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Assistant
Adrian Egger, HIL E13.1, email: egger@ibk.baug.ethz.ch
Course Website
Lecture Notes and Homeworks will be posted at:
http://www.ibk.ethz.ch/ch/education
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
The Finite Element Method Vol. 2 Solid Mechanics by O.C.
Zienkiewicz and R.L. Taylor, Oxford : Butterworth Heinemann, 2000
Institute of Structural Engineering Method of Finite Elements II 2
Course Outline
Eigenvalue Problems
Special Topics
- Boundary Element & Extended Finite Element methods
Examples
The Bar Element
The Beam Element
Discrete Continuous
q|y+dy
q|x
dy
q|x+dx
dx
q|y
h1
h2
Flow
L of water
Permeable Soil
Impermeable Rock
F = KX 2 2
k 2x + 2y =0
Direct Stiffness Method Laplace Equation
d du
c(x) + f(x) = 0
dx dx
d
c(0) u(0) = C1 (Neumann BC)
dx
u(L) = 0 (Dirichlet BC)
Constitutive
Physical Problem (1D) Diff. Equation Quantities
Law
T=temperature
A=area Fourier
One dimensional Heat
+ = 0 k=thermal = /
flow conductivity = heat flux
Q=heat supply
u=displacement
A=area Hooke
Axially Loaded Bar + = 0 E=Youngs = /
modulus = stress
B=axial loading
Z Z Z X
Wint = T d = Wext = uT bd + uST TS d + uiT RC i
i
where
TS : surface traction (along boundary )
b: body force per unit area
RC : nodal loads
u: virtual displacement
: virtual strain
: stresses
The potential energy is defined as the strain energy U minus the work of
the external loads W
=UW
Z
1
U= T C d
2
Z Z X
i
W= uT bd + uST Ts dT + uT
i RC
T i
(b Ts , RC as defined previously)
Z l Z l
0
wg dx = [wg ]l0 gw 0 dx
0 0
Z l Z l
0 0
w cu dx = wfdx + w (0)C1
0 0
S = {u|u C 0 , u(l) = 0}
S 0 = {w |w C 0 , w (l) = 0}
Institute of Structural Engineering Method of Finite Elements II 16
Weak Form
Notes:
1 2
Then break the overall integral into a summation over the finite
elements:
" #
X Z x2e Z xe
2
w 0 cu 0 dx wfdx w (0)C1 = 0
e x1e x1e
Galerkins method assumes that the approximate (or trial) solution, u, can
be expressed as a linear combination of the nodal point displacements ui ,
where i refers to the corresponding node number.
X
u(x) u h (x) = Ni (x)ui = N(x)u
i
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.
As will be shown in the application presented in the end of this lecture, for the
case of a truss element the linear polynomials also satisfy the homogeneous
equation related to the bar problem.
!
Z l X dNi (x) dN j (x)X
ui c wj dx
0 dx dx
i j
Z l X X
f wj Nj (x)dx wj Nj (x)C1 =0
0 j j
x=0
"Z ! #
l
X X dNi (x) dNj (x)
wj cui fNj (x)dx + (Nj (x)C1 )|x=0 = 0
0 dx dx
j i
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
0 dx dx
i
After reorganizing and moving the summation outside the integral, this
becomes:
" #
X Z l dNi (x) dNj (x) Z l
c ui = fNj (x)dx + (Nj (x)C1 )|x=0 = 0 j = 1, ..., n
0 dx dx 0
i
Ku = f
where writing the integral from 0 to l as a summation over the
subelements we obtain:
Z x2e Z x2e
e e
K = Ae K K = NT
,x cN,x dx = BT cBdx
x1e x1e
Z x2e
f = Ae f e f e = NT fdx + NT h|x=0
x1e
1 2 1 1
d 1 1
1 1
where N, = 2
(1 ) 2
(1 + ) = 2 2
d
dx x e x1e h
and x, = = 2 = = J (Jacobian) and h is the element length
d 2 2
d
,x = = J 1 = 2/h
dx
From all the above,
c 1 1
Ke =
x2e x1e 1 1
Similary, we obtain the element load vector:
Z x2e Z 1
fe = NT fdx + NT h|x=0 = NT ()fx, d + NT (x)h|x=0
x1e 1
1:K1 2:K2
Red indicates the node each
1 2 3
component corresponds to
1 2 2 3
1 1 1 1 1 2
Element Stiffness Matrices (2x2): 1 = 2, 2 = 3
1 1 1 1
1 2 3
1 1 0 1
Total Stiffness Matrix (4x4): = 1 1 + 1 1 2
0 1 1 3
1 2
*The process will be shown explicitly
during the HW sessions
u1 u2y
2
1 1:K1 2 u2x
Green indicates the dof each
2
component corresponds to
2:K
3
u3 u1 1 u2y 2 u2x 2 u3 3
3
1 1
12 1
13 1
14 2 2
12 2
13 2
14
111 1 1 1
u1 112 2 2 2
u2x
1 12 22 23 24 1 2 12 22 23 24 2
Element Stiffness Matrices (4x4): = 1 1 1 1 u2y, = 2 2 2 2
13 23 33 34 13 23 33 34
u3
1 1 1 1 2 2 2 2 2 3
14 24 34 44 14 24 34 44
Assumptions:
The cross-section of the bar does not change after loading.
The material is linear elastic, isotropic, and homogeneous.
The load is centric.
End-effects are not of interest to us.
du d 2u
Also, = , = E , q(x) = ax AE 2 + ax = 0
dx dx
Strong Form
d 2u
AE + ax = 0
dx 2
u(0) = 0 essential BC
du
f(L) = R AE = R natural BC
dx x=L
Analytical Solution
ax 3
u(x) = uhom + up u(x) = C1 x + C2
6AE
C1 , C2 are determined from the BC
Institute of Structural Engineering Method of Finite Elements II 33
Axially Loaded Bar Example
An analytical solution cannot always be found
Approximate Solution - The Galerkin Approach (#3): Multiply by the weight function
w and integrate over the domain
Z L d 2u
Z L
AE wdx + axwdx = 0
0 dx 2 0
L du l
Z L
d 2u
Z
du dw
AE
2
wdx = AE w AE dx
0 dx dx 0 0 dx dx
Z L Z L
d 2u
du du du dw
AE 2 wdx = AE (L)w(L) AE (0)w(0) AE dx
0 dx dx dx 0 dx dx
In addition, = E du
dx
Z L du d(u)
Z L
A E dx = qudx + Ru|x=L
0 dx dx 0
n
X
u(x) = uj Nj (x)
j=1
w is chosen to be of the same form as the approximate solution (but with arbitrary
coefficients wi ),
n
X
w(x) = wi Ni (x)
i=1
L n n n Z L X n
dNj (x) X dNi (x)
Z X X
AE uj wi dx = R wi Ni (L) + ax wi Ni (x)dx
0 j=1
dx i=1
dx i=1 0 i=1
n Z L Z L
X dNj (x) dNi (x)
AE dx uj = RNi (L) + axNi (x)dx i = 1...n
j=1 0 dx dx 0
which is a system of n equations that can be solved for the unknown coefficients uj .
Institute of Structural Engineering Method of Finite Elements II 36
Axially Loaded Bar Example
The matrix form of the previous system can be expressed as
Z L
dNj (x) dNi (x)
Kij uj = fi where Kij = AE dx
0 dx dx
Z L
and fi = RNi (L) + axNi (x)dx
0
e 1
K11 K12 0
Ktot = 1
K12 1 2
K22 + K11 2
K12
2 2
0 K12 K22
1 1 0
AE
Ktot = 1 2 1
h
0 1 1
Institute of Structural Engineering Method of Finite Elements II 37
Axially Loaded Bar Example
After the vectors are formulated we proceed with solving the main equation
Ku = f u = K1 f.
The results are plotted below using 3 elements:
Exterior
model
95% are
shell
elements
Internal structure
zoom. Some Brick
FEM model: and tetrahedral
150000 Nodes elements
http://www.colorado.edu/engineering/CAS/Felippa.d/FelippaHome.d/Home.html
Equilibrium
shear force
(1)
Free end with applied load
(2)
(S) (3)
Simple support
(4)
Clamped support
(5)
Second integration by by
Second integration parts gives
parts gives
Second integration by parts gives
Second integration by parts gives
(W)
Note:
Note:1. The spaces are C1 continuous, i.e. the derivative must also be
continuous
1. The spaces are C 1 continuous, i.e. the derivative must also be
continuous
2. The left side is symmetric in w and v (bi-linear form: a(v,w)=a(w,v)
2. The left
this willside is to
lead symmetric instiffness
symmetric w and matrix
(bi-linear form:
a(, w )=a(w , )) this will lead to a symmetric Stiffness Matrix
Institute of Structural Engineering Method of Finite Elements II 47
Beam Elements - FE Formulation
Physical domain
Natural domain
Element Element
displacement force
vector vector
However note, that the rotation is actually the derivative of the (vertical)
d
deflection: =
dx
d d
The connection between and is delivered via the Jacobian. This is
dx d
calculated from the coordinate transformation relationship:
1 e 1+ e d l e d
x= x1 + x2 ==
2 2 d 2 dx
dx le
J= =
d 2
where l e is the length of the element.
Force vector
Pre-processing
[3]
For element (2) we have [4]
[5]
[6]
(distributed
loads) (Point loads)
-9
-
15.3
-4 =KNOWN
15.3
-20
20
Post-processing
Governing Equations
Equilibrium Eq: s + b = 0
Kinematic Eq: = s u
Constitutive Eq: =D
Traction B.C.: n = Ts t
Displacement B.C: u = u u
Divide the body into finite elements connected to each other through
nodes
Iso-parametric Mapping
4
X
x= Ni (, )xie
i=1
X4
y= Ni (, )yie
i=1
Gauss Quadrature
Z 1Z 1
I = f (, )dd
1 1
Ngp
XX Ngp
= Wi Wj f (i , j )
i=1 i=1