The Finite Element Method: Abdul Razzaq Touqan

The Finite Element Method
Abdul Razzaq Touqan

Department of Civil Engineering
22/3/2015 1
Introduction to the Finite Element Method
• Objectives: A
A
B
D
B
D
C B
C
A
B
A
B
C A
Students will be
A D C B
E D A
A
AB B
E D
D A
G G F E
G C
introduced to FE
A E
G G D
B G
H ED B
D B
H F C
A E F
F
F
CB
B D E F A
A B
E F F
C D
C
A
D D
D
D
C
A
B
B B A
A
B
C
C
D
C E E H
C
C E
A E
C
C
Finite Element Method Defined
•Problems are governed by differential or integral equations.
•These equations provide an exact, closed-form solution (analytical)

for linear 1D model.
• Complexities in geometry, properties and in the boundary

conditions prevent ability to obtain exact solutions. Also 2D and 3D
elements are governed by partial differential equations, no closed
form solution exists for such elements..
(cont.)
•Complex regions are discretized (anatomized) into simple shapes

called elements. The continuum has infinite number of DOF’s.
Discretized model has finite number of DOF’s.
•The elements are either 1D, 2D or 3D.
• Properties and relationships are analogized over the elements in

terms of unknown values at nodes.
• A set of linear/nonlinear equations are obtained by linking the

individual elements and considering effects of loads and boundary
conditions.
(cont.)
• Number of equations is large → requires digital computers

otherwise worthless.
• Advances in computers and software has brought the FEM

within reach for engineers and students.
Simplified example of concept of FE
finding the perimeter of a circle
1. Analytical: integral equation of infinitely small arcs

2
P  rd  2 r
0
2. Analogical: approximate arc into straight lines and then perimeter

is between (4√2)r and 8r! How?
3. Anatomical (Finite element): combine 1 and 2: discretize circle
into finite number of divisions and approximate curved arcs by
straight lines: p=(2rsinθ/2)n, θ =2π/n
Origins of the Finite Element
Method
•Basic concepts evolved over a period of 150 or more years.
• The term finite element was first coined by Clough in 1960.
• The first book on the FEM by Zienkiewicz and Chung was

published in 1967.
• In the late 1960s and early 1970s, FEM was applied to a wide
variety of engineering problems.
Origins of the Finite Element Method
(cont.)
• 1970s marked advances in mathematical treatments
• Most FEM software originated in the 1970s and 1980s.
• FEM is one of the most important developments in

computational methods in the 20th century.
•In few decades, the method has evolved to cover many

scientific and technological areas (solid and fluid mechanics,
chemical reactions, electromagnetics, biomechanics, heat
transfer and acoustics …).
Advantages of the Finite Element
Method
• Handle complex geometry: heart and power of it.
• Handle complex restraints: indeterminate

structures
• Handle complex loading: point, pressure,

inertia…
• Handle nonhomogeneous material bodies : every

element assigned a different material properties.
Advantages of the Finite Element Method
(cont.)
• Handle nonisotropic materials bodies: orthotropic, anisotropic
• Handle special material effects: temperature dependent properties,

plasticity, creep, swelling, …
• Handle complex analysis types: vibration, nonlinear..
• Model special geometric effects: large displacements and large

rotations…
Disadvantages of the Finite Element
Method
• Handle specific problems, thus no general closed-form solution
• Approximate the mathematical model (the source of so-called

inherited errors.)
• Need experience and judgment to construct a good finite element

model.
• A computer and reliable FEM software are essential.
• Large amount of Input and output data to prepare and interpret.

Disadvantages of the Finite Element Method (cont)
• Numerical problems:
• Computers carry a finite number of significant digits→ round
off and error accumulation.
• Susceptible to user-introduced modeling errors:

• Poor choice of element types.
• Distorted elements.
• Geometry not adequately modeled.
• Certain effects not automatically included:

• Buckling, large deflections and rotations, material and
geometric nonlinearities…
homework
• Pick a small problem in engineering. Then provide analytical,
analogical and anatomical (FE) solutions for it. Pick it up from a
library reference if not able to visualize one.
Finite Element Analysis of
Framed Structures
General Structural Problem
–
For the following structure,
we want to compute
• Bending moments, shear
forces, axial forces
• Bending, shear and axial
stresses and strains
• Deflections
Finite Element Analysis (FEA),
The basic idea
• Complex structures idealized through mathematical models are

too complicated to derive relationships between applied loads,
deflections and internal stresses.
• Hence discretize (anatomize) into many individual finite

elements of simpler form, e.g. a beams or columns
• Determine the relationship between load, displacement, stresses

and strains within a finite element (analogize)
• Assemble elements to satisfy equilibrium and compatibility

(analytical solution).
Modelling Idealization
Analysis of bar elements
• Analytical solution: review mechanics of materials:
F x 0
d A( x)  xx
dx  f ( x ) dx  0
dx
d A( x)  xx
 f ( x)  0
dx
Analysis of bar elements (cont.)
analytical solution
but
for constant A
du
 xx  E xx E  A E u   f ( x)  0
dx
f ( x) f ( x)
 u   0  u   
AE AE
u  c1  c2 x  u p
Homogeneous sol. particular solution
N x  A x  AE x  AE u 
analytical solution: example
-analyze the following structure
f ( x) 5 5 x 2
u      up 
AE AE 2 AE
-solution:
5 x2
u  c1  c2 x 
2 AE
at x  0 u  0  c1  0
at x  l N x  0  u 
5l 5l
0  c2   c2 
AE AE
2
5l 5x
u x 
EA 2 EA
Analysis of bar elements
(cont.)
at x  1.5 
5  1.52  3
u  3  1.5    0.16 10 m
210 106  5 104  2 
5  32  3
at x  3 u   3  3    0.214 10 m
210 106  5 10 4  2
du 15 5x
 xx E  
dx A A
For a finite element, we need
to derive the relationship
between:
• External Loads
• Deflections/deformations
• Internal stresses and strains
General basic steps for finite element method
applied here for bar elements
Input
1. Problem to be solved
2. Physics of problem
3. Mathematical model
Processing
1. Propose theory
2. Formulate equations
3. Solve equations
Output
1. Verify compatibility
2. Verify equilibrium
3. Verify stress-strain relations
Input
1. Problem: analysis of a bar subjected to axial loads

