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CHAP 1
Preliminary Concepts and
Linear Finite Elements
Table of Contents
1.1.INTRODUCTION
1.2.
1.3.
1.4.
1.5.
1.2
u1
u
u2
u1
, or u u2
u
3
u u1 e1 u2e2 u3e3
A11 A12 A 13
A [Aij ] A21 A22 A 23
A31 A32 A 33
akbk
k 1
akbk
wk ek
k 1
wk ek
C A B
Trace operator:
Dot product:
u v ujvk ( ej ek ) eijkujvk ei
Cross product:
Permutation
symbol
Cij AikBkj
eijk
1
1
J A:B
AijBij AijBij
i1 j1
Cartesian Vector
Cartesian Vectors
u u1 e1 u2 e2 u3e3 uiei
X3
v
v vjej
Dot product
u v (uiei ) (vjej ) uv
j )
i j ( ei e
Kronecker delta function
e3
e1
e2
X2
X1
uivj ij uivi
1 if i j
ij
0 if i j
Projection
8
Matrix notation
a b
ab
i i
aT b
A ab
Aij ab
i j
A abT
b A a
bi Aijaj
b Aa
b a A
bj aA
i ij
bT aT A
Rank of Tensor
No. of indices required to write down the components of tensor
Scalar (rank 0), vector (rank 1), matrix (rank 2), etc
Every tensor can be expressed as a linear combination of rank 1
tensors
Rank 1 tensor v: vi
Rank 2 tensor A: Aij
Rank 4 tensor C: Cijkl
10
Tensor Operations
Basic rules for tensors
( TS)R T(SR)
T(S R) TS TR
( TS) ( T )S T(S)
1T T1 T
Different notations
TS T S
Identity tensor
1 [ij ]
11
S ST
Skew
W WT
T SW
S 21 ( T T T )
1 (T TT )
W
Example
Displacement gradient can be considered a tensor (rank 2)
u1
X1
u1
X2
u2
X1
u2
X2
u3
X1
u3
X2
u1
X3
u2
X3
u3
X3
u1
X1
sym(u)
1 ( u1
2 X2
1 ( u1
2 X3
1 ( u1
2 X2
u2
)
X1
u3
)
X1
u2
)
X1
u2
X2
1 ( u2
2 X3
u2
)
X1
u3
)
X1
1 ( u1
2 X3
1 ( u2
2 X3
u3
)
X2
1 ( u1
2 X2
skew(u) 21 ( X1
2
1 u1
2 ( X3
u3
)
X2
u2
)
X1
u3
)
X2
Strain tensor
u3
X3
0
u
21 ( X2
3
u3
)
X1
1 ( u1
2 X3
1 ( u2
2 X3
u3
)
X1
u3
)
X2
Rotation
tensor
13
a:a
ij Dijklkl
tr(A) A : 1 1 : A
14
Orthogonal Tensor
In two different coord.
u uiei uj* ej*
Direction cosines
ei*
ei*
ej ij
ijej
Change basis
u ujej ui* ei*
ui*ijej
e1
e3*
e2
e1
e2*
ej ijei*
u* u
u T u* T ( u) (T )u
1 T
uj ijui*
u T u*
e3
T T 1 det() 1
Orthogonal tensor
Rank-2 tensor transformation
T * T T ,
Tij* ikTkljl
15
Permutation
The permutation symbol has three indices, but it is not a
tensor
eijk
1
0
Dual Vector
For any skew tensor W and a vector u
u Wu u WT u u
Wu
W W12
W13
W12
0
W23
W13
W23
0
W 23
w W13
W 12
Then, W u e w u e w u
ij j
ijk k j
ikj k j
Wu w u
Dual vector of skew tensor W
wi 21 eijkWjk
17
( X)
ei
X
Xi
Gradient is considered a vector
Laplace operator
ei
i
2
ej
X
j
vi
X j
X j X j
( X) ei
Xi
18
ei
j ej
ei ej
Xi
Xi
Divergence (decrease rank by 1)
i
ei
j ej
Xi
Xi
Ex)
Curl
jk , j ek
v ei eijkvk , j
19
Integral Theorems
Divergence Theorem
A d n
A d
Gradient Theorem
A d n A d
Stokes Theorem
n ( v ) d
c r
v dc
dt
A
t d (n v)A d
20
Integration-by-Parts
u(x) and v(x) are continuously differentiable functions
1D
b
a u(x)v(x) dx
u(x)v(x)
b
a
u(x)v(x) dx
a
2D, 3D
u
v
xi v d uvni d u xi d
For a vector field v(x)
u v d u( v
Greens identity
n) d u vd
2
u v d u v n d u
vd
21
S F n dS
S F n dS F d
2 (1 y z) d
2 d 2 y d 2 z d
2 d
8
3
22
1.3
23
f1
n
P
f3
(n)
f6
f1
F
lim
A 0 A
t (n) t1 e1 t2 e2 t3e3
f5
f4
f2
z
f2
f3
y
x
24
(x)
(x)
t1(x) e1
t2(x) e2
t3(x) e3
11 e1 12 e2 + 13e3
Normal
stress
z
13
F
11
Shear
stress
12
y
25
Stress Tensor
First index is the face and the second index is its direction
When two indices are the same, normal stress, otherwise shear
stress.
