Lecture 8 9

Lecture 8 and 9: Two-dimensional elastic problems
Linear Finite-Element Analysis - II

Lecturer: Johan Clausen
Department of Civil Engineering
Lecture 8 9: 2D elastic problems
2
Today
There will be many similarities between this lecture and the lecture
concerning 2D heat conduction.
The main difference is that there will be two degrees of freedom (dof) at each
node. These are the horizontal and the vertical displacements. The main
variable is therefore a vector, u(x,y) compared with the scalar of
temperature analysis, T(x,y).
Instead of heat loads, the loads today will be forces/area (stress), line loads
(force/length) or a single force.
The analogy of the heat fluxes q
x
and q
y
[W/m
2
= J/(m
2
s)] are the stresses o
x
,
o
y
and o
xy
[Pa = N/m
2
].
The analogy of the heat conductivities k
xx
and k
yy
[J/(Cms)] are the elasticity
modulus E [Pa] and the Poisson ratio, v [-]
We will focus on elements with quadratic shape functions, N, instead of the
linear shape functions from the 2D heat conduction lecture.
We will assume small displacements and linear elasticity. This means that our
calculations are linear.
3
Two-dimensional elasticity
Plane stress, t is small
Plane strain, t is large
All real bodies are three-dimensional
If the loads, supports and material characteristics are independent of the z-coordinate,
the domain can be approximated with a 2D domain with the thickness t(x,y)
z
z x
y
x
y
x
y
t
t
q
q
q
4
Discretization into two-dimensional finite elements
The body is discretized with a number of finite elements.
They can be triangular or quadrilateral
Straight or curved element sides
x
y
q q
5
Todays elements
The quadratic Melosh element
- Eight nodes
- etype = 14 in the course program
Element side (edge)
Element node at the corner (vertex)
Element interior
(mid-) side node
The isoparametric eight-noded element
(IsoQ8)
- Eight nodes
The six-noded triangular element
(LST, Linear STrain)
- six nodes
The elements of this lecture all have quadratic shape functions.
6
The element from the 2D heat transfer lecture
The elements from the lecture on 2D heat conduction have all got structural counterparts,
which are included in the course program. They all have linear shape functions
The isoparametric four-noded
element (IsoQ4)
- Four nodes
The three-noded triangular element
(CST, Constant STrain)
- three nodes
The Melosh element
- Four nodes
7
The Patch Test
The main exercise of today is the patch test.
You will program its main parts and use it to
verify that the elements work properly.
A patch test should include at least one
internal node.
The patch test should be as less constrained
as possible, i.e. the body should be statically
determinate.
Notice that this calls for two more boundary
conditions on the main variable compared to
the heat conduction problem.
The geometry is the same as in the heat
conduction problem.
q
u
y
u
x
F
1
8
Basic steps of the finite-element method (FEM)
1.Establish strong formulation
Partial differential equation
2.Establish weak formulation
Multiply with arbitrary field and integrate over element
3.Discretize over space
Mesh generation
4.Select shape and weight functions
Galerkin method
5.Compute element stiffness matrix
Local and global system
6.Assemble global system stiffness matrix
7.Apply nodal boundary conditions
Temperature/flux/forces/forced displacement
8.Solve global system of equations
Solve for nodal values of the primary variables (displacements/temperature)
9.Compute temperature/stresses/strains etc. within the element (if needed)
Using nodal values and shape functions
9
Step 1: Establish strong formulation for 2D linear elasticity (OP pp. 235-258)
n
t
x
y
Stress vector
Boundary normal
Boundary traction vector
Strains are given by
[Pa]

=
`

)
x
y
xy
1

= =
`
)
x
y
n
n
n n
+
= =
` `
+
) )
x x x xy y
y xy x y y
t n n
t n n
t
0
0
2
x
x
x y
y
y
xy
y
x
u
x
x
u u
u
y y
u
u
y x
y x

( c
c

(
c
c

(
c
c (
= = = = V
` ` `
(
c c
)
(
)

c c c (
c
+
(
c c
c c

)
u

10
n
t
x
y
The constitutive relation in matrix notation is:

= =
`

)
x
y
xy
D

c

c

c
=
`
c

c
c
+
c c
)
x
y
y
x
u
x
u
y
u
u
y x
where D is the constitutive matrix in plane strain (

z
= 0)
1
2
1 0
1 0
(1 )(1 2 )
0 0 (1 2 )
(
(
=
(
+
(

E

D
or in plane stress (
z
= 0)
2
1
2
1 0
1 0
1
0 0 (1 )
(
(
=
(
D
Note: out-of-plane stress given by
Note: out-of-plane strain given by
( ) = +
z x y

( )
1
= +
z x y
E is the modulus of elasticity

(Youngs modulus) [Pa]
is Poissons ratio [-]
11
n
t
x
y
The equilibrium condition leads to: The sum of all surface tractions and body
forces must vanish (equal zero):
A L
t dA t dL + =
} }
b t 0
The first equation is

Gauss divergence theorem, (OP p. 73)
x x
A L
b t dA t t dL + =
} }
0
( )
xy
x
x x x xy y
L L A
t t dL n n t dL t dA
x y
c | | c
= + = +
|
c c
\ .
} } }
0 0
xy xy
x x
x x
A

b t dA b
x y x y
c c | | c c
+ + = + + =
|
c c c c
\ .
}
0
y xy
y

b
y x
c c
+ + =
c c
Analogously for the y-direction equations
b is internal
body load
[N/m
3
]
x x x xy y
t n n = +
Re-insertion into the first equation leads to
L
A
12
n
t
x
y
To be able to write the equilibrium equations in matrix notation, we define the
following matrices:
T
0
, ,
0
x
x
y
y
xy
b
x y
y x
c c (

(
c c

(
= = =
` `
c c (
)
( )
c c

b
V
We can then write the strong form of the equilibrium
equations as
T
0
0
0
xy
x
x
y xy
y
b
x y

b
y x
c c
+ + =

c c

+ =
`
c c

+ + =

c c
)
b
V
L
A
13
n
t
x
y
The strong form in the x-direction,
is multiplied by an arbitrary weight function v
x
(x,y) and
integrated over the domain:
The x-component of the traction vector, t, was given by t
x
=
x
n
x
+
xy
n
y
.
This makes it possible to write the above equation as
0
xy
x

x x y
b
c
c
c c
+ + =
L
A
Step 2: Establish weak formulation for 2D linear elasticity (OP pp. 292-258)
0
xy
x
x x x x
A A A
v t dA v t dA v b t dA
x y
c
c
+ + =
c c
} } }
The Green-Gauss
theorem
(OP p. 74)
0
x x
x x x x x xy y xy
L A L A
x x
A
v v
v n t dL t dA v n t dL t dA
x y
v b t dA
c c
+
c c
+ =
} } } }
}

