Swiss Federal Institute of Technology

The Finite Element Method

for the Analysis
y of Linear Systems
y

Prof. Dr. Michael Havbro Faber

Swiss Federal Institute of Technology
ETH Zurich
Zurich, Switzerland
Method of Finite Elements 1

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Swiss Federal Institute of Technology

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C t t off T
Contents
Today's
d ' Lecture
L t

The Method of Finite Elements (principle of virtual displacements)

Properties of FEM solutions

On the choice of shape functions

- Lagrange
- Hermitian
- Serendipity

Natural coordinates

Method of Finite Elements 1

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Swiss Federal Institute of Technology

Th Method
The
M th d off Finite
Fi it Elements
El
t
Th principle
The
i i l off virtual
i t l displacements:
di l
t
We may now express the principle of virtual displacements in a more
general form:

Internal virtual work

External virtual work

dV = U f dV +
T

SfT

f dS + U iT R iC
Sf

Sf

Stresses in equilibrium with applied loads

Virtual strains corresponding to virtual displacements

Method of Finite Elements 1

Swiss Federal Institute of Technology

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Th Method
The
M th d off Finite
Fi it Elements
El
t
Fi it Element
Finite
El
t Equations:
E
ti
We now consider the volume modeled as an assemblage of N elements
connected in the nodal points on the element boundaries
The displacements within the individual elements are measured in a
convenient local coordinate system x,y,z
For element m we now write the displacements within the element as a
function of the total set of global nodal displacements U

u ( m ) ( x, y , z ) = H ( m ) ( x, y , z ) U

T = [U , V , W , U , V ,W ,... U , V , W ] = [U , U ,...U ]
U
1 1
1
2
2
2
1
2
N
N
N
n
Method of Finite Elements 1

Swiss Federal Institute of Technology

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Th Method
The
M th d off Finite
Fi it Elements
El
t
Fi it Element
Finite
El
t Equations:
E
ti
For element m we now write the strains within the element as a function
of the total set of global nodal displacements U

( m ) ( x, y , z ) = B ( m ) ( x, y , z ) U
The stresses are then:

( m ) ( x, y, z ) = C ( m ) ( x, y, z ) + i ( m ) ( x, y, z )

Method of Finite Elements 1

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Swiss Federal Institute of Technology

Th Method
The
M th d off Finite
Fi it Elements
El
t
Fi it Element
Finite
El
t Equations:
E
ti
We can now write the equlibrium equations for the total volume by
summing up over the N elements
N

( m )T

(m)

dV

(m)

m =1 V ( m )
N

m =1

m =1 V ( m )

S f ( m )T

S f (m)

S (f m1 ) , S (f m2 ) ,...

( m )T i ( m ) dV ( m ) +

m =1 V ( m )

iT
i
U
R

C
i

Method of Finite Elements 1

dS ( m )

U ( m )T f B ( m ) dV ( m ) +

Swiss Federal Institute of Technology

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Th Method
The
M th d off Finite
Fi it Elements
El
t
Fi it Element
Finite
El
t Equations:
E
ti
As a next step we represent both the real unknown displacement fields
as well as the virtual displacement fields through the interpolation
functions (provides symmetrical stiffness matrixes )

T
U

T
U

( m )T ( m ) ( m )
(m)
B C B dV U =
m =1 V ( m )

N
N
( m )T B ( m )
(m)
( m )T S f ( m )
(m)
dV +
H f
dS
H f

m =1 S ( m ) , S ( m ) ,..
f1
f2
m =1 V ( m )

B ( m )T i ( m ) dV ( m ) + R C

m =1 V ( m )

Method of Finite Elements 1

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Swiss Federal Institute of Technology

Th Method
The
M th d off Finite
Fi it Elements
El
t
Fi it Element
Finite
El
t Equations:
E
ti
Now we may finally simplify as

KU = R
N

K=

R = R B + R S R I + RC

( m )T

(m)

(m)

C B dV

(m)

m =1 V ( m )

RB =

m =1 V ( m )
N

RS =

These are the finite element

equations to be solved

m =1 S
N

RI =

H ( m )T f

S f (m)

(m)
, S f 2( m ) ,..
f1

m =1 V ( m )

RC = RC
Method of Finite Elements 1

H ( m )T f B ( m ) dV ( m )

B ( m )T i ( m ) dV
d (m)

dS ( m )

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Swiss Federal Institute of Technology

G
Generalized
li d coordinate
di t models
d l
G
Generalized
li d coordinate
di t models:
d l
The principle behind these models is:
Formulate displacement field in terms of polynomials

, , : Genenralized
G
li d coordinates
di

one-dimensional
u ( x) = 1 + 2 x + 3 x 2 + 4 x3 +"
two-dimensional
u ( x, y ) = 1 + 2 x + 3 xy + 4 x 2 +"
v( x, y ) = 1 + 2 x + 3 xy + 4 x +"
2

plate bending
w( x, y ) = 1 + 2 x + 3 xy + 4 x 2 +"
Method of Finite Elements 1

u =

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Swiss Federal Institute of Technology

