Swiss Federal Institute of Technology

Page 1

The Finite Element Method for the Analysis y of Linear Systems y

Prof. Dr. Michael Havbro Faber Swiss Federal Institute of Technology ETH Zurich, Switzerland

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 2

C t t of Contents f Today's T d ' Lecture L t

I Iso-parametric t i element l t formulations f l ti - Bar elements - Quadrilateral elements - Triangular elements

Assignment 3 - Finite element code for a cantilever beam

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 3

I Iso-parametric t i Elements El 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 y
-1, 1 1, 1

r x
Method of Finite Elements 1

-1, -1

1, -1

Swiss Federal Institute of Technology

Page 4

I Iso-parametric t i Elements El t
s y
-1, 1 1, 1

Sh Shape functions f ti Natural N t l coordinates di t :

x
-1, -1 1, -1

In general we would like to be able to represent any element in a standardi ed manner introducing standardized introd cing a transformation between bet een the natural coordinates and the real coordinates (global) Different schemes exist for establishing such transformations: 1 2 3 sub-parametric representations (l (less resolution l i than h displacement di l representation) i ) iso-parametric representations (same resolution as displacement representation) super-parametric representations (higher resolution than displacement representation)

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 5

I Iso-parametric t i Elements El t
Sh Shape functions f ti Natural N t l coordinates: di t In the following we will for matters of convenience consider the iso parametric representation: iso-parametric representation Displacement fields as well as the geometrical representation of the finite elements are approximated using the same approximating functions shape functions
4 , v 4 4 u

s y
-1, 1 1, 1

1 , v 1 1 u

3 u 3 , v 3
2 u 2 , v 2

r x
-1, -1 1, -1

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 6

I Iso-parametric t i Elements El t
Sh Shape functions f ti Natural N t l coordinates: di t Iso-parametric elements may be constructed for elements of one, two or three dimensions

i ; x = hi x
i =1

i ; y = hi y
i =1

i z = hi z
i =1

Shape functions may be constructed by inspection inspection The principle is to always assure that the value of the shape function hi in natural coordinates is equal to one in node i.

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 7

I Iso-parametric t i Elements El 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:
y
x2 x1

1 1 1 + (1 + r ) x 2 x = (1 r ) x 2 2 i = hi x
i =1 2

1 u

2 u

r = 1

r =0

r =1

The relation between the displacement u and the nodal displacements are given in the same way:

u=
2

1 1 1 + (1 + r )u 2 (1 r )u 2 2

i = hi u
i =1

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 8

I Iso-parametric t i Elements El 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 field in regard to the x-coordinate coordinate x2 y du du dr x1 = = dx dr dx du d 1 1 1 x 1 + (1 + r )u 2 = (u 2 u 1 ) = (1 r )u 2 u 1 u dr dr 2 2 2
dx d 1 1 1 1 + (1 + r ) x 2 = ( x 2 x 1 ) = (1 r ) x dr dr 2 2 2 u ) (u u ) du (u = 2 1 = 2 1 2 x 1 ) dx ( x L
r = 1
r =0

r =1

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 9

I Iso-parametric t i Elements El 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:

B=

1 [ 1 1] L
1

and the stiffness matrix is calculated as:

AE 1 K = 2 [ 1 1] Jdr , L 1 1 AE 1 1 K= 1 1 L
Method of Finite Elements 1

J=

dx L = dr 2

Swiss Federal Institute of Technology

Page 10

I Iso-parametric t i Elements El t
Sh Shape functions f ti Natural N t l coordinates: di t 3-node bar element:
0.3L
Node 1 Node 2

0.7 L
Node 3

r = 1
r = 1 x=0 r=0 x = 0.3 0 3L r =1 x=L

r =0
1 1 h1 = (1 r ) (1 r 2 ) 2 2

r =1

1
r =1
r = 1

r = 1

r=0
h2 = 1 r 2

r=0

r =1

1 1 h3 = (1 + r ) (1 r 2 ) 2 2

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 11

I Iso-parametric t i Elements El t
Sh Shape functions f ti Natural N t l coordinates: di t We can generalize this approach (bar element):

