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Course Information
Instructor
Prof. Dr. Eleni Chatzi, email: chatzi@ibk.baug.ethz.ch
Office Hours: HIL E14.3, Wednesday 10:00-12:00 or by email
Assistant
Adrian Egger, HIL E13.1, email: egger@ibk.baug.ethz.ch
Course Website
Lecture Notes and Homeworks will be posted at:
http://www.chatzi.ibk.ethz.ch/education/method-of-finite-elements-ii.html
Suggested Reading
Nonlinear Finite Elements for Continua and Structures, by T.
Belytschko, W. K. Liu, and B. Moran, John Wiley and Sons, 2000
The Finite Element Method: Linear Static and Dynamic Finite
Element Analysis, by T. J. R. Hughes, Dover Publications, 2000
Lecture Notes by Carlos A. Felippa
Nonlinear Finite Element Methods (ASEN 6107): http://www.
colorado.edu/engineering/CAS/courses.d/NFEM.d/Home.html
Institute of Structural Engineering
Course Outline
Review of the Finite Element method - Introduction to
Non-Linear Analysis
Non-Linear Finite Elements in solids and Structural Mechanics
-
Eigenvalue Problems
Special Topics
- The Scaled Boundary Element & Extended Finite Element methods
Institute of Structural Engineering
Grading Policy
Performance Evaluation - Homeworks (100%)
Homework
Homeworks are due in class within 3 weeks after assignment
Computer Assignments may be done using any coding language
(MATLAB, Fortran, C, MAPLE) - example code will be
provided in MATLAB
Commercial software such as ABAQUS and SAP will also be
used for certain Assignments
Homework Sessions will be pre-announced and it is advised to bring
a laptop along for those sessions
Help us Structure the Course!
Participate in our online survey:
http://goo.gl/forms/ws0ASBLXiY
Institute of Structural Engineering
Discrete
q|y+dy
q|x
dy
dx
q|x+dx
q|y
h1
h2
Flow
of water
Permeable Soil
Impermeable Rock
2
2x
2
2y
=0
Laplace Equation
F = KX
Direct Stiffness Method
Discrete
q|y+dy
q|x
dy
dx
q|x+dx
q|y
h1
h2
Flow
of water
Permeable Soil
Impermeable Rock
2
2x
2
2y
=0
Laplace Equation
F = KX
Direct Stiffness Method
Equilibrium Equations
aL + ax
ex. f (x) = R +
(L x)
2
Constitutive Requirements
Equations
ex. = E
Kinematics Relationships
du
ex. =
dx
Institute of Structural Engineering
x
aL
ax
f(x)
L-x
Method of Finite Elements II
u
u u
A(x, y ) 2 ux + 2B(x, y ) xy
+ C (x, y ) 2 yu = (x, y , u, y
, y )
Problem Classification
B 2 AC < 0 elliptic
B 2 AC = 0 parabolic
B 2 AC > 0 hyperbolic
Institute of Structural Engineering
(Neumann BC)
(Dirichlet BC)
Diff. Equation
+ = 0
+ = 0
Quantities
T=temperature
A=area
k=thermal
conductivity
Q=heat supply
u=displacement
A=area
E=Youngs
modulus
B=axial loading
Constitutive
Law
Fourier
= /
= heat flux
Hooke
= /
= stress
10
11
12
T d = Wext =
T bd +
u
ST TS d +
u
iT RC i
u
where
TS : surface traction (along boundary )
b: body force per unit area
RC : nodal loads
: virtual displacement
u
: virtual strain
: stresses
Institute of Structural Engineering
13
[w (0)(c(0)u 0 (0) + C1 ] = 0
14
wg dx =
[wg ]l0
gw 0 dx
w cu dx =
0
wfdx + w (0)C1
0
S = {u|u C 0 , u(l) = 0}
S 0 = {w |w C 0 , w (l) = 0}
Institute of Structural Engineering
15
Weak Form
Notes:
1
A solution to the strong form will also satisfy the weak form, but not
vice versa. Since the weak form uses a lower order of derivatives it can
be satisfied by a larger set of functions.
For the derivation of the weak form we can choose any weighting
function w , since it is arbitrary, so we usually choose one that satisfies
homogeneous boundary conditions wherever the actual solution
satisfies essential boundary conditions. Note that this does not hold
for natural boundary conditions!
Institute of Structural Engineering
16
FE formulation: Discretization
How to derive a solution to the weak form?
