Hybrid and

Incompatible
Finite Element
Methods

© 2006 by Taylor & Francis Group, LLC

 CRC S ERIES: M ODERN M ECHANICS AND M ATHEMATICS
Series Editors: David Gao and Ray W. Ogden

PU BLIS H E D TITLE S
BEYOND PERTURBATION: INTRODUCTION TO THE HOMOTOPY ANALYSIS METHOD
by Shijun Liao
MECHANICS OF ELASTIC COMPOSITES
by Nicolaie Dan Cristescu, Eduard-Marius Craciun, and Eugen Soós
CONTINUUM MECHANICS AND PLASTICITY
by Han-Chin Wu
HYBRID AND INCOMPATIBLE FINITE ELEMENT METHODS
by Theodore H.H. Pian and Chang-Chun Wu

FO RTH CO MIN G TITLE

MICROSTRUCTURAL RANDOMNESS IN MECHANICS OF MATERIALS
by Martin Ostroja Starzewski

© 2006 by Taylor & Francis Group, LLC

 Hybrid and
Incompatible
Finite Element
Methods

Theodore H. H. Pian
Chang-Chun Wu

Boca Raton London New York

© 2006 by Taylor & Francis Group, LLC

Published in 2006 by
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© 2006 by Taylor & Francis Group, LLC

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Library of Congress Cataloging-in-Publication Data

Pian, Theodore H. H., 1919-

Hybrid and incompatible finite element methods / Theodore H.H. Pian, Chang-Chun Wu.
p. cm. -- (Modern mechanics and mathematics ; 4)
Includes bibliographical references and index.
ISBN 1-58488-276-X (alk. paper)
1. Finite element method. I. Wu, Chang-Chun. II. Title. III. CRC series--modern mechanics and
mathematics ; 4.

TA347.F5P53 2005
620'.001'51825--dc22 2004063406

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Preface

The purpose of this book is to introduce the advancement of the theory and
applications of incompatible and multivariable finite element methods. The
majority of the content of this book is the result of the authors’ research.
The theory and application of finite element methods are not limited to
ordinary compatible displacement methods. The incompatible element,
hybrid element, and mixed element, developed since the early 1960s have
been central topics for engineers and mathematicians. However, one impor-
tant issue in this area is to determine the reliability for the solution of the
incompatible multivarible elements (that is, the uniqueness, convergence,
and adoptivity to the computing environment). For example, the conver-
gence problem of incompatible elements was resolved in the early 1970s,
but until now there have not been any available equations for determining
functions for incompatible elements. Another example is that many engi-
neers and mathematicians consider the uniqueness of multivariable (B-B
condition) too abstract and not practical. Thus, it is a very important task to
reduce the numerical stability theory and abstract mathematics to a tool in
mechanics.
Chapter 1 is an introduction of the variational formulation of finite element
methods in solid mechanics. Chapters 2 through 6 discuss fundamental
theories, systematically demonstrating the theoretical foundations of incom-
patible elements and their application to different typical problems in the
theory of elasticity and plasticity. These chapters also introduce new ideas
in the development of hybrid finite elements, and studies the numerical
stability of the hybrid and mixed elements, establishing the theory of zero-
energy deformation mode. Chapter 7 addresses the application to fracture
problems, where a bound analysis for fracture parameters is presented.
An implementation of a finite element analysis program is provided in
Chapter 8.
Chapter 9 presents the application to the computational materials such as
composite plates, piezoelectric materials, and bimaterial interface problems.
The homoginization approach is also presented. In Chapter 10, a finite element
program is completely presented, in which a series of advanced imcompatible
elements and the hybrid ones are included.

