 0

Procedure to build the system matrices K and P from the element matrices K ( e ) and P ( e ) using the element list; (ii) means "no summation" :
(e) (e) K (ii) = K (ii) +K11 , K ij = K ji =K ij +K12 , K (jj) =K (jj) +K (e) 22 ,

Pi =Pi + P1(e) , Pj =P j + P2(e)

Note: Nodes with rigid support obtain the node number zero as they possess no degree of freedom. 2. Element stiffnesses

K (1) = K ( 2 ) = K ( 3) = K ( 4 ) = K ( e ) K (e) = 3. Consistent element load EA 1 1 L 1 1

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

13

P (1) = P ( 2 ) = P ( 3) = P ( 4 ) = P ( e ) P(e ) =
4

pL 1 2 1

4. Summation: K = e =1 K (e) according to element list 0 1 + 1 1 EA 1 1 + 1 1 K= L 0 1 1 1 + 5. Summation: P = e=1 P (e) according to element list
4

1 + 1 pL 1 + 1 P= 2 1 1 + We repeat:
K ( e )u ( e ) = P ( e ) Note: K ( e ) is singular with the diminishing of the rank (Rangabfall) equal to possible rigid body motions of the element

K = K (e)
e =1

P = P (e)
e =1

Ku = P
If the structure is at least statically determinate supported u = FP with F = K 1 Definitions: element displacements u(e) (e) P element loads (e) K element stiffness matrix u system displacements P system loads K system stiffness matrix F system flexibility matrix Work PT u = u T P = u T K u = PT F P > 0 It follows: K and F are symmetric and positive definite

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

14

5 General Finite Element Procedure

Example 5.1 Consider a beam with E = 4 elements, loaded with a constant distributed force p, as shown in Figure 3.5 and with an additional point load P3 at x3. p(x) = p 4 (1) 1 (2) 2 (3) 3 (4) P3 5

x
Figure 5.1: Beam with n = 5 nodes and E = 4 elements We chose nodes on the beam and number it, first within the beam and then at the supports. The positions of the nodes and the point load are given in the nodal list. The length of the element are obtained from the element list as L( e ) = x j x i , e = 1, 2,3, 4 Node No 1 2 3 4 5 xi x1 x2 x3 x4 x5 P3 Pi (e) 1 2 3 4 i 4 1 2 3 j 1 2 3 5

Table 5.1: Nodal list The direct stiffness method gives 2 1 1 1 2 1 EA 1 2 K= 1 ; L 1 1 1 1 2 0 2 0 pL 2 + P3 P= 2 1 0 1 0

Table 5.1: Element list

or

K K = aa K ba

K ab Pa ; P= K bb P b

The partitioned system equation is written as

K aa K ba

K ab u a P a = K bb u b R b

(5.1)

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

15

At each DOF, i, one of the dual values, ui or Pi has to be prescribed (marked by an upper line). The corresponding dual values are the unknowns of the system: the displacements u a of the of the beam and the reaction forces R b . The first matrix equation of equation (5.1) gives K aa u a + K ab u b = P a from where the unknown displacement are found as 1 u a = K aa ( P a K abu b ) .

(5.2a) (5.2b)

The reaction forces due to the P a and u b are obtained from the second matrix equation in equation (5.1): R b = K ba u a + K bb u b Note: The total reaction forces are the sum due to the consistent loads P b acting on the supports plus the reaction forces R b (see figure 5.2).
R4 + P4 P4
P5

R5 + P5

Exercises to chapters 3-5

Exercise 1.1 For the beam with length L, elasticity modulus E and cross section A, shown in figure1, determine the displacement u(x), the stress ( x) along the beam and the reaction force at support B, using one linear beam element. Use the general FEM formulation with node 1 at the left support and node 2 at the right support.

p0 B x L Figure 1: Longitudinal loaded beam Exercise 1.2 The beam, shown in Figure 2, with an elasticity modulus E, cross section A and a thermal expansion coefficient is subjected to a pair of concentrated forces and a temperature change T . Determine the nodal displacements, the stresses in the elements and the reactions at the supports. (Solution see [1], section 17.4, p.231) 10 000 N B A1 a
Version March 07

EA

20 000 N A1 a A2 b C

Finite Elements

_____________________________________________________________________________________________________________________

16

6 General Derivation of 1-D Elements with C -Continuity

In this chapter we derive systematically 1-D finite elements with various orders of approximations. As we derive the element relations in an element related coordinate system we can choose such local coordinate system which are most appropriate. Local coordinate systems are shown in Figure 6.1

Fig.2: Beam loaded by concentrated forces and temperature change a = 0.75 m, b = 0.60 m; E =20x1010 N/m2; A1 = 15 x 10-4 m2 , A2 = 24 x 10-4 m2, T =100C, E =20 x 1010 N/m2, =11 x 10-6 1/ 0 C 0

i a)
x

x ; L

0 x L

L/2 i L/2

0 1

b)

2x ; L

1 +1

L i j
xj xi

i =

0 i 1, 0 j 1

xi ; L

j =

xj L

c)

i + j = 1

Fig 6.1: Element related coordinate systems There is a unique relation between the coordinate system: L = + 2 i = , j = 1 , i + j = 1 . The different coordinate system have different advantages. With system a) the shape functions and their derivatives can be calculated in a straight forward manner. System b) is used if the integrals in the element terms have to be evaluated numerically by Gauss quadrature . Systems c), often called natural coordinates (triangular coordinates in 2-D; tetrahedral coordinates in 3-D) is used for higher order elements since there exist simple integration formulas for these coordinates. In the preceding chapters the shape functions, which have to satisfy the conditions
Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

17

N i ( xj ) = i j ,

had been chosen by inspection. In the following chapter we will derive the shape functions systematically.

6.1 Linear element; coordinate system a)

Since in the following all derivations are related to a typical element (e) we omit in general "(e)". i

j L

Fig.6.1: Linear element

We assume within the element a linear function expressed in the local coordinate system as (6.1) u ( x ) = ax + b The constants a and b can be determined by requirements u ( xn ) = ui ; n = i, j (6.2) n refers to the nodes in the element. Since we have two unknown constants, a, b, we have to choose two nodes on the element. And in order to fulfill C0-continuity in the global system these points have to be the endpoints of the beam. From equation (6.2) we have: u ( xi ) = u (0) = ui ; u ( x j ) = u ( L ) = u j
u (0) = ui = b u ( L ) = u j = aL + b

ui i

uj j L i j L

one obtains
b = ui , a =

u j ui L

Whence

u( x ) =
and

u j ui L

x x x + ui = 1 ui + u j = N i ( x )ui + N j ( x )u j no sum on i,j L L

(x ) =

d d d 1 1 u( x ) = N i ( x ) ui + N j ( x ) u j = ui + u j = Bi ( x )ui + B j ( x ) u j . dx dx dx L L

Note: For this element Bi ( x ) and B j ( x ) are constant. In matrix notation ui x ui x u ( x ) = 1 Ni ( x ) N j ( x ) = = N( x ) u L ui L ui u(e) uj ui i j L

( x ) =
Version March 07

1 L

ui 1 ui Bi ( x ) B j ( x ) = = B( x ) u L ui ui

Finite Elements

_____________________________________________________________________________________________________________________

18

The corresponding element stiffness matrix and element load matrix have been given in chapters 3.2 and 3.3

