Convergence & Choice of Finite Element Discretizations: Joel Cugnoni, LMAF / EPFL

Theoretical aspects & definitions
Choosing the right h & p parameters
Convergence & Choice of Finite Element

Discretizations
Joel Cugnoni, LMAF / EPFL
March 21, 2012
Convergence & Choice of Finite Element Discretizations

Approximation levels
Convergence
Approximations in FE models
Level of approximations in FE models
FE models are based on 2 kind of approximations:
Geometric discretization of the domain:
How fine the domain is discretized ?
nb of elements
Determined by the characteristic size of the elements
This is called the h-parameter or h-refinement of the model.
Internal approximation in each FE:

How accurate is the interpolation inside each element?
Determined by the order of the shape functions
This is called the p-parameter of the model.
Changes the number of nodes of the elements.
The main question is then:

How can we choose the right element size h and FE
formulation order p for a given problem ?

Convergence
The accuracy / computationnal cost tradeoff

Accuracy & number of DOFs
Altogether, the h and p parameters define the total number of
degrees of freedom of the model:
if h decreases (finer mesh), with have more elements and thus
more nodes (each node as N DOFs) increase of the total
number of DOFs.
if p increases, the number of nodes in each element increases
increase of the total number of DOFs.
in many application, the important criteria is accuracy as a
function of computationnal cost.
computational cost of a model is depending approx. on
O(ndof 3 )
thus in practice, the optimal accuracy / ndof trade-off is the
main criteria used to select the (h,p) parameters of a model.

Convergence
h-refinement

Convergence
p-refinement

Convergence
Definitions
Convergence
An approximate model converges with respect to one of its
approximation parameters (h or p) if its solution Sh,p tends to the
exact solution S when h 0 and / or p . Convergence is
ensured if the model is consistent and stable.
Stability / consistency of the solution
If the numerical formulation is stable, the solution Sh,p usually
tends to a limit S (stagnation of the solution).
However, this does not mean that the limit S is the exact
solution S.
If the numerical model is also consistent, we have S = S,which

means that the numerical approximation solves exactly the same
problem as the analytical formulation (consistency).

Convergence
Convergence study
Theoretical convergence analysis

A theoretical convergence analysis typically consists in:
vary one of the approximation parameter like h, p (or else)
analyze the evolution of the error Eh,p =k Sh,p S k:
identify the limit of the solution S and compare it with S or in
other words, does the error E tend to zero ? consistency
identify the order of convergence k: Eh,p < Chk if we divide
the mesh size h by 2, E should decrease by 2k

Convergence
Convergence study: method 1

Convergence
Practical convergence study
When no exact solution is available:

In practice, a mesh convergence study on the h parameter MUST
always be done. When no exact solution is available, two method
can be used: one is to tabulate the error function on a range of
acceptable h values and the other method consists in looking at
the incremental changes of the solution while refining h.

Convergence

Convergence study based on max. model size
vary h in your model, choose at least 3 values of h. Choose
the smallest h such that it corresponds to the finest model
that you can run within an acceptable time.
take the finest model as a reference, lets call its solution S
analyze the evolution of the relative error
S k:
REh,p =k (Sh,p S)/
when the relative error RE is less than a chosen error
threshold (which depends on your precision requirement), the
mesh is sufficiently refined.
If not, continue to refine the mesh

Convergence

Convergence

Incremental convergence study
When time is a constraint, an iterative convergence study (from
coarse to fine) can also be considered:
start with an acceptable coarse h0 value and compute a first
solution S0
refine the model (h=h1) and compute a new solution S1
analyze the evolution of the relative change in the solution
RCh,p =k (Si Si1 )/Si1 k:
when the relative change RC is less than a chosen threshold
(which depends on your precision requirement), the mesh is
sufficiently refined.
If not, continue to refine the mesh

Convergence

Convergence
Local mesh refinement
When a local value is of interest, like for example the maximum

von Mises stress in a stress concentration area, a local mesh
refinement (hlocal < hglobal ) is highly recommended. Similarly to
the global mesh convergence analysis on hglobal , it is recommended
to also check that the local target value converges with the local
mesh size hlocal .
If time is a constraint, both global and local mesh refinement can
be done simultaneously and a single general mesh convergence
analysis can be carried out.

Convergence
Convergence study: example

Convergence study for several 2D plane stress FE formulations
Variables: p, integration options and mesh size h.
Test case:
With:
L = 0.25 m, H = 0.05 m, E = 100 GPa, = 0.3, T = 1 MPa
Model output considered:
U2 min = minimum vertical displacement.

Convergence
Convergence graph
Legend: code = X Y Z opt

X=(Quad, Triangle Free, Triangle Structured); Y=(Linear, Quadratic)
Z=integration=(Exact , Reduced); opt=hourglass control=(Standard, Enhanced)

Convergence
The Convergence Game.... Selection of the FE formulation...

Convergence
What affects Convergence?

What affects Convergence?
Convergence is affected by:
the family of element
the order of the shape functions: k ' p + 1
completeness of the shape functions complete FE
formulations (lagrangian hexa.) are more accurate than
incomplete (serendipian hexa / tetra)
the type and location of the result of interest:

convergence is fast and ensured for displacement
but is slower for stress and not necessarilly ensured stress
singularities
test case: geometry, type of stress / strain state and BC

the mesh quality: typically distortion or aspect ratio of
elements numerical problems

How to choose the right FE formulation?

How to choose the right mesh size?
Numerical pathologies
Numerical problems
Depending on numerical formulations, ill-conditioned or
inconsistent stiffness / mass matrices may be produced.
The two main numerical pathologies of FE formulations are:
1
Locking: an over-estimated stiffness when the element aspect

ratio is high no shear deformation of very thin elements,
related to an ill-conditioned stiffness matrix. Observed
typically for linear exact integration elements. To solve this
issue, reduced integration may be used.
Hourglass: zero energy kinematic modes can exist when

reduced integration is used. These modes can appear because
the reduced integration points see zero strain even if the
displacement field is not zero. Hourglass modes tend to
appear in reduced integration formulations and are usually
more likely to appear in coarse & uniform structured meshes.


Hourglass


Locking
We consider a beam of variable thickness and compare the

different FE formulations for a mesh of 40x4x4 elements.
L=100 mm, W=10 mm, H [0.01 10], E=210e3 GPa, =0.3


Locking


Choosing the element formulation

How to choose the appropriate FE formulation
Criteria: best overall results & robustness
Recommendations:
1
choose quadratic elements for stress analysis
choose preferably complete elements (quad9 > quad8 >

tri6; hex27 > hex20 > wedge15 > tet10)
by default use reduced integration. For very thin structures,

reduced int. is prefered. In coarse structured meshes,
hourglass may be present change to exact integration.
for best accuracy in bending, use hex / wedge elements with

more than 1 element in the thickness.
Build your own experience by doing convergence tests



Mesh Convergence
Once you have chosen the type of element, you MUST always
check the MESH CONVERGENCE (h-convergence) of your model.
Mesh Convergence Study
1
Choose the most significant output result value and

location according to your problem: if you design a part based
on maximum Von Mises stress, use this value as a criteria for
mesh convergence.
Progressivelly refine the mesh (global or local refinement):

take at least 2-3 different & reasonable mesh sizes
Plot the evolution of the output with h (and / or the

number of nodes)
Evaluate the computationnal cost / accuracy trade-off :
what is the required accuracy (realistic estimate)?

what is the maximum acceptable comp. time?


Methodology
Selecting the modelling hypothesis of your FE models


Methodology
How to choose the h & p parameters of your FE models
1
choose FE formulation according to the problem & meshing

considerations:
For stress analysis, choose Quadratic elements
optional but recommended:

verify the influence of numerical integration schemes / compare
with other formulations / validate with analytical solution
do a reasonably quick mesh convergence study based on the

pertinent output of your model
choose an appropriate mesh (comput. cost / accuracy

trade-off)
go on with the FE simulation...

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Theoretical aspects & definitions

Choosing the right h & p parameters