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FEM Introduction Mohammed Bakkesin
FEM Introduction Mohammed Bakkesin
Element Method
Spring 2010
Course Objectives
The student should be capable of writing
simple programs to solve different
problems using finite element method.
Assessment
10%
20%
Week of 12/11/2006
Week of 20/12/2006
Week of 17/1/2006
20%
25%
25%
Course Project
Midterm exam (Week of 2/12/2006)
Final exam (starting 3/2/2007)
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
References
J.N. Reddy, An Introduction to the Finite
Element Method 3rd ed., McGraw Hill, ISBN
007-124473-5
D.V. Hutton, Fundamentals of Finite Element
Analysis 1st ed., McGraw Hill, ISBN 007121857-2
K. Bathe, Finite Element Procedures, Prentice
Hall, 1996. (in library)
T. Hughes, The finite Element Method: Linear
Static and Dynamic Finite Element analysis,
Dover Publications, 2000. (in library)
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
Numerical Solution of
Boundary Value Problems
Weighted Residual Methods
Objectives
In this section we will be introduced to the
general classification of approximate
methods
Special attention will be paid for the
weighted residual method
Derivation of a system of linear equations
to approximate the solution of an ODE will
be presented using different techniques
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
Why Approximate?
Ignorance
Readily Available Packages
Need to Develop New Techniques
Good use of your computer!
In general, the problem does not have an
analytical solution!
Classification of Approximate
Solutions of D.E.s
Discrete Coordinate Method
Finite difference Methods
Stepwise integration methods
Euler method
Runge-Kutta methods
Etc
Boundary Residual
Boundary Element Method
Basic Concepts
A linear differential equation may be written in the form:
L f x g x
Where L(.) is a linear differential operator.
An approximate solution maybe of the form:
n
f x ai i x
i 1
Basic Concepts
Applying the differential operator on the approximate
solution, you get:
n
L f x g x L ai i x g x
i 1
ai L i x g x 0
i 1
a L x g x Rx
i 1
Residue
Collocation Method
The idea behind the collocation method is
similar to that behind the buttons of your
shirt!
Assume a solution, then force the residue
to be zero at the collocation points
Collocation Method
Rx j 0
Rx j
a L x F x 0
n
i 1
Example Problem
u
EA 2 F x 0
x
2
Bar application
2u
EA 2 F x 0
x
n
ux ai i x
i 1
d 2 i x
EA ai
F x R x
2
dx
i 1
n
d 2 i x j
EA ai
F x j 0
2
dx
i 1
n
In Matrix Form
k11 k21 ... kn1 a1
F x1
k
a
F x
k
...
k
n2 2
2
12 22
F xn
k1n k2 n ... knn an
d 2 i x
kij EA
dx2 x x
2l
EA Sin a1 f
2l
4
Solving:
4 2l 2 f
l2 f
a1
0.57
2
2
EA
EA
EA 2l Sin 4
f
lf
exact 1.0
EA
Rx dx 0
xj
x j 1
x j 1
a L xdx g xdx 0
i 1
xj
xj
Bar application
2u
EA 2 F x 0
x
n
ux ai i x
i 1
d 2 i x
EA ai
F x R x
2
dx
i 1
n
x j 1
i 1
xj
EA ai
d i x
dx F x dx
2
dx
xj
2
x j 1
In Matrix Form
x j1 d 2 x
x j1
i
EA
dxai F x dx
2
x j dx
x j
Rx x dx 0
j
Domain
a xL xdx xg xdx 0
i 1
Domain
Domain
Bar application
2u
EA 2 F x 0
x
n
ux ai i x
i 1
d 2 i x
EA ai
F x R x
2
dx
i 1
n
d 2 i x
EA ai j x
dx j x F x dx
2
dx
i 1
Domain
Domain
n
In Matrix Form
d 2 i x
EA j x
dx
a
x
F
x
dx
i
j
2
dx
Domain
Domain
2l
x x
EA a1 Sin Sin dx
2l 0 2l 2l
2
x
Sin fdx
2l
0
l
2l
l
EA a1
2l 2
2
f 16l 2
fl 2
a1
0.52
3
EA
EA
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
dx
Domain
n
d j x d i x
d i x
j x
dx
dx 0 Domain dx
dx
l
Zero!