6.2 Quadratic element; coordinate system a)

i, 1 L/2 j, 2 L/2 k, 3

x
Within the element we approximate the displacement u(x) trough a quadratic function u ( x ) = ax 2 +bx + c (6.3) For the three constants we need 3 nodes on the element. We choose in addition the mid-point of the element and number the points with i, j, k or, equivalently with 1, 2, 3. The constants are obtained from the conditions given in equation (6.2) u ( xi ) = ui ; 1 = 1, 2,3 (6.4) or aL 2 L u1 = c, u2 = + b + c, u3 = aL 2 +bL + c (6.5a) 4 2 or 0 1 0 2 a u1 L L b u2 1 = (6.5b) . 4 2 L 2 L 1 c u3
The solution of equation (6.5) introduced into equation (6.3) gives the displacement u ( x ) expressed in the shape function N i ( x ) , i = 1, 2, 3: u ( x ) = N1 ( x )u1 + N 2 ( x )u2 + N 3 ( x )u3 = N i ( x )ui , sum over i where
x x N1 ( x ) = 2 3 + 1 L L x x N 2 ( x ) = 4 + 4 L L x x N3 ( x ) = 2 L L
2 2 2

(6.6)

Note: As u ( x ) = N i ( x )ui and u ( xi ) = ui it follows that u ( x j ) = N i ( x j )ui = u j or N i ( x j ) = ij .

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

19

7 Plane stress and plane strain problems

7.1 Basics from 3-D elasticity theory
The basic theory for plane stress and plane strain problems is given by the 3-dimensional theory of elasticity. The basic equation used in the Finite Element Method are therefore given first in 3 dimensions. For details see any book about linear elasticity. See also Fig.1.1 Definitions: V dV E Volume of the elastic region; m3 infinitesimal element of V; m3 Elasticity module; N/m2 Poison's ratio; components of the displacement vector u ; m components of the load vector p at the surface (boundary) of the volume; N/ m2 components of the load vector pV in the interior of the region; N/m3 components of the stress tensor ; N/m2

ux, uy ,uz px, py pv,x, pv,y, pv,z x,y,xy nx, ny components of the outward unit normal vector n on the boundary of V; Principle of virtual work Internal virtual work ( x, y, z ) ( x, y, z) dV
V

(7.1)

External virtual work

u(x) p(x) d + u(x,y,z) p

(x,y,z) dV , x ; x,y,z V

(7.2)

External variables p V ,x ux px u p u = y , p = y , pV = pV , y pV , z u z pz 2 3 with u, p, pV given in m, N/m and N/m , respectively Internal variables x x y y z z = , = xy xy yz yz zx zx
Version March 07

(7.3)

(7.4)

Finite Elements

_____________________________________________________________________________________________________________________

20

With these definitions the principle of virtual work has the form
V

( x, y ) ( x, y ) dV = uT (x) p (x) d + uT (x,y) p V (x,y) dV

(7.5)

Kinematics Normal strains

x ( x, y , z ) =
Shear strains

u ( x, y, z ) u x ( x, y, z ) u ( x, y, z ) , y ( x, y , z ) = y , z ( x, y , z ) = z x y z

(7.6a)

u x ( x, y, z ) u y ( x, y, z ) + , y x u ( x, y, z ) u z ( x, y, z ) yz ( x, y, z ) = y + , z y u ( x, y, z ) u z ( x, y, z ) + , zx ( x, y, z ) = z z x

xy ( x, y, z ) =

(7.6b)

or
u x x x u y 0 x ( x, y , z ) y ( x, y , z ) 0 y u z y ( x, y , z ) z or ( x, y , z ) = Lu( x, y , z ) = = u xy ( x, y, z ) u x + y y yz ( x, y, z ) y x 0 zx ( x, y, z ) u y + u z z y u z u x + z x z where L is an operator matrix. Material law (constitutive equations ) The relation between elastic strain and stresses is given as
0 y 0 x z 0 0 0 u ( x, y , z ) x z u y ( x, y , z ) 0 u ( x, y , z ) z y x

(7.7)

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

21

1 x 1 E 1 y z el = = xy yz 0 zx el

x 0 y z or 1 0 0 xy 1 0 1 0 yz G 0 0 1 zx

el = C
compliance matrix

(7.8)

Thermal stains due to temperature increase T is 1 1 1 T = T , with [1/ 0C] coefficient of thermal expansion 0 0 0 The total stain representing the gradient of displacement field is

(7.9)

= Lu = el + T

(7.10)

Inversion of equation (7.8) gives where G =

= Eel

with

E=C

(generalized Hookes law)

E : 2(1 + )
v 1 v 1 v 1 v 0 0 0 v 1 v v 1 v 1 0 0 0 0 0 0 1 2v 2(1 v) 0 0 0 0 0 0 1 2v 2(1 v) 0 0 0 0 0 1 2v 2(1 v) 0

1 v 1 v v 1 v E (1 v) E= (1 + v)(1 2v) 0 0 0

(7.11)

Note: 0 v < 0.5 . For v = 0.5 the material is incompressible, i.e. xx + yy + zz = 0 . (Rubber is often modeled as incompressible).
Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

22

Note: Temperature change creates in unconstrained material only normal strains. Problem definition Find the displacement u( x, y, z ) and the stresses ( x, y , z ) in the considered region with prescribed displacement boundary values u on boundary 1 and loads p on boundary 2 , pV in V and temperature increase T in V; 1 U 2 = .

7.3 Plane stress problem; membrane plate

Flat structural members are called plates if the extension in one direction, the thickness, is very thin compared to its width and length. The plate is called membrane plate (Scheibe) if it is loaded only in its own plane with forces which are constant over the thickness. Since there are no loads normal to the parallele plate surfaces the stress components in z-dirction (co-ordinate system see Fig.7.1) are zero:z =zx =zy = 0 .
n

A dA

pV

y x t

E,

xy
dA

xy
u

Fig. 7.1: Plane stress problem Definitions for membrane plate: A dA t ux, uy px, py pv,x, pv,y x,y,xy nx, ny area of the plate; m2 infinitesimal element of A; m2 thickness of the plate; m components of the displacement vector u ; m components of the load vector p at the boundary of the plate; N/m components of the load vector p A = t pV in the interior of the plate; p A in N/m2 components of the stress tensor ; N/m2 components of the outward unit normal vector n on the boundary of A; -

It is assumed that the loads act only within the plane and are constant over the thickness. It follows that all stresscomponents in z-direction (normal to the plate) are zero. Problem definition
Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

23

Find the displacement u ( x, y ) and the stresses ( x, y ) due to the loads p and pV in the plate with prescribed displacement boundary values u on boundary 1 and loads p on boundary 2 , p A in A and temperature increase T in A uniform over the thickness; 1 U 2 = . Principle of virtual work Internal virtual work ( x, y) ( x, y) tdA
A

(7.12a)

External virtual work

u(x) p(x) d + u(x,y) p

(x,y) tdA, x

(7.13a)

We write the field variables as matrices: External variables

ux px p A, x p V , x u = , p = , pA = =t u y py p A, y pV , y (7.14) Internal variables x x = y , = y xy xy

With these definitions the principle of virtual work has the form
A

(7.15a)

( x, y ) ( x, y ) tdA = uT (x) p(x) d + uT (x,y) p A (x,y) dA

(7.16a)

Kinematics

x ( x, y ) =

u ( x, y ) u x ( x, y ) u ( x, y ) u y ( x, y ) , y ( x, y ) = y , xy ( x, y ) = x + x y y x

(7.17)

u x x x ( x, y ) u y y ( x, y ) = y xy ( x, y ) u u y x+ x y or

(7.18)

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

24

x ( x, y ) = Lu ( x, y ) = 0 y

0 u x ( x, y ) u ( x, y ) y y x

where L is an operator matrix.

