EAS456 Finite Element Method PDF

EAS456
Advanced Structural Analysis
Dr. Mustafasanie M. Yussof

cemustafa@usm.my
We Lead | Kami Memimpin

www.usm.my
Kami Memimpin | We Lead www.usm.my
EAS456 : ADVANCED STRUCTURAL ANALYSIS
What is the FEM
- Method for numerical solution of field problems
- A tool for analysis
- Structural analysis
Major steps involved :
Generation
Computation Display of
of input
output data
data
Pre- Process/ Post-
processing Solution processing
(Pre-processor) (Solver) (Post-processor)

Description - FEM cuts a structure into several elements (pieces of the structure).
- Then reconnects elements at “nodes” as if nodes were pins or drops of glue
that hold elements together. - This process results in a set of simultaneous
algebraic equations. FEM: Method for numerical solution of field problems.
Number of degrees-of-freedom (DOF) Continuum: Infinite FEM: Finite (This is the

origin of the name, Finite Element Method)



FUNDAMENTAL CONCEPTS





ADVANTAGES OF THE F.E.M
Can readily handle very complex geometry:
- The heart and power of the FEM
Can handle a wide variety of engineering problems

- Solid mechanics
- - Dynamics
- - Heat problems
- - Fluids
- - Electrostatic problems
Can handle complex restraints

- Indeterminate structures can be solved.
Can handle complex loading

- Nodal load (point loads) - Element load (pressure, thermal, inertial forces) - Time
or frequency dependent loading

DISADVANTAGES OF THE F.E.M
A general closed-form solution, which would permit one to examine system

response to changes in various parameters, is not produced.
The FEM obtains only "approximate" solutions.
The FEM has "inherent" errors.
Mistakes by users can be fatal.

- Finite Element Method
Generation
of input
output data
data
Build a FE model Results

-coordinates of joints F KD -stresses
- arrangement of - displacements
members/elements
DK F 1 - reactions
- member properties - frequencies
- material properties - vibration mode
- loading conditions - buckling mode
- support conditions/
boundary conditions

- Finite Element Method
Generation
of input
output data
data
Pre- Solution Post-
processing processing
(Pre-processor) (Solver) (Post-processor)
Static analysis
-To solve equilibrium equation in
order to determine the unknowns (
e.g. displacements, stresses,
reactions, etc)

PREPROCESS

PREPROCESS

PROCESS AND POSTPROCESS

- Finite Element Method (FEM)
Formulation used in FEM
- Displacement type
: unknown to be solved is displacement quantities
- Force type
: unknown to be solved is force/stress quantities
- Mixed type
: unknown to be solved is displacement as well as
force/stress quantities

FEM (Displacement type)
Cx=b
stiffness
properties External forces
(known) (known)
Displacement
(unknown)
C x : vector (= internal forces)
INTERNAL FORCES= EXTERNAL FORCES

- equilibrium equation

Cx=b
Solution : x = C-1 b
- To obtain C (or the
generation of C) is a very
important part of finite
element method
C : stiffness matrix

Cx=b
-the above stiffness equation (and also
stiffness matrix) is derived using
PRINCIPLE OF VIRTUAL DISPLACEMENT
(PvD)
- FEM is a method for solving structural

problem based on principle of work and
energy

Assumptions
-Elastic system is considered
- Material behaviour : linearly elastic
- Deformation : Small in comparison to the geometry of the
structure
- LINEAR PROBLEM
- SYSTEM CONSIDERED IS CONSERVATIVE
- the system obeys the law of conservation of energy
- the work done is independent of loading path ;
it only depends on the initial and final state of
deformation

Strain energy
- is energy stored in an elastic structure due to deformation
- equals to work done by the external force
- Axially loaded bars Up  xTxdVe

1
2Ve
L, E, A
- Bending of beams
L, E, I
Up  0 Mz zdx 0 z EIzzdx
1 1
L T L T
2 2
- Axially loaded bars
L, E, A

e s s
External work : We Up  F de
0
Fs  Axs xs , xs
uniform
es  lxs throughout the
bar

L, E, A

x s s
External work : Up  Al
0
 d x x
- strain energy per

unit volume
- strain energy density

x
vp 
0
xsdxs

L, E, A
Linearly elastic material : xs  Exs - Hooke’s Law

x
vp  Exsdxs
0
2
1 1 1 e
vp  Ex2  xx  E 2
2 2 2 l

L, E, A
 1 2
Up  Ex Al AElx 
1 2 1 AE 2
e
2  2 2 l
- constant cross-section (prismatic bar)
- stress (and strain) is uniform throughout
the bar
 

2
 1 du
l
In general : Up  vpd(vol) or Up  AE  dx
vol 2 0  dx
Characteristics of strain energy expressions :
- For small-displacement linearly elastic behaviour,

the strain energy of the bar can be expressed as a
quadratic function of the strain or as a quadratic
function of the extension
- Derivatives of strain energy with respect to

extension is the corresponding force
- Derivatives of strain energy density with respect to

the strain is the corresponding stress
: also valid for other types of body, be they 1D,

2D or 3D

- Bending of beams
L, E, I
y, v
- based on Bernoulli-Euler theory

2
d
x  Ex  Eyz Ey 2v
y dx
2 1 2 2 1 2 
2 2
1 d
vp  Ex  Ey z  Ey  2 v
2 2 2  dx 
- Bending of beams
L, E, I
y, v
Up  v d(vol)
vol p
U   v dAdx
p A l p

- Bending of beams
L, E, I
y, v
 d v  2
 
2
1
Up  E 2  dx y2dA
2 l  dx  A
 d v 2
 
2 1
1 l
Up  EIz  2  dx or U 
l
EI  2
dx
p z z
2 0  dx  20

PRINCIPLE OF VIRTUAL DISPLACEMENT (PvD)
- A deformable body is in equilibrium if the

total work done by all the external forces
plus the total work done by all the internal
forces during any kinematically admissible
virtual displacement is zero
kinematically admissible virtual displacement:

- The virtual displacement must be such that it
maintains continuity between all parts of the
structure and is also compatible with the
kinematic(or geometric) constraints at the
structure boundary

PRINCIPLE OF VIRTUAL DISPLACEMENT (PvD)
Wi We 0
Wi : total virtual work done by the
internal forces
We : total virtual work done by the
external forces

Example
D P
Derive the equilibrium
equation in terms of P, k
k and D using PvD.

Solution

Specialization of PvD to conservative system
Wi We 0
Up Wi
We Vp Vp :energy
change in potential
of load
Up Vp 0
Up Vp 0
 p 0 : Principle of Minimum
Potential Energy

Principle of Minimum Potential Energy(PMPE)
 p 0
p Up Vp : total potential energy
- Of all kinematically admissible displacement

configurations that an elastic body can take up, the
configuration that satisfies equilibrium makes the
total potential energy assume a minimum value.

p Up Vp
Up : potential energy of deformation
Vp : potential energy of external load
- for loads unchanging in magnitude,

as occurs in static problems, Vp is the
negative of the sum of all products of
external load Fi and corresponding
displacement di at the load position
measured in the direction that the
load acts
Fd
N
Vp   i i
i1
For system with finite dof,

 p 0 will result in the
following sets of
simultaneous equations to
be solved
- in FEM, degrees of p

0
freedom(dof) of a d1
structural problem is p
finite 0 a system of N
d2 algebraic
 equations
p
0
dN
Example
D P
Derive the equilibrium equation
in terms of P, k and D, using
k Principle of Minimum Potential
Energy.

Solution

Basic procedures in the derivation of stiffness matrix

in FEM
- Select the assumed displacement
field
- Express the strain in terms
Nodes of displacement
- Obtain the total potential

energy
- Apply PMPE to derive the
stiffness equation

- Displacement field =
displacement within
the element

Basic procedures in the derivation of stiffness matrix in FEM
- Stiffness matrix for the basic bar element
U1 ,u1 x, u U2 , u2
1 L 2
U1 ,U2 : nodal axial forces
u1 , u2 : nodal axial displacement
u : axial displacement field

- Select the assumed displacement field
  u1 
u  N d , N  1 x x ,d   
 l l  u2
- Express the strain in terms of displacement
du dN
x    d
dx  dx

x Bd ,B  
1 1
 l l

- Obtain the total potential energy
1

Up  xTx dVe
2 Ve
Up  1
2 Ve
T
x Ex dVe ,x Ex is used
T 
1
2  Ve 
Up  d  B EBdVe d ,x Bd is used
T

T l T 
1
2 0 
Up  d  B AEBdxd , A: cross-section

Vpn  U1u1 U2u2

U1 
Vpn  d P , P   
T
U2
p Up Vpn
1
p  dTkd- dT P
2
- Apply PMPE to derive the stiffness equation
p Up Vpn

   0, i 1,2,...
di di di
for bar element, d1 u1 ,d2 u2
kd- P 0
Pkd , stiffness equation
k  B AEBdx , stiffness matrix


l T
0 
AE  1 1
k  
l 1 1 
U1 AE 1 1u1
U   l 1 1 u 
 2   2
 1 1u1 
Up  u1 u2 
1 AE
 
2 l 1 1 u2

 1 1u1 
Up  u1 u2 
1 AE
 
2 l 1 1 u2
Up  dT kd
1 - quadratic function of
displacement
2

Assemblage of structure stiffness matrix

Basic procedures in the derivation of stiffness matrix in FEM
- Stiffness matrix for the basic beam element
Mz1 ,z1 Mz2 ,z2

1 x 2
L
V1 , v1 y,v V2 , v2
V1 , Mz1,V2,Mz2 : nodal forces
v1 ,z1,v2,z2 : nodal displacements
v : displacement field
- Select the assumed displacement field
v  Nd
 3x2 2x3 2x2
x3
3x2
2x3
x2
x3
N  1 2  3 x   2 2  3   2 
 l l l l l l l l 
d v1 z1 v2 z2T

- Express the strain in terms of displacement
 d
z    2
x
2
v - ‘pseudo’-strain
y dx -more
convenient
Mz EIzz - ‘pseudo’-stress
in beam
analysis
 2 2  2

z  2  2 Nd , z Bd,B dx2 N
d v d d
dx dx 
B 62 123x 4  62x 26 123x 2  62x
l l l l l l l l 
1

l T
Up  z EIz zdx
20
1 T l T
Up  d  B EIz Bdxd

2 0 
1
Up  d kd ,k 0 B EIz Bdx
T  l T
2  

Vpn  V1v1 Mz1z1 V2v2 Mz2z2
Vpn d P , PV1 Mz1 V2 Mz2

T T
p Up Vpn
1
p  dTkd- dT P
2
- Apply PMPE to derive the stiffness equation
p Up Vpn

   0, i 1,2,...
di di di
for beam element, d1 v1 ,d2 z1
d3 v2 ,d4 z2
kd- P 0
Pkd , stiffness equation
 

k  B EIz Bdx
l T
, stiffness matrix
0 
- stiffness matrix for basic beam element
 12 
 l3 
 6 4 sym. 
 2
k  EIz l12 l
6 12 

 l3 2 3 
 6 l l
2 6 4 
 2
 l l l2 l 

About origin of x-axis
U1 ,u1 x, u U2 , u2
1 L 2
U1 ,u1 x, u U2 , u2
1 2
L/2 L/2
- Choice of the origin will NOT affect the stiffness equation

Exercise
U1 ,u1 x, u U2 , u2
1 2
L/2 L/2
- Derive the stiffness equation used in finite element

analysis for the basic bar shown above. Show that
similar equation will be obtained regardless of the
location of the origin of x-axis.

Exercise
Obtain the expression of stiffness matrix by using

Eq.1 to represent v instead of Eq.2 :
 
v   C1 d ….. Eq.1
v  Nd ….. Eq.2
where 1 0 0 0
0 1 0 0 

   x x2 x3 1 3
,C  2 2 3 1
l l l2 l
2 1 2 1
 l3 l2 l3 l2 

Summary of stiffness matrix k derived for basic bar

and beam element
 AEBdx
l T
k  
l T
B
E Bdx1
k
0
B
- Bar element
k  B EI Bdx
0 l T
0 z
- Beam element
- Applicable to the generation of any

straight bar or beam elements;
(including variable cross-sections)


Consideration of distributed loading
Pkd The effect

must be
“represented”
as nodal
Nodal forces forces
Nodal
displacement - Through appropriate
expression in potential
energy of external load, Vp

surface force (or traction), t(x)

- force per unit length over
distributed loading part of the element length
- for the case of 1D
element
body force, r(x)
- force per unit length over
the entire element length
x,u surface force (traction), t(x)
body force, r(x)

Potential energy of external load

V pd  urdx utdx
x 
x
u  NddT NT

V pddT NTrdxdT NTtdx
x 
x
V pddTQ

Q NTrdx NTtdx
x 
x
Total potential energy

potential energy due to
concentrated load
pUp Vp potential energy
due to
1
p  d kd- d P d Q
T T T distributed load
2
p0, PQkd
- stiffness equation where
distributed load are present
Q :consistent/equivalent
“kinematically”
load
or consistent/equivalent load
Point load / concentrated load acting at point along

the element
Case of bar element
concentrated load Tc at xc
x,u TC
xc
Q NCTTC


Case of basic beam element
MC, Q d NT C MC   PC ,Q NCTPC surface force (traction), t(x)

dx
x 
Q NTtdx
x
xc body force, r(x)
y,v 
Q NTrdx
x
PQkd
*Note that Q are reverse of the
fixed-end-forces
Example
A uniform bar element carries a uniformly distributed
loading along its whole length of intensity p per unit
length. Evaluate the nodal forces which are
kinematically consistent with this distributed loading.
Solution
l1 xl  1
Q N  T 
  
tdx p  x dx pl12

x 0 l 
  
2
- Half of the total distributed load is
allocated to each end node

Example
A uniform basic beam element carries a concentrated
load together with the linearly varying distributed
surface loading. Determine Q for this loading.
W
1 b
a
x 2
v 3l 4
l
a,b : intensity of load per unit length

Solution

Assemble process in finite element
PQkd PQKD
- The process of assembling structure stiffness

matrix from element stiffness matrix is basically
the same as that used in matrix displacement
method(MDM)

Element stress
- To determine deformation
Analysis of
structures - To determine internal
forces/stresses
PQkd
Solution: d - displacement deformation
 - stresses internal forces

- For a bar element
x x
 1 1
x Bd ,B  l l 


x   1 1u1 
 
 l l u2

x  u2 u1 x :theconstant within
l element

- For a beam element
z zz
z zBd  v1 
 6 12x 4 6x 6 12x 2 6x 
z1- linear
M  EIz  2  3  2 2 3  2  
l l l l l l l l v2 
dMz 
z2
S
dx  v1 
 12 6 12 6  
- constant
S  EIz  3  2 3  2  z1
 l l l l v2 
z2
xz  Sd
S - stress matrix
For basic bar and beam elements, the

displacement and stress calculated will be the
same for both cases of FEM or MDM(matrix
displacement method) so long as any actual
loading is concentrated at the nodes.
However, for cases where distributed loads are

present, significant difference will be observed for
the stress quantities calculated using the two
approaches.

Example
The uniformly loaded cantilever is illustrated in the

figure below. Determine the distribution of
bending moment along the beam by the FEM.
p per unit
length

Solution

Exact solution
1-element solution
2-element solution
2
 pL
2
Bending moment diagram


The exact nature of the basic bar and beam elements
Finite element method through

Exact approach
application of PMPE
k = k
It is noted that in
finite element
analysis, satisfaction
-Basic conditions of of all three basic
Elasticity conditions within
Compatibility an element is not
Equilibrium at all usual.
are satisfied everywhere in the case
of basic bar and beam element

The exact nature of the basic bar and beam elements
It is noted that in finite element analysis,

satisfaction of all three basic conditions within
an element is not at all usual.
It is simple to meet the requirements of the

elasticity and compatibility conditions within an
element. Usually the equilibrium condition is
not satisfied at all points within an element.


Note:
Only on rare occasions will stresses calculated from

the nodal displacements using the FEM be the ‘exact’
ones throughout a structure. The reason for this is
that equilibrium conditions are not satisfied within
the individual finite element other than in the overall
sense. Equilibrium equation can be expected to be
approximated more and more closely throughout a
structure as more and more finite elements are
employed in an analysis.

Requirements for element displacement field
- Selection of element displacement field is a

critical step in FE displacement method.
d
- convergence to the exact
solution as more and more
elements are used(or element
mesh is refined)
no. of elements

1. The element displacement field should

include the proper representation of any
possible rigid body motion of the element
- if an element happens to have values of

nodal d.o.f. which are consistent with a rigid
body motion, then no strains should be
developed within the element

2. The element displacement field should

include representation of any possible states
of constant strain
- if the size of elements is sufficiently small,

the strains within each element will clearly
be very uniform
- the representation of constant strain
states is necessary in the limit of
infinitesimal size elements to ensure
ultimate convergence to the true solution
- to help giving a rapid rate of convergence

3. Within each element, the displacement field

should be smooth and continuous.
4. At the boundaries between adjacent

elements, the compatibility condition should
be satisfied.

- no discontinuities of displacement (or of

the displacement derivative in bending
problem) should occur anywhere in the
assemblage, i.e. no gaps or overlaps (or
kinks) should occur within an elements or an
element boundaries
- formally :
- the complete satisfaction of
compatibility is obtained if continuity of
derivatives of one order less than the
highest-order derivative appearing in the
energy expression is maintained.

Elements whose displacement fields satisfy all

compatibility requirements are called
conforming elements
Elements whose displacement fields violate the

compatibility requirements (at interelement
boundaries) are called non-conforming
elements

Example 1
Basic bar element
u  A0  A1x
Condition 1:
u A0 - Rigid body motion is

contained
Condition 2:
du
x   A1 - State of constant
dx strain is included

Conditions 3 and 4:
 

2
1 l du
Up  AE  dx
2 0  dx
- Highest order derivative (du/dx) is 1
- Derivatives until one order less in
function u itself
- u  A0  A1x is continuous ; -C0 continuity
- conditions 3 and 4 are satisfied

Example 2
Basic beam element

v  A0  A1x  A2x2  A3x3
Condition 1:
v A0 : translational rigid body motion
dv   A
: rotational rigid body motion
dx z 1
- Both types of rigid body motion
are included

Basic beam element

v  A0  A1x  A2x2  A3x3
Condition 2:
2
d
z  2v  A2 : state of constant strain
dx
- State of constant strain is
contained

Basic beam element

v  A0  A1x  A2x2  A3x3
Conditions 3 and 4:
 2 2

Up  1 EIz  d 2v  dx
l
: highest order derivative is 2
2 0  dx 
- Derivatives until one order less are
function v and dv/dx
- v and dv/dx must be continuous
v  A0  A1x  A2x2  A3x3
dv  A 2A x 3A x2 continuous
dx 1 2 3
-C1 continuity
- conditions 3 and 4 are satisfied

If all 4 conditions are satisfied by the element

displacement field, then the finite element
solution will converge to true solution with
mesh refinement
However, it should be noted that in practice

convergence to true solution can be achieved
even when an element displacement field does
not exactly satisfy all 4 conditions.

Nature of shape functions
u Nd
N 1 x x Polynomials
 l l - Commonly used as shape
functions
v  Nd
 3x2 2x3 2x2
x3
3x2
2x3
x2
x3
N  1 2  3 x   2 2  3   2 

Nature of shape functions : bar element

N 1 x x 
 l l 

NN1 N2
Ni : has unit value at the nodal
point i where the
displacement is di and
zero value at all other
nodal points

Nature of shape functions : beam element
 3x2 2x3 2x2

x3
3x2
2x3
x2
x3
N  1 2  3 x   2 2  3   2 
NN1 N2 N3 N4
N1 : has unit value of v at N3
node 1 and zero value
of v at node 2, and zero
slope at nodes 1 and 2
N2 : has unit slope at node 1, N4

zero value of v at
nodes 1 and 2 ; and
zero slope at node 2

Use of basic bar element in truss structures
U1 ,u1 x, u U2 , u2
1 L 2
x
y x
x

x
y
x
x
U1  AE 1 1 u1 

U   l 1 1 Tu 
 2    2
- Coordinate transformation
U1 k11 k12u1 

U   k k u 
 2  21 22 2
x
y
x
x
 x2  x1 y2  y1 
 l  : coordinate
T  y  y x x 
l transformation matrix
 2 1 2 1  - global to local
 l l 

 Up
2
kij
didj
kij : the individual stiffness coefficient in
the i-th row and j-th column of k
k11 k12
k  
k21 k22
2Up 2Up
 : k is symmetrical, i.e.kij=kji
didj djdi
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EAS456

Advanced Structural Analysis

Dr. Mustafasanie M. Yussof

We Lead | Kami Memimpin

Major steps involved :

Kami Memimpin | We Lead www.usm.my

Number of degrees-of-freedom (DOF) Continuum: Infinite FEM: Finite (This is the

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Kami Memimpin | We Lead www.usm.my

Kami Memimpin | We Lead www.usm.my

Kami Memimpin | We Lead www.usm.my

Kami Memimpin | We Lead www.usm.my

Kami Memimpin | We Lead www.usm.my

Kami Memimpin | We Lead www.usm.my

Kami Memimpin | We Lead www.usm.my

Can handle a wide variety of engineering problems

Can handle complex restraints

Can handle complex loading

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A general closed-form solution, which would permit one to examine system

The FEM obtains only "approximate" solutions.

The FEM has "inherent" errors.

Mistakes by users can be fatal.

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Build a FE model Results

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Kami Memimpin | We Lead www.usm.my

Kami Memimpin | We Lead www.usm.my

Kami Memimpin | We Lead www.usm.my

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Formulation used in FEM

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FEM (Displacement type)

INTERNAL FORCES= EXTERNAL FORCES

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Kami Memimpin | We Lead www.usm.my

- FEM is a method for solving structural

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- Axially loaded bars Up  xTxdVe

- Axially loaded bars

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- Axially loaded bars

- strain energy per

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- Axially loaded bars

Linearly elastic material : xs  Exs - Hooke’s Law

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- Axially loaded bars

Characteristics of strain energy expressions :

- For small-displacement linearly elastic behaviour,

- Derivatives of strain energy with respect to

- Derivatives of strain energy density with respect to

: also valid for other types of body, be they 1D,

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- based on Bernoulli-Euler theory

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