Summary of the Class After Exam 1

Linear Elasticity and Variational Method

Principle of virtual displacements and principle of minimum potential energy 2D plane problems 2D linear triangular elements 4 node 2D isoparametric formula Shapes functions for different isoparametric formula

Finite Element for 2D Problem

Isoparametric Formula Integration Scheme

Lagrangian interpolation function Newton-Cotes formulas and Gauss Formulas Heat Transfer and Temperature Field Governing equations Finite element for heat transfer problem Miscellaneous Nonlinear analysis Hourglass Incompressible materials
1

Finite Element for Multi-Physics Problem

Step 1: Finding Governing equations, including boundary conditions Step 2: Using the variational method to formulate the weak form of the governing equations and system total potential energy Step 3: Choosing appropriate element types, and hence interpolation functions (shape functions) for basic variables. Step 4: Using the interpolation functions for basic variables to formulate the system total potential energy. Step 5: Minimizing the system total potential energy to formulate element stiffness matrix and nodal force vector. Step 6: Assembling the element stiffness matrix and nodal force vector to obtain the global linear equations.
2

Linear Elasticity and Variational Method

Principle of Virtual Displacements

(
B

ij , j

+ f i )ui dV ( ij n j Ti )ui dS = 0
B

(
B

ij

ij f iui )dV = Tiui dS

B

Principle of virtual displacement:

Linear Elasticity and Variational Method

Principle of Minimum Potential Energy Start from principle of virtual displacements

(
B

ij

ij f iui )dV = Tiui dS

B

System potential energy

p = [U (ui ) + (ui )]dV + (ui )dS

B B

1 p = Dijkl eij ekl f i ui dV Ti ui dS B 2 B p = 0

Linear Elasticity and Variational Method

Principle of Minimum Potential Energy

p ui
*

( )
*

p u i > p (u i )
* *

( )

p (u i )

Possible displacements Approximate solution Real solution

ui < ui
*
The approximate solutions obtained from principle of minimum potential energy are smaller than the real solution.
5

Finite Element for 2D Problem

Plane Problems
Plane Stress and Plane Strain:
Plane stress: All the stress components associate with 3-direction are zero.

33

13

23

= 0

11

22

12

F3 = 0

Plane strain: All the strain components associate with 3-direction are zero.

33 = 13 = 23 = 0
Rule of Thumb:

11 0

u3 = 0

Finite Element for 2D Problem

Linear Triangular Element

m
u ( x, y ) = N i u i + N j u j + N m u m v( x, y ) = N i vi + N j v j + N m vm

(x,y) i j
1 ( m + m x + m y ) 2A Nm =

Ni =

1 ( i + i x + i y ) 2A

Nj =

1 ( j + j x + j y ) 2A

Note, Ni , Nj , and Nm are functions of x and y.

Ni 1 i y m element x j
7

Finite Element for 2D Problem

Linear Triangular Element Shape functions:

u ( x, y ) = N i u i + N j u j + N m u m
1 at Ni = 0 at

(x, y ) = (xi , yi ) (x, y ) = (x j , y j ) or (xm , ym )

u ( xi , yi ) = 1ui + 0u j + 0um = ui u (x j , y j ) = 0ui + 1u j + 0um = u j u ( xm , ym ) = 0ui + 0u j + 1um = um

At (xi,yi), At (xj,yj), At (xj,yj),

Finite Element for 2D Problem

Linear Triangular Element Strain and Stress
u 1 (iui + j u j + mum ) = x 2 A
1 v ( i vi + j v j + mvm ) = y 2 A 1 u ( iui + j u j + mum ) = y 2 A
v 1 (i vi + j v j + mvm ) = x 2 A

u x x v { } = = y y xy u v y + x

i { } = 1 0 2A i

j
0

i i

j j

[Bi]

