FEM MIT Lecture Notes

MIT OpenCourseWare
http://ocw.mit.edu
2.094 Finite Element Analysis of Solids and Fluids

Spring 2008
For information about citing these materials or our Terms of Use, visit: http://ocw.mit.edu/terms.
2.094— Finite Element Analysis of Solids and Fluids
— Fall ‘08 —
MIT OpenCourseWare
Contents
1 Large displacement analysis of solids/structures 3
1.1 Project Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2 Large Displacement analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.2.1 Mathematical model/problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.2.2 Requirements to be fulfilled by solution at time t . . . . . . . . . . . . . . . . . . . 5
1.2.3 Finite Element Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2.4 Notation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2 Finite element formulation of solids and structures 7
2.1 Principle of Virtual Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3 Finite element formulation for solids and structures 10
4 Finite element formulation for solids and structures 14
5 F.E. displacement formulation, cont’d 19
6 Finite element formulation, example, convergence 23
6.1 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.1.1 F.E. model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.1.2 Higher-order elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
7 Isoparametric elements 28
8 Convergence of displacement-based FEM 33
9 u/p formulation 37
10 F.E. large deformation/general nonlinear analysis 41
11 Deformation, strain and stress tensors 45
12 Total Lagrangian formulation 49
1
MIT 2.094 Contents
13 Total Lagrangian formulation, cont’d 53
14 Total Lagrangian formulation, cont’d 57
15 Field problems 61
15.1 Heat transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
15.1.1 Differential formulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
15.1.2 Principle of virtual temperatures . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
15.2 Inviscid, incompressible, irrotational flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
16 F.E. analysis of Navier-Stokes fluids 65
17 Incompressible fluid flow and heat transfer, cont’d 71
17.1 Abstract body . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
17.2 Actual 2D problem (channel flow) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
17.3 Basic equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
17.4 Model problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
17.5 FSI briefly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
18 Solution of F.E. equations 76
18.1 Slender structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
19 Slender structures 81
20 Beams, plates, and shells 85
21 Plates and shells 90
2
2.094 — Finite Element Analysis of Solids and Fluids Fall ‘08
Lecture 1 - Large displacement analysis of solids/structures

Prof. K.J. Bathe MIT OpenCourseWare
1.1 Project Example

Physical problem
Reading:
Ch. 1 in
the text
“Simple” mathematical model
• analytical solution
• F.E. solution(s)
More complex mathematical model
• holes included
• large disp./large strains
• F.E. solution(s) ⇒
• How many finite elements?
We need a good error measure (especially for FSI)
“Even more complex” mathematical model
The “complex mathematical model” includes Fluid

Structure Interaction (FSI).
You will use ADINA in your projects (and homework) for structures and fluid flow.
3
MIT 2.094 1. Large displacement analysis of solids/structures
1.2 Large Displacement analysis

Lagrangian formulations:
• Total Lagrangian formulation
• Updated Lagrangian formulation Reading:

Ch. 6
1.2.1 Mathematical model/problem
Given the original configuration of the body,

the support conditions,
the applied external loads,
the assumed stress-strain law
Calculate the deformations, strains, stresses of the body.
Question Is there a unique solution? Yes, for infinitesimal small displacement/strain. Not necessarily
for large displacement/strain.
For example:
Snap-through problem
The same load. Two different deformed configurations.
4
Column problem, statics
Not physical
t
R is in “direction” of bending moment ⇒ Not in
equilibrium.
1.2.2 Requirements to be fulfilled by solution at time t

I. Equilibrium of stresses (Cauchy stresses, forces per unit area in t V and on t Sf ) with the applied
body forces t f B and surface tractions t f Sf
II. Compatibility
III. Stress-strain law
1.2.3 Finite Element Method

I. Equilibrium condition means now
• equilibrium at the nodes of the mesh

• equilibrium of each finite element
II. Compatibility satisfied exactly
III. Stress-strain law satisfied exactly
5
1.2.4 Notation
Cauchy stresses (force per unit area at time t):
t t
τij i, j = 1, 2, 3 τij = t τji (1.1)
6
Lecture 2 - Finite element formulation of solids and structures

Reading:
Ch. 1, Sec.
Assume that on t Su the displacements are zero (and t Su is constant). Need to satisfy at time t: 6.1-6.2
• Equilibrium of Cauchy stresses t τij with applied loads

t T
τ = t τ11 t τ22 t τ33 t τ12 t τ23 t τ31
� �
(2.1)
(For i = 1, 2, 3)
t
τij,j + t fiB = 0 in t V (sum over j) (2.2)
t t t Sf
τij nj = fi on t Sf (sum over j) (2.3)
t Sf t
(e.g. fi = τi1 t n1 + t τi2 t n2 + t τi3 t n3 ) (2.4)
S
And: t τ11 t n1 + t τ12 t n2 = t f1 f
• Compatibility The displacements t ui need to be continuous and zero on t Su .
• Stress-Strain law
t
τij = function t uj
� �
(2.5)
7
MIT 2.094 2. Finite element formulation of solids and structures
2.1 Principle of Virtual Work∗
� � �
t t Sf S
τij t eij d t V = t B
fi ui d t V + fi u i f d t Sf (2.6)
tV tV tS
f
where
� �
1 ∂ui ∂uj
t eij = + t (2.7)
2 ∂ t xj ∂ xi
�
with ui � = 0 (2.8)
�
t Su
2.2 Example
Assume “plane sections remain plane”
Principle of Virtual Work

� � �
t t t B t t S
τ11 t e11 d V = f1 u1 d V + Pr u 1 f d t S f (2.9)
tV tV tS
f
Derivation of (2.9)
t
τ11,1 + t f1B = 0 by (2.2) (2.10)
�t
τ11,1 + t f1B u1 = 0
�
(2.11)
∗ or Principle of Virtual Displacements
8
MIT 2.094 2. Finite element formulation of solids and structures
Hence,
�
�t
τ11,1 + t f1B u1 d t V = 0
�
(2.12)
tV
� �
t
� tS t t
τ11 u1 � t Sf − u1,1 τ d V + u1 t f1B
d t V = 0 (2.13)
� �� u� tV �� 11 tV
S te11
u1 f tτ11 tSf
where tτ11 | tS = tPr .

f
Therefore we have
� �
t t S
e
t 11 τ 11 d V = u1 t f1B d t V + u1 f t Pr t Sf (2.14)
tV tV
From (2.12) to (2.14) we simply used mathematics. Hence, if (2.2) and (2.3) are satisfied, then (2.14)
must hold. If (2.14) holds, then also (2.2) and (2.3) hold!
Namely, from (2.14)
� � �
� tS S
u1,1 tτ11 d tV = u1 tτ11 � tSf − u1 tτ11,1 d tV = u1 tf1B d tV + u1 f
tPr tSf (2.15)
tV u tV tV
or
�
�t S �
τ11,1 + tf1B d tV + u1 f tPr − tτ11 tSf = 0
� �
u1 (2.16)
tV
� ��
x t
�
Now let u1 = x 1 − tL τ11,1 + tf1B , where tL = length of bar.
Hence we must have from (2.16)
t
τ11,1 + tf1B = 0 (2.17)
and then also

t
Pr = tτ11 (2.18)
9
Lecture 3 - Finite element formulation for solids and structures

Reading:
Sec. 6.1-6.2
We need to satisfy at time t:
• Equilibrium
∂ tτij t B
+ fi = 0 (i = 1, 2, 3) in t V (3.1)
∂ txj
t t Sf
τij tnj = fi (i = 1, 2, 3) on t Sf (3.2)
• Compatibility
• Stress-strain law(s)
Principle of virtual displacements

� � �
t t Sf
τij teij d tV = ui tfiB d tV + ui | t S fi d tSf (3.3)
tV tV tS f
f
� �
1 ∂ ui ∂uj
teij = + t (3.4)
2 ∂ t xj ∂ xi
• If (3.3) holds for any continuous virtual displacement (zero on tSu ), then (3.1) and (3.2) hold and
vice versa.
• Refer to Ex. 4.2 in the textbook.
10
MIT 2.094 3. Finite element formulation for solids and structures
Major steps
I. Take (3.1) and weigh with ui :

�t
τij,j + t fiB ui = 0.
�
(3.5a)
II. Integrate (3.5a) over volume t V :

�
�t
τij,j + t fiB ui d t V = 0
�
(3.5b)
tV
III. Use divergence theorem. Obtain a boundary term of stresses times virtual displacements on t S =
t
Su ∪ t Sf .
IV. But, on t Su the ui = 0 and on t Sf we have (3.2) to satisfy.
Result: (3.3).
Example
� �
t t S
τ11 te11 d tV = ui f1 f d tSf (3.6)
tV tS
f
One element solution:
11
1 1
u(r) =(1 + r) u1 + (1 − r) u2 (3.7)
2 2
t 1 1
u(r) = (1 + r) u1 + (1 − r) t u2
t
(3.8)
2 2
1 1
u(r) = (1 + r) u1 + (1 − r) u2 (3.9)
2 2
Suppose we know t τ11 , t V , t Sf , t u ... use (3.6).

For element 1,
� �
∂u u1
t e11 = t = B (1) (3.10)
∂ x u2
� �
T t for el. (1) T
te11t τ11 d V −→ [u1 u2 ] B (1) t
τ11 d t V (3.11)
tV tV
� ��
= t F (1)
for el. (1)
−→ [u1 u2 ] t F (1) (3.12)
⎡ ⎤
� t (1) �
F̂
= ⎣ U1 U 2 U 3⎦ (3.13)
�� 0
u2 u1
where
t (1) (1)
F̂1 = t F2 (3.14)
t (1) t (1)
F̂2 = F1 (3.15)
For element 2, similarly,

⎡ ⎤
� �
0
= ⎣U 1 U2 U3 ⎦ t ˆ
(2) (3.16)
�� F
u2 u1
R.H.S.
⎡ ⎤
(unknown reaction at left)
� �
U1 U2 U3 ⎣ 0 ⎦ (3.17)
t t Sf
� ��
T
� Sf · f
1
Now apply,
T � �
U = 1 0 0 (3.18)
then,
T � �
U = 0 1 0 (3.19)
then,
T � �
U = 0 0 1 (3.20)
12
This gives,
⎡ ⎤
� � � � unknown reaction
t
F̂ (1) 0 0
+ =⎣ (3.21)
⎢ ⎥
t
0 F̂ (2)
⎦
t tSf t
f1 · Sf
We write that as
t
F = tR (3.22)
t
F = fn t U1 , t U2 , t U3
� �
(3.23)
13
Lecture 4 - Finite element formulation for solids and structures

We considered a general 3D body, Reading:

Ch. 4
The exact solution of the mathematical model must satisfy the conditions:
• Equilibrium within t V and on t Sf ,
• Compatibility
• Stress-strain law(s)
I. Differential formulation
II. Variational formulation (Principle of virtual displacements) (or weak formulation)
We developed the governing F.E. equations for a sheet or bar
We obtained
t
F = tR (4.1)
where t F is a function of displacements/stresses/material law; and t R is a function of time.
Assume for now linear analysis: Equilibrium within 0 V and on 0 Sf , linear stress-strain law and small
displacements yields
t
F = K · tU (4.2)
We want to establish,
KU (t) = R(t) (4.3)
14
Consider
Û T =
� �
U1 V1 W1 U2 · · · WN (N nodes) (4.4)
where Û T is a distinct nodal point displacement vector.
Note: for the moment “remove Su ”
We also say
Û T = U1
� �
U2 U3 · · · Un (n = 3N ) (4.5)
We now assume
⎡ ⎤(m)
u
u(m) = H (m) Û , u(m) = ⎣ v ⎦ (4.6a)
w
where H (m) is 3 x n and Û is n x 1.
�(m) = B (m) Û (4.6b)
where B (m) is 6 x n, and

T
�(m) =
� �
�xx �yy �zz γxy γyz γzx

∂v ∂u
e.g. γxy = +
∂x ∂y
We also assume
u(m) = H (m) Û (4.6c)

� (m)
= B (m)
Û (4.6d)
15
Principle of Virtual Work:

� � T
T
� τ dV = Û f B dV
(4.7)
V V
(4.7) can be rewritten as
�� T �� (m) T (m)
�(m) τ (m) dV (m) = Û fB dV (m) (4.8)
m V (m) m V (m)
Substitute (4.6a) to (4.6d).