0
x x
x x x xy x x
L A A
v v
v t t dL t dA v b t dA
x y
c c | |
+ + =
|
c c
\ .
} } }
14
n
t
x
y
Analogous manipulations are carried out for the strong form in the
y-direction, , and hereby the equations for both
directions are given:
Addition of the two equations is still equal to zero:
0
y xy

y y x
b
c c
c c
+ + =
L
A
0
0
x x
x x x xy x x
L A A
y y
y y y xy y y
L A A
v v
x y
v v
y x
c c | |
+ + =
|
c c
\ .
c c | |
+ + =
|
c c
\ .
} } }
} } }
( ) ( )
0
x x y y x x y y
L A
y y
x x
x xy y xy
A
v t v t t dL v b v b t dA
v v
v v
t dA
x y y x
+ + +
c c | | c c
+ + + =
|
c c c c
\ .
} }
}

15
n
t
x
y
With the following vectors:
the equation
L
A
, , ,
and
x
x
x x y
y
y y
xy
y
x
x
y
v
x

b v v
b v
y
v
v
y x
t
t

c

c

c

= = = =
` ` ` `
c
) )
)

c
c
+
c c
)

=
`
)
b v v
t
V
( ) ( )
0
x x y y x x y y
L A
y y
x x
x xy y xy
A
v t v t t dL v b v b t dA
v v
v v
t dA
x y y x
+ + +
c c | | c c
+ + + =
|
c c c c
\ .
} }
}
can be written as the weak form of the equilibrium equations for

a 2D solid in matrix notation:
T T T
( )
A L A
t dA t dL t dA = +
} } }
v v t v b V
Boundary loads Volume loads (e.g. gravity)

16
n
t
x
y
The weak form of the equilibrium equations is often caled the
principle of virtual displacements or also, in Danish,
arbejdsligningen.
The boundary intetral can be split into two terms to reflect
the two different types of bounddary conditions:
A
T T T
( )
A L A
t dA t dL t dA = +
} } }
v v t v b V
:
f
L = t t
:
u
L = u u
Prescribed quantities
Virtual displacements
T T T
f u
L L L
t dL t dL t dL = +
} } }
v t v t t v

Prescribed traction
(load)
Prescribed displacement
(e.g. a support)
17
Basic steps of the finite-element method (FEM)
1.Establish strong formulation
Partial differential equation
2.Establish weak formulation
Multiply with arbitrary field and integrate over element
3.Discretize over space
Mesh generation
4.Select shape and weight functions
Galerkin method
5.Compute element stiffness matrix
Local and global system
6.Assemble global system stiffness matrix
7.Apply nodal boundary conditions
Temperature/flux/forces/forced displacement
8.Solve global system of equations
Solve for nodal values of the primary variables (displacements/temperature)
9.Compute temperature/stresses/strains etc. within the element (if needed)
Using nodal values and shape functions
18
The body is discretized with a number of finite elements.
x
y
Step 3: Discretize over space
19
As with heat conduction, we choose the Galerkin method.
This means that the main variables u(x,y) (the
displacements) and the weight functions v(x,y) are
interpolated using the same interpolation functions.
In matrix form:
Step 4: Select shape and weight functions
1 2 8
1 2 8
1 2 8
1 2 8
( , ) ( , ) ( , )
( , )
( , ) ( , ) ( , )
x x x x
y y y y
u N x y u N x y u N x y u
x y
u N x y u N x y u N x y u
+ + +

= =
` `
+ + +

) )
u

1
1
2
1 2 8 2
1 2 8
8
8
0 0 0
0 0 0
x
y
x
x
y
y
x
y
u
u
u
u N N N
u
u N N N
u
u

(
=
` `
(
)

)
( , ) and ( , ) x y x y = = u Na v NV
1
x
u
2
x
u
3
x
u
4
x
u
5
x
u
6
x
u
7
x
u
8
x
u
1
y
u
2
y
u
3
y
u
4
y
u
5
y
u
6
y
u
7
y
u
8
y
u
1 1
( , ) x y
5 5
( , ) x y
2 2
( , ) x y
6 6
( , ) x y
3 3
( , ) x y
7 7
( , ) x y
4 4
( , ) x y
8 8
( , ) x y
Examples:
1 1 1 1 2 2 1 7 7
( , ) 1, ( , ) 0, ( , ) 0, etc... N x y N x y N x y = = =
20
With Hookes law the weak form may now be written as:
Noticing that V and a are constants (nodal values of the arbitrary field and the nodal
displacements), we can rearrange:
T T T T
T T T T
( )
( )
f u
f u
A L L A
A L L A
t dA t dL t dL t dA
t dA t dL t dL t dA
= + +
= + +
} } } }
} } } }
v v t v t v b
v D u v t v t v b
V
V V

T T T T
( ) ) ) )
f u
A L L A
t dA t dL t dL t dA = + +
} } } }
NV D Na NV t NV t NV b V V ( ( (

T T T T T
0
f u
A L L A
t dA t dL t dL t dA
| |
= |
|
\ .
} } } }
V N D N a N t N t N b V V

Because V is arbitrary the parenthesis term must vanish (equal zero)
T T T T
T T T T
f u
f u
A L L A
A L L A
t dA t dL t dL t dA
t dA t dL t dL t dA
=
= + +
} } } }
} } } }
N D N a N t N t N b 0
B DB a N t N t N b
V V

With = B N V
= D
= u V
= v NV
= u Na
21
In order to be able to write the equations in a compact form the following terms are
introduced:
The stiffness matrix
T
T T
T
f u
A
b
L L
l
A
t dA
t dL t dL
t dA
=
= +
=
}
} }
}
K B DB
f N t N t
f N b

or ,
b l b l
= + = = + Ka f f Ka f f f f
1
x
u
2
x
u
3
x
u
4
x
u
5
x
u
6
x
u
7
x
u
8
x
u
1
y
u
2
y
u
3
y
u
4
y
u
5
y
u
6
y
u
7
y
u
8
y
u
1 1
( , ) x y
5 5
( , ) x y
2 2
( , ) x y
6 6
( , ) x y
3 3
( , ) x y
7 7
( , ) x y
4 4
( , ) x y
8 8
( , ) x y
1 1
1 1
2 2
2 2
16 16 16 1 16 1
8 8
8 8
, ,
x x
y y
x x
y y
x x
y y
u f
u f
u f
u f
u f
u f

