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=
=
N
i
ix i
x
p a
u
1
=
=
N
i
iy i
y
p b
u
1
=
=
N
i
iz i
z
p c
u
1
In the finite element method, nodal degrees of freedom are nodal displacements or temperatures.
Notice that by selecting certain polynomial order, we impose displacement pattern in each element. Working
with the first order polynomial (linear) we agree on linear displacement field, while second order polynomial will
return second order displacement field etc.
14
Step 4 Finding nodal displacements
Now we use the principle of minimum total potential energy (the state of minimum total potential energy is also
the state of equilibrium) to find this set of a
i
, b
i
,c
i
factors that minimizes the total potential energy of the body.
This is also the new state of equilibrium under load. Knowing a
i
, b
i
,c
i
we can now calculate discertized
displacement anywhere in the body. Notice that displacements are primary unknowns and are calculated first.
Of course the accuracy of the results will depend on how well the exact solution can be approximated by the
particular design of the mesh and selection of the polynomial degrees.
Step 5 Finding strains and stresses
Once displacements have been found, we calculate strains as derivatives of displacements. Knowing strains
and material properties we can now find stresses.
BASIC STEPS IN THE FINITE ELEMENT ANALYSIS
Continuous body - mathematical model Discretized body finite element model
15
Idealization of geometry
(if necessary)
CAD geometry Simplified geometry
CAD FEA Pre-processing
BASIC STEPS IN THE FINITE ELEMENT ANALYSIS
Restraints
Material
properties
Type of
analysis
Loads
MATHEMATICAL
MODEL
16
FEA model FEA results
Discretization
Numerical solver
FEA Pre-processing
FEA Solution FEA Post-processing
BASIC STEPS IN THE FINITE ELEMENT ANALYSIS
MATHEMATICAL
MODEL
17
FEA EQUATIONS
[ F ] = [ K ] * [ d ]
[ F ] vector of nodal loads known
[ K ] stiffness matrix known
[ d ] vector of nodal displacements unknown
18
CAD GEOMETRY AND FINITE ELEMENTS
GEOMETRY
GEOMETRIC
ENTITY MESHED
ELEMENTS
CREATED
Volume Solids
2D Plane Beams
3D Surface
Shells
Curve Beams
19
Before
deformation
Before
deformation
After
deformation
1
st
order
tetrahedral element
2
nd
order
tetrahedral element
DEGREES OF FREEDOM, SHAPE FUNCTIONS
Degrees of freedom
Everything there is to know about the behaviour of this element under load can be calculated as soon as x, y
and z displacements of all nodes defining that element are found. x, y and z displacements components fully
describe node displacement for these 3D tetrahedral elements. x, y and z displacements are the three degrees
of freedom of each node.
Shape functions
The displacement at any point within the element is a function of nodal displacements. This function is called
shape function. In the first order element the shape function is a linear combination of nodal displacement, in the
second order element this a second order function etc.
After
deformation
20
DEGREES OF FREEDOM
With only one node restrained the
element spins in three directions.
With two nodes restrained the element
spins about the line connecting two nodes.
With three nodes restrained the
element wont move.
Nodes of solid elements do not have rotational degrees of freedom.
DOF.SLDASM
21
Triangular shell element
6 D.O.F. per node
Tetrahedral solid element
3 D.O.F. per node
First order elements
Linear displacement
Constant stress
Second order elements
Second order displacement
Linear stress
Most often used element
DEGREES OF FREEDOM
22
2D plane stress, plane strain, axi-symmetric
x and y displacement fully describe behavior of each node.
Each node has two degrees of freedom.
TYPES OF ELEMENTS AND DEGREES OF FREEDOM
Solids
x, y and z nodal displacement components fully describe
behavior of each node. Each node has 3 D.O.F
Shells and beams
x, y and z displacements are not sufficient to describe what
is happening to each node while element deforms. Also
needed are rotations about x, y and z axis so each node
has 6 D.O.F.
23
TYPICAL ANALYSIS ASSUMPTIONS: LINEAR MATERIAL MODEL
STRAIN
Linear material model
Non-linear material model
The linear material behavior complies with Hookes law:
o = c E
in tension
t = G in shear
Linear
range
[K] = const
[K] const =
24
To comply with assumptions of small displacements theory, the displacement must not change the stiffness in a significant way.
Note that displacements dont have to be large to significantly change the stiffness.
TYPICAL ANALYSIS ASSUMPTIONS: SMALL DISPLACEMENTS
[K] = const
[K] const =
25
3D STATE OF STRESS
State of stress expressed by six
stress components.
State of stress expressed by
three principal stresses.
2 2 2 2 2 2
2 2 2
* ( ) ( ) ( ) *
von Mises
* ( ) ( ) ( )
von Mises 1 2 2 3 3 1
0.5 [ ] 3 ( )
0.5 [ ]
x y y z z x xy yz zx o o o o o o o t t t
o o o o o o o
+ + + + +
+ +
=
=
VON MISES STRESS CRITERION
The maximum von Mises stress criterion is based on the von Mises-Hencky theory, also known as the
shear-energy theory or the maximum distortion energy theory. The theory states that a ductile material
starts to yield at a location when the von Mises stress becomes equal to the stress limit. In most cases, the
yield strength is used as the stress limit.
Factor of safety (FOS) = o
limit
/ o
von Mises
Also known as Tresca yield criterion, is based on the Maximum Shear stress theory. This theory predicts
failure of a material to occur when the absolute maximum shear stress (t
max
) reaches the stress that
causes the material to yield in a simple tension test. The Maximum shear stress criterion is used for
ductile materials.
t
max
is the greatest of t
12
, t
23
, t
13
Where:
t
12
= (o
1
o
2
)/2; t
23
= (o
2
- o
3
)/2; t
13
= (o
1
- o
3
)/2
Hence:
Factor of safety (FOS) = o
limit
/(2*t
max
)
THE MAXIMUM SHEAR STRESS CRITERION
28
Also known as Coulombs criterion is based on the Maximum normal stress theory. According to this theory
failure occurs when the maximum principal stress reaches the ultimate strength of the material for simple
tension.
This criterion is used for brittle materials. It assumes that the ultimate strength of the material in tension
and compression is the same. This assumption is not valid in all cases. For example, cracks decrease the
strength of the material in tension considerably while their effect is smaller in compression because the
cracks tend to close.
Brittle materials do not have a specific yield point and hence it is not recommended to use the yield
strength to define the limit stress for this criterion.
This theory predicts failure to occur when:
o
1
o
limit
where o
1
is the maximum principal stress. Hence:
Factor of safety (FOS) = o
limit
/ o
1
THE MAXIMUM NORMAL STRESS CRITERION
Is based on the Mohr-Coulomb theory also known as the Internal Friction theory. This criterion is used
for brittle materials with different tensile and compressive properties. Brittle materials do not have a
specific yield point and hence it is not recommended to use the yield strength to define the limit stress
for this criterion.
This theory predicts failure to occur when:
o
1
o
TensileLimit
if o
1
> 0 and o
3
> 0
o
3
- o
CompressiveLimit
if o
1
< 0 and o
3
< 0
o
1
/ o
TensileLimit
+ o
3
/ o
CompressiveLimit
< 1 if o
1
0 and o
3
0
The factor of safety is given by:
Factor of Safety (FOS) = {o
1
/ o
TensileLimit
+ o
3
/ o
CompressiveLimit
}
(-1)
THE MOHR-COULOMB STRESS CRITERION
30
COMMON TYPES OF ANALYSES
STRUCTURAL
Linear static
Nonlinear static
Modal (frequency)
Linear buckling
THERMAL
Steady state thermal
Transient thermal
31
FINITE ELEMENT MESH
32
MESH COMPATIBILITY
Compatible elements
The same displacement shape function
along edge 1 and edge 2
Incompatible elements
Different displacement shape function
along edge 1 and edge 2
There is only one
node here
There is only one
node here
There is only one
node here
There is only one
node here
33
Model of flat bar under tension. There is a mesh incompatibility along the mid-line
between left and right side of the model.
The same model after analysis. Due to mesh incompatibility a
gap has formed along the mid-line.
MESH COMPATIBILITY
34
Shell elements and solid elements combined in one model.
Shell elements are attached to solid elements by links constraining their translational D.O.F. to D.O.F. of solid
elements and suppressing their rotational D.O.F. This way nodal rotations of shells are eliminated and nodal
translations have to follow nodal translations of solids.
Unintentional hinge will form along connection to solids if rotational D.O.F. of shells are not suppressed.
MESH COMPATIBILITY
Shell
elements
Solid
elements
Hinge
35
Elements before mapping
Elements after mapping
MESH QUALITY
36
MESH QUALITY
aspect ratio
angular distortion ( skew )
angular distortion ( taper )
curvature distortion
midsize node position
warpage
37
Element distortion: aspect ratio
Element distortion: warping
MESH QUALITY
38
Element distortion: tangent edges
MESH QUALITY
39
MESH ADEQUACY
This stress distribution
needs to be modeled
This stress distribution is modeled
with one layer of first order elements
Support
Load
40
cantilever beam, model 1
terribly bad
cantilever beam, model 2
also terribly bad
cantilever beam model 3
a good beginning !
cantilever beam, model 4
an acceptable model
cantilever beam size: 10" x 1" x 0.1"
modulus of elasticity: 30,000,000psi
load: 150 lbf
beam theory maximal deflection: f = 0.2"
beam theory maximal stress: o = 90,000psi
our definition of the discretization error :
( beam theory result - FEA result ) / beam theory result
model #
FEA
deflection
[in]
deflection
error
[%]
FEA
stress
[ PSI ]
stress
error
[%]
1 0.1358 32 1,500 98
2 0.1791 10 39,713 56
3 0.1950 2.5 65,275 27
4 0.1996 0.2 80,687 10
MESH ADEQUACY
41
MESH ADEQUACY
Two layers of second order solid elements are generally recommended for modeling bending.
Shell elements adequately model bending.
42
CONVERGENCE PROCESS
CONTROL OF DISCRETIZATION ERROR
43
DISCRETIZATION OF STRESS DISTRIBUTION
Mesh built with first order triangular elements
called constant stress triangles
First order element assumes linear distribution of displacements within each element. Strain, being derivative of
displacement, is constant within each element. Stress is also constant because it is calculated based on strain.
Discrete stress distribution in constant stress triangles
44
Tensile hollow strip modelled with a coarse
mesh of 2D plate elements.
An isometric view of von Mises effective stress distribution in
the upper right quarter of the model shown above. The height
of bars represents the magnitude of stress. Notice that
stresses are constant within each element.
DISCRETIZATION OF STRESS DISTRIBUTION
45
CONVERGENCE ANALYSIS BY MESH REFINEMENT
The same tensile strip modelled three times with increasingly refined meshes. The
process of progressive mesh refinement is called h convergence.
46
CHARACTERISTIC ELEMENT SIZE
The process of progressive mesh refinement is called h convergence because
characteristic element size h is modified during this process
47
Discretization errors
Discretization error is an inherent part of FEA. It is the price we pay for discretization of a continuous structure.
Discretization error can be defined either as solution error or convergence error.
Convergence error
Convergence error is the difference between two consecutive mesh refinements and/or element order upgrade. Lets say
convergence error is 10%. If convergence takes place, then the next refinement and/or element order upgrade will
produce results that will be different from the current one by less than 10%.
Solution error
The solution error is the difference between the results produced by a discrete model with a finite number of elements
and the results that would be produced by a hypothetical model with an infinite number of infinitesimal elements. To
estimate the solution error, one has to assess the rate of convergence and predict changes in results within the next few
iterations as if they were performed.
CONVERGENCE CURVE
1 2 3
Mesh refinement and / or element order upgrade number
C
o
n
v
e
r
g
e
n
c
e
c
r
i
t
e
r
i
o
n
Solution of the hypothetical infinite
Finite element model (unknown)
Solution error for
model # 3
Convergence error
for model # 3
# of D.O.F.
48
h - elements
The name h comes from characteristic
element size usually denoted as h.
That characteristic element size is reduced
during h convergence process.
p - elements
The name p comes from polynomial function
describing displacement field in the element.
The order of polynomial function is increased
during p convergence process.
COMPARISON BETWEEN h ELEMENTS AND p ELEMENTS
49
h - elements
p - elements
Element shape: tetrahedral, wedge, hexahedral Element shape: tetrahedral, wedge, hexahedral
Mapping allows for only little deviation from the ideal shape.
Displacement field mapped by lower order polynomials
(1
st
or 2
nd
), polynomial order does not change during
solution
Mapping allows for higher deviation from the ideal shape but may
introduce errors on highly curved edges and surfaces
Displacement field described by mapped higher order
polynomials, polynomial order adjusted automatically to
meet users accuracy requirements.
COMPARISON BETWEEN h ELEMENTS AND p ELEMENTS
results are produced in the iterative process that continues
until the known, user specified accuracy, has been obtained
results are produced in one single run with
unknown accuracy
fewer large elements typically 500 10,000
many small elements typically 5,000 500,000
Only tetrahedral
elements can be
reliably created
with the available
auto-meshers
Only tetrahedral
elements can be
reliably created
with the available
auto-meshers
50
HOLLOW PLATE
Model file HOLLOW PLATE.sldprt
Model type solid
Material Alloy Steel
Restraints fixed to left end face
Load 100000N tensile load to right end face
Objectives
meshing solid CAD geometry
using solid elements
demonstrating h convergence process
100,000 N
tensile load
Fixed
restraint