FEM-06 Boundary Conditions

Finite Element Methods
6. Boundary Conditions
Prof. Dr.-Ing. Otto von Estorff
Overview
1. Introduction
2. Discrete Systems
3. Continuous Problems
4. Displacement Based Finite Elements (Part 1)
5. Displacement Based Finite Elements (Part 2)
7. Isoparametric Finite Elements
8. Elements for Different Problem Classes (Part 1)
9. Elements for Different Problem Classes (Part 2)
10. Numerical Integration
11. Solving the System of Equations
12. Solution of Transient Problems
13. Special Topics and Concluding Remarks
5.1 Setting up the Equilibrium Eq.
(Recall)
Setting up the equilibrium conditions (2D-elements):
System:
FE-model:
U18
9
U17
U4
4cm
U3
Y, V
Y ,U 2
X,U
1
1
3
4
X ,U1
4cm
U U1 U 2 U 3 U 4 U18
T
5.1 Setting up the Equilibrium Eq. (ctd.)
(Recall)
Element 2:
v1 U12
v2 U 6
u2 U 5 2
u1 U11
local
4 nodes
element
y, v
x, u
u3 U 3
local
v3 U 4
u4 U 9
4
v4 U10
global
Recall: From the interpolation assumption, we know
u ( x, y )
v ( x, y )
( 2)
H U
( 2)
(Recall)
14 (1 x)(1 y )
1 (1 x)(1 y )
4
14 (1 x)(1 y )
1
T
4 (1 x )(1 y )
U3
H
( 2)
0 0 h3
0 0 0
h1
h
2
h3

0
h4
1
0
4 (1 x )(1 y )

1
0
4 (1 x )(1 y )
1
0
4 (1 x )(1 y )

1
4 (1 x )(1 y )
0
0
0
0
0
h1
h2
h3
h4
U5
U11
0
0
0
U9
u1 U11
u2 U 5
y, v
x, u
u3 U 3
v3 U 4
h2
0 0 h4
h1
h3
h2
0 0
h4
h1
v1 U12
v2 U 6
u4 U 9
v4 U10
0 0 0 0 0 0
0 0 0 0 0 0
Note: There is no coupling between u and v !

(Recall)
Strains:
Recall:
T xx yy xy
with xx
u
v
u v
; yy
; xy
x
y
y x
xx

( 2)
B
yy (3 x18) (18Ux1)
xy

( 3 x1)
h1, x
B 0
h1, y
(2)
h2, x
0
h2, y
h3, x
0
h3, y
: according to H
h4, x
0
h4, y
(2)
0
h1, y
h1, x
0
h2, y
h2, x
0
h3, y
h3, x
h4, y
h4, x
(3 x18)
5.2 Additional Remarks
(Recall)
h1 14 (1 x)(1 y)
u ( x, y ) hi ui h1u1 h2u2 h3u3 h4u4

i 1
1.0
v( x, y ) hi vi
i 1
2
1
4
h1 : Interpolation function, that is equal to 1
at node 1 and equal to zero at all other nodes!
parabolic
linear !
Note: With H(m) and B(m), m=1,,4, all required system matrices can be
constructed (in this example only K is required).
Final step: Solution of the system of equations leads to the unknown
displacements U.
5.3 Transition to Element Matrices (ctd.)
(Recall)
Consequently, now related to local coordinates, we obtain:
B CB dV (i )
(element stiffness matrix)
H T H dV (i )
(element mass matrix)
T
B
(i )
H
f
dV
( here: 8 x 1)
V (i )
(i )
ST
S
(i )
RS
H f dS
( here: 8 x 1)
S(i )
(element load vectors)
(i )
( here: 8 x 8)
(i )
V (i )
( here: 8 x 8)
RB
(i )
V (i )
(Recall)
At 2. (Summing up in system matrix ):
Define a connectivity vector LM(I), I=1,, number of dofs, that reflects
the connection between local and global degrees of freedom
and hence, the placement of the considered element in the
interconnected overall system.
U10 v1
U4
5 1
22
U2
u
1
LM
9
T
u2
u3
u4
v1
v2
v3
10
U 9 u1
U3
Here, using the element 1 defined above:

v4
global
local
U8
1 3
U1
44
U7
Global degrees of freedom
(Recall)
Summing up (assembling) in the system matrix :
u1
LM 9
u2
3
0
u3
1
0
u4
v1
10
v2
v3
Displ. = 0
(1)
k11
k
21
k31
k
41
k51
k61
k
71
k81
k12
k13
k14
k15
k16
k17
k22
k23
k24
k25
k26
k27
k33
k44
k45
k54
k55
k66
k77
k84
k85
8 global dofs
v4
k18
k28
k48
k58
k88
Reduced global matrix

