CHAPTER 9 TWO-DIMENSIONAL INTERPOLATION AND INTEGRATION9 TWO-DIMENSIONAL INTERPOLATION AND INTEGRATION Lagrangian interpolation is not only applicable in one-dimension, it ean also’ be extended to two- and three-dimensions. Two- and three-dimensional finite clements are ‘used widely in engineering analysis to predict the behaviour of plates and other continuum problems. This Chapter describes how to derive the shape functions for a number of ‘two-dimensional triangular and quadrilateral finite elements. Indeed, using the method described, it is possible to derive the shape functions for any two- or three-dimensional finite element. 9.1 Linear Interpolation Over a Triangle ‘The linear triangle was one of the earliest clements used in two-dimensional applications. Although higher-order formulations, such as the quadratic triangle, are generally preferable to this element, itis still widely used in practice. The linear triangle hnas three nodes, and when used for analysis of linear elastic solids, has two degrees of freedom at each node, These degrees of freedom correspond to the displacements in the ‘x-and yediections as shown in Figure 9.1, 1 on ® mapping ye @ bd ® (0) a0 ao ¢ Try ttl coordinates ‘model coordinates Figure 9.1: The linear triangle ‘The mapping for triangular elements is based on the unit triangle, which has model coordinates (7) and vertices located at (1,0), (00) and (Q,1). To ensure that the determinant of the Jacobian is positive, the nodes for each clement are always listed {anticlockwise (this point will be discussed further in a later Section). For an isoparametiic formulation, the same shape functions are used to describe both the coordinates and the 4isplacements throughout each element. The coordinates a any point inside the clement are given by Noxy + Nyx3 = Nx, (91) Y= My + Nave + Nays (92)‘where the shape functions Aare linear functions ofthe model coordinates (67). Similarly, the displacements are defined by w= Nye, + Ney + Nyy = Nay 3) YN + Navy + Nyy = Nyy 4) ‘The precte form of the shape functions canbe found using the same technique that was ‘sed forthe one-dimensional case. ‘Atmode one, where (1) = (Bj) = (1.0), We must have Ey) = NyG pm) + NaE yada + Naya) = uy and hence Mn) =1 es) Navn) = 0 06) NaGyn) 0 on Similarly for node two, where (€.9) = 73) = 0,1), we must have Eats) = NyGortadty + Ney tah + NaEona)ty = ty hich gives NiExm) = 0 (98) NxM) = (94) Ns) = 0 03) Atnode three, Gm) = (75) = (0.0) and HEa9) = NyCorta)y + NgCons Ma + N3G Therefore MGon) =0 20) NyGyn3) = 0 (94) Noy) #1 ean ‘The conditions imposed by equations (9.5)~(9.11) may be concisely summarised as NGn) = NG) where (f.m) are the model coordinates for node of an element with m nodes. for j =i (9.12) for j= tj.m and j ei 13)0 ‘Toderive the shape function Ny, we fits note thatitmust be 2610 at nodes two and three, ‘This condition follows irom equation (9.13) and may be writen as Ni Gy) = N(Gyns) = 0. Since the equation oftheline passing theoughnodes to and threes = 0, thete requirements are automaticaly satisfied by guessing that, ofthe form ™ ag) Where isan unknown multiplier. Substtting the condition that Ny(Ey.m)) = ty which follows from equation (9.12), this implies that 1-4) asl and henee ™ ‘The derivation of N follows a similar pattem. Since the equation ofthe line passing through nodes one and three is = 0, the conditions (G41) = Ny(Eyns) automatically satisfied by guessing that Nis ofthe form N= 4) Substituting the requirement that Na(@,) sives a and hence Maa Finally, for NV, we note thatthe equation of the line passing through nodes one and two is &+—1= 0 It follows that the conditions N,E,m,) = NyGqn,) = 0 are ‘automatically satisfied by guessing that Nis ofthe form (+n-1) Substituting the requirement that Ny(b53) = 1 gives & Nya1-b=9 Jn summary, the shape functions for the three-noded triangle are Moe (24) Men 13) Nye 1-Eon (016) ‘These functions may be checked to ensure that they satisfy all of the required conditions, Atnode one where (fm) = (1,0) y,a At