M.

Vable

MEEM 5170: FEM 1-D; 2nd order system

1-D FEM for second order systems

Boundary Value Problem

du
d
ax
+ c x u f x = 0
dx
dx
u 0 = uo

ax

du
= Qo
dx x = L

We will assume c x = 0 . See Reddys section 3.2 for non zero value of c x

0xL

Fall 2015

M. Vable

MEEM 5170: FEM 1-D; 2nd order system

Fall 2015

Notation

Superscript---element number; Subscript---node of an element; No super script--node in global system.

h

e
Q1

1.

e
e

x2

x1

e
Qj

a x

e
Q2

ax

du
dx

du
dx

= Q1

x = x1

x=

= Q2

e
x2

e
uj .

is positive in the positive direction

Construct functional (weak form) at element level. Note v = u

= B

v u l

v u =

x2

e
1

dv du
a x dx
d x d x

v =

x2

e
1

f x v x dx + Q 1 v x 1 + Q 2 v x 2

2. Approximate material, geometric, and load variables by values at the mid-element

e

x1 + x2
e
a x = a ------------------------ = a
2

x1 + x2
e
f x = f ------------------------ = f
2

3. Approximate the primary variable

v =

j 1 vj

u =

k 1 u k

j are the Lagrange polynomials = Lj

4. Element stiffness matrix, load vector, and functional

e

K jk = B

j k = a

d d
j k dx
e d x d x

e x2

Rj

= f

e x1

e
1

j dx

e e e
K jk u k

j = 1 k = 1 vj

e e
Rj

j = 1 vj

5. Transformation to natural coordinates

Node 1

1 = 1 2
Node 2

2 = 1 + 2

x =

j 1 x j

dx =

e d j

j 1 x j

d = J d

is coordinate transformation matrix or Jacobian matrix. J is the determinant of the matrix called the Jacobian.

M. Vable

MEEM 5170: FEM 1-D; 2nd order system

Fall 2015

For linear transformation

J =

2
e d j
x
j 1 j d

dj
dx
e
x2

e
K jk

= a

e
x2 x1
e d 1
e d 2
e 1
e 1
h
= x1
= x 1 --- + x 2 --- = ----------------------= --------+ x2
2
2
d
d
2
2

dj d
d dx

d d
j k dx = 2a
-----------dx dx
e
h
e

x1

= J

1 dj

2 dj
= --------e
h d
e

d d
j k d
d d

x1
e
Rj

= f

e e

f h
j dx = ----------------2

j dx
1

x1

6. Element stiffness matrix and load vector.

Linear element

Node 1

1
1 = --- 1
2

Node 2

a
= --------- 1 1
e
1 1
h

1
2 = --- 1 +
2

d 1
d

1
= ---
2

d 2
d

1
= ---
2

e
e e
f h 1 Q1
= ----------------- +
2 1 e
Q
2

Quadratic element

Node 1

Node 2

Node 3

1 = --- 1
2
d 1
d

1
= --- 1 2
2

3 = --- 1 +
2

2 = 1
d 2
d

= 2

d 3
d

Q e

1
1
e e
e
f h e
R = ----------------- 4 + Q 2
6

1 Q e
3

7 8 1
e
a
= ------------ 8 16 8
e
3h
1 8 7

1
= --- 1 + 2
2

M. Vable

MEEM 5170: FEM 1-D; 2nd order system

Fall 2015

7. Assembly of global matrix and global load vector assuming quadratic elements
The governing criteria is that the primary variable must be continuous at the node where two elements meet, that is, be the same.
Use two quadratic elements
P/2
x
A

