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S2: E,2A,2L
S2: E,A,2L
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
Chapter 1 Quiz 2
• What is the unit of stress?
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
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Chapter 1 Truss Structures (cont.)
• Type of commonly used support conditions for
truss structures
Free
Vertical restriction
uy=0
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
Initialize variable
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
2
Chapter 2.1: Mathematical
Background for FEM
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
Contents in Chapter 2
• Mathematical preliminaries
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
3
Today’s Agenda
• Basic matrix algebra + Green-Gauss theorem
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
Matrix Algebra
• You have learned the matrix algebra before, but
it is important to re-fresh it for this course:
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
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Matrix Algebra
• A scalar can be written by the inner
product of two column matrices
⎡ b1 ⎤
v = a T b = [a1 a2 a3 ]⎢⎢b2 ⎥⎥ = a1b1 + a 2 b2 + a3 b3
⎣⎢b3 ⎦⎥
⎡ a1 ⎤
v = b T a = [b1 b2 b3 ]⎢⎢a 2 ⎥⎥ = a1b1 + a 2 b2 + a3 b3
⎢⎣ a3 ⎥⎦
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
Matrix Algebra
• A unknown function can be approximated
by the inner product of a column matrix of
known functions and a matrix of unknown
constants
v (x) ⎡ c1 ⎤
v( x) = a(x) c = 1 x
T
[ 2
]
x ⎢⎢c2 ⎥⎥ = c1 + xc2 + x 2c3
x
Absolute ⎢⎣c3 ⎥⎦
coordinate Known functions unknown constants
v(x) vj x ⎡ vi ⎤
Normalized vi ξ= v(ξ ) = [(1 − ξ ) ξ ]⎢ ⎥
(nature) 0 L x L ⎣v j ⎦
coordinate i j
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
5
Determinant
– 2x2 – you should master it
– 3x3 – you should be able to
– nxn
–Ax=b
• det A≠0 – condition for a unique solution
• det A=0 – no solution exists
– Ax=0
• det A≠0 – trivial solution exists
• det A=0 – non-trivial solution exists
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
Positive Definiteness
• Quadratic matrix and positive definiteness
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
6
Integration by Parts – 1D
The General " Integration by Parts" rule :
b b
dv du
∫ u dxdx = [uv] − ∫ v dx dx
b
a (what are the advantages of this rule?)
a a
b b
du dv ⎡ dv ⎤
∫a dx dxdx = ⎢⎣u dx ⎥⎦ a + Q
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
Green-Gauss Theorem – 2D
Basics :
∂u ∂u
∇u = i+ j
∂x ∂y
∂Fx ∂Fy
divF = +
∂x ∂y
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
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Green-Gauss Theorem – 2D
We begin with a 2D Vector
F = Fx i + Fy j
If you are not familiar with
the Green- Gauss theorem,
The divergence of a Vector is a scalar : please read carefully the
Chapter 5. This is important
∂F ∂Fy
divF = x + for the course!
∂x ∂y
∂Fy ∂Fy
∫A ∂y dA = ∫∫A ∂y dxdy = −∫Γ Fy (x, y )dx = ∫Γ Fy (x, y )n y dΓ
∫ (divF )dA = ∫ F • ndΓ
A Γ
(Gauss divergence theorem)
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
Green-Gauss Theorem – 2D
Multiplying the previous equation by u
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
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Green-Gauss Theorem – 2D
∂Fx ∂u
∫u dA = ∫ (uFx )nx dΓ − ∫ Fx dA ← ( Fy = 0)
A ∂x Γ A ∂x
∂Fy ∂u
∫A u ∂y dA = ∫Γ (uFy )n y dΓ − ∫A ∂x Fy dA ← ( Fx = 0)
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
Sign convention!
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
9
Flexible String – Exact Solution
Discontinuous loading For the given string problem we can first obtain
y 3Q the exact solution
Q
x The governing equations are :
d2y
L/2 L/2 T − 3Q = 0 (0 ≤ x ≤ 0.5 L)
dx 2
d2y
T 2 − Q = 0 ( 0.5 L ≤ x ≤ L)
dx
The first derivative at the
middle of string (x=0.5L) should Boundary conditions
also be continuous, otherwise y(0) = y(L) = 0
the 2nd derivative will not be
available!
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
QL2 ⎛⎜ 1 ⎛ x ⎞ 1 ⎛ x ⎞ 1 ⎞⎟
2
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
10
Flexible String – Appropriate Solutions
If we assume that the exact solution is not known we would arrive at an appropriate solution
to the governing equations.
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
Special methods can be used to determine the unknown parameters once a series has been selected.
y ( x) = ( x)( x − L)( A0 + A1 x)
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
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Flexible String – Collocation Method
If we can not make R = 0 everywhere , we have to make R = 0 at as many points as possible.
⇒ Because we have only 2 unknowns we expect at most the governing equation can
be satisfied at 2 points
3Q ⎧ 4Q
2 A0 − 0.5 LA1 = ⎪ A0 = 3T QL2 ⎡ 2 ⎛ x ⎞ ⎛ x ⎞ 4 ⎛ x ⎞⎤
3 2
T ⇒ ⎨ ⇒ y= ⎢− ⎜ ⎟ + 2⎜ ⎟ − ⎜ ⎟⎥
Q 2Q T ⎣⎢ 3 ⎝ L ⎠ ⎝ L ⎠ 3 ⎝ L ⎠⎦⎥
2 A0 + 2.5 LA1 = ⎪ A1 = −
T ⎩ 3LT
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
L
J = ∫ R(x,A0 A1 )2 dx (J ≥ 0 )
0
⎧ ∂J ∂ L 2 L ∂R
⎪ ∂A = 0 ⇒ ∂A ∫0 R dx = ∫0 2 R ∂A dx = 0
⎪ 0 0 0
⇒⎨
⎪ ∂J ∂ L 2 L ∂R
⎪
⎩ ∂A1
=0⇒
∂A1 ∫0
R dx = ∫ 2 R
0 ∂A1
dx = 0
⎧ 5Q
⎪ A0 = 4T QL2 ⎡ 1 ⎛ x ⎞ 3 7 ⎛ x ⎞ 2 5 ⎛ x ⎞⎤
⇒ ⎨ ⇒ y= ⎢− ⎜ ⎟ + ⎜ ⎟ − ⎜ ⎟⎥
Q T ⎢⎣ 2 ⎝ L ⎠ 4 ⎝ L ⎠ 4 ⎝ L ⎠⎥⎦
⎪ A1 = −
⎩ 2 LT
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
12
Flexible String –Galerkin Method
The chief method used in this couse!
Weight functions and weighted average zero
⎧ Remember what does R means here!
⎪ L W ( x) Rdx = 0
⎪ ∫0 0
⎪ L
⎨ ∫0 W1 ( x) Rdx = 0
⎪ ....
⎪ L
⎩⎪∫0 n
W ( x) Rdx = 0
The Weigh functions must be independen t in order for the resulting algebraic equations
to be independen t.
⎧ 21Q
⎪ A0 = 16T QL2 ⎡ 5 ⎛ x ⎞3 31 ⎛ x ⎞ 2 21 ⎛ x ⎞⎤
⇒ ⎨ ⇒ y= ⎢− ⎜ ⎟ + ⎜ ⎟ − ⎜ ⎟⎥
5Q T
⎪ A1 = − ⎣⎢ 8 ⎝ L ⎠ 16 ⎝ L ⎠ 16 ⎝ L ⎠⎦⎥
⎩ 8 LT
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
Similar to the least square method we can select the two unknown parameters such that
the potential energy value as small as possible
L ⎡ 1 ⎛ dy ⎞ ⎤ ∂E ∂ ⎡ 1 ⎛ dy ⎞ 2 ⎤
2
L
E = ∫ ⎢ T ⎜ ⎟ − q ( x) y ⎥dx ⇒ = ∫ ⎢ T ⎜ ⎟ − q ( x) y ⎥dx = 0
0 2
⎢⎣ ⎝ dx ⎠ ⎥⎦ ∂Ai ∂Ai 0
⎢⎣ 2 ⎝ dx ⎠ ⎥⎦
⎧ 21Q
⎪ A0 = 16T QL2 ⎡ 5 ⎛ x ⎞3 31 ⎛ x ⎞ 2 21 ⎛ x ⎞⎤
⇒ ⎨ ⇒ y= ⎢− ⎜ ⎟ + ⎜ ⎟ − ⎜ ⎟⎥ (exactly the same as the Galerkin method)
5Q T ⎢⎣ 8 ⎝ L ⎠ 16 ⎝ L ⎠ 16 ⎝ L ⎠⎥⎦
⎪ A1 = −
⎩ 8 LT
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
13
Flexible String – Numerical Solutions
(two parameters A0 and A1)
Exact Solution :
QL2 ⎛⎜ 3 ⎛ x ⎞ 5 ⎛ x ⎞ ⎞⎟
2
QL2 ⎛⎜ 3 ⎛ x ⎞ 1 ⎛ x ⎞ 1 ⎞⎟
2
⇒ y=
QL2
⎢− ⎜ ⎟ + 2⎜ ⎟ − ⎜ ⎟⎥ QL2 ⎡ 5 ⎛ x ⎞3 31 ⎛ x ⎞ 2 21 ⎛ x ⎞⎤
⎨ ⇒ y= ⎢− ⎜ ⎟ + ⎜ ⎟ − ⎜ ⎟⎥
⎪ A1 = −
2Q T ⎣⎢ 3 ⎝ L ⎠ ⎝ L ⎠ 3 ⎝ L ⎠⎦⎥ ⎨ 5Q
⎪ A1 = − T ⎢⎣ 8 ⎝ L ⎠ 16 ⎝ L ⎠ 16 ⎝ L ⎠⎥⎦
⎩ 3LT
⎩ 8LT
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
-0,05
Exact
Collocation
-0,1
Least square
Galerkin=Ritz
-0,15
-0,2
-0,25
-0,3
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
14
Flexible String – Numerical Solutions
Residuals :
R = 2T A0 + T (6 x − 2 L) A1 - 3Q for 0 ≤ x ≤ 0.5 L
R = 2T A0 + T (6 x − 2 L) A1 - Q for 0.5 L ≤ x ≤ L
1,5
Collocation
1 Least square
Galerkin = Ritz
R
0,5
0
0 0,1 0,2 0,3 0,4 0,5 0,6 0,7 0,8 0,9 1
-0,5
-1
-1,5
String length x/L
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
0,002
0
0 0,1 0,2 0,3 0,4 0,5 0,6 0,7 0,8 0,9 1
-0,002
-0,004
-0,006
-0,008
-0,01
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
15
Comments
• Integration by parts (1D, 2D and 3D)
– The main purpose is to reduce the order of the differential terms
to be integrated. – The lower the better
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
Questions to Think
• We have solved the displacements. But
can you solve the T for the string problem?
TKT4145 – The Finite Element Method, NTNU Spring Course – Zhiliang Zhang
16