node two where (&n) = (0,1) At node three where (67) = (0,0) Another useful check on the shape functions is that they must sum to unity according to Mam tm= Suet a ‘As discase in Chaptr2, thi condition follows from the ned forthe element tobe able ‘to mode! a uniform displacement field. Summing (9.14, (9.15) and (9.16)-we see that this requirement is satisfied 9.2 Quadratic Interpotat Over a Triangle ‘The quadratictriangle for continuum analysis, shown in Figure 92, has hassixnodes and twelve degrees of freedom. Unlike the linear element described inthe previous section, ‘the quadratic element can have curved sides and is thus suited to madelling domains with curved boundaries. ” ®. uy (0,1)! %y rapping © ager @ 12,12) i < L (0,172) ean © @ OO: ny @ (00) 20) G0) real coordinates ‘model coordinates igure 92: The quadratic triangle ‘The coordinates at any point inside the element are given by2 Nyry + Nyey + Nyy + Neg + Nets + Net Sun an YN + Nava + Nays * Nave + Nov + Ney = DN (0.18) Where the shape functions Nj are quatiratic functions of the model coordinates (7). ‘Similarly, the displacements are defined by. We Nay Nats Nyy tN Nyy + Neus = Say 009) =t PEN EN Ey + Neve Noo tei SN (020) ‘The precise form of the shape functions can again be found from first principles using the ‘same arguments that were developed for the linear triangle. ‘Tocompute N;,wenote thatthe equations ofthe two lines which passthrough ll ofthe nodes except node one are & = Oand £ ~ 1/2 = 0, Ifwe guess that My = AGE 1/2) ‘his cutomatically ensures that 1 is zero at all nodes except node one and hence satisfies ‘equation 9.13). The multiplier is found using equation (9.12) which states that MGon) = AIG, ~ 172) =1 ‘Substituting (€).9;) = (1,0) then gives ACYL = 1/2) = 1 and and hence B= 26NE - 1/2 omy ‘Te deduce Np, we note that the equations of the lines that pass through all nodes except ‘node two are § = Oand y = 0. A suitable guess for N', which satisfies (9.13) is thus Na = 260) Using (0.12), Ny must aso satisfy NiGom) = 469 =1 where Ea) = (0/2, 1/2). This implies AQ/2\/2)= 1Which gives A = 4 and §= 4G) 2) ‘Similar calculations can be performed to yield the remaining shape functions as y= ayy (23) 4@ye #90 2a Ns= UE+n-12)E 49-1 925) 4G\E +1 — 1) (26> 9.3 The Jacobian Matrix for Triangles ‘To compute the element sifiness matrix in terms ofthe model coordinates & and nit is necessary to define the Jacobian matrix for two dimensions. The two-dimensional Jacobian matrix is fax 2) a ae -|\n 27 ae The determinant and inverse of J follow as ad _ me seu = BEB ea) x» my 3 wala 3 (029) an aE Consider the Jacobian matrix forthe three-noded triangle, Differentiating equations (9.1) and (9.2) gives z aXe (030) z (931) 2 eo 2 ro) Further diferentiation of equations (9.14), (9.15) and (9.16) yields the shape function derivatives asBo 0 ay mh Meo Me, e Substituting these derivatives into equations (9.30)+(9.33), we obtain the terms of the Jacobian matrix according to Bean-y (036) Benen 3 Benny (38) Hrs (39) Inserting these values in (9.28) gives the important result that St = Gy — 202-9) — G29) = 2A (04g Where 4 isthe element area. This result is valid for any triangular element with straight sides and gives a physical interpretation of the Jacobian matrix. It also serves as a useful data check in compater codes since the arce ofeach element, and hence det J, must always be positive If this isnot the case, then there isan errr in the nodal coordinate data or the list of element nodes. Unfortunately this simple geometrical interpretation does aot hold {or triangular clementswith curvedsides,since the determinant ofthe Jacobian no longer constant throughout the clement. The condition that det J is positive, however, is always neoessary, 9.4 Numerical Integration Formulae for Tiangles ‘Tocompute the stiffness matrifor a triangular clement, it isnecessary to evaluate integrals of the form Hi Jf penser [ [ ands (a1) ‘Numerical integration rules for triangles replace these integrals by summations according to 1 pee fee