MMJ1153-B - Review of 1D Problems - Part1

MMJ1153 – COMPUTATIONAL METHOD IN SOLID MECHANICS
B – REVIEW OF 1-D PROBLEMS (part1)
REVIEW OF 1-D PROBLEMS M.N. Tamin, CSMLab, UTM 1

Course Content:
A – INTRODUCTION AND OVERVIEW

Numerical method and Computer-Aided Engineering; Physical
problems; Mathematical models; Finite element method;.
B – REVIEW OF 1-D FORMULATIONS

Elements and nodes, natural coordinates, interpolation function, bar
elements, constitutive equations, stiffness matrix, boundary
conditions, applied loads, theory of minimum potential energy; Plane
truss elements; Examples.
C – PLANE ELASTICITY PROBLEM FORMULATIONS

Constant-strain triangular (CST) elements; Plane stress, plane
strain; Axisymmetric elements; Stress calculations; Programming
structure; Numerical examples.

We wish to use FEM for solving the following problems:
(It is more efficient to solve these problems analytically)
x
Calculate displacement of bar
ABC, take E = 200GPa
10 kN x
δ = 2 x 10-2 mm

ELEMENTS and NODES

Element features: Bar element
shape.
number of nodes
number and type of nodal
variables (dof)
Triangular
element
Tetrahedral
element

ELEMENTS and NODES

Number of nodes assigned to an element depends on:
Types of nodal variables
Types of interpolation function
Degree of continuity required
Hexahedral
element
Quadrilateral
element

NATURAL COORDINATES IN 1-D

To describe location of a point inside an element in terms of nodal coordinates.
A local coordinate system

Coordinates ranges from zero to unity
A function of the global Cartesian coordinate
x = N1 x1 + N 2 x2
1− ξ  1+ ξ 
=  x1 +   x2
 2   2 
NATURAL COORDINATES (2-D)
4 (x4 ,y4) η
y 3 (x3 ,y3) (-1,1) 4 3 (1,1)
1
ζ
(x1 ,y1)
2 (x2 ,y2) (-1,-1) 1 2 (1,-1)
x
Global Cartesian coordinate (x , y) Natural coordinate (ζ , η)
Relies on the element geometry for its definition

Coordinates ranges from zero to unity
A function of the global Cartesian coordinate

INTERPOLATION FUNCTION
A prescribed function to represent the variation of unknown field

variables within the element in terms of known nodal variables.
Linear shape functions are defined:

1− ξ 1+ ξ
N1 (ξ ) = and N 2 (ξ ) =
2 2

Functions used to represent the behavior of a field variable within an element.

Also called shape functions or approximating functions.
Polynomials are widely used because they are relatively easy to manipulate.
φ = ∑ N i φi = N {φ }
Ni = interpolation functions
Interpolation functions chosen must meet certain continuity requirements to

ensure:
- Continuity of field variables
- Convergence to correct solution as element size decreases.
Interpolation functions must have geometric isotropy.
The expansion remains unchanged under linear transformation from one Cartesian
coordinate system to another.

A shape function is used to interpolate values of displacement, q(ξ)
along the bar element between the two nodal displacements, q1 and q2
For linear interpolation function:
N1=1 1− ξ N2=1
N1 (ξ ) = 1+ ξ
2 N 2 (ξ ) =
2
1̂ 2̂
u ( x ) = N1q1 + N 2 q2

LINEAR DISPLACEMENT FIELD
uˆ ( x) = N1q1 + N 2 q2
1−ξ  1+ ξ 
= q +
 1   q2 When the same shape functions N1
 2   2  and N2 are used to establish
=[N ]{q} interpolation function for coordinate
of a point within an element and the
displacement of that point, the
where [N ] = [N1 N2 ] formulation is referred to as an
isoparametric formulation.
 q1 
{q} =   x = N1 x1 + N 2 x2
q 2 
1−ξ  1+ ξ 
=  x1 +   x2
 2   2 

EXAMPLE
(a) Evaluate ξ, N1, and N2 at point P.