Material law (constitutive equation, generalized Hooke's law) 1 T = T = E el = E ( T ) = E ET 1 0 with

(7.19)

1 v 0 1 E T E E T = (7.20) v 1 0 ; E= 1 1 1 v2 1 v 0 0 0 2 Note: The deformation normal to the planes surface, in z-direction, is not zero, but decoupled from the stress and deformation state in the plane. The strain in z-direction is obtained from the strain-stress relation in z-direction after the stresses in the plane surface are obtained, and from the strain-temperature relation in z-direction:
E Exercise: Derive equations (7.9a) and (7.9b) from 1 1 1 x ,el = ( x y z ), y ,el = ( y x z ), z ,el = ( z x y ) E E E 1 1 1 xy = xy ; yz = yz ; zx = zx and from equ.(7.9a ). G G G

z ,el = ( x + y ); z ,T = T .

(7.21)

Note we use here = xy xy

7.4 Plane strain problem (e.g. Geo-technical structures)

Plane strain occurs if the structure and its load does not change its properties, in z-direction (see Fig. 7.2.1 and Fig. 7.2.2)

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

25

y z H x Fig. 7.2.1
fixed in z- direction

L>> H

fixed in z- direction

z x Fig. 7.2.2

Definitions for plane strain: A dA L ux, uy px, py pv,x, pv,y cross section of structure; m2 infinitesimal element of A; m2 Length of structure in z-direction; m (cancels in the analysis) components of the displacement vector u in considered cross section; m components of the line load vector p in N/m along the boundary of the considered cross section, specified per unit length in z-direction components of the load vector p A in N/m2 in the considered cross section, specified per unit length in z-direction components of the stress tensor in the considered cross section; N/m2 components of the outward unit normal vector n on the boundary of he cross section a A; -

x,y,xy,z nx, ny

It is assumed that the geometrical material values of the structure and the loading are constant in z-direction. It follows that all strain components in z-direction (normal to the cross section of the structure) are zero. The displacements in z-direction are zero due to the assumed geometrical conditions.
Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

26

Problem definition Find the displacement u( x, y ) and the stresses ( x, y ) due to the loads p and p A in the cross section with prescribed displacement u on boundary 1 and line loads p along boundary 2 , area load p A in A, and temperature increase T , constant in z-direction; 1 U 2 = . Principle of virtual work Internal virtual work (integrated over the length L)
L ( x, y ) ( x, y ) dA
A

(7.12b)

External virtual work (integrated over the length L L u(x) p(x) d + L u(x,y) p A (x,y) dA, x

(7.13b)

We write the field variables as matrices: External variables ux px p A, x u = , p = , pA = u y py p A, y Internal variables x x = y , = y xy xy

With these definitions the principle of virtual work has the form
A

(7.14b)

(7.15b)

( x, y ) ( x, y ) dA = uT (x) p(x) d + uT (x,y) p A (x,y) dA

(7.16b)

In bothe cases shown in Fig.7.2 is u x = u x ( x, y ) ,

u y = u x ( x, y ) , u z = 0 . It follows that

z =

u z = 0; z

zx =

u z u x u u + = 0; zx = z + x = 0 x z x z

zy =

u z u y + = 0. y z

(7.22)

With equation (7.22) follows from the 3-D material laws

1 E (1 v) v E= (1 + v)(1 2v) 1 v 0

v 1 v
1 0

x x ,T 1 1 0 ; = y ; n ,T = y ,T = T xy 1 z , T 1 2v 2(1 v)

(7.23 a,b,c)

Note: 0 v < 0.5 . For v = 0.5 the material is incompressible (rubber is often modeled as incompressible).

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

27

Note: The strain z and the shear stresses zx and zy are zero. The stress z normal to the x-y plane surface is not zero. The strain due to temperature increase is all directions not zero in. The stress state is obtained from equation (7.11) with z = zx = zy = 0 and equ.(7,23). If we write in equ.(7.24) first the stresses in the x-y-plane and than z we obtain:
1 v E (1 v) 1 v = (1 + v)(1 2v) 0 v 1 v v 1 v 1 0 v 1 v 1 0 x v E (1 v) 1 v 1 2v y (1 + v)(1 2v) xy 0 2(1 v) v 0 1 v 0 v 1 v 1 0 v 1 v v 1 v 1 v 1 v T 1 0 1 1

= Eel = E( T )

(7.24)

x y xy z

or
1 x v y = E (1 v) 1 v xy (1 + v)(1 2v) 0 z v 1 v v 1 v 1 0 v 1 v 0 x E T y 1 2v 1 2v 2(1 v) xy 0 0

1 1 0 1

(7.24)

7.5 FEM-Approximation
The derivations are here given for the case of plane stress. The case of plane stress is obtained with the material laws of plain strain and an extension in z-direction equal 1 (thickness of the plate ). We subdivide the plate in finite plate elements, defined by the node points of the elements. At each node, i, we have two kinematic DOF's u x ,i and u y ,i As in the 1-D approximation we express the displacement field with C0-continuous shape functions having the properties to be 1 at the considered DOF and zero at all other DOF's. Again it is sufficient to derive the expression of virtual work only for one typical element (e).

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

28

Fig.7.2: Example of plate discretization with triangular and quadrilateral elements

7.2.1 Linear triangular element

6 y x 2 i, 1 1 k, 3 5 j, 2 4 3

Fig. 7.3: Linear triangle; constant stress triangle We assume for the horizontal and vertical displacement component a linear variation within the element: u x ( x , y ) = + x + y , u y ( x, y ) = + x + y (7.25) where , , are constants to be determined from: u x ( xi , yi ) = u x ,i , i = 1, 2,3 (or from u y ( xi , yi ) = u y ,i ) One obtains: 1 xi 1 x j 1 xk from where

(7.26)

yi u x ,i = u yj x, j yk u x , k

(7.27)

with

1 {ai ux,i + a j ux, j + ak ux,k } 2A 1 = {bi ux,i + b j ux, j + bk ux,k } 2A 1 = {ci ux,i + c j ux, j + ck ux,k } 2A ai = x j yk xk y j , bi = y j yk , ci = xk y j

(7.28)

(7.29)

and the area of the triangle as 1 xi yi A = 1 xj yj . 1 xk yk The constants a j , ak , b j , bk , c j , ck are obtained through cyclic permutation. The element approximation is obtained from equ. (7.25) with equ. (7.28) as
Version March 07

(7.30)

Finite Elements

_____________________________________________________________________________________________________________________

29

u x ( x , y ) = N i ( x , y ) u x , i + N j ( x , y ) u x , j + N k ( x, y ) u x , k
with
1 ( ai + bi x + ci y ) 2A 1 N j ( x, y ) = ( a j + bj x + c j y ) 2A 1 N k ( x, y ) = ( ak + bk x + ck y ) 2A N i ( x, y ) =

(7.31)

(7.32)

In the same way one obtains u y ( x , y ) = N i ( x , y ) u y , i + N j ( x, y ) u y , j + N k ( x, y ) u y , k Note that again N i ( x j , y j ) = i j , i, j = 1, 2,3