I J J 1G.mdands = Y FE,.ndm, (9.42) where » is the number of integration (or Gauss) points, (fn) are the coordinates for imtegration point i, and w, i the weight for integration point i The sampling points and eights for various Gauss formulae are shown in Table 91. ‘As in the one-dimensional case, the rules are designed for cases where f(y) is @ polynomial. With reference to Table 91, we see that a one-point rule gives no ervesfoy e95 constant or linear function, whereas a three-point rule gives no error for @ polynomial up ‘oand including a quadratic. Other formulae for higher order polynomial integrands are ao available and are given in many numerical analysis texts, Like their one-dimensional relatives, the triangular integration rales be used for cases where the integrand is not a polynomial, but the result is no longer exact. “We. poins coordinates weight degree of” ” & u polynomial Z i B wm r zB 175 76 3 6 28 Ys 6 1/6 us ‘0.65902 76223 74002 028193 33685 5301/12 0.65902 76223 74002 010503 90080 72877 1/12 0.23193 33685 53031 0.65902 76223 14052 1/12 0.23193 33685 53031 0.10803 90090 7287 1/12 0.10903 90090 72877 0.65902 76223 14092 1/12 0.10903 90000 72877028193 33685 53081 1/12 ‘Table 9.1 Data for Gaussian integration over triangles ‘illustrate the use of these rules, consider the integral ef [Perens mane ‘Evaluating this exactly gives raf @- 3 +84 Nag = 3/8 ‘Using the one-point rule fom Table 9. gives 1= fmm G+ 8m + adm, Letxte bl GAgX5t 92 7/8 ‘This isnot exact because we need a quadratic rule to avoid any error. For the three-point rule we obtain | L=fGs.my)vy + FCarmve + FEs.nsMs=3/8 As expected this results exact as we have used a rle with quadratic accuracy to integrate ‘ quadratic integrand, ‘95 Linear Interpolation Over a Quadrilateral ‘The linear quadrilateral has four nodes, and when used for analysis of linear elastic solids, has two degrees of freedom at each node, This element and its degrees of freedom are shown in Figure 93, val ,29® Gn G1) Zu eal coordinates ‘model coordinates Figure 9.3: The linear quadbilateral ‘The mapping for quailateral clementsisbased on asguare whose side length two units ‘The four vertices have the model coordinates of (1,1), (—1,1),(—1,—1)and (1,~1) and the nodes are again listed anticlockwise to ensure that the determinant ofthe Jacobian i Positive. The model coordinates are chesen 10 range from ~1 to +1 a8 this proves ‘onvenientin applying the one-dimensional Gaus integration formula to twordimensionsl problems. For an isoparametric formulation, the coordinates and the displacements throughout each element are given by Nye + Naty + Nya + Nate = SN (043) tes Y= Ma + Naya + Nos + Nag = D ND (9.48) = Nyy + Ngly + Nyy + Nyy = 5 Nit & = Nv, + Nave + Nays + Navy = Ney a ‘The precise form ofthe shape functions can again be found from first principles using the ‘conditions imposed by equations (9.12) and (9.13).7 ‘Tocompute Nj, we note that the equations ofthe two lines which passthrough a of the nodes except node one are € + 1 = Oand + 1 = 0, we guess that Ny =46+ D+) {his eutomatically ensures that Nis zero at all nodes except node one and hence satisfies equation (9.13). The multiplier is found using equation (9.12) which states that NyGyn) = AG, + Dn + D Substituting @,,,) = (1,1) then gives a+ a+ 1-1 and hence Nya 4E+ DG +0 (045) Applying an identical procedure atthe remaining nodes gives 46 -Da+1 (9.46) 3e6-na-0 (47) -}e+D@-1 (9.48) 9.6 Quadratic Interpolation Over a Quadriateral ‘The most common form of quadratic quadrilateral has eight nodes, and when used for analysis of near elastic solids, has to degrees of freedom at each node. This clement and its degrees of freedom are shown in Figure 9.4, Asin the case ofthe quadratic triangle, the quadratic quadrilateral can have curved sides, (4 Od) Gy) QoQ @ oO © —- (-19) Go) o @ Ci) @=1) G1) x,u real coordinates ‘model coordinates Figure 94: The quadratic quadrilateral8 For nisoparamettic formulation, the coordinates and the displacements throughout each element are given