MMJ1153-B - Preliminaries To FEM

MMJ1153 – COMPUTATIONAL METHOD IN SOLID MECHANICS
B – PRELIMINARIES TO FEM
PRELIMINARIES TO FEM M.N. Tamin, CSMLab, UTM 1

Course Content:
A – INTRODUCTION AND OVERVIEW

Numerical Method and Computer-Aided Engineering; Physical
problems; Mathematical models; Finite element method;.
B – PRELIMINARIES TO FEM
Direct approach; mathematical approach; elements and nodes,
generalized coordinates, interpolation functions, constitutive
equations, stiffness matrix, boundary conditions, applied loads,
theory of minimum potential energy; examples.
C – PLANE ELASTICITY PROBLEM FORMULATIONS

Constant-strain triangular (CST) elements; Plane stress, plane
strain; Axisymmetric elements; Stress calculations; Programming
structure; Numerical examples.

Need to review matrix algebra
In this course, we need to solve system of linear equations in the
form
a11 x1 + a12 x2 + ... + a1n xn = b1
a21 x1 + a22 x2 + ... + a2 n xn = b2
(2-1)
............................................
an1 x1 + an 2 x2 + ... + ann xn = bn
where x1, x2, …, xn are the unknowns.
Eqn. (2-1) can be written in a matrix form as
[A]{x} = {b} (2-2)
where [A] is a (n x n) square matrix, {x} and {b} are (n x 1) vectors.

The square matrix [A] and the {x} and {b} vectors are is given by,
 a11 a12 ... a1n   x1   b1 

a  x  b 
{x} =  2  , and {b} =  2 
a ... a
[A] =  21 22 2n 
,
 : : : :  : :
   xn  bn 
an1 an 2 ... ann 
… (2-3)
Note:
Element located at ith row and jth column of matrix [A] is denoted by aij. For
example, element at the 2nd row and 2nd column is a22.

EXAMPLE
Given that:
 1 0  3 1 0
[ A] =   [C ] =  
 − 1 4   − 1 0 3 
 3 1 2 1
 
[ D ] = 1 4 0 {E} = 2
2 0 3 3 
 
Find the product for the following cases:

a) [A][C]
b) [D]{E}
c) [C]T[A]

Solution of System of Linear Equations
System of linear algebraic equations can be solved for the unknown using
the following methods:
a) Cramer’s Rule
b) Inversion of Coefficient Matrix
c) Gaussian Elimination
d) Gauss-Seidel Iteration
Example: Solve the following SLEs using Gauss elimination method.
2 x1 + 1x2 − 3 x3 = 11 (i)
4 x1 − 2 x2 + 3x3 = 8 (ii)
− 2 x1 + 2 x2 − 1x3 = −6 (iii)

Gauss Elimination Method

Reducing a set of n equations in n unknowns to an equivalent triangular
form (forward elimination). The solution is determined by back substitution
process.
Basic approach
-Any equation can be multiplied (or divided) by a nonzero scalar
-Any equation can be added to (or subtracted from) another equation
-The position of any two equations in the set can be interchanged

Example
Solve the following systems of linear equations by using the
Gaussian elimination method.
a) − x1 + 3 x2 − 2 x3 = 2
2 x1 − 4 x2 + 2 x3 = 1
0 x1 + 4 x2 + x3 = 3
b) 2 x1 + 1x2 − 3 x3 = 11
4 x1 − 2 x2 + 3 x3 = 8
− 2 x1 + 2 x2 − 2 x3 = −6

To determine element properties:

Direct approach k
1 2
Example : Linear spring system • •
1 2
Hooke’s law: F1,δ1 (e) F2,δ2

F = kδ
F1 = kδ1 − kδ 2
k − k  δ1   F1 
− k   = 
For equilibrium of forces:  k  δ1   F2 
F2 = − kδ1 + kδ 2
[K ]{δ } = {F }

To determine element properties:
Variational approach
The FE solution involves choosing {φ} that satisfy the governing

equation and prescribed boundary conditions. Such function also
minimizes the functional I(φ):
n
∂I
δI (φ ) = ∑ δφi = 0
i =1 ∂φ
n is the total number of discrete values of φ.

