1D Problems

한양대학교 기계공학과

Fundamental equations of solid mechanics

 Equilibrium equation: force (stress) equilibrium

 Material behavior: stress-strain relations
 Geometry of deformation: strain-displacement & BCs
 Principle of minimum potential energy for weak form equations

1D Problems Stress σ   ( x) [Pa]

du
Strain ε
dx
Displacement u  u ( x) [m]

Surface traction T  T ( x) [N/m]

Body force f  f ( x) [N/m3]

Point load P  Pi [N]

dV  Adx
Stress-Strain   E

2
General steps of the FE Formulation

1) Element division and node numbering (discretization)

2) Select a displacement function (shape function) N matrix

3) Define strain-displacement & stress-strain relations B matrix

4) Derive the element stiffness matrix and element force vectors ke, fe, Te matrices

5) Assembly of the global stiffness matrix and load vectors K and F matrices

6) Treatment of boundary conditions

7) Solve the equation KQ = F

8) Solve the strains and stresses, and interpret the results

1) Element division and node numbering (discretization)

 Define a node at location where a

point load is applied
 Each element has a different cross-
sectional area
 Each node has only one DOF

Q  Q1 Q2  QN 
T
Global displacement vector
(N: total number of DOFs = 5)

F   F1 F2  F5 
T
Global load vector

q   q1 q2 
T
Local displacement vector

4
1) Element division and node numbering (discretization)

An arbitrary element
Element connectivity table

q   q1 q2 
T
Local displacement vector

 Input
• No. of nodes
• No. of elements
• No. of DOF per node
• Coordinates of each node
• Element connectivity
• Material property, Geometric
characteristics (area)
• …

2) Shape function for interpolation in an element

Global shape functions
 Rayleigh-Ritz method can be clearly understood by expressing the displacement
using piecewise basis functions

1 at node i
 j ( x)  
0 at other nodes not i
5
u   Q j ( x) j ( x)
j 1


j
j ( x)  1

(Partition of unity property)

From element point of view (element 2)

6
2) Shape function for interpolation in an element
Natural (intrinsic) coordinate

mapping (from x to )


2
( x  x1 )  1 1 at node 1 (x  x1 )
 
x2  x1  1 at node 2 (x  x2 )

Linear interpolation

Unknown displacement field within an element is interpolated by a linear distribution

2) Shape function for interpolation in an element

Linear shape function (at each node)

1 at node i
Ni  
0 at other nodes not i
 1 at node 1
u  N1q1  N 2 q2 ex) N1  
0 at nodes 2
q 
  N1 N2   1 
q2  N1  N 2  1
 Nq

8
2) Shape function for interpolation in an element

Isoparametric formulation

x  N1 x1  N 2 x2
 Displacement u and coordinate x are interpolated using the same shape function
 Shape functions need to satisfy the following:
• First derivative must be finite within an element
• Displacements must be continuous across the element boundary

Example 3.1 on page 74

2 2
P  ( x  x1 )  1  (24  20)  1  0.5
q1 = 0.003 q2 = -0.005 x2  x1 16
1  1 
N1   0.75, N 2   0.25
2 2
uP  N1q1  N 2 q2  0.75(0.003)  0.25(0.005)  0.001
Let's check the isoparametric formulation
xP  N1 x1  N 2 x2  0.75(20)  0.25(36)  24

3) Strain-disp & stress-strain relations in an element

du du d 
  (by chain rule)
dx d dx
d 2 1  1 
 , u  N1q1  N 2 q2  q1  q1
dx x2  x1 2 2
du q1  q2

d 2
1 1 q 
  (q1  q2 )   1 1 q1   Bq
x2  x1 x2  x1  2
B: const. due to linear shape function
  EBq (constant)

In summary u  Nq
  Bq All are expressed in terms of nodal values ‘q’
  EBq

10
4) Element stiffness matrix & element load vectors

Total Potential Energy

1
  σ Tε dV   u Tf dV   u T T dS   u Ti Pi
2 V V S
i

1
   T  Adx   u T f Adx   u T T dx   Qi Pi (due to 1D prob.)
2 L L L
i

1
    T  Adx    u T f Adx    u T T dx   Qi Pi
e 2
e e e
e e i

= Ue: element strain energy

Element stiffness matrix

1
Ue 
2 e
 T  Adx,   EBq,   Bq
1 1

  (q T B T EBq) Adx  q T  (B T EBA)dx q
2 e 2 e

x x l
Here dx  2 1 d  e d (le : length of element)
2 2

11

4) Element stiffness matrix & element load vectors

Element stiffness matrix

1  l  1
U e  q T  Ae e Ee B T B  d  q, B   1 1
1

2  2 1
 le
1 1 1
 q T Ae Eele 2    1 1 q 1 2
2 le  1  cf) Spring energy U  kQ
2
1 A E  1 1 1
 qT e e   q  q Tk eq
2 le  1 1  2

