MECh300H Introduction to Finite

Element Methods
Finite Element Analysis (F.E.A.) of 1-D
Problems
Historical Background
Hrenikoff, 1941 frame work method
Courant, 1943 piecewise polynomial
interpolation
Turner, 1956 derived stiffness matrice for truss,
beam, etc
Clough, 1960 coined the term finite element
Key Ideas: - frame work method
piecewise polynomial approximation
Axially Loaded Bar
Review:
Stress:
Strain:
Deformation:
Stress:
Strain:
Deformation:
Axially Loaded Bar
Review:
Stress:
Strain:
Deformation:
Axially Loaded Bar Governing
Equations and Boundary
Conditions
Differential Equation

Boundary Condition Types
prescribed displacement (essential BC)

prescribed force/derivative of displacement
(natural BC)

L x x f
dx
du
x EA
dx
d
< < = +
(

0 0 ) ( ) (
Axially Loaded Bar Boundary
Conditions
Examples
fixed end

simple support

free end





Potential Energy
Elastic Potential Energy (PE)
- Spring case
- Axially loaded bar
- Elastic body
x
Unstretched spring
Stretched bar
0 PE =
2
2
1
PE kx =
undeformed:
deformed:
0 PE =
}
=
L
Adx
0
2
1
PE oc
dv
V
T

}
=
2
1
PE
Potential Energy
Work Potential (WE)
B
L
u P fdx u =
}
0
WP
P
f
f: distributed force over a line
P: point force
u: displacement
A B
Total Potential Energy
B
L L
u P fdx u Adx = H
} }
0 0
2
1
oc
Principle of Minimum Potential Energy
For conservative systems, of all the kinematically admissible displacement fields,
those corresponding to equilibrium extremize the total potential energy. If the
extremum condition is a minimum, the equilibrium state is stable.
Potential Energy + Rayleigh-Ritz
Approach
P
f
A B
Example:
Step 1: assume a displacement field
( ) n i x a u
i
i
i
to 1 = =

|
| is shape function / basis function
n is the order of approximation
Step 2: calculate total potential energy
Potential Energy + Rayleigh-Ritz
Approach
P
f
A B
Example:
Step 3:select a
i
so that the total potential energy is minimum
Galerkins Method
P
f
A B
Example:
( )
P
dx
du
x EA
x u
x f
dx
du
x EA
dx
d
L x
=
= =
= +
(

=
) (
0 0
0 ) ( ) (
Seek an approximation so
( )
P
dx
u d
x EA
x u
dV x f
dx
u d
x EA
dx
d
w
L x
V
i
=
= =
= |
.
|

\
|
+
(

=
}
~
) (
0 0
~
0 ) (
~
) (
u
~
In the Galerkins method, the weight function is chosen to be the same as the shape
function.
Galerkins Method
P
f
A B
Example:
0 ) (
~
) ( = |
.
|

\
|
+
(

}
dV x f
dx
u d
x EA
dx
d
w
V
i
0
~
) (
~
) (
0
0 0
= + +
} }
L
i
L L
i
i
dx
u d
x EA w fdx w dx
dx
dw
dx
u d
x EA
1
2 3
1
2
3
Finite Element Method Piecewise
Approximation
x
u
x
u
FEM Formulation of Axially
Loaded Bar Governing Equations
Differential Equation


Weighted-I ntegral Formulation


Weak Form




L x x f
dx
du
x EA
dx
d
< < = +
(

0 0 ) ( ) (
0 ) ( ) (
0
=
|
|
.
|

\
|
+
(

}
dx x f
dx
du
x EA
dx
d
w
L
L
L
dx
du
x EA w dx x wf
dx
du
x EA
dx
dw
0 0
) ( ) ( ) ( 0
|
.
|

\
|

|
.
|

\
|
=
}
Approximation Methods Finite
Element Method
Example:
Step 1: Discretization
Step 2: Weak form of one element
P
2 P
1
x
1
x
2
0 ) ( ) ( ) ( ) ( ) (
2
1
2
1
=
|
.
|