Node 1

Node 2

Node 4

Node 3

r = 1

r =0
r= 1 3

r =1
r =1

Three nodes Four nodes

1 r = 1 r = 3

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 12

I Iso-parametric t i Elements El t
Sh Shape functions f ti Natural N t l coordinates: di t We can generalize this approach (bar element) element):
Node 1 Node 2 Node 4 Node 3

r = 1

r=0
1 3
r= 1 3

r =1 r =1

Three nodes Four nodes

r = 1 r =

Shape functions

Include only if node 3 is present

1 (1 r 2 ) 2 1 ( (1 r 2 ) 2

Include only if node 3 and node 4 are present

1 (9r 3 + r 2 + 9r 1) 16 1 + ( (9r 3 + r 2 9r 1) ) 16 1 + (27 r 3 + 7 r 2 27 r 7) 16 +

1 h1 = (1 r ) 2 1 h2 = (1 + r ) 2 h3 = (1 r 2 ) h4 = 1 (27r 3 9r 2 + 27r + 9) 16

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 13

I Iso-parametric t i Elements El t
Sh Shape functions f ti Natural N t l coordinates: di t We can generalize to quadrilateral elements (4-9 nodes):

2
6 3

1 8 s=0 s =1

7 4 s = 1 r = 1 r = 0 r = 1

x
Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 14

I Iso-parametric t i Elements El t
s

Q d il t Quadrilateral l elements: l t Include only if:

6 3

8 s=0

s =1

r 7 4 s = 1 r = 1 r = 0 r = 1

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 15

I Iso-parametric t i Elements El t
Q d il t Quadrilateral l elements: l t For the bi-linear four node element the shape functions in this coordinate system s stem become: become

1 1 h1 = (1 r ) (1 s ) 2 2 1 1 h2 = (1 + r ) (1 s ) 2 2 1 1 h3 = (1 + r ) (1 + s ) 2 2 1 1 h4 = (1 r ) (1 + s ) 2 2
Method of Finite Elements 1

s
-1, 1

1, 1

r
-1, -1

1, -1

Swiss Federal Institute of Technology

Page 16

I Iso-parametric t i Elements El t
Q d il t Quadrilateral l elements l t : Following the same principle we may proceed and define isoparametric shape f functions nctions for three-dimensional three dimensional quadrilateral q adrilateral elements (see Bathe pp. 344-345.)
z

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 17

I Iso-parametric t i Elements El t
Sh Shape functions f ti Natural N t l coordinates di t Triangular Ti l element: l t For the triangular elements a Cartesian coordinate system is not con enient so we convenient e introd introduce ce the area coordinates coordinates: Any point in the triangle is uniquely determined by the area coordinates:

A1 A A L2 = 2 A A L3 = 3 A L1 =
Method of Finite Elements 1

1
A3 P A A1 2

2
A = Ai
i =1 3

3
x

Swiss Federal Institute of Technology

Page 18

I Iso-parametric t i Elements El t
Sh Shape functions f ti Natural N t l coordinates di t Triangular Ti l element: l t In order to be able to establish the strains (derivatives of the displacements with respect to x and y), ) we need to relate the area coordinates to x and y :

1 x1 1 A = det 1 x2 2 1 x3 1 x2 1 L1 = det 1 x3 A 1 x

y1 y2 y3 y2 y3 , etc. y
L1 x2 y3 x3 y2 L = 1 x y x y 2 2A 3 1 1 3 x1 y2 x2 y1 L3 y2 y3 y3 y1 y1 y2 x3 x2 1 x x1 x3 y x2 x1

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 19

I Iso-parametric t i Elements El t
Sh Shape functions f ti Natural N t l coordinates di t Triangular Ti l element: l t We now realize that the area coordinates are identical to the shape f nctions for the constant strain triang functions triangular lar element we e considered previously (using generalized coordinates) and we can write:

i ; u = hi u
i =1 3

i x = hi x
i =1 3

i ; v = hi v
i =1

i y = hi y
i =1

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 20

I Iso-parametric t i Elements El t
T Transformation f ti from f natural t l to t global l b l coordinates di t : We return to the representation of the coordinates and the displacements

i ; x = hi x
i =1

i ; y = hi y
i =1

i z = hi z
i =1

i ; u = hi u
i =1

i ; v = hi v
i =1

i w = hi w
i =1

In order to establish the stiffness matrixes, we must be able to differentiate the displacements with respect to the coordinates (x,y,z). As the shape functions are defined in natural coordinates, we must introduce the necessary coordinate transformation.

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 21

I Iso-parametric t i Elements El t
T Transformation f ti from f natural t l to t global l b l coordinates di t : Considering the general three-dimensional case there is:

x y = + + r x r y r z x y = + + s x s y s z x y = + + t x t y t z

z r z Chain rule of differentiation ! s z t

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 22

I Iso-parametric t i Elements El t
T Transformation f ti from f natural t l to t global l b l coordinates di t : Considering the general three-dimensional case there is:

x y = + + r x r y r z x y = + + s x s y s y x y = + + t x t y t z

z r z s z t

x r r = x s s x t t

y r y s y t

z r x z s y z t z

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 23

I Iso-parametric t i Elements El t
T Transformation f ti from f natural t l to t global l b l coordinates di t : Considering the general three-dimensional case there is:

x r r = x s s x t t

y r y s y t

z r x z s y z t z

=J = J 1 r x x r
Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 24

I Iso-parametric t i Elements El t
T Transformation f ti from f natural t l to t global l b l coordinates di t : Having the transformation we can now write the strain-stress matrix as: as

= Bu
and we may write up the integrals for calculating the stiffness matrix:

K = BT CBdV
V

= BT CB det J dr ds dt
V

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 25

I Iso-parametric t i Elements El t
Shape functions Natural coordinates Triangular element: The natural coordinates for the triangular element may be represented as:

s
(0 1) (0,1)

3
1 (0, 0) 2

(1, 0)

and the shape functions may be given as:

h1 = 1 r s h2 = r h3 = s

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 26

I Iso-parametric t i Elements El t
Shape functions Natural coordinates Triangular element: Let us try to establish the stiffness matrix for a triangular constant stress element:

y
(1,3) ( , )

s
(0,1)

3
1

3
2 (4, 0)

( 0) (0, )

(0, 0)

(1, 0)

h1 = 1 r s h2 = r h3 = s

i , y = hi y i x = hi x
i =1 i =1

x = 4r + s y = 3s

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 27

I Iso-parametric t i Elements El t
Shape functions Natural coordinates Triangular element: In this case the Jacobi matrix becomes:

x r r = x s s x t t

y r y s y t

z x r z s y z t z

4 0 J= 1 3 1 3 0 J = 1 4 det J 1 3 0 = 12 1 4
1

x = 4r + s y = 3s
Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 28

I Iso-parametric t i Elements El t
Shape functions Natural coordinates Triangular element: The we can finally write:

0 (1 r s ) H= 0 (1 r s ) (

r 0 s 0 0 r 0 s

1 + 0v 1 + ru 2 + 0v 2 + su 3 + 0v 3 u = (1 r s )u 1 + (1 r s )v 1 + 0u 2 + rv 2 + 0u 3 + sv 3 v = 0u
Plane stress

u xx = , x
Method of Finite Elements 1

yy

v = , y

xy

u v = + y x

Swiss Federal Institute of Technology

Page 29

I Iso-parametric t i Elements El t
Shape functions Natural coordinates Triangular element: Plane stress

xx =

u , x

yy =

v , y

xy =

u v + y x

r s = + x x r x s r s = + y y r y s

r x x = r y y

s x r s y s

x x r r = =J x s s y
Method of Finite Elements 1

y r y s

x y

Swiss Federal Institute of Technology

Page 30

I Iso-parametric t i Elements El t
Shape functions Natural coordinates Triangular element: Plane stress

