FEM Prof Notes

School of Civil, Urban & Geosystem Eng.
, SNU
Structural Analysis Lab.
Prof. Hae Sung Lee, http://strana.snu.ac.kr
I ntroduction to
Finite Element Method
Fall Semester, 2006
Hae Sung Lee
School of Civil, Urban and Geosystem Engineering
Seoul National University
School of Civil, Urban & Geosystem Eng., SNU
Contents
1. Introduction
2. Approximation of Functions & Variational Calculus
3. Differential Equations in One Dimension
4. Multidimensional Problems-Elasticity
5. Discretization
6. Two Dimensional Elasticity Problems
7. Various Types of Elements
8. Numerical Integration
9. Convergence Criteria in Isoparameteric Element
10. Miscellaneous Topics
11. Problems with Higher Continuity Requirement - Beams
12. Mixed Formulation
1
Chapter 2
A pproximation of Functions and
V ariational Calculus

2
z Discretization
A function ) (X f can be expressed by linear combinations of basis functions of .
) ( ) (
1
X X

=
=
n
i
i i
g a f where g
i
are the basis functions of .
Examples: Taylor series, Fourier series
z Approximations of a Function
) ( ) ( ) ( ) (
1 1
X X X X

= =
= =
m
i
i i
h
n
i
i i
g a f g a f where n m <
z Fundamental Questions
- What is the best approximation?
- How can we calculate a
i
that represent the best approximation?
z Summation Notation: Repeated indices denote summation
i i
m
i
i i
b a b a =
=1
.
z Normed Space: A measure of a function space
A function space is said to be a normed space if to every f there associated a
nonnegative real number f , called the norm of f, in a such way that
- 0 = f if and only if 0 f
- f f | | = for any real number .
- g f g f + +
Every normed space may be regarded as a metric space, in which the distance between
any two elements in the space is measured by the defined norm. Various types of norm
can be defined for a function space. Among them the following norms are important.
- L
1
norm:

=
V
L
dV f f
1
- L
2
norm:
2 / 1 2
) (
2

=
V
L
dV f f
- H
1
norm:
2 / 1 2
) ) ( (
1

+ =
V
H
dV f f f f
z General Ideas for the Best Approximation
Lets find out a approximate function that is closest to the given function by use of a
norm defined in the function space. If this is the case, the characteristics of an approxi-
mation method depend on those of the norm used in the approximation.
3
z Minimization of Least Square Error (LSE)
Error:
h
f f e =
Minimize
= = =
V
h
L
h
L
dV f f f f e
2
2
2
) (
2
1
2
1
2
1
2
2
m k F a K fdV g a dV g g
fdV g dV a g g
dV g f f dV
a
f
f f
a
k i
m
i
ki
V
k i
m
i
V
i k
V
k
V
m
i
i i k
V
k
h
V k
h
h
k
, , 1 for 0
) ( ) (
1 1
1
L = = = =
=
=

= =
=
Final System Equation : F Ka =
If the basis functions are orthogonal, K becomes diagonal matrix.
z Variation of a function
- The variation of a function means a possible change in the function for the fixed x.
z Variational Calculus
- if
i i
g a f = then the variation of f is defined as
i i
g a f = or by definition
i
i
a
a
f
f
= .
- f
f
F
a
a
f
f
F
a
a
F
F f F
i
i
i
i

= : ) ( of n variatio The
- h f h f + = + ) (
- h f f h fh + = ) (
- , ) ( ) (
dx
f d
a
a
f
dx
d
a
dx
df
a dx
df
i
i
i
i
=
-

=
= fdx dx a
a
f
a fdx
a
fdx
i
i
i
i
f
f
Variation of a function
4
z Minimization of LSE by Variational Calculus
Min
=
l
h h
dx f f f
0
2
) (
2
1
) (
k
l
k
h
h
l
h h
l
h
l
h h
a dx
a
f
f f dx f f f
dx f f dx f f f
= =
= =

0 0
0
2
0
2
) ( ) (
) (
2
1
) ) (
2
1
( ) (
Min
k
h
V
h h
a f dV f f f possible all for 0 ) ( ) (
2
1
) (
2
= =

z Euler Equation
Min k
a
dx x f f F f
k
l
all for 0 ) , , ( ) (
0
=

l
k k
l
k
l
k k
l
k k
l
k
l
k k
dx g
f
F
dx
d
g
f
F
g
f
F
dx g
f
F
g
f
F
dx
a
f
f
F
a
f
f
F
dx
a
F
dx x f f F
a a
0 0
0 0 0 0
) (
) ( ) ( ) , , (
In case the basis functions vanish at the boundary, then
0 all for 0 ) (
0
=

f
F
dx
d
f
F
k dx g
f
F
dx
d
f
F
a
l
k
k

= =
l
l
l l
dx f
f
F
dx
d
f
f
F
f
f
F
dx f
f
F
f
f
F
dx x f f F f
0 0 0 0
) ( ) ( ) , , ( ) (
In case the variation vanishes at the boundaries, then
0 ) ( ) ( ) (
0 0
=
=

k
k
k
l
k
l
a
a
a dx g
f
F
dx
d
f
F
fdx
f
F
dx
d
f
F
f . Therefore,
Min 0 =
5
z Example 1
Min
+ =
2
1
2
) ( 1 ) (
x
x
dx y y subject to
1 1
) ( y x y = ,
2 2
) ( y x y =
2 / 1 2 2
) ) ( 1 ( ) ) ( 1 ( 0

+ = +

y y
dx
d
y
y dx
d
f
F
dx
d
f
F
0 ) ) ( 1 ( )
) ( 1
) (
1 ( ) ) ( 1 (
) ) ( 1 )(
2
1
( ) ) ( 1 ( ) ) ( 1 (
2 / 3 2
2
2
2 / 1 2
2 / 3 2 2 / 1 2 2 / 1 2
= + =
+

+
= + + + = +

y y
y
y
y y
y y y y y y y y
dx
d
b ax y y + = = 0
By applying BC,
1 2
2 1 1 2
1 2
1 2
0
x x
y x y x
x
x x
y y
y y
= =
z Example 2
Min
=
l
dx uf u u
0
2
) ) (
2
1
( ) ( subject to 0 ) 0 ( = u , 0 ) ( = l u
0 0 ) ) (
2
1
(
2
= + = = =

f u u f u
dx
d
f u
u dx
d
f
u
F
dx
d
u
F
z Homework 1
1. Approximate a cosine function x
l
y

=
2
cos by polynomials based the minimization of the
least square errors. Use polynomials up to the 20
th
order. You may use a numerical in-
tegration algorithm such as Simpsons rule, the trapezoidal rule or the rectangular rule.
You also need a numerical solver to solve linear simultaneous equations in the Linpack.
For the accuracy of your calculation, please use double precision in your program. You
should present proper discussions on your results together with some graphs that show
your approximate functions and the given function.
2. Derive Euler equation for the following minimization function, and proper boundary con-
ditions.
Min
=
l
dx x f f f F f
0
) , , , ( ) (
3. Derive the governing equation and the boundary conditions for the following problem.
Min
=
l
dx wq
dx
w d
w
0
2
2
2
) ) (
2
1
( ) (
6
Chapter 3
Elliptic Differential Equations
in One Dimension
7
3.1. Problems with homogenous displacement boundary conditions
z Problem Definition
0 ) ( ) 0 ( , 0 0
2
2
= = < < = + l u u l x f
dx
u d
z Approximation Discretization

= =
= =
m
i
i i
h
n
i
i i
g a u g a u
1 1
where 0 ) ( ) 0 ( = = l u u
h h
, n m <
z Residuals
Equation Residual : l x f
dx
u d
R
h
E
< < + = 0 0
2
2
Function Residual : l x u u R
h
F
< < = 0 0
z Error Estimator :

+ = =
l h
h
l
E F
R
dx f
dx
u d
u u dx R R
0
2
2
0
) )( (
2
1
2
1
z Least Square Error
Error Square Least ) )( (
2
1
) )( (
2
1
) )( (
2
1
) )( (
2
1
) )( (
2
1
0
0 0
0
2
2
2
2
0
2
2
= =
=
=
+ =
LS
l h h
l h h
l
h
h
l h
h
l h
h R
dx
dx
du
dx
du
dx
du
dx
du
dx
dx
du
dx
du
dx
du
dx
du
dx
du
dx
du
u u
dx
dx
u d
dx
u d
u u
dx f
dx
u d
u u
z Energy Functional Total Potential Energy
RR
l
h
l h h l
l
h h
h h l
l
h
h
l
h
l
h
l
h
h
h
h l h
h R
C fdx u dx
dx
du
dx
du
ufdx
dx f u
dx
u d
u
dx
du
dx
du
ufdx
dx
du
u u
dx
du
dx
du
u
dx f u
dx
u d
u uf
dx
u d
u dx f
dx
u d
u u
+ = + =
+ + + =
+ = + =

)
2
1
(
2
1
) (
2
1
2
1
2
1
2
1
2
1
) (
2
1
) )( (
2
1
0 0 0
0
2
2
0 0
0
0
0
2
2
2
2
0
2
2
8
z Minimization Problems
RR LS R
Min Min Min w.r.t.
h h
u
z
RR
Min : Rayleigh-Ritz Method or Principle of Minimum Potential Energy
- First Order Necessary Condition for Minimization Problem
F Ka = = = = =
=
=
=

=
=
=
m k F a K F a K
fdx g a dx
dx
dg
dx
dg
fdx g dx g a
dx
d
dx
dg
fdx
da
du
dx
dx
du
da
du
dx
d
a
m
ki
k i ki k i ki
l
k
m
i
i
l
i k
l
k
l
i
m
i
i
k
l
k
h l h
k
h
k
RR
L , 1 for 0
) (
1
0
1
0
0 0
1
0 0
z 0 =
RR
: Variational principleor Principle of Virtual Work
0 ) ( ) ( 0 ) (
) (
) (
2
1
)) ( ) ( (
2
1
) (
2
1
)
2
1
(
1 1
1
0
1
0 0 0
0 0
0 0
0 0 0 0
= = =
=
=
+ =
= = =

= =
= =
F Ka a
T
m
k
m
i
k i ki k
m
k
l
k
m
i
i
l
i k
k
l
h
l h h
l
h
l h h h h
l
h
l h h h h
l
h
l h h l
h
l h h
RR
F a K a
fdx g a dx
dx
dg
dx
dg
a fdx u dx
dx
du
dx
u d
fdx u dx
dx
u d
dx
du
dx
du
dx
u d
fdx u dx
dx
du
dx
du
dx
du
dx
du
fdx u dx
dx
du
dx
du
fdx u dx
dx
du
dx
du
z Solution Space
- } ) ( , 0 ) ( ) 0 ( | {
0
2
< = =

l
dx
dx
du
l u u u u
-
h
: The minimization problems yield the exact solution.
-
h
: The minimization problems yield an approximate solution.
z Properties of K
- Symmetry :
ji
l
i
j
l
j
i
ij
K dx
dx
dg
dx
dg
dx
dx
dg
dx
dg
K = = =

0 0
- Positive Definiteness :

= = = = = =
= = = =
m
i
T
j
m
j
ij i j
m
j
j
l
i
m
i
i j
m
j
j
l
i
m
i
i
l h
a K a a dx
dx
dg
dx
dg
a dx a
dx
dg
a
dx
dg
dx
dx
du
1 1 1
0
1 1
0
1
2
0
0 ) ( Ka a
9
z Absolute Minimum Property of Total Potential Energy by the Exact Solution
) for only holds sign equality (The ) (
2
1
2
1
2
1
) (
2
1
2
1
2
1
2
1
2
1
2
1
) (
) ( ) (
2
1
2
1
0
2
0 0 0
0
2
2
0 0 0
0 0
2
2
0 0 0 0
0 0 0 0 0
0 0 0 0
C u dx
dx
du
dx
dx
du
dx
du
ufdx dx
dx
du
dx
du
dx f
dx
u d
u dx
dx
du
dx
du
ufdx dx
dx
du
dx
du
fdx u dx
dx
u d
u
dx
du
u dx
dx
du
dx
du
ufdx dx
dx
du
dx
du
fdx u dx
dx
du
dx
du
dx
dx
du
dx
du
ufdx dx
dx
du
dx
du
fdx u u dx
dx
u u d
dx
u u d
fdx u dx
dx
du
dx
du
u u u
e E
l e
E
l e e l l
l
e
l l e e l
l
e
l
e
l
e
l l e e l
l
e
l e l l e e l
l
e
l e e l
h
l h h
h
e h
= + =
+ =
+ + + =
+ + + =
+ + =
=

= =
=

z Weighted Residual Method
m k dx f
dx
u d
dx R
l h
k
l
E k k
, , 1 for 0 ) (
0
2
2
0
L = = + = =

- if
k k
g = : Galerkin Method (elliptic System or self-adjoint system)
F Ka = = = + =
+ = + =
+ = + =
=
, , 1 for 0

) (
0
1
0
0 0
1
0 0
0 0 0 0
2
2
m k fdx g a dx
dx
dg
dx
dg
fdx g dx a
dx
dg
dx
dg
fdx g dx
dx
du
dx
dg
fdx g dx
dx
du
dx
dg
dx
du
g dx f
dx
u d
l
k i
m
i
l
i k
l
k
l
m
i
i
i k
l
k
l h
k
l
k
l h
k
l
h
k
l h
k k
L
- Identical result to the Rayleigh-Ritz Method or Variational Principle
- if
k k
g : Petrov-Galerkin Method (hyperbolic system or non-self adjoint system)
z Weighted Residual Method vs. Variational Principle
i i
m
i
i k
a a m k = = =

=
possible all for 0 , , 1 for 0
1
L
h
l h
h
l h
i
m
i
i
m
i
l h
i i i
m
i
i
u dx f
dx
u d
u
dx f
dx
u d
g a dx f
dx
u d
g a a
= +
= + = + =
= = =
possible all for 0 ) (
) ( ) (
0
2
2
0
2
2
1 1
0
2
2
1
F Ka = = +
=
h
l
h
l h h
i
m
i
i
u fdx u dx
dx
du
dx
u d
a possible all for 0
0 0
1
10
z Integrability Condition Regularity (Continuity) Requirement
- Can we integrate dx
dx
du
l
l
2
) (
??
Original function u Function with transition zone u
dx
dx
u d
dx
dx
du
l
l
l
l
2
0
2
) ( lim ) (

=
where

+
+

=
+ +
x
l x u
u u
x
u u
x l u
u for
for
2 2
for
, ) ( =
+
u u , ) ( =

u u
dx
dx
u d u u
dx
dx
u d
dx
dx
u d
dx
u u
dx
dx
u d
dx
dx
u d
dx
dx
u d
dx
dx
u d
dx
dx
u d
l
l
l
l
l
l
l
l
2
2
2
2 2 2
2 2 2 2
) (
2
) (
) (
) ( )
2
( ) (
) ( ) ( ) ( ) (

+ =
+
+ =
+ + =
+ + = =
+

2
) (
lim
) ( ) ( ) (
lim
) (
2
0
2
0
2
0
2
0
2
u u
dx
dx
du
dx
dx
du
dx
dx
u d
dx
dx
du
l
l
l
l
l
l
Therefore, the given definite integral has a finite value if and only if u is continuous.

+

= u u
lim lim
0 0
u
-
u
+
u
-
u
+
2
11
From the physical point of view, the aforementioned continuity condition represents the
compatibility condition, which states that the displacement field in a continuum should
be uniquely determined, ie, defined by single valued functions.
- Can we integrate dx
dx
du
u
l
l
on what condition ?

