Compvfers & Strucfures Vol. 45, No. 4. pi. 783-793. 1992 0045-7949/w ss.00 + 0.

00
Printed in Great Britain. 01992PergamcmPKasLld

EFFICIENT TIME-DOMAIN FINITE ELEMENT ANALYSIS

FOR DYNAMIC COUPLED THERMOELASTICITY
TAIZWON LEEand Woo JIN SIM
Department of Engineering Science. and Mechanics, Kum-Oh Institute of Technology, 188 Shinpyung,
Kumi, Kyungbuk 730-701, Korea

(Received 1 August 1991)

Abstract--An efficient finite element formulation is presented in a time-domain for the accurate and stable
numerical analysis of dynamic coupled thermoelastic problems due to an abrupt thermal loading at the
boundary. Gurtin’s variational principle which has a generic property in the time integration and
the conventional variational principle with a stable time integration scheme are utilixed together in the
derivation of the fmite element equation. One- and two-dimensional examples are solved to show
the validity and adaptability of the proposed method. The numerical results are compared with the other
time-domain and Laplace-domain finite element solutions and with the analytical solutions. Excellent
numerical results are obtained even for the discontinuity point such as the wave front.

INTRODUCI’ION The objective of this paper is to construct a stable,

In recent years considerable attention has been given accurate and economic iinite element formulation for
to the numerical analysis of dynamic coupled thermo- a dynamic coupled thermoelastic analysis in the
elasticity, which has many practical applications time-domain. For that, the conventional and Gurtin’s
in mechanical, geotechnical, nuclear and aerospace variational principle are respectively applied to the
engineering using the finite element technique. equations of motion and the heat conduction
According to the domain in which the finite element equation. In the time integration of the conventional
equation is formulated, numerical methods may be variational equation the Newmark’s implicit formula
classified as (i) a time-domain finite element analysis is used, and the usual interpolation function is used
[14] or (ii) a Laplace transform finite element analy- in Gurtin’s variational equation which is of an
sis [5-g]. The second method has an advantage in integral form in time. One- and two-dimensional
finding a long time solution; but it has a high examples are tested to demonstrate the validity of the
computational cost, since the governing equations proposed method. Numerical results are compared
should be resolved at every specific time and the with the approximation solutions from the other
numerical Laplace inversion is difficult to treat. In the time-domain and Laplace-domain numerical formu-
tlrst method, the solutions are evaluated directly in a lations, and with the analytical solutions.
time domain using a simple time-stepping procedure
with its effective stiffness matrix constant, while for a GOVERNINGEQUATIONS
larger time step the solution may diverge if the time In dynamic coupled linear thermoelasticity, the
integration scheme is not stable.
governing equations may be summarized as follows
Nickel1 and Sackman [l] derived the governing [12-141:
equations using Gurtin’s variational principle. The (i) Balance equations for momentum and heat
extended Ritz method and the forward integration conduction
method with the continuity of field variables were
used in spatial and time approximations, respectively.
Ting and Chen [2] introduced the fictitious vector bijSj+f;: = piii in R (la)
function called ‘heat displacement’ in the variational
formulation for a unified approach, additionally re- 4i.i + PC,~ + T~&Q = Q in a. (lb)
quiring many degrees of freedom. Prevost and Tao [3]
proposed a general tinite element model with an (ii) Constitutive equations
implicit-explicit scheme by Hughes and Liu (10, 1 I].
It seems that there still remains a time-step restriction
in the aforementioned papers for stable convergence. % = c~~klckl - &e (24
Carter and Booker [4] developed a fmite element
solution method with stable time marching scheme 6) = f h,,, + U/J (W
using the principle of virtual work, but they did not
take the inertia force into account. 4r = -Se*, 9 cw
785
T86 TAEWONLEEand Woo JIN SIM