2. Physics: bar subjected to axial stress\deformation
3. Model: define material, geometry and loading
Processing:
1. propose theory for solution
a. Select element type: axial, 2-node
b. Select a displacement function
(1) u= generic displacement
u  a1  a2 x
2.1 propose theory for solution
b. Select element type and displacement functions
b. con : express u(x) in terms of nodal displacements using
boundary conditions.
(2)
at x  0 u  d1x  a1
d 2 x  d1x
at x  l u  d 2 x  a1  a2 l  a2 
l
b. Select element type and displacement functions
Sub (2) into (1)
d 2 x  d1x  x x   d1x   d1x 

u  d1x  x  1       N1 N2   
l  l l  d2 x  d2 x 
N1 and N 2 are the diplacement shape functions
x x
N1  1  N2 
l l
c. Derive strain and stress displacement relationships
du d  1 1
 x     N  d    B d     d (4)
dx dx  L L
  x   E  x   E B d (5)
2.2 formulate equations ‫لقيمة‬LL‫دينا‬/‫غل‬LL‫ش‬
a. Derive the element stiffness matrix and equations
using principle of Virtual Work (general derivation)
 U i   We
  dV  b dx
T
    dT f j   u T
 d T  BT E B dV d   dT f j   d T  N T b dx
 B T E B dV d  b dx
T
 f j  N
^ ^ ^ ^
k d  f j  fb
(fj = joint, fb= equivalent joint) loads
]dk 33
2.2 formulate equations
 1 
l 
l   1 1
K   B E B dV   
T
E  dA dx
0 
1   l l
 l 
AE  1 1
K 
l  1 1
for uniform axial load b:

 x  bl 
l l 1    2 
fb T
  N b dx    l
x  b dx   bl 
0 0   
 l   2 
b. Transfer equations from local to global axes (later)

c. Assemble element equations to obtain global equations and
introduce boundary conditions
AE  1  1  0   R1 x  7.5
d   
l 
1

1  2 x   7.5 

2.3 Solve equations: provide
details
a. Solve for the unknown DOF

AE
d 2 x  7.5  d 2 x  0.214  10  3 m
l
b. Solve for reactions
AE
 d 2 x  R1x  7.5  R1x  15 KN
l
c. Solve for element strains and stresses

1 1 d1x ( d 2 x  d1x )
 x  E x  E[ ][ ] E
l l d2 x l
210  106  0.214  10 3
  15  103 KN / m 2
3
3. Output
a. Verify compatibility: same as analytical

b. Verify equilibrium: reaction=3X5=15KN ok
c. Verify stress strain relationship:
-stress is constant unlike true solution which is linear
Ways of trial improvements?
a. Use more subdivisions

b. Use more terms, three node element (homework)
2
u  a1  a2 x  a3 x
c. Replace terms of homogenous with higher order terms

2
u  a1  a2 x
Check each idea from above, propose more ideas, carry out
conclusions!
General basic steps for FE
method
reminder
Input
Processing
1. Propose theory
3. Solve equations
Output
3. Verify stress-strain relationships
a. Use more subdivisions

b. Use more terms, three node element (homework)
2
u  a1  a2 x  a3 x
c. Replace terms of homogenous with other terms

u  a1  a2 x 2
2
u  a1 x  a2 x
u  a1  a2 sin( x / 2 L)
Check each idea from above, propose more ideas, carry out
conclusions!
a.Use more subdivisions
To compare with previous solution:
1. Input, no change
2. Processing:
1. Propose theory for solution
A. Select element type: no change, two elements
B. Displacement function: no change
C. Stress-strain/displacement relations: no change
2. Formulate equations:
A. Element stiffness and equivalent nodal loads: change L=3m
to L=1.5m
B. Local to global: no change
C. Assemble: next
c. Assemble the element equations and introduce boundary

conditions
 1 1 0  0   R1X  3.75
EA 
1 2 1  d 2 X  7.5 
1.5    
 0 1 1  d 3X   3.75 
2.3 Solve equations
EA  2 1 d 2 X   7.5 
1.5  1  
1 d 3X   3.75
   
d 2 X  1 1 1  7.5  0.16  10 3 
d   3 1 2 3.75   3 
m
 3 X  70  10     0.21 10 
R1 X  3.75  70  103  d 2 X   15 KN

2.3 Solve equations
6 3
E d 2 x 210 10  0.16 10
x1    22.5 103 KN / m 2
1.5 1.5
E d 3x  d 2 x 
x 2 
1.5
210 106  0.21  0.1610 3

  7.5 103 KN / m 2
1.5
3. Output

c. Verify stress strain relationship: more subdivision produces
more accuracy.
C. Replace some terms with higher order terms
To compare with original solution:

1. Input, no change
2. Processing:
1. Propose theory for solution
a. Discretize: No change
b. Element type and displacement functions
u  c1  c 2 x 2 d1 X  u(0)  c1
2 d 2 X  d1 X
d 2 X  u( l )  c1  c 2 l  c2 
l2
Processing:
2.1 Propose theory
 x2 x 2   d1 X   x2 x2 
u  1  2 2    N  1  2 2 
 l l  d 2 X   l l 
c. Stress-strain/displacement relations:
dN 2 x 2x
B [ 2 2
]
dx l l
2.2 Formulate equations:
a. Derive element stiffness and equivalent joint loads
l 4 EA l  x  4 EA  1  1
k  EA  B B dx  4     x
T
x  dx 
0 l 0  x 3 l  1 1
 x2 
l l 1  2  b l  2
T l
f b   N b dx    2  b dx   
0 0  x  3 1 
 l 2 
b. Transfer equations from local to global: no change

c. Assemble element equations and introduce boundary conditions
4 AE  1 1  0   R1x  10 
     
