ATFEM Lecture01 PDF

Intro FEM
Advanced Topics in Finite

Element Modelling
Lecture 1
University of Twente
Richard Loendersloot & Semih Perdahcıoğlu
2019/2020
Intro FEM
Table of Contents
1 Introduction
2 Introduction to FEM
R. Loendersloot & E.S. Perdahcıoğlu ATFEM 1 / 25

Intro FEM WWW Objective
Who
Richard Loendersloot Semih Perdahcıoğlu

Associate Professor Assistant Professor
Chair of Dynamics Based Chair of Nonlinear Solid
Maintenance Mechanics
Department of Mechanics of Department of Mechanics of
Structures, Systems and Structures, Systems and
Surfaces (MS3 ) Surfaces (MS3 )
Personal site r.loendersloot Personal site e.s.perdahcioglu

Objective
Get acquainted with advanced topics in Finite Element Modelling,

understanding the underlying theory, allow the student to properly
define a Finite Element Model and properly analyse and assess the
results of it.
You do not learn how to design with a Finite Element simulation

software
You do not learn to write your own Finite Element program
You do learn how to use an arbitrary Finite Element software in a
proper (and advanced) way
You do learn the theory needed to properly analyse and assess the
result of a Finite Element simulation
The course is a mixture of theory and application

Course Contents
By Topic (liable to change, check Canvas)

1 RL Introduction to course and FEM
2 RL Assembling in Abaqus
3 RL Boundary Conditions, Constraints and Interactions
4 RL Solving Linear Problems
5 SP Locking Phenomena
6 SP Error Estimation
7 SP Plates and Shells
8 SP Plates and Shells
9 RL Dynamic Analysis - Introduction
10 RL Dynamic Analysis: Natural Frequency & Modes
11 RL Dynamic Analysis: Harmonic Solutions
12 RL Dynamic Analysis: Transient Solutions
13 SP Geometrical Nonlinear Analysis
14 SP Nonlinear Solution Methods
15 SP Nonlinear Solution Methods
16 SP Linear Stability Analysis

Finalisation
The course is finished:

A written exam (see https://rooster.utwente.nl
A small set of assignments to be completed prior to the exam
To help understanding the theory
To help preparing for the exam

Abaqus Simulation Software
The Finite Elements Simulation Software use is:
Abaqus
Installation – warning
Installation of the Abaqus student version is only possible on a 64 bit
Windows operating system. The installation requires 6.3 GB of disk
space.

Abaqus Simulation Software
1 Go to
https://academy.3ds.com/en/software/abaqus-student-edition
and click the “Free download” button
2 You are asked to log in with a 3DEXPERIENCE ID. If you do not
have one already, create one by clicking the link below the “Log
in” button and follow the instructions.
3 Accept the condition of usage and click “Download-now”
4 In the download center, click the download & instructions button
behind “Simulia Abaqus Student Edition”
5 Download Abaqus 2019 and install it on your computer following
the installation guide that is included within the downloaded .zip
file.

Intro FEM Intro Equi Constitutive Galerkin Work Examples
Equilibrium of Infinitesimal Part
Objective:
Formulate equilibrium of infinitesimal part
Revisit basic steps of Finite Element Model
Identify key elements in
1 stiffness matrix
2 general finite element equilibrium equation

PSfrag replacements
Equilibrium of Infinitesimal Part
x3 x3
ϕdA σ22
nts n
σ21 σ12
σ11
σ23
x1 x1 σ32 σ13
σ31
x2 σ33 x2
Equilibrium:
X
Fxi = 0 → σ1i dA1 + σ2i dA2 + σ3i dA3 − ϕi dA = 0 (1)

