Finite Element Method

Finite Elements
Dr. Rosli bin Ahmad

Contents
1 Introduction to the nite element course 9
1.1 Lecture objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.2 Course objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.3 Reference and Reading Material . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.4 Course Assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.5 A typical nite element analysis project . . . . . . . . . . . . . . . . . . . . . . . 11
1.5.1 Example. Steel bracket . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2 Trial solution procedures for dierential equations 18
2.2 General trial solution procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.2.1 Trial solution construction . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.2.2 Optimizing Criteria . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.3 Methods of weighted residuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.3.1 Point Collocation Method. . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.3.2 Subdomain Collocation Method. . . . . . . . . . . . . . . . . . . . . . . . 20
2.3.3 Least squares . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.3.4 Least squares collocation . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.3.5 Galerkin Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.4 General form of weighted residual method . . . . . . . . . . . . . . . . . . . . . . 21
1
CONTENTS 2
2.5 Weighted residuals sample problem . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.5.1 Collocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.5.2 Subdomain collocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.5.3 Least squares . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.6 Rayleigh-Ritz analysis of axially loaded rod . . . . . . . . . . . . . . . . . . . . . 26
2.6.1 Rayleigh-Ritz approximate solution . . . . . . . . . . . . . . . . . . . . . . 27
2.7 Rayleigh Ritz with augmented functional . . . . . . . . . . . . . . . . . . . . . 29
3 Finite element solution. Bar under axial loading 32
3.1 Layout of lecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.3 Notation for bar under axial loading . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.3.1 Loading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.3.2 Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.3.3 Dierential Volume . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.4 Finite element model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.4.1 Connectivities table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3.5 Coordinate systems and shape functions . . . . . . . . . . . . . . . . . . . . . . . 35
3.5.1 Shape Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.6 Global shape functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.7 Strain-displacement relationship . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
3.8 Total Potential Energy approach . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3.8.1 Total Potential Energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3.8.2 Element stiness matrix . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3.9 Force terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
3.9.1 Body Forces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
3.9.2 Boundary Tractions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
CONTENTS 3
3.10 Discrete equilibrium equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
3.11 Elimination process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
3.11.1 Generalization of elimination process . . . . . . . . . . . . . . . . . . . . . 43
3.12 4-element example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.12.1 Problem denition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.12.2 Expanded element stinesses . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.12.3 Assembled element stinesses . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.12.4 Assembled load vector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.13 2-Element example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.14 Temperature eects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
3.15 2-Element example with temperature eects . . . . . . . . . . . . . . . . . . . . . 49
3.16 The Galerkin approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
3.16.1 Formulation for axially loaded bar . . . . . . . . . . . . . . . . . . . . . . 50
3.17 Digression integration by parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
4 Steady state 1D heat ow 55
4.3 Notation for 1D heat conduction through wall . . . . . . . . . . . . . . . . . . . . 56
4.4 Heat conduction through wall . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
4.4.1 Interpolating the temperature . . . . . . . . . . . . . . . . . . . . . . . . . 57
4.5 Functional approach for heat conduction through wall . . . . . . . . . . . . . . . 58
4.6 3-element example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
4.7 Heat conduction in thin ns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
4.8 Heat conduction in thin ns Galerkin FE method . . . . . . . . . . . . . . . . . 63
4.9 3-element n example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
4.9.1 Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
CONTENTS 4
5 Quasi-harmonic equations. 2D heat ow 67
5.1 Layout of Lecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
5.2 Lecture Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
5.3 Quasi-harmonic equations. Classication . . . . . . . . . . . . . . . . . . . . . . . 68
5.3.1 General form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
5.4 Quasi-harmonic governing equations . . . . . . . . . . . . . . . . . . . . . . . . . 68
5.4.1 Main Equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
5.4.2 Dirichlet boundary conditions . . . . . . . . . . . . . . . . . . . . . . . . . 68
5.4.3 Cauchy boundary condition . . . . . . . . . . . . . . . . . . . . . . . . . . 68
5.5 Quasi-harmonic equations. Special forms . . . . . . . . . . . . . . . . . . . . . . . 68
5.5.1 General Form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
5.5.2 Poissons equation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
5.5.3 Laplaces equation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
5.5.4 Neumanns (natural) boundary condition . . . . . . . . . . . . . . . . . . 69
5.6 Quasi-harmonic equations. Variational principle . . . . . . . . . . . . . . . . . . . 69
5.6.1 Main Equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
5.6.2 List of potential ow problems . . . . . . . . . . . . . . . . . . . . . . . . 69
5.7 Conceptual model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
5.7.1 Heat Balance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
5.7.2 Heat Balance Equation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
5.7.3 Constitutive Law: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
5.7.4 Dierential eqn. of heat conduction . . . . . . . . . . . . . . . . . . . . . . 71
5.7.5 Boundary conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
5.8 Linear (3-noded) triangular element . . . . . . . . . . . . . . . . . . . . . . . . . 72
5.8.1 3-noded triangle. Alternative description . . . . . . . . . . . . . . . . . . 74
5.8.2 Interpolation with linear triangular elements . . . . . . . . . . . . . . . . 75
5.9 2D heat ow. Finite element solution . . . . . . . . . . . . . . . . . . . . . . . . . 77
CONTENTS 5
5.9.1 Preliminaries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
5.10 Functional approach to FE solution . . . . . . . . . . . . . . . . . . . . . . . . . . 78
5.11 2D heat ow. 3-Element example . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
5.12 2D heat low. Galerkin approach . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
6 Quasi-harmonic equations. Torsion 89
6.3 Torsion. Problem denition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
6.4 Finite element model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
6.4.1 Linear triangular element . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
6.4.2 Complementary Potential Energy approach . . . . . . . . . . . . . . . . . 93
6.5 4-Element example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
7 2D Plane stress FE analysis 97
7.3 2D Plane stress model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
7.4 Linear triangle FE model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
7.4.1 Strain-displacement matrix . . . . . . . . . . . . . . . . . . . . . . . . . . 103
7.4.2 Potential energy approach . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
7.4.3 Element stiness matrix . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
7.5 Element body force vector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
7.5.1 Boundary traction vector . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
7.6 Element traction force vector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
7.7 Stress calculations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
7.8 2-Element example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
7.9 Temperature eects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
7.10 Galerkin approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
CONTENTS 6
8 2D/3D Models: solid mechanics problems 113
8.3 Minimisation of total potential energy . . . . . . . . . . . . . . . . . . . . . . . . 114
8.3.1 General Expression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
8.4 Typical plane stress problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
8.5 Plane stress model (review) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
8.6 Typical plane strain problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
8.7 Typical axisymmetric 3D problems . . . . . . . . . . . . . . . . . . . . . . . . . . 120
8.8 Axisymmetric problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
8.9 Plates. Notation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
8.10 Mindlin-Reissner plate theory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
8.11 Kirchho plate theory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
8.12 3D example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
8.13 Solid mechanics: 3D solids . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
9 Solid mechanics FE problems 128
9.3 C(0) continuity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
9.4 Solid mechanics FE models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
9.4.1 Total Potential Energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
9.4.2 Discretisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
9.5 Plane stress element . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
9.6 Plane strain element . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
9.7 Axisymmetric nite elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
9.8 Mindlin-Reissner element . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
CONTENTS 7
9.9 Kirchho element . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
9.10 3D solid elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
9.11 2D C(0) Shape functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
9.11.1 Layout of Lecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
9.11.2 Lecture Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
9.12 2D FE C(0) shape functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
9.12.1 Pascals triangle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
9.13 Rectangular C(0) elements coordinate system . . . . . . . . . . . . . . . . . . . . 140
9.14 Lagrangian C(0) elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
9.15 Serendipity C(0) elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
9.16 4-Node rectangular element . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
9.17 8/9-Node rectangular element local node numbering . . . . . . . . . . . . . . . . 146
9.18 8-Node shape functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
9.19 9-Node shape functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
9.20 Right triangular C(0) elements coordinate system . . . . . . . . . . . . . . . . . . 149
9.21 3-Node right triangular element . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
9.22 6-Node right triangular element . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
9.23 3D C(0) Shape functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
9.23.1 Layout of Lecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
9.23.2 Lecture Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
9.24 3D FE C(0) Shape functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
9.24.1 Complete polynomials in 3D . . . . . . . . . . . . . . . . . . . . . . . . . 154
9.25 Rectangular parallelopiped coordinate system . . . . . . . . . . . . . . . . . . . . 155
9.26 8-Node rectangular paralellopiped element . . . . . . . . . . . . . . . . . . . . . . 156
9.27 20-Node rectangular paralellopiped element . . . . . . . . . . . . . . . . . . . . . 157
9.28 Right tetrahedral coordinate system . . . . . . . . . . . . . . . . . . . . . . . . . 158
9.29 10-Node right tetrahedral element . . . . . . . . . . . . . . . . . . . . . . . . . . 159
CONTENTS 8
9.30 Isoparametric elements and numerical integration . . . . . . . . . . . . . . . . . . 159
9.30.1 Layout of lecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
9.30.2 Lecture objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
9.31 Mappings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
9.32 Iosparametric mappings in 1D elements . . . . . . . . . . . . . . . . . . . . . . . 160
9.32.1 Main concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
9.33 Isoparametric mappings with quadratic 1D elements . . . . . . . . . . . . . . . . 162
9.34 Isoparametric mappings in 2D elements . . . . . . . . . . . . . . . . . . . . . . . 163
9.34.1 Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
9.34.2 Jacobian matrix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
9.34.3 Inverse of Jacobian matrix . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
9.34.4 Cartesian shape function derivatives . . . . . . . . . . . . . . . . . . . . . 164
9.34.5 Elemental area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
9.35 Isoparametric mappings 3-node triangles . . . . . . . . . . . . . . . . . . . . . . . 165
9.35.1 Isoparametric mappings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
9.35.2 Jacobian matrix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
9.36 Isoparametric mappings 4-node quadrilaterals . . . . . . . . . . . . . . . . . . . . 166
9.36.1 Isoparametric mappings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
9.36.2 Geometry interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
9.36.3 Jacobian matrix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
9.36.4 Inverse of Jacobian matrix . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
9.37 Numerical integration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
9.37.1 Gauss-Legendre quadrature . . . . . . . . . . . . . . . . . . . . . . . . . . 168
9.37.2 Gauss-Legendre positions and weights . . . . . . . . . . . . . . . . . . . . 169
9.37.3 Integration over a quadrilateral . . . . . . . . . . . . . . . . . . . . . . . . 170
9.37.4 Integration over a triangle . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Chapter 1
Introduction to the nite element
course
1.1 Lecture objectives
On completion of this lecture you should be able to:
understand course objectives;
appreciate timetable, references and assessment;
have a rough overview of FE modelling process;
1.2 Course objectives
On completion of this course you should be able to set up and solve various simple nite element
models manually and computationally for:
1D axially loaded bars
1D thermal ow through a wall
1D thermal ow along a n
2D steady state heat ow
2D torsion (stress function)
2D plane stress analysis
Plane strain & 3-D solid mechanics problems
Axisymmetric solid mechanics problems
9
CHAPTER 1. INTRODUCTION TO THE FINITE ELEMENT COURSE 10
1.3 Reference and Reading Material
Course Notes
Example Sheets
Computer Codes
Course Text: Introduction to nite elements in engineering, T.P. Chandrupatla and
A.D. Belegundu, Prentice-Hall, Englewood Clis, N.J., 1991. ISBN 0-13-483082-2
Recommended Reading:
Finite element modelling for stress analysis, R.D. Cook, John Wiley and Sons, Inc.,
Chichester, 1995. ISBN 0-471-11598-3
A rst course in the nite element method: 2nd. ed., W.B. Bickford, R.D. Irwin Inc.,
Burr Ridge, Illinois, 1994. ISBN 0-256-14472-9
Finite element analysis: from concepts to applications, D.S. Burnett, Addison-Wesley
Publishing Company, Reading, Massachusetts, 1987. ISBN 0-201-10806-2
Finite Element Programming, E. Hinton and D.R.J. Owen, Pineridge Press, Swansea,
1977. ISBN 0-12-349359-1
1.4 Course Assessment
Written examination (75%), Project (25%)
Exam: open book (incl.texts and course notes)
2 hours duration
Overall pass mark 50%
1.5 A typical nite element analysis project
Figure 1.1: Finite element analysis project
Figure 1.2: Finite element process
1.5.1 Example. Steel bracket
Figure 1.3: Physical model of steel bracket
Beam model
Figure 1.4: Steel bracket. Beam model
Plane stress model
Figure 1.5: Steel bracket problem
Equilibrium equations (valid in domain of bracket):
xx
x
+

