Fea Mit Lecture

2.
094 Finite Element Analysis of Solids and Fluids

Fall 08
MIT OpenCourseWare
Contents
1 Large displacement analysis of solids/structures
1.1
Project Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2
Large Displacement analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.1
Mathematical model/problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.2
Requirements to be fullled by solution at time t . . . . . . . . . . . . . . . . . . .
1.2.3
Finite Element Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.4
Notation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Finite element formulation of solids and structures
2.1
Principle of Virtual Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2
Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Finite element formulation for solids and structures
10
4 Finite element formulation for solids and structures
14
5 F.E. displacement formulation, contd
19
6 Finite element formulation, example, convergence
23
6.1
Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.1.1
F.E. model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.1.2
Higher-order elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
7 Isoparametric elements
28
8 Convergence of displacement-based FEM
33
9 u/p formulation
37
10 F.E. large deformation/general nonlinear analysis
41
11 Deformation, strain and stress tensors
45
12 Total Lagrangian formulation
49
MIT 2.094
Contents
13 Total Lagrangian formulation, contd
53
14 Total Lagrangian formulation, contd
57
15 Field problems
61
15.1 Heat transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
15.1.1 Dierential formulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
15.1.2 Principle of virtual temperatures . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
15.2 Inviscid, incompressible, irrotational ow . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
16 F.E. analysis of Navier-Stokes uids
65
17 Incompressible uid ow and heat transfer, contd
71
17.1 Abstract body . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
17.2 Actual 2D problem (channel ow) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
17.3 Basic equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
17.4 Model problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
17.5 FSI briey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
18 Solution of F.E. equations
76
18.1 Slender structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
19 Slender structures
81
20 Beams, plates, and shells
85
21 Plates and shells
90
2.094 Finite Element Analysis of Solids and Fluids
Fall 08
Lecture 1 - Large displacement analysis of solids/structures

Prof. K.J. Bathe
1.1
MIT OpenCourseWare
Project Example
Physical problem
Reading:
Ch. 1 in
the text
Simple mathematical model
analytical solution
F.E. solution(s)
More complex mathematical model

holes included
large disp./large strains
F.E. solution(s)
How many nite elements?
We need a good error measure (especially for FSI)
Even more complex mathematical model
The complex mathematical model includes Fluid

Structure Interaction (FSI).
You will use ADINA in your projects (and homework) for structures and uid ow.
3
MIT 2.094
1.2
1. Large displacement analysis of solids/structures
Large Displacement analysis
Lagrangian formulations:
Total Lagrangian formulation
Updated Lagrangian formulation
1.2.1
Reading:
Ch. 6
Mathematical model/problem
Given
Calculate
the
the
the
the
the
original conguration of the body,

support conditions,
applied external loads,
assumed stress-strain law
deformations, strains, stresses of the body.
Question Is there a unique solution? Yes, for innitesimal small displacement/strain. Not necessarily
for large displacement/strain.
For example:
Snap-through problem
The same load. Two dierent deformed congurations.

4
MIT 2.094
Column problem, statics
Not physical
1.2.2
R is in direction of bending moment Not in

equilibrium.
Requirements to be fullled by solution at time t
I. Equilibrium of stresses (Cauchy stresses, forces per unit area in t V and on t Sf ) with the applied
body forces t f B and surface tractions t f Sf
II. Compatibility
III. Stress-strain law
1.2.3
Finite Element Method
I. Equilibrium condition means now

equilibrium at the nodes of the mesh
equilibrium of each nite element
II. Compatibility satised exactly
III. Stress-strain law satised exactly
MIT 2.094
1.2.4
Notation
Cauchy stresses (force per unit area at time t):
ij
i, j = 1, 2, 3
ij = t ji
(1.1)
Fall 08
Lecture 2 - Finite element formulation of solids and structures

Prof. K.J. Bathe
MIT OpenCourseWare
Assume that on t Su the displacements are zero (and t Su is constant). Need to satisfy at time t:
Equilibrium of Cauchy stresses t ij with applied loads

t T
= t 11 t 22 t 33 t 12 t 23 t 31
(2.1)
(For i = 1, 2, 3)
ij,j + t fiB
t
ij nj
t Sf
fi
(e.g.
0 in t V (sum over j)
(2.2)
t Sf
fi on t Sf (sum over j)
t
i1 t n1 + t i2 t n2 + t i3 t n3
(2.3)
(2.4)
And: t 11 t n1 + t 12 t n2 = t f1 f
Compatibility The displacements t ui need to be continuous and zero on t Su .

Stress-Strain law
t

ij = function t uj
(2.5)
Reading:
Ch. 1, Sec.
6.1-6.2
MIT 2.094
2. Finite element formulation of solids and structures
Principle of Virtual Work
2.1
ij t eij d t V =
tV
tV
t B
fi
ui d t V +
tS
t Sf
fi
u i f d t Sf
(2.6)
where
t eij
with ui
t
1
2
ui
uj
+ t
t xj
xi
(2.7)
= 0
(2.8)
Su
2.2
Example
Assume plane sections remain plane

Principle of Virtual Work
t
t
11 t e11 d V =
tV
tV
t B
f1
u1 d V +
tS
Pr u 1 f d t S f
(2.9)
Derivation of (2.9)
t
t
or
11,1 + t f1B = 0
11,1 + t f1B u1 = 0
by (2.2)
(2.10)
(2.11)
Principle of Virtual Displacements
MIT 2.094
Hence,
2. Finite element formulation of solids and structures
tV
11,1 + t f1B u1 d t V = 0
tS
11 u1 t Sf
u
t
tV
u1 f t11 tSf
(2.12)
u1,1 d V +
11
tV
u1 t f1B
d t V = 0
(2.13)
te11
where t11 | tS = tPr .

f
Therefore we have
t
t
e
d
V
=
t 11
11
tV
u1 t f1B d t V + u1 f t Pr t Sf
tV
(2.14)
From (2.12) to (2.14) we simply used mathematics. Hence, if (2.2) and (2.3) are satised, then (2.14)
must hold. If (2.14) holds, then also (2.2) and (2.3) hold!
Namely, from (2.14)
tS
u1,1 t11 d tV = u1 t11 tSf
u
tV
tV
u1 t11,1 d tV =
tV
u1 tf1B d tV + u1 f
tPr tSf
(2.15)
or
u1
tV
S
11,1 + tf1B d tV + u1 f tPr t11 tSf = 0
Now let u1 = x 1
x
tL
(2.16)
11,1 + tf1B , where tL = length of bar.
Hence we must have from (2.16)

t
11,1 + tf1B = 0
(2.17)
and then also

t
Pr = t11
(2.18)
Fall 08
Lecture 3 - Finite element formulation for solids and structures

Prof. K.J. Bathe
MIT OpenCourseWare
Reading:
Sec. 6.1-6.2
We need to satisfy at time t:

Equilibrium
tij t B
+ fi = 0
txj
t
(i = 1, 2, 3) in t V
t Sf
ij tnj = fi
(3.1)
(i = 1, 2, 3) on t Sf
(3.2)
Compatibility
Stress-strain law(s)
Principle of virtual displacements
t
ij teij d tV =
ui tfiB d tV +
tV
1
teij =
2
tV
ui
uj
+ t
t xj
xi
tS
f
ui | t S
t Sf
fi
d tSf
(3.3)
(3.4)
If (3.3) holds for any continuous virtual displacement (zero on tSu ), then (3.1) and (3.2) hold and
vice versa.
Refer to Ex. 4.2 in the textbook.
10
MIT 2.094
3. Finite element formulation for solids and structures
Major steps
I. Take (3.1) and weigh with ui :
t
ij,j + t fiB ui = 0.
(3.5a)
II. Integrate (3.5a) over volume t V :
ij,j + t fiB ui d t V = 0
(3.5b)
tV
III. Use divergence theorem. Obtain a boundary term of stresses times virtual displacements on t S =
t
Su t Sf .
IV. But, on t Su the ui = 0 and on t Sf we have (3.2) to satisfy.
Result: (3.3).
Example
t
tV
11 te11 d tV =
t S
tS
f
ui f1 f d tSf
(3.6)
One element solution:
11
MIT 2.094
1
1
(1 + r) u1 + (1 r) u2
2
2
1
1
t
t
u(r) = (1 + r) u1 + (1 r) t u2
2
2
1
1
u(r) = (1 + r) u1 + (1 r) u2
2
2
u(r) =
(3.7)
(3.8)
(3.9)
Suppose we know t 11 , t V , t Sf , t u ... use (3.6).

For element 1,
t e11
tV
u
= t = B (1)
x
u1
u2
for el. (1)

T
t
te11t 11 d V
(3.10)
[u1
u2 ]
tV
for el. (1)
= U1
u2
B (1)
11 d t V
(3.11)
= t F (1)
u2 ] t F (1)
t (1)
F
U 2 U 3
[u1
(3.12)
(3.13)
u1
where
t
(1)
(1)
F1 = t F2
t (1)
F2
(3.14)
t (1)
F1
(3.15)
For element 2, similarly,
= U 1
U2
u2
U3
0
t
(2)
F
(3.16)
u1
R.H.S.
U1
U2
U3
(unknown reaction at left)
0
t Sf
t
Sf f
1
(3.17)
Now apply,
U
0 0
(3.18)
1 0
(3.19)
0 1
(3.20)
then,
U
then,
U
12
MIT 2.094
This gives,
F (1)
0
F (2)
unknown reaction
0
=
t tSf t
f1 Sf
(3.21)
We write that as
t
F = tR
t
F = fn t U1 , t U2 , t U3
(3.22)
(3.23)
13
Fall 08
Lecture 4 - Finite element formulation for solids and structures

Prof. K.J. Bathe
MIT OpenCourseWare
We considered a general 3D body,
Reading:
Ch. 4
The exact solution of the mathematical model must satisfy the conditions:
Equilibrium within t V and on t Sf ,
Compatibility
Stress-strain law(s)
I. Dierential formulation
II. Variational formulation (Principle of virtual displacements) (or weak formulation)
We developed the governing F.E. equations for a sheet or bar
We obtained
t
F = tR
(4.1)
where t F is a function of displacements/stresses/material law; and t R is a function of time.

