Finite element method for structural dynamic

and stability analyses

Module-7

Analysis of 2 and 3 dimensional continua

Lecture-20 Plane stress models

Prof C S Manohar
Department of Civil Engineering
IISc, Bangalore 560 012 India

1
Linear triangular plane stress element

v3
y, v  x, y, t 
 x3 , y3  3 u3 v2 Field variables
u  x, y , t 
v1
 u2
v  x, y , t 
2
1 u1  x2 , y2 
 x1 , y1 
x, u  x, y, t 

3 noded element with 6 dofs

2
 Linear rectangular plane stress element

Field variables y,

u  x, y , t  4 3
x
  , 
y
 
v  x, y , t  a b
x, 
2b

y 
1 2
2a 1,1 1,1
 a, b a, b
x 

1, 1
a, b 1, 1
a, b
3
4 noded element with 8 dofs
K e   hBt DBdA 
A 
 We are able to evaluate these integrals in closed form.
M e   h N NdA
t

A 

This may not be posisble in general situations.

4
  B
Linear quadrilateral element 1,1 1,1
4 3

A 4  x4 , y4  
   , 
y, v  x, y, t   3  x3 , y3  2
1
 x, y   1, 1 1, 1
  2  x2 , y2 
1 x1 , y1 
K e   hBt DBdA
A

M e   h N t NdA
x, u  x, y, t 
A

Idea: transform the element domain to square

to facilitate evaluation of the integrals. 5
K e   hB t DBdA; M e   h  N t NdA
A A

x  x   , 
y  y   , 
Following the way we represent the field variables, we write
4
x  ,    N j  ,  x j
j 1
4
y  ,    N j  ,  y j
j 1

Recall
1 1
N1  ,      2   1   1   
1   1   ; N  ,  
4 4
1 1
N 3  ,   1   1    ; N 4  ,   1   1   
4 4
N j  ,   1   j 1   j  ; j  1, 2,3, 4
1
6
4
Consider the line connecting  x2 , y2  to  x3 , y3  .
Upon making the tranformation x  x  ,  & y  y  , 
how does this line gets mapped?
Consider the line  =1 connecting 1, 1 & 1,1 .
 ,   1, 1 
x  ,   x1 N1 1, 1  x2 N 2 1, 1  x3 N 3 1, 1  x4 N 4 1, 1  x2
y  ,   y1 N1 1, 1  y2 N 2 1, 1  y3 N 3 1, 1  y4 N 4 1, 1  y2
 ,   1,1 
x  ,   x1 N1 1,1  x2 N 2 1,1  x3 N 3 1,1  x4 N 4 1,1  x3
y  ,   y1 N1 1,1  y2 N 2 1,1  y3 N 3 1,1  y4 N 4 1,1  y3

7
Consider the line  =1
x  ,   x1 N1 1,   x2 N 2 1,   x3 N 3 1,   x4 N 4 1, 
1 1
 x2 N 2 1,   x3 N 3 1,   1    x2  1    x3
2 2
1 1
y  ,   1    y2  1    y3
2 2
1 1
x   x2  x3   1    x3  x2 
2 2
1 1
y   y2  y3   1    y3  y2 
2 2

Eliminating  , we get y 
 y2  y3    x2  x3    y3  y2 
 x  
2  2   x3  x2 
This is the equation of straight line passing through  x2 , y2  &  x3 , y3 
 Line 2-3 in figure A is transformed to line 2-3 in B
The quadrilateral in A is transformed to the square in B. 8
 
1,1 1,1
4 3

 1 
4

y, v  x, y, t    1 3 2
1
 1 1, 1 1, 1
1  2
  1

x, u  x, y, t 

9
Remark
The transformations on coordinates
4 4
x   ,    N j   ,   x j & y   ,     N j   ,   y j
j 1 j 1

are similar to the transformations

4 4
u   , , t    N j   ,   u j  t  & v   ,  , t    N j   ,   v j  t 
j 1 j 1

on the field variables.

