AE
6104



Computa/onal
Mechanics

Introduc/on


Syllabus

Massimo Ruzzene
School of Aerospace Engineering
Georgia Institute of Technology

Massimo Ruzzene
School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
AE 6104 – Computational Mechanics Ph: (404) 894 3078
 Overview

•  Computa/onal
Mechanics:


–  Numerical
solu/on
of
mechanics
problems

•  Focus
on
solid
mechanics
(Elas/city
and
structural
mechanics)

•  Most
of
the
techniques
have
general
validity


–  Illustra/on
of
techniques
for
the
approximate
solu/on
of
Par/al

Differen/al
Equa/ons
(PDEs)

•  PDEs
govern
the
behavior
of
mechanical
systems
(as
well
as
fluid,
thermal,

EM
etc.)


Massimo Ruzzene
School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
AE 6104 – Computational Mechanics Ph: (404) 894 3078
 Overview

•  Governing
equa/ons
are
obtained
by:

–  Imposing
equilibrium
of
the
system


Differential formulation
–  Applying
an
Energy
Method:

•  Virtual
work

•  Hamilton’s
Principle

•  Lagrange
Equa/ons

•  Minimum
poten/al
energy
(conserva/ve
systems)
…


Integral formulation
•  The
two
approaches
are
EQUIVALENT:

–  Approxima/on
can
performed
at
the
differen/al
level,
or
directly
at
the
integral

level

Massimo Ruzzene
School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
AE 6104 – Computational Mechanics Ph: (404) 894 3078
 Objec/ves
and
mo/va/ons

•  Objec/ve:

–  Given
a
set
of
differen/al
equa/ons
or
an
energy
func/onal

describing
the
behavior
of
a
system:

1.  Find
a
corresponding
system
of
algebraic
equa/ons
or
ordinary
differen/al

equa/ons
(ODEs)
whose
solu/on
approximates
the
system’s
behavior

2.  Solve
the
algebraic
system.


•  Mo/va/on:

–  Solu/ons
to
most
governing
equa/ons
are
hard
or
impossible
to

find
in
closed
form


Massimo Ruzzene
School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
AE 6104 – Computational Mechanics Ph: (404) 894 3078
 Approxima/on
methods


•  Finite
difference
methods:

–  Computa/onal
domain
is
discre/zed
into
a
spa/al
and

temporal
mesh
(grid)

–  Deriva/ves
are
replaced
by
FINITE
DIFFERENCES
in
terms

of
values
at
the
grid
points

–  Func/ons
are
expanded
in
Taylor
series


Methods
are
difficult
to
formulate
for
complex

geometries,
in
the
presence
of
nonlineari/es
and
of

varying
material
proper/es


Massimo Ruzzene
School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
AE 6104 – Computational Mechanics Ph: (404) 894 3078
 Approxima/on
methods

•  Varia/onal
methods:

–  Governing
equa/on
is
formulated
in
WEIGHTED
INTEGRAL
FORM

–  The
approximate
solu/on
has
the
form:


–  Solu/on
is
approximated
as
the
linear
combina/on
of
known
approxima/on

func/ons

–  The
solu/on
is
obtained
by
evalua/ng
the
set
of
unknown
coefficients
ci,

obtained
from
a
solu/on
of
an
algebraic
problem

–  The
problem
is
formulated
such
that
the
weighted
integral
form
is
sa/sfied


Massimo Ruzzene
School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
AE 6104 – Computational Mechanics Ph: (404) 894 3078
 Approxima/on
methods


•  Techniques:

–  Rayleigh‐Ritz

–  Galerkin

–  Least
squares

–  ….

•  Common
features:

–  They
require
the
weighted
integral
formula/on
of
problem;

–  They
impose
a
solu/on
over
the
en/re
domain

–  Do
not
provide
a
systema/c
framework
for
the
selec/on
of
the

approxima/on
func/ons

–  Hard
to
apply
on
arbitrarily
complex
geometries
and
domains


Massimo Ruzzene
School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
AE 6104 – Computational Mechanics Ph: (404) 894 3078
 The
Finite
Element
Method

•  It
is
varia/onal
method

•  Dis/nc/ve
features
are:

–  Geometrically
complex
domains
are
represented
as
a
collec/on
of

geometrically
and
physically
simple
sub‐domains
(FINITE
ELEMENTS)