\
|

|
.
|

\
|
}
x
x
x
x
dx
du
x EA x w dx x f x w
dx
du
x EA
dx
dw
( ) ( ) 0 ) ( ) ( ) (
1 1 2 2
2
1
=
(

|
.
|

\
|
}
P x w P x w dx x f x w
dx
du
x EA
dx
dw
x
x
Approximation Methods Finite
Element Method
Example (cont):
Step 3: Choosing shape functions
- linear shape functions
2 2 1 1
u u u | | + =
l
x
1
x
2
x
=1 =0 =1
l
x x
l
x x
1
2
2
1
;

=

= | |
2
1
;
2
1
2 1

|

|
+
=

=
( )
( )
1 1
2
1
; 1
2
x
l
x x x
l
+
+
= =

Approximation Methods Finite

\
|

} }
P P dx f dx
l
u u
EA
l
x
x
x
x
| | |
1 1 2 1
2
1
P dx f u
l
EA
u
l
EA
x
x
+ =
}
|
Let , weak form becomes
2
| = w 0
1
1 2 2 2 2
1 2
2
1
2
1
=
|
.
|

\
|

} }
P P dx f dx
l
u u
EA
l
x
x
x
x
| | |
2 2 2 1
2
1
P dx f u
l
EA
u
l
EA
x
x
+ = +
}
|
2
1
2
1
1
1 1 1 1
2 2 2 2
2
1 1
1 1
x
x
x
x
fdx
u P f P
EA
u P f P l
fdx
|
|


(
= + = +
` ` ` ` `
(

) ) ) )


)
}
}
E,A are constant
Approximation Methods Finite
Element Method
Example (cont):
Step 5: Assembling to form system equation
Approach 1:
Element 1:
1 1 1
2 2 2
1 1 0 0
1 1 0 0
0 0 0 0 0 0 0
0 0 0 0 0 0 0
I I I
I I I I I
I
u f P
u f P E A
l
(
(

(
= +
` ` `
(

(

) ) )
Element 2:
1 1 1
2 2 2
0 0 0 0 0 0 0
0 1 1 0
0 1 1 0
0 0 0 0 0 0 0
II II II
II II
II II II II
u f P
E A
u f P l
(
(

(
= +
` ` `
(

(

) ) )
Element 3:
1 1 1
2 2 2
0 0 0 0 0 0 0
0 0 0 0 0 0 0
0 0 1 1
0 0 1 1
III III
III III III III
III III III
E A
u f P l
u f P
(
(

(
= +
` ` `
(

(

) ) )
Approximation Methods Finite
Element Method
Example (cont):
Step 5: Assembling to form system equation
Assembled System:
1 1 1
2 2 2
3 3 3
4 4 4
0 0
0
0
0 0
I I I I
I I
I I I I II II II II
I I II II
II II II II III III III III
II II III III
III III III III
III III
E A E A
l l
u f P
E A E A E A E A
u f P
l l l l
u f P
E A E A E A E A
u f P l l l l
E A E A
l l
(

(
(

(
+

(

= +
( ` `
(
+
(
) )
(
(

(

1 1
2 1 2 1
2 1 2 1
2 2
I I
I II I II
II III II III
III III
f P
f f P P
f f P P
f P


+ +

= +
` ` `
+ +


) ) )
Approximation Methods Finite
Element Method
Example (cont):
Step 5: Assembling to form system equation
Approach 2: Element connectivity table Element 1 Element 2 Element 3
1 1 2 3
2 2 3 4
global node index
(I,J)
local node
(i,j)
e
ij IJ
k K
Approximation Methods Finite
Element Method
Example (cont):
Step 6: Imposing boundary conditions and forming condense system
Condensed system:
2 2
3 3
4 4
0
0
0
0
I I II II II II
I II II
II II II II III III III III
II II III III
III III III III
III III
E A E A E A
l l l
u f
E A E A E A E A
u f
l l l l
u f P
E A E A
l l
| |
+
|
|

|
+ = +
` ` `
|

|
) ) )
|

|
\ .
Approximation Methods Finite
Element Method
Example (cont):
Step 7: solution
Step 8: post calculation
dx
d
u
dx
d
u
dx
du
2
2
1
1
| |
c + = =
2 2 1 1
| | u u u + =
dx
d
Eu
dx
d
Eu E
2
2
1
1
| |
c o + = =
Summary - Major Steps in FEM
Discretization
Derivation of element equation
weak form
construct form of approximation solution
over one element
derive finite element model
Assembling putting elements together
I mposing boundary conditions
Solving equations
Postcomputation
Exercises Linear Element
Example 1:
E = 100 GPa, A = 1 cm
2
Linear Formulation for Bar Element
)
`

