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Chapter 3
Variational Formulation &
the Galerkin Method
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f(x)
L-x
Equilibrium equation
R
f ( x) = R ( x ) =
A
Constitutive equation (Hookes Law)
( x)
R
E
AE
Kinematics equation
( x) =
( x) =
(x)
x
( x) =
Rx
AE
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d
=0 A
=0
dx
x0 x
A = A( + ) A lim
!
d 2u
AE 2 = 0
Strong Form
dx
Boundary Conditions (BC)
u(0) = 0
Essential BC
( L) = 0
AE
du
=R
dx x= L
Natural BC
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du
=R
dx x= L
Strong Form
Essential BC
Natural BC
Denition
The strong form of a physical process is the well posed
set of the underlying dierential equation with the
accompanying boundary conditions
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du
=R
dx x= L
Strong Form
Essential BC
Natural BC
du(x)
u(x) = uh = C1x + C2 & (x) =
= C1 = const!
dx
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AE
du
=R
dx x= L
Strong Form
Essential BC
Natural BC
Analytical Solution:
C1 ,C2
To fully dene the solution (i.e., to evaluate the values of parameters )
we have to use the given boundary conditions (BC):
u(0)=0
u(x) = uh = C1x + C2 du
R
dx
u( x) =
Method of Finite Elements I
Rx
AE
x= L
EA
C2 = 0
C1 =
R
EA
Disadvantages
The analytical solution in such equations is
i. In many cases dicult to be evaluated
ii. In most cases CANNOT be evaluated at all. Why?
Complex geometries
Complex loading and boundary conditions
Method of Finite Elements I
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sf
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= LU
U
U = V ,
L=
, T = xx yy zz 2 xy 2 yz 2 xz
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L1 = 0
2
y 2
2
2
z
L1 = 2
yz
2
x 2
2
2
xy
2
z 2
2
y 2
2
2
yz
2
x 2
xz
2
x 2
2
xz
zy
xy
2
xy
2
z 2
xz
2
xz
2
xy
2
2
y
yz
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Body loads:
T = xx yy zz xy yz zx , L 2 =LT
Surface loads:
on s f we have f
sf
=0
l 0 0 m 0 n
where N = 0 m 0 l n 0
0 0 n 0 m l
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= C
C is elasticity matrix and depends on material properties E and
(modulus of elasticity and Poissons ratio)
=C
Method of Finite Elements I
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Dierential Formulation
Summary - General Form 3D case:
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T
T B
dV
=
U
f dV + U
Sf
SfT
f f dS + U iT R iC
S
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Variational Formulation
Based on the principle of stationarity of a functional,
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Principle of Minimum
Total Potential Energy
Conservation of energy: Work = change in potential,
kinetic and thermal energy
1 T
U = C dv
2
v
W = f Udv + f Uds
Sf
BT
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Principle of Minimum
Total Potential Energy
Total potential energy is a sum of strain energy and
potential of loads
P = U W
This equation, which gives P as a function of deformation
components, together with compatibility relations within
the solid and geometric boundary conditions, denes the
so called Lagrange functional
Applying the variation we invoke the stationary condition
of the functional
P
dP = dU dW = 0
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Variational Formulation
By utilizing the variational formulation, it is possible to
Approximative Methods
Instead of trying to nd the exact solution of the continuous
system, i.e., of the strong form, try to derive an estimate of what
the solution should be at specic points within the system.
The procedure of reducing the physical process to its discrete
counterpart is the discretisation process.
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Approximative Methods
Variational Methods
Rayleigh-Ritz Method
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AE
du
=0
dx x= L
Strong Form
Essential BC
Natural BC
Analytical Solution:
C1 ,C2
To fully dene the solution (i.e., to evaluate the values of parameters )
we have to use the given boundary conditions (BC):
u(x) = uh + u p = C1x + C2
aL2
ax 3
u( x) =
x
2EA
6EA
Method of Finite Elements I
C2 = 0
ax
u(0)=0
2
du
R
aL
6EA dx = EA
C1 =
x= L
2EA
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aL2
ax 3
u( x) =
x
2EA
6EA
x
2.5
2.5
1.5
1.5
1
0.5
0.5
0
0
0.5
Length (m)
Method of Finite Elements I
1.5
0.5
1
Length (m)
1.5
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then,
d 2u
AE 2 = ax
Strong Form
dx
Boundary Conditions (BC)
u(0) = 0
Essential BC
( L) = 0
AE
du
=0
dx x= L
Natural BC
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why?
such that:
Observe that the weak form involves derivatives of a lesser order than the
original strong form.
Method of Finite Elements I
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Pseudo-spectral Methods
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where:
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Or in matrix form:
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w2
L2
EAu2 x ( ax ) dx = 0 u2 =
3EA
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Galerkin-Cubic order
Galerkin-Linear
2.5
2
1.5
1
0.5
0
0
0.5
1
Length (m)
1.5
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We saw in the previous example that the Galerkin method is based on the approximation
of the strong form solution using a set of basis functions. These are by denition
absolutely accurate at the boundaries of the problem. So, why not increase the
boundaries?
element: 1
1
element: 2
2
Instead of seeking the solution of a single bar we chose to divide it into three
interconnected and not overlapping elements
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element: 2
2
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Shape Function
Matrix
The weak form also involves the rst derivative of the approximation
Strain eld
Method of Finite Elements I
Strain Displacement
Matrix
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and set:
or even be]er
Why??
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f E is a function of {d}
Material Nonlinearity
Geometrical Nonlinearity