ke: element stiffness matrix

Ae Ee  1 1 • (2x2) matrix

 ke   1 1 
le   • 1 dof/node x 2 node/elem = 2 dof/elem

12
4) Element stiffness matrix & element load vectors

cf) Direct approach for element stiffness matrix

 Direct approach uses stress-strain & strain-displacement relations developed in a

solid mechanics
 However, using shape function provide more general FE formulation
q2  q1
 ,   E
l
EA
f1   A  (q1  q2 )
l
EA
f2   A  ( q1  q2 )
l
In the matrix form,
EA  1 1  q1   f1 
  
l  1 1  q2   f 2 

k eq = f

13

4) Element stiffness matrix & element load vectors

Element load vector

 Body force

WP   u T f Adx  Ae f  ( N1q1  N 2 q2 )dx

e e

 Ae f N1dx 
e  e
le 1 1   le
2 1 2
 where N1dx  d 
  q1 q2    2
 Ae f e N 2 dx  l 1 1  l
A l f 1 e N 2 dx  2e 1 2 d  e
2
 q T e e    q Tfe
2 1
fe: element body force vector
Aele f Aele f
Element body force vector 2 2

Aele f 1
 fe   Body force  fV  fAele
2 1 (2x1) matrix

14
4) Element stiffness matrix & element load vectors

Element load vector

 Surface traction

WP   u T T dx  T  ( N1q1  N 2 q2 )dx
e e

T N1dx 
 e  le 11  le
  q1 q2    where  N dx  2 
1 1 2
d 
2
T e N 2 dx 
e

l 1 1  l
Tl 1 e N 2 dx  2e 1 2 d  e
2
 q T e    q T Te
2 1

Te: element traction force vector

Element traction force vector Tle Tle
2 2
Tle 1
 Te  
2 1 (2x1) matrix Traction force  Tle

15

4) Element stiffness matrix & element load vectors

Element load vector

 Point load

• Point load term is easily considered by having a node at the point of

application of the point load
• If i is the node at which Pi is applied, Pi is added to ith row of the global F

 ke, fe, Te, and P which have been obtained will be assembled in large K and F

16
참고) Galerkin’s approach

Galerkin’s variational form • : kind of the weighting functions

•  is an arbitrary displacement consistent with
Virtual displacement    ( x) the specified BCs

d •  and u have the same shape functions

Associated virtual strain    
dx
Galerkin's variational form (from integration by parts)


T
 ( ) Adx    T fAdx    T Tdx   i Pi  0
V V L
i

On the discretized region,

 
e
e
T
E ( ) Adx     T fAdx    T Tdx  i Pi  0
e
e
e
e
i

where  (u ): actual strain, and  ( ) : virtual strain

From the interpolation steps,
  Nψ (use the same shape functions for )
 ( )  Bψ
where ψ   1  2  : arbitrary nodal displacements of an element
T

The global virtual displacements at the nodes are

Ψ =  1 2   N 
T

17

참고) Galerkin’s approach

Element stiffness matrix

  E   Adx,   EBq,   Bq
T
e

  (q B EBψ ) Adx
T T
e

x2  x1 l
Here dx  d  e d (le : length of element)
2 2


T
E   Adx
e

 l 1 
 q T  Ee Ae e B T B  d   ψ
 2 1

 q Tk e ψ ( ψ Tk eq)
 ke  Ee Aele B T B

Ae Ee  1 1
 ke   1 1 
le  

18
참고) Galerkin’s approach

Element force vectors

 Body force 1 
N1 
   Nψ
T
fAdx,
e 2
1 le 1 
  ψ T N T fAe d   ψ T fe N2 
1 2 2
 1 
fAele  1 N1d  fAele 1
 fe    
2  1 N d  2 1
 1 2 

 Surface traction
   Nψ
T
Tdx,
e
1 le
  ψ T N TT d   ψ T Te
1 2
 1 N d 
Tl   1 1  Tle 1
 Te  e  1  
2  N d  2 1
 1 2 