3l  1 1  d 2 x   5 
2.3 Solve equations
4EA bl bl2 5  32 3
d2X   d2X    0.107  10
3l 3 4 EA 4  5  10 4  210  10 6
4
R1 X  10   35  103   d 2 X   15 KN
3
2.3 Solve equations
2x 0  b l 2 bx
  E 2  1 1   
l 1 4 EA 2 A
3. Output
a. Verify compatibility: different than analytical

-stress is linear, however it is completely wrong in values and
slope
Sources of Error in the FEM
(cont.)
 Three sources: modeling (idealization: formulation and
system), discretization and solution (numerical) errors
1. Modeling errors result from

-Either the use of elements or systems that don't precisely describe
the behavior of the physical problem,
-Elements which are used to model physical problems for which
they are not suited are sometimes referred to as ill-conditioned or
mathematically unsuitable elements.
-Using 1D or 2D instead of 3D systems
Sources of Error in the FEM (cont.)
1. Modeling error
• Example: a FE with displacements varying in a linear manner will
produce no element modeling error if used for linearly varying
physical problem, but would create a significant error if used to
represent a quadratic or cubic varying displacement field.
2. Discretization error can be related to modeling the boundary
shape, the boundary conditions, etc.
Error due to poor error effectively eliminated

geometry representation.
3. Solution (numerical error) includes truncation errors and round

off errors. Numerical error is therefore a problem mainly
concerning the FEM buyers and developers.
 The user can also contribute to the numerical accuracy, for

example, by specifying a physical quantity, say Young’s
modulus, E, to an inadequate number of decimal places.
Conclusions
Discuss further ideas:

1. Continuous within and between elements (compatibility): Co
enforce displacement continuity across common boundaries
(example bar element). C1 enforce both displacement and its
first derivative continuous across common boundaries
(example beam element).
2. Complete for equilibrium
3. Rigid body motion for real
Also discuss acceptance criterion (verification)
SAP acceptance criterion (documentation\
verification\methodology)
Theory of plane
and space
trusses
Local versus global coordinates
Element axes are not all the same.
So there is a need for a coordinate transformation
Coordinate transformations
from local to global
• Transformation matrix from global to local T is:
^ ^
d T d
• Notice for an orthogonal matrix, the inverse transformation from
local to global is quite easy because:
^ 1 ^
T
T T
Coordinate transformations from local to
global
-The element stiffness matrix in local coordinates is:
 1 0  1 0
 0 0
^ EA  0 0
k
l 1 0 1 0
 
 0 0 0 0
-since truss member connects two nodes, the transformation:
-element equation in local coordinate:
^ ^ ^ ^
k d  f j  fb
-transform to global
-multiply both sides by T-1

Global stiffness matrix
 c2 cs c 2
 cs 
 2 2
E A  cs s  cs s 
k
l  c 2  cs c 2
cs 
 2 2

  cs s cs s 
n n
e
K  k e
F  f F Kd
e 1 e 1
Plane truss example
• Analyze the truss shown, given:
A  4  10 4 m 2 E  210 GPa
Plane truss example (continues)
Member connects nodes 1→j
E A 210  10 6  4  10 4
  28  10 3 KN / m
l 3
0
3 0
k1  28  10    90 
0 1
3 0.5 0.5
k 2  28  10    45
0.5 0.5
3 1 0
k 3  28  10     0
 0 0 
1.5 0.5
3
K  28  10  
0.5 1.5 
Plane truss example
(continues)
  10 
F 
  20 
 0.892  10 4 
d 3 
 0.446  10 
 0 1 0 0  0.892  10 4 
1  
 1 1  0 0 0   0.446  10 3 
 1  210  10 6  0 0 
 3 3  0 0 0 1  0 
  
 0 0  1 0  0 
1  E BT d
Plane truss example
(continues)
•
F1   1 A  12.5 KN
F2   2 A  10.6 KN
F3   3 A  2.5 KN
Stress equation for PT
  E BT d
 c s 0 0
 s c 0 0
 1 1 
  E  0 0  d
 l l  0 0 c s
 
 0 0  s c
E
   c  s c s  d
l
Space truss
• Better approximate reality

• Analogize torsion in RC structures
• Analogize arches and domes.
Space truss
• 3D trusses
 11 12 13  direction cos ines of x w .r .t . x , y , z

^ ^
T   21  22 
 23  direction cos ines of y w .r .t . x , y , z
^
31 32 33  direction cos ines of z w .r .t . x , y , z
 1 0 0  1 0 0
 
 0 0 0 0 0 0
 
^ EA 0 0 0 0 0 0
k  
l  1 0 0 1 0 0
 
 0 0 0 0 0 0
 
 0 0 0 0 0 0
Space truss
 cx cy cz 0 0 0 
  x 2  x1 x12
 21  22  23 0 0 0  cx  
  l l
31 32 33 0 0 0  y 2  y1 y
T   cy   12
 0 0 0 cx cy cz  l l
 
 0  21 22  23 
z 2  z1 z12
 0 0 cz  
  l l
 0 0 0 31 32 33 
2 2 2
l  x12  y12  z12
1  c 2x  c 2y  c z2
Space truss global stiffness
 c 2x cxc y c xcz  c 2x  cxc y  c xcz 

 
 c c c ycz  cxc y  c ycz 
 x y c 2y  c 2y 
 
 c xcz c ycz c z2  c xcz  c ycz  c z2 
EA 
k
l   c2  cxc y  c xcz c 2x cxc y c x c z 
 x
 
  cxc y  c 2y  c ycz cxc y c 2y c ycz 
 
 2 
  c x c z  c ycz  c z2 c xcz c ycz c z 
Example
Analyze the truss shown, given

ST example (solution)
Member connects nodes 1→j
member(1):1 to 2
l  (6) 2  32  0 2  6.7 m
c x   0.89 cz  0
 ( 0.89) 2
0 0.79 0
2 104  8.4 106    
k1     250  
6.7
 0 0   0 0 

ST example
(solution)
member(2): 1 to 3
l  (6) 2  32  62  9 m
c x   0.67 c z  0.67
 ( 0.67) 2
0.67 2   0.44 0.44 
5 104  8.4 106    
k2     467  
9
 0.67 2 2 
0.67   0.44 0.44 