� �
T �
�
(m) T (m) (m)
Û B τ dV =
m V (m)
� � (4.9)
T ��
(m) T B (m) (m)
Û H f dV
m V (m)
τ (m) = C (m) �(m) = C (m) B (m) Û (4.10)
Finally,
� �
T ��
� (m) T (m) (m) (m)
�Û B C B dV Û =
m V (m)
� � (4.11)
T ��
(m) T (m)
fB dV (m)
�
Û
� H
m V (m)
with
T T T
ˆ B (m)
�(m) = U
(4.12)
KÛ = RB (4.13)
where K is n x n, and RB is n x 1.
Direct stiffness method:
�
K= K (m) (4.14)
m
(m)
�
RB = RB (4.15)
m
�
(m) T
K = B (m) C (m) B (m) dV (m) (4.16)
(m)
�V
(m) T (m)
RB = H (m) f B dV (m)
(4.17)
V (m)
16
Example 4.5 textbook
E = Young’s Modulus
Mathematical model Plane sections remain plane:
F.E. model
⎡⎤
U1
U = ⎣ U2 ⎦ (4.18)
U3
Element 1
⎡ ⎤
U1
u(1) (x) = x x
� �
1− 100 0 ⎣ U2 ⎦ (4.19)
� �� 100 � U
3
H (1)
17
⎤ ⎡
U1
�(1) 1 1
� �
xx (x) = − 100 0 ⎣ U2 ⎦ (4.20)
� ��100 � U
3
B (1)
Element 2
u(2) (x) = x x
� �
0 1 − 80 80 U (4.21)
� ��
H (2)
�(2) 1 1
� �
xx (x) = 0 − 80 80 U (4.22)
� ��
B (2)
Then,
⎤ ⎡ ⎡ ⎤
1 −1 0 0 0 0
E ⎣ 13E ⎣
K= −1 1 0 ⎦ + 0 1 −1 ⎦ (4.23)
100 240
0 0 0 0 −1 1
where,
� �
E(1) AE
≡ (4.24)
100 L
� �
E · 13 13 E
= (4.25)
3 · 80 3 80
� ��
A∗
� �
A� < A∗ < A�
� �
η=0 η=80 (4.26)
1 < 4.333 < 9
18
Lecture 5 - F.E. displacement formulation, cont’d

For the continuum Reading:

Ch. 4
• Differential formulation
• Variational formulation (Principle of Virtual Displacements)
Next, we assumed infinitesimal small displacement, Hooke’s Law, linear analysis
KU = R (5.1a)
u(m) = H (m) U (5.1b)
�
K= K (m) (5.1c)
m
(m)
�
R= RB
(5.1d)
m
�(m) = B U (m)
(5.1e)
U T = U1 U2 · · · Un , (n = all d.o.f. of element assemblage)
� �
(5.1f)
�
T
K (m) = B (m) C (m) B (m) dV (m) (5.1g)
(m)
�V
(m) T (m)
RB = H (m) f B dV (m) (5.1h)
V (m)
Surface loads
Recall that in the principle of virtual displacements,

�
Sf T
“surface” loads = U f Sf dSf (5.2)
Sf
(m) (m)
uS = HS U (5.3)
�
S (m)
H = H (m) � (5.4)
�
evaluated at the surface
19
MIT 2.094 5. F.E. displacement formulation, cont’d
Substitute into (5.2)

�
T (m) T (m)
U HS fS dS (m) (5.5)
S (m)
for element (m) and one surface of that element.
�
(m) T (m)
Rs(m) = HS fS dS (m) (5.6)
S (m)
Need to add contributions from all surfaces of all loaded external elements.
KU = RB + RS + Rc (5.7)
where Rc are concentrated nodal loads.

Assume
• (5.7) has been established without any displacement boundary conditions.
• We, however, know nodal displacements Ub (rewriting (5.7)).

� ��
Kaa Kab Ua Ra
KU = R ⇒ = (5.8)
Kba Kbb Ub Rb
Solve for Ua :
Kaa Ua = Ra − Kab Ub (5.9)
where Ub is known!
Then use
Kba Ua + Kbb Ub = Rb + Rr (5.10)
where Rr are unknown reactions.
Example 4.6 textbook
⎛ ⎞ ⎡ ⎤⎛ ⎞
τxx 1 ν 0 �xx
E ⎣ ν
⎝ τyy ⎠ = 1 0 ⎦ ⎝ �yy ⎠ (5.11)
1 − ν2 1−ν
τxy 0 0 2 γxy
20
⎛ ⎞
u1
⎜
⎜ u2 ⎟
⎟
� �
⎜
⎜ u3 ⎟
⎟
u(x, y) ⎜ u4 ⎟
=H⎜ ⎟ (5.12)
v(x, y) ⎜
⎜ v1 ⎟
⎟
⎜
⎜ v2 ⎟
⎟
⎝ v3 ⎠
v4
If we can set this relation up, then clearly we can get H (1) , H (2) , H (3) , H (4) .
u(m) = H (m) U (5.13)
Also want �(m) = B (m) U . We want H. We could proceed this way
u(x, y) = a1 + a2 x + a3 y + a4 xy (5.14)
v(x, y) = b1 + b2 x + b3 y + b4 xy (5.15)
Express a1 . . . a4 , b1 . . . b4 in terms of the nodal displacements u1 . . . u4 , v1 . . . v4 .
(e.g.) u(1, 1) = a1 + a2 + a3 + a4 = u1 .
h1 (x, y) = 14 (1 + x)(1 + y) interpolation function

for node 1.
h2 (x, y) = 14 (1 − x)(1 + y)
21
h3 (x, y) = 14 (1 − x)(1 − y)
h4 (x, y) = 14 (1 + x)(1 − y)
u(x, y) = h1 u1 + h2 u2 + h3 u3 + h4 u4 (5.16)
v(x, y) = h1 v1 + h2 v2 + h3 v3 + h4 v4 (5.17)
⎛ ⎞
u1
⎜
⎜ u2 ⎟
⎟
� � � �⎜
⎜ u3 ⎟
⎟
u(x, y) h1 h2 h3 h4 0 0 0 0 ⎜ u4 ⎟
= ⎜ ⎟ (5.18)
v(x, y) 0 0 0 0 h1 h2 h3 h4 ⎜ v1 ⎟
� �� ⎜
⎜ v2
⎟
⎟
H (2x8) ⎜ ⎟
⎝ v3 ⎠
v4
We also want,
⎛ ⎞
u1
⎜
⎜ u2 ⎟
⎟
⎛ ⎞ ⎡ ⎤⎜ u3 ⎟
�xx h1,x h2,x h3,x h4,x 0 0 0 0 ⎜ ⎟
⎝ �yy ⎠ = ⎣ 0
⎜ u4 ⎟
0 0 0 h1,y h2,y h3,y h4,y ⎦⎜ ⎟ (5.19)
⎜ v1 ⎟
γxy h1,y h2,y h3,y h4,y h1,x h2,x h3,x h4,x ⎜ ⎟
� �� ⎜
⎜ v2 ⎟
⎟
B (3x8) ⎝ v3 ⎠
v4
∂u
�xx = (5.20)
∂x
∂v
�yy = (5.21)
∂y
∂u ∂v
γxy = + (5.22)
∂y ∂x
22
Lecture 6 - Finite element formulation, example, convergence

6.1 Example
Reading:
Ex. 4.6 in
the text
t = 0.1, E, ν plane stress
KU = R; R = RB + R s + R c + R r (6.1)
�
� T
K= K (m) ; K (m)
= B (m) C (m) B (m) d V (m) (6.2)
m V (m)
�
� (m) (m) T
RB = RB ; RB = H (m) f B(m) d V (m) (6.3)
m V (m)
6.1.1 F.E. model
u1 u2 u3 u4 v1 v2 v3 v4
⎡↓ ↓ ↓ ↓ ↓ ↓ ↓ ↓⎤
� � � � × × × × × ← u1
K� = ⎢ . (6.4)
�
..
⎢ ..
⎥
el. (2) ⎥ .
⎢ ⎥
⎣ ⎦
23
MIT 2.094 6. Finite element formulation, example, convergence
In practice,
⎛ ⎞
u1
⎜ .. ⎟
⎜ . ⎟
� ⎜ ⎟
� ⎜ u4 ⎟
K� = B T CB dV ; �=B⎜ (6.5)
� ⎜ ⎟
el ⎜ v1 ⎟
⎟
V
⎜ . ⎟
⎝ .. ⎠
v4
where K is 8x8 and B is 3x8.
Assume we have K (8x8) for el. (2)
U1 U2 U3 U4 U5 · · · U11 · · · U18
↓ ↓ ↓ ↓ ↓ ↓ ↓ ↓ ↓
× × × × × × × × ×
⎡ ⎤
.. .. .. ← U1
..
⎢ ⎥
⎢ . . . ⎥
⎢
.. .. ..
⎥ .
..
⎢ ⎥
⎢ . . . ⎥
K = ⎢
⎢ ⎥ . (6.6)
�� ⎥
assemblage
⎢
⎢ .. .. ..
⎥
⎥ ← U11
⎢ . . . ⎥ ..
⎢
. . ..
⎥ .
. .
⎢ ⎥
⎢ . . . ⎥ ..
⎢
⎣
⎥
⎦ .
← U18
× × × × × × × × ×
Consider,
� �
T
RS = H S f S d S; HS = H� (6.7)
�
S on surface
� �
h1 h2 h3 h4 0 0 0 0 ← u(x, y)
H= (6.8)
0 0 0 0 h1 h2 h3 h4 ← v(x, y)
⎛ ⎞
u1
⎜ u2 ⎟
..
⎜ ⎟
⎜ ⎟
⎜
⎜ . ⎟
⎟
u=⎜
⎜ u4 ⎟
⎟ (6.9)
⎜
⎜ v1 ⎟
⎟
⎜ .. ⎟
⎝ . ⎠
v4
24
�
HS = H� (6.10)
�
y=+1
⎡ 1 1
⎤
2 (1 + x) 2 (1 − x) 0 0 0 0 0 0
=⎣ ⎦ (6.11)
1 1
0 0 0 0 2 (1 + x) 2 (1 − x) 0 0
From (6.7);
1
⎡ ⎤
2 (1 + x) 0
� +1 1
� �
⎢
2 (1 − x) 0 ⎥ 0
RS = ⎢ 1
⎥
⎦ −p(x) (0.1) dx (6.12)
−1
⎣ 0 2 (1 + x) � ��
1
0 2 (1 − x) thickness
⎡ ⎤
0
⎢ 0
⎥
RS = ⎢ ⎥
⎣ −p0 (0.1)
⎦ (6.13)
−p0 (0.1)
6.1.2 Higher-order elements
Want h1 , h2 , h3 , h4 , h5
�5
u(x, y) = i=1 hi u i .
hi = 1 at node i and 0 at all other nodes.
h5 = 12 (1 − x2 )(1 + y)
25
1 1
h1 = (1 + x)(1 + y) − h5 (6.14)
4 2
1 1
h2 = (1 − x)(1 + y) − h5 (6.15)
4 2
1
h3 = (1 − x)(1 − y) (6.16)
4
1
h1 = (1 + x)(1 − y) (6.17)
4
Note:
�
hi = 1
�
We must have i hi = 1 to satisfy the rigid body mode condition.
�
u(x, y) = h i ui (6.18)
i
Assume all nodal point displacements = u∗ . Then,
� �
u(x, y) = h i u ∗ = u∗ h i = u∗ (6.19)
i i
From (6.1),
� �
�
(m)
K U =R (6.20)
m
� ��
(m) T (m) (m) (m)
B C B dV U =R (6.21)
m V (m)
where C (m) B (m) U = τ (m) . (Assume we calculated U .)
�� T
B (m) τ (m) d V (m) = R (6.22)
V (m)
m
�
�
(m) (m) T
F = R; F = B (m) τ (m) d V (m) (6.23)
V (m)
m
Two properties
I. The sum of the F (m) ’s at any node is equal to the applied external forces.
26
II. Every element is in equilibrium under its F (m)
�
ˆ T F (m) = U
U ˆT T
B (m) τ (m) d V (m) (6.24)
V (m)
� ��
T
=�(m)
�
T
= �(m) τ (m) d V (m) (6.25)
V (m)
=0 (6.26)
ˆ T = virtual nodal point displacement.

where U
Apply rigid body displacement.