© 2006 by Taylor & Francis Group, LLC

Acknowledgments

We appreciate Dr. Ying-Qing Huang providing the finite element computer

program that carries out the analyses for the theory presented in Chapters
2 through 6. We would like to thank Dr. Lei Li who composed the manu-
scripts. We sincerely value Liu Jinghua’s work on this book, especially his
assistance with the editing. We also thank Dr. Qi-Zi Xiao and Dr. Miao-Lin
Feng for providing new meaningful materials.
The support provided by the National Science Foundation of China is also
gratefully acknowledged.

vii

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Authors

Theodore H. H. Pian, Ph.D., is Professor Emeritus in Aeronautics and Astro-

nautics at the Massachusetts Institute of Technology (MIT). Dr. Pian obtained
his undergraduate degree from Tsing Hua University in 1940 and later his
Master’s and Ph.D. degrees from the Massachusetts Institute of Technology
in Aeronautical Engineering. After graduating from MIT, Dr. Pian worked
for several aircraft manufacturing companies in both China and the United
States.
In 1948, Dr. Pian began teaching at MIT, retiring as a full professor in 1989.
During his long career, Dr. Pian traveled widely as a visiting professor in
the United States, Japan, China, and Europe. His most important research
contribution was developed in the 1950s when he developed the Hybrid
Element Method for the derivation of element stiffness matrices. Dr. Pian is
a Fellow of the American Society of Aeronautics and Astronautics and a
winner of the Von Karman Memorial prize in 1974. He holds honorary
doctoral degrees from Beijing University and Shanghai University in China.

Chang-Chun Wu, Ph.D., received a Bachelor of Science degree in civil engi-

neering and Master’s of Science in solid mechanics at Hefei Polytechnic
University. He was appointed lecturer at the University of Science and
Technology of China (USTC) in 1982, where he received a Ph.D. in physics
in 1987. His supervisors were Professor T. H. H. Pian at MIT in the United
States and Professor M. G. Huang at USTC.
Dr. Wu was honored by the Alexander von Homboldt Foundation (AvH).
In 1982, he was appointed associate professor at USTC and in 1993 he was
appointed as full professor. Dr. Wu spent many years as a visiting professor
in many international institutes, including the Institute of Structural Engi-
neering with Professor Bufler and the Institute of Civil Engineering with
Professor E. Ramm. On numerous occasions he was invited to visit the
University of Hong Kong to work with Professor Y. K. Cheung. In 1996 and
2002, he was invited as a JSPS-Research Fellow to visit the University of
Tokyo by Professor G. Yagawa to work in the field of computational fractures
and computational materials. He once again worked with Professor E. Ramm
and his institute at the University of Stuttgart on incompatible numerical
models. Dr. Wu has authored 150 papers in the field of computational
engineering science and an academic book on finite elements.
In 2001, he moved to Shanghai Jiao Tong University (SJTU), where he has
rebuilt his Computational Engineering Sciences Laboratory. His current

ix

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x Authors

research interests include the field of high-performance numerical models

and numerical approaches; computational materials and computational frac-
tures, which include failure analysis and engineering safety estimation.
Dr. Wu has been the recipient of a number of academic honors and awards.
He is a former member of the Council on Chinese Society of Theoretical and
Applied Mechanics, and a current member and editor of Computational
Mechanics. He is also a founding member of the Institute of Soc. Comput.
Eng. and Sci., a member of GAMM and EURMECH, and a senior member
of IMS, NSU in Singapore. He received the 1992 T. H. H. Pian Medal from
ICES, the 1988 and 1993 Science Awards from the Chinese Academy of
Sciences, and in 1997 he received the National Nature Science Award in
China.

© 2006 by Taylor & Francis Group, LLC

Contents

Chapter 1 Variational Formulation of Finite Element Methods

in Solid Mechanics
1.1 Introduction .................................................................................................... 1
1.2 Equations for 3-D Elasticity ......................................................................... 2
1.3 Conventional Variational Principles in Solid Mechanics ....................... 4
1.4 Modified Variational Principles for Relaxed Continuity or
Equilibrium Conditions along Interelement Boundaries........................ 5
1.5 Assumed Displacement Finite Elements ................................................... 6
1.6 Assumed Stress Hybrid Finite Elements................................................. 10
1.6.1 Formulation Based on the Principle of Minimum
Complementary Energy ................................................................. 10
1.6.2 Elements with a priori Satisfaction of Equilibrium and
Compatibility Conditions .............................................................. 11
1.6.2.1 Hybrid Trefftz Elements .................................................. 11
1.6.3 Formulation Based on the Hellinger–Reissner
Variational Principle ....................................................................... 13
1.7 Hybrid Strain Finite Elements................................................................... 15
1.8 Hybrid Finite Elements by the Hu–Washizu Principle ........................ 15
1.9 Hybrid Displacement Finite Elements ..................................................... 17
References .............................................................................................................. 17

