Finite Element Analysis

FINITE
ELEMENT
ANLYSIS
( R 18 A 0327 )
4th Year B. Tech I- sem, Mechanical Engineering
www.mrcet.ac.in
COURSE OBJECTIVES
UNIT - 1
CO1: To enable the students to understand
fundamentals of finite element analysis and the
principles involved in the discretization of domain with
various elements, polynomial interpolation and
assembly of global arrays.
UNIT - 2
CO2: To learn the application of FEM equations for
trusses and Beams
UNIT - 3
axisymmetric problems and CST
UNIT - 4
CO4: To learn the application of FEM equations for Iso-
Parametric and heat transfer problems.
UNIT - 5
dynamic analysis
DEPARTMENT OF MECHANICAL ENGINEERING

UN IT 1
INTRODUCTION TO FEM & ONE-DIMENSIONAL
PROBLEMS
CO1: To enable the students to understand fundamentals of finite

element analysis and the principles involved in the discretization of
domain with various elements, polynomial interpolation and
assembly of global arrays.
www.mrcet.ac.in
UNIT – I (SYLLABUS)
Introduction to FEM:
• Introduction to Finite Element Method for solving field problems, Stress
and Equilibrium, Strain - Displacement relations, Stress - strain relations.
Linear Programming Problems:

• finite element modeling, local coordinates and shape functions. Potential
Energy approach, Assembly of Global stiffness matrix and load vector.
Finite element equations, Treatment of boundary conditions.
COURSE OUTLINE
UNIT – 1
LECTURE LECTURE TOPIC KEY ELEMENTS LEARNING OBJECTIVES
1. Introduction Definition Understanding of Concept of FEM

(B2)
2. Finite Element Method for Understanding of Concept of FEM

solving field problems (B2)
Apply FEM Method for different
fields (B3)
3. Applications Applications of FEM Understanding of Applications of

FEM (B3)
4. Stress and Equilibrium Strain Derivation Understanding the relation

- Displacement relations, between stress and strain(B2)
Stress - strain relations Apply relation between stress and
strain on 3D(B3)
5 finite element modeling, local Understanding the concept of
coordinates and shape shape functions(B2)
functions Evaluate the shape function for
2D(B5)
6 Potential Energy approach Understanding the concept of
Rayleigh Ritz method(B2)

COURSE OUTLINE
UNIT – 1
LECTURE LECTURE TOPIC KEY ELEMENTS LEARNING OBJECTIVES
6. Assembly of Global stiffness Derivation Understanding of Assembly of

matrix and load vector Global stiffness matrix and load
vector(B2)
Apply for a bar element (B3)
7. Finite element equations, Apply FEM Method for bar element

Treatment of boundary (B3)
conditions.
Understanding of Treatment of
boundary conditions. (B2)
valuate the results for bar(B5)

LEC TUR E 1
Introduction to FEM
www.mrcet.ac.in
TOPICS TO BE COVERED
LECTURE 1
• History of FEM Introduction FEM
• Method of Engineering analysis

• Numerical Method
• Applications of FEM

INTRODUCTION TO FEM
The finite element analysis is a numerical technique. In this method all the complexities
of the problems, like varying shape, boundary conditions and loads are maintained as they
are but the solutions obtained are approximate.
The fast improvements in computer hardware technology and slashing of cost of

computers have boosted this method, since the computer is the basic need for the
application of this method.
A number of popular brand of finite element analysis packages are now available
commercially Some of the popular packages are STAAD-PRO, GT-STRUDEL, NASTRAN,
NISA and ANSYS. Using these packages one can analyze several complex structures.

METHODS OF ENGINEERING ANALYSIS
There are three methods are adopted for analyzing the product
 Experimental methods
In these methods the actual products or their proto type models or atleast their
material specimen are tested by using some equipments
Ex: UTM, Rockwell hardness tester
 Analytical methods
 These methods are theoretically analyzing methods. Only simple and regular
shaped products like beams, shafts, plates can be analyzed by these methods
 Numerical methods
For the products of complicated sizes and shapes with complicated material
properties and boundary conditions getting solution using analytical methods is
highly difficult. In such situation the numerical method can be employed

NUMERICAL METHOD
There are three numerical methods
 Functional approximating methods

 Finite element method
 Finite difference method

APPLICATIONS

ADVANTAGES
Using FEM we are able to
 model irregular shaped bodies quite easily
handle general load conditions without difficulty
model bodies composed of several different materials because the element

equations are evaluated individually
handle unlimited numbers and kinds of boundary conditions
vary the size of the element to make it possible to use small elements
alter the finite element model easily and cheaply
include dynamic effects

DISADVANTAGES
 The finite element method is time consuming process
 FEM cannot produce exact results as those of analytical methods

LEC TUR E 2
Equations of Equilibrium for 3D Body
www.mrcet.ac.in
LECTURE 2
• Derivation Equations of Equilibrium for
3D Body
• Stress and strain relations
• Plane stress
• Plane strain

EQUATIONS OF EQUILIBRIUM FOR 3D BODY
Typical three dimensional element of size dx × dy × dz. Face abcd may

be called as negative face of x and the face efgh as the positive face of
x since the x value for face abcd is less than that for the face efgh.
Similarly the face aehd is negative face of y and bfgc is positive face of
y. Negative and positive faces of z are dhgc and aefb. The direct
stresses σ and shearing stresses τ acting on the negative faces are
shown in the Fig. with suitable subscript. It may be noted that the first
subscript of shearing stress is the plane and the second subscript is
the direction. Thus the τ xy means shearing stress on the plane where
x value is constant and y is the direction.

