ECIV 720 A

Advanced Structural Mechanics

and Analysis
Lecture 12:
Isoparametric CST
Area Coordinates
Shape Functions
Strain-Displacement Matrix
Rayleigh-Ritz Formulation
Galerkin Formulation
 FEM Solution: Area Triangulation

Area is Discretized into Triangular Shapes

FEM Solution: Area Triangulation

One Source of Approximation

FEM Solution: Nodes and Elements

Points where corners of triangles meet

Define NODES
 Non-Acceptable Triangulation

Nodes should be defined on corners of

ALL adjacent triangles
FEM Solution: Nodes and Elements

vi
ui Y

Each node translates in X and Y

 FEM Solution: Objective
q6

q5
3 (x3,y3)

q1
v
q2
u q4

q3
1 (x1,y1)
2 (x2,y2)

• Use Finite Elements to Compute

Approximate Solution At Nodes

• Interpolate u and v at any point

from Nodal values q1,q2,…q6
 Intrinsic Coordinate System
3 (x3,y3)


 2 (x2,y2)
2 (0,1)
1 (x1,y1)



Map Element
Define Transformation 3 (0,0) 1 (1,0)
Parent
 Area Coordinates

Y Location of P can be
2 defined uniquely
X A1
L1 
A
A2
A1 L2 
A
P A3
3 L3 
A
1 Area Coordinates
 Area Coordinates and Shape Functions

3 (x3,y3)
L1   L2   L3  1    

Area Coordinates are linear

 2 (x2,y2) functions of  and 
1 (x1,y1)

Are equal to 1 at nodes they
correspond to
 2 (0,1)

Are equal to 0 at all other nodes


3 (0,0) 1 (1,0)
Natural Choice for Shape Functions
 Shape Functions

N1  L1  
0  1
N 2  L2  
0  1
N 3  L3  1    

3 (x3,y3)
Y
X

 1 (x1,y1)
2 (x2,y2)

 Geometry from Nodal Values

x  N1 x1  N 2 x2  N 3 x3
y  N1 y 2  N 2 y 2  N 3 y 3
x   x1  x3    x2  x3   x3
N1  L1    x13  x23  x3

N 2  L2   y   y1  y3    y2  y3   y3
 y13  y23  y3
N 3  L3  1    
 Intrinsic Coordinate System
3 (x3,y3)
x  x13  x23  x3
y  y13  y23  y3
Map Element
Transformation
2 (x2,y2) 
 1 (x1,y1)
2 (0,1)

3 (0,0) 1 (1,0)
Parent
 Displacement Field from Nodal Values
q6
3
q5 u  N1q1  N 2 q3  N 3q5
q2
v
u
v  N 1 q 2  N 2 q 4  N 3 q6
q4
1 q1
2 q3

  q1 
q 
 2
 N1 0 N2 0 N3 0  q3 
u     Nq
0 N1 0 N2 0 N 3  q 4 
q5 
 
q6 
 Strain Tensor from Nodal Values of
Displacements
Strain Tensor Need Derivatives
u v
 u 
  x y
 x  u
 v  v
ε  y
 y  x
 u  v 
 y x  u  N1q1  N 2 q3  N 3q5
v  N1 q 2  N 2 q 4  N 3 q6
u and v functions of  and 
 Jacobian of Transformation

u u x u y  u   x y   u 
 

J
 x  y          x 
 u    x y 
  u 
u u x u y     
          y 
 x  y 
Jacobian of Transformation
v v x v y  v   x y   v 
      
 x  y     x 

v v x v y
 
 x  y 
 v    x
   J
    

y   v 
 
   y 
 Jacobian of Transformation – Physical Significance

 x y 
     x13 y13 
J  J 
 x y 
 x23 y23 
   

x  x13  x23  x3 y  y13  y23  y3

x x y y
 x13  x23  y13  y23
   
 Jacobian of Transformation – Physical Significance
3 (x3,y3)
r1   x1  x3  i   y1  y3  j
r1 r2
r2   x2  x3  i   y2  y3  j
2 (x2,y2)
 1 (x1,y1)


i j k
x13 y13
r1  r2  x13 y13 0  k
x23 y23
x23 y23 0
 Jacobian of Transformation – Physical Significance
k
3 (x3,y3)
x13 y13
r1  r2  k
r1 r2 x23 y23

2 (x2,y2)
 2 Aelem
1 (x1,y1)