That is the same interpolation functions are used to represent
the geometry of the element and the displacement field variables.
The resulting element formulation is called isoparametric formulation.
Next, let us, consider the evaluation of
Me    h  N   N  dA & Ke   h  B   D  B  dA
t t

Ae Ae

by transforming  x, y  to  ,  coordinates.
10
 Digress -1
1 1
I   f  x, y  dxdy    f  ,  J d d
A 1 1

 r  ix  jy
r r x y
r d c i j
 d    
y 
r x y
dA i j
  
 r
x a b ab  d
 
j r r
y r d r
 ad  d
x 
k
i
 r r 
z dA   d  d   k
   
  r r 
dA   d   d   k
   
 x y x y 
   d  d
     
x y
 
 d d  J d  d
y y
 
1 1
 I   f  x, y  dxdy    f  ,  J d d
A 1 1

12
Digress - 2
Numerical integration
b
Consider the one dimensional integral Iˆ   f  x  dx
a

First let us transform x to a new variable u so that the limits of integration

1 1
are from - to .
2 2
1
-  a  
ab
 x  b  a  u 
2
u x  
1 2
 b  
2
1 1
2
 ab 2
 Iˆ   f  b  a  u    b  a  du   b  a  I with I     u  du

1  2 

1
2 2
13
 1
2 n
I    u  du   R   u 
1 i 1
i i

2

How to select n, Ri , and ui , i  1, 2, ,n?

Keeping  ui 1  ui  as constant for all i  1, 2, , n may not
lead to the best solution.
1 1
Assuming that   u  is continuous between - and , we write
2 2
  u   a0  a1u  a2u 2   am u m 
1 1
0.5
2 2 
u   m 1
    u  du    amu du   am  m


1

1 m0 m0  m  1  0.5
2 2

1 1 1 1
 a0  a2  a4  a6  a8 
12 80 448 2304 14
 1
2
1 1 1 1
1   u  du  a0  12 a2  80 a4  448 a6  2304 a8 

2
 
  u    amu    ui    amuim
m

m 0 m 0
1
2 n n
  m

 n m
1   u  du  
i 1
Ri  ui    Ri   amui    am   Ri ui 
i 1  m0  m 0  i 1 

2

 R1  a0  a1u1  a2u12   amu1m  

 R2  a0  a1u2  a2u22   amu2m  
 Rn  a0  a1un  a2un2   amunm  
 a0  R1  R2   Rn   a1  R1u1  R2u2   Rnun  
 am  R1u1m  R2u2m   Rnunm   15
 1
2
1 1 1 1
1   u  du  a0  12 a2  80 a4  448 a6  2304 a8 

2

a0  R1  R2   Rn   a1  R1u1  R2u2   Rnun  

 am  R1u1m  R2u2m   Rnunm  


 R1  R2   Rn   1 

 R1u1  R2u2   Rnun   0 

1  If we consider 2n equations,
 R1u1  R2u2   Rnun   12  there would be 2n unknowns
2 2 2


 R1u13  R2u23   Rnun3   0 
1
 11 22
R u 4
 R u 4
  Rn u 4
 80 

16
The equations are nonlinear in nature and the question on how to
solve them still remains.
If   u  is a polynomial of degree not higher than 2n -1, then
u1 , u2 , , un are the zeros of Legendre polynomials Pn  u  .
n
d n  2 1 2

That is, u     0
du n  2 
The roots are real. Once these roots are determined,  Ri i 1
n

can be determined by solving a set of algebraic equations.

17
Example: n  3
2 3
d 3  2 1 
That is, u     0
du 3  2 
d3  6  1 6  1 
2
 1 
4

 3 u     3u    3u     0
4 2

du  2 2  2  
u  20u 2  3  0
1 3
u  0, 
2 5
1 3 1 3
 u1   , u 2  0, u3 
2 5 2 5
5 4 5
 R1  , R2  , R3 
18 9 18
18
 1 n
I   f  u  du   Ri f  ui 
1 i 1

n
ui Ri

1 0 2

2 1
1/ 3

3 0
8/9
0.6 5/9
4 1
 3  4.8  2 1 30 
   
 7  2 36 
19
A polynomial of order p is integrated exactly by employing
n=smallest integer greater than 0.5  p  1

20
Return to
1 1
Me    h  N   N  dA     h  N   N  J d d
t t

Ae 1 1

We propose to evaluate this integral using the Gauss quadrature.

For this we need to establish the order of the integrand
so as to correctly choose the number of integration points.
We have
 x x 
    4 4
J   , x  ,    N j  ,  x j & y  ,    N j  ,  y j
 y y  j 1 j 1
   

 N1 N 2 N 3 N 4   x1 y1 
   y2 
     x2
J  
 N1 N 2 N 3 N 4   x3 y3 
   
      x4 y4  21
It can be shown that
1  e1  e2 f1  f 2 
J= 
4 e3  e2 f3  f 2 
e1    x1  x2  x3  x4 
e2   x1  x2  x3  x4 
e3    x1  x2  x3  x4 
f1    y1  y2  y3  y4 
f 2   y1  y2  y3  y4 
f3    y1  y2  y3  y4 
1
 det  J    c1  c2  c3 
16
c1  e1 f 3  e3 f1 ; c2  e1 f 2  e2 f1 ; c3  e2 f 3  e3 f 2
  N   N  J is a biquadrtatic or bicubic function.
t

