Finite Element Course

4 Energy Methods

Prof. Raul Durand

 Finite Principle of Minimum Potential Energy
Elements

Principle of Minimum Potential Energy

The Principle of Minimum Pontential Energy states that, for conservative systems, all states
at equilibrium corresponds to a maximum or a minimum of the potential energy. When the
extremum is a minimum then the equilibrium is stable.
For a functional Π that depends on the state of a system u, the stationary condition is
achieved when

δΠ(u) = 0

For the mechanical problem of a structural system the deformation state is given by the
displacement field u and the functional Π is given by the total potential energy. The potential
energy of a structural system is defined by the sum of the strain energy and the work
potential.

Π=U +W

The strain energy is the elastic energy stored in a deformed structure. On the other hand, he
work potential is the negative of the work done by the external forces acting on the structure.
For instance, when loads are applied to a body, there will be associated deformation. As-
suming there is no lost of energy in the form of heat, the external work done by the loads is
transformed into internal work called strain energy.
Raul
Durand 1
 Finite Principle of Minimum Potential Energy
Elements

For a body subjected only to uniaxial normal stress σ acting in a specified direction, the
strain energy is:
Z
1
U= 2 σεdV
ZV  
1 du
= 2 EA dx dx
x

The energy related to shear stress is

Z
1
U= 2 τ γdV
V

and for pure bending

Z
1
U= 2 σx εx dV
xZ
 2
1 d2 v
= 2 EI dx2
dx
V

For a general stress state, the strain energy is

Z
U= (σx εx + σy εy + σz εz + τxy γxy + τyz γyz + τxz γxz ) dV
V

Raul
Durand 2
 Finite Variational formulation of a bar element
Elements

Variational formulation of a bar element

The principle of minimum potential energy can be used to derive the equilibrium equations of
finite elements. This approach is also known as the Rayleigh-Ritz method. For a particular
element, it is necessary to define the strain energy and the potential work in order to compose
the associated total potential energy functional.
For a bar element, this functional is given by:
Z L  2
1 du
Π(u) = 2 EA dx dx − F1 u1 − F2 u2
0

The stationary condition provides the equilibrium state:

Z L
δΠ(u) = EA du du
dx δ dx dx − F δu1 − F2 δu2 = 0
0

As in the weighted residual method, an approximate solution is needed. Since for a bar
element we have two unknown displacements we choose:

u(x) = u1 N1 (x) + u2 N2 (x)

Raul
Durand 3
 Finite Variational formulation of a bar element
Elements

The first derivative of u(x) with respect to x can be written as:

du d
dx = (N1 u1 + N2 u2 )
dx 
dN1 dN2
= dx u1 + dx u2
!
h i u
dN1 dN2 1
= dx dx u2

Also, the first variation of this derivative is written as:

δ du
dx =
d
dx δu
 
d ∂u ∂u
= dx ∂u1 δu1 + ∂u2 δu2
d
= (N1 δu1 + N2 δu2 )
dx 
dN1 dN2
= dx δu1 + dx δu2
!
h i δu
dN1 dN2 1
= dx dx δu2
h i dN1 !
dx
= δu1 δu2 dN2
dx

Raul
Durand 4
 Finite Variational formulation of a bar element
Elements

Substituting conveniently these derivatives into the stationary condition we obtain:

Z Lh i dN1 ! h i u
!
h i F
!
dx dN1 dN2 1 1
EA δu1 δu2 dx dx dx − δu1 δu2 =0
0 dN2 u2 F2
dx

The vector of nodal displacements and its variation do not depend on x, thus they can be
excluded from the integral:
iZ L dN1 ! h ! !
h
dx
i u h i F
EA δu1 δu2 dN1
dx
dN2
dx dx 1 − δu1 δu2 1
=0
0 dN2 u2 F2
dx

For this equation to be true for any variation of u1 and u2 it is required that:
Z L dN1 ! h ! ! !
dx
i u F1 0
EA dN1
dx
dN2
dx
dx 1 − =
0 dN2 u2 F2 0
dx

Computing the derivatives and integrating we finally arrive for the finite element equations
for a bar element.
" # ! !
AE 1 −1 u1 F1
L =
−1 1 u2 F2

The results above are exactly the same as those obtained using the weighted residual method.
In fact, both methods aim to solve the same underlying differential equation using the same
basis functions.
Raul
Durand 5
 Finite Variational formulation of a beam element
Elements

Variational formulation of a beam element

For a beam element, the total potential energy is given by:
Z L  2 Z L
1 d2 v
Π(v) = 2 EI dx2
dx − qv dx − M1 θ1 − M2 θ2 − V1 u1 − V2 u2
0 0

To find the equilibrium state we apply the stationary condition as:

Z L Z L
2
d v d v 2
δΠ(v) = EI dx2 δ dx2 dx − qδv dx − M1 δθ1 − M2 δθ2 − V1 δv1 − V2 δv2 = 0
0 0

The same approximate solution form with the same basis functions as the weighted residuals
method are used:
v(x) = v1 N1 (x) + θ1 N2 (x) + v2 N3 (x) + θ2 N4 (x)

The deflection’s second derivate can be written in matrix notation as:

d2 v d2
dx2
= dx2
(N1 v1 + N2 θ1 + N3 v2 + N4 θ2 )
 2 
d N1 d2 N2 d2 N3 d2 N4
= dx 2 v 1 + dx 2 θ 1 + dx 2 v 2 + dx 2 θ 2
 
v1
h i θ 
d2 N1 d2 N2 d2 N3 d2 N4  1
= dx2 dx2 dx2 dx2 v2 
 

θ2
Raul
Durand 6
 Finite Variational formulation of a beam element
Elements

and its first variation as:

2
d v d2
δ dx2 = dx2
δv
 
δv1
h i δθ 
= d2 N1 d2 N2 d2 N3 d N4  1 
2 
dx2 dx2 dx2 dx2 δv2 


δθ2

Substituting the last two equations into the stationary condition we get:
 d2 N 
1
2
 dx
 
 v1
d2 N 
 dx22  h 2
Z Lh i i θ 
 d N1 d2 N2 d2 N3 d2 N4  1
EI δv1 δθ1 δv2 δθ2 
 d2 N3  dx2 dx2 dx2
  dx−
dx2 v2 
0  2 
 dx  θ2
d2 N4
dx2
   
N1 V1
Z L h i N  h i M 
q δv1 δθ1 δv2 δθ2  2  dx − δv1 δθ1 δv2 δθ2  1  = 0
   
0 N3   V2 
N4 M2

Raul
Durand 7
 Finite Variational formulation of a beam element
Elements

For the this equation to be equal to zero we need:

 d2 N 
1
2
 dx 
       
v1 N V1 0
Z L  d2 N2  h i θ  Z L  1
 dx2  2
d N4  1  dx − N M  0
d2 N2 d2 N3 q  2  dx −  1  =  
2
EI   d N1        
 2  dx2 dx2 dx2 dx2 v2  N3 V2 0
0  d N23  0     
 dx  θ2 N4 M2 0
d2 N4
dx2

After calculating the derivatives and integrating we arrive to the finite element equilibrium
equations for a beam element:
      
12 6L −12 6L v1 V1 6
EI
 6L 4L2 −6L 2L2 
 θ1  M1 
   
qL  L 
 
  =  +

L3 −12 −6L

12 −6L v2   V2  12  6 


6L 2L2 −6L 4L2 θ2 M2 −L

As expected, this system of equations is the same as the one obtained using the weighted
residuals method.

Raul
Durand 8
 Finite Exercises
Elements

Exercises
1. A two node bar element that also includes the effect of a distributed force q(x) along
the axis is required. Determine the finite element equations using the principle of
minimum potential energy.
2. A special bar element considers that the cross-sectional area varies linearly according
to:

A(x) = A1 N1 (x) + A2 N2 (x)

where A1 and A2 are the cross-sectional areas at nodes 1 and 2, respectively. Find the
finite element equations using the principle of minimum potential energy.
3. A one-dimensional two-node element is being designed to account for the torsional
deformation of circular shafts. The degrees of freedom are given by the angles φ1 and
φ2 which are related to twisting moments T1 and T2 at nodes 1 and 2, respectively.
Considering that the strain energy for torsion is
Z
dφ 2
 
1
U= 2 GJ dx dV
V

where G is the material shear modulus and J is the cross-section polar moment of
inertia, find the finite element equations.

Raul
Durand 9
 Finite Virtual Work
Elements

Virtual Work
The principle of virtual work can be used to derive the equations for mechanical finite
elements in static equilibrium. This principle states that the stress, body force and traction
are in equilibrium if and only if the internal virtual work equals the external one for every
virtual displacement field:

δWint = δWext

where a virtual quantity is represented by a variation.

For a body, the internal virtual work is defined by
Z
δWint = σ
.. : δ..
ε dV
V

where σ ε is the strain tensor and the operator : is the so called

.. is the stress tensor and ..
double dot product of tensors. Each term of the strain tensor is defined by:
 
1 ∂ui ∂uj
εij = 2 ∂xj + ∂xi

thus the virtual strain components are:

 
1 ∂δui ∂δuj
δεij = 2 ∂xj + ∂xi

Raul
Durand 10
 Finite Virtual work formulation of a bar element
Elements

On the other hand, The external virtual work is defined as:

Z Z
δWext = b · δudV + t · δudΩ
V Ω

where b is the body forces vector and t is the tractions vector and acts over the body surface.
The application of the virtual work principle leads toR the static equilibrium equations of a
∂f R
body. In fact, applying the divergence theorem (i.e. V ∂x i
dV = Ω f n i dΩ) on the internal
virtual work term we have:
Z Z
σij δεij dV = σij ∂δu
∂xi dV
i