Continuation for other surfaces.
Total nine components
Same stress components are defined for the negative planes.
33
Sign convention
31
32
13
23
12
11
x
21
22
26
M l(12 21 ) 0
12 21
12 21 ,
23 32 ,
13 31
11
22
Lets use vector notation:
Cartesian components
33
{
of stress tensor
12
23
13
21
12 l
C
21
11
[ij ] 12
13
12
12
22
23
13
23
33
27
13
11
Force balance
31 33
n
t(n)
32
12 P
21
23
A x
22
(n)
F
t
1 1 A 11An1 21An2 31An3 0
Cauchys Lemma
All three-directions
t1( n) 11n1 21n2 31n3
t2( n) 12n1 22n2 32n3
t3(n ) 13n1 23n2 33n3
Tensor
( n ) notation
t ( n) n
Cauchys Lemma
t (n) t ( n)
29
Projected Stresses
Normal stress (n) t n n n n
Shear stress
(n)
n 2
Principal stresses t n / /n
2 (n)
ijnn
i j
(n) t n n(n)
1 , 2, 3
13
12
11 m
23
13
23
11 m
Iijkl 31 (ik jl il jk )
Rank-4 identity tensor
Idev I 31 1 1
Rank-4 deviatoric identity tensor
30
Strain
Strain: a measure of deformation
Displacement of P = (u, v, w)
Displacement of Q & R
u
u
uR u
y
uQ u
x
y
x
v
v
vQ v
x
vR v
y
y
x
w
w
wQ w
x
wR w
y
x
y
R'
Q'
R
P'(x+u,y+v,z+w)
x
P(x,y,z)
Q
x
31
Strain
Strain is defined as the elongation per unit length
uy
y
P
ux
ux ux
lim
y 0 y
y
32
Shear Strain
Shear strain is the tangent of the change in angle between two
originally perpendicular axes
1 ~ tan 1
ux
uy
x
ux
2 ~ tan 2
y
y
P
y
Shear
strain
(change
of
angle)
lim
12
12
x 0
/2 12
1
uy
ux uy ux
lim
y 0 y
x
y
1
1 uy ux
12
2
2 x
y
Positive when the angle between two positive (or two negative)
33
Strain Tensor
Strain Tensor
ijei ej
11
Cartesian Components [ij ] 12
13
Vector notation
11
11
22
22
33
33
{ }
12
212
223
23
13
213
12
22
23
13
23
33
34
Deviatoric strain
e 31 V 1
e Idev :
x3
eij ij 31 V ij
e22
e33
1
x2
1
e11
x1
Stress-Strain Relationship
Applied Load
shape change (strain)
stress
There must be a relation between stress and strain
Linear Elasticity: Simplest and most commonly used
Ultimate
stress
Fracture
Yield stress
Proportional
limit
Youngs
modulus
Strain
Necking
hardening
36
D : ,
ij Dijklkl
21 independent coeff
Dijkl ijkl ik jl il jk
ijkl (ik jl il jk )
D 1 1 2I
kk 11 22 33 v
12 212 12
I1 3m jj kk jj 2 jj (3 2)kk
m ( 23 )kk K v
Substitute
K 23
Total deform. = volumetric + deviatoric deform.