xy
y
= 0
yx
x
+

yy
y
= 0
On surfaces the following is valid:
nn
= 0,
nt
= 0
except at point B and at imposed zero displacments.
Stress-strain relationship
_
_
xx
yy
xy
_
_
=
E
1
2
_
_
1 0
1 0
0 0 (1 )/2
_
_
_
_
xx
yy
xy
_
_
where E is the Youngs modulus and is the Poissons ratio
Strain-displacement relations:
xx
=
u
x
;
yy
=
v
y
;
xx
=
u
y
+
v
x
Figure 1.6: Steel bracket problem
Figure 1.7: Bracket problem Smoothed stress results. Note maximum principal stress near
notch.
Chapter 2
Trial solution procedures for
dierential equations
This lecture reviews so-called Trial Solution Procedures used to nd approximate solutions
to dierential equations. The Finite Element Method originates from such procedures and
understanding them will help you understand the FEM.
Consider the second order dierential eqn.
d
dx
_
k
du
dx
_
= f a x b ,
subject to
u(a) = u
and (b) =
=
_
k
du
dx
_
x=b
.
Our aim is to nd an approximate solution to this problem !
2.2 General trial solution procedure
A general trial solution procedure consists of the following steps:
1. Construct a trial solution u.
2. Allocate an optimising criterion for u .
3. Estimate accuracy of u .
18
CHAPTER 2. TRIAL SOLUTION PROCEDURES FOR DIFFERENTIAL EQUATIONS 19
2.2.1 Trial solution construction
For example, choose:
u(x; a) =
0
(x) +a
1
1
(x) +a
2
2
(x) + +a
n
n
(x)
0
,
1
, ,
n
trial functions
a
1
, a
2
, , a
n
degrees of freedom
2.2.2 Optimizing Criteria
From all possible combinations of values for {a
1
, a
2
, , a
n
}, we want to choose the combination
that gives the best approximation to the solution of the dierential equation. Various criteria
exist to dene the best approximation. Here we will focus on the following:
Ritz variational method (RVM).
Based on governing variational equation, e.g., functionals such as total potential energy.
Methods of weighted residuals (MWR).
Deals directly with dierential equations. The main methods are:
Point collocation
Subdomain collocation
Least squares
Least squares collocation
Galerkin
2.3 Methods of weighted residuals
First dene the residual function:
r(x; a) = d/dx(k d u/dx) f .
Note that if r(x; a) = 0 for a x b, then u is the exact solution to our problem. In general,
it is not possible to nd the exact solution. But we can nd a set a = {a
1
, a
2
, , a
n
} so as to
minimize the residual function in a x b. Such a set will dene an approximate (numerical)
solution to the original problem. We look now into the dierent criteria to dene the best
approximation.
2.3.1 Point Collocation Method.
For each DOF choose a point x
i
. Then, solve the system of algebraic equations:
_
_
_
_
_
r(x
1
; a) = 0
r(x
2
; a) = 0
.
.
.
r(x
n
; a) = 0
_
_
_
_
_
where x
i
are collocation points.
Figure 2.1: Collocation points
2.3.2 Subdomain Collocation Method.
Choose n intervals x
1
, x
2
, , x
n
. Then solve the algebraic system of equations:
_
x
1
r(x; a) dx = 0
_
x
2
r(x; a) dx = 0
.
.
.
_
x
n
r(x; a) dx = 0
Figure 2.2: Subdomain collocation
2.3.3 Least squares
Choose a so that
_
r
2
(x; a) dx is a minimum. The minimum must satisfy the system of algebraic
equations:
/a
1
_
r
2
(x; a)dx = 0 or
_
r(x; a)r/a
1
(x; a)dx = 0
/a
2
_
r
2
(x; a)dx = 0 or
_
r(x; a)r/a
2
(x; a)dx = 0
.
.
.
/a
n
_
r
2
(x; a)dx = 0 or
_
r(x; a)r/a
n
(x; a)dx = 0
2.3.4 Least squares collocation
Choose a so that
n
i=1
r
2
(x
i
; a) is a minimum where x
i
are collocation points. This implies the
solution of:
/a
1
i
r
2
(x
i
; a) = 0
/a
2
i
r
2
(x
i
; a) = 0
.
.
.
/a
n
i
r
2
(x
i
; a) = 0
2.3.5 Galerkin Method
Choose a so that the weighted averages of r(x; a) over entire domain vanish:
_
1
(x)r(x; a)dx = 0
_
2
(x)r(x; a)dx = 0
.
.
.
_
n
(x)r(x; a)dx = 0 .
2.4 General form of weighted residual method
All the above weighted residual methods can be expressed by the system of equations represented
in the following general form:
_
i
r(x; a) dx = 0
The dierent methods are obtained by appropriate denitions of the weighting functions,
i
, as
follows:
Collocation
i
= (x x
i
) Dirac delta function
Subdomain
i
= gate function
Least squares
i
= r(x; a)/a
i
Galerkin
i
=
i
2.5 Weighted residuals sample problem
Consider the problem dened by the dierential equation:
d
dx
_
x
du(x)
dx
_
=
2
x
2
1 x 2
with boundary conditions (BC): u(1) = 2 and (xdu/dx)
x=2
= 1/2.
First, construct trial solutions so that u(x; a) satises BCs for all values of a:
u(1; a) =
0
(1) +a
1
1
(1) +a
2
2
(1) + +a
n
n
(1) = 2
(x
d u
dx
)
x=2
=(x
d
0
dx
)
x=2
+a
1
(x
d
1
dx
)
x=2
+
a
2
(x
d
2
dx
)
x=2
+ +a
n
(x
d
n
dx
)
x=2
=
1
2
For example, choose a cubic:
u(x; a) = a
1
+a
2
x +a
3
x
2
+a
4
x
3
Thus
x
d u
dx
= xa
2
2x
2
a
3
3x
3
a
4
At x = 1
u(1; a) = a
1
+a
2
+a
3
+a
4
= 2 (A)
At x = 2
_
x
d u
dx
_
x=2
= 2a
2
8a
3
24a
4
=
1
2
(B)
Four a
i
s Two constraint eqns.
Eliminate 2a
i
s
Eliminate a
1
(from A) a
1
= 2 a
2
a
3
a
4
u(x; a) = (2 a
2
a
3
a
4
) +a
2
x +a
3
x
2
+a
4
x
3
= 2 +a
2
(x 1) +a
3
(x
2
1) +a
4
(x
3
1)
Eliminate a
2
(from B) a
2
= 1/4 4a
3
12a
4
u(x; a) = 2 + (
1
4
4a
3
12a
4
)(x 1) +a
3
(x
2
1) +a
4
(x
3
1)
= 2
1
4
(x 1) +a
3
(x 1)(x 3) +a
4
(x 1)(x
2
+x 11)
Rewrite u with new b
1
, b
2
,
0
,
1
and
2
u(x; b) =
0
+b
1
1
(x) +b
2
2
(x)
0
= 2 1/4(x 1) = 9/4 x/4
1
= (x 1)(x 3) = x
2
4x + 3
2
= (x 1)(x
2
+x 11) = x
3
12x + 11
Thus, the residual
r(x; b) =
d
dx
(x
d u(x)
dx
)
2
x
2
= 0
=
d
dx
(
x
4
+b
1
x(2x 4) +b
2
x(3x
2
12))
2
x
2
= 0
r = 1/4 + 4(x 1)b
1
+ 3(3x
2
4)b
2
2/x
2
2.5.1 Collocation
Choose collocation points x
1
= 4/3 and x
2
= 5/3 and set
r(x
i
; b) = 0
4/3b
1
+ 4b
2
= 11/8
8/3b
1
+ 13b
2
= 97/110
b
1
= 2.0993 b
2
= 0.3560
2.5.2 Subdomain collocation
Choose two subdomains:
x
1
= 1 < x < 1.5
x
2
= 1.5 < x < 2 and set
_
x
i
r(x; b)dx = 0
_
1.5
1
_
1
4
+ 4(x 1)b
1
+ 3(3x
2
4)b
2

2
x
2
_
dx = 0
_
2
1.5
_
1
4
+ 4(x 1)b
1
+ 3(3x
2
4)b
2

2
x
2
_
dx = 0
1/2b
1
+ 9/8b
2
= 19/24
3/2b
1
+ 63/8b
2
= 11/24
b
1
= 2.5417 b
2
= 0.4259
2.5.3 Least squares
Set
_
2
1
r(x; b) r/b
i
dx = 0
r
b
1
= 4(x 1) and
r
b
2
= 3(3x
2
4)
_
2
1
_
1
4
+ 4(x 1)b
1
+ 3(3x
2
4)b
2

2
x
2
_
4(x 1)dx = 0
_
2
1
_
1
4
+ 4(x 1)b
1
+ 3(3x
2
4)b
2

2
x
2
_
3(3x
2
4)dx = 0
16/3b
1
+ 27b
2
= 8ln2 7/2
27b
1
+ 711/5b
2
= 33/4
b
1
= 2.3155 b
2
= 0.3816
Galerkin Set
_
2
1
r(x; b)
i
(x)dx = 0
_
2
1
_
1
4
+ 4(x 1)b
1
+ 3(3x
2
4)b
2

2
x
2
_
(x 1)(x 3)dx = 0
_
2
1
_
1
4
+ 4(x 1)b
1
+ 3(3x
2
4)b
2

2
x
2
_
(x 1)(x
3
+x 11)dx = 0
5/3b
1
41/5b
2
= 29/6 8ln2
41/5b
1
81/2b
2
= 211/6 24ln2
b
1
= 2.1378 b
2
= 0.3477
2.6 Rayleigh-Ritz analysis of axially loaded rod
Figure 2.3: Axially loaded bar.
Find u(x) which satises the equilibrium equation:
d
dx
_
EA
du
dx
_
+b(x) = 0 (1)
subject to
u(0) = 0 and P = EA
du
dx
()
or, equivalently, nd u(x) which minimises the Total Potential Energy:
I(u) =
1
2
_

0
EA
_
du
dx
_
2
dx
_

0
budx Pu() (2)
2.6.1 Rayleigh-Ritz approximate solution
Assume approximate form for u(x) which satises the boundary condition u(0) = 0.
For example, a linear function:
u = a
1
x (3)
and
u
=
du
dx
= a
1
(4)
Substitute 3 and 4 in 2
I =
1
2
EAa
2
1
x
0
ba
1
x
2
2
0
Pa
1
=
1
2
EAa
2
1
b
2
a
1
2
Pa
1
For I to be minimum:
dI
da
1
= 0
or
EAa
1
l
bl
2
2
Pl = 0
Thus
a
1
=
_
bl
2
+P
_
/EA (5)
and substituting 5 into 3 gives
u(x) =
_
bl
2
+P
_
x/EA (6)
Compare with the exact solution:
u(x) =
Px
EA
+b
_
lx
x
2
2
_
/EA
Taking a higher order approximation
u = a
1
x +a
2
x
2
(7)
and
u
= a
1
+ 2a
2
x (8)
Substitute 7 and 8 in 2
I =
1
2
_
l
0
EA(a
1
+ 2a
2
x)
2
dx
_
l
0
b(a
1
x +a
2
x
2
)dx
P(a
1
l +a
2
l
2
)
=
EA
2
(a
2
1
l + 2a
1
a
2
l
2
+ 4
a
2
2
3
l
3
)
b(a
1
l
2
2
+a
2
l
3
3
) P(a
1
l +a
2
l
2
)
For I to be a minimum
I
a
1
= 0 and
I
a
2
= 0
I
a
1
= EA(a
1
l +a
2
l
2
)
bl
2
2
Pl = 0
or
a
1
+a
2
l = (
bl
2
2
+Pl)/EA (9)
and
I
a
2
= EA(a
1
l
2
+
4
3
a
2
l
3
)
bl
3
3
Pl
2
= 0
or
3a
1
+ 4a
2
l = (3P +bl)/EA (10)
From 9 and 10
a
1
= (P +bl)/EA and a
2
=
b
2EA
(11)
Thus
u(x) =
Px
EA
+b(lx
x
2
2
/EA) (12)
which is identical to the exact solution.
2.7 Rayleigh Ritz with augmented functional
Instead of insisting that u(x), when approximated, satises the boundary condition u(0) = 0,
we may use augmented Total Potential Energy expression
I(u, ) =
1
2
_
l
0
EA(
du
dx
)
2
dx
_
l
0
budx Pu(l) +
1
(u(0) 0) (13)
where
1
is a Lagrangian multiplier
For example, assume a linear approximate form for u(x) which does not necessarily satisfy the
boundary condition u(0) = 0.
u = a
0
+a
1
x (14)
and
u
= a
1
(15)
Substitute 14 and 15 into 13
I(u, ) =
1
2
_
l
0
EAa
2
1
dx +
_
l
0
(a
0
+a
1
x)bdx
P(a
0
+a
1
l) +
1
(a
0
0)
=
1
2
EAa
2
1
l +ba
0
l +ba
1
l
2
2
dx
P(a
0
+a
1
l) +
1
a
0
For I to be minimum its derivatives must satisfy:
I
a
0
= 0 ,
I
a
1
= 0 and
I
1
= 0
I
a
0
= bl P +
1
= 0
This is basically a statement of equilibrium from which we nd
1
= bl +P (16)
1
may be interpreted as the reaction at x = 0
I
a
1
= EAa
1
l
bl
2
Pl = 0
or
a
1
=
_
bl
2
+P
_
/EA (17)
I
1
= a
0
= 0 (18)
which is simply the boundary condition at x = 0.
Thus the solution is:
u(x) =
_
bl
2
+P
_
x/EA (19)
It is obviously identical to the solution (6), obtained by imposing the boundary condition on
the trial function directly.
Chapter 3
Finite element solution. Bar
under axial loading
3.1 Layout of lecture
Notation
FE model
Interpolation
Element stiness matrix
Element force vector
Discrete equilibrium equations
Elimination process
4 element example
2 element example
Temperature eects
Further 2 element example
Galerkin approach
On completion of this lecture and example class you should be able to set up and solve for
displacements, stresses and reactions simple 1D FE models for 1-D axially loaded bars subjected
to:
32
CHAPTER 3. FINITE ELEMENT SOLUTION. BAR UNDER AXIAL LOADING 33
axial point loads
distributed body forces
distributed traction forces
forces due to temperature changes
3.3 Notation for bar under axial loading
3.3.1 Loading
Body force f = f(x), traction force T = T(x), point loads P
i
3.3.2 Responses
Displacements u = u(x), stresses = (x), strains = (x) where = E and = u/x and
E is the elastic modulus.
3.3.3 Dierential Volume
dv = Adx where A = A(x) is the cross-sectional area.
3.4 Finite element model
3.4.1 Connectivities table
3.5 Coordinate systems and shape functions
Coordinate Systems
=
2
x
2
x
1
(x x
1
) 1 and dx =
x
2
x
1
2
d =

e
2
d
3.5.1 Shape Functions
Here we will choose linear shape functions:
3.6 Global shape functions
v(x) =
N+1
i=1
v
i
n
i
(x)
n
i
= N
i+1
(from element i 1) for x
i1
x x
i
n
i
= N
i
(from element i) for x
i
x x
i+1
3.7 Strain-displacement relationship
Axial Strain
=
du
dx
or =
du
d
d
dx
where
d
dx
=
2
(x
2
x
1
)
.
Since
u = N
1
q
1
+N
2
q
2
=
(1 )
2
q
1
+
(1 +)
2
q
2
du
d
=
q
2
q
1
2
so that
=
1
(x
2
x
1
)
(q
2
q
1
) or in matrix form =
1
(x
2
x
1
)
_
1 1
_
_
q
1
q
2
_
_
= Bq
3.8 Total Potential Energy approach
3.8.1 Total Potential Energy
=
1
2
_
L
Adx
_
L
uf Adx
_
L
uTdx
i
u
i
P
i
Note that has contributions from each element
=
e
1
2
_
L
Adx
e
_
L
uf Adx
e
_
L
uTdx
i
u
i
P
i
Assuming point loads P
i
are applied at nodes
Note that the element strain energy
U
e
=
1
2
_
e
Adx
3.8.2 Element stiness matrix
Strain energy of typical element e The strain energy for a typical element e is
U
e
=
1
2
_
e
Adx
substituting for = E Bq and = Bq
U
e
=
1
2
_
e
q
T
B
T
E Bq Adx
or
U
e
=
1
2
q
T
_
e
[B
T
E BAdx] q
Since dx =
e
d/2 then
U
e
=
1
2
q
T
_
A
e
e
2
E
e
B
T
B
_
1
1
d
_
q
and since
_
1
1
d = 2 then
U
e
=
1
2
q
T
A
e
e
E
e
1
2
e
_
_
1
1
_
_
_
1 1
q
=
1
2
q
T
A
e
E
e
1
e
_
_
1 1
1 1
_
_
q
=
1
2
q
T
k
e
q
3.9 Force terms
3.9.1 Body Forces
Work done by distributed body forces
_
uf Adx = A
e
f
_
e
(N
1
q
1
+N
2
q
2
)dx
Assuming A
e
and f are constant within the element
_
uf Adx = q
T
_
A
e
f
_
e
N
1
dx
A
e
f
_
e
N
2
dx
_
and noting that
_
e
N
1
dx =

e
2
_
1
1
1
2
d =

e
2
_
e
N
2
dx =

e
2
_
1
1
1 +
2
d =

e
2
_
uf Adx = q
T
A
e
2

e
f
_
_
1
1
_
_
= q
T
f
e
3.9.2 Boundary Tractions
Work done by boundary traction forces:
_
uT dx =
_
e
(N
1
q
1
+N
2
q
2
) T dx
Assuming T is constant within the element,
_
uT dx = q
T
_
T
_
e
N
1
dx
T
_
e
N
2
dx
_
_
e
N
1
dx =

