EMM4313

Finite Element Method Pensyarah : Risby Mohd Sohaimi & Tan Keng Sen

1. Historical Background

Chronicle of Finite Element Method

Year 1941 1943 1943 Scholar Hrennikoff McHenry Courant Theory Presented a solution of elasticity problem using one-dimensional elements. Same as above. Introduced shape functions over triangular subregions to model the whole region. Developed the force (flexibility) method for structure problem. Developed the displacement (stiffness) method for structure problem. Developed matrix structural analysis methods using energy principles. Derived stiffness matrices for truss, beam and 2D plane stress elements. Direct stiffness method. Introduced the phrase finite element . Large deflection and thermal analysis.

1947
1953 1954 1956 1960 1960

Levy
Levy Argyris & Kelsey Turner, Clough, Martin, Topp Clough Turner et. al

1961
1961 1962

Melosh
Martin Gallagher et al

Developed plate bending element stiffness matrix.

Developed the tetrahedral stiffness matrix for 3D problems. Material nonlinearity.

Chronicle of Finite Element Method

Year 1963 1963 1965 1967 1968 1969 1972 1976 ~1997 Scholar Grafton, Strome Melosh Clough et. al Zienkiewicz et. Zienkiewicz et. Szabo & Lee Oden Belytschko Theory Developed curved-shell bending element stiffness matrix. Applied variational formulation to solve nonstructural problems. 3D elements of axisymmetric solids. Published the first book on finite element. Visco-elasticity problems. Adapted weighted residual methods in structural analysis. Book on nonlinear continua. Large-displacement nonlinear dynamic behavior. New element development, convergence studies, the developments of supercomputers, the availability of powerful microcomputers, the development of user-friendly general-purpose finite element software packages.

2. Basic Concepts The finite element method (FEM), or finite element analysis (FEA), is based on the idea of building a complicated object with simple blocks, or, dividing a complicated object into small and manageable pieces. Application of this simple idea can be found everywhere in everyday life as well as in engineering.

Examples: Lego (kids play) Buildings Approximation of the area of a circle:

Area of one triangle: Area of the circle: where N = total number of triangles (elements).

Why Finite Element Method?

Design analysis: hand calculations, experiments, and computer simulations FEM/FEA is the most widely applied computer simulation method in engineering Closely integrated with CAD/CAM applications ...

Applications of FEM in Engineering

Mechanical/Aerospace/Civil/Automobile Engineering Structure analysis (static/dynamic, linear/nonlinear) Thermal/fluid flows Electromagnetic Geomechanics Biomechanics ...

FEM in Structural Analysis

Procedures: Divide structure into pieces (elements with nodes) Describe the behavior of the physical quantities on each element Connect (assemble) the elements at the nodes to form an approximate system of equations for the whole structure Solve the system of equations involving unknown quantities at the nodes (e.g., displacements) Calculate desired quantities (e.g., strains and stresses) at selected elements

Computer Implementations
Preprocessing (build FE model, loads and constraints) FEA solver (assemble and solve the system of equations) Post processing (sort and display the results)

Available Commercial FEM Software Packages

ANSYS (General purpose, PC and workstations) SDRC/I-DEAS (Complete CAD/CAM/CAE package) NASTRAN (General purpose FEA on mainframes) ABAQUS (Nonlinear and dynamic analyses) COSMOS (General purpose FEA) ALGOR (PC and workstations) PATRAN (Pre/Post Processor) HyperMesh (Pre/Post Processor) Dyna-3D (Crash/impact analysis) ...

Analytical Processes of Finite Element Method

(1) Structural stress analysis problem
A. Conditions that solution must satisfy a. Equilibrium b. Compatibility c. Constitutive law d. Boundary conditions Above conditions are used to generate a system of equations representing system behavior. B. Approach a. Force (flexibility) method: internal forces as unknowns. b. Displacement (stiffness) method: nodal disp. As unknowns. For computational purpose, the displacement method is more desirable because its formulation is simple. A vast majority of general purpose FE softwares have incorporated the displacement method for solving structural problems.

(2) Analysis procedures of linear static structural analysis

A. Build up geometric model a. 1D problem

line
b. 2D problem surface c. 3D problem solid

B. Construct the finite element model

a. Discretize and select the element types (a) element type 1D line element 2D element 3D brick element

(b) total number of element (mesh)

1D: 2D: 3D:

b. Select a shape function 1D line element: u=ax+b

c. Define the compatibility and constitutive law

d. Form the element stiffness matrix and equations

(a) Direct equilibrium method

(b) Work or energy method (c) Method of weight Residuals

e. Form the system equation Assemble the element equations to obtain global system equation and introduce boundary conditions