Step #1:Follow the FE approach:
Divide the body into finite elements, e, connected to each other
through nodes.
Then break the overall integral into a summation over the finite
elements:
"
#
Z xe
X Z x2e
2
w 0 cu 0 dx
wfdx w (0)C1 = 0
e
x1e
x1e
17
where bold notation signifies a vector and Ni (x) are the shape functions.
In fact, the shape function can be any mathematical formula that helps us
interpolate what happens at points that lie within the nodes of the mesh.
In the 1-D case that we are using as a reference, Ni (x) are defined as 1st
degree polynomials indicating a linear interpolation.
18
,
xi1 x < xi
x
local
system of the element (see page
i+1
i
0,
otherwise
25).
Institute of Structural Engineering
19
u = [u1
u2 ]T
w = [w1
w2 ]T
X
he dNi
(Ni +
)wi
dx
i
= coth(
Pe e
2
) e
2
Pe
coth =
e x + e x
e x e x
20
0
l
(wT NT )0 c(Nu)0 dx
wT NT fdx wT N(0)T C1 = 0
dN
(x)
j
dx
c
wj
dx
0
i
j
Z l X
X
f
wj Nj (x)dx
wj Nj (x)C1
=0
0
j
j
dNi (x)
ui
dx
x=0
21
"Z
wj
0
X
i
#
fNj (x)dx + (Nj (x)C1 )|x=0 = 0
The above equation has to hold wj since the weighting function w (x) is
an arbitrary one. Therefore the following system of equations has to hold:
!
Z l X
dNi (x) dNj (x)
cui
fNj (x)dx + (Nj (x)C1 )|x=0 = 0 j = 1, ..., n
dx
dx
0
i
After reorganizing and moving the summation outside the integral, this
becomes:
#
"
Z l
X Z l dNi (x) dNj (x)
c
ui =
fNj (x)dx + (Nj (x)C1 )|x=0 = 0 j = 1, ..., n
dx
dx
0
0
i
22
K = Ae K K =
x2e
NT
,x cN,x dx
x1e
f = Ae f e f e =
x2e
x1e
x2e
BT cBdx
x1e
NT fdx + NT h|x=0
23
i=1,2
1
N1 () = (1 ),
2
Institute of Structural Engineering
1
N2 () = (1 + )
2
Method of Finite Elements II
24
where N, =
and x, =
d
d
1
(1
2
1
(1
2
+ )
1
2
1
2
x e x1e
h
dx
= 2
= = J (Jacobian) and h is the element length
d
2
2
,x =
d
= J 1 = 2/h
dx
c
x2e x1e
1
1
1
1
25
26
26
26
Exterior
model
95% are
shell
elements
FEM model:
150000 Nodes
Internal structure
zoom. Some Brick
and tetrahedral
elements
http://www.colorado.edu/engineering/CAS/Felippa.d/FelippaHome.d/Home.html
27
Beam Elements
Two main beam theories:
Euler-Bernoulli theory (Engineering beam theory) -slender beams
Timoshenko theory thick beams
Euler - Bernoulli Beam
28
Beam Elements
Euler Bernoulli Beam Assumptions - Kirchhoff Assumptions
Normals remain straight (they do not bend)
Normals remain unstretched (they keep the same length)
Normals remain normal (they always make a right angle to the neutral
plane)
29
30
shear force
31
(2)
(S)
(3)
Simple support
(4)
Clamped support
(5)
32
Cheat Sheet
Basic Formulas-Shape Functions
The order of the shape functions is chosen based on the problems strong
form. Moreover, the shape functions are usually expressed in the
iso-parametric coordinate system
Bar Element
d 2u
+ f (x) = 0. The
dx 2
d2u
homogeneous form is AE dx 2 = 0 which is a 2nd order ODE with known solution:
u(x) = C1 x + C2 , i.e., a 1st degree polynomial.
For the standard bar element, the strong form is AE
The shape functions N() are therefore selected as 1st degree polynomials:
1
(1 )
u1
N() = 2
1
u2
(1 + )
2
33
Cheat Sheet
Basic Formulas-Shape Functions
Beam Element
d2
d 2
For the standard beam element, the strong form is
EI 2 + f (x) = 0.
dx 2
dx
2
2
d
d
The homogeneous form is
EI 2 = 0 which is a 4th order ODE with
dx 2
dx
known solution: u(x) = C1 x3 + C2 x 2 + C3 x + C4 , i.e., a 3rd degree polynomial.
The shape functions H() are therefore selected as 3rd degree polynomials:
1
(1 )2 (2 + )
u1
4
1
(1 )2 (1 + ) 1
4
H() =
1
2
(1 + ) (2 + ) u2
4
1
2
2
(1 + ) ( 1)
4
Institute of Structural Engineering
34
Cheat Sheet
Basic Formulas-Stiffness Matrices
Going from Strong to Weak form yields the expressions of the equivalent
stiffness matrix for each element:
Bar Element
Z
Kij =
0
dNj (x)
dNi (x)
AE
dx
dx
dx
35
Cheat Sheet
Basic Formulas-Stiffness Matrices
Going from Strong to Weak form yields the expressions of the equivalent
stiffness matrix for each element:
Beam Element
Z
Kij =
0
d 2 Hj (x) d 2 Hi (x)
EI
dx
dx 2
dx 2
12
6l 12 6l
Z L
EI 6l
4l 2 6l 2l 2
Ke =
BT EI Bdx = 3
l 12 6l 12 6l
0
6l
2l 2 6l 4l 2
where l is the length of the element.
Institute of Structural Engineering
36
Equilibrium Eq:
Kinematic Eq:
Constitutive Eq:
Traction B.C.:
Displacement B.C:
s + b = 0
= s u
=D
n = Ts
u = u
t
u
1
0
E
1
0
D=
1 2
0 0 1
2
zz = xz = yz = 0, zz 6= 0
1
E
D=
(1 )(1 + )
0
1
0
0
0
12
2
37
2D FE formulation: Discretization
Divide the body into finite elements connected to each other through
nodes
38
1
N2 (, ) = (1 + )(1 )
4
1
N4 (, ) = (1 )(1 + )
4
Iso-parametric Mapping
x=
y=
4
X
i=1
4
X
Ni (, )xie
Ni (, )yie
i=1
39
Ktot d = f tot
where
Ke =
BT DBd,
fe =
N T Bd +
N T ts d
eT
*The total stiffness Ktot is obtained via assembly of the element matrices Ke .
The same holds for the force vectors.
Institute of Structural Engineering
40
41
(x)
R
=
E
AE
Hence, the deformation (x) is obtained from kinematics as:
(x) =
(x)
Rx
(x) =
x
AE
Note: The stress & strain is independent of x for this case of
loading.
=
42
aL + ax
a(L2 x 2 )
(L x) = R +
( depends on x)
2
2
43
d
A = q(x)x + A( + ) A |{z}
lim
+ q(x) = 0 A
+ q(x) = 0
x
dx
x0
Also, =
du
d 2u
, = E , q(x) = ax AE 2 + ax = 0
dx
dx
Strong Form
d 2u
+ ax = 0
dx 2
u(0) = 0 essential BC
du
f(L) = R AE
dx
AE
= R natural BC
x=L
Analytical Solution
u(x) = uhom + up u(x) = C1 x + C2
ax 3
6AE
44
AE
0
d 2u
wdx +
dx 2
axwdx = 0
0
AE
dx
2
dx
dx
dx dx
0
0
0
Z L
Z L
d 2u
du dw
du
du
AE 2 wdx = AE
(L)w(L) AE
(0)w(0)
AE
dx
dx
dx
dx
dx dx
0
0
AE
AE
0
du dw
dx = Rw(L) +
dx dx
axwdx
0
45
u(x) =
n
X
uj Nj (x)
j=1
w is chosen to be of the same form as the approximate solution (but with arbitrary
coefficients wi ),
w(x) =
n
X
wi Ni (x)
i=1
AE
0
n
X
j=1
uj
Z L X
n
n
n
X
dNj (x) X dNi (x)
ax
wi Ni (x)dx
wi
dx = R
wi Ni (L) +
dx
dx
0
i=1
i=1
i=1
Z L
dNj (x)
dNi (x)
AE
dx uj = RNi (L) +
axNi (x)dx
dx
dx
0
i = 1...n
which is a system of n equations that can be solved for the unknown coefficients uj .
Institute of Structural Engineering
46
Z
Kij uj = fi where Kij =
0
dNj (x)
dNi (x)
AE
dx
dx
dx
axNi (x)dx
Ktot
e
K11
1
K12
=
0
Ktot
1
AE
1
=
h
0
1
K12
1
2
K22 + K11
2
K12
1
2
1
0
2
K12
2
K22
0
1
1
47
48
49