= =
` `

) )
K a f

Boundary terms
(boundary load vector)
Internal load vector
The equations can now be written as
Example: The Quadratic Melosh structural
element:
8 1 2
8 1 2
8 8 1 1 2 2
1 2 8
2 16
1 2 8
3 16
0 0 0
0 0 0
0 0 0
0 0 0
N N N
x x x
N N N
y y y
N N N N N N
y x y x y x
N N N
N N N
c c c
c c c
c c c
c c c
c c c c c c
c c c c c c
(
=
(

(
(
= (
(
(

N
B
Degrees of
freedom, dof
22
The definition of the strain was:
0
0
2
x
x
x y
y
y
xy
y
x
u
x
x
u u
u
y y
u
u
y x
y x

( c
c

(
c
c

(
c
c (
= = = =
` ` `
(
c c
)
(
)

c c c (
c
+
(
c c
c c

)
u V
( , ) ( , ) ( )
( , )
x y x y
x y
= = = =
= =
u Na N a Ba
D DBa
V V V

1
x
u
2
x
u
3
x
u
4
x
u
5
x
u
6
x
u
7
x
u
8
x
u
1
y
u
2
y
u
3
y
u
4
y
u
5
y
u
6
y
u
7
y
u
8
y
u
1 1
( , ) x y
5 5
( , ) x y
2 2
( , ) x y
6 6
( , ) x y
3 3
( , ) x y
7 7
( , ) x y
4 4
( , ) x y
8 8
( , ) x y
With the finite element formulation we have
u(x,y) = N(x,y) a. This gives us the strain and
stress within the element as:
8 1 2
8 1 2
8 8 1 1 2 2
1 2 8
2 16
1 2 8
3 16
0 0 0
0 0 0
0 0 0
0 0 0
N N N
x x x
N N N
y y y
N N N N N N
y x y x y x
N N N
N N N
c c c
c c c
c c c
c c c
c c c c c c
c c c c c c
(
=
(

(
(
= (
(
(

N
B
= B N V
x
y
xy

=
`

)
1
1
8
8
x
y
x
y
u
u
u
u

=
`

)
a
23
2 2
8 5
1 5 2
2 2
5 6
2 6 2
2 2
6 7
3 7 2
2 2
7 8
4 8 2
( )( ) ( )( )
4 2 2
( )( ) ( )( )
4 2 2
( )( ) ( )( )
4 2 2
( )( ) ( )( )
4 2 2
N N a x b y a x b y
N N
ab a b
N N a x b y a x b y
N N
ab ab
N N a x b y a x b y
N N
ab a b
N N a x b y a x b y
N N
ab ab
+
= =
+ + +
= =
+ + + +
= =
+ +
= =
Example: The Quadratic Melosh element:
Select shape and weight functions
Examples of horizontal displacement of nodes 7 and 3
a
b
a
b
(-a,-b) (a,-b)
(a,b)
(-a,b)
8
1 5 2
6
3
7
4
y
x
y
y
x
x
N
1
N
5
1
1
7
x
u
3
x
u
24
8 5 5 6
1 2
6 7 7 8
3 4
2 2 2 2
5 6 2 2
2 2 2 2
7 8 2 2
( )( ) ( )( )
4 2 4 2
( )( ) ( )( )
4 2 4 2
( )( ) ( )( )
2 2
( )( ) ( )( )
2 2
N N N N a x b y a x b y
N N
ab ab
N N N N a x b y a x b y
N N
ab ab
a x b y a x b y
N N
a b ab
a x b y a x b y
N N
a b ab
+ + +
= =
+ + + + +
= =
+
= =
+
= =
Example: The Quadratic Melosh element:
Notice that there is no overlap or holes
between neighbouring elements:
a
b
a
b
(-a,-b) (a,-b)
(a,b)
(-a,b)
8
1 5 2
6
3
7
4
y
x
2 2 2 2 2
3 2 2 2
2 2 2 2 2
4 2 2 2
( )( ) 1 ( )( ) ( )( )
( , )
4 2 2 2 2
( ( ))( ) 1 ( )( ) ( ( ))( )
( , )
4 2 2 2 2
a a b y a a b y a a b y by y
N a y
ab ab a b b
a a b y a a b y a a b y by y
N a y
ab a b ab b
| | + + + +
= + =
|
\ .
| | + +
= + =
|
\ .
25
Example: Calculation of the Quadratic Melosh stiffness
matrix using Maple
a
b
a
b
(-a,-b) (a,-b)
(a,b)
(-a,b)
8
1 5 2
6
3
7
4
y
x
y
y
x
x
N
1
N
5
1
1
1. Input shape functions.
2. Calculate the strain interpolation matrix, B.
3. Define the constitutive matrix, D.
4. Carry out the matrix multiplication.
5. Integrate each element of the matrix product to obtain K.
6. Program K into the file KQuadMeloshLinElas.m
Assumptions: D and t are constant.
Element width: 2a, height 2b.
26
Boundary load vector
a
b
a
b
8
1 5 2
6
3
7
4
y
x
Can only contain values at nodes. So distributed loads
must be converted into nodal loads:
q
y
q
x
q
T T
f u
b
L L
t dL t dL = +
} }
f N t N t

Prescribed term
Can only contain
nodal values
Reactions
Example: constant load q [N/m
2
= Pa], between nodes 1 and 2:
(see the Maple-file LineLoadQMelosh.mws)
T
( , )
a
b
a
x b t dx
=
}
f N q
T
T
( , )
1 1 1 1 2 2
0 0 0 0 0 0 0 0 0 0 2
6 6 6 6 3 3
a
x
b
y
a
x y x y x y
q
x b t dx
q
q q q q q q at

=
`
)
(
=
(

}
f N
sin
cos
x
y
q
q
=
=
q
q
Remember: if the load direction is opposite the coordinate axes, it has a negative sign
27
Internal load vector
Can only contain values at nodes. So distributed loads
must be converted into nodal loads:
T
l
A
t dA =
}
f N b
Exercise: Calculate the element load vector for a constant
internal load. It is recommended that you use mathematical
software, e.g. Maple where your starting point can be a
modification of the file LineLoadQMelosh.mws.
3
N
m
x
y
b
b

(
=
`
(

)
b
Remember: if the load direction is opposite the coordinate axes, it has a negative sign
a
b
a
b
8
1 5 2
6
3
7
4
y
x
b
28
Step 6: Assembling
a
b
a
b
(-a,-b) (a,-b)
(a,b)
(-a,b)
8
1 5 2
6
3
7
4
y
x
y
y
x
x
N
1
N
5
1
1
1. Determine the local stiffness matrix.
2. Determine the global number of dof corresponding to the
local dof for the element.
3. Add the components of the local stiffness matrix to the
rows and columns of the global stiffness matrix
corresponding to the global dof numbers.
4. Repeat 1-3 until all contributions from all elements have
been added.
The assembling procedure is exactly the same
as in all the other lectures:
In the course MatLab code this is done in
Assemblering.m :
K(gDof,gDof) = K(gDof,gDof) + Ke;
29
Assembling the load vector
The global matrices are assembled exactly as in
the other lectures.
1 2 3 4 5
8
7
10 9
6
11 12 13
1
x
f
1
y
f
6
y
f
9
y
f
10
y
f
11
y
f
12
y
f
13
y
f
7
y
f
2
y
f
3
y
f
4
y
f
5
y
f
8
y
f
2
x
f
3
x
f
4
x
f
5
x
f
8
x
f
13
x
f
12
x
f
11
x
f
7
x
f
10
x
f
9
x
f
6
x
f
The figures show a system of two
elements with some applied loads and the
corresponding global nodal load vectors.
1
q
2
q
3
q
4
q
b
11
1 2 4
11
1 1 1 2 2
1 1
2 2 2
12 6
1 1 1
2 2 2 2
12 6 6
x x
y y
f a bt b a tq
f a bt b a tq a tq
= +
= + +
b
b
2a
1
2a
2
Example:
30
Exercise: Program and plot the results of a 2D patch test for the Quadratic
Melosh element
t = 0.2 m, E = 1.3 MPa, = 0.3
Steps
1. Program the geometry
2. Determine nodal loads f
x
9
, f
x
14
, f
x
17
, f
x
5
, f
x
8
,
f
x
13
, f
x
16
and f
x
21
.
3. Make the appropriate programming in
Topology.m, Coordinates.m and
BoundaryConditions.m
4. Run the program by hitting F5 in main.m
5. Plot the results by executing the line
visualize2D
x
y
17
x
f
1000Pa q =
14
x
f
9
x
f
Hint: Dont rely on the plot of the deformed structure. It is scaled. You can
display the displacement vector by typing u in the command window.
Compare with the analytical solution in plane stress:
( , )
( , )
x
y
q
u x y x
E
q
u x y y
E
=
=
31
Why not use the Quadratic Melosh element always?
The Melosh element must be rectangular and positioned
along the coordinate axes.
It is therefore not very good at approximating boundaries
not aligned with the coordinate axes.
Conclusion: The Melosh element is not very flexible.
The isoparametric eight node element (Iso8)
A quadralilateral element which can be distorted from the
rectangular shape and rotated arbitrarily in the plane.
The element sides can be curved.
Makes use of several important concepts in finite element
theory, such as
Isoparametric coordinates.
Parent and global domain.
The Jacobian matrix and the Jacobian.
Numerical integration by Gauss quadrature.
The Isoparametric forms the basis for nearly all elements in
pratical use
32
Parent and global domain
In the parent domation the element is always a square
element with the side length 2 with midside nodes.
The isoparametric coordinates and have their origin
at the element centroid. This means that the nodes
have the coordinates (, ): 1: (-1,-1), 2: (1,-1), 3: (1,1),
4: (-1,1), 5: (0,-1), 6: (1,0), 7: (0,1) and 8: (-1,0).
In the global domain the nodes have the coordinates:
1: (x
1
,y
1
), 2: (x
2
,y
2
), etc...
The question is how do we connect these two sets of
coordinates?
x
y
1
1 1
1
1
8
4
7
3
6
2
5
1
2
=
1 =
1
2
=
1 =
1 =
1
2
=
1 =
1
2
=
Parent
domain
Global
domain
Why use the isoparametric formulation?
The overall difficulty is to carry out the stiffness matrix
integration over the element area, A.
The isoparametric formulation is a trick that
fascilitates this integration.
T
( , ) ( , )
A
x y x y t dA =
}
K B DB
33
x
y
1
1 1
1
1
8
4
7
3
6
2
5
1
2
=
1 =
1
2
=
1 =
1 =
1
2
=
1 =
1
2
=
Parent
domain
Global
domain
The Isoparametric coordinate transformation
The idea is that we use the shape functions to
interpolate the coordinates between the nodes.
node node
1 1
( , ) and ( , )
i n i n
i i i i
i i
x N x y N y
= =
= =
= =

node
8 (for the Iso8-element) n =
The Isoparametric eight note element (Iso8) has the
shape functions:
2
8 5
1 5
2
6 7
3 6
2
5 6
2 7
2
7 8
4 8
(1 )(1 ) (1 )(1 )
4 2 2
(1 )(1 ) (1 )(1 )
2 2
(1 )(1 ) (1 )(1 )
2 2
(1 )(1 ) (1 )(1 )
2 2
N N
N N
N N
N N
ab
N N
N N
ab
N N
N N
ab
+
= =
+ + + +
= =
+ + +
= =
+ +
= =
Notice that these are the shape functions of the quadratic
Melosh element with a = b = 1.
34
x
y
1
1 1
1
1
8
4
7
3
6
2
5
1
2
=
1 =
1
2
=
1 =
1 =
1
2
=
1 =
1
2
=
Parent
domain
Global
domain
Displacement and stress interpolation
As usual the displacements within the element are
interpolated from the nodal values
( , ) x y = u Na
1
1
16 1
8
x
y
y
u
u
u

=
`

)
a
The stresses are still given by:

( , ) ( , )
x
y
xy
x y x y

= =
`

)
DB a
with
8 1 2
8 1 2
8 8 1 1 2 2
3 16
0 0 0
0 0 0
N N N
x x x
N N N
y y y
N N N N N N
y x y x y x
c c c
c c c
c c c
c c c
c c c c c c
c c c c c c
(
(
= (
(
(