If we move the element virtually in the rigid body modes, �(m) is zero. Therefore the virtual work
obtained due to virtual motion of the element is zero. Then the element is in equilibrium under its F (m) .
27
Lecture 7 - Isoparametric elements

Reading:
Sec. 5.1-5.3
B T CB dV , RB = H T f B dV . Unique correspondence (x, y) ⇔ (r, s)
� �
We want K = V V
(r, s) are natural coordinate system or isoparametric coordinate system.
4
�
x= hi xi (7.1)
i=1
4
�
y= hi yi (7.2)
i=1
where
1
h1 =
(1 + r)(1 + s) (7.3)
4
h2 = (1 − r)(1 + s) (7.4)
4
...
4
�
u(r, s) = hi ui (7.5)
i=1
4
�
v(r, s) = hi vi (7.6)
i=1
28
MIT 2.094 7. Isoparametric elements
� = Bû ûT =
� �
u1 u2 · · · v4 (7.7)
⎡ ∂u ⎤
∂x
⎢ ⎥
⎢ ∂v ⎥
⎥ = Bû
⎢
⎢ ∂y ⎥ (7.8)
⎣ ⎦
∂u ∂v
∂y + ∂x
⎛ ∂
⎞ ⎡ ∂x ∂y
⎤⎛ ∂
⎞
∂r ∂r ∂r ∂x
⎝ ⎠=⎣ ⎦⎝ ⎠ (7.9)
∂ ∂x ∂y ∂
∂s ∂s ∂s ∂y
� ��
J
⎛ ∂ ⎞ ⎛ ∂
⎞
∂x ∂r
⎝ ⎠ = J −1 ⎝ ⎠ (7.10)
∂ ∂
∂y ∂s
J must be non-singular which ensures that there is unique correspondence between (x, y) and (r, s).
Hence,
� 1� 1
K= B T CB t det(J ) dr ds (7.11)
−1 −1 � ��
dV
� 1 � 1
Also, RB = H T f B t det(J ) dr ds (7.12)
−1 −1
Numerical integration (Gauss formulae) (Ch. 5.5)
K∼
��
T
=t Bij CBij det(Jij ) × (weight i, j) (7.13)
i j
2x2 Gauss integration,
(i = 1, 2) (7.14)
(j = 1, 2) (weight i, j = 1 in this case) (7.15)
29
9-node element
9
�
x= hi xi (7.16)
i=1
9
�
y= hi yi (7.17)
i=1
9
�
u= hi u i (7.18)
i=1
9
�
v= hi vi (7.19)
i=1
Use 3x3 Gauss integration
For rectangular elements, J = const
Consider the following element,
Note, here we could use hi (x, y) directly.
3 = 26
� � � �
0
J= 3 (7.20)
0 2
Then, we can determine the number of appropriate integration points by investigating the maximum
order of B T CB.
For a rectangular element, 3x3 Gauss integration gives exact K matrix. If the element is distorted,
a K matrix which is still accurate enough will be obtained, (if high enough integration is used).
30
Convergence Principle of virtual work: Reading:

� Sec. 5.5.5,
4.3
�T C� dV = R(u) (7.21)
V
Find u, solution, in V, vector space (any continuous function that satisfies boundary conditions),
satisfying
�
�T C� dV = a(u, v) = (f , v) for all v, an element of V. (7.22)
V � ��
bilinear form R(v)
Example:
Finite Element problem Find uh ∈ Vh , where Vh is F.E. vector space such that
a(uh , vh ) = (f , vh ) ∀vh ∈ Vh (7.23)
Size of Vh ⇒ # of independent DOFs (here it’s 12).
Note:
a(w, w) > 0 for w ∈ V � 0)

(w =
� ��
2x (strain energy when imposing w)
Also,
a(wh , wh ) > 0 for wh ∈ Vh (Vh ⊂ V, wh �= 0)
31
Property I Define: eh = u − uh .
From (7.22), a(u, vh ) = (f , vh ) (7.24)
From (7.23), a(uh , vh ) = (f , vh ) (7.25)
Hence,
a(u − uh , vh ) = 0 (7.26)
a(eh , vh ) = 0 (7.27)
(error is orthogonal in that sense to all vh in F.E. space).
Property II
a(uh , uh ) ≤ a(u, u) (7.28)
Proof:
a(u, u) = a(uh + eh , uh + eh ) (7.29)
�� 0 by Prop. I
2a(u
= a(uh , uh ) + � ��h , eh ) + a(eh , eh ) (7.30)
� ��
≥0
∴ a(u, u) ≥ a(uh , uh ) (7.31)
32
Lecture 8 - Convergence of displacement-based FEM

(A) Find
u ∈ V such that a(u, v) = (f , v) ∀v ∈ V (Mathematical model) (8.1)
a(v, v) > 0 ∀v ∈ V, � 0.
v= (8.2)
where (8.2) implies that structures are supported properly. E.g.
(B) F.E. Problem Find

uh ∈ Vh such that a(uh , vh ) = (f , vh ) ∀vh ∈ Vh (8.3)
a(vh , vh ) > 0 ∀vh ∈ Vh , vh �= 0 (8.4)
Properties eh = u − uh
(I) a(eh , vh ) = 0 ∀vh ∈ Vh (8.5)
(II) a(uh , uh ) ≤ a(u, u) (8.6)
33
MIT 2.094 8. Convergence of displacement-based FEM
� �
(C) Assume Mesh� “is contained in” Mesh�
� �
h1 h2
� �
e.g. Mesh� not contained in Mesh�
� �
h1 h2
We assume (C), but need another property (independent of (C))
(III) a(eh , eh ) ≤ a(u − vh , u − vh ) ∀vh ∈ Vh (8.7)
uh minimizes! (Recall eh = u − uh )
Proof: Pick wh ∈ Vh .
�� 0
a(eh + wh , eh + wh ) = a(eh , eh ) + �
2a(e
��h , wh ) + a(wh , wh ) (8.8)
� ��
≥0
Equality holds for (wh = 0)
a(eh , eh ) ≤ a(eh + wh , eh + wh ) (8.9)

= a(u − uh + wh , u − uh + wh ) (8.10)
Take wh = uh − vh .
a(eh , eh ) ≤ a(u − vh , u − vh ) (8.11)
Using property (III) and (C), we can say that we will converge monotonically, from below, to a(u, u):
34
Pascal triangle (2D)
⇒ 4-node element is complete to k = 1.
⇒ 9-node element is complete to k = 2.
(Ch. 4.3)
error in displacement ∼ C · hk+1 (8.12)
(C is a constant determined by the exact solution, material property. . . )
error in stresses ∼ C · hk (8.13)
error in strain energy ∼ C · h2k (← these C are different) (8.14)
Hence,
E − Eh = C · h2k (roughly equal to) (8.15)
By theory,
log (E − Eh ) = log C + 2k log h (8.16)
35
By experiment, we can evaluate log(E − Eh ) for different meshes and plot log(E − Eh ) vs. log h
We need to use graded meshes if we have high stress gradients.
Example Consider an almost incompressible material:
�V = vol. strain (8.17)
or
� · v → very small or zero (8.18)
We can “see” difficulties:
p = −κ�V κ = bulk modulus (8.19)
As the material becomes incompressible (ν = 0.3 → 0.4999)

�
κ→∞
p → finite number (8.20)
�V → 0
(Small error in �V results in huge error on pressure as κ → ∞, the constant C in (8.15) can be very large
⇒ locking)
36
Lecture 9 - u/p formulation

We want to solve Reading:

Sec. 4.4.3
I. Equilibrium
�
τij,j + fiB = 0 in Volume
S (9.1)
τij nj = fi f on Sf
II. Compatibility
III. Stress-strain law
Use the principle of virtual displacements

�
�T C� dV = R (9.2)
V
We recognize that if ν → 0.5
�V → 0 (�V = �xx + �yy + �zz ) (9.3)

E
κ= →∞ (9.4)
3(1 − 2ν)
p = −κ�V must be accurately computed (9.5)
Solution
τij = κ�V δij + 2G��ij (9.6)
where
�
1 i=j
δij = Kronecker delta = (9.7)
0 � j
i=
Deviatoric strains:
�V
��ij = �ij − δij (9.8)
3
� τkk �
τij = −pδij + 2G��ij p=− (9.9)
3
(9.2) becomes
� �
�T � �
� C � dV + �V κ�V dV = R (9.10)
V V
� �
T
�� C � �� dV − �TV p dV = R (9.11)
V V
37
MIT 2.094 9. u/p formulation
We need another equation because we now have another unknown p.
p + κ�V = 0 (9.12)
�
p (p + κ�V ) dV = 0 (9.13)
�V �
p�
− p �V + dV = 0 (9.14)
V κ
For an element,
u = Hû (9.15)
�
� = BD û (9.16)
�V = BV û (9.17)
p = Hp p̂ (9.18)
Plane strain (�zz = 0)

Example Reading:
4/1 element Ex. 4.32 in
the text
�V = �xx + �yy (9.19)

�xx − 31 (�xx + �yy )
⎡ ⎤
⎢ �yy − 1 (�xx + �yy )
�� = ⎢
⎥
3 ⎥ (9.20)
⎣ γxy ⎦
− 13 (�xx + �yy )
Note: �zz = 0 but ��zz =

� 0!
p = Hp p̂ = [1]{p0 } (9.21)
p(x, y) = p0 (9.22)
We obtain from (9.11) and (9.14)

� ��
Kuu Kup û R
= (9.23)
Kpu Kpp p̂ 0
�
T
�
Kuu = BD C BD dV (9.24a)
V
�
Kup =− BVT Hp dV (9.24b)
V
�
Kpu =− HpT BV dV (9.24c)
V
�
1
Kpp =− HpT Hp dV (9.24d)
V κ
38
In practice, we use elements that use pressure interpolations per element, not continuous between
elements. For example:
Then, unless ν = 0.5 (where Kpp = 0), we can use static condensation on the pressure dof’s.
Use p̂ equations to eliminate p̂ from the û equations.
−1
� �
Kuu − Kup Kpp Kpu û = R (9.25)
(In practice, ν can be 0.499999. . . )

The “best element” is the 9/3 element. (9 nodes for displacement and 3 pressure dof’s).
p(x, y) = p0 + p1 x + p2 y (9.26)
The inf-sup condition Reading:

Sec. 4.5
⎡ ⎤
=�V
� � ��
⎢ Vol qh � · vh dVol ⎥
⎢ ⎥
inf sup ⎥≥β>0 (9.27)
�qh � �vh �
�� ⎣ ⎢
⎦
qh ∈Qh vh ∈Vh � ��
for normalization
Qh : pressure space.
If “this” holds, the element is optimal for the displacement assumption used (ellipticity must also be
satisfied).
Note:
infimum = largest lower bound
supremum = least upper bound
For example,
inf {1, 2, 4} = 1
sup {1, 2, 4} = 4
inf {x ∈ R; 0 < x < 2} = 0
sup {x ∈ R; 0 < x < 2} = 2
(9.23) rewritten (κ = ∞, full incompressibility). Diagonalize using eigenvalues/eigenvectors.

For a mesh of element size h we want βh > 0 as we refine the mesh, h → 0
39
For (entry [3,1] in matrix) assume the circled entry is the minimum (inf) of .
Also, all entries in the matrix not shown are zero.
Case 1 βh = 0
0 · uh |i = 0 (from the bottom equation)

⎧
⎨
⇒ α · u | + 0 · ph |j = Rh |i (from the top equation)
⎩ �� h i
� =0
⇒ no equation for ph |j
⇒ spurious pressure! (any pressure satisfies equation)
Case 2 βh = small = �
� · uh |i = 0 ⇒ uh |i = 0
∴�· ph |j + uh |i · α = Rh |i
� �
Rh |i
displ. = 0
⇒ ph |j = ⇒ as � is small
� pressure → large
The behavior of given mesh when bulk modulus increases: locking, large pressures. See Example
4.39 textbook.
40
Lecture 10 - F.E. large deformation/general nonlinear analysis

We developed Reading:
� Ch. 6
t
τij teij d tV = tR (10.1)
tV
� �
1 ∂ui ∂uj
teij = + t (10.2)
2 ∂ txj ∂ xi
�
t
τij δt eij d tV = tR (10.3)
tV
� �
1 ∂(δui ) ∂(δuj )
δt eij = + (≡ t eij ) (10.4)
2 ∂ t xj ∂ t xi
In FEA:
t
F = tR (10.5)
In linear analysis
t
F = K t U ⇒ KU = R (10.6)
In general nonlinear analysis, we need to iterate. Assume the solution is known “at time t”
t 0
x= x + tu (10.7)
Hence t F is known. Then we consider

t+Δt t+Δt
F = R (10.8)
Consider the loads (applied external loads) to be deformation-independent, e.g.
41
MIT 2.094 10. F.E. large deformation/general nonlinear analysis
Then we can write

t+Δt
F = tF + F (10.9)
t+Δt
U = tU + U (10.10)
where only t F and t U are known.
F ∼
= tK ΔU , t
K = tangent stiffness matrix at time t (10.11)
From (10.8),
t t+Δt
K ΔU = R − tF (10.12)
t+Δt
We use this to obtain an approximation to U . We obtain a more accurate solution for U (i.e. F)
using
t+Δt
K (i−1) ΔU (i) = t+Δt
R − t+ΔtF (i−1) (10.13)
t+Δt (i) t+Δt (i−1) (i)
U = U + ΔU (10.14)
Also,
t+Δt
F (0) = tF (10.15)
t+Δt (0) t
K = K (10.16)
t+Δt
U (0) = tU (10.17)
Iterate for i = 1, 2, 3 . . . until convergence. Convergence is reached when

� �
�ΔU (i) � < �D (10.18)
� �
� �2
� t+Δt t+Δt (i−1) �
� R− F � < �F (10.19)
2
Note:
��
2
�a�2 = (ai )
i
�
(i)
ΔU =U
i=1,2,3...
ΔU (1) in (10.13) is ΔU in (10.12).
(10.13) is the full Newton-Raphson iteration.
How we could (in principle) calculate t K
Process
• Increase the displacement t Ui by �, with no increment for all t Uj , j �= i

t+�
• calculate F
∂ tF
• the i-th column in tK = ( t+�F − tF ) /� = ∂ tUi
.
42
So, perform this process for i = 1, 2, 3, . . . , n, where n is the total number of degrees of freedom.
Pictorially,
.. ..
⎡ ⎤
⎢ . . ⎥
t
K = ⎢ ... ..
⎢ ⎥
⎣ . ··· ⎥
⎦
.. ..
. .
A general difficulty: we cannot “simply” increment Cauchy stresses.

t+Δt
• τij referred to area at time t + Δt
• t τij referred to area at time t.
t+Δt
We define a new stress measure, 2nd Piola - Kirchhoff stress, 0 Sij , where 0 in the leading subscript
refers to original configuration. Then,
t+Δt
0 Sij = 0tSij + 0 Sij (10.20)
The strain measure energy-conjugate to the 2nd P-K stress 0tSij is the Green-Lagrange strain 0t�ij
Then,
�
t
0 Sij δ 0t�ij d 0V = tR (10.21)
0V
Also,
�
t+Δt
0 Sij δ t+Δt0�ij d 0V = t+Δt
R (10.22)
0V
Example
43
t
F = tR (10.23)
t+Δt t+Δt
F = R (10.24)
(every time it is in equilibrium)

(10.13) and (10.14) give:
i = 1,
t+Δt
K (0) ΔU (1) = t+Δt
R − t+ΔtF (0) ≡ fn( tU ) (10.25)
t+Δt (1) t+Δt (0) (1)
U = U + ΔU (10.26)
i = 2,
t+Δt
K (1) ΔU (2) = t+Δt
R − t+ΔtF (1) (10.27)
t+Δt (2) t+Δt (1) (2)
U = U + ΔU (10.28)
44
Lecture 11 - Deformation, strain and stress tensors

We stated that we use Reading:

� � Ch. 6
t t t
τij δ teij d V = 0 Sij δ 0t�ij d 0V = tR (11.1)
tV 0V
The deformation gradient We use txi = 0xi + tui

⎡ ∂ tx ∂ tx ∂ tx
⎤
1 1 1
∂ 0x1 ∂ 0x2 ∂ 0x3
⎢ ⎥
⎢ ⎥
t t t
t ∂ x2 ∂ x2 ∂ x2
⎢ ⎥
0 X = ⎢
⎢ ∂ 0x1 ∂ 0x2 ∂ 0x3
⎥
⎥ (11.2)
⎢ ⎥
⎣ ⎦
∂ tx3 ∂ tx3 ∂ tx3
∂ 0x1 ∂ 0x2 ∂ 0x3
d tx1
⎡ ⎤
d tx = ⎣ d tx2 ⎦ (11.3)
d tx3
⎡ 0 ⎤
d x1
d 0x = ⎣ d 0x2 ⎦ (11.4)
d 0x3
Implies that
d tx = 0tX d 0x (11.5)
(0tX is frequently denoted by 0tF or simply F , but we use F for

force vector)
We will also use the right Cauchy-Green deformation tensor
t
0C = 0tX T 0tX (11.6)
Some applications
45
MIT 2.094 11. Deformation, strain and stress tensors
The stretch of a fiber ( tλ):

� t �2
� t �2 d txT d tx ds
λ = 0 T 0 = 0 (11.7)
d x d x d s
The length of a fiber is

�1
d 0s = d 0xT d 0x 2
�
(11.8)
� 0 T t T��t 0
�
� t �2 d x 0X 0X d x
λ = , from (11.5) (11.9)
d 0s · d 0s
Express
d 0x = d 0s 0n
� �
(11.10)
0 0
n = unit vector into direction of d x (11.11)
� t �2 0 T t 0
⇒ λ = n 0 C n (11.12)
� 0 T t 0 � 12
∴ tλ = n 0C n (11.13)
Also,
�T � t � � t � � t �
d tx̂ · d x = d ŝ d s cos tθ,
�
(a · b = �a��b� cos θ) (11.14)
From (11.5),
� ��
ˆT
�
d 0x̂T 0tX t
0X d 0x � �
t ˆ
cos tθ = 0X ≡ 0tX (11.15)
d tsˆ d ts
d ŝ n̂ 0 C n d 0s
0 0 T t 0
= (11.16)
d tsˆ · d ts
0
n̂T 0tC 0n
∴ cos tθ = (11.17)
tλ̂ tλ
Also,
0
t ρ
ρ= (see Ex. 6.5) (11.18)
det 0tX
Example Reading:
Ex. 6.6 in
the text
46
1
h1 = (1 + 0x1 )(1 + 0x2 ) (11.19)
4
..
.
t
xi = 0xi + tui (11.20)
4
�
= hk txki , (i = 1, 2) (11.21)
k=1
where txki are the nodal point coordinates at time t ( tx11 = 2, tx12 = 1.5)
Then we obtain
5 + 0x2 1 + 0x1
� �
t 1
0X = 1 1 (11.22)
4 2 (1 + 0x2 ) 0
2 (9 + x1 )
At 0x1 = 0, 0x2 = 0,
� �
t
� 1 5 1
0 X �0 = (11.23)
�
xi = 0x2 =0 4 12 9
2
The Green-Lagrange Strain
t 1 �t T t � 1 �t �
0� = 0X 0X − I = 0C − I (11.24)
2 2
�0
xi + tui
�
∂ txi ∂ ∂ tui
= = δ ij + (11.25)
∂ 0xj ∂ 0xj ∂ 0xj
We find that
t 1 �t t t t
�
0�ij = 0ui,j + 0uj,i + 0uk,i 0uk,j , sum over k = 1, 2, 3 (11.26)

2
where
t ∂ tui
0ui,j = (11.27)
∂ 0xj
47
Polar decomposition of 0tX

t
0X = 0tR 0tU (11.28)
where 0tR is a rotation matrix, such that

t T t
0R 0R =I (11.29)
and 0tU is a symmetric matrix (stretch)
Ex. 6.9 textbook
� √ ��
3 1 4
�
t 2 −
√2 3 0
0X = 1 3 0 3 (11.30)
2 2 2
Then,
t
� �2
0C = 0tX T 0tX = 0tU (11.31)
t 1 �� t �2 �
0� = 0U −I (11.32)
2
This shows, by an example, that the components of the Green-Lagrange strain are independent of a
rigid-body rotation.
48
Lecture 12 - Total Lagrangian formulation

We discussed:
� �
t ∂ txi � t �−1 t
0X = ⇒ d tx = 0tX d 0x, d 0x = 0X dx (12.1)
∂ 0xj
t
0C = 0tX T 0tX (12.2)
� �
0
� t �−1 ∂ xi
d 0x = 0t X d tx where 0t X = 0X = (12.3)
∂ txj
The Green-Lagrange strain:

t 1 �t T t � 1 �t �
0� = 0X 0X − I = 0C − I (12.4)
2 2
Polar decomposition:
t 1 �� t � 2 �
0X = 0tR0tU ⇒ 0t� = 0U −I (12.5)
2
We see, physically that:
where d t+Δtx and d tx are the same lengths

⇒ the components of the G-L strain do not
change.
Note in FEA
� ⎫
0
xi = hk 0xki ⎪
⎪
⎬
k
� for an element (12.6)
t
ui = hk tuki ⎪
⎪
⎭
t
xi = 0xi + tui → for any particle (12.7)
Hence for the element

� �
t
xi = hk 0xki + hk tuki (12.8)
k k
� �0 k t k�
= hk xi + ui (12.9)
k
�
= hk txkk (12.10)
k
49
MIT 2.094 12. Total Lagrangian formulation
E.g., k = 4
2nd Piola-Kirchhoff stress

0
t ρ0 t 0 T
0S = tρ t
X τ tX → components also independent of a rigid body rotation (12.11)
Then
� �
t
0 Sij δ 0t�ij d 0V = t
τij δ t
eij d tV = tR (12.12)
0V tV
We can use an incremental decomposition of stress/strain.
t+Δt
0S = 0tS + 0 S (12.13)
t+Δt
0 Sij = 0tSij + 0 Sij
(12.14)
t+Δt
t
0� = 0� + 0� (12.15)
t+Δt t
0�ij = 0�ij + 0�ij (12.16)
Assume the solution is kown at time t, calculate the solution at time t + Δt. Hence, we apply (12.12)
at time t + Δt:
�
t+Δt t+Δt 0 t+Δt
0 Sij δ 0�ij d V = R (12.17)
0V
Look at δ 0t�ij :
1 �t
δ 0t�ij = δ t t t
�
0ui,j + 0uj,i + 0uk,i 0uk,j (12.18a)
2� �
t 1 ∂δui ∂δuj ∂δuk ∂ tuk ∂ tuk ∂δuk
δ 0�ij = + 0 + 0 · 0 + 0 · 0 (12.18b)
2 ∂ 0xj ∂ xi ∂ xi ∂ xj ∂ xi ∂ xj
1
δ 0t�ij = δ 0ui,j + δ 0uj,i + δ 0uk,i 0tuk,j + 0tuk,i δ 0uk,j
� �
(12.18c)
2
We have
t+Δt
0�ij − 0t�ij = 0�ij (12.19)
0�ij = 0eij + 0 ηij (12.20)
50
where 0eij is the linear incremental strain, 0 ηij is the nonlinear incremental strain, and
⎛ ⎞
1⎜ t t
0eij = ⎝ u + u + u u + u u ⎠ (12.21)
⎟
2 0 i,j 0 j,i �0 k,i 0 k,j �� 0 k,i 0 k,j�
initial displ. effect
1
0 ηij = u u (12.22)
2 0 k,i 0 k,j
where
∂uk t+Δt
0uk,j = , uk = uk − tuk (12.23)
∂ 0xj
Note
δ t+Δt�ij = δ 0�ij � δ 0t�ij = 0 when changing the configuration at t + Δt