19

참고) Galerkin’s approach

Assembly of Global K and F

After considering the element connectivity

ψ
e
T
k eq   ψ Tfe   ψ T Te   i Pi  0
e e e

ψ T
 KQ  F   0
This should hold for every ψ consistent with the BCs
 KQ  F

In summary,

K   ke , F   (fe  Te )  P
e e

20
5) Assembly of the global stiffness matrix and load
vectors
Total Potential Energy

1
   q Tk eq   q Tfe  q T Te  Qi Pi
e 2 e e i

1
 Q T KQ  QT F Q: Global displacement vector
2
K: Global stiffness matrix
F: Global load vector

 Using the element connectivity, the elements of each ke are placed in the
appropriate locations in the larger K matrix
 Overlapping elements are then summed
 F vector is similarly assembled

21

5) Assembly of the global stiffness matrix and load

vectors
Assembly of Global K Element connectivity table
nodes
Element
 ke, fe, and Te of each element are placed in the appropriate 1 2

locations in the larger K and F matrixes using the element 1 1 2

2 2 3
connectivity information
3 3 4
Consider the element 3 4 4 5

q  Q3 Q4 
T
(by element connectivity)
1 1 EA  1 1
U 3  q Tk (3)q  q T 3 3  1 1  q
2 2 l3   3rd 4th

0 0 0 0 0
0 0 0 0 0   Q1 

 E3 A3 E3 A3  Q 
1 0 0  0   2 
U 3  Q1 Q2 Q3 Q4 Q5   l3 l3  Q3 
2
 E3 A3 E3 A3  Q 
0 0  0  4 
 l3 l3  Q5 
0 0 0 0 0 

22
 5) Assembly of the global stiffness matrix and load
vectors
Assembly of Global K and F (cont)

K  k (1) + k (2) + k (3) + k (4)

 1 1 0 0 0 0 0 0 0 0 0 0 0 00 0 0 0 0 0
 1 1 0 0 0  0 1 1 0 0  0 0 0 0 0  0 0 0 0 0 
E1 A1  E A  EA  E A 
 0 0 0 0 0  2 2 0 1 1 0 0  3 3 0 0 1 1 0   4 4 0 0 0 0 0
l1   l2   l3   l4  
0 0 0 0 0 0 0 0 0 0 0 0 1 1 0  0 0 0 1 1
 0 0 0 0 0  0 0 0 0 0  0 0 0 0 0  0 0 0 1 1 

If E, A, l are all identical for each element

NBW = 2
 1 1 0 0 0
 1 1  1 1 0 0 
EA 
K  0 1 1  1 1 0 
l  
0 0 1 1  1 1
 0 0 0 1 1  (5x5) matrix due to total no of DOF = 5
Banded matrix
Singular matrix: det (K) = 0

23

5) Assembly of the global stiffness matrix and load

vectors
Assembly of Global K and F (cont)

 1   0   0   0    1   0   0  0    0 
                   
1  1   0   0   1 1 0 0 P2
Aele f           Tle            
 
F  0   1    1    0    0   1   1    0    0 
2          2           
 0  0  1  1     0   0   1  1    0 
  0   0   0  1     0   0   0  1    0 
                   
 1   1  0
1  1    
Aele f   Tl 1  1  P2 
 1  1 
e
1  1   0 
2   2 1  1  0 
11
     
 1   1   0  (5x1) matrix
T
e
e f e
e P

Symbolically, K   ke , F   (fe  Te )  P KQ = F
e e

24
5) Assembly of the global stiffness matrix and load
vectors
Property of the Global K

 The dimension of K is (N x N), where N is the number of total DOFs

 K is symmetric, but a banded matrix 1 1
2 1
EA 
K banded  2 1
l  
2 1 (N x NBW) matrix
1 0  NBW: half bandwidth (= 2)

 Node numbering is very important in terms of computational efficiency

NBW = 4 NBW = 2
1 0 0 1 0   1 1 0 0 0
 0 1 1 0 0   1 1  1 1 0 0 
EA  EA 
K  0 1 1  1 0 1  K  0 1 1  1 1 0 
l   l  
 1 0 0 1  1 1  0 0 1 1  1 1
 0 0 1 1 1  1  0 0 0 1 1 

25

6) Treatment of boundary conditions

Types of boundary conditions

 Fixed BC
Q p1  a1 , Q p2  a2 , , Q pr  ar

 Multipoint constraints
1Q p   2Q p   0
1 2
(1, 2, and 0 are known constants)

