The Finite Element Method

Faculty of Applied Sciences PhD.
TRUONG Tich Thien

Hochiminh City University of Technology Department of Engineering Mechnics
The Finite Element Method

Introduction
HCMUT 2004

Faculty of Applied Sciences PhD. TRUONG Tich Thien
Linear Structural Analyse

- Truss Structure
- Beam
- Shell
- 3-D Solid
Material nonlinear
- Plasticity (Structure with stresses above yield stress)
- Hyperelasticity (ν = 0.5, i.e. Rubber)
- Creep, Swelling
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Geometric nonlinear
- Large Deflection
- Stress Stiffening
Dynamics
- Natural Frequency
- Forced Vibration
- Random Vibration
HCMUT 2004

Stability
- Buckling
Field Analysis
- Heat Transfer
- Magnetics
- Fluid Flow
- Acoustics
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Evolution of the Finite Element Method
1941 HRENIKOFF, MC HENRY, NEWMARK

Approximation of a continuum Problem through a Framework
1946 SOUTHWELL
Relaxation Methods in theoretical Physics
1954 ARGYRIS, TURNER
Energy Theorems and Structural Analysis (general Structural
Analysis for Aircraft structures)
1960 CLOUGH
FEM in Plane Stress Analysis
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FE = Finite Element
i, j, k = Nodal points (Nodes)
of an Element
- Dividing a solid in Finite Elements

- Compatibility between the Elements through a displacement
function
- Equilibrium condition through the principal of virtual work
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The stiffness relation:
[K] {d} = {F}
or Kd =F
K = Total stiffness matrix

d = Matrix of nodal displacements
F = Matrix of nodal forces
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Kd=F
dT = [u1 v1 w1 . . . un vn wn]
FT = [Fx1 F y1 . . . F xn F yn F zn]
K is a n x n matrix
K is a sparse matrix and symmetric
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HCMUT 2004

Kd=F
Solving the stiffness relation by:
- CHOLESKY – Method

- WAVE – FRONT – Method
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Spring Element
k
F1 F2
1 2
F1 = k (u1 – u2)
F2 = k (u2 – u1)
u1 u2
1, 2 = Nodes
F1, F2 = Nodal forces
k = Spring rate
u1, u2 = Nodal displacements
HCMUT 2004

 k  k   u1   F1 
 k k  u   F 
       2   2 
k d F
Element stiffness matrix
 k  k
k 
 k k 
HCMUT 2004

Spring System
k1 k2
1 2 3
F1 F2 F3
u1 u2 u3
Element stiffness matrices
 k1  k1   k2  k2 
k1   k2  
 k1 k1 
 k 2 k 2 
HCMUT 2004

the stiffness relation by using superposition
 k1  k1 0   u1   F1 
 k k  k  k  u   F 
 1 1 2 2  2   2
 0 k k  u  F 
     2   2   3   3 
K d F
Total stiffness matrix
 k1  k1 0 
K   k1 k1  k 2  k2 
 
 0  k2 k 2 
HCMUT 2004

Truss Element
y
u2  = length

F2 A = cross-sectional area
u1 2 E = Young´s modulus
A

F1 1 x AE
Spring rate of a truss element k 

 c2 cs  c 2  cs 
 2 2 Element stiffness matrix
AE  cs s  cs  s 
k
   c  cs c
2 2
cs  c = cosα
k  2 2  s = sinα
  cs  s cs s 
HCMUT 2004

y Fy3
3
Element : Element :
Fx3
Node 1  1 Node 1  2
AE AE
  Node 2  3 Node 2  3
1 = 450 2 = 1350
1 x
2
1 0 0 0 0 0  u1   0 
 
0
 1 0 0 0 0  v1   0 
AE 0 0 1 0 0 0 u2   0 
Stiffness relation      
2  0 0 0 1 0 0   v2   0 
0 0 0 1 2 0 u3   Fx 3 
    
0 0 0 0 0 2  v3   Fy 3 
HCMUT 2004

Beam Element
y
y 1 2 2
1
M1 EJ M2 v1 v2
x x
1 2
Q1 Q2

Forces Displacements
A = Cross – sectional area E = Young’s modulus

I = Moment of inertia  = Length
HCMUT 2004

the stiffness relation

 EA EA 
  0 0  0 0 

 12EI 6EI 12EI 6EI  u
 Q x1   0 3 2
0  3 2
 1 
Q        v 
 y1   6EI 4EI 6EI 2EI   1 
 M1   0 0 
2  2    1 
    EA EA  u 
Q x 2    0 0 0 0  2 
Q y 2     v 
   0 12EI 6EI 12EI 6EI   2 
M
  2    3  2 0  2  2 
   3
 
F  6EI 2EI 6EI 4EI  d
 0 2
0  2 
                    
   
k
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Example for practical FEM application
Engineering system Possible finite element model

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Plane stress Triangular Element
y v3
3
u3
v2
v1
2 u2
1 u1
x
Equilibrium condition: Principal of virtual work

Compatibility condition: linear displacement function
HCMUT 2004

General displacements (Displacement function)

u(x,y) = α1 + α2x + α2y
v(x,y) = α4 + α5x + α6y
Nodal displacements
u1= α1 + α2x1+ α3y1
v1= α4 + α5x1+ α6y1
similar for node 2 and node 3.
HCMUT 2004

u = Nd General displacements to nodal

displacements
ε = Bd Strains to nodal displacements
σ = Dε Stresses to strains
σ = DBd Stresses to nodal displacements
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Other displacement functions
6 5 Triangular element with 6 nodes