38
Kkk ij 2ij 23 kk ij
Deviatoric part
Volumetric part
e Idev :
Deviatoric strain
s Idev :
Deviatoric stress
u1,1
u2,2
11
22
33
212
223
13
u3,3
u1,2 u2,1
u
3,2
2,3
u u
3,1
1,3
12 + 21 = 212
11
22
33
D
12
23
13
You dont need 2 here
40
(3 2)
,
E
2( )
E
E
,
(1 )(1 2)
2(1 )
1
1
1
1
0
0
0
2
3
31
31
Idev
0
0
31 31 0 0 0
2
1
3 0 0 0
3
31 23 0 0 0
0
0 21 0 0
1
0
0 0 2 0
0
0 0 0 21
2
D
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
41
Plane Stress
thin platelike components parallel to the xyplane
the plate is subjected to forces in its plane only
13 = 23 = 33 = 0
11
{ } 22
12
1
E
1
2
1
0 0
0
0
1 (1 )
11
22
12
13 = 23 = 0, but 33 0
42
Plane Strain
the strains with a z subscript are all equal to zero
deformation in the zdirection is constrained, (i.e., u3 = 0)
13 = 23 = 33 = 0
can be used if the structure is infinitely long in the z
direction
11
{ } 22
12
1
0
(1 )(1 2)
13 = 23 = 0
33
1
2
11
22
12
11 22
(1 )(1 2)
43
1.4
MECHANICS OF
CONTINUOUS BODIES
44
fb d t n d
a d
ij
Surface traction
11
21
31
12
22
32
13
23
33
t n n
Cauchys Lemma
X3
t n t n
t n n
t n n
e1
X1
e3
e2
X2
tn
45
( fb a) d n d d
[ ( fb a)] d 0
Divergence Thm
( fb a) 0
For a static problem
fb 0
ij,i fjb 0
x f b d x t n d
x a d
ij ji
46
Boundary-Valued Problem
We want to determine the state of a body in equilibrium
The equilibrium state (solution) of the body must satisfy
local momentum balance equation
boundary conditions
e1
u0
on h
essential BC
(2)
t n
on s
natural BC
(3)
fb
X3
(1)
fb 0
X1
e3
e2
X2
t
Solution space
DA u [C2 ()]3 | u 0 on x h , n t on x s
47
48
( u) D : ( u)
Linear elastic material
PMPE cont.
Work done by applied loads (conservative loads)
W( u)
u fb d s u t d
.
x3
Potential energy
fb
u1
u3
u2
h
fs
x2
x1
( u) U( u) W( u)
1
( u) : ( u) d u fb d s u t d
.
2
50
PMPE cont.
PMPE: for all displacements that satisfy the boundary
conditions, known as kinematically admissible
displacements, those which satisfy the boundary-valued
problem make the total potential energy stationary on DA
But, the potential energy is well defined in the space of
kinematically admissible displacements
Z u [H1 ()]3 | u 0 on x h ,
H1: first-order derivatives are integrable
x [0, L]
x0
F
L
xL
2 0
W Fu(L) FLc1
d
d
(U W) EALc1 FL 0
dc1 dc1
c1
F
EA
u(x)
Fx
EA
52
1
d
u lim [( u ) ( u)]
( u )
0
d
u.
0
Let be the virtual displacement, then u +
must
be kinematically
admissible, too
u a u u V
u Z
Z u u [H1 ()]3, u
Property of variation
d(u)
du
dx
dx
53
PMPE As a Variation
Necessary condition for minimum PE
1
d
( u; u ) lim [( u u ) ( u)]
( u u )
0
d
( u) ( u )
x
D :
(u ) : D : (u) ( u) : D : (u )
( u ) : D : ( u) d
U( u; u )
1
2
a( u, u )
for all u Z
x
d
54
b
u
f
d s u t d l ( u ) Load linear form
( u; u ) U( u; u ) W( u; u ) 0
Thus, PMPE becomes
a( u, u ) l ( u ),
u Z
0
d 2
dx
u(x) cx
1 L
2EA(u u)u dx
2 0
0 EAuu dx EALcc
Fu(L) FLc
U W c(EALc FL) 0
Fx
u(x) cx
EA
56
( fb ) u d
ij,iuj d fjbuj d
u Z
Integration-by-parts
Divergence Thm
n u d
u d
Theboundary
i ij jis decomposed
ij j,iby
fjbuj d
fjbuj d
h s
uj 0 on h and niij tj on s
b
t
u
d
u
d
f
S j j
ij j,i
j uj d
58
ij ij d
fjbuj d
1 ui uj
sym(ui,j )
ij
2 Xj Xi
tjuj d
u Z
Symbolic expression
a( u, u ) l ( u )
Energy form:
Load form:
a( u, u )
l (u )
[K]{ d} {F }
u Z
FE equation
: d
u fb d s u t d
59
T = T0
T
T
ky Q 0
kx
y
x
y
x
domain
A
Boundary conditions
T T0 on ST
dT
dT
n
k
n
k
x x
y y
n
dx
dy
qn
on Sq
Sq
ST
n = {nx,
ny}T
Z T H1 () T( x) 0, x ST
k
x x x y y y d
TQ d S Tqn dSq,
q
T Z
60
d4 v
dx
f(x),
f(x)
x [0, L]
Z v H [0, L] v(0)
(0) 0
dx
d2v d2v
v Z
61
x x
y y
62
1.5
63
Piecewiselinear
approximation
Approximate
solution
x
Finite elements
Exact solution
64
Finite Elements
Types of finite elements
1D
2D
3D
dx
0.1
dx
0.2
0.1
dx L
0.9
dx
One element
65
Trial Solution
Solution within an element is approximated using simple
polynomials.