Since δφI ‘s are independent;
∂I
= 0 , i = 1, 2, ...
∂φi

For the discretized domain:
( )
M
I (φ ) = ∑ I ( e ) φ ( e )
e =1
For individual element:

M
δI = ∑ δI ( e ) = 0
e =1
 ∂I ( e )  ∂I
 = =0 , j = 1, 2, ..., r
 ∂φ  ∂φ j
 ∂I ( e ) 
 = [K ] {φ } − {F } = {0}
(e) (e) (e)

 ∂φ 
r is the number of nodes for each element.

ELEMENTS and NODES

Element features: Bar element
shape.
number of nodes
number and type of nodal
variables (dof)
Triangular
element
Tetrahedral
element

ELEMENTS and NODES

Number of nodes assigned to an element depends on:
Types of nodal variables
Types of interpolation function
Degree of continuity required
Hexahedral
element
Quadrilateral
element

ELEMENTS and NODES
– Axisymmetric element
(toroidal element)

NODES
Eg. 9-node quadrilateral element
corner nodes: 1,2,3,4
3
along edges: 5,6,7,8
y 7 interior nodes: 9
6
4 9
Types of nodes:
8 2 Exterior nodes
5 Lie on boundary of element
1 Positioned at corners, along edges or on
x surface (for 3-D element)
Represent point of connection with
adjacent element.
Interior nodes
Do not connect with neighboring element.
Number of nodes assigned to an element depends on

Types of nodal variables
Types of interpolation function
Degree of continuity required
PRELIMINARIES TO FEM M.N. Tamin, CSMLab, UTM
INTERPOLATION FUNCTION
Functions used to represent the behavior of a field variable within an element.

Also called shape functions or approximating functions.
Polynomials are widely used because they are relatively easy to manipulate.
φ = ∑ N i φi = N {φ }
Ni = interpolation functions
Interpolation functions chosen must meet certain continuity requirements to

ensure:
- Continuity of field variables
- Convergence to correct solution as element size decreases.
Interpolation functions must have geometric isotropy.
The expansion remains unchanged under linear transformation from one Cartesian
coordinate system to another.

Continuity requirements
Assume that the functions appearing under the integral in the element
equations contain up to (r+1)th order.
To ensure convergence, Ni must satisfy
Compatibility requirement
the functions must have Cr continuity at element interface.
Completeness requirement
The functions must have Cr+1 continuity within an element.
Definitions:
C0 - field variable is continuous at element interface
C1 – the first derivatives are continuous
C2 – the second derivatives are also continuous

Polynomials as interpolation functions
1 independent variable , (x) 2 independent variables, (x , y)

Τn (1)
Ρn ( x ) = ∑ α i x
Τn ( 2 )
Ρn ( x, y ) =
i
i =0 ∑α
k =1
k xi y j , i + j ≤ n
No. of terms: Tn(1) = n+1

No. of terms:
Examples: Τn
( 2)
=
(n + 1)(n + 2)
2
n = 1 , T1(1) =2, Ρ1 ( x ) = α 0 + α1 x
n = 2 , T2(1) =3 Ρ2 ( x ) = α 0 + α1 x + α 2 x 2

3 independent variables, (x , y , z)
Τn ( 3 )
Ρn (x, y, z ) = ∑ α l x i y j z k , i + j + k ≤ n
l =1
No. of terms: Τn =
(3 ) (n + 1)(n + 2)(n + 3)
6
Examples:
N=1 , T1(3)=4
Ρ1 ( x, y, z ) = α1 + α 2 x + α 3 y + α 4 z
N=2 , T2(3)=10
Ρ2 ( x, y, z ) = α1 + α 2 x + α 3 y + α 4 z + α 5 xy
+ α 6 xz + α 7 yz + α 8 x 2 + α 9 y 2 + α10 z 2

Geometric Isotropy for Interpolation Functions
Geometric isotropy – the polynomial expansion for the element must remains
unchanged under a linear transformation from one Cartesian
coordinate system to another.
y Global coordinate system (x, y)
Local coordinate system (r, s).
x
1) Pn with all terms have geometric isotropy
2) Pn that are incomplete, yet contain appropriate terms to preserve “symmetry”
have geometric isotropy
Terms in symmetric pair can be omitted
Eg. (x2y , xy2)
(x3 , y3 ).

