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Chapter 3
• Introduction
• Differential formulation
• Principle of Virtual Work
• Variational formulations
• Approximative methods
• The Galerkin Approach
d 2u
AE 2 = 0 Strong Form
dx
Boundary Conditions (BC)
Given: Length L, Section Area A, Young'ʹs modulus E
Find: stresses and deformations.
u(0) = 0 Essential BC
σ ( L) = 0 ⇒
Assumptions:
The cross-‐‑section of the bar does not change after loading.
du
The material is linear elastic, isotropic, and homogeneous.
AE =R Natural BC
The load is centric.
dx x= L
End-‐‑effects are not of interest to us.
Method of Finite Elements I
Institute of Structural Engineering Page 6
Definition
The strong form of a physical process is the well posed
set of the underlying differential equation with the
accompanying boundary conditions
Analytical Solution:
du(x)
u(x) = uh = C1x + C2 & ε (x) = = C1 = const!
dx
and a generic expression of the accompanying set of boundary conditions:
: Essential or Dirichlet BCs
Disadvantages
The analytical solution in such equations is
i. In many cases difficult to be evaluated
ii. In most cases CANNOT be evaluated at all. Why?
• Complex geometries
• Complex loading and boundary conditions
ε = LU ⎡ ∂ ⎤
⎢ 0 0 ⎥
⎢ ∂x ⎥
⎢ ∂ ⎥
⎢ 0 0 ⎥
⎢ ∂y ⎥
⎢ ∂ ⎥
⎡ U ⎤ ⎢ 0 0 ⎥
∂z
U = ⎢ V ⎥, L=⎢ ⎥ , ε T = ⎡ ε xx ε yy ε zz 2ε xy 2ε yz 2ε xz ⎤
⎢⎣ ⎥⎦
⎢ ⎥ ⎢ ∂ ∂ ⎥
⎢⎣ W ⎥⎦ ⎢ 0 ⎥
∂y ∂x
⎢ ⎥
⎢ ∂ ∂ ⎥
⎢ 0 ⎥
∂z ∂y
⎢ ⎥
⎢ ∂ ∂ ⎥
⎢ 0 ⎥
⎣ ∂z ∂x ⎦
⎡ ∂2 ∂2 ∂2 ⎤
⎢ ∂y 2 0 −2 0 0 ⎥
⎢ ∂x 2 ∂x∂y ⎥
⎢ ∂2 ∂2 ∂2 ⎥
⎢ 0 0 −2 0 ⎥
⎢ ∂z 2 ∂y 2 ∂y∂z ⎥
⎢ ∂2 ∂2 ∂2 ⎥
⎢ 2 0 0 0 −2 ⎥
∂z ∂x 2 ∂x∂z ⎥
L1ε = 0 ⇒ L1 = ⎢ 2
⎢ ∂ ∂2 ∂2 ∂2 ⎥
⎢ 0 0 − − ⎥
⎢ ∂y∂z ∂x∂z ∂x 2 ∂x∂y ⎥
⎢ ∂2 ∂2 ∂2 ∂2 ⎥
⎢ 0 0 − − ⎥
⎢ ∂x∂z ∂z∂y ∂x∂y ∂y ⎥
2
⎢ ⎥
⎢ 0 ∂2 ∂2 ∂2 ∂2 ⎥
0 − −
⎢⎣ ∂x∂y ∂z 2 ∂x∂z ∂y∂z ⎥⎦
Body loads: L2 τ + f B = 0
τT = ⎡⎣τ xx τ yy τ zz τ xy τ yz τ zx ⎤⎦ , L 2 =LT
Surface loads:
⎡ l 0 0 m 0 n⎤
where N = ⎢⎢0 m 0 l n 0 ⎥⎥
sf
on s f we have Ντ − f =0
⎢⎣0 0 n 0 m l ⎥⎦
l, m and n are cosines of the angles between the normal on the
surface and X, Y and Z
τ = Cε
−1
ε=C τ
Differential Formulation
∫ ∫ f dV + ∫ U f f dS + ∑ U iT R iC
SfT S
ε T
τ dV = U T B
V V Sf i
Variational Formulation
W = ∫ f Udv + ∫ f Uds
BT Sf
v s
Variational Formulation
• By utilizing the variational formulation, it is possible to
obtain a formulation of the problem, which is of lower
complexity than the original differential form (strong
form).
• This is also known as the weak form, which however can
also be a_ained by following an alternate path (see
Galerkin formulation).
• For approximate solutions, a larger class of trial functions
than in the differential formulation can be employed; for
example, the trial functions need not satisfy the natural
boundary conditions because these boundary conditions
are implicitly contained in the functional – this is
extensively used in MFE.
Approximative Methods
Instead of trying to find the exact solution of the continuous
system, i.e., of the strong form, try to derive an estimate of what
the solution should be at specific points within the system.
The procedure of reducing the physical process to its discrete
counterpart is the discretisation process.
Approximative Methods
Variational Methods Weighted Residual Methods
approximation is based on the
start with an estimate of the the solution and
minimization of a functional, as those
demand that its weighted average error is
defined in the earlier slides.
minimized
• Rayleigh-Ritz Method
• The Galerkin Method
• The Least Square Method
• The Collocation Method
• The Subdomain Method
• Pseudo-spectral Methods
aL2 ax 3
u( x) = x−
2EA 6EA
x
3 2.5
2.5 2
2
1.5
1.5
1
1
0.5 0.5
0 0
0 0.5 1 1.5 2 0 0.5 1 1.5 2
Length (m) Length (m)
x
d 2u
AE 2 = −ax Strong Form
dx
Boundary Conditions (BC)
Given an arbitrary weighting function w
that satisfies the essential conditions and u(0) = 0 Essential BC
additionally:
σ ( L) = 0 ⇒
du
AE =0 Natural BC
If
then,
dx x= L
why?
why?
x
Therefore, the weak form of the problem is defined as
Find
such that:
Observe that the weak form involves derivatives of a lesser order than the
original strong form.
Method of Finite Elements I
Institute of Structural Engineering Page 30
Assumption 2: The weight function is approximated using the same
scheme as for the solution
Remember that the
weight function must
also satisfy the BCs
where:
( )
EAu2 − x ( ax ) dx = 0 ⇒ u2 = α
L2
L
w2 ∫
0 3EA
Wasn’t that much easier? But….is it correct?
2.5
1.5
0.5
0
0 0.5 1 1.5 2
Length (m)
element: 1 element: 2
1 2 3
Instead of seeking the solution of a single bar we chose to divide it into three
interconnected and not overlapping elements
1 2 3
1 2 3
Vector of
degrees of
freedom
Displacement
field
Shape Function
Matrix
The weak form also involves the first derivative of the approximation
and set:
Why??
or even be]er