The document discusses the finite element method for analyzing linear systems. It describes the principle of virtual displacements and outlines properties of finite element solutions. It also covers topics like the choice of shape functions, natural coordinates, and generalized coordinate models.
The document discusses the finite element method for analyzing linear systems. It describes the principle of virtual displacements and outlines properties of finite element solutions. It also covers topics like the choice of shape functions, natural coordinates, and generalized coordinate models.
The document discusses the finite element method for analyzing linear systems. It describes the principle of virtual displacements and outlines properties of finite element solutions. It also covers topics like the choice of shape functions, natural coordinates, and generalized coordinate models.
The document discusses the finite element method for analyzing linear systems. It describes the principle of virtual displacements and outlines properties of finite element solutions. It also covers topics like the choice of shape functions, natural coordinates, and generalized coordinate models.
Swiss Federal Institute of Technology ETH Zurich Zurich, Switzerland Method of Finite Elements 1
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Swiss Federal Institute of Technology
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C t t off T Contents Today's d ' Lecture L t
The Method of Finite Elements (principle of virtual displacements)
Properties of FEM solutions
On the choice of shape functions
- Lagrange - Hermitian - Serendipity
Natural coordinates
Method of Finite Elements 1
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Swiss Federal Institute of Technology
Th Method The M th d off Finite Fi it Elements El t Th principle The i i l off virtual i t l displacements: di l t We may now express the principle of virtual displacements in a more general form:
Internal virtual work
External virtual work
dV = U f dV + T
SfT
f dS + U iT R iC Sf
Sf
Stresses in equilibrium with applied loads
Virtual strains corresponding to virtual displacements
Method of Finite Elements 1
Swiss Federal Institute of Technology
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Th Method The M th d off Finite Fi it Elements El t Fi it Element Finite El t Equations: E ti We now consider the volume modeled as an assemblage of N elements connected in the nodal points on the element boundaries The displacements within the individual elements are measured in a convenient local coordinate system x,y,z For element m we now write the displacements within the element as a function of the total set of global nodal displacements U
u ( m ) ( x, y , z ) = H ( m ) ( x, y , z ) U
T = [U , V , W , U , V ,W ,... U , V , W ] = [U , U ,...U ] U 1 1 1 2 2 2 1 2 N N N n Method of Finite Elements 1
Swiss Federal Institute of Technology
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Th Method The M th d off Finite Fi it Elements El t Fi it Element Finite El t Equations: E ti For element m we now write the strains within the element as a function of the total set of global nodal displacements U
( m ) ( x, y , z ) = B ( m ) ( x, y , z ) U The stresses are then:
( m ) ( x, y, z ) = C ( m ) ( x, y, z ) + i ( m ) ( x, y, z )
Method of Finite Elements 1
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Swiss Federal Institute of Technology
Th Method The M th d off Finite Fi it Elements El t Fi it Element Finite El t Equations: E ti We can now write the equlibrium equations for the total volume by summing up over the N elements N
( m )T
(m)
dV
(m)
m =1 V ( m ) N
m =1
m =1 V ( m )
S f ( m )T
S f (m)
S (f m1 ) , S (f m2 ) ,...
( m )T i ( m ) dV ( m ) +
m =1 V ( m )
iT i U R
C i
Method of Finite Elements 1
dS ( m )
U ( m )T f B ( m ) dV ( m ) +
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Th Method The M th d off Finite Fi it Elements El t Fi it Element Finite El t Equations: E ti As a next step we represent both the real unknown displacement fields as well as the virtual displacement fields through the interpolation functions (provides symmetrical stiffness matrixes )
T U
T U
( m )T ( m ) ( m ) (m) B C B dV U = m =1 V ( m )
N N ( m )T B ( m ) (m) ( m )T S f ( m ) (m) dV + H f dS H f
m =1 S ( m ) , S ( m ) ,.. f1 f2 m =1 V ( m )
B ( m )T i ( m ) dV ( m ) + R C
m =1 V ( m )
Method of Finite Elements 1
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Swiss Federal Institute of Technology
Th Method The M th d off Finite Fi it Elements El t Fi it Element Finite El t Equations: E ti Now we may finally simplify as
KU = R N
K=
R = R B + R S R I + RC
( m )T
(m)
(m)
C B dV
(m)
m =1 V ( m )
RB =
m =1 V ( m ) N
RS =
These are the finite element
equations to be solved
m =1 S N
RI =
H ( m )T f
S f (m)
(m) , S f 2( m ) ,.. f1
m =1 V ( m )
RC = RC Method of Finite Elements 1
H ( m )T f B ( m ) dV ( m )
B ( m )T i ( m ) dV d (m)
dS ( m )
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G Generalized li d coordinate di t models d l G Generalized li d coordinate di t models: d l The principle behind these models is: Formulate displacement field in terms of polynomials
, , : Genenralized G li d coordinates di