[Bj]

ui v m 0 i u j m 0 vj m m u m [B ] v m
m

di dj dm

{ } = [B]{d }
{ } = [D]{ } = [D][B]{d }
9

Finite Element for 2D Problem

Linear Triangular Element Element Stiffness Matrix

[k ] = B [B] [D][B]dV = tA[B] [D][B]

e T T
e

[k ]e = tA[[Bi ]T [B j ]T [Bm ]T ]
i [Bi ] = 1 0 2A i 0 i i

[Bi ] [D] B j [Bm ]

[ ]

i = y j ym i = xm x j

10

Finite Element for 2D Problem

Linear Triangular Element Body and surface forces

{P}e = B [N ]T { f }dV + B [N ]T {T }dS

e e

Body forces

{P}b e = B [N ]T { f }dV
e

Ni 0 N j e T {P}b = B e [N ] { f }dV = t Ae 0 Nm 0

0 f1 f Ni 2 0 f1 tA f1 dA = N j 3 f2 f2 f1 0 Nm f2

Pbi1 =

t tA f1 e ( i + i x + i y )dA = f1 A 2A 3
11

Finite Element for 2D Problem

Linear Triangular Element Body and surface forces Surface forces

s i
0 0 0 0 1 s q 1 0 0 l ~ N j q1 l l 0 q1 s ~ ds t ds t = = ~ N q 1 q2 ds 0 0 N j q 2 j 2 l ~ N s 0 m q1 q1 ~ ~ Nm l N m q2 s q2 l
12

j q

0 0 ~ l Nj e {P} = t 0 0 ~ N m 0

Isoparametric Formula
4 node isoparametric 2D elements

Natural coordinate s-t:

Global coordinate x-y:

t 4 1 3

(s , t ) ( x , y )
4

-1 1 -1

1 2

s 1 2

In isoparametric formula, we calculate everything in natural coordinate system. Therefore, we need a transformation from (x,y) to (s,t)
13

Isoparametric Formula
4 node isoparametric 2D elements
Shape and Displacement Interpolation Shape:

x = N 1 x1 + N 2 x 2 + N 3 x 3 + N 4 x 4 y = N 1 y1 + N 2 y 2 + N 3 y 3 + N 4 y 4
Displacements:

u = N 1u 1 + N 2 u 2 + N 3 u 3 + N 4 u 4 v = N 1v1 + N 2 v 2 + N 3 v 3 + N 4 v 4

Here, the shape and displacements are interpolated by the same functions (isoparametric).
14

Isoparametric Formula
4 node isoparametric 2D elements
Shape functions

N1
1 0.9 0.8 0.7 0.6 N1 0.5 0.4 0.3 0.2 0.1 0 1 3 5 7 9 11 13 15 17 S1 21 S7 s 19 S19 S13 t

15

Isoparametric Formula
Shape functions for 8 node isoparametric 2D elements

y
7 3

t
4 7 8 5 1 2 1 5
8 i =1

3 8

1 N 5 = 1 s 2 (1 t ) 2 1 N 7 = 1 s 2 (1 + t ) 2 1N 1N N1 = N 1 5 8 2 2 1N 1N N3 = N 3 6 7 2 2

( (

) )

1 N 6 = (1 + s ) 1 t 2 2 1 N 8 = (1 s ) 1 t 2 2

( (

) )

x( s, t ) = N i ( s, t ) xi u ( x( s, t ), y ( s, t ) ) = N i ( s, t )ui
i =1 8

1N 1N N2 = N 2 5 6 2 2 1N 1N N4 = N 4 7 8 2 2

= 1 (1 s )(1 t ) N 1 4 = 1 (1 + s )(1 + t ) N 3 4

= 1 (1 + s )(1 t ) N 2 4 = 1 (1 s )(1 + t ) N 4 4
16

Isoparametric Formula
8 node isoparametric 2D elements Shape functions:

N1
1 0.8

N5
0.5 0.45 0.4 0.6 0.4 0.2 0 0.35 0.3 0.25 0.2 0.15 0.1 1 0.05 8 S13 S15 S17 S19 15 S3 S5 S7 S11 S9 S21 0

1 7 13 S11 S13 S9 S15 19 S1 S3 S5 S7 S17 S19 S21 -0.2 -0.4

S1

17

Isoparametric Formula
5-7 node isoparametric 2D elements Shape functions:

1N 1N N1 = N 1 5 8 2 2 1N 1N N3 = N 3 6 7 2 2 1 1 s 2 (1 t ) 2 1 N 7 = 1 s 2 (1 + t ) 2 N5 =

( (

) )

1N 1N N2 = N 2 5 6 2 2 1N 1N N4 = N 4 7 8 2 2 1 N 6 = (1 + s ) 1 t 2 2 1 N 8 = (1 s ) 1 t 2 2

( (

) )

18

Isoparametric Formula
8 node isoparametric 3D elements

t
7 8 5 7 6

8 5 4 2 6

4 3 1 2

r
3

1 N1 = (1 r )(1 s )(1 t ) 8 1 N 2 = (1 + r )(1 s )(1 t ) 8 1 N 3 = (1 + r )(1 + s )(1 t ) 8 1 N 4 = (1 r )(1 + s )(1 t ) 8

1 (1 r )(1 s )(1 + t ) 8 1 N 6 = (1 + r )(1 s )(1 + t ) 8 1 N 7 = (1 + r )(1 + s )(1 + t ) 8 1 N 8 = (1 r )(1 + s )(1 + t ) 8 N5 =

19

Isoparametric Formula
4 node isoparametric 2D elements Strains
N i N i x N i y = + s x s y s N i N i x N i y = + t x t y t

N i x s s = x N i t t

y N i s x y N i t y

u x x v { } = y = y xy u v y + x

N i N i x 1 s N = [J ] N i i t y
N i y N i y N i x 1 t s s t N = x N x N i i i J + t s s t y
20

y 1 t 1 [J ] = x J t

y s x s

Isoparametric Formula
4 node isoparametric 2D elements Strains and Stresses

{ } = [B ]{d }
N1 x = 0 N 1 y N 2 x 0 N 2 y N 3 x 0 N 3 y N 4 x 0 N 4 y u1 v 1 0 u2 N 4 v2 y u3 N 4 v 3 x u4 v 4
N i yi i =1 s 4 N i yi t i =1

0 N1 y N1 x

0 N 2 y N 2 x

0 N 3 y N 3 x

[B1]
N i y N i y N i 1 t s s t x N = x N x N i i i J t s s t y

{ } = [D][B]{d }

4 N i s xi 1 [J ] = i = 4 N i x i i =1 t

21

Isoparametric Formula
4 node isoparametric 2D elements Element Stiffness Matrix

[k ]
Note:

= h

[B] [D][B] J dsdt

T

dxdy=|J|dsdt
J >0
J = det( J )

Good shape or bad shape: When |J|=0? When |J|<0?

22

Integration Scheme
Lagrangian interpolation function

(r ) = F0l0 (r ) + F1l1 (r ) + F2l2 (r ) + .... + Fnln (r )

F (r ) = (r ) + O(r n +1 )
F (r )

(for n+1 sampling points)

(r )

(r )

F (r )

r0

r1

r2

rn-1

rn
23

Integration Scheme
The Newton-Cotes Formulas In the Newton-Cotes formulas, the sampling points of F are spaced at equal distance.

(r ) = F0l0 (r ) + F1l1 (r ) + F2l2 (r ) + .... + Fnln (r )

b F (r )dr = li (r )dr Fi + Rn a i =0

24

Integration Scheme
The Guass Formulas (one dimensional)

To determine the sampling points, we use a new polynomial function P(r)

r j P(r )dr = 0

j = 1,2, L n

P(r ) = (r r1 )(r r2 )L (r rn )
n-th order polynomial (n-1)-th order polynomial

F (r ) = (r ) + P(r )( 0 + 1r + L)

b a

b F (r )dr = li (r )dr Fi + r j P(r )dr j a a i =1 j =0 b n b n b

F (r )dr = li (r )dr Fi + r j P(r )dr j + a a i =1 j =1

b r j P(r )dr j a j = n +1
R
25

F (r )dr = i Fi (ri ) + R
i =1

Integration Scheme
Comparison between Newton-Cotes Formulas and Gauss Formulas

26

Integration Scheme
Gauss Formulas for Finite Element 3 X 3 integration scheme

s1 = 0.77460 s2 = 0.00000 s3 = 0.77460

1 = 0.55556 2 = 0.88889 3 = 0.55556

t1 = 0.77460 t 2 = 0.00000 t3 = 0.77460

1 = 0.55556 2 = 0.88889 3 = 0.55556

27

Integration Scheme
3 X 3 integration scheme Integration points in natural coordinate and in global coordinate 1: (s1,t1) 4: (s2,t1) 7: (s3,t1) 2: (s1,t2) 5: (s2,t2) 8: (s3,t2) 3: (s1,t3) 6: (s2,t3) 9: (s3,t3)

28

Integration Scheme
3 X 3 integration scheme Integration points in natural coordinate and in global coordinate

x x

(1)

= N i (s1 , t1 )xi = N1 (s1 , t1 )x1 + N 2 (s1 , t1 )x2 + ... + N 8 (s1 , t1 )x8

i =1 8

( 2)

= N i (s1 , t 2 )xi = N1 (s1 , t 2 )x1 + N 2 (s1 , t 2 )x2 + ... + N 8 (s1 , t 2 )x8

i =1

(9)

= N i (s3 , t3 )xi = N1 (s3 , t3 )x1 + N 2 (s3 , t3 )x2 + ... + N 8 (s3 , t3 )x8

i =1

29

Integration Scheme
3 X 3 integration scheme Element Stiffness Matrix

[k ]

= h
3

[B ] [D][B]Jdsdt
T

[k ]

= h i j B(si , t j ) [D ] B(si , t j ) J (si , t j )

3 T i =1 j =1

] [

[k ]

= h11 [B(s1 , t1 )] [D ][B(s1 , t1 )]J (s1 , t1 )

T T

+ h1 2 [B(s1 , t 2 )] [D ][B(s1 , t 2 )]J (s1 , t 2 ) + ... + h 3 3 [B(s3 , t3 )] [D ][B(s3 , t3 )]J (s3 , t3 )

T
30

Heat Transfer
Governing equations for heat transfer in 2D

d 2T d 2T K xx 2 + K yy 2 + Q = 0 dx dy
Boundary conditions S1

On S1 On S2

grad T n = q

T =T
S2

How can rigid body motion in linear elasticity be translated in heat transfer problem?
31

Heat Transfer
System potential energy
2 2 dT 1 dT QT dA Tq dl p = K xx + K yy 2 S dx dy S

p = 0
Temperature interpolation functions

T ( x, y ) = N iTi
i =1

For isoparametric formula

x = N i xi
i =1

y = N i yi
i =1

32

Heat Transfer
Find B matrix

N1 x [B ] = .... .....

.... .... ....

Formulate element stiffness matrix

[k ]e = B [B]T [D][B]dV
e

Isoparametric (2D)
Formulate force matrix

[k ]e = h B [B]T [D][B]Jdsdt
e

{P}e = S [N ]T {q }dV

= h [N ] {q }Jd sd t
T S

33

Miscellaneous
Nonlinear analysis

K(u)u = P
P

K is a function of u.

u
34

Miscellaneous
Nonlinear analysis

35

Miscellaneous
Nonlinear analysis Incremental method Instead of considering the total load, we consider the load incrementally, P1, P2, P3, Pn. In each increment, we use N-R or mN-R to find the solution

u
36

Miscellaneous
Hourglass

4node 2x2 integration scheme (regular)

37

Miscellaneous
Hourglass

Spurious zero-energy modes

4 node, 1x1 x

38

Miscellaneous
Incompressible Material

v =0.3
=1.669

v =0.499
=1.363

39

Miscellaneous
Incompressible Material

How to overcome the locking due to material incompressibility?

Separately consider pressure. This means, use both displacements and pressure as independent variables. In some elements, the nodal variables include both displacements and pressure.

40