Chapter 2 Foundation of Incompatible Analysis

2.1 Introduction .................................................................................................. 21
2.2 Energy Inequality and Elliptic Conditions.............................................. 21
2.3 Weak Connection Condition of Incompatible Elements....................... 25
2.4 Numerical Stability of Incompatible Elements....................................... 29
2.5 Consistency and Patch Test Condition (PTC) ........................................ 33
2.6 Generation of Incompatible Functions: General Formulation ............. 35
2.7 Relaxation of the PTC: The Revised-Stiffness Approach...................... 38
2.8 The PTC in Curvilinear Coordinates ....................................................... 40
2.9 Equivalent Nodal Load and Recovery of Stress .................................... 45
References .............................................................................................................. 48

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Chapter 3 Incompatible Elements for the Theory of Elasticity

3.1 Introduction .................................................................................................. 51
3.2 Four-Node Plane Incompatible Elements: NQ6..................................... 51
3.3 P2-Linked Incompatible Methods with the Fewest Degrees
of Freedom (DOF) ....................................................................................... 57
3.4 Eight-Node 3-D Solid Incompatible Elements........................................ 63
3.5 Axisymmetric Incompatible Elements ..................................................... 67
3.5.1 Patch Test Condition ...................................................................... 67
3.5.2 Revised-Stiffness Approach........................................................... 70
3.5.3 Numerical Test: Axisymmetric Stress Analysis and
Incompressible Calculation ........................................................... 73
3.6 Hermite Type Incompatible Plate Elements ........................................... 74
3.6.1 Hermite Type Lateral Displacement Field.................................. 75
3.6.2 Incompatible Rotation Field .......................................................... 77
3.6.3 Element Construction ..................................................................... 78
3.6.4 Numerical Examples....................................................................... 79
3.6.4.1 Patch Test ........................................................................... 79
3.6.4.2 Bending Circular Plates.................................................... 80
3.7 Bending Model under Reasonable w-θ Constraint ................................ 81
3.7.1 General Formulation of R–M Plate Elements............................. 82
References .............................................................................................................. 88

Chapter 4 Foundation in Mechanics of Hybrid Stress Elements

4.1 Introduction .................................................................................................. 89
4.2 Energy Consistency Analysis for Incompatible Hybrid
Elements ........................................................................................................ 89
4.3 Patch Test and Element Optimization Condition (OPC)...................... 91
4.4 Optimization Method for Hybrid Stress Finite Elements .................... 93
4.5 Matching Multivariable Parameters ......................................................... 96
4.5.1 Situation I ......................................................................................... 97
4.5.2 Situation II ........................................................................................ 98
4.5.3 Situation III (Optimal Parameter Matching) .............................. 98
References .............................................................................................................. 98

Chapter 5 Optimization of Hybrid Stress Finite Elements

5.1 Four-Node Plane Hybrid Element.......................................................... 101
5.2 Penalty Equilibrium Hybrid Element P-S(α) ........................................ 106
5.3 Three-Dimensional Body 18β–Optimization Hybrid Element........... 112
5.4 Axisymmetric 8β–Optimization Hybrid Element ................................ 116
5.5 Model Optimization of Hybrid Stress General Shell Element .......... 122
5.5.1 Introduction.................................................................................... 122
5.5.2 The Optimizing Condition and the Variational Principle ..... 122
5.5.3 The Discrete Formulation of the Energy Functional .............. 125
5.5.4 The Optimizing Formulation of Element Stresses .................. 127
5.5.5 Numerical Examples and Results .............................................. 133

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Contents xiii

5.5.5.1 Thick and Thin Plates ..................................................... 133

5.5.5.2 Locking Test..................................................................... 133
5.5.5.3 Thin Rhombic Plates....................................................... 133
5.5.5.4 Pinched Cylinder Problem ............................................ 135
5.5.5.5 Scordelis Cylindrical Shell ............................................. 136
5.6 Appendix..................................................................................................... 139
5.6.1. Φ ′I and Φ ′II ................................................................................ 139
5.6.2. The Geometry Matrices Bq and Bλ ........................................... 140
References ............................................................................................................ 141