Convenient handling of complex geometries

–  Approxima/on
func/ons
are
defined
over
each
finite
element

–  They
are
derived
by
considering
the
basic
no/on
that
each
con/nuous
func/on

can
be
approximated
by
a
linear
combina/on
of
polynomials


Systematic approach to the definition of the

approximation (interpolation) functions
–  Unknown
coefficients
are
the
values
of
the
dependent
variable
at
the
nodes
of

the
finite
element
mesh

Have direct physical interpretation/meaning
Massimo Ruzzene
School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
AE 6104 – Computational Mechanics Ph: (404) 894 3078
 Approxima/on
methods


Massimo Ruzzene
School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
AE 6104 – Computational Mechanics Ph: (404) 894 3078
 Course
organiza/on


•  Varia/onal
methods
of
approxima/on

•  Introduc/on
to
the
Finite
Element
Method

•  Common
elements
for
structural
mechanics
(rods,

beams,
shells,
trusses
and
frames)

•  Displacement‐based
elements
(1D
and
2D)

•  Isoparametric
elements

•  Dynamic
problems
and
their
solu/on


Massimo Ruzzene
School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
AE 6104 – Computational Mechanics Ph: (404) 894 3078
 Course
objec/ves


•  Understanding
the
theore/cal
founda/ons
of
the
FE

method

•  Learn
some
basic
programming
skills
to
obtain
insight
into

the
method

•  Understand
element
types,
formula/ons
and
their

advantages
and
limita/ons

•  Learn
how
to
obtain
approximate
solu/ons
of
simpled
PDEs


•  Become
informed
users
of
commercial
packages


Massimo Ruzzene
School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
AE 6104 – Computational Mechanics Ph: (404) 894 3078
Varia/onal
Methods
of
Approxima/on


Weighted
Integral
form
and

Weak
Formula/on


Massimo Ruzzene
School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
AE 6104 – Computational Mechanics Ph: (404) 894 3078
 φi (x) ∈ C
der of differentiation in weighted integral form (n = 2 in
Weighted
Integral
and
Weak
forms

•  Applica/on
of
varia/onal
formula/on
techniques
require

#
du(x) $ du(x) %%x=L
− w(x)q(x) dx − w(x)a(x) =0
dx expressing
the
problem
in
a
weighted
integral
form
and

dx x=0
weak
form

#
$ du(x) %% $ du(x) %%
− w(x)q(x) dx− w(x)a(x) x=L
+ w(x)a(x) x=0
=0
dx dx
•  Consider
the
following
boundary
value
problem
(BVP):

$–  Governing
equa/on

du(x) %%x=L
w(x)a(x)
dx x=0
du(x) %%
w(0) =– 0;Boundary
condi/ons

$
a(x) x=0
− unspecif ied
dx
$ du(x) %%
w(L) − unspecif ied; a(x) x=L
= Q0
dx Massimo Ruzzene
School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
AE 6104 – Computational Mechanics Ph: (404) 894 3078
 i
i i
dependent variable, ci - unknown i coefficients,
ndent
chosenvariable, Classifica/on
of
Boundary
Condi/ons
ci - unknown
approximation functions coefficients, 

en approximation functions
Boundary
condi/ons
are
classified
as:

" #
d du(x)
− " a(x) # = q(x)
d dx dx
du(x)
− a(x)
x <1. L ESSENTIAL
(or
GEOMETRIC)
 = q(x)
dx dx
Condi/ons
imposed
on
the
dependent
variable

L u(0) = u0
Example:
generalized
displacements
in
mechanics

2.  NATURAL

$ du(x)=%% u0
u(0)
a(x) x=0
= Q0
To
be
befer
defined….
 dx
& L "$ 'du(x) % ( #
d
a(x) du(x) =−Qq(x)
w(x) − a(x) 0 dx = 0
%
x=0
0 dx dx dx
& Example:
generalized
forces/stress
resultants
in
mechanics

L " ' ( #
d du(x) N
q(x) dx = 0
!
w(x) −u(x) ≈
a(x)
UN = ci φ−
i (x) Massimo Ruzzene

0 dx AE 6104 – Computational
dxi Mechanics School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
Ph: (404) 894 3078

L " ' N
( #
(x)
&
d dU !
A
General
Equa/on


Massimo Ruzzene
School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
AE 6104 – Computational Mechanics Ph: (404) 894 3078
 Weighted
Integral
form

•  Mul/ply
by
a
weight
func/on
w(x)
and
integrate
over
the

domain


Weighted Integral Form

•  The
objec/ve
is
to
find
an
approxima/on
of
the
solu/on


Massimo Ruzzene
School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
AE 6104 – Computational Mechanics Ph: (404) 894 3078
 u(x) - &dependent variable,
L " dx i - unknown coefficients,
c' ( #
φi (x) - chosen approximationd functions du(x)
& L " ' w(x) − ( # a(x) − q(x) dx = 0
d 0 du(x) Notes

dx− d a(x) du(x)
"
dx = q(x)
#
w(x) − a(x) − q(x) dx = 0
dx dx
for 0 dx
< x < L dx N
0•  Subs/tu/on
of
u(x)
in
the
weighted
form
gives
a
trivial
expression;

!
u(x) ≈ UN = ci φi (x)
•  If
UN
is
replaced
the
expression
will
lead
to
a
residual
(error)

u(0) = uN
! i0
& L " ' ( #
u(x) ≈ U =
w(x) −
d $
N
dU N (x)
du(x)
a(x) dx %x=0 =−
a(x)
%
c φ (x) Q0iq(x)i dx = R(UN )
0 & dx ' dx
L
du(x)i
" ( #
d
w(x) − a(x) − q(x) dx = 0
L " ' ( # dx dx
dU (x)
•  Objec/ve
of
most
varia/onal
techniques
is
to
set‐up
a
system
of
equa/ons
for
the

d 0
N
unknown
coefficients
that
minimize
the
residual

N
w(x) − a(x) − q(x) dx = R(U )
u(x) ≈ UN =
!
ci φi (x) N
dx dx
•  Subs/tu/on
of
UN
requires
that
the
approxima/on
func/ons
be
differen/able
up
to

the
order
in
the
weighted
residual
form

L " '
i
( #
dUN (x)
&
d
w(x) − a(x) − q(x) dx = R(UN )
dx dx n
φi (x)
0
∈ C
φ (x) ∈ (C) n
i

mum thisorder of differentiation

where n maximum
case)
order of differentiation in in weighted
weighted integral
integral form (n = 2 in f
Massimo Ruzzene
School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
AE 6104 – Computational Mechanics Ph: (404) 894 3078
 Weak
form

•  WEAK
FORM
is
a
weighted
integral
statement
of
governing

equa/on
where:

–  Differen/a/on
is
distributed
among
the
dependent
variable
u(x)

and
the
weigh/ng
func/on
w(x)

–  Natural
boundary
condi/ons
are
included.


•  The
weak
form
is
obtained
through
the
following
steps:

1.  Obtain
weighted
integral
formula/on

2.  Integrate
by
part

3.  Impose
boundary
condi/ons.


Massimo Ruzzene
School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
AE 6104 – Computational Mechanics Ph: (404) 894 3078
 N
!
u(x) ≈ UN = ci φi (x)

L " ' (
i
# Weak
form

dUN (x)
&
d
1.
Weighted
integral
form:

w(x) −
dx
a(x)
dx
− q(x) dx = R(UN )
0

φi (x) ∈ C n
where n maximum order of differentiation in weighted integral form (n = 2 i
2.
Integra/on
by
parts

this case)
& L" #
dw(x) du(x) $ du(x) %%x=L
a(x) − w(x)q(x) dx − w(x)a(x) x=0
=0
0 dx dx dx

–  For
higher
order
equa/ons,
the
differen/a/on
should
be
split

evenly
(if
order
is
even
as
almost
always
occur)

–  The
con/nuity
requirements
are
reduced

–  The
opera/on
is
also
driven
by
the
need
to
obtain
PHYSICALLY

relevant
natural
boundary
condi/ons

Massimo Ruzzene
School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
AE 6104 – Computational Mechanics Ph: (404) 894 3078
 w(x) −
dx a(x) dx − q(x) dx = R(UN )
0 0 dx dx

i (x)
φφi (x) ∈∈C nC n
wherewhere n maximum
n maximum order
A
note
on
boundary
condi/ons

orderofof differentiation
differentiation in weighted
in weighted integral form (n form
integral = 2 in(n = 2 in
this case)
his case)
•  NATURAL
BOUNDARY
CONDITIONS:

& L" #
dw(x) du(x) $
& – L "
Coefficients
of
the
weigh/ng
func/on
in
the
boundary
term
 du(x) %%x=L
a(x) − w(x)q(x) dx − w(x)a(x)
# = 0%
dw(x)
0 dx du(x)
dx $ dx du(x)
x=0 x=L
a(x) − w(x)q(x) dx − w(x)a(x) %
x=0
=0
dw(x)dx du(x) dx dx du(x) %
& L 0" #
$ du(x) %% $
a(x) − w(x)q(x) #dx− w(x)a(x) x=L
+ w(x)a(x) %
x=0
=0
L " 0 dx dx dx dx
dw(x) du(x) $ du(x) % $ du(x) %% %
a(x) − w(x)q(x) dx− w(x)a(x) x=L
+ w(x)a(x)
0 dx dx dx terms
Boundary dx x=
$ du(x) %%x=L
w(x)a(x)
dx x=0
NATURAL BOUNDARY CONDITION

–  At
each
boundary,
only
one
term
is
specified

–  The
weigh/ng
func/on
is
required
to
sa/sfy
the
HOMOGENEOUS
por/on
of
the

essen/al
boundary
condi/ons
 1

Massimo Ruzzene
School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
AE 6104 – Computational Mechanics Ph: (404) 894 3078
1
LL
dw(x)
dw(x)
dw(x) a(x) du(x)
du(x)
du(x) −−w(x)q(x)
# du(x)
du(x) du(x)
du(x)
w(x)a(x) du(x) du(
$ $$ % % % $$ $ %%
a(x) w(x)q(x) dx−
dx−w(x)a(x) % % ++w(x)a(x)
w(x)a(x)
+
%%
0 dxa(x) dxdx− w(x)q(x) dx− w(x)a(x)dxdx
dx x=L
x=L
%
x=L
w(x)a(x)
dx
dx x=0
x=
dx dx dx Weak
form
 dx
$$ du(x)
du(x)%%x=L
%x=L
$w(x)a(x)
w(x)a(x) du(x)x=0 %%
3.
Applica/on
of
boundary
condi/ons:

w(x)a(x) dxdx %x=L
x=0
x=0
$ $ du(x) dx
du(x)% %
% %
xx==0 0: :w(0)
w(0)==0;0; a(x) −−unspecif
$ a(x) du(x)
dxdx % x=0
x=0
% unspecified ied
x = 0 : w(0) = 0; a(x) x=0
− unspecif ied
dx$ $ du(x) du(x)%% %%
xx==LL: :w(L)
w(L)−−unspecif
unspecified;
ied; a(x)
a(x) x=Lx=L
==QQ00
dx
dx
du(x) %
•  Resul/ng
weak
form

$
x = L : w(L) − unspecif ied; a(x) %
x=L
= Q0
dx
& L" #
dw(x) du(x) 1 1
a(x) − w(x)q(x) dx − w(L)Q0 = 0
0 dx dx
1
Weak form (variational form) is a weighted integral
statement equivalent to the differential equation and
the specified natural boundary conditions
Massimo Ruzzene
School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
AE 6104 – Computational Mechanics Ph: (404) 894 3078
 Ques/ons


•  Why
is
the
weak
form
called
a
varia/onal
form

•  What
is
the
weight
func/on

•  Why
are
only
homogeneous
b.c.
applied
to
w(x)

•  The
varia/onal
form
equivalent
to
an
energe/c

form
of
the
problem.
Why?


Massimo Ruzzene
School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
AE 6104 – Computational Mechanics Ph: (404) 894 3078
 Linear
and
bilinear
form
and

quadra/c

(energy)
func/onals


Massimo Ruzzene
School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
AE 6104 – Computational Mechanics Ph: (404) 894 3078
 Compact
weak
form
nota/on

•  Let:

! L" #
! L" dw(x) du(x) #
B(w, u) = a(x) dw(x) du(x) dx
B(w, u) = 0 a(x) dx dx dx
! L 0 dx dx
! L! "
I(w) = w(x)q(x)dx
L + du(x) =
w(L)Q 0
#
= dw(x)
+ 0
l(w)
B(w, u) = 0 w(x)q(x)dx
a(x) w(L)Q 0 dx0
=
0 !0 L " dx dx #
dw(x) du(x)
B(w, u)L=LB(w, u)
! ! " a(x)
= B(u,
dw(x) w) dx dx
du(x)
#
dx
–  where






B(w,






is
bilinear
and
symmetric,
i.e.

u) =!= " a(x)
I(w) w(x)q(x)dx
0 + w(L)Q
# dx 0 = 0
L
0 0L
! dx
dw(x) du(x) dx
B(w, u)l(w) = L= 1 +
!l(αw a(x)
βw 2 ) = αl(w+
w(x)q(x)dx + dx
1 ) w(L)Q
βl(w02 )= 0
0B(w, u) =
dx B(u,dxw)
I(w) =! 0w(x)q(x)dx + w(L)Q 0 =0
L
0
B(w,u)
B(w,
–  and












is
a
linear
func/onal

I(w) = I(αw w(x)q(x)dx u)
+== I(w)w)= 0
B(u,
w(L)Q
1 + βw2 ) = αI(w1 ) + 0 βI(w2 )
0
u2=
l(αw1 + βw )= + w1 ) + βl(w2 )
u αl(w ∗

==
B(w,wu) δuI(w) Massimo Ruzzene
School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
AE 6104 – Computational Mechanics Ph: (404) 894 3078
B(δu,uu)
=− +w=0
u∗l(δu)
 l(w) = w(x)q(x)dx + w(L)Q0 = 0
0

dx Weak
form

! L" #
B(w, u) = dw(x)
B(u, w) du(x)
B(w, u) = a(x)
0 dx dx
•  Solu/on
of
the
weak
formula/on
of
the
problem:

l(αw1 + βw2 ) = αl(w1 ) + βl(w2 )
! L
–  Find
u
such
that
the
expression

l(w) = w(x)q(x)dx + w(L)Q0 = 0
0
B(w, u) = l(w)
B(w, u) = B(u, w)
Holds
for
any
w
that
sa/sfies
the
homogeneous
boundary
condi/ons
and

u = u∗ + w
con/nuity
condi/ons
required
by
the
weak
form

l(αw1 + βw2 ) = αl(w1 ) + βl(w2 )
w = δu
•  w(x)
can
be
viewed
as
any
arbitrary
varia/on
of
the
actual
solu/on
u*

B(w, u) = l(w)
B(δu, u) − l(δu) = Exact solution
0
Approximate solution u = u∗ + w
Variation
" #
1
δ B(u, u) − δ[l(u)] = δI(")
w = δu
•  Since
u
and
u*
must
sa/sfy
the
actual
boundary
condi/ons,
w
must

2
only
sa/sfy
the
homogeneous
b.c.

B(δu, u) − l(δu) = 0 Massimo Ruzzene
School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
AE 6104 – Computational Mechanics Ph: (404) 894 3078
" #
1
 0
l(w) =! L w(x)q(x)dx + w(L)Q0 = 0
l(w) = B(w, 0B(w, u)
u)
w(x)q(x)dx== B(u, w)
+l(w)
w(L)Q 0 =0
0
B(w, u) = B(u, Weak
/
varia/onal
form
w) 

l(αw1 + βwu)
B(w, 2) == αl(w
B(u,1w)) + βl(w2 )
•  l(αw1 +uβw =2 ) u ∗
+ 1w) + βl(w2 )
Consider
the
varia/on
formula/on
(in
mechanics
assume
that
w

= αl(w
B(w, = l(w)
u)αl(w
represents
a
generalized
virtual
displacement):

l(αw 1 + βw 2 ) = 1 ) + βl(w2 )
B(w, u)∗ = l(w)
uw=
B(w, u)=u=+ δuw
l(w)
u = u∗ + w
•  The
weak
form
can
be
wrifen
as:

u =wu= ∗ δu
+w
B(δu, u)w−= l(δu) δu =0
B(δu,w u)=−δul(δu) = 0
" " B(δu, ##u) − l(δu) = 0
•  1 δ 1 B(u, u) − δ[l(u)] = δI(")
Due
to
symmetry
and
linearity
it
can
be
rewrifen
as

δ B(u, u) u)#− l(δu)
"2B(δu, δ[l(u)]= 0 = δI(")
2 "δ 1 B(u, u) # − δ[l(u)] = δI(u)
12
δ B(u, u) − δ[l(u)] = δI(u)
2
•  Where
 1
I(u) =1 B(u, u) − l(u)
I(u) = B(u, 2 u) − l(u)
2
Massimo Ruzzene
School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
AE 6104 – Computational Mechanics Ph: (404) 894 3078
 u=u +w

NOTE

" #
1 w = δu
Hence
 δ B(u, u) − δ[l(u)] = δI(u)
2
B(δu, u) − l(δu) = 0
1#
I(u) 1 = B(u, u) − l(u)
•  Is
the
necessary
condi/on
for
the
func/onal
I(u)
to
have
an

"
extremum
value
δ B(u, 2
u) − δ[l(u)] = δI(")
2
δI(u) = 0 (1)

•  For
solid
mechanics
problems
I(u)
is
the
TOTAL
POTENTIAL
ENERGY

FUNCTIONAL,
and
equa/on
(1)
is
a
statement
of
the
total
poten/al

energy
principle

•  The
weak
form
of
a
differen/al
equa/on
is
equivalent
to
the

statement
of
the
total
poten/al
energy
principle

•  The
weak
form
is
a
varia/onal
formula/on

Massimo Ruzzene
School of Aerospace Engineering
massimo.ruzzene@ae.gatech.edu
AE 6104 – Computational Mechanics Ph: (404) 894 3078