(b) If q1 = 0.003 in and q2 = -0.005 in, determine the value of
displacement u at point P.

Properties of individual elements can be formulated in several ways:
Direct approach.
This approach is traceable to the direct stiffness method of
structural analysis.
Variational approach
This approach relies on the calculus of variation and involve
optimizing a functional.
Method of weighted residual

This approach begins with the governing equations of the problem
and proceed without relying on a functional.
Energy balance approach

This approach is based on mechanical energy of a system.
It does not require a variational statement.

DERIVATION OF FE EQUATION
Tasks
To develop finite element equations for 1-D problem

-Stiffness matrix
-Load vector
Consider a non-uniform bar subjected to

a general loading condition

Element Discretization
Discretize the solution domain into

finite number of elements
-Label the global axis (ref.)
-Label each element
-Label each node
Each element has a constant cross-

section

Numbering Scheme
Global nodal displacements
{Q}T = Q1 Q2 Q3 Q4 Q5 
Global nodal forces
{F }T = F1 F2 F3 F4 F5 

Element Connectivity
To establish unique connection
between local and global nodes for
each element
Global numbering
1̂ 2̂
1̂ 2̂
Local numbering

Strain-Displacement Relations
du du dξ  1− ξ   1+ ξ  du ( −q1 + q2 )
ε= = × u= q +
 1   q2 ⇒ =
dx dξ dx  2   2  dξ 2
2 dξ 2
ξ= ( x − x1 ) − 1 ⇒ =
( x2 − x1 ) dx ( x2 − x1 )
1
ε= [ −q1 + q2 ]
( x2 − x1 )
 q1  ,
ε = [B ]  Where [B] is the strain-displacement matrix:
q2  1 1
[ B] = [ −1 1] = [ −1 1]
( x2 − x1 ) le
Constitutive Equation
Linear elastic behavior:  q1 

σ = E [ B]  
800
q2 
600
STRESS, σ (MPa)
Non-linear 200
400
σ = K(εp)n
150
STRESS, σ (MPa)
200
Linear 100
σ = Eε
0
0.0 0.1 0.2 0.3 0.4
50
0.5 0.6
σ = Eε
STRAIN, ε(%)
0
0.0000 0.0002 0.0004 0.0006 0.0008 0.0010
STRAIN, ε(%)
Types of load
Body force, f
Distributed force per unit volume or
weight density (N/m3)
Example: self-weight due to gravity
Traction force, T
Force per unit area (N/m2)
(For a 1-D problem, force/length)
Examples: Frictional forces, viscous
drag, and surface shear
Point load, Pi
Concentrated force (N) acting at any point i.

Minimum Potential Energy Principle

Potential Energy = strain energy – work by external force
Π (u ) = U (u ) − W (u )
Strain energy of linear elastic body
1
U=
2Ω∫ σ ε dV
1 T 
= {q}  ∫ [B ] E [B ]Adx {q}
T
2 Ω 
Work done by external forces
W = ∫ u f b dV + ∫ uT dS
Ω S
Potential energy functional
1 T 
Π = {q}  ∫ [B ] E [B ]Adx {q}− ∫ {N } {q} f b Adx − ∫ {N } {q}T dS
T T T
2 Ω  Ω S
Theory of Minimum Potential Energy

The displacement field (u) which satisfies the equilibrium, and
the conditions at the boundary surface is the one that
minimizes the potential energy
Μ (e )
r
∂Π
δΠ (q ) = ∑ δΠ (e ) (q ) = ∑ δqi = 0
e =1 i =1 ∂qi
Finite element equation:
 
 ∫ [B ]T E [B ]Adx {q} = ∫ {N }T f b Adx + ∫ {N }T T dS
 
Ω  Ω S
[K ]{q} = { f }

Stiffness Matrix
[k ](e) = [B]T E[B]A∫ dx Recall that:

le
1 1
EA − 1 le +1 [ B] = [ −1 1] [ −1 1]
=
= 2  [− 1 1] ∫ dξ ( x2 − x1 ) le
le  1  2 −1
dξ 2 le
EA  1 − 1 = ⇒ dx = dξ
=
le − 1 1 
dx le 2