(since the displacements
U1 to U6 are zero):
9
3
1
7
10
4
2
8
U7
U8
U 9 U10
U 7 k 44 k 48 k 41 k 45
U 8 k84 k88 k81 k85
U 9 k14 k18 k11 k15
U10 k54 k58 k51 k55

K
(12 12 )
10
5.4 Inclined Elements
(Recall)
Assembling the system matrix as discussed above is only valid if the
directions of U and coincide, otherwise a transformation is necessary:
~~
u Hu
u~ T u
with
T : transformation matrix for transforming

the degrees of freedom form u to u
u : nodal displacements of the element
in a different coordinate system
H : respective displacement interpolation matrix
Combining both equations, we obtain:
~
uH
T u
(transformation of B accordingly)
11
5.4 Inclined Elements (ctd.)
(Recall)
If all FE matrices, that are related to , are labeled by ~,
one obtains :
T ~
K T KT
~
~T ~
T
T ~T
( K B C B dV T B C B T dV T T B C B dV T )
T ~
M T MT
~
RB T R B
T
~
RS T R S
T
( a b)T b T a T
12
(Recall)
Derivation of the H - matrix:
System:
Y
v~2
2
u (x)
v(x)
v1
v~1
v2
Interpolation of the displacement:

u~2
u~1
v~
x
0
0
u ( x) 1 Lx
L
1
v( x) 0 1 x 0 x u~
L
2
L
~
~
u
v2
H
u2
u~1
u1
u~
13
(Recall)
The resulting transformation reads:
0
0 u1
u~1 cos sin
v~ sin cos
v
0
0
1
1
u~2 0
0
cos sin u2
~

v2 0
0
sin cos v2
~
u
And hence, the H-matrix:
~
H HT
14
5.5 Incompatible FE Models

So far: For the approximation function of the displacement
(Recall)
completeness and compatibility have been claimed

(in order to ensure monotonic convergence of the solution).
completeness: Rigid body motion and states of constant strain

can be realized!
compatibility: Displacements have to be continuous over the
element boundaries (no gaps!)
Here: Incompatible models
see later in this course
(bending of a plate; combination of different elements;

combination of 1D, 2D, 3D)
15
5.5 Incompatible FE Models (ctd.)
(Recall)
Remark:
Very often, in real life applications satisfactory results are

achieved although continuity is not fulfilled everywhere in the
model.
Patch-Test
Completeness is claimed for a group of elements (a patch), i.e.

the patch as a whole has to be able to represent a state of
constant strain!
16
(Recall)
Procedure: - Patch is exposed to
boundary loads, that lead to
constant strains in the case of
exact computations.
displacements
Consequence: Convergence is not monotonic anymore!
not monotonic
exact
# elements
- Computation of the actual strains

In the case that they are constant:
The requirement for completeness is fulfilled!
Note:
Geometry of the elements has a significant influence!
17

The effect on the stress is shown in this example:
(Recall)
x A
x B
Consider two
scenarios: a) Single nodes
e.g. 1000 cmN2
x C
x D
b) Double nodes
x E
Result:
a)
yy 1000
N
cm2
b)
yy
N
cm 2
A : 1066
B : 716
C : 359
D : 1303
Symmetry !
E : 1303
18
6.1 Types of Boundary Conditions
6.2 Natural Boundary Conditions

6.3 Essential Boundary Conditions
6.4 Exploiting Symmetry
19
6.1 Types of Boundary Conditions
Applying boundary conditions in a proper way is a difficult topic for

FE program users!
We distinguish between different types of boundary conditions (bcs):
1. Natural bcs (like forces in structural computations)
Concentrated bcs
Distributed bcs
2. Essential bcs (like displacements)

Homogenous/non-homogenous bcs
Linear/nonlinear bcs
Single-/Multifreedom constraints
20
6.2 Natural Boundary Conditions

F3
Concentrated forces
F2
F1
- Forces act naturally at the nodes.