B

Problem: We have to finde the derivatives of the shape

functions with respect to the global (x,y) coordinates, but
the shape functions are expressed in the isoparametric
(,) coordinates. To overcone this problem we will
define B as a product of three matrices:
1
exp ,exp N
= B HJ D
35
x
y
1
1 1
1
1
8
4
7
3
6
2
5
1
2
=
1 =
1
2
=
1 =
1 =
1
2
=
1 =
1
2
=
Parent
domain
Global
domain
The first matrix, H, relates strains and displacement
derivatives:
1 0 0 0
0 0 0 1
0 1 1 0
(
(
=
(
(

H
1
exp ,exp N
= B HJ D
1 0 0 0
0 0 0 1
2 0 1 1 0
x x
x x
x
y
y y
xy
y y
u u
x x
u u
y y
u u
x x
u u
y y
c c

c c

c c

(

c c

(
= = =
` ` `
(
c c

(

)

c c

c c

c c
) )
H
36
x
y
1
1 1
1
1
8
4
7
3
6
2
5
1
2
=
1 =
1
2
=
1 =
1 =
1
2
=
1 =
1
2
=
Parent
domain
Global
domain
The second matrix, J
exp
-1
, is an expanded form of the
inverse jacobian matrix, J
-1
:
1
exp ,exp N
= B HJ D
1
2 2 2 2
1
2 2 2 2
x
x
x x
y y
y
y
u
u
x
u u
y
u u
x
u
u
y

c
c

c
c

c c

(
c c

(
=
` `
c c
(

c c

c
c

c
c )
)
J 0
0 J
1
1 2 2 2 2
exp
1
2 2 2 2

(
(
=
(

J 0
J
0 J
37
x
y
1
1 1
1
1
8
4
7
3
6
2
5
1
2
=
1 =
1
2
=
1 =
1 =
1
2
=
1 =
1
2
=
Parent
domain
Global
domain
The third matrix, D
N,exp
, is an expanded form of the
matrix, D
N
:
1
exp ,exp N
= B HJ D
1
8 1
1
2
8 1
2
8 1
8
8 1
8
0 0
0 0
0 0
0 0
x
x
y
x
x
y
y
x
y
y
u
N N
u

u
u
N N
u

u
u
N N

u
u N N
u

c c c (

(
c
c c

(

c c c (

(
c
c c

(
=
` `
c
c c (

(

c c c
(

c c c (

(
)

c c
c

)
,11 ,12 ,18

,21 ,22 ,28
,exp
,11 ,12 ,18
,21 ,22 ,28
0 0 0
0 0 0
0 0 0
0 0 0
N N N
N N N
N
N N N
N N N
D D D
D D D
D D D
D D D
(
(
(
=
(
(

D
Nodal
displacement
vector, a
,exp
,
x
x
N
y
y
u
c

c

c

c

=
`
c

c

c

c
)
D a
38
x
y
1
1 1
1
1
8
4
7
3
6
2
5
1
2
=
1 =
1
2
=
1 =
1 =
1
2
=
1 =
1
2
=
Parent
domain
Global
domain
The matrix, D
N
contains the derivatives of the shape
functions with respect to the isoparametric coordinates:
8 1 2
8 1 2
N
N N N

N N N

c c c (
(
c c c
(
=
c c c (
(
c c c

D

If we wanted the displacement derivatives in (,) co-

ordinates we were done now. But we need them in the
(x,y) system in order to determine the stresses. The
transformation of derivatives from the (,) system into
the (x,y) system is carried out by the inverse of the so-
called Jacobian Matrix, J
-1
.
,11 ,12 ,18
,21 ,22 ,28
,exp
,11 ,12 ,18
,21 ,22 ,28
0 0 0
0 0 0
0 0 0
0 0 0
N N N
N N N
N
N N N
N N N
D D D
D D D
D D D
D D D
(
(
(
=
(
(

D

39
x
y
1
1 1
1
1
8
4
7
3
6
2
5
1
2
=
1 =
1
2
=
1 =
1 =
1
2
=
1 =
1
2
=
Parent
domain
Global
domain
The Jacobian matrix
The matrix J is called the Jacobian matrix and it relates
the displacement derivatives int the two coordinate
systems
and
y
y x
x
x y
x y
u
u u
u

x x
u u
u u
y
y
c c c c

c c
c c
= =
` ` ` `
c c
c c

c
c c
) c
) )
)
J J
The elements of J can be found by differentiating the
displacement with respect to (,) by invoking the chain rule
x x x
x x x
u u u x y
x y
u u u x y
x y
c c c c c
= +
c c c c c
c c c c c
= +
c c c c c
This gives us the elements of J
node node
node node
1 1
1 1
[ ]
i n i n
i i
i i
i i
N
i n i n
i i
i i
i i
N N x y
x y

x y
N N
x y

= =
= =
= =
= =
( c c c c (
(
(
c c c c
(
(
= = =
( c c ( c c
(
(
c c
c c

J D x y
node
node
1
1
( , )
( , )
i n
i i
i
i n
i i
i
x N x
y N y
=
=
=
=
=
=

40
x
y
1
1 1
1
1
8
4
7
3
6
2
5
1
2
=
1 =
1
2
=
1 =
1 =
1
2
=
1 =
1
2
=
Parent
domain
Global
domain
The Jacobian
The inverse of J, which was needed in the expression for
B, B(x,y) = H J
exp
-1
D
N,exp
, can now be found by
22 12 1
21 11
1
det
J J
J J
(
=
(

J
J
where the determinant of J, which is often called the Jacobian,
is given by
11 22 21 12
det J J J J = J
det dx dy d d = J
The Jacobian can be regarded as a scale factor that
relates infinitesimal areas in the parent domain and the
global domain, see (OP, pp. 376 380):
dA = d d
dA = dx dy
d
d dy
dx
41
x
y
1
1 1
1
1
8
4
7
3
6
2
5
1
2
=
1 =
1
2
=
1 =
1 =
1
2
=
1 =
1
2
=
Parent
domain
Global
domain
Stiffness matrix for the Iso8 element
The definition of the stiffness matrix was
T T
( , ) ( , ) ( , ) ( , )
A A
x y t x y dA x y t x y dxdy = =
} }}
K B DB B DB
The integral is non-linear and can, in general, not be
solved analytically. Therefore we must use numerical
integration.
As a remark it should be mentioned that the load
distribution along the element sides is the same as for the
Quadratic Melosh element, as long as the sides are
straight and have midside nodes. If this is not the case,
the nodal loads must also be found by numerical
integration.
With the Jacobian matrix and its determinant we now have
the tools to calculate the stiffnes smatrix of an isoparametric
quadrilateral element:
1 1
1 T 1
exp ,exp exp ,exp
1 1
( ) det( )
N N
t d d