(7.33)
1

Ni k,3

Nj

Nj

(e) ux

u (ye )

i, 1

j, 2

Fig.7.4: Shape functions and element approximation; linear triangular element If we define the element nodal displacement as v1 u x ,i v u 2 y ,i v3 u x , j v= = v u y, j 4 v u 5 x ,k v6 u y , k one obtains in matrix notation u ( x, y ) = N ( x , y ) v with 0 N j ( x, y ) 0 N k ( x, y ) 0 N i ( x, y ) N ( x, y ) = 0 0 N i ( x, y ) N j ( x, y ) N k ( x, y ) 0
The strain in the element is
Version March 07

(7.34)

(7.35) (7.36)

Finite Elements

_____________________________________________________________________________________________________________________

30

x ( x, y ) =

u x = N i ( x, y ) u x ,i + N j ( x, y ) u x , j + N k ( x , y ) u x , k x x x x u y ( x, y ) = y = N i ( x , y ) u y , i + N j ( x , y ) u y , j + N k ( x , y ) u y , k y y y y u u xy ( x, y ) = x + y = N i ( x, y ) u x ,i + N j ( x, y ) u x , j + N k ( x, y ) u x ,k y x y y y + N i ( x, y )u y ,i + N j ( x, y )u y , j + N k ( x, y )u y , k x x x

(7.36)

Using the definitions (7.6) and (7.31, 7.32) one obtains from (7.36) in matrix notation v1 v x bi 0 b j 0 bk 0 2 1 v3 0 0 0 c c c = y i j k 2A v or = B v xy ci bi c j b j c j bk 4 v 5 v6 The element related matrices are obtained from equation (7.5)
A

(7.37)

( x, y ) ( x, y ) tdA = uT (x) p(x) d + uT (x,y) p A (x,y) tdA

With the above given relations u( x, y ) = N( x, y ) v, u( x, y ) = N( x, y ) v , ( x, y ) = B ( x , y ) v , ( x, y ) = B( x, y ) v , and = E one obtains

(7.38)

vT BT ( x, y ) E B( x, y ) tdA v = vT NT (x) p(x) d + vT NT (x,y) p A (x,y) tdA

A

(7.39) (7.40) (7.41) (7.42) (7.343)

or with

(e) v (e) = P(e)

( e ) = BT ( x, y ) E B( x, y ) tdA
A

P ( e ) = NT (x) p(x) d + NT (x,y) p V (x,y) tdA

If we define E = tE p A (x,y) = t pV (x,y) one has for the element related matrices ( e ) = B T ( x , y ) E B ( x , y ) dA
A

(7.44)

with E from equation (7.9),(7.29) and B from equation. (7.23);

P ( e ) = NT (x) p(x) d + NT (x,y) p A (x,y) dA .

(7.45)

For the linear element all matrices in equation (7.30 a) are constant and one obtains
Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

31

( e ) = A( e ) B ( e )T E B ( e ) where A( e ) is the area of the considered element and E and B ( e ) represent the material and the kinematic of the element, defined through equations (7.29), (7.9) and (7.23). Note: As the element is not supported it can undergo 3 rigid body displacements. ( e ) is singular with "Rangabfall" 3. The rank of ( e ) is 3.
Load vector If in the element p A and p are constant (equ.7.28) one has for the load in the direction of DOF i Pxi ( e ) = px N i (x) d + t p Ax N i (x,y) dA

Similar expressions hold f or the other DOFs. As N i represent a pyramid with base A (see Figure 7.3) the integrals can be obtained through geometric consideration. One obtains for the element with nodes j, k on the boundary 0 p Ax 0 p Ay i L jk px tA p Ax 2 (e) [ px ] = N/m; [ p Ax ] = N/m P = + 2 p y 3 p Ay px p Ax p y p Ay k pVy pVx j py px x Ljk

Fig 7.5: Loaded element having nodes j,k on the boundary . We see that the consistent loads in the linear triangular element are distributed to equal parts to the nodes of the element. Element stresses The element stresses are given once the system displacements are known. From v one obtains v ( e ) from where
(n,1) (6,1) (e)

= E = E B ( x, y ) v .
u x ,i u y ,i 0 ux, j ck u y , j bk u x , k u y ,k

(e)

(e)

(e)

(7.46)

or x ( , ) E ( , ) y = 1 v2 xy ( , ) 1 v 0 bi 0 1 0 0 2 A ci 1 v 2

v 1 0

0 ci bi

bj 0 cj

0 cj bj

bk 0 cj

As for the linear shape functions the stresses are constant the element stresses of the constant stress element is related to the center of the triangular area. 7.2.1.1 Exercise
Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

32

Obtain for the not yet supported plate with elasticity modulus E and Poisson's number , shown 0 in Figure 7.6a for constant material properties and constant load p A ( x, y ) = p 0 = the p 0 y stiffness matrix and consistent load vector. Solve the problem for the supported plate, shown in Figure 7.3b. y y

a a) a x b) x

Fig. 7.6: Plate discretized with 2 triangular elements; a) not supported, b) supported. Procedure 1) Choose the node points and node numbers 2) Define the DOFs, i.e. the system displacements 3) Define the vector of nodal displacements and nodal loads 4) Give the nodal list 5) Give the element list 6) Obtain the element matrices (1) and (2) 7) Obtain the element load matrices P (1) and P (2) 8) Add the element matrices to the system matrices 9) Include displacement B.C.'s 10) Obtain the system displacements 11) Obtain the element stresses 12) Obtain the support reaction 13) Discuss the result

7.2.2 Bi-linear rectangular element

8 7 l b 2 i 1 j

6 5 4 3

m, 4

, y

k, 3

, x
i, 1 a j, 2

Fig:7.7: Rectangular element; coordinates, node numbers, DOFs The element related coordinate system has its origin in the center of the rectangle. The axis ore oriented parallel to its sides. The non-dimensional coordinates are defined as 2x 2y (7,47) = , 1 +1; = , 1 +1 . a b Also we have 2 2 ab (7,48) d = dx; d = dy; dx dy = d d . 4 a b
Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

33

Note: In general terminology of coordinate transformation (see section 7.3) we have also

dA = dx dy = J d d
dx d J= 0 0 a = 2 dy 0 d 0 b 2

J=J =

ab 4

(7.49)

where J is the Jacobi matrix and J the Jacobian. We approximate each of the two components of the displacement vector within the element through shape functions N i ( x, y ) , i = 1, 2, 3, 4 corresponding to the 4 nodal points of the elements u x ( , ) = N i ( , )u xi , sum over i (7,50) u y ( , ) = N i ( , )u yi , i = 1, 4 where N i has the property N i ( j , j ) = ij . We obtain by inspection from Figure 7.7 1 N i ( , ) = ( 1)( 1) 4 1 N j ( , ) = ( + 1)( 1) 4 (7,51) 1 N k ( , ) = ( + 1)( + 1) 4 1 N m ( , ) = ( 1)( + 1) 4 Note: For each displacement component we have 4 nodal values to approximate the shape functions. This corresponds for the horizontal component (and for the vertical components correspondingly) to u x ( x, y ) = a + bx + c y + d xy . This is an incomplete quadratic polynomial which does not preserve its properties when rotated. Therefore the element has always to be oriented parallel to the global coordinate axis. With the definition u v1 x ,i v u y ,i 2 v3 u x , j u v y, j 4 (7.52) = v= v u 5 x ,k v 6 u y , k v u 7 x ,m v8 u y ,m we obtain
Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

34

u x ,i u y ,i u x, j N j ( , ) N k ( , ) N m ( , ) 0 0 0 0 u x ( , ) N i ( , ) u y , j u ( , ) = 0 N i ( , ) N j ( , ) N k ( , ) N m ( , ) 0 0 0 y u x , k u y ,k u x , m u y ,m

or

(2,1)

u ( , ) = N ( , ) v
(2,8)

(8,1)

(7.53)

The element strains are u x x x ( x, y ) u y = y ( x, y ) = y xy ( x, y ) u x u y + x y

N i ( , ) x 0 N i ( , ) y N j ( , ) x 0 N j ( , ) y N k ( , ) x 0 N k ( , ) y N m ( , ) x 0 N m ( , ) y u x ,i u y ,i 0 u x , j u y , j N m ( , ) y u x , k N m ( , ) u y , k x u x ,m u y ,m

0 N i ( , ) y N i ( , ) x

0 N j ( , ) y N j ( , ) x

0 N k ( , ) y N k ( , ) x

or

(3,1)

( , ) = B ( , ) v
(3,8)

(8,1)

(7.54) (7.55) (7.56)

The element matrices are as given before in equ. (7.30): ( e ) = B T ( x , y ) E B ( x , y ) dA

A

P ( e ) = NT (x) p(x) d + NT (x,y) p A (x,y) dA

As the shape functions are derived in non-dimensional form the integrals have to be transformed to non-dimensional coordinates. With N(x,y)= N( , ), p A (x,y)= p A ( , ), dA = and a a x= , d = dx = d 2 2 b b x= , d = dx = d 2 2
Version March 07

ab d d 4

(7.57)

for horizontal boundaries for vertical boundaries

(7.58) (7.59)

Finite Elements

_____________________________________________________________________________________________________________________

35

and with equ. (7.33) N i ( , ) N i ( , ) N i ( , ) 2 N i ( , ) N ( , ) = + = + 0 i x x x a N i ( , ) N i ( , ) N i ( , ) N ( , ) 2 N i ( , ) = + = 0 i + y y y b and similar expression for j , k , m and with
N i ( , ) 1 N i ( , ) 1 = ( 1) , = ( 1) 4 4 N j ( , ) N j ( , ) 1 1 = ( 1) , = ( + 1) 4 4 N k ( , ) 1 N k ( , ) 1 = ( + 1) , = ( + 1) 4 4 N m ( , ) N m ( , ) 1 1 = ( + 1) , = ( 1) 4 4 one obtains finally the kinematic matrix in non-dimensional coodinates

(7.60)

(7.61)

(7.62)

1 2a ( 1) 0 B( , ) = 1 ( 1) 2b

0 1 ( 1) 2b 1 ( 1) 2a

1 ( 1) 2a 0 1 ( + 1) 2b

0 1 ( + 1) 2b 1 ( 1) 2a

1 ( + 1) 2a 0 1 ( + 1) 2b

0 1 ( + 1) 2b 1 ( + 1) 2a

1 ( + 1) 2a 0 1 ( 1) 2b

1 ( 1) 2b 1 ( + 1) 2a 0

(7.63) Whence the element stiffness matrix becomes

(8,8)

(e)

+1

+1

BT ( , ) E B( , ) Jd d =

=1 =1

ab BT ( , ) E B( , ) d d 4 =1 =1

+1

+1

(7.49)

After the matrix multiplication BT E B the integration of the elements of the stiffness matrix can be obtained analytically. Load vector (here no temperature loading)

P ( e ) = NT (x) p(x) d + NT (x,y) p A (x,y) dA

(7.64)

with ab N (x,y) p A (x,y) dA = NT ( , ) p A ( , ) d d 4 1 1 A +1 L jk T d N (x) p (x) = N T ( ) p ( ) d 2 1

T
+1 +1

(7.65) (7.66)

and

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

36

where L jk is the length of the side of the element on . Integration gives for p A and p constant in the element with nodes j, k on the boundary
p Ax 0 p 0 Ay p Ax px ab p Ay c px = + 4 p Ax 2 0 p Ay 0 p 0 Ax p 0 Ay

p Ay k p Ax j a py px Ljk

P(e)

(7.53)

Fig. 7.8: Loaded element with nodes j,k on boundary .

We see that the consistent loads in the bi-linear element are distributed to equal parts to the nodes of the element. Element stresses The element stresses are given once the system displacements are known. From v one obtains v ( e ) from where
(n,1) (8,1)

(e)

= E = E B( , ) v

(e)

(e)

(7.67)
0 0 x 1 2(1 v)
u x ,i u y ,i u x, j u y , j u x , k u y ,k u x , m u y ,m

or x ( , ) E ( , ) y = 1 v2 xy ( , )
1 v 0 v 1 0

1 2a ( 1) 0 1 ( 1) 2b

0 1 ( 1) 2b 1 ( 1) 2a

1 ( 1) 2a 0 1 ( + 1) 2b

0 1 ( + 1) 2b 1 ( 1) 2a

1 ( + 1) 2a 0 1 ( + 1) 2b

0 1 ( + 1) 2b 1 ( + 1) 2a

1 ( + 1) 2a 0 1 ( 1) 2b

1 ( 1) 2b 1 ( + 1) 2a 0

(7.68)

7.2.2.1 Exercise a) Obtain by analytical integration the stiffness matrix of the bilinear rectangular element. b) Solve with one quadrilateral element the problem of exercise 7.2.1.1
Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

37

7.3 Isoparametric plane stress elements

The elements developed in section 7.22 can only be used if the element boundaries are parallel to the global co-ordinate axis. The extension to an arbitrary 4 node triangular element is made by mapping a unit quadrilateral "parent" element into a general quadrilateral element (see Fig. 7.9).

-1,1 m k 1,1 mapping y m i k j

-1,-1 i j 1,-1

x = x( , ) y = y ( , )

Fig. 7.9: Mapping of parent element into a general element The mapping is given as x = x( , ) y = y ( , ) As mapping function we choose the same functions as for the shape functions given in equation (7.36) and have for the mapped geometry
x( , ) = N i ( , ) xi + N j ( , ) x j + N k ( , ) xk + N m ( , ) xm

y ( , ) = N i ( , ) yi + N j ( , ) y j + N k ( , ) yk + N m ( , ) ym We conclude for a typical function N i : N i ( , ) = N i ( x, y ) . and for its derivatives N i ( , ) N i ( x, y ) x N i ( x, y ) y = + x y N i ( , ) N i ( x, y ) x N i ( x, y ) y = + x y or N i x y N i x = N i x y N i y where

(7.69)

Version March 07

Finite Elements
x J= x

_____________________________________________________________________________________________________________________

38

y is the Jacobian matrix and (7.70 a) y x y y x J = det J = J = is the Jacobian (7.70 b) From equation (7.3.1) we obtain the gradients occurring in the element stiffness matrix N i N i x . = J 1 N i N i y

(7.61)

r r Considering the sides of the infinitesimal area element dx dy as vectors d x , d y one shows with x x d d r r ; d y dx= = y y d d
that
r r dA = dx x dy = J d d .