EQUATIONS OF EQUILIBRIUM FOR 3D BODY

EQUATIONS OF EQUILIBRIUM FOR
3D BODY

PLANE STRESS PROBLEM
The thin plates subject to forces in their plane only, fall under this
category of the problems. Fig. shows a typical plane stress problem. In
this, there is

PLANE STRESS PROBLEM

PLANE STRAIN PROBLEM
A long body subject to significant lateral forces but very little
longitudinal forces falls under this category of problems. Examples of
such problems are pipes, long strip footings, retaining walls, gravity
dams, tunnels, etc. In these problems, except for a small distance at the
ends, state of stress is represented by any small longitudinal strip. The
displacement in longitudinal direction (z-direction) is zero in typical
strip

PLANE STRAIN PROBLEM

LECTURE 3
• Rayleigh Ritz method

A generic problem in 1D
d 2 u x  0;
 0  x 1
2
dx
u  0 at x  0
u  1 at x  1
Approximate solution strategy:

Guess u(x)  a 0 o (x)  a11 (x)  a 2 2 (x)  ...
Where o(x),  1 (x),… are “known” functions and ao, a1, etc are
constants chosen such that the approximate solution
1. Satisfies the boundary conditions
2. Satisfies the differential equation
Too difficult to satisfy for general problems!!

Potential energy
The potential energy of an elastic body is defined as
  Strain energy (U)  potential energy of loading W 

Strain energy of a linear spring
F x
k
k
1 F
u k
u
F = Force in the spring
u = deflection of the spring
k = “stiffness” of the spring
Hooke’s Law
F = ku
Strain energy of a linear spring
dU
Differential strain energy of the spring for a
small change in displacement (du) of the
F spring
dU  Fdu
u u+du For a linear spring
dU  kudu
The total strain energy of the spring
1

u
U k u du  k u 2
0 2
Strain energy of a nonlinear spring
dU
dU  Fdu
F The total strain energy of the spring
u u+du
u
U 
0
F du  Area under the force  dispalceme nt curve
Potential energy of the loading (for a single spring as in the figure)
W  Fu
x
k
F
k
u
Potential energy of a linear spring
  Strain energy (U)  potential energy of loading W 

1 2
Π  ku  Fu
2
Principle of minimum potential energy for a system of springs
k1 k2 F
x
d1x d 2x d 3x
For this system of spring, first write down the total potential energy of the system
as:
  k 1 (d 2 x  k 2 (d 3x  d 2 x ) 2   Fd 3x
 1 1
 system ) 2
2 2 
Obtain the equilibrium equations by minimizing the potential energy
 system
 k1d 2 x  k 2 (d 3 x  d 2 x )  0 Equation (1)
d 2 x
 system
 k 2 (d 3 x  d 2 x )  F  0 Equation (2)
d 3 x
Principle of minimum potential energy for a system of springs
In matrix form, equations 1 and 2 look like
k1  k 2  k 2 d 2 x   0 
 k    
 2 k 2 d 3x   F 
Does this equation look familiar?
Also look at example problem worked out in class

Axially loaded elastic bar
y A(x) = cross section at x

b(x) = body force distribution (force per
unit length)
F E(x) = Young’s modulus
x u(x) = displacement of the bar at x
x
x=0 x=L
du
Axial strain ε
dx du
Axial stress   Eε  E
dx
1 1  du  2
Strain energy per unit volume of the bar dU  σε  E 
2 2  dx 
Strain energy of the bar
U   dU   σε dV  
1 L 1 since dV=Adx
2 σε Adx
Strain energy of the bar
2
L 1 1  du 
L
U 
0 2
σεA dx   EA   dx
2 0  dx 
Potential energy of the loading

L
W bu dx  Fu(x  L)
0
Potential energy of the axially loaded bar

2
1  du 
   EA   dx   bu dx  Fu(x  L)
L L
2 0  dx  0
Principle of Minimum Potential Energy
Among all admissible displacements that a body can have, the one that
minimizes the total potential energy of the body satisfies the strong formulation
Admissible displacements: these are any reasonable displacement that you

can think of that satisfy the displacement boundary conditions of the original
problem (and of course certain minimum continuity requirements). Example:
Any other “admissible”

displacement field w(x)
Exact solution for the displacement

field uexact(x)
0
Lets see what this means for an axially loaded elastic bar

unit length)
x
x
x=0 x=L
Potential energy of the axially loaded bar corresponding to the

exact solution uexact(x)
2
1  du exact  L
)   EA   dx  0 bu exact dx  Fu exact (x  L)
L
(u exact
2 0
 dx 
“admissible” displacement w(x)
2
1  dw 
(w)   EA   dx  0 bw dx  Fw(x  L)
L L
2 0
 dx 
Any other “admissible”
displacement field w(x)
Exact solution for the displacement

field uexact(x)
x
0 L
Example:
d 2u
AE 2  b  0; 0 xL
dx
u  0 at x  0
du
EA  F at x  L
dx
Assume EA=1; b=1; L=1; F=1

Analytical solution is
x2
uexact  2x 
2
Potential energy corresponding to this analytical solution
2
1  du exact  1 7
(uexact )    dx   u exact dx  u exact (x  1)  
1

