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Chapter 4
Isoparametric Elements
• Isoparametric elements
• 1D Demonstration: Bar elements
Displacement
field
Strain field
Displacement
field
The weak form also involves the first derivative of the approximation
d [ N ( x)]
=ε = {d } [ B ] {d }
Strain field dx
Strain
d [ N ( x) ] 1 Displacement
where [ B=] = [ −1 1] Matrix
dx L
Method of Finite Elements I
Institute of Structural Engineering Page 6
and set:
Why??
or even better
L 1 −1 1
k =
L
[ ] ∫0 [ ] [ ]
B
T
EA B dx = [ k] ∫ EA [ −1 1] dx ⇒
0 L1 L
⇒
[ B ] = −1 L 1 L = 1 −1
2 EA [ −1 1] L ⇒
L 1
EA 1 −1
[k ] = bar
L −1 1 stiffness!
=
In general we may write: u ( x) ∑=
N ( x)u
i
i i Nu
where:
u ( x) is the function under investigation (for example:
displacement field)
N( x) is the shape functions matrix
u = [u1 u2 u N ]
T
is the vector of unknowns in the nodes
(for example: displacements)
Method of Finite Elements I
30-Apr-10
Institute of Structural Engineering Page 10
H4 H5
m +1
∑ i
φ ( x) ≈ φ ( x) =L ( x ) φ
i =1
i
where:
Li ( x ) ∏
= =
x − xjm +1
( x − x1 )( x − x2 ) ( x − xm+1 )
j =1 xi − x j ( xi − x1 )( xi − x2 ) ( xi − xm+1 )
i≠ j
1 L1 1 L2
x2 − x 1− 2 x − x1
Therefore: L11− 2 ( x )
= = , L2 ( x )
x2 − x1 x2 − x1
x4 − x 4−3 x − x3
L ( x) =
= 4 −3
1 , L2 ( x )
x4 − x3 x4 − x3
Method of Finite Elements I
30-Apr-10
Institute of Structural Engineering Page 15
x2 − x x − x1
φ1− 2
= φ1 + φ2
x2 − x1 x2 − x1
y x4 − x x − x3
1( x1 , y1 ) φ3− 4
= φ3 + φ4
x4 − x3 x4 − x3
2 ( x2 , y2 )
x
1 L1 1 L2
φ = L1 ( y ) φ1− 2 + L2 ( y ) φ3− 4 =
= L11− 4 ( y ) L11− 2 ( x ) φ1 + L12−3 ( y ) L12− 2 ( x ) φ2 + L22−3 ( y ) L14−3 ( x ) φ3 + L12− 4 ( y ) L42−3 ( x ) φ4
( x2 − x )( y4 − y ) ( x − x1 )( y3 − y ) ( x4 − x )( y − y2 ) ( x − x3 )( y − y1 )
u ( x, y ) = u1 + u2 + u3 + u4
( 2 1 )( 4 1 )
x − x y − y ( 2 1 )( 3 2 )
x − x y − y ( 4 3 )( 3 2 )
x − x y − y ( 4 3 )( 4 1 )
x − x y − y
( x2 − x )( y4 − y ) ( x − x1 )( y3 − y ) ( x4 − x )( y − y2 ) ( x − x3 )( y − y1 )
v ( x, y ) = v1 + v2 + v3 + v4
( x2 − x1 )( y4 − y1 ) ( x2 − x1 )( y3 − y2 ) ( x4 − x3 )( y3 − y2 ) ( x4 − x3 )( y4 − y1 )
Serendipity Polynomials
These functions are similar to Lagrangian polynomials, but for their
incompleteness (missing terms). Due to this fact we do not need to introduce
additional inner nodes, as for Lagrangian polynomials of higher order.
Lagrange Polynomials
Serendipity Polynomials
Hermitian Polynomials
Lagrangian polynomials and serendipity functions provide a C0
continuity. If we additionally need continuity of the first derivatives
between the finite elements we use Hermitian polynomials.
A Hermitian polynomial of the order n, Hn(x), is a 2n+1 order
polynomial. For example a Hermitian polynomial of the first order is
actually a third order polynomial.
Let us consider a bar element with nodes on its ends. Unknowns are
values of the function φ in the nodes 1 and 2, φ1 and φ2, and first
derivatives of φ in respect to x , φ1,x and φ2,x
ϕ ( x) dϕ ( x ) dϕ ( x )
ϕ2,x=ϕ1, x = , ϕ2, x
ϕ1 dx x x= dx x
= x2
ϕ1,x ϕ2 1
Hermitian Polynomials
Hermitian shape functions relate not only the displacements at
nodes to displacements within the elements but also to the first
order derivatives (e.g. rotational DOFs for a beam element).
2
∂ui ( x)
=
Shape function u ( x) ∑ N0i ( x ) ui + N1i ( x ) ∂x
Shape function of
the derivative
of u(x) i =1
u´(x)
N 01 N 02
N 0i ( x ) = 1 at node i and 0 at other nodes
N 0′i ( x ) = 0 at all nodes
N1i ( x ) = 0 at all nodes
N1′i ( x ) = 1 at node i and 0 at other nodes N11
N12
Isoparametric Elements
In general, we would like to be able to represent any element in a
standardized manner – introducing a transformation between a set
of standardized (natural) coordinates and the real (global)
coordinates
Different schemes exist for establishing such transformations:
Here we will use this one
Isoparametric Elements
Displacement fields as well as the geometrical representation of the
finite elements are approximated using the same approximating
functions – shape functions
4 uˆ4 , vˆ4
s
y -1, 1 1, 1
Isoparametric Elements
Geometric interpolation
n n n
same approximating = x = hi xi ; y = ∑
hi yi ; z ∑
hi zi ∑
functions – shape =i 1 =i 1 =i 1
functions for n n n
=u ∑=
h uˆ ; v ∑
i i i i=
=i 1 =i 1 =i 1
h vˆ ; w ∑ h wˆ
i i
Displacement Interpolation
Isoparametric Elements
In order to establish the stiffness matrixes we must differentiate the
displacements with respect to the coordinates (x, y, z).
∂φ ∂φ ∂x ∂φ ∂y ∂φ ∂z
= + +
∂r ∂x ∂r ∂y ∂r ∂z ∂r
∂φ ∂φ ∂x ∂φ ∂y ∂φ ∂z Chain rule of differentiation!
= + +
∂s ∂x ∂s ∂y ∂s ∂z ∂s
∂φ ∂φ ∂x ∂φ ∂y ∂φ ∂z
= + +
∂t ∂x ∂t ∂y ∂t ∂z ∂t
Method of Finite Elements I
30-Apr-10
Institute of Structural Engineering Page 29
Isoparametric Elements
∂φ ∂φ ∂x ∂φ ∂y ∂φ ∂z ∂φ ∂x ∂y ∂z ∂φ
= + +
∂r ∂x ∂r ∂y ∂r ∂z ∂r ∂r ∂r ∂r ∂r ∂x
∂φ ∂φ ∂x ∂φ ∂y ∂φ ∂z ∂φ = ∂x ∂y ∂z ∂φ
= + + ⇒
∂s ∂x ∂s ∂y ∂s ∂y ∂s ∂s ∂s ∂s ∂s ∂y
∂φ ∂φ ∂x ∂φ ∂y ∂φ
= + +
∂z ∂φ ∂x ∂y ∂z ∂φ
∂t ∂x ∂t ∂y ∂t ∂z ∂t ∂t ∂t ∂t ∂t ∂z
Isoparametric Elements
∂φ ∂x ∂y ∂z ∂φ
∂r ∂r ∂r ∂r ∂x
∂ ∂ ∂ −1 ∂
∂φ = ∂x ∂y ∂z ∂φ = J ⇒ = J
∂s ∂s ∂s ∂s ∂y ∂r ∂x ∂x ∂r
∂φ ∂x ∂y ∂z ∂φ
∂t ∂t ∂t ∂t ∂z
Is there a function that can map each point on the x axis to a point on the
r axis, so that:
1.
2.
Bar Element
x2
The relation between the x-coordinate y
x1
and the r-coordinate is given as:
1 1 x
x= (1 − r ) x1 + (1 + r ) x2 û1 û2
2 2
2 r = −1 r =0 r =1
= ∑ N i ( r ) xi
i =1
Isoparametric Elements
ε = Buˆ
and then we can write up the integrals for calculating the stiffness
matrix:
K = ∫ BT EABdV
V
= ∫ BT EAB det J dr ds dt
V
Bar Element
We need to be able to establish the strains – meaning we need to be
able to take the derivatives of the displacement field in regard to
the x-coordinate
x2
y
du du dr x1
ε
= =
dx dr dx
du d 1 1 1 x
= (1 − r )uˆ1 + (1 + r )uˆ 2 = ( uˆ2 − uˆ1 ) û1 û2
dr dr 2 2 2
dx d 1 1 1 L r = −1 r =0 r =1
= (1 − r ) x1 + (1 + r ) x2 = ( x2 − x1 ) = =J
dr dr 2 2 2 2
⇓ B
dx 2
du du dr uˆ2 − uˆ1 uˆ2 − uˆ1 1 uˆ2 −1
= J=
=ε= = = = [1 −1] uˆ dr L
dx dr dx x2 − x1 L L 1
Bar Element
The strain-displacement matrix then becomes:
1 uˆ2
B= [ −1 1] since ε =
B
L uˆ1
or this also occurs as
∂N ( x ) dN ( r ) dr d 1 J= L
−1 2 1
B= = = [1 − r 1 + r ] J = [ −1 1]
∂x dr ds dx 2 L
AE −1
1
dx L
K=2 ∫ [ −1 1] Jdr , J= = ⇒
L −1 1 dr 2
1
AE L 1 −1 AE 1 −1
K = r ⇒ K
L2 2 −1 1 −1 L −1 1
Method of Finite Elements I
30-Apr-10
Institute of Structural Engineering Page 36
Quadrature
AE −1
1
=K 2 ∫ [ −1 1] Jdr
L −1 1