Elimination approach

Consider Q1  a1 (single fixed BC)

Q  Q1 Q2  QN  (N: total number of DOFs)
F   F1 F2  FN 
 K11 K12  K1N 
K K 22  K 2 N 
K   21 Before applying BCs,
  
  K is singular
 K N1 KN 2  K NN 

26
 6) Treatment of boundary conditions

Elimination approach (cont)

1 1
  Q T KQ  Q T F   Q T KQ  Q T F
2 2
1 Q1  a1 1
 (Q1 K11Q1  Q1 K12Q2    Q1 K1N QN  (a1 K11a1  a1 K12Q2    a1 K1N QN
2 2
 Q2 K 21Q1  Q2 K 22Q2    Q2 K 2 N QN  Q2 K 21a1  Q2 K 22Q2    Q2 K 2 N QN
 
 QN K N 1Q1  QN K N 2Q2    QN K NN QN )  QN K N 1a1  QN K N 2Q2    QN K NN QN )
 (Q1 F1  Q2 F2    QN FN )  (a1 F1  Q2 F2    QN FN )

 K 22Q2  K 23Q3    K 2 N QN  F2  K 21a1

 0, i  2,3, , N
Qi K 32Q2  K 33Q3    K 3 N QN  F3  K 31a1

K N 2Q2  K N 3Q3    K NN QN  FN  K N 1a1

(N-1) equations

27

6) Treatment of boundary conditions

Elimination approach (cont)

In the matrix form

K11 K12 K13 K1N Q1 F1 Eliminate the 1st row
K21  K 22 K 23  K 2 N   Q2   F2  K 21a1  and column because of
K31  K 32 K 33  K 3 N   Q3   F3  K 31a1 
  Q1 = a1 (specified)
   
       
   
KN1  K N 2 KN3  K NN  QN   FN  K N 1a1 
K(N-1)x(N-1) Q(N-1)x1 F(N-1)x1
 Next step
• Solve KQ = F for the displacement vector Q using various solvers such
as Gauss elimination, band solver, and skyline solver
• Calculate strain and stress for each element   Bq
• Reaction force at the support DOF   EBq On page 89,
Summary: Elimination
K11Q1  K12Q2    K1N QN  F1  R1 (due to equilibrium) Approach
 R1  K11Q1  K12Q2  L  K1N QN - F1

28
6) Treatment of boundary conditions

Example 3.3 on page 90

 Formulate the FE equations and solve for the stresses in each element
 Reaction force at the support

29

6) Treatment of boundary conditions

Penalty approach

 Easy to implement in a computer program

 It can consider more general boundary conditions
1) Specified displacement BC
Consider Q1  a1
1
Strain energy in the spring U S  C  Q1  a1 
2
C: large number
2
1 1
  Q T KQ  C  Q1  a1   QT F
2

2 2

 0, i  1, 2, , N
Qi
( K11  C ) K12  K1N   Q1   F1  Ca1 
 K 22  K 2 N   Q2   F2 
 K 21   
       
 
 K N1 K N 2  K NN  QN   FN 
R1  C  Q1  a1 

30
6) Treatment of boundary conditions

Penalty approach (cont)

2) Choice of C
( K11  C )Q1  K12Q2    K1N QN  F1  Ca1
Dividing by C,
 K11  K K F
  1 Q1  12 Q2    1N QN  1  a1
 C  C C C
if C  1, then Q1  a1 On page 94,
Summary: Penalty Approach
C  max K ij  104 , 1  i, j  N

Example 3.4 on page 95

Determine
• nodal displacements,
• the stress in each materials
• and reaction forces

31

6) Treatment of boundary conditions

Penalty approach (cont)

3) Multipoint constraints

1Q p   2Q p   0
1 2

1 1
 
2
  Q T KQ  C 1Q p1   2Q p2   0  QTF
2 2

 0, i  1, 2, , N modifies
Qi
 K p1 p1 K p1 p2   K p1 p1  C 12 K p1 p2  C 1 2   Fp1   Fp1  C  0 1 
  ,   
 K p2 p1 K p2 p2   K p2 p1  C 1 2 K p2 p2  C  22   Fp2   Fp2  C  0  2 
Reaction forces
 1 2
R p1  
Q p1
  
