Weigted Residual Methods

Approximate solutions, including FE

solutions, can be constructed from
governing differential equations.
One approach is the Galerkin
method. This can be applied to non-
structural problems.

Spring 2003 Weighted Residuals 2

Galerkin Method

Notation:
x independent variables, e.g. coordinates of a point
u  u  x dependent variables, e.g. displacements of a point
u% u% x  approximate solution
f function of x (may be constant or zero)
D differential operator

Spring 2003 Weighted Residuals 3

Problem Statement

In domain V:
Du - f  0
with appropriate B.C.

Spring 2003 Weighted Residuals 4

Problem Statement

Residual in domain V:
R  Du%- f

Spring 2003 Weighted Residuals 5

Approximate Solution
u%is a linear combination
of basis functions
u%is a typically a polynomial
of n terms whose
th
i term is muliplied
by a generalized d.o.f. a i
Spring 2003 Weighted Residuals 6
Solution

Minimize residual w.r.t. weights

Best Approximation:

 Wi Rdv  0 i  1, 2, K ,n

Spring 2003 Weighted Residuals 7

One-Dimensional Example

LT

q  cx P

Spring 2003 Weighted Residuals 8

One-Dimensional Example
du
 x  E x  E
dx
2
du
 AE 2  q  0
dx
d x
A q  0
dx

Spring 2003 Weighted Residuals 9

One-Dimensional Example
2
d u cx
2
  0
dx AE

du
AE  P at x = L T
dx

Spring 2003 Weighted Residuals 10

 Exact Solution
2
d u cx
2
 0
dx AE
du
AE  P at x = L T
dx
2
P cL c 3
u x x x
T

AE 2AE 6AE
Spring 2003 Weighted Residuals 11
 Galerkin Problem
LT
 d u% cx 
2


0
Wi 
 dx
2

AE 
dx  0

du%
Wi 
da i

Spring 2003 Weighted Residuals 12

 Integration by Parts

d  uv   udv  vdu

 udv  uv   vdu

Spring 2003 Weighted Residuals 13

 Galerkin Problem
LT
 d 2u% cx 

0
Wi 
 dx
2

AE 
dx 
LT LT
d u%
2
cx

0
Wi 2 dx   Wi
dx 0
AE
dx  0

dWi
u  Wi  du 
dx
d 2u% du
dv  2 dx  v 
dx dx
Spring 2003 Weighted Residuals 14
 Galerkin Problem
LT
d u% 2


0
Wi 2 dx 
dx
LT LT
  du   dWi du%

 Wi  dx    dx
    0 0 
dx dx 

Spring 2003 Weighted Residuals 15

 Galerkin Problem

LT
 d 2u% cx 

0
Wi 
 dx
2

AE 
dx 
LT LT
d u%
2
cx

0
Wi 2 dx   Wi
dx 0
AE
dx  0

LT LT
  du   dWi du%
 cx 
 Wi  dx     Wi dx
    0 0 
dx dx AE 

Spring 2003 Weighted Residuals 16

 Assumed Function
u% a1 x  a 2 x 2

du% dW1
 W1  x 1
da1 dx

du% dW2
 W2  x 2
 2x
da 2 dx
Spring 2003 Weighted Residuals 17
 Integrals
LT
 cx  P
   1  a1  2a 2 x   x AE  dx  L T AE  0
0  

LT
 cx  P
   2x   a1  2a 2 x   x AE  dx  L T AE  0
2

0  

Spring 2003 Weighted Residuals 18

 Solution
2
P 7cL
a1   T

AE 12AE

cL T
a2  
4AE

Spring 2003 Weighted Residuals 19

 Solution
2
P 7cL cL T 2
u% x x T
x
AE 12AE 4AE

du% P 7cL cL T 2
% E    x T

dx A 12A 2A2

Spring 2003 Weighted Residuals 20

 Solution
2
P 7cL cL T 2
u% x x T
x
AE 12AE 4AE
2
P cL T c 3
u x x x
AE 2AE 6AE

Spring 2003 Weighted Residuals 21

 Comparison of Results
Quantity Location Exact Galerkin
u L/2 0.2292 0.2292
u L 0.3333 0.3333
u,x 0 0.5000 0.5833
u,x L/2 0.3750 0.3333
u,x L 0.0000 0.0833