ST example
(solution)
-member (3): 1 to 4
l  (6) 2  02  (4) 2  7.2 m
cx   0.833 cz   0.555
 ( 0.833) 2
0.833  0.555 0.69 0.46 
1104  8.4 106    
k3     117  
7.2
0.833  0.555 2 
(0.555)  0.46 0.3 

-combining equations
 484 152   d1x   0  d  1  241 152   0   0.073

 152 241   d    45   1x         m
   1z     d1z  93540 152 484   45  0.23 
 cx c y cz 0 0 0
 0 
 21 22 23 0 0
 1 1   31 32 33 0 0 0
 i  E BT d  E  0 0 0 0   d
 li li  0 0 0 cx c y cz 
0 0 0 21 22 23 
 
 0 0 0 31 32 33 
-equation of stress becomes
E
 i   cx c y  cz cx cy cz  d
li
 d1x 
0
 
E  d1z  E
i   cx c y cz cx cy cz     cx d1x  cz d1z 
li 0 li
0
 
0
E
i   cx d1x  cz d1z 
li
8.4 106
1   0.89 0.073  0   81.5 103 KN / m2
6.7
 F1  16.3 KN
8.4  106
2 
9
 0.67 0.073  0.67   0.23   98.2 10 3 KN / m 2
 F2  49.1 KN
8.4 106
3 
7.2
 0.833  0.073  0.555   0.23   220  103 KN / m 2
 F3  22 KN
Ways of reducing
DOF’s
1. Condensation
• Reducing any number of DOF’s up-to 1 DOF-equation.
• Example: solve
 8 5 3  d 1  16 
 5 2 1 d 2   1
  
 3 1 6 d 3  39
• First step: partition into number of DOF’s that are needed to be

removed, assume A, and those which are needed to remain, assume
B.
Condensation of matrices (continues)
 K AA K AB  d A  F A 
K     F 
 BA K BB  d B   B
K AA d A  K AB d B  F A  1
d A  K AA F A  K AB d B 
1
K BA K AA F A  K AB d B   K BB d B  FB
K BB
1
 K BA K AA  1
K AB d B  FB  K BA K AA FA
*
K BB d B  FB*
Example:
1   5 1
K BA K AA   
 3 8
 2 1  1   5 1   9 23
*
K BB  K BB  1
K BA K AA K AB        5 3   
 1 6  8  3 8  23 39 
 1  1  5 11 
FB*  FB  1
K BA K AA F A       16   
39 8  3  33
Example: (continue)
1   9 23 d 2  11  d 2  8  39  23 11  3

  d   33  d    880  23  9  33  5
8  23 39  3     3     
 1 3 
d1  1
K AA 16   5 3     2
( F A  K AB d B ) 
 8 5 
  
Hw: use matrix condensation to solve: (hint: divide 2X2)
1  3  3  3.75
 12 0 6 3   d 1   48 
*
K BB   3 4  FB*   
4    5. 25 
 0 4  3 1  d   11 
   2   
 6 3 6  3 d 3   36 3 1 
dA    dB   
    
 3 1  3 2 d
  4  20   2  6
2.Symmetry:
• We only need to deal with half the structure around each symmetric
plane. If two planes exist, we work with ¼.
• Example: analyze if
• E=20X103 MPa,
A  4  10 4 m 2
Symmetry (continues):
Notice: 2 planes of symmetry
-member 1 connects 1 to 5
l  2 2  2 2  3 2  4.12 m
2
cx  cy   0.485
4.12
3
cz   0.728
4.12
AE 2 4  10 4  20  10 6
k  cz  0.7282  1029 KN / m
l 4.12
 75
k d 5 z   75  d 5 z    0.0728 m
1029
Symmetry (continues)
Finding stresses
 0 
 0 
 
20  10 6  0 
1   0.485  0.485  0.728 0.485 0.485 0.728   
4.12  0 
 0 
 d1x   
d   0.0728
 1y 
 d 1z 
1 
E

l1
 c x  c y  cz c x c y cz  d

 5x 
d 5 y 
 
   25.7 104 KN / m 2  d 5 z 
1
F1   1 A   25.7  10 4  4  10 4   102.9 KN
Find reactions
 K jj K jk   d j  0   R 
K        K jk d k  R
 kj K kk   d k   f m 
Finite
element
for beams
Analysis of beam elements
-forces
-Analytical solution:
review mechanics of materials
dQ
F y  0 
dx
 fy
dM d 2M
M z  0 
dx
Q 
dx 2
 fy
-deformations
d d 2v
curv  kc  
dx dx 2
du   yd 
du d d 2v
x   y  y 2
dx dx dx
d 2v
 x  E x   yE 2   y Ekc
dx
h2 h2
F x 0  0   x dA   E kc  ydA  NA  centroidal
h 2 h 2
h2 3h2
bh
 M  0  M     x (bdy) y  Ebkc  y 2 dy  Ekc 12  E I kc
h 2 h 2
d 2M d 2  d 2v 
2
 fy  2 
EI 2   f y
dx dx  dx 
d 4v
if E I  cons tan t  EI 4  fy
dx
v  c1  c 2 x  c 3 x 2  c 4 x 3  v p
particular solution Homogeneous solut
Analysis of beam elements (cont.)
d 4v  po x 4
E I 4   po  E I vp 
dx 24
4
p x
v  c1  c2 x  c3 x 2  c4 x 3  o
24 EI
v (0)  0  c1 v (0)  0  c 2
po L2
v( L)  0 (sin ce M  0) 0  2 c3  6 c4 L 
2E I
2 3po L4
v( L)  0  0  c3 L  c4 L 
24 E I
(cont.)
(continued)
 c3  1  L3 6 L  12  po L2
c   4 L3  2   2
 4 L 2   L  24 E I
po  6 L3   po L4  3 L2 
  2
  
96 E I L 10 L  48 E I  5 L3 
 po L4  3 x 2 5 x3 2 x4 
v  2  3  4 
48 E I  L L L 
General basic steps for finite element
method
beam elements
Input
Processing
1. Propose theory
3. Solve equations
Output
Input
1. Problem: analysis of the beam in the previous example