Force Terms
Body force
 +1 le   +11 − ξ  
[ N ]
 ∫−1 1 2  Af ble
d ξ ∫−1  2  dξ  Af l 1
 
∫ [N ] f b Adx = Af b  +1 = =
T b e
le   +1 
 ∫ [ N 2 ] dξ  2  1 + ξ  dξ  2 1
∫−1  2  
le
 −1 2 
Traction
Tle 1
∫l [N ] T
Tdx = 
e
2 1

Finite Element Equations
At element level
EA  1 − 1  q1  Af ble 1 Tle 1  P1 

   =  +  + 
l e  − 1 1  q 2  2 1 2 1  P2 
[k ]{q}= { f }

Assembled global FE equations
 K11 K12 K13 K14 K15   Q1   F1 

 K 22 K 23 K 24 K 25  Q2   F2 
    
 K 33 K 34 K 35  Q3  =  F3 
    
 sym K 44 K 45  Q4 F
   4
 K 55  Q5   F5 
Subjected to boundary condition: Q1 = 0
Solve for unknown nodal displacements
REVIEW OF 1-D PROBLEMS M.N. Tamin, CSMLab, UTM

EXAMPLE
A thin steel plate has a uniform
thickness t = 1 in., as shown. Its
elastic modulus, E = 30 x 106 psi, and
weight density, ρ = 0.2836 lb/in3.
The plate is subjected to a point load
P = 100 lb at its midpoint and a
traction force T = 36 lb/ft.
Determine:
a)Displacements at the mid-point
and at the free end,
b) Normal stresses in the plate, and
c) Reaction force at the support.

Suggested solution
1. Transform the given plate into 2 sections, each having
uniform cross-sectional area.
Note:
Area at midpoint is
Amid = 4.5 in2.
Average area of section 1 is
A1 = (6 + 4.5)/2 = 5.25 in2.
Average area of section 2 is
A2 = (4.5 + 3)/2 = 3.75 in2.
2. Model each section using 1-D

(line) element.

3. Write the element stiffness matrix for each element
5.25 × 30 × 106  1 −1

[k ]
(1)
element 1: =  −1 1 
12  
3.75 × 30 ×106  1 −1

[k ]
(2)
element 2: =  −1 1 
12  
4. Assemble global stiffness matrix,
 5.25 −5.25 0 
30 × 10 6

[ ]
K = −5.25 9.00 −3.75
12  
 0 −3.75 3.75 

5. Write the element force vector for each element
a) Due to body force, fb = 0.2836 lb/in3
5.25 ×12 × 0.2836 1

{ fb }
(1)
element 1 = 
2 1
3.75 ×12 × 0.2836 1
{ fb }
(2)
element 2 = 
2 1
Assemble global force vector due to body force,
5.25  8.9 
12 × 0.2836    
{Fb } = 9.00  = 15.3
2 3.75  6.4 
   

b) Due to traction force, T = 36 lb/ft
 36 
  × 12 1 1
 12 
{T }
(1)
element 1 =   = 18  
2 1 1
 36 
  × 12 1 1
 12 
{T }
(2)
element 2 =   = 18  
2 1 1
Assemble global force vector due to traction force,
1  18 
   
{ T } 2 = 36
F = 18
1  18 
   

c) Due to concentrated load, P = 100 lb at node 2
 0 
 
{ P } 100
F =
 0 
 
6. Assemble all element force vectors to form the global force
vector for the entire structure.
 8.9 + 18 + 0   26.9 
   
{ } 
F = 15.3 + 36 + 100 =
 151.3  lb
 6.4 + 18 + 0   24.4 
   

7. Write system of linear equations (SLEs) for entire model

The SLEs can be written in condensed matrix form as
[ K ]{Q} = {F }
Expanding all terms and substituting values, we get
 5.25 −5.25 0   Q1   26.9 

30 ×10 
6
 Q  = 151.3
−5.25 9.00 −3.75  2  
12 
 0 −3.75 3.75  Q3   24.4 
Note:
1. The global force term includes the unknown reaction force R1 at the
support. But it is ignored for now.
2. The SLEs have no solutions since the determinant of [K] = 0; Physically,
the structure moves around as a rigid body.