=
} }
K HJ D DHJ D J
1
exp ,exp N
= B HJ D
det dxdy d d = J
42
f(x)
Numerical integration
Our concern is to find the folowing integral numerically
( )
b
a
x
x
I f x dx =
}
One way of doing this is to divide the domain into n equal
intervals of width W, and sum up the contribution from n
rectangular areas with the height given by the function value
in the centre of the intervals:
1 1 1
( ) ( )
n n n
i i i
i i i
I I f x W W f x
= = =
~ = =

f(x)
f(x)
W W W W
I
2
I
1
I
3
I
4
f(x
1
)
f(x
2
)
f(x
3
)
f(x
4
)
x
a
x
b
x
a
x
b
x
a
x
b
x
1
x
2
x
3
x
4
x
1
x
2
x
3
x
4
f(x
1
)
f(x
2
)
f(x
3
)
f(x
4
)
I
x
x
x
W
1
W
2
W
3
W
4
A second method is analogous to the above but with varying
interval widths W
i
:
1 1
( )
n n
i i i
i i
I I f x W
= =
~ =

Both methods will converge towards the exact integral when
the number of intervals, n, increases.
43
()
Gauss quadrature
The numerical integration of the stiffness matrices in a
large finite element model is a time consuming task.
Therefore we wish to use as few integration intervals as
possible, while still maintaining a decent accuracy.
-1 1
I
The position of the evaluation points, x

i
, and the size of the
widths (also called weitht factors) can be optimized with
respect to the function that is integrated. For integrals of
polynomials in the interval [-1 ; 1] this is known as the so-
called Gauss quadrature. Notice that this is the interval we
are interested in with isoparametric elements as the
isoparametric coordinates are -1 , 1. With Gauss
quadrature we can evaluate integrals as
1
1 1
1
( ) ( )
n n
i i i
i i
I d I W
= =
= ~ =

}
with the following positons and weights:
()
(
3
) (
1
)
(
2
) (
4
)
1

3

4 -1 1
I
2
I
1
I
3
I
4
W
1
W
2
W
3
W
4

44
()
Gauss points and weights
-1 1
I
A polynomium of degree 2n 1 is integrated exact with a

Gauss quadrature of degree n.
()
(
3
) (
1
)
(
2
) (
4
)
1

3

4 -1 1
I
2
I
1
I
3
I
4
W
1
W
2
W
3
W
4
Order n Location of point

i
Weight factor W
i
1 0 2
2 1
3
4
1
3
0.6
5
9
8
9
0
3 2 1.2
7
3 2 1.2
7
+
1 1
2
6 1.2
1 1
2
6 1.2
+
45
Gauss quadrature in two dimensions
For the calculation of the stiffness matrix we need the

Gauss quadrature in two dimensions. This is obtained as
follows:
()
(
3
) (
1
)
(
2
) (
4
)
1

3

4 -1 1
I
2
I
1
I
3
I
4
W
1
W
2
W
3
W
4
1
3

=
1
3
=
1
3

=
1
3
=
1 1
1
1
1 1 1
1
1 1 1
1 1
1 1
( , ) ( , )
( , )
( , )
i n
i i
i
j n i n
j i j i
j i
j n i n
i j i j
i j
I d d W d
W W
WW
=
=

= =
= =
= =
= =
| |
= ~
|
\ .
| |
~
|
\ .
=
} } }

Example: Numerical integration of (,) with Gauss order

n = 2, which gives 22 = 4 points:
1 1 1 1 2 1 2 1 1 2 1 2 2 2 2 2
1 1 1 1 1 1 1 1
3 3 3 3 3 3 3 3
( , ) ( , ) ( , ) ( , )
( , ) 1 1 ( , ) 1 1 ( , ) 1 1 ( , ) 1 1
I WW W W WW W W

= + + +
= + + +
46
Exercise: Calculate and program the stiffness matrix of the stuctural
isoparametric eight node element, Iso8
Steps (some may already be implemented):
1. Open the file K_IsoQ8_LinElas.m.
2. Set up a loop over the Gauss points.
3. Initiate the stiffness matrix as zeros.
4. Perform steps 5 to 12 inside a loop over the Gauss points.
5. Calculate and set up the D
N
-matrix.
6. Calculate the Jacobian matrix.
7. Calculate the determinant of the Jacobian matrix
8. Calculate the inverse Jacobian matrix
9. Calculate the expanded D
N
-matrix. D
N,exp
.
10. Calculate the expanded inverse Jacobian matrix, J
exp
-1
.
11. Calculate the strain distribution matrix, B.
12. Calculate the integral at the current Gauss point and add it to the current value of the stiffness matrix, Ke.
13. A test value with the parameters (x
1
, x
2
, x
3
, x
4
, x
5
, x
6
, x
7
, x
8
) = (0, 2, 1.9, -0.1, 0.7, 1.8, 1.1, 0), (y
1
, y
2
, y
3
, y
4
,
y
5
, y
6
, y
7
, y
8
) = (0, 0.3, 3.4, 3, 0, 1.9, 3.2, 3), t = 1.3, E = 43, = 0.3 and n = 2 (Gauss order) in plane stress
can be seen on the next slide.
47
= K
Does it change the value of K, if you change the number of Gauss points?
48
Exercise: Program and plot the results of a 2D patch test for the isoparametric
eight node element
t = 0.2 m, E = 1.3 MPa, = 0.3
Steps
x
9
, f
x
14
, f
x
17
, f
x
5
, f
x
8
,
f
x
13
, f
x
16
and f
x
21
.
BoundaryConditions.m.
4. Run the program by hitting F5 in main.m.
visualize2D.
x
y
17
x
f
1000Pa q =
14
x
f
9
x
f
( , )
( , )
x
y
q
u x y x
E
q
u x y y
E
=
=
49
Why use triangular elements?
Different elements have different accuracy for different
problems.
This means that the convergence rate to the exact solution
is different for different elements.
Triangular elements can be rotated arbitrarily.
It is relatively simple to make computer code that meshes
an arbitrary area with triangles
Next: The linear strain triangle (LST)
A triangular element with six nodes and quadratic shape
functions.
The sides are straight and have midside nodes.
Gauss quadrature for triangles will be employed.
50
Preliminary: Natural coordinates (Area coordinates)
Again our main problem is the integration over the element
area necessary to obtain the stiffness matrix.
For general triangular elements it has proven useful to
derive the stiffness matrix using the so-called natural
coordinates, also referred to as area coordinates.
2
3 3
=
3
1 =
1
3 3
=
3
0 =
2
1 =
2
2 3
=
1
2 3
=
2
0 =
1
1 =
2
1 3
=
1
1 3
=
1
0 =
x 1: (x
1
,y
1
)
2: (x
2
,y
2
)
3: (x
3
,y
3
)
y
Side 3
Side 1
Side 2
4
5
6
A
1
A
2
A
3
P
4
2
5
3
6
1
T
( , ) ( , )
A
x y x y t dA =
}
K B DB
Point P defines three areas. These define the natural
coordinates of the point:
3 1 2
1 2 3
, ,
A A A