P/2
1

Element 1

Element 2

First variation of functional in an element: (substituting v = u

n

m
u i
m
u
i=1 i

T
u 1
1

= u 21

u 1
3

u 2
1

= u 22

u 2
3

K 11 K 12

K 1 K 1
21 22
1 1
K 31 K 32

i=1

m
u i

m m
uj

Kij

j=1

Q 1

1
1
1 1
h 1
f----------------- 4 + Q
6 2
1 Q 1
3

u 2
Q 2

1
1
1
2 f 2 h 2 2
- 4 + Q
u 2 ----------------6 2

1 Q 2
u 2
3
3

1 1
K 13 u 1
1
1
K 23 u 2

1 1
K 33 u 3

2 2 2
K 11 K 12 K 13

K 2 K 2 K 2
21 22 23
2 2 2
K 31 K 32 K 33

Ri

M. Vable

MEEM 5170: FEM 1-D; 2nd order system

P/2

x
A

u1

u1

P/2
1

Fall 2015

Element 1

= u1

u2

= u3

u2

Element 2
T

u 1
1

= u 21

u 1
3

u 3
u 4
u 5

1 1 1

1
K 11 K 12 K 13 0 0 u 1
f 1 h1 Q1

1 1 1
1 1 1
u2

Q
4f
h
K 21 K 22 K 23 0 0
2
1
- 1 1 + 1
1 1 1
u 3 - K 31 K 32 K 33 0 0
6 f h Q3

u4

0
0
0
0 0 0

0
0
0 0 0 5
0
0

u 1

u 2

u 3

u 4

u 5

u 2

u 1
Q 1

1
1
1
1 f 1 h 1 1
- 4 + Q
u 2 ----------------6 2

1 Q 1
u 1
3
3

u 1

1 1 1
K 11 K 12 K 13

K 1 K 1 K 1
21 22 23
1 1 1
K 31 K 32 K 33

0 0
0 0

0
0

0
0

0
0

0 0 K 11 K 12 K 13
0 0 K 21 K 22 K 23
0 0 K 31 K 32 K 33

Total = 1 + 2
5

0
0
u1

0
u2

2
1 2 2 Q1
- f h +

u 3 - 6 2 2 2
Q
u4
4f h 2
2 2

u5
f h Q2

= u2

u3

= u4

u3

= u3
= u5

M. Vable

MEEM 5170: FEM 1-D; 2nd order system

1
K 1 K 1
K 13
0
0
11 12

1 1

1
K 23
0
0
K 21 K 22

K 1 K 1 K 1 + K 2 K 2 K 2
31
32
33
11
12
13

2
2 2
0
0
K
K
K

21
22
23

2
0
0
K 31
K 32 K 33

u 1
u 2
u 3
u 4
u 5

u1
u2
u3
u4
u5

Fall 2015

1
Q1
1 1

h
f

1 1
Q
2
4f h

1 1 1 2 2 1
2
--6- f h + f h + Q 3 + Q 1

2 2
2

4f h
Q
2

2 2

f h

Q3

The element stiffness matrix and element load components that add corresponds to the degree of freedom associated with the
shared node of the elements.

Incorporating the external concentrated forces

P/2

x
A
1

RA

B
3

C
5

RC

P/2
1

Q1

2
Element 1

Q3

Q2

Q1

Q3

Q2

2
Element 2

The force Q 31 is in the direction of u 31 ; The force Q 12 is in the direction of u12 ; The applied force is in the direction of u 3 .
1

Q1

= RA

Q2

= 0

Q3 + Q1

= P

Q2

= 0

Q3

= RC

M. Vable

MEEM 5170: FEM 1-D; 2nd order system

u 1
u 2
u 3
u 4
u 5

1 1
1
K 13
0
0
K 11 K 12

1
K 1 K 1
K 23
0
0
21 22

1 1
1
2
2 2
K 31 K 32 K 33 + K 11 K 12 K 13

2
2 2
0
0
K 21
K 22 K 23

2
2 2
0
K 31
K 32 K 33
0

Fall 2015

1 1

f h
u1

RA

1 1
4f h
u2

0
1 1 1 2 2
u 3 --6- f h + f h + P

2 2
u4

0
4f h

R
2 2
u5

C
f
h

Incorporating the boundary conditions on displacements

The stiffness matrix in is singular, which reflects the fact that the two element structure can move as a rigid body.
u 1 = 0

u1 = 0

u5 = 0

T
1

K 1 K 1
K 13
0
0
0 11 12

1 1
1
K 23
0
0
u 2 K 21 K 22

1 1
= u K K K 1 + K 2 K 2 K 2
31
32
33
11
12
13
3

2
2 2
u
4
0
0
K 21
K 22 K 23

0
2
2 2

0
0
K 31
K 32 K 33

0
u2
u3
u4
0

u 5 = 0
1 1

f h

RA

1 1
4f h

0
1 1 1 2 2
- 6f h + f h + P

2 2

0
4f h

R
2 2

C
f h

1
1 1
K 23
0 u
4f h

0
u 2 K 22
2

= u K 1 K 1 + K 2 K 2 u 3 --- f h + f h + P
32
33
11
12
6
3

2 2
2
2 u4

0
u 4
h
4f
0
K
K

21
22
1

K 22

K 23
1

0
2

K 32 K 33 + K 11 K 12
0

K 21

K 22

1 1
4f h

0
u2

1 1 1 2 2
- u3 = 6 f h + f h + P

2 2

0
u4
4f h

= 0

or

M. Vable

MEEM 5170: FEM 1-D; 2nd order system

Fall 2015

Reaction Forces:
1 1

1
1
f h
R A = K 12 u 2 + K 13 u 3 -----------------6

R C = K 31 u 3 + K 32 u 4 f

2 2

Mesh Refinement
The h-method of mesh refinement reduces the size of element.
The p-method of mesh refinement increases the order of polynomial in an element.
The r-method of mesh refinement relocates the position of a node.
Combinations: hr-method, hp-method, hpr-method

Coordinate transformation
yG

v G3

u G3

v G2

u3
1

u2

u G2

v G1

u1

u G1

xG
e

e
e
The displacement vector in global orientation: D 1 = u G1
i + v G1 j

The unit vector: e L = cos i + sin j

e

e
e
Axial displacement: u 11 = D 1 e L = u G1
cos + v G1 sin

M. Vable

MEEM 5170: FEM 1-D; 2nd order system

u e
1
e
u2 =

u e
3

Fall 2015

u e
u e
G1
G1
e
e
v G1
v G1

e
cos sin 0
0
0
0 u e
u G2
G2
0
0 cos sin 0
0 e = T e

v
0
0
0
0 cos sin v G2
G2
e
e
u G3
u G3

v e
v e
G3
G3

The [T] matrix in the above equation is 3 x 6 matrix relating the local and the global coordinate system.
For n nodes on the element the matrix [T] would be n x 2n size.

Transformation equation in matrix form: u e = T uGe

Potential energy in matrix form:

= u

e T

Define: K Ge = T T K e T

e
e
e
T e
e
= u G T K T u G R = u G

e
T
e
RG = T R

e e e e
= u G K G u G R G

T e
e
T
e
T K T u G T R

M. Vable

MEEM 5170: FEM 1-D; 2nd order system

Fall 2015

Procedural steps in the finite element method

Step 1:

Identify discontinuities in the secondary variables [ Q i ], material properties [a(x)], and source terms [f(x)].

Step 2:

Divide the body into elements, making sure that the discontinuities are on the element boundaries.

Step 3:

Construct the weak form at the element level. Identify the bilinear and linear functional.

Step 4:

Construct the approximating function for the primary variables (i)

Step 5:

Develop the transformation equations that convert the Cartesian coordinates to natural coordinates. Compute the
Jacobian and its inverse.

Step 6:

Obtain the element matrices and the element right hand side vectors.

Step 7:

Transform from local orientation to global orientation if needed.

Step 8:

Assemble the global matrix and global right hand side vector.

Step 9:

Draw the equivalence for the secondary variables.

Step 10:

Incorporate the boundary conditions.

Step 11:

Solve the algebraic equations for the primary variables.

Step 12:

Obtain secondary variables and other quantities of interest.

Step 13:

Interpret and check the results.

Step 14:

Refine mesh if necessary, and repeat the above steps.

10

M. Vable

MEEM 5170: FEM 1-D; 2nd order system

Fall 2015

Axial Members
a(x)= EA and h(e) = L(e) element length
Strain: xx = du

dx

Stress: xx = E xx
Internal axial force: N = Axx = EA du

dx

Coordinate transformation using linear Elements: 1 = 1 2

2

x =

2
e
xi i

dx =

i=1

e d i
xi
d

2 = 1 + 2
2

J =

i=1

d i
dx

e
e
x2 x1
h - = L
= ----------------------= ---------------d
2
2
2

e d i

xi

i=1

2 d i
= --------e
d dx
L d
d i d

d 1

d 2

1
= --------e
dx
L

dx

1
= --------e
L

Element matrix and right hand side vector

K

e e

E A
a
= --------- 1 1 = -------------------- 1 1
e
e
1 1
1 1
h
L
e

Q1

= a x

du
dx x = x
1

Q2

11

e
e e
f h 1 Q1
--------------- =
+
2 1 e
Q
2

= ax

du
dx x = x
2

M. Vable

C1

MEEM 5170: FEM 1-D; 2nd order system

Fall 2015

A rectangular tapered aluminum bar (Eal = 10,000 ksi, = 0.25) is shown below. The depth of the tapered section varies as:

h x = 4 0.04x .Find

the stress at point B, displacement at point C and the strain energy in each element using the following FEM

model: one linear element in AB and one quadratic element in BC.

1 in

4 in A

10 in

h(x)

50 in

12

P = 10 kips

M. Vable

C2

MEEM 5170: FEM 1-D; 2nd order system

Fall 2015

A force F= 20 kN is applied to the roller that slides inside a slot as shown below. Both bars have an area of cross-section of

A = 100 mm2 and a modulus of elasticity E = 200 GPa. Bar AP and BP have lengths of LAP= 200 mm and LBP= 250 mm respectively.
Determine the displacement of the roller and the reaction force on the roller using linear elements to represent each bar.

Elem
ent
2

yG

xG
A
1

110o
Element 1

13

2
P