+ + =
l
l
l
l
dx
dx
u d
u dx
dx
u d
u dx
dx
u d
u dx
dx
u d
u
2
) (
) ( )
2
)(
2 2
(
+
+

+ + +

+
=
+
+
=

u u
u u dx
u u u u
x
u u
dx
dx
u d
u

+
+
+
+
+ + =
+
+ + =
+
+ + =
+ + =

) ( ] [
2
) (
) (
)
2
) (
) ( ( lim
) ( lim
0
0
0
0
0
0
u u dx
dx
du
u dx
dx
du
u
u u
u u dx
dx
du
u dx
dx
du
u
u u
u u dx
dx
u d
u dx
dx
u d
u
dx
dx
u d
u dx
dx
u d
u dx
dx
u d
u dx
dx
du
u
l
l
l
l
l
l
l
l
l
l
Therefore, the given definite integral has a unique & finite value even if u is discontinuous.
- Can we integrate dx u
l
l
2
on what condition ?

+ + =
l
l
l
l
dx u dx u dx u dx u
2 2 2 2
2
) (
6
) ( )
2 2
(
2 2 2 2

+ +
=
+
+
=
+ +

+ +

u u u u dx
u u
x
u u
dx u
)
2
) (
6
) ( ( lim ) ( lim
2 2 2 2
0
2 2 2
0
2

+ +
+ + = + + =
+ +

u u u u dx u dx u dx u dx u dx u dx u
l
l
l
l
l
l
The last integral vanishes as far as u
-
and u
+
are finite, and the integral becomes

+ =

l
l
l
l
dx u dx u dx u
0
2
0
2 2
12
z Homework 2
1. Derive
RR
for the following ODE for a beam subject to axial force P (positive for com-
pression) as well as a traverse load q. Assume homogeneous displacement BCs.
0
2
2
4
4
= + q
dx
w d
P
dx
w d
EI
2. On what condition does the principle of minimum potential energy hold for Prob. 1 ?
Discuss the physical and the mathematical meanings of the condition.
3. Approximate solutions for a fixed-fixed end beam with a uniform load by polynomials
with one unknown and two unknowns. No axial force is applied. Compare your solu-
tions including displacement, rotation, moment and shear force to exact solution and dis-
cuss.
4. Identify the integrability condition for the following integrals, and evaluate the integrals
for the identified condition.
dx
dx
w d
l
2
0
2
2
) (
and dx
dx
w d
dx
dw
l
0
2
2
z Examples
- Example 1. 1
2
2
=
dx
u d
, x x u
2
1
2
1
2
+ =
1)
2
3 2 1
x a x a a u
h
+ + =
By BC : 0
1
= a ,
3 2
a a = ) (
2
3
x x a u
h
+ =
) 2 1 (
3
x a
dx
du
h
+ =
3
1
) 2 1 (
1
0
2
11
= + =
dx x K ,
6
1
) ( 1
1
0
2
1
= + =
dx x x F
2
1
6
1
3
1
3 3
= = a a u u
h
=
2)
3
4
2
3 2 1
x a x a x a a u
h
+ + + =
By BC : 0
1
= a ,
4 3 2
a a a =
43 42 1 43 42 1
2 1
) ( ) (
3
4
2
3
g g
h
x x a x x a u + + + =
) 3 1 ( ), 2 1 (
2 2 1
x
dx
dg
x
dx
dg
+ = + =
3
1
) 2 1 (
1
0
2
11
= + =
dx x K
2
1
) 3 1 )( 2 1 (
1
0
2
21 12
= + + = =

dx x x K K ,
13
5
4
) 3 1 (
1
0
2 2
22
= + =
dx x K
6
1
) ( 1
1
0
2
1
= + =
dx x x F ,
4
1
) ( 1
1
0
3
2
= + =
dx x x F
System Equation : 0 ,
2
1
4
1
6
1
5
4
2
1
2
1
3
1
4 3
4
3
= =
(
(
(
a a
a
a
- Example 2. x
dx
u d
= sin
2
2
2
, x u = sin
1)
2
2 1 0
x a x a a u
h
+ + =
- By BC : 0
0
= a ,
2 1
a a = ) (
2
2
x x a u
h
+ =
- ) 2 1 (
2
x a
dx
du
h
+ =
3
1
) 2 1 (
1
0
2
11
= + =
dx x K ,
= + =

4
) ( sin
1
0
2 2
1
dx x x x F
-
=
12 4
3
1
2 2
a a ) (
12
2
x x u
h
+
=
- 955 . 0
3
) 5 . 0 ( =
=
h
u Error = 4.5 %
2)
3
3
2
2 1 0
x a x a x a a u
h
+ + + =
= + =

4
) ( sin
1
0
2 2
1
dx x x x F ,
= + =

6
) ( sin
1
0
3 2
2
dx x x x F
System Equation : 0 ,
12
6
4
5
4
2
1
2
1
3
1
3 2
3
2
=
(
(
(
a a
a
a
????
3) In general ) (
2
=
+ =
m
i
i
i
h
x x a u
2 / 1
1
0
2 2
1
0
2
2 / 1
1
0
2
1
0
2
cos
) ) ( cos (
Error Derivative
sin
) (sin
Error Function
|
|
|
|
|
.
|
\
|

=
|
|
|
|
|
.
|
\
|
xdx
dx u x
xdx
dx u x
h h
To evaluate numerator in the error expressions, the midpoint rule with 100 subin-
tervals is employed.
14
- Raw Output
***** 2t h- or der Pol ynomi al *****
a 2 = - 0. 3819719E+01
Er r or s f or 2t h- or der pol ynomi al
Funct i on er r or = 0. 2009211E+01 %
Der i vat i ve er r or = 0. 6010036E+01 %
a 2 = - 0. 3819719E+01
a 3 = 0. 0000000E+00
Funct i on er r or = 0. 2009211E+01 %
a 2 = 0. 4193832E+00
a 3 = - 0. 7065170E+01
a 4 = 0. 3532585E+01
Funct i on er r or = 0. 4048880E- 01 %
a 2 = 0. 4193832E+00
a 3 = - 0. 7065170E+01
a 4 = 0. 3532585E+01
a 5 = 0. 7833734E- 12
Funct i on er r or = 0. 4048880E- 01 %
a 2 = - 0. 1405727E- 01
a 3 = - 0. 5042448E+01
a 4 = - 0. 5128593E+00
a 5 = 0. 3640900E+01
a 6 = - 0. 1213633E+01
Funct i on er r or = 0. 4444114E- 03 %
Der i vat i ve er r or = 0. 2944068E- 02 %
a 2 = - 0. 1405727E- 01
a 3 = - 0. 5042448E+01
a 4 = - 0. 5128593E+00
a 5 = 0. 3640900E+01
a 6 = - 0. 1213633E+01
a 7 = 0. 5029577E- 09
Funct i on er r or = 0. 4444114E- 03 %
15
a 2 = 0. 2231430E- 03
a 3 = - 0. 5170971E+01
a 4 = 0. 2265606E- 01
a 5 = 0. 2462766E+01
a 6 = 0. 2001274E+00
a 7 = - 0. 8751851E+00
a 8 = 0. 2187963E+00
Funct i on er r or = 0. 3045376E- 05 %
a 2 = 0. 2231387E- 03
a 3 = - 0. 5170971E+01
a 4 = 0. 2265578E- 01
a 5 = 0. 2462767E+01
a 6 = 0. 2001259E+00
a 7 = - 0. 8751837E+00
a 8 = 0. 2187955E+00
a 9 = 0. 1698185E- 06
Funct i on er r or = 0. 3045376E- 05 %
a 2 = - 0. 2313690E- 05
a 3 = - 0. 5167665E+01
a 4 = - 0. 4905381E- 03
a 5 = 0. 2553037E+01
a 6 = - 0. 1050486E- 01
a 7 = - 0. 5742830E+00
a 8 = - 0. 3911909E- 01
a 9 = 0. 1217931E+00
a10 = - 0. 2435856E- 01
Funct i on er r or = 0. 1289526E- 07 %
a 2 = - 0. 4281311E- 05
a 3 = - 0. 5167629E+01
a 4 = - 0. 7974500E- 03
a 5 = 0. 2554541E+01
a 6 = - 0. 1501611E- 01
a 7 = - 0. 5656904E+00
a 8 = - 0. 4955267E- 01
a 9 = 0. 1296181E+00
a10 = - 0. 2766239E- 01
a11 = 0. 6006860E- 03
Funct i on er r or = 0. 2263193E- 07 %
16
- Result plots
Variation of errors
Plot of approximate function for different orders of polynomial
10
-8
10
-6
10
-4
10
-2
10
0
2 3 4 5 6 7 8 9 10 11
Function
Derivative
E
r
r
o
r

(
%
)
Order of polynomial
0
0.2
0.4
0.6
0.8
1
0 0.2 0.4 0.6 0.8 1
Exact
2nd order
4th order
F
(
X
)
X-Coordinate
17
Plot of derivative approximate function for different orders of polynomial
3.2. The Other Side of the Principle of Virtual Work
z In Elementary of Structural Analysis 2
nd
edition by Norris and Willber
If a deformable body is in equilibrium under a Q-force system and remains in equilibrium
while it is subjected a small virtual deformation, the external virtual work done by exter-
nal Q forces acting on the body is equal to the internal virtual work of deformation done
by the internal Q-stresses.

=
V
ij ij
S
i i
dV dS Q u where ) (
2
1
i
j
j
i
ij
x
u
x
u
=
z From the mathematical point of view
If 0 ) ( = u A should hold for a given system, then the following statement should hold.
Here, u , and the order of A should be the same as u.
- If A is defined in a continuous fashion in a given domain, then
=
u u A u 0 ) ( dv
v
. Here is a proper function space.
-4
-3
-2
-1
0
1
2
3
4
0 0.2 0.4 0.6 0.8 1
Exact
2nd order
4th order
F
'
(
X
)
X-Coordinate
18
Example :
The governing equation for a beam problem : q
dx
w d
EI =
4
4
The expression for virtual work :

=
=
v v v
wqdx dx
dx
w d
EI
dx
w d
dx q
dx
w d
EI w
2
2
2
2
4
4
0 ) (
If w is the displacement induced by the unit load applied load at x
j
, the expression
for the principle of virtual work becomes as follows.
) ( ) (
j
v
j
v v
Q
x w dx x x w wqdx dx
EI
M M
= = =

where M
is the moment induced by the unit load applied at x

j
and ) (
j
x x is a de-
lac delta function applied at x
j.
- If A is defined in a discrete fashion in a given domain, then
= = u u u A u 0 ) ( ) (
i i
A u Here is a proper vector space.
Example : Truss problem
Equilibrium Equations
0 , 0
) (
1
) (
1
= + = +

= =
i
i m
j
i
j
i
i m
j
i
j
Y V X H for n i , , 1 L =
Virtual Work Expression
0 ) ) sin ( ) cos ((
) ) ( ) ((
1
) (
1
) (
1
1
) (
1
) (
1
= + + +
= + + +

= = =
= = =
n
i
i i
i m
j
i
j
i
j
i i
i m
j
i
j
i
j
n
i
i i
i m
j
i
j
i i
i m
j
i
j
v Y F u X F
v Y V u X H

= =
= = = =
+ = +
+ = +
n
i
i i i i
nmb
i
i i
i
i i i
i
i
n
i
i i i i
n
i
i m
j
i
j
i
j
i
i m
j
i
j
i
j
i
v Y u X v v F u u F
v Y u X F v F u
1 1
2 1 2 1
1 1
) (
1
) (
1
) ( )) ( sin ) ( cos (
) ( ) sin cos (

i
Y

i
X

i
F
1

i
j
F

i
i m
F
) (

i
Y

i
X
19

=

= = = =

= =
+ = + =
=
+ = +
n
i
i i i i
n
i
i i i i
nmb
i
i
i i i
i
i i
nmb
i
i
nmb
i
i i
n
i
i i i i
nmb
i
i
i i
i
i i i
v Y u X v Y u X
EA
l F
EA
l
F l F
v Y u X v v u u F
1 1 1 1 1
1 1
1 2 1 2
) ( ) (
) ( ) (
) ( ) sin ) ( cos ) ((
If force system constists of an unit load applied at k-th joint in arbitrary direction, then
=

= = = +
nmb
i
i
i i i
k k k k
EA
l F
v Y u X
1
) (
cos cos u u X
3.3. Problems with Traction Boundary Condition
z Problem Definition
- Differential Equation
l x f
dx
u d
< < = + 0 0
2
2
- Boundary Conditions
at or 0 0 T
dx
du
u x = = = and at or 0 T
dx
du
u l x = = =
z Error Estimator:
l
h
h
l h
h R
dx
du
dx
du
u u dx f
dx
u d
u u
0 0
2
2
) )( (
2
1
) )( (
2
1
+ + =

i
v v sin ) (
1 2
i
u u cos ) (
1 2
i
) (
1 2
u u
) (
1 2
v v
20
) )( (
2
1
) )( (
2
1
) )( (
2
1
) )( (
2
1
0
0 0 0
LS
l h h
l
h
h
l h h
l
h
h R
dx
dx
du
dx
du
dx
du
dx
du
dx
du
dx
du
u u dx
dx
du
dx
du
dx
du
dx
du
dx
du
dx
du
u u
= =
+ =

RR
l
h
l
h
l h h
l
l
l
h h
h h l
l l
h
l
h
h
l h
h R
C T u fdx u dx
dx
du
dx
du
T u ufdx
dx f u
dx
u d
u
dx
du
dx
du
ufdx
dx
du
u u
dx
du
dx
du
dx
du
u u dx f
dx
u d
u u
+ = + + =
+ + + + =
+ + =

0
0 0
0
0
0
2
2
0 0 0
0 0
2
2
2
1
) (
2
1
) (
2
1
2
1
2
1
) )( (
2
1
) )( (
2
1
RR LS R
Min Min Min w.r.t.
h h
u
z
RR
- 1
st
Order Necessary Condition of Minimization Problem
m i F a K T g fdx g a dx
dx
dg
dx
dg
T g a
da
d
fdx g a
da
d
dx
dx
dg
a
dx
dg
a
da
d
T
da
du
fdx
da
du
dx
dx
du
dx
du
da
d
a
m
i
k i ki
l
k
l
k
m
i
i
l
i k
l
m
i
i i
k
l
m
i
i i
k
l
m
i
i
i
m
i
i
i
k
l
k
h l
k
h l h h
k k
RR
L , 1 for 0
) ( ) )( (
) (
1
0
0
1
0
0
1
0
1
0
1 1
0
0 0
= = = =
=
=

= =
= = = =
F Ka =
z 0 =
RR
: Variational Principleor Principle of Virtual Work
0 ) ( ) ( 0 ) (
) (
)
2
1
(
1 1
1
0
0
1
0
0
0
0
0
0 0
= = =
=

= =

= =
= =
F Ka a
T
m
k
m
i
k i ki k
m
k
l
l
k k
m
i
i
l
i k
k
l
l
h h
l h h
l
h
l
h
l h h
RR
F a K a
T g fdx g a dx
dx
dg
dx
dg
a
T u fdx u dx
dx
du
dx
u d
T u fdx u dx
dx
du
dx
du
21
z Absolute Minimum Property of Total Potential Energy by the Exact Solution
) for only holds sign equality (The ) (
2
1
2
1
2
1
) ( ) (
2
1
2
1
2
1
2
1
2
1
2
1
) ( ) (
) ( ) (
2
1
2
1
0
2
0
0
0 0
0 0
2
2
0 0
0
0
0
0 0
2
2
0 0 0
0
0
0
0 0 0 0
0
0
0
0 0
0
0 0
C u dx
dx
du
dx
dx
du
dx
du
T u ufdx dx
dx
du
dx
du
dx
du
T u dx f
dx
u d
u dx
dx
du
dx
du
T u ufdx dx
dx
du
dx
du
T u fdx u dx
dx
u d
u
dx
du
u dx
dx
du
dx
du
T u ufdx dx
dx
du
dx
du
T u fdx u dx
dx
du
dx
du
dx
dx
du
dx
du
T u ufdx dx
dx
du
dx
du
T u u fdx u u dx
dx
u u d
dx
u u d
T u fdx u dx
dx
du
dx
du
u u u
e E
l e
E
l e e
l
l l
l
e
l
e
l l e e
l
l
l
e
l
e
l
e
l
e
l l e e
l
l
l
e
l
e
l e l l e e
l
l
l
e
l
e
l e e
l
h
l
h
l h h
h
e h
= + =
+ =
+ + + + =
+ + + + =
+ + + =