V ZV Z
∂σij δui ∂σij
= ∂xi dV − ∂xi dV
ZV VZ
∂σij
= σij nj δui dΩ − ∂xi dV
Ω V

Equating this result to the external virtual work, and considering σij nj = ti , the principle
of virtual work recovers the static equilibrium differential equation:
∂σij
∂xj + bi = 0
or in tensor notation:
divσ
.. + b = 0
Raul
Durand 11
 Finite Virtual work formulation of a bar element
Elements

Virtual work formulation of a bar element

The finite element equations for mechanical problems can also be found by the use of the
principle of virtual work. First we assume a virtual displacement field over a bar element.
Equating the associated internal and external work done by the axial stress and external
nodal forces we have:

δWint = δWext
Z
σx δεx dV = F1 δu1 + F2 δu2
V

Note that the virtual internal work is defined in terms of the virtual strain field δεx that in
d
turn can be written in terms of the virtual displacement field δu, thus δεx = dx δu.
du
Substituting σx = Eεx and εx = dx into the virtual work equation leads to:
Z
EA du du
dx δ dx dx = F1 δu1 + F2 δu2
x

which is the same expression as the one obtained with the use of the minimum potential
energy principle.

Raul
Durand 12
 Finite Virtual work formulation of a bar element
Elements

Assuming an approximate solution of the form u(x) = N1 u1 + N2 u2 we can write the virtual
work equality as:

iZ L dN1 ! h ! !
h
dx
i u h i F
EA δu1 δu2 dN1
dx
dN2
dx dx 1 = δu1 δu2 1
0 dN2 u2 F2
dx

Since the equation above is valid for any virtual displacement field, then:
Z L dN1 ! h ! !
dx
i u F1
EA dN1
dx
dN2
dx dx 1 =
0 dN2 u2 F2
dx

Finally, after using linear basis functions we arrive to the conventional finite element equa-
tions of a bar element.

Raul
Durand 13
 Finite Virtual work formulation of a beam element
Elements

Virtual work formulation of a beam element

Given a virtual displacement field δv and equating the associated internal and external work
we have:

δWint = δWext
Z Z L
σx δεx dV = qv dx + M1 θ1 + M2 θ2 + V1 u1 + V2 u2
V 0

Note that the axial stress and strain is variable along the beam depth, thus in order to find
the virtual internal work it is necessary to integrate along x and y directions:
Z Z L Z h/2
σx δεx dV = σx δεx b dy dx
V 0 −h/2
Z L Z h/2
= Eεx δεx b dy dx
0 −h/2

where b and h are the beam width and height, respectively.

The strain εx is related to the beam’s radius of curvature ρ by εx = − yρ . Considering that
for small deformations ρ1 ≈ v 00 , the strain in a point can be approximated by:
2
εx = −y v 00 = −y dx
d v
2

Raul
Durand 14
 Finite Virtual work formulation of a beam element
Elements

Substituting this into the internal virtual work term we get:

Z Z L Z h/2
d v d v 22 2
σx δεx dV = E dx2 δ dx2 y b dy dx
V 0 −h/2
Z L Z h/2
d2 v d2 v
= E dx 2 δ dx2 y 2 b dy dx
0 −h/2
Z L Z h/2
2 2
= d v d v
E dx2 δ dx2 y 2 dA dx
0 −h/2
Z L
d2 v d2 v
= EI dx2
δ dx2
dx
0

Using this expression in the virtual work equation we obtain the same equation as the one
obtained by applying the principle of minimum potential energy:
Z L Z L
d2 v d2 v
EI dx 2 δ dx2 dx = qv dx + M1 θ1 + M2 θ2 + V1 u1 + V2 u2
0 0

The approximate solution for the deflection v can be chosen as:

v(x) = v1 N1 (x) + θ1 N2 (x) + v2 N3 (x) + θ2 N4 (x)

By using the same approximate solution form and the same basis functions as in the weighted
residuals method we arrive to the conventional finite element equations for a beam element.
Raul
Durand 15
 Finite Exercises
Elements

Exercises
1. Find the finite element equations for a three-node bar element using the virtual work
approach. The element has three nodal displacements u1 , u2 and u3 , thus the approx-
imate solution has the form:

u(x) = u1 N1 (x) + u2 N2 (x) + u3 N3 (x)

The basis functions are:

2x2
N1 (x) = L2
− 3xL + 1
2
N2 (x) = − 4x
L2
+ 4x
L
2x2 x
N3 (x) = L2
− L

2. Consider a one-dimensional two-node element designed to account for the torsional

deformation of circular shafts. The degrees of freedom are given by the angles φ1 and
φ2 which are related to twisting moments T1 and T2 at nodes 1 and 2, respectively.
Use the principle of virtual work to determine the finite element equations.

Raul
Durand 16
 Finite Bibliography
Elements

Bibliography
1. J.N. Reddy, An Introduction to the Finite Element Method, Third edition, McGraw
Hill, 2005.
2. C.A. Felippa, Introduction to Finite Element Methods, Lecture notes, Colorado, 2001.

If you want to find the secrets of the universe,

think in terms of energy, frequency and vibration.
Nikola Tesla

Raul
Durand 17