 2 C 1Q p1   2Q p2   0   C 1 1Q p1   2Q p2   0
 

 1 2
R p2  
Q p2
  
 2 C 1Q p1   2Q p2   0   C  2 1Q p1   2Q p2   0
 


32
 6) Treatment of boundary conditions

Example 3.6 on page 99

 Formulate the FE equations and set up the BC

 Solve the equations for Q

33

7) Quadratic shape functions

mapping
Shape function

q   q1 q3 
T
Local displacement vector q2
1at node 1 (x  x1 ) 1 at node i
2( x  x3 )  Ni  
    0 at node 3 (x  x3 ) 0 at other nodes not i
x2  x1  1 at node 2 (x  x ) N1  N 2  N 3  1
 2

1 1
N1    (1   ) N 2   (1   ) N 3  (1   )(1   )
2 2

34
7) Quadratic shape functions

Displacement u  N1q1  N 2 q2  N 3 q3
 q1 
 
  N1 N2 N 3  q2   Nq
q 
 3
du du d 
Strain   (by chain rule)
dx d  dx
d 2
 , u  N1q1  N 2 q2  N 3 q3  Nq
dx x2  x1
du  dN1 dN 2 dN 3 
 q
d   d d d 
2  dN1 dN 2 dN 3 
  q  Bq
x2  x1  d d d 
B: not const. but linear in 

Stress   EBq (not const. but linear in  in an element)

35

7) Quadratic shape functions

Total potential energy

1
   T  Adx   uT f Adx   uT T dx   Qi Pi (due to 1D prob.)
2 L L L
i

1
    T  Adx    u T f Adx    u T T dx   Qi Pi
e 2
e e e
e e i

1  l 1   l  l 
  q T  Ee Ae e  [B T B]d  q   q T  Ae e f  N T d    q T  e T  N T d     Qi Pi
1 1

e 2  2   2  e 2  i
1 1 1
e

1
  q Tk eq   q Tfe  q T Te  Qi Pi
e 2 e e i

le 1 T 2  dN1 dN 2 dN 3 
Element stiffness matrix k e  Ee Ae
2 1
[B B]d , B 
x2  x1  d d d 
1 2 3 Local dof

 7 1 8 1
Ee Ae 
 ke  1 7 8 2
3le 
 8 8 16  3

36
7) Quadratic shape functions
Local dof
1/ 6  1
Element body Aele f 1 T  
force vector
fe 
2 1
N d   Aele f 1/ 6  2
 2 / 3 3
 

Local dof
1/ 6  1
Element traction Tl 1  
Te  e 1 N d  Tle 1/ 6  2
T
force vector 2  2 / 3 3
 

37

7) Quadratic shape functions

Example 3.7 on page 105

 Determine the axial stress

distribution in the rod

38
8) Temperature effects

 Initial (thermal) strain  th  T

 Stress-strain relations   E mech  E   -  th 

1
 Strain energy density u0     -  th 
2
 Strain energy
1
U
2  A
( -  th )T E ( -  th ) Adx

1 l 1
  Ae e  ( -  th )T E ( -  th )d ,   Bq
e 2 2 1
1  l 1  l 1 l
  q T  Ee Ae e  B T Bd   q  q T Ee Ae e  th  B T d    Ee Ae e  th2
1

e 2  2 1  2 e 2 2
1
e

= ke = e = const.

39

8) Temperature effects

 Element (thermal) load vector

 l 1
 1 1
1
 0  e  Ee Ae e  th  B T d , B 
Q 2 1 x2  x1
Ee AeleT 1
e   
x2  x1  1 

 Next steps

• Global stiffness matrix: unchanged K   ke

e
• Global load vector

F   (fe  Te  Θe )  P
e

  E     th 
• Apply BCs
 E  Bq  T 
• Solve KQ = F
E
  1 1 q  ET (for 2-node element)
x2  x1

40
9) Problem modeling and boundary conditions

Problem in equilibrium Symmetry

 No displacement BC for (a)  Symmetry of both geometry and loading

 Without fixing a node gives a singular K  considering half the problem
(det (K) = 0)  The node on the line of symmetry is
 One end node should be fixed fixed

41

9) Problem modeling and boundary conditions

Two elements with same end Problem with a closing gap

displacement

 Using a multipoint constraint  First we ignore the gap and solve it

 Or using the same node numbers for the  If the displacement at node 3  a 
two elements done
 If not, Q3 = a

42
Sample Input & Output Data
Input & Output Front cover

43

Sample Program Listing (1)

continued

44
Sample Program Listing (2)

continued

45

Sample Program Listing (3)

46