- They can be added directly
to the load vector (RHS
of the system of equation).
Recall:
R RB RS R C
Ku R
where:
57
0
0

0
F
1
( 57 )
RC
0

F2
0

0
FE-mesh
F2
F1
v3
3
v2
u3
u2
21
6.2 Natural Boundary Conditions (ctd.)
Distributed loads
-
Entities of the load vector belong to the DOFs of

certain nodes
distributed loads have to be lumped (somehow)
to be applicable to the load vector
Here we have two options

1. Node by Node (NbN) lumping or
2. Element by Element (EbE) lumping
22

Node by node load lumping:
The nodal force f3 is set to P, the magnitude of the crosshatched area
under the load curve.
midpoint
right element
l ( x) dx
This area extends halfway

over adjacent element sides.
midpoint
left element
Load distribution l(x)

(acting downwards)
f3 P
y

R S f 3

FE-mesh
23
Element by Element load lumping:

C
The distributed load on the element
side is replaced by a force P that has
the magnitude of the crosshatched

area and acts in the centroid C.
FE-mesh
The nodal forces are determined such

that they fulfill the equilibrium
f3
condition for the force as well as for
f2
2
the moment (together with P).
24
Recall: Generally the load lumping reads

RS
(i )
ST
l3
3
S (i )
RB
(i )
(i )
H
f
dV
(for volumetric loads)
V (i )
Note:
l2
f dS (i ) (for surface loads)
~
l3
For linearly distributed loads the

lumping simplifies to (shortcut)
l2
3
1
2
f 3 a l2
2
3
~
1
a
a l3 l2 2 l3
2
6
~
1
1 1
a
f 2 a l2 a l3 2 l2 l3
2
3 2
6
f3
f2
25
6.3 Essential Boundary Conditions
Examples:
Single freedom constraints:
u4 0
(linear, homogeneous)
u4 0.6
(linear, non-homogeneous)
Multi freedom constraints:
u 4 u6 0
(linear, homogeneous)
u4 u6 0.85
(linear, non-homogeneous)
u4 u6 u7 0
2
(nonlinear, homogeneous)
26
6.3 Essential Boundary Conditions (ctd.)

Homogeneous, single freedom constraints:
- Corresponds to deleting the respective columns and rows in the stiffness
matrix /RHS-vector
reduces the size of the system of equations!
Example:
assume
u1 0,
u7 0
(i.e. both ends fixed)
modified system:
K U R
K11 K12
K
21 K 22
0 K 32
0
0
0
0
0
0
0
0
K 23
K 33
K 34
K 43
0
K 44
K 54
K 45
K 55
0
K 56
K 65
K 66
K 76
0 u1 0 f1
0 u2 f 2
0 u3 f 3

0 u4 f 4
0 u5 f 5

K 67 u6 f 6
K 77 u7 0 f 7
27

Non-homogeneous, single freedom constraints:
- Also reduces the size of the system of equations to be solved (because of
less unknowns) BUT the inhomogeneity contributes to the RHS.
K aa
K
ba
K ab U a R a

K bb U b R b
with U a : unknown displacements

U b : known displacements (essential bc's)
R a : known forces (natural bc's)
Rb : unknown reaction forces
First, determine
Ua from the upper part of the equation above

K aaU a R a K abU b
Note:
The reaction forces Rb result form the lower part:
Rb K baU a K bbU b
If Ub = 0, then Kaa is the

modified K-Matrix, i.e. with
deleted rows and columns!
28

Strict mathematical formulation:
- Formulate boundary conditions in matrix notation such that
U T U g
(with T = transformation matrix, g =gap-vector)
- Pre-multiply both sides by TTK , replace K U = R , and rearrange to obtain
T
T
T
T
T
KU T
K
T U T K g T R K g K U
Thus, a modified/reduced system of equations could be derived:
K U R
T
T
where K T KT , and R T R K g
29
Example:
x=0.85
FE-model :
Boundary conditions:
Boundary conditions
in the form:
U T U g
u1 0, u7 0.85
u1 0
u 0
2
u3 0

u4 0
u5 0

u6 0
u 0
7
0 0 0 0 0 0 u1 0
1 0 0 0 0 0 u2 0
0 1 0 0 0 0 u3 0

0 0 1 0 0 0 u4 0
0 0 0 1 0 0 u5 0

0 0 0 0 1 0 u6 0
0 0 0 0 0 0 u7 0.85
30

The Penalty Method:
- An additional stiffness is introduced to enforce essential boundary conditions.
- The bc is not fulfilled exactly but close, depending on the magnitude of the
penalty factor.
- Procedure:
1. Add the penalty factor to the diagonal element of the stiffness matrix
that belongs to the prescribed degree of freedom.
2. Add the inhomogeneity of the bc, scaled by the penalty factor, to the RHS.
Example:
F
Bcs: essential natural
u1 0
u1
2 F
u2
k11 w
k
21
k21 u1 0 0 w
k22 u2 F
f2 F
31

The Lagrange Multiplier Method:
is introduced to enforce essential boundary conditions.

