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CEL760 : FINITE ELEMENT METHOD IN GEOTECHNICAL ENGINEERING

3 Credits (3-0-0) Coordinator : K.G. Sharma

Course Content
Introduction. Steps in FEM. Stress-deformation analysis: One-, Two- and Three-dimensional formulations; Boundary Boundary conditions; Solution algorithms; Discretization; Use of FEM2D Program and Commercial packages. Analysis of foundations, dams, underground structures and earth retaining structures.

Course Contents

Contd.

Analysis of flow (seepage) through dams and f foundations. d ti Linear and non-linear analysis. Insitu stresses. Sequence construction and excavation. Joint/interface elements. Infinite elements. elements Dynamic analysis. analysis Evaluation of material parameters for linear and non-linear analysis. Recent developments.

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References
Desai, C.S. and Kundu T. (2001) Introductory Finite Element Method. CRC Press. Desai, C.S. and Abel, J.F. (1972) Introduction to Finite Element Method. Van Nostrand Reinhold, New York. Bathe, K.J. (1982) Finite Element Procedures in Engineering Analysis. Prentice-Hall, Inc. Zienkiewicz, O.C. and Taylor, R.L. (1989) The Finite Element Method. Vols. 1 & 2, 4th Edition, McGraw-Hill Book Company. Desai, C.S. and Christian, J.T. (1977) Numerical Methods in Geotechnical Engineering. John Wiley & Sons.

References
Naylor, D.J. and Pande, G.N. (1981) Finite Elements in Geotechnical Engineering. Pineridge Press. Hinton, E. and Owen, D.R.J. (1977) Finite Element Programming. Academic Press. Evaluation Minor Test I : 20% Minor Test II : 20% % Major Test : 40% Assignments : 20% Note: Students having less than 75% attendance will be given one grade less than the grade scored by them.

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Introduction to Finite Element Method

Dr. K. G. Sharma
Professor, Department of Civil Engineering, Indian Institute of Technology Delhi

Methods of Solution
Closed form (Analytical) Solutions (CFS)
Many problems in engineering and applied science are governed by g y differential or integral g equations. q The solutions to these equations would provide an exact, closed-form solution to the particular problem being studied. Gives the values of unknown quantity at any location in a body . However analytical solution s can be obtained for only certain However, simplified situations. However, complexities in the geometry, properties and in the boundary conditions that are seen in most real-world engineering problems usually means that an exact solution cannot be obtained or obtained in a reasonable amount of time.

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Methods of Solution

Numerical Methods

Problems involving complex material properties & boundary conditions: Numerical Methods Numerical Methods provide approximate but acceptable solutions.

Solution Sol tion obtained only onl at a discrete number n mber of points in the body.

Numerical Methods contd.

Process of selecting only a certain number of discrete points In the body is termed as Discretization. Divide the body into an equivalent system of smaller bodies /units. The assemblage of these units then represents the original body. We do not solve the problem for the entire body in one Operation. Operation Instead, solutions are formulated for each unit and combined to obtain the solution for the original body. This approach is known as Going from Part to Whole.

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Discretization of Body

Numerical Methods Contd.

Analysis procedure is considerably simplified. Amount of data to be handled depends upon the number of small bodies. Manual calculations for 1-D problems. Computer required for large data: 2-D, 3-D problems.

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Methods of Solution contd.

Numerical Methods Finite Difference Method Finite Element Method (FEM) Boundary Element Method (BEM) Coupled Finite Element Boundary Element Method (FEBEM) Distinct Element Method (DEM) Infinite Elements

Best known numerical method is Finite Difference Method. The method has been adopted for use with computers. Other methods are Residual Methods & Variational Methods Methods. FEM is essentially a product of electronic computer age. Many of the features common to the previous numerical methods. FEM possesses certain characteristics that take advantage of the special facilities offered by computers. FEM can be systematically programmed to accommodate Such complex and difficult problems as non-homogeneous materials, nonlinear stress-strain behaviour and complicated boundary conditions. It is difficult to accommodate these complexities in other methods.

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The approach is similar to the extension of the familiar concepts of analysis of framed structures as 1-D bodies to problems involving 2-D and 3-D structures. Physical or Intuitive approach to the learning and using the method. Or a rigorous mathematical interpretation of the method.

FAMILY TREE OF FINITE ELEMENT METHODS

ENGINEERING Trial Functions Variational methods Rayleigh 1870 Ritz 1909 Structural analogue substitution Hrenikoff 1941 McHenry 1943 Newmark 1949 Direct continuum elements Argyris 1955 Turner et al. 1956 PRESENT DAY FINITE ELEMENT METHOD Weighted residuals Gauss 1795 Galerkin 1915 Biezeno Koch 1923 Piecewise continuous trial Functions Courant 1943 Prager Synge 1947 Variational finite differences Varga 1962 MATHEMATICS Finite differences Richardson 1910 Liebman 1918 Southwell 1940

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Methods of Solution
Empirical Methods Observational Methods

contd.