 Use  2  2  array of integration points. 22

 1 1
K e   hB t DBdA    DB J d d
hB t

A 1 1

 x  y 
 
  x  y
 x  y 
 
  x  y
       
    x   x   
1 
    J       J   
       
   
  
 
  
   
  y y  

23
  
 0
 x 
    N1 0 N2 0 N3 0 N4 0
B 0
 y   0 N1 0 N2 0 N3 0 N 4 
 
 
 y x 
 N1 N 2 N 3 N 4   N1 N 2 N 3 N 4 
 x x x x       
  J  
1
 
 N1 N 2 N 3 N 4   N1 N 2 N 3 N 4 
 y y y y       

 N1 N 2 N 3 N 4 
1 
 
1
   e1  e2
1 f1  f 2 

  

=  
 4  e3  e2 f3  f 2   N1 N 2 N 3 N 4 
     

24
 Elements of Bt DB J are ratios of biquadratic functions
and linear functions.
1 1
Ke    DB J d d cannot be evaluated exactly by
t
hB
1 1

using Gaussian quadrature.

Recommendation based on experience: use  2  2  Gauss quadrature.
More on this later.

25
 How to increase the accuracy of the 
elements? 1,1 1,1

Higher order elements. 4 7 3
6
8 
    , 
y, v  x, y, t   5 2
 1
 x, y    1, 1 1, 1
  

K e   hBt DBdA
A

M e   h N t NdA
x, u  x, y, t 
A

Eight noded quadrilateral element

with 16 dofs 26
Eight noded rectangular element
8 8
u  , , t    N j  ,  u j  t  & v  , , t    N j  ,  v j  t 
j 1 j 1

Nodes 1 to 4: N j  ,   1   j 1   j  j   j  1

1
4
Nodes 5 and 7: N j  ,   1   2  1   j 
1
2
Nodes 6 and 8: N j  ,   1   2  1   j 
1
2
Use  3  3 Gauss integration points.
With  3  3 mesh, mass matrix is evaluated exactly.

27
Eight noded quadrilateral element
8 8
u  , , t    N j  ,  u j  t  & v  , , t    N j  ,  v j  t 
j 1 j 1

Nodes 1 to 4: N j  ,  
1
4
1   j 1   j  j   j  1

Nodes 5 and 7: N j  ,   1   2  1   j 
1
2
Nodes 6 and 8: N j  ,   1   2  1   j 
1
2
8
x   N j   ,  x j
j 1
8
y   N j   ,  y j
j 1

Use  4  4  Gauss integration points.

With  4  4  mesh, mass matrix is evaluated exactly. 28
60.96 m
E =34.474 109 N/m 2
  0.11
  568.7 kg/m3
h  0.2286 m

Determine the first five natural frequencies

and normal modes.

15.24 m
29
Model with 1 order elements Analytical natural
No of elements: 64 frequencies (Hz)
No dofs= 160 (Timoshenko beam
Natural frequencies (Hz) theory)
5.03 4.973
26.22 26.391
31.95 (axial) 31.944 (axial)
61.56 62.066
96.04 (axial) 95.832 (axial)
101.61

Model with 2 order elements

No of elements: 64
No dofs= 448 Present
Natural frequencies (Hz) model
4.95
25.58
31.94 (axial)
59.63
95.76 (axial) 30
4.95 Hz 25.58 Hz 31.94 Hz 59.63 Hz
Mode 10
189.22 Hz

32
Example: earth dam

42 elements
E=5.605E08 N/m2 42 dofs Shear beam model
Nu=0.45 Nat frequencies in Hz Nat freqs Hz
Rho=2082 kg/m3 1.25 1.227
2.67 1.993
3.70 2.324
4.05 3.073
4.10 33
Model with 2nd order triangular elements

42 elements
168 dofs
Nat frequencies in Hz
1.24
2.03
2.39
3.05
3.40 34
 Mode 1, 1.24 Hz

Mode 5, 3.40 Hz

35
Model with 1st order quadratic and triangular elements

32 elements
56 dofs
Nat frequencies in Hz
1.25
2.23
2.85
3.45
3.85 36
Mode 1, 1.25 Hz

Mode 5, 3.85 Hz

37
Model with 2nd order quadratic and triangular elements

32 elements
210 dofs
Nat frequencies in Hz
1.25
2.23
2.85
3.45
3.85 38
Mode 1, 1.25 Hz