8. Impose boundary conditions (BCs) on the global SLEs
There are 2 types of BCs:

a) Homogeneous = specified zero displacement;
b) Non-homogeneous = specified non-zero displacement.
In this example, homogeneous BC exists at node 1. How to

impose this BC on the global SLEs?
DELETE ROW AND COLUMN #1 OF THE SLEs!
 5.25 −5.25 0   Q1   26.9 

30 × 10 6
    
 −5.25 9.00 −3.75 Q2  = 151.3
12
 0 −3.75 3.75  Q3   24.4 

9. Solve the reduced SLEs for the unknown nodal

displacements
The reduced SLEs are,
30 ×106  9.00 −3.75 Q2  151.3

 −3.75 3.75  Q  =  24.4 
12   3  
Solve using Gaussian elimination method, yields
Q2  1.339 ×10−5 

 = −5 
in
Q3  1.599 ×10 

10. Estimate stresses in each elements
1  q1 
Recall, σ (e)
= E [ B ]{q} = E ⋅ [ −1 1]  
le q2 
element 1
1  0 
σ (1)
= 30 ×10 ⋅ [ −1 1] 
6
−5 
= 33.48 psi
12 1.339 ×10 
element 2
−5
1 1.339 × 10 
σ ( 2) = 30 ×10 ⋅ [ −1 1] 
6
−5 
= 6.5 psi
12 1.599 ×10 

11. Compute the reaction force R1 at node 1
We now include the reaction force term in the global SLEs. From
the 1st. equation we get,
 5.25 −5.25 0  0  26.9 + R1 

30 × 10  6
 1.339 × 10−5  =  151.3 
−5.25 9.00 −3.75    
12 
 0 −3.75 3.75  1.599 × 10−5   24.4 
We have,
 0 
30 ×10
[5.25 −5.25 0] 1.339 ×10−5  − 26.9334
6
R1 =
12 1.599 ×10−5 
 
R1 = −202.68 lb

EXAMPLE
A concentrated load P = 60 kN is
applied at the midpoint of a uniform
bar as shown.
Initially, a gap of 1.2 mm exists
between the right end of the bar and 1.2 mm
the support there.
250 mm2
If the elastic modulus E = 20 x 103
P
N/mm2, determine the:
x
a) displacements field,
b) stresses in the bar, and
150 mm 150 mm
c) reaction force at the support.

Solution
1. Write the element stiffness matrices and assemble the global
stiffness matrix.
 1 −1 0 
20 × 10 × 250 
3

[K ] =  − 1 2 −1 
150
 0 −1 1 
2. Write the element force vectors and assemble the global force vector.
{F } = 0,
T
60 ×10 , 0 
3
3. Write the global system of linear equations.
 500 −500 0   Q1  0

 Q  = 103 60 
3
10 
−500 1000 −500  2  
15 
 0 −500 500  Q3  0
 

4. Impose the boundary conditions.
We have; Q1 = 0; Q3 = 1.2 mm. Using Gaussian elimination method:
a) Delete 1st row and column.
b) Delete 3rd row and column and modify the force term.
 500 −500 0   Q1  0

  3 
3
10  
 −500 1000 −500   Q2  = 10 60 
15
 0 −500 500  1.2  0
 
The reduced SLE becomes, Modification to
force term
103  500 (1.2 ) 
[1000]{Q2 } = 10 60 +
3

15  15 

7. Solve the reduced SLE, we get
Q2 = 1.5 mm
8. Compute stresses in the bar,
1 0
σ 1 = 20 ×10 ×
3
[ −1 1] 1.5
150  
σ 1 = 200 MPa
1 1.5 
σ 2 = 20 × 10 ×
3
[ −1 1] 1.2
150  
σ 2 = −40 MPa
9. Compute reaction forces at supports
Using the 1st and 3rd equations, we obtain,
R1 = -50 x 103 N; R3 = -10 x 103 N.