2. Physics: shear and moment deformations
3. Mathematical model: material, geometry and loading:
Processing:
a. Select element type: beam, 1 element

b. Select displacement functions
(1) v= generic displacement
^3 ^ 2 ^
v ( x )  a1 x  a 2 x  a3 x  a 4
v ( 0)  d 1 y  a 4 dv
(0)  1  a 3
dx
v ( l )  d 2 y  a1 l 3  a 2 l 2  1 l  d1 y
dv
( l )   2  3 a1 l 2  2 a 2 l  1
dx
1
 a1   l
3
l2
d 2 y  d1 y  1l   1  2l  l 2  d 2 y  d1 y  1l 
a    2      4  2 
 2  1 
 2  3l 2l  2  1  l  3l l3   
 d1 y 
 
v  N d  N 1 N2 N3 N4 1 
d 2 y 
 

 2 
1  ^ 
3 ^ 2
3 1  ^ 3 ^ 2 
N1  3 2 x  3 x l  l N3  3  2 x  3 x l 
l  
 l  

3 ^ 2
1  ^  3 ^ 2
2
^
N2  3 x l  2 x l  x l 3 1  ^ 
2
N4  3 x l  x l
l  
 l  

Shape Functions
1.000
N1 N3
0.500
N2
L
0.000
0 N4
-0.500
d 2v d2
x   y 2
 Dv  D   y
dx dx 2
x  Bd
B  DN  
y
l 3
12 x  6l 6 xl  4l 2  12 x  6l 6 xl  2l 2 
 x  E x  EB d
a. Derive element stiffness using principle of Virtual Work
l
k   B T E B dV
0
 12 x  6l 
l  y 2  6 xl  4l 2 
 
k   3  E 
 12 x  6l 

 12 x  6l 6 xl  4l 2  12 x  6l 
6 xl  2l 2 dA dx
0 l 
 2 
 6 xl  2 l 
l
EI
 y dA I  k11  l 6 0 (12 x  6l ) dx
2 2
EI 1 12 E I
 6l   2  3
3
k11  6
12l 3 l
 12 6l 12 6l 
 4l 2 2l 2 
E I  6l 6l
k 3
l  12 6l 12 6l 
 2
 6l 2l 2 6l 4l 
• For a uniform downward load p0
 2 x 3  3x 2l  l 3    p0 l 2 
l l  3 2 2 3   p l 2 12 
 p0
f bi   N b dx  3  x l  2 x l  xl  dx   0 

T
0 l 0
 2 x 3  3 x 2l    p0 l 2 
   2 
 p0l 12 
3 2 2
 xlx l 
b. Transfer from local to global axes (No need)

c. Assemble the element equations to obtain the global
equations and introduce boundary conditions:
K d  fb  f j
Example:
analytical solution
 p0 L4  3 x 2 5 x3 2 x 4 
v  2  3  4 
48 EI  L L L 
dv  p0 L4  6 x 15 x 2 8 x3 
  2 3  4 
dx 48 EI  L L L 
dv  p0 L4  6 L 15L2 8 L3  p0 L3
( x  L)   2  3  4 
dx 48 EI  L L L  48 EI
d 2 v  p0 L4  6 30 x 24 x 2 
2
  2 3  4 
dx 48 EI  L L L 
d 2 v  p0 L4  6 30 x 24 x 2 
M  EI 2   2 3  4 
dx 48  L L L 
Example:
FE solution: structure one element
4 EI p0 L2 p0 L3
2   2 
L 12 48 EI
d 2v d 2N
M  EI 2  EI 2
d
dx dx
0
0 3
 EI  2   p0 L
M   3   X X X 6 xL  2 L 
L  0  48EI
 
1 
p0 L2  6 x 
M   2
48  L 
SIMILAR CONCLUSIONS AS BEFORE!
Example: FE solution: discretize to two elements
• Let l=L/2
 12 6l 12 6l 0 0   0   R1 y  p0l 2 
 6l 4l 2
 6l 2l 2 0 0   0   m1  p0l 2 12 
EI  12 6l 24 0 12 6l   d 2 y    p0l 2  p0l 2 
 2   2 
l 3  6l 2l 2 0 8l 2 6l 2l   2   p0l 12  p0l 2 12 
 0 0 12 6l 12 6l   0   R3 y  p0l 2 
    
 0 0 6l 2l 2 6l 4l 2   3   p0l 2 12 
 24 0 6l   d 2 y    p0l 
EI 
0 8l 2
2l 2   2    0 
l3 
 6l 2l 2 4l 2   3   p0l 2 12 
Example:
FE solution: discretize to two
elements
d2 y   32l 4   2 L4 
    p0  3 p0  3
 2  384 EI  16l   384 EI  2 L 
 3   64l 3   8 L3 
   
dv  p0 L4  3 15 1  p0 L3
( x  L / 2)     
dx 48 EI  L 4 L L  192 EI
p0 L4
v ( x  L / 2)  
192 EI
Example:
FE solution: discretize to two
elements
 0 
 0  2
d 2N  EI  2   p p L 9x
M 1  EI d   3   X X 12 x  6l 6 xl  2l   (  5)
0 0
dx 2
l   32l 4  384EI 48 l
 3
 16l 
 32l 4 
 3
 EI  2   16 l  p0 p0 L2 3x
M2  3  (12 x  6l ) 6 xl  4l 2 X 6 xl  2l   (  4)
l   0  384EI 48 l
 3 
 64l 
FE versus analytical
Finite Element
Analysis of
framed structures
Plane frames
principle of superposition
Al 2
r1 
IZ
 r1 0 0  r1 0 0 
 0 12 6l 0  12 6l 