Assume for now linear analysis: Equilibrium within 0 V and on 0 Sf , linear stress-strain law and small
displacements yields
t
F = K tU
(4.2)
We want to establish,
KU (t) = R(t)
(4.3)
14
MIT 2.094
Consider
T =
U
U1
V1
W1
U2
WN
(N nodes)
(4.4)
T is a distinct nodal point displacement vector.

where U
Note: for the moment remove Su
We also say
T = U1
U
U2
U3
Un
(n = 3N )
(4.5)
We now assume
(m)
u
= v
w
,
u(m) = H (m) U
u(m)
(4.6a)
is n x 1.
where H (m) is 3 x n and U
(m) = B (m) U
(4.6b)
where B (m) is 6 x n, and

T
(m) =
e.g. xy
xx yy
v
u
=
+
x y
zz
xy
yz
zx
We also assume
u(m)
(m)

H (m) U
(4.6c)
(m)
(4.6d)
15
MIT 2.094
Principle of Virtual Work:
T
T
f B dV
dV =
U
V
(4.7)
(4.7) can be rewritten as
(m) (m) dV (m) =
V (m)
(m) T
fB
(m)
dV (m)
(4.8)
V (m)
Substitute (4.6a) to (4.6d).
T
(m) T
(m)
(m)
U
B
dV
=
V (m)
(m) T
B (m)
(4.9)
dV
(m)
V (m)
(m) = C (m) (m) = C (m) B (m) U
Finally,
(m) T
(4.10)
(m)
(m)
dV
(m)
=
U
V (m)
(m) T
(4.11)
fB
(m)
dV (m)
V (m)
with
T
B (m)
(m) = U
(4.12)
= RB
KU
(4.13)
where K is n x n, and RB is n x 1.
Direct stiness method:
K=
K (m)
(4.14)
RB =
(m)
RB
(4.15)
(m)
(m)
RB
B (m) C (m) B (m) dV (m)
=
V
(m)
(m)
H (m) f B
(m)
(4.16)
dV (m)
(4.17)
16
MIT 2.094
Example 4.5 textbook
E = Youngs Modulus
Mathematical model
Plane sections remain plane:
F.E. model
U1
U = U2
U3
(4.18)
Element 1
u(1) (x) =
x
100
100
H (1)
U1
0 U2
U
3
(4.19)
17
MIT 2.094
U1
0 U2
U
3
(4.20)
x
80
(4.21)
(1)
xx (x) =
1
100
100
B (1)
Element 2
u(2) (x) =
(2)
xx (x)
x
1 80
H (2)
1
1
80
80
B (2)
(4.22)
Then,
1 1 0
0
13E
E
1 1 0 +
0
K=
240
100
0
0 0
0
0
0
1 1
1 1
(4.23)
where,
<
=0
AE
E(1)
L
100

13 E
E 13
=
3 80
3 80

A
A
< A
(4.24)
(4.25)
(4.26)
=80
< 4.333 <
18
Fall 08
Lecture 5 - F.E. displacement formulation, contd

Prof. K.J. Bathe
MIT OpenCourseWare
For the continuum
Reading:
Ch. 4
Dierential formulation
Variational formulation (Principle of Virtual Displacements)
Next, we assumed innitesimal small displacement, Hookes Law, linear analysis

KU = R
(5.1a)
u(m) = H (m) U
K=
(5.1b)
K (m)
(5.1c)
(m)
(5.1d)
R=
RB
(m)
(m) = B U

U T = U1 U2 Un , (n = all d.o.f. of element assemblage)
T
K (m) =
B (m) C (m) B (m) dV (m)
(m)
V
(m)
T
(m)
RB =
H (m) f B
dV (m)
(5.1e)
(5.1f)
(5.1g)
(5.1h)
V (m)
Surface loads
Recall that in the principle of virtual displacements,
Sf T
f Sf dSf
surface loads =
U
(5.2)
Sf
uS
H
(m)
S (m)
= HS
(m)
= H (m)
(5.3)
(5.4)
evaluated at the surface
19
MIT 2.094
5. F.E. displacement formulation, contd
Substitute into (5.2)
(m) T
(m)
T
U
HS
fS
dS (m)
(5.5)
S (m)
for element (m) and one surface of that element.
Rs(m) =
HS
(m) T
fS
(m)
dS (m)
(5.6)
S (m)
Need to add contributions from all surfaces of all loaded external elements.
KU = RB + RS + Rc
(5.7)
where Rc are concentrated nodal loads.

Assume
(5.7) has been established without any displacement boundary conditions.
We, however, know nodal displacements Ub (rewriting (5.7)).
KU = R
Kaa
Kba
Kab
Kbb
Ua
Ub
Ra
Rb
(5.8)
Solve for Ua :
Kaa Ua = Ra Kab Ub
(5.9)
where Ub is known!
Then use
Kba Ua + Kbb Ub = Rb + Rr
(5.10)
where Rr are unknown reactions.

Example 4.6 textbook
1
xx
E
yy =

1 2
xy
0
1
0
0
0
1
2
xx
yy
xy
20
(5.11)
MIT 2.094
u(x, y)
=H
v(x, y)
u1
u2
u3
u4
v1
v2
v3
v4
(5.12)
If we can set this relation up, then clearly we can get H (1) , H (2) , H (3) , H (4) .
u(m) = H (m) U
(5.13)
Also want (m) = B (m) U . We want H. We could proceed this way

u(x, y) = a1 + a2 x + a3 y + a4 xy
(5.14)
v(x, y) = b1 + b2 x + b3 y + b4 xy
(5.15)
Express a1 . . . a4 , b1 . . . b4 in terms of the nodal displacements u1 . . . u4 , v1 . . . v4 .
(e.g.) u(1, 1) = a1 + a2 + a3 + a4 = u1 .
h1 (x, y) = 14 (1 + x)(1 + y) interpolation function

for node 1.
h2 (x, y) = 14 (1 x)(1 + y)
21
MIT 2.094
h3 (x, y) = 14 (1 x)(1 y)
h4 (x, y) = 14 (1 + x)(1 y)
u(x, y) = h1 u1 + h2 u2 + h3 u3 + h4 u4
(5.16)
v(x, y) = h1 v1 + h2 v2 + h3 v3 + h4 v4
(5.17)
u(x, y)
v(x, y)
h1
0
h2
0
h3
0
h4
0
0
h1
0
h2
0
h3
H (2x8)
h4
u1
u2
u3
u4
v1
v2
v3
v4
(5.18)
We also want,
xx
h1,x
yy = 0
xy
h1,y
h2,x
0
h2,y
h3,x
0
h3,y
h4,x
0
h4,y
0
h1,y
h1,x
0
h2,y
h2,x
B (3x8)
u
x
v
=
y
u v
+
=
x
y
0
h3,y
h3,x
0
h4,y
h4,x
u1
u2
u3
u4
v1
v2
v3
v4
(5.19)
xx =
(5.20)
yy
(5.21)
xy
(5.22)
22
Fall 08
Lecture 6 - Finite element formulation, example, convergence

Prof. K.J. Bathe
6.1
MIT OpenCourseWare
Example
Reading:
Ex. 4.6 in
the text
t = 0.1,
KU = R;
K=
K (m) ;
R = RB + R s + R c + R r
T
(m)
K
=
B (m) C (m) B (m) d V (m)
(m)
RB ;
6.1.1
(6.1)
(6.2)
V (m)
RB =
E, plane stress
(m)
RB
H (m) f B(m) d V (m)
(6.3)
V (m)
F.E. model
el. (2)
u1 u2 u3 u4

= .
..
v1 v2 v3 v4

23
u1
..
.
(6.4)
MIT 2.094
6. Finite element formulation, example, convergence
In practice,
u1
..
.
u4
=B
v1
.
..
v4
K =
B T CB dV ;
el
(6.5)
where K is 8x8 and B is 3x8.

Assume we have K (8x8) for el. (2)
U1 U2 U3 U4 U5 U11

..
..
..
.
.
.
..
..
..
.
.
.
K
=
assemblage
..
..
..
.
.
.
.
.
..
.
.
.
.
.
U18
U1
..
.
..
.
U11
..
.
..
.
U18
(6.6)
Consider,
HS = H
H S f S d S;
RS =
S
H=
u=
h1
0
u1
u2
..
.
u4
v1
..
.
h2
0
h3
0
h4
0
0
h1
0
h2
(6.7)
on surface
0
h3
0
h4
u(x, y)
v(x, y)
(6.8)
(6.9)
v4
24
MIT 2.094
HS = H
y=+1
1
2 (1 + x)
=
0
(6.10)
1
2 (1
x) 0
0
0
0
0
1
2 (1
+ x)
1
2 (1
x)
(6.11)
From (6.7);
+1
RS =
1
1
2 (1
1
2 (1
+ x)
x)
0
0
0
0
(0.1) dx
1
p(x)

2 (1 + x)
1
thickness
(1
x)
2
(6.12)
RS =
p0 (0.1)

p0 (0.1)
6.1.2
(6.13)
Higher-order elements
Want h1 , h2 , h3 , h4 , h5
u(x, y) =
i=1
hi u i .
hi = 1 at node i and 0 at all other nodes.

h5 = 12 (1 x2 )(1 + y)
25
MIT 2.094
1
h5
2
1
h5
2
1
(1 + x)(1 + y)
4
1
h2 = (1 x)(1 + y)
4
1
h3 = (1 x)(1 y)
4
1
h1 = (1 + x)(1 y)
4
h1 =
(6.14)
(6.15)
(6.16)
(6.17)
Note:
We must have
u(x, y) =
hi = 1
hi = 1 to satisfy the rigid body mode condition.
h i ui
(6.18)
Assume all nodal point displacements = u . Then,
u(x, y) =
h i u = u
h i = u
(6.19)
From (6.1),
(m)
U =R
(6.20)
U =R
(6.21)
(m) T
(m)
(m)
dV
(m)
V (m)
where C (m) B (m) U = (m) . (Assume we calculated U .)
B (m) (m) d V (m) = R
(6.22)
(m)
(m)
= R;
(m)
B (m) (m) d V (m)
=
V
(m)
Two properties
I. The sum of the F (m) s at any node is equal to the applied external forces.
26
(6.23)
MIT 2.094
II. Every element is in equilibrium under its F (m)
T F (m) = U
T
U
B (m) (m) d V (m)
=(m)
(6.24)
(m)
(m) (m) d V (m)
(6.25)
V (m)
=0
(6.26)
T = virtual nodal point displacement.