G
Generalized
li d coordinate
di t models
d l
G
Generalized
li d coordinate
di t models:
d l
Next step is to relate the generalized coordinates to the nodal
displacements:
We insert the nodal coordinates into

u =

and get:

u = A = A 1u

Now we can obtain

= E

= C

Method of Finite Elements 1

Swiss Federal Institute of Technology

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O the
On
th choice
h i off shape
h
functions
f
ti
R
Requirements
i
t to
t shape
h
functions:
f
ti
First of all the functions which we want to represent (displacements
and their derivatives) need to be able to represent the physics of the
type of problem we are aiming to model within the individual elements.
Secondly we also need to be concerned with continuity over the
borders of the elements.
We here introduce continuity requirements:
C0 continuity
C1 continuity
Cm continuity

Method of Finite Elements 1

Continuity of displacement field

Continuity of the first order derivative of the
displacement field
Continuity of the mth order derivative of the
displacement field

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Swiss Federal Institute of Technology

O the
On
th choice
h i off shape
h
functions
f
ti
Sh
Shape
functions:
f
ti
The displacement e.g. u or v at any location within the element (x,y)
can be represented as a function of the nodal displacements (u or v):

u ( x, y ) = f1 (u )
v( x, y ) = f 2 ( v )

4 u4 , v4

u1 , v1 1

3 u3 , v3
2 u2 , v2

Method of Finite Elements 1

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Swiss Federal Institute of Technology

O the
On
th choice
h i off shape
h
functions
f
ti
Sh
Shape
functions:
f
ti
In general we may write the approximate relation between the field
representation and the nodal displacements as:

u ( x, y ) = H ( x, y )u
T

Displacements
in the u-direction
scalar

Method of Finite Elements 1

Shape/interpolation
functions
vector with dimension n

We consider an element with

n nodes

Nodal
N
d l point
i t displacements
di l
t
in the u-direction
vector with dimension n

Swiss Federal Institute of Technology

O the
On
th choice
h i off shape
h
functions
f
ti
Sh
Shape
functions:
f
ti
Polynomials are usually applied for the development of shape
functions (polynomials are easily differentiated analytically)
- Langrange polynomials
complete
l t polynomial
l
i l expansions
i
- Serendipity polynomials
incomplete polynomial expansions
- Hermitian polynomials
polynomials including derivatives

Method of Finite Elements 1

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Swiss Federal Institute of Technology

O the
On
th choice
h i off shape
h
functions
f
ti
Sh
Shape
functions:
f
ti
Lagrange polynomials (one dimensional element):
n

H i ( x) = Li ( y ) u ( x) = Li ( x)ui
i =1

n +1

Li ( x) =
j =1,
j

x xj
xi x j

u ( x) = L1 ( x)u1 + L2 ( x)u2
( x2 x)
( x x1 )
=
u1 +
u2
x2 x1
x2 x1
Method of Finite Elements 1

Swiss Federal Institute of Technology

O the
On
th choice
h i off shape
h
functions
f
ti
Sh
Shape
functions:
f
ti
Lagrange polynomials (general):
n

u ( x, y, z ) = Li ( x, y, z )ui
i =1
n

u ( x, y, z ) = ui
i =1

Li ( x j , y j , z j ) = 1, i = j
Li ( x j , y j , z j ) = 0, i j
n

L ( x, y , z ) = 1
=1

Method of Finite Elements 1

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Swiss Federal Institute of Technology

O the
On
th choice
h i off shape
h
functions
f
ti
Sh
Shape
functions:
f
ti
Lagrange polynomials (four node rectangular element):
Products of two one dimensional first order Lagrange polynomials
result in the bi-linear four-node element

u ( x, y ) = a1 + a2 x + a3 y + a4 xy
= (b1 + b2 x)(b3 + b4 y )

Method of Finite Elements 1

u4 , v4

u1 , v1 1

3 u3 , v3
2 u2 , v2

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Swiss Federal Institute of Technology

O the
On
th choice
h i off shape
h
functions
f
ti
Sh
Shape
functions:
f
ti
Lagrange polynomials (four node rectangular element):
4

u4 , v4

u1 , v1 1

3 u3 , v3
2 u2 , v2

u ( x, y ) =
x x3 y y2
x2 x y3 y
x x1 y4 y
x4 x y y1
u1 +

u2 +
u3 +
u4
x2 x1 y3 y1
x2 x1 y4 y2
x4 x3 y3 y1
x4 x3 y4 y2
Method of Finite Elements 1

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Swiss Federal Institute of Technology

O the
On
th choice
h i off shape
h
functions
f
ti
Sh
Shape
functions:
f
ti
From Pascals triangle we can see how many nodes are required for
the representation of displacement fields of an
any order and
completeness:

x
x2
x3
x4

Method of Finite Elements 1

First order

y2

xy

x2 y

x3 y

Zero order

xy 2
x2 y2

S
Second
d order
d

y3
xy 3

Third order

y4

Fourth order

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Swiss Federal Institute of Technology

