Slide 1

Introduction to Modeling and Simulation, Spring 2002, MIT

1.992, 2.993, 3.04, 10.94, 18.996, 22.091

Introduction to Finite Element

Modeling in Solid Mechanics
Franz-Josef Ulm
Slide 2

Outline
1. Scales of Continuum Modeling
2. Elements of Continuum Solid Mechanics
3. Variational Principle
4. Application I
5. Application II: Water Filling of a gravity
dam
Slide 3

Scales of Continuum Modeling

Modeling Scales
Λ

B d
H
R
dΩ
l

1.033/1.57 - ulm@MIT.EDU
Slide 4

Modeling Scales
Modeling Scale (cont’d)

10+1 m
d << l << H
Nuclear Waste
Disposal Structure
10−2 m

l
10−3 m
Material Science Scale of
Continuum Mechanics

10−6 m 1.033/1.57 - ulm@MIT.EDU

Slide 5

Elements of Continuum
Modeling: 1. Material
• 1D-Think Model • Force Application
u=ε [L] Fd
• Equilibrium
σ
σ = Fd / A
E
1 [L] • Material Law
σ = Eε
Slide 6

Forces & Conservation Law

σ23+
Body & Surface Forces
n T(x,t,n)
dx1 dx3

σ22_ σ22+
ρf(x,t)
e3 σ21_
dΩt

Ωt σ21+
e2
∂Ωt
e1
_
σ23
1.033/1.57 Mechanics of Material Systems
ulm@mit.edu

dx2
div σ +ρ(f−γ) = 0
Dynamic Resultant Theorem
Slide 7

Elements of Continuum
Modeling: 2. Field = Structure
• Heat Transfer • Continuum Mechanics
1. Conservation of Energy 1. Conservation of
(Field Equation) Momentum
div q + r = 0  d 2u 
divσ + ρ  f + 2  = 0
 dt 
2. Heat Flux Boundary 2. Stress Vector (Surface
Condition Traction) B. Condition

q ⋅ n = qd σ ⋅n =Td
3. Heat Flux Constitutive 3. Stress – Strain
Law (Fourrier - Linear) Constitutive Law (linear)

q = − k∇T σ = C : s ∇u
Slide 8

Example: Material Law

Elasticity Potential
• 1st + 2nd Law:
ϕdt = σ dε − dψ = 0
ε [L] σ Work Stored Energy
= Helmholtz Energy

• 1D-Model:
∂ψ
E
ψ = 1/2Εε 2 σ = ∂ε
1 [L]
• 3D-Model:
∂ψ
ψ = ψ (εij) σij = ∂ε
ij

1.033/1.57 Mechanics of Material Systems

ulm@MIT.EDU
Slide 9

Stationary of Potential Energy

• Potential Energy
x =ε L Fd E pot = W (ε ) − Φ( x )

Internal Energy External Work

1
E W (ε ) = Eε 2 AL Φ( x ) = F d x
L 2
• Stationary of Potential
dx
dE pot = EεAL − F d dx = 0
A L
1-Parameter System FdL
⇒ ∀dx; x = εL =
EA
Slide 10

Convexity of a function
Convexity
of a function
Secant
f(x’)

Tangent
f(x)

x x’

∂f
(x’− x) ≤ f (x’) − f (x)
∂x x
1.033/1.57 Mechanics of Material Systems
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Slide 11

Convexity of Free Energy

Convexity: Applied to Free Energy
ε [L] σ

E
1 [L]

σ
State
∂ψ
Equation
(ε’− ε) ≤ ψ(ε’) − ψ(ε)
∂ε ε
1.033/1.57 Mechanics of Material Systems
ulm@MIT.EDU
Slide 12

Variational Method (1D)

• Let x be solution of • Let x’ be any other
problem approx. solution
External Work = Internal Work

F x = σεAL
d
F d x' = σε ' AL
∂ψ
F d ( x '− x ) = σ (ε '−ε ) AL σ=
∂ε
Convexity ∂ψ
(ε − ε ' ) AL ≤ [ψ (ε ) − ψ (ε ' )]
∂ε
Theorem of W ε4) − 43
1(42 Φ4
( x) ≤ W ε4
1(4 −4
' )2Φ(4
x3
')
Minimum E pot ( x ) E pot ( x ' )
Potential Energy SOLUTION APPROXIMATION
Slide 13

Elements of 3D Variational
Methods in Linear Elasticity
• Starting Point: Displacement Field u’

• Calculate Potential Energy

• Minimize Potential Energy

Slide 14

Application to Finite Elements

i= N
• Displacement Field: u = ∑ qi N i ( x j )
i =1

• Calculate Potential Energy: E pot = W ( qi , q j ) − Φ( qi )

1
W ( qi , q j ) = kij qi q j Φ( qi ) = Fi qi
2

• Minimize Potential Energy

dE pot = 0 : kij q j − Fi = 0
Slide 15

Application I DOF

• Displacement Field
q Fd x
u' = q
L
• Potential Energy
E 1 EA
L E pot = kq − F d q k=
2 L

• Minimization with
A regard to DOF
1-Parameter System ∂E pot
dE pot = dq = 0 → kq − F d = 0
∂q
Slide 16

Application II: Water Filling of a

Gravity Dam
y

α
B’
H

mH ρd g
ρw g
x
O A
Slide 17

From 1D to 3D
• 1D • 3D
– Strain-Displacement – Strain-Displacement
∆l
ε = (∇u + t ∇u )
1
ε=
L 2
– Free Energy (p.vol) – Free Energy (p.vol)
1 1
ψ = Eε 2 ψ = λ (trε )2 + 2 µ ( 12 tr (ε ⋅ ε ))
2 2
– External Work – External Work

Φ = ∫ ρ f ⋅ udΩ + ∫ T ⋅ uda
d
Φ=F u d
Ω ∂Ω
(Volume Forces) (Surface Forces)