=
=
=

z Weighted Residual Method
F Ka = = = + + =
+ + =
+ + =
+ + = + =

=
, , 1 for 0

) (
) ( ) ( ) (
0
0
1
0
0
0 0
0 0 0 0
0 0
2
2
0 0
m k T g fdx g a dx
dx
dg
dx
dg
T g fdx g dx
dx
du
dx
dg
dx
du
dx
du
g fdx g dx
dx
du
dx
dg
dx
du
g
dx
du
dx
du
g dx f
dx
u d
g
dx
du
dx
du
g dx R g
l
l
k k i
m
i
l
i k
l
k
l
k
l h
k
l
h
k
l
k
l h
k
l
h
k
l
h
k
l h
k
l
h
k
l
E k k
L
z Weighted Residual vs. Variational Principle
0
) (
) (
possible all for 0 , , 1 for 0
0
0 0
1
0
0 0
1
0
0 0
1
= = + +
= + +
= + +
= = =

=
=
=
RR
l
h
l
h
l h h
m
k
l
k k
l
k k
l h
k k
m
k
l
k
l
k
l h
k
k
i i
m
i
i k
T u fdx u dx
dx
du
dx
u d
T g a fdx g a dx
dx
du
dx
g a d
T g fdx g dx
dx
du
dx
dg
a
a a m k L
22
z Homework 3
1. Derive
R
,
LS
,
RR
for the following ODE with the homogeneous displacement
BCs. 0
4
4
= q
dx
w d
2. Prove the absolute minimum property of
RR
derived in Prob. 1 by the exact solution.
3. Approximate solutions for a cantilever beam subject to a uniform load (q) over the span
and a concentrate load applied at the free end by polynomials with one unknown, two
unknowns and three unknowns. Compare your solutions including displacement, rota-
tion, moment and shear force to exact solution and discuss.
3.4. Finite Element Discretization
z Domain Discretization
h
l
h
e
l
h
e
l
h h
l
h
n
e
l
h
n
e
l
h h
l
h
l
h
l h h
u T u dx u f dx
dx
du
dx
u d
T u dx u f dx
dx
du
dx
u d
T u dx u f dx
dx
du
dx
u d
e e
e e
=

= =
admissible all for 0
0
0
1 1
0
0 0
z Interpolation of Displacement Field in a Element
= +
L
e
u
R
e
u 1 1
L
e
u
R
e
u
e
l
L
e
N
R
e
N
e
x
1 + e
x
1
U
1 + n
U
1
l
2
l
n
l
3
l . . .
node
0
1
= x
2
x
3
x l x
n
=
+1
2
U
3
U
4
U
23
e
R
e
L
e R
e
L
e
R
e
R
e
L
e
L
e
h
e
e
e
e e
e R
e
e
e
e e
e L
e
e
R
e
L
e R
e
L
e
R
e
R
e
L
e
L
e
h
e
u
u
N N u N u N x u
l
x x
x x
x x
N
l
x x
x x
x x
N
u
u
N N u N u N x u
u N
u N
= |
.
|
\
|
= + =
=
= |
.
|
\
|
= + =
+
+
+
+
) , ( ) (
= , =
) , ( ) (
1
1
1
1
z Discretized Form of Variational Statement
e
R
e
L
e
R
e
L
e R
e
R
e L
e
L
e
h
e
e
R
e
L
e
R
e
L
e R
e
R
e L
e
L
e
h
e
u
u
dx
dN
dx
dN
u
dx
dN
u
dx
dN
dx
u d
u
u
dx
dN
dx
dN
u
dx
dN
u
dx
dN
dx
du
u B
u B
= |
.
|
\
|
= + =
= |
.
|
\
|
= + =
) , (
) , (
0
)) 0 ( ) 0 ( ) ( ( ) ( ) (
1
0
= =
=

T u F u u K u
T u N u u B B u
b
e
e
T
e e
e
e
T
e
b
e
l
T T
e e
e
l
T T
e
L R
n
e
l
T h
e
e
l
h
e T
h
e
l
h
e
l
h
e
l
h h
e e
e e
e e
fdx dx
T u l T u fdx u dx
dx
du
dx
u d
T u dx u f dx
dx
du
dx
u d
z Compatibility Condition Continuity Requirement
1
1 1
,
+
+
= = = =
e L
e
R
e
e R
e
L
e
U u u U u u
U C u U C u = =
|
|
|
|
|
|
|
|
.
|
\
|
(
=
|
|
.
|
\
|
=
+
+
e e e
n
e
e
R
e
L
e
e
U
U
U
U
u
u
,
0 1 0 0
0 0 1 0
1
1
1
M
M
L L
L L
z Global System Equation Global Stiffness Equation
.
U F KU U
T C F C U U C K C U
T C U F C U U C K C U

admissible all for 0 ) (
) ( ) (
= =
=
=

T
T
b
e
e
T
e
T
e
e
e
T
e
T
T
b
T
e
e
T
e
T
e
e
e
T
e
T
F KU =
24
z Rayleigh-Ritz Type Interpretation of FEM
i i
h
U g u =
h
l
h
l h h
u fdx u dx
dx
du
dx
u d
=

admissible all for
0 0
e
e
x
x
T T
e
n
i
x
x
i
i
i
i i
i
i
i
x
x
n
n
n
n n
n
x
x
n
n
n
n n
n
x
x
n
n
n
n n
n
x
x
i
i
i
i i
i
x
x
i
i
i
i i
i
x
x
i
i
i
i i
i
x
x
i
i
i
i i
i
x
x
i
i
i
i i
i
x
x
i
i
i
i i
i
x
x
x
x
x
x
n
i
n
j
l
j
j
i
i
l h h
i
i
i
i
n
n
n
n
n
n
i
i
i
i
i
i
i
i
i
i
i
i
dx
dx U
dx
dg
U
dx
dg
dx
dg
U
dx
dg
U
dx U
dx
dg
U
dx
dg
dx
dg
U
dx U
dx
dg
U
dx
dg
dx
dg
U dx U
dx
dg
U
dx
dg
dx
dg
U
dx U
dx
dg
U
dx
dg
dx
dg
U dx U
dx
dg
U
dx
dg
dx
dg
U
dx U
dx
dg
U
dx
dg
dx
dg
U dx U
dx
dg
U
dx
dg
dx
dg
U
dx U
dx
dg
U
dx
dg
dx
dg
U dx U
dx
dg
U
dx
dg
dx
dg
U
dx U
dx
dg
U
dx
dg
dx
dg
U dx U
dx
dg
U
dx
dg
dx
dg
U
dx U
dx
dg
U
dx
dg
dx
dg
U
dxU
dx
dg
dx
dg
U dx
dx
du
dx
u d
U B B U

+
+
+
+
+
+
+
+
=
+ + =
+
+ + + +
+ + + +
+ + + +
+ + + +
+ + + +
+ +
= =
=
+
+ +
+
+
+ +
+
+
+
+
+
+
+ +
+ +
+ +
+
+
+
+
=
+
=
1
1
1
1
1
2
1
1
1
1
1
1
2
3
2
2
1
2
1
1
1
1 1
1
1
1 1
1
1
1
1
1
2
2
1
1 1
1 1
1 1
1
1
1
1
1
1
1 1
1 1
1
2
2 1
1
3
3
2
2 2
2 2
2
1
1 2
2
2
2
1
1 1
1
1
1
1
1
0 0
) )( (
) (
) ( ) (

) ( ) (
) ( ) (
) ( ) (

) ( ) (
) (

L
L
g
i
g
i+1
i
U
1 + i
U
g
i-1
1 i
U
25
z Finite Element Procedure
1. Governing equations in the domain, boundary conditions on the boundary.
2. Derive weak form of the G.E. and B.C. by the variational principle or equivalent.
3. Descretize the given domain and boundary with finite elements.
S ,
2 1 2 1 m n
S S S V V V V = = L L
4. Assume the displacement field by shape functions and nodal values within an element.
e e e
U N u =
5. Calculate the element stiffness matrix and assemble it according to the compatibility.
dV
e
l
e
= DB B K
T
,
=
e
e
K K
6. Calculate the equivalent nodal force and assemble it according to the compatibility.
l
T
l
T e
dV f
e
0
T N N F + =
=
e
e
F F
7. Apply the displacement boundary conditions and solve the stiffness equation.
8. Calculate strain, stress and reaction force.
z Example with Three Elements and Four Nodes
- Shape Function Matrix
e
e
e e
e R
e
e
e
e e
e L
e
e e
R
e
L
e R
e
L
e
R
e
R
e
L
e
L
e
h
e
l
x x
x x
x x
N
l
x x
x x
x x
N
u
u
N N u N u N x u
=
= |
.
|
\
|
= + =
+
+
+
+
= , =
) , ( ) (
1
1
1
1
u N
] 1 , 1 [
1
) , ( = =
e
R
e
L
e
e
l dx
dN
dx
dN
B
- Element Stiffness Matrix
(

=
|
.
|
\
|
=

1 1
1 1
1
] 1 , 1 [
1
1
1
1
] [
e e V e
e
l
dx
l l
e
K
1
U
1
l
2
l
3
l
0
1
= x
2
x
3
x l x =
4
2
U
3
U
4
U
26
- Compatibility Matrix

0 0 1 0
0 0 0 1
1
4
3
2
1
1
1
1
U C u =
|
|
|
|
|
.
|
\
|
(
=
|
|
.
|
\
|
=
U
U
U
U
u
u
R
L
,
0 1 0 0
0 0 1 0
2
4
3
2
1
2
2
2
U C u =
|
|
|
|
|
.
|
\
|
(
=
|
|
.
|
\
|
=
U
U
U
U
u
u
R
L

1 0 0 0
0 1 0 0
3
4
3
2
1
3
3
3
U C u =
|
|
|
|
|
.
|
\
|
(
=
|
|
.
|
\
|
=
U
U
U
U
u
u
R
L
- Global Stiffness Matrix
(
(
(
(
(
(
(
(
(
+
+
=
(
(
(
(

+
(
(
(
(

+
(
(
(
(

=
(

(
(
(
(
+
(

(
(
(
(
+
(

(
(
(
(
=
+ + = =
3 3
3 3 2 2
2 2 1 1
1 1
3 2 1
3
2 1
3 3 3 2 2 2 1 1 1
1 1
0 0
1 1 1 1
0
0
1 1 1 1
0 0
1 1
1 1 0 0
1 1 0 0
0 0 0 0
0 0 0 0
1
0 0 0 0
0 1 1 0
0 1 1 0
0 0 0 0
1
0 0 0 0
0 0 0 0
0 0 1 1
0 0 1 1
1
1 0 0 0
0 1 0 0
1 1
1 1
1 0
0 1
0 0
0 0
1

0 1 0 0
0 0 1 0
1 1
1 1
0 0
1 0
0 1
0 0
1

0 0 1 0
0 0 0 1
1 1
1 1
0 0
0 0
1 0
0 1
1
l l
l l l l
l l l l
l l
l l l
l
l l
T T T
e
e e
T
e
C K C C K C C K C C K C K
- Force Term
|
.
|
\
|
=
|
.
|
\
|
=

+
+
1
1
2
1
1
1
1 e
x
x e
e
e
e
l
dx
x x
x x
l
e
e
F
27
|
|
|
|
|
|
|
|
.
|
\
|
+
+
=
|
.
|
\
|
(
(
(
(
+
|
.
|
\
|
(
(
(
(
+
|
.
|
\
|
(
(
(
(
=
+ + = =
2
2 2
2 2
2
1
1
1 0
0 1
0 0
0 0
2 1
1
0 0
1 0
0 1
0 0
2 1
1
0 0
0 0
1 0
0 1
2
3
3 2
2 1
1
3 2 1
3 3 2 2 1 1
l
l l
l l
l
l l l
T T T
e
e
T
e
F C F C F C F C F
- System Equation
|
|
|
|
|
|
|
|
.
|
\
|
+
+
=
|
|
|
|
|
|
|
|
|
.
|
\
|
(
(
(
(
(
(
(
(
(
+
+
2
2 2
2 2
2
1 1
0 0
1 1 1 1
0
0
1 1 1 1
0 0
1 1
3
3 2
2 1
1
4
3
2
1
3 3
3 3 2 2
2 2 1 1
1 1
l
l l
l l
l
U
U
U
U
l l
l l l l
l l l l
l l
- Case 1 : 0
) 1 (
, 0 ) 0 (
3
1
3 2 1
= = = = =
dx
du
u l l l
|
|
|
.
|
\
|
=
|
|
|
.
|
\
|
(
(
|
|
|
|
|
|
|
|
.
|
\
|
+
+
=
|
|
|
|
|
|
|
|
|
.
|
\
|
(
(
(
(
(
(
(
(
(
+
+
5 . 0
1
1
9
1
1 1 0
1 2 1
0 1 2
2
2 2
2 2
2
1 1
0 0
1 1 1 1
0
0
1 1 1 1
0 0
1 1
4
3
2
3
3 2
2 1
1
4
3
2
1
3 3
3 3 2 2
2 2 1 1
1 1
U
U
U
l
l l
l l
l
U
U
U
U
l l
l l l l
l l l l
l l
18
9
,
18
8
,
18
5
4 3 2
= = = U U U
Displace- Strain (or Stress)
28
- Case 2 : 0 ) 1 ( , 0 ) 0 (
3
1
3 2 1
= = = = = u u l l l
|
|
.
|
\
|
=
|
|
.
|
\
|
(
|
|
|
|
|
|
|
|
|
.
|
\
|
+
+
=
|
|
|
|
|
|
|
|
|
.
|
\
|
(
(
(
(
(
(
(
(
(
+
+
1
1
9
1
2 1
1 2
2
2 2
2 2
2
1 1
0 0
1 1 1 1
0
0
1 1 1 1
0 0
1 1
4
3
3
3 2
2 1
1
4
3
2
1
3 3
3 3 2 2
2 2 1 1
1 1
U
U
l
l l
l l
l
U
U
U
U
l l
l l l l
l l l l
l l

9
1
,
9
1
3 2
= = U U
3.5. Finite Difference Discretization
z Differential Equation
0 0
2
2
2
= + = +
i
i
f u D f
dx
u d
where D
2
is a 2
nd
-order finite difference operator.
Displace-
Strain (or Stress)
1 + i
x
i
x
1 i
x
i
U
1 + i
U
1 i
U
29
z Finite Difference Operator (Central Difference)
- Suppose u is approximated by a 2
nd
-order parabola,
c bx ax u + +
2
)
1
)
1 1
(
1
(
1
1
1
1
1 1
2
1
1
2
1 1
+

+

+ +
+
=
+ + =
=
+ =
i
i
i
i i
i
i i i
i i i
i
i i i
U
l
U
l l
U
l l l
a
c bl al U
c U
c bl al U
)
1
)
1 1
(
1
(
2
2
1
1
1
1 1
2
2
2
+

=
+ +
+
= =
i
i
i
i i
i
i i i
i
x x
U
l
U
l l
U
l l l
a u D
dx
u d
i
z Finite Difference Equations for interior nodes
i
i i
i
i
i
i i
i
i
f
l l
U
l
U
l l
U
l 2
1
)
1 1
(
1
1
1
1
1
1
+
= + +