A A A
= = =
The folowing constraint applies:
1 2 3 1 2 3
1 A A A A = + + + + =
Examples:
Element centroid:
Node 1:
Node 3:
Node 5:
1 1 1
1 2 3 3 3 3
1 2 3
1 2 3
1 1
1 2 3 2 2
( , , ) ( , , )
( , , ) (1,0,0)
( , , ) (0,0,1)
( , , ) (0, , )

=
=
=
=
51
The relation between natural and cartesian coordinates is
2
3 3
=
3
1 =
1
3 3
=
3
0 =
2
1 =
2
2 3
=
1
2 3
=
2
0 =
1
1 =
2
1 3
=
1
1 3
=
1
0 =
x 1: (x
1
,y
1
)
2: (x
2
,y
2
)
3: (x
3
,y
3
)
y
Side 3
Side 1
Side 2
4
5
6
A
1
A
2
A
3
P
4
2
5
3
6
1
1 1 2 2 3 3
1 1 2 2 3 3
x x x x
y y y y
= + +
= + +
In matrix notation:
1 1
1
2 2
3 3
1 1
and

x x
y y

= =
` ` ` `

) ) ) )
A A
With the coordinate transformation matrix A:
2 3 3 2 23 32
1
1 2 3 3 1 1 3 31 13
1 2 3 1 2 2 1 12 21
1 1 1
1
and
2
x y x y y x
x x x x y x y y x
A
y y y x y x y y x
( (
( (
= =
( (
( (

A A
Here x
jk
= x
j
x
k
and y
jk
= y
j
y
k
The element area can be found by:
21 31 13 12
2 det A x y x y = = A
52
2
3 3
=
3
1 =
1
3 3
=
3
0 =
2
1 =
2
2 3
=
1
2 3
=
2
0 =
1
1 =
2
1 3
=
1
1 3
=
1
0 =
x 1: (x
1
,y
1
)
2: (x
2
,y
2
)
3: (x
3
,y
3
)
y
Side 3
Side 1
Side 2
4
5
6
A
1
A
2
A
3
P
4
2
5
3
6
1
A function N
i
(e.g. a shape function) is expressed in
natural coordinates, N
i
(
1
,
2
,
3
). The chain rule then
gives us:
3 1 2
1 2 3
3 1 2
1 2 3
i i i i
i i i i
N N N N
x x x x
N N N N
y y y y
c c c c c c c
= + +
c c c c c c c
c c c c c c c
= + +
c c c c c c c
With the coordinate transformation:
1 2 3 3 2 23 32
2 3 1 1 3 31 13
3 1 2 2 1 12 21
1
1
2
x y x y y x
x y x y y x x
A
x y x y y x y
(

(
=
` `
(

(
) )
x
jk
= x
j
x
k
y
jk
= y
j
y
k
we get:
23 31 3 1 2 12
32 13 3 1 2 21
, ,
2 2 2
, ,
2 2 2
y y y
x A x A x A
x x x
y A y A y A
c c c
= = =
c c c
c c c
= = =
c c c
Differentiation in natural coordinates
A
-1
53
2
3 3
=
3
1 =
1
3 3
=
3
0 =
2
1 =
2
2 3
=
1
2 3
=
2
0 =
1
1 =
2
1 3
=
1
1 3
=
1
0 =
x 1: (x
1
,y
1
)
2: (x
2
,y
2
)
3: (x
3
,y
3
)
y
Side 3
Side 1
Side 2
4
5
6
A
1
A
2
A
3
P
4
2
5
3
6
1
The shape functionsfor the LST-element in natural co-
ordinates are given by (Cook, p. 265):
1 1 1 2 2 2 3 3 3
4 1 2 5 2 3 6 3 1
(2 1), (2 1), (2 1)
4 , 4 , 4
N N N
N N N
= = =
= = =
The displacement in the element interior is then given by:
1
1
1 2 3 1 6
1 2 3
1 2 3 1 6 6
6
( , , ) 0 0
( , , )
( , , ) 0 0
x
y
x
y
x
y
u
u
u N N

u N N
u
u

(

= = =
` `
(
)

)
u Na
T
A
t dA =
}
K B DB
Shape functions for the LST-element
The stiffness matrix is, as always, given by:
0
, 0
x
y
y x
c
c
c
c
c c
c c
(
(
= =
(
(

B N V V
with
The constitutive matrix, D, is given
on slide 10.
54
2
3 3
=
3
1 =
1
3 3
=
3
0 =
2
1 =
2
2 3
=
1
2 3
=
2
0 =
1
1 =
2
1 3
=
1
1 3
=
1
0 =
x 1: (x
1
,y
1
)
2: (x
2
,y
2
)
3: (x
3
,y
3
)
y
Side 3
Side 1
Side 2
4
5
6
A
1
A
2
A
3
P
4
2
5
3
6
1
Example: A Maple look on the product B
T
DB for the LST-
element.
We choose to carry out the integration with Gauss
quadrature for triangles:
T
A
t dA =
}
K B DB
Gauss quadrature for triangles
( )
1 2 3 1 2 3
1 1
1
( , , ) det ( , , )
2
n n
i i i i i i
i i i i
i i
A
I dA J W W
= =
= ~ =