Spring 2003 Weighted Residuals 22

 Galerkin FEM Formulation:
Uniform Bar, Axial Load
2
du
AE 2  q(x)  AEu ,xx  q(x)  0
dx
F  AEu ,x
L
x,u

A, E q  q  x

Spring 2003 Weighted Residuals 23

 Galerkin FEM Formulation:
Uniform Bar, Axial Load

u%  N   d
 Lx x
 N    
 L L
 d  
T
u1 u 2 

Spring 2003 Weighted Residuals 24

 Galerkin FEM Formulation:
Uniform Bar, Axial Load
u% N1u1  N 2u 2
u%
Wi   Ni
d i
 Lx x
 N    
 L L

Spring 2003 Weighted Residuals 25

 Galerkin FEM Formulation:
Uniform Bar, Axial Load

Nels L j

  N  AEu%
j1 0
i ,xx  q  dx  0

Spring 2003 Weighted Residuals 26

 Galerkin FEM Formulation
For EA constant:
Lj

0
N i
%
AEu ,xx dx 

Lj
L
 N i AEu%,x 
0
  N i,x AEu%,x dx
0

Spring 2003 Weighted Residuals 27

 B.C.

F=AEu%,x
For ends of the element

Spring 2003 Weighted Residuals 28

 Galerkin FEM Formulation:
Uniform Bar, Axial Load
Nels L j

  N  AEu%
j1 0
i ,xx  q  dx  0

Nels L j Nels

   N AEu%,x  N i q  dx    N i AEu%,x 
L
i,x 0
0
j1 0 j 1

Spring 2003 Weighted Residuals 29

  B    N ,x 

 1 1   u%1
u%,x   B   d      
 L L   u%2 

Spring 2003 Weighted Residuals 30

 Nels L j

   N
j 1 0
i,x AEu%,x  N i q  dx

Nels
   N i AEu%,x 
L

0
0
j1


Nels
 L

    B AE  B  dx  d j
T

j1 0 

 
Nels L Nels L
    N  qdx    N  F
T T
0
j 1 0 j 1 0

Spring 2003 Weighted Residuals 31

 Nels
 L

 k  j      B AE  B  dx 
T

j1  0 
Nels L

 re  j     N 
T
qdx
j 1 0

 P     N  
Nels L
T
F 0
j 1 0

Spring 2003 Weighted Residuals 32

 Beam Dynamics

4 2
d v d v
EI 4   L 2 (x)  0
dx dt
EIv ,xxxx   L &
v& 0

Spring 2003 Weighted Residuals 33

 B.C.

EIv ,xx -M B =0
EIv ,xxx -VB =0

Spring 2003 Weighted Residuals 34

 Shape Functions
1
N1  3
L
 2xˆ 3  3xˆ 2 L  L3 
1
N2  3
L
 ˆx 3 L  2xˆ 2 L2  xL
ˆ 3 
1
N3  3
L
 2x  3x L
ˆ 3
ˆ 2

1
N4  3
L
 xˆ 3 L  xˆ 2 L2 
Spring 2003 Weighted Residuals 35
 1.000
N1 N3
0.500
N2
L
0.000
0 N4

-0.500

Shape Functions for Beam Element

Spring 2003 Weighted Residuals 36
 v% N1 v1  N 2 1  N 3 v 2  N 4  2
 v1 
  
 1
 d   
 v2 
  2 
v%
Wi   Ni
d i

Spring 2003 Weighted Residuals 37

 Lj

 
  N
T
 EIv ,xxxx   L  dx  0
&
&
v
0

Spring 2003 Weighted Residuals 38

 EI constant Integration
(by parts twice!)
L

  N 
T
v%,xxxxdx 
0
L L
v%,xxdx    N  v%,xx 
T T
  N ,xx 
T
v%,xxx   N ,x 
0
  0

Spring 2003 Weighted Residuals 39

 Lj

  N 
T
 EIv% ,xxxx   L
&
& dx  0
%
v 
0

 
L
T
 N ,xx  EI v%,xx  L  N 
T
&& dx 
v%
0
L
  N T
v%,xxx   N ,x 
T
v%,xx  0
    0

Spring 2003 Weighted Residuals 40

  
L
T
 N ,xx  EI v%,xx  L  N 
T
&& dx 
v%
0
L
   N  v%,xx 
T T
v%,xxx   N ,x 
  0

Spring 2003 Weighted Residuals 41

 EIv ,xx -M B =0
EIv ,xxx -VB =0

 
L
T
 N ,xx  EI v%,xx  L  N 
T
&& dx 
v%
0
L
 T VB T MB 
   N    N ,x  
 EI EI  0

Spring 2003 Weighted Residuals 42

 &&  N   d
v% &
&
 
v%,xx   B   d
 B    N ,xx 

Spring 2003 Weighted Residuals 43

  k      
L
T
B  EI  B  dx
0

 m     L  
L
T
N   N  dx 
0
L
 VB MB 
 R   
T T
 N    N ,x 
 EI EI  0

Spring 2003 Weighted Residuals 44

 Heat Flow in a Bar
d
dx
 AkT,x 

Af  d  Af 
Af

Spring 2003 Weighted Residuals 45

 %  Te 
T
T   N 

Spring 2003 Weighted Residuals 46

 % N T  N T
T 1 1 2 2

T%
Wi   Ni
d i
 Lx x
 N    
 L L

Spring 2003 Weighted Residuals 47

 L
 d   0 
 
  N
T
 dx % dx   
AkT,x  
0    0

Spring 2003 Weighted Residuals 48

 L
 0 
 AkT%  dx    N   Af     
T
   N ,x 
T
,x
0  0

Spring 2003 Weighted Residuals 49

 %   N  T 
T,x  ,x  e

L
 A1F1 
Ak  N ,x   Te  dx  
T
   N ,x  
0  A 2 F2 

Spring 2003 Weighted Residuals 50

 L

 k T      Ak  N ,x   Te  dx
T
N ,x 
0

 1  1
 kT   kA  
 1  1

Spring 2003 Weighted Residuals 51

Two Dimensional Problems
 
In volume V:  k x ,x    k y ,y   Q  0
x y

  is known
On boundary S: either 
 lk x ,x  mk y ,y  fB  0

Spring 2003 Weighted Residuals 52

 Poisson’s Equation
 
 k x ,x    k y ,y   Q  0
x y
If k  k x  k y  constant:
k   Q  0
2

Spring 2003 Weighted Residuals 53

 Shape Functions

%  N   e 

Shape functions depend on 2D element:L

CST, LST, Quad, Quadratic, etc.

Spring 2003 Weighted Residuals 54

 Galerkin Residuals

 0
 0
     
  N 
T
 %  %
 x k x ,x  y k y ,y  Q   dxdy   
   M
 0 

Spring 2003 Weighted Residuals 55

 Integration by Parts
  
  N 
T
 % 
 x k x ,x  dxdy 
 
T
   N ,x  k x %,xdxdy

   N  k x %,x ldS
T

Spring 2003 Weighted Residuals 56

 Integration by Parts
  
 
  N
T

k % dxdy 
 y y ,y  
 
T
   N ,y  k y %,y dxdy

   N  k y %,y mdS
T

Spring 2003 Weighted Residuals 57

 ,x   N ,x   e 
%

,y   N ,y   e 
%

Spring 2003 Weighted Residuals 58

 Galerkin Residuals

   N 
,x
T
k x  N ,x    N ,y 
T

k y  N ,y  dxdy  e 

   N  Qdxdy    N 
T T
fB dS

Spring 2003 Weighted Residuals 59

 Galerkin Residuals

 k     N ,x  k x  N ,x    N ,y 
T T
k y  N ,y  dxdy

 r    N  Qdxdy   
T T
N  fB dS

Spring 2003 Weighted Residuals 60