Compare to Jacobian

 x13 y13 
J
 x23 y23 

det J  2 Aelem
 Jacobian of Transformation

 u   u   u   u 
    x  Solve
 x   
 u   J  u  1   
 u   J  u 
       
    y   y    
 v   v   v   v 
    x  Solve
 x   
1   
 v   J  v   v   J  v 
       
    y   y    

1 1  y23  y13  1  y23  y13 

J      x 
det J   x23 x13  2 Aelem  23 x13 
Strain Tensor from Nodal Values of Displacements

N1   N2   N3  1   

 q1 
q 
u   2
  N1 0 N 2 0 N3 0     q1  q5 
   
 q6 

 q1 
q 
u   2
  N1 0 N 2 0 N3 0     q3  q5 
   
 q6 
Strain Tensor from Nodal Values of Displacements

 q1 
q 
v   2
  0 N1 0 N 2 0 N 3      q2  q6 
   
 q6 

 q1 
q 
v   2
  0 N1 0 N 2 0 N 3      q4  q6 
   
 q6 
 Strain Tensor from Nodal Values of
Displacements

 
 0  q1 
 x   y23 0 y31 0 y12 0  
  u  1  0  q2 
ε  0    x32 0 x13 0 x21  
 y   v  2 Aelem   
   x32 y23 x13 y31 x21 y12   
   q6 
 y x 

B q

= B q
Looks Familiar?
 Strain-Displacement Matrix

3 (x3,y3) xij  xi  x j
yij  yi  y j
 1 (x1,y1)
2 (x2,y2)

 q1 
x   y23 0 y31 0 y12 0  
  1  0  q2 
ε   y   x32 0 x13 0 x21  
  
  2 Aelem  x32 y23 x13 y31 x21 y12   
 xy  q6 

Is constant within each element - CST

 Stresses

 x    
 1  0 
 x 
  E
 1
 y   0   y 
  1   2
 1    
 xy  0 0   xy 
 2 

σ  Dε
= B q
σ  DBq
 Element Stiffness Matrix ke
3 (x3,y3)

 1 (x1,y1) 2 (x2,y2)

1 T Ue 
U e   ε σDdV
2 Ve 1 T T
q e  B DBtdA q e
dV  tdA 2 le

1 T T 
= B q  q e B DBt  dAq e
2  A 
= D B qe
ke
 Formulation of Stiffness Equations
T (force/area)
y

x
z
Assume t
Plane Tt (force/length) P
Stress

x
P
 Total Potential Approach
Tt (force/length)

P
Total Potential

1 T
   σ εdV   uT fdV   uT TdS   uTi Pi
2 V V S
i
 Total Potential Approach
1 T
   σ εdV   uT fdV   uT TdS   uTi Pi
2 V V S
i
Tt (force/length)

1 T
    ε DεtdA P
e 2
Ae

   u ftdA    u Ttdl   u Pi
T T T
i
Ae le
e e i
 Total Potential Approach

1 T
    ε DεtdA Ue 
e 2 Ae
1 T T
   u ftdA
T q e  B DBtdA q e
e
Ae 2 le

   u Ttdl
T 1 T T 
le  q e B DBt  dAq e
e 2  A 
  u Pi
T
i 1 T
i  q e k eq e
2
 Total Potential Approach

1 T
    ε DεtdA
e 2 Ae

   u ftdA
T Work Potential
Ae of Body Forces
e

   u Ttdl
T
le
e

  u Pi
T
i
i
 WP of Body Forces

2
Element e WP f   u ftdA
T
fx u Ae

fy  te   uf x  vf y  dA
Ae
3
v

1
 WP of Body Forces

WP f  te   uf x  vf y  dA
Ae

u  N1q1  N 2 q3  N 3 q5

v  N1 q 2  N 2 q 4  N 3 q6
q6
3
q5

q2
v
u q4
q1
1 q3
2


 q6
WP of Body Forces
3
q5
1
q2
v Ae N i dA  3 Ae , i  1,2,3
u q4
1 q1
2 q3


WP  q1  te f x  N1dA   q2  te f y  N1dA 
f
 Ae   Ae 
q3  te f x  N 2 dA   q4  te f y  N 2 dA 
 Ae   Ae 
q5  te f x  N 3dA   q6  te f y  N 3dA 
 Ae   Ae 
 WP of Body Forces

WP f   u ftdA  q f e
T T
Ae

 fx 
f 
te Ae  y 
  q1 q2  q6   
3 f 
x
 
 f y 
Nodal Equivalent
Body Force Vector
 Total Potential Approach

1 T
    ε DεtdA
e 2 Ae

   u ftdA
T
Ae
e

   u Ttdl
T Work Potential
le of Tractions
e

  u Pi
T
i
i
 WP of Traction
Tt (force/length)