Example:
P3 (x, y ) = α 1 + α 2 x + α 3 y + α 4 x 2 + α 5 xy + α 6 y 2 + α 7 x 3
+ α 8 x 2 y + α 9 xy 2 + α 10 y 3
1
x y
Cubic 10 terms
x2 xy y2
x3 x2 y x y2 y3
In order to use the polynomial but with less terms, we can drop the pair
(eg. x3, y3)
P(x, y ) = α 1 + α 2 x + α 3 y + α 4 x 2 + α 5 xy + α 6 y 2 + α 8 x 2 y + α 9 xy 2

Triangular elements for C0 problems

C0 problems require only continuity of φ at element interfaces.
Number of nodes along element side (hence, number of nodal values of φ)
must be sufficient to uniquely determine variation of φ along that side.
3- node triangle
Linear variation of φ
α 1 
 
φ (x, y ) = 1 x y α 2 
α 
 3
6- node triangle
quadratic variation of φ
α1 
α 
 2
α 
φ (x, y ) = 1 x y x 2 xy y 2  3 
α 4 
α 5 
 
α 6 
8 10- node triangle

7 Cubic variation of φ
9
10 6
φ ( x, y ) = α1 + α 2 x + α 3 y + α 4 x 2 + α 5 xy
1
4
5 2
+ α 6 y 2 + α 7 x 3 + α 8 x 2 y + α 9 xy 2 + α10 y 3
Polynomials of order greater than 3 are rarely used

eg. 15-node (quartic)
21-node (quintic)

Deriving Interpolation Functions
To express the generalized coordinates (coefficients αi’s) in terms of nodal dof.

Concept:
4 (x4,y4) 3 (x3,y3)
Field variable φ
y
Assign one value of φ to each node
Element has 4 dof.
1 (x1,y1) 2 (x2,y2)
x
Select a 4-term polynomial as interpolation function.
φ (x , y )= α 1 + α 2 x + α 3 y + α 4 xy
 α 1 
 α 
 
φ = 1 x y xy  2

 α 3 
 α 4

φ =  p {α }
Evaluate the coefficients
φ1 = α 1 + α 2 x1 + α 3 y1 + α 4 x1 y1
φ 2 = α 1 + α 2 x2 + α 3 y 2 + α 4 x2 y 2
φ 3 = α 1 + α 2 x3 + α 3 y 3 + α 4 x3 y 3
φ 4 = α 1 + α 2 x4 + α 3 y 4 + α 4 x4 y 4
φ1  1 x1 y1 x1 y1  α1 
φ  1 x2 y2  α 2 
 2  x2 y2
 =  
φ3  1 x3 y3 x3 y3  α 3 
φ4  1 x4 y4

x4 y4  α 4 
Thus, {φ } = [G ]{α }
{α } = [G ]−1{φ }
φ = Ρ {α }
Recall,
φ = Ρ [G ]−1{φ }
φ = Ν {φ }
φ - is an interpolation function that applies to the whole element

Express field variable behavior in terms of generalized coordinates.
Ni- refer to individual node and individual dof.
Collectively represent field variable behavior
. Ν 1 at node i
i = 
0 at other nodes
Issues:
Sometimes [G ]−1 do not exist for all orientation of elements in global
coordinate system.
Cost of computing [G ] is prohibitive.
−1
Try to determine Ni by inspection using natural coordinates.