one-dimensional u ( x) = 1 + 2 x + 3 x 2 + 4 x3 +" two-dimensional u ( x, y ) = 1 + 2 x + 3 xy + 4 x 2 +" v( x, y ) = 1 + 2 x + 3 xy + 4 x +" 2
plate bending w( x, y ) = 1 + 2 x + 3 xy + 4 x 2 +" Method of Finite Elements 1
u =
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G Generalized li d coordinate di t models d l G Generalized li d coordinate di t models: d l Next step is to relate the generalized coordinates to the nodal displacements: We insert the nodal coordinates into
u =
and get:
u = A = A 1u
Now we can obtain
= E
= C
Method of Finite Elements 1
Swiss Federal Institute of Technology
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O the On th choice h i off shape h functions f ti R Requirements i t to t shape h functions: f ti First of all the functions which we want to represent (displacements and their derivatives) need to be able to represent the physics of the type of problem we are aiming to model within the individual elements. Secondly we also need to be concerned with continuity over the borders of the elements. We here introduce continuity requirements: C0 continuity C1 continuity Cm continuity
Method of Finite Elements 1
Continuity of displacement field
Continuity of the first order derivative of the displacement field Continuity of the mth order derivative of the displacement field
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O the On th choice h i off shape h functions f ti Sh Shape functions: f ti The displacement e.g. u or v at any location within the element (x,y) can be represented as a function of the nodal displacements (u or v):
u ( x, y ) = f1 (u ) v( x, y ) = f 2 ( v )
4 u4 , v4
u1 , v1 1
3 u3 , v3 2 u2 , v2
Method of Finite Elements 1
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O the On th choice h i off shape h functions f ti Sh Shape functions: f ti In general we may write the approximate relation between the field representation and the nodal displacements as:
u ( x, y ) = H ( x, y )u T
Displacements in the u-direction scalar
Method of Finite Elements 1
Shape/interpolation functions vector with dimension n
We consider an element with
n nodes
Nodal N d l point i t displacements di l t in the u-direction vector with dimension n
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O the On th choice h i off shape h functions f ti Sh Shape functions: f ti Polynomials are usually applied for the development of shape functions (polynomials are easily differentiated analytically) - Langrange polynomials complete l t polynomial l i l expansions i - Serendipity polynomials incomplete polynomial expansions - Hermitian polynomials polynomials including derivatives
Method of Finite Elements 1
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O the On th choice h i off shape h functions f ti Sh Shape functions: f ti Lagrange polynomials (one dimensional element): n
H i ( x) = Li ( y ) u ( x) = Li ( x)ui i =1
n +1
Li ( x) = j =1, j
x xj xi x j
u ( x) = L1 ( x)u1 + L2 ( x)u2 ( x2 x) ( x x1 ) = u1 + u2 x2 x1 x2 x1 Method of Finite Elements 1
Swiss Federal Institute of Technology
O the On th choice h i off shape h functions f ti Sh Shape functions: f ti Lagrange polynomials (general): n
u ( x, y, z ) = Li ( x, y, z )ui i =1 n
u ( x, y, z ) = ui i =1
Li ( x j , y j , z j ) = 1, i = j Li ( x j , y j , z j ) = 0, i j n
L ( x, y , z ) = 1 =1
Method of Finite Elements 1
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O the On th choice h i off shape h functions f ti Sh Shape functions: f ti Lagrange polynomials (four node rectangular element): Products of two one dimensional first order Lagrange polynomials result in the bi-linear four-node element
u ( x, y ) = a1 + a2 x + a3 y + a4 xy = (b1 + b2 x)(b3 + b4 y )
Method of Finite Elements 1
u4 , v4
u1 , v1 1
3 u3 , v3 2 u2 , v2
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Swiss Federal Institute of Technology
O the On th choice h i off shape h functions f ti Sh Shape functions: f ti Lagrange polynomials (four node rectangular element): 4
u4 , v4
u1 , v1 1
3 u3 , v3 2 u2 , v2
u ( x, y ) = x x3 y y2 x2 x y3 y x x1 y4 y x4 x y y1 u1 +
u2 + u3 + u4 x2 x1 y3 y1 x2 x1 y4 y2 x4 x3 y3 y1 x4 x3 y4 y2 Method of Finite Elements 1
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Swiss Federal Institute of Technology
O the On th choice h i off shape h functions f ti Sh Shape functions: f ti From Pascals triangle we can see how many nodes are required for the representation of displacement fields of an any order and completeness:
x x2 x3 x4
Method of Finite Elements 1
First order
y2
xy
x2 y
x3 y
Zero order
xy 2 x2 y2
S Second d order d
y3 xy 3
Third order
y4
Fourth order
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Swiss Federal Institute of Technology
O the On th choice h i off shape h functions f ti Sh Shape functions: f ti Products of Lagrange polynomials (bi-linear four node rectangular)
1 x x2 x3 x4
Method of Finite Elements 1
First order
y2
xy
x2 y
x3 y
Zero order
xy 2 x2 y2
S Second d order d
y3 xy 3
Third order
y4
Fourth order
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Swiss Federal Institute of Technology
O the On th choice h i off shape h functions f ti Sh Shape functions: f ti Products of Lagrange polynomials (quadratic nine-node rectangular)
This requires q an inner node a difficulty !
