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Linear Statics Fem
Linear Statics Fem
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Introduction
Definitions
Some Maths
Linear elasticity
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Definitions
Some Maths
Linear elasticity
Definitions
Linear statics = statics of
linear elastic solids in
infinitesimally small
deformations
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Definitions
Some Maths
Linear elasticity
Definitions
Linear statics = statics of
linear elastic solids in
infinitesimally small
deformations
Elastic body =
represented in Lagrangian
form by its original, stress
free, configuration
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Definitions
Some Maths
Linear elasticity
Definitions
Linear statics = statics of
linear elastic solids in
infinitesimally small
deformations
Elastic body =
represented in Lagrangian
form by its original, stress
free, configuration
Boundary conditions:
Imposed displacement
u(x) on u
Imposed surface
traction t(x) on
Joel Cugnoni, LMAF / EPFL
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Definitions
Some Maths
Linear elasticity
Some Maths
Symmetric 2nd order tensors written in vector forms:
= {11 , 22 , 33 , 23 , 31 , 12 }T
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Definitions
Some Maths
Linear elasticity
Some Maths
Symmetric 2nd order tensors written in vector forms:
= {11 , 22 , 33 , 23 , 31 , 12 }T
Differential operator:
/x1
0
0
0
/x2
0
0
0
/x3
0
/x3 /x2
/x3
0
/x1
/x2 /x1
0
hence we have:
div () = T
and:
grad(u) = u
Joel Cugnoni, LMAF / EPFL
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Definitions
Some Maths
Linear elasticity
Linear elasticity
The stress is defined by the symmetric Cauchy stress tensor
(x) = {11 , 22 , 33 , 23 , 31 , 12 }T
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Definitions
Some Maths
Linear elasticity
Linear elasticity
The stress is defined by the symmetric Cauchy stress tensor
(x) = {11 , 22 , 33 , 23 , 31 , 12 }T
For small deformations, the (infinitesimal) strain tensor
(x) = {11 , 22 , 33 , 23 , 31 , 12 }T is defined by:
(x) = u(x)
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Definitions
Some Maths
Linear elasticity
Linear elasticity
The stress is defined by the symmetric Cauchy stress tensor
(x) = {11 , 22 , 33 , 23 , 31 , 12 }T
For small deformations, the (infinitesimal) strain tensor
(x) = {11 , 22 , 33 , 23 , 31 , 12 }T is defined by:
(x) = u(x)
The constitutive stress - strain relationship of linear elasticity
is given by the Hooks law:
(x) = C(x) (x)
where C(x) is the 4th order elasticity tensor
Joel Cugnoni, LMAF / EPFL
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Definitions
Some Maths
Linear elasticity
Elasticity tensor
For an isotropic material in 3D, the 4th order symmetric
elasticity tensor is defined by two constants: the Youngs
modulus E and the Poissons ration
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Definitions
Some Maths
Linear elasticity
Elasticity tensor
For an isotropic material in 3D, the 4th order symmetric
elasticity tensor is defined by two constants: the Youngs
modulus E and the Poissons ration
With the previous definitions, C can be written in matrix form:
0
0
0
0
0
0
1
0
0
0
C =
(12)
0
0
0
0
0
(12)
0
0
0
0
0
2
(12)
0
0
0
0
0
2
with: =
E
(1+)(12)
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Stress equilibrium
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Stress equilibrium
Internal Stress Equilibrium
Equilibrium is achieved if, at
any point x of :
div ((x)) + f(x) = 0
or
T
(x) + f(x) = 0
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Stress equilibrium
Internal Stress Equilibrium
Equilibrium is achieved if, at
any point x of :
div ((x)) + f(x) = 0
or
T
(x) + f(x) = 0
where:
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Stress equilibrium
Internal Stress Equilibrium
Equilibrium is achieved if, at
any point x of :
div ((x)) + f(x) = 0
or
T
(x) + f(x) = 0
where:
is the internal Cauchy
stress tensor
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Stress equilibrium
Internal Stress Equilibrium
Equilibrium is achieved if, at
any point x of :
div ((x)) + f(x) = 0
or
T
(x) + f(x) = 0
where:
is the internal Cauchy
stress tensor
f is the body (volumic)
force vector
Joel Cugnoni, LMAF / EPFL
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Note that the initial x of the local equilibrium diff. equation has
been replaced by u in the integral form.
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Z
uT t d()+ uT f d = 0 , u
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Z
uT t d()+ uT f d = 0 , u
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
u V
Overview
Introduction
Linear elasticity problem
The Finite Element Method
u V
where:
Ui = ui (x) | ui (x) H 1 (); ui (x) = ui (x), x u
Vi = ui (x) | ui (x) H 1 (); ui (x) = 0, x u
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Comments
The displacement boundary conditions have been moved in
the class of functions U. This type of boundary condition is
called essential because it is related to the essence of the
problem = the displacement field!!
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Comments
The displacement boundary conditions have been moved in
the class of functions U. This type of boundary condition is
called essential because it is related to the essence of the
problem = the displacement field!!
The surface traction boundary conditions t on are now
explicitly introduced in the weak form. This type of boundary
condition is called natural because it falls naturally in the
weak form of the problem!!
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Comments
The displacement boundary conditions have been moved in
the class of functions U. This type of boundary condition is
called essential because it is related to the essence of the
problem = the displacement field!!
The surface traction boundary conditions t on are now
explicitly introduced in the weak form. This type of boundary
condition is called natural because it falls naturally in the
weak form of the problem!!
The name Weak Form comes from the fact that the
requirements of differentiability / continuity of the fields u
and u are relaxed compared to the initial differential equation
form. Note that the functions do not necessarilly need to be
continuous!
Joel Cugnoni, LMAF / EPFL
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Z
K=
BT CB d
Z
r=
H f d +
HT t d()
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Comments
K is called the stiffness matrix of the system, r is the force
vector containing contributions of both surface tractions and
body forces
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Comments
K is called the stiffness matrix of the system, r is the force
vector containing contributions of both surface tractions and
body forces
By choosing a finite subset of basis functions to build the
approximation of the weak, we have turned the algebraic
differential equation problem into a linear system of equations:
all terms of K and r are constant, hence the name linear
static problem.
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Comments
K is called the stiffness matrix of the system, r is the force
vector containing contributions of both surface tractions and
body forces
By choosing a finite subset of basis functions to build the
approximation of the weak, we have turned the algebraic
differential equation problem into a linear system of equations:
all terms of K and r are constant, hence the name linear
static problem.
As the displacement is a linear combination of functions
defined over , enforcing exact displacement boundary
is not trivial except for zero imposed
conditions uh (x) = u
displacement.
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Comments
K is called the stiffness matrix of the system, r is the force
vector containing contributions of both surface tractions and
body forces
By choosing a finite subset of basis functions to build the
approximation of the weak, we have turned the algebraic
differential equation problem into a linear system of equations:
all terms of K and r are constant, hence the name linear
static problem.
As the displacement is a linear combination of functions
defined over , enforcing exact displacement boundary
is not trivial except for zero imposed
conditions uh (x) = u
displacement.
Integrating the matrices & force vector over an arbitrary
domain can become very complex, and thus numerical
integration methods may be used.
Joel Cugnoni, LMAF / EPFL
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
xj h
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
p
X
hi (xj ) qi = qj
i=1
(xj ) = q
j
xj u = qj = u
j | xj u
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Z
d() =
n Z
X
i=1
k Z
X
i=1
d()
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
u =
H eq
Overview
Introduction
Linear elasticity problem
The Finite Element Method
u =
H eq
Where:
e
H = [e h1 I, e h2 I, ..., e hp I]
And:
e
q=
Lq
eL
is called the binary localization matrix representing the global local numbering relationship (related to the element connectivity
table)
Joel Cugnoni, LMAF / EPFL
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
1
2
3
4
1
1
2
5
4
2
2
3
6
5
3
4
5
8
7
4
5
6
9
8
Note:
The connectivity list of each element correspond to a column
of the above table.
The localization operator e L is constructed from the
connectivity table.
Joel Cugnoni, LMAF / EPFL
Overview
Introduction
Linear elasticity problem
The Finite Element Method
e=1
e K:
e
Joel Cugnoni, LMAF / EPFL
Overview
Introduction
Linear elasticity problem
The Finite Element Method
{} =
e=1
p
X
as:
L {}e L
e T
e=1
p
X
e Te
e=1
K L=
p
]
e=1
Overview
Introduction
Linear elasticity problem
The Finite Element Method
T : a e | x()
Overview
Introduction
Linear elasticity problem
The Finite Element Method
eT
Overview
Introduction
Linear elasticity problem
The Finite Element Method
H(x) =
H(x()) =
H()
u [x()] =
H() e q
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Coordinate transformation
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Where
ej
eJ
j = det( e J)
Jij =
xi
j
Overview
Introduction
Linear elasticity problem
The Finite Element Method
e 1
B = a H()
Overview
Introduction
Linear elasticity problem
The Finite Element Method
i=1
Finite Element
Method applied
e
e to linear
a statics of deformable s
Overview
Introduction
Linear elasticity problem
The Finite Element Method
+1 Z +1 Z +1
() d3 d2 d1
1
r X
s X
t
X
1i 2j 3k () |1 =i ,2 =j ,3 =k
1
r X
s X
t
X
1i 2j 3k
(a H)T C (a H) e j
i
1 =1i ,2 =2j ,3 =3k
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
aH
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Overview
Introduction
Linear elasticity problem
The Finite Element Method
on u
Boundary conditions: imposed nodal displacement q
and imposed surface tractions on
Overview
Introduction
Linear elasticity problem
The Finite Element Method
on u
Boundary conditions: imposed nodal displacement q
and imposed surface tractions on
Material properties (
eC
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Shape functions
Requirements
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Shape functions
Requirements
1
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Shape functions
Requirements
1
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Shape functions
Requirements
1
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Shape functions
Requirements
1
Consequences
Partition of unity: at each point x,
hi (x) = 1
Overview
Introduction
Linear elasticity problem
The Finite Element Method
Shape functions
Requirements
1
Consequences
Partition of unity: at each point x,
hi (x) = 1