e
2
_
1
1
1
2
d =

e
2
_
e
N
2
dx =

e
2
_
1
1
1 +
2
d =

e
2
=
_
uT dx = q
T
T
e
2
_
_
1
1
_
_
= q
T
T
e
3.10 Discrete equilibrium equations
Recall that the Total Potential Energy has contributions from each element
=
e
1
2
_
L
Adx
e
_
L
uf Adx
e
_
L
uT dx
i
u
i
Pi
or, in matrix form,
=
1
2
Q
T
KQQF
K =
_
_
k
(1)
11
k
(1)
12
k
(1)
21
k
(1)
22
+k
(2)
11
k
(2)
12
k
(2)
21
k
(2)
22
+k
(3)
11
k
(3)
12
k
(3)
21
k
(3)
22
+k
(4)
11
.
.
.
k
(N)
22
_
_
and
F =
_
_
F
(1)
1
F
(1)
2
+F
(2)
1
F
(2)
2
+F
(3)
1
.
.
.
F
(N)
2
_
_
+
_
_
P
1
P
2
P
3
.
.
.
P
n
_
_
Q = [Q
1
, Q
2
, Q
3
, , Q
n
]
T
3.11 Elimination process
For an N degree of freedom problem with the boundary condition Q
1
= a
1
Q =
_
Q
1
, Q
2
, Q
3
, . . . , Q
N
T
and F =
_
F
1
, F
2
, F
3
, . . . , F
N
T
The global stiness matrix has the form
K =
_
_
K
11
K
12
. . . K
1N
K
21
K
22
. . . K
2N
.
.
.
K
N1
K
N2
. . . K
NN
_
_
The Total Potential Energy =
1
2
Q
T
KQQ
T
F can be expanded as
=
1
2
(Q
1
K
11
Q
1
+Q
1
K
12
Q
2
+. . . +Q
1
K
1N
Q
N
+Q
2
K
21
Q
1
+Q
2
K
22
Q
2
+. . . +Q
2
K
2N
Q
N
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
+ Q
N
K
N1
Q
1
+Q
N
K
N2
Q
2
+. . . +Q
N
K
NN
Q
N
)
(Q
1
F
1
+Q
2
F
2
+. . . +Q
N
F
N
)
Substituting for Q
1
= a
1
we have (note that Q
1
has been eliminated)
=
1
2
a
1
K
11
a
1
+a
1
K
12
Q
2
+. . . +a
1
K
1N
Q
N
+Q
2
K
21
a
1
+Q
2
K
22
Q
2
+. . . +Q
2
K
2N
Q
N
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
+Q
N
K
N1
a
1
+Q
N
K
N2
Q
2
+. . . +Q
N
K
NN
Q
N
(a
1
F
1
+Q
2
F
2
+. . . +Q
N
F
N
)
For to be a minimum
Q
i
= 0 i = 2, 3, . . . , N
which leads to the following equations
Q
2
= 0 K
22
Q
2
+K
23
Q
3
. . . K
2N
Q
N
= F
2
K
21
a
1
Q
3
= 0 K
32
Q
2
+K
33
Q
3
. . . K
3N
Q
N
= F
3
K
31
a
1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Q
N
= 0 K
N2
Q
2
+K
N3
Q
N
. . . K
NN
Q
N
= F
N
K
N1
a
1
or
Q =

F
The reaction at node 1 may be recovered as follows from the equation of equilibrium for node 1
K
11
Q
1
+K
12
Q
2
. . . K
1N
Q
N
= F
1
+R
1
or
R
1
= K
11
Q
1
+K
12
Q
2
. . . K
1N
Q
N
F
1
3.11.1 Generalization of elimination process
For boundary conditions
Q
p1
= a
1
, Q
p2
= a
2
, . . . , Q
pr
= a
r
,
Store p
th
1
, p
th
2
. . . p
th
r
rows of K and F.
Delete p
th
1
row and column, p
th
2
row and column, . . . , p
th
r
row and column of K to give

K.
Modify load vector F to give r
F
i
= F
i
(K
i,p
1
a
1
+K
i,p
2
a
2
+ . . . +K
i,p
r
a
r
)
Solve

K
Q =

F for

Q Finally, recover reactions
R
p
1
= K
p
1
1
Q
1
+K
p
1
2
Q
2
. . . K
p
1
N
Q
N
F
p
1
R
p
2
= K
p
1
2
Q
1
+K
p
2
2
Q
2
. . . K
p
2
N
Q
N
F
p
2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
R
p
r
= K
p
r
2
Q
1
+K
p
r
2
Q
2
. . . K
p
r
N
Q
N
F
p
r
3.12 4-element example
3.12.1 Problem denition
3.12.2 Expanded element stinesses
K =
EA
1
1
_
_
1 1 0 0 0
1 1 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
_
_
+
EA
2
2
_
_
0 0 0 0 0
0 1 1 0 0
0 1 1 0 0
0 0 0 0 0
0 0 0 0 0
_
_
+
EA
3
3
_
_
0 0 0 0 0
0 0 0 0 0
0 0 1 1 0
0 0 1 1 0
0 0 0 0 0
_
_
+
EA
4
4
_
_
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 1 1
0 0 0 1 1
_
_
3.12.3 Assembled element stinesses
K = E
_
_
A
1
A
1
1
0 0 0
A
1
1
A
1
1
+
A
2
A
2
2
0 0
0
A
2
2
A
2
2
+
A
3
A
3
3
0
0 0
A
3
3
A
3
3
+
A
4
A
4
4
0 0 0
A
4
4
A
4
4
_
_
3.12.4 Assembled load vector
F =
_
_
A
1
1
f
2
+

1
T
1
2
_
A
1
1
f
2
+

1
T
1
2
_
+
_
A
2
2
f
2
+

2
T
2
2
_
_
A
2
2
f
2
+

2
T
2
2
_
+
_
A
3
3
f
2
+

3
T
3
2
_
_
A
3
3
f
2
+

3
T
3
2
_
+
_
A
4
4
f
2
+

4
T
4
2
_
A
4
4
f
2
+

4
T
4
2
_
_
+
_
_
0
P
2
0
0
0
_
_
3.13 2-Element example
Find nodal displacements, stresses in each material and the reaction forces.
Solution: The element stiness matrices are:
k
1
=
70 10
3
2400
300
_
_
1 1
1 1
_
_
k
2
=
200 10
3
600
400
_
_
1 1
1 1
_
_
Assembling k
1
and k
2
into the global stiness matrix we get
K = 10
6
_
_
0.56 0.56 0
0.56 0.86 0.30
0 0.30 0.30
_
_
The global load vector is
F =
_
0, 200 10
3
, 0
T
The global stiness equations are
10
6
_
_
0.56 0.56 0
0.56 0.86 0.30
0 0.30 0.30
_
_
_
_
Q
1
Q
2
Q
3
_
_
=
_
_
R
1
200 10
3
R
3
_
_
where R
1
and R
3
are here reactions.
Striking out the rst and third rows and columns of K and the rst and third rows of F because
Q
1
and Q
3
are equal to zero gives
10
6
0.86 Q
2
= 200 10
3
and so Q
2
= 0.232558139 .
The element stresses are
1
= 70 10
3
1
300
_
1 1
_
_
0
0.23256
_
_
= 54.27 MPa
2
= 200 10
3
1
400
_
1 1
_
_
0.23256
0
_
_
= 116.29 MPa .
The reactions are
R
1
= 0.56 0.23256 = 0.1302336 N and
R
3
= 0.30 0.23256 = 0.069768 N.
3.14 Temperature eects
For thermal stress problems the structure is subjected to a change in temperature T(x) which
leads to an initial strain of
0
= T
where is the coecient of thermal expansion. From the following stress strain law in the
presence of an initial strain.
we have
= E(
0
)
Thus the strain energy per unit volume is
u
0
=
1
2
(
0
) or
u
0
=
1
2
(
0
) E (
0
)
Thus the total strain energy of the structure U is
U =
_
L
1
2
(
0
)
T
E (
0
) Adx
If we use one dimensional linear elements
U =
e
1
2
A
e
e
2
_
1
1
(
0
)
T
E
e
(
0
) d
Noting that = Bq, we get
U =
e
1
2
q
T
_
E
e
A
e
e
2
_
1
1
B
T
Bd
_
q
e
q
T
E
e
A
e
e
2

0
_
1
1
B
T
d
+
e
1
2
E
e
A
e
e
2

2
0
Note that the rst terms on the RHS leads to the stiness matrix, the last term is constant and
of no consequence when setting /Q = 0. The second term yields the element thermal load
vector
e
e
= E
e
A
e
e
2

0
_
1
1
B
T
d
and since B = [1 1]/(x
2
x
1
) and
0
= T we have
e
=
E
e
A
e
e
T
(x
2
x
1
)
_
1
1
_
The element stresses may be written as
= E (Bq T)
=
E
(x
2
x
1
)
[1 1]q E T
3.15 2-Element example with temperature eects
Find nodal displacements and stresses in each material and reaction forces.
Solution: The element stiness matrices are
k
1
=
70 10
3
900
200
_
_
1 1
1 1
_
_
k
2
=
200 10
3
1200
300
_
_
1 1
1 1
_
_
Assembling k
1
and k
2
into the global stiness matrix we get
K = 10
3
_
_
315 315 0
315 1115 800
0 800 800
_
_
Element nodal forces due to a temperature change of T = 40
C have the form
1
= 70 10
3
900 23 10
6
40
_
_
1
1
_
_
N
2
= 200 10
3
1200 11.7 10
6
40
_
_
1
1
_
_
N
Assembling
1
and
2
and the point load we get
F = 10
3
_
_
57.96
57.96 112.32 + 300
112.32
_
_
F = 10
3
_
_
57.96
245.64
112.32
_
_
N
The global stiness equations are
10
3
_
_
315 315 0
315 1115 800
0 800 800
_
_
_
_
Q
1
Q
2
Q
3
_
_
= 10
3
_
_
R
1
57.96
245.64
R
3
+ 112.32
_
_
N
Striking out the rst and third rows and columns of K and the rst and third rows of F because
Q
1
and Q
3
are equal to zero gives
10
3
1115 Q
2
= 245.64 10
3
= Q
2
= 0.220 mm
The element stresses are:
1
=
70 10
3
200
_
1 1
_
_
0
0.220
_
_
70 10
3
23 10
6
40 = 12.60 MPa
2
=
200 10
3
300
_
1 1
_
_
0.220
0
_
_
200 10
3
11.7 10
6
40 = 240.27 MPa
3.16 The Galerkin approach
3.16.1 Formulation for axially loaded bar
Consider the equilibrium dierential equation:
d
dx
[A(x) (x)] +f(x) = 0 0 x L
where:
(x) = E(x)
du
dx
Galerkin Method:
_
L
0
_
d
dx
[A(x) (x)] +f(x)
_
dx = 0 trial function
FE Method as a particular case
Step 1. Choose (x) =
N+1
i=1
i
N
i
(x). Then we have:
_
L
0
_
d
dx
[A(x) (x)] +f(x)
_
N
i
(x) dx = 0 i = 1, ..., N.
Step 2. Integrate by parts. First term becomes
_
L
0
_
d
dx
[A(x) (x)]
_
N
i
(x) dx =
= A(x)(x)N
i
(x)|
L
0

_
L
0
A(x)(x)
dN
i
dx
dx
= [A(L)(L)N
i
(L) A(0)(0)N
i
(0)]
_
L
0
A(x)(x)
dN
i
dx
dx
Substitution into weighted residual equation gives:
_
L
0
A(x) (x)
dN
i
dx
dx =
_
L
0
f(x) N
i
dx +

f
L
N
i
(L) +

f
0
N
i
(0)
i = 1, ..., N+1
where
f
0
A(0)(0)

f
L
A(L)(L)
are prescribed boundary tractions at x = 0 and x = L.
Step 3. Intoduce a Finite Element approximation to displacement eld u(x) using the same
basis functions as for :
u(x) u(x) =
N+1
j=1
Q
j
N
j
(x),
This, together with the constitutive equation for , gives
N+1
j=1
_
_
L
0
E(x) A(x)
dN
i
dx
dN
j
dx
dx
_
Q
j
=
=
_
L
0
f(x) N
i
(x) dx + [

f
L
N
i
(L) +

f
0
N
i
(0)]
i = 1, ..., N+1
N+1
j=1
k
ij
Q
j
= F
i
+ [

f
L
N
i
(L) +

f
0
N
i
(0)] i = 1, ..., N+1
Noting that
N
1
(0) = 1; N
i
(0) = 0 for i = 1
N
N+1
(L) = 1; N
i
(L) = 0 for i = N+1
the previous equation yields the system:
_
_
k
11
k
12
k
1,N+1
k
21
k
22
k
2,N+1
.
.
.
.
.
.
.
.
.
k
N+1,1
k
N+1,2
k
N+1,N+1
_
_
_
_
Q
1
Q
2
.
.
.
Q
N+1
_
_
=
_
_
F
1
F
2
.
.
.
F
N+1
_
_
+
_
f
0
0
.
.
.
f
L
_
_
where
k
ij
=
_
L
0
E(x) A(x)
dN
i
dx
dN
j
dx
dx (global stiness matrix)
F
i
=
_
L
0
f(x) N
i
(x) dx (global force vector)
Step 4. Split global stiness matrix and force vector into element contributions. For a generic
element with n nodes, we have:
u
(e)
=
n
i=1
q
i
N
(e)
i
(x)
The element stiness matrix and force vector components read:
k
(e)
ij
=
_
l
e
0
E(x) A(x)
dN
(e)
i
dx
dN
(e)
j
dx
dx
F
(e)
i
=
_
l
e
0
f(x) N
(e)
i
(x) dx
The global force vector is assembled as:
F =
_
_
F
(1)
1
F
(1)
2
.
.
.
F
(1)
n
+F
(2)
1
F
(2)
2
.
.
.
F
(2)
n
+F
(3)
1
.
.
.
F
(N)
n
_
_
The global stiness matrix is assembled as:
K =
_
_
k
(1)
11
k
(1)
1n
.
.
.
.
.
.
k
(1)
n1
k
(1)
nn
+k
(2)
11
k
(1)
2n
.
.
.
.
.
.
k
(2)
n1
k
(2)
nn
+k
(3)
11
.
.
.
k
(N)
nn
_
_
Step 5. Evaluate element stiness matrix and force vector for specic element, e.g., linear
(2-noded) element with
u
(e)
= q
1
N
(e)
1
(x) +q
2
N
(e)
2
(x)
and shape functions
N
(e)
1
=
x
2
x
l
(e)
N
(e)
2
=
x x
1
l
(e)
Assuming E(x)A(x) = E
(e)
A
(e)
within each element and f(x) = f (uniform load), we have
K
(e)
=
_
E
(e)
A
(e)
/l
(e)
E
(e)
A
(e)
/l
(e)
E
(e)
A
(e)
/l
(e)
E
(e)
A
(e)
/l
(e)
_
and
F
(e)
=
_
fA
(e)
l
(e)
/2
fA
(e)
l
(e)
/2
_
3.17 Digression integration by parts
Consider two functions f(x) and g(x)
d
dx
(fg) =
df
dx
g +f
dg
dx
Integrate both sides over some interval x
a
to x
b
_
x
b
x
a
d
dx
(fg)dx =
_
x
b
x
a
df
dx
gdx +
_
x
b
x
a
f
dg
dx
dx
LHS is a perfect dierential
LHS =
_
x
b
x
a
d
dx
(fg)dx
= [fg]
x
b
x
a
= [fg]
x=x
b
[fg]
x=x
a
or rewriting
_
x
b
x
a
df
dx
gdx = [fg]
x
b
x
a
_
x
b
x
a
f
dg
dx
dx
Chapter 4
Steady state 1D heat ow
Governing equations for heat ow through a wall
Interpolating the temperature
Functional approach
3-element example
Governing equations for heat ow in thin ns
Galerkin FE method
3-element n example
On completion of this lecture and example class and computer lab class you should be able to
set up and solve for temperature distributions simple 1D FE models for:
Heat ow through walls
Heat ow along thin ns
55
CHAPTER 4. STEADY STATE 1D HEAT FLOW 56
4.3 Notation for 1D heat conduction through wall
Heat generated by a wire carrying a current I with a resistance R through a volume V which
gives heat source Q = I
2
R/V . Note that heat rate entering control volume plus heat rate
generated equals heat rate leaving control volume so that
qA+QAdx =
_
q +
dq
dx
dx
_
A or Q =
dq
dx
Substituting Fouriers law for a material with thermal conductivity k = k(x)
q = k
dT
dx
gives the dierential equation
d
dx
_
k
dT
dx
_
+Q = 0
Boundary conditions for LH gure:
specied temperature T|
x=0
= T
0
convection boundary q|
x=L
= h(T
L
T
infty
)
Boundary conditions for RH gure:
specied ux q|
x=0
= 0
convection boundary q|
x=L
= h(T
L
T
infty
)
where h is the convection coecient, T
0
is the temperature specied on the LH side of wall
T
infty
is the temperature of the airstream owing on the RH side of the wall maintaining a wall
temperature T
L
4.4 Heat conduction through wall
4.4.1 Interpolating the temperature
temperature distribution over the element
T() = N
1
T
1
+N
2
T
2
= NT
e
where N = [N
1
, N
2
] and T
e
= [T
1
, T
2
]
T
, with
=
2
(x
2
x
1
)
(x x
1
) 1 and
d
dx
=
2
(x
2
x
1
)
dx
Since
T = N
1
T
1
+N
2
T
2
=
(1 )
2
T
1
+
(1 +)
2
T
2
dT
d
=
T
2
T
1
2
Then,
dT
dx
=
dT
d
d
dx
=
1
(x
2
x
1
)
(T
2
T
1
)
or, in matrix form
dT
dx
=
1
(x
2
x
1
)
_
1 1
_
_
T
1
T
2
_
_
= B
T
T
e
where
B
T
=
1
x
2
x
1
[1, 1]
4.5 Functional approach for heat conduction through wall
We may solve the heat conduction equations directly
d
dx
_
k
dT
dx
_
+Q = 0
subject to T|
x=0
= T
0
and q|
x=L
= h(T
L
T
)
or we attempt to nd the temperature distribution T = T(x) which minimizes the functional
T
=
_
L
0
1
2
k
_
dT
dx
_
2
dx
_
L
0
QT dx +
1
2
h(T
L
T
)
2
subject to T|
x=0
= T
0
Let us assume that the heat source Q = Q
e
and the thermal conductivity k = k
e
are constant
within the element.
Using dx =
e
/2 d, T = NT
e
and dT/dx = B
T
T
e
then the functional
T
has the form
T
=
e
1
2
T
eT
_
k
e

e
2
_
1
1
B
T
T
B
T
d
_
T
e
e
_
Q
e
e
2
_
1
1
Nd
_
T
e
+
1
2
h(T
L
T
)
2
=
e
1
2
T
eT
k
T
T
e
e
T
eT
r
Q
+
1
2
h(T
L
T
)
2
The element conductivity matrix has the form
k
T
=
k
e

e
2
_
1
1
B
T
T
B
T
d
or
k
T
=
k
e
e
_
_
1 1
1 1
_
_
Also the element heat rate vector due to the heat source is
r
T
Q
=
Q
e
e
2
_
1
1
Nd
or since
_
1
1
Nd = 1, we have
r
Q
=
Q
e
e
2
_
_
1
1
_
_
The last term in
T
can be written as
1
2
T
L
hT
L
(hT
)T
L
+
1
2
hT
2
The term
1
2
hT
2
is a constant which drops out when minimizing

T
. The term h is added to
the (L, L)th location of K
T
and (hT
) is added to the Lth row of F

The resulting discrete governing matrix equations have the form
_
_
K
11
K
12
. . . K
1L
K
21
K
22
. . . K
2L
.
.
.
.
.
.
K
L1
K
L2
. . . K
LL
+h
_
_
_
_
T
1
T
2
.
.
.
T
L
_
_
=
_
_
F
1
+R
1
F
2
.
.
.
F
L
+hT
_
4.6 3-element example
Find the temperature distribution in the wall
Solution: The element stiness matrices are
k
1
=
20
0.3
_
_
1 1
1 1
_
_
k
2
=
30
0.15
_
_
1 1
1 1
_
_
k
3
=
50
0.15
_
_
1 1
1 1
_
_
The assembled stiness matrix excluding convection terms is
K = 66.7
_
_
1 1 0 0
1 4 3 0
0 3 8 5
0 0 5 5
_
_
The assembled stiness matrix including convection at node 1, i.e. adding h = 25 to the (1, 1)
location of K gives
K = 66.7
_
_
1.375 1 0 0
1 4 3 0
0 3 8 5
0 0 5 5
_
_
Since no heat generation Q occurs, the heat rate vector F consists of only h T
in the rst row

F = [25 800, 0, 0, 0]
T
Thus the governing equations have the form
66.7
_
_
1.375 1 0 0
1 4 3 0
0 3 8 5
0 0 5 5
_
_
_
_
T
1
T
2
T
3
T
4
_
_
=
_
_
25 800
0
0
R
4
_
_
Since T
4
= 20
, we delete fourth row and column of K and modify F accordingly so that

66.7
_
_
1.375 1 0
1 4 3
0 3 8
_
_
_
_
T
1
T
2
T
3
_
_
=
_
_
25 800
0
0 + 6670
_
_
which yields
_
T
1
, T
2
, T
3
=
_
304.6, 119.0, 57.1
C
4.7 Heat conduction in thin ns
The governing equation may be derived fron the conduction equation with heat source
d
dx
_
k
dT
dx
_
+Q = 0
The convection heat loss in the n can be considered a negative heat source, so that
Q =
(P dx) h (T T
)
A
c
dx
=
Ph
A
c
(T T
)
where P = perimeter of n, A
c
= area of cross section. Thus governing equation is
d
dx
_
k
dT
dx
_
Ph
A
c
(T T
) = 0
4.8 Heat conduction in thin ns Galerkin FE method
Here the following boundary conditions are given
T = T
0
at x = 0
q = 0 at x = L
Let (x) be any function satisfying (0) = 0 using same basis as T
_
L
0
_
d
dx
_
k
dT
dx
_
Ph
A
c
(T T
)
_
dx = 0
Integrating the rst term by parts, we have
k
dT
dx
L
0
_
L
0
k
d
dx
dT
dx
dx
Ph
A
c
_
L
0
T dx +
Ph
A
c
T
_
L
0
dx = 0
Given the Galerkin equation
k
dT
dx
L
0
_
L
0
k
d
dx
dT
dx
dx
Ph
A
c
_
L
0
T dx +
Ph
A
c
T
_
L
0
dx = 0
Using (0) = 0, k(L)[dT(L)/dx] = 0, and the isoparametric relations
dx =

e
2
d, T = NT
e
, = N,
dT
dx
= B
T
T
e
,
d
dx
= B
T
we get
T
_
k
e
e
2
_
1
1
B
T
T
B
t
d
_
T
e
Ph
A
c
T
_
1
1
N
T
NdT
e
+
PhT
A
c
T

e
2
_
1
1
N
T
d = 0
Let us dene
h
T
=
Ph
A
c
e
2
e
_
1
N
T
Nd =
Ph
A
c
e
6
_
_
2 1
1 2
_
_
or, since P/A
c
2/t,
h
T
=
h
e
3t
_
_
2 1
1 2
_
_
Let us also write
r
=
Ph
A
c
T
e
2
_
1
1
N
T
d =
PhT
A
c
e
2
_
_
1
1
_
_
or r

hT
e
t
_
_
1
1
_
_
Governing equation then becomes
T
(k
T
+h
T
)T
e
+
T
r
= 0
or
T
(K
T
+H
T
) T
e
+
T
R
= 0
which should hold for all satisfying
1
= 0. Denoting K
ij
= (K
T
+H
T
)
ij
, we obtain
_
_
K
22
K
23
K
2L
K
32
K
33
K
3L
.
.
.
.
.
.
.
.
.
K
L2
K
L3
K
LL
_
_
_
_
T
2
T
3
.
.
.
T
L
_
_
=
_
R
_
K
21
T
0
K
31
T
0
.
.
.
K
L1
T
0
_
_
which can be solved for T.
4.9 3-element n example
A metallic n with thermal conductivity k = 360W/m.
C, 0.1 cm thick, and 10 cm long, extends

from a plane wall whose temperature is 235
C. determine the temperature distribution, and

amount of heat transferred from the n to the air at 20
C with h = 9W/m
2
C. Take the width
to be 1m.
4.9.1 Solution
Assume that the tip is insulated. Using a three-element FE model and assembling K
T
, H
T
, R
yields
_
360
3.33 10
2
_
_
2 1 0
1 2 1
0 1 1
_
_
+
9 3.33 10
2
3 10
3
_
_
4 1 0
1 4 1
0 1 2
_
_
_
_
_
T
2
T
3
T
4
_
_
=
9 20 3.33 10
2
10
3
_
_
2
2
1
_
360 235
3.33 10
2
_
_
1
0
0
_
_
The solution is
[T
2
, T
3
, T
4
] = [211.7, 197.0, 192.2]
C
The total heat loss in the n can now be computed as
H =
e
H
e
The loss H
e
in each element is
H
e
= h(T
av
T
)A
s
where A
s
= 2 (1 0.0333) m
2
, and T
av
is the average temperature within the element. We
obtain
H
loss
= 333 W/m
Chapter 5
Quasi-harmonic equations. 2D
heat ow
5.1 Layout of Lecture
Quasi-harmonic problem list
Governing equations of 2D heat ow
Temperature interpolation
Functional approach
3 element example
Galerkin approach
5.2 Lecture Objectives
On completion of this lecture and example class and computer lab class you should be able to
set up and solve for temperature distributions simple 2D FE models for 2D heat ow.
67
CHAPTER 5. QUASI-HARMONIC EQUATIONS. 2D HEAT FLOW 68
5.3 Quasi-harmonic equations. Classication
5.3.1 General form
A

2
x
2
+ 2B

2
xy
+C

2
y
2
= D(x, y,

x
,

y
)
where A, B and C are functions of x and y only.
Classication:
Elliptic equations: B
2
AC < 0 (closed domain)
Parabolic equations: B
2
AC = 0 (open domain)
Hyberbolic equations: B
2
AC > 0 (open domain)
5.4 Quasi-harmonic governing equations
5.4.1 Main Equations
x
_
k
x
x
_
+

y
_
k
y
y
_
+

z
_
k
z
z
_
= f(x, y, z)
5.4.2 Dirichlet boundary conditions
=

(x, y, z) on
(x, y, z)
5.4.3 Cauchy boundary condition
k
x
x
n
x
+k
y
y
n
y
+k
z
z
n
z
+g(x, y, z) +h(x, y, z) = 0 on
gh
g and h are known n
x
, n
y
and n
z
are direction cosines of the outward normal of the surface
5.5 Quasi-harmonic equations. Special forms
5.5.1 General Form
x
_
k
x
x
_
+

y
_
k
y
y
_
+

z
_
k
z
z
_
= f(x, y, z)
5.5.2 Poissons equation
k
x
= k
y
= k
z
= k =

2
x
2
+

2
y
2
+

2
z
2
=
f(x, y, z)
k
5.5.3 Laplaces equation
f = 0 =

2
x
2
+

2
y
2
+

2
z
2
= 0
5.5.4 Neumanns (natural) boundary condition
g = h = 0 = k
x
x
n
x
+k
y
y
n
y
+k
z
z
n
z
= 0
5.6 Quasi-harmonic equations. Variational principle
5.6.1 Main Equations
Function that satises governing dierential equation also minimises the functional
I() =
_
1
2
_
_
k
x
_
x
_
2
+k
y
_
y
_
2
+k
z
_
z
_
2
+2f
2
_
d +
_
gh
(g +
h
2
2
)
_
d
First variation must also be equal to zero
I() = 0
5.6.2 List of potential ow problems
Physical problem Unknown Constitutive param. Forcing term
Heat conduction Temperature, () Conductivity, (k) Int. heat gen., (Q)
Seepage ow Pressure head, (h) Permeability, () Injected uid, (S)
Incompressible ow Stream function Unity Twice the vorticity
Elastic torsion Stress function 1/Shear modulus Twice the rate of twist
Elastic torsion Warping function Shear modulus
Membrane de. Deection Surface tension Pressure
Magnetostatics Magnetic potential Reluctivity Current density
5.7 Conceptual model
5.7.1 Heat Balance
q
x
(x, y)dy +q
x
(x +dx, y)dy q
y
(x, y)dx
+q
y
(x, y +dy)dx Q(x, y)dxdy = 0 (1)
where q
x
(x, y) and (x + dx, y) are heat uxes (heat ow per time unit) acting on the LH and
RH faces resp. and q
y
(x, y) and q
y
(x, y +dy) are heat uxes (heat ow per time unit) acting on
the lower and upper and RH faces resp.
When dx is suciently small q
x
(x +dx, y) may be expressed as
q
x
(x +dx, y) = q
x
(x, y) +
q
x
(x, y)
x
dx
+ h.o.t. in dx (2a)
Similarly,
q
y
(x, y +dy) = q
y
(x, y) +
q
y
(x, y)
y
dy
+ h.o.t. in dy (2b)
5.7.2 Heat Balance Equation
If dx 0 and dy 0, from (1) and (2), the heat balance equation is obtained as
q
x
(x, y)
x
+
q
y
(x, y)
y
Q(x, y) = 0. (3)
5.7.3 Constitutive Law:
Let
xx
,
yy
and
xy
=
yx
denote the coecients of thermal conductivity and let denote the
temperature. The constitutive equation known as the generalised Fourier law relates the heat
ux vector and temperature through the following relationship
_
_
_
q
x
q
y
_
_
_
=
_
_
k
xx
k
xy
k
yx
k
yy
_
_
_
_
_
/x
/y
_
_
_
(4)
For a special case of a thermally isotropic material:
_
_
_
q
x
q
y
_
_
_
=
_
_
k 0
0 k
_
_
_
_
_
/x
/y
_
_
_
. (4b)
5.7.4 Dierential eqn. of heat conduction
By combining (3) and (4) the dierential equation of heat conduction (or the so-called strong
form is obtained)
x
_
k
(x, y)
x
_
+