x x2
x3 x4
Method of Finite Elements 1
First order
y2
xy
x2 y
x3 y
Zero order
xy 2 x2 y2
S Second d order d
y3 xy 3
Third order
y4
Fourth order
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Swiss Federal Institute of Technology
O the On th choice h i off shape h functions f ti Sh Shape functions: f ti Serendipity shape functions are constructed by incomplete pol nomials avoiding polynomials a oiding inner nodes
1 x x2 x3 x4
Method of Finite Elements 1
First order
y2
xy
x2 y
x3 y
Zero order
xy 2 x2 y2
S Second d order d
y3 xy 3
Third order
y4
Fourth order
Swiss Federal Institute of Technology
O the On th choice h i off shape h functions f ti Sh Shape functions: f ti Whereas difficulties may arise (inner nodes) when aiming to develop quadratic shape functions for rectangular elements using Lagrange polynomials the shape functions developed by incomplete polynomials (serendipity shape functions) less terms necessitates less nodes ! An bi-quadratic eight node rectangular element can be constructed !
Method of Finite Elements 1
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Swiss Federal Institute of Technology
O the On th choice h i off shape h functions f ti Sh Shape functions: f ti Hermitian shape functions relate not only the displacements at nodes to displacements within ithin the elements but b t also the first order derivatives u1 u2 u1 ,
u2 ,
ui
u ( x) = H 0i ( x)ui + H1i ( x)
i =1
H 0i ( x) = 1, and zero at the other node
H 0i ( x) = 0 at both nodes H1i ( x) = 0, at both nodes H1i ( x) = 1, and zero at the other node Method of Finite Elements 1
H 01
H 02
Slope=1 H11
H12
Slope=1
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N t Natural l coordinates di t Sh Shape functions f ti Natural N t l coordinates: di t As we have seen we are able to establish shape functions in global or local coordinate systems s stems as we e please. please Ho However, e er for the p purpose rpose of standardizing the process of developing the element matrixes it is convenient to introduce the so-called natural coordinate system.
s -1, 1
1, 1
r x Method of Finite Elements 1
-1, -1
1, -1
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Swiss Federal Institute of Technology
N t Natural l coordinates di t Sh Shape functions f ti Natural N t l coordinates: di t Let us consider the simple bar element The relation between the x-coordinate and the r-coordinate is given as:
x2 x1
1 1 x = (1 r ) x1 + (1 + r ) x2 2 2 2
= hi xi
r = 1
i =1
The relation between the displacement u
and the nodal displacements are given in the same way:
u=
r =0
r =1
1 1 (1 r )u1 + (1 + r )u2 2 2
= hi ui i=1
Method of Finite Elements 1
u2
u1
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Swiss Federal Institute of Technology
N t Natural l coordinates di t Sh Shape functions f ti Natural N t l coordinates: di t Let us consider the simple bar element We need to be able to establish the strains meaning we need to be able to take the derivatives of the displacement filed in regard to the x coordinate x-coordinate x du du dr = = dx dr dx
du d 1 1 1 = ( (1 r )u1 + (1 + r )u2 ) = (u2 u1 ) 2 2 dr dr 2 1 1 dx d 1 = ( ((1 r ) x1 + ((1 + r ) x2 ) = ( x2 x1 ) dr dr 2 2 2
du (u2 u1 ) (u2 u1 ) = = dx ( x2 x1 ) L
Method of Finite Elements 1
x1
u2
u1
r = 1
r =0
r =1
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Swiss Federal Institute of Technology
N t Natural l coordinates di t Sh Shape functions f ti Natural N t l coordinates: di t Let us consider the simple bar element The strain-displacement matrix then becomes:
