The Finite Element Method

The Finite Element Method
Lecture 4; 1-dimensional rod systems

(modified 2010-01-25)
1

Lecture 4;
1-dimensional rod systems and
the principle of Minimum Potential Energy
(Ch. 3 & 6 in the book)
(modified 2010-01-25)
2
With a 1-dimensional rod system we here mean

rods in series

where the individual rods are

linear elastic
1
k
2
k
1
2
Note that the rods are labeled with ring-symbols (in the book an
underlining is used), and that the stiffness of an individual rod is referred
to as ke where e indicates the element/rod number
(modified 2010-01-25)
3
Structured analysis of rod systems

Rod systems are treated in exactly the same way as spring systems, with
the only difference that the element stiffness ke now may be
expressed as a function of the Young's modulus Ee, the (cross-
sectional) area Ae and the length Le.

Note the we in what follows without special notice will switch
between the terms rod/rod element/element and connection
point/node
(modified 2010-01-25)
4
The stiffness of a rod element

From our basic course in Solid Mechanics we know that

e e e
e e e
e e e
A T
E
L
o
c o
o c
=
=
= /
strain definition
constitutive equation/material relation
rod force/normal force definition
(modified 2010-01-25)
5
The stiffness of a rod element; cont.

Thus
e
o
e
c
e
T
e
o
e
E
e
A
e
L / 1
(modified 2010-01-25)
6

and with our usual counter-clockwise walk
e
o
e
c
e
T
e
o
e
E
e
A
e
L / 1
e e e e e e e e e e
L E A E A A T / o c o = = =
(modified 2010-01-25)
7

i.e.
e
o
e
c
e
T
e
o
e
E
e
A
e
L / 1
e e e e
L A E k / =
(modified 2010-01-25)
8
e
T
e
o
{ }
e
f
{ }
e
d
| |
T
1 1
| | 1 1
| |
e
k
{ } D
{ } F
| |
e
C
| |
=
el no
e
T
e
C
1
| | K
The structural picture

The resulting complete transformation diagram takes the form (c.f. Lec 3)
e
o
e
c
e
E
e
A
e
L / 1
e
k
where
(modified 2010-01-25)
9
e
T
e
o
{ }
e
f
{ }
e
d
| |
T
1 1
| | 1 1
| |
e
k
{ } D
{ } F
| |
e
C
| |
=
el no
e
T
e
C
1
| | K
The structural picture; cont.

e
o
e
c
e
E
e
A
e
L / 1
e
k
{ } | |{ } D K F =
(modified 2010-01-25)
10
e
T
e
o
{ }
e
f
{ }
e
d
| |
T
1 1
| | 1 1
| |
e
k
{ } D
{ } F
| |
e
C
| |
=
el no
e
T
e
C
1
| | K
e
o
e
c
e
E
e
A
e
L / 1
e
k
| | | | | | | |
=
=
el no
e
e e
T
e
C k C K
1
(modified 2010-01-25)
11
e
T
e
o
{ }
e
f
{ }
e
d
| |
T
1 1
| | 1 1
| |
e
k
{ } D
{ } F
| |
e
C
| |
=
el no
e
T
e
C
1
| | K
| |
(

=
1 1
1 1
e e
k k
e
o
e
c
e
E
e
A
e
L / 1
e
k
(modified 2010-01-25)
12
e
T
e
o
{ }
e
f
{ }
e
d
| |
T
1 1
| | 1 1
| |
e
k
{ } D
{ } F
| |
e
C
| |
=
el no
e
T
e
C
1
| | K
e
o
e
c
e
E
e
A
e
L / 1
e
k
e e e e
L A E k / =
(modified 2010-01-25)
13

The structural picture for a rod system is thus identical to the structural
picture for a spring system, except that we now have an extra box for
calculating the rod stiffness.