+
z Finite Difference Equations for Boundary Nodes with Displacement BCs

In case that a displacement BC is specified at a boundary nodes, the finite difference
equations need to be set up for only interior nodes. The BC can be applied to the finite
difference equation for the node adjacent to the boundary nodes.
- Example Case 2
3
3 2
4
3
3
3 2
2
2
2
2 1
3
2
2
2 1
1
1
2
1
)
1 1
(
1
2
1
)
1 1
(
1
f
l l
U
l
U
l l
U
l
f
l l
U
l
U
l l
U
l
+
= + +
+
= + +
z Finite Difference Equations for Boundary Nodes with Traction BCs
In case that a traction BC is specified at a boundary nodes, some special treatment for
boundary condition such as ghost node is needed.
i
l
1
i
l
i
U
1 + i
U
1 i
U
0
1 + n
x
n
x
1 n
x
2 + n
x
30
- The finite difference equation at the node n+1 :
1
1
2
1
1
1
2
1
)
1 1
(
1
+
+
+
+
+
+
+
= + +
n
n n
n
n
n
n n
n
n
f
l l
U
l
U
l l
U
l
- Approximation of the traction BC by the finite difference operator.
n n
n n
n n
l x
U U
l l
U U
dx
du
= =
+
+
+
+
=
2
1
2
0
- Substitution of the FD traction BC into FD equations for the boundary node.
-
1
1
1
1 1
2
)
1 1
( )
1 1
(
+
+
+
+ +
+
= + + +
n
n n
n
n n
n
n n
f
l l
U
l l
U
l l
Since the location of the ghost node is arbitrary,
n n
l l =
+1
can be assumed without
loss of generality. The final equation for the boundary node becomes
1 1
2
1 1
+ +
= +
n
n
n
n
n
n
f
l
U
l
U
l
- Example Case 1
3
3 2
4
3
3
3 2
2
2
2
2 1
3
2
2
2 1
1
1
2
1
)
1 1
(
1
2
1
)
1 1
(
1
f
l l
U
l
U
l l
U
l
f
l l
U
l
U
l l
U
l
+
= + +
+
= + +

4
3
4
3
3
3
2
1 1
f
l
U
l
U
l
= +
z Homework 4
1. Using the continuity requirements for beam problems (4
th
-order ODE) considered in
homework 2, propose suitable interpolation (shape) functions for a beam element, and de-
rive the element stiffness matrix of the beam element.
2. Derive a FDM equation for a cantilever beam subject to a concentrated load at the free
end. Propose FDM equations for all boundary conditions for beam problems using
proper ghost nodes. Discretize the beam with 5 nodes including two boundary nodes.
Do not solve the system equations.
31
Chapter 4
Multidimensional Problems
Elasticity
b
a
32
4.1. Problem Definition
z Governing Equations and Boundary Conditions
Equilibrium Equation : 0 = + b
in V
Constitutive Law : : D =
in V
Strain-Displacement Relationship
: ) ) ( (
2
1
T
u u + = in V
Displacement Boundary condition : 0 = u u
on
u
S
Traction Boundary Condition
: 0 = T T
on
t
S
Cauchys Relation on the Boundary : n T = on S
z Strain Energy (Refer to pp. 244 - 246 of Theory of Elasticity by Timoshenko)
dV
x
u
dV
x
u
x
u
x
u
x
u
dV
V
ij
j
i
ji ij
V
ij
i
j
j
i
i
j
j
i
ij
V
ij ij
=
=
= =
2
1
) (
2
1
2
1
) (
2
1
2
1
int
z Total Potential Energy
dS T u dV b u dV
S
i i
V
i i
V
ij ij

=
2
1
V, E ,
T T =
0 = = u u
S
u
S
t
33
4.2. Error Minimization
z Error Estimator :

+ + =
S
h
i
h
i i i
h
j ij
V
h
i i
R
dS T T u u dV b u u ) )( (
2
1
) )( (
2
1
,
LS h
l k l k ijkl
V
h
j i j i
h
kl kl ijkl
V
h
j i j i
h
ij ij
V
h
j i j i
S
h
i
h
i i
h
i
S
h
i i
h
ij ij
V
h
j i j i
S
h
i
h
i i j ij
h
ij
S
h
i i ij
h
ij
V
h
j i j i
S
h
i
h
i i j ij
h
j ij
V
h
i i
R
dV u u D u u
dV D u u
dV u u
dS T T u u dS T T u u dV u u
dS T T u u dS n u u dV u u
dS T T u u dV u u
= =
=
=
+ =
+ + =
+ =

2 ) ( ) (
) ( ) (
) )( (
) )( ( ) )( ( ) )( (
) )( ( ) )( ( ) )( (
) )( ( ) )( ( 2
, , , ,
, ,
, ,
, ,
, ,
, ,
RR
S
i
h
i
V
i
h
i
h
ij
V
h
ij
V
ij
j
i
j
S
ij
h
i
V j
ij
h
i
h
ij
V
h
ij
V
ij
j
i
V
ij
j
h
i h
ij
V j
h
i
V
ij
j
i
h
ij
V
ij
j
h
i
V
ij
j
h
i
V
ij
j
i
h
ij
V
ij
j
h
i
V l
k
ijkl
j
h
i
V
ij
j
i
h
ij
V
ij
j
h
i
l
h
k
ijkl
V j
i
V
ij
j
i
h
ij
V
ij
j
h
i h
ij
V j
i
V
ij
j
i
h
ij
V
ij
j
h
i
j
i LS
C
dS T u dV b u dV dV
x
u
dS n u dV
x
u dV dV
x
u
dV
x
u
dV
x
u
dV
x
u
dV
x
u
dV
x
u
dV
x
u
dV
x
u
dV
x
u
D
x
u
dV
x
u
dV
x
u
dV
x
u
D
x
u
dV
x
u
dV
x
u
dV
x
u
dV
x
u
dV
x
u
x
u
t
+ =
+
+ +
2
1
2
1
2
1
2
1
2
1
2
1
) (
2
1
2
1
2
1
) (
2
1
2
1
2
1
) (
2
1
2
1
2
1
) (
2
1
2
1
2
1
) )( (
2
1
34
z Absolute Minimum Property of the Total Potential Energy
e
i i
h
i
u u u =
dV
x
u
D
x
u
dV b u dV
x
u
D
x
u
dV b u dV u dV
x
u
D
x
u
dS T u dV b u dS T u dV u dV
x
u
D
x
u
dS T u dV b u dS n u dV u dV
x
u
D
x
u
dS T u dV b u dV
x
u
dV
x
u
D
x
u
dS T u dV b u dV
x
u
D
x
u
dV
x
u
D
x
u
dS T u dV b u dV
x
u
D
x
u
dS T u u dV b u u dV
x
u
D
x
u
dV
x
u
D
x
u
dV
x
u
D
x
u
dV
x
u
D
x
u
dS T u u dV b u u dV
x
u u
D
x
u u
dS T u dV b u dV
l
e
k
V
ijkl
j
e
i E
V
i j ij
e
i
l
e
k
V
ijkl
j
e
i E
V
i
e
i
V
j ij
e
i
l
e
k
V
ijkl
j
e
i E
S
i
e
i
V
i
e
i
S
i
e
i
V
j ij
e
i
l
e
k
V
ijkl
j
e
i E
S
i
e
i
V
i
e
i j ij
e
i
V
j ij
e
i
l
e
k
V
ijkl
j
e
i E
S
i
e
i
V
i
e
i
V
ij
j
e
i
l
e
k
V
ijkl
j
e
i E
S
i
e
i
V
i
e
i
l
k
V
ijkl
j
e
i
l
e
k
V
ijkl
j
e
i
S
i i
V
i i
l
k
V
ijkl
j
i
S
i
e
i i
V
i
e
i i
l
e
k
V
ijkl
j
e
i
l
e
k
V
ijkl
j
i
l
k
V
ijkl
j
e
i
l
k
V
ijkl
j
i
S
i
e
i i
V
i
e
i i
l
e
k k
V
ijkl
j
e
i i
S
i
h
i
V
i
h
i
h
ij
V
h
ij
h
t t
t
t
t
t
t
t
t
+ =
+ +
+ =
+ +
+ =
+
+ =
+
+ =

+ =

=
=
2
1
) (
2
1
) (
2
1
) (
2
1
) (
2
1
) (
2
1
) (
2
1
2
1
) ( ) (
2
1
2
1
2
1
2
1
) ( ) (
) ( ) (
2
1
2
1
,
,
,
,
Since D
ijkl
is positive definite,
u
x
D
u
x
i
e
j
ijkl
k
e
l
> 0 0
j
e
i
x
u
and
u
x
D
u
x
dV
i
e
j
ijkl
V
k
e
l
= 0 if and only if 0
j
e
i
x
u
. Therefore
.) ?? = for only holds sign equality The ( +
i
h
i
E h
u u
RR LS R
Min Min Min w.r.t.
h
i
h
i
u
35
z
RR
Find
h h
u such that minimize
RR
where } , on 0 | { < =

V l
k
ijkl
j
i
u
dV
dx
du
D
dx
du
S u u u
-
h
: The exact solution.
-
h
: An approximate solution.
z 0 =
RR
: Variational Principle or Principle of Virtual Work
0
) (
2
1
) ) (
2
1
)
2
1
(
= =
=
+ =
+ =
=

dS T u dV b u dV
dS T u dV b u dV D
dS T u dV b u dV D D
dS T u dV b u dV
dS T u dV b u dV
t
t
t
t
t
S
i
h
i
V
i
h
i
V
h
ij
h
ij
S
i
h
i
V
i
h
i
V
h
kl ijkl
h
ij
S
i
h
i
V
i
h
i
V
h
kl ijkl
h
ij
h
kl ijkl
h
ij
S
i
h
i
V
i
h
i
V
h
ij
h
ij
h
ij
h
ij
S
i
h
i
V
i
h
i
h
ij
V
h
ij
RR
4.3. Principle of Virtual Work
If the following inequality is valid for all real number , the principle of virtual work holds.
+
i i
RR
i i
RR
v u v u ) ( ) (
) admissible all for ( 0 ) 0 (
) (
) ( ) (
2
1
2
1
) ( ) (
) ( ) (
2
1
) ( ) (
2
i i
S
i i
V
i i
l
k
V
ijkl
j
i
l
i
V
ijkl
j
i
S
i i
V
i i
l
k
V
ijkl
j
i
S
i i i
V
i i i
l
i
V
ijkl
j
i
l
k
V
ijkl
j
i
l
k
V
ijkl
j
i
S
i i i
V
i i i
l
k k
V
ijkl
j
i i
i i
RR
v v dS T v dV b v dV
x
u
D
x
v
g
dV
x
v
D
x
v
dS T v dV b v dV
x
u
D
x
v
g
dS T v u dV b v u
dV
x
v
D
x
v
dV
x
u
D
x
v
dV
x
u
D
x
u
dS T v u dV b v u dV
x
v u
D
x
v u
v u g
t
t
t
t

= =
+ =
+ +
+ + =
+ +
+ +
=
+

i
S
i i
V
i i
V
ij
j
i
v dS T v dV b v dV
x
v
t
admissible all for 0 =

36
If the principle of virtual work holds, then the principle of minimum potential energy holds
because the boxed

equation of the total potential energy (p. 34) vanishes identically. The
approximate version of the principle of virtual work is
h
i
S
i
h
i
V
i
h
i
V
h
ij
j
h
i
v dS T v dV b v dV
x
v
t

z Equivalence to the Weighted Residual Method
- Discretization :
k ik
h
i k ik
h
i
g a u g a v = = ,
k dS T T g dV b g
a dS T T g a dV b g a
t
t
S
i
h
i k
V
i
h
j ij k
ik
S
i
h
i k ik
V
i
h
j ij k ik
all for ) ( ) (
possible for ) ( ) (
.
.

= +
= +
z Equivalence to the PDE
- Exact form
= +

i i
S
i i i
V
j ij i
v dS T T v dV b v
t
0 ) ( ) (
,

i i i j ij
T T b , 0
,
= = +
- Approximate form
h h
i
S
i
h
i
h
i
V
i
h
j ij
h
i
v dS T T v dV b v
t
= +

0 ) ( ) (
.

i i i j ij
T T b , 0
,
+
Since +

i
S
i
h
i i
V
i
h
j ij i
v dS T T v dV b v
t
0 ) ( ) (
.
.
z Uniqueness of solution
If two solutions satisfy the principle of virtual work, then
i
S
i i
V
i i
V
ij
j
i
i
S
i i
V
i i
V
ij
j
i
v dS T v dV b v dV
x
v
v dS T v dV b v dV
x
v
t
t
2
1
=

By subtracting two equations,
0 admissible all for 0 ) (
2 1 2 1
= =
ij ij i
V
ij ij
j
i
v dV
x
v
0 0 ) (
2 1 2 1
=
l
k
l
k
l
k
l
k
ijkl
x
u
x
u
x
u
x
u
D
37
Chapter 5
Discretization
5.1. Rayleigh-Ritz Type Discretization
5.3. Finite Element Programming (L inear static case)
38
5.1. Rayleigh-Ritz Type Discretization
z Approximation
=
= + + + =
n
p
p ip n in i i
h
i
g c g c g c g c u
1
2 2 1 1
L
z Principle of Minimum Potential Energy
dS T g c dV b g c dV
x
g
c D
x
g
c
x
g
c
x
g
c
x
u
t
S
i p ip
V
i p ip
l
q
kq
V
ijkl
j
p
ip
h
j
p
ip
n
p j
p
ip
j
h
i

=
2
1
1
m r f c K
dS T g dV b g dVc
x
g
D
x
g
dS T g dV b g dV
x
g
c D
x
g
dS T g dV b g dV
x
g
D
x
g
c dV
x
g
c D
x
g
c
rm kp rmkp
S
m r
V
m r kp
V l
p
mjkl
j
r
S
m r
V
m r
l
p
kp
V
mjkl
j
r
S
m r
V
m r
l
r
V
ijml
j
p
ip
l
q
kq
V
mjkl
j
r
mr
h
t
t
t
and all for 0
2
1
2
1
= =

z Principle of Virtual Work
p ip
n
p
p ip n in i i
h
i
h
i
g c g c g c g c g c u v = = + + + = =

=1
2 2 1 1
L
and all for 0
all for 0 ) (
) (
i p f c K
c dS T g dV b g dVc
x
g
D
x
g
c
dS T g dV b g dVc
x
g
D
x
g
c
dS T g c dV b g c dV
x
g
c D
x
g
c
pi kq pikq
h
ip
S
i p
V
i p kq
V l
q
ijkl
j
p
ip
S
i p
V
i p kq
V l
q
ijkl
j
p
ip
S
i p ip
V
i p ip
V l
q
kq ijkl
j
p
ip
h
t
t
t
= =
=
=

z Matrix Form Virtual Work Expression
dS T u dV b u dV
t
S
i
h
i
V
i
h
i
h
ij
V
h
ij

+ =
39
dV dV
dV
dV
dV
h
T
V
h h h h h h h h h h h
V
h h
h h h h h h h h h h
V
h h
h h h h h h h h h h h h h h h h
V
h h
V
h
ij
h
ij
= + + + + +
= + + + + +
= + + + + + + + +
=

) (
) 2 2 2 (
) (
23 23 13 13 12 12 33 33 22 22 11 11
23 23 13 13 12 12 33 33 22 22 11 11
32 32 23 23 31 31 13 13 21 21 12 12 33 33 22 22 11 11
dS dV dV
t
S
h
V
h h
V
h

+ = T u b u
z Displacement
Nc u =
|
|
|
|
|
|
|
|
|
|
|
|
|
|
.
|
\
|
(
(
(
=
|
|
|
.
|
\
|
=
n
n
n
n
n
n
h
h
h
h
c
c
c
c
c
c
c
c
c
g
g
g
g
g
g
g
g
g
u
u
u
3
2
1
32
22
12
31
21
11
2
2
2
1
1
1
3
2
1
0 0
0 0
0 0