- The additional unknown can be interpreted as a force.
- An additional unknown
- The bc is fulfilled exactly.
Example:
!
2 F
u1
natural
u2
passing unknowns
to LHS
k11 k 21 u1

k
21 k22 u2 F
with bcs: essential -
Using constraint equation for the

determination of additional unknown
u1
k
k
1
11
0
21
u2
k
21 k 22 0 F

u1 0
f2 F
k11 k 21 1 u1 0
k
u
k
0
21
22
2 F
1
0 0 0
32

Multi freedom constraints:
- Can be homogeneous or non-homogeneous
- Generally the same procedure for all three methods presented hereafter
For the sake of completeness all three methods are again
demonstrated on the following example
with the homogeneous multi freedom constraint u2 u6 .
33

Master-Slave-Method:
- For multi freedom constraints (MFC) master and slave DOFs have to be chosen.
- This choice only influences the appearance of the DOF transformation matrix.
Here: Taking u 2 as master and u 6 as slave, the DOF transformation reads:
u1 1
u 0
2
u3 0

u4 0
u5 0

u6 0
u 0
7
0 0 0 0 0
u1
1 0 0 0 0
u2
0 1 0 0 0
u3
0 0 1 0 0
u4
0 0 0 1 0
u5
1 0 0 0 0
u7
0 0 0 0 1
U T U
This leads to the modified stiffness eqn.
K U R
with
T
K T K T ,
T
R T R K g
Note:
here, g is 0 since the MFC is homogenous
U can be recovered from U T U
34

Assessment of the Master-Slave-Method:
Advantages:
- Exact, if precautions are taken
- Easy to understand
- Retains positive definiteness of system matrix
- Important applications to model reductions
Disadvantages:
- Requires user decision (e.g. master/slave DOFs) -> source of error
- Difficult implementation for general MFC

- Hinders sparsity of master stiffness equation
- Restricted to linear constraints
35

Penalty Method:
1. Multi freedom constraint: u2 u6 0
u2
2. Rewrite MFC in matrix notation: 1 1 0
u6
1
3. Premultiply both sides by [1 -1]T:

1
1 u2
0
1 u6
(penalty element
stiffness equation)
4. Scale by w and merge to the original system of equations:

K12
0
K11
K
21 K 22 w K 23
0
K 32
K 33
0
K 43
0
0
0
0
w
0
0
0
0
0
K 34
K 44
K 54
K 45
K 55
K 65
0 u1 f1
w
0 u2 f 2
0
0 u3 f 3

0
0 u4 f 4
K 56
0 u 5 f 5

K 66 w K 67 u6 f 6
K 76
K 77 u7 f 7
36

Assessment of the Penalty Method :
Advantages:
- General application (including nonlinear MFCs)
- Easy to implement
- No change in vector of unknowns
- Retains positive definiteness
Disadvantages:
- Selections of weight left to user
- Accuracy limited by ill-conditioning
37

Lagrange Multiplier Method:
1. Multi freedom constraint: u2 u6 0
2. Append constraints
3. Append multipliers to unknowns, symmetrize & fill
K11
K
12
0
0
0
0
0
K12
K 22
K 23
0
0
K 23
K 33
K 34
0
0
K 34
K 44
0
0
0
K 45
0
0
0
0
0
0
0
1
0
0
0
0
K 45
0
0
0
K 55
K 56
0
0
K 56
K 66
K 67
1
f1
u
1
f
u2
2
f3
u
3

u f 4
4
0 f5
u 5
K 67 f 6
u6
K 77 f 7
u7

0 0
0
0
0
0
K11
K
12
0
0
0
0
0
K12
K 22
K 23
0
0
K 23
K 33
K 34
0
0
K 34
K 44
0
0
0
K 45
0
0
0
0
0
0
0
0
0
0
0
1
0
0
0
0
K 45
0
0
0
K 55
K 56
0
0
K 56
K 66
K 67
1
0
K 67
K 77
0
0 u1 f1
1 u2 f 2