1
Distributed Load acting on EDGE of element
 WP of Traction

Components Normal Pressure

Tx1,Ty1
Known Distribution p1, p2 Known Distribution
Tx2,Ty2
 WP of Traction
Ty2 Directional cos
l1 2  x21
2
 y21
2

Tx2
c  cos  y21 / l1 2
Ty1 s  sin   x12 / l1 2
Tx1 Components

Normal Pressure
Tx1  cp1
Ty1   sp1
p1, p2 Known Distribution Tx 2  cp2
Ty 2   sp2
 WP of Traction

2
v
WP T   u Ttdl T
l12
Ty
Tx u
3

 te 
l12
uT
x  vTy  dA
1
 WP of Traction
Ty2
2 Tx2 WP T   u Ttdl T
l12

 te 
l12
uT
x  vTy  dA
3
Ty1
Tx1
1
u  N1q1  N 2 q3  N 3 q5 Tx  N1Tx1  N 2Tx 2
v  N 1q 2  N 2 q 4  N 3 q6 Ty  N1Ty1  N 2Ty 2
 WP of Traction

WP T   u Ttdl T
l12

 te 
l12
uT
x  vTy  dA  qTe
 2Tx1  Tx 2 
2T  T 
tel1 2  y1 y 2 
  q1 q2 q3 q4   
6 Tx1  2Tx 2 
Nodal Equivalent Ty1  2Ty 2 
Traction Vector
 Total Potential Approach

1 T
    ε DεtdA
e 2 Ae

   u ftdA
T
Ae
e

   u Ttdl
T
le
e

  u Pi
T
i
Work Potential
i of Concentrated Loads
 WP of Concentrated Loads

P
WP Pi  u Pi  ui Pxi  vi Pyi
T
i

Indicates that at location of point loads

a node must be defined
 In Summary

1 T 1 T
    ε DεtdA    q e k eq e
2 e 2
Ae
e

   u ftdA
T
 q fT
e e
Ae e
e

   u Ttdl
T   q Te
T
e
le e
e

  u Pi
T
i
  Q Pi
T
i
i i
 After Superposition

1 T
1 T   Q KQ  Q F
T
   q e k eq e 2
e 2
where
 q f T

e
e e
F    f e  Te   P
e
  q Te
T
e
e Minimizing wrt Q
  Q Pi
T

i
i 0  KQ  F
 Galerkin Approach
Tt (force/length)

P
Galerkin

0  σ ε φ dV   φ fdV   φ TdS   φ Pi
T T T T
i
V V S
i
 Galerkin Approach
0  σ T ε φ  dV   φT fdV   φT TdS   φTi Pi
V V S
i

Tt (force/length)

0  ε Dε φ  tdA
T
P
Ae
e

   φT ftdA    φT Ttdl   φTi Pi

Ae le
e e i
 Galerkin Approach

Introduce Virtual Displacement Field 

3
6
φ  Nψ
5
ε φ   Bψ
y
2
x 4  1 
1
1
3
 
ψ   2
2

  
 
 6 
 Galerkin Approach

0  σ ε φ  dV
T
U e
Ve
e

   φ fdV T
Virtual Strain Energy
Ve
e of element e
   φ TdA T
Ae
e

  φ Pi T
i
i
 Element Stiffness Matrix ke
3 (x3,y3)

 1 (x1,y1)
U e 
2 (x2,y2)


U e   σ ε φ  dV
T
B
T T
Ae
ψ e DBtdA q e
le

dV  tdA  T 
 ψ B DBt  dAq e
T
e
φ  Nψ e  A 
= B e
ke
= D B qe
U e  ψ k e q e
T
e
 Galerkin Approach

0  σ ε φ  dV
T
Ve
e
Virtual
   φ fdV T
Work Potential
Ve
e
of Body Forces
   φ TdA T
Ae
e

  φ Pi T
i
i
 WP of Body Forces

Element e 2 WP f   φ ftdA T

fx x Ae

fy  te   x f x   y f y  dA
3 Ae
y
φ  Nψ
1
As we have already seen
 WP of Body Forces

WP f   ψ ftdA  ψ f e
T T
Ae

 fx 
f 
te Ae  y 
  1  2  6  
3 f 
x
 
 f y 
Nodal Equivalent
Body Force Vector
 Galerkin Approach

0  σ ε φ  dV
T
Ve
e

   φ fdV T
Ve
e
Virtual
   φ TdA T
Work Potential
Ae
e
of Traction
  φ Pi T
i
i
 WP of Traction

2
y WP T   φ Ttdl T
l12
Ty
Tx x
3

 te 
l12
 T
x x   yTy  dA
1
 x  N1 1  N 2 3  N 3 5 Tx  N1Tx1  N 2Tx 2
 y  N1 2  N 2 4  N 3 6 Ty  N1Ty1  N 2Ty 2
 WP of Traction

WP T   φ Ttdl T
l12

 t   T
e x x   T  dA  ψ
y y
T
e Te
l12

 2Tx1  Tx 2 
2T  T 
tel1 2  y1 y 2 
  1  2  3  4   
6 Tx1  2Tx 2 
Nodal Equivalent Ty1  2Ty 2 
Traction Vector
 Galerkin Approach

0  σ ε φ  dV
T
Ve
e

   φ fdV T
Ve
e

   φ TdA T
Ae
e Virtual
  φ Pi T
i
Work Potential
i of Point Loads
 WP of Concentrated Loads

P
WP Pi  φ Pi   xi Pxi   yi Pyi
T
i

Indicates that at location of point loads

a node must be defined
 In Summary

0  σ ε φ  dV
T
0 ψ T
e k eq e
Ve
e e

   φ fdV T
ψ f T
e e
Ve
e e

   φ TdA T
  ψ Te T
e
Ae
e e

  φ Pi T
i
  φ Pi T
i
i i
 After Superposition

0  ψ k eq e
e
T
e 0  Ψ KQ  Ψ F
T T

where
ψ f T

F    fe  Te   P
e e
e

  ψ Te T
e
e

e
 is arbitrary and thus
  φ Pi T
i
i
0  KQ  F
 Stress Calculations
BC
0  KQ  F Q K F 1

q6
3
q5 For Each Element
v
q2

q1
u q4 e= Be qe
1 q3
2


 y23 0 y31 0 y12 0
1 
Be  0 x32 0 x13 0 x21 
2A  
 x32 y23 x13 y31 x21 y12 
 Stress Calculations

e= Be qe
q6
3
q5

v
 x    
q2
u  1  0   x 
q4   E
1
q1  y    1 0   y 
2 q3
  1   2
 1    
  xy  0 0   xy 
  2 

σ e  Deε e

σ e  De B eq e Constant
 Summary of Procedure

Tt (force/length)

Discretize domain in CST

Nodes should be placed at
- point loads
- start & end of distributed loads
 Summary of Procedure

For Every Element Compute

•Strain-Displacement Matrix B
 y23 0 y31 0 y12 0
1  0
B x32 0 x13 0 x21 
2 Aelem  
 x32 y23 x13 y31 x21 y12 
q6
3
q5

q2 v
u q4
1 q1
2 q3


 Summary of Procedure
•Element Stiffness Matrix
 T 
k e  B DBt  dA
 A 
•Node Equivalent Body Force Vector
 fx 
f 
te Ae  y 
fe   
3 f 
x
 
 f y 
 Summary of Procedure

•Node Equivalent Traction Vector

 2Tx1  Tx 2 
2T  T 
1 2 tel1 2  y1 y 2 
T   
6 Tx1  2Tx 2 
e

Ty1  2Ty 2 

For ALL loaded sides

 Summary of Procedure

Collect ALL Point Loads

Py1 in Nodal Load Vector
Px1
1
PyN  Px1 
P 
 y1 
N PxN  Px 2 
 
 P   Py 2 
 
 
 PxN 
P 
 yN 
 Summary of Procedure

Form Stiffness Equations

  k e
K
e
   f e  Te   P
F
F  KQ
e

Q   q1
T
q2  qn 

F   F1
T
F2  Fn 
 Summary of Procedure

F  KQ Apply Boundary Conditions

1
Solve Q K F
For Every Element Compute Stress

σ e  De B eq e
 Example

Tt=200 lb/in
(0,2) (3,2)

fx=0

fy=60 lb/in2

(0,0) (3,0)
ANSYS Solution – Coarse Mesh
 2-D Constant Stress Triangle

Comments
• First Element for Stress Analysis
• Does not work very well
• When in Bending under-predicts displacements
– Slow convergence for fine mesh
• For in plane strain conditions – Mesh “Locks”
– No Deformations
Element Defects
 Element Defects

Constant Stress Triangles

Y-Deflection &
X-Stress about
Exact ¼ of actual
 Element Defects

x1=0, y1=0
x2=a, y2=0 u2
x3=0, y3=a x 
a
 1 1 
0 y  0
0 0 0 0  0 
x   a a  
   1 1  u 2 

?
 y    0 0 0 0  
u2
  
 xy    1
a
1
0
1 1
a  v2 

0  0 
 xy 
a
 a a a   0 
 
a

Spurious Shear Strain Absorbs Energy – Larger Force Required

 Element Defects
Rubber Like Material ~0.5

Mesh Lock