0 0
0 0
0 0

0 0
0 0
0 0
M
L
z Strain
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
.
|
\
|
=
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
.
|
\
|
=
|
|
|
|
|
|
|
|
.
|
\
|
=
2
3
3
2
1
3
3
1
1
2
2
1
3
3
2
2
1
1
2
3
3
2
1
3
3
1
1
2
2
1
3
3
2
2
1
1
23
13
12
33
22
11
) (
x
g
c
x
g
c
x
g
c
x
g
c
x
g
c
x
g
c
x
g
c
x
g
c
x
g
c
x
u
x
u
x
u
x
u
x
u
x
u
x
u
x
u
x
u
i
i
i
i
i
i
i
i
i
i
i
i
i
i
i
i
i
i
h h
h h
h h
h
h
h
h
h
h
h
h
h
h
40
Bc =
|
|
|
|
|
|
|
|
|
|
|
|
|
|
.
|
\
|
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
=
n
n
n
n n
n n
n n
n
n
n
c
c
c
c
c
c
c
c
c
x
g
x
g
x
g
x
g
x
g
x
g
x
g
x
g
x
g
x
g
x
g
x
g
x
g
x
g
x
g
x
g
x
g
x
g
x
g
x
g
x
g
x
g
x
g
x
g
x
g
x
g
x
g
3
2
1
32
22
12
31
21
11
2 3
1 3
1 2
3
2
1
2
2
3
2
1
2
3
2
1
2
2
2
3
2
2
2
1
2
2
1
3
1
1
1
3
1
1
1
2
1
3
1
2
1
1
1
0
0
0
0 0
0 0
0 0

0
0
0
0 0
0 0
0 0

0
0
0
0 0
0 0
0 0
M
L
z Virtual Strain
c B = ) (
h
z Stress-strain (displacement) Relation
DBc D = =
|
|
|
|
|
|
|
|
.
|
\
|
(
(
(
(
(
(
(
(
(
(
(
(
(
(

+

=
|
|
|
|
|
|
|
|
.
|
\
|
=
h
h
h
h
h
h
h
h
h
h
h
h
h
h
v
v
v
v
v
v
v
v
v
v
v
v
v
v
v
v
v
v
v v
E
23
13
12
33
22
11
13
13
12
33
22
11
) 1 ( 2
2 1
0 0 0 0 0
0
) 1 ( 2
2 1
0 0 0 0
0 0
) 1 ( 2
2 1
0 0 0
0 0 0 1
1 1
0 0 0
1
1
1
0 0 0
1 1
1
) 2 1 )( 1 (
) 1 (
) (
z Final System Equation
c DB B c dV dV dV
V
T T
V
h
T
h
V
h
ij
h
ij

= =
dS dS dS T u
dV dV dV b u
t t t
S
T T
S
T
h
S
i
h
i
V
T T
V
T
h
V
i
h
i

= =
= =
T N c T u
b N c b u
f Kc c T N b N c DB B c
T
= =

or admissible all for 0 ) ( dS dV dV
t
S
T
V
T
V
T
41
Example
z Displacement Field
By the elementary beam solution, the displacement field of the structure is assumed as
)
2 6
(
)
2
(
2 3
2
l
x x
b v
y lx
x
a u
=
=
(
(
(
(

=
(
(
(
(
=
(
(
(
(
=
2
1
0 0
0 1
0 1
1
,
2 2
0 0
0 ) (
,
2 6
0
0 )
2
(
2
2 2
2 6
2
E
lx
x
lx
x
y l x
l x x
y lx
x
D B N
z Stiffness Matrix
(
(
(
(

+

=
(
(
(
(

+

=
(
(
(
(
(
(
(
(

(
(
(
(
) 2 (
15
2
2
1
) 2 (
15
2
2
1
) 2 (
15
2
2
1
) 2 (
15
2
2
1
3 3
2
1

)
2
(
2
1
)
2
(
2
1
)
2
(
2
1
)
2
(
2
1
) (
1

2 2
0 0
0 ) (
2
1
0 0
0 1
0 1
2
0 0
2
0 ) (
1
5 5
5 5
3 3
2
0
1
0
2
2
2
2
2
2
2
2
2 2
2
0
1
0
2 2
2
2
2
h l h l
h l h l
h l
E
dzdydx
lx
x
lx
x
lx
x
lx
x
y l x
E
dzdydx
lx
x
lx
x
y l x
lx
x
lx
x
y l x
E
l h
h
l h
h
K
x, u
y, v
l
2h
h
P
T
y
2
=
42
z Load Term
|
|
.
|
\
|
=
|
|
.
|
\
|
(
(
(
(
P
l
dy
h
l
y
l
h
h
0

3
2
P
0

3
0
0
2
3
3
2
1
0
f
z System Equation
|
|
.
|
\
|
=
|
|
.
|
\
|
(
(
(
(

+
P
l
b
a
h l h l
h l h l
h l
E
0

3
) 2 (
15
2
2
1
) 2 (
15
2
2
1
) 2 (
15
2
2
1
) 2 (
15
2
2
1
3 3
2
1
3
5 5
5 5
3 3
2
P
EI l
h
v
b P
EI
P
Eh
a
2
2
2
3
2
1
) ) (
1
1
3
5
1 ( ,
1 1
2
3
+ =

=

=
z Displacement and Stress
)
2 6
(
1
) ) (
1
1
3
5
1 ( , )
2
(
1
2 3 2
2
2 2
l
x x
P
EI l
h
v
v y lx
x
P
EI
u

+ =

=
P xl
x
I l
h
y
I
M
y
I
M
y
I
l x P
xy
yy
xx
)
2
(
1
) (
6
5
) (
2
2
=
=
=
=
43
Home Work 5
1. The displacement field of a thin plate is expressed as follows.
) , ( , ) , , ( , ) , , ( y x w w z
y
w
z y x v z
x
w
z y x u =
=
1) Drive the strain component using the given displacement field.
2) Assume 0
33
= , and the plate is under plane stress condition, drive stress components.
3) Drive expressions for the total potential energy and the virtual work in case the plate is
subject to a traverse load a on the upper surface. (hint: perform analytic integration in the
direction of the thickness)
4) Drive the governing equation and all possible boundary conditions on the four edges.
2. Analyze the structure shown in the following figure under the plane stress condition by
Rayleigh-Ritz method
x
z
y
t
l
2h
q
44
z Domain Discretization
,
2 1 2 1 m n
V V V V = = L L

0 =
+ =

e
S
T
h
e
V
T
h
e
V
h
h
T
h
V
T
h
V
h
h
dS dV dV
d dV dV
e
t
e e
t
b u b u
T u b u

z The displacement field in an element
e e
e
n
n
n
n
n
n
e
e
e
e
u
u
u
u
u
u
u
u
u
N
N
N
N
N
N
N
N
N
u
u
u
U N u =
|
|
|
|
|
|
|
|
|
|
|
|
|
|
.
|
\
|
(
(
(
=
|
|
|
.
|
\
|
=
3
2
1
32
22
12
31
21
11
2
2
2
1
1
1
3
2
1
0 0
0 0
0 0

0 0
0 0
0 0

0 0
0 0
0 0
M
L
where N
i j ij
( ) X = .
45
z The virtual strain field in an element
e
e
n
n
n
n n
n n
n n
n
n
n
i
i
i
i
i
i
i
i
i
i
i
i
i
i
i
i
i
i
e e
e e
e e
e
e
e
e
e
e
e
e
e
e
u
u
u
u
u
u
u
u
u
x
N
x
N
x
N
x
N
x
N
x
N
x
N
x
N
x
N
x
N
x
N
x
N
x
N
x
N
x
N
x
N
x
N
x
N
x
N
x
N
x
N
x
N
x
N
x
N
x
N
x
N
x
N
x
N
u
x
N
u
x
N
u
x
N
u
x
N
u
x
N
u
x
N
u
x
N
u
x
N
u
x
u
x
u
x
u
x
u
x
u
x
u
x
u
x
u
x
u
U B
=
|
|
|
|
|
|
|
|
|
|
|
|
|
|
.
|
\
|
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
=
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
.
|
\
|
+
+
+
=
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
.
|
\
|
+
+
+
=
|
|
|
|
|
|
|
|
.
|
\
|
=
3
2
1
32
22
12
31
21
11
2 3
1 3
1 2
3
2
1
2
2
3
2
1
2
3
2
1
2
2
2
3
2
2
2
1
2
2
1
3
1
1
1
3
1
1
1
2
1
3
1
2
1
1
1
2
3
3
2
1
3
3
1
1
2
2
1
3
3
2
2
1
1
2
3
3
2
1
3
3
1
1
2
2
1
3
3
2
2
1
1
23
13
12
33
22
11
0
0
0
0 0
0 0
0 0

0
0
0
0 0
0 0
0 0

0
0
0
0 0
0 0
0 0
M
L
z The stress field in an element

e e
e
e
e
e
e
e
e
e
e
e
e
e
e
E
DBU D = =
|
|
|
|
|
|
|
|
.
|
\
|
(
(
(
(
(
(
(
(
(
(
(
(
(
(
+

=
|
|
|
|
|
|
|
|
.
|
\
|
23
13
12
33
22
11
23
13
12
33
22
11
) 1 ( 2
2 1
0 0 0 0 0
0
) 1 ( 2
2 1
0 0 0 0
0 0
) 1 ( 2
2 1
0 0 0
0 0 0 1
1 1
0 0 0
1
1
1
0 0 0
1 1
1
) 2 1 )( 1 (
) 1 (
46
z Stiffness Equation
0
0
=
=

e
e
T
e e
e
e
T
e
e
S
T
T
e
e
V
T
T
e
e
e
V
T
T
e
dS dV dV
e
t
e e
f U U K U
T N U b N U U DB B U
z Compatibility Conditions
0 f KU
U f T U U T K T U
U T U U T U
=
=
= =

,
e
e
T
e T
e
e e
T
e T
e e e e
z Finite Element Procedure
1. Governing equations in the domain, boundary conditions on the boundary.
2. Derive weak form of the G.E. and B.C. by the variational principle or equivalent.
3. Descretize the given domain and boundary with finite elements.
S ,
2 1 2 1 n n
S S S V V V V = = L L
4. Assume the displacement field by shape functions and nodal values within an element.
e e e
U N u =
5. Calculate the element stiffness matrix and assemble it according to the computability.
dV
e
V
T e
= DB B K ,
=
e
e
K K
6. Calculate the equivalent nodal force and assemble it according to the computability.
dS dV
e
t
e
S
T
V
T e

+ = T N b N f ,
=
e
e
f f
7. Apply the displacement boundary conditions and solve the stiffness equation.
8. Calculate strain, stress and reaction force.
47
5.3. Finite Element Programming (Linear static case)
z Program Structure
z Data Structure
- Control Data : # of nodes, # of elements, # of support, # of forces applied at nodes
- Geometry Data :
Nodal Coordinates
Element information (Type, Material Properties, Incidencies)
- Material Properties
- Boundary Condition
Traction boundary condition including forces applied at nodes
Displacement boundary condition
- Miscellaneous options

INPUT
Preprocessing
Calculation of
Element stiffness matrix and Load Vector
Assembling E.S.M and E.L.V.
Solve Global SM
Postprocessing
Loop over all elements
Global Stiffness Matrix
and Load Vector
- Assemble Nodal Load Vector
- Cal. of Detination Array
- Cal. of Band width
Cal. Strain & Stress
Cal of Reaction Force
Dsiplay
Gauss Elimination
Band solver
Decomposition, etc
48
Differential Equation & Boundary Conditions
Principle of Minimum Potential Energy
i
S
i i
V
i i
V
ij ij
u dS T u dV b u dV
t
admissible all for
2
1

=
Principle of Virtual Work
i
S
i i
V
i i
V
ij
j
i
u dS T u dV b u dV
x
u
t


Weighted Residual Method (Galerkin Method)
i i
S
i i i
V
j ij i
v dS T T v dV b v
t
admissible all for 0 ) ( ) (
,
= + +

Minimization of Error
error
i
e
j
i
j
ij
e
V
ij i
u
x
v
x
dV v =
1
2
( )( )
for all admissible

h
i
S
i
h
i
V
i
h
i
V
h
ij
h
ij
u dS T u dV b u dV
t
admissible all for
2
1

=
h
i
S
i
h
i
V
i
h
i
V
h
ij
j
h
i
u dS T u dV b u dV
x
u
t


0 - admissible all for -
2
1
admissible all for ) (
2
1
= =
=

f U K U f U U K U
T T
h
i
e
S
i
h
i
V
i
h
i
V
h
ij
h
ij
u dS T u dV b u dV
r
t
e e

0 admissible all for 0
admissible all for 0 ) (
= =
=

f U K U f U U K U

T T
h
i
e
S
i
h
i
V
i
h
i
V
h
ij
j
h
i
u dS T u dV b u dV
x
u
e
t
e e
Strong form
Weak form
Exact Solution
Approximate Solution
Rayleigh-Ritz type Discretization
Finite Element Discretization
49
Chapter6
Two-Dimensional Elasticity
Problems
6.1. Plane Stress
6.2. Plane Strain
6.3. A xisymmetry
x
y
z

50
6.1. Plane Stress
z Stress :
33 13 23
0 = = =
z Strain :

33 11 22 13 23
1
0 0 =
+ = =
v
( ), ,
z Modified Stress-strain Relation
12 12
22 11
2
22
22 11
2
33 22 11 11
) 1 ( 2
) (
1
) (
1
)) (
1
(
) 2 1 )( 1 (
) 1 (
+
=
+

=
+

= +

+
+

=
E
v
E
v
E E
e
e
e
e
e
e
e
e
E
D =
|
|
|
.
|
\
|
(
(
(
(

=
|
|
|
.
|
\
|
=
12
22
11
2
12
22
11
2
1
0 0
0 1
0 1
1
z Interpolation of Displacement
e e
e
n
n
n
n
e
e
e
v
u
v
u
v
u
N
N
N
N
N
N
v
u
U N u =
|
|
|
|
|
|
|
|
|
.
|
\
|
(
=
|
|
.
|
\
|
=
M
L
2
2
1
1
2
2
1
1
0
0

0
0

0
0
z Strain-Displacement Relation
e
e
n
n
n n
n
n
e e
e
e
e
e
e
e
v
u
v
u
v
u
x
N
y
N
y
N
x
N
x
N
y
N
y
N
x
N
x
N
y
N
y
N
x
N
x
v
y
u
y
v
x
u
BU =
|
|
|
|
|
|
|
|
|
.
|
\
|
(
(
(
(
(
(
(
=
|
|
|
|
|
|
|
|
.
|
\
|
=
|
|
|
.
|
\
|
=
M
L
2
2
1
1
2 2
2
2
1 1
1
1
12
22
11
0
0
0
0
0
0
z Principle of Virtual work

+ =
+ + + = + +
e
S
T
e
A
T
e
A
T
y
h
S
x
h
y
h
A
x
h h h h h
A
h h
e e e
t
tdS tdA tdA
tdS T v T u tdA b v b u tdA
T N b N U B D B
) ( ) ( ) (
12 12 22 22 11 11
51
6.2. Plane Strain
z Strain :
33 13 23
0 0 0 = = = , ,
z Stress :
13 23 33 11 22
0 = = = + ( )
z Stress-strain Relation
e
e
e
e
e
e
e
e
v
v
v
v E
D =
|
|
|
.
|
\
|
(
(
(
(
(
(
+

=
|
|
|
.
|
\
|
=
12
22
11
12
22
11
) 1 ( 2
2 1
0 0
0 1
1
0
1
1
) 2 1 )( 1 (
) 1 (
e e
e
n
n
n
n
e
e
e
v
u
v
u
v
u
N
N
N
N
N
N
v
u
U N u =
|
|
|
|
|
|
|
|
|
.
|
\
|
(
=
|
|
.
|
\
|
=
M
L
2
2
1
1
2
2
1
1
0
0

0
0

0
0
e
e
n
n
n n
n
n
e e
e
e
e
e
e
e
v
u
v
u
v
u
x
N
y
N
y
N
x
N
x
N
y
N
y
N
x
N
x
N
y
N
y
N
x
N
x
v
y
u
y
v
x
u
BU =
|
|
|
|
|
|
|
|
|
.
|
\
|
(
(
(
(
(
(
(
=
|
|
|
|
|
|
|
|
.
|
\
|
=
|
|
|
.
|
\
|
=
M
L
2
2
1
1
2 2
2
2
1 1
1
1
12
22
11
0
0
0
0
0
0

