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Learning Objectives
• To formulate the isoparametric formulation of the
bar element stiffness matrix
• To present the isoparametric formulation of the
plane four-noded quadrilateral (Q4) element
stiffness matrix
• To describe two methods for numerical
integration— Newton-Cotes and Gaussian
Quadrature —used for evaluation of definite
integrals
• To solve an explicit example showing the
evaluation of the stiffness matrix for the plane
quadrilateral element by the four-point Gaussian
quadrature rule
Learning Objectives
• To illustrate by example how to evaluate the
stresses at a given point in a plane quadrilateral
element using Gaussian quadrature
• To evaluate the stiffness matrix of the three-noded
bar using Gaussian quadrature and compare the
result to that found by explicit evaluation of the
stiffness matrix for the bar
• To describe some higher-order shape functions for
the three-noded linear strain bar, the improved
bilinear quadratic (Q6), the eight- and nine-noded
quadratic quadrilateral (Q8 and Q9) elements, and
the twelve-noded cubic quadrilateral (Q12)
element
• To compare the performance of the CST, Q4, Q6,
Q8, and Q9 elements to beam elements
CIVL 7/8117 Chapter 10 - Isoparametric Elements 2/88
Isoparametric Elements
Introduction
In this chapter, we introduce the isoparametric formulation of
the element stiffness matrices.
Isoparametric Elements
Introduction
The isoparametric method may appear somewhat tedious
(and confusing initially), but it will lead to a simple computer
program formulation, and it is generally applicable for two-
and three-dimensional stress analysis and for nonstructural
problems.
Isoparametric Elements
Introduction
First, we will illustrate the isoparametric formulation to develop
the simple bar element stiffness matrix.
Isoparametric Elements
Introduction
Next, we will introduce numerical integration methods for
evaluating the quadrilateral element stiffness matrix.
Isoparametric Elements
Isoparametric Formulation of the Bar Element
The term isoparametric is derived from the use of the same
shape functions (or interpolation functions) [N] to define the
element's geometric shape as are used to define the
displacements within the element.
Isoparametric Elements
Isoparametric Formulation of the Bar Element
Isoparametric element equations are formulated using a natural
(or intrinsic) coordinate system s that is defined by element
geometry and not by the element orientation in the global-
coordinate system.
Isoparametric Elements
Isoparametric Formulation of the Bar Element
First, the natural coordinate s is attached to the element, with
the origin located at the center of the element.
Isoparametric Elements
Isoparametric Formulation of the Bar Element
For the special case when the s and x axes are parallel to each
other, the s and x coordinates can be related by:
L
x xc s
2
Using the global coordinates x1 and x2 with xc =(x1 + x2)/2, we
can express the natural coordinate s in terms of the global
coordinates as:
x x2 2
s x 1
2 x2 x1
CIVL 7/8117 Chapter 10 - Isoparametric Elements 6/88
Isoparametric Elements
Isoparametric Formulation of the Bar Element
The shape functions used to define a position within the bar are
found in a manner similar to that used in Chapter 3 to define
displacement within a bar (Section 3.1).
Note that -1 ≤ s ≤ 1.
Isoparametric Elements
Isoparametric Formulation of the Bar Element
Solving for the a's in terms of x1 and x2, we obtain:
1
x 1 s x1 1 s x2
2
In matrix form:
x 1 s 1 s
x N1 N2 1 N1 N2
x2 2 2
CIVL 7/8117 Chapter 10 - Isoparametric Elements 7/88
Isoparametric Elements
Isoparametric Formulation of the Bar Element
The linear shape functions map the s coordinate of any point in
the element to the x coordinate.
x 1 s 1 s
x N1 N2 1 N1 N2
x2 2 2
Isoparametric Elements
Isoparametric Formulation of the Bar Element
x 1 s 1 s
x N1 N2 1 N1 N2
x2 2 2
CIVL 7/8117 Chapter 10 - Isoparametric Elements 8/88
Isoparametric Elements
Isoparametric Formulation of the Bar Element
x 1 s 1 s
x N1 N2 1 N1 N2
x2 2 2
Isoparametric Elements
Isoparametric Formulation of the Bar Element
When a particular coordinate s is substituted into [N] yields the
displacement of a point on the bar in terms of the nodal
degrees of freedom u1 and u2.
x 1 s 1 s
x N1 N2 1 N1 N2
x2 2 2
CIVL 7/8117 Chapter 10 - Isoparametric Elements 9/88
Isoparametric Elements
Isoparametric Formulation of the Bar Element
Step 3 - Strain-Displacement and Stress-Strain Relationships
Isoparametric Elements
Isoparametric Formulation of the Bar Element
Step 3 - Strain-Displacement and Stress-Strain Relationships
du du dx du du du dx
x x
ds dx ds dx dx ds ds
CIVL 7/8117 Chapter 10 - Isoparametric Elements 10/88
Isoparametric Elements
Isoparametric Formulation of the Bar Element
Step 3 - Strain-Displacement and Stress-Strain Relationships
du u2 u1
The derivative of u with respect to s is:
ds 2
dx x2 x1 L
The derivative of x with respect to s is:
ds 2 2
1 u1
x
1
Therefore the strain is:
L L u2
B L
1 1
L
Isoparametric Elements
Isoparametric Formulation of the Bar Element
Step 3 - Strain-Displacement and Stress-Strain Relationships
E E B d
CIVL 7/8117 Chapter 10 - Isoparametric Elements 11/88
Isoparametric Elements
Isoparametric Formulation of the Bar Element
Step 4 - Derive the Element Stiffness Matrix and Equations
L
The stiffness matrix is: k B E B A dx
T
f ( x ) dx f (s ) J ds
0 1
Isoparametric Elements
Isoparametric Formulation of the Bar Element
Step 4 - Derive the Element Stiffness Matrix and Equations
dx L
For the simple bar element: J ds 2
Isoparametric Elements
Isoparametric Formulation of the Bar Element
Step 4 - Derive the Element Stiffness Matrix and Equations
1
AE 1 1
k 1 1
L
Isoparametric Elements
Isoparametric Formulation of the Bar Element
Step 4 - Derive the Element Stiffness Matrix and Equations
Isoparametric Elements
Isoparametric Formulation of the Bar Element
Step 4 - Derive the Element Stiffness Matrix and Equations
1 s
1 ALX b 1
fb A 2 X b ds
L
1
1 s 2 2 1
2
Isoparametric Elements
Isoparametric Formulation of the Bar Element
Step 4 - Derive the Element Stiffness Matrix and Equations
1 s
1 ALX b 1
fb A 2 X b ds
L
1
1 s 2 2 1
2
CIVL 7/8117 Chapter 10 - Isoparametric Elements 14/88
Isoparametric Elements
Isoparametric Formulation of the Bar Element
Step 4 - Derive the Element Stiffness Matrix and Equations
Isoparametric Elements
Isoparametric Formulation of the Bar Element
Step 4 - Derive the Element Stiffness Matrix and Equations
1 s
1 L 1
fs 2 Tx ds Tx
L
1
1 s 2 2 1
2
Since {Tx} is in force-per-unit-length {Tx}L is now the total force.
Isoparametric Elements
Isoparametric Formulation of the Bar Element
Step 4 - Derive the Element Stiffness Matrix and Equations
1 s
1 L 1
fs 2 Tx ds Tx
L
1
1 s 2 2 1
2
Note that if {Tx} were a function of x (or s), then the amounts of
force allocated to each node would generally not be equal and
would be found through integration.
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Recall that the term isoparametric is derived from the use of the
same interpolation functions to define the element shape as
are used to define the displacements within the element.
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Solving for the a's in terms of x1, x2, x3, x4, y1, y2, y3, y4, we
obtain
1
x 1 s 1 t x1 1 s 1 t x2 1 s 1 t x3 1 s 1 t x4
4
1
y 1 s 1 t y1 1 s 1 t y 2 1 s 1 t y 3 1 s 1 t y 4
4
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
N3
1 s 1 t N4
1 s 1 t
4 4
CIVL 7/8117 Chapter 10 - Isoparametric Elements 20/88
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
N1 t N2 t
4 3 4 3
s s
1 2 1 2
N3
t N4
t
4 3 4 3
s s
1 2 1 2
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
P (s, t )
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
N
i 1
i 1 i 1, 2, ,...,n
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
a1 b1 x c1
a
2 b2 y c2
c1 b1 a1 c1
c2 b2 a2 c2
x y
a1 b1 a1 b1
a2 b2 a2 b2
CIVL 7/8117 Chapter 10 - Isoparametric Elements 26/88
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
f y x f
s s s s
f y x f
f f
t t t t
x x y y x y
s s s s
x y x y
t t t t
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
x y
s s
J
x y
t t
We now want to express the element strains as: B d
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
1 y y
x J t s s t
1 x x
y J s t t s
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
D 'N d
y y
0
t s s t
1 x x
D ' 0
J s t t s
x x y y
s t t s t s s t
CIVL 7/8117 Chapter 10 - Isoparametric Elements 29/88
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
0 1 t t s s 1
t 1 0 s 1 s t
1
J 8 X c Yc
T
s t s 1 0 t 1
1 s s t t 1 0
Xc x1 x2 x4 Yc y1 y 2 y4
T T
x3 y3
CIVL 7/8117 Chapter 10 - Isoparametric Elements 31/88
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
D B d
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
[k ] [B ]T [D ][B ] h dx dy
A
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
f ( x, y ) dx dy
A
f (s, t ) J ds dt
1 1
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
1 1
[k ] [B ]
T
[D][B ] h J ds dt
1 1
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
fb [N ]T X b h J ds dt
1 1
8 1 8 2 2 1
Like the stiffness matrix, the body-force matrix has to be
evaluated by numerical integration.
CIVL 7/8117 Chapter 10 - Isoparametric Elements 34/88
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
1
L
fs [Ns ]T T h ds
2 1
4 1 4 2 2 1
fs 3s
T
fs 3t hL N3 0 ps
1
0 N4
N4
ds
fs 4s 2 1 0 N3 0
along t 1
pt
fs 4t
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
1
L
fs [Ns ]T T h ds
2 1
4 1 4 2 2 1
fs 3s ps
f
s 3t hL pt
fs 4s 2 ps
fs 4t pt
CIVL 7/8117 Chapter 10 - Isoparametric Elements 35/88
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Steps 5 - 7
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Example 1
1
hL
fs [Ns ]T T ds
2 1
CIVL 7/8117 Chapter 10 - Isoparametric Elements 36/88
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Example 1
5 8 4 0 5
2 2
With length of side 2-3 given by: L
fs 2s
T
fs 2t hL N2 0 ps
1
0 N3
N3
dt
fs 3s 2 1 0 N2 0
along s 1
pt
fs 3t
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Example 1
Substituting for L, the surface traction matrix, and the thickness
h = 0.1 we obtain
fs 2s
fs 2t 0.1in. 5in. N2
T
1
0 N3 0 2,000
2 0
1
0 N3
0
dt
fs 3s N2
along s 1
fs 3t
CIVL 7/8117 Chapter 10 - Isoparametric Elements 37/88
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Example 1
Simplifying gives:
fs 2s 2,000 N2 N2
f 1
0 0 1
s 2t
0.25in.2
dt 500lb. dt
f
s 3s 1
2,000 N 3 1
N3
fs 3t
0 0
evaluated along s 1 evaluated along s 1
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Example 1
Substituting the shape functions, we have
s t st 1
fs 2s 4 1 t
f 1
s 2t
1
0 0
500lb. dt 250lb. dt
f s t st 1 t 1
s 3s 1
1
fs 3t 4
0
0
evaluated along s 1
CIVL 7/8117 Chapter 10 - Isoparametric Elements 38/88
Isoparametric Elements
Isoparametric Formulation of the Quadrilateral Element
Example 1
Performing the integration gives:
fs 2s 1 t 1 500
f 1 0 0
s 2t 0
250lb. dt 500lb. lb.
f
s 3s 1
t 1 1 500
fs 3t
0 0 0
Isoparametric Elements
Newton-Cotes and Gaussian Quadrature
In this section, we will describe two methods for numerical
evaluation of definite integrals, because it has proven most
useful for finite element work.
Isoparametric Elements
Newton-Cotes and Gaussian Quadrature
The Newton-Cotes method is a common technique for
evaluation of definite integrals.
1
To evaluate the integral y dx
1
Isoparametric Elements
Newton-Cotes and Gaussian Quadrature
The constants Ci are the Newton-Cotes constants for numerical
integration with i intervals.
1 n
y dx h Ci y i h C0 y 0 C1y1 C2 y 2 Cn y n
1 i 0
CIVL 7/8117 Chapter 10 - Isoparametric Elements 40/88
Isoparametric Elements
Newton-Cotes and Gaussian Quadrature
The Newton-Cotes constants have been published and are
summarized in the table below for i = 1 to 6.