xx =

u , x

yy =

v , y

xy =

u v + y x

1 + 0v 1 + ru 2 + 0v 2 + su 3 + 0v 3 u = (1 r s )u 1 + (1 r s )v 1 + 0u 2 + rv 2 + 0u 3 + sv 3 v = 0u

u 1 + u 2 , = u r v 1 + v 3 , = v s
Method of Finite Elements 1

u 1 + u 3 = u s v 1 + v 2 = v r

Swiss Federal Institute of Technology

Page 31

I Iso-parametric t i Elements El t
Shape functions Natural coordinates Triangular element: Plane stress

u x 0 1 1 1 =J u 1 0 0 y v x 0 1 0 1 =J v 0 1 0 y
Method of Finite Elements 1

0 0

0 0 u 1 0

u 1 + u 2 , = u r v 1 + v 3 , = v s

u 1 + u 3 = u s v 1 + v 2 = v r

1 0

0 0 u 0 1

Swiss Federal Institute of Technology

Page 32

I Iso-parametric t i Elements El t
Shape functions Natural coordinates Triangular element: Plane stress

u x 0 1 1 1 =J u 1 0 0 y v x 0 1 0 1 =J v 0 1 0 y
Method of Finite Elements 1

1 3 0 J = 12 1 4
1

0 0

0 0 u 1 0

1 0

0 0 u 0 1

Swiss Federal Institute of Technology

Page 33

I Iso-parametric t i Elements El t
Shape functions Natural coordinates Triangular element: Plane stress

u x 1 3 = u 12 1 y v x 1 3 = v 12 1 y
Method of Finite Elements 1

1 3 0 J = 12 1 4
1

0 1 1 4

0 1 0 0

0 0

0 0 u 1 0

0 0 1 0 0 1 0 4

1 0

0 0 u 0 1

Swiss Federal Institute of Technology

Page 34

I Iso-parametric t i Elements El t
Shape functions Natural coordinates Triangular element: Plane stress

u x 1 3 0 3 0 = 0 u 12 3 0 1 y v x 1 0 3 0 3 = v 12 0 3 0 1 y
Method of Finite Elements 1

1 3 0 J = 12 1 4
1

0 0 u 4 0

0 0 u 0 4

Swiss Federal Institute of Technology

Page 35

I Iso-parametric t i Elements El t
Shape functions Natural coordinates Triangular element: Plane stress

xx =

u x 1 3 0 3 0 = 0 u 12 3 0 1 y v x 1 0 3 0 3 = v 12 0 3 0 1 y

u , x

yy =

v , y

xy =

u v + y x

J 1 =

1 3 0 12 1 4

0 0 u 4 0

0 0 u 0 4

0 3 0 3 1 B= 0 3 0 1 12 3 3 1 3

0 0 0 4 4 0

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 36

I Iso-parametric t i Elements El t
Shape functions Natural coordinates Triangular element: In order to calculate the stiffness matrix we now insert into:

K = BT CBdV = BT CB det J dr ds dt
V V

0 3 0 3 1 B= 0 3 0 1 12 3 3 1 3

0 0 0 4 4 0

0 3 0 3 3 0 E t K= 0 1 144(1 2 ) V 0 0 0 4

3 3 1 0 3 0 3 0 1 0 0 3 0 1 1 3 1 3 3 1 3 4 0 0 2 0

0 0 0 4 det Jdrds 4 0

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 37

I Iso-parametric t i Elements El t
Shape functions Natural coordinates Triangular element: In order to calculate the stiffness matrix we now insert into:

K = BT CBdV = BT CB det J dr ds dt
V V

3 3 E t T 3 3 K= B 2 144(1 ) V 3(1 ) 3(1 ) 2 2

3 3 (1 ) 2

1 3(1 ) 2

0 0 4(1 ) 2

4 4 det Jdrds 0

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 38

I Iso-parametric t i Elements El t
Shape functions Natural coordinates Triangular element: In order to calculate the stiffness matrix we now insert into:
9(1 ) 9(1 ) 9 + 9 + 2 2 9(1 ) 9+ 2 E t K= ( 2 ) V 12(1 Symmetrical 3(1 ) 2 3(1 ) 9 + 2 (1 ) 9+ 2 9(1 ) 2 9(1 ) 3 2 3(1 ) 3 2 9(1 ) 1+ 2 3 12(1 ) 2 12(1 ) 2 4(1 ) 2 12(1 ) 2 16(1 ) 2 12 12 12 drds 4 0 16

9+

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 39

I Iso-parametric t i Elements El t
Shape functions Natural coordinates Triangular element: In order to calculate the stiffness matrix we now insert into:
9(1 ) 9(1 ) 9 + 9 + 2 2 9(1 ) 9+ 2 E t K= 24(1 ( 2 ) Symmetrical 3(1 ) 2 3(1 ) 9 + 2 (1 ) 9+ 2 9(1 ) 2 9(1 ) 3 2 3(1 ) 3 2 9(1 ) 1+ 2 3 12(1 ) 2 12(1 ) 2 4(1 ) 2 12(1 ) 2 16(1 ) 2 12 12 12 4 0 16

9+

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 40

I Iso-parametric t i Elements El t
Shape functions Natural coordinates Triangular element: Finally we can also construct the triangular element directly from the quadrilateral element by so-called collapsing:

1
3

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 41

I Iso-parametric t i Elements El t
Shape functions Natural coordinates Triangular element: Finally we can also construct the triangular element directly from the quadrilateral element by so-called collapsing:

1 + h2 x 2 + h3 x 3 + h4 x 4 x = h1 x 1 + h2 y 2 + h3 y 3 + h4 y 4 y = h1 y

3 = x 2 x 3 = y 2 y
2 2

1 + (h2 + h3 ) x 2 + h4 x 4 x = h1 x 1 + (h2 + h3 ) y 2 + h4 y 4 y = h1 y

1
3

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 42

I Iso-parametric t i Elements El t
Shape functions Natural coordinates Triangular element: Finally we can also construct the triangular element directly from the quadrilateral element by so-called collapsing:

1 + (h2 + h3 ) x 2 + h4 x 4 x = h1 x 1 + (h2 + h3 ) y 2 + h4 y 4 y = h1 y
1 1 h1 = (1 r ) (1 s ) 2 2 1 1 h2 = (1 + r ) (1 s ) 2 2 1 1 h3 = (1 + r ) (1 + s ) 2 2 1 1 h4 = (1 r ) (1 + s ) 2 2
Method of Finite Elements 1
2 2

1 3

Swiss Federal Institute of Technology

Page 43

A i Assignment t3
Create a finite element code to calculate the deformation of a shear flexible cantilever beam (Timoshenko beam) using Matlab.

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 44

A i Assignment t3
Calculate the displacement at the endpoint and plot the calculated displacement over different numbers of elements. Compare the results with the exact solution given in Equation and g of the results by y increasing g the number of check the convergence elements.

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 45

A i Assignment t3
Calculate the displacement at the endpoint and plot the calculated displacement over different numbers of elements. Compare the results with the exact solution given in Equation and g of the results by y increasing g the number of check the convergence elements.

k local

GAQ L 1 2 GAQ = GAQ L 1 GA Q 2

1 GAQ 2 1 EI GAQ L + 3 L 1 GAQ 2 1 EI GAQ L L 6

GAQ L

1 GAQ 2 GAQ L 1 GAQ 2

1 EI GAQ L 6 L 1 GAQ 2 1 EI GAQ L + L 3 1 GAQ 2

Method of Finite Elements 1

Swiss Federal Institute of Technology

Page 46

A i Assignment t3
Calculate the displacement at the endpoint and plot the calculated displacement over different numbers of elements. Compare the results with the exact solution given in Equation and g of the results by y increasing g the number of check the convergence elements.

Method of Finite Elements 1