where tT*jis the stress tensor, rr, the d~sp~a~ent~ Q described well by Gurtin’s variational principle
the strain;.&the body force; T, the reference tempera- because it is an integrag equation with respective to
ture at a stress-free state of the solid body; T the the time variable,
absolute temperature and 2”= T, + B; qj the heat Aux; In &is paper, the finite e$ement anatysis is based on
$2 the heat source; p the material dens&y; c, the the variational fo~u~a~o~ of eqns (4a) and (5bj
specific heat for zero d~fo~~tio~; C,,, the elastic with a stable time-m~hing process which will be
modulus; fiij the thermal modulus; k, the thermal described later
conductivity, Q the domain A comma (J) denotes a
partial differentiation with respect to the Cartesian
coordinates xi and a superposed dot means a material
time differentiation. The boundary and initial
conditions are given by

s=P onre
The field functions of time and space variables are
qp,=ij on r, Pa) approximated by the algebraic polynomials in space
and variables with time-dependent coefficients

&=Vir gj=ca,, 8=rJ, at t-o, WI

where &e immdarqt r = T, + S, = Fe f fp; ptiis the

unit outward normag 6 the prescribed traction; g the
prescribed he& &x. Inserting eqns (Za-c) into (la)
Nate that in the binder of this paper that B will
and (lb)), the field equations are obtained in terms of
only be used as a notation for a time~e~~dent
displa~ments uj and temperature 8
coefficient ofeqn (gb). The spatial functions #&_x)end
r@(x)are ~~p~oxirnat~ by the shape fun&ions, and
Pii, - cij&l%,# +” &@, j -f; (W
their spatial derivatives are expressed as follows:
Peed + T,Bij~ij-Ckile.j),i= Pq WI
4itx) = C Nk(X)4f

Equations (4a) and (4b) with the initial condition k

(3b) are completely equivalent to the momentum and

energy balance equations by Gurtin’s variational
principle into which the initiaf conditions are incor-
porated exp~citly [l]

+ T,B,~~ - PCll - TOBijti/ 3 0, (5b) where N” and Lk are the shape functions; A” and BR
the spatial derivatives of the shape functions; rli! and
where 6; is the initial strain and the convolution, two Jr* the nodal values of &(x) and $(x).
functions g and g’ are defined by Substituting (8a, b) and (9) into the eqns (7;a)and
(?b), the semidiscrete finite element equations are
1
a*tr = a(x, s -s)b(x,tfdz @aI
obtained as foIlows:
s0
g(t) = f, g’(r) = 1 for t z3 0. @bI

In the time a~ro~~a~o~~ NickeH and Sackman Ii]

used the forward integration method with the
continuity of the field functions such as displacement,
velocity and temperature at the end points of the
time interval, which may cause numerical results to
diverge for some larger time step. But an abrupt
discontinuity due to the initial conditions can be
 Time-domain fkite element analysis 787

where Nk and Lk are based on the same elementary where a constant-average-acceleration scheme of
nodes y = l/2 and fl = l/4 is used and

Equations (13a) and (13b) can be assembled in matrix

form as

(‘1)

Equation (15) is successively solved with increment-

TIME INTEGRATION ing the time. Cholesky’s decomposition method is
used to find the inverse coefficient matrix and all
In the progress of a step-by-step time integration,
calculations are carried out by an IBM-AT personal
an arbitrary time interval will be denoted by [0, At].
computer. If the time-step remains constant during
The Newmark’s implicit time scheme [IO, IS, 161 is
the time-rna~~ng process, the coef5cient matrix of
used in the a~roximation of the ~spla~~t field
eqn (15) is constant so that only the updated compu-
of eqn (lOa) for stable numerical solution. Since
tation for the right-hand side is required, resulting in
eqn (1Ob) is of an integral form in time, the linear time
a simple and economic numerical procedure.
interpolation function can be used in the approxi-
mation of the temperature field with making no harm
in numerical stability
NUM~IC~ EXAMPLES

&(At) = ti(0) + [(1 - y&(O) + yG(At)]At (12a) To demonstrate the validity and versatility of the
proposed method, four numerical examples were
u(Ar) = u(0) + ii(O)Aht+ [(1 - 2fl)a(O) tested. In the numerical comparison, the analytical
solutions (one-dimensional case) were obtained
through the numerical inversion of the exact sol-
+ 2/%(Ar)] T (12b)
utions in Laplace variables using the IMSL library.
and Coupled Daniiovsktya ‘s problem
Consider a semi-infinite elastic medium (x > 0)
6(t) = q 6(O)+ 2 &At). (12c) subject to various boundary heating on its boundary
plane (x = 0), the plane being assumed to be traction
free at all times. The elastic medium is rn~h~i~ly
Inserting eqns (12b) and (12~) into (lOa) and (lob), constrained so that there is only a uniaxial motion.
respectively, and making some mathematical manip That is
ulations the discrete equations for the primary vari-
ables at r = At are obtained as follows: u,=#,(x,t), uy=uz=o. (‘6)
The initial and boundary conditions are taken to be

W)
h(& 0)
~x(-?0) = - at = 0, T(x, 0) = To UW

Wb) a,(O, t) = 0. (‘7bf

788 TAEWON b@ and vu’00 JIN !h

Introducing the dimensionless variables

x* = c,x/k*, t* = c; t/k*, o* = uX/@To,

8* = (T - T,)/T,,
u* = c&l + Zfi)u,/k* @To,
k* = k/p,, h* = k*h/c,k, (21)

where c, = dw is the elastic wave speed;

p = 01(3rZ+ 2~); 1 and p = Lame’s constant. The

I ?c*= 1 the~om~ha~cal coupling factor 6 is defmed by

6
B2To
(22)
Fig. 1. One-dimensional heat flow model. = PC,0 + 2p)’

where 6 = 0 corresponds to the case of an uncoupled

Three different kinds of temperature boundary problem.
conditions are examined: In Fig. 1, a semi-infinite space is modeled as a finite
(a) Case (i) sudden surface heating dimension with a characteristic length of L = 4,
having a total of 26 linear elements and 27 nodes. The
To for t < 0 size of the elements is 0.1 between x* = 0 and
T(0, t) =
T, for I 2 0.
(18) x* = 1.2, then divided equally with 0.2 between
x* = 1.2 and X* = 4, For reference, 248, 48 and 41
Case (ii) convective surface heating DOF are used in the analysis of Ting and Chen 121,
Nickel1 and Sackmann [I], and Tamma and Railkar
T(0, t) = T, for t < 0 [I, respectively. Nickel1 and Sackman solved
Danilovskaya’s second problem (case ii) and
kg = WXPO - T,> for t 20, (1% Sternberg-Chakravorty problem (case iii) with
Ix-0 varying time increment from At = 0.005 to At = 0.01,
and Ting and Chen (21 solved three cases all with a
where k is the thermal conductivity; h the convection time increment of At = 0.01 for numerical conver-
heat transfer coefficient; and T, the ambient gency. In case of [l], diverged numerical results are
temperature. observed for a time-step larger than At = 0.01.
Case (iii) ramp-type surface heating Stable numerical results can be achieved using the
proposed method even for comparatively coarser
l-0 for t < 0 mesh and larger time step. In Figs 2-10 numerical
for 0 G t < t, @f-Y results for temperature, thermally induced displace-
T(0, t) = ; (TI - To)
ment and stress with At = 0.05 are given and
for t r tl. compared with the other analytical and numerical

0.5 ,

*
‘WE t
Fig. 2. Temperature variation due to sudden surface heating.
 Time-domain finite eiement analysis

0.10
i
3
z 0.05

B
2 0.00

25
-0.05 q Tammo & Roilka

-0.10 , I I I I
* Pre6ent
t I I
1
4
0.0 0.5 1.0 1.5 2.0

TIME t*
Fig. 3. Displacement variation due to sudden surface heating.

Fig. 4. Stress variation due to sudden surface heating.

0 llng & Chum’

0 Nlcksll & Sackman’
* Presmlt

0.0 0.5 1.0 1.5

TIME t*
Fig. 5. Tampmature variation due to convective surface heating.
 TAEWON LEEand Woo JIN Sul

0.0 0.5 1.0 1.5

TIME t+
Fig. 6. Displacement variation due to convective surface heating.

Exact
Ting & Chsn2
Nickel1 & Sackman’
Present

-0.257
0.0 0.5 1.0 1.5 2.0

TIME t +
Fig. 7. Stress variation due to convective surface heating.

a - Exact
0 Ting & Chen2
q 0 Tamma 6 Railkor.7
* Preeen t
0.0 1 1 I I
0.0 0.5 1.0 1.5 2.0
.
TIME t
Fig. 8. Temperature variation due to ramp-type surface heating.
 791

0.10
*
1

c 0.05
3
B
4 0.00
a
i5 -5.05 •II Tomma k RoLar’
* Present
-0.10 , I I I I I 1 I
0.0 0.5 1.0 1.5 2

Fig. 9. Dispbement variation due ta ramp-type.surfaor heating.

Fig. 10. S&w variation due to ramp-type surface heating.

solutions at the ~~~~n~ty point x* 191.0, which is
the location of an elastic wave front at the non-
dimensional time t* = 1.0. Figures 2-8 show the
numerical results for the case of a sudden surface
heating with k * = l.Oand6=l.OandFigsS-7fora
convective surface heating with h* = 0.5 and
Figs S-10 for a ramp-type surface heating with
t; =i025. Overall good a~~~~o~ are achieved
with excellent descriptions about x* = 1.0. From the
various examinations for the effect of time increment
and mesh size on numerical accuracy and stability, it
is shown that the presented method is insensitive to
a time increment.
free and subject to a constant surrounding tempera-
ture. Taking advantage of geometric and loading
symmetry, the given problem is solved by a quarter
model with isoparametric quadratic finite elements
and 37 nodes. Chen and Weng [8] solved this problem
by the Laplace transform/finite element method with
93 nodes and introduced the relaxation time in the
governing equation. Numerical ~rnpu~~o~ are ex-
ecuted using the same data as in [8] for comparison.
In Fig. 12 it is shown that two numerical results are
closely approximated, which explains that the effect
of the relaxation time is important only for the
solution of a very short-time duration [3]_

An intlnitely long hollow cylinder is loaded by
symmetric two heat sources on the upper and lower
part of the outer surface as shown in Fig. 11. The
remaining part of the boundary surfaces are traction
COMXJSiON
An accurate, stable and economic finite element
method is formulated in a timedomain to describe
the thermally induced dynamic characteristics. To do
792 TAEWON LEEand Woo JONSIM
heat source
Fig. 11. Finite element model for infinite circular cylinder subject to two surface heat sources.
0.06
~~~~1 1.2 1.4
RADIUS
Fig. 12. Temperature distribution for b&rite circular cylinder.
this the conventional and Gurtin’s variational
principles are applied to the equations of motion and
the equation of heat conduction, respectively. A
stable time-marching process is performed by apply-
ing the Newmark’s implicit scheme and the time
interpolating functions to the conventional and
Gurtin’s variational equations, respectively. The final
discrete system equations are solved repeatedly
updating the right-hand side term with its effective
matrix constant, requiring only a short computation
time comparing to the Laplace transform method.
From the numerical comparisons with the other finite
element formulations, it is observed that overall good
numerical results are achieved in a whole domain,
especially for the discontinuity point, with only a
small degree of freedom. It is also shown that the
proposed method is numerically stable in time by
examining the effect of the time increment on the
numerical responses.
Acknowledgements-This work is financially supported
from the Korea Ministry of Education via the 1989-1990
Research Grants Scheme.
1.6 1.8 2.0
r*
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