CONTINUUM FEM BEM FEM, Isotropic

DISCONTINUUM DEM Anisotropic

DISCRETIZATION Going from Part to Whole

Discretization Scheme

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Discretization Scheme

PROTYPE-TRACK ANALYSIS Discretization

Mesh Diagnostics
Model Track Component Rail and Sleepers Prototype Track Ballast Sub-ballast Subgrade Nodes 644 592 660 3875 Elements 62 72 81 756

Total No. of Elements = 971 Total No. of Nodes = 5771

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Finite Element Mesh of Dam-Foundation System

70 m

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Analysis Using UDEC

Discretisation Boundary Condition

3-D layout of the underground storage caverns from the reference of Benardos and Kaliampakos, (2004). (ref 4 )

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PHASE 2 model of the oil storage cavern

Finite Element Method

In the FEM, a complex region defining a continuum is discretized into simple geometric shapes called elements. The Th properties ti and d th the governing i relationships l ti hi are assumed d over these elements and expressed mathematically in terms of unknown values at specific points in the elements called nodes. An assembly process is used to link the individual elements to the given system system. When the effects of loads and boundary conditions are considered, a set of linear or nonlinear algebraic equations is usually obtained. Solution of these equations gives the approximate behavior of the continuum or system.

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Finite Element Method (cont.)

The continuum has an infinite number of degrees-of-freedom (DOF), while the discretized model has a finite number of DOF. This is the origin of the name, finite element method. The number of equations is usually rather large for most realworld applications of the FEM, and requires the computational power of the digital computer. The FEM has little practical value if the digital computer were not available. Advances Ad in i and d ready d availability il bilit of f computers t and d software ft has brought the FEM within reach of engineers working in small industries, and even students.

Finite Element Method (cont.)

Two features of the finite element method are worth noting. The piecewise approximation of the physical field (continuum) on finite elements provides good precision even with simple approximating functions. Simply increasing the number of elements can achieve increasing precision. The locality of the approximation leads to sparse equation systems for a discretized problem. This helps to ease the solution of problems having very large numbers of nodal unknowns. It is not uncommon today to solve systems containing a million primary unknowns.

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Origins of the Finite Element Method

It is difficult to document the exact origin of the FEM,

because the basic concepts have evolved over a period of 150 or more years. The term finite element was first coined by Clough in 1960. In the early 1960s, engineers used the method for approximate solution of problems in stress analysis, fluid flow, heat transfer, and other areas. The first book on the FEM by Zienkiewicz and Chung was published in 1967. In the late 1960s and early 1970s, the FEM was applied to a wide variety of engineering problems.

Origins of the Finite Element Method (cont.)

The 1970s marked advances in mathematical treatments,

including the development of new elements, and convergence studies. Most commercial FEM software packages originated in the 1970s (ABAQUS, ADINA, ANSYS, MARK, PAFEC) and 1980s (FENRIS, LARSTRAN 80, SESAM 80.) The FEM is one of the most important developments in computational methods to occur in the 20th century. In just a few decades, the method has evolved from one with applications in structural engineering to a widely utilized and richly varied computational approach for many scientific and technological areas.

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How can the FEM Help the Design Engineer?

The FEM offers many important advantages to the design

engineer: Easily applied to complex, complex irregular-shaped objects composed of several different materials and having complex boundary conditions. Applicable to steady-state, time dependent and eigenvalue problems. Applicable to linear and nonlinear problems. One method can solve a wide variety of problems, including problems in solid mechanics, fluid mechanics, chemical reactions, electromagnetics, biomechanics, heat transfer and acoustics, to name a few.

How can the FEM Help the Design Engineer? (cont.)

General-purpose FEM software packages are available at reasonable cost, and can be readily executed on microcomputers, including workstations and PCs.

The FEM can be coupled to CAD programs to facilitate solid modeling and mesh generation. Many FEM software packages feature GUI interfaces, auto-meshers, and sophisticated postprocessors and graphics to speed the analysis and make pre and postprocessing more user-friendly.

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How can the FEM Help the Design Organization?