� �
(12.24)
From (12.17):
�
�t
δ 0eij + δ 0 ηij d 0V
��
0 Sij + 0 Sij
0V
�
�t t
� 0
= 0 Sij δ 0eij + 0 Sij δ 0eij + 0 Sij δ 0 ηij + 0 Sij δ 0 ηij d V (12.25)
0V
t+Δt
= R (12.26)
Linearization
⎛ t
⎞
t
0 KL U 0 KN L U
� �
⎜� �� t �� ⎟ 0 t+Δt t 0
⎜0 Sij δ 0eij + 0 Sij δ 0 ηij ⎟ d V =
⎝ ⎠ R− 0 Sij δ 0eij d V (12.27)
0V 0V
� ��
t
0F
We use,
0 Sij � 0 Cijrs 0ers (12.28)
We arrive at, with the finite element interpolations,

�t t t+Δt
R − 0tF
�
0 KL + 0 KN L U = (12.29)
where U is the nodal displacement increment.
51
Left hand side as before but using (k − 1) and right hand side is
�
t+Δt t+Δt (k−1) 0
= t+ΔtR − 0 Sij δ 0�ij d V (12.30)
0V
gives
t+Δt t+Δt (k−1)
R− 0F (12.31)
In the full N-R iteration, we use

� �
t+Δt (k−1) t+Δt (k−1) t+Δt (k−1)
0 KL + 0 KN L ΔU (k) = t+Δt
R− 0F (12.32)
52
Lecture 13 - Total Lagrangian formulation, cont’d

Example truss element. Recall:
Principle of virtual displacements applied at some time t + Δt:
�
t+Δt
τij δ t+Δteij d t+ΔtV = t+Δt
R (13.1)
t+ΔtV
�
t+Δt t+Δt 0 t+Δt
0 Sij δ 0�ij δ V = R (13.2)
0V
t+Δt
0 Sij = 0tSij + 0 Sij (13.3)
t+Δt t
0�ij = 0�ij + 0�ij (13.4)
0�ij = 0eij + 0 ηij (13.5)
where 0tSij and 0t�ij are known, but 0 Sij and 0�ij are not.
1� t t
�
0eij = 0ui,j + 0uj,i + 0uk,i 0uk,j + 0uk,j 0uk,i (13.6)
2
1� �
0 ηij = 0uk,i 0uk,j (13.7)
2
Substitute into (13.2) and linearize to obtain

� � �
δ 0eij 0 Cijrs 0ers d 0V + t 0
0 Sij δ 0 ηij d V =
t+Δt
R− δ 0eij 0tSij d 0V (13.8)
0V 0V 0V
F.E. discretization gives

�t t t+Δt
R − 0tF
�
0 KL + 0 KN L ΔU = (13.9)
53
MIT 2.094 13. Total Lagrangian formulation, cont’d
�
t t T t 0
0 KL = 0 BL 0 C 0 BL d V (13.10)
0V
�
t t T t t 0
0 KN L = 0 BN L 0 S 0 BN L d V (13.11)
0V ��
matrix
�
t t T t 0
0F = 0 BL 0 Ŝ d V (13.12)
0V ��
vector
The iteration (full Newton-Raphson) is

� �
t+Δt (i−1) t+Δt (i−1) t+Δt (i−1)
0 KL + 0 KN L ΔU (i) = t+Δt
R− 0F (13.13)
t+Δt
U (i) = t+Δt
U (i−1) + ΔU (i) (13.14)
Truss element example (p. 545)
Here we have to only deal with 0tS11 , 0e11 , 0 η11
∂u1 ∂ tu ∂uk
0e11 = 0 + 0 k · 0 (13.15)
∂ x1 ∂ x1 ∂ x1
� �
1 ∂uk ∂uk
0 η11 = · (13.16)
2 ∂ 0x1 ∂ 0x1
We are after
u11
⎛
⎞
⎜ u12 ⎟ t
0e11 = 0tBL ⎜
⎝ u21 ⎠ = 0 BL û
⎟ (13.17)
u22
2
�
ui = hk uki (13.18)
k=1
�
t
ui = hk tuki (13.19)
k=1
54
∂u1 ∂ tu1 ∂u1 ∂ tu2 ∂u2

0e11 = + + (13.20a)
∂ 0x ∂ 0x1 ∂ 0x1 ∂ 0x1 ∂ 0x1
t 2
�0 1 � 0
u1 = L + ΔL cos θ − L (13.20b)
t 2
u2 = 0L + ΔL sin θ
� �
(13.20c)
1 � �
0e11 =0 −1 0 1 0 û
L
⎛ ⎞
⎜ ⎟
⎜0 ⎟
⎜ L + ΔL ⎟ 1 � �
− ⎟ 0L −1
+⎜ cos θ 1 ⎟· 0 1 0 û
⎜ 0L
⎜� �� ⎟
⎝ ⎠
∂ tu1
∂ 0x1
⎛ ⎞
⎜ ⎟
⎜0 ⎟
⎜ L + ΔL ⎟ 1 � �
+⎜
⎜
0L
sin θ⎟⎟ · 0L 0 −1 0 1 û (13.20d)
⎜� �� ⎟
⎝ ⎠
∂ tu2
∂ 0x1
=0tBL û (13.20e)
Hence,
0
L + ΔL � �
0e11 = 2
− cos θ − sin θ cos θ sin θ û (13.20f)
( 0L)
where the boxed quantity above equals 0tBL . In small strain but large rotation analysis we assume
ΔL � 0L,
1 � �
0e11 = 0L
− cos θ − sin θ cos θ sin θ û (13.20g)
� �
1 ∂u1 ∂u1 ∂u2 ∂u2
0 η11 = 0 0 + 0 (13.21a)
2 ∂ x1 ∂ x1 ∂ x1 ∂ 0x1
� �
1 ∂δu1 ∂u1 ∂u1 ∂δu1 ∂δu2 ∂u2 ∂u2 ∂δu2
δ 0 η11 = + 0 + 0 + 0 (13.21b)
2 ∂ 0x1 ∂ 0x1 ∂ x1 ∂ 0x1 ∂ x1 ∂ 0x1 ∂ x1 ∂ 0x1
� �
∂δu1 ∂u1 ∂δu2 ∂u2
= + 0 (13.21c)
∂ 0x1 ∂ 0x1 ∂ x1 ∂ 0x1
� � tS �� ∂u1
�
t
�
∂δu1 ∂δu2 0 11 0 ∂ 0x1
0 S11 δ 0 η11 = ∂ 0x1 ∂ 0x1 0 t ∂u2 (13.21d)
0 S11 ∂ 0x1
� ��
t
0S
� ∂u1
� � �
∂ 0x1 1 −1 0 1 0
∂u2 = û (13.21e)
∂ 0x1
0L 0 −1 0 1
� ��
BN L
55
0C =E (13.22)
t
0 Ŝ = 0tS11 (13.23)
Assume small strains
t EA
0K =0L
cos2 θ − cos2 θ
⎡ ⎤
cos θ sin θ − cos θ sin θ
⎢ sin2 θ − sin θ cos θ − sin2 θ ⎥
=⎢ ⎥
⎣ cos2 θ sin θ cos θ ⎦
sym sin2 θ
� ��
t
0 KL (13.24)
⎡ ⎤
1 0 −1 0
t
P ⎢ 0 1 0 −1 ⎥
+0 ⎣ ⎢ ⎥
L −1 0 1 0 ⎦
0 −1 0 1
� ��
t
0 KN L
When θ = 0, 0tKL doesn’t give stiffness corresponding to u22 , but 0tKN L does.
56
Lecture 14 - Total Lagrangian formulation, cont’d

Truss element. 2D and 3D solids.
�
t+Δt
τij δ t+Δteij d t+ΔtV = t+Δt
R (14.1)
t+ΔtV
�
t+Δt t+Δt 0 t+Δt
0 Sij δ 0�ij δ V = R (14.2)
0V
⏐
� linearization
⏐
� � �
0 t 0 t+Δt t 0
0 Cijrs 0ers δ 0eij δ V + 0 Sij δ 0 ηij δ V = R− 0 Sij δ 0eij δ V (14.3)
0V 0V 0V
Note:
δ 0eij = δ 0t�ij
varying with respect to the configuration at time t.
F.E. discretization
� � �
t+Δt
0
xi = hk 0xki t
xi = hk txki xi = hk t+Δtxki (14.4a)
k k k
� � �
t
ui = hk tuki t+Δt
ui = hk t+Δtuik ui = hk uik (14.4b)
k k k
(14.4) into (14.3) gives

�t t t+Δt
R − 0tF
�
0 KL + 0 KN L U = (14.5)
57
Truss
ΔL
0L � 1 small strain assumption:
t E 0A
0K = 0L
cos2 θ − cos2 θ
⎡ ⎤
cos θ sin θ − cos θ sin θ
2
⎢ cos θ sin θ sin θ − sin θ cos θ − sin2 θ ⎥
=⎢ ⎥
⎣ − cos2 θ − cos θ sin θ cos2 θ sin θ cos θ ⎦
2 (14.6)
− cos θ sin θ − sin θ sin θ cos θ sin2 θ
⎡ ⎤
1 0 −1 0
t
P ⎢ 0 1 0 −1 ⎥
+ ⎢
0L ⎣ −1
⎥
0 1 0 ⎦
0 −1 0 1
(notice that the both matrices are symmetric)
� � � ��
u1 cos θ sin θ u1
= (14.7)
v1 − sin θ cos θ v1
Corresponding to the u and v displacements we have:
t E 0A
0K = 0L
(14.8)
⎡ ⎤ ⎡ ⎤
1 0 −1 0 1 0 −1 0
⎢ 0 0 0 0 ⎥ t
P ⎢ 0 1 0 −1 ⎥
= ⎢
⎣ −1
⎥+ 0L
⎢
⎣ −1
⎥ (14.9)
0 1 0 ⎦ 0 1 0 ⎦
0 0 0 0 0 −1 0 1
58
t
P
Q 0L = tP · Δ ⇒ Q= 0L
· Δ (14.10)
t
P
where the boxed term is the stiffness. In axial direction, 0L is not very important because usually
0 t t
E A P P
0L � 0L . But, in vertical direction, 0L is important.
⎡⎤
− cos θ
t t ⎢ − sin θ ⎥
⎢ ⎥
0 F = P ⎣ cos θ ⎦ (14.11)
sin θ
2D/3D (e.g. Table 6.5) 2D:
t t 1 �� 2 � �2 �
�
0 11 = u
0 1,1 + u u
0 1,1 0 1,1 + u u
0 2,1 0 2,1 + u
0 1,1 + u
0 2,1 (14.12)
� �� 2� ��
0e11
0 η11
0�22 = · · · (14.13)
0�12 = · · · (14.14)
(Axisymmetric)
0�33 = ? (14.15)
t1 �� t � 2 �
0� =
0U −I (14.16)
2⎡ ⎤
× × 0
⎣ × × 0 ⎦
t 2 0 0 ×
0U = (14.17)
↑
t 2
( λ)
� �
t d ts 2π 0x1 + tu1
λ= 0 =
d s 2π 0x1
t
(14.18)
u
=1+ 0 1
x1
�� 2 �
t
t 1 u1
0�33 = 1+ 0 − 1
2 x1
�2 (14.19)
t
1 tu1
�
u
= 0 1 +
x1 2 0x1
59
t
�t �2
t+Δt u + u1 1 u 1 + u1
0�33 = 10 + 0x (14.20)
x1 2 1
t
� �2
t+Δt u1 u 1 u1 1 u1
0�33 = 0�33 − 0t�33 = 0x + 0x · 0x + 2 0x (14.21)
1 1 1 1
How do we assess the accuracy of an analysis? Reading:

Sec. 4.3.6
• Mathematical model ∼ u
• F.E. solution ∼ uh
Find �u − uh � and �τ − τh �.
References
[1] T. Sussman and K. J. Bathe. “Studies of Finite Element Procedures - on Mesh Selection.” Computers
& Structures, 21:257–264, 1985.
[2] T. Sussman and K. J. Bathe. “Studies of Finite Element Procedures - Stress Band Plots and the
Evaluation of Finite Element Meshes.” Journal of Engineering Computations, 3:178–191, 1986.
60
Lecture 15 - Field problems

Heat transfer, incompressible/inviscid/irrotational flow, seepage flow, etc. Reading:

Sec. 7.2-7.3
• Differential formulation
• Variational formulation
• Incremental formulation
• F.E. discretization
15.1 Heat transfer
Assume V constant for now:
S = Sθ ∪ Sq
θ(x, y, z, t) is unkown except θ|Sθ = θpr . In addition, q s

|Sq is also prescribed.
15.1.1 Differential formulation

I. Heat flow equilibrium in V and on Sq .
∂θ
II. Constitutive laws qx = −k ∂x .
∂θ
qy = −k (15.1)
∂y
∂θ
qz = −k (15.2)
∂z
III. Compatibility: temperatures need to be continuous and satisfy the boundary conditions.
61
MIT 2.094 15. Field problems
Heat flow equilibrium gives

� � � � � �
∂ ∂θ ∂ ∂θ ∂ ∂θ
k + k + k = −q B (15.3)
∂x ∂x ∂y ∂y ∂z ∂z
where q B is the heat generated per unit volume. Recall 1D case:
unit cross-section
dV = dx · (1) (15.4)
q |x − q |x+dx + q B dx = 0 (15.5)
� �
∂qx
q|x − q|x + dx + q B dx = 0 (15.6)
∂x
� �
∂ ∂θ
− −k � + qB �
dx
� dx
�=0 (15.7)
∂x ∂x
� �
∂ ∂θ
k = −q B (15.8)
∂x ∂x
We also need to satisfy

∂θ
k = qS (15.9)
∂n
on Sq .
15.1.2 Principle of virtual temperatures

� � � �
∂ ∂θ B
θ k + ··· + q =0 (15.10)
∂x ∂x
�
( θ�S = 0 and θ to be continuous.)
θ
� � � � �
∂ ∂θ
θ k + · · · + q B dV = 0 (15.11)
V ∂x ∂x
62
Transform using divergence theorem (see Ex 4.2, 7.1)

� � �
�T � B Sq
θ kθ dV =
�� θq dV + θ q S dSq (15.12)
V V Sq
heat flow
⎛ ∂θ ⎞
∂x
⎜ ⎟
� ∂θ
⎜ ⎟
θ =⎜
⎜ ∂y
⎟
⎟ (15.13)
⎝ ⎠
∂θ
∂z
⎡ ⎤
k 0 0
k=⎣ 0 k 0 ⎦ (15.14)
0 0 k
Convection boundary condition

qS = h θe − θS
� �
(15.15)
where θe is the given environmental temperature.
Radiation
� � �4 �
4
q S = κ∗ (θr ) − θS (15.16)
� � �2 � � r
2
= κ∗ (θr ) + θS θ + θS θr − θS
��
(15.17)
= κ θr − θS
� �
(15.18)
where κ = κ(θS ) and θr is given temperature of source. At time t + Δt
� � �
� T t+Δt t+Δt � t+Δt B S
θ k θ dV = θ q dV + θ t+Δtq S dSq (15.19)
V V Sq
t+Δt
Let θ = tθ + θ (15.20)
t+Δt (i) t+Δt (i−1) (i)
or θ = θ + Δθ (15.21)
t+Δt (0) t
with θ = θ (15.22)
From (15.19)
�
�T (i)
θ t+Δtk(i−1) Δθ � dV
V
� �
�T t+Δt � (i−1)
= θ t+Δtq B dV − θ t+Δtk(i−1) θ dV (15.23)
V V
� � � ��
S (i−1) (i)
+ θ t+Δth(i−1) t+Δtθ e − t+Δtθ S + ΔθS dSq
Sq
(i)
where the ΔθS term would be moved to the left-hand side.
We considered the convection conditions
�
S
θ t+Δth t+Δtθ e − t+Δtθ S dSq
� �
(15.24)
Sq
The radiation conditions would be included similarly.
63
F.E. discretization
t+Δt
θ = H1x4 · t+Δtθ̂4x1 for 4-node 2D planar element (15.25)
t+Δt �
θ2x1 = B2x4 · t+Δtθ̂4x1 (15.26)
t+Δt S S t+Δt
θ =H · θ̂ (15.27)
For (15.23)
⎛ ⎞
� �
�T (i) gives
θ t+Δtk(i−1) Δθ � dV =⇒ ⎝ �� B T t+Δtk(i−1) �� θ̂ (i)
B dV ⎠ Δ �� (15.28)
V V � ��
4x2 2x2 2x4 4x1
� �
θ t+Δtq B dV ⇒ H T t+Δtq B dV (15.29)
V V
� ��
� T t+Δt (i−1) t+Δt � (i−1)
θ k θ dV ⇒ B T t+Δtk(i−1) BdV t+Δt (i−1)
θ̂ (15.30)
V V � ��
known
�
S T t+Δt (i−1)
� � ��
t+Δt e t+Δt S (i−1) (i)
θ h θ − θ + ΔθS dSq =⇒
Sq
(15.31)
⎛ ⎛ ⎞⎞
�
T
S t+Δt (i−1)
H
� �� h H S ⎝ t+Δtθ̂ e − ⎝ t+Δtθ̂ (i−1) +Δ ��
�� θ̂ (i) ⎠⎠ dSq
Sq � ��
4x1 1x4 4x1 4x1 4x1
15.2 Inviscid, incompressible, irrotational flow

2D case: vx , vy are velocities in x and y directions. Reading:
Sec. 7.3.2
�·v =0 (15.32)
∂vx ∂vy
or + =0 (incompressible) (15.33)
∂x ∂y
∂vx ∂vy
− =0 (irrotational) (15.34)
∂y ∂x
Use the potential φ(x, y),
∂φ ∂φ
vx = vy = (15.35)
∂x ∂y
∂2φ ∂2φ
⇒ + 2 = 0 in V (15.36)
∂x2 ∂y
(Same as the heat transfer equation with k = 1, q B = 0)
64
Lecture 16 - F.E. analysis of Navier-Stokes fluids

Incompressible flow with heat transfer

Reading:
Sec.
We recall heat transfer for a solid: 7.1-7.4,
Table 7.3
Governing differential equations

(kθ,i ),i + q B = 0 in V (16.1)
� ∂θ ��
θ� is prescribed, k � = qS � (16.2)
� �
Sθ ∂n Sq Sq
Sθ ∪ Sq = S Sθ ∩ Sq = ∅ (16.3)
Principle of virtual temperatures

� � �
B S
θ,i kθ,i dV = θq dV + θ q S dSq (16.4)
V V Sq
for arbitrary continuous θ(x1 , x2 , x3 ) zero on Sθ

For a fluid, we use the Eulerian formulation.
65
MIT 2.094 16. F.E. analysis of Navier-Stokes fluids
� �
∂
ρcp v θ|x − ρcp v θ|x + (ρcp vθ)dx + conduction + etc (16.5)
∂x
In general 3D, we have an additional term for the left hand side of (16.1):
−� · (ρcp vθ) = −ρcp � · (vθ) = −ρcp (�

��·�
v )θ − ρcp (v · �) θ (16.6)
� ��
term (A)
where � · v = 0 in the incompressible case.
� · v = vi,i = div(v) = 0 (16.7)
So (16.1) becomes
(kθ,i ),i + q B = ρcp θ,i vi ⇒ (kθ,i ),i + q B − ρcp θ,i vi = 0

� �
(16.8)
Principle of virtual temperatures is now (use (16.4))

� � � �
S
θ,i kθ,i dV + θ (ρcp θ,i vi ) dV = θq B dV + θ q S dSq (16.9)
V V V Sq
Navier-Stokes equations
• Differential form
τij,j + fiB = ρvi,j vj (16.10)
with ρvi,j vj like term (A) in (16.6) = ρ(v · �)v in V .

� �
1 ∂vi ∂vj
τij = −pδij + 2µeij eij = + (16.11)
2 ∂xj ∂xi
• Boundary conditions (need be modified for various flow conditions)

Sf
τij nj = fi on Sf (16.12)
∂vn ∂vt
Mostly used as fn = τnn = prescribed, ft = unknown with possibly ∂n = ∂n = 0 (outflow or
inflow conditions).
And vi prescribed on Sv , and Sv ∪ Sf = S and Sv ∩ Sf = ∅.
66
• Variational form
� � � �
S S
v i ρvi,j vj dV + eij τij dV = v i fiB dV + v i f fi f dSf (16.13)
V V V Sf
�
p� · vdV = 0 (16.14)
V
• F.E. solution
We interpolate (x1 , x2 , x3 ), vi , v i , θ, θ, p, p. Good elements are
×: linear pressure
◦: biquadratic velocities
(Q2 , P1 ), 9/3 element
9/4c element
Both satisfy the inf-sup condition.
So in general,
Example:
For Sf e.g.
∂vt
τnn = 0, = 0; (16.15)
∂n
67
∂vn
and ∂t is solved for. Actually, we frequently just set p = 0.
Frequently used is the 4-node element with constant pressure
It does not strictly satisfy the inf-sup condition. Or use Reading:

Sec. 7.4
3-node element with a bubble node.
Satisfies inf-sup condition
1D case of heat transfer with fluid flow, v = constant Reading:

Sec. 7.4.3
vL vL k
Re = Pe = α= (16.16)
ν α ρcp
• Differential equations
kθ�� = ρcp θ� v (16.17)
θ|x=0 = θL θ|x=L = θR (16.18)
In non-dimensional form Reading:

p. 683
1 ��
θ = θ� (now θ�� and θ� are non-dimensional) (16.19)
Pe
exp Pe
� �
θ − θL L x −1
⇒ = (16.20)
θR − θL exp (Pe) − 1
68
• F.E. discretization
θ�� = Peθ� (16.21)
� 1 � 1
� �
θ θ dx + Pe θθ� dx = 0 + { effect of boundary conditions = 0 here} (16.22)
0 0
Using 2-node elements gives
1 Pe
2 (θi+1 − 2θi + θi−1 ) = (θi+1 − θi−1 ) (16.23)
(h∗ ) 2h∗
vL
Pe = (16.24)
α
Define
h vh
Pee = Pe · = (16.25)
L α
Pee Pee
� � � �
−1 − θi−1 + 2θi + − 1 θi+1 = 0 (16.26)
2 2
what is happening when Pee is large? Assume two 2-node elements only.
θi−1 = 0 (16.27)
θi+1 = 1 (16.28)
Pee
� �
1
θi = 1− (16.29)
2 2
69
Pee
� �
1
θi = 1− (16.30)
2 2
For Pee > 2, we have negative θi (unreasonable).
70
Lecture 17 - Incompressible fluid flow and heat transfer, cont’d

17.1 Abstract body

Reading:
Sec. 7.4
Fluid Flow Heat transfer

Sv , Sf Sθ , Sq
Sv ∪ Sf = S Sθ ∪ Sq = S
Sv ∩ Sf = 0 Sθ ∩ Sq = 0
17.2 Actual 2D problem (channel flow)
71
MIT 2.094 17. Incompressible fluid flow and heat transfer, cont’d
17.3 Basic equations

P.V. velocities
� � � �
S S
v i ρvi,j vj dV + τij eij dV = v i fiB dV + v i f fi f dSf (17.1)
V V V Sf
Continuity
�
pvi,i dV = 0 (17.2)
V
P.V. temperature
� � � �
S
θρcp θ,i vi dV + θ,i kθ,i dV = θq B dV + θ q S dS (17.3)
V V V Sq
F.E. solution
�
xi = hk xki (17.4)
�
vi = hk vik (17.5)
�
θ= hk θk (17.6)
�
p= h̃k pk (17.7)
⎛ ⎞
v
⇒ F (u) = R
u = ⎝ p ⎠ nodal variables (17.8)
θ
17.4 Model problem

1D equation,
dθ d2 θ
ρcp v =k 2 (17.9)
dx dx
(v is given, unit cross section)

Non-dimensional form (Section 7.4)
dθ d2 θ
Pe = 2 (17.10)
dx dx
72
vL k
Pe = , α= (17.11)
α ρcp
θ∗ is non-dimensional
exp PeLx − 1
� �
θ − θL
= (17.12)
θR − θ L exp (Pe) − 1
(17.10) in F.E. analysis becomes

� �
dθ dθ dθ
θPe dV + dV = 0 (17.13)
V dx V dx dx
Discretized by linear elements:
h
h∗ =
L
� �
ξ ξ
θ(ξ) = 1 − ∗ θi−1 + ∗ θi (17.14)
h h
For node i:
Pee Pee
−θi−1 − θi−1 + 2θi − θi+1 + θi+1 = 0 (17.15)

2 2
where
� �
vh h
Pee = = Pe (17.16)
α L
This result is the same as obtained by finite differences

� 1
θ�� = 2 (θi+1 − 2θi + θi−1 ) (17.17)
�
i (h∗ )
� θi+1 − θi−1
θ� � = (17.18)
�
i 2h∗
73
Considered θi+1 = 1, θi−1 = 0. Then
1 − (Pee /2)
θi = (17.19)
2
Physically unrealistic solution when Pee > 2. For this not to happen, we should refine the mesh—a very
fine mesh would be required. We use “upwinding”
dθ �� θi − θi−1
� = (17.20)
dx i h∗
The result is
(−1 − Pee ) θi−1 + (2 + Pee ) θi − θi+1 = 0 (17.21)
Very stable, e.g.

