INTRODUCTION TO FINITE ELEMENT METHOD

Professor Dr. Mongi Ben Ouezdou

M. Ben Ouezdou, University of Nizwa, 2011

Basic Concept
Building a complicated object with simple blocks, or dividing a complicated object into small and manageable pieces.

M. Ben Ouezdou, University of Nizwa, 2011

Basic Concept
The structure is considered as an assemblage of a finite number of individual structural components called elements. These elements can be put together in a number of ways, represent complex geometry.
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Basic Concept
FEM based on Principle of discretization = procedure in which a complex problem of large extent is divided (discretized) into smaller equivalent units.

M. Ben Ouezdou, University of Nizwa, 2011

Application
Application of this idea can be found everywhere in everyday life and in engineering. Examples:

Lego (kids play)

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aircraft
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Examples

beam
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bridge
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Application to buildings

Steel frames Concrete building

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Why Finite Element Method?

Design analysis: hand calculations and experiments are sometimes difficult to conduct Computer simulation. FEM can model complex geometry, variable cross sections, various geometries, different properties, FEM can be closely integrated with CAD applications.
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Advantages of the FEM

1- Incorporate diff properties of each element. 2- No restriction for the shape of the medium; hence arbitrary and irregular geometries cause no difficulty. 3- Accommodation of any type of BC. 4- Handle non-linearities, time-dependant Pb. 5- Valid for any engineering Pb.
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Some History of the FEM

1943: Courant (Variational Methods); 1956: Turner, Clough, Martin and Trop (Stiffness); 1960: Clough (Finite Element, plane problems); 1970s: Applications on mainframe computers; 1980s: Micocomputers, pre- and postprocessors; 1990s: Analysis of large structural systems.

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Some Terminology
FE: small elements (1D, 2D, 3D) obtained by subdividing the given domain to be analyzed. Nodes or nodal points: intersections of the sides of the elements. Nodal lines and nodal planes: interfaces between elements. Linear elements: FE with straight sides. Higher order elements: FE with curved sides. Primary unknowns: nodal displacements Secondary unknowns: strains, stresses, moments, shear forces, etc.
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Basic procedure
Step 1: Discretise the continuum: subdivide into elements: generate a mesh; Step 2: Select element displacement functions; Step 3: Calculate element properties: stiffness matrix [k]. Step 4: obtain element load vector [F]; Step 5: Assemble element properties (element stiffnesses load vector). global stiffness,

Step 6: Incorporate B.C. (set the element to the ground so disp = 0 or finite): the stiffness matrix developed in step 5 will be modified to realize the condition that disp of some coordinates = 0 or finite.
[F] = [K] {u} and {u}=[K]-1{F}. and {u}: displacements. [K]: global stiffness matrix, [F]: vector of known forces

Step 7: Determine displacements, strains and stresses Step 8: Check and iterate to eliminate precision errors if present.
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M. Ben Ouezdou, University of Nizwa, 2011

Discretization
= Process of separating the length, area or volume into discrete (separate) parts or elements.
structure

1-D elements

2-D elements

3-D elements

Axisymmetric elements

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1-D elements
Used for beams or frames
Node 1 Node 2 1 3 H-element 1 2

Basic element

3 Curved element

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2-D elements
Used ,for plane-wall, diaphragm, slab, shell, etc.
1- Triangular elements
3 6 1 3 nodes 2 1 4 6 nodes 3 5 2 1 3 5 6 2

4 6- nodes curved triangle

- Triangular elements are the most used ones - Curved elements for 2-D domain with curved boundaries
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2-D elements
2- Quadrilateral elements

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3-D elements
Used for the analysis of solid bodies (stresses under foundation, contact stress under point loads, etc).

Tetrahedron

Hexahedron

Curved 3D element

Problem: Complex visualization and stiffness matrices size can be enormous.

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Axisymmetric elements
Used in problems that are axisymmetric in nature.

Can achieve huge simplification in axisymmetric problems.

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Guidelines for discretization

Discretization is a major decision making step in FEM. Simple structures: no problems. Most real structures: difficulties in
processing of subdividing the structure; Numbering the nodes; Assigning coordinates to each node; Relating the structure coordinate numbers to elements numbers and their coordinate number.

In most FEM Software: discretization is handled automatically by the preprocessing module of the software.

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Examples of discretization
1 1 2 2 3 3 4 4 5 1 1 2 2 3 3 4 4 5

Point loads: 5 nodes and 4 elements

Stepped beam: 5 nodes and 4 elements

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Examples of discretization
Material 1

Nodal line Change in loading Material 2 Change in material

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Size of elements when discretize

In recent past, the number of elements was limited due to capabilities of both hardware and software. But nowadays a sufficient fine discretization of a whole structure can easily be produced very Quickly by graphical preprocessors. Most new FE softwares provide automatic mesh generation; But this tool should not be used in an uncaring manner: engineering knowledge is still required.
An inadequate modeling of apparently irrelevant details (e.g. small cantilever slab or opening in a slab) can lead to faulty result and unsafe design. A sufficiently FE mesh should be used in regions of high deformation pr stress gradients.

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FE Equation

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Element stiffness matrix of a prismatic bar: Direct method

1, u1 Node 1 A,E 2, u2 Node 2 x

[F] = [k] [u]

Load vector stiffness displacement

1 EA 1 1 u1 = l 1 1 u 2 1
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Element stiffness matrix of a prismatic bar: Formal approach

1, u1 Node 1 A,E 2, u2 Node 2 x

Use conservation of energy: strain energy = work done by nodal forces

where

k=

1 1 B E B dV : element stiffness matrix, with B = l l

T

[F] = [k] [u]

EA 1 1 [k ]= l 1 1

Same result !
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M. Ben Ouezdou, University of Nizwa, 2011

Global stiffness matrix for a prismatic bar

Example: 1
Find stresses in the 2 bars

E, 2A 1 2 P

E, A 2 3 x

u2 u3

Solution: Use two 1-D bar elements u1 u2

1 1 2 EA Element 1:[k ] = 1 1 1 l

2 2 0 EA Global stiffness matrix [K ] = 2 3 1 l 0 1 1

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1 1 EA Element 2: [k ] = 2 1 1 l u u u
1 2 3

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Global FE equation

F1 2 2 0 u1 EA u = 2 3 1 F 2 2 F l 0 1 1 u 3 3

Use B.C. and Loads condition: u1 = u3 = 0. and F2 = P.

F1 2 2 0 0 EA u P 2 3 1 = 2 l F 3 0 1 1 0
Pl EA u2 = {P}= [3] {u2 } 3 EA l P u2 u1 E P l 1 = E 1 = E = = 0 l l 3 EA 3A

u3 u 2 E Pl P = 2 = E 2 = E = 0 l l 3 EA 3A
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Bar element in 2-D in global coordinates

l
y, v01 1 Element stiffness matrix in global coordinates u01

v02 E, A 2

x, u02

Y, v x, u

u1 v1 u2 v2 2 c2 cs c cs u1 2 2 s cs s v1 EA cs [k ] = 2 2 l c cs c cs u2 2 2 cs s v2 cs s
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c = cos s= sin

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Element stiffness matrix of a beam: Direct method

F1, v1 1 F2, v2

E, I

x Element stiffness equation:

M1, 1

v1

v2

2
v1 1 v2 2

M2, 2

6l 12 6l F1 12 M 6l 4l 2 6l 2l 2 1 = EI F2 l 3 12 6l 12 6l M l l l l 6 2 6 4 2

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Element stiffness matrix of a beam: Formal approach

Strain energy stored in, the beam element

Stiffness matrix for the simple beam element: k

k = BT EI B dx
0

with the strain-displacement matrix B:

4 6x 6 12x 2 6x 6 12 x B = 2 + 3 + 2 3 + 2 2 l l l l l l l l
obtain the same result

6l 12 6l 12 2 6l 2 l 2 EI 6l 4l k= 3 l 12 6l 12 6l 2l 6l 4l 6l
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M. Ben Ouezdou, University of Nizwa, 2011

Local Stiffness matrix of a general 2-D beam element: u1 v1 1 u2 v2 2

EA l 0 0 k= EA l 0 0

0 12 EI l3 6 EI l2 0 12 EI 3 l 6 EI l2

0 6 EI l2 4 EI l 0 6 EI 2 l 2 EI l

EA l 0 0 EA l 0 0

0 12 EI 3 l 6 EI 2 l 0 12 EI 3 l 6 EI 2 l

0 6 EI 2 l 2 EI l 0 6 EI 2 l 4 EI l
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M. Ben Ouezdou, University of Nizwa, 2011

Element Stiffness matrix of a general 2-D beam element in a global coordinate system:
y, v
E, A v02 2
M2, 2

x0, u02

l
y0, v01 1
M1, 1

u01

x, u

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v1

EI 2 EA 12 EI EA2 12 cs+ 3 cs l c + l3 s l l EA 12 EI EA2 12 EI 2 cs+ 3 cs s+ 3 c l l l l 6EI 6EI s c 2 2 l l k= EI 2 EA 12 EI EA2 12 cs+ 3 cs c+ 3 s l l l l EI EA2 12 EI 2 12 EA cs+ 3 cs s+ 3 c l l l l 6EI 6EI s c 2 2 l l
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6EI s 3 l 6EI c 2 l 4EI l 6EI s 2 l 6EI c 2 l 2EI l

EI EI 2 EA 12 EA2 12 cs+ 3 cs c+ 3 s l l l l EI EA2 12 EI EA 12 cs+ 3 cs s + 3 cs l l l l EA2 6EI 6EI s c+ 2 s 2 l l l EA2 6EI 2 EA 12 EI c+ 2 s cs+ 3 cs l l l l EA 12 EI EA2 12 EI 2 cs+ 3 cs s+ 3 c l l l l 6EI 6EI s c 2 2 l l

6EI s 2 l 6EI c 2 l 2EI l 6EI s 2 l 6EI c 2 l 4EI l

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Computation of nodal displacements

This step needs the use of the computer (mainly if stiffness matrix exceeds 5 x 5) because it needs to invert the matrix.

{F} = [k] {u}

{u} = [k]-1 {F}

Solution: enforcing 0 displacement BC and solve by: - Unit diagonal method; - Large diagonal method; - Row column delete method.

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Calculation of primary unknowns

Features of the assembled stiffness matrix
1) The stiffness matrix has its non-zeros terms along its main diagonal (terms distant from the diagonal are 0). 2) Stiffness matrices are symmetric: advantage in storing the matrices.
Half band width

Values to be stored

-Reduction of the required storage memory -Reduction of the solution time

5 3 4 k= 0 0 0

3 4 0 0 0 6 7 2 0 0 7 4 3 5 0 2 3 9 6 4 0 5 6 7 3 0 0 4 3 5

5 6 4 k= 9 7 5

3 4 7 2 3 5 6 4 3 0 0 0
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M. Ben Ouezdou, University of Nizwa, 2011

Calculation of primary unknowns

Solution of equations {u} = [k]-1 {F}

direct scheme: Linear problems (Gaussian elimination)

iterative scheme: Non Linear problems (Jacobi, Gauss Seidal)

The most known methods of solutions are: - Choleskys square root methods; - Halfband Gauss elimination solution technique; - Skyline technqiue - Frontal solution technique.
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Calculation of secondary unknowns

nodal displacement {u} strain {} stresses {} : (Hookes law)
Standard software give the output in a tabular form and on graphical form. Results include: - Refined colored graphics; - Direct stresses x, y; -Shear stresses xy; maximum shear, etc.
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Summary:

Computer implementations
Preprocessing (build FE model, loads and constraints); FE Analysis solver (assemble and solve the system of equations); Postprocessing (sort and display the results).

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Conclusions: Procedures of FEM in Structural Analysis

1) 2) Divide structure into elements with nodes; Describe the behavior of the physical quantities on each element; 3) Assemble (connect) the elements at the nodes to form an approximate system of equations for the whole structure; 4) Solve the system of equations involving unknown quantities at the nodes (e.g., displacements); 5) Calculate desired quantities (e.g., strains and stresses) at the selected elements. N.B.: be aware of the limitations of the FEM: such as loads application is imposed (no moving loads), and do not misuse the FEM (it is a numerical tool).
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References
1- Yijun Liu, Introduction to Finite Element Method, Lecture notes, University of Cincinnati, Ohio, USA, 1998. 2- R. Vaidyanathan, P. Perumal, Comprehensive Structural Analysis, 2nd ed., Laxmi Publication ed., New Delhi, 2008.

M. Ben Ouezdou, University of Nizwa, 2011