u(x) a a x,
x xx
0 is composed
1
i of two nodes:
i 1
i-th element
xi and xi+1. Since two
unknowns are involved, linear polynomial can be used:
66
u(xi ) ui a0 a1xi
u(x)
xi1 x
(e)
14L2 43
ui
N1 (x)
x xi
(e)
L 3
12
ui1
N2 (x)
xi x xi1
xi
N2(x)
xi+1
68
1D Finite Elements
1D BVP d2u p(x) 0, 0 x 1s
2
dx
u(0) 0
du
(1) 0
dx
Use PVW
Boundary conditions
d2u
0 dx2 p u dx 0
Space of kinematically
admissible displacements
Integration-by-parts
du
u
dx
1
0
1
du du
dx pu dx
0 dx dx
0
1
69
1D Interpolation Functions
Finite element approximation for one element (e) at a time
(e)
(e)
u(e) (x) uN
(x)
u
N
(x)
d
i 1
i1 2
(e)
ui
ui1
N(e) N1 N2
u(e) (xi ) ui
u
N
(x)
d
i 1
i1 2
Derivative of u(x)
du(e) dN1
dx
dx
dN2 ui
dx ui1
(e)
L
1
(e)
L
ui
u i1
B(e) d(e)
70
xj
xj
B(e)T B(e) dx d(e) d (e)T N(e)T p(x) dx d (e)T
xi
du
(x
)
dx i
du
(xi1 )
dx
xj
2x2 matrix
du
(x
)
i
xj (e)T
dx
N
p(x) dx
xi
du
(xi1 )
dx
2x1 vector
du
(x
)
i
dx
du
(xi1 )
dx
71
Assembly
Need to derive the element-level equation for all elements
Consider Elements 1 and 2 (connected at Node 2)
k11
k21
k11
k21
k12
k22
k12
k22
(1)
(2)
(1)
u1 f1
u
f
2 2
u2
u3
Assembly
(1)
k11
(1)
k21
(1)
k12
(1)
(2)
k22
k11
(2)
k21
(2)
f2
f
3
du
(x
)
dx 1
du
(x2 )
dx
du
(x
)
dx 2
du
(x3 )
dx
0 u1
(2)
k12 u2
(2) u
k22
3
f1(1)
(2)
(1)
f2 f 2
f3(2)
du
(x
)
dx 1
du
(x )
dx 3
Vanished
unknown term
72
Assembly cont.
(1)
k11
(1)
k21
(1)
k12
(1)
(2)
k22
k11
(2)
k221
(2)
k12
(2)
(2)
k22
k11
0
ND ND
L
O
NE
k21
0 u
1
0 u2
0 u3
M M
(N )
k22E uN
ND 1
du
(x
)
dx 1
M
M
(N )
du
fN E
(x
)
dx N
ND 1
ND 1
f1(1)
(1)
(2)
f2 f2
(3)
(2)
f3 f 3
[K]{ q} {F }
Coefficient matrix [K] is singular; it will become nonsingular after applying boundary conditions
73
Example
Use three equal-length elements
d2u
x 0, 0 x 1
u(0) 0, u(1) 0
2
dx
All elements have the same coefficient matrix
3 3
1 1 1
(e)
k
22 L(e) 1 1 3 3 , (e 1,2,3)
RHS (p(x) = x)
{f
(e)
N1 (x)
1 x i1 x(xi1 x)
} p(x)
dx
dx (e) x
xi
i
x(x x i )
L
N2 (x)
xi xi1
6
(e) 3
L
, (e 1,2,3)
x
x
i i1
6
3
xi1
74
Example cont.