2 0  dx  0 6
Now assume an admissible displacement
w x
Why is this an “admissible” displacement? This displacement is quite arbitrary.
But, it satisfies the given displacement boundary condition w(x=0)=0. Also,
its first derivate does not blow up.
Potential energy corresponding to this admissible displacement

2
1 1  dw 
(w)     dx  0 w dx  w(x  1)  1
1
2 0  dx 
Notice
7
since   1
6
(uexact )  (w)
Principle of Minimum Potential Energy
Among all admissible displacements that a body can have, the one that
minimizes the total potential energy of the body satisfies the strong formulation
Mathematical statement: If ‘uexact’ is the exact solution (which satisfies the

differential equation together with the boundary conditions), and ‘w’ is an admissible
displacement (that is quite arbitrary except for the fact that it satisfies the
displacement boundary conditions and its first derivative does not blow up),
then
(u exact )  (w)

unless w=uexact (i.e. the exact solution minimizes the potential energy)
he Principle of Minimum Potential Energy and the strong formulation are
exactly equivalent statements of the same problem.
The exact solution (uexact) that satisfies the strong form, renders the potential
energy of the system a minimum.
So, why use the Principle of Minimum Potential Energy?

The short answer is that it is much less demanding than the strong formulation.
The long answer is, it
1. requires only the first derivative to be finite
2.incorporates the force boundary condition automatically. The admissible
displacement (which is the function that you need to choose) needs to satisfy
only the displacement boundary condition
Finite element formulation, takes as its starting point, not the strong formulation,
but the Principle of Minimum Potential Energy.
Task is to find the function ‘w’ that minimizes the potential energy of the system
2
1 L  dw 
(w)   EA  dx   bw dx  Fw(x  L)
L

2 0  dx  0
From the Principle of Minimum Potential Energy, that function ‘w’ is the exact
solution.
Rayleigh-Ritz Principle
The minimization of the potential energy is difficult to perform exactly.

The Rayleigh-Ritz principle is an approximate way of doing this.
Step 1. Assume a solution
w(x)  a 0 o (x)  a11 (x)  a 2 2 (x)  ...
Where o(x),  1 (x),… are “admissible” functions and ao, a1, etc are
constants to be determined from the solution.
Step 2. Plug the approximate solution into the potential energy
2
1 L  dw 
(w)   EA  dx   bw dx  Fw(x  L)
L

2 0  dx  0
 d0 d1
2
1 L
  dx
 (a 0 , a 1 ,...)   EA  a 0  a1 ... 
2 0
 dx dx 
  b a 0 0  a11  ... dx
L
 F a 00 (x  L)  a11 (x  L)  ...

Step 3. Obtain the coefficients ao, a1, etc by setting
(w)
 0, i  0,1,2,...
ai
The approximate solution is
u(x)  a 0 o (x)  a11 (x)  a 2 2 (x)  ...

Where the coefficients have been obtained from step 3
Example of application of Rayleigh Ritz Principle
E=A=1
F x F=2
x=1
x=0 x=2
The potential energy of this bar (of length 2) is

2
1 2  du 
(u)     dx  Fu(x
––  1)
2–––– dx 
0
PotentialEnergy
StrainEnergy of load F applied
at x1
Let us assume a polynomial “admissible” displacement field
u  a
0 a x1  a 2 x 2
Note that this is NOT the analytical solution for this problem.
DEPA RTMENT OF MECH A N IC AL ENGI N EERIN G
Example of application of Rayleigh Ritz Principle
For this “admissible” displacement to satisfy the displacement boundary

conditions the following conditions must be satisfied:
u(x  0)  a0  0
u(x  2)  a0  2a1  4a2  0
Hence, we obtain
a0  0
a1  2a2
Hence, the “admissible” displacement simplifies to
u  a0  a1 x  a2 x 2

 a2  2x  x 2 
Now we apply Rayleigh Ritz principle, which says that if I plug this approximation
into the expression for the potential energy , I can obtain the unknown (in this
case a2) by minimizing 
2
1  du 
(u)     dx  Fu(x  1)
2
2 0  dx 
   a2  2x  x 2  dx  Fa2  2x  x 2 evaluated

2
1 d 2 
2 0  dx  at x1
4 2
 a2  2a2
3

0
a2
8
 a2  2  0
3
3
 a2  
D E P A R T M E N T O F M E4
CHANICAL ENGINEERING
Hence the approximate solution to this problem, using the Rayleigh-Ritz
principle is
u  a0  a1 x  a2 x 2
 
 a2  2x  x 2
   2x  x 
3 2
4
Notice that the exact answer to this problem (can you prove this?) is
 x for 0  x  1
u exact 
2  x for 1  x  2

The displacement solution :
Ex act solu tion

1
Approx imate
0.8
solut ion
0.6
0.4
0.2
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
x
How can you improve the approximation?

LECTURE 4
• Shape functions
• One dimensional
problems


unit length)
x
x
x=0 x=L
exact solution u(x)
2
1  du 
(u)   EA   dx   bu dx  Fu(x  L)
L L
2 0  dx  0
Potential energy of the bar corresponding to an admissible displacement w(x)
2
1  dw L L
(w)   EA   dx  0 bw dx  Fw(x  L)
2 0
 dx 
Finite element idea:
Step 1: Divide the truss into finite elements connected to each other through
special points (“nodes”)
1 2 3 4
El #1 El #2 El #3
Total potential energy=sum of potential energies of the elements
2
1  dw 
(w)   EA   dx  0 bw dx  Fw(x  L)
L L
2 0
 dx 

x1=0 x2 x3 x4=L
El #1 El #2 El #3
Total potential energy

2
1  dw 
2  dx  0 bw dx  Fw(x  L)
L L
(w)  EA 
0
 dx 
Potential energy of element 1:
2
1  dw 
2  dx  x bw dx
x2 x2
 1 (w)  EA 
x1
 dx  1

2
1 x3  dw 
 2 (w)   EA  dx   bw dx
x3

2 x2  dx  x2

x1=0 x2 x3 x4
El #1 El #2 El #3
2
 dw 
1
 3 (w)   EA   dx  x bw dx  Fw(x  L)
x4 x4
2 3  dx 
x 3
(w)   1 (w)   2 (w)   3 (w)

Step 2: Describe the behavior of each element
In the “direct stiffness” approach, we derived the stiffness matrix

of each element directly (See lecture on Springs/Trusses).
Now, we will first approximate the displacement inside each element and then
show you a systematic way of deriving the stiffness matrix (sections 2.2 and 3.1 of
Logan).
TASK 1: APPROXIMATE THE DISPLACEMENT WITHIN EACH ELEMENT

TASK 2: APPROXIMATE THE STRAIN and STRESS WITHIN EACH ELEMENT
TASK 3: DERIVE THE STIFFNESS MATRIX OF EACH ELEMENT (this class)
USING THE RAYLEIGH-RITZ PRINCIPLE

Summary
Inside an element, the three most important approximations in terms of the

nodal displacements (d) are:
Displacement approximation in terms of shape functions

(1)
w(x)  N d
Strain approximation in terms of strain-displacement matrix
(2)
ε(x)  B d
Stress approximation in terms of strain-displacement matrix and Young’s modulus
  EB d (3)

The shape functions for a 1D linear element
1 1
x2 - x x - x1
N 1 (x)  N 2 (x) 
x 2  x1 x 2  x1
x1 x2 x
El #1
Within the element, the displacement approximation is
x2 - x  x - x1
w(x)  d1x d 2x
x 2  x1 x 2  x1

For a linear element
 x 2 - x x - x1 d1x 
w(x)     
 x 2  x1 x 2  x1 d2x 
Strain approximation
dw d1x 
ε  1
1 1  
dx x 2  x1 d2x 
Stress approximation
d1x 
  Eε 
E
1 1  
x 2  x1 d 2x 

Why is the approximation “admissible”?
x1=0 x2 x3 x4=L
El #1 El #2 El #3
For the entire bar, the displacement approximation is
w(x)  w(1) (x)  w(2) (x)  w(3) (x)

Where w(i)(x) is the displacement approximation within element (i).
Let use set d1x=0. Then, can you seen that the above approximation does satisfy
the two conditions of being an admissible function on the entire bar, i.e.,
(1) w(x  0)  0
dw
(2) exists
dx
TASK 3: DERIVE THE STIFFNESS MATRIX OF EACH ELEMENT USING THE
RAYLEIGH-RITZ PRINCIPLE
1 x2
1 (w)     Adx   bw dx
x2
2 x1 x1
Lets plug in the approximation
w(x)  N d ε(x)  B d   EB d
1 T
1 (d)  d
2  x2
x1
B EB Adx d  d
T
 
T x2
x1
NT b dx 

Lets see what the matrix
x2

T
B EB Adx
x1
is for a 1D linear element
Recall that
B
1
1 1 
x 2  x1
Hence
1   1
B EB
T
1 E
1
 1 1 
x 2  x1   x 2  x 1
1  1 1
  1 1 
E E
  1 1 
x 2  x 1 2 1 x 2  x 1 2  
x1
x2
B EB Adx 
T  1 1 x2
2 
1
x2  x1  1 1 
 x1 AEdx  x1
x2
AEdx  1  1 1
2 
x2  x1   1 1


Now, if we assume E and A are constant
x1
x2
B EB Adx 
T
 x1
x2
AEdx2 1
x  x
1

 1 1 AE(x2  x1 )  1 1
2 
 1 1 


 2 1
x  x
2 
1 1 

AE  1 1

x2  x1  1 1 
Remembering that (x2-x1) is the length of the element, this is the stiffness matrix we
had derived directly before using the direct stiffness approach!!

Then why is it necessary to go through this complicated procedure??
1. Easy to handle nonuniform E and A
2. Easy to handle distributed loads
For nonuniform E and A, i.e. E(x) and A(x), the stiffness matrix of the linear element
will NOT be
EA  1 1
x2  x1  1 1 
But it will ALWAYS be
k   BTEB Adx
x2
x1

Now lets go back to
   

1 T  x2 T  T 
x2
1 (d)  d   B EB Adx  d  d   N b dx 
T
2  x1   x1

 k   fb

1
 d T kd  d T f b
2
Element stiffness matrix
k   BTEB Adx
x2
x1
Element nodal load vector due to distributed body force
x2
f b   N b dx
T
x1

Apply Rayleigh-Ritz principle for the 1D linear element
Π1 (d)
 0
d1x 
Π 1 (d)
  0
Π1 (d ) d
 0
d2x 
Recall from linear algebra (Lecture notes on Linear Algebra)
1 T
 1 (d)  d k d  d f b
T
2
 1 (d)
  kd  f b
d

Hence
Π 1 (d)
0
d
 kd  f b
Exactly the same equation that we had before, except that the stiffness
matrix and nodal force vectors are more general

Recap of the properties of the element stiffness matrix
k   BTEB Adx
x2
x1
1. The stiffness matrix is singular and is therefore non-invertible

2. The stiffness matrix is symmetric
3. Sum of any row (or column) of the stiffness matrix is zero!
k11
Why?

Sum of any row (or column) of the stiffness matrix is zero
Consider a rigid body motion of the element
1 ε0Bd
2
d Element strain
1
1
d1x=1 d2x=1 k d  
x1
x2

BT EB Adx d
  B E Bd Adx
x2 T
x1
0
 
0
k11 k12  1 0
kd    
k21 k22  1 0
 k11  k12  0 and k21  k22  0

The nodal load vector
x2
fb   N T b dx
x1
b(x)
1 2  N 1 (x) 
f b   N b dx 
x2 x2
x1 x1
  b dx
 N 2 (x) 
d1x d2x
 x2 N (x) b dx 
 f1x   x1 1 
    x2 
 f 2x  x N 2 (x) b dx 
 1 
x2
f 1x   N 1 (x) b dx
x1
x2 “Consistent” nodal loads
f 2x   N 2 (x) b dx
x1

b(x) /unit length 2
2 1 f2x
1 f1x
Replaced by
d1x d2x
d1x d2x
A distributed load is represented by two nodal loads in a consistent manner
e.g., if b=1
x 2  x1
f 1x   
x2 x2
N 1 (x) b dx  N 1 (x) dx 
x1 x1 2
x 2  x1
f 2x   
x2 x2
N 2 (x) b dx  N 2 (x) dx 
x1 x1 2
Divide the total force into two equal halves and lump them at the nodes
What happens if b(x)=x?

Summary: For each element
w(x)  N d
ε(x)  B d
  EB d
Element stiffness matrix
k   BTEB Adx
x2
x1
Element nodal load vector
x2
fb   N T b dx
x1

What happens for element #3?
2
1 x4  dw 
 3 (w)   EA  dx   bw dx  Fw(x  L)
x4

2 x3  dx  x3
For element 3
 x 4 - x x - x 3 d3x 
w(x)    
 x 4  x 3 x 4  x 3 d4x 
 w(x  L)  d 4x
The discretized form of the potential energy
1 T
 3 (d)  d
2
 x4
x3
B EB Adx d  d
T
 T x4
x3

NT b dx  Fd 4x

What happens for element #3?
Now apply Rayleigh-Ritz principle
Π 3 (d)
0
d
0 
 kd  f b   
F
Hence there is an extra load term on the right hand side due to the concentrated
force F applied to the right end of the bar.
NOTE that whenever you have a concentrated load at ANY node, that load
should be applied as an extra right hand side term.

Step3:Assembly exactly as you had done before, assemble the global stiffness
matrix and global load vector and solve the resulting set of equations by properly
taking into account the displacement boundary conditions

Problem:
6” E=30x106 psi
=0.2836 lb/in3
Thickness of plate, t=1”
12”
24”
P=100lb Model the plate as 2 finite elements and
3” (1) Write the expression for element stiffness matrix

and body force vectors
x (2) Assemble the global stiffness matrix and load
vector
(3) Solve for the unknown displacements
(4) Evaluate the stress in each element
(5) Evaluate the reaction in each support

Solution (1) Node-element connectivity chart
Finite element model

Element # Node 1 Node 2
1 1 1 2
El #1 12”
2 2 3
2
El #2 12” Stiffness matrix of El #1
P=100lb
 
3 E  1 1
k (1)   BTEB Adx 
12 12
x
A(x)dx 
1 1 
0 (12)2 0
 
 A(x)dx   t(6  0.125x)dx  t  (6  0.125x)dx  63 in3

12 12 12
0 0 0
E  1 1 61
1
k  63 1   13.12510  1 
(1)
1 1
2
(12)  

Stiffness matrix of El #2
6” 6 - 0.125x
k (2)
  B EB Adx 
24
12
T E
(12)2
 12
24
  1 1
A(x)dx 
1 1 
 x
12”
24 24 24
 A(x)dx   t(6  0.125x)dx  t  (6  0.125x)dx  45 in

3
12 12 12
4.5”
x
E  1 1  1 1
 k (2)  45   9.37510 
6

1 1  1 1 
2
(12)
Now compute the element load vector due to distributed body force (weight)
x2
f b   N b dx
T
x1

For element #1
12
  N b dx   NT  A  dx
(1) T 12
fb
0 0
   N A dx
12 T
0
 N1(1) (x)  1
 
12
 (1)  t(6  0.125x) dx
0
 N 2 (x)  N1(1) (x)
A( x)
12”
33
 0.2836   lb N 2(1) (x)
30 2
El #1
9.3588 12  x x
 N (x) 
(1)
 lb 1
12
 8.508 
x
N 2 (x) 
(1)
12
Superscript in parenthesis indicates
DEPA RTMENT OF MECH A N IC AL ENGI N EERIN G element number
For element #2
24
  N b dx   NT  A  dx
(2) T 24
fb
12 12
1
   N A dx
24 T El #1 12”
12 N 2(2) (x) 2
 N (x) 
(2)
 
24
  t(6  0.125x) dx El #2 12”
2
(2)
 N (x) 
12
3 A( x)
3
N 3(2) (x)
24  x
 0.2836   lb
21
24  x
6.8064 N (x) 
(2)
2
  lb 12
5.9556 x 12
N 3 (x) 
(2)
12

Solution (2) Assemble the system equations
 13.125 13.125 0 
K  106  13.125 22.5 9.375
 0 9.375 9.375 
f  fb  f
concentrated load
 9.3588 

f  508  6.8064lb
b 8. 
 5.9556 
 
0
f  100lb
concentrated load
 
0
 9.3588 

f  lb
115.3144
 5.9556 
 
Solution (3)
Hence we need to solve
 13.125 13.125 0  d1x  9.3588  R1 


106  13.125 22.5 9.375 d2x    115.3144 
 0 9.375 9.375  d3x   5.9556 
R1 is the reaction at node 1.

Notice that since the boundary condition at x=0 (d1x=0) has not been taken into
account, the system matrix is not invertible.
Incorporating the boundary condition d1x=0 we need to solve the following set of
equations
 22.5 9.375 d2x  115.3144

106      
9.375 9.375   3x  
d 5.9556 

Solve to obtain
d2x  0.92396105 
d    5 
in
 3x  0.9874910 
Solution (4) Stress in elements
Notice that since we are using linear elements, the stress within each element
is constant.
In element #1
 (1)  EB(1) d (1)

d1x 
1 1 
E

x2  x1 d2x 
30106
 d2x d1x  0
12
 23.099 psi
In element #2
 (2)  EB(2) d (2)

d2x 
1 1d 
E

x3  x2  3x 
30106

12
d3x -d2x 
 1.5882 psi

Solution (5) Reaction at support
Go back to the first line of the global equilibrium equations…
 13.125 13.125 0  d1x  9.3588  R1 


106  13.125 22.5 9.375 d2x    115.3144 
 0 9.375 9.375  d3x   5.9556 
 R1  130.6288 lb (The –ve sign indicates that the force is in the –ve x-
direction)
R1
Check 6”
The reaction at the wall from force
equilibrium in the x-direction
12”
R1  P    A(x) dx
24
24”
x0
 100  t  (6  0.125x) dx
24
P=100lb x0
3”  130.6288 lb
x
Problem: Can you solve for the displacement and stresses analytically?
Check out
 4.727109 x2  9.487 107 x for 0  x  12

uanal  6
4.727 109 x2  2.0797 107 x  8.8910 for 12  x  24
Stress
duanal du
 (x)anal  E  30106 anal
dx dx

Comparison of displacement solutions
-4
x 10
1.2
Analytical solution
1
0.8
Displacement (in)
0.6
Finite element solution
0.4
0.2
0
0 5 10 15 20
x (in)

Notice:
1. Slope discontinuity at x=12 (why?)
2. The finite element solution does not produce the exact solution even
at the nodes
3. We may improve the solution by
(1) Increasing the number of elements
(2) Using higher order elements (e.g., quadratic instead of linear)

Comparison of stress solutions
30
25
20
Stress (psi)
15
Finite element solution
Analytical solutions
10
-5
0 5 10 15 20
x (in)
The analytical as well as the finite element stresses are discontinuous across
the elements

unit length)
x
x
x=0 x=L

exact solution u(x)
2
1  du 
(u)   EA   dx   bu dx  Fu(x  L)
L L
2 0  dx  0

Finite element formulation, takes as its starting point, not the strong formulation,
but the Principle of Minimum Potential Energy.
Task is to find the function ‘w’ that minimizes the potential energy of the system
2
1  dw 
(w)   EA   dx  0 bw dx  Fw(x  L)
L L
2 0
 dx 
From the Principle of Minimum Potential Energy, that function ‘w’ is the exact
solution.
Step 1. Assume a solution
w(x)  a 0 o (x)  a11 (x)  a 2 2 (x)  ...
Where o(x),  1 (x),… are “admissible” functions and ao, a1, etc are
constants to be determined.
Step 2. Plug the approximate solution into the potential energy
2
1  dw 
2  dx  0 bw dx  Fw(x  L)
L L
(w)  EA 
0
 dx 
Step 3. Obtain the coefficients ao, a1, etc by setting
(w)
 0, i  0,1,2,...
ai
The approximate solution is
u(x)  a 0 o (x)  a11 (x)  a 2 2 (x)  ...

Where the coefficients have been obtained from step 3
Need to find a systematic way of choosing the approximation functions.
One idea: Choose polynomials!
w(x)  a0 Is this good? (Is ‘1’ an “admissible” function?)
w(x)  a1 x Is this good? (Is ‘x’ an “admissible” function?)

Finite element idea:
Step 1: Divide the truss into finite elements connected to each other through
special points (“nodes”)
1 2 3 4
El #1 El #2 El #3
2
1 L  dw 
(w)   EA  dx   bw dx  Fw(x  L)
L

2 0  dx  0

x1=0 x2 x3 x4=L
El #1 El #2 El #3
Total potential energy

2
1  dw 
2  dx  0 bw dx  Fw(x  L)
L L
(w)  EA 
0
 dx 
2
1  dw 
2  dx  x bw dx
x2 x2
 1 (w)  EA 
x1
 dx  1

2
1 x3  dw 
 2 (w)   EA  dx   bw dx
x3

2 x2  dx  x2

x1=0 x2 x3 x4
El #1 El #2 El #3
2
 dw 
1
 3 (w)   EA   dx  x bw dx  Fw(x  L)
x4 x4
2 3  dx 
x 3
(w)   1 (w)   2 (w)   3 (w)

Step 2: Describe the behavior of each element
Recall that in the “direct stiffness” approach for a bar element, we derived the
stiffness matrix of each element directly (See lecture on Trusses) using the
following steps:
TASK 1: Approximate the displacement within each bar as a straight line

TASK 2: Approximate the strains and stresses and realize that a bar (with the
approximation stated in Task 1) is exactly like a spring with k=EA/L
TASK 3: Use the principle of force equilibrium to generate the stiffness matrix

Now, we will show you a systematic way of deriving the stiffness matrix (sections
2.2 and 3.1 of Logan).

TASK 2: APPROXIMATE THE STRAIN and STRESS WITHIN EACH ELEMENT
TASK 3: DERIVE THE STIFFNESS MATRIX OF EACH ELEMENT (next class)
USING THE PRINCIPLE OF MIN. POT ENERGY
Notice that the first two tasks are similar in the two methods. The only difference is
that now we are going to use the principle of minimum potential energy, rather than
force equilibrium, to derive the stiffness matrix.

Simplest assumption: displacement varying linearly inside each bar
w(x)  a 0  a 1x d 2x
d1x x El #1
x1 x2
How to obtain a0 and a1?
w(x 1 )  a 0  a 1x1  d1x

w(x 2 )  a 0  a 1x 2  d 2x

w(x 1 )  a 0  a 1 x1  d1x
w(x 2 )  a 0  a 1x 2  d 2x
Solve simultaneously
x2 x1
a0  d 1x  d 2x
x 2  x1 x 2  x1
1 1
a1   d 1x  d 2x
x 2  x1 x 2  x1
Hence
x2 - x x - x1
w(x)  a 0  a1x  d1x  d 2x  N1 (x)d 1x  N 2 (x)d 2x
x2 1 x x2 1 x
N1 (x) N 2 (x)
“Shape functions” N1(x) and N2(x)

In matrix notation, we write
w(x)  N d (1)
Vector of nodal shape functions
 x 2 - x x - x1 
N  N1 (x) N 2 (x)   
x
 2  x 1 x 2  x 1 
Vector of nodal displacements
d 1x 
d 
d 2x 

NOTES: PROPERTIES OF THE SHAPE FUNCTIONS
1. Kronecker delta property: The shape function at any node has a value of 1
at that node and a value of zero at ALL other nodes.
1 1
x2 - x x - x1
N 1 (x)  N 2 (x) 
x 2  x1 x 2  x1
x1 x2 x
El #1
Check
x2 - x
N1 (x) 
x 2  x1
x 2 - x1
 N1 (x  x1 )  1
x 2  x1
x2 - x2
and N1 (x  x 2 )  0
A L2 E
D E P A R T M E N T O F M E C H A N I Cx N GxI 1
NEERING
2. Compatibility: The displacement approximation is continuous across
element boundaries
x3 - x x - x2
w (2) (x)  d 2x  d 3x
x2 - x x - x1 x3  x2 x3  x2
w(1) (x)  d 1x  d 2x
x 2  x1 x 2  x1
x1 x2
El #1 El #2 x3 x
At x=x2
x2 - x2 x 2 - x1
w (x  x 2 ) 
(1)
d1x  d 2x  d 2x
x 2  x1 x 2  x1
x3 - x 2 x2 - x2
w (x  x 2 ) 
(2)
d 2x  d3x  d2x
x3  x 2 x3  x 2
Hence the displacement approximation is continuous across elements

3. Completeness
N1 (x)  N 2 (x)  1 for all x

N1 (x)x 1  N 2 (x)x 2  x for all x
x2 - x
Use the expressions N1 (x)  ;
x 2  x1
x - x1
N 2 (x) 
x 2  x1
And check
x2 - x x - x1
N1 (x)  N 2 (x)   1
x 2  x1 x 2  x 1
x2 - x  x - x1
and N1 (x) x1  N 2 (x) x 2  x1 x2  x
x 2  x1 x 2  x1
Rigid body mode
N1(x)  N2 (x)  1 for all x
What do we mean by “rigid body modes”?
Assume that d1x=d2x=1, this means that the element should translate in
the positive x direction by 1. Hence ANY point (x) on the bar should
have unit displacement. Let us see whether the displacement
approximation allows this.
w(x)  N1 (x)d 1x  N 2 (x)d 2x  N1 (x)  N 2 (x)  1
YES!

Constant strain states
N1(x)x1  N2 (x)x2  x at all x
What do we mean by “constant strain states”?
Assume that d1x=x1 and d2x=x2. The strain at ANY point (x) within the
bar is
d 2x  d1x  x 2  x1  1
 (x) 
x 2  x1 x 2  x1
Let us see whether the displacement approximation allows this.
w(x)  N1 (x)d 1x  N 2 (x)d 2x  N1 (x)x 1  N 2 (x)x 2  x

dw(x)
Hence,  (x)  1 YES!
dx
Completeness = Rigid body modes + Constant Strain states
Compatibility + Completeness  Convergence

Ensure that the solution gets better as more elements are introduced
and, in the limit, approaches the exact answer.

4. How to write the expressions for the shape functions easily (without
having to derive them each time):
Start with the Kronecker delta property (the shape function at any node has
value of 1 at that node and a value of zero at all other nodes)
1 1
x2 - x x - x1
N1 (x)  N 2 (x) 
x 2  x1 x 2  x1
x1 x2 x
El #1
Node at which N1 is 0
N1 (x) 
x2 - x Notice that the length of the element = x 2-x 1
x 2 - x1 
The denominator is
x - x   x - x1 
N 2 (x)  1 the numerator evaluated at
x1 - x 2  x 2 - x1  the node itself

A slightly fancier assumption:
displacement varying quadratically inside each bar
N1 (x) N 2 (x) N 3 (x)
x1 x2
x3 x
El #1
N1 (x) 
x 2 - x x 3 - x 
x 2 - x1 x 3 - x1  w(x)  N1 (x)d1x  N 2 (x)d 2x  N 3 (x)d 3x
N 2 (x) 
x1 - x x 3 - x 
x1 - x 2 x 3 - x 2  This is a quadratic finite element in 1D and it
N 3 (x) 
x1 - x x 2 - x  has three nodes and three associated shape
functions per element.
x1 - x 3 x 2 - x 3 
TASK 2: APPROXIMATE THE STRAIN and STRESS WITHIN EACH
ELEMENT
From equation (1), the displacement within each element
w(x)  N d
dw
Recall that the strain in the bar ε
dx
Hence
ε    d  B d
dN (2)
 dx 
The matrix B is known as the “strain-displacement matrix”
B   
dN
 dx 

For a linear finite element
 x 2 - x x - x1 
N  N 1 (x) N 2 (x)   
x
 2  x 1 x 2  x 1 
Hence
 -1 
B 
1
 
1
 1 1
x 2  x1 x 2  x1  x 2  x1
 -1 1 d1x 
εBd   
 x 2  x 1 x 2  x 1 d 2x 
d 2x - d 1x

x 2  x1
Hence, strain is a constant within each element (only for a linear element)!

Displacement is linear
w(x)  a 0  a 1x
d 2x
d1x x El #1
x1 x2
Strain is constant
d 2x - d1x
ε
x 2  x1
x El #1
x1 x2

Recall that the stress in the bar   Eε  E du
dx
Hence, inside the element, the approximate stress is
  EB d (3)
For a linear element the stress is also constant inside each element. This has the
implication that the stress (and strain) is discontinuous across element
boundaries in general.

Summary
Inside an element, the three most important approximations in terms of the

nodal displacements (d) are:

(1)
u(x)  N d
(2)
ε(x)  B d
Stress approximation in terms of strain-displacement matrix and Young’s modulus
  EB d (3)

Summary
For a linear element
 x2 - x x - x 1 d1x 
u(x)    
 x 2  x 1 x 2  x 1  d 2x 
Strain approximation
d 1x 
ε
1
1 1  
x 2  x1  d 2x 
d 1x 

E
1 1  
x 2  x1  d 2x 

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FINITE

DEPARTMENT OF MECHANICAL ENGINEERING

CO1: To enable the students to understand fundamentals of finite

Linear Programming Problems:

1. Introduction Definition Understanding of Concept of FEM

2. Finite Element Method for Understanding of Concept of FEM

3. Applications Applications of FEM Understanding of Applications of

4. Stress and Equilibrium Strain Derivation Understanding the relation

DEPARTMENT OF MECHANICAL ENGINEERING

6. Assembly of Global stiffness Derivation Understanding of Assembly of

Apply for a bar element (B3)

7. Finite element equations, Apply FEM Method for bar element

valuate the results for bar(B5)

DEPARTMENT OF MECHANICAL ENGINEERING

• Method of Engineering analysis

DEPARTMENT OF MECHANICAL ENGINEERING

The fast improvements in computer hardware technology and slashing of cost of

DEPARTMENT OF MECHANICAL ENGINEERING

DEPARTMENT OF MECHANICAL ENGINEERING

There are three numerical methods

 Functional approximating methods

DEPARTMENT OF MECHANICAL ENGINEERING

DEPARTMENT OF MECHANICAL ENGINEERING

Using FEM we are able to

 model irregular shaped bodies quite easily

handle general load conditions without difficulty

model bodies composed of several different materials because the element

handle unlimited numbers and kinds of boundary conditions

alter the finite element model easily and cheaply

include dynamic effects

DEPARTMENT OF MECHANICAL ENGINEERING

 The finite element method is time consuming process

 FEM cannot produce exact results as those of analytical methods

DEPARTMENT OF MECHANICAL ENGINEERING

DEPARTMENT OF MECHANICAL ENGINEERING

Typical three dimensional element of size dx × dy × dz. Face abcd may

DEPARTMENT OF MECHANICAL ENGINEERING

DEPARTMENT OF MECHANICAL ENGINEERING

DEPARTMENT OF MECHANICAL ENGINEERING

DEPARTMENT OF MECHANICAL ENGINEERING

DEPARTMENT OF MECHANICAL ENGINEERING

DEPARTMENT OF MECHANICAL ENGINEERING

DEPARTMENT OF MECHANICAL ENGINEERING

DEPARTMENT OF MECHANICAL ENGINEERING

Approximate solution strategy:

Too difficult to satisfy for general problems!!

The potential energy of an elastic body is defined as

  Strain energy (U)  potential energy of loading W 

DEPARTMENT OF MECHANICAL ENGINEERING

Potential energy of a linear spring

  Strain energy (U)  potential energy of loading W 

In matrix form, equations 1 and 2 look like

Does this equation look familiar?

Also look at example problem worked out in class

y A(x) = cross section at x

Strain energy of the bar

Potential energy of the loading

Potential energy of the axially loaded bar

Admissible displacements: these are any reasonable displacement that you

Any other “admissible”