CE 595:

Finite Elements in Elasticity

Instructors:

School of Civil Engineering

Amit Varma, Ph.D.

Timothy M. Whalen, Ph.D.

Spring 2007

Section 1: Review of Elasticity

1.
2.
3.

Stress & Strain

Constitutive Theory
Energy Methods

Review of Elasticity

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Section 1.1: Stress and Strain

Stress at a point Q :
Fy
Fx
Fz
x lim
; xy lim
; xz lim
.
A 0 A
A0 A
A0 A

x xy

Stress matrix (Q) xy y

xz yz

Review of Elasticity

x

y
xz
z

yz ; Stress vector (Q) .

xy
z

yz

xz
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1.1: Stress and Strain (cont.)

Stresses must satisfy equilibrium equations in

pointwise manner:

Strong Form

Review of Elasticity

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1.1: Stress and Strain (cont.)

Stresses act on inclined surfaces as

follows:
x xy xz nx

Sn Q xy y yz n y
xz yz z nz

(Q) n .

Sn Q gn ; Sn Q 2 .
2

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1.1: Stress and Strain (cont.)

Strain at a pt. Q related to displacements

:

Q : x, y, z Q : x, y , z
Displacement functions
u x, y , z , v x, y , z , w x, y , z
defined by:
x x u x, y , z ;

y y v x, y , z ;

z z w x, y , z .
Review of Elasticity

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1.1: Stress and Strain (cont.)

Normal strain relates to changes in size :

QD QD QD dx

;
QD
dx

QD xD xQ x dx u x dx, y x u x, y =dx
u x dx , y u x , y .
u x dx, y u x, y u
v
w
x
Q . Also, y Q ; z
Q .
dx
x
y
z
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1.1: Stress and Strain (cont.)

Shearing strain relates to changes in

angle :

xy

v x dx, y
dx

Review of Elasticity

u x, y dy
dy

v
u
w
u
w
v
Q Q . xz Q Q . yz Q Q .
x
y
x
z
y
z
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1.1: Stress and Strain (cont.)

Sometimes FEA programs use elasticity

shearing strains :

xy 12 xy . xz 12 xz . yz 12 yz .

Strains must satisfy 6 compatibility

equations:

xy

x y
E.g.:
2 2 .
xy y
x
2

(usually automatic for most formulations)

Review of Elasticity

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Section 1.2 : Constitutive Theory

For linear elastic materials, stresses and

strains are related by the Generalized Hookes
Law :
C .

o o

;
xy

yz

xz

Review of Elasticity

c11
x

c12
y

c13
; C

c14
xy
c15
yz

c16
xz
residual stresses;

c14 c15 c16

c24 c25 c26
c34 c35 c36

c44 c45 c46

c45 c55 c56

c46 c56 c66

residual strains.

c12 c13
c22 c23
c23 c33
c24 c34
c25 c35
c26 c36

Elasticity matrix;

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1.2 : Constitutive Theory (cont.)

For isotropic linear elastic materials, elasticity

matrix takes special form:

1

1

1
E
C

0
0
1 2 1 0
0
0
0

0
0
0

0
0
0
1
1 2
2
0
0

0
0
0
0
1
1 2
2
0

0
0
0
.
0
0

1
1 2
2

E = Young's modulus, = Poisson's ratio.

Review of Elasticity

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1.2 : Constitutive Theory (cont.)

Special cases of GHL:

Plane Stress : all out-of-plane stresses assumed
zero.
x
x
0
1


E

1
0
y ; y ; C
2
.
1

0 0 12 1
xy
xy
Note: z

x y required.
1

Plane Strain : all out-of-plane

assumed
strains
zero.

0
x

y ;
xy

1 2
1
y ; C
E
xy

Note: z x y required.
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0 .

2
1

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1.2 : Constitutive Theory (cont.)

Other constitutive relations:

Orthotropic : material has less symmetry than isotropic case.
FRP, wood, reinforced concrete,
Viscoelastic : stresses in material depend on both strain and
strain rate.
Asphalt, soils, concrete (creep),
Nonlinear : stresses not proportional to strains.
Elastomers, ductile yielding, cracking,

Review of Elasticity

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1.2 : Constitutive Theory (cont.)

Strain Energy
Energy stored in an elastic material during deformation;
can be recovered completely.
Work done during 1 1 :
dW F dF dL FdL.
F x Ao ; dL d x Lo .

dW x d x Ao Lo .
W Ao Lo

final

x d x .

If all external work is stored,

U W Vo
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final

x d x .

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1.2 : Constitutive Theory (cont.)

Strain Energy Density : strain energy per

unit volume.
U U Vo

final

xd x .

UdV

Volume

In general,
U

final

xd x

Review of Elasticity

final

y d y

final

z d z

final

xy d xy

final

yz d yz

final

xz d xz .

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Section 1.3 : Energy Methods

Energy methods are techniques for satisfying

equilibrium or compatibility on a global level rather
than pointwise.

Two general types can be identified:

Methods that assume equilibrium and enforce displacement
compatibility.
(Virtual force principle, complementary strain energy
theorem, )
Methods that assume displacement compatibility and
enforce equilibrium.
Most
important
for FEA!
(Virtual displacement
principle,
Castiglianos
1 st theorem,
)
Review of Elasticity

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1.3 : Energy Methods (cont.)