Simulation using the FEM also offers important business

advantages to the design organization: Reduced testing and redesign costs thereby shortening the product development time. Identify issues in designs before tooling is committed. Refine components before dependencies to other components prohibit changes. Optimize performance before prototyping. Discover design problems before litigation. All ti f d i t i i

Theoretical Basis: Formulating Element Equations

Several approaches can be used to transform the physical formulation of a problem to its finite element discrete analogue. If the physical formulation of the problem is described as a differential equation, then the most popular solution method is the Method of Weighted Residuals. If the th physical h i l problem bl can b be f formulated l t d as th the minimization i i i ti of a functional, then the Variational Formulation is usually used.

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Sources of Error in the FEM

The

three main sources of error in a typical FEM solution are discretization errors, formulation errors and numerical errors.

Discretization

error results from transforming the physical system t (continuum) ( ti ) into i t a finite fi it element l t model, d l and d can b be related to modeling the boundary shape, the boundary conditions, etc.

Discretization error due to poor geometry representation.

Discretization error effectively eliminated.

Sources of Error in the FEM (cont.)

Formulation error results from the use of elements that don't precisely describe the behavior of the physical problem. Elements which are used to model physical problems for which they are not suited are sometimes referred to as ill-conditioned or mathematically unsuitable elements. For example a particular finite element might be formulated on the assumption that displacements vary in a linear manner over the domain. Such an element will produce no formulation error when it is used to model a linearly varying physical problem (linear varying displacement field in this example), but would create a significant formulation error if it used to represent a quadratic or cubic varying displacement field.

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Sources of Error in the FEM (cont.)

Numerical

error occurs as a result of numerical calculation procedures, and includes truncation errors and d round d off ff errors. Numerical error is therefore a problem mainly concerning the FEM vendors and developers. The user can also contribute to the numerical accuracy, y, for example, p , by y specifying p y gap physical y quantity, say Youngs modulus, E, to an inadequate number of decimal places.

Advantages of the Finite Element Method

Can readily handle complex geometry: The heart and power of the FEM. Can handle complex analysis types: Vibration Vib ti Transients Nonlinear Heat transfer Fluids Can handle complex loading: Node-based loading (point loads) loads). Element-based loading (pressure, thermal, inertial forces). Time or frequency dependent loading. Can handle complex restraints: Indeterminate structures can be analyzed.

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Advantages of the Finite Element Method (cont.)

Can handle bodies comprised of nonhomogeneous materials: Every element in the model could be assigned a different set of material properties. Can handle bodies comprised of nonisotropic materials: Orthotropic Anisotropic Special material effects are handled: Temperature dependent properties. Plasticity Creep C Swelling Special geometric effects can be modeled: Large displacements. Large rotations. Contact (gap) condition.

Disadvantages of the Finite Element Method

A specific numerical result is obtained for a specific problem. A general closed-form solution, which would permit one to examine system response to changes in various parameters, is not produced. produced The FEM is applied to an approximation of the mathematical model of a system (the source of so-called inherited errors.) Experience and judgment are needed in order to construct a good finite element model. A powerful computer and reliable FEM software are essential. Input and output data may be large and tedious to prepare and interpret.

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Disadvantages of the Finite Element Method (cont.)

Numerical problems: Computers only carry a finite number of significant digits. Round off and error accumulation. Can help the situation by not attaching stiff (small) elements to flexible (large) elements. Susceptible to user-introduced modeling errors: Poor choice of element types. Distorted elements. Geometry not adequately modeled. Certain effects not automatically included: Buckling Large deflections and rotations. Material nonlinearities . Other nonlinearities.

Advantages of Finite Element Method

Nonhomogeneity Material & Geometric Nonlinearities

El ti Non Elastic, N linear li elastic, l ti Elasto El t plastic, l ti creep, viscoplastic i l ti

Irregular Geometry Any Boundary Conditions Generality 1-D 2-D 3-D Applicable to Wide Range of Problems

Structural Engineering Geotechnical Engineering Water Resources Engineering Mechanical Engineering Nuclear Engineering Heat Transfer

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Advantages of Finite Element Method

-Contd

Applicable to Wide Range of Problems

Biomedical Engineering Electro-magnetism

Y Z X

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Discretization Examples

One-Dimensional Frame Elements

Two-Dimensional Triangular Elements

Three-Dimensional Brick Elements

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Field near a Magnet

Anatomy of Hip Joint

Largest weight bearing joint Composed of rounded head of the femur joining the acetabulum of pelvis in a ball and socket arrangement
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Composite Model

Basic Composite Model With Elements

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Maximum Shear Stress Region

Enlarged E l d View Vi of f the th Deformed D f d Stem St and d Cortical C ti l Bone B Showing the Maximum Shear Stress Region (Path Aa)

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Natural Knee Joint

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Idealization of Natural Femur

Fixation of Endoprosthesis

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Idealization with Endoprosthesis

