Chapter 4

Finite Element Analysis

of
Steady-State Field problems

1-1- Steady-State Field Problems ( Quasi-Harmonic Equations)

1.1- Quasi-harmonic Steady State Field Problem
1.2- Variational Principle
2- Two Dimensional Steady-State Heat Flow
2.1- Heat Transfer Matrix
2.2- Anisotropic and Non-homogeneous Media
2.3- Formulation of Linear Temperature Triangular Elements
2.4- Heat Input Load Vector
2.5- Advantages of Finite Element Method for Field Problem
3- Transient two-Dimensional Heat Flow

1- Steady-State Field Problems ( Quasi-Harmonic Equations)

1.1- Quasi-harmonic Steady State Field Problem
Quasi-harmonic steady state field eqn is given by:
Equation 1

(K x
) + (K y
) + (K z
) + f ( x, y , z ) = 0
z
z
y
y
x
x

where (x,y,z) is the field variable to be determined in a three dimensional

domain bounded by surface . Kx, Ky and Kz are given functions of space
coordinates only and are independent of (i.e. linear problem).
The description of the field problem is not complete until boundary
conditions are specified. Let these be:
Equation 2

= B

Kx

on B
nx + K y

ny + K z
n z + g ( x, y, z ) + h( x, y, z ) = 0 on B
y
z

Where g(x,y,z) and h(x,y,z) are known a priori and nx, ny and nz are the
direction cosines of the unit outward normal to the surface. A and B are
parts of the boundary, i.e. A+B=, the total boundary.
Boundary condition in above equation is known as the dirichlet condition
and B, the dirichlet data. Equation 2(b) represents the Cauchy boundary
condition.
If g=h=0, the Cauchy condition reduces to the Neumann boundary
condition, also called the Natural boundary condition.
A field problem is said to have mixed boundary conditions when some
portions of the boundary have Dirichlet boundary conditions while the other
portions have Cauchy or Neumann boundary conditions.
Physical interpretation of the parameters in eqn 1 depends upon the
particular physical problem and listed in the table below:

Identification of Physical Parameters

Problem

Kx, Ky and
Kz

Diffusion flow in
porous media

Hydraulic
head

Hydraulic
conductivity

Internal
sources
flow

Boundary
flow

Boundary
heat
generation

Convective
heat
transfer
coefficient

Boundary
velocity

Heat conduction

Temperature

Thermal
conductivity

Internal
heat
generation

Irrotational flow

Velocity
potential or
stream
function

Torsion

Stress
Function

Reciprocal of
shear
modulus

Seepage

Pressure

Permeability

Angle
of twist per
unit length
Internal
flow

1.2- Variational Principle

Variation principle for equation 1 and 2 is given by:
Equation 3
J ( ) =

1
2

2
2
2
1 2
K x ( ) + K y ( ) + K z ( ) 2 f d + ( g + h )d
z
2
y
x

It can be shown that J()=0 yields the Euler equations which are the same
as the equations 1 and 2.
Note: there are some slight modifications involved when eqns1 to 3 are
applied to a particular physical problem.

2- Two Dimensional Steady-State Heat Flow

Governing differential equation:

(k x
)+
(K y
) + Q ( x, y ) = 0
y
y
x
x

in

subject to boundary conditions :

Equation 4

= B

Kx

Kx

on B
nx + K y

n y + q A = 0 on A
y

nx + K y
n y + q c + ( c ) = 0
y
x

on c

where = temperature
Kx=Thermal conductivity in x-direction
Ky= Thermal conductivity in y-direction
Q=Heat input per unit volume
qa and qc = specified heat input per unit area on A and C, respectively.
=Convective heat transfer coefficient
c=ambient temperature of the environment
Variational principle in two dimensions with thickness "t" take the
following form:
J ( ) = t

2
2

K x ( ) + K y ( ) Q dxdy + t q A d + t qC + ( c ) d
2
x
y
2

Equation 4-b for boundary condition on Ais valid only for transfer of heat
through conduction.
y
t= thickness (uniform)
A

B
A+B+C=
x

Comment: Since temperature is a scalar quantity, no transformation of

matrices (computed in local coordinates to global coordinates) is necessary
before assembling the global matrix.
2.1-

Heat Transfer Matrix

Assume finite element approximation for as:

Equation 5

N ii

i =1

Where Ni are the shape functions, I are the nodal values of , n is the
number of nodes per element.
Finite element approximation is required to have only C0 continuity. That is
only needs to be continuous and no derivatives of it are required to be
continuous.
For the interior elements we do not have to consider the boundary integrals.
Hence, for interior elements:
Equation 6
J e ( ) = t

2 K
A

x(

2
) + K y ( ) 2 Q dxdy
y
x

Substitution of eqn 5 into eqn 6 yields:

1

A2

J e (i e ) =
where :
H ij e = t

[K x Ni, x N j , xi j + K y Ni, y N j, yi j ] QNii dxdy

i =1 j =1
i =1

J e (i e ) = t

1
2

i j

e
ij

i =1 j =1

[K N
x

i, x N j, x

fi ei

i =1

+ K y N i , y N j , y dxdy

fi = t
e

QN dxdy
i

A
e

( J e (i )) = 0 for stationary then leads to :

[ H e ]{ e } { f e } = {0}
where :

[
= [f

{ e }T = 1e 2 e . . n e
{ f e }T

e
1

f 2e . .

f ne

We can use the shape functions developed for Isoparametric elements

earlier in order to compute [He] and {fe} above.

2.2-

Anisotropic and Non-homogeneous Media

The material properties Kx and Ky can vary from element to element in a

discontinuous manner. Also the material properties are known only with
respect to principle axes (or axes of symmetry) which can change direction
from element to element as well. If these properties and direction are
reasonably constant within the element, then the element heat transfer
matrix can be formulated in local axes which is coincide with the principle
(or symmetry) axes shown in the figure.

y
x

Stratification

Stratification
x

Then:

H ij e = t

[K

x N i, x N j , x

+ K y N i , y N j , y dx dy

The only dufference is that the derivatives of Ni are now taken with respect
to x and y, the local coordinates.
Again as commented before, there is no transformation needed from x and y
axes to x-y axes because is a scalar quantity. This then leads to a
considerable economy in computations.

2.3- Formulation of Linear Temperature Triangular Elements

For now assume we know the material properties Kx and Ky along x and y
axes as shown.

3
(x3, y3)
3
2
(x2, y2)

2
1 1
(x1, y1)

For linear temperature variation within the element, using area coordinatea:
Equation 7
N 1 = L1

N 2 = L2

N 3 = L3

= L11 + L 2 2 + L3 3
ai
where A = area of the triangular element in the figure
2A
b2 = y 3 y1
b3 = y1 y1

bi
2A
b1 = y 2 y 3
N i, x =

N i, y =

a1 = x 3 x1
H ij e =

t
4A2

a 2 = a1 a 3

[K

x bi b j

a 3 = x 2 x1

+ K y a i a j dxdy

For isotropic material properties K=Kx=Ky

H ij e =

Kt
bi b j + a i a j
4A

Further, if we are dealing with an isotropic and nonhomogeneous material,

then the coordinates in system are used in equation 7(d,e).

2.4- Heat Input Load Vector

From equation of potential energy, heat input load vector consists of
internal heat generated Q, heat input on A given by qA, on C the amount
of qC and -c, i.e.

Qdxdy + t

q Ad + t

[q

c ) d

Obviously, the contribution from line integrals comes only from that part of
boundary i.e. A and C where qA, qC and c are specified.
For Q constants:

{f }
e

1
3
1
= QA
3
1
3

for elements with edge along A :

along i j edge ( ) = (1 )1 + 2
q A ( ) = q1 (1 ) + q 2
t

lij

q Ad = tl ij

q A ( ) ( ) d

q2

on int egration

q1

2 q + q 2
tl ij 1

f2 =
q1 + 2q 2
6

0
Similarly , for elements with edge along C :

{ }
e

qA
x

2 g + g 2
tl ij 1

f3 =
g1 + 2 g 2
6

g ( ) = q C ( ) c ( )

{ }
e

where both q C and c are assumed to have linear var iation along edge i j :
g 1 = g (0)

g 2 = g (0)

Note if =0 then {f2e} and {f3e} are the same.

Also along C, we have to calculate { t 2 d} = t
2

d .

This term yields

contribution to Hij. Then:

1

H ij = tl ij

C
i

N j C d

where NiC are shape function along edge i-j of the element that coincides
with C.
2 1 0

[ H ] 33

tl ij
1 2 0
=

6
0 0 0

In deriving above equation, N1=1-, N2= and N3=0

Above matrix is equivalent to having a line spring boundary in plane
elasticity problem. [HC] is added to[H] for the element on boundary C to
obtain the complete Heat Transfer Matrix, just as we did for plane elasticity
case with spring boundaries in obtaining the complete stiffness matrix.
Once the heat transfer matrices and input load vectors have been
determined, these can be assembled in exactly the same manner as stiffness
and load vector matrices in plane elasticity. The kinematic boundary
conditions or fixed boundary conditions on can be easily incorporated.
Number of constraints option can be incorporated for both zero and nonzero on the boundary, i.e. =B on B.
2.5-

Advantages of Finite Element Method for Field Problem

1. It can deal simply with non-homogeneous and anisotropic situations

(particularly when the direction of anisotropy is variable)
2. The elements can be graded in shape and size to follow arbitrary
boundaries and to allow for regions of rapid variation of the function
sought.
3. Specified gradient or radiation boundary condition are introduced
naturally and with a better accuracy than in standard finite difference
procedures.
4. Higher order elements can be readily used to improve accuracy
without complicating boundary condition- a difficulty always arising
with finite difference approximations of a higher order.
5. Finally, but of considerable importance in computer age, standard
(structural) programs may be used for assembly and solution.

10

3- Transient two-Dimensional Heat Flow

The time dependent governing differential equation is:

(k x
) + (K y
) + Q ( x, y ) C
=0
x
x
y
y
t

in

where is a function of x, y and time t. Boundary conditions are still given

by equations 4, except these can vary with time. Equivalent steady state
variational principle for any time t is then given by:
J ( ) = t

2
2
C

K x ( ) + K y ( ) Q + & dxdy + t q A d + t q C + ( c ) d
2
x
y
2
2

note : & =
t

finite element approximation within an element is now chosen as:

( x, y , t ) =

N i ( x, y ) i (t )

i =1

where nodal variable i(t) are now functions of time. Since we look for
stationary of J() at any time t, i.e.:
J ( ) = 0 at any time t

Therefore matrices [He] and [HC], the element heat transfer matrix and
contribution to it from boundary integral on C, are still the same. Load
vector {f1e}, {f2e} and {f3e} may vary with time. However a new matrix
needs to be derived, i.e. element heat capacity matrix [Ce] from t C&dxdy
2

c ij = t
e

CN ( x, y) N
i

j ( x,

y )dxdy

In terms of shape function:

N 1 = L1
c ij = t
e

N 2 = L2

N 3 = L3

CL L dA
i

finally after int egration( for cons tan t C )

2 1 1
CAt
[C ] =
1 2 1
12
1 1 2
e

After assembling individual element matrices, the final discretized global

equation take the following form:

[ H ]{} + [C ]{&} + {F } = {0}

11

[H]=global or master conductivity or heat transfer matrix

[C]=global heat capacity matrix
{F}=global heat input load vector
Assume the material properties involved Kx, Ky, , C do not change when
temperature changes with time, i.e. we have a linear problem. Further, at
t=0 the initial conditions are generally given, i.e.:
( x, y,0) = 0 ( x, y )

A numerical recurrence process is now required to find the solution at

subsequent times. Finite differences in time are employed to obtain such a
recurrence formula.
Approximate of above equation by finite differences in interval t to t+t can
be written for mid interval as:
Equation 8

[ H ]{}t + t + [C ] ({}t + t {}t ) / t + {F }t + t = {0}

144
42444
3
{&}t + t

Where [H], [C] (if variable with ) and {F} are assigned their mid interval
values, and {&} has been replaced by:
Equation 9

{ } t + t { } t
t
Also note for linear var iation within the time int erval
1
{ } t = ({ } t + t + { } t )
t+
2
2
{&} t + t =

i.e. as an average value

{ } t + t = 2{ } t { } t
t+

Substituting equation 9c in equation 8:

2
2

[ H ] + [C ] {} t = [C ]{}t {F }t + t
+
t
t
t

2
1

{}

t+

t
2

= [ H ] + [C ] [C ]{}t {F }t + t

t
t

And from equation 9c, we can calculate {}t+t. Equation 8 and 9c provide
the recurrence process sought.
If Kx, Ky, C and depend on temperature, then the problem becomes
nonlinear and some special iterative techniques are required for a solution.
12