C. Solve the system equations

a. elimination method Gausss method (Nastran) b. iteration method Gauss Seidels method Displacement field strain field

stress field

D. Interpret the results (postprocessing) a. deformation plot b. stress contour

3. Applications of Finite Element Method

Structural Problem Stress Analysis - truss & frame analysis - stress concentrated problem Buckling problem Vibration Analysis Impact Problem Non-structural Problem Heat Transfer Fluid Mechanics Electric or Magnetic Potential

Examples of FEA software and applications

Objectives of This FEM Course

Understand the fundamental ideas of the FEM Know the behavior and usage of each type of elements covered in this course Be able to prepare a suitable FE model for given problems Can interpret and evaluate the quality of the results (know the physics of the problems) Be aware of the limitations of the FEM (dont misuse the FEM - a numerical tool)

Advantages
Irregular Boundaries General Loads Different Materials Boundary Conditions Variable Element Size Easy Modification Dynamics Nonlinear Problems (Geometric or Material)

Advantages of General Purpose Programs

Easy input - preprocessor. Solves many types of problems Modular design - fluids, dynamics, heat, etc. Can run on PCs now. Relatively low cost.

Disadvantages of General Purpose Programs

High development costs. Less efficient than smaller programs, Often proprietary. User access to code limited.

Review of Matrix Algebra

In matrix form: Ax = b Where

A is called a nxn (square) matrix, and x and b are (column) vectors of dimension n.

Row and Column Vectors

Matrix Addition and Subtraction For two matrices A and B, both of the same size (mxn), the addition and subtraction are defined by

Scalar Multiplication

Matrix Multiplication For two matrices A (of size lxm) and B (of size mxn), the product of AB is defined by

where i = 1,2,...,l; j = 1,2, ...,n. Note that, in general, AB BA, but (AB)C = A(BC)(associative).

Transpose of a Matrix

Symmetric Matrix

A square (nn) matrix A is called symmetric, if

Unit (Identity) Matrix

Note that AI = A, Ix = x.

Determinant of a Matrix
The determinant of square matrix A is a scalar number denoted by det A or |A|. For 2x2 and 3x3 matrices, their determinants are given by

and

Singular Matrix A square matrix A is singular if det A = 0, which indicates problems in the systems (nonunique solutions, degeneracy, etc.) Matrix Inversion For a square and nonsingular matrix A (detA 0), its inverse A-1 is constructed in such a way that AA-1 = A-1 A = I The cofactor matrix C of matrix A is defined by Cij = (-1)i+j Mij where Mij is the determinant of the smaller matrix obtained by eliminating the i th row and j th column of A.

Thus, the inverse of A can be determined by

We can show that (AB)-1 = B-1 A-1. Examples:

If det A = 0 (i.e., A is singular), then A-1 does not exist! The solution of the linear system of equations (Eq.(1)) can be expressed as (assuming the coefficient matrix A is nonsingular) x = A-1 b Thus, the main task in solving a linear system of equations is to found the inverse of the coefficient matrix.

Differentiating a matrix:

d a dx

d aij dx

U U x U y

1 [x 2

a11 a12 y] a 21 a 22 a11 a12 a 21 a 22 x y

x y

Integrating a matrix:

[a]dx

aij dx

Review of Elasticity Equations

Linear, homogeneous, isotropic material behavior.

Stress Equilibrium Equations

x xy xz

x
xy

y
y

z
yz

Xb Yb Zb

0 0 0

x
xz

y
yz

z
z

Strain Displacement
u u v x xy x y x v u w y xz y z x w w v z yz z y z (u, v, w) are the x, y and z components of displacement

Stress-Strain Relationships
1
x

0 1 0 1 0 1 2 2 0 0

0 0 0 0 1 2 2 0

0
x

0
y

0
z

xy

E 1 2

0 0 0

0 0 0

0 0 0

0
xy

yz

0 1 2 2

yz

zx

zx

3D Stress-Strain Matrix
1 1 1 D 1 E 1 2 0 0 0 Note : G E 21 0 0 0 0 0 0 0 0 0 1 2 2 0 0 0 0 0 0 1 2 2 0 0 0 0 0 0 1 2 2

Plane Stress Matrix

1 D E 1 1 0 0 1

0 0 2

Plane Strain Matrix

1 D 1 E 1 2 0 1 0 0 0 1 2 2

Sets of Linear Algebraic Eqs.

Cramers Rule Inverse Method Gaussian Elimination Gauss-Seidel Iteration

Cramers Rule
a {x} {c} or in index notation :
n

a ij x j
j 1

ci

Let matrix [d (i) ] be matrix [a] with column i repaced by {c} . Then : d(i) xi a

Example:
Consider the following equations : x1 2x 1 3x 2 4x 2 4x 2 2x 3 2x 3 x3 3 2 1

Example:
In matrix form : 1 2 0 3 4 4 2 2 1 x1 x2 x3 2 1 3

Solving:
2 1 d( 1 ) x1 a 3 1 2 0 3 4 4 3 4 4 2 2 1 2 2 1 41 10 4.1

1 2 2 d( 2) x2 a 0 1 2 0 1 3 3 4 4

2 2 1 2 2 1 1 .1

1 2 d( 3) x3 a 0 1 2 0

4 1 4 3 4 4 3 2 2 1 1.4

Inversion
a a I x x
1

c a x a a
1 1

a c

Example
1 2 0 3 4 4 2 2 1 x1 x2 x3 2 1 3

Example

x1 x2 x3

1.2 0.2 0.8

1.1 0.1

0.2 0.2

2 1 3

4.1 1.1 1.4

0.4 0.2

Gaussian Elimination
General System of n equations with n unknowns:

a 11 a 21 a n1

a 12 a 22 an2

a1n a2n a nn

x1 x2 xn

c1 c2 cn

Steps in Gaussian Elimination

Eliminate the coefficient of x1 in every equation except the first one. Select a11 as the pivot element.
Add the multiple -a21/ a11 of the first row to the second row. Add the multiple -a31/ a11 of the first row to the third row. Continue this procedure through the nth row

After this Step:

a 11 0 0 a 12 a 22 an2 a1n a2n a nn x1 x2 xn c1 c2 cn

Steps in Gaussian Elimination

Eliminate the coefficient of x2 in every equation below the second one. Select a 22 as the pivot element.
Add the multiple -a 32/ a 22 of the second row to the third row. Add the multiple -a 42/ a 22 of the second row to the fourth row. Continue this procedure through the nth row

After This Step:

a 11 0 0 0 a 12 a 22 0 0 a 13 a 23 a 33 an3 a a1n a2n a3n
nn

x1 x2 xn

c1 c2 cn

Steps in Gaussian Elimination

Repeat the process for the remaining rows until we have a triangularized system of equation.
a11 0 0 0 0 a12 a 22 0 0 0 a13 a 23 a 33 0 0 a14 a 24 a 34 a 44 0 a1n a 2n a 3n a 4n 1 an nn x1 x2 x3 x4 xn c1 c2 c3 c4 1 cn n

Solve Using Back-substitution

n 1 cn n 1 a nn

xn

xi

1 a 1, n a ii

n 1 r i 1

a ir x r

Example

2 2 1 x1 2 1 0 x2 1 1 1 x3

9 4 6

Eliminate the coefficient of x1 in every equation except the first one. Select a11 =2 as the pivot element.
Add the multiple -a21/ a11 = -2/2 = -1 of the first row to the second row. Add the multiple -a31/ a11 = -1/2=-0.5 of the first row to the third row.

Step 1

2 0 0

2 1 0

1 x1 1 x2 0.5 x 3

9 5 1.5

Steps in Gaussian Elimination

Eliminate the coefficient of x2 in every equation below the second one. Select a 22 as the pivot element. (Already done in this example.)

Step 2

2 0 0

2 1 0

1 x1 1 x2 0.5 x 3

9 5 1.5

Solve Using Back-substitution

x3 c3 a 33 3 1 2 2 3

x2

5 3 1

x2

9 2( 2) 3 2

Gauss-Seidel Iteration
Write equations in form : x1 x2 xn 1 cn a nn a n1 x 1 a n 2 x 2 a n .n 1 x n
1

1 c1 a11 1 c2 a 22

a12 x 2 a 21 x1

a13 x 3 a1n x n a 23 x 3 a 2n x n

Gauss-Seidel Iteration
Assume a set of initial values for unknowns. Substitute into RHS of first equation. Solve for new value of x1 Use new value of x1and assumed values of other xs to solve for x2 in second equation. Continue till new values of all variables are obtained. Iterate until convergence.

Example
4x1 x1 x2 4x 2 x2 x3 4x 3 x3 x1 1 x2 x4 2x 4 1 2 5 6 6 x3 1 x4 1

Example
x1 x2 x3 x4 1 1 1 1 4 4 4 2 2 x2 5 x1 6 x2 2 x3 1 x3 x4 1 2 4 2 1 3 4 3 1 4

1 5 4 1 6 1.68 4 2 1.67

1.68 1 0.16 1.672

Example
x1 x2 x3 x4 1 1 1 1 4 4 4 2 2 x2 5 x1 6 x2 2 x3 1 x3 x4 1 2 4 2 1.68 1 1 4 4 0.922 1.899 1.944

5 0.922 1.672 6 1.899 0.16 0.0.28

2 1.944

Iteration x1

0 1 2 3 4 Exact
4

0.5 0.75 0.922 0.975 0.988 1.0

x2 1.0 1.68 1.899 1.979 1.9945 2.0

x3 1.0 1.672 1.944 1.988 1.9983 2.0

x4 -1.0 -0.16 -0.028 -0.006 -0.0008 0.0