Problems & Loads

Problem Types

One Dimensional Problems Two Dimensional Problems

Plane Stress Plane Strain Axisymmetric

Three Dimensional Problems Point loads Pressure loading B d F Body Forces Due to insitu stresses Due to Temperature

Loads

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BODY FORCE Volume element dV Xc dV Xb dV w u z x Xa dV Volume (V) v Surface (S)

Body force: distributed force per unit volume (e.g., weight, inertia, etc)

X a X = X b X c & = & & & u v w &&

& u NOTE: If the body is accelerating, then the & inertia force
y x may be considered as part of X

~ & X = X & u

SURFACE TRACTION Traction: Distributed force per unit surface area Volume element dV Xc dV Xb dV w u z x Xa dV Volume (V) v ST px pz py

p x T S = p y p z

y x

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Analysis Types

Analysis: Stress Deformation Linear elastic Hyperbolic : nonlinear Elasto Plastic Elasto Viscoplastic Simulation of Sequential Construction Excavation Joint / Interfaces Seepage Confined flow Unconfined flow Finite elements Infinite elements Joint / Interface elements Line / Bar elements

The width of the concrete face is 0.3 m at the top and 1 m at the bottom of the dam. Upstream slope of the dam is of 1V : 1.4H. Downstream slope is of 1V : 1.5H.

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Discretization

Themeshfortheanalysisofthedamconsistsof7500elements

Sequential loading

Theloadingisdonein23layerswitheachlayerbeing5mhigh.

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Excavation sequence for the power house cavern

Categories of problem in Geotechnical Engineering

FEM is applicable to a wide range of boundary value problems problems. Boundary Value Problem: A solution is sought in the region of the body, while on the boundaries of the region, the values of unknowns are prescribed. Initial Value Problems: Initial values of the unknowns are also prescribed.

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Steady or Equilibrium Static stress-deformation analyses for foundations, slopes banks slopes, banks, tunnels tunnels, dams and other structures Steady state fluid flow Eigen value Natural frequencies of foundations and structures

Categories of problem in Geotechnical Engineering

Transient or Dynamic

Stress deformation St d f ti behaviour b h i of f foundations, f d ti slopes, l banks, tunnels, and other structures, under time dependent forces Viscoelastic analysis Consolidation Transient fluid flow Wave propagation

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Governing Equations

Static and Steady State

Energy Principles, Principles Differential Equations Energy Principles, Differential Equations Initial Value Problems Time Marching g Schemes

Transient or Dynamic

Forward difference method (Euler): Explicit Backward difference: Implicit Central difference: Implicit

Time Step, t

Modules

Pre Processor: Data, Mesh Analysis FEM Software ABAQUS NISA ABAQUS, NISA, FLAC FLAC, FLAC3D FLAC3D, PLAXIS, PLAXIS PHASE2, MIDAS, UDEC, 3DEC Post Processor Mesh Deformed mesh / shape Deformation vector / contour plots Stress vector / contour plots Yielded zone Flow vectors Analysis Module Solid Elements: Finite Infinite Joint Elements: Zero thickness Thin Bar Elements

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PROTYPE-TRACK ANALYSIS

Deformed Shape Displacement Contours

Intact D-F Case in CC

Dam-Foundation in CC

Displacement Vectors for D-F

Major Principal Stress Contours

Minor Principal Stress Contours

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Flow vectors at 4th Stage with grout zone in the presence of water table

Flow net for cavern with oil with grout zone in the presence of water table

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Approaches

Displacement Method Equilibrium Method Mixed Method

Displacement Formulation Primary & Secondary Unknowns

Problem Primary Secondary Strains, Stresses, Accelerations, velocities Velocities, Discharge, Quantity of flow Strains, Stresses, Quantity of flow Stress Deformation, Static, Displacements Dynamic foundations, dams, embankments, Slopes, pavements Seepage, flow Coupled consolidation, Liquefaction Fluid potentials Displacements, Pore pressure

Non-homogeneity Complex Boundaries Material Non-linearity Geometric Non- Linearity

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Commercial Software

ABAQUS Pl i 2D, Plaxis 2D Plaxis Pl i 3D Phase2, Midas GTS SOFiSTiK, CESAR-LCPC Examine2D, Examine3D FLAC, FLAC3D UDEC, 3DEC
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Books
Desai & Kundu: Introductory Finite Element Method Desai & Abel: Introduction to Finite Element Method Bathe: Finite Element Procedures in Engineering Analysis Zienkiewicz: Finite Element Method Hinton & Owen: Finite Element Programming Rao SS: Finite Element Method in Engineering Krishnamoorthy: Finite Element Analysis

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Thank you

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