(7.62)

With expressions (7.3.2)-(7.3.4) one can write the element related integral as functions of an : Stiffness matrix:
(8,8)

(e)

+1

+1

BT ( , ) E B( , ) J d d

=1 =1

where the terms

N i N i in equation (7.39) , x y are obtained from equation (7.3.3). Similarly we obtain the terms with indices j, k, m. Load vector duet loading over the element: P
(e) 1 1

1 1

( , ) p A ( , ) J d d

As in general the Jacobi matrix is a function of and the intergrals have to be evaluated by numerical integration. Note: All internal angles of the quadrilateral have to be less than 180 0 in oder that the mapping between ( , ) - and (x,y)-coordinate system is unique (in both directions). Exercise: Obtain for the rectangular element shown in Figure 7.3 the stiffness matrix in the formulation of chapter 7.3 analytically and through Gauss integration
Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

39

8 Plate bending
8.1 Assumptions and definitions
We consider thin plates where shear deformations can be neglected. It follows that there will be no material law relating shear forces with shear deformations. This has the effect that the force values corresponding to vertical boundary displacements are the Kirchhoff shear forces or total shear forces. In this introduction we will consider only rectangular plates with sides parallel to the global x- and y- axis. Only vertical distributed loads or vertical point loads within the area of the plate are considered. Furthermore we will assume such boundary conditions where at supported edges the displacement values (vertical displacements; rotations) are prescribed as zero and at free edges the specified loads (vertical forces; moments) are zero. It follows that the boundary terms do not contribute to the external (virtual) work. P x dA Q middle surface t y z Fig. 8.1: Loaded plate Terminology t plate thickness, m A plate surface, m2 E Young's modulus or Elasticity modulus, N/ m2 Poison' ratio, P Point load, N Q load normal to plate surface, N/m2 Qx shear force at edge normal to x-axis, N/m Qy shear force at edge normal to y-axis, N/m Mxx bending moment at edge normal to x-axis, Nm/m Myy bending moment at edge normal to y-axis, Nm/m Mxy torsion or twisting moment at edges, Mxy = Myx, Nm/m w displacement normal to plate surface, m x rotation around x-axis y rotation around y-axis Mx external moment around x-axis My external moment around y-axis E,

8.2 Basic relations

8.2.1 External forces and external deformations At a position (x,y) of the middle surface of the plate we describe the external deformation state through the vertical displacement w and the rotation x and y around the coordinate axis, as shown in Figure 8.2.
Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

40

To each degree of freedom belongs a corresponding load ( vertical force P and moments M x and M y , respectively around the coordinate axes. From Figure 8.2 we see that w w x = ; y = y x (8.1) x

x
y

x
w(x,y)

Fig. 8.2: Definition of external degrees of freedom We collect the displacement and force variables in the corresponding vectors w P u = x ; P = M x y M y Note that we assumed that external moments are specified as zero. 8.2.3 Internal forces (defined at middle surface of element dA ) Mxy Mxx Myx Mxx Mxy Fig. 8.3: Internal moments Note: Shear forces are not shown in Figure 8.3 as they do not contribute to internal work because the shear deformations are assumed as zero. The positive bending moments M xx and M yy are defined such that they create positive strain at the positive side of the middle surface. The positive sign of the torsion moments M xy = M yx are chosen such that they are proportional to the negative curvature of the displacement field (see also section 8.3 below). We collect the internal forces in the column matrix M xx = M yy M xy
Version March 07

Myy Myx

Myy y z

Finite Elements

_____________________________________________________________________________________________________________________

41

8.2.3 Internal deformation variable and kinematic relations The deformation variables corresponding to the internal moments are the curvatures xx , xx and xy = yx . The corresponding column matrix is defined as xx = yy 2 yx where we obtain from Figure 8.2 the kinematic relations y x 2w , x 2 x 2w = 2 y y

xx =

yy =

y x 2w 2w , yx = = = x xy y xy The deformation states corresponding to constant bending and twisting curvatures are shown in Figure 8.4

xy =

Mxx Mxx

Myy

xx
y Mxy z

Myy

yy

Myx

xy
Mxy

M xy = M yx

yx

Myx

Fig.: 8.4: Constant curvatures xx , yy and xy = yx . 8.2.3 Constitutive relation

y
u z y x

x
v

Fig. 8.5 Horizontal displacements due to bending The deformation over the thickness of the plate are (see Figure 8.5) with equations (8.1):
Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

42

w w , v = z x = z y x u 2w v 2w = z 2 x = y = = z 2 y y x x which give the corresponding stresses

u = zy = z

xy = xy =

v u 2w + = 2 z x y xy

2w 2w E E + 2 x = ( x + y ) = z 1 2 1 2 x 2 y 2w 2w E E + = + y = ( ) z y y 1 2 1 2 y 2 y 2

xy = xy = G xy = 2G z

E 2w 2w z = 1 + xy xy

from where the bending and torsion moments are obtained t/2 t/2 2w 2w E t3 M xx = z x dz = E z 2 2 + 2 dz = + yy ) 2) ( xx x y 12(1 t / 2 t / 2
M yy =
2 2w E t3 2 w + = z dz ( yy + xx ) 2 12(1 2) x 2 y t / 2 t / 2 t/2 t/2 E 2w G t3 xy , with G = . M xy = z xy dz = G 2 z 2 dz = 2(1 + ) 12 xy t / 2 t / 2

t/2

z y dz = E

t/2

The constitutive equation of the plate, i.e. the relation between moments and curvatures, are then in matrix notation M xx 0 1 xx E t3 0 M yy = 12(1 2 ) 1 yy M xy 0 0 (1 ) / 2 2 xy or = E (8.1) with M xx xx 0 1 E t3 , = M yy , = yy . (8.2 E= 0 1 2 12(1 ) M xy 2 xy 0 0 (1 ) / 2 8.2.3 Equilibrium expressed through virtual work Internal virtual work is Aint. = T dA (8.3)
A

External virtual work is Aex t. = wT Q dA

A

(8.4)

The equilibrium is expressed as T T dA = w Q dA

A A

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

43

8.3 Finite Element approximation

We subdivide the middle plane of the considered rectangular plate in rectangular and /or triangular finite element. In each element we represent the displacement field w(x,y) through polynomials which should, to guarantee convergence, be - complete and - conforming (i.e. satisfying C1-continuity). In each element the chosen number of degrees of freedom should be identical to the number m of the chosen complete polynomial in the Pascal triangle (see Pascal triangle in Fig. 8.6). It turns out that complete and conforming plate elements can not be easily constructed.

1 x x2 x3
x4

0 order, m=1

y xy y2 y3
y4

1st order, m=3 2nd order, m=6 3rd order, m=10 4th order, m=15

x2 y x y2 x3 y x2 y2 x y3

Fig. 8.6: Pascal triangle; the polynomials on horizontal lines represent complete polynomials up to 4th order; m represents the corresponding number of degrees of freedom. w are continuous across element Note: The element is C1-continuous if w and n r boundaries n is the direction of the normal n of the element sides (see Fig 8.7).
r n r n

Fig. 8.7: C1-continouity across element sides We approximate w( x, y ) = 1 + x + 3 y + 4 x 2 + ... + n x p y q (8.5) by polynomials and express the parameters i , i = 1, n through the nodals DOFs vi (as shown in chapter 9.2) to obtain

w( x, y ) = N i ( x, y ) vi = N( x, y ) v
i =1

N i are the shape functions with the properties Ni ( x j , y j ) = i , j .