where U
Apply rigid body displacement.
If we move the element virtually in the rigid body modes, (m) is zero. Therefore the virtual work
obtained due to virtual motion of the element is zero. Then the element is in equilibrium under its F (m) .
27
Fall 08
Lecture 7 - Isoparametric elements

Prof. K.J. Bathe
We want K =
MIT OpenCourseWare
B T CB dV , RB =
Reading:
Sec. 5.1-5.3
H T f B dV . Unique correspondence (x, y) (r, s)
(r, s) are natural coordinate system or isoparametric coordinate system.
x=
hi xi
(7.1)
hi yi
(7.2)
i=1
y=
i=1
where
1
(1 + r)(1 + s)
4
h2 = (1 r)(1 + s)
4
...
h1 =
u(r, s) =
(7.3)
(7.4)
hi ui
(7.5)
hi vi
(7.6)
i=1
v(r, s) =
i=1
28
MIT 2.094
7. Isoparametric elements
u
T =
= Bu
u
x
v4
(7.7)
= Bu
v
x
(7.8)
x
r
y
r
x
s
y
s
u2
u1
v
y
u
y
= J 1
(7.9)
(7.10)
J must be non-singular which ensures that there is unique correspondence between (x, y) and (r, s).
Hence,
1 1
K=
B T CB t det(J ) dr ds
(7.11)
1 1
dV
Also, RB =
1
H T f B t det(J ) dr ds
(7.12)
Numerical integration (Gauss formulae) (Ch. 5.5)
K
=t
T
Bij
CBij det(Jij ) (weight i, j)
(7.13)
2x2 Gauss integration,

(i = 1, 2)
(j = 1, 2) (weight i, j = 1 in this case)
(7.14)
(7.15)
29
MIT 2.094
9-node element
x=
hi xi
(7.16)
hi yi
(7.17)
hi u i
(7.18)
hi vi
(7.19)
i=1
y=
i=1
u=
i=1
v=
i=1
Use 3x3 Gauss integration
For rectangular elements, J = const

Consider the following element,
Note, here we could use hi (x, y) directly.
J=
3 = 26
0
(7.20)
3
2
Then, we can determine the number of appropriate integration points by investigating the maximum
order of B T CB.
For a rectangular element, 3x3 Gauss integration gives exact K matrix. If the element is distorted,
a K matrix which is still accurate enough will be obtained, (if high enough integration is used).
30
MIT 2.094
Convergence Principle of virtual work:
T C dV = R(u)
(7.21)
Find u, solution, in V, vector space (any continuous function that satises boundary conditions),
satisfying
T C dV = a(u, v) = (f , v) for all v, an element of V.

(7.22)

V
bilinear form
R(v)
Example:
Finite Element problem
Find uh Vh , where Vh is F.E. vector space such that
a(uh , vh ) = (f , vh ) vh Vh
(7.23)
Size of Vh # of independent DOFs (here its 12).

Note:
a(w, w)

> 0 for w V
0)
(w =
2x (strain energy when imposing w)
Also,
a(wh , wh ) > 0 for wh Vh
(Vh V, wh = 0)
31
Reading:
Sec. 5.5.5,
4.3
MIT 2.094
Property I
Dene: eh = u uh .
From (7.22), a(u, vh ) = (f , vh )
(7.24)
From (7.23), a(uh , vh ) = (f , vh )
(7.25)
Hence,
a(u uh , vh ) = 0
(7.26)
a(eh , vh ) = 0
(7.27)
(error is orthogonal in that sense to all vh in F.E. space).

Property II
a(uh , uh ) a(u, u)
(7.28)
Proof:
a(u, u) = a(uh + eh , uh + eh )
(7.29)
0 by Prop. I
2a(u
= a(uh , uh ) +
h , eh )
+ a(eh , eh )

(7.30)
a(u, u) a(uh , uh )
(7.31)
32
Fall 08
Lecture 8 - Convergence of displacement-based FEM

Prof. K.J. Bathe
MIT OpenCourseWare
(A) Find
u V such that a(u, v) = (f , v) v V (Mathematical model)
(8.1)
a(v, v) > 0 v V,
(8.2)
v=
0.
where (8.2) implies that structures are supported properly. E.g.
(B) F.E. Problem
Find
uh Vh such that a(uh , vh ) = (f , vh ) vh Vh
a(vh , vh ) > 0
vh Vh ,
vh = 0
(8.3)
(8.4)
Properties eh = u uh
(I) a(eh , vh ) = 0
vh Vh
(8.5)
(II) a(uh , uh ) a(u, u)
(8.6)
33
MIT 2.094
8. Convergence of displacement-based FEM
(C) Assume Mesh
e.g. Mesh
h1
h1
is contained in Mesh
not contained in Mesh
h2
h2
We assume (C), but need another property (independent of (C))
(III) a(eh , eh ) a(u vh , u vh ) vh Vh
(8.7)
uh minimizes! (Recall eh = u uh )
Proof: Pick wh Vh .
0
a(eh + wh , eh + wh ) = a(eh , eh ) +
2a(e
+ a(wh , wh )
h , wh )

(8.8)
Equality holds for (wh = 0)
a(eh , eh ) a(eh + wh , eh + wh )
= a(u uh + wh , u uh + wh )
(8.9)
(8.10)
Take wh = uh vh .
a(eh , eh ) a(u vh , u vh )
(8.11)
Using property (III) and (C), we can say that we will converge monotonically, from below, to a(u, u):
34
MIT 2.094
Pascal triangle (2D)
4-node element is complete to k = 1.

9-node element is complete to k = 2.
(Ch. 4.3)
error in displacement C hk+1
(8.12)
(C is a constant determined by the exact solution, material property. . . )

error in stresses C hk
error in strain energy C h2k
(8.13)
( these C are dierent)
(8.14)
Hence,
E Eh = C h2k
(roughly equal to)
(8.15)
By theory,
log (E Eh ) = log C + 2k log h
(8.16)
35
MIT 2.094
By experiment, we can evaluate log(E Eh ) for dierent meshes and plot log(E Eh ) vs. log h
We need to use graded meshes if we have high stress gradients.

Example
Consider an almost incompressible material:
V = vol. strain
(8.17)
v very small or zero
(8.18)
or
We can see diculties:

p = V
= bulk modulus
(8.19)
As the material becomes incompressible ( = 0.3 0.4999)
p nite number
V 0
(8.20)
(Small error in V results in huge error on pressure as , the constant C in (8.15) can be very large
locking)
36
Fall 08
Lecture 9 - u/p formulation

Prof. K.J. Bathe
MIT OpenCourseWare
We want to solve
Reading:
Sec. 4.4.3
I. Equilibrium
ij,j + fiB = 0 in Volume

S
ij nj = fi f
on Sf
(9.1)
II. Compatibility
III. Stress-strain law
Use the principle of virtual displacements
T C dV = R
(9.2)
We recognize that if 0.5

V 0
(V = xx + yy + zz )
E
=
3(1 2)
p = V must be accurately computed
(9.3)
(9.4)
(9.5)
Solution
ij = V ij + 2Gij
(9.6)
where
1
ij = Kronecker delta =
0
i=j
i=
j
(9.7)
Deviatoric strains:
V
ij = ij
ij
3
ij = pij + 2Gij
(9.8)
p=
kk
3
(9.9)
(9.2) becomes
T
C dV +
V V dV = R
V
V
T
C dV
TV p dV = R
V
(9.10)
(9.11)
37
MIT 2.094
9. u/p formulation
We need another equation because we now have another unknown p.
p + V = 0
(9.12)
p (p + V ) dV = 0
V
p
p V +
dV = 0
(9.13)
(9.14)
For an element,
u = Hu
= BD u
V = BV u
(9.16)
(9.17)
p = Hp p
(9.18)
(9.15)
Plane strain (zz = 0)

4/1 element
Example
V = xx + yy
xx 31 (xx + yy )
yy 1 (xx + yy )
3
=
xy
13 (xx + yy )
Reading:
Ex. 4.32 in
the text
(9.19)
(9.20)
0!
Note: zz = 0 but zz =
p = Hp p = [1]{p0 }
(9.21)
p(x, y) = p0
(9.22)
We obtain from (9.11) and (9.14)
Kuu Kup
u
R
=
Kpu Kpp
p
0
(9.23)
T

BD
C BD dV
V
=
BVT Hp dV
V
=
HpT BV dV
V
1
=
HpT Hp dV
Kuu =
(9.24a)
Kup
(9.24b)
Kpu
Kpp
(9.24c)
(9.24d)
38
MIT 2.094
9. u/p formulation
In practice, we use elements that use pressure interpolations per element, not continuous between
elements. For example:
Then, unless = 0.5 (where Kpp = 0), we can use static condensation on the pressure dofs.
equations.
Use p equations to eliminate p from the u
1
=R
Kuu Kup Kpp
Kpu u
(9.25)
(In practice, can be 0.499999. . . )

The best element is the 9/3 element. (9 nodes for displacement and 3 pressure dofs).
p(x, y) = p0 + p1 x + p2 y
(9.26)
The inf-sup condition
Reading:
Sec. 4.5
=V

Vol qh vh dVol
inf
sup
>0

qh vh

qh Qh vh Vh
(9.27)
for normalization
Qh : pressure space.
If this holds, the element is optimal for the displacement assumption used (ellipticity must also be
satised).
Note:
inmum = largest lower bound
supremum = least upper bound
For example,
inf {1, 2, 4} = 1
sup {1, 2, 4} = 4
inf {x R; 0 < x < 2} = 0
sup {x R; 0 < x < 2} = 2
(9.23) rewritten ( = , full incompressibility). Diagonalize using eigenvalues/eigenvectors.