�
θi−1 = 0 1
⇒ θi = (17.22)
θi+1 = 1 2 + Pee
Unfortunately it is not that accurate. To obtain better accuracy in the interpolation for θ, use the
function
� x�
exp Pe L −1
(17.23)
exp (Pe) − 1
The result is Pee dependent:
This implies flow-condition based interpolation. We use such interpolation functions—see references.
References
[1] K.J. Bathe and H. Zhang. “A Flow-Condition-Based Interpolation Finite Element Procedure for
Incompressible Fluid Flows.” Computers & Structures, 80:1267–1277, 2002.
[2] H. Kohno and K.J. Bathe. “A Flow-Condition-Based Interpolation Finite Element Procedure for
Triangular Grids.” International Journal for Numerical Methods in Fluids, 51:673–699, 2006.
74
17.5 FSI briefly
Lagrangian formulation for the structure/solid
Arbitrary Lagrangian-Eulerian (ALE) formulation Let f be a variable of a particle (e.g. f = θ).

Consider 1D
� ∂f ∂f
f˙� = + v (17.24)
�
particle ∂t ∂x
where v is the particle velocity. For a mesh point,
� ∂f ∂f
f ∗� = + vm (17.25)
�
mesh point ∂t ∂x
where vm is the mesh point velocity. Hence,
� � ∂f
f˙� = f ∗� + (v − vm ) (17.26)
� �
particle mesh point ∂x
Use (17.26) in the momentum and energy equations and use force equilibrium and compatibility at
the FSI boundary to set up the governing F.E. equations.
References
[1] K.J. Bathe, H. Zhang and M.H. Wang. “Finite Element Analysis of Incompressible and Compressible
Fluid Flows with Free Surfaces and Structural Interactions.” Computers & Structures, 56:193–213,
1995.
[2] K.J. Bathe, H. Zhang and S. Ji. “Finite Element Analysis of Fluid Flows Fully Coupled with
Structural Interactions.” Computers & Structures, 72:1–16, 1999.
[3] K.J. Bathe and H. Zhang. “Finite Element Developments for General Fluid Flows with Structural
Interactions.” International Journal for Numerical Methods in Engineering, 60:213–232, 2004.
75
Lecture 18 - Solution of F.E. equations

In structures, Reading:
Sec. 8.4
F (u, p) = R. (18.1)
In heat transfer,
F (θ) = Q (18.2)
In fluid flow,
F (v, p, θ) = R (18.3)
In structures/solids
� �� t (m) T t ˆ (m) 0 (m)
F = F (m) = 0 BL 0S d V (18.4)
0V (m)
m m
Elastic materials
Example p. 590 textbook
76
MIT 2.094 18. Solution of F.E. equations
Material law
t
0 S11
˜
0t�11
=E (18.5)
In isotropic elasticity:
E (1 − ν)
Ẽ = , (ν = 0.3) (18.6)
(1 + ν) (1 − 2ν)
�� 2 � �� 2 �
0
t 1 �� t � 2 � 1 L + tu 1 t
u
0� = U − I ⇒ 0t�11 = −1 = 1+ 0 −1 (18.7)
2 0 2 0L 2 L
where 0tU is the stretch tensor.
0
t ρ0
0 S11 = X tτ 0X T
tρ t 11 11 t 11
(18.8)
with
0
0 L 0 0
t X11 = 0L
, ρ L = tρ tL (18.9)
+ tu
t
� 0 �2 0
L L L
⇒ 0tS11 = 0L tL
t
τ11 = t tτ11 (18.10)
L
�� 2 �
0 t
L 1 u
∴ t tτ11 = Ẽ · 1+ 0 −1 (18.11)
L 2 L
�� 2 ��
t t
�
t ẼA t u u
⇒ τ11 A = P = 1+ 0 −1 1 +
0 (18.12)
2 L L
This is because of the material-law assumption (18.5) (okay for small strains . . . )
Hyperelasticity
t
0W = f (Green-Lagrange strains, material constants) (18.13)
� �
t 1 ∂0tW ∂0tW
0 Sij = + t (18.14)
2 ∂ 0t�ij ∂ 0�ji
� t
1 ∂ 0 Sij ∂ 0tSij
�
C
0 ijrs = + (18.15)
2 ∂ 0t�rs ∂ 0t�sr
77
Plasticity
• yield criterion
• flow rule
• hardening rule
� t
t t−Δt
τ = τ + dτ (18.16)
t−Δt
Solution of (18.1) (similarly (18.2) and (18.3))

Newton-Raphson Find U ∗ as the zero of f (U ∗ )
f (U ∗ ) = t+Δt
R − t+ΔtF (18.17)
�
� � ∂f ��
=f t+Δt (i−1)
U + · U ∗ − t+ΔtU (i−1) + H.O.T. (18.18)
∂U t+ΔtU (i−1)
�
where t+Δt
U (i−1) is the value we just calculated and an approximation to U ∗ .
Assume t+ΔtR is independent of the displacements.
� � ∂ t+ΔtF ��
t+Δt t+Δt (i−1)
0= R− F − � · ΔU (i) (18.19)
∂U � t+ΔtU (i−1)
We obtain
t+Δt
K (i−1) ΔU (i) = t+Δt
R − t+ΔtF (i−1) (18.20)
∂ t+ΔtF ��
� � ��
t+Δt (i−1) ∂F ��
K = = (18.21)
∂U � t+ΔtU (i−1) ∂U � t+ΔtU (i−1)
Physically
� �
t+Δt (i−1)
Δ F1
t+Δt (i−1)
K11 = (18.22)
Δu
78
Pictorially for a single degree of freedom system
t
i = 1; K Δu(1) = t+Δt
R − tF (18.23)
t+Δt (1) (2) t+Δt t+Δt (1)
i = 2; K Δu = R− F (18.24)
Convergence Use
�ΔU (i) �2 < � (18.25)

��
2
�a�2 = (ai ) (18.26)
i
But, if incremental displacements are small in every iteration, need to also use
� t+ΔtR − t+ΔtF (i−1) �2 < �R (18.27)
18.1 Slender structures

(beams, plates, shells)
t
�1 (18.28)
Li
79
Beam
t 1
e.g. L = 100
(4-node el.)
The element does not have curvature →

we have
a spurious shear strain
(9-node el.)
→ We do not have a shear (better)
→ But, still for thin structures, it has problems
like ill-conditioning.
⇒ We need to use beam elements. For curved structures also spurious membrane strain can be
present.
80
Lecture 19 - Slender structures

t t 1 1
Beam analysis, L � 1 (e.g. L = 100 , 1000 , · · · ) Reading:
Sec. 5.4,
6.5
(plane stress)
� L �
2 0
J= (19.1)
0 2t
1
h2 = (1 − r) (1 + s) (19.2)
4
1
h3 = (1 − r) (1 − s) (19.3)
4
Beam theory assumptions (Timoshenko beam theory):
v2∗ = v3∗ = v2 (19.4)

t
u3∗ = u2 + θ2 (19.5)
2
∗ t
u 2 = u2 − θ 2 (19.6)
2
u∗2 v2∗ u∗3 v3∗
− 41 (1 + s) L2 − 14 (1 − s) L2
⎡ ⎤
0 0
B∗ = ⎢
⎢
⎥ etc
⎥ (19.7)
1
⎢
⎢ 0 4 (1 − r) 2t 0 − 14 (1 − r) 2t ⎥
⎥
⎣ ⎦
1
4 (1 − r) 2t − 14 (1 + s) L2 − 14 (1 − r) 2t − 14 (1 − s) L2
81
MIT 2.094 19. Slender structures
u2 v2 θ2
∂u
⎛ ⎞
− L1 t
⎡ ⎤
0 ∂x
2L s ⎜ ⎟
0
⎢ ⎥ ⎜ ⎟
Bbeam = ⎢
⎢ ···
⎥ ⎜
⎥∼⎜
⎟ (19.8)
0
� 0
� 0
� ∂v
� ⎟
∂y
⎢ ⎥ ⎜ ⎟
⎣ ⎦ ⎜ � ⎟
− L1 − 21 (1 − r)
⎝ ⎠
0 ∂u ∂v
∂y + ∂x
1
v(r) = (1 − r)v2
(19.9)
2
1 st
u(r) = (1 − r)u2 − (1 − r)θ2 (19.10)

2 4
at r = −1,
v(−1) = v2 (19.11)
st
u(−1) = − θ2 + u2 (19.12)
2
Kinematics is
1
u(r) = (1 − r)u2 (19.13)
2
results into �xx
∂u 2 1
→ �xx = · =− (19.14)
∂r L L
st
u(r, s) = − (1 − r)θ2 (19.15)
4
results into �xx , γxy
st
→ �xx = (19.16)
2L
∂u 2 1
γxy = · = − (1 − r) (19.17)
∂s t 2
1
v(r) = (1 − r)v2 (19.18)
2
results into γxy
1
→ γxy = − (19.19)
L
82
For a pure bending moment, we want
1 1
− v2 − (1 − r)θ2 = 0 (19.20)
L 2
for all r! ⇒ Impossible (except for v2 = θ2 = 0) ⇒ So, the element has a spurious shear strain!
Beam kinematics (Timoshenko, Reissner-Mindlin)
dw
γ= −β (19.21)
dx
� �
1 3
I= bt (19.22)
12
Principle of virtual work

� L � L � �� L
dβ dβ dw dw
EI dx + AS G −β − β dx = pwdx (19.23)
0 dx dx 0 dx dx 0
As = kA = kbt (19.24)
To calculate k Reading:
� �2 p. 400
� �
1 2 1 V
(τa ) dA = dAs (19.25)
A 2G AS 2G A s
where τa is the actual shear stress:

� � �2 �
t
3 V 2 − y2
τa = · � t �2 (19.26)
2 A
2
and V is the shear force. Reading:

Ex. 5.23
5
⇒k= (19.27)
6
83
Now interpolate
w(r) = h1 w1 + h2 w2 (19.28)
β(r) = h1 θ1 + h2 θ2 (19.29)
Revisit the simple case:
1+r
w= w1 (19.30)
2
1+r
β= θ1 (19.31)
2
Shearing strain
w1 1+r
γ= − θ1 (19.32)
L 2
Shear strain is not zero all along the beam. But, at r = 0, we can have the shear strain = 0.
w1 θ1
− can be zero (19.33)
L 2
Namely,
w1 θ1 2
− = 0 for θ1 = w1 (19.34)
L 2 L
84
Lecture 20 - Beams, plates, and shells

Timoshenko beam theory
The fiber moves up and rotates and its length does not change.
Principle of virtual displacement (Linear Analysis)

� L � � �T � L � �T � � � L
dw dw
EI β β � dx + (Ak)G −β − β dx = wT pdx (20.1)
0 0 dx dx 0
Two-node element:
Three-node element:
For a q-node element,