by x= DM y= My ie w= SN, ee v= Ny, & ‘To compate 1, we note that the equations ofthe tree lies which passthrough all of thenodes excepinodeoneare +1= 0,7 +1=Oandé +n ~ 10, Kweguessthat Ny = AG + 1M + WE ty - 1) this automatically ensures that Nis zero at al odes except node one and hence satisfies ‘equation (9.13). The multiplier is found using equation (9.12) which stipulates that NiGyn) AG. + Dlr + DE tm ~ Y= 1 Substituting (&).m)) = (1,1) then gives AQ ++ Hesi-yer or aes and hence M=4@4+ 00+ DE +n-1) Applying an identical procedure atthe remaining nodes gives N= RE +E -DO+D Ny = -HE- Do + Dey -E~1) Ne= 4E-Do+ Do- 0 4E- Ne ne + +1) Now E+ INE ~ I - Ny= -}E+@- WE =7-1)8 Ny=-hE+D0 + D@-D 9:7 The Jacobian Mates for Quadrilaterals Consider the Jacobian matrix forthe four-noded quadrilateral, Differentiating equations (943) and (9:44) gives z Stan 49) # 050) 2 es) 4 Sa,, (952) Further differentiation of equations (9.48), (9.46), (9.47) and (9.48) yields the shape function derivatives as wy, er dot 053) 58) 55) (56) Substituting these derivatives into equations (9.49)-(9.52), we obtain the terms of the Jacobian matrix according to Baje- a -y tet }e- ate sn Balet ander ntn = Be dor- monty +EO- yt —yon (059) Be hort ns -70 + 301- vy ts 208 (060) Inserting these values in (9.28) we see that, for the general case of an arbitrary quadrilateral, detJ is a polynomial of degree two. This implies thatthe value of the Jacobian determinant varies from point to point inside the quadrilateral, unlike the ‘mapping forthe linear triangle. There i, however, ane important special case where the100 detJ becomes constant and a simple physical interpretation of its meaning becomes possible. This is when the sides of the element form 4 rectangle (or a parellelogram) as shown in Figure 9.5. igure 9.5: The linear rectangle For thiscase, we see that yomea Hom =0 YrwaO yeh une and hence =}O+fOE=<0 1 ©+}On=0 gig ale Se ae +t e 8 50H) +508 = 4 yom a0 nomad “Inserting these values in (928) gives the impostant result that detF = (@/2N(6/2) — (0)(0) = 4/4 where isthe element area. This results valid for any quadrilateral element whose sides form a rectangle or a parallelogram, including the higher order elements, For (quadrilateral of arbitrary shape, the condition that det J is positive must stil be satisfied. (61) (9.62) (983) st) (965)1 9.8 Numerical Integration Formulae for Quadrilaterals T compute the stiffness matrix for « quadrilateral element, itis necessary t0 evaluate Sntegrals of the form aH I J f SG n)ddy [ SG.n)dé (0.56) ‘Numerical integration rules for quadrilaterals are similar to those for triangles andreplace these integrals by summations according to Ts { | HG natin = 7G, (sn where nis the numberof integration (or Gauss) points, (Fy 1) ate the coordinates for integration point nd wi the weight for ntgraton pola The sampling points and weighs fr vorious Gaus formalae over a quailatra are shown in Table 9. “These rules area straightforward generalisation of the one-dimensional case and are thus designed for integrands where (E,7) is polynomial. With reference to Table 9.2, we see ‘that a one-point rule gives no error fora constant or linear function, whereas 2 four-point rule gives no error for apolynomial up to and including acubie. Other formulae for higher ‘order polynomial integrands may be constructed by applying the one-dimensional rules in two-dimensions. opens ——~—~S~Crdates ‘welght degree of n & 1 w;__ polynomial Z 0 v 2 T ‘Tle 9.2 Data for Gaussian integration over quedrilaterals102 ‘Consider the integral 4 ia + bn + WP hdbdy = 8/3 ‘Applying the one-point rule from Table 92 gives T= FG nds = P+ an + ape = (0+0x0+02 =o ‘This's not exact because we need a quadratic rule to avoid any error. For the four-point rule we obtain T= fEombea + FG anda +f Esotadvs + FEtedme = [BF + A C8) + BY) + [Ay + ey Aas) + a/ By + [as BY + a/ Bye 8) + CB) + [ory + a Bay 8) + a/8Ja) = 5/5 As expected, this result is exact as we have used a rule with cubic accuracy to integrate a (quadratic integrand.