NATURAL COORDINATES IN 1-D
To describe location of a point inside an element in terms of nodal coordinates.
A local coordinate system

Coordinates ranges from zero to unity
A function of the global Cartesian coordinate
x = N1 x1 + N 2 x2
1− ξ  1+ ξ 
= +
 1 
x  x2
 2   2 
A prescribed function to represent the variation of unknown field

variables within the element in terms of known nodal variables.
Linear shape functions are defined:

1− ξ 1+ ξ
N1 (ξ ) = and N 2 (ξ ) =
2 2

A shape function is used to interpolate values of displacement, q(ξ) along

the bar element between the two nodal displacements, q1 and q2
For linear interpolation function:
N1=1 1− ξ N2=1
N1 (ξ ) = 1+ ξ
2 N 2 (ξ ) =
2
1̂ 2̂
u ( x ) = N1q1 + N 2 q2

LINEAR DISPLACEMENT FIELD
uˆ ( x) = N1q1 + N 2 q2
1−ξ  1+ ξ 
= q +
 1   q2 When the same shape functions N1
 2   2  and N2 are used to establish
=[N ]{q} interpolation function for coordinate
of a point within an element and the
displacement of that point, the
where [N ] = [N1 N2 ] formulation is referred to as an
isoparametric formulation.
 q1 
{q} =   x = N1 x1 + N 2 x2
q2 
1−ξ  1+ ξ 
=  x1 +   x2
 2   2 

EXAMPLE
(a) Evaluate ξ, N1, and N2 at point P.

(b) If q1 = 0.003 in and q2 = -0.005 in, determine the value of
displacement u at point P.

Natural Coordinates
4 (x4 ,y4) η
y 3 (x3 ,y3) (-1,1) 4 3 (1,1)
1
ζ
(x1 ,y1)
2 (x2 ,y2) (-1,-1) 1 2 (1,-1)
x
Global Cartesian coordinate (x , y) Natural coordinate (ζ , η)
A local coordinate system

Relies on the element geometry for its definition
Coordinates ranges from zero to unity
A function of the global Cartesian coordinate
Purpose:
To describe location of a point inside an element in terms of nodal coordinates.

Properties of individual elements can be formulated in several ways:
Direct approach.
This approach is traceable to the direct stiffness method of
structural analysis.
Variational approach
This approach relies on the calculus of variation and involve
optimizing a functional.
Method of weighted residual

This approach begins with the governing equations of the problem
and proceed without relying on a functional.
Energy balance approach

This approach is based on mechanical energy of a system.
It does not require a variational statement.

Constitutive Equation
Linear elastic behavior:  q1 

σ = E [ B]  
800
q2 
600
STRESS, σ (MPa)
Non-linear 200
σ = K(εp)n
400
150
STRESS, σ (MPa)
200
Linear 100
σ = Eε
0
0.0 0.1 0.2 0.3 0.4
50
0.5 0.6
σ = Eε
STRAIN, ε(%)
0
0.0000 0.0002 0.0004 0.0006 0.0008 0.0010
STRAIN, ε(%)
Minimum Potential Energy Principle

Potential Energy = strain energy – work by external force
Π (u ) = U (u ) − W (u )
Strain energy of linear elastic body
1
U= ∫ σ ε dV
2Ω
Work done by external forces
W = ∫ u f b dV + ∫ uT dS
Ω S
Potential energy functional

1
Π= ∫ σ ε dV − ∫ u f b dV − ∫ uT dS
2Ω Ω S
Theory of Minimum Potential Energy

The displacement field (u) which satisfies the equilibrium, and
the conditions at the boundary surface is the one that
minimizes the potential energy
Μ r
∂Π (e )
δΠ (q ) = ∑ δΠ (q ) = ∑
(e )
δqi = 0
e =1 i =1 ∂qi
Finite element equation:
 
 ∫ [B ]T E [B ]Adx {q} = ∫ {N }T f b Adx + ∫ {N }T T dS
 
Ω  Ω S
[K ]{q} = { f }

Finite Element Equations
At element level
EA  1 − 1  q1  Af b le 1 Tle 1  P1 

   =  +  + 
l e  − 1 1  q 2  2 1 2 1  P2 
[k ]{q}= { f }

Assembled global FE equations
 K11 K12 K13 K14 K15   Q1   F1 

 K 22 K 23 K 24 K 25  Q2   F2 
    
 K 33 K 34 K 35  Q3  =  F3 
 
 sym K 44 K 45  Q4   F4 
   
 K 55  Q5   F5 
Subjected to boundary condition: Q1 = 0
Solve for unknown nodal displacements