RHS cont.
f1(1)
(1)
f2
1
54
(2)
1
1 4
f 2
,
(2)
,
54
2
5
f3
Assembly
3 - 3
0
0 u1
- 3 3 + 3 - 3
0 u2
=
0
- 3
3 +3
- 3 u3
0
- 3
3
0
u4
1 du
(0)
54 dx
2
4
+
54 54
7
5
+
54 54
8
du
+ (1)
54 dx
(3)
f3
(3)
f
4
1 7
8
54
Element 1
Element 2
Element 3
6 3 u2
3 6 u
1
9
1
2
u2
u3
4
81
5
81
75
EXAMPLE cont.
Approximate solution
4
x,
27
1
1
4
u(x)
x ,
3
81 27
5
5
2
x ,
81 27
3
1
3
1
2
x
3
3
2
x1
3
0x
Exact solution
1
u(x) x 1 x2
6
76
3D Solid Element
Isoparametric mapping
NI ()uI
x( )
I 1
NI ()
I 1
1
(1 I )(1 I )(1 I )
8
x8
x7
x5
(1,
1,1)
(1, 1,1)
x6
x
x3
x1
NI ()xI
x4
x3
x2
x2
(a) Finite Element
(1, 1,
1)
(
1,1,1)
(1,1,1
)
(1,1,
1)
(1,1,1)
(b) Reference
Element
77
NI
NI
NI NI
NI
x1
NI
x2
J : Jacobian
NI
x3
x1
x2
x3
x1
x2
x3
x1
x2
x3
NI NI
J 1
x
NI,1
BI uI
I 1
( u )
BI uI
I 1
BI
NI,2
NI,2
0
N
I,3
NI,1
NI,3
NI,i
0
NI,3
NI,2
NI,1
Ni
xi
79
d 1 1 1 J ddd
Energy form
a( u, u )
I 1 J 1
uIT
u { d }T [k]{ d}
T
B
DB
J
d
1 1 1 I J
J
Load form
l (u )
T 1 1 1
uI
NI ()fb
1 1 1
I 1
J ddd { d }T { f }
{ d } Zh
80
Numerical Integration
For bar and beam, analytical integration is possible
For plate and solid, analytical integration is difficult, if
not impossible
Gauss quadrature is most popular in FEM due to simplicity
and accuracy
1D Gauss quadrature
1
NG
if( i )
1 f() d
i1
NG NG
ijf(i, j )
1 1 f(, ) dd
i1 j1
1
NG NG NG
ijk f(i, j, k )
1 1 1 f(, , ) ddd
i1 j1 k 1
NG
1
2
3
4
5
Integration
Points (i)
0.0
.5773502692
.7745966692
0.0
.8611363116
.3399810436
.9061798459
.5384693101
0.0
Weights (i)
2.0
1.0
.5555555556
.8888888889
.3478546451
.6521451549
.2369268851
.4786286705
.5688888889
(a)
11
(b)
22
(c) 33
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ELAST3D.m
A module to solve linear elastic problem using NLFEA.m
Input variables for ELAST3D.m
Variable
ETAN
UPDATE
LTAN
Array size
(6,6)
Logical variable
Logical variable
Meaning
Elastic stiffness matrix Eq. (1.81)
If true, save stress values
If true, calculate the global stiffness matrix
NE
NDOF
XYZ
LE
Integer
Integer
(3,NNODE)
(8,NE)
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84
% Strain
DEPS=DSP*SHPD';
DDEPS=[DEPS(1,1) DEPS(2,2) DEPS(3,3) ...
DEPS(1,2)+DEPS(2,1) DEPS(2,3)+DEPS(3,2) DEPS(1,3)+DEPS(3,1)]';
%
% Stress
STRESS = ETAN*DDEPS;
%
% Update stress
if UPDATE
SIGMA(:,INTN)=STRESS;
continue;
end
%
% Add residual force and stiffness matrix
BM=zeros(6,24);
for I=1:8
COL=(I-1)*3+1:(I-1)*3+3;
BM(:,COL)=[SHPD(1,I) 0
0;
0
SHPD(2,I) 0;
0
0
SHPD(3,I);
SHPD(2,I) SHPD(1,I) 0;
0
SHPD(3,I) SHPD(2,I);
SHPD(3,I) 0
SHPD(1,I)];
end
%
% Residual forces
FORCE(IDOF) = FORCE(IDOF) - FAC*BM'*STRESS;
%
% Tangent stiffness
if LTAN
EKF = BM'*ETAN*BM;
GKF(IDOF,IDOF)=GKF(IDOF,IDOF)+FAC*EKF;
end
end, end, end, end
end
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