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

44

Setting the virtual internal work equal to the virtual external work and using equations (8.1)-(8.5) result in the element equation K (e) v (e) = P(e) with v1 v (e) T (e) T (e) K = B E B dA , P = N Q( x, x) dA , and v = 2 M A( e ) A( e ) v n The global system equation is obtain through the direct stiffness method as: K V = P + [ Pi ] with
K = K (e) , P = P(e)
e =1 e =1 E E

(8.6)

where E is the total number of elements and Pi represents a point load at the system node i. The solution of equation (8.6) gives the displacements and rotations in all nodes of the system, V , and through the element list the displacements and rotations of the nodes of the individual element, v ( e ) , from which the moment distributions in the element are obtained M xx M yy M xy with
xx yy 2 xy and w ( e ) ( x, y ) = N ( x , y ) v ( e ) In Figure 8.7 two plate elements are shown
(e) (e)

0 1 xx E t3 = 1 yy 0 2 12(1 ) 0 0 (1 ) / 2 2 xy
2w 2 x 2w = 2 y 2w 2 xy
(e)

(e)

x y a) z b)

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

45

Fig. 8.7: Plate elements; a) 4-node element with12 DOF; incomplete (the used polynomials are w bold in Fig. 8.6); non-conforming in . n w b) 6-node element with 6 DOF; complete, non-conforming in w and . n Note: For practical analysis also so-called mixed or hybrid-elements are used based on mor general variational principles and also thin full 3-dimensional elements with special approximation over the thickness of the plate.

9 Shells
9.1 General shells; Folded Plates
Shells have in general a double curved surface. When loaded, membrane stresses and bending stresses are created. In the finite element analysis we subdivide the middle surface of the shell into finite shell elements (see Figure 9.1) shell element

Figure 9.1: Shell; a) subdivided into elements; b) geometrical approximation with flat elements We consider here only rectangular 4-node "flat shell" elements. These elements can be understood as a superposition of a membrane element (see chapter 7.2.2) and a plate bending element (see Figure 8.7 b) in a common local element-related coordinate system as shown in Figure 9.2.

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

46

Figure 9.2: Use of flat shell elements taken from Klaus-Jrgen Bathe: "Finite Element Procedures".

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

47

% and the membrane stiffness Note that in the local coordinate system the bending stiffness K B
12 x12

% are decoupled, so that the local flat shell element stiffness matrix is K M
8 x8

% K B % = K S 20 x 20 0

0 . % K M

(9.1)

To each node in the global coordinate system belong 6 DOFs, 3 translational and 3 rotational ones. Therefore we may extend the local stiffness also to 24 DOF introducing at each of the 4 nodes a rotational DOF around the local z-axis. If we arrange, for the demonstration purpose only, these 4 DOF as last 4 element DOF and set the corresponding stiffness coefficients to zero we obtain
% K S %* = K S 0 24 x 24

0 . 0

(9.2)

The final shell element stiffness matrix is obtained through the transformation from local to global coordinates. If we assume now that the DOF are ordered in the usual manner, i.e. 3 translation in x-, y-, z-direction and 3 rotation about x-, y-, z-axis the transformation has the form %*T (9.3) K = TT K S With the transformation matrix T1 T1 T2 n1 n2 n3 T 2 , T = j j T= (9.4) i 1 2 j3 ; i = 1, 2,3, 4 T3 k1 k2 k3 T3 T4 T4 where ni , ji , ki ; i = 1, 2,3 are the components of the unit normal of the local coordinate axis measured in the global coordinate system (see Figure 9.3) z
% z % y
r j

z
j cos r 1 j = j2 = cos j cos 3
r j

% y

r k r n

j1 j2

j3

x
% x

%-y % and global x-y-z- coordinate system Fig. 9.3: Local x %- z

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

48

9.2 Axi-symmetric shell under axi-symmetric load

Due to symmetry only two normal stresses, N s , N , and two bending moments, M ss , M , exist (as indicated in Figure 9.5), where the index s indicates the direction along the meridian and the direction normal to the meridian. The constitutive relation are those of plane stress and plate bending yielding for the membrane state NS E t 1 S = 2 N 1 1 for the bending state M SS E t 3 1 SS = 2 M 12(1 ) 1

(9.5)

(9.6)

Ns

M ss
t
N

M
meridian
Ns

M ss

Fig.9.5: Axi-symmetric shell and infinitesimal shell element with internal forces We subdivide the shell in ring elements as indicated in Figure 9.6 and approximate the section of the middle surface of the shell through a straight line. The membrane state is represented through two DOFs, u %1 , u % 2 in the direction of the meridian segment, the bending state is represented through 4 DOFs, the displacement normal to meridian segment , w %1, w % 2 and through the rotations, 1 , 2 .

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

49

ring element r z n L
u1

1
%1 u

%1 w w1

%2 w

u2

%2 u

w2

Fig. 9.6: Shell ring element; conical ring element with local DOF; local and global DOFs Note that the cross section where the displacement are shown corresponds to the beam element with 6 DOFs. The local and global DOFs are collected in the column matrices, respectively
%1 u w % 1 , % = 1 v %2 u w %1 1 u1 w 1 v= 1 u2 w2 2

(9.7)

which are related through the relation with

% = Tv v
cos sin 0 T= sin cos 0 0 0 0 1 cos sin 0 0 sin cos 0 . 0 0 1

(9.8)

%i w

wi

%i = u

cos u i + sin wi

% i = sin u i + cos wi w
ui

%i u

Fig. 9.7: Transformation relations between local and global coordinates

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

50

Kinematic relations From the geometry one derives the relations between displacements and strains (for details see Miodrag Sekulovic "Metod Konacnih Elemenata", pp.423):
% du sin cos %+ % ; = u w ds r r % d 2u sin dw dw s = 2 ; s = ; = ; ds r ds ds

s =

or
d ds s sin = r s 0 0 cos u % r 2 % d w 2 ds sin d r ds

or

(s, ) = L u(s, )

Selection of polynomials; determination of shape functions We use corresponding to the beam element) a linear polynomial for the membrane (axial) state and a cubic polynomial for the bending state:
% ( s ) = 1 + s 2 u % (s) = 3 + s 4 + s 2 5 + s3 6 w

and obtain
% ( s) dw = 4 + 2 s 5 + 3s 2 6 ds % ( s) d 2w = 2 5 + 6s 6 . ds 2 % (s) with ( s) = dw ds

In matrix notation we write

% ( s ) 1 s 0 0 0 0 u w 2 % s s3 ( s) = 0 0 1 s 2 ( s) 0 0 0 1 2 s 3s

or

u( s ) = A( s ) .

With the definitions of the DOF at the nodes one obtains

% (0) = v % 1 = 1 u % (0) = v % 2 = 3 w % (0) dw % 3 = 4 = 1 =v ds % ( L) = v % 4 = 1 + L 2 u % ( L) = v % 5 = 3 + L 4 + L2 5 + L3 6 w % ( L) dw % 6 = 4 + 2 L 5 + 3L2 6 = 2 = v ds

Version March 07

Finite Elements or
%1 v v % 2 %3 v = %4 v v %5 %6 v

_____________________________________________________________________________________________________________________

51

1 0 0 1 0 0

0 0 0 L 0 0

0 0 1 0 0 1 0 1 0

1 2 3 0 0 0 4 2 L L L3 5 6 1 2 L 3L2 0 0 0 0 0 0

or

% = C v

from where we express the polynomial parameters through the DOFs of the nodes %. = C 1 v Now we have the all kinematic relations we need in the expressions of virtual external and internal work to obtain the matrices for the ring element in local coordinates. With
% ( s) u 1 % (s) = w % % % u ( s ) = ( s ) = ( s )C v = N( s ) v ( s)

and
s ( s) ( s) % = B( s ) v % ( s ) = = Lu( s ) = LA( s ) = LA( s )C1 v s ( s ) ( s ) we obtain the matrices N( s ) and B( s) .

The stiffness matrix and the load vector for the ring element in local coordinates, calculated for a unit radian = 1 , are
% = K

ring

BT EB r d ds =

BT EB r d ds =

=0 s =0

s =0

( s )EB( s ) r ( s ) ds

%= P

=1 L

% ( s ) r d ds = NT ( s ) p

=0 s =0

s =0

% ( s )r ( s ) ds ( s )p

% ( s ) contain the forces tangential and normal to the element and the external moment per where p unit radian, corresponding to the external DOF of the element. Generally the integrals are evaluated using Gauss integration Note that we assumed the external moments to be zero.
The matrices for the ring element in global coordinates are obtained with the transformation matrix T , given in equ.(9.8); (see also Fig.9.7):
% ; P = TT P % K = TT KT

If the loads are given in in horizontal (index r) and vertical (index z) components per unit radian one writes the load vector in the form
P=
s =0

% ( s) p ( s ) rds N z

pr ( s )

where we assumed the external moments are zero % ( s ) are the usual shape function of a beam element for axial and normal displacements. Here N
1x 6

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

52

Exercise 9.1
Derive as special cases of the conical shell element a) the cylindrical shell ring element; = 0 . b) the ring plate element; = / 2 ; (see the general elements and the special ones in: Sekulovic: Metod Konacnih Elemenata, pp.423.)

10 Literature
[1] Segerlind, Applied Finite Analysis [2] Bathe, Finite Element Procedures [3] Ottosen etl al., Finite Element Method [4] Huebner, The Finite Element Method for Engineers [5] Sekulovic, Metod Konacnin Elemenata

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

53

Appendix A: Numerical Integration

Sometimes it is convenient or necessary to evaluate the integrals given in the expressions for the stiffness matrix or the consistent load vector not analytically but numerically. The usual procedure is to use the Gauss-Legendre quadrature. Details are given in any text book about Finite Elements (see literature in section 10).

A.1 One-dimensional integral (straight beam elements)

For Gauss-Legendre quadrature the coordinate system introduced in Section 6, Fig. 6.1.b is used (see Fig. A 1). i L

2x ; L

1 + 1

Fig. A 1 We write the integral in the non-dimensional coordinates: L +1 L I = f ( x) dx = f ( ) d . 2 1 0 Or, replacing the integral through its numerical approximation I L n L n f ( ) W = f i Wi , with i = 1, 2,...., n i i 2 2 i =1 i =1

(A1.1)

(A1.1)

The discrete points i , i = 1, 2,.... , n are called sampling points and Wi is the weight corresponding to i . n is the selected number of sampling points or Gauss points. If n sampling points are selected the Gauss quadrature integrates exactly polynomials of degree 2n 1 . In Table A1 the values for i and Wi for n =1, 2, 3, 4 are listed. n 1 2 3 4

i
0.0 +/- 0.577350 0.0 +/- 0.774597 +/- 0.861136 +/- 0.339981 Table A1

Wi 2.0 1.0 8/9 5/9 0.347855 0.652145

Example: Intergrate the function f ( x) = 3 x 2 + x 3 over the interval We have with =

Version March 07

L L x . 2 2

L x and dx = L/2 2

Finite Elements
L/2

_____________________________________________________________________________________________________________________

54

x 2 x3 L I = (3 2 + 3 )dx = (3 2 + 3 )d . L L 2 =1 x = L / 2

If n = 2 is chosen, then the integration is exact up to the polynomial degree 2n 1. Therefore two Gauss-point are sufficient to integrate the given function exactly. Gauss-Quadrature leads to I= L 2 L 2 3 2 3 fi Wi = 3 ( 0.577350 ) + ( 0.577350 ) 1.0 + 3 ( 0.577350 ) + ( 0.577350 ) 1.0 2 i =1 2 L = ( 6 x0.33333) = L . 2

Exercise: Obtain the value of the integral I by analytical integration.

A.2 Two-dimensional integral (plain stress, plain strain elements)

Quadrilateral Elements
We write the integral in the non-dimensional coordinates: I = f ( x, y ) dA =
A +1 +1 1 1 +1 +1

f ( , ) J ( , )d d = g ( , )d d ;
1 1

J=J,

(A2.1)

Where J is the Jacobian and J the Jacobi-Matrix. Replacing the integral through its numerical approximation we obtain
I g (i , j ) Wi W j , with i = 1, 2,...., n
i =1 j =1 m n

(A2.2)

The values of m and n are obtained by equating (2m-1)to the highest power of and (2n-1) to the highest power of . In the special case of rectangular element with side lengths a and b the Jacobian obtains the ab A = and the equation (A2.2) becomes constant value J = 4 4
I J f (i , j ) Wi W j .
i =1 j =1 m n

(A2.3)

The integral (A2.1)is often written in the form of one sum corresponding to I g k Wk ; g k = g (i , j ); Wk = Wi W j ; m = i x j with i = 1, 2,...., m;
k =1 m

j = 1, 2,..., n

Note: The integration formulas can also be applied, if the quadrilateral deteriorates to a triangle (i.e.: one side length of the quadrilateral is zero). The coordinates of some Gauss points and the corresponding weights can be seen in Table A2, which is taken from [ ].

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

55

Triangular Elements

1 Fig. A2: Possible coordinate system for numerical Integration The area integral over a triangular region is (see section ): I = f ( x, y ) dA =
A

1 = 0 2 = 0

11

f (1 , 2 ) J (1 , 2 )d 1 d 2 =

1 = 0 2 = 0

11

g (1 , 2 ) d1 d 2 .

1 , 2 , 3 = 1 1 2 are the triangular coordinates introduced in section ().

The numerical integration is written in the form I g (1i , 2i ) Wi , with i = 1, 2,...., n .
i =1 n

The location of the sampling points and the corresponding weights are given in Table (A2.1). In the special case of a triangle with straight sides the Jaccobian obtains the constant value J = 2 A And the integration formula () can be written as I 2 A f (1i , 2i ) Wi .
i =1 n

point

1i

2i

Table A2 (fill out)

A.3 Integration Formulas in Natural Coordinates

One-dimensional

a b 1 2

dx =

a !b ! L (a + b + 1) !
a !b !c ! 2A (a + b + c + 2) ! a !b !c !d ! 6V (a + b + c + d + 3)!

Two-dimensional

a b c 1 2 3

dx dy =

Three-Dimensional
V

a b c d 1 2 3 4

dx dy =

Note: 0! = 1
Version March 07

Finite Elements Example

_____________________________________________________________________________________________________________________

56

Calculate for a triangular linear element the consistent load vector for a constant area load p. a) Numerical integration (Gauss-Quadrature) The load at node 1 is with N1 (1 , 2 , 3 ) = 1 and choosing n=3:
3 1 Ap 1 1 1 1 1i Wi = 2 Ap = + +0 = P 2 A p d d 2 Ap 1 1 1 2 6 3 26 26 i =1 A P2 = P3 = P 1 Note: The same result is obtained for one Gauss-point, since the integrand is linear.

b) Integration formula P 1 = p1dxdy = 2 Ap

A

1!0!0! 1 Ap = 2 Ap = (1 + 0 + 0 + 2)! 6 3

Version March 07

Finite Elements

_____________________________________________________________________________________________________________________

57

Version March 07