Relation areas – 1/2

x3 Gauss: Given g
nts
Z Z
∂g
e2 dV = gni dA (2)
V ∂xi A
e1
x1
e3 x2


x3 Gauss: Given g is constant
nts
Z Z
∂g
e2 dV = g ni dA = 0 (2)
V ∂xi A
e1
x1
e3 x2


nts
Z Z
∂g
e2 dV = g ni dA = 0 (2)
V ∂xi A
e1
Z
x1 ndA = 0 (3)
Atot
e3 x2


nts
Z Z
∂g
e2 dV = g ni dA = 0 (2)
V ∂xi A
e1
Z
x1 ej · ndA = 0 (3)
Atot
e3 x2


nts
Z Z
∂g
e2 dV = g ni dA = 0 (2)
V ∂xi A
e1
Z
x1 ej · ndA = 0 (3)
Atot
e3 x2
Atot = A + A1 + A2 + A3 (4)


nts
Z Z
∂g
e2 dV = g ni dA = 0 (2)
V ∂xi A
e1
Z
x1 ej · ndA = 0 (3)
Atot
e3 x2
Atot = A + A1 + A2 + A3 (4)
Z Z Z Z
ei · ndA + e 1 dA + e 2 dA + e 3 dA =0 (5)
A A1 A2 A3

From previous slide:

Z Z Z Z
ei · ndA + e 1 dA + e 2 dA + e 3 dA =0 (6)
A A1 A2 A3


 
Z XZ
e i ·  ndA + e j dA = 0 (6)
A j Aj
Orthogonality of unit vectors:
ei · ei ≡ 1
(7)
e i · e j ≡ 0, i 6= j


 
Z XZ
e i ·  ndA + e j dA = 0 (6)
A j Aj
Orthogonality of unit vectors:
ei · ei ≡ 1
(7)
e i · e j ≡ 0, i 6= j
Result:
Z Z Z Z
e i · ndA + e i · e i dA = −ni dA + dA → Ai = ni A (8)
A Ai A Ai
Mark minus sign! n and e i in opposite directions!

Recollecting Equilibrium
Earlier obtained equilibrium:

X
Fxi = 0 → σ1i dA1 + σ2i dA2 + σ3i dA3 − ϕi dA = 0 (9)

Earlier obtained equilibrium, substituting dAi = ni dA:

X
Fxi = 0 → σ1i n1 dA + σ2i n2 dA + σ3i n3 dA = ϕi dA = 0 (9)


X
Compact form of writing this (and using symmetry):
ϕi = σ1i n1 + σ2i n2 σ3i n3 = σji nj = σij nj (10)


X
General form of equilibrium

Z Z
ϕi dA + fi dV = 0 (11)
A V


X

Z Z
σij nj dA + fi dV = 0 (11)
A V


X

Z Z
σij,j dV + fi dV = 0 (11)
V V
Z Z
∂g
Using Gauss: dV = gni dA
V ∂xi A


X

Z
σij,j + fi dV = 0 (11)
V
Z Z
∂g
Using Gauss: dV = gni dA
V ∂xi A

Strong & Weak Form of Equilibrium
General form of equilibrium:
Z
σij,j + fi dV = 0 (12)
V

General form of equilibrium must be valid for all dV :

Strong form of equilibrium
σij,j + fi = 0 (12)


σij,j + fi = 0 (12)
Multiplying with virtual displacement δui
δui σij,j + δui fi = 0 (13)


σij,j + fi = 0 (12)
Multiplying with virtual displacement δui and integrating
Z
δui σij,j + δui fi dV = 0 (13)
V


σij,j + fi = 0 (12)
Multiplying with virtual displacement δui and integrating

Weak form of equilibrium
Z Z
δui σij,j dV + δui fi dV = 0 ∀δui (13)
V V

Reducing Order of Differentiation
Reducing the order integration improves the accuracy∗

Z Z Z
δui σij,j dV = (δui σij ),j dV − δui ,j σij dV
V ZV Z V
= δui σij nj dA − δui ,j σij dV (14)
ZA Z V
= δui ϕi dA − δui ,j σij dV
A V
Elaborately treated in Fundamentals of Numerical Methods – 201900074


Z Z Z
V ZV Z V
ZA Z V
A V
f g ′ dx = (f g )′ dx − f ′ g dx
R R R
Apply partial integration:


Z Z Z
V ZV Z V
ZA Z V
A V
Apply partial integration: f g ′ dx = (f g )′ dx − f ′ g dx

R R R
Z Z
∂g
Apply Gauss: dV = gni dA
V ∂xi A


Z Z Z
V ZV Z V
ZA Z V
A V
Apply partial integration: f g ′ dx = (f g )′ dx − f ′ g dx

R R R
Z Z
∂g
Apply Gauss: dV = gni dA
V ∂xi A
Substitute ϕi = σij nj


Z Z
δui σij,j dV + δui fi dV = 0 ∀δui (15)
V V


Z Z Z
δui ϕi dA − δui ,j σij dV + δui fi dV = 0 ∀δui (15)
A V V
Replacing first term with the lower order differential equation


Z Z Z
δui ,j σij dV − δui ϕi dA − δui fi dV = 0 ∀δui (15)
V A V

Multiply by −1


Z Z Z
V A V

Multiply by −1
Considerations of Procedure
Simply multiplying by δui not allowed due to volume and area
integrals
No derivative of unknown (σij )
Only derivative of known/chosen (δui )

Relation between Stress and Strain
Rewriting the integrand of first term:

1 1
δui ,j σij = δui ,j σij + δui ,j σij (16)
2 2


1 1
δui ,j σij = δui ,j σij + δuj,i σji (16)
2 2
Without loosing generality, change indices of second term


1 1
δui ,j σij = δui ,j σij + δuj,i σij (16)
2 2

Use symmetry σij = σji


1
δui ,j σij = (δui ,j + δuj,i ) σij = δεij σij (16)
2

Use symmetry σij = σji
Recombine terms, general definition of strain

Recalling equilibrium
Z Z Z
V A V

Z Z Z
δεij σij dV − δui ϕi dA − δui fi dV = 0 ∀δui (17)
V A V
Substitute relation virtual displacement and virtual strain

Z Z Z
δεij Eijkl εkl dV − δui ϕi dA − δui fi dV = 0 ∀δui (17)
V A V

Substitute Hooke’s law (linear elastic material)

Z Z Z
T T
δε E εdV − δu ϕdA − δu T f dV = 0 ∀δu (17)
V A V

Substitute Hooke’s law (linear elastic material)
Transform to vector notation

Interpolation of Displacements
Equilibrium
Z Z Z
T T
V A V

Equilibrium
Z Z Z
T T
V A V
Assuming displacement u can be written based on interpolation N:
u = Nd
(19)
δu = Nδd

Equilibrium
Z Z Z
T T
V A V
u = Nd
(19)
δu = Nδd
Note:
δu T = δd T N T (20)

Equilibrium
Z Z Z
T T
V A V
u = Nd
(19)
δu = Nδd
Note:
δu T = δd T N T (20)
Relation with strain to be established

Interpolation of Strains
Equilibrium
Z Z Z
T T
V A V

Equilibrium
Z Z Z
T T
V A V
General strain definition:

1
ε= (∇u + u∇) (22)
2

Equilibrium
Z Z Z
T T
V A V
General strain definition:

1
ε= (∇u + u∇) (22)
2
Relation strain and displacement interpolation
ε = ∇u = ∇Nd = Bd (23)

Discretised Equilibrium Equation
Equilibrium
Z Z Z
T T
V A V

Equilibrium
Z Z Z
δd B E Bd dV − δd N ϕdA − δd T N T f dV = 0δd (24)
T T T T
V A V
Substitute displacement and strain interpolations

Equilibrium
Z Z Z
T T T T T
δd B E BdV d − δd N ϕdA − δd N T f dV = 0δd
V A V
(24)

(Virtual) displacement independent of volume and area

Equilibrium
Z Z Z
T T T T T
δd B E BdV d − δd N ϕdA + N f dV = 0δd
V A V
(24)

Combining last to terms

Equilibrium
δd T K d − δd T r = 0 ∀δd (24)