O the
On
th choice
h i off shape
h
functions
f
ti
Sh
Shape
functions:
f
ti
Products of Lagrange polynomials (bi-linear four node rectangular)

1
x
x2
x3
x4

Method of Finite Elements 1

First order

y2

xy

x2 y

x3 y

Zero order

xy 2
x2 y2

S
Second
d order
d

y3
xy 3

Third order

y4

Fourth order

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Swiss Federal Institute of Technology

O the
On
th choice
h i off shape
h
functions
f
ti
Sh
Shape
functions:
f
ti
Products of Lagrange polynomials (quadratic nine-node rectangular)

This requires
q
an inner node
a difficulty !

x
x2

x3
x4

Method of Finite Elements 1

First order

y2

xy

x2 y

x3 y

Zero order

xy 2
x2 y2

S
Second
d order
d

y3
xy 3

Third order

y4

Fourth order

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Swiss Federal Institute of Technology

O the
On
th choice
h i off shape
h
functions
f
ti
Sh
Shape
functions:
f
ti
Serendipity shape functions are constructed by incomplete
pol nomials avoiding
polynomials
a oiding inner nodes

1
x
x2
x3
x4

Method of Finite Elements 1

First order

y2

xy

x2 y

x3 y

Zero order

xy 2
x2 y2

S
Second
d order
d

y3
xy 3

Third order

y4

Fourth order

Swiss Federal Institute of Technology

O the
On
th choice
h i off shape
h
functions
f
ti
Sh
Shape
functions:
f
ti
Whereas difficulties may arise (inner nodes) when aiming to develop
quadratic shape functions for rectangular elements using Lagrange
polynomials the shape functions developed by incomplete
polynomials (serendipity shape functions) less terms necessitates
less nodes !
An bi-quadratic eight node rectangular element can be constructed !

Method of Finite Elements 1

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Swiss Federal Institute of Technology

O the
On
th choice
h i off shape
h
functions
f
ti
Sh
Shape
functions:
f
ti
Hermitian shape functions relate not only the displacements at nodes
to displacements within
ithin the elements but
b t also the first order
derivatives
u1
u2
u1 ,

u2 ,

ui

u ( x) = H 0i ( x)ui + H1i ( x)

i =1

H 0i ( x) = 1, and zero at the other node

H 0i ( x) = 0 at both nodes
H1i ( x) = 0, at both nodes
H1i ( x) = 1, and zero at the other node
Method of Finite Elements 1

H 01

H 02

Slope=1
H11

H12

Slope=1

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Swiss Federal Institute of Technology

N t
Natural
l coordinates
di t
Sh
Shape
functions
f
ti
Natural
N t
l coordinates:
di t
As we have seen we are able to establish shape functions in global or
local coordinate systems
s stems as we
e please.
please Ho
However,
e er for the p
purpose
rpose of
standardizing the process of developing the element matrixes it is
convenient to introduce the so-called natural coordinate system.

s
-1, 1

1, 1

r
x
Method of Finite Elements 1

-1, -1

1, -1

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Swiss Federal Institute of Technology

N t
Natural
l coordinates
di t
Sh
Shape
functions
f
ti
Natural
N t
l coordinates:
di t
Let us consider the simple bar element
The relation between the x-coordinate
and the r-coordinate is given as:

x2
x1

1
1
x = (1 r ) x1 + (1 + r ) x2
2
2
2

= hi xi

r = 1

i =1

The relation between the displacement u

and the nodal displacements are given in
the same way:

u=

r =0

r =1

1
1
(1 r )u1 + (1 + r )u2
2
2

= hi ui
i=1

Method of Finite Elements 1

u2

u1

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Swiss Federal Institute of Technology

N t
Natural
l coordinates
di t
Sh
Shape
functions
f
ti
Natural
N t
l coordinates:
di t
Let us consider the simple bar element
We need to be able to establish the strains meaning we need to be
able to take the derivatives of the displacement filed in regard to the
x coordinate
x-coordinate
x
du du dr
=
=
dx dr dx

du d 1
1
1
= ( (1 r )u1 + (1 + r )u2 ) = (u2 u1 )
2
2
dr dr 2
1
1
dx d 1
= ( ((1 r ) x1 + ((1 + r ) x2 ) = ( x2 x1 )
dr dr 2
2
2

du (u2 u1 ) (u2 u1 )
=
=
dx ( x2 x1 )
L

Method of Finite Elements 1

x1

u2

u1

r = 1

r =0

r =1

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Swiss Federal Institute of Technology

N t
Natural
l coordinates
di t
Sh
Shape
functions
f
ti
Natural
N t
l coordinates:
di t
Let us consider the simple bar element
The strain-displacement matrix then becomes:

B=

1
[ 1 1]
L

and the stiffness matrix is calculated as:

AE 1
K = 2 [ 1 1] Jdr ,
L 1 1
1

AE 1 1
K=
L 1 1
Method of Finite Elements 1

J=

dx L
=
dr 2