We could now be pleased with the situation, and do no more. However, if
we instead look forward, we may ask ourselves how to generalize what
we have done so far? Two problems/questions we then have to face are

1) It is not possible to generalize the concept rod elongation to a
general case!

2) How to find the equilibrium equations in a general case?

Let us now look at these things separately, and start with Point 1!
(modified 2010-01-25)
14
Replacing the element elongation e with something else

Since the new entity that is to replace the elongation must be related to
the strain in the rod element, the obvious choice is to use the
displacement u .

In a coordinate system xe related to element e, we then have
e e
L x =
2
0
1
=
e
x
e
x
0
x
e
n
2
e
n
1
) (
0
x u
e
(modified 2010-01-25)
15
Replacing the element elongation e with something else; cont.

Let us now study the strain at the position x0 (see previous page)
e
e
e
dx
du
= c
) (
0
x u
e
) (
0 e e
dx x u +
e
dx x +
0
( )
0
0 0
0
) ( ) (
) ( x
dx
du
dx
x u dx x u
x
e
e
e
e e e
e
=
+
= c
0
x
arbitrary
0
x
e
x
With the strain defined as the change of
length divided by the original length, we get
(modified 2010-01-25)
16

Furthermore, since the displacement at the ends of the element must
correspond to its nodal displacements, we have

e
L 0 e
x
e
n
2 e
n
1
Now, since the stress, and thus also the strain, is constant in a rod, it
follows from the strain definition that the displacement must vary linearly
within the element. This implies that it can be found by a linear interpolation
as shown below
e e
d u
1
) 0 ( =
e e e
d L u
2
) ( =
| |
| | { }
e e
e
e
N
e
e
e
e
e
e
e
e
e
e
e e
d N
d
d
L
x
L
x
d
L
x
d
L
x
x u
e
=
)
`
= + =
2
1
2 1
1 ) 1 ( ) (

The shape functions N1e and N2e, resp. The shape function matrix [N]e
(modified 2010-01-25)
17

We had from the previous page
| |
| | { }
e e
e
e
N
e
e
e
e
e
e
e
e
e
e
e e
d N
d
d
L
x
L
x
d
L
x
d
L
x
x u
e
=
)
`
= + =
2
1
2 1
1 ) 1 ( ) (

e
L 0
e
x
1
e
N
1
e
N
2
where
Let us check if this turned out well!
At the centre of the element we
have xe=Le/2, which gives
2 2
1
2
1
1 )
2
(
2 1
2
1
e e
e
e
e
e
d d
d
d
L
u
+
=
)
`
=
An averaging of the
nodal values! :)
(modified 2010-01-25)
18
e
T
e
u
{ }
e
f
{ }
e
d
| |
T
1 1
| |
e
N
| |
e
k
{ } D
{ } F
| |
e
C
| |
=
el no
e
T
e
C
1
| | K

The transformation diagram may now be rewritten as shown below
e
o
e
c
e
E
e
A
e
dx d /
(modified 2010-01-25)
19
e
T
e
u
{ }
e
f
{ }
e
d
| |
T
1 1
| |
e
N
| |
e
k
{ } D
{ } F
| |
e
C
| |
=
el no
e
T
e
C
1
| | K

It is here convenient to introduce the strain-displacement matrix [B]e !
e
o
e
c
e
E
e
A
e
dx d /
| |
e
B
| | | | | | 1 1
1
2 1
= =
e
e e
e
e
L
N N
dx
d
B
where
(modified 2010-01-25)
20
e
T
e
u
{ }
e
f
{ }
e
d
| |
T
1 1
| |
e
N
| |
e
k
{ } D
{ } F
| |
e
C
| |
=
el antal
e
T
e
C
1
| | K

From the previous page it also follows that
e
o
e
c
e
E
e
A
e
dx d /
| |
e
B
| |
T
e e
B V
e e e
L A V = where the element volume Ve is given by
(modified 2010-01-25)
21
{ }
e
f
{ }
e
d
| |
e
k
{ } D
{ } F
| |
e
C
| |
=
el no
e
T
e
C
1
| | K