2l
l
EA a1
2l 2
2
f 16l 2
fl 2
a1
0.52
3
EA
EA
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
Summary
We may solve differential equations using a
series of functions with different weights.
When those functions are used, Residue
appears in the differential equation
The weights of the functions may be determined
to minimize the residue by different techniques
One very important technique is the Galerkin
method.
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
NOTE
Next Sunday 5/11 (No lecture)
Following week 12/11, Quiz #1 will be held
covering all the material up-to this lecture
Homework #1 is due next week (Electronic
submission of report and code is
mandatory.
Homework #1
Solve the beam bending
problem, for beam
displacement, for a simply
supported beam with a load
placed at the center of the
beam using
Collocation Method
Subdomain Method
Galerkin Method
d 4w
F ( x)
4
dx
w(0) w(l ) 0
d 2 w(0) d 2 w(l )
0
2
2
dx
dx
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
Exact Solution
w( x)
x 3 13 x
12 60
x3 x 2 7 x 3
12 4 15 10
0 x 1/ 2
1/ 2 x 1
Objectives
Understand the basic steps of the finite
element analysis
Apply the finite element method to second
order differential equations in 1-D
Subject to:
du
u0 u0 , a Q0
dx x L
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
d du
a cu f 0
dx dx
x1 x x2
ux1 u1 , ux2 u2 ,
du
du
Q1 , a
Q2
a
dx x x1
dx x x2
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
Polynomial Approximation
Now, we may propose an approximate
solution for the primary variable, u(x),
within that element.
The simplest proposition would be a
polynomial!
Polynomial Approximation
Interpolating the values
of displacement
knowing the nodal
displacements, we may
write:
ux b1x b0
ux1 u1 b1x1 b0
ux2 u2 b1x2 b0
x2 x
x x1
u1
u2
ux
x2 x1
x2 x1
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
Polynomial Approximation
u x
x2 x
x x1
u1
u2
x2 x1
x2 x1
u1
1u1 2u2 1 2 x u e
u2
d 2u
a 2 cu f 0
dx
x1 x x2
Applying the
Galerkin method:
d 2 i x
a j x
ui c j x i x ui j x f dx 0
2
dx
Domain
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
d 2 i x
a j x
dx
2
dx
Domain
d j x d i x
d i x
a j x
a
dx
dx x1
dx
dx
Domain
x2
And:
d 1 x
1
,
dx
he
d 2 x 1
dx
he
x
2
a
u
c
x he 2 he 1
1
x2
x2 x
dx 0
f
he
Which gives:
a che
fhe
u1
0
2
he 3
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
h
e
1 1 che
1 1 6
2 1 u1 fhe 1
1 2 u 2 1
Homework #2
Derive the element equation without
ignoring the boundary terms.
What are differences in the element
equation.
The solution should be handed using the
same report format (use equation editor to
write your report).
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
Objectives
Learn how the finite element model for the
whole domain is assembled
Learn how to apply boundary conditions
Solving the system of linear equations
Recall
In the previous lecture, we obtained the
element equation that relates the element
degrees of freedom to the externally
applied fields
a
h
e
2 1 u1 fhe 1
1 2 u 2 1
k1 k 2 u1 f1
written:
k3 k 4 u2 f 2
1 1 che
1 1 6
Which maybe
TwoElement example
k11 k21 u11 f11
1 1 1 1
k3 k4 u2 f 2
k12 k22 u12 f12
2
2
2 2
k3 k4 u2 f 2
k11
k21
1 1
2
k
k
k
3 4 1
2
0
k
3
0 u1 f1 Q1
2
k2 u2 f 2 Q2
k42 u3 f 3 Q3
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
u j f i dx 0
2
2
x1
he dx dx
Performing Integration:
EA d j d i
x he 2 dx dx u j f i dx 0
x2
EA 1 1 u1e fhe 1
e
he 1 1 u2 2 1
u
f
1
EA
1
1 1
he 1 1 u2 f 2
EA 1 1 u12 f12
2 2
he 1 1 u2 f 2
1 1 0 u1
1 R
EA
fhe
1 2 1 u2
2 0
he
2
0 1 1 u3
1 0
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
Applying BCs
For the bar with fixed left side and free
right side, we may force the value of the
left-displacement to be equal to zero:
1 1 0 0
1 R
EA
fhe
1 2 1 u2
2 0
he
2
0 1 1 u3
1 0
Solving
Removing the first row and column of the
system of equations:
EA 2 1 u2 fhe 2
he 1 1 u3 2 1
Solving:
u2 fhe 2 3
u3 2 EA 4
Secondary Variables
Using the values of the displacements
obtained, we may get the value of the
reaction force:
1 1 0 0
1 R
1 2 1 3 fhe fhe 2 0
2 2
1 0
0 1 1 4 fhe
Secondary Variables
Using the first equation, we get:
3 fhe fhe
R
2
2
R 2 fhe
Summary
In this lecture, we learned how to
assemble the global matrices of the finite
element model; how to apply the boundary
conditions, and solve the system of
equations obtained.
And finally, how to obtain the secondary
variables.
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
Homework #3
Problems #3.9 & 3.13 from the text book
Write down a computer code that solves
the problem for N elements.
Objectives
Bar Example
The bar may be represented by two
elements.
The stiffness matrices of the two elements
may be obtained using the following
integration:
d 1
x2
dx d 1
K e EAx
x1
2 dx
dx
1 1
x2
h2 h2
d 2
e
e
dx
dx
EA
x
dx
1 1
x1
he2 he2
Bar Example
For the Aluminum bar: E=107 psi, and A=1
in2. we get:
x
10 7 2 1 1
107 1 1
K Al
dx
2
120 x1 1 1
120 1 1
0.5x 1 1
4.75.107
x 1.5 96 1 1 dx 96
1
7 x2
1 1
1 1
Bar Example
Assembling the Stiffness matrix and
utilizing the external forces, we get:
0 u1 0 R
49.5 49.5
10 4 49.5 57.8 8.33 u2 2.105 0
0
8.33 8.33 u3 105 0
Bar Example
Solving, we get:
u2 0.061
in
u3 0.181
R 30000 lb
Reading Task
Please read and understand examples,
4.5.1 & 4.5.3.
Trusses
A truss is a set of bars that are connected
at frictionless joints.
The Truss bars are generally oriented in
the plain.
Trusses
Now, the problem lies in the
transformation of the local displacements
of the bar, which are always in the
direction of the bar, to the global degrees
of freedom that are generally oriented in
the plain.
Equation of Motion
1
0
EA
h 1
0 1
0 0
0 1
0 0
0 u 1 F 1
0 v1 0
0 u 2 F 2
0 v 2 0
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
Transformation Matrix
u1
0
0 u1
Cos Sin
Sin Cos
0
0 v1
v1
0
0
Cos Sin u2
u 2
v 2
0
Sin Cos v2 Transformed
Local DOF 0
DOF
Local DOF
d
T Transforme
DOF
K T F
Finally:
T K T T F
T
K F
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
Recall
K T T K T
Where:
Cos
Sin
0
0
Sin
0
0
Cos
0
0
0
Cos Sin
0
Sin Cos
1
0
EA
K
h 1
0 1
0 0
0 1
0 0
0
0
0
K
0
Cos Sin 1
h 0
0
0
Sin
Cos
0
0
0
Cos Sin
Sin Cos
0
0
0
0
Cos Sin
0
Sin Cos
0
0 1
0 0
0 1
0 0
0
0
2
2
Cos
Sin
2
Cos
Sin
2
2
2
1
1
2
2
Sin
Sin2 Sin
EA 2 Sin2
2
K
1
h Cos 2 1 Sin2 Cos 2
Sin2
2
2
1
1
2
2
Sin2
Sin
Sin2 Sin
2
2
Element Equations
1
0
EA
K1
L 1
0 1
0 0
0 1
0 0
0
0
0
0 0
0 1
EA
K2
L 0 0
0 1
0 0
0 1
0 0
0 1
0
.
3536
0
.
3536
0
.
3536
EA
K3
0.3536
L 0.3536 0.3536 0.3536
0.3536
0.3536 0.3536 0.3536
Assembly Procedure
0.3536 1 0 0.3536 0.3536
1.3536
0.3536
0
.
3536
0
0
0
.
3536
0
.
3536
0
1 0
0
0
EA 1
K
0
0 1
0
1
L 0
0.3536 0.3536 0 0
0.3536
0.3536
1.3536
0.3536 0.3536 0 1 0.3536
F
1
y
1y
Remember!
F2 x F2 x
F NO distributed load
F
F
2
y
2 y is applied to a truss
F3 x P
F3 y 2 P
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
Boundary Conditions
U1 V1 U 2 V2 0
Remove the corresponding rows and columns
EA 0.3536 0.3536 U 3 P
L 0.3536 1.3536 V3 2P
Continue! (as before)
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
Results
PL
3PL
U 3 5.828
, V3
EA
EA
F1x P, F1 y P,
F2 x 0, F2 y 3P
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
Postcomputation
e
1
e
2
P
P
Ae Ae
e
P1e Ae Ee
e
L
P 2
1 1 u1
1 1 e
u 2
u1 Cos Sin
0
0 u1
0
0 v1
v1 Sin Cos
0
0
Cos Sin u2
u 2
v 2 0
0
Sin Cos v2
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
Postcomputation
(1)
0,
( 2)
3P
,
A
( 3)
P
2
A
Summary
In this lecture we learned how to apply the
finite element modeling technique to bar
problems with general orientation in a
plain.
Homework #5
Problem 4.27,
Due 13/12/2006 before 9:00am
Problem 4.44,
Due 20/12/2006 before 9:00am
Announcements
Compensation Tutorial for E15:
Next Sunday 17/12/2006 3rd Period in H6
Next Lecture:
Wednesday 20/12/2006 3rd Period in H6
Next Quiz:
Wednesday 20/12/2006 3rd Period in H6
(This Lecture is included)
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
Term Projects
A problem has got to be solved using the
finite element method
A report is going to be presented by each
group presenting the problem and its
solution
Table of contents
Introduction and literature survey
Solution procedure
Discussion
Observations of the results
Further work that may be performed with the problem
Future developments of the model
References
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
Evaluation
Report (50%)
Code (30%)
Structured: Functions built, easily modified
Readability: Organization, remarks
Length: The shorter the better
Results (20%)
Projects
Heat transfer in a 2-D heat sink
2-D flow around a blunt body in a wind
tunnel
Vibration characteristics of a pipe with
internal fluid flow
Panel flutter of a beam
Rotating Timoshenko beam/blade
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
Teams
2-3 Students teams
Names and selected projects should be
submitted before 4PM on Thursday
21/12/2006
Work Progress
A report should be submitted By 4PM every Wednesday
27/12/2006
The report should contain a preliminary literature survey
Problem statement
Governing equations
10/1/2007
The report should contain a deeper literature survey
The preliminary derivations of the finite element model
17/1/2007
A more mature version of the report should be presented
Preliminary results of the code
List of the program script should be included
24/1/2007
Final version of the report should be presented together with the code
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
Governing Equation
The equation governing the deformation of
and E-B beam under transverse loading
may be written in the form:
d2
d 2w
EI x 2 F ( x)
2
dx
dx
wx 1
x x
wx H xa
dwx dH x
2
a H x x a 0 1 2 x 3x a
dx
dx
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
wl w2 H l a
w1 H 0 a1
w' H 0 a
1 x 2
T a
w2 H l a3
w'2 H x l a4
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
0 0 0 a1
1 0 0 a2
2
3
l l
l a3
2
1 2l 3l a4
1
a1
a 0
2 3
2
a3 l
a4 2
l 3
0
1
2
l
1
l2
0
0
3
l2
2
l3
0
w1
0
1 w'1
l w2
1 w'
2 2
l
w
e
wx H xa H xT w N x w
1
wx Ni x wi
i 1
3
2
x 2x x
3
T
l
l
N x N x 3x 2 2 x3
l2
l3
x 2 x3
2
l l
Interpolation Functions
1
N1
N3
0.8
N(x)
0.6
0.4
0.2
N2
0
0
0.2
0.4
0.6
-0.2
0.8
N4 1
-0.4
X
d
d w
EI x 2 F ( x)
2
dx
dx
2
wx Ni x wi
i 1
d Ni
d
EI x 2 wi F ( x) R( x)
2
dx
i 1 dx
d
N
i
R
(
x
)
N
dx
EI
x
w
F
(
x
)
N j dx
j
i
2
0
0 i1 dx2
dx
d
N
d
N
j
i
EI x
F
(
x
)
N
i
j dx 0
2
2
0 i1
dx
dx
In matrix form:
le
EI xN N
xx
dxw F ( x)N xx dx
le
xx
Optional Homework #6
Derive the expression for the interpolation
function for a beam in terms of nodal
displacements and slopes.
Try to use a symbolic manipulator to
generate the expressions.
2
d w
d w
A 2 EI 4 F ( x)
dt
dx
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
2-D Elements
In this section, we will be introduced to two
dimensional elements with single degree
of freedom per node.
Detailed attention will be paid to
rectangular elements.
A Rectangular Element
For the approximation
of a general function
f(x,y) over the element
you need a 2-D
interpolation function
f x, y a1 a2 x a3 y a4 xy
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
f a, b f3 H a, ba
f x, y H x, y a
f a,0 f 2 H 0, aa
f 0, b f 4 H 0, ba
f1 H 0,0 a1
f H a,0 a
2
2
T a
f 3 H a, b a3
f 4 H 0b a4
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
0
a
a
0
0 0 a1
0 0 a2
b ab a3
b 0 a4
0
0
1
a1 1 1
0
a
2 a1 a
0
0
a
3 b
a4 1 1 1
ab ab ab
0
f1
0
f
1
f3
b
1 f 4
ab
x y xy
1 a b ab
x xy
a ab
T
N x, y N x, y
xy
ab
y xy
b ab
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
0.9
0.9
0.8
0.8
0.7
0.7
0.6
0.6
N1 0.5
N2 0.5
0.4
0.4
0.3
0.3
0.2
0.2
0.9
0.9
0.1
0.1
0.6
0
0 0.1
0.2 0.3
0.4 0.5
0.6 0.7
0.8 0.9
x
0.3
0
1
0.6
0
0 0.1
0.2 0.3
0.4 0.5
0.6 0.7
0.8 0.9
x
0.3
0
1
0.9
0.9
0.8
0.8
0.7
0.7
0.6
0.6
N3 0.5
N4 0.5
0.4
0.4
0.3
0.3
0.2
0.2
0.9
0.9
0.1
0.1
0.6
0
0 0.1
0.2 0.3
0.4 0.5
0.6 0.7
0.8 0.9
x
0.3
0
1
0.6
0
0 0.1
0.2 0.3
0.4 0.5
0.6 0.7
0.8 0.9
x
0.3
0
1
2 0
2
x y
2
i Ni x, y N x, y
4
i 1
i 1
N N N N dA 0
e
Area
2 a 2 b2
2
1 a 2b 2
6ab a 2 b 2
2
2
2
a
a 2 2b 2
2 a 2 b2
2a 2 b 2
a 2 b2
a 2 b2
2a 2 b 2
2 a 2 b2
a 2 2b 2
2a 2 b 2
2
2
a b e
0
2
2
a 2b
2
2
2 a b
1-D Example
Element #1 is associated with nodes 1&2
Element #2 is associated with nodes 2&3, etc
2-D Example
2-D Example
For Element #5
Local Node Number
8
Introduction to the Finite Element Method
Dr. Mohammad Tawfik
1,1
1,2
1,4
1,3
2,1
2,2
2,4
2,3
4,1
4,2
4,4
4,3
3,1
3,2
3,4
3,3
10
11
12
1
2
3
4
10
11
12
1
2
3
4
5
6
1
1
4
7
2
5
8
Node Number
2
3
2
5
5
8
8
11
3
6
6
9
9
12
4
4
7
10
5
8
11
10
11
12
1
2
Element
3Number
4
Node Number
1
11
10
10
11
12
11
8
9
12