y
_
k
(x, y)
y
_
+Q(x, y) = 0. (5)
which models the two-dimensional problem of heat conduction.
5.7.5 Boundary conditions
One of the following b.c. must be specied at the boundary of the domain:
(i) Prescribed boundary temperature
= (x, y) for (x, y)
. (6a)
where (x, y) is given.
(ii) Prescribed boundary ux
q
n
= q
n
(x, y) for (x, y)
q
. (6b)
where q
n
is the ux normal to the boundary, which is dened as
q
n
= q
x
cos +q
y
sin = k
x
cos k
x
sin (6c)
and q
n
(x, y) is given. Eqn. (6c) is sometimes concisely written as q
n
= k/n.
(iii) Convective boundary conditions
q
n
= h(
) for (x, y)
c
. (6d)
where h is the coecient of convective heat transfer and
is the temperature of the

convective medium.
5.8 Linear (3-noded) triangular element
Within a 3-noded triangular element we can interpolate the temperature eld as:
T = N
1
T
1
+N
2
T
2
+N
3
T
3
or T = NT
e
where the shape functions N
1
, N
2
and N
3
are linear unctions of nondimensional coordinates
and
N
1
= , N
2
= , N
3
= 1 .
Note the shape function property that
N
1
+N
2
+N
3
= 1
In addition, the global coordinates {x, y} of a point in the triangle with nondimensional (local)
coordinates {, } are given by:
x(, ) = N
1
(, ) x
1
+N
2
(, ) x
2
+N
3
(, ) x
3
y(, ) = N
1
(, ) y
1
+N
2
(, ) y
2
+N
3
(, ) y
3
5.8.1 3-noded triangle. Alternative description
The shape functions can be expressed in terms of area coordinates. A point (x, y) in a triangle
divides it into three areas A
1
, A
2
and A
3
so that the shape functions can now be written as:
N
1
=
A
1
A
, N
2
=
A
2
A
, N
3
=
A
3
A
where A is the area of the element.
Note again the shape function property that
N
1
+N
2
+N
3
= 1
5.8.2 Interpolation with linear triangular elements
5.9 2D heat ow. Finite element solution
5.9.1 Preliminaries
Recall that
x = N
1
x
1
+N
2
x
2
+N
3
x
3
y = N
1
y
1
+N
2
y
2
+N
3
y
3
Using the chain rule of dierentiation, we have:
T
=
T
x
x
+
T
y
y
=
T
x
x
+
T
y
y
Equivalently, in matrix form,

_
_
T/
T/
_
_
= J
_
_
T/x
T/y
_
_
where J is the Jacobian matrix and is given as:
J =
_
_
x
13
y
13
x
23
y
23
_
_
where x
ij
= x
i
x
j
, y
ij
= y
i
y
j
and |detJ| = 2A
e
, where A
e
is the area of the triangular
element. Thus we can write:
_
_
T/x
T/y
_
_
= J
1
_
_
T/
T/
_
_
=
1
detJ
_
_
y
23
y
13
x
23
x
13
_
_
_
_
1 0 1
0 1 1
_
_
T
e
= B
e
T
T
e
Matrix B
e
T
is dened as:
B
T
=
1
detJ
_
_
y
23
y
13
(y
13
y
23
)
x
23
x
13
(x
23
x
13
)
_
_
=
1
detJ
_
_
y
23
y
31
y
12
x
32
x
13
x
21
_
_
Finally, from the above we have:
(T/x)
2
+ (T/y)
2
=
_
T/x T/y
_
_
T/x
T/y
_
_
= T
eT
B
T
T
B
T
T
e
This expression will be used next in the derivation of the nite element equations for the 2D
heat ow problem.
5.10 Functional approach to FE solution
The problem is to solve the dierential equation:
x
_
k
T
x
_
+

y
_
k
T
y
_
+Q = 0
with BCs: T = T
0
on S
T
, q
n
= q
0
on S
q
, q
n
= h(T T
) on S
c
.
This problem is equivalent to minimizing the functional:
T
=
1
2
_
A
_
_
k
_
T
x
_
2
+k
_
T
y
_
2
2QT
_
dA
+
_
s
q
q
0
T dS +
_
s
c
1
2
h(T T
)
2
dS
while satisfying T = T
0
on S
T
.
The rst term of
T
is
1
2
_
A
_
_
k
_
T
x
_
2
+k
_
T
y
_
2
_
dA
=
e
1
2
_
e
k
e
T
eT
B
T
T
B
T
T
e
dA
=
e
1
2
T
eT
k
e
B
T
T
B
T
A
e
T
e
=
1
2
T
T
K
T
T
where K
T
=
e
k
T
is assembled in the usual manner. The element conductivity matrix k
T
is
given as
k
T
= k
e
A
e
B
T
T
B
T
where k
e
is the thermal conductivity coecient of element e.
Now consider the second term of
T
which is heat source term. We will consider three dierent
situations:
In the rst, we assume Q = Q
e
is constant:
_
e
QT dA =
e
_
Q
e
_
e
NdA
_
T
e
=
e
r
T
Q
T
e
Since
_
e
N
i
dA = A
e
/3, the element heat rate vector is
r
Q
=
Q
e
A
e
3
[1, 1, 1]
T
Thus the heat rate is distributed equally at the three nodes
In the second case, we consider Q to be linearly distributed with Q
e
= [Q
1
, Q
2
, Q
3
]
T
being the
nodal values. Thus, we have:
r
Q
=
A
e
12
[(2Q
1
+Q
2
+Q
3
), (Q
1
+ 2Q
2
+Q
3
), (Q
1
+Q
2
+ 2Q
3
)]
T
In the third case, we consider Q = Q
0
to be a point source located at (
0
,
0
). Thus, we have:
_
e
QT dA = Q
0
T
0
= Q
0
N(
0
,
0
) T
e
= r
T
Q
T
e
where
r
T
Q
= Q
0
N
T
(
0
,
0
)
= Q
0
[
0
,
0
, 1
0

0
]
T
Now consider the ux boundary term of term of
T
.
_
S
q
q
0
T dS =
e
_
_
S
e
q
q
0
N dS
_
T
e
Assume that the ux is specied normal to edge 2-3 of the element. Along this edge N =
[0, , 1 ] and dS =
23
d where
23
is the length of edge 2-3. Thus,
e
_
_
e
q
0
NdS
q
_
T
e
=
e
_
q
0
23
_
1
0
_
0, , 1 ] d
_
T
e
=
e
r
T
q
T
e
where
r
q
=
q
0
23
2
[0, 1, 1]
T
Replace q = q
0
by T h. Now consider the convection boundary term of term of
T
. We have
1
2
_
S
c
hT
2
dS =
e
T
eT
_
_
e
hN
T
NdS
c
_
T
e
=
e
1
2
T
eT
h
T
T
e
S
c
is the convection surface of the element. Along this edge N = [0, , 1 ] and
h
T
=
h
23
6
_
_
0 0 0
0 2 1
0 1 2
_
_
Replace q = q
0
by T
h. The last convection term is

1
2
_
S
c
hT T
dS =
e
_
_
e
h T
NdS
c
_
T
e
=
e
r
T
T
e
where
r
=
hT
23
2
[0, 1, 1]
T
The functional
T
can now be written as:
T
=
1
2
T
T
KTR
T
T
where
K =
e
k
T
+
e
h
T
and
R =
e
(r
Q
r
q
+r
)
The assembly process is carried out in the usual manner. The minimization of
T
is carried out
while satisfying the condition T = T
0
at all nodes on S
T
.
5.11 2D heat ow. 3-Element example
A long bar of rectangular cross-section, with a thermal conductivity of 1.5 W/m
2
C is subjected
to the boundary conditions shown in the gure. Two opposite sides are maintained at a uniform
temperature of 180
C; one side is insulated, and the remaining side is subjected to a convection

process with T
= 25
C and h = 50 W/m
2
C.
Determine the temperature distribution in the bar.
Solution: Here we will use the ve-node, three-element model shown in the gure, where sym-
metry about the horizontal axis is assumed. Note that the line of symmetry is insulated since
no heat can ow across it.
The element connectivities are given in the table below.
Element 1 2 3 local
1 1 2 3
2 5 1 3 global
3 5 4 3
Table 5.1: Element Connectivities
Recall that the B
T
matrix may be expressed as:
B
T
=
1
det J
_
_
y
23
y
31
y
12
x
32
x
13
x
21
_
_
For each element:
B
(1)
T
=
1
0.06
_
_
0.15 0.15 0
0 0.4 0.4
_
_
B
(2)
T
=
1
0.12
_
_
0.15 0.15 0.3
0.4 0.4 0
_
_
B
(3)
T
=
1
0.06
_
_
0.15 0.15 0
0 0.4 0.4
_
_
Then k
T
= k A
e
B
T
T
B
T
yields
k
(1)
T
= 1.5 0.03 B
(1)
T
T
B
(1)
T
=
1 2 3
_
_
0.28125 0.28125 0
0.28125 0.28125 2.0
0 2.0 2.0
_
_
k
(2)
T
=
5 1 3
_
_
1.14 0.86 0.28125
0.86 1.14 0.28125
0.28125 2.0 0.5625
_
_
k
(3)
T
=
5 4 3
_
_
0.28125 0.28125 0
0.28125 0.28125 2.0
0 2.0 2.0
_
_
The matrices h
T
for elements with convection edges are developed next. Both elements 1 and
3 have edges 2-3 (in local node numbers) as convection edges, we can thus use the formula:
h
T
=
h
23
6
_
_
0 0 0
0 2 1
0 1 2
_
_
which gives
h
(1)
T
=
1 2 3
_
_
0 0 0
0 2.5 1.25
0 1.25 2.5
_
_
; h
(2)
T
=
5 4 3
_
_
0 0 0
0 2.5 1.25
0 1.25 2.5
_
_
The matrix K =
(k
T
+h
T
) is now assembled. The elimination process for handling boundary
conditions T = 180
C at nodes 4 and 5 results in striking out these rows and columns. However,
the fourth and fth rows are used subsequently for modifying the R vector. The result is
K =
1 2 3
_
_
1.42125 0.28125 0.28125
0.28125 4.78125 0.75
0.28125 0.75 9.5625
_
_
We now calculate the heat rate vector R from the element contributions:
r
=
hT
23
2
_
0 1 1
which results in
r
(1)
=
50 25 0.15
2
1 2 3
_
0 1 1
and
r
(3)
=
50 25 0.15
2
5 4 3
_
0 1 1
Thus,
R = 93.70
1 2 3
_
0 1 1
In the elimination process, R gets modied. Solution KT = R then yields

[T
1
, T
2
, T
3
] = [124.5, 34.0, 45.4]
C
5.12 2D heat low. Galerkin approach
The problem is to nd T(x, y) that solves:
x
_
k
T
x
_
+

y
_
k
T
y
_
+Q = 0
with BCs: T = T
0
on S
T
, q
n
= q
0
on S
q
, q
n
= h(T T
) on S
c
.
In the Galerkin approach we seek an approximate solution T such that:
_
A
_

_

x
_
k
T
x
_
+

y
_
k
T
y
__
dA+
_
A
_
QdA = 0
for every (x, y) constructed from the same basis functions as those used for T and satisfying
= 0 on S
T
. First note that

x
_
k
T
x
_
=

x
_
k
T
x
_
k

x
T
x
Given the Galerkin equation
_
A
_

_

x
_
k
T
x
_
+

y
_
k
T
y
__
dA+
_
A
_
QdA = 0
We nd that
_
A
_
__

x
_
k
T
x
_
+

y
_
k
T
y
__
_
k
x
T
x
+k
y
T
y
__
dA+
_
A
_
QdA = 0
Given that q
x
= k (T/x) and q
y
= k (T/y), and the divergence theorem, the rst term of
the above equation becomes
_
A
_
_

x
(q
x
) +

y
(q
y
)
_
dA
=
_
A
[q
x
n
x
+q
y
n
y
] dS =
_
S
q
n
dS
where n
x
and n
y
are the direction cosines of the unit normal N to the boundary and q
n
=
q
x
n
x
+q
y
n
y
= q n is the normal heat ow along the unit outward normal, which is specied by
boundary conditions. Since S = S
T
+S
q
+S
c
, = 0 on S
T
, q
n
= q
0
on S
q
, and q
n
= h(T T
)
on S
c
. we can write
_
S
q
q
0
dS
_
S
c
h(T T
) dS
_
A
_
_
k

x
T
x
+

y
T
y
_
+
_
A
_
QdA = 0
We now introduce the triangular element and the interpolation T = NT
e
. Further, we impose
the global virtual temperature vector whose dimensions equals the number of nodes in the
nite element models. The virtual temperature distribution within each element is interpolated
as:
= N
Moreover, just as [T/x T/x]
T
= B
T
T
e
, we have
_
/x /y
_
T
= B
T

Noting that
_
S
q
q
0
dS =
T
q
0
N
T
dS
If edge 2-3 is on boundary, we have N = [0, , 1 ], dS =
23
d, and
_
S
q
q
0
dS =
T
q
0
23
_
1
0
N
T
dS
=
T
r
q
where
r
q
=
q
0
23
2
[0 1 1]
T
Next we consider the term
_
A
_
k
_
x
T
x
+

y
T
y
_
dA
=
_
A
_
k
_
/x /y
_
T/x
T/y
_
dA
=
T
_
k
e
_
e
B
T
T
B
T
dA
_
T
e
=
T
k
T
T
e
where
k
T
= k
e
A
e
B
T
T
B
T
If Q = Q
e
is constant within the element
_
A
_
QdA =
T
Q
e
_
e
NdA =
T
r
Q
where
r
Q
=
Q
e
A
e
3
[1, 1, 1]
T
Recall the equation
_
S
q
q
0
dS
_
S
c
h(T T
) dS
_
A
_
_
k

x
T
x
+

y
T
y
_
+
_
A
_
QdA = 0
We can now obtain the following equation:
T
r
q

T
h
T
T
e
+
T
r
T
k
T
T
e
+
T
r
Q
= 0
or
T
(R
R
q
+R
Q
)
T
(H
T
+K
T
) T = 0
which must hold for all satisfying = 0 at nodes on S
T
.
We thus obtain
K
E
T
E
= R
E
where K =
e
(k
T
+ h
T
), R =
e
(r
r
q
+ r
Q
), and superscript E represents the familiar
modication made to K and R to handle T = T
0
on S
T
by the elimination approach
Chapter 6
Quasi-harmonic equations.
Torsion
Governing equations of torsion
Stress function interpolation
Complementary energy approach
4-element example
On completion of this lecture and example class you should be able to set up and solve for the
stress function and twist per unit length simple 2D FE models for torsion of prismatic sections.
89
CHAPTER 6. QUASI-HARMONIC EQUATIONS. TORSION 90
6.3 Torsion. Problem denition
Consider the prismatic rod of arbitrary cross-section which is subjected to a twisting moment
M. The problem is to determine the shearing stresses
xz
and
yZ
and the angle of twist per
unit length .
The dierential equation that model such problems reduces to:
x
2
+

2
y
2
+ 2 = 0 in A
= 0 on S
which is a particular case of the general quasi-harmonic equation seen in previous lectures. In
the above, A is the interior and S the boundary of the cross-section. is called the stress
function, since once is known, then the shearing stresses are obtained as:
xz
= G

y
;
yz
= G

x
The scalar is determined from
M = 2 G
_
A
_
dA
where G is the shear modulus of the material of the rod.
6.4 Finite element model
6.4.1 Linear triangular element
Within a triangular element we interpolate the stress function eld as:
= N
1
1
+N
2
2
+N
3
3
or = N
e
Using a standard notation, N = [, , 1 ] are the element shape functions and
e
=
[
1
,
2
,
3
]
T
is the vector of nodal values of the stress function.
Again, recall that
x = N
1
x
1
+N
2
x
2
+N
3
x
3
y = N
1
y
1
+N
2
y
2
+N
3
y
3
Using the chain rule of dierentiation
=

x
x
+

y
y
=

x
x
+

y
y
_
_
/
/
_
_
= J
_
_
/x
/y
_
_
J is the Jacobian matrix given as:
J =
_
_
x
13
y
13
x
23
y
23
_
_
where x
ij
= x
i
x
j
, y
ij
= y
i
y
j
and |detJ| = 2A
e
, where A
e
element. Thus we can write
_
_
/x
/y
_
_
= J
1
_
_
/
/
_
_
=
1
detJ
_
_
y
23
y
13
x
23
x
13
_
_
_
_
1 0 1
0 1 1
_
_
e
= B
e
T

e
6.4.2 Complementary Potential Energy approach
Solution is equivalent to minimising the functional:
T
= G
2
_
A
_
_
1
2
__
x
_
2
+
_
y
_
2
_
2
_
dA
The element stifness matrix and load vectors can now be derived from , We have
_
/x
_
2
+
_
/y
_
2
=
_
/x /y
_
_
/x
/y
_
_
=
eT
B
T
T
B
T

e
Thus, the strain energy term in becomes:
_
A
_
1
2
__
x
_
2
+
_
y
_
2
_
dA =
e
1
2
eT
k
e
where
k = A
e
B
T
B
The load term becomes
_
A
_
2 dA =
e
_
2
_
e
NdA
_
e
Since
_
e
N
i
dA = A
e
/3, we have
_
A
_
2 dA =
eT
f
where
f =
2 A
e
3
[1 1 1]
T
The expression for is now given as
=
1
2
T
K
T
F
where K =
e
k, F =
e
f are assembled in the usual manner.
The minimisation of is subject to the boundary conditions
i
= 0 for every node on the
boundary. The resulting equations are:
K = F
where K and F are then modied to take account of the boundary conditions.
Once is known, the shearing stresses can then be found.
Consider the shaft with a rectangular cross-section shown in the gure. Determine the angle of
twist per unit length as a function of M and G.
Solution: Here we will use the ve-node, four-element model shown in the gure, where sym-
metry conditions about the horizontal and vertical axes are assumed. Thus, we focus on the top
LH quadrant. The element connectivities are given in the table below.
Element 1 2 3 local
1 1 3 2
2 3 4 2
3 4 5 2
global
4 5 1 2
Using the relations
B
T
=
1
det J
_
_
y
23
y
31
y
12
x
32
x
13
x
21
_
_
k
T
= A
e
B
T
B
we get
B
(1)
T
=
1
6
_
_
0.15 1.5 0
2 2 4
_
_
k
(1)
=
1
2
1 3 2
_
_
1.042 0.292 1.333
0.292 1.042 1.333
1.333 1.333 2.667
_
_
Similarly, for elements 2, 3 and 4,
k
(2)
=
1
2
3 4 2
_
_
1.042 0.292 0.75
0.292 1.042 0.75
0.75 0.75 1.5
_
_
k
(3)
=
1
2
4 5 2
_
_
1.042 0.292 1.333
0.292 1.042 1.333
1.333 1.333 2.667
_
_
k
(4)
=
1
2
5 1 2
_
_
1.042 0.292 0.75
0.292 1.042 0.75
0.75 0.75 1.5
_
_
Similarly, the element load vector f = (2A
e
/3)[1, 1, 1]
T
for each element
f
(i)
=
_
_
2
2
2
_
_
i = 1, 2, 3, 4
We can now assemble K and F. Since the boundary conditions are
3
=
4
=
5
= 0
we are only interested in degrees of freedom 1 and 2. Thus, the nite element equations are
1
2
_
_
2.084 2.083
2.083 8.334
_
_
_
_
2
_
_
=
_
_
4
8
_
_
The solution is: [
1
,
2
] = [7.676, 3.838]
Determination of Recall the equation:
M = 2 G
_
A
_
dA
Using = N
e
, and noting that
_
e
NdA = (A
e
/3) [1, 1, 1], we get
M = 2 G
_
e
A
e
3
(
e
1
+
e
2
+
e
3
)
_
4
The multiplication by 4 is because the FE model represents only one quarter of the rectangular
cross-section. Thus, we get the angle of twist per unit length to be
= 0.004
M
G
Chapter 7
2D Plane stress FE analysis
Lecture Objectives
Notation
Discretization
Displacement interpolation
2 element example
Galerkin approach
On completion of this lecture and example class you should be able to set up and solve for
displacements, stresses and reactions simple 2D FE models for plane stress analysis.
97
CHAPTER 7. 2D PLANE STRESS FE ANALYSIS 98
7.3 2D Plane stress model
The displacement vector u is given as
u = [u, v]
T
where u and v are the x and y components of u respectively. The stresses and strains are given
as
= [
x
,
y
,
xy
]
T
= [
x
,
y
,
xy
]
T
The body force, traction vector, and elemental volume are given as
f = [f
x
, f
y
]
T
T = [T
x
, T
y
]
T
dV = t dA
where t is the thickness along the z direction. The body force f has units force/unit volume,
while the traction force T has units force/unit area.
7.4 Linear triangle FE model
Element 1 2 3 local
1 1 2 4 global
2 4 2 7 global
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
11 6 7 10 global
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
20 13 16 15 global
The displacements inside the element are now written using the shape functions and nodal values
of the unknown displacement eld:
u = N
1
q
1
+N
2
q
3
+N
3
q
5
v = N
1
q
2
+N
2
q
4
+N
3
q
6
Recall that, for linear (3-noded) triangles, we have:
N
1
= , N
2
= , N
3
= 1
This gives:
u = (q
1
q
5
) + (q
3
q
5
) +q
5
v = (q
2
q
6
) + (q
4
q
6
) +q
6
Alternatively, in matrix form, we have:
u = Nq
where the interpolation matrix is now dened as:
N =
_
N
1
0 N
2
0 N
3
0
0 N
1
0 N
2
0 N
3
_
Recall that
x = N
1
x
1
+N
2
x
2
+N
3
x
3
y = N
1
y
1
+N
2
y
2
+N
3
y
3
Using the chain rule of dierentiation:
u
=
u
x
x
+
u
y
y
=
u
x
x
+
u
y
y
_
_
u/
u/
_
_
= J
_
_
u/x
u/y
_
_
J is the Jacobian matrix and is given as:
J =
_
_
x
13
y
13
x
23
y
23
_
_
where x
ij
= x
i
x
j
, y
ij
= y
i
y
j
and |detJ| = 2A
e
, where A
e
element. Thus we can write:
_
_
u/x
u/y
_
_
= J
1
_
_
u/
u/
_
_
where
J
1
=
1
detJ
_
_
y
23
y
13
x
23
x
13
_
_
_
_
1 0 1
0 1 1
_
_
With the above, we can now write that
_
_
u/x
u/y
_
_
=
1
detJ
_
_
y
23
u/ y
13
u/
x
23
u/ x
13
u/
_
_
Replacing u by v we get
_
_
v/x
v/y
_
_
=
1
detJ
_
_
y
23
v/ y
13
v/
x
23
v/ x
13
v/
_
_
7.4.1 Strain-displacement matrix
Using the strain-displacement relations, we get
=
_
_
u/x
v/y
u/y +v/x
_
_
=
1
detJ
_
_
y
23
(q
1
q
5
) y
13
(q
3
q
5
)
x
23
(q
2
q
6
) +x
13
(q
4
q
6
)
x
23
(q
1
q
5
) +x
13
(q
3
q
5
) +y
23
(q
2
q
6
) y
13
(q
4
q
6
)
_
_
From the denition of x
ij
and y
ij
, we can write y
31
= y
13
and y
12
= y
13
y
23
and so on. Thus,
we can write
=
1
detJ
_
_
y
23
q
1
+y
31
q
3
+y
12
q
5
x
32
q
2
+x
13
q
4
+x
21
q
6
x
32
q
1
+y
23
q
2
+x
13
q
3
+y
31
q
4
+x
21
q
6
+y
12
q
6
_
_
or
= Bq
where
B =
1
det
_
_
y
23
0y
31
0y
12
0
0 x
32
0x
13
0 x
21
x
32
y
23
x
13
y
31
x
21
y
12
_
_
is the strain-displacement matrix.
7.4.2 Potential energy approach
The Total Potential Energy of the system, , is given as:
=
1
2
_
A
_

T
D t dA
_
A
u
T
f t dA+
_
L
u
T
Tt d
e
u
T
i
P
i
In the last term, i indicates the point of application of the point load P
i
and P
i
= [P
x
, P
y
]
T
i
.
For a mesh of nite elements, the Total Potential Energy can now be written as
=
e
1
2
_
A
_

T
D t dA
e
_
A
u
T
f t dA+
e
_
L
u
T
Tt d
e
u
T
i
P
i
or
=
e
U
e
e
_
A
u
T
f t dA+
e
_
L
u
T
Tt d
e
u
T
i
P
i
where U
e
= 1/2
_
A
_

T
D t dA is the element strain energy.
7.4.3 Element stiness matrix
The element strain energy is given as
U
e
=
1
2
_
e
T
D t dA
1
2
_
e
q
T
B
T
DBqt
d
A
Taking the element thickness t
e
as being constant over the element, and since all terms in D
and B matrices are constants,
U
e
=
1
2
_
e
T
D t dA
1
2
q
T
B
T
DBt
e
_
e
dAq
Now
_
e
dA = A
e
, where A
e
is the area of the element. Thus
U
e
=
1
2
_
e
T
D t dA
1
2
q
T
t
e
A
e
B
T
DBq
=
1
2
q
T
k
e
q
where k
e
is the element stiness matrix:
k
e
= t
e
A
e
B
T
DB
Note that the assembly process is carried out in the usual way, i.e.,
U =
e
1
2
q
T
k
e
q =
1
2
Q
T
KQ
7.5 Element body force vector
The body force term
_
e
u
T
f t dA appearing in the Total Potential Energy expression is given as
_
e
uf t dA = t
e
_
e
(uf
x
+v f
y
) dA
Using the interpolation relations we obtain
_
e
uf t dA = q
1
_
t
e
f
x
_
e
N
1
dA
_
+q
2
_
t
e
f
y
_
e
N
1
dA
_
+q
3
_
t
e
f
x
_
e
N
2
dA
_
+q
4
_
t
e
f
y
_
e
N
2
dA
_
+q
5
_
t
e
f
x
_
e
N
3
dA
_
+q
6
_
t
e
f
y
_
e
N
3
dA
_
_
e
N
1
dA represents the volume of a tetrahedron with base area A
e
and height of corner equals
to 1. The volume of this tetrahedron is given as (1/3) base area height
_
e
N
1
dA =
1
3
A
e
Similarly,
_
e
N
2
=
_
e
N
2
= (1/3) A
e
. Thus, we have
_
e
u
T
f t dA = q
T
f
e
where f
e
is the element body force vector:
f
e
=
t
e
A
e
3
[f
x
, f
y
, f
x
, f
y
, f
x
, f
y
]
T
7.5.1 Boundary traction vector
A traction force is a distributed load acting on the surface of the body. A traction force acting
on the edge of an element contributes to the global load vector F.
This contribution can be determined by considering the traction force term
_
u
T
Tt d. Consider
an edge
12
. We have
_
e
u
T
Tt d =
_
12
(uT
x
+v T
y
) t d
Using u = Nq, we get
_
12
u
T
Tt d = q
1
_
t
e
T
x
_
N
1
d
_
+q
2
_
t
e
T
y
_
N
1
d
_
+q
3
_
t
e
T
x
_
N
2
d
_
+q
4
_
t
e
T
y
_
N
2
d
_
7.6 Element traction force vector
We note here that N
3
is zero along the edge 1-2 and N
1
and N
2
are similar to the shape functions
in one dimension satisfying N
1
+ N
2
= 1. Each of the integrals equals one half the base length
e
times the height (= 1)
_
12
N
1
d =
1
2
12
where
12
=
_
(x
2
x
1
)
2
+ (y
2
y
1
)
2
The traction term is now given as
_
12
u
T
T t d = q
T
T
e
where q is the set of nodal degrees of freedom corresponding to the edge 1-2. That is,
q = [q
1
, q
2
, q
3
, q
4
]
T
and
T
e
=
t
e
12
2
[T
x
, T
y
, T
x
, T
y
]
T
The traction load contributions need to be added to the global force vector F.
7.7 Stress calculations
For the 3-node constant strain element, the streses must be calculated for each element. Using
the stress strain relations and element strain-displacement relations, we have
= DBq
For an isotropic material, the elastic stres-strain or constitutive matrix has the form
D =
E
(1
2
)
_
_
1 0
1 0
0 0 (1 )/2
_
_
Just two constants: the elastic modulus, E and Poissons ratio, are necessary.
For an orthotropic material, the elastic stress-strain or constitutive matrix has the form
D =
E
2
(1 n
2
2
)
_
_
n n
2
0
n
2
1 0
0 0 m(1
2
2
)/2
_
_
where E
1
/E
2
= n and G
2
/E
2
= m. The constants required are E
1
,
1
(G
1
is dependent), E
2
, G
2
and
2
.
For the two-dimensional loaded plate shown in the gure, determine the displacements of of
nodes 1 and 2 and the element stresses under plane stress conditions. The body force may be
neglected in comparison to the external forces. The thickness is given as t = 0.5 in. and the
following material properties are assumed: elastic modulus, E = 3010
6
psi and Poissons ratio,
= 0.25.
Solution: For plane stress conditions
D =
E
(1
2
)
_
_
1 0
1 0
0 0 (1 )/2
_
_
=
_
_
3.2 10
7
0.8 10
7
0
0.8 10
7
3.2 10
7
0
0 0 1.2 10
7
_
_
The element connectivities are given as
Element 1 2 3 local
1 1 2 4 global
2 3 4 2 global
On performing the matrix multiplication DB
e
, we get
DB
1
= 10
7
_
_
1.067 0.4 0 0.4 1.067 0
0.267 1.6 0 1.6 0.267 0
0.6 0.4 0.6 0 0 0.4
_
_
DB
2
= 10
7
_
_
1.067 0.4 0 0.4 1.067 0
0.267 1.6 0 1.6 0.267 0
0.6 0.4 0.6 0 0 0.4
_
_
These two relationships will be used later in calculating stresses using
e
= DB
e
q. The
multiplication t
e
A
e
B
eT
DB
e
gives the element stiness matrices
k
1
= 10
7
1 2 3 4 7 8
_
_
0.983 0.5 0.45 0.2 0.533 0.3
0.5 1.4 0.3 1.2 0.2 0.2
0.45 0.3 0.45 0 0 0.3
0.2 1.2 0 1.2 0.2 0
0.533 0.2 0 0.2 0.533 0
0.3 0.2 0.3 0 0 0.2
_
_
The second element stiness matrix are given as
k
2
= 10
7
5 6 7 8 3 4
_
_
0.983 0.5 0.45 0.2 0.533 0.3
0.5 1.4 0.3 1.2 0.2 0.2
0.45 0.3 0.45 0 0 0.3
0.2 1.2 0 1.2 0.2 0
0.533 0.2 0 0.2 0.533 0
0.3 0.2 0.3 0 0 0.2
_
_
For this problem, Q
2
, Q
5
, Q
6
, Q
7
and Q
8
are all zero. We use the elimination process, and
strike out rows and columns 2, 5, 6, 7 and 8 of the assembled stiness matrix.
Note also that since there are no body forces, the assembled force vector has the component
F
4
= 1000 lb.
10
7
_
_
0.983 0.45 0.2
0.45 0.983 0
0.2 0 1.4
_
_
_
_
Q
1
Q
3
Q
4
_
_
=
_
_
0
0
1000
_
_
Solving for Q
1
, Q
3
and Q
4
, we get
Q
1
= 1.913 10
5
in.
Q
2
= 0.875 10
5
in.
Q
4
= 7.436 10
5
in.
For element 1, the nodal displacement vector is given by
q
1
= 10
5
[1.913, 0, 0.875, 7.436, 0, 0]
T
The element stresses
1
are calculated from DB
1
q
1
as
1
= [93.3, 1138.7, 62.3]
T
psi
Similarly
q
2
= 10
5
[0, 0, 0 0, 0.875, 7.436]
T
2
= [93.4, 23.4, 297.4]
T
psi
7.9 Temperature eects
For thermal stress problems the structure is subjected to a change in temperature T(x, y)
which leads to an initial strain of
0
= [T, T, 0]
T
The stresses and strains are related by
0
= D(
0
)
Thus the strain energy is
U =
1
2
_
(
0
)
T
D(
0
) t dA
=
1
2
_
(
T
D 2
T
D
0
+
T
0
D
0
) t dA
The last term gives the stiness matrix. The last term is a constant and has no eect on the
minimization process. The middle term, which yields the temperature load is now examined.
Using the strain-displacement relationship = Bq,
_
A
T
D
0
t dA =
e
q
T
(B
T
D
0
) t
e
A
e
It is convenient to designate the element temperature load as
e
= t
e
A
e
B
T
D
0
where
e
= [
1
,
2
,
3
,
4
,
5
,
5
]
T
The vector
0
is the strain due to the average temperature change in the element.
The stresses in an element are then given as
= D(Bq
0
)
7.10 Galerkin approach
We introduce an arbitrary (virtual) displacement vector
= [
x
,
y
]
T
and
() =
_
x
x
,