An expression for the element stiffness in this new setting can, as usual,
be found by a counter-clockwise walk in the transformation diagram
e
o
e
c
e
E
| |
e
B
| |
T
e e
B V
| | | | | |
(

= =
1 1
1 1
e
e e
e e
T
e e e
L
A E
B E B V k
(modified 2010-01-25)
22
e
u
{ }
e
f
{ }
e
d
| |
e
N
| |
e
k
{ } D
{ } F
| |
e
C
| |
=
el no
e
T
e
C
1

In conclusion, we have found the following transformation diagram (where we
for clarity reasons have taken away the rod force and its associated
transformations, since they are also hard to generalize)
e
o
e
c
e
E
e
dx d /
| |
e
B
| |
T
e e
B V
where
(modified 2010-01-25)
23
e
u
{ }
e
f
{ }
e
d
| |
e
N
| |
e
k
{ } D
{ } F
| |
e
C
| |
=
el no
e
T
e
C
1
| | K

e
o
e
c
e
E
e
dx d /
| |
e
B
| |
T
e e
B V
{ } | |{ } D K F =
(modified 2010-01-25)
24
e
u
{ }
e
f
{ }
e
d
| |
e
N
| |
e
k
{ } D
{ } F
| |
e
C
| |
=
el no
e
T
e
C
1
| | K

e
o
e
c
e
E
e
dx d /
| |
e
B
| |
T
e e
B V
| | | | | | | |
=
=
el no
e
e e
T
e
C k C K
1
(modified 2010-01-25)
25
e
u
{ }
e
f
{ }
e
d
| |
e
N
| |
e
k
{ } D
{ } F
| |
e
C
| |
=
el no
e
T
e
C
1
| | K
e
o
e
c
e
E
e
dx d /
| |
e
B
| |
T
e e
B V
| | | | | |
(

= =
1 1
1 1
e
e e
e e
T
e e e
L
A E
B E B V k
(modified 2010-01-25)
26
e
u
{ }
e
f
{ }
e
d
| |
e
N
| |
e
k
{ } D
{ } F
| |
e
C
| |
=
el no
e
T
e
C
1
| | K

e
o
e
c
e
E
e
dx d /
| |
e
B
| |
T
e e
B V
| | | | 1 1
1
=
e
e
L
B
(modified 2010-01-25)
27
e
u
{ }
e
f
{ }
e
d
| |
e
N
| |
e
k
{ } D
{ } F
| |
e
C
| |
=
el no
e
T
e
C
1
| | K
e
o
e
c
e
E
e
dx d /
| |
e
B
| |
T
e e
B V
| |
(
=
e
e
e
e
e
L
x
L
x
N 1
(modified 2010-01-25)
28
An alternative approach for finding the structural equation;

As an alternative to equilibrium for finding the structural equation {F}=[K]{D},
we will now look at the principle of Minimum Potential Energy (MPE).
Even if we do it in a rod system context, the approach is general.

(modified 2010-01-25)
29
An alternative approach for finding the structural equation; cont.

Let us begin by defining some energy quantities

The strain energy U in the rod system is given by
=
= =
el no
e
e e e
el no
e
e
V E U U
1
2
1
2
1
c
The rod structure is interacting with its surrounding by the structural loads,
which we assume to be independent of the deformation. Since these loads
obviously can perform work on the system, we define their potential to do
so (the so called potential of the external loads) according to
{ } { } { } { } F D D F W
T T
= =
The minus sign is motivated by the fact that the potential of the external
forces decreases when they do work on the system.
(modified 2010-01-25)
30