2
1 4
quadratic displacement function
u(x,y) = α1 + α2x + α3y+ α4x2 + α5y2+α6xy

v(x,y) = α7 + α8x + α9y+ α10x2 + α11y2+α12xy
HCMUT 2004

3
7
8 Triangular element with 10
6
9
10
nodes
2
5
1 4
cubic displacement function
- stress field can be better approximated

- more computing time
- less numerical accuracy
- geometry cannot be good approximated
HCMUT 2004

Principal of Virtual Work

δU + δW = 0
δU = virtual work done by the applied force
δW = stored strain energy
W   f mT u dV   p T u dA
V As
δU   δU dV   σ T δε dV
V V
σ = stress matrix p = force matrix

ε = strain matrix u = displacement matrix
HCMUT 2004

Element stiffness matrix
k   B T DB dV
V
 
1  0
E  
D 2
 1 0  D = Elasticity matrix
1   1 
 0 0 
2 
HCMUT 2004

b1 0 b 2 0 b 3 0 
1 
B 0 c1 0 c 2 0 c 3 
2A   
 c1 b1 c 2 b 2 c 3 b 3 
b1 = y2 – y3 c 1 = x3 – x2
b2 = y3 – y1 c 2 = x1 – x3 AΔ = Area of element
b3 = y1 – y2 c 3 = x2 – x1
linear displacement function yields :
- linear displacement field
- constant strain field
- constant stress field
HCMUT 2004

Dynamics
m0 k1 m1 k2 m2
Equation of motion
c1 c2
u0 u1 u2
F0 F1 F2
m 0 0 0  u 0   c1  c1 0   u 0   k1  k1 0   u 0   F0 
0 m1 0   u 1    c1 c1  c 2  c 2   u 1    k1 k1  k 2  k 2   u1    F1 
          
 0 0 m 2  u 2   0  c2 c 2  u 2   0  k2 k 2  u 2  F2 
                           
M 
d C d K d F
HCMUT 2004

or   Cd  Kd  F
Md
M = Mass matrix
C = Damping matrix
K = Stiffness matrix
d = Nodal displacement matrix
d = Nodal velocity matrix

d = Nodal acceleration matrix
HCMUT 2004

for a continuum
u=Nd
ε=Bd
HCMUT 2004

the element matrices
M e    N T N dV
V
ρ = Mass density
ke   BT D B dV μ = Viscosity matrix
V
Ce   N T  N dV
V
HCMUT 2004

General Equation of Motion

  Cd  Kd  F t 
Md
Types of dynamic solution
o Modal analysis
o Harmonic response analysis
- Full harmonic
- Reduced harmonic
o Transient dynamic analysis
- Linear dynamic
- Nonlinear dynamic
HCMUT 2004

Modal Analysis
Purpose: To determine the natural frequencies and mode

shapes for the structure
Assumptions: Linear structure (M, K, = constant)

No Damping (c = 0 )
Free Vibrations (F = 0)
  Kd  0
Md
HCMUT 2004

for harmonic motion: d = d0 cos (ωt)
(-ω2M + K) d0 = 0
Eigenvalue extraction procedures
Transformation methods Iteration methods
JACOBI INVERSE POWER

GIVENS INVERSE POWER WITH SHIFTS
HOUSEHOLDER SUB – SPACE ITERATION
Q – R METHOD
HCMUT 2004

Harmonic Response Analysis
Purpose: To determine the response of a linear system
Assumptions: Linear Structure (M, C, K = constant)

Harmonic forcing function at known
frequency
  Cd  Kd  F0 ei  t
Md
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Forcing funktion F = F0e-iωt
Response will be harmonic at input frequency d = d0 e-iωt
(-ω2M – iωC + K) d = F0
Kd 0  F0
K
is a complex matrix
d will be complex (amplitude and phase angle)
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Limiting cases:
ω=0: K d = F0 Static solution
C=0: (-ω2M + K) d = F0 Response in phase
C = 0, ω = ωn : (-ωn2M + K) d = F0 infinite amplitudes
C = 0, ω = ωn : (-ωn2M - iωnC + K) d = F0 finite amplitudes,

large phase shifts
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Transient Dynamic Analysis
  Cd  Kd  F t 
Md
F(t) = arbitrary time history forcing function
periodic forcing function

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impulsive forcing function
Earthquake in El Centro,
California18.05.1940
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Two major types of integration:

- Modal superposition
- Direct numerical integration
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0ne-dimensional heat flow principle

1, A1 2, A2 
0
,  = conductivity elements
1 2
    , A  = convection element
1 2
T0 T1 T2
0, 1, 2 = temperature elements
Q0 Q1 Q2
A = Cross-sectional area  = Length

λ = Conductivity Aα = Convection surface
T = Temperature Q = Heat flow
C = Specific heat α = Coefficient of
thermal expansion
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A
Heath flow through a conduction element: Q  T2  T1 

Heat stored in a temperature element: Q  c p VT  CT

cp = specific heat capacity
C = specific heat
Heat transition for a convection element: Q = A(T – T2)
HCMUT 2004

Heat balance
 1A1 1A1 
   0 
C 0 0 0  T0  
 1 1  T0   Q0 
0 C    A  A  A  A
0   T 1    1 1 1 1
 2 2  2 2   T1    Q1 
 1   1 1 2 2    

 0 0 C 2  T2  
   T2  Q 2  A  T 
 2A 2  2A 2
        0   A         
C T   2 2  T Q
               
K
or   KT  Q
CT
HCMUT 2004

  KT  Q
CT
C = specific heat matrix

K = conductivity matrix
Q = heat flow matrix
T = temperature matrix
T = time derivation of T
For the stationary state with T = 0
KT = Q
HCMUT 2004

The Finite Element Method

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Faculty of Applied Sciences PhD.

TRUONG Tich Thien