Finite Element Method:

2. Discrete Systems
Dr J. Srinivasa Rao
Department of Mechanical Engineering
RGUKT Nuzividu, Nuzividu-521202, Krishna Dist., AP
 hierarchy of Complexity
Discrete

Continuum
Continuous
Linear

System
Nonlinear
Time

Time
invariant
Time Static
variant

Force
equilibrium
Dynamic 1D
equilibrium

Space
•Transient 2D
•Steady State 3D Scalar field

Field
•Solid
mechanics
•Fluid
mechanics
•Thermo
mechanics
•Electro
mechanics
Vector field
•Solid
mechanics
•Fluid
mechanics
 Hierarchy of discrete systems

Thermo
mechanics
Scalar field
Electro
mechanics
1D Field
Solid
mechanics
Vector field
Fluid
mechanics
Continuous Static Scalar field
equilibrium Dimension
Continuum Nonlinear 2D Field
Discrete System Time invariant Force Vector field Solid
Properties equilibrium Transient mechanics
Linear Time impact Dynamic
Time variant equilibrium Scalar field
Steady State
3D Field
Vector field Solid
mechanics
 Hierarchy of Continuous systems
Bars
Solid mechanics
Cables

Pipe flow

Fluid mechanics Viscous flow

Scalar field

Seepage

Thermo Heat transfer

1D Field mechanics

Electro
mechanics Electro statics

Vector field Solid mechanics

Torsion of
cylindrical members
Solid mechanics
Deflection of
membranes
Static Dimension
equilibrium Irrotational flow
Nonlinear of an ideal fluid
Continuous System Time invariant Force Fluid mechanics
Properties equilibrium Steady state
Scalar field Groundwater
Continuum Linear Time impact Dynamic flow
Discrete Time variant equilibrium
Transient Thermo
mechanics Heat transfer

2D Field Electro statics

Electro
mechanics
3D Magneto statics
Plane strain
Vector field Solid mechanics Plane elasticity
Plane stress
 Steps in FEM
Pre-process
Subdividing the problem into Defining the material Applying boundary conditions
finite elements (meshing) properties and loads

Process
Element formulation Assembly Solution

Post-process
determining quantities of Convergence test Refinement if necessary
interest
 Direct FEM to Discrete Systems
Discrete Spring systems
Systems
Torsional systems
Structural Systems
Heat transfer networks
Fluid flow networks
Electrical networks
Bar element application
Beam element applications
Difference between bar and beam

Bar element

Beam element
 Truss or bar elements
• A bar element - 1D

• Bar element cross sections • A bar element - 2D

 Governing equations
• Equilibrium of the element: Sum of the nodal
forces acting on the element is equal to zero F F 0
1
e
2
e

• The elastic stress-strain law

 Ee e e
• The deformation of the structure
must be compatible. No gaps or overlaps   l
e e e

u u1
2
2
1
Global node 2 is the common node
of element 1 and element 2
 Sign convention

e 0
e
if the element is in tension u u
e e

  u u
2 1
e 0 if it is in compression u u
e e e e e
 0
2 1 2 1
If it is in free length u u
e
2
e
1
 Elemental equations
• Equations
F  p  A  A E 
2
e e e e e e e

e e
 e   k  u2  u1 
AE e e e e

l
F1  F2  0
e e

 F  F  k u  u
1
e
2
e e e
1
e
2 
 Elemental equations

F  k u  u
1
e e e
1
e
2 
F  k u  u
2
e e e
2
e
1 
• In matrix form

F  e  1
e
1 u  e

 k 
1 1
  
 1 1  u 
e e
F 2 2
 Elemental equations
• In matrix form

F   k
e e
k e
 u 
e

  e
1 1
•   Or F K U
e e e

 F   k
e e e
2 k  u 
2
e
• F is element external force vector
e
• K is element stiffness matrix and
• Ue is element nodal displacement vector
 Assembly-Example

• For element 1  F1(1)   k (1) k (1)  u1(1) 

 (1)    (1) (1)   (1) 
 F2   k k  u2 

• For element 2  F1(2)   k (2) k (2)

 u1(2) 
 (2)    (2)   (2) 
 F2   k k (2)  u2 
 Assembly-Example

• For element 1  F1(1)   k (1) k (1)  u3 

 (1)    (1) (1)   
• Global nodes are 3 and 2  F2   k k  u2 

• For element 2
 F1(2)   k (2)  k  u2 
(2)

 (2)    (2) (2)   

• Global nodes are 2 and 1  F2   k k   u1 
 Assembly - Scattered matrices

 0  0 0 0   u1 
 F (1)   0 k (1) (1)   
 2    k  u2 
• For element 1
 F1(1)  0 k (1) k  u3 
(1)
• global nodes 3 and 2
F (2)
 k (2)
k (2)
0   u1 
  (2)  
2
• For element 2 
 F    k
(2) (2)
1
k 0  u2 
• Global nodes 2 and 1
 0   0 0 0  u3 
 Assembly – add matrix equations
 0  F2(2)   k (2) k (2) 0   u1 
 (1) (2)   (2) 
 F2  F1   k  k (2)  k (1) k (1)  u2 
 F1(1)  0   0 k (1) k (1)  u3 

 r1   k k (2) 0   u1  (1)
(2)

 f    k (2) k (2)  k (1) (1)  

k  u2  (2)
 2 
 f3   0 k (1) k (1)   u3  (3)
(1) (2) (3) GLOBAL
NODES Free body diagrams at nodes
 Assembly – add scatter
• For element 1 For element 2
0 0 0   k (2) k (2)
0
 (2) 
 0 k (1) k (1)    k
(1) (2) (2)
K K k 0
0 k (1) k (1)   0 0 0 

k (1)
k (1)
0 
 (1) (2) 
• Global stiffness matrix K   k k k
(1) (2)
k 
 0 k (2) (2) 
k 

 Assembly - add direct
 k (1) k (1)  (3)  k (2) k (2)  (2)
K (1)
  (1) (1) 
K (2)   (2) (2) 
 k k  (2)   k k  (1)
(3) (2) (2) (1)

 k (2) k (2) 0  (1)

 
K   k (2) k (2)  k (1) k (1)  (2)
 0 k (1) k (1)  (3)

(1) (2) (3) GLOBAL
NODES
 Lecture Summary
• Development of elemental stiffness matrix, elemental force vector and
element nodal displacement vector
• Governing equations of equilibrium – external force equals to internal resistance
• constitutive law between stress and strain
• Compatibility conditions of inter element displacements
• Development of global stiffness matrix
• Scatter addition
• Direct addition
• Global nodal displacement vector
• Requirement of no gaps or overlaps i.e., inter element compatibility conditions
• Global nodal force vector
• Free body diagrams of elements
• Free body diagrams of nodes
 Coming up
• Assembly by gathering and scattering matrix
• An example in 1D
Thank you
Assembly by gather & scatter matrices

• For element 1 F   k
(1) (1)
 k  u 
(1) (1)

   (1)
1 1
 (1)   
 F   k
(1) (1)
2 k  u  2

• For element 2
 F1(2)   k (2) k (2)
 u1(2) 
 (2)    (2)   (2) 
 F2   k k (2)  u2 
Gathering matrix for displacements
• Gathering elemental displacements to global displacements

 u1   u1 
u   0 0 1   
(1)
u   0 1 0   
(2)

   
1 1
(1)   u 2 (2)   u 2
u   0 1 0   u 
2 u   1 0 0   u 
2
 3  3
 Equations for assembly
• Elemental displacements to global displacements
 u1   u1 
u   0 0 1   
(1)
u   0 1 0   
(2)

   
1 1
(1)   u 2 (2)   u 2
u   0 1 0   u 
2 u   1 0 0   u 
2
 3  3
• Element 1 U
(1)
L U
(1)
Element 2 U
(2)
L U
(2)

• General element U  LU
e e
• U e Element displacement vector
e
• U Global displacement vector • L Element gathering matrix
 Scattering matrix for forces
• Scattering element nodal forces to global nodal forces

 0  0 0  (1)  F2(2)  0 1  (1)

 F (1)   0 1   F1   (2)     F1 
 2     F (1)   F1   1 0   F (1) 
 F1(1)  1 0   2   0  0 0   2 
 
 Equations for assembly
• Elemental forces to global forces
 0  0 0  (1) F  0 1  (1)
(2)

 F (1)   0 1   F1   F1 
2
   
  1 0   F (1) 
(2)
 2     F (1)  F 1

 F1  1 0   2 
(1)  0

 0 0   2 

• Element 1 F (1)  L(1)T F (1) Element 2F (2)  L(2)T F (2)
• General element F e  LeT F e • F e Element global force vector
eT
• F Elemental force vector
e •L Element scatter matrix
 Equations for assembly
• For a general element
 F1e   k e k u1 
e
 e

 e   e e  e F K U
e e e
 F2   k k  u2 

F  K LU
e e e
L F  L K LU
eT e eT e e
F K U
e e

n n

F  K U
1
e

1
e
 F = KU
 Assembly – add matrix equations
 0  F2(2)   k (2) k (2) 0   u1 
 (1) (2)   (2) 
 F2  F1   k  k (2)  k (1) k (1)  u2 
 F1(1)  0   0 k (1) k (1)  u3 

 r1   k k (2) 0   u1  (1)
(2)

 f    k (2) k (2)  k (1) (1)  

k  u2  (2)
 2 
 f3   0 k (1) k (1)   u3  (3)
(1) (2) (3) GLOBAL
NODES Free body diagrams at nodes
How to solve?
 Boundary conditions and solution
KU  F
 k (2) k (2) 0   u1   r1 
 (2)   KE K EF  U E   RE 
 k k (2)  k (1) k (1)  u2    f 2  K T    
 EF K F  U F   FF 
 0 k (1) k (1)  u3   f3 

K FU F  FF  K EF
T
UE
 K EU E  K EFU F   RE 
 T   U F  K F 1  FF  K ETFU E 
 K EFU E  K FU F   FF 
RE  K EU E  K EFU F
 An Example – apply loads

 k (2) k (2) 0   u1   r1   k (2) k (2) 0   u1   r1 

 (2)   (2) 
 k k (2)  k (1) k (1)  u2    f 2   k k (2)  k (1) k (1)  u2    4 
 
 0 k (1) k (1)  u3   f3   0 k (1) (1) 
k  u3  10 
 
 An example – Matrix reduction
 k (2) k (2) 0   u1   r1 
 (2) (1)  
 k k (2)  k (1) k  u2    4 
 
 0 k (1) k (1)  u3  10 


K E   k (2)
 K EF   k (2) 0  U E  u1  RE   r1 

 k (2)  k (1) k (1)  u2   4 

 k  (2)
KF   UF    FF   
K EF T
  (1)  u3 
 0    k (1)
k  10 
 Solution for displacements

K E   k (2)
 K EF   k (2) 0  U E  u1  RE   r1 

 k (2)   k (2)  k (1) k (1)  u2   4 

 KF   UF    FF   
(1) 
K EF T 
 0    k (1)
k  u3  10 

U F  K F 1  FF  K EF
T
UE 
 10 
u2   
1
u2   k  k
(2) (1)
k    4   k (2) 
(1)
 k (2)
u    (1)        4 k  
(2)
  
 3   k (1)
k   10   0  
 u3  10  1  1  
  k (1) k (2)  
 Solution of reactions
K E   k (2)  K EF   k (2) 0  U E   4 / k (2)  RE   r1 

 10 
 k (2)   k (2)  k (1) k (1)   k (2)   4 
K EF T
  KF   (1) 
UF    FF   
 10  1  1  
(1)
 0   k k  10 
  k (1) k (2)  
RE  K EU E  K EFU F   r1    6
 Up coming
• 1D truss another example
• 1D problems in other fields
• 2D and 3D truss analysis
Thank you