Chapter 6 Numerical Stability: Zero Energy Mode Analysis

6.1 Introduction ................................................................................................ 143
6.2 Definition of ZEM ..................................................................................... 143
6.3 Rank Conditions for Two-Field Mixed-Hybrid Elements .................. 144
6.4 Determination of the Zero Energy Modes ............................................ 147
6.5 Control of the Zero Energy Displacement Modes............................... 149
6.6 Control of the Zero Energy Stress Modes............................................. 150
6.7 Patch Stability Test .................................................................................... 152
6.8 Examples ..................................................................................................... 154
References ............................................................................................................ 157

Chapter 7 Plastic Analysis of Structures

7.1 Introduction ................................................................................................ 159
7.2 Form of Incompressible Elements and Analysis of
Plane Stress Plastic Analysis.................................................................... 159
7.3 Incompatible Elements in Plasticity Analysis....................................... 162
7.3.1 Introduction.................................................................................... 162
7.3.2 Incompressibility of the Isoparametric Element
(Elastic Case) .................................................................................. 163
7.3.3 Incompatible Discrete Model ...................................................... 166
7.3.4 Application to the Limit Analysis.............................................. 169
7.3.4.1 Example I: Thick Elastic-Plastic Cylinder under
Internal Pressure ............................................................. 170
7.3.4.2 Example II: Elastic-Plastic Square Tube with a
Circular Hole under Internal Pressure......................... 171
7.3.4.3 Example III: Elastic-Plastic Tension Specimen
with Semicircular Edge Notches................................... 172
7.4 Deviatoric Hybrid Model for the Incompressible Medium ............... 174
7.4.1 Introduction.................................................................................... 174
7.4.2 Deviatoric Variational Principle ................................................. 175
7.4.3 Three-Field Hybrid Element Formulation ................................ 177
7.4.4 Incompressible Elimination at the Element Level................... 180
7.4.5 Hybrid Model ................................................................................ 182
7.4.6 Suppression of the ZEM .............................................................. 183
7.4.7 Numerical Examples..................................................................... 185

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xiv Contents

7.4.7.1 Constant Stress Patch Test ............................................. 186

7.4.7.2 Numerical Stability Tests ............................................... 187
7.4.7.3 Plastic Analysis................................................................ 189
7.4.7.4 Stokes Flow Analysis...................................................... 189
7.4.8 Conclusion...................................................................................... 191
References ............................................................................................................ 193

Chapter 8 Computational Fracture

8.1 Introduction ................................................................................................ 197
8.2 Dual Path-Independent Integral and Bound Theorem ....................... 197
8.2.1 Dual Path-Independent Integral................................................. 197
8.2.2 Bound Theorem ............................................................................. 198
8.3 Numerical Strategy and Error Measure ................................................ 200
8.3.1 Numerical Strategy ....................................................................... 200
8.3.2 Error Measure ................................................................................ 202
8.4 Numerical Tests of Crack Estimation .................................................... 203
8.5 Incompatible Numerical Simulation of an Axisymmetric
Cracked Body ............................................................................................. 204
8.5.1 Introduction.................................................................................... 204
8.5.2 Incompatible Axisymmetric Element AQ6............................... 208
8.5.3 Elastic Solution .............................................................................. 211
8.5.4 Elastic-Plastic Solution ................................................................. 213
8.5.5 Plastic Limit Analysis................................................................... 215
8.5.6 Conclusion...................................................................................... 217
8.6 Extension of J to Dynamic Fracture of a
Functional Graded Material..................................................................... 217
8.6.1 Introduction.................................................................................... 217
8.6.2 The Extended Dynamic J Integral for FGMs............................ 218
8.6.3 The Element-Free Galerkin Method .......................................... 221
8.6.4 Collocation Method for Coupling the Finite Element
and the EFG Methods .................................................................. 223
8.6.5 Numerical Implementation of the Boundary
Value Problem ............................................................................... 224
8.6.6 Numerical Examples..................................................................... 226
8.6.7 Conclusion...................................................................................... 228
8.7 Evaluation of Electromechanical Crack Systems ................................. 229
8.7.1 Introduction.................................................................................... 229
8.7.2 Dual Integrals for Electromechanical Systems......................... 230
8.7.3 Bound Theorem ............................................................................. 231
8.7.3.1 Lower Bound Theorem for J (ui , ϕ ) ............................... 231
8.7.3.2 Upper Bound Theorem for I (σ ij , Di ) ............................ 232
8.7.4 A Limitation on the Bound Analysis......................................... 233
8.7.5 Piezoelectric Finite Elements....................................................... 234
8.7.6 Dual Error Measure ...................................................................... 237
8.7.7 Numerical Example ...................................................................... 246

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Contents xv

8.7.8 Conclusion...................................................................................... 248

References ............................................................................................................ 249

Chapter 9 Computational Materials

9.1 Hybrid Element Analysis of Composite Laminated Plates................ 253
9.1.1 Introduction.................................................................................... 253
9.1.2 The State Space and Energy Formulations of
Laminated Plates ........................................................................... 254
9.1.3 The Laminate Hybrid Element Based
on the State Space ......................................................................... 257
9.1.4 Implementation of the Interface Stress Continuity ................. 260
9.1.5 Numerical Examples..................................................................... 261
9.1.6 Conclusion...................................................................................... 266
9.2 Bimaterial Interface Hybrid Element for Piezoelectric
Laminated Analysis................................................................................... 266
9.2.1 Introduction.................................................................................... 266
9.2.2 Electro-Elastic Variational Formulation and the
Governing Equations.................................................................... 267
9.2.3 Element Formulations for the 3-D Hybrid Model .................. 272
9.2.4 Interface and Surface Elements .................................................. 275
9.2.5 Numerical Example ...................................................................... 276
9.2.6 Conclusion...................................................................................... 281
9.3 Numerical Solutions on Fractures of Piezoelectric Materials ............ 283
9.3.1 Introduction.................................................................................... 283
9.3.2 Constitutive Relations and Variational Functional ................. 285
9.3.3 Piezoelectric Hybrid Element: PZT-Q4 ..................................... 287
9.3.4 Numerical Analyses: Crack-Tip Field Simulation................... 291
9.3.4.1 Pure Mechanical Loading .............................................. 291
9.3.4.2 Pure Electric Loading ..................................................... 296
9.3.4.3 Mixed Loading ................................................................ 298
9.3.5 Conclusion...................................................................................... 301
9.4 Homogenization-Based Hybrid Element for Torsion
of Composite Shafts .................................................................................. 302
9.4.1 Introduction.................................................................................... 302
9.4.2 Mathematical Homogenization................................................... 303
9.4.3 Variational Principles and Finite Elements .............................. 308
9.4.4 Displacement-Incompatible Elements ....................................... 310
9.4.5 Enhanced-Strain Element Based on the
Hu–Washizu Principle ................................................................. 313
9.4.6 Enforcing the Periodicity Boundary Condition in the
Analysis of the RUC ..................................................................... 315
9.4.7 Numerical Examples..................................................................... 316
9.4.8 Conclusion and Discussion ......................................................... 323
9.5 A Study of 3-D Braided Piezoceramic Composites ............................. 327
9.5.1 Introduction.................................................................................... 327

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xvi Contents

9.5.2 Basic Equations.............................................................................. 328

9.5.3 Asymptotic Expansion ................................................................. 330
9.5.4 Microscale Independent Terms .................................................. 331
9.5.5 Homogenized Problem ................................................................ 333
9.5.6 Finite Element Variational Statements ...................................... 336
9.5.7 Finite Element Implementation .................................................. 337
9.5.8 Numerical Results......................................................................... 341
9.5.9 Conclusion...................................................................................... 342
References ............................................................................................................ 345

Chapter 10 Finite Element Implementation

10.1 Overview..................................................................................................... 351
10.2 Description of Variables and Subroutines............................................. 351
10.2.1 Definitions of Main Variables and Arrays................................ 351
10.2.2 Functions of Subroutines Used................................................... 353
10.3 Instructions for Input Data ...................................................................... 356
10.4 Examples ..................................................................................................... 360

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