+ =
+ + + = + +
e
S
T
e
A
T
e
A
T
y
h
S
x
h
y
h
A
x
h h h h h
A
h h
e e e
t
tdS tdA tdA
tdS T v T u tdA b v b u tdA
T N b N U B D B
) ( ) ( ) (
12 12 22 22 11 11
52
6.3. Axisymmetry
z Strain : 0 , 0 , , , , = =
= =
=
z r rz zz rr
r
v
z
u
r
u
z
v
r
u
z Stress :
r z
= = 0
z Stress-strain Relation
e
e
rz
e
e
zz
e
rr
e
rz
e
e
zz
e
rr
e
v
v v
v v
v v
v E
=
|
|
|
|
|
.
|
\
|
(
(
(
(
(
(
(
(
+

=
|
|
|
|
|
.
|
\
|
=

D
) 1 ( 2
2 1
0 0 0
0 1
1 1
0
1
1
1
0
1 1
1
) 2 1 )( 1 (
) 1 (
e e
e
n
n
n
n
e
e
e
v
u
v
u
v
u
N
N
N
N
N
N
v
u
U N u =
|
|
|
|
|
|
|
|
|
.
|
\
|
(
=
|
|
.
|
\
|
=
M
L
2
2
1
1
2
2
1
1
0
0

0
0

0
0
e
e
n
n n n
n
n
n
e e
e
e
e
e
rz
e
e
zz
e
rr
e
v
u
v
u
v
u
r
N
z
N
r
N
z
N
r
N
r
N
z
N
r
N
z
N
r
N
r
N
z
N
r
N
z
N
r
N
r
v
z
u
r
u
z
v
r
u
BU =
|
|
|
|
|
|
|
|
|
.
|
\
|
(
(
(
(
(
(
(
(
=
|
|
|
|
|
|
|
|
|
|
.
|
\
|
=
|
|
|
|
|
.
|
\
|
M
L
2
2
1
1
2 2
2
2
2
1 1
1
1
1

0
0
0

0
0
0

0
0
0

( ) ( ) ( )

rr
h
rr
h
A
zz
h
zz
h h h
r
h
r
h h
r
A
h
z
h
r
S
h
z
T
A
e
T
A
e
T
S
e
rdA u b v b rdA u T v T rdS
rdA rdA rdS
t
e e e
+ + + = + + +
= +

2 2 2
2 2 2 B D B U N b N T
53
Chapter 7
V arious Types of Elements
7.1. Constant Strain Triangle (CST) Element
7.2. Isoparametric Formulation
7.3. Bilinear Isoparametric Element
7.4. Higher O rder Rectangular Element - L agrange Family
7.5. Higher O rder Rectangular Element - Serendipity Family
7.6. Triangular Isoparametric Element
54
7.1. Constant Strain Triangle (CST) Element
z Displacement Interpolation
y x y x v y x y x u
e e
6 5 4 3 2 1
) , ( , ) , ( + + = + + =
3 3 3 2 1 3 3 3
2 3 2 2 1 2 2 2
1 3 1 2 1 1 1 1
) , (
) , (
) , (
y x u y x u
y x u y x u
y x u y x u
e
e
e
+ + = =
+ + = =
+ + = =

|
|
|
.
|
\
|
(
(
(
=
|
|
|
.
|
\
|
3
2
1
3 3
2 2
1 1
3
2
1
1
1
1
y x
y x
y x
u
u
u
|
|
|
.
|
\
|
(
(
(
=
|
|
|
.
|
\
|
(
(
(
=
|
|
|
.
|
\
|

3
2
1
3 2 1
3 2 1
3 2 1
3
2
1
3 3
2 2
1 1
3
2
1
2
1
1
1
1
1
u
u
u
c c c
b b b
a a a
u
u
u
y x
y x
y x
where a x y x y b y y c x x
i j m m j i j m i m j
= = = , ,
3 3 3 3 2 2 2 2 1 1 1 1
3 3 3 3 2 2 2 2 1 1 1 1
) (
2
1
) (
2
1
+ ) (
2
1
) , (
) (
2
1
) (
2
1
+ ) (
2
1
) , (
v y c x b a v y c x b a v y c x b a y x v
u y c x b a u y c x b a u y c x b a y x u
e
e
+ +
+ + +
+ +
=
+ +
+ + +
+ +
=
z Strain Components
e
e
e e
e
e
e
e
e
e
v
u
v
u
v
u
b c
c
b
b c
c
b
b c
c
b
x
v
y
u
y
v
x
u
BU =
|
|
|
|
|
|
|
|
.
|
\
|
(
(
(
=
|
|
|
|
|
|
|
|
.
|
\
|
=
|
|
|
.
|
\
|
=
3
3
2
2
1
1
3 3
3
3
2 2
2
2
1 1
1
1
12
22
11
0
0
0
0
0
0
2
1
z Stiffness Matrix
K B D B U B D B
e T T e
A
tdA t
e
= =

1
u
1
v
2
u
v
2
3
u
3
v
( , ) x y
1 1
( , ) x y
2 2
( , ) x y
3 3
55
Homework 6
- Cantilever Beam with three load cases -
Implement your own finite element program for 2-D elasticity problems using CST element.
When you build your program, consider expandability so that you can easily add other types
of elements to your program for next homeworks.
a) Discuss how to simulate two boundary conditions given in the Timoshenkoss book
(equation(k) and (l) in page 44)
b) For end shear load case, solve the problem for both boundary conditions with 40
CST elements.
c) For other load cases, use one boundary condition of your choice with 40 CST
elements
d) Perform the convergence test with at least 5 different mesh layouts for the end shear
load case. Use the boundary condition of your choice.
e) Discuss local effects, St-Venant effect, Poisson effect stress concentration, etc.
Present suitable plots and tables of displacement and stress to justfy or clearfy your
discussions.
f) Comparision of your results with other solutions such as analytic solutions, one-
dimensional solutions is strongly recommended for your discussion . Assume E = 1.0,
= 0.3.
10
2
1
1
1
1
56
7.2. Isoparametric Formulation
z Interpolation of Geometry
=
=
= + + + =
= + + + =
m
i
i i n m
m
i
i i n m
y N y N y N y N y
x N x N x N x N x
1
2 2 1 1
1
2 2 1 1
) , ( ) , ( ) , ( ) , (
) , ( ) , ( ) , ( ) , (
L
L
e e
e
m
m
m
m
e
e
e
y
x
y
x
y
x
N
N
N
N
N
N
y
x
X N x =
|
|
|
|
|
|
|
|
|
.
|
\
|
(
=
|
|
.
|
\
|
=
M
L
2
2
1
1
2
2
1
1
0
0

0
0

0
0
z Interpolation of Displacement in a Parent Element
e e
e
e
e
v
u
U N u ) , ( =
|
|
.
|
\
|
=
z Derivatives of the Displacement Shape Functions
N N
x
x N
y
y
N N
x
x N
y
y
N
N
x y
x y
N
x
N
y
N
x
N
y
i i i
i i i
i
i
i
i
i
i
= +
= +
|
\
|
.
|
|
|
|
=

(
(
(
(
|
\
|
.
|
|
|
|

|
\
|
.
|
|
|
|
=

(
(
(
(
|
\
|
.
|
|
|
|
x y
x y
N
N
i
i
1
i i x
i
i
i
i
N N
N
N
y
N
x
N

=
|
|
|
|
.
|
\
|
=
|
|
|
|
.
|
\
|
1 1
or J J
X N J =
(
(
(
(
(
(
(
(
=
(
(
(
(
=
(
(
(
(
=

= =
= =

m m
m
m
m
i
i
i
m
i
i
i
m
i
i
i
m
i
i
i
y x
y x
y x
N
N
N
N
N
N
y
N
x
N
y
N
x
N
y x
y x

2 2
1 1
2
2
1
1
1 1
1 1
M
L
m > n N N : Superparametric element
m = n N N = : Isoparametric element
m < n N N : Subparametric element
57
z Two-dimensional isoparametric elements
z Three dimensional isoparametric elements
58
7.3. Bilinear Isoparametric Element
z Shape functions in the parent coordinate system.
)) , ( ), , ( ( , )) , ( ), , ( (
8 7 6 5 4 3 2 1
+ + + = + + + = y x v y x u
4 3 2 1 4 4 4 4 3 4 2 1 4 4 4 4 4 4 4
4 3 2 1 3 3 4 3 3 3 2 1 3 3 3 3 3 3 3
4 3 2 1 2 2 4 2 3 2 2 1 2 2 2 2 2 2 2
4 3 2 1 1 1 4 1 3 1 2 1 1 1 1 1 1 1 1
)) , ( ), , ( ( ) , (
)) , ( ), , ( ( ) , (
)) , ( ), , ( ( ) , (
)) , ( ), , ( ( ) , (
+ = + + + = = =
+ + + = + + + = = =
+ = + + + = = =
+ = + + + = = =
y x u y x u u
y x u y x u u
y x u y x u u
y x u y x u u
|
|
|
|
|
.
|
\
|
(
(
(
(

=
|
|
|
|
|
.
|
\
|
4
3
2
1
4
3
2
1
1 1 1 1
1 1 1 1
1 1 1 1
1 1 1 1
u
u
u
u
) , ( , ) , (
4
4
3
3
2
2
1
1
4
4
3
3
2
2
1
1
v N v N v N v N y x v u N u N u N u N y x u
e e
+ + + = + + + =
N N N N
1 2 3 4
1
4
1 1
1
4
1 1
1
4
1 1
1
4
1 1 = = + = + + = + ( )( ) ( )( ) ( )( ) ( )( ) , , ,
=0.5
=0.5
=0.5 =0.5
=0.
=0.5
=0.5
=0.5
1
2
3
1
2
3
4
4
59
7.4. Higher Order Rectangular Element - Lagrange Family
z Shape Function of m-th Order for k-th Node in One Dimension
l
k
m k k m
k k k k k k k m
( )
( )( ) ( )( ) ( )
( )( ) ( )( ) ( )

=

+ +
+ +
1 2 1 1 1
1 2 1 1 1
L L
L L
l
k
m k k m
k k k k k k k m
( )
( )( ) ( )( ) ( )
( )( ) ( )( ) ( )

=

+ +
+ +
1 2 1 1 1
1 2 1 1 1
L L
L L
N N l l
i IJ I
m
J
m
= = ( ) ( )
60
z Q9 Element
z Total number of nodes in an element : (m+1)(m+1)
z Total number of terms in m-th order polynomials :
( )( ) m m + + 2 1
2
z Total number of the parasitic terms :
( ) m m +1
2
z The Pascal Polynomials
1
2 2
3 2 2 3
1 1
1 1

M
L
L
M
m m m m
m m m m
m m

+ +
61
7.5. Higher Order Rectangular Element - Serendipity Family
z Q8 Element
) 1 )( 1 (
2
1
2
5
= N
) 1 )( 1 (
2
1
2
8
= N
) 1 )( 1 (
4
1
1
= N
5 1
2
1
N N
8 5 1 1
2
1
2
1
N N N N =
62
7.6. Triangular Isoparametric Element
z Total number of nodes on sides of a triangle element for m-th order S.F.: 3m
z Total number of terms in m-th order polynomials :
( )( ) m m + + 2 1
2
z Total number of internal nodes :
( )( ) m m + + 2 1
2
-3m =
( )( ) m m 2 1
2
z The Pascal Polynomials
m m m m

1 1
3 2 2 3
2 2
1
L
M
z Area Coordinate System

1
1
2
2
3
3
1 2 3
1 = = = + + =
A
A
A
A
A
A
, , ,
z Shape functions
- CST Element
N N N
1 1 2 2 3 3
= = = , ,
- LST Element

3 1 6 3 2 5 2 1 4
3 3 3 2 2 2 1 1 1
4 , 4 , 4
) 1 (2 , ) 1 (2 , ) 1 (2
= = =
= = =
N N N
N N N
A
3
A
1
A
2
1
2
3
1
constant line
2
constant line
3
constant line
63
z Interpolation of Geometry
x N x N x y N y N y
i i
i
n
i i
i
n
i i
i
n
i i
i
n
= = = =
= = = =

( , , )
~
( , ) ( , , )
~
( , )
1 2 3
1
1 2
1
1 2 3
1
1 2
1
,
) ( ]
~
[
~
0
0
~

~
0
0
~

~
0
0
~
) (
2
2
1
1
2
2
1
1 e e
e
m
m
n
n
e
e
e
X N
y
x
y
x
y
x
N
N
N
N
N
N
y
x
=
|
|
|
|
|
|
|
|
|
.
|
\
|
(
=
|
|
.
|
\
|
=
M
L X
z Interpolation of Displacement in a Parent Element
( ) [ ( , , )] ( ) [
~
( , )] ( ) u
u
v
N U N U
e
e
e
e e e e
=
|
\
|
.
| = =
1 2 3 1 2
z Derivatives of the Displacement Shape Functions
|
|
|
|
|
.
|
\
|
(
(
(
(
=
|
|
|
|
.
|
\
|
|
|
|
|
.
|
\
|
(
(
(
(
=
|
|
|
|
|
.
|
\
|
2
1
1
2 2
1 1
2 2
1 1
2
1
2 2 2
1 1 1
~
~
~
~
~
~
~
~
~ ~ ~
~ ~ ~
i
i
i
i
i
i
i
i
i i i
i i i
N
N
y x
y x
y
N
x
N
y
N
x
N
y x
y x
N
N
y
y
N x
x
N N
y
y
N x
x
N N

~
~
~
~
~ ~
N
x
N
y
N
N
N N
i
i
i
i
x i i
|
\
|
.
|
|
|
|
=
|
\
|
.
|
|
|
|
=

J J
1
1
2
1
or
X N J =
(
(
(
(
(
(
(
(
=
(
(
(
(
=
(
(
(
(
=

= =
= =

~

~
~

~
~

~
~
~ ~
~ ~
2 2
1 1
2
1
2
2
1
2
2
1
1
1
1 2 1 2
1 1 1 1
2 2
1 1
m m
n
n
m
i
i
i
m
i
i
i
m
i
i
i
m
i
i
i
y x
y x
y x
N
N
N
N
N
N
y
N
x
N
y
N
x
N
y x
y x
M
L
Homework 7
Drive shape functions qubic serendipity element and triangle element in the parent coordinate.
64
Chapter8
Numerical Integration
8.1GaussQ uadrature Rule

8.2. Reduced Integration
8.3. SpuriousZ ero Energy mode
8.4. Selective Integration
65
8.1. Gauss Quadrature Rule
z One Dimension
f d W f
i i
i
n
( ) ( )
=
1
1
1
If the given function f ( ) is a polynomial, it is possible to construct the quadrature rule
that yields the exact integration.
- f ( ) is constant:
0
) ( a f =
2 1 2 ) (
1
1
1
1
0 0
= = =
=
W n= W a a dx f
n
i
i
- f ( ) is first order: + =
1 0
) ( a a f One point rule is good enough.
- f ( ) is second order:
2
2 1 0
) ( + + = a a a f
2 2 , 0 ,
3
2
2
3
2
) (
1 1 1
2
1
1
1
0
1
1
1
2
2 0 2
= = = =
+ + = + =

= = =
= = =
n W W W
W a W a W a a a f
n
i
i
n
i
i i
n
i
i i
n
i
i
n
i
i i
n
i
i i
W W W
i i
i
n

1
1
1 2 1 2
0
=
= = = ,
W W W W W
i i
i

2
1
2
1 1
2
2 2
2
2 2
2
2 2
2
2
2
3
1
3
=
= + = = =
W W W W W
i
i =
= + = = = =
1
2
1 2 2 2 2
2 2 1 057735 = 1/ 3 02691 89626 .
- f ( ) is third order:
3
3
2
2 1 0
) ( + + + = a a a a f Two point rule is enough.
- f ( ) is fourth order:
4
4
3
3
2
2 1 0
) ( + + + + = a a a a a f
3 2 , 0 ,
3
2
, 0 ,
5
2

2
3
2
5
2
) (
1 1 1
2
1
3
1
4
1
0
1
1
1
2
2
1
3
3
1
4
4
1
1
0 2 4
= = = = = =
+ + + +
= + + =

= = = = =
= = = = =
n W W W W W
W a W a W a W a W a
a a a d f
n
i
i
n
i
i i
n
i
i i
n
i
i i
n
i
i i
n
i
i
n
i
i i
n
i
i i
n
i
i i
n
i
i i
W W W W
i i
i
n
i i
i
n

3
1 1
1 3 1 3 2
0 0 0
= =

= = = = = , , ,
W W W W W
i i
i

4
1
3
1 1
4
3 3
4
3 3
4
3 3
4
2
2
5
1
5
=
= + = = =
66
W W W W W W
W
i i
i

2
1
2
1 1
2
3 3
2
3 3
2
3 3
2
3 3
3 3
2
2
3
1
3
3 5
5
9
0 77459 055555 55555 55555
=
= + = = = =
= =
, =
66692 41483 ,
/
. .
W W W W W W W
i
i =
= + + = + = =
1
2
1 2 3 3 2 2
2 2
8
9
= 0.88888 88888 88888
- Because of the symmetry condition, we need to decide only n unknowns for n-points
G.Q..
- We can integrate 2n-1-th polynomials exactly with n-points G.Q. Since for 2m-th or-
der polynomials we have 2m conditions for G.Q. -which means we can determine
(m+1)-point G.Q..
- Stiffness Equation
B D B B D B B D B B D B
T
V
T
x
T
i
T
i i i i i
i
n
dV Adx A J d W A J
e e
= = =

=
( ) ( ) ( ) ( )
1
1
1
N b N b N b N b
T
V
T
x
T
i
T
i i i i
i
n
dV Adx A J d W A J
e e
= = =

=
( ) ( ) | | ( ) ( ) | |
1
1
1
z Two-dimensional Case Rectangular Elements
- Quadrature rule
f d d W f d W W f WW f
i i
i
n
j
j
m
i i j
i
n
i j i j
i
n
j
m
( , ) ( ) ( ) ( )

=
= = = =

= =
1
1
1
1
1
1
1
1 1 1 1
- Stiffness equation

= =

=
=
n
i
m
j
ij ij j i ij j i
T
j i
T
A
T
J t W W
d d J t tdA
e
1 1
1
1
1
1
| | ) , ( ) , (
| | ) , ( ) , (
B D B
B D B B D B
= =

= =
= =
n
i
ij ij ij p i
T
i p
T
S
T
n
i
m
j
ij ij ij j i
T
j i
T
A
T
K t W d K t tdS
J t W W d d J t tdA
e
e
1
1
1
1 1
1
1
1
1
| | ) , ( | | ) , (
| | ) , ( | | ) , (
T N T N T N
b N b N b N
z Two-dimensional Case Triangular Elements

=

=
=
n
i
i i
i i
ij
i i T
i
T
A
T
J t W
d d J t tdA
e
1
2 1 2 1
1
0
1
0
1 2 2 1 2 1
| | ) , ( ) , (
2
1
| | ) , ( ) , (
1
B D B
B D B B D B
67
8.2. Reduced Integration
z Q8 element
2
7
2
6
2
5 4
2
3 2 1 0
2
7
2
6
2
5 4
2
3 2 1 0
+ + + + + + + =
+ + + + + + + =
b b b b b b b b v
a a a a a a a a u
2
7 6 4 3 1
2
7 6 4 3 1
2 2 , 2 2 + + + + =

+ + + + =

b b b b b
v
a a a a a
u
+ + + + =

+ + + + =

7
2
6 5 4 2 7
2
6 5 4 2
2 2 , 2 2 b b b b b
v
a a a a a
u
z Terms in stiffness matrix
- From complete polynomials:
2 2
, , , , , 1
- From parasitic terms:
3 3 2 2
, , , , ,
4 4 3 3 2 2
, , , ,
z Reduced Integration
Reduce the integration order by one to eliminate the effect of parasitic terms in the stiffness
matrix
Exact av-
erage
Nodal values ex-
t l ted f
Gauss point value
b th d d i
68
8.3. Spurious Zero Energy mode
z Independent Displacement Modes of a Bilinear Element
z Spurious Zero Energy Mode
Hour glass mode
Rigid Body motion zero energy mode
69
z Zero Energy mode of Q8 Element
z Zero Energy Modes of Q9 Element
z Near Zero Energy Modes
70
8.4. Selective Integration
S N
E E
E
D D
D
+ =
(
(
(
(
(
(
(
(
+
+
(
(
(
(
(
(
(
(
(
(
+

=
(
(
(
(
(
(
(
(
(
(
(
(
(
(
+

=
1 0 0 0 0 0
0 1 0 0 0 0
0 0 1 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
) 1 ( 2
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 1
1 1
0 0 0
1
1
1
0 0 0
1 1
1
) 2 1 )( 1 (
) 1 (
) 1 ( 2
2 1
0 0 0 0 0
0
) 1 ( 2
2 1
0 0 0 0
0 0
) 1 ( 2
2 1
0 0 0
0 0 0 1
1 1
0 0 0
1
1
1
0 0 0
1 1
1
) 2 1 )( 1 (
) 1 (
43 42 1 4 43 4 42 1
n integratio Reduced n integratio Full
) ( dV dV dV dV
e e e e
V
S
T
V
N
T
V
S N
T
V
T

+ = + = B D B B D B B D D B DB B
Homework 8
Solve the cantilever beam problem in homework 7 for the end shear load case. Use 40 LST
elements and 20 Q8 elements. For Q8 element, try the full and the reduced integration
scheme. Compare your results including the displacement field and the stress field with those
by CST elements and analytical solution.
71
Chapter 9
Convergence Criteria in the
Isoparametric Element

72
z The interelement Continuity condition

This condition is satisfied because the geometry and the displacement field are defined
uniquely on the interelement boundary with the coordinates and displacement field on the
element boundary, respectively.

z The Completeness Condition

( , ) ( ) ( ) ( ) ( , , )
( ) ( ) ( ) ( , , )
( ) ( ) ( ) ( , , )
x y N a a a H
x N x a x a x a x H x
y N y a y a y a y H y
i
i
i k k k k
i
i
i k k k k
i
i
i k k k k
= = + + +
= = + + +
= = + + +
0 1 2
0 1 2
0 1 2
`
)
=

`
)
=
1
2 2
1 1
0
0
1 2 1 2
| |
( ) ( )
( ) ( )
( ) ( , , )
( ) ( , , )
| | ( ) ( ) ( ) ( )
A
a y a x
a y a x
x a x H x
y a y H y
A a x a y a y a x
k k
k k
k k
k k
k k k k

where

( , ) ( )
( )
| |
( ( ) ( ) ( ) ( ))
( )
| |
( ( ) ( ) ( ) ( ))
( ( ) ( ) ( ) ( ))
| |
( ( ) ( )
x y a
a
A
a x a y a y a x
a
A
a x a y a y a x
a a y a y a
x
A
a a x
k
k
k k k k
k
k k k k
k k k k k k
=
+ +

0
1
0 2 0 2
2
0 1 0 1
1 2 1 2 1 2

+ a x a
y
A
k k 1 2
( ) ( ))
| |
H.O.T.

73
Chapter 10
Miscellaneous Topics
10.1StressEvaluation, Smoothing and L oubignac Iteration
10.2. Incompatible Element - Q 6 and Q M 6
10.3. Static Condensation & Substructuring
10.4. Symmetry of Structure
10.5. Constraintsin Discrete Problems
10.6. Constraintsin ContinuousProblems
74
10.1. Stress Evaluation, Smoothing and Loubignac Iteration
z Stress evaluation
- Stress components should be evaluated at the GPs in each element, not at nodes.
- The stress field is not uniquely determined on inter-element boundaries.
z Stress smoothing at nodes
- Continuous stress field can be obtained by extrapolating stresses at the GPs to nodes,
and averaging them.
- The bilinear shape function or the Q9 shape function may be utilized for extrapola-
tion of stress to nodes depending on the integration schemes.
- Mid-side nodes may be treated as either independent nodes or dependent nodes for
the stress field
z Loubignac iteration
F U K B F U DB B
U DB B B B B U DB B
F T N b N U DB B
= =
+ = + = =
= + =
e
e
V
T
e
e
V
T
e
e
V
T
e
V
T
e
V
T
e
V
T
e
e
V
T
e
S
T
e
V
T
e
e
V
T
e e
e e e e e
e
t
e e
dV dV
dV dV dV dV dV
dS dV dV

~
~
)
~
(
where
~
denotes the extrapolated and averaged stress field.
75
10.2. Incompatible Element - Q6 and QM 6

Deformed shape of Bilinear Element
for pure bending
Correct deformed shape in pure bending
z Behaviors of Bilinear Element for Pure Bending
- Displacement field
u u u u u u
v
= + + + + + =
=
1
4
1 1
1
4
1 1
1
4
1 1
1
4
1 1
0
( )( ) ( )( ) ( )( ) ( )( )
- Strain & Stress field
x y xy
x y xy
u
x
u
a
uy
ab
u
y
u
y
v
x
ux
ab
E uy
ab
E uy
ab
E ux
ab
= = = = = + =
=
= , ,
, ,
0
1 1 2 1
2 2
( )
-Strain Energy
b x x
b
b
a
a
y y xy xy
b
b
a
a
dydx
E uy
ab
E ux
ab
dydx
E b
a
a
b
u
= + +
=
+
+
=
+

1
2
1
2 1 2 1
1
3 1
2 1
2
2 2
2
2
( )
( ( )
( )
( ) ) ( ( ) )

-Selective Integration
b
s
b
b
a
a
E uy
ab
E ux
ab
dydx
E b
a
u =
+
+
=

1
2 1 2 1
2
3 1
2
2 2
2
( ( )
( )
( ) )

z Real Behaviors for Pure Bending
- Strain & Stress field

x y xy
x y xy
ky
k
E
y
kv
E
y
= = =
= = =
, ,
, ,
0 0
0
76
- Displacement field
u
k
E
xy f y v
kv
E
y +g x
k
E
x f y g x
g x
k
E
x f y C g x
k
E
x Cx C f y Cy C
xy
= + = = + + =
+ = = = + + = +
( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
, ,
, ,
1
2
0
1
2
2
2
1 2
u
k
E
xy Cy C v
kv
E
y
k
E
x Cx C
y b x u C C
x a y b u u k
Eu
ab
C
u
u
ab
xy v
uv
ab
y
u
ab
x C
x
a
au
b
y
b
bu
a
= + = + +
= = = = =
= = = =
=
= = + = +
2
2 2
1
2
1
2 2
1
2 2
1
2
1
2
0 0 0
1
2
1
2
1
2
1
2
,

Arbitrary
,
,
,
( ( ) ) ( ( ) )
-Strain Energy
R x x
b
b
a
a
y y xy xy
b
b
a
a
dydx E
uy
ab
dydx E
b
a
u = + + = =

1
2
1
2
2
3
2 2
( ) ( )
z Ratio of strain Energy
b
R
b
s
R
a
b
v =
+
+ =
=
1
1
1
1
1
2
1
1
11 0 3
2
2

( ( ) ) . . , for
The effect of parasitic shear becomes disastrous as the aspect ratio of bilinear element is large.
z Q6 Incompatible Element
- Shape function
u N u a a
v N v a a
i
B
i
i
i
B
i
i
= + +
= + +
1
2
2
2
3
2
4
2
1 1
1 1
( ) ( )
( ) ( )

a
1
, a
2
, a
3
, a
4
are called as the nodeless degrees of freedom.
- Element Stiffnes Equation
K K
K K
u
a
f
f
bb bi
ib ii
b
i
(
(
|
\
|
.
|
|
=
|
\
|
.
|
|
( )
( )
( )
( )
- Static Condensation
[ ]( ) [ ]( ) ( ) ( ) [ ] (( ) [ ]( ))
([ ] [ ][ ] [ ])( ) ( ) [ ] ( ) [ ]( ) ( )
K u K a f a K f K u
K K K K u f K f K u f
ib ii ii
i
ib
bb bi ii ib
b
ii
i Q Q
+ = =
= =

1
1 1 6 6
77
10.3. Static Condensation & Substructuring
z Static Condensation: Eliminate some DOFs prior to a main analysis.
|
|
.
|
\
|
=
|
|
.
|
\
|
(
r
e
r
e
rr re
er ee
P
P
U
U
K K
K K
) ( ) (
1
r er e ee e e e ee r er
U K P K U P U K U K = = +

e ee re r r er ee re rr
r r er e ee re r rr
r e re r rr
P K K P U K K K K
P U K P K K U K
P U K U K
1 1
1
) ( ) ) ( (
) ( ) (

=
= +
= +
- From Gauss elimination point of view
|
|
.
|
\
|
=
|
|
.
|
\
|
(

e ee re r
e
r
e
er ee re rr
er ee
P K K P
P
U
U
K K K K
K K
1 1
) ( ) ( 0
z Substructuring
- Substructure 1
U
e
, P
e
U
r
, P
r
U
1
, P
1
U
2
, P
2
U
i
,
78
|
|
.
|
\
|
=
|
|
.
|
\
|
(
1
1 1
1
1
1 11
i i i
i
ii P
P
U
U
K K
K K
1
1
11 1
1
1
1
11 1
1
) ( ) ) ( ( P K K P U K K K K

=
i i i i i ii
- Substructure 2
|
|
.
|
\
|
=
|
|
.
|
\
|
(
2
2 2
2
2
2 22
i i i
i
ii P
P
U
U
K K
K K
2
1
22 2
2
2
1
22 2
2
) ( ) ) ( ( P K K P U K K K K

=
i i i i i ii
- Assembling
2
1
22 2 1
1
11 1
2 1
2
1
22 2 1
1
11 1
2 1
) ( ) ( ) ) ( ) ( ( P K K P K K P P U K K K K K K K K

+ = +
i i i i i i i i i ii ii
or
2
1
22 2 1
1
11 1 2
1
22 2 1
1
11 1
2 1
) ( ) ( ) ) ( ) ( ( P K K P K K P U K K K K K K K K

= +
i i i i i i i i ii ii
z Partial Substructuring
- Substructure 1
|
|
.
|
\
|
=
|
|
.
|
\
|
(
1
1 1
1
1
1 11
i i ii i
i
P
P
U
U
K K
K K
1
1
11 1
1
1
1
11 1
1
) ( ) ) ( ( P K K P U K K K K

=
i i i i i ii
- Substructure 2
|
|
.
|
\
|
=
|
|
.
|
\
|
(
2
2 2
2
2
2 22
i i ii i
i
P
P
U
U
K K
K K
- Assembling
|
|
.
|
\
|
+
=
|
|
.
|
\
|
(
+

1
1
11 1
2 1
2 2
1
1
11 1
1 2
2
2 22
) ( ) ( P K K P P
P
U
U
K K K K K K
K K
i i i i i i ii ii i
i
P
i
U
1
, P
1
U
2
, P
2
U
i
, P
i
79
10.4. Symmetry of Structure
z Symmetry
In plane displacement 0
Out of plane displacement 0 =
P
P
C
L
80
z Anti-Symmetry
In plane displacement 0 =
Out of plane displacement 0
P
P
C
L
81
z Symmetric structures with Non-Symmetric loading
- General loading
- Symmetric loading
- Antisymmetric loading
=
+
=
|
|
.
|
\
|
+
|
|
.
|
\
|
=
|
|
.
|
\
|
2
2
2 1
2 1
2
1
P P
P
P P
P
P
P
P
P
P
P
A
S
A
A
S
S
P
P/2 P/2
P/2 P/2
82
z Cyclic Symmetry
- Structural Resistance force in a segment
|
|
|
.
|
\
|
(
(
(
=
|
|
|
.
|
\
|
2
1
22 2 21
2 1
12 1 11
2
1
U
U
U
K K K
K K K
K K K
F
F
F
i
i
i ii i
i
i
U
1
U
2
U
i
83
- Compatibility
2 1
U U =
|
|
.
|
\
|
(
(
(

=
|
|
|
.
|
\
|
2
2
1
U
U
I 0
0 I
0
U
U
U
i
i
- Equilibrium
1 2 2
F F P
F P
T
i i
+ =
=
|
|
|
.
|
\
|
(
=
|
|
.
|
\
|
2
1
2
F
F
F
I 0
0 I 0
P
P
i T
i
|
|
.
|
\
|
(
(
(

(
(
(
=
|
|
.
|
\
|
2
22 2 21
2 1
12 1 11
2
U
U
I 0
0 I
0
K K K
K K K
K K K
I 0
0 I 0
P
P
i
i
i ii i
i
T
i
- Final Equation
|
|
.
|
\
|
(
+ + + +
+
=
|
|
.
|
\
|
(
(
(
+
+
+
(
=
|
|
.
|
\
|
2 22 21 12 11 2 1
2 1
2
22 21 2
2 1
12 11 1
2
U
U
K K K K K K
K K K
U
U
K K K
K K K
K K K
I 0
0 I 0
P
P
i
T T
i i
T
i i ii
i
i
i i ii
i
T
i
84
10.5. Constraints in Discrete Problems
z Minimization Problem
P U KU U
u
T T
=
2
1
Min subject to 0 U A = ) (
|
|
.
|
\
|
=
r
f
U
U
U ,
(
=
rr rf
fr ff
K K
K K
K
|
|
.
|
\
|
=
r
f
P
P
P
z 1
st
order Optimality condition
0 =

U
0 = P KU
z Usual homogenous support conditions
0 =
r
U
f f f f
T
f f f
T
f
f
P U K P U U K U
U
= =
2
1
Min
z Non-homogenous support conditions (support Settlement)
r r
U U =
r
T
r f
T
f r rr
T
r r fr
T
f f ff
T
f
r
T
r f
T
f r rr
T
r r fr
T
f f rf
T
r f ff
T
f
P U P U U K U U K U U K U
P U P U U K U U K U U K U U K U
+ + =
+ + + =
) 2 (
2
1
) (
2
1
0 Min Min = + =
f r fr f ff
f
P U K U K
U U
r fr f f ff
U K P U K =
or
0 0 =

=
f
f
f
r
r
f
f
U
U
u
U
u
U
u
U
U
z General Non-homogenous Linear Constraints
0
1
0
0 ) (
i
ndof
j
j ij
r u r = = =

=
r RU U A , i =1 ,, ncon
0 0
1 1
0
C CU r R U R R U r U R U R RU + = + = = + =

f r f f r r f f r r
|
|
.
|
\
|
+
|
|
.
|
\
|
=
|
|
.
|
\
|
=
0
0
C
U
C
I
U
U
U
f
r
f
85
) (
2
1
) (
] [
2
1
2
1
0 0 0 0 r
T
f
T
f rr
T
rr
T
fr
T
f
f rr
T
rf
T
fr ff
T
f
T T
P C P U C K C C K C C K U
U C K C K C C K K U
P U KU U
+ + + +
+ + + =
=
) ( ) ( ] [
0 0
C K C C K P C P U C K C K C C K K
rr
T
fr r
T
f f rr
T
rf
T
fr ff
+ + = + + +
z Lagrange Multiplier
) (
2
1
Min
0
,
r RU P U KU U
U
+ =
T T T
0 =

U
, 0 =
|
|
.
|
\
|
=
|
|
.
|
\
|
(
= = =

= + =
+ =

0
0
0 ) (
0
) (
r
U U
0 R
R K
r RU U A
R P KU
U
U A
P KU
U

T
T T
) ( ) ( 0 ) (
) ( 0
0
1 1 1
0
1
0
1
r P RK R RK r R P RK r RU
R P K U R P KU
= = =
= = +

T T
T T

0
1 1 1 1 1 1 1 1
0
1 1 1 1
) ) ) ( (
)) ( ) ( (
r R RK R K P RK R RK R K K
r P RK R RK R P K U

+ =
=
T T T T
T T
(
10.6. Constraints in Continuous Problems
z Lagrange Multiplier
u
Min subject to 0 u A = ) (
where is the original functional derived from the minimization principle or equivalent,
and 0 u A = ) ( denotes an additional set of constraints, which may be defined in some
volume, on some surface, or at some points. For the simplicity of derivation, only con-
straints specified along a surface is considered in this note.
0 ) (
0
= = r Lu u A on S
dS dS T u dV b u dV
dS u u
S S
i
h
i
V
i
h
i
h
ij
V
h
ij
S
i
u
t
i

+ =
+ =
) (
2
1
) ( ) ( ) , ( Min
0
0
,
r Lu
r Lu

86
By discretizing
e
N = in an element and the displacement field in usual way,
q RU f U KU U
r U LN f U KU U
r U LN f U KU U
T T T T
S
T T
S
T T T T
e
S
T T e
e
e
S
T T e T T
i
e e
e e
dS dS
dS dS u
+ =
+ =
+

2
1
2
1
) ( ) (
2
1
) , (
0
0

Therefore, the stationary condition for modified energy functional becomes
|
|
.
|
\
|
=
|
|
.
|
\
|
(
= =

= + =

q
f
U
0 R
R K
q RU
R f KU
U
T
T
0
0
The solution procedure from this point is exactly the same as that of discrete problems.
The last and the most important question is what kind of interpolation function has to be
employed for the Lagrange multiplier.
z Penalty Function
+ =
S
T
u
dS ) ( ) (
2
) ( ) ( Min u A u A u u

) 2 (
2 2
1
} ( ) ( 2 ) ( ) {(
2 2
1
) ( ) (
2 2
1
) (
0 0 0
0 0
C q U U K U f U KU U
r r r L U U LN L U f U KU U
r Lu r Lu u
+ + =
+ + =
+

T
R
T T T
S
T
S
T T e
e
e
S
T T e T T
S
T
S
i
h
i
V
i
h
i
h
ij
V
h
ij
e e e
t
dS dS dS
dS dS T u dV b u dV

)
q f U K K
U
u + = + =

) ( 0 ) ( Min
R
u
87
Chapter 11
Problems with Higher
Continuity Requirement
Beams
4
= ??
11.1. C
1
Formulation
11.2. C
0
Formuation
11.3. Timoshenko Beam
88
11.1. C
1
-Formulation
z Governing Equation
EI
d w
dx
q
4
4
=
z Weak Form of the governing equation
$ ( ) $ w EI
d w
dx
q dx w
l
4
4
0
0 =
for all admissible

$
$ $
$ wEI
d w
dx
dw
dx
EI
d w
dx
d w
dx
EI
d w
dx
dx wqdx
l l
l l 3
3
0
2
2
0
2
2
2
2
0 0
0 + =

d w
dx
EI
d w
dx
dx wqdx wV M
d w
dx
EI
d w
dx
dx wqdx
l
l
l
l
l l
2
2
2
2
0
0
0
0
2
2
2
2
0 0
$
$ $
$
$
$ = + =

z Continuity Condition
The second derivative of the displacement field has to be piecewise-continuous for the valid
finite element formulation. Therefore, w has to be continuous up to the first derivatives.
d w
dx
EI
d w
dx
dx
d w
dx
EI
d w
dx
dx
l
e
l
e
2
2
2
2
2
2
2
2
0
$ $
=

z Hermitian Shape Functions

e
l x
l e l
x
l l
r r l l
dx
dw
l w w
dx
dw
w w
N w N N w N w
= =
= = = =
+ + + =
, ) ( , , ) 0 ( where

0
4 3 2 1
2
3 2
4
3
3
2
2
3
2
3 2
2
3
3
2
2
1
, 2 3
2 , 2 3 1
e e e e
e e e e
l
x
l
x
N
l
x
l
x
N
l
x
l
x
x N
l
x
l
x
N
+ = =
+ = + =
89
11.2. C
0
-Formulation
z Energy Consideration
w: total deflection, : rotation ,
dw
dx
: shear deformation
= +

1
2
0 0
0
0
( ( ) ( ) )
d
dx
EI
d
dx
dx
dw
dx
GA
dw
dx
dx wqdx
l l l

e
M
e n
i
i
i
T
n n
e
i
i
i i
i
i
dx
dN
dx
dN
dx
dN
dx
dN
dx
d
w w w
N w N w

B = = =
=
= =

) ]( 0 0 0 [
) (
,
2 1
2 2 1 1
L
L
e
S
e
n
n
i
i
i i
i
i
N
dx
dN
N
dx
dN
N
dx
dN
N w
dx
dN
dx
dw
B =
= =

] [
2
2
1
1
L
e
n
N N N w ] 0 0 0 [
2 1
L =
e T T e T
S M
T
e
e
T e e e
S
e
M
e
T e
l
e
T e e
S
l
T
S M
l
T
M
e
T e
e e e
qdx dx GA dx EI
f K f K K
f K K
N B B B B

= + =
+ =
+ =

2
1
) (
2
1
) ( ) ( ) (
2
1
] [ ) ( ) ( ) (
2
1
0
0
0 0
0 = =

e
f K
z Difficulties Functions Space Interlocking

90
EI
d
dx
d
dx
dx
GA l
EI l
dw
dx
dw
dx
dx
wq
EI
dx
l l l
= +

1
2
1
0
0
2
2
0 0
( ( )( ) )

beam retangular for
) 1 (
6
2
2 2
0
t
l
v EI
l GA
+
= .
t As ,
1
0
2
0
l
dw
dx
dw
dx
dx
l
( )( )
or
dx
dw
to keep the total potential energy
finite. This condition may be satisfied in case the entire, exact function spaces for w
and are used. For the finite element method, the energy expression is expressed as
e
e
e e
e
e
e
h
d
EI
wq
l d
d
dw
l d
dw
l t
l
v
d
d
d
d
d
EI
l
1
0
2
1
0
2
2 1
0
) )
1
( )
1
(
) 1 (
6
(
2
1
To keep the energy expression finite as 0 t , there are two alternatives:
1) t l
e
, 2)
dx
dw
. The first condition requires a fine mesh layout because the element
size should be almost the same as the thickness of beam. The second condition requires
the derivative of displacement field have to be exactly the same as the rotation flied, whi-
ch is very difficult to satisfy. For example, both the displacement and the rotation field
are interpolated by linear shape functions, ie, b a w + = , d c + = . The second con-
dition becomes d c a + = for all 1 0 , which is equivalent to 0 = c and d a = .
Therefore, the rotation field should be constant within an element. This condition can
be satisfied only when the rotation field is constant for the entire beam because of the
continuity requirement of
0
C , which allows only rigid body rotation of the beam,
and yields a meaningless solution. In case you try to analyze beams or plates, do not
use linear shape functions, which merely results in meaningless solutions. The
aforementioned difficulty may be avoided by using higher order shape functions. In
case shape functions of the same order for both fields are employed, the highest order
term of the rotation field should always vanish, and the function space for the rotation
fields is always a subspace of the displacement field. Since, however, the rotation and
the displacement field are totally independent fields as shown in the next section, the so-
lution space of the rotation field has to be defined independently, and thus the aforemen-
tioned function space constraint yields sub-optimal convergence and unfavorable results.
Be always very careful when you use C
1
-formulation for the analysis of beams or
plates.
91
11.3. Timoshenko Beam
z Governing Equation
EI
d
dx
GA
dw
dx
2
2
0
0
+ = ( ) , GA
d w
dx
d
dx
p
0
2
2
( ) =
z Week Form
w
l l
w dx p
dx
d
dx
w d
GA w dx
dx
dw
GA
dx
d
EI = +
+ +

& 0 ) ) ( ( )) ( (
2
2
0
0
0
2
2
0
dx
dx
dw
GA dx
dx
d
EI
dx
d
dx
d
EI dx
dx
dw
GA
dx
d
EI
l l
l
l
) ( )) ( (
0
0 0 0
0
2
2
0
+

= +

pdx w dx
dx
dw
GA
dx
w d
dx
dw
wGA dx p
dx
d
dx
w d
GA w
l l
l
l

+
= +

0
0
0 0
0
2
2
0
0
) ( ) ( ) ) ( (
w
l
l l
l l
w
pdx w
dx
dw
wGA
dx
d
EI dx
dx
dw
GA
dx
w d
dx
dx
d
EI
dx
d

+ +

&
) ( ) ( ) (
0 0
0
0
0
0 0
By assuming homogeneous boundary conditions,
w
l l l
w pdx w dx
dx
dw
GA
dx
w d
dx
dx
d
EI
dx
d
=

& ) ( ) (
0
0
0 0
z Boundary Conditions

= = = = 0 0 0 0
0
or or or EI
d
dx
w GA
dw
dx
( )
z Elimination of the displacement Beginning of Nightmare
Differentiation of the first equation and substitution of the second equation into the first
equation
0
3
3
= +
p
dx
d
EI (Oh, My God !!!)
Unfortunately, we have an odd order differential equation, which does not have the
minimum characteristics, and thus is very difficult to solve. At this point, we have to
consider the Petrov-Galerkin method seriously !!!
92
Chapter 12
Mixed Formulation
93
z What is the mixed formulation??? - Definition
Stress or strain fields are treated and interpolated as independent variables!!!
z Governing Equations and Boundary Conditions
Equilibrium Equation : 0 = + b
in V
Constitutive Law : : D =
in V
Strain-Displacement Relationship : ) ) ( (
2
1
T
u u + = in V
Displacement Boundary condition : 0 = u u
on
u
S
Traction Boundary Condition
: 0 = T T
on
t
S
Cauchys Relation on the Boundary : n T = on S
z Weak statement.
= + + +

i u i i
S
i i i j j i ij
V
ij i
V
j ij i
u dS T T u dV u u dV b u
t
0 ) ( )) (
2
1
( ) (
, , ,
= + + +

i u i i
S
i i k l l k kl ijkl
V
ij i
V
j ij i
u dS T T u dV u u D dV b u
t
0 ) ( )) (
2
1
( ) (
, , ,
= + +

i u i k l l k kl ijkl
V
ij
S
i i
V
i i
V
ij
j
i
u dV u u D dS T u dV b u dV
x
u
t
0 )) (
2
1
(
, ,
= + +

i u i k l l k kl ijkl
V
ij
S
i i
V
i i
V
kl ijkl
j
i
u dV u u D dS T u dV b u dV D
x
u
t
0 )) (
2
1
(
, ,
z Interpolations
e e e
U N u = ,
e e e
E N =
z Finite element discretization
e e e
V
T
e
e
V
T T e
T
V
T
e
e
V
T T e
dV dV
d dV dV
e
t
e
E U U DB N E DN N E
T N b N E DN B U
and
admissible all for 0 ) ( )
(
) ( )
(
=
+

F E Q =
T
, 0 = QU ME
|
|
.
|
\
|
=
|
|
.
|
\
|
(
0
F
E
U
M Q
Q 0
T
F QU M Q =
1 T
94
z Important Question
What are the admissible function spaces for the displacement field and the strain field??
Can we choose the interpolation shape functions for the displacement and the strain inde-
pendently ?? Unfortunately, the answer is No. In case we choose the function
spaces arbitrarily, the solutions of the mixed formulation become very unstable, which is
caused by so called function space interlocking. The Babuzuka-Brezzi condition (BB
condition) states the required relationship between the individual function spaces. This
issue is out of scope for this class.
Please be very careful when you use the FEM based on the mixed formulation!!!
z Possible choices of function spaces
1.
1 1
, H H u
i i

2.
2
1
, L H u
i i

3. ,
2 2
L L u
i i

Which one do you like? Can you give a proper explanation for your choice?

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School of Civil, Urban & Geosystem Eng.

is the moment induced by the unit load applied at x

z Energy Functional Total Potential Energy

z Finite Difference Equations for Boundary Nodes with Displacement BCs

z The stress field in an element

admissible all for 0 =

for all admissible

admissible all for 0 =

School of Civil, Urban & Geosystem Eng., SNU

z Principle of Virtual work

z Principle of Virtual work

z Principle of Virtual work

8.1GaussQ uadrature Rule

School of Civil, Urban & Geosystem Eng., SNU

for all admissible

z Hermitian Shape Functions

z Difficulties Functions Space Interlocking

admissible all for 0 ) ( )

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