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First Published 1992

British Library Cataloguing in Publication Data

Fagan, M.J.
Finite element analysis.
I. Title
620.001
ISBN 0-582-02247-9

Library of Congress Cataloging-in-Publication Data

Fagan, M.J., 1957-

Finite element analysis / M.J. Fagan.
p. cm.
Includes bibliographical references and index.
ISBN 0-470-21817-7
I. Finite element method. I.Title
TA347.F5F34 1992 91-42924
620' .00 I' 5 I 535-dc20 CIP

10 9
06 05 04 03 02

Set by 8 in I 0/13 Times

Printed in Malaysia, VVP
 List of Chapters

Chapter 1Background and application

Chapter 2Introduction to the method
Chapter 3Discretization of the problem
Chapter 4Interpolation functions and simplex elements
Chapter 5Formulation of the element characteristic matrices and
vectors for elasticity problems
Chapter 6 Formulation of the element characteristic matrices and
vectors for field problems
Chapter 7 Assembly and solution of the finite element equations
Chapter 8 Higher-order element formulations
Chapter 9 Modelling procedures and results processing
Chapter 10 Further applications of the finite element method
Chapter 11 Symmetry, submodeHing and validation
Chapter 12 Commercial finite element programs

vii
 Contents

Preface xiii

Notation xvii

1 Background and application 1

2 Introduction to the method 5

2.1 General theory 5
2.2 A simple one-dimensional element: the pin-jointed bar 6
2.2.1 Stress analysis of a stepped bar 9
2.3 A simple one-dimensional element: the thermal rod 12
2.3.1 Heat conduction through a wall 13
2.4 Conclusions 15
Problems 15

3 Discretization of the problem 19

3.1 Introduction 19
3.2 Geometrical approximations 19
3.3 Simplification through symmetry 20
3.4 Basic element shapes and behaviour 23
3.5 Choice of element type 25
3.6 Size and number of elements 29
3.7 Element shape and distortion 31
3.8 Location of nodes 33
3.9 Node and element numbering 34
3.10 Conclusions 37
Problems 38

4 Interpolation functions and simplex elements 39

4.1 Introduction 39

ix
 Contents xi
X Contents

4.2 Simplex, complex and multiplex elements 41 8 Higher-order element formulations 169
8.1 Introduction 169
4.3 Linear interpolation polynomials for simplex elements 43
4.4 Natural coordinates 49 8.2 Natural coordinate systems and numerical integration 171
4.5 Vector quantities 54 8.3 Higher-orde r one-dimensional elements 174
56 8.3.1 Quadratic and cubic elements 174
4.6 An axisymmetric element
57 8.3.2 Evaluation of the element equations 176
4.7 Conclusions
8.3.3 An alternative formulation 183
Problems 57
8.4 Higher-orde r two- and three-dimensional elements 185
8.4.1 Isoparametric triangular elements 185
5 Formulation of the element characteristic matrices 195
and vectors for elasticity problems 61 8.4.2 Isoparametric quadrilateral elements
8.4.3 Isoparametric solid elements 201
5.1 Introduction 61
8.4.4 Stress and heat flow calculations 203
5.2 The variational formulation 61
8.5 Structural beam, plate and shell elements 203
5.3 One-dimensional elasticity 67
8.6 Convergence requirements of interpolation functions 212
5.4 Two-dimensional elasticity 76
8.7 Conclusions 214
5.5 Three-dimensional elasticity 85
Problems 215
5.6 Axisymmetric elasticity 87
5.7 Conclusions 93
Modelling procedures and results processing 221
Problems 94 9
9.1 Introduction 221
9.2 Model validity and ac~uracy 221
6 Formulation of the element characteristic matrices 230
and vectors for field problems 101 9.3 Mesh design and refinement
9.4 Element distortion 239
6.1 Introduction 101
9.5 Results processing 243
6.2 Formulation procedures 103
9.6 Model checking 245
6.2.1 The variational formulation 103
6.2.2 The weighted residual method 106
249
6.2.3 Summary 109 10 Further applications of the finite element method
10.1 Introduction 249
6.3 Thermal problems 110
10.2 Non-linear static elasticity problems 249
6.3.1 One-dimensional heat transfer 110
251
6.3.2 Two-dimensional heat transfer 123 10.2.1 Material non-linearity
10.2.2 Geometric non-linearity 252
6.3.3 Three-dimensional heat transfer 128
255
6.3.4 Axisymmetric heat transfer 130 10.2.3 Combined material and geometric non-linearity
10.2.4 Non-linear contact conditions 256
6.4 Torsion problems 138
10.3 Buckling problems 256
6.5 Fluid flow problems 146
10.4 Dynamic problems 257
6.6 Conclusions 146
10.4.1 Modal analysis 258
Problems 148
10.4.2 Transient response analysis 259
10.4.3 Harmonic response analysis 262
7 Assembly and solution of the finite element equations 153
265
7.1 Introduction 153 10.4.4 Shock spectrum analysis
10.5 Transient thermal problems 267
7.2 Coordinate transformations 153
7.3 Assembly of the element equations 156
269
7.4 Incorporatio n of the boundary conditions 162 11 Symmetry, submodelling and validation
11.1 Introduction 269
7.5 Solution of the equations 164
11.2 Symmetric models with non-symmetric loading 269
Problems 166
xii Contents

11.3 Submodelling and substructuring 275

11.4 Element and program validation 278

12 Commercial finite element programs 285

12.1 Introduction 285
12.2 General facilities 285 Preface
12.3 Pre-processors 287
12.3.1 Direct user input 287
12.3.2 Automatic mesh generation 293
12.4 Post-processors 295

Bibliography 297
Glossary 299
Index 311
This book is an elementary text on the finite element method. It is aimed
at engineering and science undergraduates with no previous knowledge of
the method, and deliberately attempts to keep the mathematics of the
subject as straightforward as possible. It is assumed that the reader does
understand the basic concepts and equations of elasticity and thermal
heat flow, and is familiar with simple matrix algebra.
The finite element method has developed into a sophisticated and
apparently complex technique, but the fundamental principles are simple
and easily understood if treated in a direct and logical manner. The
procedure may be introduced in two different ways. Firstly, it may be
presented as a mathematical tool, with the theory developed as a general
procedure for obtaining approximate solutions to elliptic partial differen-
tial equations. Alternatively, the method may be introduced less
rigorously, aimed specifically at those areas where it is most commonly
used. If a novel area is encountered, or the theory needs to be developed
further, the reader may then study more advanced texts, equipped with a
sound knowledge of the fundamental principles. Since this second
approach also allows the practical aspects of the method to be introduced
more effectively, it is adopted here.
It cannot be overemphasized that the finite element method is an
approximate method of analysis, and that the way an object is modelled,
such as the choice of element or the representation of the loading and
constraint conditions, is vital. Furthermore, considerable engineering
judgement may be required to analyse the very detailed information that
a finite element model can produce. Consequently, although sophisticated
commercial finite element packages are available, the theory of finite
elements and the practical (modelling and analysis) aspects of the
technique must be clearly understood by the user, if the model he or she
develops is to be valid and accurate.
In many cases an engineer will concentrate on either field problems

xiii
xiv Preface Preface xv

(usually thermal) or elasticity problems, and for thi~ reason the two areas systems and the use of numerical integration. It also describes
are not generally intermixed in this text. Each is dealt with in separate structural beam and plate elements.
chapters, and if not required the unwanted chapters m~ be omitted. For Chapter 9 is another chapter on practical aspects. It deals with model
this reason, the chapters before and after the specialized ones tend to be validity and accuracy (i.e. how reliably the physical problem is
general, with advanced applications of the finite element method covered modelled and how close the model is to convergence), together with
later in the book. the effect of element selection and mesh refinement, and element
Thus this text attempts to introduce the finite element method in a distortion. Two final sections discuss how the finite element results can
simple manner, and places particular emphasis on the practical side of the be processed and analysed, and how they can and should be checked.
procedure. It does not discuss how the method is programmed into the Chapter 10 introduces more advanced applications of the finite element
computer, which usually need not concern the engineer. However, those method. In particular, it illustrates how problems with geometrical and
features of the program which affect the efficient running and execution material non-linearities can be investigated, together with the analyses
of the analysis are highlighted. of buckling and dynamic problems.
A brief summary of the contents of each chapter is no~ included to Chapter 11 deals further with the practical side of the method. It discusses
allow the reader to obtain an overview of the whole book: problem symmetry in more detail and introduces the ideas of
submodelling and substructuring, and describes element and program
Chapter 1 discusses the capabilities of the finite element method, and lists validation by patch and benchmark tests.
the types and classes of problems that the method can be used to Chapter 12 discusses commercially available finite element packages, the
analyse. type of facilities that can be expected from them, and in particular the
Chapter 2 introduces the basic principles behind the finite element sophisticated pre- and post-processors on which most of them rely.
method, and demonstrates the technique with a complete and yet
simple one-dimensional model and an analysis of both a stress and a Although a simple finite element problem can be introduced and worked
thermal problem. through in just a few pages (in Chapter 2), the finite element method is a
Chapter 3 is the first chapter on practical aspects, and deals with the 'long' procedure; there are many steps in a complete analysis. The new
discretization of the object being modelled, the division into elements, student of the method can become bewildered as to where each step fits
and the location and optimal numbering of the nodes. Modelling in the overall scheme, and for this reason a figure is included here to
economies through the use of model symmetry are also introduced. show the general flow of the technique. The layout of the first half of this
Chapter 4 discusses the basic concepts and properties behind some linear book follows the outline of the method in the figure, with more detail and
elements, i.e. the choice of approximating function and the use of more advanced topics in the second half.
natural coordinate systems. Many worked examples are included through the book to introduce the
Chapter 5 covers stress analysis problems, and describes the formulation different aspects of the theory. These examples tend to be simple, so that
of the general element matrices and vectors for elasticity problems (by the principles are presented without filling the pages with complex and
minimization of potential energy). One-, two- and three-dimensional usually repetitive calculations. Whether a model uses four elements or
and axisymmetric problems are examined. forty, the analysis proceeds in the same way. The difference is in the final
Chapter 6 covers field problems, and describes the formulation of the system equations, with the latter producing many times more equations
general element matrices and vectors for field problems (by minimiza- that cannot reasonably be processed by hand, but can easily be processed
tion of a functional and the weighted residual method). Thermal by computer. It should be noted, however, that these examples are an
problems and the torsion of shafts are discussed in detail. integral part of the text and should be read with the rest of the chapter in
Chapter 7 demonstrates how the element equations are assembled to give which they appear. Each contains comments not only about the specific
the system equations, the boundary conditions are applied, and the problem, but also about the general procedures and implications of the
equations are then solved for the unknown nodal variables. results of the example.
Chapter 8 introduces more sophisticated elements with higher-order Finally, a substantial glossary is incorporated at the end of the book to
approximating functions, and the more complex techniques that they help the student become familiar with and understand the many
demand, i.e. the transformation between natural and global coordinate specialized terms used in this subject.
 1. Discretization of the problem.
The geometry i, divided mto a finite rwmMr of region, or elcmenb, (taking
account of any 1ymmct.ry, different m1lrial1, Joadinj and boundary conditiona.

2. Selection of the approximating function.

The form of the approximating function (for lhc displacement or temperature)
i1 ,elected. Notation
·- - -- -. - -· - -. -'-- --- - -- --- --
I

\s1mplD: e~m1. : :,;;;~; ;:ie;;~,;~~ --·-~

: L~~r-~~-ti~~·- .. _: :Quadratic or cubic function1. :

3. Derivation of the bru;ic element equations.

The equation, to de~ribc the behaviour of the aelected element type are
derived,

- --- - -- - -- -~--: :..-: _-_-: :- . -'-- -~: :::::::~--- - ---·

:variadonalformulalion method. : !Weighud n.ridual method. :

---------~---------
4. Calculation of the system equations.
Matrix and vector notation
a. The individual element equation, are calculated.
The presentation of the finite element method requires the use of matrix
~ - -- -
.... - .. - - - - - .. - - .. .J ...... - - - - - - - - - ..
.J .. - -- - ..... , j'" -- .. -- - -- -t-- - .. - - • -. and vector notation, and in this text such matrices and vectors are
1Simpla ekmmls. ; 1High.eronkrekmenzs. ;
: Exact evaluation. 1 ; Evaluation u1ing numerical , identified by brackets, rather than bold-face type used in many textbooks,
• .........................' :integration, :
·-. --. - -- - -- --- - -- - ·'
b. The clement equation, arc combined to give the 1yatem equatioru.
such as U, N, B. This has the advantage that the equations can be more
easily written down and manipulated by hand, but it also facilitates their
n
presentation in computer-based learning methods and programs. In
I a P
I h
particular, the following schemes are used throughout the book.
S. Encorponition or the boundary conditions.
The system equation1 are modified to t.alce accoont of the const.rainll.
1. Column vectors are enclosed in curly brackets, for example,
I
6. Solution of the system equations.
The 1y1tcm equ.atiom .arc aolvcd to give the nod.al displacements or tempcnrturc1 .

.-- . --.. -- --.... _, __ - -- --- - -- -...

Main steps of the finite element [~~~~:;~:~ fw;v:~;;~_:;
method
---------~--------- 2. Row vectors and matrices are enclosed in square brackets, for
7. Post-processing. example,
The llnin,, llreuc1 or heat flow, etc. arc calculated u required.

..... - .. -- .. -- ... -.. ""-- - -- - -- - -- - ..

I [N] = [N1 N2 N3 N4]
:s;,;;;kr·;,;,,;:.;,:--·: fH;;he;:;rie;;~~---- -·:
: Evaluation at oodca. ; : Evaluation at inle,ntion poinu. : p p b, bj bk b1]
",... ... • ....... " .. - • - - .. '" :Extnpolationlo node,. : r h [B] C; Cj Ck Ct
•.... • ... ,..'" .. "' "._ ......... - - - ............ I
[
d,_cl.1 dk d1
I
8. Presentation of results.
a. The nodal value.a arc averaaed.
1 b. Tho reauJu ore prinled or ploa..i.
.I and also, therefore, {U}T = [u1 u2 U3 u4]

Mathematical symbols
[* in this method steps 4,S and 6 are not discrete.] The following is a list of the mathematical symbols used in this text. A
few symbols have more than one meaning in different parts of the book,

xvii
xviii Notation Notation xix

but this should not cause any ambiguity. Other symbols which occur in thickness
particular limited pieces of analysis or examples are defined as they .are t time (in dynamic and transient problems)
used. Many of them appear with subscripts or superscripts, and possibly T temperature
both, and these are detailed at the end of the list. u displacement in the x direction
{ U} displacement vector
A area v displacement in the y direction
[B] matrix relating strain vector to displacement, or thermal gradient vg ground acceleration (in dynamic problems)
vector to temperature V volume
C damping constant (in dynamic problems) w displacement in the z direction
[C] structural damping matrix (in dynamic problems) W 'work done
[C] specific heat matrix (in transient thermal problems) WB work done by body forces
[D] property matrix Wp work done by pressure loads
e general element Wc work done by nodal loads
E Young's modulus X body force per unit volume in the x direction
{F} force vector V body force per unit volume in the y direction
{g} thermal gradient vector "1l.. body force per unit volume in the z direction
G shear modulus
h convection coefficient
H length of element side Greek symbols
Hi weighting function for numerical integration a coefficient of thermal expansion
/ area moment of inertia an constant used in interpolation functions (n = 1, 2, 3, ... )
[J] Jacobian matrix y shear strain
[k] stiffness matrix ~T change in temperature
[k 0 ] geometric stiffness matrix (in non-linear problems) E direct strain
K thermal conductivity {co} initial strain vector
l direction cosine with respect to the x axis { E} strain vector
L length e angle of rotation
Ln natural coordinate (n = 1, 2, ... ) 01 twist per unit length (in torsion problems)
m direction cosine with respect to the y axis A eigenvalue (in buckling problems)
M torque, bending moment [l] coordinate transformation matrix
[M] mass matrix A strain energy
n direction cosine with respect to the z axis v Poisson's ratio
Nn shape function (n = i, j, k or 1, 2, 3, ... ) ; modal damping ratio (in dynamic problems)
[N] shape function matrix II potential energy
p pressure a direct stress
P perimeter length (in field problems) {a} stress vector
P applied nodal force (in stress problems) r shear stress
{P} nodal force vector (in stress problems) {v} mode shape (in dynamic problems)
q heat flow rate or flux Y general coordinate (in dynamic problems)
Q applied heat source or sink <jJ unknown function, temperature, Prandtl's stress function
R reaction (at a constraint) ¢ 00 surrounding ambient temperature
IR body force per unit volume in the r direction {<I>} unknown function vector
S surface w natural frequency
S shear force (in beam, plate and shell elements)
xx Notation

General

Subscripts

i,j,k
refers to general nodes i, j or k etc.
s
refers to the whole system or model 1 Background and application
r,fhz
refers to directions r, e or z
x,y,z refers to directions x, y or z
1,2,3 refers to nodes 1, 2 or 3 etc.

Superscripts
(e) refers to general element (e)
refers to the global coordinate system
T transpose of a vector or matrix The finite element method is not a new technique; it was first introduced
in the 1950s, and has been continually developed and improved since
Special then. It is now an extremely sophisticated tool for solving numerous
engineering problems and is widely used and accepted in many branches
x overscored - average value of X of industry. Its development has not been paralleled by any other
K underlined - X at the centroid of an element numerical analysis procedure, and it has made many other numerical
x derivative - first derivative of X with respect to time analysis techniques and experimental testing methods redundant. For
example, in the car industry, the structural integrity and performance of
x derivative - second derivative of X with respect to time
any new car design is thoroughly analysed and evaluated with finite
element models, possibly years before the first prototype is built. The
Coordinate systems method is used to analyse the strength of individual components and that
natural coordinate system of the car as a whole, its impact behaviour and crashworthiness, the
£1}
cylindrical coordinate system frequency characteristics of the total structure and its separate com-
rez
Cartesian coordinate system ponents, the temperature distribution in the engine block and pistons and
xyz
the resulting thermal stresses, and many other areas.
Aircraft and aerospace companies, like many other industries, are
similarly dependent on finite element analyses. The efficient design of any
modern aeroplane is impossible without the technique. Indeed, many
aircraft components and hence the total machine are certified and given
airworthiness certificates through the results of finite element models.
Clearly the areas of application and the potential of the finite element
method are enormous. The growth of the technique is attributable
directly to the rapid advances in computer technology and computing
power, particularly over the last decade. As the power of computers has
increased, so it has been possible to analyse larger and more complex
problems. Combined with this effect, the decrease in price and increase in
availability of moderately powerful mini- and microcomputers has meant
that even small companies can have access to finite element programs.
The number and size of software companies developing and supporting
commercial finite element packages has grown to meet the demand for
2 Background and application Background and application 3

the programs, and it is now a multimillion pound industry itself. ~roblems that can be analysed by the finite element method are presented
There are three broad problem areas that can be investigated by the m Table 1.2.
finite element method. These are introduced below with examples
illustrating the wide range of applications of the technique.
Transient problems

Steady state problems In eigenvalue problems, time does not appear explicitly, although the
natural frequency characteristics of a body might be determined. In
Steady state or equilibrium analyses are the most common use of the transient or propagation problems, however, the loads can be functions
finite element method. For elasticity problems, a body under equilibrium of time, and the finite element method is used to calculate the forced
conditions can be analysed and its distortion predicted. From the response of the body. The propagation of stress waves and transient heat
calculated values of displacement, it is then possible to derive the strains flows is also considered under this heading. Other examples are included
and stresses experienced by the body. Thermal analyses are also in Table 1.3.
frequently performed by the method; the temperature distribution and
heat flow through a body can be predicted for a wide variety of boundary The range of problems suitable for analysis by the finite element method
conditions. Table 1.1 lists some of the areas where the method is applied is clearly large, and certainly many of these problems were previously
to equilibrium problems.
Table 1.2. Typical eigenvalue problems suitable for analysis by the finite element method
Eigenvalue problems
Area Typical application
Eigenvalue problems are an extension of equilibrium problems, but Aerospace engineering Frequency analysis of engine components, helicopter rotor
involve the calculation of fundamental characteristics of the body or blades, gearbox casing; acoustic analysis of aircraft passenger
system under examination. For example, the method can be used to compartments
Automotive engineering Acoustic analysis of passenger compartll'.)ent and exhaust system;
determine the natural frequencies and mode shapes of components, and frequency analysis of gearbox casing and body shell
the buckling loads of structures. Samples of the type of eigenvalue Electrical engineering Natural frequencies of printed circuit boards
Hydraulic engineering Natural periods of lakes and harbours; sloshing of liquids
Mechanical engineering Natural frequency of components, shafts; critical buckling loads
Table 1.1. Typical equilibrium problems suitable for analysis by the finite element method Nuclear engineering Neutron flux distribution; frequency analysis of pressure vessels
Structural engineering Natural frequency and buckling loads of structures; vibration
Area Typical application analysis of multistorey buildings
Aerospace engineering Stress analysis of aircraft frames, wings, missile and spacecraft
components; thermal analysis of gas turbine blades, heat
exchangers Table 1.3. Typical propagation problems suitable for analysis by the finite element method
Automotive engineering Stress analysis of crankshaft, cylinder block, connecting rods,
chassis; thermal analysis of pistons; lubrication of big-end Area Typical application
bearings
Biomedical engineering Stress analysis of bones, hip replacements, teeth and heart Aerospace engineering Forced frequency analysis of aircraft and spacecraft components;
thermal analysis of rocket nozzles
Civil engineering Stress analysis of dams, retaining walls, excavations; soil
mechanics Automotive engineering Time dependent analysis of engine components, piston, disc
brakes, exhaust; crashworthiness of chassis
Electrical engineering Steady state thermal analysis of integrated circuit boards
Biomedical engineering Impact analysis of skull; dynamic analysis of body and limbs
Hydraulic engineering Analysis of water seepage and flow under dams; aquifer analysis
Civil engineering Stress waves in rock structures
Mechanical engineering General one-, two- and three-dimensional and axisymmetric
stress analyses of components; stress analysis of shafts, gears and Hydraulic engineering Transient seepage and flow
pressure vessels; crack propagation Mechanical engineering Analysis of impact problems; dynamic crack propagation
Nuclear engineering Stress analysis of reactor vessels and structures; thermal analysis Nuclear engineering Time dependent thermal analysis of reactor components; shock
of reactor components spectrum analyses
Structural engineering Static analysis of electricity pylons, girders and bridges Structural engineering Shock and earthquake analysis of buildings and bridges
4 Background and application

insoluble until the finite element method became available. Increasingly,

the complexities and approximations of the algorithms employed by the
many commercial finite element packages that are now widely used are
becoming less apparent to the user. The essential procedures of the
method are invariably concealed by sophisticated pre- and post-processors.
These interfaces with the program have become more important as the 2 Introduction to the method
cost of the software and hardware has decreased while labour costs have
increased. The limiting factor on the use of the finite element method in
most companies is now the manpower, rather than the computing power
as was the case just a few years ago.
The development of the pre- and post-processors has not only made the
user remote from the method, but also given the programs an appearance
of unquestionable accuracy. Pre-processors can now easily generate
complex, visually impressive and apparently reliable models with a
minimum amount of input from the engineer, while the post-processors 2.1 General theory
produce equally impressive and convincing graphical output. The finite
element method can produce accurate and reliable results when used The ~asic principles underlying the finite element method are simple.
correctly, but it is important to remember that it is an approximate Consider, for example, a body in which the distribution of an unknown
technique, and the validity and accuracy of the model and its solution rely var~abl~ (s~~h as. temperature or displacement) is required. Firstly, the
on an accurate representation of the problem and correct analysis region is dlVlded mto an assembly of subdivisions called elements which
procedures. are con~idere.d to be interconnecte'd at joints, known as nodes (Fi~. 2.1).
As a result of the enormous growth in the number of finite element The variable is assumed to act over each element in a predefined manner
users and commercial software packages, a body called the National with the number and type of elements chosen so that the variabl~
Agency for Finite Element Methods and Standards (NAFEMS) was distri~ution through the whole body is adequately approximated by the
established in the UK in 1983. The primary functions of the Agency are combmed elemental representations. The distribution across each element
to assist in the development of error-free finite element programs and to m.ay be defi~ed by a polynomial (for example, linear or quadratic) or a
tngonometnc function.
give users guidance and general advice on the application of the
programs. NAFEMS now publishes guidelines on finite element model-
ling, element validation tests and standards, and benchmark assemblies.
The element validation work investigates how individual elements Boundary of regior
behave, particularly when they are distorted, while the benchmark tests of interest
compare the performance of element assemblies with known theoretical
solutions. The work of NAFEMS and similar groups will become of
increasing importance as finite element modelling in all branches of Typical node

engineering continues to expand. Figure 2.1 Discretization of a

region into a number of finite
elements

After the problem has been discretized, the governing equations for
each .element are calculated and then assembled to give the system
e~uat10n~. The element equations may be found in a variety of ways, as
will be discovered later, but it turns out that the equations of a particular
type of element for a specific problem area (stress or thermal, for
example) have a constant format. Thus, once the general format of the

5
6 Introduction to the method A simple one-dimensional element: the pin-jointed bar 7

equations of an element type is derived, the calculation of the equations such a bar is presented in Fig. 2.2(b). It has two nodes, i and j; it lies
for each occurrence of that element in the body is straightforward; it is along the x axis, and consequently only experiences an axial displace-
simply a question of substituting the nodal coordinates, material ment. Assuming that the displacement u varies linearly along the length
properties and loading conditions of the element into the general format. of the bar L, then
The individual element equations are assembled to obtain the system
u =a+ bx [2.2)
equations, which describe the behaviour of the body as a whole. These
generally take the form where a and b are constants.
[k]{U} = {F} [2.1]
(a)

where [k] is a square matrix, known as the stiffness matrix; {U} is the (b)
vector of (unknown) nodal displacements or temperatures; and {F} is the (e)
vector of applied nodal forces. F ~ F
Figure 2.2 (a) One-dimensional
Equation 2.1 is directly comparable to the equilibrium or load- pin-jointed bar (b) equivalent
displacement relationship for a simple one-dimensional spring, where a finite element
force F produces a deflection U in a spring of stiffness k. To find the
displacement developed by a given force, the relationship is inverted. The If u; and uj are the unknown displacements at each node, then
same approach applies to the finite element method; however, before Eq.
u; =a+ bx;
2.1 can be inverted and solved for { U}, some form of boundary condition [2.3]
uj =a+ bxj
must be applied. In stress problems, this means that the body must be
constrained to prevent it from performing unlimited rigid body motion. Since the coordinates of the nodes are known (x; and xj), these two
For thermal problems, the temperature must be defined at one or more of equations can be solved for a and b, giving
the nodes.
a = (u;xj - ujx)!L
The solution of Eq. 2.1 is not trivial in practice because the number of [2.4]
b = (uj - u)IL
equations involved tends to be very large. It is not unreasonable to have
50 000 equations, and consequently [k] cannot be simply inverted. Substituting these back into Eq. 2.2 and rearranging, it is found that
Fortunately, however, [k] is banded, and techniques have been developed
to store and solve the equations efficiently. After solving for the unknown U = Xj - XU· + X - X; U·
[2.5]
L ' L 1
nodal values, it is then simple to use the temperatures to calculate the
elemental heat flows, or the displacements to find the strains and then the or
elemental stresses.
Thus the finite element method is a straightforward and logical [2.6]
procedure following a well-defined path. Two simple one-dimensional N; and Nj are known as the shape functions of the element, and are a very
examples are now introduced to show how the method can be used to important feature of any finite element. The relevance of shape functions
predict the stresses in a stepped bar, and the thermal distribution through is discussed in Chapter 4.
a wall. When a structure is loaded and attains an equilibrium position, its
potential energy must be a minimum. The potential energy II of the
structure can be defined as
2.2 A simple one-dimensional element: the pin-jointed bar
II=A-W [2.7]
The simplest element to introduce the finite element method in stress
analysis is the one-dimensional bar, as shown in Fig. 2.2(a). Each end of where A is the strain energy and W is the work done by any external
the bar is assumed to be pin-jointed, so that it can only transmit a tensile loads.
or a compressive axial force. The basic finite element corresponding to For the single element considered here, the strain energy stored in the
8 Introduction to the method A simple one-dimensional element: the pin-jointed bar 9

element following any deformation ( assuming constant cross-sectional case, the answer is easily verified by performing the calculation with the
area A) is expanded form. The result is
Xjl arr
A=
I
X;
-acA dx
2
[2.8] a{U} = [k]{U} - {F} =0 [2.16]

However, the axial strain E is related to the stress a by Young's modulus and therefore
E, so that
F; } = AE [ 1 -1 ] { u; } [2.17]
{ Fj L -1 1 Uj
A= AEIXjE2 dx [2.9]
2 X; Not surprisingly, this is the most general form of the load-displacement
The strain is simply defined as duldx, which from Eq. 2.5 is seen to be relationship for a spring, where a force is applied to either end of the
spring. For example,
E = (-u; + uj)IL [2.10]
Note that since a linear variation of u was chosen, the strain is constant F- = -AE (u- - u-) = -AE x extension
.
' L ' I L
over the element.
Substituting into Eq. 2.9 and integrating gives where AE/L is the stiffness of the spring.
The derivation detailed above only considers one element. In practice a
A= AE (-u- + u-)2
1
[2.11] model will consist of many elements, and it should be remembered that it
2L '
is the total potential energy of the system that must be minimized.
It is more convenient to write this in matrix form as Therefore if, for example, E bar elements are used, the total potential
energy is
A= AE [u; Uj] [ 1 -1] { U;} = .!{u}T[k]{U} [2.12] E
2L -1 1 Uj 2 II= L (A(e) - W) [2.18]
e=l
where
where A(e) is the strain energy for element (e), and the work done W by
{U}={u;} ~
and [k]= AE[
L
1-lJ
-1 1
[2.13] the external loads is

[2.19]
and [k] is called the stiffness matrix for the element.
For a bar element, the only external forces that can be applied are if the model uses n nodes. So minimization gives
nodal forces (F; and Fj) acting at the ends of the bar, so that the work
done by external forces is ~ = ( ·~ [kCe>]){u} - {F} = 0 [2.20]
a{U} ~
W = u;F; + ujFj = {U}T{F} [2.14] where the term 2,f=i ([kCe)]) is the global or system stiffness matrix, and
Therefore, for the single bar, the total potential energy is is the sum of all the element system matrices.
A simple stress analysis of a stepped bar now follows, to demonstrate
the use of these equations.
[2.15)
For minimum potential energy, the displacements must be such that
2.2.1 Stress analysis of a stepped bar
arr = arr= 0 or arr = 0
The axially loaded bar shown in Fig, 2.3(a) can be analysed by the basic
au; auj a{U}
element developed in the previous section. The finite element idealization
The differentiation of the terms in Eq. 2.15 is straightforward and is is drawn in Fig. 2.3(b). Only two elements are chosen for this example,
discussed in most textbooks covering matrix algebra. In this particular but naturally more could be used if thought necessary.
 10 Introduction to the method A simple one-dimensional element: the pin-jointed bar 11

(a) (b) Similarly, element (2) is associated with nodes 2 and 3, and its stiffness
matrix can be labelled as
(1) 2 (2) 3 U2 U3
Region 1 Region 2 P= 10 N
[k(2)] = [ 2 -2 J U2 X 104 N/mm
-2 2 U3

Thus the system matrix, which has a row and a column associated with
each degree of freedom and is therefore of size 3 X 3, is filled by placing
Figure 2.3 (a) Simple stepped A( 1) = 20 mm 2 , A( 2 ) = 10 mm 2
bar for analysis (b) finite L( 1) = L( 2 ) = 100 mm the terms from each element stiffness matrix into the correct location.
element model P 1
)= P 2
) = 200 x 10 MPa
3 Therefore

The general element in the previous section is identified by nodes i and ~l -~2 i;;J U1

j. However, in the stepped bar the nodes are labelled numerically and [k] = -4 4+2 -2 u 2 x 104 N/mm [2.21]
[
consecutively, so that for each element they correspond as follows: 0 -2 2 U3

No terms appear in the (u 1 ,u3 ) locations, because no element connects

these two degrees of freedom together.
Element i node j node The global force vector in Eq. 2.20 is the vector of applied nodal
(1) 1 2 forces, that is
(2) 2 3
{F}T = [0 0 10] [2.22]

This information is called the element connectivity. It is important since a force is only applied at node 3 ( of 10 N).
because it contains details of how the elements are connected together, The final system of equations is therefore
and how their stiffness matrices should be assembled into the global
6 -2OJ {u1} = { 0}
[-404-4
stiffness matrix. 104 0U2 [2.23]
So for element (1), Eq. 2.13 gives the stiffness matrix as -2 2 10U3

A(1)£(1) Now constraint conditions must be applied to these equations before

£Cl)
1 -1
[ _1 1
J= [ _ 4 -4 Jx 104 N/mm solving for the nodal displacements. In this case u 1 = 0, and the
4 4
equations are modified as
and for element (2),
104
4 -4
-4 6 - 2
oJ {o }= {o +0 R1}
U2 [2.24]
[
) - AC )£C
[k(2]
2 2
) [ 1 -1 J- 2 -2 Jx 4
10 N/mm
0 -2 2 U3 10
- £(2) -1 1 - [ -2 2
where R 1 in the first equation is the reaction provided by the
surroundings at node 1 to maintain the zero displacement. Solution of the
Now the assembly of the system stiffness matrix must be performed,
other two equations yields
where each element matrix is added into the system matrix in turn.
Element (1) has nodes 1 and 2, and its rows and columns are associated u2 = 0.25 X 10- 3 mm
with u1 and u2 as follows: U3 = 0.75 X 10- 3 mm

U1 U2 and substitution back into the first equation of Eq. 2.24 then gives
[k(l)] = [ 4 -4 JU1 X 104 N/mm R 1 = -10 N as expected (negative because it acts in the negative x
-4 4 U2 . direction).
 12 Introduction to the method A simple one-dimensional element: the thermal rod 13
The strains in each element are now calculated using Eq. 2.10, together Similarly it is clear that
with the element connectivity information:
i:;< 1 ) = (-u 1 + u2 )/L = 0.25 x 10- 3;100 = 2.5 x 10- 6
t:(2 ) = (-u2 + U3)/L = 5.0 X 10- 6
Finally, the stresses are found by Hooke's law: These two equations can be stored most conveniently in matrix form as
a<l) = Et:(l) = 0.5 N/mm 2
a< 2 ) = Ei2 ) = 1. 0 N/mm2 [2.27]
The theoretical stresses for this problem are easily calculated by
cfi~~ory= P/A(l) = 10/20 = 0.5 N/mm2 This is analogous to Eq. 2.17 with the following substitutions:
a\~~ory = PIA (Z) = 10/10 = 1.0 N/mm2
F-q AEIL - KAIL u- T
In this example, the finite element analysis has predicted the exact solution
T; Insulation "0 to the stepped bar. This is because the variation of displacement through Equation 2.27 is the element equilibrium equation for. the one-
each element was assumed to be linear, and indeed this is the case. Also note dimensional thermal rod.
that, by selecting a linear distribution, a constant strain and therefore a When more than one element is considered, the element stiffness (or
q;- qj constant stress field are imposed in each element, which is precisely what conductance) matrices are assembled to give the global stiffness matrix, in
. is expected in an axially loaded bar of constant cross-sectional area. the same way as the stiffness matrices of the pin-jointed bar elements
(a) a thermal rod were assembled. As a result the sys~em equations are derived, and are of
(e)
2.3 A simple one-dimensional element: the thermal rod the form

~x The simplest one-dimensional element for heat transfer problems is a {q} = [k]{T}
(b) the equivalent finite element
thermal rod, as shown in Fig. 2.4(a). The unknown variable at each of the

Figure 2. 4 (a) One-dimensional

two nodes is temperature T.
Fourier's law states that the heat flow rate q through the rod is
where [k] is the global stiffness matrix, equal to ~:=l [k(e)], the sum of
the element matrices; {q} is the vector of nodal heat flows; and { T} is the
thermal rod (b) equivalent proportional to the temperature gradient dT/dx in the direction of vector of unknown nodal temperatures.
finite element
conduction. That is, A simple example now demonstrates the principles.

dT
q=-KA- [2.25] 2.3.1 Heat conduction through a wall
dx
Consider the thermal distribution through the composite wall shown in
where q is the heat flow rate, K is the material thermal conductivity and
Fig. 2.5(a), which is composed of a layer of insulation sandwiched
A is the conducting cross-sectional area.
between two brick walls.
For the finite element of length L in Fig. 2.4(b), if a linear variation of
This can be treated as a one-dimensional problem, and can be
temperature is assumed along the length of the rod then
modelled with just three elements as in Fig. 2.5(b ). The connectivity of
the elements is as follows:
[2.26]

for calculation of the heat flow from node i. In other words, Element i node j node

(1) 1 2
(2) 2 3
(3) 3 4
 14 Introduction to the method
Problems 15

(a)
Calculation of the applied heat flows by the first and fourth equations
then predicts
Q1 = - Q4 = 34.32 X 10-3 watts (per mm 2 )
200 °C Brick Brick 20 °C
K = 80 X 10-3 K= 80 X 10-3 Since the variation of the temperature through the wall thickness is
W/mm °C W/mm °C linear, these finite element results agree exactly with those calculated
theoretically.

2.4 Gonclusions
Figure 2.5 Analysis of heat
flow through a composite wall: This chapter introduces two very simple finite elements, and uses each of
(a) cross-section through wall them to analyse a sample problem. Both the examples are complete, and
(b)
(b) finite element clearly demonstrate the procedures involved in a typical finite element
(1) 2 (2) 3 (3) 4
representation analysis, namely:
(a) pre-processing of the model, i.e. discretization of the problem into
selected element types
From Eq. 2.27, assuming a unit cross-sectional area for each element, (b) calculation of the element matrices and vectors
(c) assembly of the element matrices and vectors to give the global (or
3
[//1)] = 80 X 10- [ 1 -1 J= 8 X 10- 3 [ l -l Jw/°C system) equations
10 -1 1 -1 1 (d) incorporation of the boundary 'conditions into the global equations
10 3 (e) solution of the equations to find the unknown nodal values of the
2
[k( )] = l X - [ _~ -~ J = 0.2 X 10-3 [-~ -~ JW/°C
5 field variable
3 (f) post-processing of the results to give strains/stresses, heat flows and
[k(3)]= 80x10- [ 1-lJ= 8xl0-3 [ 1-lJw;oc
10 -1 1 so on.
-1 1
The global stiffness matrix is found by summing these equations to give Note that each of the sample problems is analysed exactly by the finite
element models, but in practice this is most unlikely to occur. It is rare
8.o -8.0
-8.0 8.0 + 0.2 -0.2
o ol for a finite element model to represent the unknown displacement field
precisely, and the results will therefore invariably only approximate the
[k] = 0 X l0-3 W/oC
0 -0.2 0.2 + 8.0 -8.0 true solution. As the number and complexity of the elements increase, so
l 0 0 -8.0 8.0 the approximation should improve and eventually converge to the
Therefore the full set of system equations with the boundary conditions answer. The skill in finite element modelling comes in developing a
applied, i.e. T1 = 200 °C and T 4 = 20 °C, becomes sufficiently accurate and representative but economical model of the
problem.

_
10 3

l 8.0 -8.o
-8.0 o
8.2 -0.2 0 {200}
0 -0.2 8.2 -8.0
0 0 -8.0 8.0
T2 =
T3
20
ol {Q1}
0
0
Q4
where Q1 and Q4 are the heats applied at nodes 1 and 4 to maintain the
temperatures at 200 °C and 20 °C.
[2.28]
2.1
Problems
Prove from first principles that the displacement through a one-
dimensional pin-jointed bar element with a linear variation of
displacement can be expressed as
Solution of the second and third equations in Eq. 2.28 gives
T 2 = 195.71 °C and T 3 = 24.29 °C where Ni= (xj - x)/L and Nj = (x - xi)/L.
 16 Introduction to the method
.Problems 17

2.2 Using the expanded forms of the strain energy and work done by 2.8 Ohm's law defines the relationship between the direct current J and
the loads of a pin-jointed bar (i.e. Eqs 2.11 and 2.14), prove that the voltage drop V 2 - Vi across a resistor of R ohms. Specifically,
minimization of the potential energy with respect to the nodal
displacements ui and uj does indeed result in Eq. 2.17. 1
J = R (V2 - Vi)
2.3 Using the calculated values of displacement of the stepped bar in
Section 2.2.1, calculate the strain energy in the bar under the 10 N By following the method in Section 2.3 for the thermal rod, show
load. Then, by maintaining u3 = 0.75 x 10- 3 mm, vary u2 and that the finite element equations for an electrical element are
prove that the strain energy is a minimum when u2 = 0.25 x
10- 3 mm.
2.4 What are the displacements of the stepped bar in Section 2.2.1 if a
20 N compressive load is applied at the free end? Calculate the and analyse the circuit in Fig. 2.8.
values of the stresses produced, and compare them with the
theoretical values. What do you notice about the stiffness matrices
for the two load cases?
2.5 Use the finite element method to calculate the displacements and
stresses of the bar in Fig. 2.6, and compare with theory. an 40

~1___
100V 4 [.l 50V

. !-5oN
1---~1---~ Figure2.8

(1) (2) (3)

3 x 10 mm
•I A( 1l = 50 mm 2
2.9 The equation governing the torsion of a circular shaft is
A( 2 ) = 20 mm 2
A( 3 l = 10 mm 2
Figure 2.6 £ 1) = 200 x 103 MPa
where Tis the torque, J is the polar second moment of area of the
2.6 What are the temperature and the heat flows of the composite wall cross-section, G is the shear modulus, L is the length and e is the
of Section 2.3.1 if the temperature on the hotter surface is reduced twist of the rod (in radians). Derive the finite element equations for
from 200 °C to 100 °C? a torsion element governed by this equation, and analyse the shaft
2.7 Use the finite element method to predict the temperature distribu- shown in Fig. 2.9.
tion and heat flow through the composite skin shown in Fig. 2.7.

Figure 2.7
0°C

2mm
lillilll 4mm 2mm
20 °C

A= steel
B = insulation
KA = 55 x 10-~ W/mm °C
K8 = 0.1 x 10-3 W/mm °C
Figure 2.9
1m 1m 1m I G= 80 MPa
3 Discretization of the problem

3.1 Introduction
This is the first step in the finite element procedure, where the body
under examination is divided into elements in such a way that the
unknown field variable is adequately represented through the body. Care
must be taken in the planning and preparation of the problem because
considerable savings in time and effort, in both model development and
analysis, can be achieved by careful model design. In particular, economies
can usually be made by approximating the dimensionality of the problem,
and by taking advantage of any symmetry in the body. After considering
model simplification, this chapter introduces the range of different elements
currently available in commercial finite element packages, and discusses the
choice of element type and the size and number of elements that should be
used in the model. Following this, the location of the nodes is considered,
and the importance of careful node and element numbering is revealed.

3.2 Geometrical approximations

All structures in the real world are three-dimensional. However, just as
approximations are made to facilitate simple stress analysis of a part (i.e.
by assuming plane stress or strain), so the same approach is valid and
very useful in finite element modelling. If the geometry and loads of a
problem can be completely described in one plane, then the problem can
be modelled as two-dimensional. Bodies which are long and whose
geometry and loading do not vary significantly in the longitudinal
direction can be modelled by using a plane strain representation; for
example, consider the analysis of dams and splined shafts (Fig. 3.1).
Similarly, bodies that have negligible dimensions in one direction, and are
loaded in the plane of the body, can be assumed to be in a plane stress
condition, as shown in Fig. 3.2. Heat transfer through a composite wall
is examined in the previous chapter, and modelled by using simple
19
 20 Discretization of the problem Simplification through symmetry 21

one-dimensional elements (Section 2.3). This simplification can be made the configuration of the body and the external conditions (i.e. boundary
because it is known that heat flow through the wall is one-dimensional, conditions) are similarly symmetric, then only the repeated part of the
and, although the situation is rare, the same approach can be used for structure needs to be modelled. It is vital, however, that the loading and
other problems where all the effects are parallel to or along a straight line. constraint conditions are applied to the parts model in such a way that
they truly reflect the symmetry of the problem.

-u $ ·
I

Dam Splined shaft

Figure 3.1 Two-dimensional Axial Planar
plane strain representations of
three-dimensional problems I

Figure 3.3 Types of symmetry Cyclic Repetitive

Axial symmetry
Since axial symmetry is encountered so frequently, axisymmetric
elements are included in finite element packages. They take account of
Figure 3.2 Two-dimensional
plane stress representations of the constant variable distribution in the circumferential direction, in the
three-dimensional problems Crane hook Circlip same way for example that axisymmetric stress problems are analysed
theoretically. This type of problem is clearly similar to those of plane
stress and strain, since the distributions and loadings are confined to only
Where a geometrical approximation is not possible, then a full three- two directions (radial and axial). Axisymmetric elements are developed
dimensional model of the structure will need to be developed, although it for both stress and thermal analyses in later chapters.
might still be possible to limit the size of the model by taking advantage
of any symmetry that the problem exhibits.
Planar symmetry

3.3 Simplification through symmetry Planar symmetry is well illustrated by the case of a flat plate with a hole
in it, loaded uniformly as shown in Fig. 3.4. It is only necessary to
There are four common types of symmetry encountered in engineering consider one quarter of the problem, provided the correct constraint
problems: axial, planar, cyclic and repetitive, as illustrated in Fig. 3.3. If conditions are applied to the model. For example, if the deflections in the
 22 Discretization of the problem Basic element shapes and behaviour 23

x and y directions are u and v respectively, then for this problem u must Repetitive symmetry
equal zero along the vertical line of symmetry, and v must equal zero
Problems exhibiting repetitive symmetry are the least common, and are
along the horizontal line, as shown.
similar to those structures modelled assuming a plane strain system, as
described in Section 3.2. For repetitive symmetry problems the common
boundaries of the repeated segment are constrained in a perpendicular

'=
direction, as illustrated in Fig. 3.6.

U=O~
V= 0

Figure 3.4 Example of problem

with planar symmetry Complete problem Finite element model

The importance of applying the correct constraint conditions cannot be

over emphasized. If they are not modelled precisely, the model will u=O U=O
represent a completely different problem.
Figure 3.6 Example of problem
with repetitive symmetry
Cyclic symmetry
Cyclic symmetry is present in spline fittings and propellers, for example 3.4 Basic element shapes aµd behaviour
(Fig. 3.5). The problems are similar to those described with planar The basic shapes available in the finite element method are shown in Fig.
symmetry, except that they are described in a cylindrical rather than a 3.7. As might be expected, they range from a single point (zero
rectangular coordinate system. Naturally the constraint conditions need dimensions) through to volumes or three-dimensio nal shapes.
to be applied in the appropriate direction, i.e. the displacements are zero
in the circumferential direction for the stress problems.
Shape Type Geometry

Point Mass .
Line Spring, beam, spar, gap

Area 2D solid, axisymmetric

solid, plate ~ D
Curved area Shell
Ei9
Figure 3.5 Examples of
problems showing cyclic
symmetry Spline fitting Propeller
Figure 3. 7 Basic element
shapes
Volume 3D solid
e ~
 24 Discretization of the problem Choice of element type 25

Shell elements are in a special category of their own, because they do When the finite element method is applied to field problems, and in
not neatly fall into either the area or the volume divisions. They are particular thermal problems, the behaviour of the majority of the
essentially two-dimensional in nature, but are developed so they can be elements can again be placed into a small number of categories:
used to model curved surfaces. For stress analysis problems, shell
Thin shell A constant temperature is assumed through the element
elements are curved plate elements which include both bending and
membrane or stretching effects, and are suitable for the modelling of thickness.
Solid A full three-dimensional thermal field is allowed.
problems such as pressure vessels.
Axisymmetric The temperature is assumed constant in the circum-
The sides of elements can be straight or curved (Fig. 3.8). If curved
elements are used in a model, the time and complexity of the solution are ferential direction.
increased significantly for the following reason. The basic finite element The behaviour of elements developed for thermal problems is generally
method works by approximating the variation of a field variable through much simpler than that of elements used in stress analysis problems,
each element with a known (interpolation) function, usually a poly- because temperature is a scalar quantity while displacement is a vector.
nomial. However, it is also possible, and necessary with curved elements,
to describe the geometry of the chosen element with a polynomial. If the
geometric interpolation function and the displacement interpolation
3.5 Choice of element type
function are of the same order, then the element is known as The largest commercial finite element packages, which have facilities to
isoparametric, and the two functions prove to be similar to each other, solve ~/"
stress and a .variety- of field problems, might easily have more than
-"-----~,-~-·' "'-.-~ ·--
, _____ -- ~

which simplifies their application significantly (this is discussed in greater one hundred different finite elements available for the user. The selection
detail in Chapter 8). Consequently, where possible, isoparametric of which element to use in a given problem is, however, not as difficult as
implementations are used in finite element programs. This means that it might first appear. Firstly, the type of problem to be analysed (i.e.
using elements with curved boundaries implies not only an improvement stress, field etc.) precludes a large number of elements; secondly, the
in the geometric accuracy of the model, but also an increase in the order chosen dimensionality of the model restricts the range further. Hence if
of the interpolation function used in the element, thus leading to a the user is developing a two-dimensional model of a field problem, there
significant increase in the complexity of the model. will probably only be one or two suitable element types. Figure 3.9 shows
a typical range of elements that a user might expect to find in a
commercial program for stress analysis, while Fig. 3.10 shows the type of
elements that would normally be offered for thermal or other field
problems.
Before choosing the element type, the engineer should try to predict
Figure 3.8 Finite elements with what is taking place in the problem to be examined. Understanding of the
curved boundaries basic engineering principles is vital at this stage, and identification of a
standard analysis method is very helpful. For example, a component
might be recognized as .a truss problem, a beam problem or a plate
For stress problems, general element behaviour can be classified into
bending problem. In these cases the choice of element is clear.
one of the following categories:
There is a great temptation for the new user of the finite element
Membrane Only in-plane loads are represented, with no bending method to overmodel a given problem by the use of unnecessarily
stiffness normal to the plane. · complex elements. Consider for example the analysis of a simple thin
Bending Only bending loads are supported. walled cylinder experiencing an internal pressure. There are several ways
Plate/shell A combination of membrane and bending behaviour is in which the problem could be modelled, as shown in Fig. 3.11. The
used. simplest of the elements available is the axisymmetric thin shell element,
Solid A full three-dimensional stressing regime is available. while the most sophisticated is the general three-dimensional solid
Axisymmetric A constant variable distribution in the circumferential element. Shell elements (like beam and plate elements) can be
direction is assumed. formulated in two ways, depending on whether they include the effects of
 26 Discretization of the problem Choice of element type 27

Element type Degrees of

freedom Shape Element type Shape

---
Mass
Lumped thermal mass

2D bar*

---- ----
U, V

2D beam t U, V, (}z 2D thermal rod

2D isoparametric solid U, V
2D is~parametric solid
plane stress
plane strain
axisymmetric :j:
b. D 0 plane
axisymmetric *
0 0
2D interface §

Axisymmetric, shell =1=,r

U, V

U, V, Oz
-\\-

\
3D thermal rod

----
~ ~ ~
3D isoparametric solid

3D bar*

3D beam t
U, V, W

U, V, W
(}x, (}y, (}z
X y
----
---- 3D thermal shell

D
3D convection link
·-U----·
3D isoparametric solid II U, V, W
~ 69 ~ 3D radiation link ·~-·
3D shell ,r
U, V, W
(}z, (}z, (}z

X y
e ~ Figure 3.10 Typical range of
thermal elements found in a
commercial finite element Further possible options:
package * axisymmetric: including harmonic elements
3D interface § U, V, W
~
the transverse shear (see Section 8.5). Thin shells ignore transverse
Further possible options:
shears, and are suitable where the ratio of radius to wall thickness is
Figure 3. 9 Typical range of
axisymmetric: including harmonic elements
=I= greater than ten. Thick shells, on the other hand, are used where the
* bar: tension or compression only
stress elements found in a t beam: uniform, tapered, symmetric, unsymmetric thickness and consequently the transverse shear is significant. For the
§ interface: gap with/without friction
commercial finite element ,r shell: thick or thin; isotropic or layered
problem in Fig. 3.11, a thin cylinder is being modelled, and consequently
package II solid: isotropic, anisotropic or layered a thin shell element formulation should be used. Use of a thick shell
 28 Discretization of the problem Size and number of elements 29

where a finite element program does not have curved shell elements, then
such a three-dimensional problem must be modelled with many flat
elements to represent the curved geometry, as illustrated in Fig. 3.12. As
the number of elements is increased, so the shape approximates a circle,
which of course the axisymmetric element models the circle precisely.

3.6 Size and number of elements

The size and number of elements in a finite element model are clearly
inversely related. As the number of elements increases, the size of each
element must decrease, and consequently the accuracy of the model
Figure 3.11 Finite element Axisymmetric generally increases, as demonstrated in Fig. 3.13. The problem is the
3D shell 3D solid
models of a thin walled cylinder shell model model model thermal analysis of a cooling fin, where an exact analytical solution shows
that the temperature varies in a quadratic manner. If simple one-
dimensional elements are used that assume a linear variation in
formulation might produce acceptable results but only if the cylinder is
temperature, then the finite element method can be seen to reduce to a
not too thin. Modelling the problem with three-dimensional shell
procedure of approximating the curved distribution shape with a number
elements is unnecessary; it will produce no more information than the
of straight lines. The effect of increasing the number of elements is
axisymmetric model, yet will cost much more. Use of three-dimensional
obvious; the finite element solutions gradually approach the true
solid elements will incorrectly estimate.the radial stiffness of the cylinder,
temperature distribution.
lead to ill-conditioning of the equations, and cost significantly more than
the other models. Therefore for this particular problem the axisymmetric
thin shell model is not only the simplest, and the easiest to generate, it is 100°C~
also the most accurate and, importantly, the cheapest representation. For
example, the cost of an· analysis using three-dimensional solid elements
might typically be two or three orders of magnitude more than the
analysis using axisymmetric thin shell elements. 20°c~x
Shell elements are generally available in flat or curved versions. However, (1) (1) (2)

20 °C
100 °C Cooling fin

Figure 3.13 Finite element -x

Ill
(1)
Ill
(2)
Ill Ill Ill Ill Ill Ill Ill
(3) (1) (2) (3) (4)
analysis of a cooling fin,
showing the effect of increasing
element number Temperature distribution Finite element models

Sample results of these and other models can be combined into a graph
such as Fig. 3.14, which shows how the accuracy of the analysis increases
Figure 3.12 Axisymmetric and with increasing element numbers. As the number of elements approaches
three-dimensional flat shell Axisymmetric: infinity, so the model's prediction will approach the exact solution.
3Dflat:
model of a cylinder perfect sides faceted sides The advantages of using two elements rather than one are clear from
 30 Discretization of the problem Element shape and distortion 31

Exact solution
Temperature - - - - - - - - -=-=-=-=-=-=----

§a+
Figure 3.14 Prediction of the
2 3 4 8

3! !!
temperature at a point in the
cooling fin Number of elements

the graph, and four elements produce a quite accurate prediction, but it is
Figure 3.15 Methods of
changing mesh density ·III I1:2:I I,
doubtful whether it is worth using eight elements. The increase in
accuracy over the four-element model may only be 5 per cent, and yet the
model size has been doubled. In a commercial environment where every
second of computing time has to be paid for, the importance of this small 3.7 Element shape and distortion
increase in accuracy for a doubling of the computing time and cost should The finite element method works by approximating the distribution of an
be considered carefully. With the approximations that are inherent in the unknown variable in a precise manner across the body to be analysed.
majority of engineering calculations, highly accurate results are rarely The process might use linear or quadratic variations through each
worth striving for. Of course in practice it may be difficult to know how element. However, these distributions are only reliably produced if the
close the results of a finite element model are to the exact solution; hence shapes of the elements are not excessively distorted. As element
every effort should be made to confirm the results of all analyses, even if Figure 3.16 Incorrect method
of changing mesh density in
distortion increases, so errors in the element formulations start to become
it is only possible to confirm the order of the answers. This subject is two-dimensional models increasingly important. Hence, the elements should all be as 'regular' as
discussed in more detail in Section 9.6. possible. For two-dimensional problems, the fundamental element shapes
It is assumed in the problem of Fig. 3.13 that the elements are all the are triangular and rectangular, and the best results are obtained when the
same size, but there is no reason why this should be the case. In fact it is first is equilateral and the second square. The allowable limits of
usual to have many different sized elements in a model. High mesh distortion are difficult to quantify, and depend very much on the variable
density (i.e. small elements) should be used where there is an expected distribution that the elements are representing. If the field variable is
rapid change in the unknown variable. For example, in Fig. 3.13 half of nearly constant, then even large distortions will not produce significant
the rod has a rapidly changing temperature profile, whereas the other half errors; conversely, rapid variable changes are most sensitive to element
experiences an almost constant value. Therefore improved accuracy shape.
would have been obtained if the elements had been bunched towards the One measure of element distortion is aspect ratio. This is the ratio of
hotter end of the rod. Before the engineer starts to mesh the finite the longest side of an element to the shortest side, as illustrated in Fig.
element model, he or she should predict the form of the stress or 3 .17. Other ways of quantifying distortion can be made by measuring the
temperature distribution that is to be expected, and position the elements skew and taper of the elements. These allow differentiation of the two
accordingly. rectangular element examples in Fig. 3.17, which have the same aspect
In two and particularly three dimensions, arranging suitable variations ratios but different behaviours. Aspect ratio, skew and taper are
in mesh density usually takes careful consideration and planning. Figure considered in more detail in Chapters 9 and 11. ~-~~
3.15 shows some of the ways in which the density of simple two- An alternative method of assessing element distortion is to consider the
dimensional meshes of square elements can be varied in a model. Note internal angles of the elements. Rectangular elements should include
that all the nodes must be connected in adjacent elements. The mesh in angles as close to 90° as possible, whereas the corners of triangular
Fig. 3.16 is not allowed (unless special elements are available); nodes A elements should be near to 60°. As mentioned above, the range of
and B are not connected to the coarse mesh, which implies that there is a allowable distortion may vary from problem to problem, but as a guide, if
hole in the material, and the results from such a finite element model no other information is available, the values suggested in Fig. 3.18 may
would show a discontinuity at these points. be used.
 32 Discretization of the problem Location of nodes 33

CJ} 5
C< a/8
d< b/8

Aspect ratio = 2.5

'Figure 3.19 Guidelines for
Aspect ratio= 2.5
~urved sides in higher-order
elements

Figure 3.17 Examples of aspect

ratio, to measure element
Aspect ratio= 2
DI 3.8 Location of nodes
So far, the discussions in this chapter have implied that, when modelling
distortion Aspect ratio= 1 a problem, the user needs only to concentrate on the division of the
geometry into elements so that the variable distribution is adequately
represented. However, the location of the elements and therefore of the
nodes must also reflect any changes in material properties, geometry,
constraint conditions and applied loads. The following examples illustrate
this point.
The stiffness or conductance matrix of each element depends on the
material properties of that region in the model, and consequently an
element cannot comprise two different materials. Therefore a line (or
area) of nodes will always be required at the interface of different
Figure 3.18 Guidelines for materials, as in Fig. 3.20(a).
45° < ~ < 135°
allowable element distortions 45° <a< 75°
If there is an abrupt change in cross-section of a one-dimensional
model, for example, a node would be required at that point. Similarly, a
Some commercial finite element packages perform distortion checking discontinuity in a two-dimensional or three-dimensional model, from a
for the user, typically by calculating the aspect ratio and internal angles of crack possibly, would need a line (or area) of nodes defining the gap in
the elements. If the values are found to be distorted but within predefined the material, as shown in Fig. 3.20(b ).
limits, the programs usually print a warning message but continue with When a concentrated load is applied in a stress analysis problem, then
the execution of the analysis. However, if the elements are grossly there must be a node at the corresponding position in the finite element
distorted the programs stop, and proceed only with specific authorization model. Or, if a distributed load is present, then nodes must define the
from the user. start and finish positions of the load, as in Fig. 3.20(c). The corresponding
When the elements have mid-side nodes, then their sides can be curved case in heat transfer problems might be convection or incident heat flux
to follow small curvatures in the problem under analysis. Again however, acting on a surface of the body, as in Fig. 3.20(d).
as the sides are curved, so errors are introduced into the calculations. The These examples may appear obvious, but in complex modellirig
'best' shape is one in which the element sides are flat, and the node is situations the careful consideration of discontinuities in material properties,
placed equally between the corner nodes. As a general rule, the limits geometry, constraint conditions and applied loads is vital prior to
shown in Fig. 3.19 should be followed. construction of the model, to ensure that the nodes are placed correctly.
 34 Discretization of the problem Node and element numbering 35

(a) Solution by Gaussian elimination

l 1
l T The simple examples of Sections 2.2.1 and 2.3.1 illustrated how the
rel X 0 0 0 element equations are assembled into the global matrix. Note particularly
that the global matrix in Eq. 2.28 has several zero off-diagonal terms. In
X X 0 0 0
I l X X X 0 0 0 fact, the matrix is banded. This is always a feature of finite element
Alu}ninfum X X X X 0 0 models. A band of non-zero terms surrounds the diagonal values (which
I I X X X X X 0
0 X X X X X
will always be non-zero), and the remaining locations in the matrix are
T T filled with zeros; this is shown in Fig. 3.21. Notice the bandwidth of the
0 0 X X X X
matrix. Obviously the smaller the bandwidth, then the easier and faster
the matrix can be solved by an elimination method. It will be shown
below that bandwidth depends directly on the order that the nodes are
(c) ,/'-..... numbered.
f,,\
_11-1-L ligure 3.21 Type of banded
Figure 3.20 Examples of two- I \ matrix produced in a finite
dimensional models where I \ element analysis 2 3 4 5 6 7 8
node location is important,
showing a line of nodes (a) at
the interface of different
CU11LUJ 9
(1)
10
(4)
11
(10)
12 13 14 15 16

materials (b) around a

discontinuity (c) at an area of
distributed load (d) defining a
length of model experiencing
11 lllll 11 17
(2)

(3)
18 19 '20 21 22 23 24

an incident heat flux 25 26 27 28 29 30 31 32

3.9 Node and element numbering 5 9 29

Remember that after the equations for each element are derived, they are (1) (4) (10)
combined to give the system equations for the whole problem. These are 2 6 8 30
then solved to yield the nodal values of the unknown variable, i.e. the
(2)
displacements or temperatures. There are two methods that are 3 7 11 31
commonly employed to solve the system equations: Gaussian elimination
and the wavefront solution technique. The method used depends on the (3)
Figure 3.22 Two different
complexity of the program. 4 8 12 32
methods of labelling the nodes:
Commercial finite element packages, which have the ability to analyse (a) horizontally (b) vertically
thousands of elements in a single model, tend to use the wavefront
method. This is because although it is more complex to implement, the Consider, for example, the two plane stress models of a short beam in
actual computer memory required to store and process the model data is Fig. 3.22. The models are the same except for the definitions on the
reduced. Gaussian elimination, on the other hand, is straightforward to nodes, which are labelled either horizontally or vertically. From the
apply but does require more memory to solve the equations. model with horizontal labelling we can see that the degrees of freedom
Full details of the assembly and solution of the equations are given in associated with nodes 1 and 10 will be related since they occur in the
Chapter 7, but the solution methods are outlined here because they have same element. However, in the model with vertical labelling the highest
a direct bearing on the way the model is constructed. Hence before a node that node 1 will be related to is number 6. Now since the models are
model is developed the user must be aware of which method the program two-dimensional, each node will have two degrees of freedom; the first
uses. two columns and first two rows of the stiffness matrix will correspond to
36 Discretization of the problem Conclusions 37

node 1, and the eleventh and twelfth columns and rows will correspond to
node 6. Therefore the bandwidth of the vertically labelled model will be
12, while that of the horizontally labelled model will be 20 (columns 1 to
20). The same calculations could be performed for each element in the
corresponding models. For example, consider element (10). For Fig.
3.22(a), nodes 4 and 13, or columns 7 and 8 to 25 and 26, are related,
tt 111111-tt 111111-E
(~ (b) (~
111111
'

ffiffE-ffil 1111 Efil 111 I

again implying a bandwidth of 20. In general, the bandwidth can be
calculated by Pigure 3.23 Movement of the
wave down the length of the
bandwidth= (D + l)f
rttodel (f) (el (d)
where D is the largest difference between nodes in a single element and f
is the number of degrees of freedom at each node.
It should be obvious from the above example that the order of node at any one time there would have been more nodes in the wavefront and
numbering is vital when Gaussian elimination is used; in particular, the consequently more nodes in the temporary matrix, and the solution
nodes should be labelled across the shortest dimension to achieve the would have been considerably slower. Clearly, for the wavefront solution
smallest nodal difference in any one element. method, the numbering of the elements is crucial; they should be ordered
across the shortest dimension of the model.
In conclusion, then, smaller programs will probably use Gaussian
Solution by the wavefront method
elimination to solve the system equations, in which case the nodes should
The wavefront method actually never constructs the whole stiffness be labelled across the shortest diµ1ension of the model. The element
matrix. Instead it eliminates the degrees of freedom as soon as it can numbering in these analyses is immaterial. However, for large commer-
when it works through the model. The elements are analysed one at a cial packages the wavefront method will be used, and the element
time, and their individual stiffness matrices are assembled into a numbering is vital. The elements should be labelled across the shortest
temporary matrix as the solution proceeds. When the last occurrence of a dimension, but the labelling of the nodes is of no importance.
node is noted, its degrees of freedom are eliminated out of the matrix and
stored for later calculation. 3.10 Conclusions
For example, consider Fig. 3.22(a). The stiffness matrix of element (1)
is calculated and placed into the temporary matrix. Since node 1 only This chapter introduces the first basic steps in finite element modelling.
occurs in the first element it will not be referenced by any other element Some of the topics will be expanded later in this book. There has been no
and it can be removed from the matrix. This means that the degrees of attempt to describe exactly how the model is defined when a finite
freedom associated with node 1 are written as functions of the degrees of element package is being used, since that depends very much on the
freedom of nodes 2, 9 and 10. Therefore the stiffness matrix will only program itself, and varies from one program to another. However, the
contain information on these three nodes. Element (2) is considered next; general facilities (but not the specific commands) that can be expected
its stiffness matrix is calculated and added into the temporary matrix. from currently available commercial packages are described in Chapter
Node 9 is not used by any other element and can be removed; hence, at 12. The new user will probably be surprised at how sophisticated some of
this point, only information on nodes 2, 10, 17 and 18 is held in the the model generating facilities are. The engineer must still make the
matrix. This process continues through all the elements until only node 32 important decisions, such as type and number of elements, but the
is left, and its degrees of freedom are solved. Then a backward programs do much (if not all) of the tedious calculations, and th¢ data
substitution occurs and all the other degrees of freedom are evaluated, in entry is reduced to a minimum. This level of sophistication does
the same way as the back substitution in Gaussian elimination. encourage overmodelling of a problem, since it is relatively easy to
The method is called a wavefront technique because the nodes held in develop the model, and one command might be all that is necessary to
the matrix move like a wave through the model, as illustrated in Fig. mesh 1000 elements instead of 100. Careful planning of the model is
3.23. If the elements had been labelled down the length of the beam, then vital. It is bad practice to use a three-dimensional model where a
38 Discretization of the problem

two-dimensional or axisymmetric model would be adequate, and un-

necessarily complex elements should not be used unless the problem
really demands it.

Problems 4 Interpolation functions and simplex

3.1 What (if any) geometrical and/or symmetrical approximations can elements
be made in the following finite element investigations, assuming
representative loading and constraint conditions:
(a) stress analysis of a tensile test specimen
(b) stress analysis of a G-clamp
( c) stress analysis of a car wheel
( d) stress analysis of a bicycle frame
( e) stress analysis of a tooth 4.1 Introduction
(f) stress analysis of a domestic hot water cylinder
(g) stress analysis of a gas turbine blade The finite element method works by assuming a given distribution of the
(h) stress analysis of a suspension bridge unknown variable(s) through each element. In the examples of Sections
(i) stress analysis of a spur gear 2.2.1 and 2.3.1, simple one-dimensional elements are introduced which
(j) stress analysis of a motor car's crankshaft use a linear variation of displacement or temperature. The equations
(k) thermal analysis of a central heating radiator defining the approximating distribution are known as interpolation
(1) thermal analysis of a gas turbine blade functions, and can take any mathematical form, although in practice they
(m) thermal analysis of a motor car's piston are usually polynomials. The linear interpolation functions already
(n) acoustic analysis of an aircraft cabin introuuced are of.course polynomials of the first order.
( o) flow analysis round a long cylinder Polynomials are popular because they are easy to formulate and
(p) flow analysis round a motor car in a wind tunnel computerize, and in particular their differentiation and integration is
( q) flow analysis under a dam straightforward to implement on a computer. With polynomial functions,
(r) frequency analysis of a square clamped plate the accuracy of the analysis can also be simply improved by increasing the
(s) frequency analysis of a tuning fork order of the polynomial, as demonstr_at-€d itr--Fig. 4.1. The graphs show
(t) frequency analysis of a helicopter rotor blade? the variation of temperature across a region or element of a body. The
solid line represents the actual (unknown) distribution, and the other
3.2 Consider what type of element(s) might be used in the stress and
lines show constant, linear and quadratic approximations to the problem.
thermal analyses listed in Problem 3.1.
Clearly the higher the order, the more closely the real variation is
modelled, so that an element employing the quadratic interpolation
function would produce more accurate results than an element using one
of the other functions.
Of course there is a price to pay for the increased accuracy. As the
order of the interpolation function increases, so do the number of
calculations necessary to evaluate the model. Typically, a quadratic
element will require two or three times the amount of computer time that
a linear element would need, although, as the number of dimensions of
the problem increases, so the differences become even more significant.
In some problems, therefore, it may be more economical to use a finer
mesh of linear elements. To set up an efficient model of a problem, it is

39
 40 Interpolation functions and simplex elements Simplex, complex and multiplex elements 41

T(x) ----exact The extension of this idea to two and three dimensions is easy. A linear
- - - - - constant
--------------- linear
variation of temperature across a two-dimensional element, for example,
- - - - quadratic would be defined by the function
T = a1 + a 2x + a 3y
This has three unknown constants, so the element must have three nodes.
In two dimensions this means the element has a triangular shape. A
higher-order element is constructed by adding more terms to the
interpolation function. For a quadratic approximation in two dimensions,
T = a 1 + a 2x + a 3y + a 4xy + a 5x 2 + a 6y 2
Figure 4.1 Polynominal
approximation in one which includes all the second-order terms. In the same way that the
dimension higher-order one-dimensional elements are developed by introducing
extra nodes between the two end nodes of the original one-dimensional
clearly desirable if the engineer can predict the form of the .stress. or element, so the two-dimensional family of elements takes the form
thermal distribution, and arrange the elements accordingly. This subJect ·-·,.,.·····' <
presented in Fig. 4.3.
will be discussed again many times in the following chapter~.
For the one-dimensional thermal rod, a linear interpolation function
(as used in Section 2.3.1) takes the form
Interpolation function Nodes Element
T = a1 + azx
where a 1 and a 2 are constants, and are evaluated by substituting T = T; 3
and T = Tj at x = x; and x = xj respectively. The quadratic form of the
interpolation function will be
Figure 4.3 Two-dimensional 6
T = a 1 + a 2x + a3X2 elements and their
interpolation functions
and a cubic function would be
T = a 1 + a 2x + a3X2 + a 4x 3
Note that there is no requirement to use pure linear, quadratic or cubic
Since the constants are calculated from the geometry of the element over
types of function. The (two-dimensional) polynomial
which the function acts, as the order and number of constants increase so
it is to be expected that the number of nodes defining the element T = a1 + azx + a 3y + a4xy
increases. Therefore an element with a cubic interpolation function ( and
is a very popular interpolation equation. It has four unknown constants
four constants) would require four nodes, as shown in Fig. 4.2.
with four nodes defining a rectangular element, and it is discussed in the
following section.
Interpolation function Nodes Element

4.2 Simplex, complex and multiplex elements

2 Elements are normally categorized by virtue of their interpolation
functions into three groups: simplex, complex and multiplex. Typical
3
elements for the different categories are shown in Fig. 4.4.
Figure 4.2 One-dimensional
Simplex elements have polynomials with constant and linear terms
elements and their
interpolation functions
4 Ill
• Ill
• only, and the nodes are located at the corners of the elements. For
 42 Interpolation functions and simplex elements Linear interpolation polynomials for simplex elements 43

At first sight it appears that multiplex elements will only be of limited

Category Element shape use, because of their requirement to have sides parallel to the coordinate
axes. However, this can be overcome by using a curvilinear coordinate
Simplex
z\ system to define each element, as shown in Fig. 4.5, where the variation
of T is defined in the coordinate system (t17). By this technique,
multiplex elements turn out to be the most widely used type of el.ement.
___...... They are discussed in detail in Chapter 8.
Complex
~ 4.3 Unear interpolation polynomials for simplex elements

Figure 4.4 Examples of

simplex, complex and multiplex
elements
Multiplex
lg_ lg_ l@ The previous section shows that a wide range of elements is possible, and
this chapter begins by discussing simplex elements, leaving the higher-
order elements until later in the book. The finite element equations
relating to simplex elements are the easiest to handle, and in particular
can be integrated exactly. Higher-order elements, on the other hand,
require some form of numerical integration, which although not difficult
example, the two-dimensional simplex element is a triangle with three
does add further steps to the procedures.
corner nodes. The three-dimensional simplex element is a tetrahedron
In the following pages, one-, two- and three-dimensional simplex
with four corner nodes.
elements are introduced in which each element is identified by general
Complex elements use quadratic, cubic and higher-order interpolation
node labels such as i, j and k. In mo,delling, these labels are substituted by
polynomials. They have the same shape as the simplex elements but have
the real node numbers. The location of the first and last node is
additional nodes, usually on the boundaries of the elements but although
immaterial, provided that the elements are labelled consistently - for
sometimes internally.
example, in an anticlockwise direction for the two-dimensional triangular
Multiplex elements also use high-order interpolation polynomials, but
element.
unlike complex elements do not use complete polynomial expressions. To
ensure continuity between different elements, the sides of multiplex
elements have to be parallel to the coordinate system. For example, the The one-dimensional simplex element
interpolation function
This element is used in the simple examples of Sections 2.2.1 and 2.3.1.
T = a 1 + a2x + a3y + a4xy The general form of the interpolation function is
which has one more term than the usual two-dimensional simplex
[4.1]
element, defines the variation of T over a rectangle with sides parallel to
the x and y axes.
which defines the distribution of the unknown variable (possibly
displacement or temperature) in the one-dimensional element of length
y T\
L, as shown in Fig. 4.6. The element has two nodes i and j, which are
I k placed at distances x; and Xj from the origin. By substituting the value of¢
at each node into Eq. 4. 1 it is found that
L_
Figure 4.5 Multiplex element in
a curvilinear coordinate system 1----------------x
 44 Interpolation functions and simplex elements Linear interpolation polynomials for simplex elements 45

and substituting these back into Eq. 4.1 gives N N

N; Ni N;
</J = </J;Xj - </JjX;+ </Jj - </J;X [4.2] /
/
L L /
/ '
\ I
I
/
' I
Equation 4.2 can be rearranged in terms of </J; and </Jj as /

/
/
/\
Xj - X X - X;
[4.3] /
/ / \
<jJ = - L - </J; + - L - </Jj /
/
/ \
/
4. 7 Variation of the 0 0
/

or in (a) linear and X; Xj

elements (a) (b)
[4.4]

where N; and Nj are called shape functions. Each shape function is The two-dimensional simplex element
associated with one particular node, identified by the subscript. It is a
This is a straight sided triangle with three nodes, with an interpolation
property of a shape function that it equals unity at its own assigned node function
and zero at the other nodes of the element. This is easily confirmed for
the one-dimensional element by considering what happens to N; and Nj at [4.5]
x = X; and x = Xj· Also the sum of all the shape functions at any point in
an element equals one. For convenience the shape functions are stored in ,,-0, < "·M.'*''"
Node Coordinates
a shape function matrix [N], and the nodal variables are stored in a vector
{<I>}. (x;, Y;)
(xi, Y)
(xk, Yk)

<I>

~<l>i

<!>;1 I y
___ii• •1-i___ x X

Figure 4.6 One-dimensional x;j • L

•I xi
simplex element

If the values of¢ at each node are ¢;, <Pj and <Pk as shown in Fig. 4.8, the
Note that the shape functions, like the original interpolation poly- values of the a constants are found to be
nomial, are linear functions of x. It is always the case that the shape a1 = (a;</J; + aj</Jj + ak¢k)/2A
functions are polynomials of the same order as the interpolation function. a2 = (b;</J; + bj<jJj + bk¢k)/2A [4.6]
Therefore shape functions N; and Nj of a one-dimensional simplex a3 = (c;</J; + cj</Jj + ck¢k)/2A
element have the distribution shown in Fig. 4.7(a). For a one-dimensional
element with a quadratic interpolation function and three nodes, the where A is the area of the triangle, given by
shape functions take the quadratic form shown in Fig. 4.7(b). As 1
1 1 X; Y;
expected, the values of the three shape functions vary between zero and - X;Yk - xjy; - xkyj )
unity.
A = -2 1 x,· Y,· = 2 (xy; j + XjYk + XkYi
1 xk Yk
[4.7]
 Interpolation functions and simplex elements Linear interpolation polynomials for simplex elements 47
46

and where For elements (3) and (4) of this particular problem, let the JI(ode
numbering be as follows: \\
a; = XjY1c - X1cYj b; = Yj - Y1c C; = X1c - Xj
Cj = X; - X1c Element i node j node k node
aj = X1cY; - X;Y1c bj = Y1c - Y;
a1c = X;Yj - XjYi b1c = Y; - Yj C1c = Xj - X; 0) 6 2 5
~) 3 2 6
Using Eqs 4.5 and 4.6, the interpolation function can be reformatted to
The coordinates of these nodal points are summarized as follows:
Coordinate Node
2 3 5 6
where
X 3 5 2 4
N; = (a; + b;x + c;y)/2A y 3 3 1 1

j Ni Nj = (aj + bjx + cjy)/2A Therefore, for element (3),

A 1.0 N1c = (a1c + b1cx + c1cy)/2A
a6 = 3 X 1 - 2 X 3 = -3 b6 = 3 - 1 = 2
/ \ c6 = 2 - 3 = -1
--,L_ _ ...,.s__ 0.75
o.50 In other words, the shape functions of a two-dimensional simplex element a2 = 2X 1- 4 X 1= - 2 b2 = 1 - 1 = 0 =4 - 2 =2
7
~-~--~~~ ~ ~!5 have the general form a5 = 4 X 3 - 3 x 1 = -9 bs = l - 3 = -2
C2

C5 = 3 - 4 = -1

k (3 = i,j,k The area of the element can be calculated by Eq. 4.7, or more easily
As before, each shape function equals unity at one node, and zero at the by (0.5 x base x height) = 2 mm2 •
Figure 4.9 Variation of the other two. For the linear functions in Eq. 4.10, this results in lines of The shape functions for element (3) are then found from Eq. 4.10
shape function Ni across the
constant value across the element. For example, the variation of Nj is to be
two-dimensional simplex
element shown in Fig. 4.9. N/ 3 ) = 0.25 (-3 + 2x - y)
N 2 <3 ) = 0.25 (-2 + 2y) [4.12]
Example 4.1: calculation of shape functions N 5 <3 ) = 0.25 (9 - 2x - y)
Calculate the shape functions of all the nodes in element (3) and
that of node 2 in element (4) of the mesh shown in Fig. 4.10. Note that a superscript has been added to identify the fact that these
are the shape functions of element (3).
y(mm)
2 3 4
Considering the shape function of node 6, then substitution of
the coordinates of the three nodes in the element gives
3
N/3) = 1 at node 6
2 (1) (2) (3) (4) (5) (6) (7) N/ 3 ) = 0 at nodes 2 and 5
as expected.
For node 2 in element (4),
5 6 7
b2 = 1- 3 = -2 C2 = 5- 4 = 1
0
Figure 4.10 0 2 3 4 5 6 7 x(mm) 2
and the area also equals 2 mm , so that
Remember that the equations derived above are for a general N 2 <4 ) = 0.25 (7 - 2x + y)
element. The nodes are labelled i, j and k, but these need to be
replaced with the true node numbers for the specific elements under Note that this is entirely different to the shape function for node 2
consideration. It is immaterial which node in an element is selected of element (3), given in Eq. 4.12. The shape functions are individual
as node i, but the nodes in the elements must all be labelled in a to each element, since they rely solely on the geometry of the
systematic manner, e.g. all anticlockwise. particular element.
 48 Interpolation functions and simplex elements Natural coordinates 49

The three-dimensional simplex element 4.4 Natural coordinates

The principles discussed so far can be directly extended to three When the governing element equations are derived in the next chapters,
dimensions. The basic three-dimensional simplex element is a flat faced it will be found that many terms need to be calculated by the integration
tetrahedron with four nodes, such that i, j and k are labelled of some function of the shape functions. This is not difficult, since the
anticlockwise on any face as viewed from the vertex opposite the face, shape functions are simple linear terms of x, y and z, but it can be made
which is labelled l (Fig. 4.11). The general interpolation polynomial for even easier by the introduction of natural coordinates. These are
the element is coordinate systems that are local (i.e. individual) to each element, but are
[4.13] dimensionless and have a maximum absolute magnitude of unity.

which can be expressed in terms of the nodal values of ¢ and the nodal·
shape functions as One-dimensional natural coordinates

[4.14) For a one-dimensional element a point P is identified by two natural

coordinates L 1 and L 2 , which are defined by the ratios
where the shape functions are given by
/1 Xj - X
(3 = i,j,k,l [4.15] L1 = L = - L -
[4.17]
The a, b, c and d constants are functions of the nodal coordinates, and
generally take the form

where 11 and 12 are simply the distances from the point to the nodes, as
z
shown in Fig. 4.12. Looking back to Eq. 4.3, it is clear that the natural
coordinates are directly equivalent to the shape functions for the element,
so that
p
,,
L

~!--------• X
Figure 4.11 Three-dimensional y [4.18]
simplex element X

Instead of the variation of ¢ through the element, the natural coordinates

can be used to describe the geometry of the element. This is of little value
Xj Yj Zj 1 yj Zj for a one-dimensional element, but for two- and three-dimensional
a;= xk Yk zk b; = 1 Yk zk elements and particularly higher-order elements it is a very important
Xr Yr Zr 1 Yz Zr concept. In one dimension
[4.16] X= L1X; + L2Xj = N;X; [4.19]
Xj 1 Zj Xj Yj 1 + NjXj
C; = Xk 1 zk d; = xk Yk 1 which is comparable to Eq. 4.4.
Xr 1 Zr Xr Yr 1 It has been proved that the integration over the element of functions
The coefficients in these expressions form a pattern, and the constants incorporating L 1 and L 2 raised to the powers a and (3 can be easily
relating to the other nodes are found by cyclic interchange of the calculated by applying the formula
subscripts in the order i, j, k, l.
 50 Interpolation functions and simplex elements
Natural coordinates 51

IL L1L2
a f3 dx -
- (a
a!/3!
+ /3 + l)! L
Examination of Fig. 4.13 shows that the three area coordinates are
[4.21]

where a! is factorial a; for example, 3! = 3 x 2 x 1 = 6. related since

Therefore, since L1 = N; and L 2 = Nj, the same equation can also be
applied where integrations involving the shape functions are required.
or
Example 4.2: integration formulae
If x; = 2 and xj = 6, evaluate the following integral by long-hand [4.22]
and by Eq. 4.20:
Also, consideration of A 1 in Fig. 4.13 shows that it will vary from Oto A
i
f
L L1L2 dx as point P moves from side jk to node i. In other words, the coordinate
L1 varies from O to 1. This is precisely the same way that the shape
The natural coordinates are L 1 = (6 - x)/4 and L 2 = (x - 2)/4, so
function corresponding to node i varied (Fig. 4.9). Not surprisingly it is
that found that

J: Lr_L2 dx = 614 J: (6 - x)2(x - 2) dx [4.23]

6 If the natural coordinates of a point P are known, it is now possible to
= _l_f
64 2
(x 3 - 14x2 + 60x - 72) dx calculate the global coordinates (x, y) of the point from the following
equations, which contain the global coordinates of the nodes and the

64
x - -14x
= -1 [ -
4
- + 30x2
4 3
3
- nx 1 = 0.333
6

2
natural coordinates of the point P:
X = L1X; + L2Xj + L)Xk
or [4.24]
Y = L1Y; + L2Yj + L3yk
6 2
Lr_L 2 dx = 2 !1! L = X l X l X 4 = 0.333
f2 (2 + 1 + 1)! 4 X3X2 X1 Example 4.3: conversion from natural to global
coordinates
Calculate the global coordinates of a point in element (3) of the
Two-dimensional local coordinates mesh in Fig. 4.10, which is defined by L 1 = L 2 = 1/3 using the same
When the concept of natural coordinates is applied to two dimensions, nodal order as in Example 4.1.
the result is an area (or triangular) coordinate. For example, consider
Fig. 4.13 which shows the three coordinates L 1 , L 2 and L 3 defining the To find the global coordinates of a point with the given natural
point P. The natural coordinates are defined by the ratios of the areas coordinates, the first step is to calculate the third unspecified
opposite each node and the total area of the triangular element: coordinate L3. Using Eq. 4.22, L 3 = 1/3, since the sum of L 1, L 2
and L 3 must equal unity.
k Hence, using Eqs 4.24 and the known nodal coordinates,
A 1 = area Pjk 1
= total area x = (4 + 3 + 2) = 3.0 mm
A 3
L1 = A 1/A 1
y =
3(1 + 3 + 1) = 1.67 mm
With the given values of the natural coordinates, it should be
obvious that point P is in fact the centroid of the element, and
Figure 4.13 Calculation of the examination of Fig. 4.10 shows that the centroid of element (3) is
natural coordinates of a two- indeed at (3, 1.67).
dimensional element
52 Interpolation functions and simplex elements Natural coordinates 53

As with the one-dimensional example in the previous section, formulae

have been developed which allow easy integration of functions containing
the natural coordinates, and therefore similarly easy evaluation of -hA[211]
121 [4.28]
12
functions of the shape functions. The integration formulae are 1 1 2

IH L1L2
a /3 dH - a!/3!
- (a + /3 + l)!
H [4.25)
Note that in Example 4.4 no information of the actual global coordinates
where His the distance between two nodes on a side of the element, and of the element are used, so that the final Eq. 4.28 holds for all
occurrences of that type of element. Therefore, for every triangular
IA
LaLf3L~ dA =
1 2
a!f3!y!
(a + /3 + y + 2)!
2A
element 'that experiences face convection in a model, the above matrix
must be added into the global stiffness matrix. The only information that
where A is the face area of the element. is required is the area of the element, and of course the numbers of the
Hence, in the derivation of the element equations of a stress or thermal nodes defining the element so that the matrix can be inserted into the
problem, where it is necessary to integrate terms containing the shape global matrix in the correct position. This is a great strength of the finite
functions, these equations may be applied to simplify the calculations. element method. Once the format of the equations of a specific element
type have been derived, it can be used for every occurrence of that
element type.

Example 4.4: calculation of a stiffness matrix using

integration formulae Three-dimensional local coordinates
The derivation of the stiffness matrix of two-dimensional field
The application of natural coordinates to a three-dimensional simplex
problems involves the calculation of the following matrix:
element is really of academic interest only, since the element is rarely

h J [~~; ;/'/
A
~z:]
NkN; NkNj N'f:
dA [4.27]
used in practice. The basic shape introduced in Section 4.3 is a
tetrahedron (Fig. 4.11). Not surprisingly, the natural coordinate for this
type of element is a volume coordinate, and specifically the volume of a
tetrahedron that forms part of the total element. Consider Fig. 4.14,
This matrix is used to include the effect of heat convection from the
which shows an element defined by nodes i, j, k and l, and an internal
face area of the element, and appears in Eq. 6.85. Evaluate the
point P. The natural coordinates of the point are defined by
matrix using natural coordinates.

Consider the first diagonal term, that is

V1 = volume Pjkl
IN? dA = ILI dA = ILfLgL~ dA (2
2!0!0!
+ 0 + 0 + 2)!
2A =~
6
A= total volume

(Note that factorial zero equals unity.) The other diagonal terms are L1 = v11v
similar, and give the same result. For the off-diagonal terms the
integration involves, for example,

I
N;Nj dA = I
L}L}L~ dA =
(1
l!l!O!
+ 1 + 0 + 2)!
2A = A
12
k

Hence the integration in Eq. 4.27 may at first sight appear difficult, Figure 4.14 One of the natural
but with natural coordinates the integration becomes trivial. The (volume) coordinates of a
final result is three-dimensional element
 54 Interpolation functions and simplex elements
Vector quantities 55

For a three-dimensio nal element with four nodes, the shape function
where V is the total volume of the element, and Y1 for example is the matrix will be of size [3 x 12], as given in the following:
volume of the tetrahedron Pjkl.
The integration formula that these natural coordinates then allow is ui
vi = [N]{U}
Ln1L~Lg dV = a!(J!y!o! 6V [4.30]
Iv (a + (3 + y + o + 3)! [4.33]

4.5 Vector quantities

So far, this chapter has only considered the variation of one quantity in The computer does not of course differentiate between the u, v and w
each element, which is the case for field problems. The extension of the displacements - they are simply degrees of freedom - and therefore an
theories from a scalar to a vector quantity is however straightforward, alternative notation is often used. Figure 4.16 shows the system applied to
with the components of the vector being considered individually. the two-dimensional element. If the nodes of the element were 4, 6 and
k Therefore, for stress analysis problems, the displacements in the x, Y and 10, then the degrees of freedom would be u7 , u8 , u11 , u 12 , u19 and u .
20
z directions are analysed independently , and each node then has up to
Hence the v displacement at node 10, formally known as v10 , is now
three degrees of freedom, depending on the dimensionality of the labelled u 20 • Using this system, the degrees of freedom are now labelled
problem. Consider the two-dimensional element shown in Fig. 4.15. It consecutively through the model. The degrees of freedom then fall
Figure 4.15 Degrees of re 4.16 Alternative
has a total of six degrees of freedom, where u and v are the displacements naturally into the right place when a model is analysed and the system
freedom required to define a itions for the degrees of
two-dimensional element for in the x and y directions respectively. The element requires two equations are developed. For the three-dimensional element, the degrees
om of a two-dimensional
stress analysis problems interpolation functions, one for each direction. In other words, of freedom for node i would be defined as u3 i-z, u3 i-l and u3 i, and so on.

u = Niui + Njuj + Nkuk [4.31] Example 4.5: alternative notation for displacemen ts
v = Nivi + Njvj + Nkvk For the mesh in Fig. 4.10, write down the interpolation functions of
elements (3) and (4) for a stress analysis problem, using the
Since the shape functions are defined in Eq. 4.11 as simplified notation.

Np = (ap + bpx + cpy)/2A The nodes of element (3) are 6, 2 and 5; therefore the variation of u
where a, b and c are constants which depend solely on the geometry of and v through the element would be given by
the element (Eq. 4.8), the shape functions for the two interpolation = N/ 3)u11 + N/ 3)u3 + Ns( 3)u9
uC3 )
functions must be the same. vC ) = N/ 3)u12 + N/ 3)u4 + Ns( 3)u10
3 [4.34]
The two equations of Eq. 4.28 can be stored most conveniently as
where the superscript (3) identifies the particular element. For
element (4), the nodes are 3, 2 and 6; hence
= [N]{U} uC 4 ) = N3( 4)us + N/ 4)u3 + N/ 4)u11
vC4 ) = N/ 4)u + N/ 4)u4 + N6< 4 )u12
6
[4.35]

Remember that the shape functions relating to the same node in the
two elements are not equal; for example,
N/3) # N/4)

However, the displacements of the nodes (u 3 , u4 etc.) must be the

where [N] is the shape function matrix and {U} is a row vector of
same; hence they have no superscripts distinguishing them.
displacements.
 56 Interpolation functions and simplex elements
Problems 57

4.6 An axisymmetric element 4.7 Conclusions

The two-dimensional element first introduced in Section 4.3 can also be This chapter introduces one of the fundamental concepts of the finite
applied to axisymmetric problems. However, instead of operating in the element method, the interpolation function, which describes how a field
x-y plane, the element is used in the r-z plane, where the z axis is the variable can be approximated across a finite element. Simplex elements
axis of symmetry (Fig. 4.17). When the element is rotated about the z with linear interpolation functions are discussed, and local coordinates
axis it forms a torus as shown in the figure. are introduced to simplify the integration that is performed in the
development of the system equations. More sophisticated elements are
dealt with later in the book, and many of the concepts introduced here
z will be seen again.
z
I One important property of interpolation functions has not been
discussed in this chapter, and that is the convergence requirements of an
element. These are the conditions ensuring that the element behaves
properly and converges to the correct answer as its size decreases.
Convergence requirements are investigated in Chapter 8, when all the
steps of the finite element method have been introduced, and their
~ /
implications can be more easily understood. For the time being it is
reiterated that the method is approximate, but that the answer should
r---- r
I

Figure 4.17 Axisymmetric converge to the correct solution as the number of elements is increased
element and consequently the size is decreased.
Some basic finite elements having been introduced, the next stage in
Axisymmetric elements are defined as having a constant value of the method is the development of the general governing equations of a
temperature or displacement (for example) in the circumferential or (} particular problem type, into which the element details are substituted.
direction. This is analogous to two-dimensional problems where there is This yields the element characteristic matrices and vectors, and ultimately
no variation in the out-of-plane direction, usually z. Therefore the the system equations for the whole problem. The derivation of the
interpolation function for the temperature distribution through the equations for stress analysis and field problems is discussed in the next
element can be written as two chapters.

If the a constants are evaluated in the usual way, the standard equation is Problems
derived which introduces the shape functions, 4.1 Write down a cubic interpolation function for a triangular element.
Sketch the element and suggest a suitable location for the 'extra'
node.
where the general form of the shape function is 4.2 Prove that the a constants for the two-dimensional simplex element
are indeed given by Eq. 4.6.
/3 = i,j,k [4.38] 4.3 Prove that the shape function N; equals one at node i and zero at
nodes j and k in a simplex triangular element.
A comparison of this equation for the shape function shows that it is 4.4 Prove that the shape function N; is zero along the side jk of a
directly equivalent to the general Cartesian two-dimensional case in Eq. simplex triangular element. [Hint: write down the equation of the
4.11. The a, band c constants are the same as those in Eq. 4.8, but with r line defining the side jk, i.e. y = mx + c.]
and z coordinates replacing those in the x and y directions. 4.5 Prove that the sum of the shape functions of the two-dimensional
This element is used in Chapters 5 and 6 when the general equations element defined by Eq. 4.10 is unity.
for stress analysis and thermal problems are introduced. 4.6 Calculate the shape functions for the elements in Fig. 4.18(a)-(d).
 58 Interpolation functions and simplex elements Problems 59

4.7 If the nodal temperatures of the element in Fig. 4.18(c) are foun 4.10 Integrate the following using local integration formulae:
to be
(a) L
N;Nj dx (b) L
Nf dx

{:;}
¢k
= {1~~}
150
0
c
(c) L
N;N/ dx

4.8
what is the temperature at the point (2, 2)?
If the nodal displacements of the element in Fig. 4.18(d) are foun
to be
(d) L
N;Nj dA (e) L
N;N/Nk dA

U;
V;
2
2
>(f) L
N;Nj dV (g) L
NrNj dV

Uj 1
x 10- 3 mm
Vj 0
Uk 3
vk 1
what are the displacements at the point (1, 3)? 4.11 Prove the general rule that ¢< 1) = ¢< 2 ) along the common boundary
4.9 Calculate the shape functions for element (4) in Fig 4.10, an of the two triangular elements shown in Fig. 4.19. [Hint: use the
show that ¢<3 ) = ¢<4 ) along the common boundary of elements (3 fact that NV) = L~e) and NY) = L~e) for each element, and
and (4). examine the values of the local coordinates along the boundary.]
Sketch a three-dimensional simplex element for stress analysis and

r I•
(2)
•I
(8)
-x I; I•
(3)
j
•I-
(15)
mark on the degrees of freedom using the simplified notation
scheme of Fig. 4.16.
4.13 If the nodes of the element defined in Problem 4 .12 are 7, 3, 10
and 12, write down the interpolation functions for the three
displacements in terms of the shape functions and nodal displace-
(a) (b)
ments.
y
4.14 Show that the condition to be satisfied for convergence of a field
y
(4,6)
variable to a constant value in an element is that the sum of the
shape functions equals unity at every point in the element.

(1,1)
L-----------x
Figure 4.18 (c) (d)
5 Formulation of the element
characteristic matrices and vectors for
elasticity problems

5.1 Introduction
The finite element method is used most frequently to analyse stress
problems. The technique can readily cope with several types of applied
loading, namely concentrated forces, distributed or pressure loads, body
force loads (inertia or gravitational), initial strains (usually thermally
induced) and prescribed displacements. As with all elasticity analyses, the
principle of superposition applies, and a finite model of a body under any
combination of loading conditions can be solved to yield the nodal
displacements. From the displacements, it is then possible to calculate the
strains and ultimately the stresses.
This chapter is concerned with the derivation of the finite element
equations for elasticity problems. There are several methods that can be
used, but the most straightforward approach is the minimization of the
potential energy of the system. The procedure is known more generally as
a variational formulation. The other most common technique of deriving
the equations is by a weighted residual approach, in particular that due to
Galerkin. For elasticity problems this second method is rarely used and it
is not discussed in this chapter, but with field problems both techniques
are frequently applied and consequently they are both discussed in the
following chapter. As one might expect, the same equations are derived
whichever approach is used.
The object of the steps in the next section is to derive the general
element equations for stress analysis problems. These basic equations are
then tailored specifically to one-, two- or three-dimensional or axisym-
metric analyses.

5.2 The variational formulation

This method has already been introduced in Section 2.2, when the
potential energy of a simple one-dimensional bar was minimized. The

61
 62 Elasticity problems
The variational formulation 63
potential energy IT equals the strain energy A in the body less the work
done W by the external loads acting on the body: The strains are simple functions of these displacements according to
basic elasticity theory. For a full three-dimensional strain field,
IT=A-W [5.1]
.s = -
au av
.s = -
aw
For a differential element of volume dV, the strain energy is found from X ax y ay ez = az
1 1 [5.9]
dA = {.s}T{a} - {.s0 }T{a} [5.2] au av
2 2 Yxy = ay + ax
where {.s} is a vector of the total strains; {.s0 } is a vector of initial strain,
for example from a temperature differential (typically .s0 = a!},.T, where a If these strains are stored in a vector such as that in Eq. 5.4, then they
is the coefficient of thermal expansion and I},. T is the change in can be ~quated to the nodal displacements by
temperature); and {a} is a vector of the stress components. It is
important to note that {.s} is the total strain, and includes the effects of
l {.s} = [B]{U} [5.10]
any initial strains. To determine the [BJ matrix, consider for example the displacement in
The total strain energy for a finite volume is therefore calculated by the x direction in a two-dimensional element, which is given by Eq. 4.31
integrating Eq. 5.2 through the volume. Hence as

A= L !c{e}T{a} - {eo}T{a})dV [5.3] u = Niui + Njuj + Nkuk

where u;, uj and uk are the nodal displacements in that direction and form
Since stress and strain are related by the elastic constants, this can be part of { U}. The strain in the x direction is calculated from
simplified. For example, for a two-dimensional analysis
au aN; aNj aNk
{.s}T = {ex Ey Yxy} Ex = ax = ax U; + ax Uj + fu Uk [5.11]
{a}T= {axOyixy} [5 .4]
Hence [B] is a matrix of terms derived by the proper differentiation of the
and
shape functions. Consideration of the general format of the shape
{a} = [D]{.s} - [D]{.s0 } [5.5] functions of two-dimensional simplex elements (Eq. 4.11) shows that this
differentiation is trivial, resulting in a constant. For higher-order elements
where the calculation is similarly straightforward, but yields linear, quadratic or

~ ~ ~
higher-order functions.
[D] = E [5.6] Substitution of Eq. 5 .10 into Eq. 5. 7 now gives the strain energy A (e)
+ v)
(1 (1 - 2v)
f1 \ \ 2v 1 for a single element (e) as

if the problem is a plane strain approximation.

A(e) = !J
2 V(,)
({u<e)}T[B(e)fiD(e)][B(e)]{u<e)} _ 2{u<e)}T[B(e)]T
[D(e)]{ebe)} + {.sbe)}T[D(e)]{ebe)}) dV [5.12]
Therefore, Eq. 5.5 may be substituted into Eq. 5.3 to give
The strain energy of the whole volume can then be found by summing the
A= !L ({.s}T[D]{.s}-2{tY[D]{.s0 } + {.s0}T[D]{.s0 })dV [5.7] strain energies of all the individual elements.
The work done on an element by the applied loads can be separated
The finite element method divides the volume into a number of smaller
into three parts, that is the work done by the distributed (pressure) loads,
regions or elements, and approximates the displacement throughout each
by the body (inertia) forces and by the concentrated nodal loads (Fig.
element, by for example
5.1). The work done by any force is the magnitude of the force multiplied
f_ {u} = [N]{U} [5.8] by the distance moved. Therefore if the body forces are X, V, Z per
unit volume then, for a general element, the work done by the body
which was derived in Eqs 4.32 and 4.33.
forces is
 64 Elasticity problems
The variational formulation 65

Therefore the potential energy of a single element is given by Eqs 5.12

and 5.14 to 5.16, namely
rr<e) = A (e) - Wi3e) - W~e) - wg) [5 .17)
The potential energy of the whole system is then the sum of the energies
Figure 5.1 Types of applied of all the elements in the model. More specifically,
loads that a two-dimensional
element can experience
Pressure load Body force Nodal forces IT = il [JV(,) 1{ u<e)} T[B(e)F[D(e)][B(e)]{ u<e)}dV
ttif) = I (ux<e) + vv<e) + wz(e))dV [5.13]
'-I {u<e)}T[B(e)F[D(e)]{Ebe)}dV

I
V(,J
V(,)

Using Eq. 5.8, this can be simplified to + !{ Ebe)} T[ D(e)]{ Ebe)}dV

ttif) = I VM
x<e)}
{u<e)}T[N(e)]T y(e)
{z(e)
dV [5.14] - J""' :u''')'lN'''Y {
V(,)
~~:~ }dv
z(e)

The pressure forces will act over a surface, and consequently the work
done will be found from _J
5(,J
{UCe)}T[Me)]T { ;f~ }
Pie)
dS _ {u<e)}T{p(e)} l
J
[5.18]

~) = f 5(,)
(upf{) + vpte) + wpie))dS =
p(e)
Equation 5.18 is the total potential energy of a body undergoing various
loading conditions. It is not as complex as it appears; if it were to be
f {u<e)} T[Mey { Pie)
5(,1
pfe) } dS [5.15] evaluated it would give a single number - the potential energy.
For the body to be in equilibrium, its potential energy must be a
minimum. Hence if they displacement of node 3, for example, is u6 , then
where Px, Py and Pz are the distributed pressure loads parallel to the
coordinate axes (Fig. 5.2), and are considered positive when acting in the arr= 0
positive coordinate direction. au6
The nodal loads are the most simple to deal with. If { p(e)} is a vector of
for the minimum to be obtained. The same applies to all the other
the nodal loads, then the work done will be
degrees of freedom in the model. If there are n degrees of freedom,
[5.16]
arr = arr = ... = arr = 0 [5.19]
au1 au2 aun
y
This gives n equations in n unknowns (the degrees of freedom), and is
expressed more conveniently as

~=0 [5.20]
a{Us}
+
Figure 5.2 Resolution of an where { Us} is the vector of all the degrees of freedom in the model, and
applied pressure loading into its consists of all the elemental displacement vectors. Therefore differentia-
Cartesian components tion of Eq. 5.18 by the standard methods gives
66 Elasticity problems One-dimensional elasticity 67

5.3 One-dimensional elasticity

ui A general one-dimensional (simplex) element is shown in Fig. 5.3. It
xce)}
-i1 u v<e) [BCe)fiD(e)]{cbe)}dV + Jv<e) [NCe>y { y(e)
z_(e)
dV
_.:.__---------o i models the x displacement, and consequently can only predict the ax

X
L stress. The displacement function for the element is

[5.24J

+ f
S(e)
[Me)JT {;f:~ }as J -
Pie)
{Ps} =O [5.21J
where the shape functions are

N = l - ~ and N 1 = ~ [5.25J
where {p(e)} has been taken outside the summations and replaced by · ' L L
{P s} , the complete vector of nodal loads. The axial strain is found by differentiating Eq. 5.24 with respect to x:
Equation 5.21 may be written as
[k]{Us} = {F}
du dN
Ex=&= dx' U;
dN1 1 {u·}
+ dx uj = z-[-1 lJ u;
where

tu
Clearly then the [BJ matrix as defined by Eq. 5.10 must be

[kJ = v<,J [B(e)fiD(e)J[B(e)JdV ] = t [k(e)J [5.22J 1

[BJ= -[-1 lJ
L [5.26J
and is known as the global (or system) matrix, and the global force vector For this simple element the stress and strain are related by
is
ax = E(cx - co)
Hence [DJ equals E, Young's modulus, and the initial strain is usually
aj},_T, a thermal strain.
Substituting [BJ and [DJ into Eq. 5.22 gives the stiffness matrix for the
element. Assuming a constant cross-sectional area A,
[5.23J
[kJ = L [BJT[DJ[BJdV
If a model has n degrees of freedom, then [kJ will be an [n x nJ square
matrix, while a single element with m degrees of freedom will result in an
[m X mJ square matrix for [k(e)J, The global force vector, on the other
= Iv:-LL_U-L
1
1
}£.!_[-l lJdV

hand, will be a vector of length n, while the element vector will be of = ~ [ 1 -1 JJ A dx = AE [ 1 -1 J [5.27J
length m. L -l 1 L L -l 1
The finite element method consists of calculating the individual element This should be familiar to most engineers.
stiffness matrices and vectors, and summing (or assembling) them into the The integrals in the column force vector of Eq. 5.23 are also readily
global stiffness matrix and force vector. The set of simultaneous evaluated using the basic element information. For the thermal strain
equations that this produces is then solved for the nodal displacements. term,
Equations 5.22 and 5.23 have the general form of the system equations
for elasticity problems. These equations must now be tailored to specific
problem types, for example two- or three-dimensional analyses, and these
L[BfiD]{co}dV= Li[-1 WEa/},_TdV
are discussed individually in the following sections. For simplicity the
superscript (e) is dropped where only one element is being considered. = Ea:T {-n LA dx = EAa/},_T {-n [5.28J
68 Elasticity problems
One-dimensional elasticity 69
The body force term only considers an effect in the x direction, since all
the other displacements are zero. Hence
Example 5.1: a bar with varying cross-sectional area
L [Nf{X}dV = L{~} X dV Calculate the stiffness matrix and body force vector for a finite
element with a cross-sectional area that varies linearly down its
=I{ L
N; } XA. dx
Nj
= XAL { 1 }
2 1
[5.29] length, as shown in Fig. 5.4.

Thus the body force is divided evenly between the two nodes.
The integrals of the shape functions are evaluated using the factorial
integration formula of Eq. 4.20. Since N; = L 1 and Nj = L 2 , each line
A; Section of
involves problem

IL
N 1 dx =
I
L
1! L
L 1 dx = - L = -
2! 2
Finite element
If a pressure of Px is considered acting at node i of the element, then the
term in Eq. 5.23 relating to the pressure will be ~x

The area is a linear function of x; hence

A= a+ bx [5.32]
However, at node i, N; = 1 and Nj = O; hence the integral becomes If the areas are A; and Aj at nodes i and j respectively, then

L{~ } Px dA = PxA { ~ } [5.30] A;= a+ bx;

Ai= a+ bxi
A similar term would be derived if the pressure had been applied to node These two equations are solved for a and b, which are then
j with the O and 1 reversed. substituted back into Eq. 5.32 to give
Therefore the set of equations for a one-dimensional element with a
pressure load at end i is A = A;xi - Aix; + Ai - A;
L L X
[5.33]

Looking back to Eq. 4.2, it is seen that this is precisely the

same form as the variation of the linear interpolation
stiffness from thermal from pressure function. If Eq. 5.33 is reordered, it yields
matrix expansion on face i
A = X - X; A-+ Xj - X A-
[5.31] L ' L 1

from body nodal or

forces forces
where P; and Pj are the concentrated nodal forces. Note that this [5.34]
equation is derived by assuming that the element has a constant cross-
sectional area, thus simplifying the calculations. If this is not the case, the where N; and Ni are the standard one-dimensional shape functions.
variatiog_of area with coordinate x needs to be determined and used in Therefore, since the displacements and cross-sectional areas of this
the integration. tapered element are both linear functions, they use the same shape
functions (Eqs 5.24 and 5.34).
 70 Elasticity problems One-dimensional elasticity 71

To evaluate the governing equations of the element, Eq. 5.34

must be used rather than a constant value A. For the stiffness
matrix, the derivation of Eq. 5.27 involved

fz[_!-!]LAdx
[k]=

= tz [_~ -~J L[N; Nj] {1Jc1x [5.35]

This can be evaluated using natural coordinates: e 5.5 Relationship

n local (element) and
coordinate systems

Therefore Eq. 5.35 becomes

needs to be converted to two- and three-dimensional forms, which are
[k]= fz[_~-~l[~ ~1{1;} developed below. The procedure is not difficult once the relationship

= (A; + Aj)E
2L
I 1 -1
l -1 1
l [5.36]
between the local (element) and global coordinates has been derived.
Consider the general case in Fig. 5.5, where a point moves from the
origin O to location P. The local axes are defined by x and y, with
displacements of u and v, while the global terms have superscripts, i.e. x 0 ,
This is similar to Eq. 5.27 but with the average cross-sectional area
y 0 , u 0 and v 0 • The local and global displacements are related by
replacing the constant value.
For the body force term, the calculation of Eq. 5.29 involves
[5.38]

where l = cos a and m = cos f3 are the direction cosines of the local x axis
( along which the one-dimensional bar element is assumed to lie). This
may be written as
{U;} = [c;]{Ut'}
Clearly this is not simply a case of using the average cross-sectional if the displacements are those of node i in a truss element.
area. The end with the larger cross-section is given a larger share of Since the element has two nodes, the total displacement vector is given
the force. by

The pin-jointed bar in two- and three-dimensional space [5.39]

At the beginning of Section 5.3 and in Section 2.2, the stiffness matrix for
a horizontal pin-jointed bar element has been developed and found to be or
(Eq. 5.27)

[k] = AE
L
I 1 -1
l -1 1
l {U} = [,l.]{U°} [5.40]
The same type of coordinate transformation will apply to the terms of the
element force vector, so that
However, in general this is not very useful since most members in
practical trusses will be inclined to the horizontal. So the stiffness matrix {F} = [,l.]{F 0
} [5.41]
72 Elasticity problems One-dimensional elasticity 73

where where node i defines the origin of the local coordinate system, and the x
axis is then defined by the line connecting it to node j.
{F} = {F;x F;y Fjx Fjy}
[5.42] Furthermore, any truss analysis using this simple two-dimensional
{F 0 } = {F'/x F'iy FJx FiY}
element will result, in the first instance, in the derivation of the nodal
with F;x and F;y being the forces at node i in the x and y directions in the displacements in global coordinates. If the axial forces in the bars are
local coordinate system, and so on. needed, Eq. 5.47 must be used to calculate the displacements in the local
Since coordinates of the bar, and then Eq. 5 .43 used to find the element force
vector, or by applying Hooke's law to the axial displacements.
{F} = [k]{U} I
I
[5.43]
substitution of Eqs SAO and 5.41 gives
[Jc]{F 0 } = [k][Jc]{U°} [5 .44)
However, [Jc] is orthogonal, so that [Jc]T = [Jcr and Eq. 5.44 can be
1

rewritten as Example 5.2: simple two-dimensional truss

Find the axial force in the two members of the simple truss shown in
{F 0 } = [Jcfik][Jc]{U°} [5.45] Fig. 5.6, using the finite element method (working in mm).
Consequently, the elemental stiffness matrix in two-dimensional global
coordinates is given by 1 m (A= 50 mm 2 )

[k0 ] = [JcF[k][Jc] [5.46)

Young's modulus
The stiffness matrix in Eq. 5.27 for the one-dimensional element only = 200 X 103 MPa
considers displacements in the x direction, since the forces and
displacements in the y direction are assumed to be zero. Equation 5.39 0.8 m
can therefore be simplified to (A= 40 mm 2 )

{u;}= [ Ol m
Uj
OO] I
O l m J l:;~t [A]{U"} [5.47] The finite element model is simply as shown in Fig. 5.7, and the
element details are as follows:
Yo
Now if Eq. 5.46 is expanded using Eqs 5.27 and 5.47, it is finally shown
that
t1

[ko] = AE
!lr;1 Im- !!r;i- !ml
2
2
m -
2
-
m
2
(1)
[5.48)
L [ - l - lm
- lm- m2
l
lm
lm
m2
3(2)2
-~-~------------• ~x
a

Note that if a bar is defined by nodes i and j, with global coordinates

(x1, yt) and (xJ', yJ), then Element i node Coordinates j node Coordinates
X y X y L m
L = Y[ (xJ' - x1)2 + (yJ' - Y1)2] (1) 0 600 2 800 0 1000 0.8 -0.6
(2) 0 0 2 800 0 800 1.0 0.0
l = (xJ' - x1)IL [5.49]
m = (yJ' - yt)IL where ! and m are defined in Eq. 5 .49.
74 Elasticity problems
One-dimensional elasticity 75
Therefore the elemental stiffness matrices in global coordinates
are found from Eq. 5 .48 to be To convert these into local coordinates for element (1), Eq. 5.38 is

ko(l)] = 50 X
0.64 -0.48 -0.64 0.48
2 X 105 -0.48 0.36 0.48 -0.36
j used, so that

u2 ~:~ }= [ 0.8 -0.6] {-0.133 }= { 0.167 }mm

[ { Vz 0.6 0.8 -0.456 -0.455
1000 [ -0.64 0.48 0.64 -0.48
0.48 -0.36 -0.48 0.36 The force in element (1) by Hooke's law must be

[
ko(Zl] = 40 X 2 X 10~ [
800
~~ ~~j
-1 0
-
1 0
p(ll = AE (u2 C1l - u/ 1 ))/L = 1.67 x 103 N
and since the local coordinates of element (2) coincide with the
0 0 0 0 global coordinates, for element (2)

and the global stiffness matrix is p(Z) = AE (u2CZ) - U3C2 l)/L = -1.33 X 103 N

0.64 -0.48 -0.64 0.48 0 0 These values agree exactly with those calculated theoretically.
-0.48 0.36 0.48 -0.36 0 0
-0.64 0.48 1.64 -0.48 -1 0
[ko] = X 104
0.48 -0.36 -0.48 0.36 0 0
0 0 -1 0 1 0 Three-dimensional space trusses
0 0 0 0 0 0
A three-dimensional bar is processed in a similar way to the previous
The boundary conditions for the problem state that the displace- case. This time, however, three direction cosines l, m and n define the

Il
ments at nodes 1 and 3 are zero, and -1000 N is applied in the y orientation of the bar in space, and
direction at node 2. So
0.64 -0.48 -0.64 0.48 0 0 0 u; }
{ uj = [ I m n O O O] u'j'
OOO l m n v'j'
-0.48 0.36 0.48 -0.36 0 0 0
-0.64 0.48 1.64 -0.48 -1 0 uJ [5.50]
104 X
0.48 -0.36 -0.48 0.36 0 0
0
0
0
0
-1
0
0
0
1 0
0 0
Vz
0
0
l}J
defines the axial displacement of the bar (in local coordinates) in terms of
0 + R7x the global displacements.
o + my It turns out that when the global stiffness matrix is calculated, it takes
0
the form
-1000
0 + R~x [ko] = [ 17 I -17 ]
[5.51]
0 + R~y -17 I 17

l
where the Rs are the reactions at the constrained nodes that must be where
applied to maintain the zero displacement.
Solving the third and fourth equations for the unknown
displacements gives
[17] =
AE
L [! 2
lm ln
ml m2 mn [5.52]
nl nm n2
Uz = -0.133 mm l = (xJ - x'j')IL
Vz = -0.456 mm m = (yJ - y'j')/L [5.53]
n = (zJ' - z'j')IL
 76 Elasticity problems Two-dimensional elasticity 77
with Therefore, consider for example the strain in the x dire f .
4.32 and 4.11: c ion usmg Eqs
L = \i[(xJ' - xf) 2 + (yJ' - yf) 2 + (zJ' - zf)2]
au [arv; arvj a1vk ] {U}
Ex= -= -0-0-0
5.4 Two-dimensional elasticity ax ax ax ax
1
A two-dimensional problem will be either a plane stress or a pl~ne strain = 2A [b; 0 bj O bk O]{U}
approximation to a real three-dimensional situation, as discussed in
Section 3.1. In either case, however, the same element is used. The Th_e oth~r two strai~s can be found in the same way, and they can all be
difference occurs in the material property matrix [D] and any initial strain wntten mto a matnx as
conditions that might be experienced.
The two-dimensional simplex element is a triangle as shown in Fig. 5.8;
it has two degrees of freedom at each node, which are labelled
consecutively in the manner used by the computer. Following the
{
:;
Yxy
} =
2
~ [i; ~;
C;
ij ~j ik ~k
b; Cj bj ck bk
l :~;-Uzj-l
1
= [B]{U} [5.55]

Uzj
procedures of the previous section, the [B] and [D] matrices are.
Uzk-l
determined first for substitution into Eqs 5.22 and 5.23. The variations of
u2k
the displacements in the x and y directions are given by Eq. 4.32 as

i; ~j ij iJ :::-1
Figure 5.8 Nodal displacements Hence the [B] matrix is of size [6 X 3) for a two-dimensional simplex
of a two-dimensional simplex { ~} = [ ~; ~k = ["N]{U} element, and is composed only of constants.
stress element
If the element is to be a plane stress type, then
Uzj-l
Uzj
Uzk-l
U21cJL
[D] = E
~
~
ll
v
0
l
V

0
[5.56)

where the general form of the shape functions is given by Eq. 4.11 as ?

1 whereas a plane strain element will have

"N13 = 2A (a13 + b13x + c13y) f3 = i,j,k

[D] - E rl~vl:v ~ 1
Remember that the a, b and c are constants and are calculated from th
coordinates of the nodes.
The [B] matrix is derived by the differentiation of the shape function
- (1 + v) (1 - 2v)
l O O 1 ~ 2v
[5.57]

as discussed in Section 5.2. If the model is developed in the x-y plane The other difference between plane stress and plane strain approxima-
then tions occurs in the induced thermal strain vector. When the element is
plane stress Oz = 0, and consequently
Yyz = Yzx = 0

Furthermore, for a plane stress approximation Oz = 0, while ez = 0 whe

a plane strain approximation is used. Hence for both cases [5.58)

{e} = {:: } = [B]{U} However, with a plane strain formulation ez = 0 but Oz # 0, so that the
Yxy initial strain vector becomes
where
au av au av ( ,0) - (1 + v)aflT { .\ } [5.59)
e
X
= -ax e =-
Y ay Yxy = ay + ax
 78 Elasticity problems Two-dimensional elasticity 79

Now the element equations can be developed. Firstly, the stiffness matri Note that this term effectively distributes the body forces equally between
is calculated from the three nodes. For example, Fig. 5.9 shows how the effects of a vertical

or
[k] = L [BF[D][B]dV = [BF[D][B] Iv dV
acceleration are dealt with.
Any pressures acting on the element must act in the plane of the
element, and along one or more of the sides of the element, as previously
shown in Fig. 5 .2. Consider for example a pressure load acting over side ij
[k] = [BfiD][B]tA of the element. The force vector term is
The (B] and [D] matrices can be removed from the integration becau
they only contain constants, and the integral fdV is replaced by tA, whe
t is the (constant) thickness of the element and A is the cross-section
area. Equation 5.60 can then be expanded using Eqs 5.55 and either 5.5 Ni 0
0 Ni
or 5.57. The resulting matrix will be of size [6 x 6].
The force vector is defined in Eq. 5.23. Considering the thermal strai
Nj 0
0 Nj { Px
Py
}<ls
term first,

L [BfiD]{eo}dV = [BF[D]{e 0 }tA

N1c 0
0 N1c

For example, if the analysis is a plane stress approximation, the integr

becomes
where S is the surface over which the pressure acts. Since the element is

It l
of thickness t, this may be replaced by Hi, where Hij is the length of the
element's side between nodes i and j. Also the shape function matrix can
aEt(AD
2(1 - v) li: I
C1c
be simplified, because along side ij the shape function N1c = 0. Making
these substitutions and using the factorial integration formula of Eq. 4.25,
the calculation proceeds in the following way:

The body force term is found from

N; 0
Ni 0 0 Ni
0 Ni
Nj 0
{ X}
V t
dA = At3
Nj 0
0 Nj {;; }ds
O Nj 0 0
N1c 0 0 0
0 N1c
N; 0 Px
0 Ni Py
A = cross-sectional area
Nj 0 { Px } t dH = Hi;t Px [5.63]
t = element thickness 0 Nj Py 2 Py
Y = body force per unit 0 0 0
volume
0 0 0

Thus the finite element method deals with pressure loads by applying
equivalent nodal forces to the model. Clearly for this element, the total
Figure 5.9 Distribution of a
body force between the three
At¥
3 Lty pressure load in each direction is divided equally between the two nodes
nodes 3 on each face, as in Fig. 5.10.
 80 Elasticity problems
Two-dimensional elasticity 81

Hij = length of side ij

t = element thickness The [B] matrix for such a two-dimensional element is defined in Eq.
Px = xcomponent of press 5.55. It comprises constants from the shape function equations, and
PyH;/ Pv = ycomponent of pre
-2- these need to be calculated for each node. However, the element in
Fig. 5 .11 is identical to element (3) of Fig. 4.10, whose shape
functions have been calculated in Example 4.1. Remembering that
the shape functions depend solely on the geometry of the element, it
can be concluded that
N; = 0.25(-3 + 2x-y)
Nj = 0.25(-2 + 2y) [5.65]
Figure 5.10 Example showing
k Nk = 0.25(9 - 2x - y)
how pressures are included in These are taken from Eq. 4.12, with the nodes defined as in Fig.
the finite element models
5.11. The general form of the shape function is
This completes the derivation of the element equations for the tw 1
dimensional element. Combining Eqs 5.61 to 5.63, and including a nod NfJ = 2A (afJ + bfJx + cfJy)
force vector term, then for a plane stress element the total force vector

aEt(LJ1)
2(1 - v)
b;
C;
bj
Cj
+ At
3
X
V
X + Hut
Px
Py
Px + {P}
Using Eq. 5.55,

[B] = 24 [ ~ -~ ~
-1 2 2
0 -2 0
2 0 -1
0 -1 -2
l [5.66]
V 2 Py
bk X 0 The material property matrix is calculated according to Eq. 5.56:

l
ck V 0

~
thermal body 0
pressure nodal 6
forces on side ij forces [D] = 0.22 X10 [ o\ / [5 .67]
expansion
~'--/ ,. 0 0 0.35
This includes just one term for a distributed load, on side ij. If pressures
If Eqs 5.66 and 5.67 are used to calculate the stiffness matrix
act on either of the other two faces, similar terms are added to the vector,
with appropriate adjustment of the coefficients. according to Eq. 5.60, then ultimately
"'59.81 -17.88 -9.63 16.50 -50.19 1.38
Example 5.3: two-dimensional plane stress analysis -17.88 -1 33.00 19.25 -27.50 -1.38 -5.50
Calculate the finite element equations of the two-dimensional plane -9.63 19.25 .119.25 0.00 -9.63 -19.25
[k] = [5.68]1
stress element shown in Fig. 5.11. 16.50 -27.50 0.00 155.00 -16.50 -27.50
y(mm) -50.19 -1.38 -9.63 -16.50 59.81 •
1
17.88
1.38 ., -5.50 -19.25 -27.50. 17.88. ·133.00, X 103
3 ·0
Three simple' checks ~an be perfor~ed after the calculations to

U
,,-- . 10 N/mm 2
thickness= 2 mm
E= 200 GPa detect any computational errors. Firstly, the matrix should be
/ V= 0.3
~ a= 2 x 10-6!°C
symmetric; secondly, the -~~gona! coefficienli,J,hould all be non-
~ t:,.T= 50 °C zero and positive; and lastly, the sum ~thtjermti11..atl}': one row or
k ~
I
coftui'.tn should equal zer(),_~atrix above satisfies all these
conditions.
'------'-----'2---3L__ __j_4___ x (mm)
Figure 5.11
 82 Elasticity problems Two-dimensional elasticity 83

The force vector for the given element will only contain terms
[5.72]
from the pressure loading and the thermal strain. However, before
Eq. 5. 63 can be applied, the loading needs to be resolved into
Cartesian components: When a plane strain problem is analysed cz = 0, but the out-of-plane
stress is
Px = 10 X sin(63.43) = 8.94 N/mm 2
Py = 10 X cos(63.43) = 4.47 N/mm2
[5.73]
The length of the element side between nodes i and j is 2.24 mm,
and therefore the force vector from Eq. 5.63 is
8.94 20.03
4.47 10.01 Example 5.4: calculation of stresses from displacements
2.24 X 2 8.94 20.03 If the analysis of the element in Fig. 5 .11 gives the following
[5.69] displacements, calculate the stresses predicted in the element, and
2 4.47 10.01
0.0 0.0 the strain in the z direction:
0.0 0.0
Node Displacements (10- 3 mm)
ll
For the thermal strain, Eq. 5.61 is used:
2.0 0.0
b; 2 j 0.5 2.0
k 1.0 -0.5
C; -1
aEt(!J..T) bj 0 The total strains are calculated using Eq. 5.55:
= 28.57 [5.70]
2(1 - v) cj 2
bk -2
{c} = [B]{U}

ck -1 From Eq. 5.66, this equals

The total force vector is then the sum of Eqs 5.69 and 5.70, which
gives
77.17
{:~~}=i[_~-~ ~
fxy 1 2 2
~ -~ -~ l
0 -1 -2
2.0
0.0
0.5
X 10- 3
2.0
-18.56
1.0
20.03
{F} = [5.71] -0.5
67.15
-57.14
500}
-28.57 = 1125 X 10- 6
{
-250
Therefore the finite element equations for the specified element are
given by Eqs 5.68 and 5.71. This is the total strain experienced by the element; before the
stresses can be calculated, the values must be reduced by the
thermal strains. According to Eq. 5.58, for a plane stress problem
Once a finite element model has been used to calculate the in-plane the thermal strains are
strains and stresses of two-dimensional problems, the out-of-plane strain
cz or stress Oz can be evaluated using standard elasticity equations if
required.
For plane stress problems Oz = 0, but the total out-of-plane strain is
calculated from
 84 Elasticity problems Three-dimensional elasticity 85

Therefore the strains due to the applied pressure loading are 5.5 Three-dimensional elasticity
The application of a three-dimensional simplex element closely follows
400}
1025 X 10- 6 the two-dimensional implementation. The displacement components are
{ -250
defined in the usual way, and are stored most compactly as

{
ax } = _E v2
ay
axy
1
l
and the induced stresses are calculated using Eq. 5.56 as

v1 V1 0O
O O ..1.-=--£.
2
j{ 400} x 10- 6
1025
-250
{u} = [N]{U}

where [N] is specified in Eq. 4.33.

The gep.eral form of the shape functions is given by Eq. 4.15 as

fJ = i,j,k,l
=
{
156}
252 MPa D
-19 The [B] matrix relates the strains experienced in an element to the nodal
Finally, the total strain in the z direction is given by displacements, and for a three-dimensional analysis we require all the six
strain components as previously defined in Eq. 5.9. Consider for example
the strain Bx in the x direction. The variation of the displacement in the x
direction is given by

= - °:
200
l03 (156 + 252) +lQO X 10- 6 = -512 X 10- 6

Therefore the strain Bx is

Note that the calculations yield a constant value for each stress and strai
in the element. This is a major drawback of these simplex stress element
and arises because the interpolation function of the disptacements
linear. Clearly then, for areas with a rapidly changing stress field, a fin
mesh is required to reasonably approximate the stress variation. Conside
for example Fig. 5.12, which shows how a stress field could be modelle Since all the terms in this equation are constants, the strain Bx is constant
by a number of different sized simplex elements, resulting in a gradatio for the element, as expected.
of the mesh density. Similar derivations can be performed for the other two direct strains
and the shear strains. They can all be summarized as follows:
cr

l
b; 0 0 bj 0 0 bk O O bt 0 0

I:: l__l 0 C; 0 0 Cj 0 0 ck O 0 Ct 0
~ Finite element results

t r6V
Yyz
Yzx
0 0 d;
C; b; 0
0 d; C;
d; 0 b;
0 0 dj
Cj bj O
0 dj Cj
dj O bj
O O dk
Ck bk 0
O dk Ck
dk O bk
0 0 d1
Ct bt 0
0 dt Ct
dt 0 bt
J~'
LI
Figure 5.12 Approximation of
a stress distribution using = [B]{U} [5.74]
different sized elements and '------'--'-"---'--~~--~--~-----~--- X

mesh densities Fine - - - - - - Coarse Mesh density

86 Elasticity problems Axisymmetric elasticity 87

The material property matrix [DJ for an isotropic material is 5.6 Axisymmetric elasticity
A simple axisymmetric element is introduced in Section 4.6. It is similar
1- V V V 0 0 0
to the two-dimensional element, except that it is used in the r-z plane as
V l - V V 0 0 0
E
shown in Fig. 5.13. The stress and strain components for the element are
V V l - V 0 0 0
[D] = (1 + v)(l - 2v)
0 0 0 1 - 2v 0 0 z
2
0 0 0 0 1 - 2v 0
2
0 0 0 0 0 1 - 2v
2
[5.75]

0~
The stiffness matrix can then be calculated from re 5.13 Basic axisymmetric

[kJ = L [BF[DJ[BJdV = [BF[DJ[BJV

ent and stress components

{a}T = [ar Oe 02 TrzJ

The integration is trivial since both the [BJ and [DJ matrices only contain
{c}T = [c,. ce cz Yrzl [5.79)
constants and can be removed from under the integral. Since the [BJ
matrix is of size [12 x 6] and the [DJ matrix is [6 x 6], the stiffness where the strains are defined as follows, with u and w being the
matrix is a [12 X 12J square matrix, which corresponds to the twelve displacements in the r and z directions respectively:
degrees of freedom of the element.
The calculation of the force vector terms proceeds in a similar manner au u aw au aw
to the two-dimensional analysis, but with extra coefficients leading to a
C
r
=-
ar ce =-;: C
z
=-
az Yrz = ~+ ar [5.80)
final vector with twelve components. The initial strain vector is Note that the strain ce in the circumferential direction is unusual since it
is calculated from the actual value of the displacement rather than its
derivation. If the [BJ matrix is calculated in the usual way, it is therefore
found to be

b; 0 bj O b,c O l
Therefore, with a pressure applied to face ijk of the element, for
[BJ~ ~ ~N; :; ~N;: 2Af' :,j [5.81)
example, the final general force vector term will be c; b; ci bi ck bk
Normally with a linear element the differentiation of the displacement
1 X Px equations leads to a constant value, but calculation of the circumferential
1 V Py strain results in the matrix containing variables for the first time.
{F} = vEa/'t,.T [B]T 1 V
+-
z +-'!_
s. k Pz The [DJ matrix linking the stresses and strains is
(1 - 2v) 0 4
+ {P}
3
0 1- V V V 0
0 z 0
[DJ=
E V 1- 1' V 0
thermal body (1 + v)(l - 2v) [5.82)
pressure nodal V V 1- 1' 0
expansion forces on side ijk forces 0 0 0 1 - 2v
2
 88 Elasticity problems
Axisymmetric elasticity 89
The fact that e8 is not constant in an element means not 01;ily that the proceeds as follows:
corresponding stress 0 8 varies through the element, but also that the other
direct stresses or and Oz vary because they too are functions of e8 . rN; 0
Since the [B] matrix contains terms which are functions of the 0 rN;
coordinates, evaluation of the stiffness matrix is no longer a trivial
calculation as in the previous sections. The usual way that this is L rNj
0
rNk
0
rNj
0
{~ } 2ndA

overcome is to evaluate the matrix for the centroid of the element, which
has coordinates ?:_ and :':· This results in an approximate value for the [B] 0 rNk
matrix, denoted [~]. The evaluation of the stiffness matrix then gives (Lfr; + L 1L2rj + L1L3rk)IR
(Lfr; + L 1L2rj + L1L3rk)Z
[k] = [BfiD][Blfv dV = [§fiD][§]2n?:_A
(L 2L 1r; + L~rj + L2L3rk)IR
2ndA
This approximation is acceptable if the element is not being (L 2L 1r; + Lh + L2L3rk)Z
model a region with a high stress gradient. (L 3L 1r; + L3L2rj + Ljrk)IR
Similar problems arise with the force vector terms, and again centroidal (L 3L 1r; + L3L2rj + Ljrk)Z
values are used to approximate the solution where the [B] matrix is
Using the factorial integration formula in the usual way, and specifically
involved. For the thermal strain vector, any initial strain will be
Eq. 4.26, this finally gives
(2r; + rj + rk)IR

nJ
61
(2r; + rj + rk)Z
(r; + 2rj + rk)IR
(r; + 2rj + rk)Z
l [5.88]
Therefore the force vector term due to this strain is calculated from (r; + rj + 2rk)IR
(r; + rj + 2rk)Z I
I []
v B
T[ ]{ } aE/},_T [
D eo dV = (1 _ 2v) §] ll
TI !~ rn?:_A

The body force and pressure terms can be evaluated precisely by the use
of natural coordinates, together with the relationship linking the global
and local coordinates, as introduced in Section 4.4 and in particular Eq.
4.24. For an axisymmetric element this means that a radial distance can
be written as
figure 5.14 Distribution of a
r = L 1r; + L2rj + L3rk \body force in an axisymmetric
k

where r;, rj and rk are the radial coordinates of the three nodes. element
The body force vector is found from
Note that this does not distribute the body forces equally between the
[5.87] three nodes. The node furthest from the centre of rotation (and largest
value of r) will receive the largest share of the force, as illustrated in Fig.
IR and Z are the body forces per unit volume in the radial and axial 5.14.
directions respectively. Rather than using the centroid values for r in the When surface pressures are considered, the total area of the element
above equation, the definition in Eq. 5.86 is used. Also, the shape face as the element is rotated about the z axis must be included. Thus if
functions are identical to the natural coordinates. Hence the calculation the length of side ij in Fig. 5.13 is Hij, the total area to be considered is
90 Elasticity problems Axisymmetric elasticity 91

2:n:rHij· The force vector term arising from the pressure is then general nodal forces are as follows:

fS
[N]T {PrPz }ds = f {PrPz }2:nr dH
Hq

Ni 0
0 N;

= ti ii {~i
0 0
;:}2:nr dH
expansion forces
0 0

If r is replaced by Eq. 5.86 and natural coordinates are used in a simila

way to the body force integral, the final pressure force term is found to b {P} [5.91]

pressure
on side ij forces

Example 5.5: axisymmetric stress analysis

Thus the nodal forces which are used to replace the pressure loads will The mesh shown in Fig. 5.15 is part of an axisymmetric finite
not necessarily be equal; again the node further from the axis of rotation element model to examine the stresses in a cylinder with an internal
is allocated the larger share. The only case where they are equal is when pressure of 5 MPa and an applied axial pressure of -10 MPa.
the element side is vertical. For this problem r; = ri = r, and the force Examine how these pressure loads are included in the finite element
vector is calculations, and in particular what nodal loads are used to
represent them.
z (mm) 2
10 N/rnm
•
I

6 '-
I

I
-
-
NE -
E --_1111>--~~...-~~--~-~ -~
In summary, the force vector equations for an axisymmetric element 4 f---
experiencing an initial strain, body forces, a pressure load on side ij and
z
LO

-~---------
I

I
2 '-
I
I

I
I

5.15 ---~---~---~-----r(rnm)
4 6 8 10
92 Elasticity problems
Conclusion 93

Firstly, considering element (1), and assuming nodes 2 and 1 are the The 880 N equals the sum of the required nodal forces (461 + 419 N)
i and j nodes respectively of the general element, then Eq. 5.89 is as previously calculated in Eq. 5.93.
used to calculate the force vector with Pr = 0. Substituting in the

LJ+l
radial coordinates of the nodes and the length of the side Hu gives

~if (!
r1-r
335 + 419 461 + 545 586 +
-10 x x 6 +4)
[5.92]
l i !
3 -10 +2 J
1 4)
X (~ X

Elements (2) and (3) similarly only experience an axial pressure,

and calculation of the corresponding force vector terms gives

{F(3)} = I lI
-586

0
O
[5.93]

lT
For the internal pressure acting on the vertical side of element (11),
assuming the nodes are i = 1 and j = 11, and noting that
Pr = 5 MPa with Pz = 0, the force vector is
5.7 Conclusions
This chapter introduces the general finite element equations for elasticity
problems. The equations are applied to one-, two- and three-dimensional
[5.94]
and axisymmetric analyses with simplex elements. These elements assume
a linear variation of displacement, and consequently lead to constant
stress and strain fields (with the exception of the axisymmetric
This time the nodal forces are the same, and similar vectors are implementa tion). Since they are constant stress elements, they invariably
calculated for all the other elements on the inside of the cylinder, require a fine mesh when used to model real engineering problems.
since their dimensions and orientations are the same as those of In practice, if the computer resources are sufficient, then higher-orde r
element (1). Therefore the pressure loading detailed above is elements are preferred because they allow linear and possibly quadratic
actually applied in the finite element model as shown in Fig. 5 .16. stress variations. The simplex elements, however, are important and are
The application of the pressure load on the horizontal face is by ideal for introducing the basic concepts of the finite element method. The
no means obvious, although one would expect the forces to increase more sophisticated elements require numerical integration, and are not so
further away from the axis of symmetry, because the effective suitable for the type of examples used in this chapter. Chapter 8 discusses
surface area over which the pressure acts is larger. For element (2), how higher-orde r elements are implemente d. They use the same
for example, the total force carried by the element is governing equations, and result in similar stiffness matrix and force vector
terms, but include more coefficients because of the larger number of
10.n(82 - 62 ) = 880 N degrees of freedom in each element.
 94 Elasticity problems
Problems 95

Problems B C
11T= +50 °c
5.1 Analyse the bars shown in Fig. 5.17(a)-(f) using one-dimensional
elements, and compare the results with those calculated theoretic- Region 1 Region 2 -10kN
ally where possible. Assume E = 200 GPa and a = 2 x 10- 6 per
~C in all cases.
Region Length (mm) Section Area (mm 2 )
1 100 A 30
(d) 2 100 B 20
C 10

11T = +50 °C B C
11 T= +100 °C

Region 1 Region 2 -10kN

Region 1 Region 2

Region Area (mm 2 ) Length (mm)

1 20 100
Region Length (mm) Section Area (mm 2 )
(a) 2 10 100 1 100 A 30
(e) 2 100 B 20
C 10

11 T = +50 °C

Region 1 Region 2 20 kN
Region 1 Region 2 -1okN

Region Area (mm 2 ) Length (mm)

1 20 100 Region Area (mm 2 ) Length (mm)
(b) 2 10 100 1 20 2 X 100
(f) 2 10 100

5.2 Analyse the trusses shown in Fig. 5.18(a)-( d) using two-dimensional

11T = +100 °C

I
truss elements, and compare the axial forces predicted with those
calculated theoretically. Assume all members are manufactured
Region 1 Region 2 from steel (E = 200 x 103 MPa).
5.3 By considering Hooke's law, confirm that the [D] property
gap= 0.01 mm matrices for plane stress and plane strain approximations are given
Region Area (mm 2 ) Length (mm) by Eqs 5.56 and 5.57.
1 20 100 5.4 Calculate the term required in the force vector to account for
(c) 2 10 100 thermal strain in a plane strain triangular simplex element.
 Elasticity problems Problems 97
96
5.5 Derive the force vector term required to account for the linearly
Element Area (mm
2
)
varying pressure load shown in Fig. 5.19. [Hint: express the
1 40 pressure distribution as a function of the nodal values using the
2 40 shape functions.]
5.6 Calculate the finite element equations for the simplex elements
shown in Fig. 5.20(a)-(e).
3
5.7 The calculated displacements (10- mm) of the elements in
Problem 5.6 are shown in the following table. What are the
resulting element stresses?
(a)
Element Node i Node j Node k
U V U V U V

(a) 0 0 1 2 -3 2
2 (b) -5 0 2 2 1 -1
Element Area (~m )
(c) 1 2 6 -3 4 2
1 20 (d) 1 -3 2 4 -1 6
2 20 (e) 2 4 3 -1 2 5

Thickness= 2 mm
E= 200 GPa
V= 0.3
Plane stress
(b) 3

2
Element Area (mm )
1 30
( 1) (2) 2 30
3 10
5 kN 0 oL___ _.,l__ _ 2L----3L----4L----5'-X

(a)

(3) y

Thickness= 1 mm
(c) 8 E= 100 GPa
V= 0.3

Plane strain
6
2 2
Element Area (mm ) Length (mm) 4 N/mm
1 20 3.5
4
2 20 2
3 20 3.5
2
k
OOL--L2--L4--L6--L8-- ~x

Figure 5.18 (b)

(d) 6 kN
 98 Elasti~ity problems Problems 99

5.8 Prove that for an axisymmetric element with a pressure load on

k Thickness= 2 mm
E= 200 GPa
V = 0.2
2
side ik, the relevant force vector term is

J
(2r;
(2r;
+ rk)p,.
+ rk)Pz
l
-1
Y = 30 N/mm
2 6 :nH;k 0
CX = 2 X 10- ,i°C
t:-.T = 50 °C 3
3 Plane stress
- (r; + ~rk)p,. J
(r; + 2rk)Pz

4 5.9 Calculate the finite element equations for the axisymmetric simplex
elements shown in Fig. 5.21(a)-(c).
y 3
5.10 The calculated displacements (10- mm) of the elements in
{c) Problem 5.9 are shown in the following table. What are the
z resulting element stresses?

Element Node i Node j Node k

5
z z z
Thickness= 2 mm (a) 1 3 -2 5 2 2
4 E= 200 GPa (b) 2 -4 6 0 0 l
V = 0.25 (c) s 0 1 -3 1 2
3
x = 20 N/mm
3
z Thickness= 2 mm

'<J;~-
Plane strain
E = 200 GPa
V = 0.3
4

0 0~----'---~2--~3--~4'---1-5x 1 - 2
3 N/mm
(d) k ----
y 00 3 4 5

5 (a)

Thickness= 2 mm z
4 E= 200 GPa k
V = 0.3 4 j
2
3
Y = 50 N/mm
6
CX = 2 X 10- / °C
3
'l'l_ Thickness= 1 mm
t:-.T = 50 °C E= 100 GPa
2 Plane stress 2 5 N/mm2 v = 0.4
ex= 2 x 10-6/°C
!:1T=100°C
'l i
00 2 3 4 5
0 o'---.....J...--~2--~3--~4---51--x
Figure 5.21 (b)
Figure 5.20 {e)
100 Elasticity problems

4
/ 2
// 6N/mm

//// Thickness = 2 mm
3
// E= 100 GPa
V = 0.3
2 R= 20 N/mm
3 6 Formulation of the element
a= 2 X 10--6/°C
AT= 50 °C
characteristic matrices and vectors for
field problems
00 2 3 4 5
(c)

6.1 Introduction
Many important problems in engineering are governed by the field
equation, and can be conveniently and easily analysed by the finite
element method. The most common of these are heat transfer, torsion of
shafts, irrotational flow, groundwater seepage, electrostatic and magneto-
static fields and fluid film lubrication. The equation that governs all these
processes can be stated as

[6.1]

Since this equation is common to the different areas, a general approach

can be used to derive the governing element equations, which can then be
adjusted to represent the particular problem under consideration.
The boundary conditions associated with Eq. 6.1 in their most general
forms are

[6.2]
on surface S1 , and
8¢ 8¢ 8¢
Kx ax lx + Kyayly + Kzfulz + q = 0 [6.3]

8¢ 8¢ 8¢
Kx ax lx + Ky ay ly + Kzfulz + h(¢ - ¢00) = 0 [6.4]

on surfaces S2 and S3 respectively, where S1 , S2 and S3 form the complete

boundary of the region under consideration. The term q and the
coefficients Kx, Ky and Kz may be functions of the coordinates x, y and z,
but are assumed to be independent of the variable ¢. lx, ly and lz are the
direction cosines of the outward normal to the boundary.
The field equation is probably most familiar from heat transfer

101
102 Field problems Formulation procedures 103

problems, where the unknown variable is temperature. K.0 Ky and K 6.2 Formulation procedures
:epres.ent the thermal conductivities of the material in three directions, Q The basic finite element equations for field problems can be derived in a
1s an mternal heat source or sink, h is the convection coefficient at the
surface and q is an applied heat flux acting over the surface. number of ways, but the most widely used methods are the variational
approach and the method of weighted residuals.
For torsion problems, consider a two-dimensional situation where
The variational formulation relies on the minimization of a functional.
K, = Ky = land Q = 2Ge1, with the boundary condition of <P equalling a
In structural and solid mechanics the functional turns out to be the
constant (usually zero) around the boundary, so that
potential energy of the system, but for field problems a functional must
a2</) az<j) be d~~ived from the gover~ing ~ifferential equations and the boundary
ax2 + ay2 = - 2G¢1 cond1t10ns. Once the functional 1s known, the formulation of the finite
element equations for field problems proceeds in the same way as the
Here <P is Prandtl's stress function, G is the shear modulus of the material
solid mechanics derivation, with the equations taking up a similar format.
and e1 the twist per unit length of the bar. The shear stresses in the bar
The majority of problems for analysis by the finite element method can
are calculated by the derivatives of <P in the x and y directions, and the
be solved using a variational formulation, but where a functional cannot
torque by the volume under the ¢ surface.
be derived another approach needs to be adopted. The weighted residual
When irrotational flow is considered, Kx = Ky = 1 and Q = 0, so that
method starts directly from the differential equation of the problem, and
the resulting two-dimensional equation is
relies on minimization of the error (or residual) incurred by the use of an
a2rp azrp assumed distribution of the unknown variable.
ax2 + ay2 = o [6.6) Both the variational formulation and the weighted residual method
(specifically Galerkin's method) are now used to derive the governing
which can be formulated in terms of a velocity potential function,
equations for field problems.
stream function.
For seepage problems, the general equation remains as
azrp a2rp 6.2.1 The variational formulation
Kx-a
. X2
+ Ky-a
y2 +Q= 0 [6.7]
The most straightforward way of deriving the governing equations for
field problems is to use a variational formulation, by minimizing a
where the permeability of the soil is represented by coefficients K, and
functional. (A functional can be defined as a function of several other
Ky, Q is the fluid source (or sink), and the variable ¢ is the fluid potential
functions.) For field problems the functional is derived from the
or piezometric head.
governing differential equation Eq. 6.1 and the boundary conditions Eqs
If the equation is applied to electrostatic fields, the K coefficients are
6.2 to 6.4. It possesses the property that any function which makes it a
used to model the permittivities in three directions, the Q term represents
minimum also satisfies the governing differential equation and the
any internal current sources, and the field variable ¢ the electric force
boundary conditions.
field intensity.
The technique by which functionals are derived is part of a branch of
For magnetostatics, the .finite element method can be used to solve for
mathematics called the calculus of variations, and is not repeated in this
the magnetomotive force if Kx, Ky and Kz equal the magnetic
book since it is well covered elsewhere in the literature. The important
permeabilities and Q is any internal magnetic field source.
result from the calculus of variations is that the minimization of the
Finally, for fluid film lubrication problems, the pressure acting in the
functional
lubricant can be modelled, where Kx and Ky are functions of film
thickness and viscosity, and Q represents any internal source of
lubrication.

L![/(, (:! r r ir -
Clearly, the range of problems that are covered by the field equation is
diverse, and a common analysis approach using the finite element method
appears attractive. The general element equations governing field I = + Ky ( : ; + Kz ( 2Qrp JdV
problems are now developed, and are applied in detail to heat transfer
problems and the torsion of shafts. +J q<j)ds+J ~(rp-cp"")2dS [6.8]
Sz s, 2
 104 Field problems Formulation procedures 105

requires that the governing differential equation Eq. 6.1 and the for one element becomes
boundary conditions Eqs 6.2 to 6.4 are all satisfied. 1(e) =J !{ cp(e)} T[B(e)F[n<e)][B(e)]{ cp(e)}dV
To put the functional I into a more manageable format, the following V(,) 2
substitutions are made for the vector of gradients of the field variable -J Q(e)[N(e)]{ cp(e)}dV + J q(e)[N(e)]{ cp(e)}dS
v<,J /'l
[6.9] + J,<;) ~2 {cp(e)} T[_N{e)F[_N(e)]{ cp(e;} dS - Js~l
hrp [_N{e)] {cp(e)}dS
00

and for the matrix of material properties

[DJ =
[
Kx O O
0 Ky 0
0 0 Kz
l [6.10] The variational method requires that the functional is minimized, that is,
values of the nodal variables must be determined which cause I to be a
[6.16]

Therefore Eq. 6.8 becomes minimum. The usual approach of differentiating and setting the result
equal to zero is employed. For the finite element method this means
I= ( ~[{g}T[D]{g} - 2Qrp]dV +
1
i~ qrp dS differentiating with respect to each of the unknown nodal variables. Thus
if there are n degrees of freedom, n equations will be produced. If {<Ps} is
a vector of the unknown variables for the whole system, this can be
[6.11] expressed in terms of the previous equations as
a/ a E E afe)
Now since the variable is to be modelled in a discrete way by a finite
element representation rather than continuously, the functional I must be a{ <Ps} = a{ <Ps} ~ fe) = ~ a{ cp(e)}
expressed as the E elemental quantities f e), so that This minimization of the elemental quantity f e) gives
E
J = L J(e) [6.12) afe~
a{ cp( )}
= ( J [B(e)F[n<e)][B<el]dV
v<,)
e=l

where + J h[_N{e)F[_N(e)]dS ) {cp(e)} -J Q(e)[_N{e)FdV

I(e) = J l [{g(e)} T[n<e)]{g(e)} - 2Q(e)¢ ]dV +
v(,) 2
f
s(,)
q<e)rp dS
s~) V(,)

+ J '12 (¢ 2 - 2¢¢00 + ¢~)dS

2

[6.13]
+ J s~) q<e)[N(e)]TdS - J
s~) hr/Joo[N<eyds [6.17]
s(,J
3 This can be written as
Also the behaviour of the function ¢ within each element can be
expressed in the usual way as ~ = [k(e)]{<P(e)} _ {F(e)} [6.18]
a{<I>(e)}
[6.14]
where [//e)] is the element stiffness matrix and {F(e)} is the element force
where [_N{e)] is the matrix of shape functions for element (e) and {cp(e)} is vector.
the vector of unknown nodal variables for element (e). Therefore For the whole system,

with [B(e)] calculated by the proper differentiation of [_N{e)].

[6.15]
__!!!__=
a{ <Ps}
f ([k(e)]{ cp(e)} -
e=l
{p(e)}) =0 [6.19]

Hence using Eqs 6.14 and 6.15, the discretized form of the functional and assembly of the element equations to obtain the system equations
proceeds in the normal manner.
106 Field 'problems Formulation procedures 107

6.2.2 The weighted residual method The concept behind the finite element method is of course to discretize
the region or body under consideration, so the basic equation Eq. 6.25
Consider a differential equation must be converted into an elemental form. The number of weighting
D(¢) - F =0 coefficients is equal to the number of nodes in the model, and therefore
Eq. 6.25 is composed of n equations for a model with n nodes. Therefore,
where Dis a differential operator acting on an unknown function¢. For for a general body V,
example, the equation might simply be
Iv [N]TR dV = 0 [6.26)
d2~ - F = 0
dx where [NJ = (N1 N 2 N 3 •.. Nn). But if the region is divided into E
The weighted residual method involves substituting an approximate elements,
solution into the governing differential equation, and then working with
[6.27]
the resulting error or residual.
For example, if an approximation ¢(x) is used with
The following use of the weighted residual method in the development of
¢(x) = I N;</J; i = l,2, ... ,n the governing equations of field problems should clarify the procedure.
where ¢; are constants and N; are independent functions of x, then Eq.
6.21 would yield a residual R, that is
Application to field problems
d2¢~x) - F =R ¥- 0 Working from the general field equation Eq. 6.1, the contribution from
dx
an element (e) is
The residual is multiplied by a weighting function W (which is a function
dV
of x), and the integral of the product is then required to be zero.
Therefore
fy(,)
[N(e)FR(e)

(e) T ( a2¢ a2¢ a2¢ )

= ax + Ky-a2 + K + Q dV [6.28)
L W;R dx = 0
f y(,)
[N ] Kx-2
y
2 -a
z
2

over the region r, where the number of weighting functions is equal to the where [Ne)] is the row vector containing the element shape functions.
number of coefficients in the assumed solution (Eq. 6.22). The second derivatives in Eq. 6.28 must be replaced by first derivatives
Different weighting functions may be chosen, but the most widely used using integration by parts. Consider
approach is known as Galerkin's method. This uses the same weighting
functions that are used in the approximating equation (i.e. Eq. 6.22).
Hence

r N;R dx =0 [6.25] [6.29)

Equation 6.22 is the same form of equation as used previously for the
interpolation function in the simplex elements in Chapter 4, and N; are The first term on the right hand side can be replaced by the use of
the shape functions. Green's theorem to give
There is one problem associated with Eq. 6.25. The highest-order
[6.30)
derivative allowed in the integral has an order that is one greater than the
order of continuity in the interpolation equations. For example, with a
linear interpolation function (i.e. a simplex element) with continuity in¢, where s<e) is a surface of the element and lx is the x direction cosine of the
only a first-order derivative can appear in the integral. Fortunately the normal to the surface.
difficulty can be overcome by reducing the order of the derivative by The other y and z second-order terms in the integral of Eq. 6.28 can
integration by parts. also be expressed in the same way as the x term. The final set of
108 Field p1·oblems

equations from the process is then

{ c<•>> = _ fw• (K.,. a[N<•>jT a<1> + K . a[N<•>

fJx ax
f ~
ay ay
)

+ K
'
arN<·>JT 0 <1>) dV +
i:)z 8z
I.\'''
[N<•>11· ( K fJ(/>/.
"'ax ·'
+ K .~I.
>f)y >

[6.31)

If the variation of(/> across the element is expressed in th e usual way as

[6.32]
then the first term of Eq. 6.31 can be written as

- (fw, (K.\.fJ[N<•l]T
ax
o[NC•>] + K. 8[N<•>r 8[N<el]
ax ) ay ay

+ T 8[N<•>1 ) dV) {<t><•l}

K.• 8[N<•>1 [6.33]
8z az
Now the gradien t vector {g} and the fBJ matrix are defined as

8</> a[M'')
ax ax
o<f> 8[N<•>] { <t><•>} == [ a<•>J< <t><•>}
(g<•l) = ay cJy
[6.34]

!!!P_ 8[N<•>J
f)z az
Equation 6.33 becomes
- (L., [a<e>f[o<•>na<•>Jct v) {<1><·>> [6.351

(D<•>] =
[
K, 0 0
0 Ky 0
0 0 K,
l
where the thermal conductivities are stored as

[6.36)

The possible boundary conditions for field problems are stated in Eqs 6.3 Plate J Examples of the </I
and 6.4. For surface S2 , su rface and shear
stress distribution in
- - 8</> - fJ</> - ~ [6.37) various cross-sect ions
q - KxfJ)" Kya/Y K,az I, under torsion:
(a) square shaft,
and for surface S3 , (b} tria ngular shaft.
(c) d rcular shaft.
(6.38] (d) hollow ci rcular
shafl (the minimum
she:u stress contour is
dark-blue and the
maximum is red)
Plate 2 The o, axial stress
distribution in the lug The delkcted shapes
of a pi nned and con1ours or
connection modelled vercical displacement
in 1hree different ways (Uy) for three axia lly
(see Fig. 9.7). (a) pin loaded bars modelled
connected to lug wi th wilh different
ga p elements, constrainls ove rlaid on
(b) perfec1 pin to lug 1he origina l bar
contact. (c) pin geomell y (sec Fig.
re presented as rigid 9. JO). Only ha lf the
links. The run times bar is represented
fo r the three models because I he problem
were 2 13. 90 and 62 is sym met ric. The left-
seconds respectively. hand entl lies on the
The nine sl ress line of~}rnmet ry.
conto urs are eq ually hence all the nodes on
spaced between - 50 th is face are
and 300 MPa (dark constrained in the .r-
blue 10 red) direction. and in
addition: (a) the
centre node is
constrained in they- (b)
direction - the correct
constrai nt co ndition.
(b) al l nodes are
constrained in the)'·
direction. (c) the
bollom node is
con~trnmed in the y-
di rectio n. The fifteen
displacement con to urs
are equally spaced
betwee n - 0.0075 and ( }
0.015 mm (da rk blue c
to red)

Plate 4 Maximum principal

st ress vector plo1
showing 1he load path
around a hole, where
tht! ~ize and colour of
the arrows reHects the
magnit ude or the
stress; (dark-blue is
the mini mum . and red
the maximum)

(C)
 pJote 8 Finite c le me nt
analysi~ of a sheet
forming process,
requiring no n-linear
materiul. geo me try
and con tact
capabilities (courtesy
of MA RC A nalysis
Research
Corporation)

(al

The la rge T he de flection of a

displace me nt o f a rubber shee t wi th a
cantileve r beam central hole. analysed fc) (d )
subjected 10 an by a large The fi rst four buckling
increasi ng applied displaceme nt/large modes of a squa re
ve rtical load. (The st ra in finite element plate simply supported
forces used were 54. mode l on all four sides
56, 61, 68, 8 1 and
100 N)
 la) (b)

Plate 10 Finite elemenl mode l

and mode of vibrat ion
of a pump casing

(a) (b)

(c)
Plate 12 The lemperalure
distribu lion in a pipe
wilh supporting flange
(d) when .a liqu id at
Plate 11 The first fo ur modes 200 •c is suddenly
of vibration of a flushed along i1. Plots
square plate simply are taken at 0.5, 2, 3
supported along two and 4 seconds. with
of ils edges temperature contours
(frequencies of equally spaced
vibration are 120. 640, be1ween 20 •c and
770 and 1470 Hz) 200 ·c (dark-blue to
red)
Plate 13 Screen layout of the formulation procedures 109
ANSYS user
interface. allowing Thus using Eq. 6.32. the second term in Eq. 6.31 could be replaced by
program com mands two terms for the surfaces S2 and S3 • namely
and data to be entered
through a series of - ls;• [N<•·lfrq<•> dS - fs.;, 1Mdfrh(¢ - ¢ ..)dS [6.39]
menus and funct ion
pads using a mouse But if¢ = [M'>](<1><•l) then
and/or keybo,1rd. The
menus arc contex t
sensitive. showing
only the opt ions that
fs,,, [NklJTh(<f> - ¢ ..)dS

are va lid for a = Jl:) h[N<•>JT[N<•>l{<t>Vi}dS - Js,...,. lup,,.fN(e>tdS [6.40]

part icular analysis.
and a sophisticated As a result. Eqs 6.35. 6.39 and 6.40 may be recombined to give the
on-l ine help system is general element equations for field problems:
avai lable for most
aspects of the program
and procedures
' - {G(eJ} = (fv,,. [s<•>1Tro<->J[s<•>JdV
(courtesy of Swanson
Analysis Systems lnc.) + fs,, , '1[NM]1lN<'>]dS){(J>Ce>) - L.., Q<•>[N<•>frdV
+ Js,~, qt•irN<·>JTds - f.t~, '1¢.. fN<->JTds f6.4JJ
Plate l4 Finite e lemen t model
of a turbine blade
developed by Equation 6.41 consists of two parts, the elemental stiffness matrix [k<el]
automatic mesh and the force vector { pCel}, that is
generat ion (courtesy
of Swanson Ana lysis
Systems Inc.)
(6.42]

and from Eq. 6.27,

[6.43)

6.2.3 Summary
T he two approaches give exactly the same final element equations. as
would be expected (Eqs 6.17 and 6.41). The variational formulation
appears Lo be the simpler technique, once the functional has been
derived. However, the weighted residual method does not need a
functional; it starts directly from the governing equations of the problem,
and is therefore the more general approach.
ln summary, the application of the finite element method to field
problems requires that
F.

,~,I ([k(to)H <1><·>} - { p(•>n =o [6.44]

110 Field problems
Thermal problems 111
where known. Heat is lost to the surroundings through the free end and the
<j>i

[k(e)] = Jvw [B(e)F[D(e)][B(e)]dV + f h[N(e)F[N(e)]dS

- - - - - - - - - - i perimeter surface of the fin.
i~ Consider the development of the equations of a general one-
{F(e)} = I
vw
Q(e)[N(e)]TdV - Jj l' qCe)iN(e)]Tds
2
X
L
dimensional element (with a linear interpolation function) for use in the
thermal analysis of problems as described above, and illustrated in Fig.
6.1. The element was introduced in Chapter 4, and the interpolation
+ J(,) h¢oo[AfCeyds
s, function was shown to be (Eq. 4.4)
Equation 6.44 can be used for one-, two- and three-dimensio
problems, but needs to be tailored to each particular element ty
¢ = N;¢; + Nj<j>j = [N]{<f>}
Thermal problems are examined in detail in the next section, and t where N/ = (1 - x/L) and Nj = x/L.
element equations for one-, two- and three-dimensional and axisymmet To derive the element equations for this particular element, its
elements are derived. For simplicity, the superscript (e) is dropped whe properties are substituted into the characteristic equation Eq. 6.44. The
only one element is being considered. [D] matrix is replaced with the constant Kand the [B] matrix is calculated
by the correct differentiation of the shape functions in [N]. Remember
6.3 Thermal problems that
The characteristic element equation Eq. 6.44 is directly applicable to he
transfer problems. The equation shows that the stiffness matrix
comprise two parts, one from the internal conduction effects in
element (through the thermal conductivities J(0 Ky and Kz represented i Hence
[D]) and the other from any convective heat transfer occurring on an 1
surface of the element (convection coefficient h). The convection al [B] = -[-11] [6.47]
L
gives rise to a term in the force vector. Note that every surface of t
Therefore

r1{-~}
element that experiences convection will contribute one term to the
stiffness matrix and one term to the force vector.
The other thermal effects occurring at each element, namely
internal heat source or sink Q and the applied surface heat flux q, eac
t[BF[D][B]dV = K
1[-1 l]A dx

produce a single term in the force vector. = KA [

L -1
1-1]1 [6.48]

6.3.1 One-dimension al heat transfer (This assumes the element has a constant cross-sectional area A; the
effect of a variable cross-section is discussed after Example 6.1.)
For the one-dimensional case, the differential equation simply reduces to
For convection occurring around the perimeter of the element, a
d2A. stiffness matrix term and a force vector term need to be calculated. For
K-i+Q=O
dx the first of these,

Is h[NF[N]dS = ILo h [M
with possible boundary conditions of
Ntj ] p dx
NjN; Nj
¢ = ¢0
where dS = Pdx is substituted for the surface area, and Pis the perimeter
d¢
K ~lx + h(<j> - ¢00) + q = 0 length which does not vary down the length of the element. The integral
is easily evaluated using the factorial integration formula Eq. 4.20, and is
on the free surfaces. found to be
A common example of a one-dimensional heat transfer problem is a
fin, one end of which is connected to a heat source whose temperature is hPL [
6 12
21] [6.49]
112 Field problems
Thermal problems 113

The force vector term from the convection around the perimeter is which with the use of the local integration formula is easily found to be

L h¢ [NJTdS
00 = J: h¢ 00 { ~} P dx QA L { 1 }
2 1 [6.55]

again by substituting dS = P dx. Using local coordinates, this is worked So the heat generated within the element is allocated equally to the two
out as nodes.
In summary, for a general one-dimensional element, from Eqs 6.48,
h¢;PL{ ~} [6.50] 6.49 and 6.51 the stiffness matrix may consist of

For the convection that occurs at the end of the element (considering the . ( KA [ 1 -1 ] hPL [ 2 1 ] hA [ 0 0 ] ) [6.56]
L -1 1 + 6 12 + 0 1
end at node j), the stiffness matrix term is found from
from axial perimeter end

Js
h[NfiN]ds = f h [MNjNi N~Nj]
A Nj
dA
conduction convection convection at
node j
where A is the cross-sectional area of the element. Because N; = 0 and An equivalent term to the third one would also appear if convection
Nj = 1 at node j, the integral becomes occurred at node i.

hA [~ n
The term in the force vector from the end convection is found from
The force vector may consist of

( h¢;PL { ~} + h¢'°A { ~ }- q~L { ~ }- qA { ~}

perimeter end perimeter heat flux
convection convection heat flux at node j
at node j
The heat flux q must also be considered to act on either the perimeter or
the end of the element. Each situation produces a term in the force
+ Q1L { ~}) [6.57]
vector, and is calculated in a similar manner to the corresponding term any internal
produced by the convection effect, but with h¢oo replaced by -q. heat source
Therefore, for heat flux on the node j end of the element include (from
and again, convection or heat flux at node i would add further terms.
Eq. 6.52)
Example 6.1: straight fin analysis
-qA { ~} Find the temperature distribution in the one-dimensional fin shown
in Fig. 6.2.
in the force vector, and for heat flux around the perimeter include (from
The element matrices for the first three elements are identical.
Eq. 6.50)
For example, for element (1), the stiffness matrix comprises the first
two terms of Eq. 6.56, giving
- q~L { ~}
[k (ll] = AK [ 1 -1] hPL [ 2 1 ] [6.58]
Finally, the internal heat source Q will produce a similar term in the force L -1 1 + 6 12
vector calculated by
=
28 [ -11-lJ 16 67 [21]
1 + · 12 =
[ 61.34-11.33]
-11.33 61.34

and the force vector consists of the first term of Eq. 6.57, namely
 ~
114 Field problems Thermal problems 115

The final global matrix is

100 °C

I !----------------
100 mm
----'
K= 7 W/mm 0
c
D
10 x 10 mm
61.34 -11.33 0
-11.33 122.68 -11.33
0
0
0

-11.33 122.68 -11.33

0
0
0

I
(a) h = 0.1 W/mm 2 0
c 0 0 -11.33 122.68 -11.33
0 0 0 -11.33 71.34

l
'1>1 (1) '1>2 (2) q>3 (3) q>4 (4) q>5 L (el= 25 mm
A (e) = 100 mm 2 2000
1000
2 3 4 5 p(e) = 40 mm 2000
Figure 6.2 (a) One-dimensional
fin (b) finite element 2000
idealization (b) 1200
However, after modification for the boundary condition ¢ 1 = 100 °C,
the equations become

!} !} 61.34 -11.33 0 0 0

ff)
{F(1)} = h</J;PL { = 1000 { [6.59] 0 122.68 -11.33 0 0

I
0 -11.33 122.68 -11.33 0
The fourth element experiences the same conditions, but in addition 0 0 -11.33 122.68 -11.33
may lose heat through the right end at node j. Its stiffness matrix 0 0 0 -11.33 71.34
must therefore include an extra term (from Eq. 6.56), namely

n
l
1000 + Q1
3133
hA [~ [6.60]
2000
2000
so that
1200
[k(4)] = [ 61.34 -11.33 ] 10 [ 00 01 ] where Q 1 is the heat applied from the surroundings at node 1, to
-11.33 61.34 +
maintain it at a constant temperature of 100 °C. Solution gives
= [ 61.34 -11.33 ] {<f>s}T = [100.0 27.45 20.69 20.06 20.01]
-11.33 71.34
Similarly, its force vector needs the extra term and the heat flow at the left end is then calculated from the first
equation to be Q 1 = 4823 watts.
hcpooA { ~ } = 200 { ~ } [6.61] A comparison of the results with those calculated theoretically is
as follows:
and therefore Temperatures ( C) 0
¢1 ¢2 <p3 <p4 </Js
FE results 100.00 27.45 20.69 20.06 20.01
{r
d4) } -_ 1000 { 1} + 200 { 0 }-
- { 1000}
1 1 1200 Theory 100.00 32.08 21.83 20.28 20.07
The element matrices are now assembled to give the system x location (mm) 0 25.0 50.0 75.0 100.0
equations, the boundary conditions are inserted, and the resulting The results are most inaccurate near the left-hand end of the fin,
set of simultaneous equations is then solved to give the unknown where the change in temperature gradient is the greatest, and hence
nodal temperatures. These steps are discussed in detail in Chapter 7. a linear approximation is least accurate. A remeshing of the
 116 Field problems Thermal problems 117

problem with smaller elements nearer that end would improve the where Pi and Pj are the perimeters at the two nodes.
results. However, in practice either more than four elements would The convection from the perimeter adds a further term to the stiffness
be used to model the fin, or more sophisticated elements with matrix. As in the derivation of Eq. 6.49, with dS = P dx,
higher-order interpolation functions would be chosen. (This prob-
lem is re-examined in Chapter 8 where it is modelled with quadratic
elements, giving a substantial increase in the accuracy.)
L h[Nf[N]dS = I: h[Nf[N]P dx
or

Tapered fin analysis

In the derivation of the element equations it was assumed that the area
was constant down the length of each element. If this is not the case the Through the use of the factorial integration formula Eq. 4.20, this is
evaluation of the terms involving the area is not straightforward; the area evaluated to be
needs to be expressed as a function of the x coordinate, and then
integrated accordingly. hL [3Pi + Pj [6.65]
12 pi+ pj
The simplest case is where the area varies linearly from one end of the
element to the other. This is the same form of variation as that assumed The force vector term due to the convection around the perimeter also
for the temperatur~ distribution in the x direction, and consequently the needs a similar approach, using dS = P dx:
same shape functions can be applied. For example, if the area at node i is
Ai and that at node j is Aj, then the area at a distance x from node i is
Is
h¢oo[N]TdS = f \¢
o
00
{ NiP }dx = h¢ooL { 2Pi + Pj}
NjP 6 Pi + 2Pj
[6.66]
[6.62]
Therefore it is clear that it is not just a question of substituting the
Owing to the change in area, the stiffness matrix must be recalculated. average perimeter length into Eqs 6.56 and 6.57 to obtain the element
The first term involves equations for a tapered element.
The other terms in Eqs 6.56 and 6.57 are dealt with as necessary.
L[Bf[D][B]dV = [z [ _~-~]!:A dx Where convection or heat flux occurs at one end of the element, the
appropriate area is inserted rather than the common area previously
Using Eq. 6.62 an-~ the local integration formula of Eq. 4.20, used. The analysis of a tapered fin then proceeds in the same manner as
for a straight one.
J:Adx = J:[N] {1;}dx = ~ [1 1] {1;}
Example 6.2: tapered fin analysis
Therefore the term becomes
Calculate the temperature distribution in the tapered fin shown in
~ (Ai + A) [ l -1 ] = KA [ l -1 ]
Fig. 6.3.
L 2 -1 1 L -1 1 [6.63] Since the fin is tapered, each of the four element equations
needed to describe the behaviour of the fin will be different, unlike
where A is the average area. The matrix is identical to Eq. 6.48 except
the straight version of the fin described in Example 6.1.
that the area used is now the average value.
For elements (1), (2) and (3), using Eqs 6.63 and 6.65,
With varying cro ,s-sectional area, the element's perimeter will also
vary. Again if the change is linear, we can write [k] = !5_ (Ai+ Aj) [
L 2 -1
1-1] + !!:_£
1 12
[3Pi + Pj Pi+ Pj ]
Pi + Pj Pi + 3Pj
[6.64] [6.67]
 118 Field 'problems
Thermal problems 119
and in the force vector the additional term is
$00 = 20 °C

100 °c

I (a) I·
h
K= 7 W/mm °C

= 0.1
100 mm

W/mm 2 °C
, I
I
D
10mm

~
h¢ A (

be as follows:
00
4
) {

[k(l)] = [ 101.38 -28.58]

-28.58 99.30
~ } = 200 { ~}
When calculated, the complete set of element equations is found to

$1 (1) $2 (2) $3 (3) (4)

$4 $5 [k<2)] = [ 90.22 -23.66 ]
2
-23.66 88.14
3 4 5

Area (mm 2)
I I I I [k(3)] = [ 78.96 -18.64 ]
200 175 150 125 100 -18.64 76.88
Perimeter (mm) 60 55 50 45 40
[k(4)] = [ 67.90 -13.82 ]
Figure 6.3 (b) -13.82 75.82

Therefore, for element (1), {F< 1l} = 8.33 { ~;~}

= 52.5 [ _ ~ -~ J+ 0.208 [ ~~~ ~~~ J ~~~}

1 2
[k< )] {F< )} = 8.33 {

= [ 101.38 -28.58 J
-28.58 99.30 {F< l}
3
= 8.33 { ~:~ }
The force vector for the first three elements is defined by Eq. 6.66 (4)} = { 1083.29 }
{

I
as F 1241.65

{F} = h</JooL { 2P; + Pj} These combine to give the following system equations:
6 P; + 2Pj [6.68]

For element (1) this becomes 101.38 -28.58

-28.58 0
189.52 -23.66 0 0 !¢:
,+.¢;:1
'I-'

I
0 -23.66 167.10 -18.64 0
1
{F< )} = 8.333 { ~;~} O O -18.64 144.78 -13.82
O O O -13.82 75.82
The element equations for elements (2) and (3) are calculated in the

l
same way from Eqs 6.67 and 6.68. However, element (4) has an 1458.28
2749.89
extra term in its stiffness matrix and force vector due to the
2499.90
convection experienced at its free end. In the stiffness matrix the
additional term is 2249.91
1241.65
When these equations are modified to take account of the boundary
condition ¢ 1 = 100 °C and are then solved, the following distribution
is predicted:
{<J\} T = [100.00 32.31 21.80 20.26 20.07] °C
120 Field problems
Thermal problems 121
Using these values, the heat flow applied at node 1 to maintain the The elemental lengths are all equal, and so the (B] matrix is the
temperature at 100 °C is calculated to be 7737 watts. It is interesting same for the elements. Considering element (1),
to compare this with the value of 4823 watts produced by the
[B< 1 )] = 0.4 [-11]
straight fin analysis in Example 6.1. Clearly the tapered fin is more
efficient at dissipating heat than the straight version. Therefore

Calculation of internal heat flows

qh1Jx = - 7 X 0.04 [-1 1] {
2~~~5 } = 20.31 watts/mm 2

The area of each element is 100 mm2 , so the heat flow in element
By Fourier's law, the quantity of heat q crossing a unit area per unit time (1) is '
in the x direction is given by
QhlJw = 2031.4 watts
q =- K d</J Similarly,
dx
where K is the thermal conductivity. Therefore, once the temperature Qh~w = 189.28 watts
distribution is calculated within a body, it is possible to calculate the heat Qh~w = 17. 64 watts
flow through each element using Eq. 6.69 multiplied by the cross- Qh~w = 1.40 watts
sectional area.
In one dimension, the quantity d<pldx is defined as the gradient vector
{g} by Eq. 6.9 and is shown in Eq. 6.15 to be Composite wall analysis
{g(e)} = [B(e)]{ <f>(e)} The one-dimensional element equations derived in this chapter can also
Hence the heat flux through the element can be found from be used very effectively to study the thermal distribution through
composite (layered) walls, where heat flow only occurs in one direction.
q}fdx = - K[B(e)]{ <f>(e)} The following example illustrates the principles well.
Since the element examined in this section is a simplex element, i.e. it
uses a linear variation of temperature, a constant heat flux is predicted
through the element (because d<jJ/dx is constant). With higher-order Example 6.4: composite wall analysis
elements, where the interpolation function might be quadratic or cubic, Determine the temperature distributions in the wall shown in Fig.
the predicted heat flow would be linear or quadratic respectively. 6.4, and calculate the heat flow through the wall thickness.

20 °C

Example 6.3: heat flow calculations

For the fin analysed in Example 6.1, calculate the heat flow rates in h = 60 W/mm 2 °C K=7.2 K=7.2 (no
W/mm °C W/mm °C convection)
each element.

The heat flux is found from

10mm 10 mm

(1) (2) (3)

For a one-dimensional element with a linear interpolation function, 2 3 4

1 Element (1) experiences convection at one end, but like the other
[B] = -[-11]
L elements no perimeter convection. The stiffness matrix for element
122 Field problems
Thermal problems 123
(1) is therefore found (from Eq. 6.56) to be distribution through such a wall is linear, and hence the finite
element analysis, with linear interpolation elements, models the
[ei)] = KA [ 1 -1 ] + hA [ 1 0 ] situation exactly. Analysing the wall with more elements would give
L -1 1 00
no further information.
= o 72 [ 1 -1] 60 [ 1 0] = [ 60.72 -0.72]
. -1 1 + 00 -0.72 0.72
[6.72]
6.3.2 Two-dimensional heat transfer
where a unit cross-sectional area is assumed for the element. The
force vector term comprises just one term, for the end convection: The basic element in two dimensions is the triangle, as introduced in
Chapter ·4 and illustrated in Fig. 6.5. The distribution of temperature
1 (assuming a linear variation) over the element is (Eq. 4.9)
{FC )} = hcj>"A { ~} = 60 X 5 { ~}
For elements (2) and (3), the stiffness matrix consists of only one y
term, and the force vector term is zero (no terms in Eq. 6.57 apply).
Specifically, Face

[ 1-1]
convection
Edge
-1 1
{Fc2)} = { ~} convection

[ 1-1]
-1 1
{FC3)} = { ~}
e6.5 Linear kf//?....~~~~~~~~~~~s'1 "'
s'1"'

imensional thermal
Assembly of Eqs 6.72 to 6.75 gives nt, showing edge and face
vection
0-------- -~
~~:;~ -~:;~8 -~:~38 ~:~ 1J:: l J l
X
3 0

o.o -0.Q38 0.758 -0.72 l cj>3 I= l o J

~

l 0.0 0.0 . -0.72 0.72 cj>4 0

[6.76]

Application of the boundary condition cp4 = 20 "C yields where

~~:;~ -~:;~8 -~:~38 ~:~ 1J:: l J ~ l

3 0

o.o -0.038 0.758 -0.72 l <P3 I= l o J

[6.77]

l 0.0 0.0 -0.72 0.72 20 Q4

where Q4 is the heat applied at node 4 to maintain the temperature and the a, b and c are constants calculated from the coordinates of the
at 20 °C. element as derived in Section 4.3.
Solution of the equations gives As for the one-dimensional case, the element equations are found by
deriving the necessary matrices in Eq. 6.44 and making the substitutions.
{<Ps}T = [5.008 5.724 19.284 20.0] °C Firstly,
and Q4 = 0.516 watts.
One would expect the heat flow through each element to be the
same, and indeed Eq. 6.70 can be used to prove this is the case. The { } = acp}
ax = _1_ [ b; bj bk] { cp.
c/>;} = [B] { cp.
c/>;}
[6.78]
calculated values for temperature and heat flow compare exactly g { acp 2A C; Cj ck 1 1

with those derived theoretically. The reason is that the temperature ay ¢k <h
 124 Field problems

l l
Thermal problems 125
Therefore

[B] = _1 [ b; bj bk] { :; } H,i

N7 N;Nj O
J . h [ONjNi ONJ O t dH =
O
hH
-f [ 2 10
12O
OO0
[6.83]
2A C·I C·] Ck 1 [6.79]
(Pk
The force vector term produced by the convection effect is calculated
The material property matrix [D] is defined as from

[D] = [ K, O ] [6.80]
0 Ky

The first term of the stiffness matrix is then found from

Using natural coordinates again, this results in

h¢;H,;t{i} [6.84]

If convection takes place . on another side of the element, similar

assuming that the element has constant thickness t. The integral contains
equations to Eqs 6.83 and 6.84 are generated with obvious rearrangement
constants and is readily evaluated to give
of the non-zero terms.
[BfiD][B]tA [6.81] Where convection occurs from a face of the element, the stiffness
matrix term is
For an isotropic material with Kx

Kt [b7
4
A
+ c7
bjbi + CjC; bj + Cj
= Ky = K, Eq.
b~bj + ficj b;bk + Ch
bjbk + CjCk
bkbi + eke; bkbj + ckcj b'i + Ck
l 6.81 reduces to

[6.82] [6.85]

For a triangular element, convection is possible from its three edges and by the use of local coordinates in the usual manner.
from its flat faces (Fig. 6.5), and each of these effects contributes one The force vector part is
term to the stiffness matrix and one term to the force vector. Firstly,
consider convection from edge ij of the element. The stiffness matrix term
will be [6.86]

The other terms in the force vector are equally straightforward to

calculate. Where there is an internal heat source,

[6.87]

since Nk = 0 along side ij. The integral is over the edge of the element showing that the heat generated within the body is allocated equally to
between nodes i and j, which for constant thickness t means area Hu[, the three nodes.
where Hij is the distance between nodes i and j. Using the local Any incident heat flux on the element can occur over the element's
integration formula Eq. 4.25 to evaluate this, as described in Section 4.4, edges or faces as with the convection effect, and similar terms to those in
gives Eqs 6.84 and 6.86 are derived. For the edge between nodes i and j, the
126 Field problems Thermal problems 127

force vector term is

y K= 7.5 W/mm c 0

h = 0.15 W/mm 20 c
[6.88] <l>oo=a 20 °c
Element thickness "' 1 mm

and for the face effect, Dimensions - mm

i-------41

L q[~TdA - q: {:} [6.89]

Figure 6.6
(20, 20)

The element equations for the triangular element can therefore now be
of the a, b and c constants. From Eq. 4.8,
found by summing the stiffness matrix terms, namely Eqs 6.82, 6.83 and
6.85, to give b; = yj - Yk = -40 C; = Xk - Xj = -20

(
[B]T[D][B]tA + h:uf [ ~~~
000
l
+ hA
12
[ ~1 1~ 2~ l) [6.90]
bj = Yk - y; = 40
bk= Y; - yj = 0
and the area equals 800 mm . 2
Cj

Ck
=
=
X; -

Xj -
Xk
X;
= -20
= 40

from
conduction
convection
at edge ij
face area
convection
Here the convection effects are only represented for side ij; any
convection on side jk or ki introduces similar terms.
Substituting into Eq. 6.82 gives

20 -12 -8
102 X jQ_ -12 20 -8
4A [ -8 -8 16
i =
[
4.69 -2.81 -1.88
-2.81 4.69 -1.88
-1.88 -1.88 3.75
l
The force vector (with convection and heat flux terms similarly only [6.92]

w n
considered for side ij) consists of Eqs 6.84 and 6.86 to 6.89, producing
For the convection on edge jk, the stiffness matrix will include a

( h¢;H;;t + hpt { :}+ Qt U}- q1;f {

term (from Eq. 6.83)

hH
_ _ t
Jk_ [ 02
0 01 l
convection face area internal heat flux 6
012
at edge ij convection heat source on edge ij
The length of the side between nodes j and k equals V2000;

_q:U})
l
therefore
[6.91]
0.15 x V2000 x 1 [ O O O ] - [ O O O
heat flux 021 - 0 2.24 1.12 [6.93]
6
on face 012 0 1.12 2.24
area Equation 6.85 is the matrix that should be included when convection
Example 6.5: two-dimensional heat transfer occurs from the face of an element. In this case,
Calculate the element equations for the element shown in Fig. 6.6,
211]
which experiences convection on side jk and its upper face. ~1121 =10 [211]
121 [6.94]
[
112 112
There will be three terms in the stiffness matrix, one from the
normal conduction part and one from each of the convection effects. The stiffness matrix for the two-dimensional element then equals
The first of these is calculated from Eq. 6.82, which needs the values the sum of Eqs 6.92 to 6.94, i.e.
 128 Field problems Thermal problems 129
z
24.69 7.19 8.12]
7.19 26.93 9.24 [6.95]
[
8.12 9.24 25.99
The force vector for the element will consist of two terms. Firstly,
for the edge convection, from Eq. 6.84

[6.96] Pigure 6. 7 Linear

three-dimensional thermal
element

rn
Secondly, for the face convection, Eq. 6.86 gives
and the constants a, b, c and d are calculated directly from the nodal
hf;A {:} ~ 800 [6.97]
coordinates.
The [B] matrix, found from the differentiation of Eq. 6.99 with 6.100,

l
proves to be
Therefore, from Eqs 6.96 and 6.97, the force vector for the element
is l [ b; bj bk b1
[B] = 6V c; cj ck c1 [6.101]
800.00} d; dj dk d1
867.08 [6.98]
{ Calculation of the stiffness matrix is then straightforward, and is found
867.08
from the multiplication of the matrices
So the element equations for the given element under the defined

l{
operating conditions are [k] = [BV[D][B]V [6.102]
if the element has a volume V.
24.69 7.19 8.12 ¢; }- { 800.00} When there is convection over the side defined by nodes i, j and k, the
7.19 26.93 9.24 ¢j - 867.08
[ stiffness matrix term is derived from
8.12 9.24 25.99 ¢k 867.08

I NT N;Nj N;Nk N;N1 j

6.3.3 Three-dimen sional heat transfer Is
h[NV[N]dS =
s
h Np; NJ
[ NkN; NkNj
N 1N; N1Nj
N{Nk
N-,,
N1Nk
NjNI
NkN1
Ny
dS

The derivation of the element equations for the simple three-dimensional

element (the tetrahedron) with a linear interpolation function presents However, on side ijk the shape function N 1 corresponding to node l
little further difficulty, particularly with the use of local volume equals zero, and so the coefficients in the fourth row and column of the
coordinates to facilitate the integration. The basic element is shown in matrix must be set equal to zero. Therefore the integral becomes

I r:JI; Zt ;z: ~ 1
Fig. 6.7. The interpolation function was introduced in Eq. 4.14 as

¢ = N;r/J; + Njrpj + Nk¢k + N1¢1 [6.99]

A,ik
h
NkN; NkNj N1c O
dA = hA;jk
12
r ~1 ~1 2~ 0~ 1 [6.103]
where the shape functions are defined by 0 0 0 0 0000
The term produced in the force vector from this convection is
[6.100]

IS hrp [N] dS =
00
T I Aijk hrp 00
{Z; }
~k
_hr/JooAijk
dA - 3 t
{ ~}
[6.104]
130 Field problems Thermal problems 131

where evaluation again is achieved easily by the use of local volume was shown to be an axisymmetric ring with a triangular cross-section
coordinates. defined in cylindrical coordinates, so that the symmetry is about the z
As usual, if convection occurs on other faces of the element, similar axis, as shown in Fig. 6.8. The differential equation of heat conduction
terms to those in Eqs 6.103 and 6.104 are produced, but with the obvious for such an axisymmetric case, in cylindrical coordinates, is
rearrangement of the non-zero coefficients.
The heat flux term is derived in the same way as Eq. 6.104. For 1 8 ( 8¢ )
example, if it acts over face ijk,
~ a, rK,a,:
8 (
+ ai 8¢ )
KziJi + Q = 0 [6.109]

The boundary conditions are similar to those used for the general

Is
q[N]TdS = I
A.k
,,
q{
Nk
Z; }dA = qAijk
0
3
{ ~}
1
0
[6.105]
Cartesia~ system in Eqs 6.2 to 6.4, namely

[6.110]

Finally, any internal heat source is included in the force vector by the on surface S1 , and
term
[6.111]

[6.106] [6.112]

on surfaces S2 and S3 , where K, and Kz are the thermal conductivities in

In summary then, for an element with convection and incident heat flux the r and z directions respectively, l, and lz are the direction cosines of the
acting over the face defined by nodes i, j and k, the stiffness matrix is outward normal to the surface, and the other terms have their usual
meanings.
2110]
~~~~
T hA;jk 12 10
[6.107]
( [BJ [D][B]V + ) 2 [ )

from from convection

conduction z
on face ijk
and the force vector is

[6.108]

Figure 6.8 Axisymmetric

from from heat from any thermal element
convection on flux on internal
face ijk face ijk heat
source These equations are similar to those describing field problems in
Cartesian coordinates (Eqs 6.1 to 6.4), except that the first term in Eq.
6.109 is a function of the radial position. The finite element equations for
6.3 .4 Axisymmetric heat transfer such problems are best derived by Galerkin's formulation in the same
If a three-dimensional body and the thermal distribution in that body are way as described in Section 6.2.2, but with some minor modifications.
axisymmetric, then the situation may be modelled using axisymmetric The weighted residual method begins with the calculation of the
elements. The basic linear element was first discussed in Section 4.6, and residual integral of an element (e):
132 Field problems Thermal problems 133

Consequently, the weighted residual integral is finally ca1cu1ated to be

{G(e)} = J [Ne)]TR(e)dV
y(,)
{ a<e)} = - (J ( Kr o[Ne)]T a[Me)]
2 y(,) ar ar
= J [N~)]T ( Kr ~(racp) + Kza 4> + Q)dv [6.113]
y(,) r ar ar az + Kz a[Ne)]T a[Ne)] ) dV) {q>(e)}
The second derivative on the right-hand side of this equation must be az az
replaced with first derivatives using integration by parts, as presented in
Eq. 6.29, so that
2
[Ne)]T K a cp = K ~( [Ne)]Tacp )- K a[Ne>)T acp
z az 2 z az az z oz az
(6.114]
+ I
V(,)
Q(e)[Ne)]TdV [6.119]
The first term of the right-hand side of Eq. 6.113 can also be reformatted This is the same format as Eqs 6.31 and 6.33 derived for the Cartesian
so that it is in a similar format to Eq. 6.114. This requires the following system: With the boundary conditions applied in the same way as before,
relationship: the weighted residual integral is ultimately found to be
- { a<e)} = (J
V(,)
[B<elfiD(el][B<e)]dV

[6.115]
+ J(,) h[Ne)F[Ne)Jds){<I>(e)} -
s,
f
vc,i
Q(e)[Ne)F dV

If the last two equations are then substituted into Eq. 6.113, the following
+ J(,) q(e)[Ne)y dS -
Sz
f (,) h(/J [N(e)y
S3
00 dS [6.120]

is obtained: where

[6.121]

[D(e)] = [ Kr O ] [6. 122]

0 K2
[6.116]
with the other terms having their usual meanings.
Thus the governing equations for axisymmetric finite element problems
The third integral in this equation can be replaced using Gauss'
are found to be the same as those for the Cartesian system (Eq. 6.41).
theorem, and yields However, when the equations are tailored specifically to an axisymmetric
Kr [Ne)]Tr acplr + Kz [N<ey acp lz ) dS [6.117] simplex element, they prove to be different to the basic two-dimensional
J (5(,) 1'ar az simplex element considered previously in this chapter. Since the element
assumes a linear variation of temperature in the radial and axial directions,
where 5(e) is a surface of the element, and lr and lz are the direction
cosines of the normal to the surface. The variation of temperature can be [6.123]
expressed in the usual way in terms of the shape functions and nodal
This can be expressed in terms of the shape functions in the usual way as
temperatures:
[6.118] ¢ = N;(/J; + Njcpj + Nk¢k = [N]{<I>} [6.124]
where, for example, N; = (a; + b;r + c;z)/2A.
 l
134 Field problems Thermal problems 135

The geometry of the element can be defined in a similar way, in terms N'f: N;Nj N;Nk

Il
= 2nh ~N; NJ ~Nk r dH
of the coordinates of the nodes of the element: JH
11
h[NfiN]2 nr dH
J Hq
[
N kN-l N kN j N 2k
= [ N; 0 Nj O Nk Nk
O ] r; [6.128]
{ zr } O N; 0 Nj O Z;
However, along side ij, Nk = 0, so that this equation can be simplified to
[6.125]
2
rN rNN1 OJ
liJ
where (r;, z;) are the coordinates of node i, for example.
JH,j
2nh
[ rN;N; rNJ 0 dH
O O 0

If the substitution for r is made again using Eq. 6.125, then the local
The [B] matrix is easily found to equal integration formula of Eq. 4.20 can be used to evaluate the integral
[B] = _l [
2A
b; bj bk]
c; cj ck
[6.126]

Therefore the term in the stiffness matrix due to conduction is calculated

directly. The final result is

nhH;j [ 3r; +"rj r; + rj O

6
rj + r; r; + 3rj 0
0 0 0
l [6.129]
using Eqs 6.122 and 6.126 (dropping the superscript (e)) as

L [B]T[D][B]dV = [BJT [ ~r ~z] [B]2n Lr dA The convection will also lead to a term in the force vector:
Jhq'Joo[NYds = L
h¢oo[N]T2nr dH [6.130]
Since [B] and [D] are both constant, they are removed from the Replacing r and integrating leads to
integration , and the elemental volume is replaced with dV = 2nr dA. The
radial position r may be replaced using Eq. 6.125, so that the integral 2
nhq'JooH;j { r; + rj}
becomes r; + 2rj [6.131]

.. L r dA = ... L (N;r; + Njrj + Nkrk)dA

3
0

The contribution to the force vector due to any incident heat flux will
This is easily evaluated using the local integration formula of Eq. 4.26 to result in a similar term;
give
nqH ij 2r; + rj}
- - r; + 2rj [6.132]
3 {
0
where !'... is the radial position of the centroid of the element. Finally,
then, the term in the stiffness matrix due to conduction is Finally, the force vector term due to any internal heat source or sink is
calculated from
[6.127]

When convection occurs from the element, another term must be

included in the stiffness matrix:
Substituting for r and integrating gives
L h[NfiN]d S
nQA { 2r; + rj + rk }
r; + 2rj + rk [6.133]
Here Sis the surface area over which the convection takes place. For the 6
r; + rj + 2rk
axisymmetric element in Fig. 6.8, if convection occurs on one side then
dS must be replaced by dS = 2nr dH, where H is the distance between Note that the equivalent nodal forces due to the convection, heat flux and
nodes. Hence, if convection occurs from side ij, the integral becomes
 136 Field problems Thermal problems 137

heat source are not distributed equally between the nodes. The node the [BJ matrix, which is given in Eq. 6.126 in terms of the band c
farthest away from the axis of rotation receives the greatest share. constants (defined in Section 4.6),
In summary, for an axisymmetric element with convection and heat flux
b; = Zj - Zk = -5 C; = rk - rj = - 3
effects on side ij, the following element equations are produced for the
bj = Zk - Z; = 5 cj = r; - rk = 0
stiffness matrix:
bk = Z; - Zj = 0 ck= rj - r; = 3

( 2ncA[B]' [ ~, ;, ] [BJ

from
+ nh:;1 [ ;,;
3
ii :,; ~ ; ~ 1 ] )
Since the area of the element is 7 .5 mm 2 , the [BJ matrix is

1[-5 50]
15 -3 0 3
from convection

l
conduction on side ij Therefore

2 A [
and for the force vector: 2nrA[BtK[BJ = ;! 0.151 -0.111 -0.040
-0.111 0.111 0.0

( n
hep H·
3"' '1 lr
2r; + rj
r; ~ 2rj Jl + H { 2rj
n~ ij r;
+ rj
~ 2rj Jl
-0.040 0.0 0.040
The radial position of the centroid is 8 mm. Hence the conduction
matrix term is
from convection from heat flux
at side ij on side ij 398.48 -292.92 -105.56]
-292.92 292.92 0.0 [6.136J
[
nQA { 2r; + ri + rk } ) -105.56 0.0 105.56
+ r; + 2rj + rk
6 The convection effect according to Eq. 6.129 (reordered for side jk)
r; + rj + 2rk

l[
produces

l
from any internal
heat source
nhH·k
- - 1- [ 00 3rj 0+ rk rj +0 rk
6
= 00 22.59
0 0
10.38 [6.137J
0 rk + ri rj + 3rk O 10.38 18.93
Therefore the total stiffness matrix is the sum of Eqs 6.136 and
Example 6.6: axisymmetri c heat transfer 6.137, i.e.
Calculate the element equations for the axisymmetric element
shown in Fig. 6.9, which has an internal heat source and experiences 398.48 -292.92 -105.56]
convection on side jk. -292.92 315.51 10.38 [6.138J
[
z Axis of symmetry
-105.56 10.38 124.49

K= 7W/mm cc The force vector has two terms. From the convection,
h = 0.2 W/mm 2 cc

ir659.47
<P= = 20 cc
3 nh¢ Hik{ O } O l
~
00
0= 2W/mm
2 3
2ri + rk = [6.139J
A=7.5mm
rj + 2rk l 586.20 j
and from the internal heat source,

Figure 6.9 O'-------..... nQA { 2r; + ri + rk } { 73.04}

- - r; + 2ri + rk = 80.11 [6.140J
The stiffness matrix consists of two terms, one from the conduction, 6
r; + ri + 2rk 73.04
and one from the convection on side jk. Firstly, we need to calculate
 138 Field problems Torsion problems 139

The total force vector is then given by Eqs 6.139 and 6.140:
Slope=~
cly~
73.04}
739.58 [6.141]
{
659.24
So the finite element equations for the specified element must be

398.48 -292.92 -105.56

-292.92 315.51
[ -105.56
10.38
10.38 124.49
l
{<Pt}
<Pj ==
</Jk
{ 73.04}
739.58
659.24
Figure 6.11 The¢ surface and
the shear stresses related to its
-,:
d<\J
= -
""
'tzy

:. ~ =0
ax
-v
= 0 on boundary

slope zy ax

Since the shear stresses normal to the boundary of the shaft must equal
6.4 Torsion problems zero, the slope of the surface at that point must equal zero and therefore
Consider a solid prismatic shaft of arbitrary cross-section as shown in Fig. the value of ¢ must be a constant around the boundary (Fig. 6.11). To
6.10. All the stresses except Tzy and Tzx are assumed to be zero when the simplify the procedures, the following boundary condition is chosen:
shaft is loaded in torsion. Therefore
¢=0 [6.145]

y
y The torque acting on the shaft cross-section may be found by summing
the shear stresses at any section, and is easily calculated to be
X
M == 2 L ¢ dA [6.146]

_L ___________ _
where A is the cross-sectional area of the shaft.
Figure 6.10 Shaft under torsion I
The governing differential equation Eq. 6.144 and the boundary
and the shear stresses produced I condition Eq. 6.145 are clearly forms of the general field equation Eq. 6.1
/
in the shaft and the general boundary conditions Eqs 6.2 to 6.4. The coefficients
Kx = Ky= 1 and Q == -2G8 1 , while Kz == q = h = 0. Therefore the
[6.142] finite element system equations previously derived from the general field
equations can be applied directly to the solution of torsion problems, if
The best analytical method of deriving the stress distribution in the shaft
the coefficients are adjusted accordingly.
is by the use of Prandtl's stress function ¢, which is defined so that
Referring to the derivation of the system equations in Section 6.2, note
•zx = a</) and t = - a</) [6.143] the following for torsion problems. The gradient matrix defined in Eqs
ay zy ax 6.9 and 6.15 is

{:~}=
where <P can be thought of as a surface covering the cross-section of the
shaft, as in Fig. 6.11.
{g} == {-Tzy} [6.147)
Examination of the shear strains from the displacements leads to the fJ¢ Tzx
governing <;lifferential equation for the shaft of ay
/
a2<P a2<P and the [D] matrix in Eq. 6.10 is

n
- 2+ -2 = -2G01 [6.144)
ax ay .
where G is the shear modulus of the material and 01 is the twist per unit [D) = [~ [6.148]
length of the shaft due to the applied torque.
140 Field problems Torsion prc1blftms

The element characteristic equations for torsion problems can then be

y 6
produced in the same way as Eq. 6.17, and can be shown to be

~ (f [B<el]Y[B<e)]dV{<I><e)} -f 2G8 1 [Me>]TdV) =0

2

lif
L vc,) vM
e=l [6.149]

or

f(
e=I
[k(e)]{<l>(e)} - {F(e)} ) = 0 /
Four axes
"--4
of symmetry
The torque transmitted is found from Eq. 6.146, which is equivalent to 2 3

I• 5 mm ' I' 5 mm • I
[6.150]

if the cross-section of the shaft is modelled with E elements.

Therefore the analysis of torsion problems can be undertaken by the Fig. 6.12, where the node in an element labelled with a * is the i
finite element method, solving for the stress function ¢ by the following node, and the other nodes are defined in an anticlockwise manner as
steps: usual.
Consider element (1). The distribution of¢ in the element is given
(a) division of the shaft's cross-section into elements by
(b) calculation of each of the element's equations using Eq. 6.149
(c) assembly of the element equations to produce the system equations [6.151]
(d) incorporation of the boundary conditions, and solution of the where

l{~ }
system equations to find the distribution of the ¢ stress function
(e)
(f)
calculation of the shear stresses in each element by Eq. 6.147
calculation of the torque by Eq. 6.150.
Note that the shear stresses are found from the slope of the ¢ surface, so
{z: } ~
N4
= [ :: ~: ::
a4 b4 c4 y
[6.152]

that if a linear distribution of ¢ is assumed over each element (by the use Therefore from Eq. 6.147 the [B] matrix is calculated to be
of simplex elements) the method will predict constant values of stress
[B(l)] = _1_ [ b1 b2 b4] [6.153]
over each element. Therefore, if a rapid change in stress is expected in 2A C1 C2 C4
the shaft, many elements should be used in that area if the variation is to
The a, b and c constants are defined in Eq. 4.8 and are given by
be correctly modelled.
b1 = Y2 - y4 = -5.0 CJ = X4 - X2 = 0.0
b2 = Y4 - Y1 = 5.0 C2 = X1 - X4 = -5.0
b4 = Y1 - Y2 = 0.0 C4 = X2 - X1 = 5.0
Example 6. 7: a square shaft under torsion
Find the stress distribution in a 20 X 20 mm 2 square shaft when it is The area A is 12.5 mm2 , so that
twisted through an angle of 0.5° over a length of 1000 mm. Assume
the material has a shear modulus of 80 x 103 MPa. [BC
1
)] = 0.2 [ -t -! ~] [6.154]

Since a square has four axes of symmetry, only one-eighth of the The stiffness matrix is found from Eq. 6.149 to be
cross-section needs to be modelled. The meshing chosen is shown in
[k(e)] = f
yt,)
[B(e)Y[B(e)]dV = [B(e)Y[B(e)]A
142 Field problems
Torsion problems 143
assuming unit thickness. Therefore

[k(1 )] =
[
0.5 -0.5 0
-0.5 1.0 -0.5
0 -0.5 0.5
l The boundary conditions for the problem are now substituted into
these equations, namely that the values of ¢ 3, ¢ 5 and ¢ 6 must be
zero, since they are on the surface of the shaft. Solution of the
equations then gives

The force vector from Eq. 6.149 is {<Ps}T = [43.635 31.999 0 24.726 0 OJ [6.158]
To calculate the shear stresses, use Eq. 6.147 for each element with

f y(,)
2G8 1 [Ne)]TdV = 2G81 f { NkZ; }dA
A(,)
the value of the [B] matrix previously calculated in the derivation of
the element's stiffness matrix. For example, for element (1)
which is easily integrated with natural area coordinates to give
{gCll} = [BCll){ cp(ll} = [ -0.2 0.2 0.0 ] { :: }

~ 2ce{'' {t}
0.0 -0.2 0.2 ¢4
{F'''l (6.155]
or
6
The shaft twists 0.5° over 1000 mm or 8.727
is given, so that for element (1)
X 10- rad/mm and G
{:::} = {- ~:!~} N/mm
2

The other elements yield the following:

{F"') - 5.818 { : } (6.156] Element Shear stresses (N/mm 2 )
Tzy Tzx
The other element equations can be calculated in the same way and 2 4.95 -1.45
are found to be as follows

[k<2l] =
[ 0.5 0.0 -0.S
0.0 0.5 -0.5
l {F''') ~ 5.818 { ~}
3
4
6.40
4.95
0.0
0.0

Thus the finite element method predicts the stress pattern shown in

[k(3)J =
[
-0.5 -0.5 1.0

0.5 -0.5 0.0

-0.5 1.0 -0.5
l {F'''} ~ 5.818 { : }
Fig. 6.13 for the square shaft under torsion. The stresses are
constant over each element, and so, with just these four elements,
little detail can be obtained from the results, as plotted on Fig. 6.14.

l
0.0 -0.5 0.5 Extra processing and interpretation of results of finite element
models can be performed with care, and is discussed in detail in

[k(4)1 =
[ 0.5 -0.5 0.0
-0.5 1.0 -0.5
0.0 -0.5 0.5
{F''') ~ 5.818 { t} Chapter 9. In fact to obtain a little more information from the

6
Assembly of these equations then gives the system equations as
follows:
0.5 -0.5 0.0 0.0 0.0 0.0 ¢1 5.818
-0.5 2.0 -0.5 -1.0 0.0 0.0 ¢2 17.454
0.0 -0.5 1.0 0.0 -0.5 0.0 qJ3 5.818
0.0 -1.0 0.0 2.0 -1.0 0.0 qJ4 17.454
0.0 0.0 -0.5 -1.0 2.0 -0.5 ¢s 17.454
0.0 0.0 0.0 0.0 -0.5 0.5 ¢6 5.818 Figure 6.13 Shear stresses in
[6.157] the model (N/mm2 ) 2 3
 144 Field problems
Torsion problems 145

't"zy

---Shape of <I> surface

//
/ - - -Finite element representation
/ ---Constant stress distribution
1//
/ - - -Stress distribution through
/ element centroids
/
/
/
/ (1)
1<--_ _ _ __L.__ _ _ ___J__ __ (3) (1) (3)
Figure 6.14 Shear stress I I
'-------- ---'----- ----"'--- ---x
distribution along axis x 5 10 5 10

results of 'izy it is not unreasonable to take the calculated values as Therefore the torque on the part of the shaft that is modelled is
those at the centroids of the elements (since they are constant stress 1781. 7 N mm, and so the total torque that must act on the complete
elements). A line drawn through these points then produces a stress shaft to produce the given twist is
pattern more in keeping with the distribution than would be
expected (i.e. 'izy = 0 at the centre, and a maximum on the surface
8 X 1781.7 = 14 258.6 N mm
of the shaft). Theory predicts the required torque will be 15 708 N mm. The finite
The theoretical solution for this problem predicts a maximum element method underestimate s the torque by 9 .3 per cent.
shear stress of 9.43 N/mm2 • This compares with 6.40 N/mm2 for the The meshing of the shaft cross-section is very coarse, and uses
constant stress distribution (32.1 per cent error), and 7.76 N/mm2 very few elements. It is surprising therefore that the results are not
from the centroidal values (17.6 per cent error). more inaccurate. In such a case, it is fortunate that the linear
The torque required to produce the twist of 0.5° per 1000 mm interpolation function used models the shape of the cf> surface so
length is found from Eq. 6.150. For any element, since the nodal closely.
values of the stress function are known, The variation of cf> across the shaft is approximately quadratic, and
the elements used here model the distribution as illustrated in Fig.
M = 2 J cp(e)dA = 2 J {q>(e)} T[_N{e)VdA 6.15. The finite element representation of the surface has straight
I
A(e) A(<l
sides, and therefore predicts a constant value of shear stress in the
= 2{<l>(e)}T [_N{e)ydA
A<e> two regions shown, as previously discovered. The torque carried by
This is evaluated using natural coordinate integration formulae, so the shaft is represented by the volume under the cf> surface, so it can
that be seen that the area, and hence the volume, under the modelled cf>
surface is less than the actual, and hence the torque is less.
AfCe) = 2A{<l>(e)}T { 11 } [6.159]
In practice, to evaluate the stresses sensibly, the shape of the cf>
3 1 surface would be modelled more accurately, either by using more
elements and replacing the curved shape by more straight sections,
For element (1), or by using higher-order elements which can take up quadratic,
cubic and higher-order shapes.
AfO) - 2:; (43.635 31.999 24.726) {; }- 836.3 N mm
Examples of the use of the finite element method to predict the shape of
The process is repeated for the other elements, to show various cf> surfaces of several cross-sections are included in Plate 1.
Remember that the shear stresses are obtained from the slope of the
AfC2 ) = 472. 7 Af(3 ) = 266.6 AfC4 ) = 206.1 N mm surface at any point, and the torque carried is proportional to the volume
under the surface.
 Co,iclusions 147
146 Field problems

''
y Thickness= 1 mm
6.5 Fluid flow problems 4 K = 7.5 W/mm °C
h = 0.15 W/mm 2 °C

'' '
The application of the finite element method to fluid flow problems is not <I>== 30 °c
as advanced as it is in structural and solid mechanics or thermal problems. 3

The reason is not that the method is unsuitable, but rather that the finite

'' '
difference method usually used for fluid flow problems is so successful. 2
Thus there has been no real motivation to extend the finite element
method to fluid problems, and the large investments of time and money
in the development of sophisticated finite difference software have
naturally led to a further reluctance to consider other methods. This state X
(a) 00 2 3 4 5 6
of affairs is however changing as more sophisticated modelling situations
are encountered, and the finite element method is now contributing to the 0 2 3 4 5 6
X
0
solution of more fluid flow problems.
The range of problems that are being investigated is large, for example: dI Thickness= 1 mm
K= 5 W/mm °C
(a) inviscid incompressible flow: flow around corners, over cylinders 11 2
h = 0.2 W/mm °C
and aerofoils, and through nozzles etc. 2 11 <I>== 20 °C
side and face
(b) flow in porous media: flow through and under dams, retaining walls I convection

(c)
and foundations; aquifer analysis; flow towards ditches, wells and
canals
wave motion in shallow basins or lakes: for the design of harbours
3

4
'' ' /
I 1k
etc. (b) y
(d) incompressible viscous flow
(e) flow of non-Newtonian fluids: for example, crude oil, slurries and
y 3
/ 2
// 5W/mm Thickness= 2 mm
suspensions. K= 5 W/mm °C
As an introductory text on the finite element method, this book does not
// <I>== 20 °C
3

cover these areas, and any potential user is referred to other more
2 // 0= 2 W/mm

advanced and specialized texts for further information. The topics are //
listed here, since it is important that the reader is at least aware of what k
the finite element method can do.
X
(c) 00 2 3 4 5 6

6.6 Conclusions II
''
y

The number of engineering problems governed by the field equation (or a

4 k
II Thickness= 1 mm
K= 10 W/mm °C
h = 0.5 W/mm 2 °C
modified form of it) is extensive, and these problems cannot all be
3 <I>== 50 °C
covered in an introductory text. The fundamental finite element 0= 5 W/mm
3

equations are derived in this chapter for the field equation, and are then
applied to thermal problems and the torsion of shafts by adjusting the 2

coefficients as necessary. The same approach is used for the other

situations that are not discussed here. The procedure is straightforward,
and should not prove difficult if the principles detailed in this chapter are
followed. 0 o~_ __J__ _ ~2--~3--~4'---5":-----:-6~x
Figure 6.16 (d)
Throughout the chapter, the sample problems have been analysed
 148 Field problems
Problems 149
using simplex elements. The higher-order elements which are introduced
z
in Chapter 8 can be applied in the same way to the governing equations. K = 7.5 W/mm oc
The resulting finite element equations have a similar format, but of 5 h = 0.15 W/mm2 oc
<P= = 30 °c
course are larger in number. For example, a triangular element using a
quadratic interpolation function will have three corner and three mid-side 4
nodes, and therefore needs an element conductance matrix of size [6 X 6]
and a force vector of {6 x 1} to describe it. The number of calculations 3
in an analysis using higher-order elements clearly increases rapidly and
becomes awkward to perform by hand. However, some of the problems
presented in this chapter are re-evaluated in Chapter 8 using higher-order
elements. The improvements achieved by the more complex elements are<
dramatic and important.

(a) 00 2 3 4 5 6
Problems
z K= 5 W/mm c 0

6.1 Reanalyse the fin in Example 6.1 assuming a square cross-section h = 0.2 W/mm 2 c 0

of size 5 x 5 mm. 5
<P= = 20 °C
6.2 Reanalyse the fin in Example 6.1 assuming a circular cross-section 0= 2W/mm 3
of diameter 10 mm. 4
6.3 Examine the convergence of the finite element analysis in Example k
6.1 by comparing the results predicted by models using one, two, 3
three and four elements.
6.4 Vary the length of the fin in Example 6.1 and compare the 2
efficiencies of the different designs.
6.5 Vary the cross-sectional area of the fin in Example 6.1 and
"""'1\,
compare the efficiencies of the different designs.
6.6 Model the fin in Example 6.1 with various cross-sectional shapes
(e.g. circular, square or triangular) while maintaining the same (b) 00 2 3 4 5 6
volume of material, and compare the efficiencies of the different
designs. z

5
y
K = 7.5 W/mm c 0

4
~ <P= = 30 °c
~
/
0= 3 W/mm 3
3 ~ 5W/mm
2

~
2 ~
~
~
k j k
Figure 6.17 ~------------x (c) 00
2 3 4 5 6
 150 Field problems Problems 151

6.14 The calculated values of Prandtl's stress function for the elements
6.7 Remodel the fin analysed in Example 6.2 but with the taper in the
in Problem 6.13 are shown in the following table. What are the
opposite direction, and compare the performances of the two
resultant element stresses and torques carried by each element?
designs.
6.8 Calculate the finite element equations for the simplex elements Element </J; <Pj <Pk
shown in Fig. 6.16(a)-(d). (a) 20 35 15
6.9 The calculated temperatures ( C) of the elements in Problem 6.8
0
(b) 10 25 40
are shown in the following table. What are the heat flows in each
element?
Element T; Tj Tk
(a) 16 20 35
(b) 25 15 10
(c) 0 20 32
(d) 5 18 24
6.10 Derive the force vector term required to take account of the
linearly varying heat flux shown in Fig. 6.17. (Hint: express the flux
distribution as a function of the nodal values using the shape
functions.]
6.11 Prove that the terms required in the force vector and stiffness
matrix due to convection over side jk of an axisymmetric simplex
element are respectively

6.12 Calculate the finite element equations for the axisymmetric simplex
elements shown in Fig. 6.18(a)-(c).
6.13 Calculate the finite element equations for the simplex torsion
elements shown in Fig. 6.19(a) and (b).

y y
k
4 91 = 1°/m 4
G = 80 GPa
3 3

2 2

k
OOL...._L...._2L--3L--4'---5..___ X 00 2 3 4 5

Figure 6.19 (a) (b)

7 Assembly and solution of the finite
element equations

7.1 Introduction
Earlier chapters of this book have discussed development of the finite
element model, the concept of interpolation functions and in particular
those of simplex elements, and the derivation of the element equations
for elasticity and field problems. The next stages in the finite element
procedure are the assembly and solution of the system equations. In fact
these ideas were introduced in the two simple examples of Sections 2.2.1
and 2.3.1, which indicates that they are not difficult concepts to
understand. From a computer processing point of view, however, they
are the most time consuming and demanding part of the analysis.
Specifically, the solution of the equations is the most computer intensive
phase, and the maximum size of the model that a hardware configuration
can analyse is usually determined by this step. For this reason,
considerable time and effort have been spent on the development of
efficient solution techniques over the years. A detailed discussion of these
techniques is not included here because, although they are important,
they are not directly relevant to the modelling processes and are generally
outside the direct control of the user of commercial finite element
programs. It is important, however, that the user should at least
understand the basic principles, and know the type of solution method
employed by a package, so that the model can be constructed in the most
efficient and economic way. Such careful modelling will result in a faster
( and cheaper) solution, or the possibility of analysing a larger or more
detailed model.

7.2 Coordinate transformations

Before some element stiffness matrices can be assembled into the global
stiffness matrix, it is necessary to perform a coordinate transformation on
 154 Assembly and solution of the finite element equations
Coordinate transformations 155
the matrix. This occurs when it is easier to generate the element matrix in Note that
a local coordinate system rather than the global system. An example of . . since each of the two nodes has one degree offree d om lll
. one-
d1mens1onal
. space, but
. . two degrees of freedom in two-dim ·
ens1ona1 space
this type of transformation is used with the pin-jointed bar, introduced in the size of the matnx mcreases from a (2 X 2] to a [4 x 4] square matnx.
. '
Chapter 5.
The conversion from one coordinate system to another involves a
transformation matrix [A], which is used to pre- and post-multiply the
stiffness matrix derived in the local coordinate system as follows:
Example 7 .1: calculation of a coordinate transformation
matrix
[k 0
] = [}cfik][}c] A beam element is a one-dimensional element that can resist
bending moments applied in its plane (unlike a pin-jointed bar
Here [k ] is the element matrix in the global coordinate system, and [,l] is
0

which can only support axial loads), and it is discussed in detail i~

defined so that it relates the local displacement { U} to the global values
Section 8.5. If a cubic interpolation function is assumed for the
{U°} by
vertical displacement of the beam, it will have the form
{U} = [l]{U°} 3
v = a1 + a2x + ag:x2 + a 4x
For example, the local stiffness matrix of the pin-jointed bar in Chapter 5
where xis the local coordinate of the beam shown in Fig. 7.2. The
is found to be (Eq. 5.27)
beam has a total of four degrees of freedom; V; and vj are vertical
[k] = AE f 1 -1 l translations, while O; and ()j are rotations.
L l-1 1J
and the transformation matrix in two-dimensional space is (Eq. 5.47)

[}c] = [ l m O O ]
0 0 l m
where l and m are the direction cosines as defined in Fig. 7.1.

Yo The stiffness matrix for the beam in local coordinates is found to

be
x, Y= local axes
x 0 , y0 = global axes

r-12!1 -6L
:f =!1 if
I= cos a
m =cos~ [k] = E;
L
2

12 -6L
2
1 [7.3]

Figure 7.1 Position of the one-

6L 2L2 -6L 4L2
dimensional pin-jointed bar in where the displacement vector is
two-dimensional space ' - - - - - - - - - - - - - - - - - - - - - XO

[7.4]
When the local stiffness matrix has been transformed using Eq. 7 .1, the What is the transformation matrix required to use the element in
global matrix is found to be two-dimensional space?
12
lm -12
2
In two dimensions, each node will have three degrees of freedom,
[ko] = AE
L
l: m -lm
-l -lm [2 =:z 1
lm
i.e. two displacements and one rotation. The rotation will be the
same whichever coordinate system is being used, but the one-
r -lm -m2 lm m2
dimensional translation v will need to be transformed into global
 156 Assembly and solution of the finite element equations Assembly of the element equations 157
0
directions to give u and v 0
• The transformation matrix will
therefore be of the form
u?l

m- [6x4] v?l
O;
u?
J
v?
J
e?
= [J]{U'} [7.5]

If the beam element is oriented in space in the same way as the

element in Fig. 7.1, then the vertical displacement at node i, for
7 3
example, is found to be

v; = (-cos f3)uf + (cos a)vf = -muf + lvf Figure 7.3 Finite element
/I 8
[7.6]
(as shown in Fig. 5.5).
model of a pipe with cooling
fins, showing the detail of the
/1
As stated before, the rotations at each node are the same for both element meshing B~ /9
systems; hence

[7.7] one-sixteenth of the pipe and fins needs to be modelled as shown,

provided the correct boundary conditions are applied. (The heat flow in
Therefore the transformation matrix must be

j the circumferential direction is zero along the boundaries AA' and BB'.)

l
-m l O O OO Assume for the sake of this example that the stiffness matrices of the
[J] = 0 0 1 0 00 first three elements are

l l l
0 0 0-m l 0 [7.8]
0 00 0 0 1
73 1 8 12 9
[k< 1)]= 362 [k<2)] = 173 [k<3)] = 4 64 01
[ [ [
125 234 105
7 .3 Assembly of the element equations
where the i nodes are identified by an asterisk in Fig. 7 .3, and the
Assembly of the element equations into the system equations is simply a
elements are labelled in an anticlockwise manner.
question of adding the coefficients of each element stiffness matrix into
The total model has 56 nodes and, with one degree of freedom per
the corresponding places of the global stiffness matrix, and sullllling the
node, the global stiffness matrix will be [56 X 56]. However, for this
force vector coefficients into the global force vector. The procedures are
example only the first six degrees of freedom will be considered.
the same regardless of the type of problem and the number and type of
Consider element (1). The rows and columns are identified as follows:
elements used. Again this has already been performed in the sample
problems of earlier chapters.
The easiest way to assemble the elements is to label each row and
column of the element matrix with its corresponding degree of freedom,
and then to work through the coefficients of the matrix, adding each into
the global matrix which has been similarly labelled.
The following simple example demonstrates the principles. A sample
mesh for the analysis of a thermal problem (one degree of freedom per They are in the order 1-4-5 because 1 is the i node, and 4 and 5 follow in
node) is shown in Fig. 7.3. Since the problem has cyclic symmetry, only an anticlockwise direction. The matrix is added into the (empty) global
 158 Assembly and solution of the finite element equations Assembly of the element equations
159
matrix to give This is added into the global matrix to give
123456 1 2 3 4 5 6
700310 ... 1 11 3 0 3 3 0 1
000000 2 3 (7 + 6) 0 0 (1 + 0) 4 2
000000 3 0 0 0 0 0 0 3
300620 4 3 0 0 6 2 0 4
100250 5 3 (1 + 0) 0 2 (13 + 5) 1 5
000000 6 0 4 0 0 1 9 6

Note that after adding in details of the first three elements, some of the
The matrix of the second element is labelled as follows:
slots in the global matrix are still equal to zero. The reason for this is that
521 none of the three elements links the associated degrees of freedom. For

[k(2)] = [SIT
173
234
2
1
example, the coefficient in positions (4,2) and (2,4) is zero. Reference to
Fig. 7.3 shows that node 4 is common to elements (1), (5) and (6),
whereas node 2 only occurs in elements (2), (3) and (4); hence the
temperatures of nodes 2 and 4 are not linked.
The addition of the element force vectors into the global force vector
This is added into the global matrix as follows to give
proceeds in exactly the same way, except of course that there is only one
1 2 3 4 5 6 column to consider, making the task that much easier.
When the finite element method is used to investigate the distribution
(7 + 4) 3 0 3 (1 + 2) 0 1 of a vector quantity, for example in stress analysis problems, the use of
37 0 0 1 0 2 the simplified notation first introduced in Section 4.5 makes the
00 0 0 0 0 3 development of the system equations as equally straightforward.
30 0 6 2 0 4
(1 + 2) 1 0 2 (5 + 8) 0 5
0 0 0 0 0 0 6 Example 7.2: assembly of element equations
Assemble the given element matrices and vectors for elements (2)
and (7) of the two-dimensional (stress analysis) mesh shown in Fig.
7.4, where
For element (3), the stiffness matrix is 22 -3 -7 -4 -6 -2 3
* = i node -3 29 -9 -9 -1 -7 6
Elements defined in -7 -9 30 -6 -3 -5 4
anticlockwise direction -4 -9 -6 31 -4 -8 1
-6 -1 -3 -4 16 -2 7
Figure 7.4 -2 -7 -5 -8 -2 24 5
160 Assembly and solution of the finite element equations
Assembly of the element equations 161
23 -1 -6 -8 -3 -5 The nodes of element (7) are 4-5-1, and hence the degrees of
-1 19 -2 -4 -7 -5 freedom are (7, 8, 9, 10, 1, 2). Addition into the global stiffness
-6 -2 30~ -7 -8 -7 matrix gives
-8 -4 -7 25 -2 -4
- 3 - 7 -8 -2 27 - 7 7891012
-5 -5 -7 -4 -7 28 23 -1 -6 -8 -3 -5 7
The nodes of element (2) are 2-1-5. Therefore the corresponding -1 19 -2 -4 -7 -5 8
degrees of freedom (as defined in Fig. 4.16) are -6 -2 30 - 7 -8 -7 9
-8 -4 -7 25 -2 -4 10
-3 -7 -8 -2 27 -7 1
-5 -5 -7 -4 -7 28 2
1 2 3 456 7 8 9 10
57 -13 -7 -9 0 0 - 3 - 7 -11 -7 ... 1
-13 59 -4 -9 0 0 -5 -5 -11 -12 2
The rows and columns of the stiffness matrix of element (2) must be -7 -4 22 -3 0 0 0 0 -6 -2 3
labelled accordingly, and the terms then placed into the global -9 -9 -3 29 0 0 0 0 -1 -7 4
stiffness matrix: 0 0 0 000 0 0 0 0 5
0 0 0 000 0 0 0 0 6
3412910 -3 -5 0 0 0 0 23 -1 -6 -8 7
22 -3 -7 -4 -6 -2 3 -7 -5 0 0 0 0 -1 19 -2 -4 8
-3 29 -9 -9 -1 -7 4 -11 -11 -6 -1 0 0 -6 -2 46 -9 9
-7 -9 30 -6 -3 -5 1 -7 -12 -2 -7 o o ~s -4 -9 49 10
-4 -9 -6 31 -4 -8 2
-6 -1 -3 -4 16 -2 9
-2 -7 -5 -8 -2 24 10

1 2 3 4 5678 9 10 The force vectors are summed in to. the global force vector in a
similar way:
30 -6 -7 -9 0 0 0 0 -3 -5 ... 1
-6 31 -4 -9 0 0 0 0 -4 -8 2
-7 -4 22 -3 0 0 0 0 -6 -2 3
-9 -9 -3 29 0 0 0 0 -1 -7 4
0 0 0 00000 0 0 5 2Jl0 8
0 0 0 00000 0
0 0 0 00000 0
0
0
6
7 14
5
1
2
6
3
0 0 0 00000 0
- 3 -4 -6 -1 0 0 0 0 16
-5 -8 -2 -7 0 0 0 0 -2
0
-2
24
8
9
10
L~
11! j
This completes the assembly of the two element equations.
 162 Assembly and solution of the finite element equations
Incorporation of the boundary conditions 163
7 .4 Incorporation of the boundary conditions
firstly consider Eq. 7.9. This can be rewritten using Eq. 7.12 as
Once the element equations have been assembled to give the system
equations, the boundary conditions of the problem must be incorporated. [ku] [O]
[ [k2i] [kzz]
J {{U1} } = { {F1} - [kiz]{U2} }- { {Fi} }
The equations cannot be solved without applying any boundary {U2} {F2} - {F2}
conditions because the stiffness matrix will be singular, and hence its [7.13]
inverse will not exist. For stress analysis problems, this physically means If the equations in the second line of the above matrix are stored in a
that the structure will undergo unlimited rigid body motion, unless temporary matrix for later use, then Eq. 7.13 can be written as
restraining forces are applied to keep the model in equilibrium. Note that
sufficient constraints must be applied to completely restrain the model. [7.14]
Constraining the displacements of one node in three directions is not
enough for a full three-dimensional analysis, because the body can still where [k!2] is the matrix [k22 ] with all the off-diagonal terms set equal to
rotate about that point. Either the node's rotations must be suppressed, zero, and {F!} is the correct product of [k!2 ] and {U2 }. The second line is
or other nodes must be constrained as well. Failing to adequately restrain of no use, but it does allow the matrix and vectors to remain the same
a model is a common mistake. size, and in fact the above process can be performed without reordering
As with many aspects of the finite element method, there are several the equations. Once the degrees of freedom are evaluated by solving Eq.
ways in which the boundary conditions can be incorporated into the 7.14, the reactions can be calculated from the temporary matrix, and the
system equations. One method is to rearrange the equations and to solution is complete. The following example demonstrates the method:
partition the matrix so that all the specified degrees of freedom are
together, i.e.
Example 7.3: incorporation of boundary conditions
Incorporate the specified boundary conditions into the following
[7.9] system of equations:
where { Ui} is the vector of unknown degrees of freedom, while those in
{ U2 } are all specified. Consequently, {F1} will contain only the known
nodal forces, and {F2 } will contain the unknown reactions.
44 -12 3 -5 0 0
-12 58 -4 10 6 0
3 -4 32 7 3 -1
t' l J300 l
¢2 700

Equation 7.9 can be written as two equations:

[ku]{Ui} + [kiz]{U2}
[k21HU1} + [k22HU2}
= {F1}
= {F2}
[7.10)
[7.11]
-5 10 7 48 2 11
0
0
6 3 2 60 20
0 -1 11 20 62
fr1 ;:J
</Js
¢6
1
1600
500
The boundary conditions are ¢ 2 = 20 and ¢ 4 = 50.
Then the first of these can be rearranged in the form

[7.12] Applying the second row of Eq. 7.14, the system equations are
rewritten as
Since { U2 } is known, the terms on the right-hand side can be reduced to a
simple vector {Ft}, and the resulting equation can then be solved in a
standard way for the unknown variables { U1 }.
Now that the unknown degrees of freedom have been calculated, Eq.
44 -12 3 -5 0 0
0 58 0 0 0 0
3 -4 32 7 3 -1
r1 I 3001
¢2 1160

0 0 0 48 0 0
7 .11 is used to calculate the reactions {F 2 }.
This method of dealing with the defined boundary conditions is
straightforward, but it does require the equations to be renumbered,
since it is most unlikely that the specified degrees of freedom will occur at
0
0
6 3 2 60 20
0-11120 62 frr:J
¢5
¢6
1600
500
where, for example, the second term in the force vector is found
the end of the vector { U}. The following method is similar, but it does from
not require the equations to be reordered. To understand the method,
58 X </J2 = 58 X 20 = 1160
 Solut ion of the equations 165
nt equations
164 Assem bly and soluti on of the finite eleme in turn and as bl d .
The eleme nt equations are then calculated sem e mto( a)
are . r. For exam ple the equat ·ons f I
ply </>2 and ¢4 temp orary matn x and vecto 1 o e emen t 2
Now the columns of coefficients that multi For · ht b e
m1g
'
right- hand side.
eliminated by transferring the terms to the
becomes
example, the first term in the force vector
300 - ( -12 X 20) - ( - 5 X 50) = 790
to be
[::: ::: :::] {!:}
a42 a43 a44 </>4
= {;:}
F4
[7.15]

The final system of equations is calculated x and vecto r as discussed in

44 0 3 0 0 0
tl J 7901 1160
which are added into the temp orary matri
Section 7.3.
the nodes are checked for

fr r:~ J
0 58 0 0 0 0 <P2 After the eleme nt's equations are added in,
32 0 3 -1 ed above . When the last entry of a
3 0 last appea rance s using the list deriv
0 48 0 0 equat ion and corresponding
0 0 degre e of freed om is noticed, the associated
¢5 1380 nation and written to a
0 0 3 0 60 20 column are remo ved by Gaussian elimi
0 -1 0 20 62 ¢6 -50 For example, assume the last
0 decom posed matrix file for later use.
noted in the follow ing equat ions:
and bande d, and are now occurrence of ¢ 3 is
Note that the equat ions are still symmetric
ready to be solve d. au a 12 a13 0 ¢1 Fi
a21 a22 a23 a24 ¢2 F2
a31 a32 ll33 a34 <p3 F3
0 ll42 ll43 ll44 ¢4 F4 [7.16]
7 .5 Solu tion of the equa tions
incor porat ed into the system
When the boun dary conditions have been
on for the unkn own vari~bles. T~e~e
equat ions, the final step is the soluti
availa ble, and these are discussed m detail 1D
are many techniques that
sis textbooks. Proba bly the Since does not occur in other elements, it is clear
relev ant mathematics and numerical analy
¢3

ibrium problems that have been a34<p4 - .. .)/a33

most comm on meth ods for the equil </)3 = (F3 - a31¢1 - a32¢2 - [7.17]
sian elimi nation and Cholesky decomposition,
discussed thus far are Gaus and also factored accordingly
Howe ver, there is one other This equat ion is store d for later evaluation,
which should be familiar to most students. matri x in turn, resulting in the
particularly in commercial and subtr acted from the other lines of the
novel solution technique that is widely used, equat ions
is the wave front or fronta l method.
finite eleme nt packages, and that
impo rtant and yet rarely described, it is discussed ab a12 0 ...
Since this meth od is so ¢1 F'i
below. llz2 ll2,4
02,1 ¢2 F2
0 a42 a44 </)4 F4 [7 .18]
Solution by the wavefront metho d
the previous two section~,
This technique does not strictly follow on from
comp letely assembled when this
because the system equations are never ble (i.e. boun dary condition)
meth od is used. The princ iples of a wave front soluti on are as follows. When the last occurrence of a specified varia
nated, and is rewri tten to
which eleme nt is first and is detec ted, the associated equat ion is elimi
Firstly, the mode l is scanned to deter mine exam ple, if the last appea rance
of this inform ation is stored allow the calculation of the reaction. For
which is last to use each of the nodes. A table
for later use.
166 Assembly and solution of the finite element equations
Problems 167
of a specified displacement ¢ 2 is found with Eq. 7 .18, then the reaction R 2
would be required to use this new element in two-dimensional
will be space?
R2 = F'z - (a'z1 a'z2 a'z4 ... ) ¢1 4 5
¢2 Node

~
Element j k
</J4
[7.19] (1) (3) (1) 1 2 4
(2) 4 2 5
(3) 3 5 2
2 3
The other terms in the matrix associated with ¢ 2 are then eliminated by
adjusting the force vector terms. For example, the first force vector term 7.2 The stiffness matrices and force vectors of the three two-dimensional
becomes thermal elements given in Fig. 7.5 are as follows. Assemble the
terms to produce the system equations.
F1 - a12</J2
When the last element has been considered, the last degree of freedom
can be evaluated. Back substitution into the previously stored equations
such as Eq. 7.17 reveals all the unknown degrees of freedom.
[kC2 l] =
[
6 3 1
3 12 4
1 46
l
Finally, if the reactions are required, then the reaction equations (such
as Eq. 7.19) are evaluated.
At any time there will only be a limited number of degrees of freedom
in the temporary matrix. Consideration of the model shows that these
if'') -rn J
7.3 The stiffness matrices and force vectors of the three plane truss
degrees of freedom form a line across the model which gradually moves•
like a wave over the model; hence the name of the wavefront or frontal elements given in Fig. 7.6 are as follows. Assemble the terms to
produce the system equations.
method. An example of the movement of a wavefront is presented in
Section 3.8 and Fig. 3.23. To make the best use of the available
computing power, the wavefront, and consequently the size of t~e
temporary matrix, must be kept to a minimum. Clearly then the order m f 3 -31
36 8 -6
-3 -8
{fl)} =
which the elements are considered is vital, and, to keep the size of the
wavefront to a minimum, the elements must theoretically be labelled
-6 -3 6 3
-3 -8 3 8 {=U
across the shortest dimension of a model. In practice, however, many
commercial finite element programs include wavefront optimization f -52 -53 -25 -351
routines. These allow the user either to manually specify the order in
which the elements are assembled, or to let the computer automatically
select the element order which (ideally) results in the minimum
-2 5 2 -5
5 -3 -5 3
{f2)} =

Lil
wavefront.
f -11
Problems
7
1 21 -1
-7 -2
-7 -1 7 1
-1 -2 1 2
if'') -I =n
7.1 The beam element discussed in Example 7 .1 has two degrees of 7.4 Adjust the system equations produced in Problem 7.2 for the
freedom in its local coordinate system, namely two vertical boundary conditions ¢ 2 = 3 and ¢ 5 = 0.
translations and two rotations. If horizontal translations (u; and uj) 7.5 Adjust the system equations produced in Problem 7.3 for the
are also included in the formulation, what transformation matrix boundary conditions u2 = v2 = 0 and v3 = 0.
 168 Assembly and solution of the finite element equations

5
Node
Element j
(3)
(1) 5 2
(2) 2 3
(3) 3 5

8 Higher-order element formulations

2 3
Figure 7.6

7. 6 Prove that the solution of the system equations derived in Example ':
6.1 does indeed produce the stated answers.
7.7 Prove that the solution of the system equations derived in Example'
6.7 does indeed produce the stated answers.

8.1 Introduction
The complete process of the finite element method is introduced in
Chapters 3 to 7 for the analysis of equilibrium problems in solid
mechanics and field problems. Throughout these chapters the work has
concentrated on simplex elements with linear interpolation functions, but
in practice higher-order elements are generally favoured because of their
increased accuracy. There is, however, a further step required with the
implementation of these higher-order formulations. Since explicit equa-
tions cannot be obtained for all the steps in the calculation of their
element equations, numerical integration may need to be performed.
This chapter introduces complex and multiplex higher-order elements.
Complex elements have the same general shape as simplex elements, but
contain extra nodes, usually on the mid-sides of the elements (Fig. 8.1).
Multiplex elements, however, are quadrilateral, hexahedron or wedge
shaped, as shown in Fig. 8.1.

Complex elements

Figure 8.1 Typical complex and

, multiplex elements
Multiplex elements

DO®
In addition to interpolation functions being used to describe how the
displacement or temperature varies within each element, they can also
define the geometry of the element. With simplex elements, linear
functions are used to describe both the variable distribution and the
169
 Natural coordinate systems and numerical integration 171
170 Higher-order element formulations

geometry of the element. For example, with the two-dimensiona Finally, before higher-order elements are introduced, note that the
triangular simplex element in Chapter 4, the displacements are defined b node numbering scheme used to describe the specimen elements is
changed in this chapter. In earlier chapters, letters are used to represent
Eq. 4.32 as
the nodes of different element types as they are introduced, for example

{uv} = [ N; 0 Nj O Nk O ]
0 N; 0 Nj O Nk
Jq i, j and k for the triangular element. This is done to emphasize the fact
that the elements are general, and that each element in a model is just a
repeat of the general element. For complex elements it is no longer
practicable to label the nodes with letters because some solid brick

LJ
while any position in the element can be specified by Eq. 4.24 as
elements can have up to 32 nodes. Consequently the specimen elements
are now' labelled numerically, but they should be considered in the same
way as the simplex elements.

x } = [ L1 0 L2 0 L3
{ y O L 1 0 L2 0 2J Pl 8.2 Natural coordinate systems and numerical integration
Whichever type of problem is being analysed by the finite element
method, the calculations involve integrations of functions of the shape

LJ
Since it is shown that the local coordinates and the shape functions are
functions. For simplex and a few complex elements this is not a problem,
because the shape functions are equal to or simple functions of the
natural coordinates, and integration formulae are available that allow
easy evaluation of functions of these coordinates. For many higher_-order
equal for simplex elements (i.e. L 1 = N;), then the two Eqs 4.24 and 4.32
elements, however, this will not be possible and the integration will then
are comparable.
be performed numerically.
This idea can be extended to complex and multiplex elements, where
The most suitable method for carrying out the integrations on the
the order of the displacement interpolation function and the geometry
computer is Gauss quadrature, but the technique requires the limits of
interpolation function can be the same or different. Elements in which
integration to be -1 to 1 or O to -1. Consequently a transformation must
the functions are the same are known as isoparametric elements. If the
be applied to the standard governing equations (i.e. Eqs 5.22 and 5.23 or
order of the geometry is less than the field variable then the element is
6.45 and 6.46) before they can be evaluated. This is best achieved by the
called subparametric, while if the reverse is true the element is
use of natural coordinates, which also allow the sides of the higher-order
superparametric. In practice, isoparametric elements are usually imple-
elements to be curved, and allow multiplex elements to have sides which
mented, and the other element forms are rarely available.
are not parallel to the global coordinate system, as demonstrated later.
The advantage of isoparametric formulations and their second-order
Figure 8.3 shows natural coordinate systems for triangular and
(or higher) interpolation functions is that they not only represent ~he fi~ld
quadrilateral elements. The area coordinates of the triangular elements
variable more accurately, but also allow curved element boundanes (Fig.
have already been met in Chapter 4 when simplex elements were
8.2). This feature is particularly desirable, since few engineering
introduced. An area coordinate can have a value in the range O to 1. A
components are composed solely of straight edges.
different type of coordinate system is used for the quadrilateral element.
The origin is defined at the intersection of the lines joining the mid-points
of opposite sides, so that the coordinates range from -1 to 1.
It is important to note that the triangular element has curved sides in
the global (x-y) coordinate system, but in the natural system the sides are
straight. The same is true for the quadrilateral element, but also note that
the sides of the element are parallel to the axes of the natural coordinate
Figure 8.2 Modelling of curve< system, which is essential to ensure interelement continuity.
boundary with simplex and Therefore, natural coordinates allow distorted and curved elements to
complex elements
 172 Higher-order element formulations Natural coordinate systems and numerical integration 173

y Global y y

~x
l_Q_x f{sl

J_>{s) ds = shaded area

/\ Natural Figure 8. 4 Integration of the __.__ _ _......__ _ _L _ s
function/( g) -1 0
Figure 8.3 Appearance of
isoparametric triangular and
quadrilateral elements in global
and natural coordinate systems
~ where n is the number of integration points and H; is the weighting
function at sampling point i.
The location of the sampling points and the value of the weighting
be included in finite element models, but they are also precisely what is · functions for Gaussian integration with up to four points are shown in
required to implement the numerical integration by Gauss quadrature. Table 8.1 with limits -1 to 1 and O to 1. Note that the data are given to a
The theory of Gauss quadrature is covered in most textbooks on high degree of accuracy, and indeed even more precise values are
numerical analysis, but is revised here because in many finite element available in the literature.
packages the user can have some control over the process. The method
works by evaluating the function to be integrated at a number of sampling
points, multiplying these values by weighting functions and summing the Table 8.1. Gauss quadrature information:
integral limits
ft(s)ds = 22~- 1 H;[(s;) for two ranges of
products. The higher the order of the function, the more sampling points
are required, but provided the correct number of points is used, the Degree of Number of points n Sampling point 5; Weighting function H;
polynomial
answer will be exact. To reduce the computer time in an analysis, some
commercial packages allow the user to perform the integrations with a Limits -1 to 1
1 1 0.0 2.0
reduced number of sampling points. This leads to an approximate answer, :s3 2 ±0.577 350 1.0
although in many cases it is acceptable. :s5 3 0.0 0.888 889
±0.774 597 0.555 556
:57 4 ±0.861136 0.347 855
±0.339 981 0.652 145
Numerical integration
Limits Oto 1
1 1 0.5 1.0
When a function is integrated over a given range, the process is simply :s3 2 0.211 325 0.5
calculating the area under the graph formed by the function as illustrated 0.788 675 0.5
:s5 3 0.112 702 0.277 778
in Fig. 8.4. Like other numerical techniques such as the trapezoidal 0.5 0.444 444
method and Simpson's method, Gauss quadrature calculates the value of 0.887 298 0.277 778
:57 4 0.069 432 0.173 928
the function at a point and multiplies by a length along the ; axis to 0.330 009 0.326 072
evaluate the area calculations. Hence, if the function is a linear function 0.669 990 0.326 072
s
of (i.e. a straight line), the value of the function at ;=0 multiplied by 2, 0.9?0 568 0.173 928

the length along the s axis, would give the area precisely. So one
sampling point is required if the function is of the first order. In general n
sampling points will evaluate a polynomial of order 2n- l exactly. Example 8.1: numerical integration
Gauss quadrature is expressed as Evaluate the following integral by long-hand and by the Gauss
quadrature method:
[8.1]
I= f 1
5
(3x +4x
4
+ 9x 2 + 15) dx
174 Higher-order element formulations Higher-order one-dimensional elements 175
Integrating in the usual way gives must be devised in the same coordinates. A one-dimensional element

I= [ 3x
6
6 5
+ 54x + 39x3 + 15x 11_ = [19.3- (-18.3)l=37.6 with three nodes and a quadratic interpolation function is shown in Fig.
8.5, and includes the natural coordinate system first introduced in Section
1
4.4. Although two coordinates are shown they are not independent, since
Using the Gauss method, three sampling points are required: clearly
Position, x f(x)
[8.2]
-0.774 597 21.003 441 0.555 556 11.668 588
The interpolation function in terms of the coordinate L 2 ( which ranges
0.0 15.000 000 0.888 889 13.333 335
from O to 1) will be
0.774 597 22.676 573 0.555 556 12.598 106
[8.3]
I= 37.600 029
where a 1 , a 2 and a 3 are constants as usual, and are determined by substi-
The two results are clearly very close. Use of more precise sampling tuting in the nodal values of the field variable,
data and more accurate calculations would reduce the error still
¢ = ¢ 1 at L 2 = 0
further.
¢ = ¢ 2 at L 2 = 0.5
Note that for this example, if a reduced integration scheme of two
¢ = ¢3 at L 2 = 1
sampling points is used, the answer becomes 36.888 882, which has
an error of less than 2 per cent. The 30 per cent reduction in the The three simultaneous equations that result prove that
number of calculations that this answer requires might easily make
this degree of inaccuracy acceptable. a1 = ¢1
a2 = (-3¢1 + 4¢2 - ¢3)/L [8.4]
a3 = (2¢1 - 4¢2 + 2¢ 3)/L 2

8.3 Higher-order one-dimensional elements When these are substituted back into Eq. 8.3 and rearranged, one obtains
the standard form of the interpolation function in terms of the shape
This section introduces one-dimensional complex elements and some of functions:
the techniques required to deal with higher-order formulations. In
practice such one-dimensional elements are rarely used, but they are a [8.5]
very useful means of introducing the concepts of complex elements. where
Two types of natural coordinates are possible with these one-
N 1 = 1 - 3L2 + 2L~ = L1(2L1 - 1)
dimensional elements, allowing the element equations to be derived in
N 2 = 4Li(l - L2) = 4L1L2 [8.6]
two ways. In the sections below, calculations using the natural coordinate
system developed in Chapter 4 are considered initially and in some detail. N 3 = Li(2L 2 - 1)
Following that, the derivation using a second coordinate system is The shape functions are quadratic functions of the coordinate system, and
described briefly, since it leads on to the methods required for two- and in common with all other shape functions they equal unity at their
three-dimensional multiplex elements. associated nodes and zero at the others.

8.3.1 Quadratic and cubic elements

As discussed in Section 8.2, to allow the sides of complex and multiplex 3 Natural coordinates
elements to be curved, the elements must be specified and developed in
Figure 8.5 One-dimensional L1 = 11/L
natural coordinates, with some type of transformation then used to apply element with quadratic L L2 = 12/L
the elements in the global system. Consequently, the shape functions interpolation function
 176 Higher-order element formulations
Higher-order one-dimensional elements 177
If the same procedures are carried out for a one-dimensional eleme
cubic element is defined by the equation
with a cubic interpolation function (and four nodes), the followi
relationships are derived: X = N1X1 + N2X2 + N3X3 [8.9]
where x1, Xz and x 3 are the global coordinates of the three nodes.
Therefore, by the chain rule of differentiation, since
where
N1 = L1(l - 4.5L1L 2 ) [8.10]
N 2 = 4.5L1L 2 (3L 1 - 1)
N 3 = 4.5L1L2 (3L2 - 1) the derivative of the shape function N 1 with respect to the global x must
N4 = Lz(l - 4.5L 1L 2) be '

The variation of N 1 and N 2 down the length of the element is shown 1

Fig. 8.6. The curves are cubic functions of the coordinates. [8.11]

The terms on the right-hand side of Eq. 8.11 are obtained directly from
Eqs 8.6 and 8.9. The quantity dx/dL 2 is called the Jacobian matrix for the
transformation equation, and is usually denoted by [J]. For the one-
dimensional element it is a [1 x 1] matrix; for two and three dimensions
it proves to be [2 X 2] and [3 X 3] respectively. Hence Eq. 8.11 can be
written as

[8.12]

Figure 8.6 Variation of N 1 and 0 where

N 2 in a cubic element
[8.13]
8.3.2 Evaluation of the element equations
The general finite element equations for stress analysis and field proble
are derived in Chapters 5 and 6 respectively. The calculation of t 2 3
element equations involves the evaluation of integrals such as Example 8.2: calculation of a [B] matrix
Calculate the [B] matrix for the one-dimensional quadratic element
L [Bf[D][B]dV L h[NY[N]dS
X1 =1
shown in Fig. 8.7.

The [B] matrix is calculated by the proper differentiation of the shape The shape functions for this element are derived in the previous
functions. For example, for a one-dimensional thermal problem using a section. Equation 8.6 shows that
quadratic element, N1 = 1 - 3L2 + 2L~
[B] = [ dN1 dN2 dN3 ]
N2 = 4L2 (1 - L 2) [8.14]
dx dx dx N3 = L2(2L2 - 1)
With simplex elements this step is straightforward, but with complex Therefore the Jacobian matrix as defined by Eq. 8 .13 is calculated
elements the shape functions are functions of the (local) natural by
coordinate system, and not the global (x-y) system. Clearly then some
form of transformation is required. It is known that the geometry of the dNi - -3 + 4L2
dL 2 -
178 Higher-order element formulations Higher-order one-dimensional elements 179

dN2 = 4- 8L2 system L 2 , and Ill is the determinant of the Jacobian. This change of
[8.15] variable holds providing the Jacobian's determinant Ill is greater than
dL2
zero.
dN3 = 4L2 - 1
dL2
Hence Example 8.3: calculation of a [k] matrix
[l] = (-3 + 4L2) X 1 + (4 - 8L2) X 1.5 + (4L2 - 1) X 2= 1 Calculate the stiffness matrix for the one-dimensional thermal
and [Jr 1 = 1 element in Example 8.2.

Using Eq. 8.12, the [B] matrix is then calculated as The stiffness matrix can be written as
[B] = [ dN1 dN2 dN3
d.x d.x d.x
J [k] = t [BfiD][B]dV =Ar [BfiD][B]llldL 2
(assuming that the cross-sectional area is constant). The [B] matrix
[8.18]

= 1[4L2 - 3 4 - 8L2 4L2 - 1] [8.16] was calculated in Example 8.2, and the [D] matrix will be equal to
Note that the Jacobian is a constant for this simple element. This is the thermal conductivity K. Also, since the Jacobian was found to
not the case in two- and three-dimensional analyses where [l] will equal 1, Eq. 8.18 becomes
usually be a function of the local coordinates, and an explicit inverse
cannot be obtained. This is the reason why numerical integration
[k] = AK f 1{ 4L 2 - 3 }[4L2 - 3 4 - 8L2 4L 2
4 - 8L2
- l]dL2
[8.19]

l
must be employed. 0
4L 2 - 1
In fact, the Jacobian is a constant only if node 2 of the element is
precisely at the mid-side of the element. For example, if Xz = 1.4 2.33 -2.67 0.33
rather than 1.5, then = AK -2.67 5.33 -2.67 [8.20]
[
0.33 -2.67 2.33
[l] = 0.6 + 0.8L2
For this one-dimensional example the integration can be performed
The calculation of the [B] matrix is still straightforward for this one- exactly, because the Jacobian is a constant.
dimensional element, but the calculation of the stiffness matrix is no If the [B] matrix and the Jacobian are not such simple functions
longer trivial. (Also note the special case of x = l.75, giving (i.e. the internal node is not at the centre of the element), then
[l] = 2 - 2L 2, which equals zero at L 2 = 1.) numerical integration is required. To illustrate the method, Eq. 8.19
Further discussion on moving the mid-side nodes of elements is is now recalculated using numerical integration.
included in Section 9.4, which deals with element distortion and its Two sampling points are required since the expanded terms are
effect on the accuracy of the solution. second order. The locations of the sampling points are then
L2 = 0.211 325 and L2 = 0.788 675
Before the element equations can be evaluated, one more transformation
is required. The volume and surface integrals of the general element with weighting functions of 0.5 in both cases (from Table 8.1).
equations must be expressed in terms of natural coordinates with Hence the stiffness matrix is calculated as follows:
appropriate changes in the limits of integration. This is achieved by the
[k] = AK [0.5 X {-2.1547} [-2.1547 2.3094 -0.1547]
following type of substitution: 2.3094

L f(x)d.x = J: g(L2)llldL2
where g(L 2) is the function f(x) written in terms of the natural coordinate
+ 0.5 X {
-0.1547

0.1547 } [0.1547 -2.3094 2.1547]

-2.3094
2.1547
l
 l
180 Higher-order element formulations Higher-order one-dimensional elements 181

= AK r[- 4.6427 -4.9760 0.3333

4.9760 5.3333 -0.3572
be evaluated term by term with the integration formula of Eq. 4.20,
namely

lJ
2
0.3333 -0.3572 0.0239

+
0.0239 -0.3572 0.3333
-0.3572 5.3333 -4.9760
I
L
La Lf3d.x -
l 2 -
a!/3!
(a + /3 + 1)!
L

l
[ For the first coefficient in Eq. 8.23,
0.3333 -4.9760 4.6427

2.33 -2.67 0.33

L hP(L1(2L1 - 1))2c1.x = L hP(4L't - 4Lf + Lr)c1.x
AK -2.67 5.33 -2.67
=hP ( 4x L -4x L L) 2hPL
[
0.33 -2.67 2.33 5 4 + 3 = 15
which is exactly the same as Eq. 8.20. If the other coefficients are dealt with in the same way, the complete
term is found to be
The evaluation of terms such as

L h[NfiN]dS and L q[N]Tds

hPL [
30
l~ -
-1 2
~
24
1
l [8.24]

is more straightforward than the terms involving the [B] matrix because
there is no transformation required. The shape functions are functions of
the local coordinates, and fortunately the integration formulae introduced Thus natural coordinates and numerical integration are required for
in Chapter 4 can still be applied to these integrals. This is illustrated in complex elements. Clearly the number of calculations required is
the following example. significantly increased compared with simplex elements, but the accuracy
is considerably improved. Once the element equations have been
Example 8.4: calculation of a perimeter convention term calculated, the analysis proceeds in the same way as before, as the
What term must be included in the stiffness matrix of a quadratic following example demonstrates.
thermal element to take account of convection from the perimeter?

The basic term required (from Eq. 6.45) is

Example 8.5: straight fin analysis
Reanalyse the problem of the straight fin in Example 6.1 (shown
L h[NfiN]dS [8.21]
again in Fig. 8.8) using quadratic elements.

<I>== 20 °C

I
The shape function matrix (from Eq. 8.6) is
[N] = [N1 N2 N3]
= [L1(2L1 - 1) 4L1L2 L 2(2L 2 - 1)] [8.22]
100 °C K= 7W/mm °C

100 mm
D
10x 10 mm

l
(a) 2
so that Eq. 8.21 becomes h = 0.1 W/mm °C

Nt N1N2 N1N3
I [
L
h N2N1 M N2N3
N3N1 N3N2 N~
p d.x [8.23]
Figure 8.8 (a) One-dimensional
<!>1 (1) <!>2 (2) <p3 (3) <!>1 (4) <p5 L(el = 25 mm
A(el = 100 mm 2
pel = 40 mm
2 3 4 5 6 7 8 9
where dS = P d.x is substituted for the surface area, if the perimeter fin (b) finite element
length P does not vary down the length of the element. Using the idealization with four quadratic
elements (b)
definition of the shape functions in Eq. 8.22, the integral can then
182 Higher-order element formulations Higher-order one-dimension al elements 183

The following element equations may be used: system equations, and solved with the boundary condition ¢ = 100°c,

l
1

l
the nodal temperatures are found to be

[k] = ~f [-; ~: -!1 -8 7

+ hPL
30
[ ~ l~2 - ~
-1
{<I>s}T = [100.00 50.97 32.32 24.77 21.89 20.73 20.29
20.12 20.07]
4
The heat applied from the surroundings at node 1 to maintain the
000]
+hA 000 [8.25] constant temperature of 100 °C is found to be 4261.57 watts.
[ The following comparison of these results with those calculated in
00 1

{F) - h¢6Pt} + h¢.A m [8.26]

Example 6.1 shows the advantage of the quadratic elements. The
model developed in this section with complex elements leads to
significantly more accurate results than the model using simplex
elements. Indeed if the problem is modelled with only two quadratic
elements, the results are comparable with the model using four
where all the constants have their usual meanings, and the terms in
the stiffness matrix are from conduction, perimeter convection and simplex elements.
end convection respectively. Two of these terms were derived in
Temperatures (0 C) ¢1 </J3 <Ps ¢1 </J9
Examples 8.3 and 8.4. The terms in the force vector are due to
perimeter convection and end convection. 4 simplex elements 100.00 27.45 20.69 20.06 20.01

l
For element (1), (Example 6.1)

[k(l)] = 9.334
7 -8 1
-8 16 -8 + 3.334 ~ 1~ -~ l 4 quadratic elements
(Example 8.4)
2 quadratic elements
100.00 32.32 21.90 20.29

100.00 31.08 23.70 20.53

20.07

20.29

l
[ [
1 -8 7 -1 2 4 Theory 100.00 32.08 21.83 20.28 20.07
78.674 -68.004 6.000 x location (mm) 0 25.0 50.0 75.0 100.0
= -68.004 202.688 -68.004
[
6.000 -68.004 78.674

{F''') - 333.333m
For elements (2) and (3) the same equations apply. However,
element (4) can also lose heat by convection through node 9;
consequently the last term in Eqs 8.25 and 8.26 must also be 8.3.3 An alternative formulation
included in its equations, so that

[kC4)] =
[
78.674 -68.004 6.000
-68.004 202.688 -68.004
6.000 -68.004 88.674
l s=-1 I-

L
1; 1; = 1 An alternative one-dimensional coordinate system to that previously used

3
is shown in Fig. 8.9; the coordinate ; varies from -1 to 1. The
interpolation function for the element in terms of ; will be
[8.27]
@----x
333.333 } If the a constants are derived in the usual way by substituting in the nodal
{FC4)} = 1333.333 Figure 8.9 Alternative values of the variable, the interpolation function can be written as
{
533.333 one-dimensional coordinate
system
When these equations are combined in the usual way to give the
184 Higher-order element formulations Higher-order one-dimensional elements 185

where
Example 8.6: calculation of a [k] matrix using an
N 1 = .{(;-1) alternative coordinate system
2 Evaluate the stiffness matrix for the one-dimensional quadratic
N2 = -(; + l)(s - 1) [8.28] element considered in Examples 8.2 and 8.3.
N3 = i (s + 1)
Firstly, the Jacobian must be calculated:

These shape functions display the features expected of all shape [I] = ~= dN1 x 1 + dN2 x 2 + dN3 Xz
d; d; d; d;
functions, and are quadratic functions of the coordinate system since the
interpolation function is a quadratic. 1 1 1
= (s - 2 ) X 1 + (-2;) X 1.5 + (s + 2) X 2 =2
The derivation of the element equations using this coordinate system
then proceeds in a similar way to that discussed in the previous sections, [1r1 =2
except that the use of local integration formulae is no longer possible.
The [B] matrix for such an element is defined as Therefore using Eqs 8.29 and 8.31,

[B] = [ dN1 dN2 dN.3] [8.29]

[B] = 2 l s - ~ - 2; s + ~ J= [2; - 1 - 4; 2; + 1]
dx dx dx [8.33]
Hence the stiffness matrix is calculat d as
However, since the shape functions are defined in terms of <; and not x, a 1
transformation is required between the local and global coordinate [kl = fv [BfiDl[B]dv = A f _[BfiDl[B]c1.x 111ds
1
systems. The relationship linking the two systems is found from [8.34]
1
{ 2s - 1 } [2s - 1 - 4s 2s + 1Jds
= AKI -4;
[8.30]

where x 1 , x 2 and x 3 are the (global) coordinates of the three nodes, and
therefore the derivatives of the shape functions are calculated as follows:
2

= AK
[
-1 2; + 1

2.33 -2.67 0.33

~2.67 5.33 -2.67
0.33 -2.67 2.33
l
where the variable of integration is changed by the substitution in
[8.31] Eq. 8.32.
The stiffness matrix is the same as that calculated in Examples 8.2
and 8.3. As with the previous derivation, numerical integration is
This equation is comparable to Eq. 8.11 and the quantity d.x/d; is of
nQt required for the simple element. However, for distorted
course the Jacobian, which is easily evaluated through Eqs 8.28 and 8.30.
elements of this type, and more complex two- and three-dimensional
The Jacobian is also required to change the variable of integration in the
elements, numerical integration will be needed.
calculation of the element equations:

L f(x)dx =[
1
g(s)lllds [8.32] 8.4 Higher-order two- and three-dimensional elements

In fact, providing the mid-side node is precisely half-way along the length 8.4.1 Isoparametric triangular elements
of the element, the Jacobian proves to be the length of the element The natural coordinates of two-dimensional triangular elements are area
divided by two. coordinates (see Section 4.4), and these must be used in the definition of
 186 Higher-order element formulations Higher-order two- and three-dimensional elements 187

Figure 8.10 Natural

coordinates of the triangular
LX Figure 8.11 Corner and mid-
side shape functions for the
quadratic triangular element 3
3

element f:oordinate transformation

To calculate the [B] matrix, the partial derivatives of the shape functions
the shape functions. There are two independent coordinates, L 1 and L 2 , are required. For example, for a thermal element with the interpolation
as shown in Fig. 8.10. function defined in Eq. 8.35, the [B] matrix is found from

r aN
Shape functions
The interpolation function required for the element in Fig. 8.10 is
{g} = I a¢ }
ax =
1
ax
aN2 aN3 aN4 aNs aN61
ax ax ax ax ax

l a¢
ay
aN1 aN2 aN3 aN4 aNs aN6
ay ay ay ay ay ay

where the shape functions are found to be

N1 = Lr(2L1 - 1) = [B]{cfi} [8.38]
N2 = 4L1L2
N3 = L2(2L2 - 1) However, since the shape functions are defined in terms of L 1 and L 2 , a
N4 = 4L 2L 3 = 4Lz(l - L 1 - L 2) [8.36]
transformation is required. As with the one-dimensional element, the
Ns = L3(2L3 - 1) = 1 - 3(L1 + L 2) + 2(L 1 + L 2)2 chain law for differentiation must be used. Consider for example the first
N6 = 4L 3L 1 = 4L1(l - L1 - L 2) shape function N 1 :
In common with all shape functions they equal one at their associated
node and zero at the others, as illustrated in Fig. 8 .11.
Since the element is isoparametric, the geometry of the element can be [8.39]
expressed in a similar way to the field variable:
,,I
X1
Y1 This can be rewritten in the form
Xz
[8.37]

[8.40]
 Higher-order two- and three-dimension , ,
188 Higher-order element formulations a1 e1e~~nts 189

-l :L l
where the Jacobian [J] is

aaL [8.41]
[J] - ax ay
[8.43]
oL 2 0L2
The other terms of Eq. 8.38 can be dealt with in the same way to give a
similar relationship to that in Eq. 8.40. . .
Consideration of Eqs 8.36 and 8.37 reveals that the Jacobian_ will be a Substitution of these terms into Eq. 8.42 then gives the general form
function of Li and L 2 , and an explicit inverse will not be obtamable, as of the Jacobian. If the side nodes are exactly at the mid-side
illustrated in Example 8. 7. position then the Jacobian proves to be a constant, but if the
element sides are distorted then the Jacobian is a function of the
coordinates L 1 and L 2 , without an explicit inverse.
Example 8.7: the Jacobian of a two-dimensional element Consider the element specified, which is shown in Fig. 8.12. At
y
Derive the general form of the Jacobian for a perfectly shaped the specified point L 1 = L 2 = 0.5, Eq. 8.42 becomes
5 quadratic triangular element. If the coordinates of the corner. no~es
3
[J] ::::: [ 1 2 0 - 2 1 - 2 ] 1 1 ::::: [ - 2 - 2 ]

6
of such an element are (1,1), (5,1) and (3,3), as illustrate.ct m Fig. 0 2 1 -2 1 -2 3 1 2 -2
8.12, then evaluate the Jacobian and its determmant at 5 1
L1 = L2 = 0.5. 4 2
2 3 3 3
L-----,.---~---,-- X
2 2
5
Consequently the Jacobian's determinant is
Figure 8.12
!JI = (-2 x -2) - (-2 x 2) = 8

Changing the variable of integration

Since the shape functions are defined in terms of the natural coordinates,
the variables of integration in the finite element equations derived in
The shape functions are defined in Eq. 8.36 and are readily Chapters 5 and 6 need to be changed from the global Cartesian system to
differentiated with respect to the natural coordinates L1 and L2: the natural one. This is straightforward, and involves the Jacobian matrix
as in the one-dimensional elements,
oN1 = 4L1 - 1
0L1
[8.44)
0N3 =O
0L1
where g(L 1 ,L2 ) is the function f(x,y) written in terms of the natural
aNs = -3 + 4(L 1 + L2) coordinates L 1 and L 2 • Since the Jacobian might be a function of L 1 and
aL1
£.2 , this integration is normally performed numerically.
aN1 =O
8L2
190 Higher-order element formulations Higher-order two- and three-dimensional elements 191

Numerical integration and L 2 . However, becaus~ the inverse of the Jacobian might not be
explicit, the following numerical integration is used:
When Gauss quadrature is applied over a triangular region, the sampling
points and weighting functions given in Table 8.2 should be used. [k] = t i
i=l
H;[B(L 1;L2;)Y[D][B(L1iL2;)]\J(L1;L2;)\ [8.46]

where B(L1iL2 ;) is the value of the [B] matrix at sampling point i. The

rr
Table 8.2. Gauss quadrature information for triangular regions:

0 0
f(Li,L 2 )dL 1dL 2 == L;=1HJ(Li;,L2;)
n

Degree of n Coordinates Weighting function H;

number of sampling points n depends on the order of the element being
used, as discussed previously. Therefore the evaluation of [k] for the six-
noded isoparametric triangular element requires the following steps:
polynomial L1 Lz (a) Selection of the number and position of then integration points and
weighting functions. Generally three sampling points are used with
1/3 1/3 1/2
the quadratic triangular element, and seven sampling points with the
6 2 3 1/2 1/2 1/6
(b)
cubic triangular element.
For each of the n integration points with coordinates (Li;,L2;):

D 2 3
1/2
0

1/6
0
1/2

1/6
1/6
1/6

1/6
(i) calculation of iJN(iiJL 1 , iJN(iiJL 2 for /3 = 1 to 6, from Eq. 8.43
(ii) calculation of [J], [1r 1 and \J\, as in Example 8. 7
(iii) calculation of iJNpfiJx, iJNpfiJy for f3 = 1 to 6, from Eq. 8.40

6 2/3
1/6

1/3
1/6
2/3

1/3
1/6
1/6

-9/32
(iv) calculation of [B], for example from Eq. 8.38
(v) calculation of tH;[B(Li;L 2;)F[D][B(LliL 2;)]\J(L1;L2;)\ and
summation to give [k].
3 4

8 3/5
1/5
1/5
1/5
3/5
1/5
25/96
25/96
25/96
When these steps are compared with the trivial procedures involved in
the calculation of the stiffness matrix for a simplex element (i.e. Eq.
3 4 1/3 1/3 -9/32 6.82), the penalties of using such a complex element are obvious. The

6 4 7
11/15
2/15
2/15
0
2/15
2/15
11/15
0
25/96
25/96
25/96
1/40
number of calculations required is increased significantly.

b
1/2 0 1/15
1 0 1/40
1/2 1/2 1/15
0 1 1/40 Example 8.8: using numerical integration in a two-
0 1/2 1/15 dimensional element
1/3 1/3 9/40
Kx= Ky= 7.5 W/mm °C Calculate the contribution that the sampling point at L 1 = L 2 = 0.5
y t= 1 mm makes to the element stiffness matrix for the thermal element shown
in Fig. 8.13.
5
Evaluation of the element equations 3

The calculation of the element stiffness matrix proceeds in a similar way

to the one-dimensional case previously considered. The basic equation is
[k] == { [BF[D][B]d.x dy
6 2
~-,-------,---- X
3
To calculate the stiffness matrix, the numerical integration outlined
in Eq. 8.46 must be performed. Thus the [B] matrix and the
Jacobian [J] must be evaluated at the requested sampling point.
The element is the same as that used in Example 8.7, where the
Jacobian and its determinant were calculated for the same point.
Using Eq. 8.44, this is written as 5
The inverse of the Jacobian is then
[k] = {f; [B(L1L 2)F(D][B(L1L2)]\J\dL1 dL2 [8.45] Figure 8.13
1r 1 = 1 [ -2 2] = [ -0.25 0.25 ] [8.47]
where the [B] matrix is expressed in terms of the natural coordinates L1 [ 8 -2 -2 -0.25 -0.25

~'
I Ji
 192 Higher-order element formulations Higher-order two- and three-dimensional elements 193
The [B] matrix for this element is defined by Eq. 8.38, where the y
Py= 0
derivatives of the shape functions with respect to the global
coordinates are given by Eq. 8.40. Therefore, using the results of
Example 8.7 and in particular Eq. 8.43, the derivatives of shape
function N 1 at L 1 = L 2 = 0.5 are

Figure 8.14 Stress element with 2 3

distributed pressure load
~--------- ----x

=[ -0.25 0.25] { 1 }= {-0.25}

-0.25 -0.25 0 -0.25
[8.48] [8.51]

The shape function matrix for this element is given in Eq. 8.37. Since the
If the other terms of the [B] matrix are calculated in the same way,
pressure is applied down the sides with nodes 3, 4 and 5, then L 1 = O (as
then finally
defined in Fig. 8.10), and consequently the three shape functions
-0.25 0 0.25 0 0 0 ] N1 = N2 = N6 = 0 from Eq. 8.36. Therefore Eq. 8.51 becomes
[B(Li;Lz;)] = [ -0.25 -1.0 -0.25 1.0 -0.5 1.0
0 0
[8.49] 0 0
The [D] matrix is 0 0
0 0
[D] = [ 7.5 0 ] [8.50] N3 0
0 7.5
and the determinant of the Jacobian at the sampling point is 8, from I S345
0
N4
N3
0
{ po }ds [8.52]
Example 8.7. Hence from Eq. 8.46, using a weighting factor of 1/6, 0 N4
the sampling point specified is found to produce a stiffness matrix Ns 0
term of 0 Ns
0 0
1.25 2.5 0.0 -2.5 1.25 -2.5
0 0
2.5 10.0 2.5 -10.0 5.0 -10.0
0.0 2.5 1.25 -2.5 1.25 -2.5 Here S is the area over which the pressure acts, but if the element has
-2.5 -10.0 -2.5 10.0 -5.0 10.0 thickness t and the length of the side is H345 then the integral can be
1.25 5.0 1.25 -5.0 2.5 -5.0 replaced by
-2.5 -10.0 -2.5 10.0 -5.0 10.0
0
Similar terms can be derived for the other sampling points, and the 0
complete stiffness matrix calculated by their summation. 0
0
N3Px
The calculation of the rest of the element equations is not so difficult, and
does not require numerical integration because the local coordinate
integration formulae can still be applied. The format of the resulting
IH345
0
N4Px
0
tdH [8.53]

terms, however, is unexpected. For example, consider the quadratic NsPx

stress element with applied pressure shown in Fig. 8.14. The effect is 0
included in the finite element equations with a term (as defined in Eq. 0
5.21) of the form 0
194 Higher-order element formulations Higher-order two- and three-dimensional elements 195

The shape functions are defined in Eq. 8.36, and if they are substituted 1

L3
H345Pxt
into Eq. 8.53 with the fact that L 1 = 0 then the local coordinate
integration formulae can be used to readily evaluate the integral. -iH345Pxt
Figure 8.15 Nodal force
Specifically, as in Eq. 4.25,
representation of the applied
--iH345Pxt
pressure load 2 3 1 2 3 ,
adH -
12 a!(J! H
fH L1L2 - (a + p + l)!
subjected to an incident heat flux. The mid-side node experiences four
Therefore the first non-zero term will be times the flux that the corner nodes experience.
If the body force vector is calculated in a similar way it leads to the
N3pxt dH = Pxtf L2(2L2 - l)dH
f H34s H34s following term:
= Pxtf (2Lz2 - L2)dH 0

= Pxt ( ~- n H,•s

H345 X
V
0

1 0
6H34sP.i
The integration of the other two terms yields
L[NF { ~ }dv = ~t
0
X
[8.55]
V
f N4pxt dH = ~ H345pxt 0
0
X
f NsPxt dH = i H34sPxt V
Thus none of the element's mass is allocated to the corner nodes; it is
The final term is therefore equally divided between the mid-side nodes. Like the distribution of the
pressure loading, this arrangement is not expected.
0
0
0 8.4.2 Isoparametric quadrilateral elements
0
The quadrilateral element is a multiplex element, and one of the most
1
frequently used and reliable elements available (Fig. 8.16). The simplest
PxH345t 0 [8.54] element has four nodes, one at each corner, and has a linear interpolation
6 4
function. The sides of the element must remain straight when in use.
0
Quadratic and cubic versions of the element are also usually available
1
with eight and twelve nodes respectively, and these can be used with
0
curved sides. The natural coordinate system employed with this element
0
is similar to the second coordinate system considered with the one-
0
dimensional element in Section 8.3.3. For this two-dimensional element,
Since H 345pxt equals the resultant load imposed on the face of the the axes (,; and 17) are defined by lines drawn from the mid-side of
element, it is clear that one-sixth of the load is applied at the corner opposite faces, as shown in Fig. 8.17, and the sides are defined by
nodes while the remaining two-thirds is applied at the mid-side node, as ,; = ±1 and 17 = ±1. Note that the element is distorted in Fig. 8.17 when
shown in Fig. 8.15. The ratio of the forces is 1:4:1, which is by no means in the global Cartesian system, but is perfectly square with sides parallel
obvious. The same ratio is found when a quadratic thermal element is to the axes when referenced to the natural coordinate system.
 196 Higher-order element formulations Higher-order two- and three-dimensional elements 197

,T

Figure 8.16 Quadrilateral

family of elements
tJ ·D·
1
Linear
2 1
2

Quadratic
3 2
Cubic
3 4
Figure 8.18 Variation of shape
function N 1 over a quadrilateral
element with linear
interpolation function 2 3

The eight-noded quadrilateral element introduced in Fig. 8.16 will have

Tl
y interpolation function and shape functions defined as follows:
3 4
t 3
8

!fJ
(-1,1) ( 1, 1) <P = IN;</J;
- i=l
[8.59]

__,,;._1; where
1 2
Figure 8.17 Natural coordinate 1 1
N1 =- - s)(1 - 17)(1 + s + 17 ) = 2 (1 - £2)(1 - 17)
system used in quadrilateral X
(-1,-1) (1,-1) 4 (1 N2
elements 2
1 1
=-
N3
4 (1 + s)(1 - 17)(1 - s + 17 ) N4 = 2 (1 + s)(1 - 1/)
1 1
=-
Shape functions
Ns
4 (1 + s)(1 + 17)(1 - s- 17 ) N6 = 2 (1 - £2)(1 + 17)

The interpolation function required to define the linear element in Fig.

8.16 has four terms because the element has four nodes, and is as follows:
N1 =-
1
4 (1 - s)(1 + 17)(1 + s - 17 ) Ns = ! (1 - s)(1 - 17 2)
[8.60]
[8.56]
This equation can also be expressed as The variation of shape functions N 1 and N 2 over the element will follow
the usual conventions as shown in Fig. 8.19. The geometry of these
[8.57] quadrilateral elements can also be expressed in a similar way to the field
3 4
where the shape functions are found to be 5 variable if the elements are isoparametric. For example, for the four-
noded element,
1 1
= 4 (1 - s)(l - 17)
N1 N2 =
4 (1 + s)(l - 17)

I
4
y N3 =
1
4 (1 + s)(l + 17) N4
1
= 4 (1 - s)(l + 17)
[8.58]
I~ 3 4 5
... N 8 0 ]
0 N8

Figure 8.18 shows the variation of shape function N 1 over a typical [8.61]
Figure 8.19 Variation of shape
element. functions N 1 and N 2 over a
quadrilateral element with
I I/ quadratic interpolation function Ys
\I I
(i
\'
 198 Higher-order element formulations
Higher-order two- and three-dimensional elements
199
Coordinate transformation
T:bfl~ 8.3. Gauss quadrature information for quadrilateral regions:
Since the shape functions are defined as functions of the natural
coordinates, a transformation must be devised to allow calculation of the J_
1
_/Cl;,17)dl;d17 "" ·"2:t=1H;f(/;;17;)

[B] matrix, as was the case for the triangular element (Eq. 8.38). For Degree of n Coordinates
example, consider shape function N 1 : polynomial Weighting function H;
I; 17

D
0 0 4.0
[8.62]

This is written as

[]
4 -11\13 -l!\13 1.0
l!\13 -11\13 1.0
-1/\13 1/\13 1.0
l!\13 l!\13 1.0
[8.63]
4 9 -\13/5

where the.Jacobian is
[J 0
\13/5
-\13/5
-\1315
-\13/5
-\13/5
0
25/81
40/81
25/81
40/81
0 0 64/81
\13/5 0

[i! ~ j
40/81
-\13/5 \13/5 25/81
0 \13/5 40/81
[J] = [8.64] \13/5 \13/5 25/81

a11 a11
Evaluation of the element equations
Referring to Eqs 8.58, 8.60 and 8.61, it is clear that the Jacobian will be a
j function of ; and 17, and an explicit inverse might not exist. The calculation of the element equations proceeds in a similar way to the
J triangular element. However, unlike the triangular element, the option of
Changing the variable of integration local coordinate integration formulae is not available. Consequently the
Calculations of the element equations will require a change of integration integrations must be evaluated precisely where possible, or alternatively
numerical integration must be used.
variable, and the following relationship can be used:
The stiffness matrix is calculated using numerical integration according
L f(x,y)dx dy = Lf 1 g(;,17)IJld; d17 [8.65]
to Eq. 8.65:

[k] = { [BY(D][B]dx dy
where g(;,17) is the function f(x,y) written in terms of the natural
coordinates; and 17. As usual, this change of variable holds provided the
determinant of the Jacobian [J] is greater than zero. = {J 1
[B(;,17)Y[D][B(;,17)]1Jld; d17
Hence
Numerical integration 1l

Since the Jacobian is a function--of-thec9ordinates (;,17), integrations like

[k] =t I
i=l
H;[B(;i,17;)Y[D][B(;i,lJi)]IJ(;i,lJi)I [8.66]
that in Eq. 8.65 cannot be performed exactly, and numerical integration
The actual steps involved with this process are similar to those used in the
is required. The sampling points and weighting functions used for
evaluation of Eq. 8.46, except that the coordinates are ,; and 17 rather
quadrilateral elements are shown in Table 8.3. A pattern of either 2 X 2 than L 1 and L 2 •
or 3 x 3 sampling points is used, depending on the order of the function
The other terms of the element equations can be divided into those
to be evaluated. Generally the four-point formula is used for the four-
involving integration over a side, and those requiring integration over the
noded quadrilateral, while the nine-point formula is used for the eight-
face area of the element. For example, consider heat flux incident on side
noded version.
3-4-5 of a quadrilateral element as shown in Fig. 8.20. The term that
 200 Higher-order element formulations Higher-order two- and three-dimensional elements
201
T] non-zero terms then yields
y
t
7 _ _ _ _6_ _ _ _..,

7
5

-
- [8.68]

--
8
-8
+ 4 :=-1;

Figure 8.20 Heat flux incident -q

on a quadrilateral element, in 2 3
In other words, the flux is allocated in the ratio 1:4:1 to nodes 3, 4 and 5.
global and local coordinates '--------------x I This is the same distribution found for the quadratic triangular element
(Eq. 8.54). If the eight-noded quadrilateral element is used for a stress
should be added to the force vector is analysis problem, it is found by the same approach that a pressure load

L q[N]Tds
will be applied to the nodes in the similar 1:4:1 ratio.
When body force terms are included in stress problems, the term
When the element is referenced to the natural· coordinate system, side
3-4-5 is seen to lie parallel to the 17 axis, at .; = 1, where N 1 = N 2 = N 6 [8.69]
= N 7 = N 8 = 0. If the side has length H 345 aiid thickness t, then the
equation can be written as must be evaluated. The same term for higher-order triangular elements is
easily evaluated by the natural coordinate integration formulae, but for
0 quadrilateral elements the substitution of Eq. 8.65 must be applied to
0 change the variable of integration. For a four-noded element it turns out

I
s
q[NFdS = H345t
2
r
-1
q
N3
N4
Ns
0
d17
that the body force is distributed equally amongst the nodes if the shape
of the element is a parallelogram (Fig. 8.21(a)), but if the sides are not
parallel then the distribution becomes more complex (Fig. 8.21(b)). It is
interesting to note, however, that as the length of one side goes to zero,
0 the distribution becomes that of the simplex triangle (Fig. 5.9).
0 When the body forces in eight-noded quadrilaterals are investigated by
0 the same approach, the nodal allocation is unexpected (Fig. 8.22(a)): the
0 corner nodes develop negative contributions. Again as the element is
- ! (1 - 17)(17) distorted from a parallel sided shape, the distribution varies. Also as the

= H345t
2
f
-1
1
q (1 - 172)
- !(1 + 17)(-17)
d17 [8.67]
length of a side decreases, the forces approach those of a six-noded
triangular element, which has the body force distributed equally between
0 the mid-side nodes as shown in Fig. 8.22(b).
0
0 8.4.3 Isoparametric solid elements
where the shape functions are obtained from Eq. 8.60 with .; = 1, and A three-dimensional simplex element is introduced in Chapter 4, which
the change of variable is carried out by Eq. 8.32. Integration of the three has a tetrahedral shape. In practice, however, this element is rarely used
 202 Higher-order element formulations Structural beam, plate and shell elements 203

+0.25 +0.25
! 0.25 !
0.25

LJ
! 0.25
(a)
! 0.25 i0.25 i 0.25
Figure 8.23 Hexahedral family
of elements Linear Quadratic Cubic

way to the quadrilateral elements. For this reason, and because the
number of terms in the element matrices and vectors becomes so large,
i 0.24
they are not discussed in detail in this book. The basic linear element
when applied to stress problems results in a stiffness matrix of size
[24 X 24]. The Jacobian needed to evaluate the stiffness matrix is of size
[3 X 3], while the number of integration points for the linear, quadratic
Figure 8.21 Distribution of a and cubic elements is 8, 27 and 64 respectively (23 , 33 and 43 ).
body force in the y direction for
(a) parallel sided (b) general
four-noded quadrilateral lo.26 i 0.26 i 0.31 i 0.31 8.4.4 Stress and heat flow calculations
elements (b)
Solution of the finite element equations leads for example to a prediction
of the displacement or temperature distribution. Subsequent post-
processing of the results is then required to calculate the strains and
stresses or heat flows in each element. For elasticity problems, the strains
•-0.09
in an element are calculated from the displacements by
0.31
i {E} = [B]{U} [8.70]
Figure 8.22 Distribution of a +0.33
In simplex elements the matrix [B] is a constant, and the strains are
body force in the y direction for
constant. For the higher-order elements, however, [B] is a function of the
(a) parallel sided (b) general
eight-noded quadrilateral !-0.08 !
0.36
-0.08 ! !-0.07
0.41
-0.07 i coordinate system and not always explicit. Therefore the strains must be
elements (b) evaluated at specific positions in such elements. The most obvious (and
accurate) locations are the sampling points used to calculate the [B] and
[k] matrices in the first place. The stresses of the nodes (particularly those
because it is difficult to generate models with such a shape, and it assumes at the corners of the element) are more useful; however, to calculate a
a constant stress distribution. The brick elements shown in Fig. 8.23 are nodal stress, either the [B] matrix must be recalculated at the node for
much more useful. It is easier to generate models with these shapes, and use in Eq. 8.70, or the stress must be interpolated from the values at the
a stress gradient is allowed through each element. The linear element has sampling points. In practice the second method is usually adopted, which
8 nodes, while the quadratic and cubic versions have 20 and 32 nodes again adds further complexity to the implementation of these higher-
respectively. order elements.
As with all the higher-order elements, the elements are defined in a
natural coordinate system which allows them to be distorted in the global
coordinate system, while remaining cube shaped in their own natural 8.5 Structural beam, plate and shell elements
coordinates. The structural elements discussed in detail so far have translational
The implementation of the elements proceeds in an almost identical degrees of freedom, and therefore can only transmit forces directly from
 204 Higher-order element formulations Structural beam, plate and shell elements 205

element to element, with the nodes effectively acting as pin joints. There boundary conditions (the four degrees of freedom), which demand four
is, however, another very useful and important range of elements which coefficients in the approximating function. In addition, however, to
can transmit not only forces but also moments, by specifying both ensure that the element satisfies the necessary continuity conditions, that
translational and rotational degrees of freedom at their nodes. These is deflection and slope continuity at the nodes, the interpolation function
elements are beams, plates and shells (curved plates). must be third order (see Section 8.6). The function is given by
Beams, plates and shells are often categorized as 'thick' or 'thin'
depending on whether their formulations include transverse shear strains.
y
For example, thick shells do allow consideration of the deformations due
to shear and might be used in pressure vessels where the ratio of radius to
wall thickness is less than ten. As with many aspects of tb.e finite element
~ ,l
method, a basic understanding of the engineering of the problem is
essential for the correct selection and application of the element.

Beam element
Figure 8.25 Basic beam
element
S;c-~' ---!)~x
Figure 8.24 shows a section of a (thin) beam undergoing simple bending.
There is no deformation along the beam axis, and planes normal to the
axis before loading remain normal after deformation (i.e. there is no [8.73]
shear deformation). The slope of the beam at any section is given by Note that the element is defined in a local coordinate system, and that the
dv/dx, and the displacement in the x direction is found from positive directions of the translations and rotations are marked on Fig.
dv 8.25. Positive rotations are anticlockwise.
u = -y dx [8.71] The a constants in Eq. 8.73 are evaluated in the usual manner by
substitution of the boundary conditions for the element. These are
Therefore the bending strain in the beam is
dv
du d2 v V = V; and 8 = dx = 8; at X= 0
Ex=~= -ydx2 [8.72] [8.74]
dv
V = Vj and 8 = dx = 8j at X = L
The standard element which is used to model such a beam is shown in
Fig. 8.25. It is developed with two nodes, and requires a cubic The resulting four equations can easily be solved to yield
interpolation function for two reasons. Firstly, the element has four
a1 = V;
a2 = e;
1 [8.75]
y 3
a3 = yy:(vj - v;) - y(2e; + e1)
2 1
a4 = --yy-(v; - vj) + yy:(e; + ej)

When these are substituted back into the original interpolation function,
it can be rearranged and expressed as

--e-x = [N]{U} [8.76]

I
Figure 8.24 Deflection of a ------- -:.i -,__ u
beam
206 Higher-order element formulations
Structural beam, plate and shell elements 207
where carried out, the element stiffness matrix is found to be

[N] = [ 1 -( r: r:) t r:) (r: -r:) (f

+ x -(
2
+ + ~: )J
[k(e)] = EI 6L
12
4L -6L
6L -12
2
6L 2
2L 1
[8.77] L 3 [ -12 -6L 12 -6L [8.82]
2
As expected, the shape functions are third-order equations, the same as 6L 2L 2 -6L 4L
the interpolation function. The force vector for the element comprises solely the forces and moments
The stiffness matrix for the element is calculated from the potential applied at the nodes, namely
energy in the usual way as described in Chapter 5. The strain energy is
given by the standard equation "- , {f(e)} = [S; Mi Sj Mj] [8.83]

A =

A =
L1
~ I
OxEx

y
2
(
dV =

From Eq. 8.72 this can be expressed as

~ )
2
~Is;
dV =
dV

~ I(~ ) I
2

(
2
y dA ) dx
'(5All(
Thus
,o EI
L3
l 6L
12
-12
6L
6L -12
4L 2 -6L
-6L 12
2L 2 -6L
6L

-!f:
4L
fl JS;l
~:r
l l ~; f
~ Mj
[8.84]

The forces are labelled S; and Sj because they are of course equal to the
But the area integral equals the second moment of area I; hence the shear forces at the nodes, and indeed Eq. 8.84 can be used, after the
strain energy is displacements and rotations have been calculated, to determine the
internal forces in the beam.
[8.78] The following example illustrates the use of beam elements.

From Eq. 8.76, for one particular element,

~~ = d2~e)] {[!(e)} = [B(e)]{[J(e)} [8.79] Example 8.9: beam analysis

Calculate the deflection under the load in the statically indeterminate

I
where [B(e)] is simply calculated by the differentiation of the shape beam in Fig. 8.26, and predict the shear force and bending moment
function matrix in Eq. 8.77. Thus distributions.
5 kN

I.
C. 200 x 10' MP,
l I= 4 x 10-6 m 4

Substitution of Eq. 8.79 into Eq. 8.78 then gives

A(e) = !f {u(e)}T[B(e)]T[D(e)][B(e)]{Ue)}dx Figure 8.26

6m
·I·
2m
·~
2 L
5 kN The finite element model for the beam need only consist of two
where [D(e)] = EI.
Minimization of the potential energy then gives the now familiar form (1) ! (2)
elements, as in Fig. 8.27. The stiffness matrix for element (1) is

!~ 1!1 =!~ ~~ 1
of the stiffness matrix,
[k(e)] = L [B(e)fiv(e)][B(e)]dx [8.81]
Figure 8.27
2 3
0.8 X 10-
63
6
[
-12 -36 12 -36 [3 .35 ]
When the [B] matrix is substituted into Eq. 8.81 and the integration 36 72 -36 144
208 Higher-order element formulations Structural beam, plate and shell elements 209

while the stiffness matrix for element (2) is All the results from this analysis agree closely with standard

10- 6
12 12 -12 12 j theoretical calculations, even though just two elements are used.
This is because the cubic interpolatio n function predicts the actual
-~~ -~~
0.8 X 12 [8.86]
23 -12 -1~8 deflection of the beam so accurately.

r 12 8 -12

Including the load of 5 kN applied at node 2, the final set of system The beam element is defined in its own local coordinate system and is
equations is then therefore of little use in its present form for real engineering problems. A
coordinate transformati on is required as described in Section 7.2 to allow

n;1
0.044 0.133 -0.044 0.133 0.0 0.0
the beam to be used in two- and three-dimen sional space. In fact the
0.133 0.533 -0.133 0.266 0.0 0.0\
same beam is examined in Example 7 .1 and transformed into a two-
-0.044 -0.133 1.244 1.067 -1.2 1.2
10- 6 X dimensional form. The transformati on matrix is found to be (Eq. 7.8)
0.133 0.266 1.067 2.133 -1.2 0.8
0.0 0.0 -1.2 -1.2 1.2 -1.2
1~:J
~l
-m l 00 0
0.0 0.0 1.2 0.8 -1.2 0.8 10 0
[Jc] = 0 0
0 0 0 -m l
f 0 0 0 0 0

where l and m are the direction cosines of the beam with respect to the
global coordinate system (see Fig. 7.1), and the global stiffness matrix
[k 0 ] is calculated from
[k 0 ] = [Jcfik][Jc]
However, before the equations can be solved, the constraint
conditions must be applied, namely The resulting matrix is of size [6 x 6] because there are now one
V1 = ()1 = V3 = ()3 =0 rotational and two translationa l degrees of freedom at each of the two
nodes. By a similar approach the beam can be applied in three
These result in a reduced set of system equations of dimensions, and further formulation s of the beam element are also
3 possible which include axial force and torsion capabilities.
_6 [ 1.244 1.067 ] { V2 } ={5 X 10 }
lO X 1.067 2.133 ()2 0
Thin plate bending element
Solution of these equations gives
v 2 = 0.007 037 m and () 2 = -0.003 52 rad The simplest thin plate element is a triangle with three degrees of
freedom at each node, one translation and two rotations, as shown in Fig.
which compares with a theoretical value of 0.007 031 m for the 8.28. As in the derivation of the beam element, normals to the plate's
vertical displacement. mid-surface are assumed to remain normal after deformation . Thus
When these results are substituted back into the element
equations, as defined by Eq. 8.84, the shear force and bending aw
moments in each element are found to be as follows: {) __ aw
X ay and {))' = ax [8.87]

Element Node Shear force (N) Bending moment (Nm) with

1 1 -782.1 237.8
2 782.1 -2815.6 u = -zaw and V = -z-
aw [8.88]
ax ay
2 2 4220.4 2812.4
3 -4220.4 5628.4 If a cubic interpolatio n function is selected for the displacemen t, as in the
 210 Higher-order element formulations Structural beam, plate and shell elements 211

z Thick plate bending element

y In the thick plate formulation the deflections and rotations are considered
aw to be independent, and thus the normals (to the plate's mid-surface) do
U=-Z-
Local ax not remain normal, resulting in the development of transverse shear
coordinate strains (Fig. 8.29). Therefore ex and 8y are no longer functions of the out-
system
V=-Z-
aw of-plane deflection w and
ay
u = -z(Jy and v = -z(Jx [8.90]
\ giving fqr example

- .!!!!__ - ~
Ex - ax - z ax [8.91]

and (a transverse shear strain)

aw au aw
Yzx = ax+ az= ax- 8y [8.92]

Consequently each node in the element has three independent degrees of

Figure 8.28 Thin plate bending
freedom (in its local coordinate system), i.e. one translation and two
element rotations. Four- and eight-node versions of the plate are usually available,

z
beam element, then the displacement can be expressed as
2
w = a 1 + a 2x + a 3y + a 4x + a 5xy + a 6y2 y
+ a7x 3 + a 8(x 2y + xy2) + a9y3 [8.89]
ex, ev, w independent,
Local
(in the plate's local coordinate system). Nine coefficients are required coordinate
U=z0y, V=z0x

because there are nine degrees of freedom, but note that the full cubic system
equation has ten terms, and consequently the a 8 term is mixed.
Unfortunately the plate element described is not ideal because,
although the deflection and slopes of the plate are continuous at the
nodes of the element, the slopes are not continuous along the element's
sides. With such limitations the plate is said to be non-conforming, as
described in Section 8.6. An equilateral triangle converges to the correct
solution, but this is not true for less regularly shaped elements. A
quadrilateral plate element can also be devised in a similar way, but again
only the square form of the element converges to the correct answer.
Despite the inaccuracies of these elements, they are capable of giving
acceptable results and satisfactory accuracy in practical problems, and are
therefore still used. Attempts have been and are still being made to Figure 8.29 Thick plate
improve the performance of this type of plate element. bending element
212 Higher-order element formulations
Convergence requirements of interpolation functions 213
the latter allowing the inclusion of curved sides. It turns out that this type
The conditions of convergence of a finite element analysis can be
of element is generally well behaved, and can even be used to model
expressed in more general terms. For a particular finite element to
'thin' plates with ratios of width to thickness of up to 50.
converge to the correct answer as its size is decreased, its interpolation
This thick plate element and the thin version described previously have
function must satisfy completeness and continuity conditions. These
no capability to support in-plane (membrane loads) in their current
conditions relate to the order of the highest derivative of the field variable
design. Since, however, the element is flat, and the bending and
appearing in the functional for the particular problem. If the highest
membrane effects are uncoupled (for small deflections), the latter effect order is m, then:
can be included by simply superimposing a two-dimensional plane stress
element formulation. \ (a) For completeness, the field variable and its derivative up to order ,n
should be able to assume a constant value in the element as the size
of the element decreases.
Shell elements
(b) For continuity, the field variable and its derivatives up to order
The difference between shell and plate elements is that the mid-surfaces m - l should be continuous at the element boundaries.
of shells are curved, and as a result the membrane and bending effects are
The completeness condition is necessary for convergence to the exact
coupled, so that it is no longer possible to simply superimpose the two
solution, but the continuity condition is not vital, providing that the
conditions. The formulation of shell elements is therefore more complex
errors introduced by the approximation decrease fast enough as the
than that of flat plate elements, and is left to more specialized texts.
element size decreases. If an element satisfies both the completeness and
continuity conditions it is said to be conforming or compatible, and
8.6 Convergence requirements of interpolation functions convergence is guaranteed. If an element is complete and converges, but
does not satisfy the continuity condition, it is called non-conforming or
So far convergence of the solution of finite element models has not been incompatible.
discussed, but it is a very important subject. As the size of the elements in
a finite element analysis is reduced, so the solution of the model should
converge to the exact answer, and interpolation functions should be
Example 8.10: element convergence criteria
chosen in order that this does occur. The easiest way to understand
The interpolation function for the beam element in Section 8.5 is
convergence requirements is to focus on a specific problem. For example,
consider a two-dimensional stress analysis investigation. For convergence [8.93]
the following conditions must be met by the interpolation function:
which describes the vertical displacement at any position along the
(a) The displacement must be continuous through each element. length of the element, as shown in Fig. 8.25. Each of the two nodes
(b) As the size of an element decreases, the stresses in that element has two degrees of freedom, namely a vertical displacement and a
must approach constant values. rotation. Show that the element is conforming, remembering that
(c) At the element boundaries, the displacement must be continuous. the strain in the x direction in this beam element is given by
In other words, the elements must deform without causing openings
82 v
or overlaps between adjacent elements. ex= -y ax2 [8.94]
A similar set of conditions can be devised for thermal elements, namely
The functional used in stress analysis problems is the potential
that the temperature distribution must be continuous in an element and
energy, which equals the strain energy minus the work done by the
must approach a constant value as the element size decreases, and
loads. The strain energy for this beam element is
adjacent elements must predict the same temperature for the same node.
Other problem types may require more demanding conditions. For
example, beam elements require that not only the displacements but also
A= iL axex dV = L
~ c; dV [8.95]
the slopes of the displacements must be continuous across the element
Thus the highest-order derivative will be that due to the strain,
boundaries (see Section 8.5 and Example 8.9).
which is second order (Eq. 8.94). Hence, for the completeness
214 Higher-order element formulations
Problems 215
2 2
condition to be satisfied, v, av/ax and a v/ax must all be capable of Problems
assuming a constant value. Differentiation of Eq. 8.93 shows this is
indeed possible. , 8.1 Use the Gauss numerical integration method to evaluate the
For continuity at the element boundaries, v and av/ax must be following integrals. Also, examine the effect of using a reduced

rl
continuous, which is the case, since v and e (= av/ax) are the integration scheme on the accuracy of the solution.
specified degrees of freedom at each node.
Since the element satisfies the completeness and continuity (a) (5x
5
+ 3x2 - 2)dx.
conditions, it is conforming.
(b) L(5x 5 + 3x2 - 2)dx.

(c) LL (7x 4 + 2x2y + 4y 3 - 3)dx dy (for a triangular region).

8.7 Conclusions
The simplex elements introduced in Chapter 4 assume a' linear variation
of the displacement or temperature, whereas complex and multiplex
8.2
(d) rJl (6x
3
+ xy 2 -y + 2)dxdy
Prove that the interpolation function of the quadratic element
(for a quadrilateral region).

elements assume quadratic, cubic and possibly higher-order variations.

Clearly then more simplex elements are required to approximate a given shown in Fig. 8.5 is
distribution, particularly in areas with a steep change in the field variable. ¢ = ¢1 + (-3¢1 + 4¢2 - rp3)IL2 + 2(¢1 - 2¢2 + rp3)IL~
As has been seen in this chapter, the complexity of the calculations
required in the derivation of the element equations is significantly 8.3 Rearrange the equation in Problem 8.2 to derive the shape functions
increased with higher-order elements, and numerical integration is usually for the one-dimensional quadratic element.
implemented. Despite the increased complexity of the calculations, 8.4 Derive the shape functions for a one-dimensional element with a
higher-order elements are preferred, because of their increased accuracy cubic interpolation function.
and therefore reliability in modelling. 8.5 Calculate the [B] matrix for a one-dimensional cubic element.
One of the disadvantages of the use of complex and multiplex elements 8.6 Evaluate the following integrals for a one-dimensional quadratic
compared with simplex elements is the significant increase in computer thermal element, considering convection from both the perimeter
memory that they require. For example, the three-noded simplex and six- and the end of the element:
noded complex triangular elements develop stiffness matrices in stress
problems of size [6 X 6] and [12 X 12] respectively. The latter is four f
(a) Q[NFdV
times the size of the former. Thus although fewer higher-order elements
may be needed to model a given problem, an overall increase in (b) fhrpoo[N]TdS.
computer resources may still be required. However, because of the
reduced number of elements, models using complex and multiplex 8.7 Evaluate the following integrals for a one-dimensional cubic thermal
elements can invariably be generated more quickly, saving personnel and element, where convection only occurs around the perimeter of the
computer time. element:
A further disadvantage of the higher-order elements is discovered when
they are used to model a problem with a complicated geometry. A
f
(a) h[NfiN]dS
reduced number of complex elements might not be adequate to represent
all of the local geometries of the object, whereas a large number of f
(b) hrpoo[N]TdS
simplex elements could represent the geometry more accurately. This and

(c) fQ[N]TdV.
other aspects of practical modelling are discussed in the following
chapter.
 216 Higher-order element formulations Problems 217

8.8 Show that the Jacobian for the one-dimensional quadratic element V Thickness= 1 mm
3
in Fig. 8.9 is L/2 when the mid-side node is h~lf-way along the length 5 3 Y = 30 N/mm

of the element. Plot the variation of the Jacobian along the element
as the position of the mid-side node varies. 4
8.9 Examine the convergence of the straight fin in Example 8.5 by
comparing the results predicted by models using one, two, three and
3 4
four elements.
8.10 Examine what happens to the determinant of the Jacobian of the
element in Example 8.7 when node 2 is positiohed at (2,0). 2

8.11 Evaluate the following integrals for a triangular quadratic thermal

element, considering convection from both the edge and the face of 5
the element:
0 X
J
(a) Q[N]TdV {b) o 2 3 4 5

I
(b) h<Poo[N]Tds.
V 8.12 Evaluate the following integrals for a triangular cubic thermal Thickness= 1 mm
~
V
2
element, considering convection from both the edge and the face of 4 h = 0.2 W/mm °C
the element: ~ <j>= = 20 °C

J
(a) Q[N]TdV
3
~
~
I
(b) h<Poo[N]Tds.
2 3
~
~
5 ... , 8.13 Derive the force vector term required to account for the linearly 5
6
X
varying pressure load shown in Fig. 8.30. [Hint: express the pressure
0 X
distribution as a function of the nodal values using the shape 0 2 3 4 5
Figure 8.30 functions.] {c)
8.14 Calculate the force vector term for the elements in Fig. 8.31(a)-(d).

y
'l/
Thickness= 1 mm y
3
111 Thickness= 1 mm
0= 2 W/mm 3
4
'l 5 N/mm2
4
11111 6W/mm2

'l 1111
3
'l 3
11111
'l 2
11
2 'l/ 2

X X
(a) OO Figure 8.31 (d) 00 2 3 4 5
2 3 4 5
 218 Higher-order element formulations
Problems 219

y Thickness= 1 mm
Y = 30 N/mm
3 3 kN
3 5 kN
4
2........::
3 ........::
l l
~

I.
2
5N/mm
2
~
~
I
·1 ~ ~
4
1 3m
1m I· 1m • I
0 X (a) E = 200 GPa (e) E = 200 GPa
0 2 3 4 5 6 !ii I I= 4 x 10--6 mm 4 I= 4 x 10--6 mm 4
(a)

y Thickness= 1 mm
3
5 Y = 30 N/mm 5 kN 2 kN 4 kN
4
3........::
3
5- l l l
2

0
7
8
........::
~ 5N/mm 2
~.,..,,,
1
X
I 2m
&1
I· 1m I I
I I· 2m • I· 2m
.1
I

0 2 3 4 5 6 !ii (b) E = 200 GPa (t) E= 200 GPa

(b) l=4x10-6mm 4 I= 4 x 10-6 mm 4

y Thickness = 1 mm
2 h = 0.2 W/mm 2 °C
4 5 kN
$= = 20 °C

!
0= 2 W/mm 3
3
6 kN m
2

0
0
3

2 3 4
4

5 6 !ii
X
~
2m
&1
I· 1m I I
I I· 2m
2)
·I· 2m
,I
(c) E=200GPa (g) E = 200 GPa
(c) l=4x10-6 mm 4 I= 4 x 10-6 mm 4

y Thickness= 1 mm
3 2 h = 0.2 W/mm 2 °C
4 $= = 20 °C 3 kN
0= 2 W/mm 3
3

! 6 kN m
2

0
0
5

2
6

3 4
7

5 6 !ii
X
I I· 1m ·I· 1m I
I
I
I I· 2m
2)
·I· 2m
~
,I
(d) E = 200 GPa (h) E = 200 GPa
(d)
Figure 8.32 Figure 8.33 I= 4x 10-6 mm 4 I= 4 x 10-6 mm 4
220 Higher-order element formulations

8.15 Derive the shape functions for a four-noded quadrilateral element.

8.16 Show that the field variable is continuous across the interelement
boundary of two adjacent four-noded quadrilateral elements when
natural (l;,1J) coordinate systems are used. [Hint: write down the I
interpolation functions for the two elements along the common 9 Modelling procedures and results
boundary.]
8.17 Evaluate the following integrals for a four-noded quadrilateral processing
thermal element, considering convection from both the edge and the
face of the element: /

(a) JQ[N?dV
J
(b) h</,J [N]TdS.
00

9.1 Introduction
8.18 Calculate the force vector term for the elements in Fig. 8.32(a)-(d). The finite element method is only approximate. The way in which the
8.19 Derive the finite element equations for a thick beam. [Hint: apply problem is modelled, for example the approximations in the geometry or
the ideas of thick plate theory to the thin beam derivation.] material properties, and the method of discretization (i.e. the number and
8.20 Analyse the beam problems in Fig. 8.33(a)-(h) using the standard type of elements used), both affect the accuracy of the final answer. This
thin beam formulation, and compare the results with those chapter is concerned with modelling procedures and the use of finite
calculated theoretically. element software to obtain accurate solutions. The accuracy of the
implementation of the elements is discussed in Chapter 11.
After the importance of developing both a valid and an accurate
representation of the problem is examined, element selection and mesh
refinement are discussed in detail, and comparisons of the performance of
different element types and mesh densities are reported. This is followed
by a section which examines the effect of element distortion on the
accuracy of the solution.
It will soon become obvious to the new user of finite element software
that even the simplest of models produces a large amount of output data.
For example, each node of each element in a three-dimensional stress
analysis problem will provided a minimum of three displacements and six
stress components. The processing and simplification of these results is an
important step in the procedure and is also discussed in this chapter.
Finally, methods of checking the results of a finite element model are
presented. This is vital in any analysis, and the results should not be
relied upon without some form of verification.

9.2 Model validity and accuracy

A finite element analysis will only produce the correct answer if the
model is both valid and accurate. Validity depends on how faithfully the
physical problem is represented in the computer, while accuracy depends
on how close the model is to convergence. Clearly the answer will only
converge to the solution of the computer's representation of the problem.
221
222 Modelling procedures and results processing
Model validity and accuracy 223
For example, by using a plane strain model, the user will find the solution
of a two-dimensional approximation, but not the original three-dimensional Error= 1%
problem. If the elements are formulated correctly, then as the mesh Quadratic element
density of a model increases, and thus the size of the individual elements Error< 0.1%
Figure 9.1 Linear and - - Circular arc - Circular arc
decreases, the solution should converge to the exact answer. The quadratic approximations to a
necessary conditions for convergence, namely completeness and con- circular arc, showing the Linear element Linear element
tinuity of the interpolation functions, are discussed in Section 8.6. It Error= 29% 45° Error= 7.6%
maximum radial errors
should be obvious that it is not just the number of elenlents that is
important when convergence is consid'ered. The layout of the elements
and the distortion of individual elements both significantly affect
convergence rates, and these effects are discussed in later sections of this
chapter.

Model validity
When modelling a complex problem, approximations might be made in
one or more of the following:
(a) geometry
(b) material properties
(c) loading conditions
(d) constraint conditions.
The acceptability of those approximations depends on the purpose of the
investigation, and indeed some comparative analyses do not require
absolute accuracy. If simplifications in the model are necessary, then they
should be examined somehow in an effort to quantify their effects. This is Figure 9.2 Models of (a) upper
discussed again in Section 9.6. half of a human femur, with

Geometry
approximated geometry (b)
part of a spur gear, to examine
(a) (b)
+
tooth stresses
There are two levels of geometrical approximations that can occur in a
model. At an element level, complex shapes or particularly small features
in a body might not be represented precisely by the elements, since even using one complex element rather than two simplex elements is obvious.
the most advanced elements can only take up limited curved shapes. As Note, however, that it is not advisable for a higher-order element to
already discussed in Section 8.1, complex and multiplex elements are extend over more than 30° in areas where the stress gradient is expected
superior in this respect because they can at least follow a polynomial to be high.
shape. However, even these higher-order elements can only approximate Geometrical approximations can be used legitimately to reduce the
the most common non-polynomial curve, a circular arc, as shown in Fig. dimensionality of the problem, thus considerably simplifying the model as
9.1. The maximum radial errors between the quadratic curve and the 90° illustrated in Section 3.2, but it may also be necessary or desirable to
and 45° arcs are 1 per cent and less than 0.1 per cent respectively, while approximate the overall geometry of the shape further. For example, the
the corresponding values for the simplex (straight line) versions are 29 finite element model of the upper portion of a human femur in Fig. 9.2(a)
per cent and 7.6 per cent. The advantage of using one complex element does not represent the geometry of the bone exactly since the profile is
rather than two simplex elements is obvious. Note, however, that it is not very complex. With the other known approximations in the model,
 224 Modelling procedures and results processing
Model validity and accuracy
225
particularly the material properties and loading conditions, the time spent
for an elasticity analysis requires 21 independent t .
to develop a precise copy of the bone is not warranted. Figure 9 .2(b) . reqmres
. material . ma enal properfies, an d
an orthotropic 9 as follows:
shows a model of a spur gear. If the purpose of this analy~is is to examine
the tooth stresses under normal loading conditions, it is not necessary to _l_ -vxy -vxz
model all of the gear, since the rest of the structure will have little effect 0 0 0
Ex Ey Ez
on the particular tooth stresses. / -vvx_l_ -vvz
Bx
0 0 0
Ex Ey Ez
O:t
Material property By -vzx -vzv_l_
0 0 0 ay
ez Ex Ey Ez
Material properties must frequently be approximated in finite element az
Yxy 1 Txy
analyses. Indeed of course there is an accepted degree of variation in the 0 0 0 0 0
Yyz Gxy Tyz
Young's modulus of even the most standard of engineering materials. The
Yzx 1 Tzx
properties of all materials vary with temperature, but fortunately the 0 0 0 0 0
temperature range of most analyses is small enough to permit constant Gyz
properties to be used. Many commercial packages, however, allow the 0 0 0 1
0 0
user to input the variation of material properties with temperature. Not Gzx
only does this mean that analyses can be readily performed at different = [Dri{a} [9.1]
temperatures, but more importantly any temperature variation through
the problem can be reflected in the material properties. For example, A general three-dimensional anisotropic stress element will predict three
thermal stress problems are quite common where a structural solution direct and three shear stresses at a number of locations through the
depends on the temperature distribution. For such a problem the element ( usually the integration or node points). For composite materials
temperature field is solved initially for the given thermal boundary such as that shown in Fig. 9.3, this is generally of little use since the
conditions, and the resulting nodal temperatures are fed into the stress ~ngineer requires the stresses in each layer. Because of the increasing
model to allow calculation of the relevant material properties. importance of composite materials, many commercial finite element
Non-linearities in the material properties, for example plasticity and packages now include dedicated composite elements. With these
creep, are more complex. Such analyses depend on the actual load history elements, the user specifies the properties of the individual layers of the
applied to the model and require an incremental solution technique. An composite (typically up to 32), and then the program calculates the
introduction to non-linear problems is included in Chapter 10. equivalent material property matrix [D]. After the strain in the element
Material property approximations are particularly common for ortho- has been calculated, the detailed lay-up information then allows the
tropic and anisotropic materials, where a material's performance depends program to calculate the stresses on the individual layers of the
on its orientation, as for example in laminated glass and carbon fibre composite. Some software even predicts the failure criteria values (for
reinforced plastics (Fig. 9.3). Inclusion of anisotropy in the finite element example, maximum strain, maximum stress and Tsai-Wu) if the user
method is not difficult; the material property matrix [D] (Eqs 5.75 and supplies the necessary failure stresses.
6.10) must be adjusted accordingly. The usual difficulty, however, is that
the complete set of material constants is not known, or the values are
Loading conditions
variable, for example with strain rate. Note that an anisotropic material
The finite element method converts all pressure and body forces to nodal
values in stress problems, and all incident heat flux and heat sources to
nodal values in thermal problems, as the derivations in Chapters 5, 6 and
s_ clearly demonstrate. The application of pressures (for example) to
simplex elements turns out to be trivial, but for complex elements the
Figure 9.3 Layered composite equivalent nodal distribution is by no means obvious (see Fig. 8.15).
material with anisotropic When a constant pressure is applied over a section of the model it
material properties Bottom
appears just as easy to specify the nodal forces directly rather than e~ter
 226 Modelling procedures and results processing Model validity and accuracy 227

pressure values. However, this can quite easily lead to inaccuracies in the
modelling. Consider the problem shown in Fig. 9.4. At first sight it mig~t
seem reasonable that the uniform pressure in Fig. 9.4(a) should be simply
divided equally amongst the four nodes of the three elements as shown in
Fig. 9.4(c), but this is incorrect. Instead, each node of each element
should receive pL/2, so that the two internal nodes experience pL in total
(Fig. 9.4(b)).
Figure 9.6 (a) Coarse mesh, for
------------+-e e

A similar model with quadratic elements is more complicated. Using

use where distant effects are
the results of Chapter 8, and in particular Eq. 8.68, the distribution of a required (b) fine mesh, for use
uniform pressure over three such elements is shown in Fig. 9.5. where local effects are required (a) I d (b)I d
Body force (and heat source terms in thermal analyses) are similarly
combined in a cumulative way at common nodes.
In reality all loads (and heat fluxes) are applied over a finite region,
although in many cases we assume a point contact. In the filjlite element
method, applying a single point load will cause unreliable results in the
immediate vicinity of the load, and ideally such a concentrated load
should be input over the side of at least one element. (Naturally this does
not apply to one-dimensional (line) elements which do handle single point
Figure 9. 7 Pinned connection
loads exactly.) If the user is not interested in the stresses close to the under axial loading
point contact, and is· only concerned with distant effects, then a single

nodal load can be used (Fig. 9.6(a)). However, where local stresses are of
3pl primary importance, a fine mesh should be used, with the load distributed
pl pl 4 over the elements in a representative manner, as shown in Fig. 9.6(b). As
el: el:
lll
Uniform pressure
pN/m
2 2 a guide, the error in using a concentrated load can be assumed to be

OIHIIHO t 1 1 t 1 acceptable when the distance from the load is at least three and
preferably five times the width of the original distributed load.

Figure 9.4 Application of a

constant pressure over three
(a)
I· 3l ' I

(b)
llll llll (c)
Incorrect
The forces applied to a model under investigation are caused by action
and reaction with other bodies, and for certain problems the extent and
magnitude of the contact effect can be difficult to determine. For stress
analyses, these contact conditions can be awkward to model, and it is
linear elements
frequently necessary to include the contacting body to ensure the load is
applied correctly. For example, to analyse the lug shown in Fig. 9.7 it is
necessary to represent accurately the loading conditions, which are
applied through the pin. The lug clearly experiences some form of
Uniform pressure pressure distribution on its internal surface, but the precise distribution
pN/m will depend on the load, the clearance at the hole and the material
Hmmmnu properties of the two parts. To model the problem in the way shown in
Fig. 9.8 with standard plane stress elements is incorrect because the
I· 3l 'I model assumes a perfect connection between the pin and the lug -
equivalent to the pin being glued in position.
Figure 9.5 Application of a
Ideally a row of gap elements should be used to separate the pin and
constant pressure over three
quadratic elements (a) (b) the lug. A gap element is a special element that most commercial
 228 Modelling procedures and results processing
Model validity and accuracy 229

contour . plot by a post-processor. The ranges of the con t ours are

automatically
. . determined from the maximum and minimum val ues. If t h e
maximum . is .localized and high, all the oontours appear focused aroun d
the pomt, with the rest of the object appearing uniformly stressed. A
Figure 9. 8 Plane stress mor~ representative distribution can be obtained by specifying a
representation of the problem
maximum. contour value, so that the local.ized stresses are ignored , or by
with the pin connected to the
lug p 1ottmg the stresses in a limited number of elements.
. H?wever, to overcome the problem completely the constraint can be
distnbuted in the same way that a concentrated load is distributed. When
an element face is being constrained, then all the nodes on the face
including any mid-side nodes, should be constrained. Note though tha~
two or more inappropriate constraints cm themselves lead to a high
5 Rigid links-- local~z~d stres~ if they do not represent the nature of the boundary
condit10n precisely. If the stresses are not required in the immediate
vicinity of the constraint, then a point constraint will suffice.
Figure 9.9 Modelling of the pin
with rigid links The way in which constraints are applied to a model can alter the
analysis from one problem to another. Consider for example pure tension
of a bar and the finite element models of the problem in Fig. 9 .10. Since
packages include, and is designed so that it transmits compressive but not the problem is symmetric, only half of the bar is modelled, with the
tensile loads. A problem including gaps is solved iteratively, with the symmetry being accounted for by the applied boundary conditions. For
program finding the values of the gap displacements and the control the specified loading, the constraint conditions shown in Fig. 9.lO(a)
forces which solve the problem. The cost of performing an analysis with should be applied. The x constraints prevent the plane of symmetry from
gap elements can be significantly more than a simple static analysis, since moving in the x direction, while the single y constraint restrains the
the problem must be solved several times. (Note that, because of the way centre-line from moving vertically. A common mistake is to fix all the
pressures are applied to the sides of quadratic and cubic elements, gap nodes or the plane in the y direction as illustrated in Fig. 9. lO(b). This
elements should not be applied to elements with mid-side nodes.) prevents the bar from contracting along that plane, and thus transverse
If a highly accurate solution is not required, a much cheaper and
usually acceptable alternative is to represent the pin with rigid links, as y
shown in Fig. 9.9. The links are simply pin-jointed elements that connect
the nodes around the hole to a single node placed at the centre of the pin.
The axial stress distributions in the lug for the three modelling
LX [>

[>

[>
t>

/J.
= Zero displacement
in xdirection

= Zero displacement
alternatives are presented in Plate 2. The analysis times for the different
[>
in y direction
models are also compared, but note that this does not include the time to
-1 1-
generate the models. [>

(a)

Constraint conditions [>

[>
Since the constraints applied to a finite element model develop reaction
[>
forces, they can cause similar effects to those produced by the applied
[> '
loading forces. In particular, a single point constraint may well lead to Figure 9.10 Same finite
[>
high localized stresses which result in misleading stress values. This is element model with different
especially obvious when the results of such an analysis are presented as a applied boundary conditions ' I
(b) (c)
 /
230 Modelling procedures and results processing Mesh design and refinement 231

stresses are induced. No transverse stresses are induced in pure tension,

and in fact the model represents a cantilever bar rigidly fixed at its e?d.
Figure 9 .10( c) is also incorrect. The single y constraint forces the bar to
move about that point rather than the centre-line. The deflections
predicted by the three models are compared in Plate 3.
The layout of a finite element mesh can also produce different results
with the same set of constraint conditions. For example, consider the two
models of a square plate in Fig. 9.11. At a first glance the meshes appear Figure 9.12 Methods of varying
mesh density in two dimensions (a) (b)
equivalent. They both contain eight equally sized triangular elements, (c)
and all the edges are rigidly constrained. However, careful inspection of
Fig. 9.ll(a) shows that the corner elements are completely restrained,
since all of their three nodes are fixed. Thus the model is really a
representation of a smaller plate consisting of just the four inner
elements. Figure 9.ll(b) shows a preferred mesh layour
Imposed displacements are rarely encountered, but when they are
applied to a finite element model they must be specified with a very high
Figure 9.13 Acceptable mixing
degree of accuracy, because even the smallest relative displacements will of elements: (a) simplex and
cause large stresses. multiplex elements (b) complex
and multiplex elements (a)
(b)

9.3 Mesh design and refinement

The finite element modeller must have a sound understanding of the The sensitivity of a mesh can be varied in two ways. Either the mesh
physics of a problem to allow him to design a representative and efficient density can change from one part of the model to another, or the
finite element mesh. Analysing a problem by the use of a constant mesh (interpolation) order of the elements can be varied. In a well constructed
density is attractive from the point of view of generating the mesh, but finite element model there may be several changes in mesh density and/or
very inefficient and wasteful of resources. The mesh should reflect the in the degree of complexity of the elements. Examples of methods of
expected changes in the field variable. Fbr example, for an elasticity varying mesh density are introduced in Section 3.6; however, these are
problem the user should estimate which areas will experience high stress primarily one-dimensional in nature. Varying the mesh in two and three
gradients and which will be uniformly stressed, and design the mesh dimensions can be difficult, particularly if close attention is paid to
accordingly. minimizing element distortion. Figure 9 .12 shows examples of methods of
changing mesh density in two dimensions.
Note that one of the meshes uses both rectangular and triangular
elements. This is quite acceptable providing that continuity is maintained
at the element boundaries, that is, the field variable has the same form of
distribution along the edges of connecting elements. Figure 9.13 shows
mixing of simplex and first-order multiplex elements, and complex and
second-order multiplex elements. It should be clear that elements with
mid-side nodes should only be connected to other elements with mid-side
nodes (unless special transition elements are available).
The element combinations shown in Fig. 9.14 are not advised. The
Figure 9.11 Different meshes
mesh in Fig. 9.14(a) connects an edge with a linear variation to one with a
of the same problem with the quadratic variation. Since the side of the linear element will remain
same boundary conditions (a) (b) straight, a gap could open up in the model as illustrated. A similar effect
 232 Modelling procedures and results processing
Mesh design and refinement 233

I~ -
Gap

I I l l l l
l Abrnptchaoge
not advisable

{a)

Figure 9.14 Unacceptable

element combinations, and the
{b)
Figure 9.16 Variation from a
coarse mesh density to a fine
mesh density should be gradual I I I I lII Smooth change

resulting displaced shapes \

In areas of the model where a coarse mesh must be refined to a fine

Transition element mesh or vice versa, an abrupt change in the element size should be
avoided, since any errors in the coarse elements will be transferred into
the fine mesh. The change from coarse to fine should be graduated, as

Figure 9.15 Use of a transition

element
D
0 = 'unused' mid-side node
illustrated in Fig. 9.16.
Significantly different sized elements should be avoided in a finite
element model, as the resulting differences in the element stiffness
matrices can lead to ill-conditioning of the global stiffness matrix. Since
the element matrices are functions of the dimensions of the elements,
very large and very small elements will lead to a large difference in the
order of the terms in the stiffness matrices. Round-off errors, particularly
I , on smaller (low-precision) computers, can then become significant and
will be seen with two linear elements connected to the multiplex element, result in an unreliable solution. Most programs check for ill-conditioning
as in Fig. 9.14(b). Although all the nodes are connected, the by comparing the largest and smallest terms in the stiffness matrix, but
displacements still lead to gaps in the model. other indications of less serious discrepancies can also be detected in the
If it is necessary to connect elements with different order interpolation results as discussed in Section 9.6. As a rough guide, in the absence of
functions, either transition elements must be used or a constraint more detailed guidelines, element lengths should not vary by more than
equation must be imposed on the mid-side node(s). A transition element 100:1 in a model, i.e. the ratio of areas should not exceed 10 000:1.
is shown in Fig. 9.15. It is used to join a first-order multiplex element to a Large differences in material properties can also lead to problems in
second-order element. The implementation of such an element is not that the stiffness matrix for similar reasons to the size effects. Again the ratio
difficult. In this example the transition element can simply be an eight- of terms in the stiffness matrix will become unsatisfactory, leading to
noded rectangle which forces the mid-side node to lie on a straight line possible ill-conditioning of the equations.
between the corner nodes. This ensures that no gap opens up in the The way in which a finite element mesh is constructed can significantly
model and continuity is maintained. Such transition elements are usually alter the results produced from an analysis. The two meshes in Fig. 9 .17
available in commercial packages, and the user is unaware of the extra have exactly the same number, type and size of elements. They only
calculation involved. However, because the program imposes a certain differ in the way that the elements are laid out, and yet the mesh in Fig.
displacement on the mid-side node, these elements should not be used in 9.17(b) will produce more accurate results. This is because the first mesh
parts of the model which are of particular interest. A constraint equation does not repeat the axes of symmetry present in the problem, whereas the
has precisely the same effect as the 'unused' mid-side node, except that second mesh does.
the user specifies the relationship between the mid-side and corner nodes So far in this section the discussion has concentrated on the basic 'solid'
manually. element types, such as those for analysing two-dimensional plane stress or
 234 Modelling procedures and results processing
Mesh design and refinement 235

_______,_______,,, - I

Figure 9.19 Connection of

plate and solid elements (a)
Figure 9.17 Two apparently
similar meshes, but mesh (b) is
more accurate (a) (b)
th~n the connecti~n will be pin-jointed, allowing rotation about the edge
(Fig. 9.19(b)). This can be overcome in two ways. Constraint equations

~
can be supplied by the user to relate the rotational degrees of freedom to
the tr~nslations of the adjoining solid elements. Alternatively, an

L 7 y approximate but usually satisfactory answer is to continue the plate

Plate element
V
z
)--x Solid brick element
V
elements over the bottom face of the solid region, as shown in Fig.
9.19(c). It is advisable to extend the plate elements over at least two solid
eleme~ts as shown in the figure, but by adopting this technique the plate
and bnck elements can easily be connected. It is possible to mix other

Figure 9.18 Nodal degrees of

freedom used in plate and solid
elements
ez
w
~ u

w
}---, elements in the same way, providing that any nodal incompatibilities are
treated with equal care.

Mesh refinement

The accuracy of a model can be improved in two ways. Either the

strain problems. However, there are a number of other more sophisticated ~e?metry can be divided into smaller elements, so that the mesh density
element types available to the user which can be used in conjunction with ts mcreased, or the accuracy of the elements themselves can be improved
these standard elements, if care is taken with the development of the by using higher-order interpolation functions. These two techniques to
model. For example, most commercial packages include beam and plate improve a model's accuracy are known as h-refinement and p-refinement,
elements, which are formulated to resist bending as well as tensile loads respectively. The latter appears the simpler of the two methods for the
(see Section 8.5). The most general form of these beam and plate user of a finite element package, but in practice commercial programs
elements in three-dimensional space has six degrees of freedom per node; only offer linear and quadratic (and occasionally cubic) elements, so that
that is three translations and three rotations, while a three-dimensional the opportunity for p-refinement is limited. Also, increasing the element
solid element has three (translational) degrees of freedom per node (Fig. order from linear to quadratic, for example, leads to a significant increase
9.18). Thus the nodes of the solid element types are essentially pin- in the computer time needed to analyse the structure. To confirm the
jointed, and cannot transmit any rotational effects. Because of the convergence of a model by progressive h-refinement of the mesh all
rotational degrees of freedom of the plate elements, they can be used to previous meshes should be contained in the finer meshes. This is
model out-of-plane effects. generally referred to as a reducible net, and an example of such a mesh is
It is quite conceivable that a problem requires the use of both solid shown in Fig. 9.20.
elements and plate elements, and indeed they can be used together if the As an example of increasing mesh density, consider the analysis of the
different nodal degrees of freedom are taken into account. For example, cantilevered beam presented in Fig. 9.21. This problem is frequently
in Fig. 9 .19( a) the plate (p) is connected to the solid region (s). If the analysed, but is a very convenient example to illustrate and compare
plate elements are simply connected to the edge nodes of the solid part, the performance of finite elements. The beam can be assumed to be
 236 Modelling procedures and results processing
Mesh design and refinement 237

·O I I ·I I I
of the beam has converged, it does not mean that the whole model has
converged.) The stresses do not converge as quickly as the displacements,
,J because they are not approximated to the same degree in the elements.
The convergence of the bending stress at point B (half-way along the
beam) is shown in Fig. 9.23.

I ,,;mm
If the cantilevered beam is examined with elements using different
16
interpolation functions, then the advantages of the higher-order elements
Figure 9.20 Reducible meshes
for examining convergence
,J I I I I 1 I I I are immediately obvious. For example, Fig. 9.24 shows the results with
linear, quadratic and cubic interpolation functions using two-, four- and
eight-element meshes.
It must be remembered that the higher-order elements do require

B
Stress error (%)

0
E= 200 GPa
u = 0.3

-10
D
Figure 9.21 Cantilever beam I

carrying a concentrated load

200 mm
•I -I j1Q mm

Deflection error (%)

0 Figure 9.23 Bending stress at

point B on the cantilever beam

D of Fig. 9.21 when modelled

with an increasing number of
Number of elements
four-noded elements

Deflection error (%) Element type

Figure 9.22 Deflection error at

30
D
point A on the cantilever beam
of Fig. 9.21 when modelled
with an increasing number of 0 10 20 30 20
D
four-noded elements Number of elements
D
two-dimensional, and a classical solution is readily available. The error in 10
the deflection of point A is examined in Fig. 9.22 when the beam is Figure 9.24 Deflection error at
modelled with linear four-noded rectangular elements. The error point A on the cantilever beam
of Fig. 9.21 when modelled
decreases as the number of nodes (and elements) increases, as expected. with elements of increasing
(Note, however, that just because the deflection at one point on the end complexity O 2 elements 4 elements 8 elements
 238 Modelling procedures and results processing Element distortion 239

significantly more computer time and resources for their solution. As an performance of different element types. Both triangular and quadrilateral
indication of these extra costs, the solution times for the series of model's elements are represented in Fig. 9.26. It is not possible to draw definite
presented in the previous figures are summarized in Fig. 9.25. The times guidelines from the results of just one problem, but it is clear that the six-
have been normalized for comparison purposes by assuming that the time noded triangle and eight-noded quadrilateral are significantly better than
for the simplest linear mesh is one umt. The times to solve the qmi.dratic the simplex triangle and four-node quadrilateral.
and cubic meshes are significantly greater than for the linear models.
However, if models with equivalent errors are compared, the costs are
9.4 Element distortion
not quite so different. For example, the two-element cubic mesh gives
similar displacement results to the sixteen-element linear mesh, and the The finite element method approximates the distribution of a variable
ratio of the costs is 1.5:1.6 (cubic:linear). through a·component by assuming a known distribution of that variable in
The simple beam bending problem is also ideal for comparing the each element. However, as the elements become distorted, so errors are
introduced into the elemental approximations. This section is concerned
with the type and effects of element distortions, and discusses the checks
Normalized solution time
that most commercial programs make on the user's model to identify any
5

D 'D badly shaped elements. Guidelines on good element shapes are also
introduced, but it is difficult to produce definitive rules since the effects of
4 element distortion depend on many factors. Higher-order elements are
less sensitive to element distortion, and the degree of allowable distortion
3 depends on the stress (or heat flow) gradient experienced by the element.
D The smaller the gradient, the more the element can be distorted.
Element distortions relate to the skew, taper, warpage and aspect ratio
of the faces and sides of the elements. In addition, incorrect positioning
of the mid-side nodes of the higher-order elements and unreasonable
internal angles of the elements indicate distortion. Examples illustrating
Figure 9.25 Solution times for the common forms of element distortion are shown in Fig. 9.27; where
various types and numbers of 20 40 60 appropriate they can also be referred to element types other than those
quadrilateral elements Number of elements shown. Clearly an element may well exhibit more than one of these
indications when it is distorted.
The type and number of element checks offered by finite element
Deflection error (%)
packages vary considerably from one package to another. The most
0 ~:::::=------::..-----=;..-=--- D
common checks are based on
(a) aspect ratio
D
/ /
I ,,"' (b) internal angles
I /
-10 (c) warp age angle
II/
I ---~ (d) mid-side node position
I I (e) value of the Jacobian.
-20
I ........
---- D The aspect ratio of an element is the ratio of the length of the largest side
----------~ of the . element to the shortest. For rectangular elements it is easy to
observe the aspect ratio, but for quadrilateral elements which are skewed
Figure 9.26 Deflection error at
or tapered, and for triangular elements, calculation of the aspect ratio is
point A on the cantilever beam
of Fig. 9.21 for different types 10 20 30 40 50 60 not so obvious. The examples shown in Fig. 9.28 show the ways in which
and numbers of elements Number of elements the ratio is usually calculated. It turns out that an equilateral triangle (i.e.
 240 Modelling procedures and results processing Element distortion 241

AR= t!2
h,
~'
h2 AR='!]
hs

£2;:.
Mid-side node off-centre Mid-side node off-line

u_ a a Taper Skew
Figure 9.28 Methods of
calculating the aspect ratio
(AR) of triangles and
quadrilaterals
f:i3, AR= 0i
hs
AR=~
h,o

D 45° <a< 75° 30° <a< 90°

_t_o FDo D
Figure 9.29 Guidelines for
45° <a< 135° 30° <a< 150°
limits of internal angles of
elements

Aspect ratio Warpage 4 4

3 3

Figure 9.30 Guidelines for 6

6
limits of warping of element
Figure 9.27 Indications of a> 10°: use 2 elements
faces a< 10°
element distortion Internal angle

distortion. Allowable limits for the angles depend on the field variable
distribution and the order of the elements under consideration, but
a 'perfectly' shaped triangular element) has an aspect ratio of 1.15, while guidelines are shown in Fig. 9.29.
a square quadrilateral element clearly has an aspect ratio of unity. As a Warping occurs when the nodes of a quadrilateral element (or face o:f a
guide, aspect ratios of less than 3 give accurate results, while ratios solid element) do not all lie in the same plane. As a guide, the warpage
between 3 and 5 are generally acceptable, but aspect ratios greater than 5 angle should not exceed 10°, measured from the normals of the two faces
should not be used unless they occur in non-critical regions of the model. as illustrated in Fig. 9.30. If the warping is greater than this, then two
A check on the internal angles of elements is a simple facility for finite triangular (or prism) elements should be used in place of the quadrilateral
element packages to provide, and is a very useful indicator of element (or brick) element.
 242 Modelling procedures and results processing Results processing 243

The position of the mid-side node can affect the accuracy of the 9.5 Results processing
solution. Ideally a mid-side node should be placed mid-way between the'
The finite element method solves for the nodal displacements l or
corner nodes. As the node moves away from the centre point and
temperatures), and from these the element strain and stresses ( or heat
approaches the quarter position of the side, then the errors increase, until
flows) are calculated. The volume of output from even the smallest finite
at the quarter position a singularity occurs. In practice, to minimize the
element model is large, and evaluating the performance of a component
likelihood of unpredictable results, the mid-side node should not be
from long lists of numbers is very difficult; hence graphical presentation
placed more than one-eighth of the side's length from the centre position,
of the results is vital for most analyses. Examination of stress and
as illustrated in Fig. 9.31. Placing such a limit on the position of the mid-
displacement plots is also one of the quickest and easiest ways of checking
side node implies that the element side should not model an arc of more
that the 11\0del is constructed correctly, and is invaluable for locating any
than 58° (Fig. 9.31). However, in areas with a high stress (or heat flow)
errors. The range of facilities offered by the majority of finite element
gradient, it is advisable to model a 90° arc with at least three such
packages is large. There are some sophisticated options for examining the
(quadratic) elements.
output, for example viewing the model from any angle and viewing
1
sections through the model. The general capabilities of post-processors
Maximum} are discussed in Chapter 12.
allowable L
The displacements predicted by a finite element model will usually be
location 4\ b { Recommended
,1',,\-:----,~,( accurate even with a coarse mesh. However, as the results of Section 9 .2

.
2 1area locationareau show, the convergence of the displacements does not mean that the

0
stresses have converged and are accurate. A plot of the deformed shape
~ : (_/\ \
superimposed on the undeformed geometry is usually the first data to be
\ /
' - - ..- I examined. It gives the user an instant feel for the general behaviour of

~
the component, while contour and vector plots of displacements give
5 6 7 L more detailed information. Displacement animation is also offered by
Figure 9.31 Guidelines for mid- many programs, and simulates how the component behaves under
site node location < 58°
,', (l(
increasing load.
For simplex elements and their linear variation of displacement, a
Element distortions can be related to the Jacobian. For example, if the constant stress field is predicted through the element, but for complex
mid-side nodes of a complex triangular element are placed centrally and multiplex elements the stress varies in a linear or quadratic manner.
between the corner nodes then the determinant is constant over all the The element matrices of these higher-order elements are calculated by
element, but as a mid-side node moves away from the central position the numerical integration, and, after solution of the system equations, the
Jacobian becomes variable, until a node at the quarter position causes the stress is usually only calculated at the integration points. These stress
determinant to equal zero (see Example 8.2). Other indications of values are the most accurate in the element, but not the most useful.
element distortion such as aspect ratio and skew can also be quantified Nodal stresses, particularly those at the corner nodes, are preferred and
using the Jacobian. Some commercial packages check the Jacobian at must be estimated by interpolating from the Gauss points, adding one
several positions in the element, usually at Gauss points and occasionally further approximation into the procedure. This extrapolation of the
at corner nodes. A general distortion index can be devised for a particular values can lead to unreliable results at points close to local restraints or
element by calculating the ratio of the minimum Jacobian to the average load inputs.
Jacobian. Using such a scheme, a distortion index of 1 indicates a The stress output from an element can be referred either to its local
perfectly shaped element. Values of the index of 0.6 to 1 are generally coordinate system or to the global system. The user invariably has the
acceptable, while ratios of less than 0.4 should be avoided. choice of switching from one to another, but different elements have
 244 Modelling procedures and results processing Model checking 245

different default output systems. For example, plate element stresses stress occurring in the model, the model can be considered to have
need to be output in local coordinates to be of any use, since the local/ converged.
axes will lie along and perpendicular to the face of the element. The For a general three-dimensional stress analysis, the basic stress output
stress in the global x direction is of no use if the plate lies at 45° to the x will consist of three direct and three shear stress fields, and from these
axis. The same is obviously true for beam elements, whereas general solid can be calculated the principal stresses and the Von Mises stress. The
elements usually require global stresses. stresses can be presented to the user in a number of ways, but contour
The use of the global or local axes for stress output has implications for plots are the most popular. Vector plots of principal stresses are available
the stress averaging which must be carried out on the element stresses to with some packages; these not only represent the relative magnitude of a
obtain a stress picture for the whole model. The simplest approach is to principal stress by the length and possibly colour. of the ar~ow, ~ut also
use a straightforward average of the nodal stresses whenever two or more include the 'principal stress direction (Plate 4). This feature is particularly
elements connect to the same node. However, this does not take account useful for examining the load flow in a component, and for displaying the
of any size disparity of the connecting elements, and consequently some effects of stress raisers in a problem.
programs weight the nodal values in favour of the larger elements. The The discussion so far has concentrated on the presentation of the
process of averaging the nodal stresses is generally acceptable at interior results of stress analyses. Similar comments can be made about heat
nodes, but is found to be less reliable at the boundary or surface nodes, transfer and other field problems, although because a thermal analysis
and as a result these stresses should always be treated with caution. only solves for a scalar quantity, the amount of output data and necessa_ry
Stress averaging across boundaries of different material properties post-processing is markedly reduced. While simplex elements predict
should also be avoided, since the different materials can quite legitimately constant heat flows through the elements, complex and multiplex
experience different stresses. Stress averaging across a boundary effec- elements produce linear and quadratic variations. As with the stress
tively smooths out the material interface. calculations the elemental heat flows are evaluated at the Gauss points
The state of convergence of a model can be examined by comparing the and extrap~lated to the nodes, where they are averaged. Graphical
stresses predicted by adjacent elements for a common node before stress presentation of the results then includes contour plots of the temperature
averaging. As the model converges, so the elements should predict the distribution and contour and vector plots of the heat flows.
same common nodal value. An example of this is shown in Fig. 9.32,
which presents the nodal stresses in some of the elements of the beam
9.6 Model checking
bending problem discussed in Section 9.3. Note that the nodal stresses do
show some variation, but the average values are reasonable. In general, if The sophistication of commercial finite element packages allows the user
the difference in nodal values is less than 10 per cent of the maximum to construct complicated models with relative ease, and the excellent
graphical output offered by the majority of the systems p~oduces very
convincing results, so that there is a great tendency to believe that the
output from an analysis is always correct. However, it is all too easy to

D{ ~:m}{~:m}[J
Average Theory
l -0.597 0.6
make a mistake in the development of a model or to apply the load
incorrectly, producing meaningless results. For this reason, every finite

•
d -0.006 -0.106
b element analysis should include a detailed examination of the model to
f
-~:5J~ }{-~:~~b
{-0.007 } confirm that it has been constructed correctly, and some verification of

{ [J -0.119

~:~~~ }
~:5~g }{-0.018
0.277 0.3 the results to prove that they are reasonable.
The majority of checks on the construction and loading of the model

Figure 9.32 Individual element

D -0.071

-0.014} {-0.014 }
{ -0.048
-0.076
-0.048
-0.188
d
can be performed visually in the pre- and post-processo~s. Progra~s
usually offer the facility of viewing from any angle and location, allowmg
the user to rotate the model to check that the model is constructed

n correctly. This can be made easier by slightly shrinking the elements,

0.0 0.0
stresses for adjacent elements
in a simple model, and the
Nodal stress
output
r----i {
I e I -0.006
~:m }{~:gJ~ }
-0.106
which will highlight any 'holes' in the model where elements have been
inadvertently omitted, as illustrated in Fig. 9 .33(b). Similarly, boundary
resultant direct stress ax
 246 Modelling procedures and results processing Model checking 247

accurate enough. The degree of validation may well depend on the

previous experience of the modeller, but analyses of similar but simpler
problems can give invaluable insight into the behaviour of a more
complex problem. For example, the effect of assuming isotropic material
properties for the orthotropic bone in the model of the natural femur in
Fig. 9.2(a) could be examined by simple models using concentric
cylinders rather than complex three-dimensional geometries.
Assuming that the model is a valid representation of the problem, then
the accuracy of the solution should be checked where possible. The
convergence of the model can be examined by h- or p-refinement
techniques (see Section 9.3); these appear the most attractive methods,
but are difficult to implement in practice. Consequently, it is common to
compare the results with answers obtained by approximate hand
calculations or by experimental observations, and one or preferably both
Figure 9.33 (a) Standard
element plot (b) plot with comparisons should be performed to confirm the results of every analysis.
shrink facility, showing missing A detailed examination of the output from a finite element run should
element (c) boundary line plot, also be undertaken to further identify any modelling errors or
showing break in model (a) (b) (c) inconsistencies. Defects in the model might show in the deflection or
stress plots with unexpected steps or changes in gradient, but clearly for
line plots are useful to identify regions ·Of the model which are not the user to recognize such unusual results he must have a sound
connected together in the correct way. An example of this is shown in understanding of the engineering of the problem. There are several
Fig. 9.33(c). The model appears to be constructed correctly in the standard fundamental checks that should be carried out on the output to confirm
and shrunken element plots (Figs 9.33(a) and (b)), but the boundary line that the model is reasonable. These include:
plot shows an unexpected boundary line where part of the element is not (a) Volume and mass checks: some programs calculate the volume
merged correctly. This model would execute normally, but would produce and/or mass of the model, and this is useful to confirm that the
unexpected distortion or stress plots, which ought to be detected in the geometry is represented correctly.
post-processing phase. Although a trivial example, this emphasizes again (b) Reaction force checks: the sum of all the reaction forces should
how important it is for the user to understand the basic engineering of the equal the applied forces.
problem to detect any such modelling errors if they are not detected in (c) Model equilibrium: the sum of the forces and resultant moments
the pre-processing phase. Another useful facility for three-dimensional acting on the problem should equal zero.
models is the ability to produce hidden line plots (Plate 5). These can (d) The results should be consistent with the problem formulation. For
take significantly longer to produce, but are invaluable for checking example, for a linear static analysis the displacements should be
models where the geometry and meshing are complex. 'small', and the materials should not exceed their elastic limits.
Elements which are grossly distorted should be obvious to the user, but (e) The results should be symmetric for problems with symmetry.
in any case the software usually checks for distortion and warns the user (f) Some software confirms that the derived displacements multiplied
accordingly, as discussed in Section 9.4. Depending on the user by the stiffness matrix do indeed equal the applied forces (within
friendliness of the program, other general checks on the input data may limits).
also be performed; for example, unused nodes or duplicate elements may
be reported. It is worth noting that the majority of programs automatically scale
Many programs will plot the constraints and loads applied to the displacement plots before they are plotted on the screen; thus incorrectly
model, allowing confirmation that they are applied in the correct location constrained models producing excessive displacements can appear
and direction. reasonable at a first glance. Not only the form but also the magnitude of
The final answer produced by the analysis depends on the validity and the displacements should be checked.
accuracy of the model as previously discussed in this chapter, and the user
should give some consideration as to whether the model is valid and
248 Modelling procedures and results processing

Before the system equations are solved, most commercial programs

make some checks on the condition of the stiffness matrix, to confirm that
it is suitable. The two most likely problems are singularities and ill-
conditioning of the stiffness matrix.
Ill-conditioning occurs when there is a large difference in the
magnitude of the terms in the stiffness matrix, making the solution 10 Further applications of the finite
susceptible to round-off errors. Programs usually check for ill-conditioning
by comparing the largest and smallest terms in the stiffness matrix. If the
element method
ratio of the magnitudes typically exceeds 1 x 108 , a warning is issued.
There are several possible causes of ill-conditioning, but the most
common is a large difference in the stiffness of parts of the model. This
may be as a result of large differences in element size, and/or material
properties in a particular model, or even large stiffness differences in a
single element. A common example of this latter condition occurs when
thin shells are modelled with solid elements. Such thin shells should be 10.1 Introduction
modelled with special thin shell elements (which ignore transverse shear
The previous chapters of this book have considered linear static and
effects). Ill-conditioning leads to an overall decrease in the accuracy of
steady state applications, but the finite element method can also be used
the solution, and can usually be detected by simple reaction force checks.
to analyse non-linear static, dynamic and transient problems. The range
It is generally not a problem with very accurate solution procedures.
of possible applications is vast and impossible to cover in detail in a single
Singularities occur when an indeterminate or non-unique solution is
book, but this chapter briefly introduces the types of problem that can be
possible. If a singularity is detected during a solution the analysis may
analysed, and discusses some of the solution techniques. Examples of the
abort, or possibly continue with a warning message advising of negative
range of problems that can be analysed are given in Chapter 1, but of
or zero main diagonal terms; if the analysis continues, the resulting values
necessity this chapter concentrates only on the areas of solid mechanics
of field variable will be excessively high. Singularities can be caused by a
number of conditions, but the most common are: and heat transfer.
The application of the finite element method to the solution of non-
(a) An unconstrained structure, where the complete model or any part linear static, dynamic or transient problems is certainly more complex
connected through non-linear elements (such as gap elements) is not than that to the linear and steady state problems discussed so far, and the
adequately constrained. All models used to represent static use of commercial finite element software for the analysis of such
problems must be adequately constrained, so that both rotational problems usually requires specialized training. Because the problems are
and translational rigid body motions are prevented. non-linear or time dependent, their solutions invariably require more
(b) An unconstrained joint. For example, two collinear horizontal spar than a single step. They may involve a load step or time step increment,
elements will have an unconstrained vertical degree of freedom at but fortunately most commercial programs include routines to optimize
the joint. the stepping, so i.il.at the solution can be reached in the minimum number
(c) An incomplete specification of real constants. For example, of iterations. Notwithstanding these facilities, the types of problem
omission of some of the thicknesses at the nodes of shell or plane introduced below usually demand a significant increase in computer time
stress elements will lead to a singularity. and resources.
(d) Incorrect material properties. Obvious examples of this are zero
elastic modulus or thermal conductivity, and a Poisson's ratio equal
to 0.5.
10.2 Non-linear static elasticity problems
Non-linear static problems are those where the stiffness matrix [k] and/or
Owing to the limited word size on all computers, some singularities may
the force vector {F} are functions of the nodal displacements { U}. This
appear as ill-conditioning of the matrix, allowing the solution of the
may occur as a result of non-linearities in the material properties, the
equations. However, such ill-conditioning results in large rigid body
geometry, combined effects (material and geometry), or the contact
motions with relatively accurate reaction force checks.
conditions of the problem.
249
 250 Further applications of the finite element method Non-linear static elasticity problems 251

10.2.1 Material non-linearity

(a)

VVV VVVV VVV I A linear static analysis assumes that the material is within its elastic limit
and that it follows a simple linear stress-strain curve. Problems where thi~

I
1 1 1111111 is not the case include those exhibiting plasticity and creep of the
material. An example of an elastic-plastic analysis is shown in Fig. 10.1.
The problem is a cylinder under an internal pressure loading which is
sufficient to cause the complete thickness to become plastic. Plots of the
(b) Radial stress (MPa) Axial stress (MPa) stress distribution are presented for increasing pressures, showing the
150 development of the plastic yielding through the cylinder wall thickness.
For such plasticity problems an idealized stress-strain curve must be
supplied to the finite element program, and is usually approximated in a
100
bilinear or multilinear way, depending on the particular material, as
shown in Fig. 10.2. The elastic-plastic behaviour of the material is derived
50 from various yield criteria and hardening rules. For example, yielding
-150 might be based on the Von Mises criteria, with the plastic strain
0 increments calculated using the Prandtl-Reuss flow rule, and the plastic
-200 deformation described by either an isotropic or a kinematic hardening
-50 model. The loading is applied incrementally to the model, and within
-250
each load step an iterative solution is performed until the stress-strain
values at the Gauss points are correct.
-3001':"o-----'12--1...L4_ _1.,_s_ _1L8_ __J20 - 1001~0-~1-2_ ___._14--1-'-s--1'-8-__J
Creep occurs when the loading is applied over an extended period
Radial position (mm) Radial position (mm) causing a permanent deformation, even though the induced stresses are
below the yield stress of the material. The form of a typical creep curve is
shown in Fig. 10.3. It is divided into four regions, namely an elastic
Hoop stress (MPa)
section governed by Hooke's law, and then the primary, secondary and
tertiary creep stages. The tertiary stage is usually neglected because the
400
component is close to failure. Primary and secondary stage creep are
governed by equations of the following forms:
Line Load
(% of maximum) 300
a 55
250
b 72
CT
C 85 200 CT
d 94
e 98 150
Figure 10.1 Elastic-plastic f 100
analysis of a thick cylinder: (a) 100
finite element model of thick a= all elastic
cylinder with fixed ends (i.e. no f = all plastic 50
axial strain), using Multilinear
0 Figure 10.2 Idealized
axisymmetric elements (b) 10 12 14 16 18 20 stress-strain curves for
stress plots
Radial position (mm) plasticity analyses <-----------E
 252 Further applications of the finite element method Non-linear static elasticity problems 253

Displacement (µm)
8

6
(a)

Creepl
strain 2

t
Elas.tic
strain I
O L___ __J_ _ --12_ ___L3_ __J4
Figure 10.3 Typical creep curve
(b) Time (hrs)
Stress (MPa)
primary creep fleer = C1 <T f e -c,,JTflt
2 3
100 --- = No creep
secondary creep fleer = C5<T e -q/Tflt
6 [10.1) - - - - = With creep
...._
...._
...._ ...._
where c1 to C7 are constants, a is the equivalent stress, tis the time at the 80 ...._
end of the iteration, and Tis temperature.
Creep problems are solved by an incremental technique similar to that 60
used for plasticity. Figure 10.4 shows the creep of a cylinder similar to ---
that in Fig. 10.1 when subjected to a constant internal pressure. Note that 40
---
--- --
the internal and external radii increase as expected, but also that the Axial
Figure 10.4 Creep analysis of a
internal stress distributions are quite different from the static solution. thick cylinder: (a) finite 20
Some finite element programs also have the capability to model element model of thick cylinder
swelling, which is the volumetric enlargement of the material due to with fixed ends (i.e. no axial
0
neutron bombardment or other effects. The swelling strain rate might be strain), using axisymmetric
elements (b) radial deformation
a function of the temperature, time, neutron flux level or stress. of the inner and outer radii -20
Hyperelastic materials such as rubber have linear properties but can with increasing time
experience large elastic strains. Consequently they require a large- (c) comparison of stress
displacement analysis and are included in the following section. distributions through the 12
cylinder for models with and Radial position (mm)
without creep (c)
10.2.2 Geometric non-linearity
A large-displacement analysis is required when the structure's displace- (such as rubber) which can elastically accommodate high strains. The
ments become so large that the original stiffness matrix no longer permanent material deformation requires non-linear material properties
adequately represents the structure. Large-displacement problems may be as discussed in the previous section, and thus this class of problem has
divided into two areas: those which result in small (element) strains, and combined material and geometric non-linearities. Such problems are
those resulting in large finite strains. The small-strain condition implies examined in Section 10.2.3.
that the material remains elastic, and consequently that the structure In large-displacement problems, care needs to be taken with the
returns to its original configuration when the loading is removed. An applied loading as the geometry changes, because a nodal load will not
example of a large-deflection (small-strain) analysis of a cantilever beam generally rotate with the node, while surface pressures will follow the
is shown in Plate 6. Those elements experiencing large strains undergo model as it moves (Fig. 10.5). Body forces continue to act in their original
permanent deformations, with the exception of hyperelastic materials directions. To assist the user some programs include the option of
 254 Further applications of the finite element method
Non-linear static elasticity problems 255

where [ka] is the geometric (or initial stress) stiffness matrix and is a
Nodal
load II======= function of the state of stress in the structure. The equation is clearly non-
linear because the state of stress depends on the displacements. The
equations are solved iteratively. In the first iteration [ka] is ignored and a
normal static analysis is performed, and in each subsequent iteration [ka]
is calculated from the state of stress of the previous iteration.
Surface (Convergence usually requires fewer than three iterations.)
pressure Stress stiffening is important in structures weak in bending resistance,
held in place by tensile (or compressive) stresses. A trivial example is a
horizontal strut, pin-jointed at one end and simply supported at the
other, subjected to a horizontal 'tensioning' force, as shown in Fig. 10.6.
Body
force If the strut is loaded by a vertical force at its mid-point, then its lateral
stiffness is dependent on the horizontal force. The stiffness is increased by
the presence of a positive tensioning force, but decreased if the horizontal
Figure 10.5 Load directions
force is compressive. Other examples where stress stiffening is important
during large-deflection analyses
include membranes and cables.

defining follower or non-follower nodal loads, where the former is Stiffening

~force
automatically reoriented during the analysis to maintain its position
relative to the node.
::::::U -a
If a structure undergoes a large displacement due to an applied load Figure 10.6 Example where
then, since its geometry changes, its stiffness matrix needs to be adjusted stress stiffening is important No stiffening Stiffening
accordingly. There are two ways in which this can be achieved. The first
approximate method assumes that the size of the individual elements is It is quite conceivable that large-displacement problems can themselves
constant, so that a reorientation of the elemental stiffness matrices due to experience stress stiffening effects, in which case the geometric stiffness
the elements' rotation and/or translation is all that is required. The matrix must also be included in the large-displacement solution.
second method is more accurate, and recalculates the stiffness matrices of
the elements after adjusting the nodal coordinates with the calculated
10.2.3 Combined material and geometric non-linearity
displacements. In both cases an incremental solution is performed,
usually by the Newton-Raphson method. If the spatial motions are not Problems requiring both material and geometric non-linearities are
large then it is possible to apply the load in a single step with several probably the most demanding type of analyses that can be undertaken by
iterations, but for large motions the load is best applied in smaller steps. the finite element method, and include metal working processes such as
Materials with hyperelastic properties require the nodal coordinates to forming, rolling and extrusion. An example of this type of problem is
be updated during their loading. Rubber is the most common example of shown in Plate 8.
such a material, but certain plastics can also undergo very large elastic One of the most difficult parts of modelling large-deformation analyses
strains. Plate 7 shows the deflection of a rubber sheet with a central hole. is the implementation of the boundary conditions, which can include ~or
Stress stiffening ( or geometric stiffening) is also a geometric non- example various contact conditions and sliding along curved surface~ :"1th
linearity; it is the stiffening (or weakening) of a structure due to the state and without friction. The facility to model non-linear boundary cond1t10ns
of stress. The system equations for such problems are with non-linear materials and geometries is found in only a few very
specialized finite element programs, which require considerable training
([k] + [ka]){U} = {F} [10.2] and expertise to use effectively and reliably.
 Dynamic problems 257
256 Further applications of the finite element method

Force Force
10.2.4 Non-linear contact conditions
The finite element method assumes a perfect connection between two
parts of a model unless special non-linear elements are used. There are
two types of non-linear contact elements most commonly available
namely tension-only and gap (or compression-only) elements. Fo;
~ Critical buckling
load
example, a short cable could be modelled by a tension-only element. Gap
elements were briefly introduced in Section 9 .2 to represent the contact
between a pin and a lug. Usually finite element programs contain two- Figure 10. 7 Load-deflection
graphs defining buckling: (a)
and three-dimensional versions of gap elements. The elements can idealized behaviour (b) actual Deflection Deflection
transmit a frictional force as well as a compressive force and some behaviour {a) {b)
elements may also permit relative sliding of the two contacti~g surfaces.
The initial conditions may be specified as either an initial gap between the the load-deflection graph being similar to that illustrated in Fig. 10.7(a),
two parts of the model or a preload, implying that the two surfaces are
it is more likely to be of the type shown in Fig. 10.7(b). Thus a sudden
pushed against each other.
buckling is unlikely to occur. Instead of using Eq. 10.3, buckling
All non-linear contact conditions require an iterative solution. After
problems should be solved by a large-displacement static analysis,
each iteration, the state of every element is examined and adjustments
possibly with stress stiffening as outlined in Section 10.2.2. Using a large-
are made as necessary. For example, a compression-only spar is
displacement analysis, buckling can be detected by the change of
disconnected if it is found to be in tension. The model is assumed to have
displacement at any node. If the displacement change is increasing, the
converged when the condition of every element remains unchanged.
load is above critical and buckling is occurring. If the change is
decreasing, the load is below the buckling load.
10.3 Buckling problems In summary, then, the eigenvalue method of solution of buckling is
usually approximate, and overestimates the buckling load, i.e. produces
Buckling problems are concerned with the calculation of the critical loads
unsafe answers. It also gives no information about the post-buckling
to cause elastic instability of a structure. The most frequently encountered
behaviour. A large-displacement analysis, on the other hand, is accurate
example is buckling of a strut, where an increasing axial load suddenly
and does give the complete behaviour of the component before and after
causes a critical failure. Other examples include the buckling of plates
and externally pressurized cylinders. buckling .
. A theoretical analysis of buckling problems shows that they are
eigenvalue problems, governed by the following equation: 10.4 Dynamic problems
([k] + J[k0 ]){ U} =0 [10.3] In a dynamic analysis the effects of inertia forces are included in the
calculations. These inertia forces are proportional to the acceleration of
where [ka] is the geometric stiffness matrix, previously encountered with
the body under investigation, and as a result introduce a time variation
stress stiffening problems; A is the eigenvalue, related to the buckling
into the system equations. Solution of the equations yields some form of
load; and { U} is the associated vector of nodal displacements describing
time varying or dynamic response of the body.
the mode shape. According to the theory, there will be a number of
The basic equations for the dynamic behaviour of a structure or
buckling loads and mode shapes. Plate 9 shows the first four buckling
component can be expressed as
modes of a flat square plate subjected to in-plane edge loads.
Unfortunately, however, this method does not take account of any [M]{U} + [C]{U} + [k]{U} = {F(t)} [10.4]
initial imperfections in the structure or component, and the results rarely
where [M] is the total mass matrix of the structure, found by summing the
agree with those determined in practice. For the square plate, the
individual element mass matrices; [C] is the structural damping matrix;
buckling loads will not be correct unless the plate is perfectly flat, and the
[k] is the stiffness matrix; {U}, {U}, {U} are the nodal accelerations,
loads are applied exactly in the plane of the plate. Therefore, instead of
258 Further applications of the finite element method
Dynamic problems 259
velocities and displacements respectively; and {F(t)} is the vector of
with one static load case, or fifteen times for four eigenvalues compared
applied forces, which may be functions of time t. /
with four static load cases. It usually becomes impracticable therefore to
The finite element method may be used to analyse a wide range of
solve dynamic equations with all the system unknowns; some form of
dynamic problems, and four of the main application areas, are discussed
simplification is required so that only the degrees of freedom necessary to
below.
characterize the behaviour of the system are considered. This process is
known as static condensation, and involves the selection of 'master' and
10.4.1 Modal analysis 'slave' degrees of freedom. The master degrees of freedom are chosen so
that they define the lowest modes and frequencies of the structure, while
This is concerned with the prediction of the natural frequencies and mode
the slaves are related to the highest modes. For example, for a beam
shapes of undamped structures under free vibrations, and is the most
proble~ where bending is of primary importance, the rotational and axial
frequently performed type of dynamic analysis. It i~ important that the
(stretching) degrees of freedom can be chosen as slaves. It is possible to
engineer knows the natural frequencies of certain bodies to ensure that
formularize the selection procedure and many programs automatically
they are not excited by any applied loading, which would result in high-
select master degrees of freedom for the user. Once the master degrees of
amplitude vibrations. An obvious example where these effects might be
freedom are identified, the slaves are condensed out of the system
critical is in helicopter design. If any components in the helicopter have
equations using a technique known as Guyan reduction. The result of the
natural frequencies that are close to the rotational speed of the rotors,
static condensation is a reduced set of system equations which quite
then resonance of a component could occur, leading for example to a
adequately describe the dynamic behaviour of the system, and which can
possible fatigue failure. Other examples of such eigenvalue problems are
be solved economically.
given in Table 1.2. An example of the results of such an analysis is shown
There are a number of methods available for the solution of the
in Plate 10, which shows the first mode shape of a pump casing.
equations. The best method will vary from one problem to another, and
For eigenvalue analyses, the governing Eq. 10.4 reduces to
depends on the size and form of the equations being solved and the
[M]{U} + [k]{U} = 0 [10.5] number of eigenvalues and eigenvectors that are required. The most
popular methods include the generalized Jacobian, Householder, Givens,
If the vibration is assumed to be sinusoidal in form, then
Lanczos and subspace iteration.
u = Acos(cvt) and ii= -cv 2Acos(cvt) = -cv 2 u [10.6]
so that Eq. 10.5 becomes 10.4.2 Transient response analysis
([k] - cv 2 [M]){U} =0 [10.7) A transient response analysis determines the response of a structure due
to time varying loads, which can be forces that vary with time, or
In this equation both cv 2 and { U} are unknown. cv 2 is known as the
alternatively a time function of displacement, velocity or acceleration.
eigenvalue, while { U} is the normalized eigenvector and describes the
The governing equation for these problems is given by Eq. 10.4. A simple
shape of the structure as it vibrates. If a model has n degrees of freedom,
analysis of a beam, built in at both ends, is illustrated in Fig. 10.8. The
then there will be n possible different combinations of cv 2 and { U}; in
load is increased linearly up to a maximum, held at that value for a short
other words, the body will have n natural frequencies and associated
time and then decreased to a constant value. The resulting displacement,
mode shapes. Fortunately, however, the engineer is usually only
velocity and acceleration of the centre of the beam are presented for O to
interested in a limited number of the lowest frequencies. An example of a
0.25 seconds after the load is first applied. (Note that since there is no
range of mode shapes is presented in Plate· 11, which shows the first four
damping assumed in this model, the output ultimately settles down to the
natural frequencies and mode shapes of a square plate that is simply
natural frequency of the beam.)
supported on two sides.
Transient problems may be solved in two fundamentally different ways:
Modal analyses are generally much more costly than static analyses.
either integration over the time domain, or solution in the frequency
For example, consider a modal and a static analysis of a problem with 400
domain. In the first of these, the forcing function is divided into a number
degrees of freedom and a wavefront of 30. It might take of the order of
of impulses which can be integrated over time. In the second, the forcing
five times the number of operations to calculate one eigenvalue compared
function is decomposed into its frequency components and the solution is
 Dynamic problems 261
260 Further applications of the finite element method
equations of motion. The most popular integration scheme is the
Applied load F
~ew?1;ar.k-/3 method, which is implicit and unconditionally stable. An
1mphc1t mtegration method is one where the equations are solved at time
: + dt. in terms of the variables at time t + dt, and therefore requires an
mvers10n .of the system e~uations: Unconditional stability means that any
errors .will. not grow, irrespective of the time step. The following
approx1mat10ns are made:
Finite element model
0 0.1
Time (s)
{V}t+ctt = {U}t +({Uh+ {U}t+ctt)dt/2 [10.8]

{U}t+dt = {U}r + {U}1dt + ((i - /3){U}1 + /3{U}1+dt)(dt) 2 [10.9]

Displacement (mm) Velocity (m~/s) where /3. depends on an amplitude decay factor, but usually a value of
0.4 8 0.25 is used.
Analysis by modal superposition involves firstly the calculation of the
4
0.3 natural frequencies of the problem, as outlined in the previous section,
0 and then the combination of the different ratios of the modal responses to
0.2
predict the time varying behaviour. Briefly, the method is as follows. The
0.1 -4 variation of the displacements with time is found from
-8 '----'------'---'---~---' II
0o 0.05 0.1 0.15 0.2 0.25 0 0.05 0.1 0.15 0.2 0.25
Time (s)
{U} = I Y;{v}; [10.10]
Time (s) i=l

where n is the number of modes, {v his the mode shape of mode i and y 1
is a general modal coordinate which is a function of time, and satisfies
Acceleration (mm/s 2 )
[10.11]
400
with OJ; being the frequency of mode i and /;,; the modal damping ratio. If
200
the.re are n modes under consideration, there will be n such equations,
0 which are solved by the Newark direct integration method discussed
previously. Once the variations of the n generalized coordinates are
-200 determined, the transient response of the structure can be calculated from
Figure 10.8 Transient analysis - 400 0L--o~.o-5--o~.1--o-.~15--o~.-2---'o.25 Eq. 10.10. Figure 10.9 shows the addition of the first three modes of a
of a built-in beam subjected to problem.
a variable load Time (s)
The choice between direct integration or modal superposition depends
on the nature of the loading and the type of response required. The
found in the frequency domain. This latter (fast Fourier transform)
major cost with modal superposition is in the calculation of the modes
approach is not widely used. and the number of the modes required depends on the highest-frequenc;
There are two different methods of time domain solution, namely
component excited by the load. For example, a sudden shock load will
direct integration and modal superposition. Direct integration is the most
excite many modes, and for a short-response analysis a modal
general method, and can be used for both linear and non-linear problems.
superposition would be more expensive than direct integration. However,
On the other hand, modal superposition is a linear superposition, and
if a long response is required or if several load cases are to be analysed,
consequently is only suitable for linear systems, that is those systems
the first method is preferred. Where the loading only excites a few
where [k] and [M] are constant. Furthermore, the modal superposition
modes, as in the case of an earthquake, modal superposition is the most
method cannot take account of time varying imposed displacements.
obvious choice. In most cases no more than ten of the lowest modes are
The direct integration method involves a step-by-step solution of the
 Dynamic problems 263
262 Further applications of the finite element method

'¥1 Force

[ {u), '
f\J\o~-,
'¥2
J
+ [ M, ' rvv\f\_A/b'\AAI\f,/\ . J
Figure 10.10 Harmonic load

f"
'¥3
form
+ [ l'/''l'"'l<f~l.i
{u), X
I•. " v11 "
vV'lVVv rV
' J the loads may be specified at different degrees of freedom. Harmonic
loads are usually man-made, and occur for example in rotating or
reciprocating machinery. The response of the structure or component
Figure 10.9 Modal under investigation will depend on its natural frequencies and the
superposition for the analysis of = frequency of the applied loading, but the harmonic response analysis will
a transient problem produce predictions of the magnitude and phase of the nodal displace-
ments velocities and accelerations, together with element stresses and
required for a transient analysis. forces'. If the response of the structure is required at various frequencies,
As with the solution of the modal problem in Section 10.4.1, it is not then the process can be repeated over a range of frequency values,
usually necessary to use all the degrees of freedom in a transient analysis. resulting in graphs of frequency versus nodal displacement, velocity,
A reduced, linear transient analysis is usually possible with only a limited acceleration or stress. Some finite element packages can perform such
number of master degrees of freedom. Where such a reduced analysis is 'frequency sweeps' automatically.
chosen, the first stage of the calculations produces the displacement time An example of the type of output that the method can produce is
history of the master degrees of freedom (sometimes referred to as the shown in Fig. 10.11. The results show the variation of the horizontal
'displacement pass'), and a second stage (or 'stress pass') then calculates displacement at a particular node when the applied loading has a
the displacements of the slave degrees of freedom and the element frequency off Hz, and compares the maximum displacement at the same
stresses. node with that predicted for a range of other operating frequencies. The
A transient analysis can produce predictions of nodal displacements, results give a good estimate of the natural frequencies of the model, /1
velocities and accelerations, together with element stresses at every time and/2.
step. Indeed the sheer volume of data produced during a transient Two methods are commonly used for the solution of harmonic analysis
analysis can be a significant problem. Since only a small fraction of the problems: a direct method, and a modal superposition method. As the
output is usually of interest, it is vital that careful consideration is given to name suggests, the first method solves the system equations directly, as
precisely what is required, and the output routines controlled accordingly. follows. If the loads are sinusoidal with frequency w, then the
displacements will also vary with the same frequency but with a phase lag
<p. For example,
10.4.3 Harmonic response analysis
Harmonic response analysis is used to find the steady state response of a F(t) = F0 coswt
structure to a set of harmonic loads of known amplitude and frequency.
(A harmonic load is one that varies sinusoidally in time at a single Hence
frequency; see Fig. 10.10.) Note, however, that even though the loads
must be at the same frequency, phase and amplitude differences between u = Acos(wt - </>) and a= -w 2Acos(wt - </>) = -w 2 u
 264 Further applications of the finite element method Dynamic problems 265

10.11 can be shown to be a simple function of the forcing frequency, i.e.

F(t)
Y; = ( :i) /J;cos(cvt - ¢;) [10.13]

/3; is known as the amplification factor for mode i, and both /3; and </>; are
simple functions of cv, CV; and t. Therefore, having calculated Y;, the
4 -F(t) ~ t
nodal displacements are simply calculated from Eq. 10.10 in the usual
way. Modal superposition is only suitable for harmonic analysis of linear
(b) systems.
3 It is usually possible to use reduced mass and stiffness matrices in
harmonic analysis by the selection of master degrees of freedom as
F (t) ' described previously. After the displacements of the master degrees of
2 freedom are calculated, a stress pass is required to derive the
displacements of the slaves together with the element stresses.

%
-x
~\ 10.4.4 Shock spectrum analysis

(a)
Shock spectrum analysis, sometimes referred to as response spectrum
(c)
analysis, can be used to estimate the maximum response of a structure to
an arbitrary foundation shock load. The type of loading that is considered
Umax (node 4) is shown in Fig. 10.12. The complexity of the loading means that normal
Figure 10.11 Sample output
data from a harmonic response time marching methods cannot be used, and response spectra must be
analysis: (a) finite element considered instead. The solution of these problems requires three steps.
model, (b) applied load, Firstly, a single degree of freedom system (Fig. 10.13) is analysed under
(c) variation of the horizontal Umax with f Hz the defined shock load. The governing equation for such a system is most
displacement Umax at node 4, conveniently expressed in a format different to that used in Eq. 10.4,
when the forcing frequency is
f Hz, (d) variation of Umax of namely
node 4 with different forcing [10.14]
frequencies (d)
where cv = v'(k/M) is the natural frequency (rad/s), ; = C/2Mcv is the
damping ratio, ii g is the ground shock acceleration (Fig. 10 .13), C is the
damping constant, M is the mass and k is the stiffness.

+ Acceleration

Therefore the general system equation becomes

([k] - ai[M]){U} = {F0 coscvt} [10.12] Time

Since F0 and cv are known, Eq. 10.12 can be solved directly for {U}.
Analysis of harmonic response problems by modal superposition is
similar to the method already described in Section 10.4.2 for transient Figure 10.12 Earthquake
problems. However, the general modal coordinate Y; in Eqs 10.10 and accelerations
 266 Further applications of the finite element method
Transient thermal problems 267

by the corresponding magnitude obtained from the displacement spectra

M
to give the real structural displacement. Combination of the responses of
V 1;=2% all the relevant modes then gives the total response of the structure to the
T=~=1S shock loading. A number of combination schemes are usually available,
Q
V k C such as the square root of the sum of the squares (SRSS) and the

J_ ___._,___ complete quadratic combination (CQC).

Figure 10.13 Response of a

single degree of freedom to the
shock load
r 10.5 Transient thermal problems
The basic 'equation of transient thermal problems is
[C]{<i>} + [k]{<P} = {F} [10.15]
vVertical displacement
where [CJ is the specific heat matrix and [k] is the thermal conductivity
matrix. The equation is similar to that used for dynamic structural
problems (Eq. 10.4), except that there is no 'inertia' term. Transient
thermal problems are easier to solve than dynamic problems because the
Vmax for T = 1 S order of the thermal equation is one order less, and temperature is a
s= 2% scalar whereas structural analyses have three (or possibly six) degrees of
freedom to solve for at each node.
Several methods are currently used in the solution of these transient
problems, including Crank-Nicholson and a method based on the
Houbolt approach. The Crank-Nicholson method is a central difference
scheme in which the temperature at time t + dt is evaluated from the
Figure 10.14 Vertical Period T{= 2rr/Q) value at time t. The Houbolt-based method assumes a quadratic variation
displacement response spectra of the temperature with time, and the value at time t + dt is calculated
from the temperature at times t and t - dt. The integration time step dt
The analysis predicts the variation of the vertical displacement, velocity can vary during these types of analyses, and many programs include
or acceleration with time as illustrated by the sample displacement graph optimization procedures which adjust the time step automatically.
in Fig. 10.13. The result of interest is the maximum value, in this case of An example of a transient thermal analysis is shown in Plate 12. It
the displacement, Vmax· shows the temperature distribution in a pipe with a supporting flange
If the period ( =2n/w) and damping ratio of the system are varied, and when a liquid at 200 °C is suddenly flushed along it.
the same shock load history is applied, then the results can be combined
to produce graphs of maximum vertical displacement as a function of
period and damping ratio, as illustrated in Fig. 10.14. These are the
displacement response spectra for the specified ground acceleration. In
some cases such response spectra may be 'standardized' and supplied as
design spectra, rather than the actual ground acceleration being specified.
For example, standard design spectra are laid down for the design of
nuclear power stations.
The second stage of the procedure is to perform a modal analysis of the
real structure to determine its natural frequencies and mode shapes (see
Section 10.4.1). Finally, the mode shape displacements (which are
normalized so that the maximum displacement is one unit) are factored
11 Symmetry, submodelling and
validation

11.1 Introduction

The different types of symmetry that a modeller can expect to encounter

in a problem are discussed in Chapter 3. By careful model design it is
shown that advantage can be taken of this symmetry, and only a portion
of the actual problem needs to be modelled. It might appear at first sight
that symmetry can only be considered if the geometry, displacement
boundary conditions and loads are symmetric. However, the geometry
and boundary conditions must certainly be symmetric, but unsymmetric
loading can be considered in a symmetric model. This occurs most
frequently in planar and axial symmetry, and many commercial packages
include special facilities to aid in the analysis of such problems. These two
types of symmetry are discussed in detail in this chapter.
The techniques of submodelling and substructuring are also introduced.
These are two very useful techniques for dealing with large and/or
complex problems, and are particularly suitable where just one part of
the structure needs to be analysed repeatedly.
The concepts of the validity and the accuracy of finite element models
are presented in Chapter 9, and relate to the representation of the
physical problem and the accuracy of the consequent solution respectively.
They depend on the correct application of the finite element software, but
assume that the numerical routines are implemented correctly. Methods
of checking the accuracy of the computer implementation of the finite
element procedures are discussed in this chapter, and are concerned with
three types of element and program validation tests.

11.2 Symmetric models with non-symmetric loading

Planar symmetry
Any arbitrary loading on a symmetric structure can be decomposed into
symmetric and antisymmetric components, as illustrated by the simple
269
 270 Symmetry, submodelling and validation Symmetric models with non-symmetric loading 271

(single plane of symmetry) examples in Fig. 11.1. (Antisymmetric loading The symmetry and antisymmetry conditions are exactly opposite to each
components are ones where the load profiles and points of application are other. With two and three planes of symmetry, the number of load
symmetric, but the load directions are not symmetric.) Understandably, component combinations increases to four and eight respectively, and the
an analysis will only predict the right answers if the correct boundary relationship between the symmetry and antisymmetry boundary condi-
conditions are applied to all the nodes on the plane(s) of symmetry. For tions can prove most useful. Some programs will automatically apply the
models with symmetric loading these boundary conditions are usually correct constraints for both symmetric and antisymmetric boundaries.
easy to derive, but for the antisymmetric model they are not so obvious. After the load components have been analysed individually, the results
Fortunately, however, there is a simple relationship between the two are combined. For the problem in Fig. 11.2 this involves summing the
cases. Consider for example the unsymmetric loading of the framework in answers to obtain the results for the half of the problem that was
Fig. 11.l(a). The expected displacement of the two loading components, analysed,' and subtracting the two sets of values for the part that was not
together with the two finite element models required for tpe analysis, are modelled. For multiple planes of symmetry, this post-processing can
shown in Fig. 11.2. The boundary conditions for the symmetry plane of become complicated and easily susceptible to human error, and conse-
the two models are also included. (The half framework is represented by quently some commercial programs include automated post-processing
three beam elements.) This particular problem is only two-dimensional, facilities.
and the beam element has three degrees of freedom at each node (namely Although multiple runs of symmetry problems with non-symmetric
two translations, u and v in the x and y directions respectively, and one loading are required, the analysis costs are generally considerably less
rotation (}z about the z axis; see Section 8.5). The degrees of freedom of than the analysis of the whole structure. The pre- and post-processing
the node on the centre-line dictate whether symmetry or antisymmetry is does, however, require considerably more care to ensure that the
being modelled. The degrees of freedom may be fixed (i.e. zero) or free, application of the boundary conditions and the combination of the results
and are as follows: are performed correctly.
u V

Symmetry Fixed Free Fixed

Antisymmetry Free Fixed Free

p P/2 P/2 P/2

p P/2 P/2 P/2 (

/
\
,__
\
I I \
= \ + I I
\
I
~
I

I
I
(j, Symmetric Antisymmetric
I
(al (j, P/2
y

)-x
I
U=0----
0,= 0

Figure 11.1 Decomposition of Figure 11.2 Finite element

unsymmetric loading into models and boundary z
symmetric and antisymmetric conditions of the symmetric and
:omponents Symmetric Antisymmetric antisymmetric load components
 272 Symmetry, submodelli ng and validation Symmetric models with non-symm etric loading 273
y n = O and n = 1) for the three components are shown in Fig. 11.4. Note
the symmetries and antisymmetries of each case. Higher harmonics
(n > 1) will produce more complex variations around the circumference,
x, y, z = Local coordinate system
X, Y, Z = Global coordinate system but the same principles apply. In theory a model will require an infinite
series to describe the loading exactly, but in practice it is only necessary
x = Radial to consider a limited number. More than ten harmonics are rarely
v= Axial
z = Circumferen tial required, and frequently fewer than five will be accurate enough. Figure
11.5 shows the loading distribution that is applied if five, ten and fifteen
Figure 11.3 The local
coordinate system in relation to z terms are used to represent a point load. The loading is certainly applied
the global system over a larger area when fewer terms are used, but if the load is distant
from the particular area of interest then the approximation is acceptable.
Axial symmetry Many finite element systems will decompose the loading into harmonics
for the user, and may even sum and display the terms.
The application of non-symmetric loads to axisymmetric problems
requires a different approach to that used for planar symmetry. For this n = 0, F = F0 = constant
situation, the non-axisymmetric loading is expressed as the sum of several

0
component loadings (or harmonics) by the Fourier series method. Each
harmonic load is applied separately to a two-dimensional ( axisymmetric)
model, and the solution to the original problem is then calculated by
combining the responses of the individual loads.
The Fourier series of a load in terms of the position {) around the
circumference is
Fx= Fx0 Fy= Fy0 Fx= Fx0
Axisymmetr ic Axisymmetr ic Pure torsion,
F({)) = I Fncos(ne) + I F~sin(ne) [11.1] antisymmet ric
n=O n=O

//8
where Fn and F~ are the magnitudes of the forces. Usually when n = 1, F = F0 cose
axisymmetric models a:c·e generated, they are defined in the x-y plane,
where the x axis is in the radial direction, they axis lies along the axis of
symmetry and the z axis is directed circumferentially. The angle {) then
varies as illustrated in Fig. 11.3.
The forces in each of the Cartesian directions can be expressed in the ~Q ~ \
':.....
,,,,_-
-- 1-- -
I

~
'

.,;{'
)
---....1......--
':,-. I

form of Eq. 11.1 as follows:

Fx= Fx 1 case Fy= Fy1 cose Fz= Fz 1 case
Symmetric Symmetric Antisymmet ric
FX = I Fxncos(ne) + I F~nsin(ne)
n=O 11=0

n = 1, F= F'1 sine
Fy = I Fyncos(ne) + I F{nsin(ne) [11.2]
n=O n=O

Fz = L Fzncos(nB) + L F~,,sin(ne)
n=O n=O

For the x and y axes, the cosine terms are symmetric, while the sine terms
are antisymmetric about the {) = 0 plane. However, the opposite is true
Figure 11.4 First two harmonic Fx= F'xi sine Fv = F 'vi sine Fz= F'zi sine
for the Fz (circumferential) terms. The first two harmonic loads (i.e. load components Antisymme tric Antisymmet ric Symmetric
 274 Symmetry, submodelling and validation
Submodelling and substructuring 275
The elements that are used for axisymmetric problems »7ith non-
axisymmetric loads are not the same as those described previously in
Ch~pter 5. The special elements (sometimes referred to as harmonic
elements) require a circumferential variation of the displacements, as
well as the normal variation through the element. For example, the
displacement in the radial direction might vary as
(b)

u= L UnCOs(ne) + I u~sin(ne) [11.3] D

n=O n=O

Therefore, since every harmonic component (i.e. every value of n)

assumes a different distribution of the displacement through the Figure 11.6 (a) Grooved
elements, the stiffness matrix must be recalculated (and solved) for each component (b) model of
load case. When compared with the single stiffness matrix calculation of a component with coarse mesh
full three-dimensional analysis of the same problem, it might appear that (c) model of groove with fine B C
harmonic elements are inefficient. However, the two-dimensional axisym- mesh (c)

metric model will be considerably smaller than the three-dimensional

version, and consequently a harmonic analysis invariably proves to be Although the preceding discussion has concentrated on the application
very efficient compared with other methods. of non-axisymmetric loading of axisymmetric stress problems, the ideas
Once the individual responses of the harmonic loads are calculated, the can be applied quite easily to thermal analyses. As usual the thermal
post-processing of most commercial packages will automatically combine calculations prove to be simpler than those performed in structural
them and predict the displacements and stresses at any circumferential analyses because of the scalar variable.
position.
11.3 Submodellin g and substructuring
Other types of symmetry and classes of problem
Submodelling and substructi.iring are very useful methods for improving
The application and processing of non-symmetric loads in symmetric modelling efficiency. Submodelling is used when a small detail needs to
problems can be quite awkward, but fortunately planar and axial be analysed in a large structure, and proceeds in two stages. Firstly, the
symmetry modelling is supported in many systems. The same is not true, whole structure is modelled with a coarse mesh, and then the results of
however, for cyclic and repetitive symmetry (Fig. 3.3) which are rarely this analysis are applied to a second model of the small detail using a fine
supported, and require a considerable understanding of the method and mesh. Consider the grooved axisymmetric component in Fig. 11.6. The
behaviour of the problem to be solved correctly. submode! contains the detailed geometry of the groove, where the nodes
around the edge of the fine model (i.e. along the lines AB and CD)
coincide with the nodes in the coarse model. The first stage of the analysis
determines the displacements of the boundary nodes in the complete
model, which are then applied to the groove model, and an accurate
stress analysis of the groove is thus obtained. However, note that for the
method to work the boundary nodes must lie outside the region of
influence of the groove.
Submodelling is advantageous because it minimizes the number of
Figure 11.5 Applied loading degrees of freedom in a model. Hence, if computer resources are limited,
when five, ten and fifteen separating the fine mesh required to analyse a small detail from the main
harmonic terms are used to model significantly reduces the model size. Also the risk of ill-
represent a point load 5 10 conditioning is minimized if the range of element sizes is limited in a
15
 276 Symmetry, suhmodelling and validation Suhmodelling and substructuring 277

substructure can be expressed in the form

[11.7]
Equation 11.7 defines the behaviour of the region in terms of the nodal
displacements around its boundary, in the same way that individual finite
8 II elements do. The stiffness matrix has the features of all other stiffness
(a) (b) matrices, for example it is symmetric. In fact the region can be considered
to be a superelement; hence the superscript E used in Eq. 11.7.
If the two superelements in Fig. 11.7(c) are used to analyse the original
structure', the results of the analysis in the first instance would be

I:::I: I
displacements of the boundary nodes. From these values, the displace-
ments of the internal nodes and ultimately the stresses in the body could
Figure 11. 7 (a) Original
be derived from Eq. 11.5. Notice that the internal displacements and
structure, divided into (b) two D :
substructures, thus creating stresses need not be calculated in all the substructures, only those
(c) two superelements (cl required. However, this does not necessarily save computer time, because
the time consuming matrix inversion is required in any case to calculate
the stiffness matrix of the superelement (i.e. in Eq. 11.5). Nevertheless,
model. Finally, submodelling is particularly suitable if the component the technique does save considerable time if part of the original structure
detail needs to be examined many times, as is necessary in a parametric
study. For example, the groove in Fig. 11.6 could be optimized by simply
reanalysing the fine model and not the complete problem.
Substructuring is the analysis of a large or complex structure by
breaking it down into a number of smaller substructures. Consider the
example in Fig. 11.7, where the original structure of Fig. 11.7(a) is
divided into two substructures in Fig. 11.7(b). The substructures are
linked by the displacements (or temperatures) of the nodes on their
common interface (line AB), and the behaviour of the two parts can in
fact be expressed solely in terms of the behaviour of the nodes defining
their boundaries, as illustrated in Fig. 11.7(c). For example, if the
equations of the substructure are rearranged so that the displacements of
the boundary nodes are stored in vector { Ub} and the displacements of
the remaining internal nodes are stored in vector { Ui}, they become

[11.4]

The second row of Eq. 11.4 gives

{Ui} = [kiz]- 1{ {Fi} - [k21]{Ub}} [11.5]
and if this is substituted into the first row

[11.6] Figure 11.8 Finite element

analysis of a space shuttle using
then simple rearrangement of the terms shows that the equations of the substructuring
278 Symmetry, submodelling and validation Element and program validation 279

needs remodelling, but the design of other parts is finalized. For q:ample, Single-element tests
the superelement part I in Fig. ll.7(c) could be used time and time again
for different designs of part II. This can result in significant savings when As the name suggests, these tests involve the examination of a single
large models are analysed. element. For example, the test might involve the analysis of a two-
Another advantage of substructuring is that large problems can be dimensional solid element under a range of loading and boundary
analysed by several groups of engineers, with each group concentrating conditions, as illustrated in Fig. 11.9. The results are compared with
on one part of the structure. The only requirement is that the same nodal either classical solutions or standard finite element solutions using a large
arrangement must be used on common interfaces. By the use of number of elements. For an element to be considered satisfactory, it must
substructuring it is possible to generate finite element models of large be capable of predicting a constant stress field, including a constant zero-
complex problems, such as cars and aircraft. Figure 11.8 shows the type stress field (which represents rigid body motion). However, while it might
of finite element models used in the analysis of a space shuttle. ' be easy to develop these conditions for an isolated rectangular element as
illustrated in Fig. 11.9, the equivalent analysis of triangular elements and
general quadrilaterals is not so easy.
11.4 Element and program validation Another approach is to consider the element as part of a larger
It is emphasized many times in earlier chapters that the finite element continuum which experiences the constant stress condition, as illustrated
method is approximate, and that its accuracy depends not only on the
mathematical assumptions inherent in the method, such as the choice of

-
interpolation function, but also on the reliable implementation of the
algorithms in the computer software, such as the correct treatment of the
!
oo=
prescribed loading and displacements. Furthermore, the size and
complexity of the software packages mean that the essential mathematical
routines are quite remote from the user and largely beyond his or her
control. For these reasons it is vital that the user, and indeed the
engineering community in general, are able to confirm the accuracy and
reliability of the software. To prove the programs and gain confidence in
Loading
conditions
D _

!
the results, the behaviour of the elements needs to be examined

PP
individually and in an assembly. The following are just some of the ways
in which this can be achieved: Constraint
Figure 11.9 Possible loading conditions
(a) single-element tests and constraint conditions for a
(b) patch tests simple single-element text
(c) benchmark tests.
When the software developers and users have agreed on a series of
assessment tests, it is possible that the program documentation will
contain the results of such tests, and the models included with the
software, to allow the user to validate the implementation on his own
particular machine. (It is important to emphasize again, however, that the
results would indicate only the quality of the implementation, and that it
is the responsibility of the user to apply the software correctly.) The
development of such a series of tests is one of the aims of NAFEMS (the Figure 11.10 Constant stress
loading of a rectangular region
National Agency for Finite Element Methods and Standards), and the containing the element under
notes below include some of these ideas. investigation
 280 Symmetry, submodelling and validation Element and program validation
/ 281

q =Enforced displacement
_ _ _.[J,q

u, q 1
e-- - - - - - - - e --. Fx2
Figure 11.11 Constant ax stress
conditions for the single
element v,
u
v,
Figure 11.12 Simple patch test
model

in Fig. 11.10. The displacement at any part due to the applied stress can Benchmark tests
be calculated from
The fundamental element tests outlined previously are suitable for
u = axx confirming basic element behaviour and examining the effects of element
E distortions. However, the tests are limited, and indeed some elements
[11.8] (for example those using reduced integration schemes) may fail such tests
V
ax(h
= -v- -+ y)
E 2 and yet perform quite satisfactorily in 'real' problems where the number
of elements is that much larger. Moreover, single-element and patch tests
The element is then considered in isolation, and the correct combination only verify limited features of the software. Benchmark tests are designed
of enforced displacements and nodal loads is applied to it in order to to analyse more realistic problems, and to investigate not only the
develop the constant stress field. For example, if the enforced accuracy of implementation of the routines, but also the quality and
displacements are applied to nodes 1 and 4, the element would be loaded general robustness of the complete program, including the pre- and post-
as shown in Fig. 11.ll(a). The stress (pressure) loads on the element processors. For example, apart from the obvious requirement that the
faces are converted to nodal forces in the usual way to give the final test pre-processor should generate an accurate mesh, it is desirable if it warns
conditions, as in Fig. 11.ll(b). the user of badly distorted elements or inadequately restrained models.
The analysis of other stress fields (i.e. ax and Txy) proceeds in the same Similarly, the post-processor must calculate and present the results
way, and the investigation of different element types can be achieved by a correctly, using accurate interpolation routines. As pre- and post-
similar approach. Clearly this type of single-element test is ideal for processors have become more complex with an ever increasing number of
examining the effects of element distortion. sophisticated facilities, the user has lost contact with the actual finite
element routines. Although the sophistication provides invaluable
assistance to the user, it does mean that many programs can be used as
Patch tests
'black boxes', easily producing results that appear professional and
A patch test is the analysis of an assembly of elements subjected to a visually convincing. Because of this effect, all programs should perform a
constant stress field, and the elements successfully pass the test if they all minimum number of basic checks on the model.
contain the same constant value of applied stress. The type of patch that Two tests proposed by NAFEMS are shown in Figs 11.13 and 11.14.
might be used is shown in Fig. 11.12. The left-hand edge is constrained, The first of these is a linear elastic problem, and involves the pressure
and nodal forces or enforced displacements (calculated from Eq. 11.8) loading on an elliptic membrane; the second is a one-dimensional
are used to load the model. By sensible mesh design the patch test and transient heat conduction problem. Both the tests are devised to test
the (second) single-element test can be conveniently linked, since the program accuracy. They are clearly specified, and require a single target
single element can be part of the patch. value.
 282 Symmetry, submodelling and validation Element and program validation
/ 283

ELLIPTIC MEMBRANE
TEST No
LEI
DATE/ISSUE
1-7-86/1
rlflFErTl5l I ONE DIMENSIONAL
TRANSIENT HEAT TRANSFER. I TEST No
T3 I DATE/ISSUE
21-11-86 /2
ORIGIN NAFEMS report Cl ORIGIN NAFEMS report BMTTA(S)

ANALYSIS TYPE Linear elastic ANALYSIS TYPE Transrent heat conduction

GEOMETRY GEOMETRY

I I (
_x )'+ (2.75 \2/
y = I

IB 3.25
Temperature
= O'C
I Teperature
~=IOOsin!'J__•c
1.75

j_ A
I O.lm .I 40
All dimensions in metres Uniform cross section
i.o I Thickness = 0.1
l__µ_ Y

LOADING Zero internal hea I generation

2.0
BOUNDARY CONDITIONS At time t = 0, All temperatures = O'C

LOADING Uniform outward pressu,e of IOMPa at outer edge BC

At time I ,O, 1; :: ::::;i::~:i:: : 1~~C sin !!i 'C
Inner curved edge AD unloaded No heat flux perpendicular to AB 40

BOUNDARY CONDITIONS Edge AB, symmetry about y axis, e.g. zero x displacement MATERIAL PROPERTIES Conductivity = I.OW/m'C
Edge CD, symmetry about x axis, e.g. zero y displacement Specific heat = 985J/kg'C 3
Density = 2300kg/m
MATERIAL PROPERTIES Isotropic, E = 210 x 10 3 MPa, v = 0.3
ELEMENT TYPES One or two dimensional heat transfer elements
ELEMENT TYPES Plane stress quadrilaterals or triangles
MESHES
MESHES (Corner nodes only given)
Uniform mesh of 10 elements along length
Coarse Fine - Approx. halving of
1.783 coarse mesh

~D C
A

I I II I I I I II I
or+ a

1.348
~----t---1----t--~_,,_~c ___J_

OUTPUT
Figure 11.14 Transient heat OUTPUT Malerial temperature at TARGET 9.62'C
Tangential edge stress (<1,,) at D
Figure 11.13 Linear elastic TARGET 92.7MPa

benchmark test
conduction benchmark test
(courtesy of NAFEMS)
x = 0.09m, time I = 58 secs
I
( courtesy of NAFEMS)
/

12 Commercial finite element programs

12.1 Introduction
There are numerous c01nmercial finite element packages of varying
complexity available at present. Many programs will have taken hundreds
of man-years to develop and will have teams of engineers and
programmers constantly improving and updating them. Thus there is little
point in an individual engineer writing his own system, unless it is for a
very specific task. In this chapter the main features that can be expected
in commercial programs are described, but the discussion concentrates on
static and steady state modelling and is by no means exhaustive. As will
become obvious, much effort is directed towards the development of the
pre- and post-processors for the programs, and undoubtedly the selection
of many finite element systems is based on their facilities rather than the
essential finite element routines.
The example commands used in this chapter are for illustrative
purposes only, and are not taken from any particular finite element
program.

12.2 General facilities

Most programs are now available in modules, allowing the prospective
user to select only those parts of the software he requires. However, in
practice most of the modules use the same pre- and post-processors, and
it is only the solution phases that are different.
Documentation is a vital part of any computer program, and is
especially important for finite element software. A well supported finite
element package will be supplied with several basic manuals, such as a
user manual, a theoretical manual and a verification and sample problem
manual. However, since the user manual can be very large and detailed,
introductory guides are particularly useful for new users. There is an

285
286 Commercial finite element programs
12.3 Pre-processors
increasing move to include on-line help facilities with the software, and,
as media storage improves, it can be expected that this on-line help will The pre-processor is used to develop the finite element model. There are
become more detailed and make some of the paper manuals redundant. essentially two methods in which the element mesh can be generated:
The verification and problem manuals are also important for new users, direct user input or automatic mesh generation. In the first of these the
since they give examples of the commands necessary to analyse sample user defines individual nodes and elements and builds up the mesh
problems. Large problems can have hundreds of commands, and without manually, while in the second a solid model of the problem is developed
such examples it can be very time consuming for a user to set up a new and the computer then generates the mesh automatically. The latter
problem type. method also allows CAD drawings to be used to define the solid model.
The range of computers supported by the finite element software Some features are obviously common to both approaches, and indeed
covers most available types, from basic personal computers (PCs) th,rongh most prog~ams allow the two methods to be intermixed.
minis and mainframes to supercomputers. PCs are becoming increasingly
powerful and readily available, and are widely supported by most general
12.3.1 Direct user input
packages. In particular 386-based PCs, usually with extended random
access memory (RAM), can solve realistic problems with limitations on
Coordinate systems
the model size dictated only by the available disk space. The more
powerful machines are necessary for large and/or complex problems, such The ability to define different types and numbers of coordinate systems
as transient and non-linear analyses. can simplify mesh generation and the application of the boundary
Dedicated computers such as PCs and workstations are usually conditions enormously. Cartesian, cylindrical and spherical systems are
operated interactively. Larger general-use machines may require at least commonly available for both global and local systems (Fig. 12.1),
the solution phase to be executed in batch mode, possibly overnight, allowing very flexible model generations. For example, the definition of
since the finite element routines can be very intensive in both processing the coordinates of a series of nodes on a circular arc is much easier in a
terms and disk space requirements. The pre- and post-processors of an cylindrical than in a Cartesian system (Fig. 12.2). Furthermore, if the
increasing number of packages are menu driven rather than command origin of the different coordinate systems can be defined in any position
driven, which results in a more user friendly interface and a generally in space (i.e. local systems are available), even apparently complex
more robust system. The selections are made either through the patterns can be produced. The pre-processor simply converts the
keyboard, or by selecting with cross-hairs moved by a mouse, a graphics coordinates in the local coordinate system to the global Cartesian one. As
tablet or a joystick. The screen layout of such a menu-driven finite a rule when a user defines a coordinate system it becomes the 'active'
element program is shown in Plate 13. syste~, and subsequent commands are referenced to that system, until
When the finite element method was first applied, a model was defined another one is declared or an old one is reselected. (The coordinate
as a long list of numbers, and the results appeared as an even longer list. systems are usually numbered to aid in identification.)
Nowadays, however, the engineer generates the model and views the
results graphically, and the plotting facilities of the programs are among
their most important features. Generally models (and results) can be
rotated and viewed from any angle, possibly with perspective and light z z
source shading, and the user can zoom in and out to examine particular
details. Hidden line plots are also usually available (see Plate 5), together
with section plots which allow the performance of any part of the problem
to be fully examined. (Specific pre- and post-processor facilities are
discussed in the following sections.)
Having produced the plots on the screen, it is of course desirable to get
a hard copy. The easiest way is to perform a screen dump on to a suitable
printer, but the resolution will be limited to the resolution of the screen
or the printer software. The best quality output is produced by devices Figure 12.1 Various coordinate
Cartesian (x, y, z) Cylindrical (r, e, z) Spherical (r, e, <i>l
which are specifically supported and driven by the software. systems
 288 Commercial finite element programs Pre-processo rs 289

y Elements

LX Global
-~
I
Local system 11
•
When the nodes of the model have been generated, the next step is to
define the elements. The actual selection of the element type is discussed
elsewhere in this book, and obviously needs to have been made before

(a) •
• • •
• • •
y Ill Ill
•

LX
• • •
• •
• • •

Global
-~ • • • • •
I 2 3 4 5 I
-1-
·lj • • •
Local system 11 2
Figure 12.2 Typical commands (b) (a)
to generate a pattern of nodes
using a local cylindrical
coordinate system (r, e, z): • 20
Element Nodes
(a) NODE,1,5,0, 2 (= define 25 •
node 1 at r = 5, e = 0, • • 19 • 15
• • • 1 1 2 7 6

z = 2) • 2423 • 18 • 14
• •
2 2 3 8 7

(b) NODE-GEN ,4,l,,,2,0,0 (= • 8 • 3 3 4 9 8

generate 4 nodes from node y

•
22 • 17
8
13
•10
• • • 4 4 5 10 9
Figure 12.3 Typical commands •
-~
21 • 16 12 •

LX
1, incrementing r by 2, and • • 11 • e8 9 to generate a pattern of two- • • • 8
e and z by O) dimensional four-noded 6
7

-~:
(c) NODE-GEN ,4,1,5,l,0,30, 0 r • 7 4
elements: 2 3
( = generate 4 patterns of
• •3 •4 •5 (a) ELEMENT,1 ,2,7,6 (= I 1
nodes from nodes 1 to 5 I 1 2 define an element using -1- 2 3 4 5
(step 1), incrementing r by Global Local system 11 nodes 1, 2, 7 and 6, in an (b)
0, e by 30 and z by O) (c) anticlockwise direction;
element number
automatically chosen to 20 Element Nodes
be 1)
Nodes (b) ELEMENT-G EN,3,1,,,1 1 1 2 7 6
5 6 7 12 11
Once one node has been defined it can easily be developed into a line of (= generate 3 elements etc.
from element number 1,
nodes by incrementing one or more of its coordinates ; similarly, a line of by incrementing the
nodes can be generated into an area and ultimately a volume. Figure 12.2 node pattern by 1)
shows the generation of such a nodal pattern by the use of just three (c) ELEMENT-G EN,3,l,4,1,5
commands and a local cylindrical coordinate system (labelled number 11). (= generate 3 patterns of
Similar commands are also usually available that can translate and mirror elements from elements 1
to 4 (step 1) by
node patterns about user defined axes. Clearly, the pre-process or is just 2 3 4 5
incrementing the node
performing a series of very simple but repetitive calculations for the user. pattern by 5)
(c)
 Pre-processors 291
290 Commercial finite element programs

definition of the nodes can begin. Patterns of elements can usually be

generated in a similar way to that used for the nodes. Consider for
example the definition of the twenty (two-dimensional) elements in Fig.
12.3; again just three simple commands are required. For such two-
dimensional elements it is vital that the nodes are specified in a consistent
manner, either clockwise or anticlockwise. The generation commands for
defining both nodes and elements are very powerful, and can build two-
and three-dimensional meshes very quickly. The simple example shows,
however, that it is important to plan the node patterns carefully and in a y
Local system 12
logical manner, so that the elements can be specified with the minimurh Figure 12.4 Typical commands
(a)
of effort. for the application of (a) nodal
loads, using local Cartesian
coordinate system 12
Geometric constants (b) pressure loads, using local
cylindrical coordinate system
Some elements require more information than can be gained solely from 11. Examples:
the nodal geometry. For example, the user must specify the thickness of (a) FORCE,22,y,100 (= apply
plane stress elements, and the area and second moment of area of beam a force at node 22 in the y
elements. direction of size 100)
(b) PRESSURE,5,10,r,-20 20
(= apply a pressure between 11

Material constants nodes 5 and 10 in the r I .'./ 6

...--
direction of -20); ~ io--+---*~-.. ...--
Materials are assumed to be isotropic unless the user specifies otherwise, PRESSURE-SURF ,r, 13, - 20 -\ 2 3 4 5
and not to be a function of temperature unless the user inputs the (= apply a pressure on all Local system 11
element faces along r = 13 of
variation of the properties with temperature. Where a non-constant value (b)
-20)
is to be used, the data can be input in tabular form or possibly by
specifying a polynomial variation. Some programs will also plot the data . specification of a surface is easier' as illustrated by the second example in
once specified by the user.
Fi~ 12.~b~~betaken when specifying gravitational or other accelerati~ns
Loads to e:s:r/that the units are compatible. If the dimensions,. accelerat10n
and material density are in standard SI units (i.e. metres, kilograms a~d
When the nodes and elements have been generated, the loads must be seconds) then body forces are calculated correctly' but models defined m
applied to the model. For stress problems this involves specification of dimensions other than metres are frequently prone to errors due to the
nodal forces, pressures, body forces or enforced displacements. Nodal incorrect specification of the density. Remember that
forces are defined in the active coordinate system, and resolved into the
global system by the program. Thus the force of 100 N applied to nodes
force = mass x acceleration = de2nsity x volume x acceleration
22 to 24 in Fig. 12.4(a) is most easily specified in the local Cartesian = kg X m/s2 = Mg x mm/s
coordinate system (labelled number 12). Thus when a model is gener~ted ~n millimetres; the densities of the
The application of pressure loads can usually be achieved by a variety materials need to be specified m umts of Mg/mm.. . .
of commands, and the final choice will depend on the easiest way of Loadin in thermal problems involves convection, mc1dent. heat fl~x
specifying the pressure surface. For example, the simplest method is to and heat ~ources. As with applied pressures, the surface asso~iated w1:
define the side of the element by its node numbers, as in the first an convection or heat flux can usually be specified by e1t?e~ ~o e
command in Fig. 12.4(b). However, if the pressure acts on many element y . 't' The heat sources are defined at md1v1dual
number or coordmate pos1 wn.
faces which lie at a constant distance from the (active) origin, then
 292 Commercial finite element programs
Pre-processors 293
nodes in the same way as nodal forces, except of course that there is no
need to define a direction. features illustrated include hidden line plots and shrunken element plots.
If the geometry and material conditions remain constant, then a series Most programs will plot the nodes, elements, loading and constraint
of stress and thermal load cases can be analysed for a relatively small conditions applied to the model, together with the position and
extra co.st, because ~h~ stiffness matrix remains the same. Consequently, orientation of any user defined coordinate systems. Because of the size
the option of spec1fymg various load runs is available in most pre- and complexity of some finite element models, it is also usually possible
processors, and the corresponding facility of combining different load to select a subset or range of most items prior to listing or plotting,
cases is available in post-processors. allowing the data to be checked that much more easily.
Deleting any part of the model is an important facility. Its purpose is
not only to allow the user to correct mistakes. In some cases it is easier to
Constraint conditions
generate· a uniform mesh of elements and then delete a region, rather
Local coordinate systems are particularly helpful in the definition of than to try to mesh around an awkward feature such as a hole.
constraint conditions in stress problems, where the relevant element faces
are inclined to the global coordinate system. Nodal constraints can be The analysis file
a~plied in the same way as the nodal forces. For example, if the model in
Fig. 12.4(b) was constrained in the hoop direction at nodes 21 to 25 then The last phase of pre-processing is the preparation of the analysis file for
a command of the form input into the finite element solution program. Pre-processors normally
check the data at this point to identify badly distorted elements and
DISPLACEMENT,21,theta,O potential modelling errors. Element distortion is discussed in detail in
':ould set the d~spla.cement in the theta direction at node 21 equal to zero Section 9.4, including the type of checks that the program can perform.
(m the local cyhndncal coordinate system 11). The same command could Most programs issue warnings for elements that are badly distorted, and
also be used to apply an enforced displacement. The restraint of nodes 21 some stop with an error if severe distortion is detected.
to 25 as just d~scribed could indicate that they lie on a line of symmetry, Other useful facilities that are available include warnings of unused
and thus there 1s no movement perpendicular to that line. Some programs nodes and multiple definitions of elements, i.e. where the user has
allow the user to directly specify the line of symmetry and then calculate defined an element twice. The program cannot of course check if an
the necessary constraints automatically. A few will also calculate the element has been omitted, but a detailed examination of the element
antisymmetry constraints as well, if necessary. plots with shrink and hidden line options usually results in identification
For thermal analyses, such a symmetry condition implies that no heat of gaps in the model (Fig. 9.33 and Plate 5).
Before the analysis file is written, some programs require the user to
flows acros~ th~ line. of s!mme~ry. Thus the edge of the model along the
symmetry lme _1~ adiabatic. ~h1s doe~ not require the application of any specify any special output data he needs for the po~t-processing. phase,
boundary cond1t10n, because If there 1s no connecting model there will be such as the reactions or the strain energy density. Otherwise the
no hea~ flow .. The specification of an individual nodal temperature in a calculations are kept to a minimum, and only the basic output quantities
model 1s straightforward. For example, the following command would (displacements and stresses or temperatures and heat flows) are
result in the temperature at node 1 being set at 100: produced.

TEMPERATURE,1,100
12.3.2 Automatic mesh generation
Since temperature is a scalar, no direction is needed.
Instead of requiring the nodes and elements to be defined directly, many
programs offer automatic mesh generation facilities. The user defines the
List, delete and plot facilities region to be meshed and selects the type of element to be used, and the
Vital functions of any pre-processor program are the abilities to list computer then devises the mesh. Apart from specifying the layout .and
delet~ and plot the finite element model details. The importance of number of elements along the edges of the region, the user has httle
checkmg the model is discussed in detail in Section 9.5, and some of the control of the process. Automatic mesh generation requires a solid
modeller with which the user builds up the geometry of the problem. The
 294 Commercial finite element programs
Pre-processors 295
shape is constructed by defining points lines d
· 1 · ' , areas an volumes and points, and automatically fill in the lines (Ll to L4). When the region has
agam ocal coordmate systems prove to be . 1 bl '
'd h . mva ua e. For example been specified, details of the element type and layout are input as in Fig.
cons1 er t e automatic mesh generation of th bl . . '
, e pro em m Fig 12 5 The 12.5(b) and the area is then meshed by one command as shown in Fig.
user defines pomts at the corners of th . d . · · ·
· · . e regwn an Imes connecting the 12.5(c).
p1101~tst,has mt_Fig. 12.5(a) .. (Note that since cylindrical coordinate system It is usually possible to repeat points, lines, areas and volumes in the
1s e ac 1ve system Imes L 2 a d L 4
straight lines.) The are~ is then sp:cified abrey gthenerated as arcs and not same way that node and element patterns are repeated earlier in
h e area command Som the chapter. Furthermore, some programs will automatically calculate the
mes generators allow the area to be defined d' I f . e
irect Y rom the corner intersection of curved surfaces, as for example in the intersection of two
circular pipes, and also generate fillet radii automatically for the user.
When ·the mesh has been generated, the loading and constraint
P3 conditions need to be applied as usual. This can be achieved either by
reference to individual nodes and element faces as described previously,
L2
L3 or by using the points, lines and areas again. (For example, in Fig. 12.5 a
pressure could be defined on line L2, or a force on point Pl.)
Parametric input is available in many systems, allowing the user to
define the model in terms of a limited number of parameters, which can
then be easily changed to develop a different version of the model.
Ll Consider the model in Fig. 12.5(a). If the coordinates of the points are
P1 defined parametrically, different sized models can be analysed very
(a) P2
Local system 11 quickly. For example, if two parameters *A and *B are used so that
*A= 5
*B =*A+ 8
L2
point,1,*A,0,2
point,2,*B,0,2
L3
tre 12.5 Typical commands then changing *A is all that is required to develop a different sized
i for automatic mesh model.
~ration: (a) geometry
There is little to be gained by using automatic mesh generation for the
11ition (b) specification of
h layout (c) automatic mesh problem in Fig. 12.5 because the layout is so simple, but for more
,ea 1, using four-noded complex shapes it can prove to be a very useful facility. It is generally
irilateral elements. (b) easier for mesh generators to use triangular and tetrahedral elements than
nples: (a) POINT,1,5,0,2 quadrilateral and hexahedral elements, and consequently some meshing
lefine point 1 at r = 5 programs only allow the use of rectangular faced elements on simple
0, z = 2); LINE,3,3,4
lefine line L3 between
geometries. However, as the sophistication of the meshing algorithms
ts P3 and P4); improves, this limitation will no doubt be overcome. An excellent
iA,1,l,2,3,4 (= define area example of the capabilities of automatic mesh generators is shown in
Y lines Ll, L2, L3, L4) Plate 14.
JNE-DIV,1,4 (= divide
~ into 4 element sides);
~-DIV,4,8 ( = divide line 4 12.4 Post-processors
l element sides)
REA-ME4H,l ( = mesh After the finite element equations have been assembled and solved, the
1) user then begins the post-processing phase. For very large models or
smaller models with many iterations, the amount of output data can be
 296 Com mer cial finite elem ent
prog ram s
vast, and is frequently too larg
e to be handled all at once. The
form of post-processor merely simplest
reads in the analysis results and
them to the user. This type presents
of program actually has few
facilities, and the outp ut data processing
requirements must be specified
analysis file and are calculated in the
directly after the solution pha
sophisticated finite element soft se. Mor e
ware records all essential outp
tion in a file and then works on ut informa-
the data thro ugh the post-process Bi bli og rap hy
the bett er pre-processors, the or. Like
range of facilities can be large.
problems, the essential outp ut For stress
data are the nod al displacemen
stresses at the Gauss integration ts and
points, and from these values
processor can extrapolate the the post-
stresses to predict the nod al
calculate the principal and Von values, and
Mises stresses.
Most outp ut data can usually
be prin ted and plot ted with the
facilities previously described plotting
for the pre-processor (i.e. mod
zooming and hidd en line plots). el rota tion ,
A very useful opti on available
programs is the ability to defi with some Textbooks
ne local coordinate systems in
processor, and ther eby to outp the post- AKI N J E 1982. Application
ut the results in any orientat and Implementation of Finite
routines which sort the outp ion. Also, Element Methods
ut data and list the results in Academic Press
ord er can save the user a sign descending AKI N J E 1987. Finite Element d d t Academic Press
ificant amount of time. BAR KER A J PEP PER D W Analysi~ for Un ergra ua; ~ G
Probably the mos t useful plots 1991. Finite Elements 1-2- -ffll
are the deformation and stress c .raw ~ l
plots (Plate 2), but principal stre
ss and hea t flow vector plots can
con tour BRE BBI A C A
1982. Finite Edlem~nt ~ys :~;
BRO WN D K 1984. An Intro ;i~t :;;: :~: t i~;~ :~e; si~; alas
considerable insight into the load also give uct1on o ic
path s (Plate 4). For three-dimen Programs Surr ey Univ~r~ityEPlress
problems, the ability to prod uce sional BUR NET T D S 1987. Finite t A lysis· From Concepts to
plots at any section thro ugh the emen na . Applications
can also prove to be invaluab mod el
le. Addison-Wesley
Finally, many programs now offe CHE UNG y K, YEO MF A Practical Introduction to Finit
r the opti on of animation. By 1979. e Element
the displacements from -10 0 scaling Analysis Pitman
per cen t (or zero ) to 100 per A . . Flui'd Dynamics McGraw-Hill
pred icte d values, and plotting cen t of the CHU NG T J 1978 . F'nite Element na1ysis m
C A 1976 Finite Element Tech
the values sequentially on the CON NOR J J, BRE BBIl
niques for Fluid .
animated view of the loading screen, an A · Flow
can be crea ted, showing how
deflects. the structure
c6; ;;si ~~~ ;~: ::ep tsN and
CRI SFIE LD M A 1991. Al.ppli cai~ ;t: oiie :~~ t E1: ;:i:
on- mear :1y ~;l: d:1 ~~:
Structures J Wiley .
DAWE D J 1984. Matrix and . . El t Displacement Analysis of Stru
ctures
Fimte emen
Oxf ord University Press
DES AI C S, ABE L J F 1972 d t' t the Finite Element Method
. Intro uc ton o Van
Nos tran d Rein hold CAN
DHA TT G, TOU ZOT G, TIN G 1984. The Finite Element Meth
od
Displayed J Wiley . . Element
~~tct: Methods for Engineers Macmill
LTl~~?J::i7::eEleme~t A;; t;i:
an
fi/': z~: ;tt: i:~~ ~~o ~:: :1~
:n
;;; ~ ;initee Element Programming
GRA NDI N H 1986N ~n; a;~
HIN TON E, OW E Academic Press
HUE BNE R K H, THO RN TON E A 1982 The Finite Element Method for
·
H;~ t~~ r~ JJ !il;J 87. The Fin~t
e Element Method: Linear Stati
c and Dynamic
Finite Element Analysis Prent1ce-
Hall l p . Ell's Hor
IRO NS B, SHR IV E N 1 33 F'nite E ement rimer
. . 9 El. l t Meth 1
woo d
KIK UCH I N 1986. Finit ods in Mechanics Cambridge Univ
e emen ersity
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NORRIE D H, De VRIES G 1973. The Finite Element Method: Fundamentals
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OWEN DR J, HINTON E 1980. A Simple Guide to Finite Elements Pineridge
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PAO Y C 1986. A First Course in Finite Element Analysis Allyn & Bacon Glossary
RAO S S 1989. The Finite Element MethQd in Engineering Pergammon Press
REDDY J N 1984. An Introduction to the Finite Element Method McGraw-Hill
RICHARDS TH 1977. Energy Methods in Stress Analysis, With an Introduction
to Finite Element Techniques Ellis Harwood
ROSS C T F 1982. Computational Methods in Structural and Continuum
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ROSS CT F 1985. Finite Element Methods in Structural Mechanics Ellis-Horwood
SEGERLIND L J 1984. Applied Finite Element Analysis J Wiley
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Geomechanics J Wiley
STASA FL 1985. Applied Finite Element Analysis for Engineers Holt-Sanders This glossary refers in particular to finite element analysis, but note that some
WAIT R, MITCHELL A R 1985. Finite Element Analysis and Applications terms may have other meanings in other contexts.
J Wiley
ZIENKIEWICZ O C, MORGAN K 1983. Finite Elements and Approximation Accuracy: The closeness of the solution predicted by a finite element model to the
J Wiley orrect answer of the problem . · h
ZIENKIEWICZ O C, TAYLOR R L 1989. The Finite Element Method McGraw- ~
Amsotrop1c. matena . l·· A material with different mechanical properties rn t ree
Hill t ally perpendicular directions . . (
ZIENKIEWICZ O C, TAYLOR R L 1991. The Finite Element Method: Volume An:;~metric loading: Where the load profiles a~d p~ints of application t ~n a
2 - Solid and Fluid Mechanics, Dynamics and Non-linearity McGraw-Hill symmetnc . b o dY) are symmetric
. ' but .the load .d1rechons are not symme nc
A finite element primer. National Agency for Finite Element Methods and
Standards, Dept of Trade and Industry, 1986 1~:: 0 1
:!:~::!!unlti::t:r:~\~~;z:~:: ~~/i:~~~::gula~ element wi~h a t!~e
b etween zero and Unl·ty , equal to the ratio of a tnangular portion o e

Relevant journals and periodicals As e~:~:~:0 ::i~:~::~::tthe distortion of an element, derived from the ratio of
P · d' · of the element
Benchmark The magazine of NAFEMS (National Agency for Finite Element two representative
Assembly 1mens10nt~
of the element equa ions.. The addition of the individual element
Methods and Standards), NAFEMS, Glasgow
Computers and Structures Pergammon Press equations to form th~ system equation~e:~ t!: p:i!le:::er generates the node
Finite Element News Robinson and Associates, Okehampton, Devon Automatic mesh generation: A p_rocess w d l f ~ a 'solid model' of the
and element details for a fimte element mo e ro
Finite Elements in Analysis and Design The International Journal of Applied
Finite Elements and Computer Aided Engineering, North-Holland problem
Axial . where the properties of the radial sections
symmetry: A symmetry co?dition
f b d of revolution are identical .
?
a o ~
lement· A two-dimensional element formulated for use .m
Ax;~:~:7cw~h axiai symmetry. When the elements are used only a radial

Ba~~~:o~a~!i!~~g:a7r:!r::::ed:1tn~:-:;:~~;!s are found to be confined to a

band about the main diagonal of the matnx .
Bandwidth: The width (or hal:-widt~\ J
0
:~e !~~!i°~:a:a~~;~ 7t::~;ures, with
B~:n:!::~:!~
b
!~
;~::::al ~~~e:se of freedom at each node. Thick and thin
f mulations may be available f
Benc~:ar~\est: A standard test model devised to examine the performance o
finite
Body element
force: produced by an acce1erafwn effect ' such as that due to inertia
programs
A force
and gravity

299
 Glossar y 301
300 Glossar y
of a node in a body.
external effects applied Degree of freedom: A variable used to describe the behavio ur
Boundary conditions: The loading, constraints and other For example, displace ment or rotation in a stress problem , and tempera ture in
to a model
ies or edges of a a thermal problem
Boundary line plot: A compute r generate d plot of the boundar Direct integration solution method: A (time domain)
method of solution for
model
transien t problem s involvin g a timewise step-by- step approximation of the
Brick element: A solid, three-dimensional elem,ent with
a tetrahed ral, wedge or
equation s of motion
hexahedral shape . It is the cosine of the
at a critical load Direction cosine: Used in the specification of a direction
Buckling: Where a structure suddenly deforms out of plane angle between the direction and a coordinate axis
ed with finding the
Calculus of variations: A branch of mathematics concern Discretization: The division of the geometry of a problem
into nodes and elements
with respect to a
stationary values (e.g. minima and maxima) of an integral Displacement pass: The calculation of the displace ments of the master degrees of
function
equations where the freedom in a dynamics analysis
Cholesky decomposition: A method of solution of the system Displacement plot: A compute r generate d plot of the distorted
shape of a loaded
ar matrices
stiffness matrix is decomposed into upper and lower triangul compon ent. Displace ment plots are usually scaled for display, and often
Compatible element - see conforming element
and a number of overlaye d on the original geometry
Completeness: A convergence condition where the field variable Displacement response spectra: Graphs showing the displace
ment of a single
as the size of the
its derivatives must assume a constant value in an element degree of freedom system (with a range of natural frequenc ies and damping
element decreases
or higher interpol ation ratios) to a specified shock load
Complex element: An element with a quadratic, cubic Distortion (of an element): Where an element is defined
with a non-ideal shape.
element
function, having the same shape as the equivalent simplex For example, the best shapes for quadrila teral and triangul ar elements are
constituents, and in
Composite material: A material made of a number of discrete square and equilateral respectiv ely
glass and carbon
particular, laminate d forms where different materials, such as Duplicate element: This occurs if one element is accident
ally defined on top of
fibre reinforced plastics, are layered with varying orientat ions
the completeness and another element
Conforming element: An element that satisfies both Dynamic problem: A structur al mechanics problem
where the forces and
continuity convergence conditions
s, and details of how displacements are a function of time
Connectivity: Nodal informa tion for the individual element Edge plot - see boundar y line plot
they fit together to form the complete model a variable results in the
al element, where Eigenvalue problem: Where a critical value ( or values) of
Consistent mass matrix: One type of mass matrix for a structur non-trivial solution of a problem. For example, a critical
buckling load in a
ed accurate ly through the element ( cf lumped mass matrix)
the mass is distribut buckling analysis, or a natural frequency in a modal analysis
problems formu-
Constant strain/stress element: An element for stress analysis Eigenvector: The vector of unknown degrees of freedom
_in a proble~
constant value of
lated with a linear variation of displacement, resulting in a corresponding to a calculated eigenvalue. For example , the
displacements m
strain and stress across the element des of the
n) field variable. buckling and modal problems, but note that the magnitu
Constraint: Any restriction imposed on the value of the (unknow displacements are normali zed . .
tempera ture for
For example, a specified displacement for stress problem s or Element: The basic sub-division used to represen t a body,
with an associated
thermal problems of the unknow n
ur of the degrees of interpol ation function which approximates the distribution
Constraint equation: A relationship linking the behavio field variable through the element
freedom of two or more nodes their characteristics, for
and a number of its Element type: A general categorization of elements by
Continuity: A convergence condition where the field variable example, behaviour, shape, or material properti es, into classes
such stress,
derivatives must be continuo us across element boundar ies
thermal , beams, solid and composi te
) in a model by a
Conto~r plot:. The presenta tion of the state of stress (for example Element validation: The verification of the perform ance of
an element by the use
defining different
senes of Imes of constant stress, or different coloured bands of simple, single element and patch tests
ranges of stress ar value for a nodal
by an increase in Enforced displacement: The specification of a particul
Convergence: The improve ment in the accuracy of an analysis displacement. Most often a value of zero is specified , ie the node is constrained
or p-refinement)
the sensitivity (ie accuracy) of the finite element mesh (by h- Field interpolation function - see interpol ation function
transfor mation of a matrix or vector from one
Coordinate transform ation: The
Field problems: A class of problems governe d by the
same basic differential
coordina te system to another . Exampl es of field problems are heat
equation , namely the field equation
Creep: The time depende nt deformation of a compon
ent, even though the
__ transfer , irrotatio nal flow, and Prandtl' s torsion method
induced stresses are below the yield stress of the material Finite strain: When the strain experienced by an element
is considered to be so
A local non-orth ogonal coordin ate system, used in tative
Curvilinear coordinate system: large that the original stiffness matrix is no longer represen
particular to define multiplex elements ion to a body as it
pattern is seen to be Follower loads: Loads which maintain the same relative orientat
Cyclic symmetry: A symmetry condition where the same undergo es large deformation
repeated sequenti ally about an axis
 Glossary 303
302 Glossary
Harmonic response analysis: The analysis of a component or structure when
Forcing function: A time varying load applied to transient problems
subjected to a set of harmonic loads of known amplitude and frequency
Free vibration: The vibration of a structure or component without any external
Hidden line plot: A computer generated plot of a three-dimensional model where
loading element details obscured by other elements are not shown, resulting in a
Frequency domain solution: A method of solution for transient dynamic problems
proper three-dimensional view of the model
where the forcing function is decomposed ihto its frequency components and
Higher order element: Any element with a second order or higher (ie non-linear)
the solution then found by summing the effects of these components
Frequency sweep: A series of harmonic response analyses over a range of interpolation function
Hyperelastic material: A material that can withstand large, finite strains without
frequencies allowing the generation of graphs of frequency versus nodal
exceeding the yield stress of the material, such as rubber
displacement, velocity, acceleration or stress
Ill-conditioning (of the stiffness matrix): This occurs when there is a large
Frontal solution method - see wavefront solution method
difference in the magnitude of the terms in the stiffness matrix, making the
Functional: A function of several other functions. In particular, a functional is
derived from the governing differential equation and boundary conditions of solution susceptible to round-off errors
Incompatible element - see non-conforming element
field problems, and used in the derivation of the field finite element equations
Incremental solution: Where the loading is applied in steps to the model, and the
Galerkin's method: A weighted residual method for calculating the finite element
values predicted from each load step are then used to modify the element
equa~ions of a problem where the weighting functions equal the shape
equations before the next load step is applied
functions Initial strain: Where an element is strained by effects other than the stresses
Gap element: A special element used to represent the contact between two parts
developed due to external loading. For example, thermal strain which is
of a model. The element can only transmit a compressive direct force, but
might include a friction force caused by a change in temperature . .
Integration point: A sample point in an element at which the element equations
Gauss quadrature: A method of numerical integration where the value of the
are evaluated during numerical integration
integrand is evaluated at sample points and then summed after factoring with
weighting functions. If applied accurately with the correct number of sampling Interface element - see gap element _ _ _
Internal angle: The angle measured between the sides of a two- or three-
points, Gauss quadrature will give the exact answer dimensional element, and used as a guide to the distortion of the element
Gaussian elimination: The standard method of inverting a matrix (the stiffness
Internal node: A node inside an element, ie not a corner or mid-side node
matrix) to yield the unknown nodal values of the field variable · Interpolation function: A function used to approximate the distribution of an
Geometric non-linearity: Where the geometry of the problem changes significantly
unknown (field) variable through an element
s~ that a linear analysis is no longer acceptable. This might be due to large Isoparametric element: An element where the geometry interpolation function
displacements or stress (geometric) stiffening
and field interpolation function are of the same order
Geometric stiffening - see stress stiffening
Isotropic material: A material with the same mechanical properties in three
Geometry approximation: An approximation of the full three-dimensional nature
of a problem by a one-dimensional, two-dimensional or symmetry model mutually perpendicular directions
Isotropic hardening rule: A method of describing how a material yields during
Geometry i~terpolation function: A function to approximate the geometry of an
element m the same way that the field variable is approximated in the element. plastic deformation . .
Iterative solution: A solution requiring several iterations to reach a solut10n that 1s
Elements with straight sides have linear geometry interpolation functions, consistent with the problem formulation. For example, iterative solutions are
those with curved sides have quadratic or higher order functions required with gap elements which can only transmit com~ressiv~ loa~s, and
Global coordinate system: The reference coordinate system for individual with elastic-plastic problems to ensure that the stress-stram relat10nsh1ps are
elements and the complete model, to which all other coordinate systems are
referred correct
Jacobian: This is frequently used as shorthand for the determinant of the Jacobian
Gradient vector: A column vector containing the gradients of the field variable in
field problems. Equivalent to the strain vector in stress problems matrix
Jacobian matrix: A matrix containing the derivatives of the global coordinates
Guyan reduction: A method of condensing out the slave degrees of freedom from
with respect to the natural coordinates of a particular eleme~t . .
the system equations to leave the master degrees of freedom Kinematic hardening rule: A method of describing how a matenal yields dunng
h-refinement: An improvement in the accuracy of a finite element mesh by
increasing the mesh density plastic deformation
Large deformation problem - see large displacement problem
Har~onic ele1?ent: A speci~l axisymmetric element used for the analysis of Large displacement problem: Where a structure's displacements are so large that
ax1symmetnc problems with non-axisymmetric loads. This element is not the the original stiffness matrix no longer ade~uat~ly represents the. structure.
same as the standard axisymmetric element used where the load is symmetric Large displacement problems may result m either small or fimte (large)
Harmonic load (for harmonic response analyses): A load that varies sinusoidally in
time at a single frequency element strains
Line coordinate: A natural coordinate for a one-dimensional element with a value
Harmonic load (for non-axisymmetric load cases): One1 of a series of loads used to between zero and unity, equal to the ratio of an internal length of the element
appr~ximate non-axisymmetric loading for harmonic elements, obtained by the
Founer method. The solution to the original problem is calculated by to its total length ·
Linear element: Any element with a linear interpolation function
combining the responses of the individual loads
 Glossilry. 305
304 Glossary
NAFEMS: National Agency for Finite Element Methods and Standards
Linear problem: A problem where the material properties, geometry and contact Natural coordinate: A local coordinate in an element which can vary between zero
conditions are all linear, ie the stiffness matrix and force vector are not and unity, or minus unity to unity, depending on the type of element
functions of the nodal displacements Natural frequency: A frequency at which an undamped body will vibrate
Local coordinate integration formulae: A set of integration formulae which can be indefinitely if disturbed from its equilibrium position
used to simplify the integration required, in the derivation of the element Newmark-,B method: A direct integration method of solution for transient
equations
problems
Local coordinate system (in finite element programs): A coordinate system other Nodal force: A point load applied at a node
than the global system, defined to facilitate the generation of a finite element Node: The points of connection between elements, and the location at which the
mesh values of the field variable are sought
Local coordinate s~stem (in ~nit: elements): A coordinate system of one particular Non-con(orming element: An element that satisfies only the completeness
element, used m the denvat10n of the element's equations ----convergence condition, but not the continuity condition
Lumped mass matrix: One type of mass matrix for a structural element derived by Non-follower loads: Loads which do not maintain the same relative orientation to
assu~ing the mass is distributed equally between the nodes (cf consistent mass a body as it undergoes large deformation
matnx) Non-linear problem: A problem where the material properties, geometry and/or
Mass check: A chec~ on .a finite el.eme~t model's mass that is calculated by some contact conditions are not linear, ie the stiffness matrix and force vector are
progra~s to prov1.de s1mp~e.venfica~1on that the model is constructed correctly functions of the nodal displacements
Mass matnx: 1:- matnx contammg details of a body's mass distribution, calculated Non-symmetric loading: Loading which is not symmetric about a given axis or
by assemblmg the mass matrices of the individual elements. The mass matrix is
plane
required in transient dynamics problems Numerical integration: Numerical evaluation of an integral, rather than analytical
Master degrees of freedom: A limited set of a model's degrees of freedom which integration, which is used where exact, analytical integration is not possible. In
characterize the behaviour of the system, and allows a much more economical particular, Gauss quadrature is most commonly used in the finite element
solution of the system equations method and produces the exact answer if applied correctly
Material non-!inearity: Wh:re t~e material behaviour is not governed by a linear Orthotropic material: A material with symmetric mechanical properties in two
stress-strain relat10nshlp (m stress problems), such as those materials perpendicular directions .
considered in plasticity and creep problems p-refinement: An improvement in the accuracy of a fimte element mesh by
Material property matrix: The [DJ matrix, which contains the Young's modulus increasing the order of the interpolation function used in the elements
and Poisson's ratio details in stress problems and the thermal conductivities in Parametric modelling: Specification of a finite element model using parameters
thermal problems which can be assigned different values as required. This technique is used
Mesh density: The distribution of the elements through a model or part of a particularly with automatic mesh generators where the solid model can be
model. The mesh densit~ shou~d vary in a model, with the highest density in defined parametrically
areas where the field variable 1s expected to show the greatest variation Patch test: The analysis of a small assembly of elements subjected to a constant
Mesh generation: The development and specification of the node and element stress field, to verify that the elements can predict the same constant value
details, which may be performed either manually or automatically by the Path plot: A computer generated plot showing the variation of a result along a
computer specified path or line through a model
Mesh refinement: A reduction in the size of the elements in areas where a rapid Pin-jointed element: An element whose nodes (joints) can only transmit forces,
change in the field variable is expected and not bending moments
Mid-side node: A node on the side or edge of an element rather than one at a Planar symmetry: A symmetry condition where the same pattern is seen mirrored
corner in a plane . .
Minimization of a functional: Differentiation of a function derived from the Plane strain: A two-dimensional state of strain where the out-of-plane stram 1s
differential equation and boundary conditions of a problem to derive the finite
zero
element equations for the problem Plane stress: A two-dimensional state of stress where the out-of-plane stress is
Modal analysis: The natural frequency analysis of a body or structure
zero
Modal superposition: A process whereby a number of the mode shapes of a model Plate element: A flat element which can transmit both bending and membrane
are factored and combined to predict the dynamic behaviour of a problem
loads
Mode shap~: 1:he shape of a structure as it vibrates at a particular frequency Post-processor: A program that presents the results of a finite element analysis,
Model eqmhbrmm check: Used as a simple check to show that the loads and usually graphically, and invariably performs further calculations on the results
constraints are applied correctly. If the problem is in equilibrium, the applied as required by the user . .
loads should equal the calculated reactions Potential energy: The energy stored in a body or structure when 1t 1s loaded. The
Multiplex element: A higher order element with sides parallel to the coordinate potential energy equals the strain energy stored in the material less the work
system in which it is defined. Multiplex elements I have quadrilateral and done by the loads
hexahedral shapes
306 Glossary Glossary 307

Prandtl's stress function: A stress function used in the analysis of torsion Shape function matrix: The [NJ matrix of shape functions, which contains
problems information on the distribution of the unknown field variables in an element in
Prandtl-Reuss flow: An incremental theory of plasticity, where the strain is terms of the nodal values
divided into a recoverable elastic component and a non-recoverable plastic Shell element: Similar to a plate element, except the mid-surface of the element is
component that causes the permanent plastic deformation. The plastic strain is curved, and as a result the bending and membrane effects are coupled
assumed to cause no change in volume Shock spectrum analysis: The analysis of a component or structure when
Pre-processor: A program that helps in the generation of the finite element mesh, subjected to an arbitrary foundation shock load
and prepares the data for direct input into the analysis phase Shrunken element plot: A plot of the elements produced by the computer where
Prescribed displacement - see enforced displacement the elements' size is reduced so that the edges of each element are visible,
Pressure force: A distributed force applied in stress problems, that acts over the allowing the mesh to be checked
edges or sides of the elements Simplex element: An element with a linear interpolation function, with basic
Program validation: The use of tests, such as single element, patch and shapes of a line, triangle and tetrahedral in one-, two- and three-dimensions
benchmark tests, to confirm not only that the elements are formulated respectively
correctly, but also that the algorithms are implemented accurately and the pre- Single element test: The analysis of a single element subjected to a constant stress
and post-processors are reliable and accurate field, to verify that the element can predict a constant value
Quadratic element: Any element with a quadratic interpolation function Singularity (in the solution): An error in the solution of the system equations,
Reaction: The force in stress problems, or heat in thermal problems that must be which occurs when an indeterminate or non-unique solution is possible
supplied at a constraint to maintain the specified condition at that point Skew distortion: Distortion where the sides of the element are skewed over
Reaction force check: A check that the sum of the reactions predicted by a finite Skew symmetry - see anti-symmetry
element analysis equals the sum of the applied loads, as a means of confirming Slave degrees of freedom: Those degrees of freedom which are not the master
that the model is constructed and loaded correctly degrees of freedom, ie the slaves are not needed to characterize the behaviour
Real constant: A property of an element required by a finite element program. of the system
For example, the thickness of a plane stress element, or a second moment of Small strain: When the strain experienced by an element is negligible and the
area of a beam stiffness matrix is a constant. It is possible to have small element strains in a
Reduced integration: Approximate numerical integration by the use of fewer large displacement problem, in which case the stiffness matrix just needs to be
integration points than required to calculate the exact answer. Reduced reorientated
integration leads to cost savings in an analysis Solid model: A geometric model of a problem generated by the user from basic
Reducible net/mesh: A series of increasingly fine meshes, where all the coarser entities such as points, lines, areas and volumes, which is subsequently meshed
meshes are contained in the finer meshes. The meshes are the ideal way to by the finite element program
confirm the convergence of a model by h-refinement Solution of the system equations: The phase of the analysis where the equations
Refinement (of the mesh) - see mesh refinement describing the whole model are solved to yield the values of the field variable
Repetitive symmetry: A symmetry condition where the same pattern is seen to be at the nodes. Gaussian elimination and the wavefront solution method are
repeated down the length of a body commonly used
Residual: In the weighted residual method, it is the difference between the exact Space truss: A structure comprised solely of pin-jointed elements in two- or three-
solution of a differential equation and a solution using an approximating dimensions
function Static condensation: The process whereby the slave degrees of freedom are
Response spectra: Graphs showing the response of a single degree of freedom removed from the system equations to leave the master degrees of freedom
system (with a range of natural frequencies and damping ratios) to a specified Steady state problem: A problem which is not a function of time
shock load Stiffness matrix: The [k] matrix, which relates force to displacement in stress
Response spectrum analysis - see shock spectrum analysis problems and applied heat to temperature in thermal problems
Restraint - see constraint Strain energy: The energy stored in a material when it is stressed, and which can
Rotational degree of freedom: A variable used to describe the rotation of a be recovered as the loading is removed
discrete point or node in a body. If a node has rotational degrees of freedom it Stress averaging: Where the stresses predicted in adjacent elements are averaged
can transmit bending moments at common nodes
Round-off error: An error occurring in computers because they can only work to Stress pass: The calculation of the displacements of the slave degrees of freedom
a limited number of significant places and element stresses in a dynamics analysis
Sampling point - see integration point Stress stiffening: The stiffening ( or weakening) of a structure due to the state of
Section plot: A computer generated plot of a (user-specifoid) cross-section of a stress in the structure
model Structural damping matrix: The [C] matrix, which contains information on the
Shape function: When a field variable is approximated in an element, its value at viscous damping occurring in the elements in dynamics problems
any point is expressed in terms of the nodal values. The shape functions dictate Submodelling: A technique where a problem is modelled with a coarse mesh, and
the size of these nodal contributions. One shape function is associated with the results are then applied to a fine mesh of a small detail in the problem
each node of the element
308 Glossary
Glossary 309

Subparametric element: An element where the order of the geometry interpola- Vector plot: A computer generated plot of the distribution of a vector quantity.
tion function is less than that of the field interpolation function The values are presented as small arrows drawn over the model, where the
Substructuring: The analysis of a large or complex structure by breaking it down le~gths. and/or colours. of _the arrows indicate the magnitude, and their
into a number of smaller substructures or super-elements onentat1on shows the dIIectlon. Used for example with principal stresses and
Super-element: A collection of standard elements which is used to represent a part heat flows
or substructure of a larger complex problem. The super-element is defined by Volume check: A check on _a fin~te eleme~t m~del's volume that is calculated by
the behaviour of the nodes around its boundary, and is used in a similar way to some programs, to provide simple venficat10n that the model is constructed
other finite elements correctly
Superparametric element: An element where the order of the geometry Volume coordinate: A natural coordinate for a tetrahedral element with a value
interpolation function is greater than that of the field interpolation function between zero and unity, equal to the ratio of a tetrahedral portion of the
Surface: Any face of an element. For example, the perimeter and ends of a one- elemept to its total volume
dimensional element, and the face or edges of a two-dimensional element Von-Mises failure criterion: A method of predicting when a material can be
Swelling: The volumetric enlargement of a material due to neutron bombardment considered to have failed
or other effects Warpage angle: A measure of warping distortion
Symmetry approximation: The approximation of the true three-dimensional Warping distortion: A form of element distortion where the nodes of a
nature of a problem by taking account of symmetry, so that only the repeated quadrilateral (or face of a solid element) do not lie in the same plane
pattern is modelled Wavefront solution method: A method of solution for the nodal values of the
System equations: The complete assembly of element equations which describes unknown field variable where the complete system equations are never
the behaviour of the system being modelled assembled. As the assembly of the element equations proceeds, the degrees of
Taper distortion: A form of element distortion where the sides of the element are freedom that are not used by the remaining elements are 'eliminated' from the
tapered to a point equations
Tension-only element: An element which can only transmit a tensile force, used Weighted residual method: A method of calculating the finite element equations
for example to model cables of a problem directly from its governing differential equation
Thermal strain: The strain produced in an element due to a change in Weighting function (in Gauss quadrature): A constant used to factor a value
temperature calculated at a sampling point when the element equations are evaluated
Thick beam/plate/shell element: Elements that are formulated to model all during numerical integration
bending effects, including the transverse shear deformation Weighting function (in the weighted residual method): A function used to weight
Thin beam/plate/shell element: Elements that are formulated to model bending the residual in the derivation of the finite element equations. In Galerkin's
effects, but assume there is zero transverse shear deformation, ie planes method the weighting functions equal the shape functions
normal to the mid-surface of the element remain normal after loading
Time domain solution: A method of solution of transient dynamic problems where
the input is specified as a time history and divided into a number of impulses
which are integrated over time
Transient response analysis: The analysis of a structure or component subjected to
time varying loads, which could be forces that vary with time, or time functions
of displacement, velocity or acceleration
Transient thermal analysis: A thermal analysis where the heat flow and
temperatures are a function of time
Transition element: A special element used to connect elements formulated with
different order interpolation functions
Translational degree of freedom: A variable used to describe the displacement of a
discrete point or node in a body. If a node has translational degrees of
freedom, then it can transmit direct forces
Unlimited rigid body motion: Unlimited rigid body motion occurs when a body is
not adequately constrained, ie the displacements tend to infinity
Unused node: A node that is specified by the user, but not used in the definition of
an element. (It might be used in the definition of a coordinate, system)
Validity: How faithfully the physical problem is represented in the computer,
which depends on the approximations in the geometry, material properties,
loading conditions and constraint conditions
Variational formulation: A method of deriving the finite element equations for a
problem by minimizing a functional
 Index

Accuracy, 221-2, 235-9, 247, 299 Calculus of variations, 103, 300

Analysis file in FE programs, 293 Cholesky decomposition, 164, 300
Antisymmetry, 269-71 Commercial FE programs, 285-96
Approximating function, see interpolation Compatible element, 213, 300
function Completeness, 213, 300
Approximation Complex element, 41, 169, 300
geometry, 19-20, 222--4, 302 Conforming element, 213, 300
loading, 225-8 Connectivity, 10, 300
material property, 224 Consistent mass matrix, 300
symmetry, 20-3, 308 Constant stress element, 84, 300
Area coordinate, 50-2, 185, 299 Constraint conditions, 228---30, 300
Aspect ratio, 31, 239, 299 incorporation into system equations,
Assembly of the element equations, 162--4
156-61, 299 example, 163
example, 157, 159 specification in FE programs, 291
Automatic mesh generation, 293-5, 299 symmetric and antisymmetric, 270
Axial symmetry, 21,272,299 Constraint equation, 232, 300
Contact problems, 227-8, 256
Banded matrix, 35, 299 Continuity, 213,300
Bandwidth, 35,299 Convergence, 300
Beam element, 203, 299 of solution, 221, 235-9, 244, 247
convergence requirements, 212 requirements for interpolation
example, 213 functions, 212-14
thin, 204--9 example - beam element, 214
example - coordinate transformation, Coordinate system
155 area, 50-2, 185, 299
example - statically indeterminate curvilinear, 43, 195, 300
beam, 207 global, 71,287,302
Benchmark test, 281-3, 299 in FE programs, 287
BodYiforce, 63, 299 line, 49, 175, 303
spe1f:ification in FE programs, 291 local (in FE programs), 287, 296, 304
Boundary conditions, 300 local (in finite elements), 71, 243, 304
application in FE models, 225-30 natural, 49-54, 171-2, 183, 195, 305
incorporation into system equations, example - natural to global
162--4 conversion, 51
example, 163 volume, 53, 309
specification in FE programs, 290-2 Coordinate transformation, 71-2, 153-6,
symmetric and antisymmetric, 270 300
Buckling problems, 256-7, 300 example - beam element, 155

311
 312 Index Index 313

Creep problems, 251, 300 mid-side node position, 32, 242 ·- h-refinement, 235, 247, 302 example - calculation of stiffness
Cyclic symmetry, 22, 274, 300 skew, 239, 307 Hard copy output, 286 matrix, 52
taper, 239, 308 Harmonic element, 274, 302 numerical integration, 171-4, 305
Degree of freedom, 301 warping, 241,309, Harmonic load Integration point, 172,303
Direct integration solution method, 260-1, Element numbering, 34, 166 for harmonic response analyses, 262, 302 Interface element - see gap element
263-4, 301 Element performance, 237-9 for non-axisymmetric load cases, 272-4, Internal angle, 31,240, 303
Direction cosine, 71, 101, 154, 301 Element shapes, 23 302 Interpolation function, 39-41, 303
Displacement pass, 262, 301 Element size, 29,233 Harmonic response analysis, 262-5, 303 convergence requirements, 212-14
Displacement response spectra, 266, 301 Element types, 25-9, 301 Heat transfer, 110-38 cubic, 176,205,210
Distributed loads, 225-8 Element validation, 278-83, 301 axisymmetric, 130-8 geometry, 24, 170
Documentation for FE programs, 285 benchmark test, 281-3 example - element equations, 136 linear, 43-57, 196, 302
Duplicate element, 301 patch test, 280 finite ,element equations, 109 quadratic, 175, 183, 186, 197
Dynamic problems 257--67, 301 single element test, 279-80 formulation of equations, 103-10 Irrotational flow problems, 102
Enforced displacement, 301 heat flow calculation, 120, 203, 245 Isoparametric element, 24, 170,186,303
Eigenvalue problems, 2, 256, 258, 301 Equilibrium problems, 2 example, 120 Isotropic hardening rule, 251, 303
Eigenvector, 256, 258, 301 one-dimensional, 110-23 Iterative solution, 303
Elastic-plastic problems, 251 Field equation example - composite wall, 121
Elasticity problems, 61-94, 203-12 Cartesian coordinates, 101 example - straight fin, 114, 182 Jacobian, 303
axisymmetric element, 87-93 cylindrical coordinates, 130 example - tapered fin, 118 change of integration variable, 178, 184,
example - pressure load, 92 Field interpolation function - see tapered fin analysis, 116 189, 198
beam - see beam element interpolation function three-dimensional, 128-30 measure of element distortion, 242
finite element equations, 66 Field problems, 101-48, 301 two-dimensional, 123-8 Jacobian matrix, 303
formulation of equations, 61--6 finite element equations, 109 example - element equations, 127 one-dimensional, 177, 184
non-linear problems, 249-56 formulation of equations, 103-10 Higher order elements, 42, 169-214, 303 example, 177, 185
one-dimensional element, 67-76 types, 101-2 one-dimensional, 174-85 two-dimensional, 187, 198
example - two-dimensional truss, 73 Finite strain, 252, 301 alternative coordinate system, 183-4 example, 188
example - variable cross-section, 69 Fluid flow problems, 102, 146 quadratic and cubic elements, 174--6
in two- and three-dimensional space, Follower loads, 253, 301 example - element equations, 177, Kinematic hardening rule, 251, 303
70, 75 Forcing function, 259, 302 179, 180, 185
plate - see plate element Formulation methods example thermal fin, 182 Large deformation problem, 255, 303
shell - see shell element variational method, 61--6, 103-5, 206, three-dimensional, 201-3 Large displacement problem, 252, 254,
stress calculation, 83, 88, 203, 243-5 308 two-dimensional 257,303
example, 83 weighted residual method, 106--10, quadrilaterals, 195-201 Line coordinate, 49, 175, 303
three-dimensional element, 85--6 130-3, 309 triangles, 185-95 Linear element, 303
two-dimensional element, 76--84 Fourier's Law, 12, 120 example - Jacobian, 188 Linear problem, 304
example - calculation of stresses, 83 Free vibration, 258, 302 example - stiffness matrix, 191 Loading
example - plane stress element, 81 Frequency domain solution, 259, 302 Hyperelastic materials, 252, 254, 303 antisymmetric, 269, 299
Electrostatic field problems, 102 Frequency sweep, 263, 302 approximation, 225-8
Element, 5, 301 Frontal solution method - see wavefront Ill-conditioning, 233, 248, 303 non-symmetric, 269-75, 305
axisymmetric, 56, 87, 131, 299 solution method Imposed displacement, 230 specification in FE programs, 290
brick, 300 Functional, 103, 302 Incompatible element, 213, 303 symmetric, 269
complex, 41, 169, 300 Incorporation of boundary conditions, Local coordinate integration formulae -
definition in FE programs, 289 Galerkin's method, 106--9, 131-3, 302 162-4 see integration
mixing different elements, 231-2, 234-5 Gap element, 227, 256, 302 example, 163 Local coordinate system - see coordinate
multiplex, 41, 169, 304 Gauss quadrature - see integration Incremental solution, 303 system
one-dimensional, 43-5, 174-6 Gaussian elimination, 35, 164, 302 Initial strain, 62, 303 Lubrication problems, 102
simplex, 41-57, 307 Geometric constants in FE programs, 290 Integration Lumped mass matrix, 304
three-dimensional, 48, 201-3 Geometric non-linearity, 252-5, 256, 302 change of variables, 178,184,189,198
two-dimensional, 45-7, 185-7, 195-7 Geometric stiffening - see stress Gauss quadrature, 171-4, 302 Magnetostatic field problems, 102
Element behaviour, 24 stiffening example, 173, 179, 191 Manuals for FE programs, 285
Element distortion, 31-3, 239-42, 301 Geometric stiffness matrix, 254, 256 tine integral data, 173 Mass check, 247, 304
aspect ratio, 31, 239, 299 Geometry interpolation function 24 170 triangle integral data, 190 Mass matrix, 257
distortion index, 242 302 ' ' ' quadrilateral integral data, 199 consistent, 300
effect on the Jacobian, 242 Gradient vector, 104, 120, 139, 302 local coordinate integration formulae, lumped, 304
example, 177 Ground shock acceleration, 265 49, 52, 54, 304 Master degrees of freedom, 259, 304
internal angles, 31, 240, 303 Guyan reduction, 259, 302 example, 50 Material
 Index 315
314 Index
repetitive, 23, 274, 306
anisotropic, 224, 299 Patch test, 280, 305 Rourid-off error, 233, 248, 306
skew - see antisymmetry
approximation of properties, 224 Pin-jointed element, 6, 67-76, 305 System equations, 6, 308
composite, 224, 300 example - stepped bar, 9 Sampling point - see integration point
hyperelastic, 252, 254, 303 example - two-dimensional truss, 73 Seepage problems, 102
Tension-only element, 256, 308
isotropic, 303 e;ample - variable cross-section, 69 Shape function, 44, 46, 48, 175, 183, 186,
Thermal problems, 110--38
orthotropic, 224, 305 in two- and three-dimensional space, 70, 196, 206, 306
Thermal rod element, 12
specification in FE programs, 290 75 example - two-dimensional element, 46
example, 13
Material non-linearity, 251-2, 255, 304 Planar symmetry, 21,269, 305 Shape function matrix, 44,307
Thermal strain, 62, 77, 308
Material property matrix, 304 Plane strain, 19, 62, 76, 77, 83, 305 Shell element, 24, 25-9, 212,307
Thick beam/plate/shell element, 203, 308
Mesh Plane stress, 19, 76, 77, 83, 305 Shock spectrum analysis, 265-7, 307
Thin beam/plate/shell element, 203, 308
density, 30, 233, 235, 304 example - calculation of stresses, 83 Simplex element, 41-57, 307
Time domain solution, 260--1, 263--4, 308
gaps in meshes, 231 example - finite element equations, 81 Single element test, 279-80, 307
Torsion problems, 102, 138--45
generation, 304 Plate element, 203,234, 305 Singularity, 242, 248, 307
example - square shaft, 141
automatic mesh generation, 293-5, thick, 211-12 Slave degrees of freedom, 259, 307
Transient problems, 2, 257--67
299 thin, 209-10 Small strain, 252, 307
Transient response analysis, 259-62,
direct user input, 287-93 Plots Solid model, 287, 293, 307
308
layout, 33, 230--5 boundary line, 245,300 Solution of the system equations, 164-6,
Transient thermal analysis, 267, 308
refinement, 30, 230--3, 235, 304 contour, 229 307
Transition element, 232, 308
Mid-side node, 32,242,304 displacement, 243,247, 301 Solution times, 238
Translational degree of freedom, 308
Minimization of a functional, 103,304 edge - see boundary line plot Space truss, 307
Modal analysis, 258--9, 304 facilities in FE programs, 292 Static condensation, 259, 307
Unlimited rigid body motion, 162,308
Modal superposition, 260, 261, 264, 304 hard copy output, 286 Steady state problems, 2, 307
Mode shape, 258, 304 hidden line, 246,286, 303 Stiffness matrix, 6, 307
Validity, 221-30, 246,308
Model path plot, 305 Strain components
Variational formulation, 308
checking, 243, 245-8 section, 286, 306 Cartesian coordinates, 63
elasticity problems, 61--6, 206
design, 19-38, 221--42 shrunken element, 245, 307 cylindrical coordinates, 87
field problems, 103-5
Model equilibrium check, 247, 304 vector, 245, 309 Strain energy, 7, 62,206,307
Vector quantities, 54--5
Multiplex element, 41, 169, 304 Point loading, 226 Stress averaging, 243-5, 307
example, 55
Post-processor, 295--6, 305 Stress pass, 262, 307
Volume check, 247,309
NAFEMS, 4, 278, 281, 305 Potential energy, 7, 62, 206, 305 Stress stiffening, 254, 307
Volume coordinate, 53,309
Natural coordinates, 49-54, 171-2, 183, Prandtl's stress function, 102, 138, 306 Structural damping matrix, 257, 307
Von-Mises failure criterion, 309
195, 305 example - square shaft, 141 Submodeiling, 275--6, 307
one-dimensional, 49-50, Prandtl-Reuss flow, 251, 306 Subparametric element, 170, 308
Warpage angle, 241, 309
three-dimensional, 53--4 Pre-processor, 287-95, 306 Substructuring, 276--8, 308
Wavefront solution method, 36, 164--6,
two-dimensional, 50--3 Prescribed displacement - see enforced Superelement, 277, 308
309 ,
Natural frequency, 258,305 displacement Superparametric element, 170, 308
Weighted residual method, 106--9, 131-3,
Newmark-13 method, 261, 305 Pressure force, 306 Surface, 308
309
Nodal force, 305 Pressure loading, 64, 79, 193, 201, 225-8 Swelling, 252, 308
Weighting function
Node, 5,305 Program validation, 281, 306 Symmetry, 20--3, 269-75
in Gauss quadrature, 172, 309
definition in FE programs, 288 axial, 21, 272, 299
in the weighted residual method, 106,
internal, 303 Quadratic element, 306 cyclic, 22, 274, 300
309
location, 33 planar, 21,269, 305
numbering, 34 Reaction, 306
unused, 308 Reaction force check, 247, 306
Non-conforming element, 213,305 Real constant, 306
Non-follower loads, 254, 305 Reduced integration, 172, 306
Non-linear contact problems, 256 example, 173
Non-linear elasticity problems, 249-56 Reducible net/mesh, 235, 306
Non-linear problems, 305 Repetitive symmetry, 23,274,306
Notation for vector quantities, 55 Residual, 106, 306
Numerical integration - see integration Response spectra, 266, 306
Response spectrum analysis - see shock
Overmodelling, 25 spectrum analysis
Restraint - see constraint
p-refinement, 235,247, 305 Results processing, 143, 203, 243-5
Parametric modelling, 295, 305 Rotational degree of freedom, 204, 306
A simple, graphics based, user friendly finite element program
is available for PC computers to accompany this book. The
program has been developed to explore and present the inner
workings of the finite element method rather than perform
complex analyses, but nevertheless can be used for the analysis of
realistic problems. The essential feature of the program is a
'transparent' mode, whereby the student can selectively follow
the calculations of a complete analysis, and examine the details of
individual elements and their performances.

For further details photocopy and complete the slip below and
send it to the author.

To Dr M J Fagan,
Department of Engineering Design and Manufacture,
University of Hull,
Cottingham Road,
HULL,
N Humberside.
HU6 7RX
Please send further information of the program to supplement
the book 'Finite Element Analysis - Theory and Practice'.

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