Principle of Virtual Displacements (Elastic

case):

(aka Principle of Virtual Work, Principle of Minimum Potential Energy)

Elastic body under the action of body

force b and surface stresses T.

Apply an admissible virtual displacement

u
Infinitesimal in size and speed
Consistent with constraints
Has appropriate continuity
Otherwise arbitrary

Review of Elasticity

We Wi for any
PVD states that
admissible
is equivalent to static
equilibrium.

u
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1.3 : Energy Methods (cont.)

External and Internal Work:

We

bu
dV

volume

surface

Wi U

u
dA b u dV
volume

n udA.

surface

U u dV

volume

x y
y z
z xy xy yz yz xz xz dV .

volume

So, PVD for an elastic body takes the form

bu
dV

volume

Review of Elasticity

n u

surface

dA

dV .

volume

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1.3 : Energy Methods (cont.)

Recall: Integration by Parts

b

f x g x dx f x g x
a

volume

b
a

g x f x dx.
a

In 3D, the corresponding rule is:

f x, y , z

g
f
x
,
y
,
z
dV

f
x
,
y
,
z
g
x
,
y
,
z
n
dA

g
x
,
y
,
z

x, y , z dV .

x
x
surface
volume

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1.3 : Energy Methods (cont.)

Take a closer look at internal work:

u

x
v

y
z

y
w

xy

volume

volume

z
v
x

x x dV

volume

volume

u
y

z dV

yz yz dV

xy

yz

surface

xz

surface

Review of Elasticity

v n y dA v dV
y
volume

surface

surface

w nz dA w z dV
z
volume

xz xz dV

volume

xy dV

xy

u nx dA u x dV .
x
volume

surface

volume

surface

y y dV

v nx dA v xy dV +
x
volume

w n y dA w yz dV +
y
volume

w nx dA w xz dV +
x
volume

xy

surface

yz

surface

xz

surface

u n y dA

xy

u dV .

y
volume

v nz dA

yz

v dV

z
volume

u nz dA

u xz dV
z
volume
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1.3 : Energy Methods (cont.)

x xy xz

u
x xy xz nx u
xy y yz


Wi xy y yz n y v dA

g v dV
x
y
z
surface
volume
n w

xz
yz
z
z


w

1 4 4 4 4 4 44 2 4 4 4 4 4 4 43

yz
xz

z
udA

y
z
surface
1 4 4 4 2
4 4 43
A

Wi We

n udA

surface

A bu

volume

Ab 0

volume

A udV b u
dV
volume

u
dA

surface

dV 0 for an arbitraru
y
By reversing the steps, can show
Wi imply
We
that the equilibrium equations
Wi We is called the weak form of
static equilibrium.

Review of Elasticity

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1.3 : Energy Methods (cont.)

Rayleigh-Ritz Method : a specific way of

implementing the Principle of Virtual Displacements.
Define total potential energy W W ; PVD is then
i
e
stated
as
Wi We 0
Assume you can approximate the displacement functions as
a sum of known functions with unknown coefficients.
Write everything in PVD in terms of virtual displacements
and real displacements. (Note: stresses are real, not virtual!)
Using algebra, rewrite PVD in the form

virtual coefficient * equation involving real coefficients

unknown
Each unknown virtual coefficient generates one equation to
i1

Each unknown virtual coefficient generates one equation to

solve for unknown real coefficients.

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1.3 : Energy Methods (cont.)

Rayleigh-Ritz Method: Example

Given: An axial bar has a length L, constant modulus of elasticity E,

and a variable cross-sectional area given by theA(function
x) Ao 1 sin Lx
, where is a known parameter. Axial forces F1 and F2 act
at x = 0 and x= L, respectively, and the corresponding
displacements are u1 and u2 .
x
x
Required: uUsing
method and the assumed
( x ) u1the
1 Rayleigh-Ritz
L u2 L
displacement function
, determine the equation
that relates the axial forces to the axial displacements for this
element.

Review of Elasticity

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1.3 : Energy Methods (cont.)

Solution :
1) Treat u1 and u2 as unknown parameters. Thus, the virtual
displacement is given by

u ( x) u1 1 Lx u2

x
L

2) Calculate internal and external work:

We F1 u1 F2 u2 (no body force terms).

Wi x x dV x x A( x)dx.
bar

bar

u
x
u1 * L1 u2 * L1 u Lu .
x
x u L u and x E * u Lu .
2

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1.3 : Energy Methods (cont.)

(Cont) :

u u
u u
2) Wi E * L * L * Ao 1 sin Lx dx
x L

x 0

E * u Lu * u L u * Ao * L 2 L
2

Wi u2 * EAo u Lu
2

u u
2
1

u
*
EA

1
o L
2

1 .
2

3) Equate internal and external work:

F1 u1 F2 u2 u2 * EAo u Lu
For u1 : F1 EAo u Lu
1

For u2 : F2 EAo u Lu
2

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1
2

u u
2
1

u
*
EA

1
o L
2

1 1
EAo
2

1
1
L

1 .
2

u1
u
2

F1
.
F2
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