^ EI z  0 6l 4l 2 0 2  ^
 6l 2l   k jj
^ 
k jk 
ki  3   ^ ^
l  r1 0 0 r1 0 0   
k kj k kk 
 0  12  6l 0 12  6l 
 2
 0 6l 2l 2 0  6l 4l 
Plane frames
equivalent joint loads
^
f bi
l
  N T b dx
0
N  Nj  Nk 
^ 
 N1 0 0  N 4 0 0 
b  b^ x 
Nj  Nk  
0 N2 
N3  0 N5 N 6  b 
 y
x 3
 x  x
2
  x 3
  x 
2
x 
N1  1  N 2  2    3   1 N 3     2  
 l  
l
l l  l   l
  l 
  x 3  x  2 
x  x
3
 x
2
N6        l
N4  N 5  2    3   l   l  
l l  l  
Plane frames
transformations
^   cx cy 0
T  T 0
^
^
 
0 T
T   c y cx 0
 
 0 0 1
T
^ k jj k jk 
k T k T   
k kj k kk 
 r1cx2  12 c y2  r1  12  cx c y 6 l cY 
EI z  
k jj  3  r1  12  cx c y 2
r c  12c
1 y
2
x 6l cx 
l
 6 l cY 6l cx 4l 2 

Plane frames
global stiffness
 r1cx2  12 c y2   r1  12  cx c y 6 l cY 
EI z  
kkj  3    r1  12  cx c y r1c y2  12cx2 6l cx 
l
 6 l cY 6l cx 2 l 2 

 r1cx2  12 c y2  r1  12  cx c y 6 l cY 
EI z  
kkk  3  r1  12  cx c y r1c y2  12cx2 6l cx 
l
 6 l cY 6l cx 4 l 2 

^ ^
T
d T d T
fb  T fb
Example 1
Given: E=18 GPa,

A= 0.05m2, I= .0003m4
Required: analyze frame
Solution:
Member 1: 2 → 1
Al 2 0.05  3 2
r1    1500
Iz 0.0003
EIZ 18  10 6  0.0003
  200
12 0 18  l 3
3 3

k1  200  0 1500 0  
18 0 36 
Example 1
(continues)
• Member 2: 3 to 2
Al 2 0.05  5 2
r1    4167
Iz 0.0003
cx  1 , c y  0
EIZ 18  10 6  0.0003
3
 3
 43.2
l 5
 4167 0 0 
k2  43.2  0 12 30 
 0 30 100 
Example 1
(continues)
182000 0 3600 
K   0 300500 1300 
 3600 1300 11500 
 N1 0 
 0 N 2 
 N 4 0 
l  0 
f b2
l 0
 
N3   0   f b 2 k    0 N 5   100 dx
  100 dx  
0 N 4 0  0
   0 N 6 
 0 N5 
 
 0 N 6 
 0    3.55  10 4 
 4 
 f b 2 k   250  d 2   7.54  10 
 208.3  0.018 
 
Example 1
(continues)
• Reactions:
Member 1: 2 → 1
 k jj k jk   d 2   f m 
k     
 kj kkk   0   R 
 12 0  18   3.55  10 4   64

  4 
R  k kj d 2  200  0  1500 0   7.54  10    226 

 18 0 18   0.018   64 
Example 1
(continues)
Member 2: 3 → 2
 ^ 
 k jj k jk   0   f b 2 j   R 
k     ^  
 kj kkk   d 2     fm 
 f b 2 k 
^
k jk d 2  f b 2 j  R
 0   4167 0 0   3.55  104   64 

 
R    250   43.2  0 12 30   7.54  104    274 
     
 208.3  0 30 50   0.018   248 
Example 2
• Example:- Repeat previous example neglecting axial
deformations
Member 1:
k1  4  3 2  200  7200
Member 2:
k 2  4  5 2  43.2  4320
100  52 208.3
fb   208.3  2   0.018
12 7200  4320
Finite Element Analysis of grid
structures
Dr. Abdul Razzaq Touqan
Department of Civil Engineering
Analysis of torsional elements
• Analytical solution: review mechanics of materials:
dT
M x 0
dx
t  0
Analysis of torsional elements (cont.)
analytical solution
but d
dGJ
dT dx d 2
  GJ 2
 t ( x)  0
dx dx dx
d 2 t ( x)
2

dx GJ
  c1  c2 x   p
Homogeneous solution particular solution
Analysis of torsional elements (cont.)
-analyze the following structure
d 2 t ( x) t x 2
2
  p 
dx GJ 2GJ
Analysis of torsional
elements (cont.)
t x2
  c1  c2 x 
2GJ
at x  0   0  c1  0
d
at x  l T  0  GJ 
dx
tl tl
0  c2   c2 
GJ GJ
2
tl tx
 x 
GJ 2GJ
General basic steps for finite element method
applied here for grid elements
Input
Processing
1. Propose theory
3. Solve equations
Output
Input
1. Problem to be solved: analysis of a shaft subjected to torsion

loads
2. Understand physics: shaft will be subjected to shear stresses
and torsional deformations
3. Mathematical model: define material, geometry and loading:
Processing:
1. propose theory for solution
a. Select element type: torsional element (2-node)
(1) φ= generic displacement
  a1  a2 x
• b. continues: express u(x) in terms of nodal displacements using

boundary conditions
^
  a1  a 2 x
^ ^
at x  0   1x  a1
^ ^
at x  L    2 x  a1  a2 L
^  x x
^
N1  1  N2 
  N 1 N 2   1x 
L
^
 2 x  L
 

d d
 max dx  R d    max R   r
dx dx
d
  Du   u  Dr
dx
1 1
B  DN r 
L L 
  Bd     EBd  E
  G  E  G
a.Derive the element stiffness matrix and equations using principle of

Virtual Work (general derivation)
  1
 
^ L   1 1
T L
k   B E B dV     G  2
 r dA dx

0  1  L L
L
^ GJ  1  1
k  
J = Polar L  of
moment 1 inertia1for
 torsional members
a.Derive the element stiffness matrix and equations
• For uniform torsion
L ^
fˆbi   N b dx
T
b  tx
0
 x  tl 
l 1 
l 2
l
ˆ
f bi   N b dx   
T
 t dx   
0 0 
x   tl 
 l   2 
b. Transfer equations from local to global axes (later)

c. Assemble the element equations to obtain the global
equations and introduce boundary conditions
GJ  1 1  0   R  tl / 2 
  
l  1 1  2 x   tl / 2 

2.3 Solve equations
GJ tl 2
 2 x  tl / 2  2 
l reactions
b. Solve for 2GJ
GJ
  2  R  tl / 2  R  tl
c. Solve forl resultant element strains and stresses
d dN
T  GJ  GJ d  tl / 2
dx dx
3. Output

b. Verify equilibrium: reaction=tL ok
-resultant torque is constant unlike true solution which is linear
Grid
principle of superposition
 r2 L2 0 0  r2 L2 0 0 
 