� �T
û = w1 · · · wq θ1 · · · θq (20.2)
w = Hw û (20.3)
β = Hβ û (20.4)
� �
Hw = h1 · · · hq 0 · · · 0 (20.5)
� �
Hβ = 0 · · · 0 h1 · · · hq (20.6)
dx
J= (20.7)
dr
85
MIT 2.094 20. Beams, plates, and shells
dw
= J −1 Hw,r û (20.8)
dx � ��
Bw
dβ
= J −1 Hβ,r u
ˆ (20.9)
dx � ��
Bβ
Hence we obtain
� � 1 � 1 �
T
EI BβT Bβ det(J )dr + (Ak)G (Bw − Hβ ) (Bw − Hβ ) det(J )dr û
−1 −1
� 1
= HwT p det(J )dr (20.10)
−1
Kû = R (20.11)
K is a result of the term inside the bracket in (20.10) and R is a result of the right hand side.
For the 2-node element,
w1 = θ1 = 0 (20.12)
w2 , θ2 = ? (20.13)
w2 1+r
γ= − θ2 (20.14)
L 2
We cannot make γ equal to zero for every r (page 404, textbook). Because of this, we need to use
about 200 elements to get an error of 10%. (Not good!)
Recall almost or fully incompressible analysis: Principle of virtual displacements:
� �
�T � �
� C � dV + �v (κ�v )dV = R (20.15)
V V
u/p formulation
� �
T
�� C � �� dV − �v pdV = R (20.16)
V V
� �p �
p + �v dV = 0 (20.17)
V κ
But now we needed to select wisely the interpolations of u and p. We needed to satisfy the inf-sup
condition
�
qh � · vh dVol
inf sup Vol ≥β>0 (20.18)
�� qh ��vh �
qh ∈Qh vh ∈Vh
86
4/1 element:
We can show mathematically that this element does not satisfy inf-sup condition. But, we can also
show it by giving an example of this element which violates the inf-sup condition.
v1 = �, v2 = 0 ⇒ � · vh for both elements is positive and the same. Now, if I choose pressures as
above
�
qh �vh dVol = 0, hence (20.18) is not satisfied! (20.19)
Vol
9/3 element
satisfies inf-sup
9/4-c
satisfies inf-sup
Getting back to beams

� L � L � �
� dw
EI β βdx + (AkG) − β γ AS dx = R (20.20)
0 0 dx
� L
γ AS γ − γ AS dx = 0
� �
(20.21)
0
where
dw
γ= − β, from displacement interpolation (20.22)
dx
87
γ AS = Assumed shear strain interpolation (20.23)
2-node element, constant shear assumption. From (20.21), Reading:

Sec. 4.5.7
� L � � � L
dw
−β �γ AS
�dx = γ AS �
γ AS
�dx (20.24)
0 dx 0
� +1 � �
1+r L
⇒− θ2 · dr + w2 = γ AS · L (20.25)
−1 2 2
w2 − L2 θ2
⇒ γ AS = (20.26)
L
γ AS (shear strain) is equal to the displacement-based shear strain at the middle of the beam.
Use γ AS in (20.20) to obtain a powerful element. For “our problem”,
L
γ AS = 0 hence w2 = θ2 (20.27)
2
� L
�
β β � dx = M β � x=L
�
⇒ EI (20.28)
0
��
2
1
⇒ EI · L θ2 = M (20.29)
L
ML M L2
⇒ θ2 = , w2 = (20.30)
EI 2EI
(exact solutions)
88
Plates Reading:
Fig. 5.25,
p. 421
⎧
⎨ w = w(x, y) is the transverse displacement of the mid-surface
⎪
v = −zβy (x, y) (20.31)
⎪
u = −zβx (x, y)
⎩
For any particle in the plate with coordinates (x, y, z), the expressions in (20.31) hold!
We use
q
�
w= hi wi (20.32)
i=1
q
�
βx = − hi θyi (20.33)
i=1
�q
βy = + hi θxi (20.34)
i=1
where q equals the number of nodes. Then the element locks in the same way as the displacement-based
beam element.
89
Lecture 21 - Plates and shells

Timoshenko beam theory, and Reissner-Mindlin plate theory
For plates, and shells, w, βx , and βy as independent variables.
w = displacement of mid-surface, w(x, y)
A = area of mid-surface
p = load per unit area on mid-surface
w = w(x, y) (21.1)
w(x, y, z) = w(x, y) (21.2)
The material particles at “any z” move in the z-direction as the mid-surface.
u(x, y, z) = −βx z = −βx (x, y)z (21.3)

v(x, y, z) = −βy z = −βy (x, y)z (21.4)
∂u ∂βx
�xx = = −z (21.5)
∂x ∂x
∂v ∂βy
�yy = = −z (21.6)
∂y ∂y
� �
∂u ∂v ∂βx ∂βy
γxy = + = −z + (21.7)
∂y ∂x ∂y ∂x
∂βx
⎛ ⎞
⎛ ⎞ ∂x
�xx
⎜ ⎟
⎜ ⎟
∂βy
⎝ �yy ⎠ = −z ⎜
⎜ ∂y
⎟
⎟ (21.8)
γxy
⎜ ⎟
⎝ ⎠
∂βx ∂βy
∂y + ∂x
� ��
κ
90
MIT 2.094 21. Plates and shells
∂w ∂u ∂w
γxz = + = − βx (21.9)
∂x ∂z ∂x
∂w ∂v ∂w
γyz = + = − βy (21.10)
∂y ∂z ∂y
⎛ ⎞ ⎡ ⎤⎛ ⎞
τxx 1 ν 0 �xx
E ⎣ ν ⎦ ⎝ �yy ⎠ = C · �
⎝ τyy ⎠ = 1 0 (21.11)
1 − ν2 1−ν
τxy 0 0 2 γxy
(plane stress)
� � � �
τxz E γxz
= = Gγ (21.12)
τyz 2(1 + ν) γyz
Principle of virtual work for the plate:
⎡ ⎤⎛ ⎞
� � + 2t 1 ν 0 �xx
� � E ⎣
�xx �yy γ xy ν 1 0 ⎦ ⎝ �yy ⎠dzdA+
A − 2t 1 − ν2 1−ν
0 0 2 γxy (21.13)
� � + 2t � ��
� � 1 0 γxz
k γ xz γ yz G dzdA = wpdA
A − 2t 0 1 γyz A
Consider a flat element:
⎛ ⎞
w1 ⎛ ⎞
u1
⎜ θx1 ⎟
⎜ v ⎟
⇒ Kb ⎜ θy1 ⎟ , also Kpl. str. ⎝ 1 ⎠ (21.14)
⎜ ⎟
⎝
.
⎠ ...
..
where Kb is 12x12 and Kpl. str. is 8x8.
91
For a flat element:

⎛ ⎞
w1
⎜ θx1 ⎟
θy1
⎜ ⎟
⎜ ⎟
..
⎜ ⎟
⎜ ⎟
� �⎜ . ⎟
Kb 0 ⎜ ⎟
4 ⎟
⇒ ⎜ θy ⎟ = · · · (21.15)
0 Kpl. str. ⎜
⎜
⎜ u1 ⎟ ⎟
⎜
⎜ v1 ⎟ ⎟
⎜ .. ⎟
⎝ . ⎠
v4
�
u= hi u i (21.16)
�
v= hi vi (21.17)
�
w= hi wi (21.18)
�
βx = − hi θyi (21.19)
�
βy = hi θxi (21.20)
From (21.13)
⎡ ⎤
� 3 1 ν 0 � � �
Et 1 0
κT ⎣ ν 1 0 ⎦ κdA + γ T Gt · k γdA (21.21)
A 12 (1 − ν 2 ) 1−ν A 0 1
0 0 2
where k is the shear correction factor.

∂w ∂w ∂βx
Next, evaluate ∂x , ∂y , ∂x , . . . etc. ⇒ This element, as it is, locks!
This displacement-based element “locks in shear”. We need to change the transverse shear interpola
tions.
1 A 1 C
γyz = (1 − r)γyz + (1 + r)γyz (21.22)
2 2
where
� ��
A ∂w �
γyz = − βy �� (21.23)
∂y evaluated at A
from the w, βy displacement interpolations.

1 B 1 D
γxz = (1 − s)γxz + (1 + s)γxz (21.24)
2 2
with this mixed interpolation, the element works. Called MITC interpolation (for mixed interpolated-
tensional components)
92
Aside: Why not just neglect transverse shears, as in Kirchhoff plate theory?
∂w
• If we do, γxz = βx = 0 ⇒ βx = ∂w
∂x − ∂x
� 2 �
• Therefore we have ∂∂xw2 , · · · in strains, so we need continuity also for
� ∂w
�
∂x
· · ·
•
1 1
r(1 + r)w1 − r(1 − r)w2 + 1 − r2 w3
� �
w=
2 2
w2 and w3 never affect w1 (∴ w|r=1 = w1 ).
But,
∂w 1 1
= (1 + 2r)w1 − (1 − 2r)w2 − 2rw3
∂r 2 2
�
w2 and w3 affect ∂w
∂r 1 . ⇒ This results in difficulties to develop a good
�
element based on Kirchhoff theory.
With Reissner-Mindlin theory, we independently interpolate rotations such that this problem does
not arise.
For flat structures, we can superimpose the plate bending and plane stress element stiffness. For
shells, curved structures, we need to develop/use curved elements, see references.
References
[1] E. Dvorkin and K.J. Bathe. “A Continuum Mechanics Based Four-Node Shell Element for General
Nonlinear Analysis.” Engineering Computations, 1:77–88, 1984.
[2] K.J. Bathe and E. Dvorkin. “A Four-Node Plate Bending Element Based on Mindlin/Reissner Plate
Theory and a Mixed Interpolation.” International Journal for Numerical Methods in Engineering,
21:367–383, 1985.
[3] K.J. Bathe, A. Iosilevich and D. Chapelle. “An Evaluation of the MITC Shell Elements.” Computers
& Structures, 75:1–30, 2000.
[4] D. Chapelle and K.J. Bathe. The Finite Element Analysis of Shells – Fundamentals. Springer,
2003.
93

FEM MIT Lecture Notes

Încărcat de

Informații document

Drepturi de autor

Formate disponibile

Partajați acest document

Partajați sau inserați document

Opțiuni de partajare

Vi se pare util acest document?

Este necorespunzător acest conținut?

Drepturi de autor:

Formate disponibile

FEM MIT Lecture Notes

Încărcat de

Drepturi de autor:

Formate disponibile

MIT OpenCourseWare

2.094 Finite Element Analysis of Solids and Fluids

1 Large displacement analysis of solids/structures 3

1.1 Project Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1.2 Large Displacement analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.2.1 Mathematical model/problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.2.2 Requirements to be fulﬁlled by solution at time t . . . . . . . . . . . . . . . . . . . 5

1.2.3 Finite Element Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2 Finite element formulation of solids and structures 7

2.1 Principle of Virtual Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

3 Finite element formulation for solids and structures 10

4 Finite element formulation for solids and structures 14

5 F.E. displacement formulation, cont’d 19

6 Finite element formulation, example, convergence 23

6.1.1 F.E. model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

6.1.2 Higher-order elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

8 Convergence of displacement-based FEM 33

10 F.E. large deformation/general nonlinear analysis 41

11 Deformation, strain and stress tensors 45

12 Total Lagrangian formulation 49

13 Total Lagrangian formulation, cont’d 53

14 Total Lagrangian formulation, cont’d 57

15.1 Heat transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

15.1.1 Diﬀerential formulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

15.1.2 Principle of virtual temperatures . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

15.2 Inviscid, incompressible, irrotational ﬂow . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

16 F.E. analysis of Navier-Stokes ﬂuids 65

17 Incompressible ﬂuid ﬂow and heat transfer, cont’d 71

17.1 Abstract body . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

17.2 Actual 2D problem (channel ﬂow) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

17.3 Basic equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

17.4 Model problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

17.5 FSI brieﬂy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

18 Solution of F.E. equations 76

18.1 Slender structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

20 Beams, plates, and shells 85

21 Plates and shells 90

Lecture 1 - Large displacement analysis of solids/structures

1.1 Project Example

“Simple” mathematical model

More complex mathematical model

• large disp./large strains

• How many ﬁnite elements?

We need a good error measure (especially for FSI)

“Even more complex” mathematical model

The “complex mathematical model” includes Fluid

1.2 Large Displacement analysis

• Total Lagrangian formulation

• Updated Lagrangian formulation Reading:

1.2.1 Mathematical model/problem

Given the original conﬁguration of the body,

The same load. Two diﬀerent deformed conﬁgurations.

Column problem, statics

1.2.2 Requirements to be fulﬁlled by solution at time t

III. Stress-strain law

1.2.3 Finite Element Method

• equilibrium at the nodes of the mesh

III. Stress-strain law satisﬁed exactly

Cauchy stresses (force per unit area at time t):

Lecture 2 - Finite element formulation of solids and structures

• Equilibrium of Cauchy stresses t τij with applied loads

• Compatibility The displacements t ui need to be continuous and zero on t Su .

2.1 Principle of Virtual Work∗

Assume “plane sections remain plane”