=
)
`

+
)
`

2
1
22 12
12 11
2
1
2
1
u
u
K K
K K
f
f
P
P
( )
} }
= =
|
|
.
|

\
|
=
2
1
2
1
,
x
x
i i
x
x
ji
j
i
ij
dx f f K dx
dx
d
dx
d
EA K where |
|
|
x=x
1
x=x
2
1

|
2
|
1
1

x
x=x
1
x=x
2
u
1
u
2
1
P
2
P
f(x)

L =x
2
-x
1
u
x
Higher Order Formulation for Bar Element
(x) u (x) u (x) u (x) u
3 3 2 2 1 1
| | | + + =
) x ( u ) x ( u ) x ( u ) x ( u (x) u
4 4 3 3 2 2 1 1
| | | | + + + =
1

3

u
1
u
3
u
x
u
2
2

1

4

u
1
u
4
2

u
x
u
2
u
3
3

) x ( u ) x ( u ) x ( u ) x ( u ) x ( u (x) u
n n 4 4 3 3 2 2 1 1
| | | | | + - - - - - - + + + + =
1

n

u
1
u
n
2

u
x
u
2
u
3
3

u
4

Natural Coordinates and Interpolation Functions
2
1
,
2
1
2 1
+
=

=

|

|
Natural (or Normal) Coordinate:
x=x
1 x=x
2
=-1
=1
x

0 x= x l =
1
x x x =
1 2
2
/ 2
x x
x
l

=
1

3

2

=-1 =1
1

2

=-1 =1
1

4

2

=-1 =1
3

( )
( )( )
( )
2
1
, 1 1 ,
2
1
3 2 1

| |

|
+
= + =

=
( ) ( ) ( ) 1
3
1
1
16
27
, 1
3
1
3
1
16
9
2 1
|
.
|

\
|
+ = |
.
|

\
|
|
.
|

\
|
+ = | |
( ) ( ) ( ) |
.
|

\
|
|
.
|

\
|
+ + = |
.
|

\
|
+ + =
3
1
3
1
1
16
9
, 1
3
1
1
16
27
4 3
| |
Quadratic Formulation for Bar Element
( ) ( )
2
1
1
1
nd , , 1, 2, 3
2
x
i i i
x
l
a f f dx f d i j

= = =
} }
2
1
1
1
2

x
j j
i i
ij ji
x
d d
d d
where K EA dx EA d K
dx dx d d l
| |
| |

| | | |
= = =
| |
\ . \ .
} }

(
(
(

3
2
1
33 23 13
23 22 12
13 12 11
3
2
1
3
2
1
u
u
u
K K K
K K K
K K K
f
f
f
P
P
P
=-1
=0 =1
|
3
|
1
|
2
Quadratic Formulation for Bar Element
u
1
u
3
u
2
f(x)
P
3
P
1
P
2
=-1
=0 =1
1
x
2
x
3
x
( )
( )( )
( )
2
1
u 1 1 u
2
1
u ) ( u ) ( u ) ( u ) ( u
3 2 1 3 3 2 2 1 1



| | |
+
+ +

= + + =
( )
( )( )
( )
2
1
, 1 1 ,
2
1
3 2 1

| |

|
+
= + =

=
1 1 2 2 3 3
2 2 1 2 4 2 2 1
, ,
d d d d d d
dx l d l dx l d l dx l d l
| | | | | |

+
= = = = = =
1 2
2
/ 2
x x
x
l

=
2
l
d dx =
2 d
dx l

=
Exercises Quadratic Element
Example 2:
E = 100 GPa, A
1
= 1 cm
2
; A
1
= 2 cm
2
Some Issues
Non-constant cross section:
Interior load point:
Mixed boundary condition:
k