Defining stiffness matrix and (area force vector
Z
K= B T E BdV (25)
ZV Z
T
r= N ϕdA + N T f dV (26)
A V

Equilibrium
K d − r = 0 ∀δd (24)

Defining stiffness matrix and (area force vector
As valid ∀δd : this last step must be true
Z
K= B T E BdV (25)
ZV Z
T
r= N ϕdA + N T f dV (26)
A V

Recapitulation
What we have obtained:

d is vector containing the degrees of freedom (displacements,
temperatures, currents, ...) at discrete points (the nodes)
∀δu 6= ∀δd : equilibrium is only satisfied at the nodes!
Equilibrium is approximated by the displacement field
(interpolation function) N
Element stiffness matrix K is defined by the element volume
integral, the interpolation function derivatives and the material
properties. Problems in FEM arise if:
Improper integral calculation
Interpolation function incapable of describing displacement field
Improper material model

Definition of Work
Work to change from state 1 to state 2 is defined as:
U1−2 = f · s = ∆T + ∆Ve + ∆Vg (27)

Definition of Work
U1−2 = f · s = ∆Ve (27)
Ignoring kinetic and gravitational energy (∆T & ∆Vg )

Definition of Work
U1−2 = r · d = ∆Ve (27)

Using force f = r and s = d as defined before

Definition of Work
U1−2 = d T r = ∆Ve (27)

Using r · d = d T r (contraction)

Definition of Work

1
U1−2 = d T r = d T K d † (27)
2

Using r · d = d T r (contraction)
Using definition of elastic energy
1
† The scalar form is 2
k x2

Minimisation of Potential Energy
Work done:
1
dTr = dTKd (28)
2

Work done, converted to potential energy Πp :
1 T
Πp = d Kd − dTr (28)
2

Work done, converted to potential energy Πp :
1 T
Πp = d Kd − dTr (28)
2
Nature seeks for the minimum amount of energy in a system:
∂Πp
= Kd − r = 0 (29)
∂d

Linear Interpolation Function
Continuous displacement u(x) based on linear interpolation end points:
(30)

d2
d
d1
x1 x2
x
d2 − d1
u(x) = d1 + x= (30)
L

d2
d
d1
x1 x2
x
d2 − d1 x x
u(x) = d1 + x = 1− d1 + d2 = (30)
L L L
Rearrange variables

d2
d
d1
x1 x2
x

d2 − d1 x x h x x i d1
u(x) = d1 + x = 1− d1 + d2 = 1 − , (30)
L L L L L d2
Rearrange variables
Matrix-vector formulation

Element Stiffness Matrix
2-Node, linear truss element

Fx,1 Fx,2
(1) (2)
ux,1 ux,2

Fx,1 σA σA Fx,2
(1) (2)
ux,1 ux,2
X X
Fx = Fx,1 + σA = 0 (31) Fx = Fx,2 − σA = 0 (32)

Fx,1 σA σA Fx,2
(1) (2)
ux,1 ux,2
X X
Fx = Fx,1 + σA = 0 (31) Fx = Fx,2 − σA = 0 (32)
Hooke’s law and strain-displacement relation:

ux,2 − ux,1
σ = Eε = E (33)
L

Fx,1 σA σA Fx,2
(1) (2)
ux,1 ux,2
X X
Fx = Fx,1 + σA = 0 (31) Fx = Fx,2 − σA = 0 (32)

ux,2 − ux,1
σ = Eε = E (33)
L

ux,2 − ux,1
−AE =Fx,1
L
ux,2 − ux,1
AE =Fx,2
L
(34)
Fx,1 σA σA Fx,2
(1) (2)
ux,1 ux,2
X X
Fx = Fx,1 + σA = 0 (31) Fx = Fx,2 − σA = 0 (32)

ux,2 − ux,1
σ = Eε = E (33)
L

ux,2 − ux,1
−AE =Fx,1
L EA 1 −1 ux,1 Fx,1
⇒ =
ux,2 − ux,1 L −1 1 ux,2 Fx,2
AE =Fx,2
L
(34)