 0 4 L2  6 L 0 2L 2
6L 
GJ
^ E IY  0  6 L 12 0  6 L  12 r2 
ki  3   E IY
L  r2 L2 0 0 r2 L2 0 0 
 0 2 L2  6 L 0 4 L2 6 L 
 
 0 6 L  12 0 6L 12 
Grid
equivalent joint loads
L
T
f bi   N b dx
0
 N1 0 0
Nj  
0  N3 N 2 
 N4 0 0
Nk   
0  N6 N5 
Grid
transformations
• ^   cx cy 0
T  T 0^ 
^
T   c y cx 0
0 T 
   0 0 1
 k jj
T
^ k jk 
k T kT   
k kj k kk 
 r2 cx2  4 c y2  L2  2  cx c y
r  4 L2
6 L cY 
EI y  
k jj  3  r2  4  L2 cx c y
L 
 2 y x
r c 2
 4c 2
L2
6 Lc x 

 6 L cY 6 L cx 12 
 
Grid
global stiffness
   r2 cx2  2 c y2  L2   r2  2  L2 cx c y 6 L cY 
EI y  
kkj  3    r2  2  L2 cx c y
L 
 2 y x
 r c 2
 2 c 2
L2
6 Lcx 

 6 L cY 6 L cx 12 
 
EI y
 
 r2 c 2x  4 c 2y L2 r2  4  L2 c x c y  6 L cY 
k kk 
L 3


 2r  4  L2
cx cy r c2
2 y 
 4c 2x L2 6 Lc x 

  6 L cY 6L c x 12 

^ ^
d T d T
fb  T T fb
Example 1
Given:
G J  0.5 EI y
Required: analyze
grid
Solution:
GJ
r2   0. 5
EIy
Example 1
(continues)
Member 1: 1  2, cx  1, c y  0
r2 L2 0 0
EIy  
k kk  3  0 4 L2 6 L
L 
 0 6L 12 
Member 2: 2  3, cx  0, c y  1
4 L2 0 6 L
EIy  2 
k jj  3  0 r2 L 0
L 
 6L 0 12 
Example 1 (continues)
 N4 0   0 
 0  
 fb1 k   0  N 6       PL 8

 P
 0 N 5    P 2 
at x  L / 2
  x 3  x  2 
N 6        L
 L   L  
 
3 2
x  x
N 5  2    3  
 L  L
Example 1 (continues)
4.5 L2 0 6 L   2 x   0 
EIy   
3 
0 4.5 L2 6 L  2 y    PL 8
L 
 6L 6L 24   d 2 z    P 2 
 2 x  2
 0.055 
  PL  0.0277 
 2 y   E I  
Y
 d 2 z   0.0416 L
Discussion class
Space frames
Kjj
•
 r1 I z 0 0 0 0 0 
 
 0 12 I z 0 0 0 6 LI z 
E 0 0 12 I y 0 6 LI y 0 
K jj  3  
L  0 0 0 r2 L2 I y 0 0 
 0 0 6 LI y 0 4 L2 I y 0 
 2

 0 6 LI z 0 0 0 4L I z 
Kkj
•
  r1 I z 0 0 0 0 0

 0 12 I z 0 0 0 6 LI z
E 0 0 12 I y 0 6 LI y 0
K kj  3 
L  0 0 0  r2 L2 I y 0 0
 0 0 6 LI y 0 2 L2 I y 0

 0 6 LI z 0 0 0 2 L2 I z
Kkk
•
 r1 I z 0 0 0 0 0 
 
 0 12 I z 0 0 0 6 LI z 
E 0 0 12 I y 0 6 LI y 0 
K kk  3  
L  0 0 0 r2 L2 I y 0 0 
 0 0 6 LI y 0 4 L2 I y 0 
 2

 0 6 LI z 0 0 0 4L I z 
Equivalent joint loads
bT  { f x fy fz}
•
 N1 0 0   N4 0 0 
   
 0 N2 0   0 N5 0 
 0 0 N2   0 0 N5 
Nj   , Nk   
 0 0 0   0 0 0 
 0 0  N3   0 0  N6 
   
 0 N3 0   0 N6 0 
Transformation matrix
•
^ 
 T 0 0 0 
 ^   cx c y cz 
 0 T 0 0  ^
 
T  ^  , T   21 22 23 
0 0 T 0  33 
 31 32
 ^ 
0 0 0 T
 
Space-frame versus Shell
Dr. Abdul Razzaq Touqan
1D –Space-frame
•
2D -Shell
•
Methodology
1. Understand exact 1D
2. Perform analogical solutions between 1D and nD
models
3. Build up experience with 3D models
Example
• Cantilever beam 3m span, 0.2m width by 0.3m

depth made of concrete with weight density
2.5t/m and E=2.5X10 t/m2. Find end span
deflection and maximum stress at fixed end
using:
1. Exact solution
2. Finite element solution:
– 1D space frame model
– 2D shell model
– 3D solid model
Structural Modeling
Definition
•
Structural modeling assumptions
• Elements
– 1D
– 2D
– 3D
• Structures
– 1D structure with 1D elements
– 2D structure with 1D, 2D elements
– 3D structure with 1D, 2D, 3D elements
Loading assumptions
• Static
• Dynamic
1D, 2D or 3D modeling
1D: slab-beam-column
1D: slab-beam-column/
continued
2D: plane frame
3D: space frame with slabs/walls
Laws versus theories
• Structural Analysis laws

– constitutive (stress-strain) relationships
– equilibrium equations: essential
– compatibility equations: optional/present challenge
• Structural Analysis theories:
– Based on assumptions
– Assumptions based on available knowledge
– Available knowledge is constrained with available tools like
hand calculators and personal computers
– Computer programs are based on assumptions on which the
theoretical basis of the software was developed.
Structural analysis system
approach
Input
1.Goal
2.Given
3.Create a mathematical model
Processing
1.Propose a theory
2.Formulate equations
3.Solve the equations
Output
1.Verify Compatibility
2. Verify equilibrium.
3. Verify stress-strain relationships.
approach: input
Input
1.Goal: (ref: creation versus man made), provide:
support system (science)
functional system (facts)
2.Given: (ref: global versus local), understand physics of the
system, i.e. specify system requirements:
strength, stiffness and stability
function, freedom and form
3.Create a mathematical model: (ref: codes of practice), specify
structural system that provide:
satisfaction
fairness
approach: processing
Processing
1.Propose a theory: reduce assumptions deviating model from
reality\ref: 3D nonlinear dynamic probabilistic soil-soil GIS
interaction
2.Formulate equations: according to state of knowledge and
available tools \ref: analytical, anatomical, analogical
3.Solve the equations: analyze the structure\ ref: verify analysis
laws
approach: output
Output
1.Verify Compatibility
2. Verify equilibrium.
3. Verify stress-strain relationships.
example
• A single storey RC slab-beam factory structure shown next page

• Fixed foundations, 4 spans 5m bays in x and a single 8m span in
y, 6m elevation
• E=24GPa, μ=0.2, ρ=2.5t/m3
• Slab 25cm thickness, drop beams 30cmX80cm, columns
30X60cm
• superimposed loads=5kN/m2, live load=9kN/m2
• Due to cracking of elements, assume modifiers for gross inertia:
– Beam 0.35
– Column 0.7
– One way slab (0.35, 0.035)
Analogical: 1D analysis: slab
model
•
1D analysis: slab analysis
1D analysis: slab analysis
• Wd=(.25*24.5+5)=11.125KN/m
• Wl=9KN/m
• Wu=1.2*11.125+1.6*9=27.75KN/m
1D analysis: slab analysis, values
of bending moment KN.m
1D analysis: slab analysis, values
of reactions in KN
1D analysis: beam and column
analysis,
• Assume simply supported beam:
• Beam C, Mu=(129+1.2*0.3*.8*24.5)*82 /8=1079
• Beam B, Mu=(159+1.2*0.3*.8*24.5)*82 /8=1319
• Beam A, Mu=(54.5*2+1.2*0.3*.8*24.5)*82 /8=492
• Column reactions:
• Beam C, Ru =(129+0.3*.8*24.5)*8 /2=540
• Beam B, Ru=(159+0.3*.8*24.5)*8 /2=660
• Beam A, Ru =(54.5+0.3*.8*24.5)*8 /2=242
Gravity equilibrium checks
• D:
– Slab=20X8X(0.25X24.5+5)=1780KN
– Beams=(5X8+2X20)X.8X.3X24.5=470KN
– Columns=10X6X.3X.6X24.5=264.6KN
– Sum=2514.6KN
• L:
– R =20X8X9=1440KN
Gravity equilibrium checks
• SAP results:
Homework:
• Analyze and design a one story reinforced concrete structure

(entertainment hall) made of one way solid slab sitting on drop
beams supported on six square columns 50cm dimensions. The
superimposed loads are 300kg/m2, and the live load equal to
400kg/m2
– Analyze using analogical (local practice: slab-beam-column
load path)
– Analyze using anatomical finite element 3D model (more
actual representation)
– Compare analogical with anatomical
22/3/2015 200
22/3/2015 201

The Finite Element Method: Abdul Razzaq Touqan

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The Finite Element Method

Abdul Razzaq Touqan

•Problems are governed by differential or integral equations.

•These equations provide an exact, closed-form solution (analytical)

• Complexities in geometry, properties and in the boundary

•Complex regions are discretized (anatomized) into simple shapes

•The elements are either 1D, 2D or 3D.

• Properties and relationships are analogized over the elements in

• A set of linear/nonlinear equations are obtained by linking the

• Number of equations is large → requires digital computers

• Advances in computers and software has brought the FEM

1. Analytical: integral equation of infinitely small arcs

2. Analogical: approximate arc into straight lines and then perimeter

• The term finite element was first coined by Clough in 1960.

• The first book on the FEM by Zienkiewicz and Chung was

• 1970s marked advances in mathematical treatments

• Most FEM software originated in the 1970s and 1980s.

• FEM is one of the most important developments in

•In few decades, the method has evolved to cover many

• Handle complex restraints: indeterminate

• Handle complex loading: point, pressure,

• Handle nonhomogeneous material bodies : every

• Handle special material effects: temperature dependent properties,

• Handle complex analysis types: vibration, nonlinear..

• Model special geometric effects: large displacements and large

• Approximate the mathematical model (the source of so-called

• Need experience and judgment to construct a good finite element

• A computer and reliable FEM software are essential.

• Large amount of Input and output data to prepare and interpret.

• Susceptible to user-introduced modeling errors:

• Certain effects not automatically included:

The basic idea

• Complex structures idealized through mathematical models are

• Hence discretize (anatomize) into many individual finite

• Determine the relationship between load, displacement, stresses

• Assemble elements to satisfy equilibrium and compatibility

1. Problem: analysis of a bar subjected to axial loads

(1) u= generic displacement

d 2 x  d1x  x x   d1x   d1x 

N1 and N 2 are the diplacement shape functions

c. Derive strain and stress displacement relationships

for uniform axial load b:

b. Transfer equations from local to global axes (later)

a. Solve for the unknown DOF

c. Solve for element strains and stresses

a. Verify compatibility: same as analytical

a. Use more subdivisions

c. Replace terms of homogenous with higher order terms

a. Use more subdivisions

c. Replace terms of homogenous with other terms

c. Assemble the element equations and introduce boundary

a. Solve for the unknown DOF

R1 X  3.75  70  103  d 2 X   15 KN

c. Solve for element strains and stresses

210 106  0.21  0.1610 3

a. Verify compatibility: same as analytical

To compare with original solution: