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[ K ] {Q} = {P}
Approximate but acceptable solutions are Exact solutions can be obtained for few
1
obtained to all kinds of problems standard problems only
FEM does not make assumptions but In case of complexities, classical methods
2 treats the problems as it is even in case of make drastic assumptions to get exact
complex problems solutions
FEM can handle problems with anisotropy Difficult to handle anisotropy, assumptions
3 (elastic properties vary in all directions) are made that the materials are
homogeneous & isotropic.
4 FEM can handle non linear problems easily Can not handle non linear problems
• Axisymmetric elements
2
1 2 1 1
Rectangular element 2 Quadrilateral element
Triangular element
Note: The boundaries can have intermediate nodes & internal nodes also.
Dr P R Venkatesh, ME Dept RVCE
Three dimensional (3 D) elements
• If the configuration of elements can be defined by
three coordinates the elements are called 3-D elements
or solid elements.
• The commonly used 3 D elements are tetrahedron and
hexahedron (or brick element)
• The size of the global stiffness matrix resulting from the finite element
analysis depends upon the node numbering scheme & degrees of
freedom per node.
w
th nb nbw nbw
id
w
nd
Ba
w
nb
A
III diagonal
II diagonal
I diagonal
Dr P R Venkatesh, ME Dept RVCE III II I diagonal II III
Symmetric banded matrix:
• A symmetric matrix is one which remains the same even if the rows &
columns are interchanged, i.e [A]=[A]T
• If a matrix is symmetric, then its banded matrix is also symmetric about the
first diagonal. Such matrices require less storage space in computer memory.
nbw
7 7
A
III diagonal
7
II diagonal
I diagonal
I diagonal II III
Dr P R Venkatesh, ME Dept RVCE
Skyline of matrix:
• If in a banded matrix, if there are zeroes at the top of the column,
only the elements starting from the first non-zero value need to be
stored.
• The line separating the top zeroes from the first non-zero elements is
called a skyline.
8
Skyline
A
Symmetric
(1) a31 2
a32 a32 a12 2 1 2.67
a11 3
(1) a31 2
a33 a33 a13 2 4 0.67
a11 3
(1) a31 2
b3 b3 b1 2 1 1.33
a11 3
In the matrix form, the equations can be written as;
a11 a12 a13 b1
3 1 4 x 1 x
0 4.33 3.33 y 10.33 0 a(1) (1)
(1)
a23 y b2
22
0 2.67 0.67 z 1.33 (1) (1)
a33 b3
(1)
z
RVCE
Dr P R Venkatesh, ME Dept
0 a32
(2)
rd
Eliminating the 'y' term from 3 row, i.e. a32 will be zero.
(2)
The new values of 3 row elements are; a32 0
rd
(1)
(1)
(2) (1)
a 2.67
a33 a33 (1)32 a23 0.67 3.33 1.383
4.33
22
a
(1)
(1)
(2) (1)
a 2.67
b3 b3 (1)32 b2 1.33 10.33 7.7
4.33
22
a
In the matrix form, the equations can be written as;
3 1 4 x 1
0 4.33 3.33 y 10.33 1.383 z 7.7
0 0 1.383 z 7.7
z = 5.57 Substituting in 4.33 y 3.33 z 10.33, we get y = -1.898
Substituting for y & z in 3DrxP RVenkatesh,
y 4ME z 1,RVCE
Dept we get x = -6.46
FE Analysis stages
Preprocessor : Within the preprocessor the model is set up. It includes a
number of steps and usually in the following order:
• Build geometry
• Define materials
• Generate element mesh
Processor : Here all specified information about the problem is gathered:
• Apply loads & boundary conditions
• Obtain solution
Postprocessor: In this part of the analysis, one can;
• Visualize the results: For example, plot the deformed shape of the
geometry or stresses.
• List the results: tabular listings or file printouts may be obtained.
Commercial FE Analysis Packages
• ANSYS
• MSC NASTRAN
• NISA
• COSMOS
• LS DYNA
Dr P R Venkatesh, ME Dept RVCE
BASIC EQUATIONS OF ELASTICITY
There are three basic sets of equation included in theory of
elasticity. These must be satisfied if an exact solution to a
structural mechanics problem is to be obtained. They are us
under;
(a)The differential equations of equilibrium in terms of stresses
acting on a body.
(b)The strain/displacement and compatibility equations.
(c)The stress/strain or material constitutive law (Generalized
Hooke‟s law) {s}=[D]{e, where [D] is the material constant
matrix
Dr P R Venkatesh, ME Dept RVCE
Equilibrium equation in elasticity subjected to body force,
surface traction and point load:
Fig shows a three dimensional
body having volume V, surface S
T on Cartesian coordinates x, y
Fy
and z. The boundary is
dv
v constrained at some region
y
Fx
where displacement is
Fz u Pi
specified.
w
The following forces are acting
V
on the body;
S
(i) Body force (F)
x
(ii) Surface traction force (T)
(iii) Point load (P)
z
Dr P R Venkatesh, ME Dept RVCE
(i) Body force (F): It is defined as the distributed force per unit
volume. (N/m3). (ex: weight/unit volume) Consider a small
element of volume dv having the body force along x. y & z
directions as Fx, Fy & Fz respectively.
Fx
Body force vector F Fy or F Fx , Fy , Fz
T
F
z
(ii) Surface traction force (T): It is the distributed surface force per
unit area. (N/m2) (ex: contact force, action of pressure, etc.)
Tx
T Ty or T Tx , Ty , Tz
T
T
Dr zP RVenkatesh, ME Dept RVCE
(iii) Point load (P): The load acting at a point ‘i’ is represented by
three components as; Px
P Py or P Px , Py , Pz
T
P
z
zy xz s z
(as xy yx , yz zy & zx xz , complimentary shear)
Dr P R Venkatesh, ME Dept RVCE
where;
s x
ds x . dx
x
s y
ds y . dy
y
s z
ds z . dz
z
xy
d xy . dx
x
d yz yz . dy
y
d zx zx . dz
z
d yx yx . dx
x
zy
d zy . dy
y
d xz xz . dz
Dr P R Venkatesh, ME Dept RVCE z
Displacements: The displacement of a point due to the action of the
forces is given by its components in x, y & z directions as;
u
v
T
U or U u , v , w
w
Differential equations of equilibrium in three dimensions:
Fig shows the stresses acting on an elemental volume. The
equilibrium equations can be obtained by summing up the forces in
x, y & z directions respectively.
Summing up all the forces in x - direction, we get;
s x yx
s x dx dydz s x dydz yx dy dxdz xy dxdz
x y
zx
zx dz dxdy xz dxdy Fx (dxdydz ) 0
z Dr P R Venkatesh, ME Dept RVCE
As dx dy dz = dv, the elemental volume & xy yx , yz zy , zx xz
cancelling out the terms positive & negative terms, the equation becomes;
s x xy xz
Fx 0
x y z
Similarly, the force balance in y & Z directions gives
s y yz xy
Fy 0
y z x
s z xz yz
Fz 0
z x y
The above equations are known as equilibrium equations in 3D stress system .
xy , yz & zx are the shear strains. Fig shows the deformation of the
y
dx - dy face for small deformations.
u
Considering other faces, the strain
dy
y relations are;
u v w
ex , ey , ez
v
v
y
dy u x y z
y
u v
xy
xy
2
u v
v
dx y x
dy x
x
w v
v
yz
dx y z
u
u dx
x w u
x zx
Deformed elemental surface Dr P R Venkatesh, ME Dept RVCE x z
Knowing the three components of displacements u, v & w,
the six components of strain can be determined by
differentiating the displacements.
ex 1 0 0 0 s x
e 1 0 0 0 s y
e 1
y
1 0 0 0 s z
z 0 0 0 2(1 ) 0 0 xy
xy E 0 2(1 ) 0 yz
yz
0 0 0
0 0 0 0 0 2(1 )
zx zx
2 x
ε + νε y
E
y E
σx =
1 1 1 - ν
2 y
E E
Similarly, s y e e Also we have xy
1 x xy
2(1 )
Representing s x , s y & xy in the matrix form,
1
s x 0 ex
s E e y
y 1 0
xy (1 2
) 1 xy
0 0
2
Note : Though for plane stress case, the stress in the z - direction is zero,
( s z = 0) strain e z is non zero and is equal to
E
s x s y .
yz yz
0 0 0
0 0 0 0 0 0.5
zx zx
Eliminating the third, fifth & sixth rows & columns corresponding to e z , yz
& zx from the general 3D matrix, we obtain the stress - strain relations for
plane strain case.
Dr P R Venkatesh, ME Dept RVCE
PLANE STRAIN Examples:
1. Dam Slice of unit
thickness
1
xy sy
y xy
sz sx
x
z
2. Long cylindrical pressure vessel subjected to internal/external
pressure and constrained at the ends
sy sx (10) 20
ey 0.3 0.8 10 4
s x yx zx
dv
v
Fx 0
y
Fx
Fz u Pi x y z
w
s y zy xy
V
Fy 0
S y z x
s z xz yz
x
Fz 0
z z x y
• In mechanics of solids, the problem posed is to obtain the displacements strains &
stresses in the body shown in fig, using the equations of equilibrium.
• This requires the solution of partial differential equations which is available only for
simple geometries & loading conditions. (Exact solutions)
• For problems involving complex geometries & general boundary & loading
conditions, exact solution becomes impossible.
• Hence approximate methods such as potential energy or variational methods
Dr P R Venkatesh, ME Dept RVCE
are used which are simple to solve & obtain solutions.
Potential Energy & Equilibrium
The total potential energy of an elastic body is the sum of strain energy (U)
& the work potential (WP).
Strain energy (U) +Work Potential (WP). For linear elastic materials,
1
the strain energy (resilience) per unit volume in the body is s T e dV
2V
Resilience per unit volume = area under linear portion of stress strain curve
The work potential is
WP = u T f dV u T T dS uiT Pi
V S i
Work done by body force = body force / unit volume volume displacement
Work done by surface traction = traction force / unit area surface area displacement
Work done by point load = point load displacement
The total potential energy for the general elastic body is;
1 T
2 V
s e dV V u T
f dV S u T
T dS i i Pi
u T
k3 = 100N/m
1 2 80 N
100 N
k2 = 75 N/m
2 2 2
Let u1 & u2 be the displacements of nodes 1 & 2.
The extensions of the springs are;
1 u1 , 2 u1 & 3 u2 u1
1 2 1 1
k1u1 k2u1 k3 (u2 u1 ) 2 F1u1 F2u2
2
2 2 2
Dr P R Venkatesh, ME Dept RVCE
For stable equilibrium, potential energy must be a minimum.
i.e. 0 (k1 k2 k3 )u1 k3u2 F1 (i )
u1
Also 0 k3 (u2 u1 ) 80 or -k3u1 k3u2 F2 (ii )
u2
k1 k2 k3 k3 u1 F1
In the matrix form,
k3 k3 u2 F2
235 100 u1 100
Substituting for k1 , k2 , k3 , F1 & F2
100 100 u2 80
235 u1 100 u2 100 &
solving, u1 1.333, u2 2.333
100 u1 100 u2 80
u1 1.333
In the matrix form,
u2 Dr P RVenkatesh,
2.333MEDept RVCE
Problem 3
Obtain the equations of equilibrium & the nodal
displacements for the spring system shown in fig using
minimum potential energy principle. Take k1=40 N/mm,
k2=40 N/mm, k3=80 N/mm, k4=90 N/mm, F1=60 N, F2=0,
F3=50 N.
2 2 2 2
Let q1 , q2 & q3 are nodal displacements of nodes 1,2 & 3.
From the arrangement, the extensions of the springs are;
1 (q1 q2 ), 2 q2 , 3 (q3 q2 ) and 4 = q3
1 1 1 1
k1 (q1 q2 ) k2 q2 k3 (q3 q2 ) k4 (q3 ) 2 F1q1 F3q3
2 2 2
2 2 2 2
Dr P R Venkatesh, ME Dept RVCE
For stable equilibrium, PE must be a minimum.
i.e. 0, i = 1,2,3
qi
0 k1 (q1 q2 ) F1 0 (i )
q1
0 k1 (q1 q2 ) k2 q2 k3 (q3 q2 ) 0 (ii )
q2
0 k3 (q3 q2 ) k4 q3 F3 0 (iii )
q3
k1 k1 0 q1 F1
In the matrix form, k1 k1 k2 k3 k3 q 0
2
0 k3 k3 k 4 q3 F3
1
Note : Strain energy (SE)for one dimensional axial load se dV
2V
2
du du du
Also e & s Ee E se E and dV Adx
dx dx dx
2
EA du
SE dx
2 L dx Dr P R Venkatesh, ME Dept RVCE
Rayleigh Ritz method:
1 T
Step 1 : Potential energy functional is
2V
s e dV u T
f dV u T
T dS
i
u T
i Pi
V S
Here, no body force & traction is present, only strain energy & point load terms
1
are considered. Also as its is one dimensional case se dV (u P)
2V
2 2
du du du du
Also e & s Ee E se E , = ( E 1)
dx dx dx dx
and dV Adx dx ( A 1), P 2 units
Dr P R Venkatesh, ME Dept RVCE
2
1 du
2
dx 2u.
2 0 dx
Step 2 : Assuming a displacement function & apply bc's :
u a0 a1 x a2 x 2 , The boundary conditions are;
@ x 0, u 0, 0 a0 a1 (0) a2 (0), a0 0
Also @ x 2, u 0, 0 0 2a1 4a2 , a1 2a2
Displacement function u = 0 (2a2 ) x a2 x 2 a2 ( x 2 2 x)
At midpoint, x = 1, u1 = a2
2
du du
Also a2 (2 x 2) 2a2 ( x 1) 4a2 2 ( x 2 2 x 1)
dx dx
Dr P R Venkatesh, ME Dept RVCE
Step 3 : Substitute the displacement function in PE functional :
2
2 x
2 3
1 4 2
a2 2 a2
2 2 2
4 a2 ( x 2 x 1) dx 2 a 2 = 2a 2 x x 4 a 2
20 3 0 3
4 2
Step 4 : Minimize the PE functional : a2 2a2
3
8 6
0 a2 2 0 a2 0.75
a2 3 8
Step 5 : Determine the displacements, strains & stresses :
Displacement u a2 ( x 2 2 x) 0.75( x 2 2 x) 0.75(2x - x 2 )
At x 1, u 0.75(2 1) 0.75, At x 0, u 0, At x 2, u 0
du
Strain e = 0.75(2 2 x) 1.5(1 - x)
dx
du du du
At x 1, 1.5(1 1) 0, At x 0, 1.5, At x 2, 1.5
dx dx dx
Stress s = Ee = 1×1.5(1- x) 1.5(1 - x)
At x 1, s 1.5(1 1) 0, AtDr xP RVenkatesh,
0, s ME1.5, RVCEx 2, s 1.5
DeptAt
Dr P R Venkatesh, ME Dept RVCE
Problem 4
y
L max
s2
Note : Strain energy (SE)for beam under bending dV
V
2E
where s
Mc
I
& dV dA dx, SE 2
L
I
M 2c 2
2 E
dA dx
L
2
M2
EI 2 c
dA dx
2
y
L max
x=0 x=L
y=0 y=ymax
dy/dx=0
EI d 2 y
L
Potential energy functional fo a beam =SE+WP= 2 dx Pymax
2 0 dx
x dy x
Let the displacement polynomial y a sin a cos
2L dx 2L 2L
d 2x x
2
and a sin 2
2L 4L
2
dy
dy
Using boundary conditions at x 0, y 0, 0 & at x L, y ymax a
dx
2
EI x EI a 2 4 2 x
L 2 L
=
2 0
a sin
2
2L 4L
dx Pa
32 L 04
sin dx Pa
2L
Dr P R Venkatesh, ME Dept RVCE
P
y
L max
x=0 x=L
y=0 y=ymax
dy/dx=0
x
2 4 L 1 cos 2
EI a 2L 1 cos 2q
4
= dx Pa sin q
2
32 L 0 2 2
EI a
2 4 L
x
=
64 L4 0 1 cos dx Pa
L
L
EI a
2 4
x EI a 2 4
= 4
x sin Pa L Pa
L 0
4
64 L 64 L
Dr P R Venkatesh, ME Dept RVCE
P
y
L max
x=0 x=L
y=0 y=ymax
dy/dx=0
Minimising the PE functional, 0
a
EI a 2 4
Pa 0
a 64 L 3
EI 4 PL3
3
2a P 0 a ymax
64 L 3.044 EI
Dr P R Venkatesh, ME Dept RVCE
Interpolation models
• Interpolation models are defined as the appropriate
mathematical model or trial function which
represents the displacement variation within the
element.
1. Trigonometric functions
2. Polynomial function
u(x)= a0 a1 x a2 x a3 x .......... an x
2 3 n
𝛼6
Pascal’s triangle
Dr P R Venkatesh, ME Dept RVCE
Geometric invariance (or isotropy); Pascal’s triangle
Ex : If a cubic model is assumed, displacement polynomial
using Pascal’s triangle is ;
U ( x, y ) a0 a1 x a2 y a3 x 2 a4 xy a5 y 2 a6 x 3 a7 y 3
or
U ( x, y ) a0 a1 x a2 y a3 x 2 a4 xy a5 y 2 a6 x 2 y a7 xy 2
1 2
x1 1 2
( x2 - x1 ) ( x 1, y 1 ) ( x 2, y 2 )
x2
x(u)
s s
r y
r
4 3
x1 x2 x(u)
L/2 r
1 L 2 2
1
r
x
x
y(v)
( , ) ( ,)
4 3
1 2 1 2
( , ) ( , )
x x(u)
or a1
u2 u1
( x2 x1 )
Dr P R Venkatesh, ME Dept RVCE
Substituting the value of a1 into equation of u1 ; u1 ao
u2 u1
x
( x2 x1 )
1
ao u1
u2 u1 x u1 x2 u2 x1
1 Substituting the values of a0 & a1
( x2 x1 ) ( x2 x1 )
u
u1 x2 u2 x1 u2 u1
x where l ( x2 x1 ) is the length of the 1 D
e
le le
u
x2 x
u
x x1
u Also u N1u1 N 2u2 Comparing the two equations;
1 2
le le
N1
x2 x
,N
x x1
Thus, values of shape functions at nodes 1 & 2 are
2
le le
x 2 - x x - x1
N = N1 N2 = ,
l e l e ME Dept RVCE
Dr P R Venkatesh,
x -x1
x 2 -x N2 =
N1 =
le
le
N1 =1
N2 =1
1 2 1 2
N2 u
N1
u = N1 u1 + N2 u2 u2
u1
1 1 x
2 2
Variation of shape function for 1 D bar element
Thus, ao
u1 u2
& a1
u2 u1
2 2
Dr P R Venkatesh, ME Dept RVCE
Substituting the values of ao & a1 into equation of u;
u
u1 u2 u2 u1
Re-arranging the terms, u
1
u
1
u 1 2
2 2 2 2
1 2 1 2
N1 N2 u
N1 =1 N2 =1 u1 u2
u= N1 u1 + N2 u 2
1 2 1 2