U

C
O S
NUMERICAL
METHODS

Lecture 6

Dr. P V Ramana
NM

Dr P V RAMANA

Function (u)

a+bx

a+bx+cx2

Function (u)

a+bx+cy

a+bx+cy+dx2+exy+fy2

Function ((u))

Function (u)

a+bx+cy+dxy
y
y

a+bx+cx2+dx3

2+exy+fy
a+bx+cy+dx
y
y y2+gx
g 2y2+gx
g 2y

a+bx+cy+dz+exy+fzy+gxz+hxyz; a+bx+cy+dx2+exy+fy2+

NM

Dr P V RAMANA

Forces are acting in transverse

direction

NM
Dr P V
RAMANA

Characteristics (Properties) of global stiffness matrix K

Square Matrix KIJ
Symmetric Matrix (KIJ = KJI Linear relationship between load and displacement)
Diagonal terms are positive KII (KII= 0 or ve unless structure is unstable)
|K|
|K| = 0 (zero determinate)
determinate). Singular just like KE. (Floating structure & Rank is one
order less than the rank of K).
Becomes non-singular by imposing boundary conditions.
NM

Dr P V RAMANA

1 DOF

Assume a simple displacement function to

define the displacement of every material point
in the element
element.
Usually use low order polynomials
Here
u = a+ b x
u is axial displacement
a,, b are constants to be determined
x is local coordinate along member

NM

Dr P V RAMANA

uI

uJ

FI

FJ
J

The constants are found by imposing the

known nodal displacements ui, uj at nodes
i and j
ui = a + b xi
uj = a + b xj
ui, uj are nodal displacements
xi, xj are nodal coordinates
NM

Dr P V RAMANA

XJ=L
L

XI=0

l tti xi = 0,
0 xj = L,
L One
O can gett
letting
a = ui
b = (uj-ui)/L

One can write

x
u 1
L

x ui
u [ N]{d }

L j

[N] = matrix of element shape functions or

interpolation functions
{d} = nodal
oda d
displacements
sp ace e ts
NM

Dr P V RAMANA

 N N1

N2

x
N1 1 ,
L
x
N2
L
Properties
p

N1=1

Variation of N1

Ni 1at node i and zeroat all other nodes

Ni 1

N2=1
1

Variation of N2

i.e. at anypoint in the element N1 N2 1

NM

Dr P V RAMANA

x ui
u [ N ]{d }

L j

x
u 1
L

Strain is given by
du
d[N]

{d} [B]{d}
dx
dx
1
B 1 1
L

where [B] is a matrix relating strain to nodal

displacement (matrix of derivatives of shape
function)
T

[ k ] [B] E[ B]dV
V

NM

Dr P V RAMANA

[
B
]
E
[
B
]
Adx

[k ] AE [B] [ B]dx AE
T

for 1D one can get

1
T 1
[-1,1] [-1,1]dx
L
L
EA 1 1
[k ]

L 1 1

this formulation method also applies to 2-D

2D
and 3-D elements

NM

Dr P V RAMANA

10

Problem 1
For a system of springs

d 1x 0

k2

k1
d 1x

d 2x

d 3x

For this system of spring,

spring first write down the total potential energy of the system
as:

k1
K1
k1

k1
k2
; K2

k1
k 2

k1

K K1 K 2 k1
0

k1
k1 k 2
k2

k2

k2

k2
k 2
NM

11
Dr P V RAMANA

Principle of minimum potential energy for a system of springs

KU F
In matrix form, equations 1 and 2 look like

K K1 K
k1
k
1

k1
k1 k 2
k2

k1
k 1
0

k2

0
k 2
k 2

0 d1x
F1 ?

k 2 d 2 x F 2 0
F 3 F
k 2 d 3 x

d 1x 0

1
k1 k 2
k
2

k1
k1 k 2

k2

k1

d 1x

k 2 d 2 x 0
NM

k 2 d 3 x F

2
Dr P V RAMANA

d 2x

d 3x
12

2 DOF

v ( x ) a0 a1 x a2 x a3 x
2

v ( x ) a1 2a2 x 3a3 x
'

NM

Dr P V RAMANA

13

Element stiffness Matrix and Equations

w (x )

Relationships between moment, force and displacement from

elementary beam theory are
M
f E

d v
d 3
dx
d 4v
w EI 4
dx

V EI

M +dM

d 2v
M EI 2
dx

V+dV

Mi

Using the nodal and beam theory sign convections for shear forces and bending moments,
one can obtain

d 3v(0)
EI dx 3

Fi V
2
EI d v(0)
M

2
i M
dx
f

3
F
d
v
(
L
)
j V EI

3
dx
M j M

d 2 v( L)
EI

Beam element
Beam theory
d 2
dx

NM

Dr P V RAMANA

M
V

14

Use the following equations into above equation.