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MMJ1153 – COMPUTATIONAL METHOD IN SOLID MECHANICS

PRELIMINARIES TO FEM M.N. Tamin, CSMLab, UTM 1

A – INTRODUCTION AND OVERVIEW

C – PLANE ELASTICITY PROBLEM FORMULATIONS

PRELIMINARIES TO FEM M.N. Tamin, CSMLab, UTM 2

where x1, x2, …, xn are the unknowns.

Eqn. (2-1) can be written in a matrix form as

[A]{x} = {b} (2-2)

where [A] is a (n x n) square matrix, {x} and {b} are (n x 1) vectors.

PRELIMINARIES TO FEM M.N. Tamin, CSMLab, UTM 3

 a11 a12 ... a1n   x1   b1 

PRELIMINARIES TO FEM M.N. Tamin, CSMLab, UTM 4

Find the product for the following cases:

PRELIMINARIES TO FEM M.N. Tamin, CSMLab, UTM 5

Example: Solve the following SLEs using Gauss elimination method.

PRELIMINARIES TO FEM M.N. Tamin, CSMLab, UTM 6

Gauss Elimination Method

PRELIMINARIES TO FEM M.N. Tamin, CSMLab, UTM 7

PRELIMINARIES TO FEM M.N. Tamin, CSMLab, UTM 8

To determine element properties:

Hooke’s law: F1,δ1 (e) F2,δ2

PRELIMINARIES TO FEM M.N. Tamin, CSMLab, UTM 9

The FE solution involves choosing {φ} that satisfy the governing

n is the total number of discrete values of φ.

PRELIMINARIES TO FEM M.N. Tamin, CSMLab, UTM 10

For the discretized domain:

For individual element:

r is the number of nodes for each element.

PRELIMINARIES TO FEM M.N. Tamin, CSMLab, UTM 11

ELEMENTS and NODES

PRELIMINARIES TO FEM M.N. Tamin, CSMLab, UTM 12

ELEMENTS and NODES

PRELIMINARIES TO FEM M.N. Tamin, CSMLab, UTM 13

ELEMENTS and NODES

PRELIMINARIES TO FEM M.N. Tamin, CSMLab, UTM 14

Number of nodes assigned to an element depends on

Functions used to represent the behavior of a field variable within an element.

Interpolation functions chosen must meet certain continuity requirements to

PRELIMINARIES TO FEM M.N. Tamin, CSMLab, UTM 16

PRELIMINARIES TO FEM M.N. Tamin, CSMLab, UTM

Polynomials as interpolation functions

1 independent variable , (x) 2 independent variables, (x , y)

No. of terms: Tn(1) = n+1

PRELIMINARIES TO FEM M.N. Tamin, CSMLab, UTM

PRELIMINARIES TO FEM M.N. Tamin, CSMLab, UTM

Geometric Isotropy for Interpolation Functions

y Global coordinate system (x, y)

Local coordinate system (r, s).

PRELIMINARIES TO FEM M.N. Tamin, CSMLab, UTM

PRELIMINARIES TO FEM M.N. Tamin, CSMLab, UTM

Triangular elements for C0 problems

8 10- node triangle

Polynomials of order greater than 3 are rarely used

PRELIMINARIES TO FEM M.N. Tamin, CSMLab, UTM

Deriving Interpolation Functions

To express the generalized coordinates (coefficients αi’s) in terms of nodal dof.

Select a 4-term polynomial as interpolation function.

Evaluate the coefficients

φ - is an interpolation function that applies to the whole element

Try to determine Ni by inspection using natural coordinates.

PRELIMINARIES TO FEM M.N. Tamin, CSMLab, UTM

NATURAL COORDINATES IN 1-D

To describe location of a point inside an element in terms of nodal coordinates.