y
y
,

x
y
, +
y
x
_
T
The variational form is given as
_
A
T
() t dA
_
_
A
T
f t dA+
_

T
Tt d +
T
i
P
i
_
= 0
where the rst term represents the internal virtual work. The expression in parentheses repre-
sents the external virtual work.
On the discretized region, the above equation becomes
e
_
e
T
() t dA
e
_
_
e
T
f t dA+
_

T
Tt d
e
_
+
T
i
P
i
= 0
Using interpolation, we express
= N
() = B
where
= [
1
,
2
,
3
,
4
,
5
,
6
]
T
represents the arbitrary nodal displacements of element e.
Chapter 8
2D/3D Models: solid mechanics
problems
Total Potential Energy
Plane stress (review)
Plane strain
Axisymmetric solid
Plates (Mindlin/Reissner theory)
Plates (Kirchho theory)
3D solid
On completion of this lecture you should be able to gain some appreciation of solid mechanics
models for:
plane stress problems
plane strain problems
axisymmetric 3D solids of revolution under axisymmetric loading
Mindlin-Reissner plate bending problems
Kirchho plate bending problems
Fully 3D stress analysis models
113
CHAPTER 8. 2D/3D MODELS: SOLID MECHANICS PROBLEMS 114
8.3 Minimisation of total potential energy
8.3.1 General Expression
Find u which minimises the Total Potential Energy
I =
1
2
_
T
d
_
u
T
b d
_
t
u
T
t d
u displacements
strains
stresses
b body forces
t boundary tractions
domain of interest
t
traction part of boundary
u
prescribed dispacement part of boundary
8.4 Typical plane stress problems
Figure 8.1: Circular disc under point loads
Figure 8.2: Thin plate with circular hole under axial tension
8.5 Plane stress model (review)
Layout
Displacements
u = [u, v]
T
Strains
= [
x
,
y
,
xy
]
T
x
=
u
x
,
y
=
v
y

xy
=
u
y
+
v
x
Stresses
= D, = [
x
,
y
,
xy
]
T
D =
E
(1
2
)
_
_
1 0
1 0
0 0 (1 )/2
_
_
Body forces and boundary tractions
b = [b
x
, b
y
]
T
, t = [t
x
, t
y
]
T
Elemental volume
d = tdxdy
8.6 Typical plane strain problems
Figure 8.3: Gravity dam
Figure 8.4: Long cylinder under internal pressure
Layout
Displacements
u = [u, v]
T
Strains
= [
x
,
y
,
xy
]
T
x
=
u
x
,
y
=
v
y

xy
=
u
y
+
v
x
Stresses
= D, = [
x
,
y
,
xy
]
T
,
z
= (
x
+
y
)
D =
E
(1 +)(1 2)
_
_
1 0
1 0
0 0 (1 2)/2
_
_
b = [b
x
, b
y
]
T
, t = [t
x
, t
y
]
T
Elemental volume
d = dxdy
8.7 Typical axisymmetric 3D problems
Figure 8.5: Axisymmetric 3D example
8.8 Axisymmetric problems
Layout
Displacements
u = [u, w]
T
Strains
= [
r
,
,
z
,
rz
]
T
r
=
u
r
,
=
u
r
,
z
=
w
z

rz
=
u
z
+
w
r
Stresses
= D, = [
r
,
,
z
,
rz
]
T
D =
E
(1 +)(1 2)
_
_
(1 ) 0
(1 ) 0
(1 ) 0
0 0 0 (1 2)/2
_
_
b = [b
r
, b
z
]
T
, t = [t
r
, t
z
]
T
Elemental volume
d = 2rdrdz
8.9 Plates. Notation
Figure 8.6: Plate notation
8.10 Mindlin-Reissner plate theory
Layout
Displacements
u = [w,
x
,
y
]
T
Strains
=
_
s
_
f
=
_
x
x
,
y
y
, (
x
y
+

y
x
)
_
T
s
=
_
w
x

x
,
w
y

y
_
T
Stress resultants
= D, =
_
s
_
,
f
= [M
x
, M
y
, M
xy
]
T
,
s
= [Q
x
, Q
y
]
T
D =
_
D
f
0
0 D
s
_
, D
f
=
Et
3
12(1
2
)
_
_
1 0
1 0
0 0 (1 )/2
_
_
D
s
=
Gt
_
_
1 0
0 1
_
_
, = 1.2
Body forces
b = [q, 0, 0]
T
Elemental area
d = dxdy
8.11 Kirchho plate theory
Layout
Displacements
u = [w]
T
Strains
=
_
2
w
x
2
,
2
w
y
2
, 2

2
w
xy
_
T
Stress resultants
= D, = [M
x
, M
y
, M
xy
]
T
D =
Et
3
12(1
2
)
_
_
1 0
1 0
0 0 (1 )/2
_
_
Body forces
b = [q]
T
Elemental area
d = dxdy
8.12 3D example
Figure 8.7: 3D example
8.13 Solid mechanics: 3D solids
Layout
Displacements
u = [u, v, w]
T
Strains
= [
x
,
y
,
z
,
xy
,
yz
,
zx
]
T
x
=
u
x
,
y
=
v
y
,
z
=
w
z
xy
=
_
u
y
+
v
x
_
,
yz
=
_
v
z
+
w
y
_
,
zx
=
_
w
x
+
u
z
_
Stresses
= D
= [
x
,
y
,
z
,
xy
,
yz
,
zx
]
T
D =
1
_
_
1
2

2
0 0 0
2
1
2
0 0 0
2

2
1 0 0 0
0 0 0
3
0 0
0 0 0 0
3
0
0 0 0 0 0
3
_
1
=
E(1 )
(1 +)(1 2)
2
=

(1 )
3
=
(1 2)
2(1 )
b = [b
x
, b
y
, b
z
]
T
, t = [t
x
, t
y
, t
z
]
T
Elemental volume
d = dxdydz
Chapter 9
Solid mechanics FE problems
Continuity of FE shape functions
Plane stress formulations
Plane strain formulations
Axisymmetric solid formulations
Plates (Mindlin/Reissner formulations)
Plates (Kirchho formulations)
3D solid formulations
On completion of this lecture you should be able to set up the governing matrix equations for
complex FE models for
plane stress problems
plane strain problems
axisymmetric 3D solids of revolution under axisymmetric loading
Mindlin-Reissner plate bending problems
Kirchho plate bending problems
Fully 3D stress analysis models
128
CHAPTER 9. SOLID MECHANICS FE PROBLEMS 129
9.3 C(0) continuity
Example plane stress strain energy
S.E. =
_
E
(1
2
)
_
_
u
x
_
2
+
_
v
y
_
2
2
u
x
v
y
+
(1 )
2
_
u
y
+
v
x
_
2
_
d
highest order derivative in integrand is rst order derivative thus, C(0) continuity required
9.4 Solid mechanics FE models
9.4.1 Total Potential Energy
I =
1
2
_
T
D d
_
u
T
b d
_
t
u
T
t d
9.4.2 Discretisation
u
(e)
=
i
N
(e)
i
a
(e)
i
(e)
=
i
B
(e)
i
a
(e)
i
Note that
I =
e
I
(e)
I
(e)
=
1
2
n
i=1
n
j=1
[a
(e)
i
]
T
K
(e)
ij
a
(e)
j

n
i=1
[a
(e)
i
]
T
f
(e)
i
where
K
(e)
ij
=
_
(e)
[B
(e)
i
]
T
D
(e)
B
(e)
j
d
f
(e)
i
=
_
(e)
[N
(e)
i
]
T
b
(e)
d +
_
(e)
[N
(e)
i
]
T
t
(e)
d
9.5 Plane stress element
Displacements
_
_
u
(e)
v
(e)
_
_
=
n
i=1
_
N
(e)
i
0
0 N
(e)
i
__
u
(e)
i
v
(e)
i
_
u
(e)
=
i
N
(e)
i
a
(e)
i
Strains
_
_
u
,x
v
,y
u
,y
+v
,x
_
_
(e)
=
n
i=1
_
_
N
(e)
i,x
0
0 N
(e)
i,y
N
(e)
i,y
N
(e)
i,x
_
_
_
u
(e)
i
v
(e)
i
_
(e)
=
i
B
(e)
i
a
(e)
i
where
u
,x
=
u
x
etc.
Stress-strain relationships
_
xy
_
_
(e)
=
E
(1
2
)
_
_
1 0
1 0
0 0 (1)/2
_
_
(e)
_
_
u
,x
v
,y
u
,y
+v
,x
_
_
(e)
(e)
= D
(e)
(e)
=
i
D
(e)
B
(e)
i
a
(e)
i
Stiness matrix
K
(e)
ij
=
_
(e)
[B
(e)
i
]
T
D
(e)
B
(e)
j
d
Consistent forces
f
(e)
i
=
_
_
(e)
N
(e)
i
b
x
d
_
(e)
N
(e)
i
b
y
d
_
+
__
(e)
t
N
(e)
i
t
x
d
_
(e)
t
N
(e)
i
t
y
d
_
d = tdxdy
9.6 Plane strain element
Displacements
_
_
u
(e)
v
(e)
_
_
=
n
i=1
_
_
N
(e)
i
0
0 N
(e)
i
_
_
_
_
u
(e)
i
v
(e)
i
_
_
u
(e)
=
i
N
(e)
i
a
(e)
i
Strains
_
_
u
,x
v
,y
u
,y
+v
,x
_
_
(e)
=
n
i=1
_
_
N
(e)
i,x
0
0 N
(e)
i,y
N
(e)
i,y
N
(e)
i,x
_
_
_
_
u
(e)
i
v
(e)
i
_
(e)
=
i
B
(e)
i
a
(e)
i
where
u
,x
=
u
x
etc.
_
xy
_
_
(e)
=a
_
_
1 0
1 0
0 0 b
_
_
(e)
_
_
u
,x
v
,y
u
,y
+v
,x
_
_
(e)
(e)
= D
(e)
(e)
=
i
D
(e)
B
(e)
i
a
(e)
i
a =
E
(1 +)(1 2)
, b =
(1 2)
2
Stiness matrix
K
(e)
ij
=
_
(e)
[B
(e)
i
]
T
D
(e)
B
(e)
j
d
Consistent forces
f
(e)
i
=
_
_
(e)
N
(e)
i
b
x
d
_
(e)
N
(e)
i
b
y
d
_
+
__
(e)
t
N
(e)
i
t
x
d
_
(e)
t
N
(e)
i
t
y
d
_
d = dxdy
9.7 Axisymmetric nite elements
Displacements
_
_
u
(e)
w
(e)
_
_
=
n
i=1
_
_
N
(e)
i
0
0 N
(e)
i
_
_
_
_
u
(e)
i
w
(e)
i
_
_
u
(e)
=
i
N
(e)
i
a
(e)
i
Strains
_
_
u
,r
u/r
w
,z
u
,z
+w
,r
_
_
(e)
=
n
i=1
_
_
N
(e)
i,r
0
N
(e)
i
/r 0
0 N
(e)
i,z
N
(e)
i,z
N
(e)
i,r
_
_
_
_
u
(e)
i
w
(e)
i
_
(e)
=
i
B
(e)
i
a
(e)
i
where
u
,r
=
u
r
etc.
_
rz
_
_
(e)
=a
_
_
b 0
b 0
b 0
0 0 0 c
_
_
(e)
_
_
u
,r
u/r
w
,z
u
,z
+w
,x
_
_
(e)
(e)
= D
(e)
(e)
=
i
D
(e)
i
B
(e)
i
a
(e)
i
a =
E
(1 +)(1 2)
, b = (1 ) c =
(1 2)
2
Stiness matrix
K
(e)
ij
=
_
(e)
[B
(e)
i
]
T
D
(e)
B
(e)
j
d
Consistent forces
f
(e)
i
=
_
_
(e)
N
(e)
i
b
r
d
_
(e)
N
(e)
i
b
z
d
_
+
__
(e)
t
N
(e)
i
t
r
d
_
(e)
t
N
(e)
i
t
z
d
_
d = 2rdrdz
9.8 Mindlin-Reissner element
Displacements
_
_
w
(e)
(e)
x
(e)
y
_
_
=
n
i=1
_
_
N
(e)
i
0 0
0 N
(e)
i
0
0 0 N
(e)
i
_
_
_
_
w
(e)
i
(e)
xi
(e)
yi
_
_
u
(e)
=
i
N
(e)
i
a
(e)
i
Curvatures
_
x,x
y,y
(
x,y
+
y,x
)
_
_
(e)
=
n
i=1
_
_
0 N
(e)
i,x
0
0 0 N
(e)
i,y
0 N
(e)
i,y
N
(e)
i,x
_
_
_
_
w
(e)
i
(e)
xi
(e)
yi
_
(e)
f
=
i
B
(e)
fi
a
(e)
i
where
x,x
=

x
x
etc.
Shear strains
_
_
w
,x

x
w
,y

y
_
_
(e)
=
n
i=1
_
_
N
(e)
i,x
N
(e)
i
0
N
(e)
i,y
0 N
(e)
i
_
_
_
_
w
(e)
i
(e)
xi
(e)
yi
_
(e)
s
=
i
B
(e)
si
a
(e)
i
Constitutive relationships
(e)
f
= D
(e)
f