N1 13 2 x3 3x 2 L L3 , N 2 13 x3 L 2 x 2 L2 xL3
L
L
N3 13 2 x3 3x 2 L , N 4 13 Lx3 L2 x 2
L
L

v Nd

M
V

d v((0))
EI

dx3

Fi V
d 2 v(0)
EI
M

i M
dx 2

3
F

V
d
v
(
L
)
j

EI

3
M j M
dx

2
(
)
d
v
L
EI

dx

d
N
d
N
d
N

dv
d
v
d
v

d, 2 2 d, 3 3 d
dx dx
dx
dx
dx
dx
2
d N EI
2
2
3 (12x 6L),(6Lx 4L ),(12x 6L),(6Lx 2L )
2
dx
L
3
d N EI
3 12,6L,12,6LNM Dr P V RAMANA
15
3
dx
L
2

3x 2x
N 1

L
L
2x x
N N x

L L
3x 2x
N

L
L
x x
N N
L L
2

Pr operties :
N1 N 3 1
NM

Dr P V RAMANA

N 2 N 4 N 3 L x16

The beam element equation relating nodal forces and nodal displacements is given as

6 L 12 6 L vi
Fi
12
M
6 L 4 L2 6 L 2 L2
i EI
i

3

F j L 12 6 L 12 6 L v j

2
2
M j
6 L 2 L 6 L 4 L j

or

f k d

Where [k] is the element stiffness matrix for a beam element with neglected axial effects.
NM

Dr P V RAMANA

17

Fixed Beam

equivalent nodal force system for uniform load w

The system equation for the beam is

F1
12 6L 12 6L
M

4L2 6L 2L2
1 EI
3
12 6L
F2 L

2
M 2
4
L

F1
12 6L 12
M

4L2 6L
1 EI
3

12
F2 NM L Dr
P V RAMANA
M 2

6L
2L2
6 L

4L2

0
0


0
0

1

1

2
2

18

NM

Dr P V RAMANA

19

3 DOF

Frame: combination of bar

and beam

P1 ,
u1

Q1 ,
v1

AE
AE

0
0
0
0

L
L

12EI
6EI
12EI 6EI
0
0

L3
L2
L3
L2

6EI
4EI
6EI 2EI
0

0
2
L2
L
L
L
[k]
AE

AE
0
0
0
0

L
L

12EI
6EI
12EI
6EI

0
0

L3
L2
L3
L2

6EI
2EI
6EI 4EI
0

L2
L
L2
L

E, A, I, L

Q3 ,
v2
Q4 ,

NM

Q2 ,
AE
L

P1 0
Q
1
M 1 0
AE
P2
Q2 L

M 2 0

Dr P V RAMANA

12 EI
L3
6 EI
L2

6 EI
L2
4 EI
L

12 EI
L3
6 EI
L2

0
6 EI
L2
2 EI
L 20

AE

L
0
0
AE
L
0
0

0
12 EI
L3
6 EI
2
L

0
12 EI
L3
6 EI
2
L

2
0
6 EI u
1
2
L v
2 EI 1
L 1
u
0 2
v 2
6 EI
2 2
L
4 EI

P2 ,
u2

 GJ
L

GJ

NM

12EI
3
L
6EI
3
L

6EI
2
L
4EI
L

12EI
3
L
6EI
2
L

6EI
2
L
2EI
L

Dr P V RAMANA

GJ

L
0
0
GJ
L
0
0
21

0
12EI
3
L
6EI
3
L
0
12EI
3
L
6EI
2
L

6EI
2
L

2EI
L

6EI
2
L
4EI
L

Fundamental Concepts
u x, y a1 a 2 x a 3 y; v x, y a 4 a 5 x a 6 y.

Required Properties of the Approximate Solution:

Completeness: approximate solution must be able to represent
two special displacement states exactly
1.
2
2.

Constant strain state: all normal strains and shearing strains have a
fixed value everywhere in the element.
Rigid body motion: all points in element have same values of
displacement.

NM
Dr P V
RAMANA

22

Fundamental Concepts
Required Properties of the Approximate Solution:
W ll
d
th
b
h
f
ti
d
Well-posedness:
the
number
off shape
functions
used
in the approximate solution must equal the number of degrees
of freedom.
freedom
Degrees of freedom are the unknowns in the local problem;
need one equation per unknown to get unique solution.
solution
E.g., Galerkin and Rayleighs method

NM

Dr P V RAMANA

23

Element Formulation
The Constant Strain Triangle element:
2D element used in plane
stress and plane strain
problems
Nominal thickness = h
(small; can be variable)
Three corner nodes with
coordinates (xi, yi)
Two degrees of freedom per
node: (ui, vi)

1
E
1
D

1
0 0

0
1
0

1
2

NM
Dr P V
RAMANA

24

Element Formulation
Three approaches for generating shape
functions:
Interpolation approach:
Matrix-based
Matrix based method
Works best for small numbers of d.o.f.

Direct approach:
t i method
th d
M
More geometric
Works best for higher-order elements

Area based approach:

L
Large structures
t
t
or nearly
l volumetric
l
ti
Works best for higher-order elements
NM
Dr P V RAMANA

25

Basics:
p functions
6 d.o.f. total 6 shape
Fundamental unknowns are horizontal displacement
p
u(x,y) and vertical displacement v(x,y)
p
p
p
Each displacement
expected
to use 3 shape
functions
Simple shape functions = better shape functions
((easier to integrate,
g
, more widely
y applicable,
pp
, ))
The derivatives of order n in variational p
principle,
p , it
is best to choose the shape functions so that they
p
polynomial
p y
of order n
can form a complete
(Gives control over errors, faster convergence, )
NM

Dr P V RAMANA

26

Element Formulation
Interpolation approach:
Approximate u(x,y)
u(x y) and v(x,y)
v(x y) by complete 1st order polynomials:

u x, y a1 a 2 x a 3 y; v x, y a 4 a 5 x a 6 y.

At each node, require u(xi,yi) = ui and v(xi,yi) = vi :

u1 a1 a 2 x1 a 3 y1 ; v1 a 4 a 5 x1 a 6 y1.
u2 a1 a 2 x2 a 3 y2 ; v2 a 4 a 5 x2 a 6 y2 .
u3 a1 a 2 x3 a 3 y3 ; v3 a 4 a 5 x3 a 6 y3 .
6 equations
q
for the 6 unknowns!

NM
Dr P V
RAMANA

27

u1 a1 a2 x1 a3 y1; v1 a4 a5 x1 a6 y1.

Element Formulation u a a x a y ; v a a x a y .
2

2 2

3 2

5 2

6 2

u3 a1 a2 x3 a3 y3; v3 a4 a5 x3 a6 y3.

Interpolation approach:
Write this in matrix form:

u1 1 x1
v 0 0
1
u2 1 x2

v2 0 0
u3 1 x3

v3 0 0

y1

x1

y2
0

0 0
1 x2

y3

x3

Solution (in symbolic form) is

NM

0 a1
y1 a 2

0 a3
d C a .
y2 a 4
0 a5

y3 a 6

a C d .

Dr P V RAMANA

28

Element Formulation
u x, y a1 a 2 x a 3 y; v x, y a 4 a 5 x a 6 y.
Interpolation approach:
Now,
N
rewrite
it iinterpolation
t
l ti ffunctions
ti
in
i matrix/vector
ti /
t form
f
:

a1
a
2
u x, y 1 x y 0 0 0 a 3

u x P x a .

v x, y 0 0 0 1 x y a 4
a5

a6
Substitute previous result:

P x C d .
u x

N x

Matrix of shape functions!

NM

Dr P V RAMANA

29

Element Formulation
Interpolation approach:
For CST, can show that
u1
v
1
u x, y N1 x, y
0
N 3 x, y
0
N 5 x, y
0
u2

,
0
0
0
N 2 x, y
N 4 x, y
N 6 x , y v2
v x, y
u3

v3
N 1 x , y N 2 x , y x 2 y 3 x3 y 2 x y 2 y 3 y x3 x 2 2 A;
N 3 x , y N 4 x , y x3 y1 x1 y 3 x y 3 y1 y x1 x3 2 A;
N 5 x , y N 6 x , y x1 y 2 x 2 y1 x y1 y 2 y x 2 x1 2 A;
1
A area of triangle = 12 det 1

1
NM

Dr P V RAMANA

x1
x2
x3

y1
y2 .

y 3
30

Element Formulation
Notes on Interpolation approach:
Thi approach
h generalizes
li
t different
diff
t shapes,
h
diff
t node
d
This
to
different
locations, and different numbers of d.o.f.
However, the matrix [C] is not always invertible for general
choices of nodal locations.
As number of d.o.f. increases, matrix inversion becomes more
difficult, and thus exact functions become harder to determine.

NM
Dr P V
RAMANA

31

Element Formulation
Direct approach: Need two facts about shape functions
u(x,y)
u(x y) and v(x,y)
v(x y) are complete 1st order polynomials:

u x, y a1 a 2 x a 3 y u1 N1 x, y u2 N 2 x, y u3 N 3 x, y ;
v x, y a 4 a 5 x a 6 y v1 N 4 x, y v2 N 5 x, y v3 N 6 x, y .
Shape functions must be linear in both x and y.

Suppose
S
one knew
k
th shape
the
h
ffunctions
ti
already:
l d

u x, y u1 N1 x, y u2 N 2 x, y u3 N 3 x, y .
ui u xi , yi u1 N1 xi , yi u2 N 2 xi , yi u3 N 3 xi , yi
for any values of u1 , u2 , u3 .
1 if i jKronecker delta pproperty
p y
Want to have N j xi , yi =
.
0
if
i

NM
Dr P V RAMANA

32

Element Formulation
Visually, this looks like:

NM

Dr P V RAMANA

33

Element Formulation
Consider the shape function corresponding to u1 :

Linear in x and y N1 x, y b1 b 2 x b3 y.
Kronecker delta N1 x1 , y1 1; N1 x2 , y2 0; N1 x3 , y3 0.

Therefore,, get
g a set of equations
q
to solve:

1 b1 b 2 x1 b3 y1 ;
0 b1 b 2 x2 b3 y2 ;
0 b1 b 2 x3 b3 y3 .
N1 x, y x2 y3 x3 y2 x y2 y3 y x3 x2 2 A.

Similar p
procedure to construct other shape
p functions.

NM

Dr P V RAMANA

34

Shape functions construction

1 x1
1
1
Ae P 1 x2
2
2
1 x3
Area of triangle

y1
1
y2 [( x2 y3 x3 y2 ) ( y2 y3 ) x1 ( x3 x2 ) y1 ]
2
y3

Moment matrix

Substitute a1, b1 and c1 back into N1 = a1 + b1x + c1y:

1
[( y2 y3 )( x x2 ) ( x3 x2 )( y y2 )]
N1
2 Ae

NM

Dr P V RAMANA

35

Shape functions construction

Similarly,

N 2 ( x1 , y1 ) 0
N 2 ( x2 , y2 ) 1

N2

N 2 ( x3 , y3 ) 0

N 3 ( x1 , y1 ) 0

N3

N 3 ( x2 , y2 ) 0
N 3 ( x3 , y3 ) 1

1
[( x3 y1 x1 y3 ) ( y3 y1 ) x ( x1 x3 ) y ]
2 Ae
1
[( y3 y1 )( x x3 ) ( x1 x3 )( y y3 )]
2 Ae
1
[( x1 y2 x1 y1 ) ( y1 y2 ) x ( x2 x1 ) y ]
2 Ae

1
[( y1 y2 )( x x1 ) ( x2 x1 )( y y1 )]

2 Ae

1
[( y2 y3 )( x x2 ) ( x3 x2 )( y y2 )]
N1
2 Ae
NM

Dr P V RAMANA

36

Shape functions construction

N i ai bi x ci y
where

1
ai
( x j yk xk y j )
2 Ae
i= 1, 2, 3

1
bi
( y j yk )
2 Ae

J, k determined from cyclic permutation

1
ci
( xk x j )
2 Ae

i = 1, 2
i

Large polynomials to model bending stress

along the other direction of load are poor
Spurious shear stress when bent, strains
are large
NM

k
k = 3,, 1

Dr P V RAMANA

j
j = 2, 3
37

Using area coordinates

Alternative method of constructing shape functions
2-3-P:

1 x
1
A1 1 x2
2
1 x3
y
k, 3

A1

y
1
y2 [( x2 y3 x3 y2 ) ( y2 y3 ) x ( x3 x2 ) y ]
2
y3

A1
L1
Ae
Similarly, 3-1-P

A2

1-2-P

i, 1
j, 2
xNM

Dr P V RAMANA

A3

A2
L2
Ae
A3
L3
Ae
38

Using area coordinates

Using area coordinates

1 x y

1
1
A1 1 x2 y2 [( x2 y3 x3 y2 ) ( y2 y3 ) x ( x3 x2 ) y]
2
2
1 x3 y3

L1 L2 L3 1

Partitions of unity:

A1
L1
Ae

Delta function property: e.g. L1 = 0 at if P at nodes 2 or 3

Therefore,

N1 L1 , N 2 L2 , N 3 L3
U ( x, y ) N ( x, y )d e
h

NM

Dr P V RAMANA

39

Strain matrix
u
xx
x
v
yy
y
u v
xy

y x

N i ai bi x ci y

LU

LU LNd e Bd e

B LN 0

NM

where

L 0

ai

1
( x j yk xk y j )
2 Ae

bi

1
( y j yk )
2 Ae

c 1 (x x )
0 i 2 Ae k j

b1 0 b2 0 b3 0
1

B 0 c1 0 c2 0 c3
2A
c1 b1 c2 b2 c3 b3
Dr P V RAMANA

(constant strain element)

40

Element matrices

Constant matrix

1
E

1
D
1
0 0
2

NM

Dr P V RAMANA

1
0
0

1
2

41

Element Formulation
Check the required properties:
Well
Well-posedness:
posedness: 6 d.o.f
d o f and 6 shape functions
functions.

Differentiability: Will show that only 1st derivatives show up in

principle,
p , so need continuous shape
p functions.
variational p
Completeness
u1 u2 u3 u; v1 v2 v3 0.
Rigid body motion: Suppose
u
0

0
N3 x, y
0
N5 x, y
0 u u *(N1 N3 N5 )
u x, y N1 x, y
.

N2 x, y
0
N4 x, y
0
N6 x, y 0
0

v x, y 0
u

0

N1 x, y N3 x, y N5 x, y x2 y3 x3 y2 x3 y1 x1 y3 x1 y2 x2 y1 2A 1.
1
NM

Dr P V RAMANA

42

1
[( y2 y3 )( x x2 ) ( x3 x2 )( y y2 )]
N1
2 Ae
N2

N3

1
[( x3 y1 x1 y3 ) ( y3 y1 ) x ( x1 x3 ) y ]
2 Ae
1
[( y3 y1 )( x x3 ) ( x1 x3 )( y y3 )]
2 Ae

1
[( x1 y2 x1 y1 ) ( y1 y2 ) x ( x2 x1 ) y ]
2 Ae
1
[( y1 y2 )( x x1 ) ( x2 x1 )( y y1 )]
2 Ae

u
0

0
N3 x, y
0
N5 x, y
0 u u *(N1 N3 N5 )
u x, y N1 x, y
.

N2 x, y
N4 x, y
N6 x, y 0
0
0
0

v x, y 0
u

0
N1 x, y N3 x, y N5 x, y x2 y3 x3 y2 x3 y1 x1 y3 x1 y2 x2 y1 2A 1.
1
NM

Dr P V RAMANA

43

Element Formulation
Check the required properties:
Completeness

u
x
constant?
x
Constant strain: Can

N
u
N
N
u1 1 u2 2 u3 3 u1 y2 y3 u2 y3 y1 u3 y1 y2 2 A constant.
t t
x
x
x
x

In fact, strain must be a constant !

Continuity:
C i i

Neither N3(x,y) nor N4(x,y) can influence what

happens on the line between pt. 1 and pt. 2.
Only d.o.f. at pt. 1 and pt. 2 matter!

NM

Dr P V RAMANA

44

Constant Strain Triangle (CST) : Simplest 2D finite element

v1
1
(x1,y1)
y

v2

u1
v

(x,y)
2 (x2,yy2)

v3
(x3,y3)
3

u3

u2

3 nodes per element

2 dofs per node (each node can move in x- and y- directions)
Hence 6 dofs per element

NM
Dr P V
RAMANA

45

The displacement approximation in terms of shape functions is

u (x,y) N1u1 N2u2 N3u3

v(x,y)
( ) N1 v1 N 2 v 2 N 3 v 3
u (x, y) N 1
u

v ((x,, y) 0

0
N1

N2
0

0
N2

N3
0

u1
v
1
0 u 2

N 3 v 2
u 3

v 3

u 21 N 26 d 61

N1
N
0
NM
Dr P V
RAMANA

0
N1

N2
0

0
N2

N3
0

0
N 3
46

Formula for the shape functions are

v1
1
(x1,y1)
y

where

v2

u1
v

(x,y)
2 (x2,y2)

v3
(x3,y3)
3

u3

u2

a1 b1 x c1 y
N1
2A
a2 b2 x c2 y
N2
2A
a3 b3 x c3 y
N3
2A

1 x 1
1

A area of triangle det 1 x 2

2
1 x 3
a1 x 2 y 3 x 3 y 2
a 2 x 3 y1 x1 y 3
a 3DrP Vx1 y 2 x 2 y1

NM
RAMANA

b1 y 2 y 3
b2 y 3 y1
b3 y1 y 2

y1

y2
y 3
c1 x 3 x 2
c 2 x1 x 3
c 3 x 2 x1

47

Properties of the shape functions:

1.
1 The shape functions N1, N2 and N3 are linear functions of x
and y
1 at node ' i '

Ni
0 at other nodes

N2

N1

N
3

1
1

3
3

2
2

NM
Dr P V
RAMANA

48

2. At every point in the domain

N
i 1

N x
i 1

N y
i 1

NM
Dr P V
RAMANA

x
y
49

3. Geometric interpretation of the shape functions

At anyy point
p
P(x,y)
( ,y) that the shape
p functions are evaluated,,

P (x,y)

1
A3

A2
A1

2
x

NM
Dr P V
RAMANA

A1
N1
A
A2
N2
A
A3
N3
A

50

Approximation of the strains

x

xy

u
x
v
y
u
v

y
x

Bd

N1(x,y)
N2(x,y)
0

x
x
N1(x,y)
B 0
0

y
N (x,y) N (x,y) N (x,y)
1
2
1
x
y
y
b1 0 b2 0 b3 0
1
0 c1 0 c2 0 c3
2A
c1 b1 c2 b2 c3 b3
NM
Dr P V
RAMANA

0
0

N3(x,y)
N2(x,y)
0
y
y
N2(x,y) N3(x,y) N3(x,y)

x
x
y
N3(x,y)
x

a1 b1xc1y
N1
2A
a2 b2xc2 y
N2
2A
a3 b3xc3y
N3
2A
51

Inside each element, all components of strain are constant: hence

the name Constant Strain Triangle

Element stresses (constant inside each element)

DB d

IMPORTANT NOTE:
1. The displacement field is continuous across element
boundaries
2 Th
2.
The strains
t i and
d stresses
t
are NOT continuous
ti
across
element boundaries
NM
Dr P V
RAMANA

52

b1 0 b2 0 b3 0
1
B 0 c1 0 c2 0 c3
2A
c1 b1 c2 b2 c3 b3

Element stiffness matrix

t

k e B D B dV
T

1
E
1
D

1
0 0

Since B is constant

k B D B e dV B D B At
T

Element nodal load vector

t=thickness of the element

A=surface area of the element
f e N X dV e N T S dS
ST
V

NM
Dr P V
RAMANA

1
2

0
1

53

Element nodal load vector due to body forces

f b e N X dV t e N X dA
T

fb1
1

fb2y

fb1
Xb

(x y)
(x,y)

NM
Dr P V
RAMANA

Xa

fb2x

fb3
3

fb3x

t N X
1 a

Ae

f b1x
f t e N1 X b
b1 y A
f b 2 x t e N 2 X a
fb
A
f b 2 y t Ae N 2 X b
f b3 x

t Ae N 3 X a
f b3 y
t Ae N 3 X b

dA

dA

dA

dA

dA

dA

54

LINEAR RECTANGULAR ELEMENTS

Non-constant strain matrix
u = a1 + a2 x + a3 y + a4 xy
More accurate representation of stress and strain
Regular shape makes formulation easy

NM

Dr P V RAMANA

55

2D solids plane stress and plane strain

fy

fx

fx

Plane stress

Plane strain

NM

Dr P V RAMANA

56

Rectangular Element:

Step 1: Divide the body into finite elements connected to

each other through special points (nodes)

ST

El
Element
t e
4
v1

NM
Dr P V
RAMANA

v4

v2

u4

Su
x

v3
3

px

v
y

py

u1

v
u

u3

u 1
v
1
u 2
u2

v 2
d
u 3
v 3

u 4
v
57
4

Element Formulation
Three approaches for generating shape
functions:
Interpolation approach:
Matrix-based
Matrix based method
Works best for small numbers of d.o.f.

Direct approach:
t i method
th d
M
More geometric
Works best for higher-order elements

Area based approach:

L
Large structures
t
t
or nearly
l volumetric
l
ti
NM
Dr P V RAMANA
Works best for higher-order elements

58

Basics:
p functions
8 d.o.f. total 8 shape
Fundamental unknowns are
horizontal displacement u(x,y) and
y
p
( ,y)
v(x,y)
vertical displacement
Each displacement expected tov
p functions
use 4 shape

v3
3
v4
4

u2

u1

1
u

v2
u4

v1

u3

Simple
p shape
p functions = better shape
p functions
(easier to integrate, more widely applicable, )
The derivatives of order n in variational principle, it
p functions so that they
y
is best to choose the shape
can form a complete polynomial of order n
NM
Dr P V RAMANA
(Gives control over errors, faster convergence, )

59

Element Formulation
Interpolation approach:
Approximate u(x,y)
u(x y) and v(x,y)
v(x y) by complete 1st order polynomials:

u ( x, y ) a1 a2 x a3 y a4 xy; v( x, y ) a5 a6 x a7 y a8 xy
At each node, require u(xi,yi) = ui and v(xi,yi) = vi :

u1 a1 a2 x1 a3 y1 a4 x1 y1 ; v1 a5 a6 x1 a7 y1 a8 x1 y1
u2 a1 a2 x2 a3 y2 a4 x2 y2 ; v2 a5 a6 x2 a7 y2 a8 x2 y2
u3 a1 a2 x3 a3 y3 a4 x3 y3 ; v3 a5 a6 x3 a7 y3 a8 x3 y3
u4 a1 a2 x4 a3 y4 a4 x4 y4 ; v4 a5 a6 x4 a7 y4 a8 x4 y4
8 equations for the 8 unknowns!
NM
Dr P V
RAMANA

60

Element Formulation
u1 a1 a2x1 a3 y1 a4x1y1;v1 a5 a6x1 a7 y1 a8x1y1
u2 a1 a2x2 a3 y2 a4x2 y2;v2 a5 a6x2 a7 y2 a8x2 y2

Interpolation approach:

u3 a1 a2x3 a3 y3 a4x3 y3;v3 a5 a6x3 a7 y3 a8x3 y3

u4 a1 a2x4 a3 y4 a4x4 y4;v4 a5 a6x4 a7 y4 a8x4 y4

Write this in matrix form:

Solution (in symbolic form) is

a C d .
1

Non-constant strain matrix

More accurate representation of stress and strain
Regular shape makes formulation easy

NM

Dr P V RAMANA

61

Element Formulation
u ( x, y ) a1 a2 x a3 y a4 xy; v( x, y ) a5 a6 x a7 y a8 xy

Interpolation approach:

Now,
N
rewrite
it iinterpolation
t
l ti ffunctions
ti
in
i matrix/vector
ti /
t form
f
:

a C d .
1

u ( x, y ) a1 a2 x a3 y a4 xy; v( x, y ) a5 a6 x a7 y a8 xy
u ( x, y )
u ( x)
Pa

v ( x, y )
Substitute previous result:

P x C d .
u x

N x

Matrix of shape functions!

NM

Dr P V RAMANA

62

Consider a rectangular element

u1
v
1
u 2

u
de 2
u3
u3

u 4
u
4

displacements at node 1

displacements at node 2

displacements at node 3

sp ace e ts at node
ode 4
ddisplacements

y, v
4 (x4, y4)
(u4, v4)

2b

3 (x3, y3)
(u3, v3)
fsy
fsx

2a
1 (x1, y1)
(u1, v1)

2 (x2, y2)
(u2, v2)
x, u

NM

Dr P V RAMANA

63

y, v

4 (x4, y4)
(u4, v4)

2b

3 (1
(1, +1)
(u3, v3)

4 ((1,
1 +1)
1)
(u4, v4)

3 (x3, y3)
(u3, v3)
fsy
fsx

2b

2a
1 (x1, y1)
(u1, v1)

2 (x2, y2)
(u2, v2)

U ( x, y ) N ( x, y )d e

where

0
N
N 1
0 N1

Node 1

(Interpolation)

2 (1, 1)
((u2, v2)

1 (1, 1)
((u1, v1)

x, u

x a, y b
h

2a

NM

Dr P V RAMANA

N3 0
0 N 2 0 N3

N2

Node 2

Node 3

0
0 N 4

N4

Node 4

64

Rectangular Element:

Summary: For each element

Displacement approximation in terms of shape functions

uNd
Strain approximation in terms of strain-displacement matrix
Bd

Stress approximation
DB d
Element stiffness matrix

k e B D B dV
T

Element nodal load vector

f e N X dV e N T S dS
ST
V

NM
Dr P Vf
b
RAMANA

65

Second Approach

Lagrange family
Serendipity family

Rectangular elements

4-noded rectangular element with edges parallel to the coordinate axes:

(x4,yy4)

3(x3,yy3)
4

u ((x,,y) Ni ((x,,y)
y)ui

2b

(x,y)

i 1

v (x,
(x y) N i (x,
(x y)v i

i 1

(x1,y
y1)

2a

2 (x2,y2)

4 nodes per element

2 dofs per node (each node can move in x- and y- directions)
8 dofs per element
NM

Dr P V RAMANA

66

Generation of N1:

At node 1

l1 ( x )

x x2
x1 x 2

has the property

l1(y)

l1 ( x1 ) 1
l1 ( x 2 ) 0

2b
N1

2
2a

Similarly

y y4
y1 y 4

has the property

l1 ( y 1 ) 1

l1 ( y 4 ) 0

l1(x)

l1 ( y )

Hence choose the shape function at node 1 as

x x2
N 1 l1 ( x )l1 ( y )
x1 x 2

y y 4

y1 y 4
NM

1

x x 2 y y 4
4 b
4ab

Dr P V RAMANA

67

Using similar arguments, choose

N1
N2
N3
N4

1
x x 2 y y 4

4 ab
1
x x1 y y 3

4 ab
1
x x 4 y y 2

4 abb
1
x x 3 y y1

4 ab

y
l1(y)

2b
N1

2
2a

1
x

l1(x)

NM

Dr P V RAMANA

68

1
1
x x2 y y 4
x a y b
N1
4 ab
4 ab

Second Approach
Rectangular elements
Lagrange family
p y family
y
Serendipity
Lagrange family
4-noded rectangle
y
2
1
a
a
b

1
x x1 y y3 1 x a y b
4 ab
4 ab 1
1
x x4 y y 2 1 x a y b
N3
4 ab
4 ab 1
1
1
x x3 y y1 1 x a y b
N4
4 ab
4 ab 11
In local coordinate system

N2

N
N
x

b
3

N
N

NM

( a x )( b
4 ab
( a x )( b
4 ab
( a x )( b
4 ab
( a x )( b
4 ab
Dr P V RAMANA

y)

y)

l1(
y))

2b

y)
N1

y)

2
2a

l1(
x)

1
x
69

NOTES:
1. Polynomial completeness
Convergence
rate (displacement)

1
x
x
x3
x4

xy

x2 y

x3 y

4 node; p=2

9 node; p=3

xy 2 y 3

x 2 y 2 xy 3 y 4

x 5 x 4 y x 3 y 2 x 2 y 3 xy 4 y 5
Lagrange
g g shape
p functions contain higher
g
order terms but miss out lower
order terms

NM

Dr P V RAMANA

70

Properties
p
of the shape
p functions:
1. The shape functions N1, N2 , N3 and N4 are bilinear
functions of x and y
2. Kronecker delta property

1 at node ' i '

N i ( x, y )
0 at other nodes
2

3. Completeness
i 1

i 1

i 1

xi x

yi y

x
b

NM

Dr P V RAMANA

71

3. Along lines parallel to the x- or y-axes, the shape functions

are linear. But along any other line they are nonlinear.
4. An element shape function related to a specific nodal point
is zero along element boundaries not containing the nodal
point.
5. The displacement field is continuous across elements
6. Th
6
The strains
t i and
d stresses
t
are nott constant
t t within
ithi an
element nor are they continuous across element boundaries.
y
2

b
x
b
NM

Dr P V RAMANA

4 72

The strain-displacement relationship

N1

x

y
xy

N2
N3

1
x x 2 y y 4

4 ab
1
x x1 y y 3

4 ab
1
x x 4 y y 2

4 ab
1
x x 3 y y1

4 ab

2
b

N1

2
a

l1(x)

l1(y)

1
x

u1
v
N1((x, y)
1
N3(x, y)
N 2 ((x, y)
N 4 ((x, y)
0
0
0
0

u 2

N3(x, y)
N1(x, y)
N 2 (x, y)
N 4 (x, y)v 2

0
0
0
0

y
y
y
y u 3
N (x, y) N (x, y) N (x, y) N (x, y) N (x, y) N (x, y) N (x, y) N (x, y)
3
3
1
2
2
4
4
1
v3
x u
x
y
x
y
x
y
y

4
B
v
4
N4

y3 y
y y2
y1 y 0
0
0
0
y y4
1

B
0
x

x
0
x

x
0
x

x
0
x

x
2
1
4
3

4ab
x x2 y y4 x1 x y3 y x x4 y y2 x3 x y1 y

Notice
N
ti that
th t the
th strains
t i (and
( d hence
h
stresses)
t
) are NOT constant
t t within
ithi an
element
NM
Dr P V RAMANA 73

Computation of the terms in the stiffness matrix of 2D elements (recap)

v4

v3
u4

The B-matrix (strain-displacement) corresponding to this element is

u3

u1

v
y
v1 (x,y)

v2

1 u1

u2

N1 (x,y)

N1 (x,y)

v1

u2

v2

N 2 (x,y)
x

N1 (x,y)
y
N1 (x,y)
x

0
N2 (x,y)
y

N 2 (x,y)
y
N2 (x,y)
x

u3
N3 (x,y)
x

0
N3 (x,y)
y

v3
0
N3 (x,y)
y
N3 (x,y)
x

u4

v4

N 4 (x,y)
x

N 4 (x,y)

N 4 (x,y)

0
N 4 (x,y)
y

Denote the columns of the B-matrix as

B u1

N 1 (x,y)

( ,y)
N 1 (x,y)

0
; and
d so on...
; B v1

y
N (x,y)

N 1 (x,y)
y

x
NM

Dr P V RAMANA

74

The stiffness matrix corresponding to this element is

k e B D B dV
T

which has the following form

u1

v1

k11
k
21
k 31

k 41

k
k 51

k 61
k
71
k 8 1

u2

v2

u3

v3

u4

v4

k18
k 28

k 38

k 48
k 58

k 68
k 78

k 8 8

k12
k 22

k13
k 23

k14
k 24

k15
k 25

k16
k 26

k17
k 27

k 32
k 42

k 33
k 43

k 34
k 44

k 35
k 45

k 36
k 46

k 37
k 47

k 52

k 53

k 54

k 55

k 56

k 57

k 62
k 72

k 63
k 73

k 64
k 74

k 65
k 75

k 66
k 76

k 67
k 77

k 82

k 83

k 84

k 85

k 86

k 87

u1
v1
u2
v2
u3
v3
u4
v4

The individual entries of the stiffness matrix may be computed as follows

k11 e Bu1 D Bu1 dV; k12 e Bu1 D Bv1 dV; k13 e Bu1 D Bu2 dV,...
T

k21 e Bv1 D Bu1 dV; k21 e Bv1 D Bv1 dV;.....

T

NM

Dr P V RAMANA

75

NM

Dr P V RAMANA

76