We now state that the energy of the universe, here in terms of the rod
system and its surrounding, is at a minimum at equilibrium. Thus, by
defining the potential energy of the rod system and its surrounding as
{ }
{ } 0 =
c
c
D
t
Let us see what this implies!
W U + = t
we must at equilibrium have
For those of you who think its
a little bit strange to
differentiate with respect to a
matrix, we will first take a
quick glance at that. However,
before that we will look at an
example where we do not
need matrices!
(modified 2010-01-25)
31

Simple example (without matrices)
F A F A E F AL
L
u
E
u
= = = =
c
c
o c
t
0 0
2
Fu AL
L
u
E Fu V E W U
|
.
|
\
|
= = + =
2
2
2
1
2
1
c t
F
L A E , ,
u
i.e., by using the minimization principle we get the equilibrium
equation!
(modified 2010-01-25)
32

Let us study the mathematical function a found below, which has a
structure relevant to our FE-studies.
2 2 22 1 12
2
, 1 2 12 1 11
1
c b B b B
b
a
c b B b B
b
a
+ =
c
c
+ =
c
c
Lt oss nu se vad detta leder till!
| |
{ }
| |
{ }
| |
{ }
{ }
2 2 1 1
2
2 22 2 1 12
2
1 11
2
1
2 1
2
1
22 12
12 11
2 1
2
1
2
1
2
1
b c b c b B b b B b B
c
c
b b
b
b
B B
B B
b b a
c
b
b
B
b
T T
+ + =
=
)
`
)
`
=

We note
i.e.
{ }
| |{ } { } c b B
c
c
b
b
B B
B B
b a
b a
b
a
=
)
`
)
`
=
)
`
c c
c c
=
c
c
2
1
2
1
22 12
12 11
2
1
/
/
[B] set to be
symmetric
(modified 2010-01-25)
33

We had
{ } { }
{ } | | | | { } { } { }
{ } | | | | | | | | { } { } { } F D D V C B E B C D
F D V d B E B d
F D V E W U
T
el no
e
e e e e
T
e
T
e
T
T
el no
e
e e e e
T
e
T
e
T
el no
e
e e e
|
.
|
\
|

=
=
|
.
|
\
|

=
=
|
.
|
\
|

= + =
=
=
=
1
1
1
2
2
1
2
1
2
1
c t
which gives
(see the prev. page)
{ }
| | | | | | | | { } { }
=
|
.
|
\
|

=
c
c
=
0
:
0
0
:
0
1
F D V C B E B C
D
el no
e
e e e e
T
e
T
e
t
PLEASE OBSERVE! The {D}-matrices can
be brought outside the summation, since
they are equal for all elements.
(modified 2010-01-25)
34

Or rewritten, identifying certain entities
i.e. the same result as before!
| | | | | |
| |
| |
| |
{ } { } F D C V B E B C
K
el antal
e
e
k
e e e
T
e
T
e
e
=
=

1
{ }

e
f
(modified 2010-01-25)
35
What we actually do when using the MPE is that we replace the equilibrium
equations with a minimization principle. Concerning the transformation
diagram, we may say that we put in the lower row and the material relation
in the MPE, and out falls the upper row.
e
u
{ }
e
f
{ }
e
d
| |
e
N
| |
e
k
{ } D
{ } F
| |
e
C
| |
=
el no
e
T
e
C
1
e
o
e
c
e
E
e
dx d /
| |
e
B
| |
T
e e
B V
MPE
| | K
(modified 2010-01-25)
36

We saw above how we by using the MPE-principle could derive the
structural equation, including the expressions for [K] and [k]e.

Even if one finds this procedure a little bit clumsy in a rod system context,
it is much easier than the equilibrium paradigm for other situations.
(modified 2010-01-25)
37
A final comment

Note that the presentation above for rod systems is mathematically exact,
i.e. no approximations are involved. When studying other
FE-formulations, such as formulations for 2- and 3-dim. solids, this will no
longer be the case. More about that later!

The Finite Element Method

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The Finite Element Method

Lecture 4; 1-dimensional rod systems

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