0 u3 f 3

0 u4 f 4

0 u 5 f 5

1 u6 f 6
0 u7 f 7

0 0
38
Assessment of the Lagrange Multiplier Method:

Advantages:
- General application
- Exact
- No user decision
Disadvantages:
- Difficult implementation
- Additional unknowns (increasing computational time)

- Loses positive definiteness (restricts the number of possible solvers)
39
Inclined boundary conditions:
- Transformation required!
U TU
with U : vector of the nodal degrees of freeedom

in the required direction
T : identity matrix, that contains a rotary matrix
at the location of the respective degrees of freedom
The equilibrium equation then reads:
M U KU R
with
M T MT ; K T KT ; R T R
T
40
Example:
v
X
( fixed )
u ( free)
Vector of the degrees of

freedom that reflects the
boundary condition:
u
u u cos v sin
v
u sin v cos
cos
T
sin
sin
cos
u
U
v
U T U
41
6.4 Exploiting Symmetry
Exploiting Symmetry:
If the structure and the load shows symmetry or antisymmetry the size
of the FE-model can/should be reduced by applying the proper
boundary conditions!
Example for symmetry bcs:
42
6.4 Exploiting Symmetry (ctd.)
Example for antisymmetry bcs:
Remark:
If point loads act on nodes that are located on a symmetry plane, they
have to be broken up!
43
6.4 Exploiting Symmetry (ctd.)

Examples for breaking up point loads:
For symmetry bcs:
For antisymmetry bcs:
44
What You Should Keep in Mind
Distributed loads have to be lumped at the nodes of

the elements.
Zero boundary conditions may be introduced by
omitting the according columns and lines in the
global system matrix (saves CPU time).
In more complex FE models, the geometrical
boundary conditions are usually taken into account
by the Penalty or Lagrange Multiplier Method.
Inclined supports need to be transformed to meet the
directions of the global coordinate system.
Use proper symmetry conditions to reduce the

number of unkowns!
45

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Finite Element Methods

Prof. Dr.-Ing. Otto von Estorff

Finite Element Methods

Prof. Dr.-Ing. Otto von Estorff

Finite Element Methods

5.1 Setting up the Equilibrium Eq.

Prof. Dr.-Ing. Otto von Estorff

Finite Element Methods

5.1 Setting up the Equilibrium Eq. (ctd.)

Recall: From the interpolation assumption, we know

Prof. Dr.-Ing. Otto von Estorff

Finite Element Methods

5.1 Setting up the Equilibrium Eq. (ctd.)

Note: There is no coupling between u and v !

Finite Element Methods

5.1 Setting up the Equilibrium Eq. (ctd.)

Prof. Dr.-Ing. Otto von Estorff

Finite Element Methods

5.2 Additional Remarks

u ( x, y ) hi ui h1u1 h2u2 h3u3 h4u4

h1 : Interpolation function, that is equal to 1

at node 1 and equal to zero at all other nodes!

Prof. Dr.-Ing. Otto von Estorff

Finite Element Methods

5.3 Transition to Element Matrices (ctd.)

(element stiffness matrix)

(element mass matrix)

(element load vectors)

Prof. Dr.-Ing. Otto von Estorff

Finite Element Methods

5.3 Transition to Element Matrices (ctd.)

Here, using the element 1 defined above:

Global degrees of freedom

Prof. Dr.-Ing. Otto von Estorff

Finite Element Methods

5.3 Transition to Element Matrices (ctd.)

Reduced global matrix

U10 k54 k58 k51 k55

Prof. Dr.-Ing. Otto von Estorff

Finite Element Methods

5.4 Inclined Elements

T : transformation matrix for transforming

Combining both equations, we obtain:

Prof. Dr.-Ing. Otto von Estorff

Finite Element Methods

5.4 Inclined Elements (ctd.)

Prof. Dr.-Ing. Otto von Estorff

Finite Element Methods

5.4 Inclined Elements (ctd.)

Interpolation of the displacement:

Prof. Dr.-Ing. Otto von Estorff

Finite Element Methods

5.4 Inclined Elements (ctd.)

And hence, the H-matrix:

Prof. Dr.-Ing. Otto von Estorff

Finite Element Methods

5.5 Incompatible FE Models

completeness and compatibility have been claimed

completeness: Rigid body motion and states of constant strain

see later in this course

(bending of a plate; combination of different elements;

Finite Element Methods

5.5 Incompatible FE Models (ctd.)