For a mesh of element size h we want h > 0 as we rene the mesh, h 0
39
MIT 2.094
9. u/p formulation
For
(entry [3,1] in matrix) assume the circled entry is the minimum (inf) of
Also, all entries in the matrix not shown are zero.

Case 1 h = 0
0 uh |i = 0 (from the bottom equation)
u
|
+
0
ph |j = Rh |i (from the top equation)
h i
=0
no equation for ph |j
spurious pressure! (any pressure satises equation)
Case 2 h = small =
uh |i = 0
uh |i = 0
ph |j + uh |i = Rh |i
Rh |i
ph |j =
displ. =
pressure
0
large
as is small
The behavior of given mesh when bulk modulus increases: locking, large pressures. See Example
4.39 textbook.
40
Fall 08
Lecture 10 - F.E. large deformation/general nonlinear analysis

Prof. K.J. Bathe
MIT OpenCourseWare
We developed
t
ij teij d tV = tR
Reading:
Ch. 6
(10.1)
tV
1
teij =
2
ui
uj
+ t
txj
xi
(10.2)
ij t eij d tV = tR
t
tV
1
t eij =
2
(ui ) (uj )
+
t xj
t xi
(10.3)
( t eij )
(10.4)
In FEA:
t
F = tR
(10.5)
In linear analysis
t
F = K t U KU = R
(10.6)
In general nonlinear analysis, we need to iterate. Assume the solution is known at time t
t
x=
x + tu
(10.7)
Hence t F is known. Then we consider

t+t
F =
t+t
(10.8)
Consider the loads (applied external loads) to be deformation-independent, e.g.
41
MIT 2.094
10. F.E. large deformation/general nonlinear analysis
Then we can write

t+t
F = tF + F
(10.9)
t+t
U = tU + U
(10.10)
where only t F and t U are known.
F
= tK U ,
K = tangent stiness matrix at time t
(10.11)
From (10.8),
t
K U =
t+t
R tF
(10.12)
We use this to obtain an approximation to U . We obtain a more accurate solution for U (i.e.
using
t+t
K (i1) U (i) =
t+t
(i)
t+t
R t+tF (i1)
t+t
(i1)
+ U
t+t
F)
(10.13)
(i)
(10.14)
Also,
t+t
F (0) = tF
t+t
(0)
(10.15)
= K
(10.16)
U (0) = tU
(10.17)
t+t
Iterate for i = 1, 2, 3 . . . until convergence. Convergence is reached when
U (i) < D
2
t+t
t+t (i1)
R
F
< F
2
Note:
a2 =
(ai )
(i)
=U
i=1,2,3...
U (1) in (10.13) is U in (10.12).
(10.13) is the full Newton-Raphson iteration.
How we could (in principle) calculate t K
Process
Increase the displacement t Ui by , with no increment for all t Uj , j = i
calculate
t+
the i-th column in tK = ( t+F tF ) / =
tF
.
tUi
42
(10.18)
(10.19)
MIT 2.094
So, perform
Pictorially,
..
.
t
K = ...
..
.
this process for i = 1, 2, 3, . . . , n, where n is the total number of degrees of freedom.

..
.
..
.
..
.
A general diculty: we cannot simply increment Cauchy stresses.
t+t
ij referred to area at time t + t
t ij referred to area at time t.

We dene a new stress measure, 2nd Piola - Kirchho stress,
refers to original conguration. Then,
t+t
0 Sij
= 0tSij + 0 Sij
t+t
0 Sij ,
where 0 in the leading subscript

(10.20)
The strain measure energy-conjugate to the 2nd P-K stress 0tSij is the Green-Lagrange strain 0tij
Then,
0V
t
0 Sij
Also,
0V
0tij d 0V = tR
t+t
0 Sij
t+t0ij d 0V =
(10.21)
t+t
(10.22)
Example
43
MIT 2.094
F = tR
t+t
F =
(10.23)
t+t
(10.24)
(every time it is in equilibrium)

(10.13) and (10.14) give:
i = 1,
t+t
K (0) U (1) =
t+t
R t+tF (0) fn( tU )
t+t
K (1) U (2) =
t+t
(1)
t+t
(10.25)
(1)
(10.26)
R t+tF (1)
(10.27)
(0)
+ U
i = 2,
t+t
t+t
(2)
t+t
(1)
+ U
(2)
(10.28)
44
Fall 08
Lecture 11 - Deformation, strain and stress tensors

Prof. K.J. Bathe
MIT OpenCourseWare
We stated that we use
t
t
ij teij d V =
tV
Reading:
Ch. 6
t
0 Sij
0V
0tij d 0V = tR
(11.1)
The deformation gradient We use txi = 0xi + tui
tx
tx
tx
1
X
=
0
0x1
0x2
0x3
x2
0x1
x2
0x2
x2
0x3
tx3
0x1
tx3
0x2
tx3
0x3
(11.2)
d tx1
d tx = d tx2
d tx3
0
d x1
d 0x = d 0x2
d 0x3
(11.3)
(11.4)
Implies that
d tx = 0tX d 0x
(11.5)
(0tX is frequently denoted by 0tF or simply F , but we use F for

force vector)
We will also use the right Cauchy-Green deformation tensor
t
0C
= 0tX T 0tX
Some applications
45
(11.6)
MIT 2.094
11. Deformation, strain and stress tensors
The stretch of a ber ( t):

t 2
t 2
d txT d tx
ds
= 0 T 0 = 0
d x d x
d s
(11.7)
The length of a ber is
1
d 0s = d 0xT d 0x 2
(11.8)
0 T t Tt
0
t 2
d x 0X
0X d x
=
,
d 0s d 0s
from (11.5)
(11.9)
Express

d 0x = d 0s 0n
(11.10)
n = unit vector into direction of d x

t 2 0 T t 0
= n 0 C n
t =
(11.11)
(11.12)
0 T t 0 12
n 0C n
(11.13)
Also,
d tx
T t t t
d x = d s d s cos t,
From (11.5),
T
T 0tX
d 0x
cos t =
t
0X
d 0x
d ts d ts
0 0T t 0
d s n 0 C n d 0s
=
d ts d ts
cos t =
(a b = ab cos )
(11.14)
t
0X
0tX
(11.15)
(11.16)
0T t 0
n 0C n
t
t
(11.17)
Also,
0
t
det 0tX
(see Ex. 6.5)
(11.18)
Example
Reading:
Ex. 6.6 in
the text
46
MIT 2.094
1
(1 + 0x1 )(1 + 0x2 )
4
h1 =
(11.19)
..
.
t
xi = 0xi + tui
=
hk txki ,
(11.20)
(i = 1, 2)
(11.21)
k=1
where txki are the nodal point coordinates at time t ( tx11 = 2, tx12 = 1.5)
Then we obtain
1
5 + 0x2
t
1
0X =
4 2 (1 + 0x2 )
At 0x1 = 0, 0x2 = 0,
1 5
t
=
0 X 0
4 12
xi = 0x2 =0
1 + 0x1
1
0
2 (9 + x1 )
(11.22)
(11.23)
9
2
The Green-Lagrange Strain

t
0
1 t
1 t T t
0X 0X I =
0C I
2
2
txi
=
0xj
(11.24)
xi + tui
tui
=
+
ij
0xj
0xj
We nd that
1 t
t
t
t
t
0ij =
0ui,j + 0uj,i + 0uk,i 0uk,j ,
2
(11.25)
sum over k = 1, 2, 3
(11.26)
where
t
0ui,j
tui
0xj
(11.27)
47
MIT 2.094
Polar decomposition of 0tX

t
0X
= 0tR 0tU
(11.28)
where 0tR is a rotation matrix, such that

t T t
0R 0R
=I
(11.29)
and 0tU is a symmetric matrix (stretch)
Ex. 6.9 textbook
t
0X
3
2
1
2
2
3
2
4
3
(11.30)
3
2
Then,
2
= 0tX T 0tX = 0tU
1 t 2
t
I
0 =
0U
2
t
0C
(11.31)
(11.32)
This shows, by an example, that the components of the Green-Lagrange strain are independent of a
rigid-body rotation.
48
Fall 08
Lecture 12 - Total Lagrangian formulation

Prof. K.J. Bathe
We discussed:
MIT OpenCourseWare
t
0X
txi
=
0xj
t
0C
= 0tX T 0tX
d tx = 0tX d 0x,
d 0x =
(12.1)
(12.2)
d 0x = 0t X d tx
t 1 t
dx
0X
where 0t X =
t 1
xi
=
0X
txj
The Green-Lagrange strain:

1 t
1 t T t
t
0 =
0X 0X I =
0C I
2
2
(12.3)
(12.4)
Polar decomposition:
t
0X
= 0tR0tU 0t =
1 t 2
I
0U
2
(12.5)
We see, physically that:
where d t+tx and d tx are the same lengths

the components of the G-L strain do not
change.
Note in FEA
0
xi =
hk 0xki
k
for an element
ui =
hk tuki
(12.6)
xi = 0xi + tui
for any particle
(12.7)
Hence for the element
t
xi =
hk 0xki +
hk tuki
k
(12.8)
hk
0 k t k
xi + ui
(12.9)
hk txkk
(12.10)
49
MIT 2.094
12. Total Lagrangian formulation
E.g., k = 4
2nd Piola-Kirchho stress

0
t
0S
Then
0V
0 t 0 T
X tX
t t
t
0 Sij
0tij d 0V =
tV
components also independent of a rigid body rotation
(12.11)
(12.12)
ij t
eij d tV = tR
We can use an incremental decomposition of stress/strain.
t+t
0S
t+t
0 Sij
t+t
0
t+t
0ij
= 0tS + 0 S
(12.13)
= 0tSij + 0 Sij
(12.14)
=
=
t
0 + 0
t
0ij + 0ij
(12.15)
(12.16)
Assume the solution is kown at time t, calculate the solution at time t + t. Hence, we apply (12.12)
at time t + t:
t+t
t+t
0
t+t
R
(12.17)
0 Sij
0ij d V =
0V
Look at 0tij :
1 t
t
t
t
0ui,j + 0uj,i + 0uk,i 0uk,j
2
1
ui
uj
uk tuk
tuk uk
t
0ij =
+ 0 + 0 0 + 0 0
2 0xj
xi
xi xj
xi xj
1
0tij =
0ui,j + 0uj,i + 0uk,i 0tuk,j + 0tuk,i 0uk,j
2
0tij =
(12.18a)
(12.18b)
(12.18c)
We have
t+t
0ij
0tij = 0ij
0ij
(12.19)
= 0eij + 0 ij
(12.20)
50
MIT 2.094
where 0eij is the linear incremental strain, 0 ij is the nonlinear incremental strain, and
0eij
t
t
u + u + u u + u u
2 0 i,j 0 j,i 0 k,i 0 k,j 0 k,i 0 k,j
(12.21)
initial displ. eect
1
u u
0 ij =
2 0 k,i 0 k,j
(12.22)
where
0uk,j
uk
,
0xj
uk =
t+t
uk tuk
(12.23)
Note
t+tij = 0ij
0tij = 0 when changing the conguration at t + t
(12.24)
From (12.17):
0eij + 0 ij d 0V
0 Sij + 0 Sij
0V
=
0V
t
0
t
0 Sij 0eij + 0 Sij 0eij + 0 Sij 0 ij + 0 Sij 0 ij d V
(12.25)
t+t
Linearization
t
t
0 KN L U
0 KL U
t 0
0 Sij 0eij + 0 Sij 0 ij d V =
(12.26)
t+t
0V
0V
t
0
0 Sij 0eij d V
t
0F
(12.27)
We use,
0 Sij
0 Cijrs 0ers
(12.28)
We arrive at, with the nite element interpolations,

t
t
t+t
R 0tF
0 KL + 0 KN L U =
where U is the nodal displacement increment.
51
(12.29)
MIT 2.094
Left hand side as before but using (k 1) and right hand side is
t+t (k1) 0
t+t
= t+tR
d V
0 Sij
0ij
(12.30)
0V
gives
t+t
t+t (k1)
0F
In the full N-R iteration, we use
t+t (k1)
t+t (k1)
+
U (k) =
0 KL
0 KN L
(12.31)
t+t
52
t+t (k1)
0F
(12.32)
Fall 08
Lecture 13 - Total Lagrangian formulation, contd

Prof. K.J. Bathe
MIT OpenCourseWare
Example truss element. Recall:
Principle of virtual displacements applied at some time t + t:
t+t
ij t+teij d t+tV =
t+tV
0V
t+t
0 Sij
t+t
0ij
0ij
t+t
t+t
0
0 Sij
0ij V
t+t
(13.1)
t+t
(13.2)
R
R
= 0tSij + 0 Sij
=
t
0ij
(13.3)
+ 0ij
(13.4)
= 0eij + 0 ij
(13.5)
where 0tSij and 0tij are known, but 0 Sij and 0ij are not.
1
t
t
0ui,j + 0uj,i + 0uk,i 0uk,j + 0uk,j 0uk,i
2
1
0 ij =
0uk,i 0uk,j
2
0eij
Substitute into (13.2) and linearize to obtain
t
0
0eij 0 Cijrs 0ers d 0V +
0 Sij 0 ij d V =
0V
F.E. discretization gives

t
t
0 KL + 0 KN L U =
(13.6)
(13.7)
t+t
0V
t+t
R 0tF
R
0V
0eij 0tSij d 0V
(13.8)
(13.9)
53
MIT 2.094
13. Total Lagrangian formulation, contd
t
0 KL
t
0 KN L
0V
0V
t T
t
0
0 BL 0 C 0 BL d V
(13.10)
t T
0 BN L
(13.11)
t
t
0
0 S 0 BN L d V
matrix
t
0F
=
0V
t T
0 BL
t
0
0S d V
(13.12)
vector
The iteration (full Newton-Raphson) is
t+t (i1)
t+t (i1)
+
U (i) =
0 KL
0 KN L
t+t
U (i) =
t+t
t+t
U (i1) + U (i)
Truss element example
t+t (i1)
0F
(13.13)
(13.14)
(p. 545)
Here we have to only deal with 0tS11 , 0e11 , 0 11

0e11
0 11
u1
tu
uk
+ 0 k 0
0
x1
x1 x1
1 uk uk
=
2 0x1 0x1
=
(13.15)
(13.16)
We are after
u11
u12 t
= 0tBL
u21 = 0 BL u
u22
0e11
ui =
(13.17)
hk uki
(13.18)
k=1
ui =
hk tuki
(13.19)
k=1
54
MIT 2.094
u1
tu1 u1
tu2 u2
+
+
0x
0x1 0x1
0x1 0x1
0 1
t 2
0
u1 = L + L cos L
t 2
u2 = 0L + L sin
0e11
0e11
1
1
=0
L
0 1
(13.20a)
(13.20b)
(13.20c)
L + L
1
+
cos
0L 1
0L
tu1
0x1
L + L
1
+
sin
0L 0
0L
(13.20d)
tu2
0x1
=0tBL u
(13.20e)
Hence,
0
0e11
L + L
cos
2
( 0L)
sin
cos
sin
(13.20f)
where the boxed quantity above equals 0tBL . In small strain but large rotation analysis we assume
L 0L,
0e11
0 11
0 11
cos
0L
1
=
2
sin
cos
u1 u1
u2 u2
+ 0
0
0
x1 x1
x1 0x1
sin
(13.20g)
(13.21a)
1 u1 u1
u1 u1
u2 u2
u2 u2
=
+ 0
+ 0
+ 0
2 0x1 0x1
x1 0x1
x1 0x1
x1 0x1
u1 u1
u2 u2
=
+ 0
0x1 0x1
x1 0x1
t
0 S11 0 11
u1
0x1
u2
0x1
tS
0
0 11
t
0
0 S11
u1
0x1
u2
0x1
(13.21b)
(13.21c)
(13.21d)
t
0S
u1
0x1
u2
0x1
1
0L
1
0
0
1
BN L
1 0
0 1
(13.21e)
55
MIT 2.094
0C
t
0S
=E
(13.22)
= 0tS11
(13.23)
Assume small strains

t
0K
EA
0L
cos2
sym
cos sin
sin2
1
P
0
+0
1
L
0
cos2
sin cos
cos2
t
0 KL
0 1
0
1
0
1
1 0
t
0 KN L
cos sin
sin2
sin cos
sin2
0
1
0
1
When = 0, 0tKL doesnt give stiness corresponding to u22 , but 0tKN L does.
56
(13.24)
Fall 08
Lecture 14 - Total Lagrangian formulation, contd

Prof. K.J. Bathe
MIT OpenCourseWare
Truss element. 2D and 3D solids.
t+t
ij t+teij d t+tV =
t+tV
0V
0V
0 Cijrs 0ers 0eij
t+t
t+t
0
0 Sij
0ij V
(14.1)
t+t
(14.2)
R
R
linearization
t
0
t+t
R
0 Sij 0 ij V =
t+t
V +
0V
0V
t
0
0 Sij 0eij V
(14.3)
Note:
0eij = 0tij
varying with respect to the conguration at time t.
F.E. discretization
0
xi =
hk 0xki
xi =
k
t
ui =
t+t
hk txki
xi =
hk tuki
t+t
ui =
(14.4) into (14.3) gives

t
t
0 KL + 0 KN L U =
hk t+txki
(14.4a)
hk uik
(14.4b)
hk t+tuik
ui =
t+t
R 0tF
(14.5)
57
MIT 2.094
Truss
L
0L
1 small strain assumption:

t
0K
E 0A
0L
cos2
cos sin
cos2
2
cos sin
sin sin cos
cos2
cos2 cos sin
2
cos sin
sin
sin cos
1
0 1
0
t
P
0
0
1
1
0L 1
0
1
0
0
1
0 1
cos sin
sin2
sin cos
sin2
(14.6)
(notice that the both matrices are symmetric)
u1
v1
cos
sin
sin
cos
u1
v1
(14.7)
Corresponding to the u and v displacements we have:

t
0K
E 0A
0L
1
0
1
0
(14.8)
0
0
0
0
1 0
0 0
+
1 0
0 0
0L
1
0
1
0
0 1
0
0 1
1
0
1
0
1
0
1
58
(14.9)
MIT 2.094
Q 0L = tP
Q=
0L
(14.10)
t
where the boxed term is the stiness. In axial direction,

0
E A
0L
0L
. But, in vertical direction,
0L
0L
is not very important because usually
is important.
cos
t
t sin
0 F = P cos
sin
2D/3D (e.g. Table 6.5)
(14.11)
2D:
2
2
1
t
t
u
+
u
=
u
+
u
u
+
u
u
+
0 2,1
0 11
0 1,1
0 1,1 0 1,1
0 2,1 0 2,1
0 1,1
0e11
(14.12)
0 11
022
(14.13)
012
(14.14)
= ?
(14.15)
(Axisymmetric)
033
1 t 2
I
0U
2
0
0
t 2
0 0
0U =
t 2
( )
t
0
2 0x1 + tu1
d ts
= 0 =
d s
2 0x1
t
u
=1+ 0 1
x1
(14.16)
(14.17)
t
033
2
u1
1+ 0
1
x1
2
t
u
1 tu1
= 0 1 +
x1
2 0x1
1
=
2
(14.18)
(14.19)
59
MIT 2.094
t+t
033
033 =
u + u1
1
= 10
+
x1
2
t+t
033
0t33 =
t
2
u 1 + u1
0x
1
t
u 1 u1
1
u1
0x + 0x 0x + 2
1
1
1
(14.20)
2
u1
0x
1
(14.21)
How do we assess the accuracy of an analysis?

Mathematical model u
F.E. solution uh
Find u uh and h .
References
[1] T. Sussman and K. J. Bathe. Studies of Finite Element Procedures - on Mesh Selection. Computers
& Structures, 21:257264, 1985.
[2] T. Sussman and K. J. Bathe. Studies of Finite Element Procedures - Stress Band Plots and the
Evaluation of Finite Element Meshes. Journal of Engineering Computations, 3:178191, 1986.
60
Reading:
Sec. 4.3.6
Fall 08
Lecture 15 - Field problems

Prof. K.J. Bathe
MIT OpenCourseWare
Heat transfer, incompressible/inviscid/irrotational ow, seepage ow, etc.
Reading:
Sec. 7.2-7.3
Variational formulation
Incremental formulation
F.E. discretization
15.1
Heat transfer
Assume V constant for now:

S = S Sq
(x, y, z, t) is unkown except |S = pr . In addition, q s

|Sq is also prescribed.
15.1.1
I. Heat ow equilibrium in V and on Sq .
II. Constitutive laws qx = k x

.
qy = k
y
qz = k
z
(15.1)
(15.2)
III. Compatibility: temperatures need to be continuous and satisfy the boundary conditions.
61
MIT 2.094
15. Field problems
Heat ow equilibrium gives
k
+
k
+
k
= q B
x
x
y
y
z
z
(15.3)
where q B is the heat generated per unit volume. Recall 1D case:
unit cross-section
dV = dx (1)
(15.4)
q |x q |x+dx + q B dx = 0
qx
q|x q|x +
dx + q B dx = 0
x
(15.5)
(15.6)
+ qB
=0
dx
dx
(15.7)
= q B
(15.8)
We also need to satisfy
= qS
n
(15.9)
on Sq .
15.1.2
Principle of virtual temperatures
k
x
+ + q
=0
(15.10)
( S = 0 and to be continuous.)
k
+ + q B dV = 0
x
(15.11)
62
MIT 2.094
15. Field problems
Transform using divergence theorem (see Ex 4.2, 7.1)
T
Sq
k dV =
q dV +
q S dSq
heat ow
(15.12)
Sq
(15.13)
k
k= 0
0
0
k
0
0
0
k
(15.14)
Convection boundary condition
qS = h e S
(15.15)
where e is the given environmental temperature.

Radiation
4
4
q S = (r ) S
2 r
2
= (r ) + S
+ S r S
= r S
(15.16)
(15.17)
(15.18)
where = (S ) and r is given temperature of source. At time t + t
T t+t t+t
S
t+t B
k
dV =
q dV +
t+tq S dSq
V
t+t
= t +
Let
t+t (i)
or
t+t (0)
with
t+t (i1)
(15.19)
Sq
(15.20)
+
(i)
(15.21)
(15.22)
From (15.19)
T
(i)
t+tk(i1) dV
V
T
t+t (i1)
=
t+tq B dV
t+tk(i1)
dV
V
V
(i1)
(i)
S
+
t+th(i1) t+t e t+t S
+ S
dSq
(15.23)
Sq
where the S
(i)
term would be moved to the left-hand side.
We considered the convection conditions
S
t+th t+t e t+t S dSq
(15.24)
Sq
The radiation conditions would be included similarly.
63
MIT 2.094
15. Field problems
F.E. discretization
= H1x4 t+t4x1
t+t
2x1 = B2x4 t+t4x1
t+t S
= H S t+t
t+t
for 4-node 2D planar element
(15.25)
(15.26)
(15.27)
For (15.23)
gives
(i)
t+tk(i1) dV =
B T t+tk(i1)
B dV
(i)

V
T
4x2
t+tq B dV
2x4
2x2
(15.28)
4x1
H T t+tq B dV
(15.29)
T t+t (i1) t+t (i1)
dV
B T t+tk(i1) BdV
S T t+t (i1)
t+t e
t+t S (i1)
t+t (i1)
+ S
(i)
dSq
known
(15.30)
Sq
Sq
15.2
(15.31)
S T t+t (i1)
h
H S t+te t+t(i1) +
H
(i) dSq

4x1
1x4
4x1
4x1
4x1
Inviscid, incompressible, irrotational ow
2D case: vx , vy are velocities in x and y directions.

v =0
vx
vy
+
=0
x
y
vx
vy
=0
y
x
or
Reading:
Sec. 7.3.2
(15.32)
(incompressible)
(15.33)
(irrotational)
(15.34)
Use the potential (x, y),

vx =
vy =
(15.35)
2 2
+ 2 = 0 in V
x2
y
(15.36)
(Same as the heat transfer equation with k = 1, q B = 0)
64
Fall 08
Lecture 16 - F.E. analysis of Navier-Stokes uids

Prof. K.J. Bathe
MIT OpenCourseWare
Incompressible ow with heat transfer

Reading:
Sec.
7.1-7.4,
Table 7.3
We recall heat transfer for a solid:
Governing dierential equations

(k,i ),i + q B = 0
in V
(16.1)
= qS
n Sq
Sq
(16.2)
is prescribed, k
S
S Sq = S
S Sq =
(16.3)
Principle of virtual temperatures
S
B
,i k,i dV =
q dV +
q S dSq
V
(16.4)
Sq
for arbitrary continuous (x1 , x2 , x3 ) zero on S

For a uid, we use the Eulerian formulation.
65
MIT 2.094
16. F.E. analysis of Navier-Stokes uids
(cp v)dx + conduction + etc

cp v |x cp v |x +
x
(16.5)
In general 3D, we have an additional term for the left hand side of (16.1):
v ) cp (v )
(cp v) = cp (v) = cp (
(16.6)
term (A)
where v = 0 in the incompressible case.
v = vi,i = div(v) = 0
(16.7)
So (16.1) becomes
(k,i ),i + q B = cp ,i vi (k,i ),i + q B cp ,i vi = 0

Principle of virtual temperatures is now (use (16.4))
,i k,i dV +
(cp ,i vi ) dV =
q B dV +
V
(16.8)
q S dSq
(16.9)
Sq
Navier-Stokes equations
Dierential form
ij,j + fiB = vi,j vj
(16.10)
with vi,j vj like term (A) in (16.6) = (v )v in V .
vj
1 vi
ij = pij + 2eij
+
eij =
2 xj
xi
(16.11)
Boundary conditions (need be modied for various ow conditions)

Sf
ij nj = fi
on Sf
(16.12)
Mostly used as fn = nn = prescribed, ft = unknown with possibly

inow conditions).
And vi prescribed on Sv , and Sv Sf = S and Sv Sf = .

66
vn
n
vt
n
= 0 (outow or
MIT 2.094
Variational form
v i vi,j vj dV +
eij ij dV =
v i fiB dV +
V
v i f fi f dSf
(16.13)
Sf
p vdV = 0
(16.14)
F.E. solution
We interpolate (x1 , x2 , x3 ), vi , v i , , , p, p. Good elements are
: linear pressure
: biquadratic velocities
(Q2 , P1 ), 9/3 element
9/4c element
Both satisfy the inf-sup condition.

So in general,
Example:
For Sf e.g.
nn = 0,
vt
= 0;
n
(16.15)
67
MIT 2.094
and
vn
t
is solved for. Actually, we frequently just set p = 0.
Frequently used is the 4-node element with constant pressure
It does not strictly satisfy the inf-sup condition. Or use
Reading:
Sec. 7.4
3-node element with a bubble node.

Satises inf-sup condition
1D case of heat transfer with uid ow, v = constant
Re =
vL
Pe =
vL
k
cp
Reading:
Sec. 7.4.3
(16.16)
Dierential equations
|x=0 = L
k = cp v
(16.17)
|x=L = R
(16.18)
In non-dimensional form
1
=
Pe
Reading:
p. 683
(now and are non-dimensional)
exp Pe
L
L x 1
=
R L
exp (Pe) 1
(16.19)
(16.20)
68
MIT 2.094
F.E. discretization
= Pe
(16.21)
dx + Pe
0
dx = 0 + { eect of boundary conditions = 0 here}
(16.22)
Using 2-node elements gives
1
2
(h )
Pe =
(i+1 2i + i1 ) =
Pe
(i+1 i1 )
2h
vL
(16.23)
(16.24)
Dene
Pee = Pe
h
vh
=
L
Pee
1
2
(16.25)
i1 + 2i +
Pee
1 i+1 = 0
2
(16.26)
what is happening when Pee is large? Assume two 2-node elements only.
i1 = 0
i+1 = 1
1
i =
2
(16.27)
(16.28)
Pee
1
2
(16.29)
69
MIT 2.094
i =
1
2
Pee
2
(16.30)
For Pee > 2, we have negative i (unreasonable).
70
Fall 08
Lecture 17 - Incompressible uid ow and heat transfer, contd

Prof. K.J. Bathe
17.1
MIT OpenCourseWare
Abstract body
Reading:
Sec. 7.4
Fluid Flow
Sv , Sf
Sv Sf = S
Sv Sf = 0
17.2
Heat transfer
S , Sq
S Sq = S
S Sq = 0
Actual 2D problem (channel ow)
71
MIT 2.094
17.3
17. Incompressible uid ow and heat transfer, contd
Basic equations
P.V. velocities
v i vi,j vj dV +
ij eij dV =
v i fiB dV +
V
v i f fi f dSf
(17.1)
Sf
Continuity
pvi,i dV = 0
(17.2)
P.V. temperature
cp ,i vi dV +
,i k,i dV =
q B dV +
V
q S dS
(17.3)
Sq
F.E. solution
xi =
hk xki
(17.4)
vi =
hk vik
(17.5)
hk k
(17.6)
p=
k pk
h
(17.7)
F (u) = R
17.4
u = p nodal variables
(17.8)
Model problem
1D equation,
cp v
d
d2
=k 2
dx
dx
(17.9)
(v is given, unit cross section)

Non-dimensional form (Section 7.4)
Pe
d
d2
= 2
dx
dx
(17.10)
72
MIT 2.094
Pe =
vL
,
k
cp
(17.11)
is non-dimensional
exp PeLx 1
L
=
exp (Pe) 1
R L
(17.10) in F.E. analysis becomes
d
d d
Pe dV +
dV = 0
dx
V
V dx dx
(17.12)
(17.13)
Discretized by linear elements:
h =
() =
1 i1 + i
h
h
h
L
(17.14)
For node i:
i1
Pee
Pee
i1 + 2i i+1 +
i+1 = 0
2
2
(17.15)
where
Pee =
vh
h
= Pe
L
(17.16)
This result is the same as obtained by nite dierences
=
2 (i+1 2i + i1 )
i
(h )
i+1 i1
=
2h
i
73
(17.17)
(17.18)
MIT 2.094
Considered i+1 = 1, i1 = 0. Then

i =
1 (Pee /2)
2
(17.19)
Physically unrealistic solution when Pee > 2. For this not to happen, we should rene the mesha very
ne mesh would be required. We use upwinding
d
i i1
=
dx i
h
(17.20)
The result is
(1 Pee ) i1 + (2 + Pee ) i i+1 = 0
Very stable, e.g.
i1 = 0
i+1 = 1
i =
(17.21)
1
2 + Pee
(17.22)
Unfortunately it is not that accurate. To obtain better accuracy in the interpolation for , use the
function
x
exp Pe L
1
(17.23)
exp (Pe) 1
The result is Pee dependent:
This implies ow-condition based interpolation. We use such interpolation functionssee references.
References
[1] K.J. Bathe and H. Zhang. A Flow-Condition-Based Interpolation Finite Element Procedure for
Incompressible Fluid Flows. Computers & Structures, 80:12671277, 2002.
[2] H. Kohno and K.J. Bathe. A Flow-Condition-Based Interpolation Finite Element Procedure for
Triangular Grids. International Journal for Numerical Methods in Fluids, 51:673699, 2006.
74
MIT 2.094
17.5
FSI briey
Lagrangian formulation for the structure/solid

Arbitrary Lagrangian-Eulerian (ALE) formulation Let f be a variable of a particle (e.g. f = ).
Consider 1D
f
f
f
=
+
v
(17.24)
t
x
particle
where v is the particle velocity. For a mesh point,
f
f
f
=
+
vm
t
x
mesh point
(17.25)
where vm is the mesh point velocity. Hence,
f
= f
+
(v vm )
x
particle
mesh point
(17.26)
Use (17.26) in the momentum and energy equations and use force equilibrium and compatibility at
the FSI boundary to set up the governing F.E. equations.
References
[1] K.J. Bathe, H. Zhang and M.H. Wang. Finite Element Analysis of Incompressible and Compressible
Fluid Flows with Free Surfaces and Structural Interactions. Computers & Structures, 56:193213,
1995.
[2] K.J. Bathe, H. Zhang and S. Ji. Finite Element Analysis of Fluid Flows Fully Coupled with
Structural Interactions. Computers & Structures, 72:116, 1999.
[3] K.J. Bathe and H. Zhang. Finite Element Developments for General Fluid Flows with Structural
Interactions. International Journal for Numerical Methods in Engineering, 60:213232, 2004.
75
Fall 08
Lecture 18 - Solution of F.E. equations

Prof. K.J. Bathe
MIT OpenCourseWare
In structures,
Reading:
Sec. 8.4
F (u, p) = R.
(18.1)
In heat transfer,
F () = Q
(18.2)
In uid ow,
F (v, p, ) = R
(18.3)
In structures/solids
F =
F (m) =
0V (m)
t (m) T t (m) 0 (m)

d V
0S
0 BL
Elastic materials
Example
p. 590 textbook
76
(18.4)
MIT 2.094
18. Solution of F.E. equations
Material law
t
0 S11
0t11
=E
(18.5)
In isotropic elasticity:
=
E
t
0
E (1 )
,
(1 + ) (1 2)
( = 0.3)
1 t 2
1
=
U
I
0t11 =
2 0
2
(18.6)
L + tu
0L
1
1 =
2
u
1+ 0
L
2
1
(18.7)
where 0tU is the stretch tensor.

0
t
0 S11
0
X t 0X T
t t 11 11 t 11
(18.8)
with
0
0
t X11
0L
L
,
+ tu
0tS11 =
L
0L
0 0
L = t tL
(18.9)
0 2
0
L
L
t
11 = t t11
tL
L
L
1
t t11 = E
L
2
u
1+ 0
L
(18.10)
2
1
(18.11)
t
t
A
E
u
u
11 A = P =
1+ 0
1 1 +
0
2
L
L
t
(18.12)
This is because of the material-law assumption (18.5) (okay for small strains . . . )
Hyperelasticity
t
0W
= f (Green-Lagrange strains, material constants)
1 0tW
0tW
t
+ t
0 Sij =
2 0tij
0ji
0tSij
1 0 Sij
C
=
+
0 ijrs
2 0trs
0tsr
77
(18.13)
(18.14)
(18.15)
MIT 2.094
Plasticity
yield criterion
ow rule
hardening rule
t
tt
(18.16)
tt
Solution of (18.1) (similarly (18.2) and (18.3))

Newton-Raphson Find U as the zero of f (U )
f (U ) =
R t+tF
f
t+t (i1)
U t+tU (i1) + H.O.T.
=f
U
+
U t+tU (i1)
where
t+t
(18.17)
(18.18)
U (i1) is the value we just calculated and an approximation to U .
t+t
Assume t+tR is independent of the displacements.
t+tF
t+t
t+t (i1)
0=
R
F
U (i)
U t+tU (i1)
(18.19)
We obtain
t+t
K (i1) U (i) =
t+t
(i1)
t+t
R t+tF (i1)
(18.20)
t+tF
F
=
=
U t+tU (i1)
U t+tU (i1)
(18.21)
Physically
t+t
(i1)
K11
t+t
(i1)
F1
(18.22)
u
78
MIT 2.094
Pictorially for a single degree of freedom system
i = 1;
t+t
i = 2;
Convergence
K u(1) =
t+t
(1)
t+t
(2)
R tF
R
(18.23)
t+t
(1)
(18.24)
Use
U (i) 2 <
2
a2 =
(ai )
(18.25)
(18.26)
But, if incremental displacements are small in every iteration, need to also use
t+tR t+tF (i1) 2 < R
18.1
(18.27)
Slender structures
(beams, plates, shells)
t
1
Li
(18.28)
79
MIT 2.094
Beam
e.g.
t
L
1
100
(4-node el.)
The element does not have curvature

we have
a spurious shear strain
(9-node el.)
We do not have a shear (better)
But, still for thin structures, it has problems
like ill-conditioning.
We need to use beam elements. For curved structures also spurious membrane strain can be
present.
80
Fall 08
Lecture 19 - Slender structures

Prof. K.J. Bathe
Beam analysis,
t
L
MIT OpenCourseWare
1 (e.g.
t
L
1
1
100 , 1000 , )
Reading:
Sec. 5.4,
6.5
(plane stress)
L
0
2
J=
0 2t
1
h2 = (1 r) (1 + s)
4
1
h3 = (1 r) (1 s)
4
(19.1)
(19.2)
(19.3)
Beam theory assumptions (Timoshenko beam theory):

v2 = v3 = v2
t
u3 = u2 + 2
2
t
u 2 = u2 2
2
B =
(19.4)
(19.5)
(19.6)
u2
v2
u3
v3
41 (1 + s) L2
14 (1 s) L2
0
1
4 (1
r) 2t
1
4 (1
r) 2t
14 (1 + s) L2
14 (1
0
14 (1 r) 2t
81
r) 2t
14 (1 s) L2
etc
(19.7)
MIT 2.094
19. Slender structures
u2
Bbeam
L1
v2
2
t
2L s
L1
21 (1 r)
u
x
u
y
v
x
(19.8)
1
(1 r)v2
2
1
st
u(r) = (1 r)u2 (1 r)2

2
4
v(r) =
(19.9)
(19.10)
at r = 1,
v(1) = v2
(19.11)
st
u(1) = 2 + u2
2
(19.12)
Kinematics is
u(r) =
1
(1 r)u2
2
(19.13)
results into xx
xx =
u 2
1
=
r L
L
(19.14)
st
(1 r)2
4
(19.15)
u(r, s) =
results into xx , xy
xx =
xy =
v(r) =
st
2L
u 2
1
= (1 r)
s t
2
1
(1 r)v2
2
(19.16)
(19.17)
(19.18)
results into xy
xy =
82
1
L
(19.19)
MIT 2.094
For a pure bending moment, we want
1
1
v2 (1 r)2 = 0
L
2
(19.20)
for all r! Impossible (except for v2 = 2 = 0) So, the element has a spurious shear strain!
Beam kinematics (Timoshenko, Reissner-Mindlin)
dw
dx
1 3
I=
bt
12
(19.21)
(19.22)
Principle of virtual work
EI
0
d d
dx + AS G
dx dx
dw
dx
L
dw
dx =
pwdx
dx
0
As = kA = kbt
(19.23)
(19.24)
To calculate k
2
V
1
1
2
(a ) dA =
dAs
A
2G
2G
s
A
AS
Reading:
p. 400
(19.25)
where a is the actual shear stress:

2
t
y2
3 V
2
a =
t 2
2 A
(19.26)
and V is the shear force.

k=
Reading:
Ex. 5.23
5
6
(19.27)
83
MIT 2.094
Now interpolate
w(r) = h1 w1 + h2 w2
(19.28)
(r) = h1 1 + h2 2
(19.29)
Revisit the simple case:
1+r
w1
2
1+r
=
1
2
w=
(19.30)
(19.31)
Shearing strain
=
1+r
w1
1
L
2
(19.32)
Shear strain is not zero all along the beam. But, at r = 0, we can have the shear strain = 0.
1
w1
can be zero
L
2
(19.33)
Namely,
1
w1
2
= 0 for 1 = w1
L
L
2
(19.34)
84
Fall 08
Lecture 20 - Beams, plates, and shells

Prof. K.J. Bathe
MIT OpenCourseWare
Timoshenko beam theory
The ber moves up and rotates and its length does not change.
Principle of virtual displacement
EI
dx + (Ak)G
(Linear Analysis)
dw
dx
L
dw
dx =
wT pdx
dx
0
(20.1)
Two-node element:
Three-node element:
For a q-node element,

T
= w1 wq 1 q
u
w = Hw u
= H u
Hw = h1 hq 0 0
H = 0 0 h1 hq
dx
J=
dr
(20.2)
(20.3)
(20.4)
(20.5)
(20.6)
(20.7)
85
MIT 2.094
20. Beams, plates, and shells
dw
= J 1 Hw,r u
dx

(20.8)
= J 1 H,r u
dx
(20.9)
Bw
Hence we obtain
1
EI
BT B det(J )dr + (Ak)G
1
(Bw H ) (Bw H ) det(J )dr u
HwT p det(J )dr
(20.10)
=R
Ku
(20.11)
K is a result of the term inside the bracket in (20.10) and R is a result of the right hand side.
For the 2-node element,
w1 = 1 = 0
(20.12)
w2 , 2 = ?
(20.13)
1+r
w2
2
L
2
(20.14)
We cannot make equal to zero for every r (page 404, textbook). Because of this, we need to use
about 200 elements to get an error of 10%. (Not good!)
Recall almost or fully incompressible analysis: Principle of virtual displacements:
T
C dV +
v (v )dV = R
V
(20.15)
u/p formulation
T
C dV
v pdV = R
V
V
p
+ v dV = 0
(20.16)
(20.17)
But now we needed to select wisely the interpolations of u and p. We needed to satisfy the inf-sup
condition
qh vh dVol
>0
(20.18)
inf sup Vol
qh vh
qh Qh vh Vh
86
MIT 2.094
4/1 element:
We can show mathematically that this element does not satisfy inf-sup condition. But, we can also
show it by giving an example of this element which violates the inf-sup condition.
v1 = ,
above
v2 = 0 vh for both elements is positive and the same. Now, if I choose pressures as
qh vh dVol = 0,
hence (20.18) is not satised!
(20.19)
Vol
9/3 element
satises inf-sup
9/4-c
satises inf-sup
Getting back to beams

L
EI
dx + (AkG)
0
dw
AS dx = R
dx
(20.20)
AS AS dx = 0
(20.21)
dw
,
dx
(20.22)
where
=
from displacement interpolation

87
MIT 2.094
AS = Assumed shear strain interpolation
(20.23)
2-node element, constant shear assumption. From (20.21),
L
dw
dx =
dx

AS
AS
AS
dx
0
+1
AS =
1+r
2
2
Reading:
Sec. 4.5.7
(20.24)
L
dr + w2 = AS L
2
(20.25)
w2 L2 2
L
(20.26)
AS (shear strain) is equal to the displacement-based shear strain at the middle of the beam.
Use AS in (20.20) to obtain a powerful element. For our problem,

AS = 0
EI
0
L
2
2
(20.27)
dx = M x=L
(20.28)
hence
w2 =
2
1
L 2 = M
EI
L
2 =
ML
,
EI
w2 =
(20.29)
M L2
2EI
(20.30)
(exact solutions)
88
MIT 2.094
Plates
Reading:
Fig. 5.25,
p. 421
w = w(x, y) is the transverse displacement of the mid-surface

v = zy (x, y)
u = zx (x, y)
(20.31)
For any particle in the plate with coordinates (x, y, z), the expressions in (20.31) hold!
We use
w=
hi wi
(20.32)
i=1
x =
y = +
i=1
q
hi yi
(20.33)
hi xi
(20.34)
i=1
where q equals the number of nodes. Then the element locks in the same way as the displacement-based
beam element.
89
Fall 08
Lecture 21 - Plates and shells

Prof. K.J. Bathe
MIT OpenCourseWare
Timoshenko beam theory, and Reissner-Mindlin plate theory
For plates, and shells, w, x , and y as independent variables.
w = displacement of mid-surface, w(x, y)
A = area of mid-surface
p = load per unit area on mid-surface
w = w(x, y)
(21.1)
w(x, y, z) = w(x, y)
(21.2)
The material particles at any z move in the z-direction as the mid-surface.
u(x, y, z) = x z = x (x, y)z

v(x, y, z) = y z = y (x, y)z
(21.3)
(21.4)
x
u
= z
x
x
y
v
= z
=
y
y
u v
x
y
=
+
= z
+
y
x
y
x
xx =
(21.5)
yy
(21.6)
xy
x
x
xx
yy = z
xy
y
y
x
y
(21.7)
y
x
(21.8)
90
MIT 2.094
21. Plates and shells
w u
w
x
+
=
x
z
x
w v
w
y
=
+
=
y
z
y
xz =
yz
1
xx
E
yy =

1 2
xy
0
1
0
(21.9)
(21.10)
0
0
1
2
xx
yy = C
xy
(21.11)
(plane stress)
xz
yz
E
=
2(1 + )
xz
yz
= G
(21.12)
Principle of virtual work for the plate:
+ 2t
xx
yy
xy
2t
+ 2t
k
A
2t
1
E
1 2
0
xz
yz
xx
yy dzdA+
1
xy
2
1 0
xz
G
dzdA =
wpdA
0 1
yz
A
1
0
0
0
(21.13)
Consider a at element:
Kb
w1
x1
y1
.
..
, also Kpl.

where Kb is 12x12 and Kpl.
str.
u1
v
str. 1
...
(21.14)
is 8x8.
91
MIT 2.094
For a at element:
Kb
0
0
Kpl. str.
w1
x1
y1
..
.
4
y =
u1
v1
..
.
v4
(21.15)
u=
hi u i
(21.16)
v=
hi vi
(21.17)
w=
hi wi
x =
hi yi
y =
hi xi
(21.18)
(21.19)
(21.20)
From (21.13)
1
3
Et

T
12 (1 2 )
A
0
1
0
0
0
1
2
dA +
T Gt k
1
0
0
1
dA
(21.21)
where k is the shear correction factor.

Next, evaluate
w w x
x , y , x ,
. . . etc. This element, as it is, locks!
This displacement-based element locks in shear. We need to change the transverse shear interpola
tions.
yz =
1
1
A
C
(1 r)yz
+ (1 + r)yz
2
2
(21.22)
where
A
yz
=
w
y
y
evaluated at A
(21.23)
from the w, y displacement interpolations.

1
1
B
D
(1 s)xz
+ (1 + s)xz
(21.24)
2
2
with this mixed interpolation, the element works. Called MITC interpolation (for mixed interpolatedtensional components)
xz =
92
MIT 2.094

Aside: Why not just neglect transverse shears, as in Kirchho plate theory?
x = 0 x = w
x
2
Therefore we have xw2 , in strains, so we need continuity also for

w

x

If we do, xz =
w
x
w=
1
1
r(1 + r)w1 r(1 r)w2 + 1 r2 w3
2
2
w2 and w3 never aect w1 ( w|r=1 = w1 ).
But,
w
1
1
= (1 + 2r)w1 (1 2r)w2 2rw3
r 2
2
w2 and w3 aect w
r 1 . This results in diculties to develop a good
element based on Kirchho theory.
With Reissner-Mindlin theory, we independently interpolate rotations such that this problem does
not arise.
For at structures, we can superimpose the plate bending and plane stress element stiness. For
shells, curved structures, we need to develop/use curved elements, see references.
References
[1] E. Dvorkin and K.J. Bathe. A Continuum Mechanics Based Four-Node Shell Element for General
Nonlinear Analysis. Engineering Computations, 1:7788, 1984.
[2] K.J. Bathe and E. Dvorkin. A Four-Node Plate Bending Element Based on Mindlin/Reissner Plate
Theory and a Mixed Interpolation. International Journal for Numerical Methods in Engineering,
21:367383, 1985.
[3] K.J. Bathe, A. Iosilevich and D. Chapelle. An Evaluation of the MITC Shell Elements. Computers
& Structures, 75:130, 2000.
[4] D. Chapelle and K.J. Bathe. The Finite Element Analysis of Shells Fundamentals. Springer,
2003.
93
MIT OpenCourseWare
http://ocw.mit.edu
2.094 Finite Element Analysis of Solids and Fluids II

Spring 2011
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2.

094 Finite Element Analysis of Solids and Fluids

Large Displacement analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Requirements to be fullled by solution at time t . . . . . . . . . . . . . . . . . . .

Finite Element Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 Finite element formulation of solids and structures

Principle of Virtual Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Finite element formulation for solids and structures

4 Finite element formulation for solids and structures

5 F.E. displacement formulation, contd

6 Finite element formulation, example, convergence

8 Convergence of displacement-based FEM

10 F.E. large deformation/general nonlinear analysis

11 Deformation, strain and stress tensors

12 Total Lagrangian formulation

13 Total Lagrangian formulation, contd

14 Total Lagrangian formulation, contd

15.1 Heat transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

15.1.1 Dierential formulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

15.1.2 Principle of virtual temperatures . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

15.2 Inviscid, incompressible, irrotational ow . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

16 F.E. analysis of Navier-Stokes uids

17 Incompressible uid ow and heat transfer, contd

17.1 Abstract body . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

17.2 Actual 2D problem (channel ow) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

17.3 Basic equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

17.4 Model problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

17.5 FSI briey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

18 Solution of F.E. equations

18.1 Slender structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

20 Beams, plates, and shells

21 Plates and shells

2.094 Finite Element Analysis of Solids and Fluids

Lecture 1 - Large displacement analysis of solids/structures

Simple mathematical model

More complex mathematical model

The complex mathematical model includes Fluid

1. Large displacement analysis of solids/structures

Large Displacement analysis

original conguration of the body,

The same load. Two dierent deformed congurations.

1. Large displacement analysis of solids/structures

Column problem, statics

R is in direction of bending moment Not in

Requirements to be fullled by solution at time t

Finite Element Method

I. Equilibrium condition means now

1. Large displacement analysis of solids/structures

Cauchy stresses (force per unit area at time t):

2.094 Finite Element Analysis of Solids and Fluids

Lecture 2 - Finite element formulation of solids and structures

Compatibility The displacements t ui need to be continuous and zero on t Su .

2. Finite element formulation of solids and structures

Principle of Virtual Work

Assume plane sections remain plane

Principle of Virtual Displacements

2. Finite element formulation of solids and structures

where t11 | tS = tPr .

11,1 + tf1B , where tL = length of bar.

Hence we must have from (2.16)

and then also

2.094 Finite Element Analysis of Solids and Fluids

Lecture 3 - Finite element formulation for solids and structures