Intervals, No. of
i Points, n C0 C1 C2 C3 C4 C5 C6
1 2 1/2 1/2 (trapezoid rule)
2 3 1/6 4/6 1/6 (Simpson's 1/3 rule)
3 4 1/8 3/8 3/8 1/8 (Simpson's 3/8 rule)
4 5 7/90 32/90 12/90 32/90 7/90
5 6 19/288 75/288 50/288 50/288 75/288 19/288
6 7 41/840 216/840 27/840 272/840 27/840 216/840 41/840
1 n
y dx h Ci y i h C0 y 0 C1y1 C2 y 2 Cn y n
1 i 0
Isoparametric Elements
Newton-Cotes and Gaussian Quadrature
The case i = 1 corresponds to the well known trapezoid rule
illustrated below.
1 n
y y
y dx h Ci y i 2hC00y 0 1C1y1yC
0 y Cn y n
2 y 21
1 i 0 2
CIVL 7/8117 Chapter 10 - Isoparametric Elements 41/88
Isoparametric Elements
Newton-Cotes and Gaussian Quadrature
The case i = 2 corresponds to the well-known Simpson one-
third rule.
It has been shown that the formulas for i = 3 and i = 5 have the
same accuracy as the formulas for i = 2 and i = 4, respectively.
1 n
y dx h Ci y i h C0 y 0 C1y1 C2 y 2 Cn y n
1 i 0
Isoparametric Elements
Newton-Cotes and Gaussian Quadrature
To obtain greater accuracy one can then use a smaller interval
(include more evaluations of the function to be integrated).
1 n
y dx h Ci y i h C0 y 0 C1y1 C2 y 2 Cn y n
1 i 0
CIVL 7/8117 Chapter 10 - Isoparametric Elements 42/88
Isoparametric Elements
Newton-Cotes and Gaussian Quadrature
On the other hand, using Gaussian quadrature we will show that
we use unequally spaced sampling points n and integrate
exactly a polynomial of order at most 2n - 1.
Isoparametric Elements
Newton-Cotes and Gaussian Quadrature
Gaussian quadrature is then more accurate with fewer sampling
points than Newton-Cotes quadrature
Isoparametric Elements
Newton-Cotes Example
Using the Newton-Cotes method with i = 2 intervals (n = 3
sampling points), evaluate the integrals:
1 1
x
x 2 cos dx 3 x x dx
1 2 1
Isoparametric Elements
Newton-Cotes Example
Using the Newton-Cotes method with i = 2 intervals (n = 3
sampling points), evaluate the integrals:
1 1
x
x 2 cos dx 3 x x dx
1 2 1
1
x
x 2 cos dx 2 61 1.8775826 64 1 61 1.8775826
1 2
2.5850550 0.027% error
1
x
x 2 cos dx 2.5843688
1 2
CIVL 7/8117 Chapter 10 - Isoparametric Elements 44/88
Isoparametric Elements
Newton-Cotes Example
Using the Newton-Cotes method with i = 2 intervals (n = 3
sampling points), evaluate the integrals:
1 1
x
x 2 cos dx 3 x x dx
1 2 1
1
3 x x dx 2 61 1.3333333 4
6 1 61 2
1
1
3 x x dx 2.427305
1
Isoparametric Elements
Gaussian Quadrature
1
To evaluate the integral: y dx
1
Isoparametric Elements
Gaussian Quadrature
Generalization of the formula leads to:
1 n
y dx Wi y xi
1 i 1
Isoparametric Elements
Gaussian Quadrature
Generalization of the formula leads to:
1 n
y dx Wi y xi
1 i 1
Isoparametric Elements
Gaussian Quadrature
Generalization of the formula leads to:
1 n
y dx Wi y xi
1 i 1
Isoparametric Elements
Gaussian Quadrature - Two-Point Formula
To illustrate the derivation of a two-point (n = 2) consider:
1
y dx W1y x1 W2 y x2
1
y C0 C1x C2 x 2 C3 x 3
CIVL 7/8117 Chapter 10 - Isoparametric Elements 47/88
Isoparametric Elements
Gaussian Quadrature - Two-Point Formula
In general, with four parameters in the two-point formula, we
would expect the Gauss formula to exactly predict the area
under the curve.
1
2
A C
1
0
C1x C2 x 2 C3 x 3 dx 2C0 C2
3
However, we will assume, based on Gauss's method, that
W1 = W2 and that x1 = x2 as we use two symmetrically located
Gauss points at x = ±a with equal weights.
AG W y ( a ) W y (a ) 2W C0 C2a 2
Isoparametric Elements
Gaussian Quadrature - Two-Point Formula
If the error, e = A - AG, is to vanish for any C0 and C2, we must
have, in the error expression:
e A AG 2C0 32 C2 C0 C2a 2 2W
e
0 2 2W W 1
C0
e 2 1 0.5773....
0 2a 2W a
C2 3 3
Now W = 1 and a = 0.5773 ... are the Wi’s and ai’s (xi’s) for the
two-point Gaussian quadrature as given in the table.
CIVL 7/8117 Chapter 10 - Isoparametric Elements 48/88
Isoparametric Elements
Gaussian Quadrature Example
Use three-point Gaussian Quadrature evaluate the integrals:
1 1
x
x 2 cos dx 3 x x dx
1 2 1
3
x Order N Points ui Weights wi
Wi xi 2 cos i 1 0.000000000 2.00000000
i 1 2 2 ±0.577350269 1.00000000
3 0.000000000 0.88888889
5
1.5259328 ±0.774596669 0.55555556
9 4 ±0.339981044 0.65214515
0.34785485
8 ±0.861136312
1.0
9
5
1.5259328 2.5843698 0.00004% error
9
Isoparametric Elements
Gaussian Quadrature Example
Use three-point Gaussian Quadrature evaluate the integrals:
1 1
x
x 2 cos dx 3 x x dx
1 2 1
9 4 ±0.339981044 0.65214515
0.34785485
8 ±0.861136312
1.0
9
5
1.5673475 2.4271888 0.00477% error
9
CIVL 7/8117 Chapter 10 - Isoparametric Elements 49/88
Isoparametric Elements
Gaussian Quadrature Example
In two dimensions, we obtain the quadrature formula by
integrating first with respect to one coordinate and then with
respect to the other as
1 1 1
n
1
1 f ( s, t ) ds dt 1
i 1
Wi f si , t dt
n
W j Wi f si , t j
n
j 1 i 1
Wi W j f si , t j
n n
i 1 j 1
Isoparametric Elements
Gaussian Quadrature Example
For example, a four-point Gauss rule (often described as a 2 x 2
rule) is shown below with i = 1, 2 and j = 1, 2 yields
2 2
Wi W j f si , t j W1 W1 f s1, t1 W1 W2 f s1, t 2
i 1 j 1
W2 W1 f s2 , t1 W2 W2 f s2 , t 2
Isoparametric Elements
Gaussian Quadrature Example
In three dimensions, we obtain the quadrature formula by
integrating first with respect to one coordinate and then with
respect to the other two as
1 1 1
f (s, t, z ) ds dt dz Wi W j Wk f si , t j , zk
n n n
1 1 1 i 1 j 1 k 1
Isoparametric Elements
Evaluation of the Stiffness Matrix by Gaussian Quadrature
For the two-dimensional element, we have shown in previous
chapters that
[k ] [B ]T [D][B ] h dx dy
A
Isoparametric Elements
Evaluation of the Stiffness Matrix by Gaussian Quadrature
We have shown that [k] for a quadrilateral element can be
evaluated in terms of a local set of coordinates s-t, with limits
from -1 to 1within the element.
1 1
[k ] [B ]
T
[D][B ] h J ds dt
1 1
Isoparametric Elements
Evaluation of the Stiffness Matrix by Gaussian Quadrature
A flowchart to evaluate [k] for an element using four-point
Gaussian quadrature is shown here.
CIVL 7/8117 Chapter 10 - Isoparametric Elements 52/88
Isoparametric Elements
Evaluation of the Stiffness Matrix by Gaussian Quadrature
The explicit form for four-point Gaussian quadrature (now using
the single summation notation with i = 1, 2, 3, 4), we have
1 1
[k ] [B ]
T
[D][B ] h J ds dt
1 1
Isoparametric Elements
Evaluation of the Stiffness Matrix by Gaussian Quadrature
Evaluate the stiffness matrix for the quadrilateral element shown
below using the four-point Gaussian quadrature rule.
Isoparametric Elements
Evaluation of the Stiffness Matrix by Gaussian Quadrature
Using the four-point rule, the four points are:
Isoparametric Elements
Evaluation of the Stiffness Matrix by Gaussian Quadrature
Isoparametric Elements
Evaluation of the Stiffness Matrix by Gaussian Quadrature
Recall:
0 1 t t s s 1
t 1 0 s 1 s t
1
J 8 X c Yc
T
s t s 1 0 t 1
1 s s t t 1 0
Xc x1 x2 x4 Yc y1 y 2 y4
T T
x3 y3
Xc 3 5 5 3 Yc 2 2 4 4
T T
Isoparametric Elements
Evaluation of the Stiffness Matrix by Gaussian Quadrature
Recall:
1.000
Isoparametric Elements
Evaluation of the Stiffness Matrix by Gaussian Quadrature
To evaluate [B] consider:
B 0.5773, 0.5773
1
B1 B2 B3 B4
J 0.5773, 0.5773
where
a Ni ,s b Ni ,t 0
Bi 0 c Ni ,t d Ni ,s
c Ni ,t d Ni ,s a Ni ,s b Ni ,t
Isoparametric Elements
Evaluation of the Stiffness Matrix by Gaussian Quadrature
For this example:
1
a y1 s 1 y 2 s 1 y 3 1 s y 4 1 s
4
1
2 0.5773 1 2 0.5773 1
4
4 1 0.5773 4 1 0.5773
1.000
Isoparametric Elements
Evaluation of the Stiffness Matrix by Gaussian Quadrature
The shape functions are computed as:
1 1
N1,s t 1 0.5773 1 0.3943
4 4
1 1
N1,t s 1 0.5773 1 0.3943
4 4
Isoparametric Elements
Evaluation of the Stiffness Matrix by Gaussian Quadrature
Using a computer program written specifically to evaluate [B], at
each Gauss point and then [k], we obtain the final form of
[B(-0.5773, -0.5773)], as
Isoparametric Elements
Evaluation of the Stiffness Matrix by Gaussian Quadrature
The matrix [D] is:
1 0 32 8 0
E 8 32 0 106 psi
[D ] 1 0
1 2
0 0 0.5 1 0 0 12
Isoparametric Elements
Evaluation of Element Stresses
Isoparametric Elements
Evaluation of Element Stresses
Isoparametric Elements
Evaluation of Element Stresses
Isoparametric Elements
Evaluation of Element Stresses
0 1 0 1 2
1 0 1 0 2
1
J 0,0 3 5 5 3
8 0 1 0 1 4
1 0 1 0 4
J 0,0 1
Isoparametric Elements
Evaluation of Element Stresses
Isoparametric Elements
Evaluation of Element Stresses
41 41 41 4
1
41 41 41 41
D B d
Isoparametric Elements
Evaluation of Element Stresses
D B d
1 0.3 0
30 106
0.3 1 0
1 0.09 0
0 0 0.35 0
0.001
0.25 0 0.25 0 0.25 0 0.25 0
0.0015
0 0.25 0 0.25 0 0.25 0 0.25
0.003
0.25 0.25 0.25 0.25 0.25 0.25 0.25 0.25 0.0016
0
3.321 0
1.071104 psi
1.417
CIVL 7/8117 Chapter 10 - Isoparametric Elements 61/88
Isoparametric Elements
Higher-Order Shape Functions – Linear Strain Bar
Isoparametric Elements
Higher-Order Shape Functions – Linear Strain Bar
Isoparametric Elements
Higher-Order Shape Functions – Linear Strain Bar
Isoparametric Elements
Higher-Order Shape Functions – Linear Strain Bar
Substituting the values for a1, a2, and a3 into the general
equation for x, we obtain
x x1 x x2 2 x3 2
x a1 a2s a3s 2 x3 2 s 1 s
2 2
x1 x
s s 1 s s 1 1
x N1 N2 N3 x 2 1 s x2
2
2 2 x
x3 3
CIVL 7/8117 Chapter 10 - Isoparametric Elements 63/88
Isoparametric Elements
Higher-Order Shape Functions – Linear Strain Bar
s s 1 s s 1
N1 N2 N3 1 s 2
2 2
Isoparametric Elements
Higher-Order Shape Functions – Linear Strain Bar
u2 u u u 2u
u u3 s 1 s 1 s2 2 s2 3 s2
2 2 2 2 2
du u2 u1 1 1
u1s u2s 2u3s s u1 s u2 2s u3
ds 2 2 2 2
CIVL 7/8117 Chapter 10 - Isoparametric Elements 64/88
Isoparametric Elements
Higher-Order Shape Functions – Linear Strain Bar
dx L
We have previously showed that: J
ds 2
This relationship holds for the higher-order one-dimensional
elements as well as for the two-noded constant strain bar
element as long as node 3 is at the geometry center of the
bar.
Isoparametric Elements
Higher-Order Shape Functions – Linear Strain Bar
In matrix form:
u1
du 2s 1 2s 1 4s
u2
dx L L L
u3
The axial strain becomes:
u1 u1
du 2s 1 2s 1 4s
x u2 B u2
dx L L L u
u3 3
Where the gradient matrix [B] is:
2s 1 2s 1
B
4s
L L L
CIVL 7/8117 Chapter 10 - Isoparametric Elements 65/88
Isoparametric Elements
Higher-Order Shape Functions – Linear Strain Bar
1
2s 1 2s 1 2s 1 4s 2s 1
2
L2 L2 L2
AEL 2s 1 2s 1 2s 1 4s 2s 1 ds
1 2
2 1
L2 L2 L2
4s 2s 1 4s 2s 1 2s 1
2
L2 L2 L2
Isoparametric Elements
Higher-Order Shape Functions – Linear Strain Bar
1
4s 2 4s 1
1
4s 2 1 8s 2 4s
AE
2L 1 4s 2 1 4s 2 4s 1 8s 2 4s ds
8s 2 4s 8s 2 4s 16s 2
1
4 3 4 3 8
3 s 2s s s s s 3 2s 2
2
3 3
4.67 0.667 5.33
AE 4 3 4 3 8
s s s 2s 2 s s 3 2s 2 AE 0.667 4.67 5.33
2L 3 3 3 2L
8 8 16 3 5.33 5.33 10.67
s 3 2s 2 s 3 2s 2 s
3 3 3 1
CIVL 7/8117 Chapter 10 - Isoparametric Elements 66/88
Isoparametric Elements
Higher-Order Shape Functions – Linear Strain Bar
Now let’s illustrate how to evaluate the stiffness matrix for the
three-noded bar element using two-point Gaussian
quadrature.
Isoparametric Elements
Higher-Order Shape Functions – Linear Strain Bar
2 1
4s 2 4s 1
1
4s 2 1 8s 2 4s
AE
2L 1 4s 2 1 4s 2 4s 1 8s 2 4s ds
8s 2 4s 8s 2 4 s 16s 2
Isoparametric Elements
Higher-Order Shape Functions – Linear Strain Bar
Isoparametric Elements
Higher-Order Shape Functions – Linear Strain Bar
i 1
4.6667
2
k12 w i 2si 1 2si 1
i 1
0.6667
CIVL 7/8117 Chapter 10 - Isoparametric Elements 68/88
Isoparametric Elements
Higher-Order Shape Functions – Linear Strain Bar
2
k22 w i 2si 1 2 0.57735 1 2 0.57735 1
2 2 2
i 1
4.6667
Isoparametric Elements
Higher-Order Shape Functions – Linear Strain Bar
2
k33 w i 16si 16 0.57735 16 0.57735
2 2 2
i 1
10.6667
CIVL 7/8117 Chapter 10 - Isoparametric Elements 69/88
Isoparametric Elements
Higher-Order Shape Functions – Linear Strain Bar
By symmetry, the [k21] equals the [k21], etc. Therefore, from the
evaluations of the terms, the final stiffness matrix is
Isoparametric Elements
Higher-Order Shape Functions – Linear Strain Bar
Isoparametric Elements
Higher-Order Shape Functions – Bilinear Quadratic (Q6)
4
v s, t Ni v i g 3 1 s 2 g 4 1 t 2
i 1
Isoparametric Elements
Higher-Order Shape Functions – Bilinear Quadratic (Q6)
Isoparametric Elements
Higher-Order Shape Functions – Bilinear Quadratic (Q6)
Isoparametric Elements
Higher-Order Shape Functions – Bilinear Quadratic (Q6)
Isoparametric Elements
Higher-Order Shape Functions – Bilinear Quadratic (Q6)
Isoparametric Elements
Higher-Order Shape Functions – Bilinear Quadratic (Q6)
Isoparametric Elements
Higher-Order Shape Functions – Quadratic Rectangle (Q8)
Isoparametric Elements
Higher-Order Shape Functions – Quadratic Rectangle (Q8)
Isoparametric Elements
Higher-Order Shape Functions – Quadratic Rectangle (Q8)
Isoparametric Elements
Higher-Order Shape Functions – Quadratic Rectangle (Q8)
Isoparametric Elements
Higher-Order Shape Functions – Quadratic Rectangle (Q8)
To describe the shape functions, two forms are required: one for
corner nodes and one for mid-side nodes. The four corner
nodes are:
1
N1 1 s 1 t s t 1
4
1
N2 1 s 1 t s t 1
4
1
N3 1 s 1 t s t 1
4
1
N4 1 s 1 t s t 1
4
Isoparametric Elements
Higher-Order Shape Functions – Quadratic Rectangle (Q8)
1
N5 1 s 1 t 1 s
2
1
N6 1 s 1 t 1 t
2
1
N7 1 s 1 t 1 s
2
1
N8 1 s 1 t 1 t
2
CIVL 7/8117 Chapter 10 - Isoparametric Elements 76/88
Isoparametric Elements
Higher-Order Shape Functions – Quadratic Rectangle (Q8)
v 0 N1 0 N2 0 N3 0 N4 0 N5 0 N6 0 N7 0 N8 V
3
U
4
U
8
V
8
x
du
DN d B DN
dx
Isoparametric Elements
Higher-Order Shape Functions – Quadratic Rectangle (Q8)
y y
0
t s s t
1 x x
D ' 0
J s t t s
x x y y
s t t s t s s t
x
du
DN d B DN
dx
CIVL 7/8117 Chapter 10 - Isoparametric Elements 77/88
Isoparametric Elements
Higher-Order Shape Functions – Quadratic Rectangle (Q8)
To evaluate the matrix [B] and the matrix [k] for the eight-noded
quadratic isoparametric element, we now use the nine-point
Gauss rule (often described as a 3 X 3 rule).
Isoparametric Elements
Higher-Order Shape Functions – Quadratic Rectangle (Q9)
Isoparametric Elements
Higher-Order Shape Functions – Quadratic Rectangle (Q9)
Isoparametric Elements
Higher-Order Shape Functions – Quadratic Rectangle (Q9)
Isoparametric Elements
Higher-Order Shape Functions – Quadratic Rectangle (Q9)
Below, the CST, Q4, Q6, Q8, and Q9 element mesh solutions
are compared to the classical beam element.
Isoparametric Elements
Higher-Order Shape Functions – Quadratic Rectangle (Q9)
Isoparametric Elements
Higher-Order Shape Functions – Quadratic Rectangle (Q9)
Isoparametric Elements
Higher-Order Shape Functions – Quadratic Rectangle (Q9)
Isoparametric Elements
Higher-Order Shape Functions – Quadratic Rectangle (Q9)
The Q8 and Q9 elements perform very well considering only
one row and two elements or fewer total degrees of freedom
(d.o.f) are used compared to the Q6 mesh.
The Q9 element with the additional internal node yields slightly
better single row results than the Q8
20 in.
10 in.
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One Q8 element.
One Q8 element.
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4 Q8 elements.
4 Q8 elements.
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8 Q8 elements.
8 Q8 elements.
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Isoparametric Elements
Higher-Order Shape Functions – Cubic Rectangle (Q12)
The cubic (Q12) element has four corner nodes and additional
nodes taken to be at one-third and two-thirds of the length
along each side.
Isoparametric Elements
Higher-Order Shape Functions – Cubic Rectangle (Q12)
The shape functions of the cubic element are based on the
incomplete quartic polynomial:
x a1 a2s a3t a4s 2 a5st a6t 2 a7 s 2t a8st 2
a9s 3 a10t 3 a11s 3t a12st 3
CIVL 7/8117 Chapter 10 - Isoparametric Elements 86/88
Isoparametric Elements
Higher-Order Shape Functions – Cubic Rectangle (Q12)
For the corner nodes (i = 1, 2, 3, 4),
1 si 1, 1, 1, 1
Ni 1 ssi 1 tti 9 s 2 t 2 10
32 t i 1, 1, 1, 1
Isoparametric Elements
Higher-Order Shape Functions – Cubic Rectangle (Q12)
Isoparametric Elements
Higher-Order Shape Functions – Cubic Rectangle (Q12)
9
Ni
32
1 9ssi 1 tti 1 s 2 si 31 t i 1
Isoparametric Elements
Higher-Order Shape Functions – Cubic Rectangle (Q12)
Isoparametric Elements
Problems
End of Chapter 10