(e)
f
,
f
= [M
x
, M
y
, M
xy
]
T
D
f
=
Et
3
12(1
2
)
_
_
1 0
1 0
0 0 (1 )/2
_
(e)
s
= D
(e)
s

(e)
s
,
s
=
_
_
Q
x
Q
y
_
_
, D
s
= Gt
_
_
1 0
0 1
_
_
G =
E
2(1 +)
, =
5
6
Stiness matrix
K
(e)
ij
= K
(e)
fij
+K
(e)
sij
K
(e)
fij
=
_
(e)
[B
(e)
fi
]
T
D
(e)
f
B
(e)
fj
d
K
(e)
sij
=
_
(e)
[B
(e)
si
]
T
D
(e)
s
B
(e)
sj
d
Consistent forces
f
(e)
i
=
_
_
_
(e)
N
(e)
i
qd
0
0
_
_
d = dxdy
9.9 Kirchho element
Displacements
_
w
(e)
=
n
i=1
_
N
(e)
i
N
(e)
i
N
(e)
i
_
_
_
w
(e)
i
(w
i
)
(e)
,x
(w
i
)
(e)
,y
_
_
u
(e)
=
i
N
(e)
i
a
(e)
i
Curvatures
_
w
,xx
w
,yy
2w
,xy
_
_
(e)
=
n
i=1
_
_
N
(e)
i,xx
N
(e)
i,xx
N
(e)
i,xx
N
(e)
i,yy
N
(e)
i,yy
N
(e)
i,yy
2N
(e)
i,xy
2

N
(e)
i,xy
2

N
(e)
i,xy
_
_
_
_
w
(e)
i
(w
i
)
(e)
,x
(w
i
)
(e)
,y
_
(e)
f
=
i
B
(e)
fi
a
(e)
i
where
w
,xx
=

2
w
x
2
etc.
Stiness matrix
K
(e)
fij
=
_
(e)
[B
(e)
fi
]
T
D
(e)
f
B
(e)
fj
d
Consistent forces
f
(e)
i
=
_
_
_
(e)
N
(e)
i
qd
_
(e)
N
(e)
i
qd
_
(e)
N
(e)
i
qd
_
_
d = dxdy
9.10 3D solid elements
Displacements
_
_
u
(e)
v
(e)
w
(e)
_
_
=
n
i=1
_
_
N
(e)
i
0 0
0 N
(e)
i
0
0 0 N
(e)
i
_
_
_
_
u
(e)
i
v
(e)
i
w
(e)
i
_
_
u
(e)
=
i
N
(e)
i
a
(e)
i
Strains
_
_
u
,x
v
,y
w
,z
u
,y
+v
,x
v
,z
+w
,y
w
,x
+u
,z
_
_
(e)
=
n
i=1
_
_
N
(e)
i,x
0 0
0 N
(e)
i,y
0
0 0 N
(e)
i,z
N
(e)
i,y
N
(e)
i,x
0
0 N
(e)
i,z
N
(e)
i,y
N
(e)
i,z
0 N
(e)
i,x
_
_
_
_
u
(e)
i
v
(e)
i
w
(e)
i
_
_
(e)
=
i
B
(e)
i
a
(e)
i
where
u
,x
= u/x etc.
= D, = [
x
,
y
,
z
,
xy
,
yz
,
zx
]
T
D =
1
_
_
1
2

2
0 0 0
2
1
2
0 0 0
2

2
1 0 0 0
0 0 0
3
0 0
0 0 0 0
3
0
0 0 0 0 0
3
_
1
=
E(1 )
(1 +)(1 2)
,
2
=

(1 )
3
=
(1 2)
2(1 )
Stiness matrix
K
(e)
ij
=
_
(e)
[B
(e)
i
]
T
D
(e)
B
(e)
j
d
Consistent forces
f
(e)
i
=
_
_
_
(e)
N
(e)
i
b
x
d
_
(e)
N
(e)
i
b
y
d
_
(e)
N
(e)
i
b
z
d
_
_
+
_
_
_
(e)
t
N
(e)
i
t
x
d
_
(e)
t
N
(e)
i
t
y
d
_
(e)
t
N
(e)
i
t
z
d
_
_
d = dxdydz
9.11 2D C(0) Shape functions
9.11.1 Layout of Lecture
Pascals triangle
Rectangular C(0) elements: coordinate system
Lagrangian elements
Serendipity elements
Right triangular C(0) elements
9.11.2 Lecture Objectives
On completion of this lecture you should understand the following concepts
Pascals triangle
Rectangular C(0) elements: coordinate system
Lagrangian elements
Serendipity elements
Right triangular C(0) elements
9.12 2D FE C(0) shape functions
9.12.1 Pascals triangle
Complete nth. degree polynomial
f(x, y) =
p
r=1
r
x
i
y
j
, i +j n
number of terms p = (n + 1)(n + 2)/2
For a linear polynomial p = 3
f(x, y) =
1
+
2
x +
3
y
For a quadratic polynomial p = 6
f(x, y) =
1
+
2
x +
3
y +
4
xy +
5
x
2
+
6
y
2
9.13 Rectangular C(0) elements coordinate system
= (x x
c
)/a = (y y
c
)/b
d/dx = 1/a d/dy = 1/b
dxdy = ab dd
_ _
(e)
f(x, y)dxdy =
_
+1
1
_
+1
1
f(, )ab dd
i
N
(e)
i
(
, ) = 1
N
(e)
i
(
j
) =
_
1 if i = j
0 if i = j
9.14 Lagrangian C(0) elements
9.15 Serendipity C(0) elements
9.16 4-Node rectangular element
Figure 9.1: Local node numbering
N
i
(,
i
) =
1
4
(1 +
i
)(1 +
i
)
Figure 9.2: Typical shape function
9.17 8/9-Node rectangular element local node numbering
9.18 8-Node shape functions
9.19 9-Node shape functions
9.20 Right triangular C(0) elements coordinate system
= (x x
1
)/a = (y y
1
)/b
d/dx = 1/a d/dy = 1/b
dxdy = ab dd
_ _
(e)
f(x, y)dxdy =
_ _
(e)
f(, )ab dd
9.21 3-Node right triangular element
9.22 6-Node right triangular element
9.23 3D C(0) Shape functions
9.23.1 Layout of Lecture
Lecture objectives
Comlete polynomials in 3D
Rectangular parallelopiped C(0) elements coordinate system
8-node element
20-node element
Right tetrahedral C(0) elements
4-node element
10-node element
9.23.2 Lecture Objectives
Comlete polynomials in 3D
Rectangular parallelopiped C(0) elements coordinate system
8-node element
20-node element
Right tetrahedral C(0) elements
4-node element
10-node element
9.24 3D FE C(0) Shape functions
9.24.1 Complete polynomials in 3D
Complete nth. degree polynomial
f(x, y, z) =
p
r=1
r
x
i
y
j
z
k
, i +j +k n
number of terms p = (n + 1)(n + 2)(n + 3)/6
For a linear polynomial p = 4
f(x, y) =
1
+
2
x +
3
y +
3
z
9.25 Rectangular parallelopiped coordinate system
= (x x
c
)/a = (y y
c
)/b = (z z
c
)/c
d/dx = 1/a d/dy = 1/b d/dz = 1/c
dxdydz = abc ddd
_
(e)
f(x, y, z)dxdydz =
_
+1
1
_
+1
1
_
+1
1
f(, , )abc ddd
9.26 8-Node rectangular paralellopiped element
9.27 20-Node rectangular paralellopiped element
at corner nodes
N
(e)
i
(, , ) =
1
8
(1 +
i
)(1 +
i
)(1 +
i
)
(1 +
i

i
+
i
2) i = 1, 8
at midside nodes
N
(e)
i
(, , ) =
1
4
(1
2
)(1 +
i
)(1 +
i
)
i = 9, 11, 17, 19
=
1
4
(1
2
)(1 +
i
)(1 +
i
)
i = 10, 12, 18, 20
9.28 Right tetrahedral coordinate system
= (x x
1
)/a = (y y
1
)/b = (z z
1
)/c
d/dx = 1/a d/dy = 1/b d/dz = 1/c
dx dy dz = abc d d d
_
(e)
f(x, y, z) dx dy dz =
_
(e)
f(, , ) abc d d d
9.29 10-Node right tetrahedral element
9.30 Isoparametric elements and numerical integration
9.30.1 Layout of lecture
Lecture objectives
Mappings
Isoparametric triangles
Isoparametric quadrilaterals
Evaluation of element characteristics
Numerical integration
9.30.2 Lecture objectives
Mappings
Isoparametric triangles
Isoparametric quadrilaterals
Evaluation of element characteristics
Numerical integration
9.31 Mappings
Figure 9.13: Mappings of shes from DArcy Thompson
9.32 Iosparametric mappings in 1D elements
9.32.1 Main concept
x =
n
i=1
(e)
i
x
i
dx
d
=
n
i=1
d
(e)
i
dx
i
To evaluate d
(e)
i
/dx
d
(e)
i
dx = d
(e)
i
d
d
dx
Note that
dx =
dx
d
d
9.33 Isoparametric mappings with quadratic 1D elements
9.34 Isoparametric mappings in 2D elements
9.34.1 Coordinates
x =
n
i=1
(e)
i
x
i
; y =
n
i=1
(e)
i
y
i
9.34.2 Jacobian matrix
J =
_
_
x
_
=
_
(e)
i
x
i
(e)
i
y
i
(e)
i
x
i
(e)
i
y
i
_
_
9.34.3 Inverse of Jacobian matrix
J
1
=
1
det J
_
_
y
_
9.34.4 Cartesian shape function derivatives
_
i
x
(e)
i
y
(e)
_
_ = J
1
_
(e)
(e)
_
_
9.34.5 Elemental area
dxdy = det J dd
9.35 Isoparametric mappings 3-node triangles
9.35.1 Isoparametric mappings
(e)
1
= 1 ;

(e)
1
= 1;

(e)
1
= 1
(e)
2
= ;

(e)
2
= 1;

(e)
2
= 0
(e)
3
= ;

(e)
3
= 0;

(e)
3
= 1
x(, ) =
(e)
1
x
(e)
1
+
(e)
2
x
(e)
2
+
(e)
3
x
(e)
3
= (1 )x
(e)
1
+x
(e)
2
+x
(e)
3
= x
(e)
1
+ (x
(e)
2
x
(e)
1
) + (x
(e)
3
x
(e)
1
)
y(, ) = y
(e)
1
+ (y
(e)
2
y
(e)
1
) + (y
(e)
3
y
(e)
1
)
J =
_
_
x
_ =
_
_
(x
(e)
2
x
(e)
1
) (y
(e)
2
y
(e)
1
)
(x
(e)
3
x
(e)
1
) (y
(e)
3
y
(e)
1
)
_
_
det J
(e)
= 2A
(e)
9.36 Isoparametric mappings 4-node quadrilaterals
9.36.1 Isoparametric mappings
(e)
1
=
1
4
(1 )(1 );

1
(e)
=
1
4
( 1);
(e)
=
1
4
( 1)
(e)
2
=
1
4
(1 +)(1 );

2
(e)
=
1
4
( + 1);
(e)
=
1
4
( 1)
(e)
3
=
1
4
(1 +)(1 +);

3
(e)
=
1
4
( + 1);
(e)
=
1
4
( + 1)
(e)
4
=
1
4
(1 )(1 +);

4
(e)
=
1
4
( 1);
(e)
=
1
4
( + 1)
9.36.2 Geometry interpolation
x(, ) =
4
i=1
(e)
i
x
(e)
i
; y(, ) =
4
i=1
(e)
i
y
(e)
i
x
(, ) =
4
i=1
(e)
i
x
(e)
i
=
1
4
(x
(e)
1
+x
(e)
2
+x
(e)
3
x
(e)
4
)
4
(x
(e)
1
x
(e)
2
+x
(e)
3
x
(e)
4
)
=A
1
+A
2
(, ) =
4
i=1
(e)
i
x
(e)
i
=
1
4
(x
(e)
1
x
(e)
2
+x
(e)
3
+x
(e)
4
)
4
(x
(e)
1
x
(e)
2
+x
(e)
3
x
(e)
4
)
=A
3
+A
4
(, ) =
4
i=1
(e)
i
y
(e)
i
=
1
4
(y
(e)
1
+y
(e)
2
+y
(e)
3
y
(e)
4
)
4
(y
(e)
1
y
(e)
2
+y
(e)
3
y
(e)
4
)
=B
1
+B
2
(, ) =
4
i=1
(e)
i
x
(e)
i
=
1
4
(y
(e)
1
y
(e)
2
+y
(e)
3
+y
(e)
4
)
4
(y
(e)
1
y
(e)
2
+y
(e)
3
y
(e)
4
)
=B
3
+B
4

J
(e)
=
_
(A
1
+A
2
) (B
1
+B
2
)
(A
3
+A
4
) (B
3
+B
4
)
_
9.36.4 Inverse of Jacobian matrix
[J
(e)
]
1
=
1
C
_
(B
3
+B
4
) (B
1
+B
2
)
(A
3
+A
4
) (A
1
+A
2
)
_
C = [(A
1
+A
2
)(B
3
+B
4
) (B
1
+B
2
)(A
3
+A
4
)]
9.37 Numerical integration
9.37.1 Gauss-Legendre quadrature
_
+1
1
f()d
n
i=1
w
ni
f(
ni
)
9.37.2 Gauss-Legendre positions and weights
9.37.3 Integration over a quadrilateral
_
+1
1
_
+1
1
f(, )dd
_
+1
1
_
_
+1
1
f(, )d
_
d
9.37.4 Integration over a triangle

Finite Element Method

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Finite Element Method

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Finite Elements

Dr. Rosli bin Ahmad

C have the form

is a constant which drops out when minimizing

) is added to the Lth row of F

in the rst row

, we delete fourth row and column of K and modify F accordingly so that

C, 0.1 cm thick, and 10 cm long, extends

C. determine the temperature distribution, and

is the temperature of the

Equivalently, in matrix form,

h. The last convection term is

C; one side is insulated, and the remaining side is subjected to a convection

In the elimination process, R gets modied. Solution KT = R then yields

CHAPTER 9. SOLID MECHANICS FE PROBLEMS 168

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