ATFEM Lecture01 PDF

Încărcat de

Informații document

Titlu original

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

ATFEM Lecture01 PDF

Încărcat de

Drepturi de autor:

Formate disponibile

Intro FEM

Advanced Topics in Finite

R. Loendersloot & E.S. Perdahcıoğlu ATFEM 1 / 25

Richard Loendersloot Semih Perdahcıoğlu

R. Loendersloot & E.S. Perdahcıoğlu ATFEM 2 / 25

Get acquainted with advanced topics in Finite Element Modelling,

You do not learn how to design with a Finite Element simulation

R. Loendersloot & E.S. Perdahcıoğlu ATFEM 3 / 25

By Topic (liable to change, check Canvas)

R. Loendersloot & E.S. Perdahcıoğlu ATFEM 4 / 25

The course is finished:

R. Loendersloot & E.S. Perdahcıoğlu ATFEM 5 / 25

Abaqus Simulation Software

The Finite Elements Simulation Software use is:

R. Loendersloot & E.S. Perdahcıoğlu ATFEM 6 / 25

Abaqus Simulation Software

R. Loendersloot & E.S. Perdahcıoğlu ATFEM 7 / 25

Equilibrium of Infinitesimal Part

R. Loendersloot & E.S. Perdahcıoğlu ATFEM 8 / 25

Equilibrium of Infinitesimal Part

R. Loendersloot & E.S. Perdahcıoğlu ATFEM 9 / 25

Relation areas – 1/2

R. Loendersloot & E.S. Perdahcıoğlu ATFEM 10 / 25

Relation areas – 1/2

R. Loendersloot & E.S. Perdahcıoğlu ATFEM 10 / 25

Relation areas – 1/2

R. Loendersloot & E.S. Perdahcıoğlu ATFEM 10 / 25

Relation areas – 1/2

R. Loendersloot & E.S. Perdahcıoğlu ATFEM 10 / 25

Relation areas – 1/2

R. Loendersloot & E.S. Perdahcıoğlu ATFEM 10 / 25

Relation areas – 1/2

R. Loendersloot & E.S. Perdahcıoğlu ATFEM 10 / 25

Relation areas – 2/2

From previous slide:

R. Loendersloot & E.S. Perdahcıoğlu ATFEM 11 / 25

Relation areas – 2/2

From previous slide:

Orthogonality of unit vectors:

R. Loendersloot & E.S. Perdahcıoğlu ATFEM 11 / 25

Relation areas – 2/2

From previous slide:

Orthogonality of unit vectors:

Mark minus sign! n and e i in opposite directions!

Earlier obtained equilibrium:

R. Loendersloot & E.S. Perdahcıoğlu ATFEM 12 / 25

Earlier obtained equilibrium, substituting dAi = ni dA:

R. Loendersloot & E.S. Perdahcıoğlu ATFEM 12 / 25

Earlier obtained equilibrium, substituting dAi = ni dA:

Compact form of writing this (and using symmetry):

ϕi = σ1i n1 + σ2i n2 σ3i n3 = σji nj = σij nj (10)

R. Loendersloot & E.S. Perdahcıoğlu ATFEM 12 / 25

Earlier obtained equilibrium, substituting dAi = ni dA:

Compact form of writing this (and using symmetry):

ϕi = σ1i n1 + σ2i n2 σ3i n3 = σji nj = σij nj (10)

General form of equilibrium

R. Loendersloot & E.S. Perdahcıoğlu ATFEM 12 / 25

Earlier obtained equilibrium, substituting dAi = ni dA:

Compact form of writing this (and using symmetry):

ϕi = σ1i n1 + σ2i n2 σ3i n3 = σji nj = σij nj (10)

General form of equilibrium

R. Loendersloot & E.S. Perdahcıoğlu ATFEM 12 / 25

Earlier obtained equilibrium, substituting dAi = ni dA: