Finite Element Analysis for Mechanical and Aerospace Design

Prof. Nicholas Zabaras Materials Process Design and Control Laboratory Sibley School of Mechanical and Aerospace Engineering 101 Rhodes Hall Cornell University Ithaca, NY 14853-3801 zabaras@cornell.edu http://mpdc.mae.cornell.edu
MAE 4700 FE Analysis for Mechanical & Aerospace Design N. Zabaras (9/18/2012) 1

Development of discrete equations

Consider the elastic bar problem with arbitrary BCs.

dw dx

EA

du dx wT At | t wT bdx = 0, w( x) in 0 < x < L, with w U 0 dx This is a scalar This is a scalar

This is a scalar

Note that we added the transpost ()T on w terms for allowing us to do easy matrix operations at a later time. At this time, this has no effects as w is a scalar! Having selected the FE mesh and introducing smooth approximation functions over each element, we can write: T
dwe e e du e eT e eT e E A dx w A t w b dx = 0, w U 0 | t dx e e dx e e e

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Development of discrete equations

dwe e e du e eT e eT e dx w A t | t w b dx = 0, wF U 0 E A dx e e dx e scalar e e scalar
scalar scalar T

We use the same approximations for

scalar

we

and

ue

u = N {u } ,
e e e row vector column vector

du e e e e e = = B u B d { } { } dx
scalar row vector e T row vector Nodal DOF

T T dw e T e e T = , we = weT = {we } N w B { } dx Scalars

Substitution into the weak form gives:

{w }
e e

T T e T e e e e e e e e + B A E B dx d N b dx N A t | t { } e e e Element load Concentrated Element stiffness Element Load Distributed

= 0, {wF }

MAE 4700 FE Analysis for Mechanical & Aerospace Design N. Zabaras (9/18/2012) 3

Development of discrete equations

{w }
e e
T T T e e T e e e e e e e B A E B dx d N b dx N A t | [ ] { } t = 0, {wF } e e e

K =
e
e

{f }= N
Column vector e

e e e B A E B e dx e T
e e + b dx ( N A t ) |t e e
e f T T

{w } = L {w} The element and global matrices are related: d = L d { } { }

{ }
e e e e

{f }
e

The global stiffness and load now take the form:

T e T e e e T e {w} L K L {d } L { f } = 0, {wF } e e K F { } [ ]

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Partitioning of the global solution As we did in earlier lectures, we partition the solution and weight function to account for essential boundary conditions:
d E wE 0 d = , w = = wF wF d F

So in our discretized weak form the statement for every w U needs to be translated to for every {wF } .
0

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Development of discrete equations

T e T e e e T e L K L {d } L { f } = 0, {wF } {w} e e {F } [K ]
r

Using the partition w and similar partition for the residual r, the above equation leads to:

[ wE

wF ]

rE T T = w r + w { E } { E } { F } {rF } = 0, {wF } rF

Since {wE } = 0 , this leads to: {rF } = 0, and we can summarize:

K E K EF d E f E + rE rE K E K EF d E f E = {r} = = T K T f K d F F F EF 0 K EF K F d F f F
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Discrete finite element equations

K E K EF d E f E + rE T = f K EF K F d F F

The unknown displacements can be computed from:

[ K F ]{d F } = { f F } K EF
And the reaction forces from:

{d }
E

[ rE ] = [ K E ]{d E } + [ K EF ]{d F } { f E }
{d } The displacement field in each element is: u ( x) = N ( x) e e e e {d } d = L B ( x ) d , and the stresses e ( x) = E e ( x) where: { } { }
e e e

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Element stiffness matrix

e x2 x N = xe xe 2 1 e

x x1e 1 e = e e x2 x x1e x2 L

x x1e

dN e 1 = = B dx x e x e 2 1
e

1 1 = e [ 1 1] e e x2 x1 L

The element stiffness is computed as:

K =
e

e T

AE B dx = e x1
e e e

e x2

1 Le

1 e e 1 Ae E e 1 A E Le [ 1 1] dx = Le 2

e x2 1 1 [ 1 1] x1e dx

Ae E e K = Le
e

1 1 1 1

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Element load matrix

e x2 x N = xe xe 2 1 e

x x1e 1 e = e e x2 x x1e x2 L

x x1e

dN e 1 B = = dx x e x e 2 1
e

1 1 = e [ 1 1] e x2 x1e L

e The force term f is:

Note we use the FE interpolant of the given force!

{f } =
e

e x2 e x1

e T

dx =

Scalar

e x2 e x1

T N e N e b1 dx b2

{}

{f } = L
e

1
e2

e x2 e x1

e e e ( x2 x ) 2 ( x2 x )( x x1 ) ( x e x )( x x e ) ( x x e ) 2 1 1 2

b1 dx b2
e

{ }
f
e

L 6

2 1 b1 1 2 b 2

For equally distributed load b1 = b2 , f

e

{ }

Leb = 2

1 1

The total load (L b ) is equally distributed at the 2 nodes (as expected!)

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Example problem: Heat conduction

For the heat conduction problem shown, we will compute the temperature and heat flux distribution using 2 linear finite elements.

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Example problem: Heat conduction

The element stiffness matrix and load vectors for heat conduction are given as:
e K = e e e e B A k B e dx T T T

e e e N bdx ( N A q ) |q { f } = e e

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Element 1

x1 2 x N = x1 x1 2 1
1

1 1 = [ 1 1] 1 1 x2 x1 2 1 2 2 1 1 0.1 0.1 1 1 1 1 T 1 1 1 K = 2 B A k B dx = 0 2 1 0.2 2 [ 1 1] dx = 0.1 0.1 2

x 2
1

1 2 x x x1 = 1 x1 x 2 2 1

dN 1 1 = = B dx x1 x1 2 1

1 L q 1 5 1 1 1 1 1 { f } = e N bdx ( N A q) |q = 2 1 = 5 2
T T

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Element 2

x1 2 x N = x1 x1 2 1
2

1 4 x x x1 = 1 x1 x 2 2 1

x 2 2

dN 2 1 = = B dx x 2 x 2 2 1
2

1 1 = [ 1 1] 2 2 x2 x1 2
2 3

2 K =

2 1 1 0.1 0.1 2 1 2 T 2 2 2 0.2 2 [ 1 1] dx = 0.1 0.1 3 2 B A k B dx = 0 2 1

4 x T T 5 0 5 2 L2 q 1 2 2 2 2 2 i f N bdx ( N A q ) | 0.1 5 = = = = { } 2 q 2 1 x 2 5 0.5 4.5 3 2 x=4

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Assembly

1 e T K e Le = 0 K L = [ ] e 0 0 0 0.1 + 1 0 0.1 0 1

0 0.1 0.1 1 0 0 1 0.1 0.1 0 1 0 0 0.1 0 1 0 0.1 0 0 1

1

0.1 0.0 0.1 0.1 0.1 0.1 + 0.1 0.1 = 0.1 [K ] = 0.1 0.1 0.0 0.0

0.1 0.2 0.1

0.0 0.1 0.1

1 2 3

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Assembly

1 0 0 0 e T e 0 1 5 + 1 0 5 F L f = = { } { } 5 4.5 e 0 0 0 1 5 1 10 2 {F } == 4.5 3

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Assembly

0.1 0.1 0.0 0.2 0.1

0.1 0.2 0.1

0.0 T1 = 0 5 + r1 0.1 T2 = 10 0.1 T3 4.5

0.1 T2 10 T2 145 = = 0.1 T3 4.5 T3 190 T2 0.0] = [5 + r1 ] r1 = 19.5 T3

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[ 0.1

Postprocessing: Temperature

2 x N1 L1 {d 1} = T1 = 2

0 x 1 0 0 145 = 72.5 x 2 0 1 0 190

4 x 2 2 T2 = N L d = { } 2

0 x 2 0 1 0 145 = 100 + 22.5 x 2 0 0 1 190

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Postprocessing

0 1 0 0 1 dT 1 145 = 72.5 = = [ 1 1] B1 L1 d1 2 dx 0 1 0 190

0 0 1 0 dT 1 B2 L2 d 2 } = [ 1 1] = { 145 = 22.5 0 0 1 dx 2 190

2

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Example problem
A = 0.1m 2
A = 0.05( x 1)m 2

We need to compute the global stiffness matrix and load vector and solve for the displacements and stresses. We consider a 3-node element from A to B and one 2-node element from B to C.
MAE 4700 FE Analysis for Mechanical & Aerospace Design N. Zabaras (9/18/2012) 19

Element 2
A = 0.1m 2
2 x2 x N = 2 2 x2 x1 2

x x12 1 = [5 x 2 x2 x12 2

x 3]

A = 0.05( x 1)m 2

dN 2 1 B = = dx x 2 x 2 2 1
2

1 1 = [ 1 1] 2 x2 x12 2

K =
2

XD

xB

1 1 7 1 B A E B dx = x e 0.05( 1)(2 ) [ 1 1]dx 2 1 2 3

2 T 5 2 2 2

K =
2

XD

xB

1.5 1.5 4 B AE B dx = 10 1.5 1.5 2

2 T 2 2 2 6

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Element 2
A = 0.1m 2
2 x2 x N = 2 2 x2 x1 2

x x12 1 = [5 x 2 x2 x12 2

x 3]

A = 0.05( x 1)m 2

dN 2 1 2 B = = dx x 2 x 2 2 1

1 1 = [ 1 1] 2 x2 x12 2

1 = + = f N bdx ( N P ) | { } e t 2
T

2T

5 x 150 4 x 3 150 = 0 x =3 2

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Element 1
1 1 1 N ( x 2)( x 3) ( x 1)( x 3) ( x 1)( x 2) = 2 2
A = 0.1m 2 A = 0.05( x 1)m 2

dN 1 5 = = B x dx 2
1

4 2x

3 x 2

5 x 2 XB 3 5 1 1 T 1 1 1 7 = = K B A E B dx x e x 4 2 0.1(2 ) 2 1 xA 3 x 2 2.333 2.6667 0.333 1 6 3 = K 10 2.6667 5.333 2.6667 0.333 2.6667 2.333 4
1 3 4 1

4 2x

3 x dx 2

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Element 1
1 1 1 N ( x 2)( x 3) ( x 1)( x 3) ( x 1)( x 2) = 2 2 A = 0.1m 2 A = 0.05( x 1)m 2

dN 1 5 = = B x dx 2
1

4 2x

3 x 2

1 2 ( x 2)( x 3) T T 3 1 1 1 { f } = 1 N bdx + ( N P ) |t = 1 ( x 1)( x 3) 1 ( x 1)( x 2) 2

3.333 13.333 10 = dx 3.333

1 3 4

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Assembly

0 2.6667 0.333 u1 = 0 r1 + 3.333 2.333 0 u = 0 r 1.5 0 1.5 2 2 [ K ] = 106 2.6667 0 5.333 2.6667 u = 3 13.333 1.5 2.6667 3.8333 u4 0.333 153.333

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Solution step

5.333 2.6667 u3 13.333 u3 34.5 6 10 = = 10 m 2.6667 3.8333 u4 153.333 u4 64

6

We can now calculate the reaction forces by returning to the first 2 equations in [K]{u}={f}

2.6667 0.333 u3 r1 + 3.333 r1 74.02 10 = = N 1.5 u4 r2 0 r2 96

6

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Displacement calculation

u1 = 0 1 1 1 1 u1 ( x ) = ( x 2)( x 3) ( x 1)( x 3) ( x 1)( x 2) u3 = 34.5106 N {d } = 2 2 6 u4 = 6410

1 1 2 6 u1 ( x ) = N {d } = (2.5 x + 42 x 39.5)10 m

u4 = 64106 1 1 u ( x) = (5 x) ( x 3) N {d } = 2 2 u2 = 0
2 2 2

u 2 ( x) = (160 32 x)106 m

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Post processing: Stress calculation

u1 = 0 5 3 6 1 1 B { d } ( x ) 4 2 x ( x ) u 34.510 1 ( x) = E = = 3 2 2 6 u4 = 6410

1 ( x) = 840 100 x Pa
1 B {d } = ( x) = E 2
2 2 2

6 1 u4 = 6410 2 u2 = 0

2 ( x) = 640 Pa

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Example problem
We revisit a boundary value problem with generalized boundary conditions (all coefficients shown are non zero).
d du (k ( x) ) + q ( x)u ( x) = f ( x), x (0, l ) dx dx du 0 (0) + 0u (0) = 0 dx du l (l ) + l u (l ) = l dx

We here start with weak formulations written separately for each element. This process is identical with what was done before but it is helpful as it shows how to include discontinuities in fluxes within the domain. Here we use index rather than matrix notation (i.e. instead of writing Ax=b, we write A u = F , i = 1, 2,..., N ).
N j =1 ij j i

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Example problem: Weak form

For each element e, we can write the following weak form:
e e e 2 2 e duh dwh duh 1 e x2 e e e e ( ) ( ) | ( ) ( ) ( ) ( ) ( ) , ( e ) k x dx k x w q x u x w x dx = f x w x dx w H e + h h h h h e x1 dx dx dx x xe xe
1 e h 1 1 e x2

xe

xe

Flux
xe

e e 2 2 duh dwh e e e ( ) ( ) ( ) ( ) ( ) ( x)dx k x dx + q x u x w x dx = f x w h h h e e e dx dx x x x

1 1 1

e x2

xe

e e e e e e e +h H 1 ( e ) ( x1e ) wh ( x1e ) h ( x2 ) wh ( x2 ), wh

Let us clarify the notation once more:

We use for both u and w the indices .h to emphasize that we work with their restrictions on element e. Note that since we write the weak form for element e alone, we now have (unknown) flux terms appearing at the 2 ends of each element.
e

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Example problem: Weak form

e x2 e x1

k ( x)

du dw e e e ( x)wh ( x) dx = f ( x)wh ( x) dx dx + q( x)uh dx dx e e x x

1 1

e h

e h

e x2

e x2

e e e e e e e +h H 1 ( e ) ( x1e ) wh ( x1e ) h ( x2 ) wh ( x2 ), wh

For each element e, we approximate u ( x) = u ( x )N ( x) and taking w ( x) = N , i = 1,.., N results in the following discretized equations:
e h j =1 e h e j e j

Ne

e h

e i

x2 e N e x2 x2 e e dN e j dN i e e e e dx uh ( x j ) + q ( x) N e k ( x) j ( x )N i ( x ) dx uh ( x j ) = f ( x )N i ( x ) dx dx dx e j =1 x e j =1 x e x1 1 1 e e e e +h ( x1e ) N ie ( x1e ) h ( x2 ) N ie ( x2 ), i = 1,..., N e Ne

e e e

Thus as we have seen before, the element stiffness matrix and load vector are:
e x2 e dN dN j e e i Kij = k ( x) dx + q( x) N e j ( x )N i ( x ) dx dx dx xe xe
1 1 e x2 e

f i e = f ( x)N ie ( x)dx, i = 1,..., N e

e x1

e x2

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Example problem: Element equations

K u (x ) = f
j =1 e e ij h e j Ne e i e e e e +h ( x1e ) Nie ( x1e ) h ( x2 ) N ie ( x2 ), i = 1,..., N e

N 1

Let us write these equations explicitly for a linear element.

e e e e e e K11 uh ( x1e ) + K12 uh ( x2 ) = f1e + h ( x1e ) e e e e e e e K 21 uh ( x1e ) + K 22 uh ( x2 ) = f 2e h ( x2 )

For the first element, these equations are:

1 1 K11 u1 + K12 u2 = f11 + (0) 1 1 K 21 u1 + K 22 u2 = f 21 ( x2 )

where ( x

is the heat flux at node 2 approached from the left.

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Example problem: Assembly process

K u (x ) = f
j =1 e e ij h e j Ne e i e e e e +h ( x1e ) N ie ( x1e ) h ( x2 ) N ie ( x2 ), i = 1,..., N e

2
1 1 K11 u1 + K12 u2 = f11 + (0)

N 1
1 1 K 21 u1 + K 22 u2 = f 21 ( x2 )

1st 2nd

element element

2 2 + K11 u2 + K12 u3 = f12 + ( x2 )

2 2 K 21 u2 + K 22 u3 = f 22 ( x3 )
1 1 K11 u1 + K12 u2 = f11 + (0)

Assembling the elements equations finally gives:

1 1 2 2 + K 21 u1 + ( K 22 u3 = f 21 + f12 + ( x2 + K11 )u2 + K12 ) ( x2 )

( x2 )
2 2 3 3 K 21 u2 + ( K 22 u4 = f 22 + f13 + ( x3 ) + K11 ) u3 + K12 flux disctontinuity at x2

... ...
N 1 N 1 K 21 u1 + K 22 u2 = f 2N 1 (l )

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Example problem: Discretized equations

1 2 N 1

1 1 K11 u1 + K12 u2 = f11 + (0) 1 1 2 2 K 21 u1 + ( K 22 + K11 )u2 + K12 u3 = f 21 + f12 + ( x2 ) 2 2 3 3 K 21 u2 + ( K 22 + K11 u4 = f 22 + f13 + ( x3 ) ) u3 + K12

... ...
N 2 N 2 N 1 N 1 K 21 u N 2 + ( K 22 + K11 u N = f 2N 2 + f1N 1 + ( xN 1 ) ) uN 1 + K12 N 1 N 1 K 21 u1 + K 22 u2 = f 2N 1 (l )

You can now account for flux discontinuities within the domain! For example let
( x3 ) = f 3
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Example problem:Assembly process

A finite-element mesh with N nodes and N - 1 two-node linear elements and the 1 assembled stiffness matrix. The shaded blocks of entries representing the contributions of each element. The symbols 0 represent the fact that outside the diagonal blocks all entries are zero.
2

N 1

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Example problem: Boundary conditions

1 k11 1 k21 1 k12 1 2 + k11 k22 2 k21

2 k12 2 3 + k11 k22 3 k21

3 k12 3 4 + k11 k22

N 2 N 1 + k11 k22 N 1 k21

u1 f11 + (0) 1 2 u + f f 1 2 2 u3 f 22 + f13 + f . = . . . N 1 N 2 N 1 k12 u N 1 f 2 + f1 N 1 N 1 u ( ) k22 f l N 2

Finally, recall our 2 generalized boundary conditions:

0
du (0) + 0u (0) = 0 (0) k (0) du (0) = k (0) 0 0 u (0) = k (0) 0 + k (0) 0 u1 dx 0 0 dx 0 0

l l l l du du ( ) ( ) ( ) ( ) ( ) ( ) ( ) = = + l k l l k l u l k l k l uN l (l ) + l u (l ) = l dx l l l l dx
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Example problem: Final linear system of equations

0 1 k k (0) 11 0 1 k21
1 k12 1 2 + k11 k22 2 k21 2 k12 2 3 + k11 k22 3 k21

3 k12 3 4 + k11 k22

N 2 N 1 + k11 k22 N 1 k21

0 1 f k (0) u 1 0 1 1 2 u2 f 2 + f1 u f 2 + f 3 + f 2 1 3 . = . . . N 1 N 2 N 1 k12 u N 1 f 2 + f1 l u N N 1 N 1 l f 2 + k (l ) k22 + k (l ) l l

Once you compute the nodal solution, the FEM solution in each element is:
u ( x) = u ( x )N ( x),
e h j =1 e h e j e j Ne e Ne e e dN e duh ( x) j ( x) . ( x) k ( x) = k ( x ) uh ( x j ) j =1 dx dx e h

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