Mode 5, 3.85 Hz

39
 Generalized forces

f  x, t 

a
v  x, t 
u1  t  u3  t 

b  4
v  x, t    ui  t  i  x 
i 1
u2  t  u4  t 

P1  t  P3  t 

c

P2  t  P4  t 
40
Let  v  x, t   a virtual displacement. We can write
4
 v  x, t     ui  t  i  x 
i 1
4 l
  Pi  t   ui  t    f  x, t   v  x, t  dx
i 1 0

 4 
l
 f  x, t    ui  t  i  x   dx
0  i 1 
4  l

   Pi  t    f  x, t  i  x  dx  ui  t   0
i 1  0 
Since  ui  t  , i  1, 2,3, 4 are arbitrary
l
 Pi  t    f  x, t  i  x  dx, i  1, 2,3, 4
0
41
Equivalent nodal forces
 We    px u  p y v  dS
S

u  x, y, t  
    N  x, y   u  t e
 v  x, y, t  

v3
y, v  x, y, t  py
 x3 , y3  3 u3 px v2

v1
 u2
2
1 u1  x2 , y2 
 x1 , y1 
x, u  x, y, t 
42
  u   px 
t

 We    px u  p y v  dS       dS
S S 
 v   py 
We have
u  x, y, t  
    N  x, y   u  t e
 v  x, y, t  
 u   px   px 
t

 We       dS    u  t e  N  x, y     dS
t

S 
 v   py  S  py 
  px  
  u  t e    N  x, y     dS 
t

 S  p y  
Note :  N  x, y   here needs to be evaluated along the edge 2-3

 We   u  t e  f e
t

43
 We   u  t e  f e
t

0
0
 
1  px 
 f e  l23   ; l23  length of edge 2-3
2  py 
 px 
 
 p y 

44
Remarks
 n  
1 1 1 n1 n2
 I    f  ,  d  d    wi f i ,   d   wi wj f i , j 
1 1 1  i 1  i 1 j 1

Body force
Consider the four noded quadrilateral element.
t
Let the body force f   f x f y  be constant within the element.
It can be shown that
 1 1
  fx 
f  h    N J d  d   
e t
 Show this 
 1 1   fy 
The integral in the above equation can again
be evaluated using the Gauss quadrature.

45
Remarks (continued)
Consider the four noded linear rectangular element. Consider the
displacements given by

u   N j u j  1 1      1   & v   N v   3 1   2    4 1   2 
4 4
2 2
2 j j
j 1 j 1

where N j  ,  
1
4
1   j 1   j  ; j  1, 2,3, 4

 i , i  1, 2, 3, 4 here are not nodal displacements but need to be

interpreted as additional generalized coordinates. Note that
1    & 1   are zero at the four vertices.
2 2

Excercise
Obtain the 12 12 stiffness matrix
Eliminate  i , i  1, 2,3, 4 in terms of  ui , vi  ,i  1, 2,3, 4
by using static condensation and hence deduce the 8  8
stiffness matrix.
Are the dispacement fields continuous across element boundaries?
46
3D solid elements
   xx  yy  zz  xy  xz  yz 
t

   xx  yy  zz 2 yz 
t
2 xy 2 xz
  D
1    0 0 0 
  1    0 0 0 
 
   1  0 0 0 
 
 0 1  2
D
E 0 0 0 0 
1  1  2    

1  2
 0 0 0 0 0 
  
 1  2 
 0 0 0 0 0 
  
1
V     dV0 =
2 V0
t 1 t

2 V0
 D dV 0 & T 
1

2 V0
  u 2
 v 2
 w 2
 dV0 47
 1
V     dV0 =
2 V0
t 1 t

2 V0
 D dV0 & T 
1

2 V0
  u 2
 v 2
 w 2
 dV0

 
 x 0 0
 
0 
0
 y 
 
0 
0 u 
 z   
   v 
 
0   w
 y x 
 
 0

 z x 
  
0 
 z y 
48
  
 x 0 0 
 
0 
0
 y 
 
 
u   ue  0 0
     z 
 v    N   ve   Nue      
 Nue  Bue
 w w   0 
   e  y x 
 
   
0
 z x 
  
0 
 z y 
1 t t 1
 U   ue B DBue dV0 & T    uet N t Nue dV0
2 V0 2 V0
49
 




 
  

Isoparametric hexahedron
 Tetrahedron
 
8 7 Pentahedron

4 3
5
6

1  
2

Rectangular hexahedron
 50
 Axisymmetric problems

z, w
,v
r, u

51
 Plate bending element

least lateral
longitudinal dimension transverse load face
load edge
x

y t thickness
middle plane

52