}
J
T
e.g.: t B DB
i
i
J
For the LST-element we have a constant Jacobian
(Cook, p. 267):
( )
1 2 3
1
det ( , , ) 2
2
i i i
i
J A = = J
Notice that there is only one counter in triangular Gauss
quadratrure (i), as opposed to the two counters in the
quadrilateral elements (i and j).
55
2
3 3
=
3
1 =
1
3 3
=
3
0 =
2
1 =
2
2 3
=
1
2 3
=
2
0 =
1
1 =
2
1 3
=
1
1 3
=
1
0 =
4
2
5
3
6
1
Gauss points for triangles
Order n Degree of
precision
Location of
point
Weight factor
W
i
1 1 1
3 2
4 3
( )
1 1 1
3 3 3
, ,
( )
( )
( )
2 1 1
3 6 6
1 2 1
6 3 6
1 1 2
6 6 3
, ,
, ,
, ,
1
3
1
3
1
3
( )
( )
( )
( )
1 1 1
3 3 3
3 1 1
5 5 5
3 1 1
5 5 5
3 1 1
5 5 5
, ,
, ,
, ,
, ,
27
48
25
48
25
48
25
48
( )
1 2 3
, ,
i i i

56
2
3 3
=
3
1 =
1
3 3
=
3
0 =
2
1 =
2
2 3
=
1
2 3
=
2
0 =
1
1 =
2
1 3
=
1
1 3
=
1
0 =
4
2
5
3
6
1
Order n Degree of
precision
Location of
point
Weight factor
W
i
1 1 1
3 2
4 3
( )
1 1 1
3 3 3
, ,
( )
( )
( )
2 1 1
3 6 6
1 2 1
6 3 6
1 1 2
6 6 3
, ,
, ,
, ,
1
3
1
3
1
3
( )
( )
( )
( )
1 1 1
3 3 3
3 1 1
5 5 5
3 1 1
5 5 5
3 1 1
5 5 5
, ,
, ,
, ,
, ,
27
48
25
48
25
48
25
48
( )
1 2 3
, ,
i i i

57
2
3 3
=
3
1 =
1
3 3
=
3
0 =
2
1 =
2
2 3
=
1
2 3
=
2
0 =
1
1 =
2
1 3
=
1
1 3
=
1
0 =
4
2
5
3
6
1
Order n Degree of
precision
Location of
point
Weight factor
W
i
1 1 1
3 2
4 3
( )
1 1 1
3 3 3
, ,
( )
( )
( )
2 1 1
3 6 6
1 2 1
6 3 6
1 1 2
6 6 3
, ,
, ,
, ,
1
3
1
3
1
3
( )
( )
( )
( )
1 1 1
3 3 3
3 1 1
5 5 5
3 1 1
5 5 5
3 1 1
5 5 5
, ,
, ,
, ,
, ,
27
48
25
48
25
48
25
48
( )
1 2 3
, ,
i i i

58
Exercise: Calculate and program the stiffness matrix of the stuctural six node
triangular element (the LST-element)
Steps (some may already be implemented):
1. Open the file K_LST_LinElas.m.
2. Calculate the element area, A.
3. Initiate the stiffness matrix as zeros.
4. Set up a loop over the Gauss points.
5. Perform steps 5 to 12 inside a loop over the Gauss points.
6. Calculate the strain distribution matrix, B.
7. Think about why the element is called the linear strain element (LST).
8. Calculate the integral at the current Gauss point and add it to the current value of the stiffness matrix, Ke.
9. A test value with the parameters (x
1
, x
2
, x
3
, x
4
, x
5
, x
6
) = (0, 2, -0.5, 1, 0.75, -0.25), (y
1
, y
2
, y
3
, y
4
, y
5
, y
6
) = (0,
1, 0.5, 0.5, 0.75, 0.25), t = 1.2, E = 32, = 0.2 and n = 3 (Gauss order) in plane stress can be seen on the
next slide.
59
= K
Does it change the value of K, if you change the number of Gauss points?
60
Exercise: Program and plot the results of a 2D patch test for the six node
triangular element with midside nodes (the LST-element)
t = 0.2 m, E = 1.3 MPa, = 0.3
Steps
x
9
, f
x
14
, f
x
17
, f
x
5
, f
x
8
,
f
x
13
, f
x
16
and f
x
21
.
BoundaryConditions.m.
4. Run the program by hitting F5 in main.m.
visualize2D.
x
y
21
x
f
1000Pa q =
16
x
f
11
x
f
( , )
( , )
x
y
q
u x y x
E
q
u x y y
E
=
=
61
Exercise: Get familiar with the program and examine how many degrees of freedom it
takes to model the bending of a tapered beam using different elements
1. Set atype = 2 in main.m
2. Set etype to any of 2, 4, 8, 14, 15 or 16.
3. Try to run the program. Visualize by executing the line Visualize2D.
4. The number of elements can be controlled by changing the variable nelem_y in Coordinates.m.
5. The vertical displacement of the right-most upper node can be seen by typing
u(2*KeyParam.RightNodes(1)) in the command window.
6. Compare this displacement for different types of elements and different values of nelem_y.
7. Does it change the result if you change the order of Gauss integration?
8. Try to take a look at how the coordinates and the topology are calculated. This might give you inspiration for
your own program in the semester project.
1.5 m
h(0) = 1.0 m
h(x) = 0.4m
-1
x
2
0.93x + 1 m
y
q
h(1.5 m) = 0.5 m
n
dof
u
tip

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Lecture 8 and 9: Two-dimensional elastic problems

Linear Finite-Element Analysis - II

Lecture 8 9: 2D elastic problems

where D is the constitutive matrix in plane strain (

E is the modulus of elasticity

The first equation is

Lecture 8 9: 2D elastic problems

can be written as the weak form of the equilibrium equations for

Boundary loads Volume loads (e.g. gravity)

The stresses are still given by:

Problem: We have to finde the derivatives of the shape

,11 ,12 ,18

If we wanted the displacement derivatives in (,) co-

Lecture 8 9: 2D elastic problems

Lecture 8 9: 2D elastic problems

The position of the evaluation points, x

Lecture 8 9: 2D elastic problems

A polynomium of degree 2n 1 is integrated exact with a

Order n Location of point

For the calculation of the stiffness matrix we need the

Example: Numerical integration of (,) with Gauss order

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