EXAMPLE
A composite bar ABC is subjected to axial forces as shown. Given,
the elastic moduli, E1 = 200 GPa and E2 = 70 GPa. Estimate:
a) Displacement of end C; [Answer: δC = 6.62x10-2 mm]
b) Stress in section 2, and
c) Reaction force at support A.
Verify your results with analytical solution.

EXAMPLE
Reconsider Exercise 2-1. Suppose a gap of δ = 2 x 10-2 mm
exists between end C and a fixed support there. Estimate:
a) Displacement of point B;
b) Stress in section 1, and
c) Reaction forces at both supports.
10 kN
2 x 10-2 mm

MMJ1153-B - Review of 1D Problems - Part1

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

MMJ1153-B - Review of 1D Problems - Part1

Uploaded by

Copyright:

Available Formats

MMJ1153 – COMPUTATIONAL METHOD IN SOLID MECHANICS

B – REVIEW OF 1-D PROBLEMS (part1)

REVIEW OF 1-D PROBLEMS M.N. Tamin, CSMLab, UTM 1

A – INTRODUCTION AND OVERVIEW

B – REVIEW OF 1-D FORMULATIONS

C – PLANE ELASTICITY PROBLEM FORMULATIONS

REVIEW OF 1-D PROBLEMS M.N. Tamin, CSMLab, UTM 2

REVIEW OF 1-D PROBLEMS M.N. Tamin, CSMLab, UTM 3

ELEMENTS and NODES

REVIEW OF 1-D PROBLEMS M.N. Tamin, CSMLab, UTM 4

ELEMENTS and NODES

REVIEW OF 1-D PROBLEMS M.N. Tamin, CSMLab, UTM 5

NATURAL COORDINATES IN 1-D

A local coordinate system

NATURAL COORDINATES (2-D)

Global Cartesian coordinate (x , y) Natural coordinate (ζ , η)

Relies on the element geometry for its definition

REVIEW OF 1-D PROBLEMS M.N. Tamin, CSMLab, UTM 7

A prescribed function to represent the variation of unknown field

Linear shape functions are defined:

REVIEW OF 1-D PROBLEMS M.N. Tamin, CSMLab, UTM 8

Functions used to represent the behavior of a field variable within an element.

Interpolation functions chosen must meet certain continuity requirements to

REVIEW OF 1-D PROBLEMS M.N. Tamin, CSMLab, UTM 9

For linear interpolation function:

REVIEW OF 1-D PROBLEMS M.N. Tamin, CSMLab, UTM 10

LINEAR DISPLACEMENT FIELD

REVIEW OF 1-D PROBLEMS M.N. Tamin, CSMLab, UTM 11

(a) Evaluate ξ, N1, and N2 at point P.

REVIEW OF 1-D PROBLEMS M.N. Tamin, CSMLab, UTM 12

Properties of individual elements can be formulated in several ways:

Method of weighted residual

Energy balance approach

REVIEW OF 1-D PROBLEMS M.N. Tamin, CSMLab, UTM 13

To develop finite element equations for 1-D problem

Consider a non-uniform bar subjected to

REVIEW OF 1-D PROBLEMS M.N. Tamin, CSMLab, UTM 14

Discretize the solution domain into

Each element has a constant cross-

REVIEW OF 1-D PROBLEMS M.N. Tamin, CSMLab, UTM 15

Global nodal forces

REVIEW OF 1-D PROBLEMS M.N. Tamin, CSMLab, UTM 16

REVIEW OF 1-D PROBLEMS M.N. Tamin, CSMLab, UTM 17

Linear elastic behavior:  q1 

REVIEW OF 1-D PROBLEMS M.N. Tamin, CSMLab, UTM 20

Minimum Potential Energy Principle

Theory of Minimum Potential Energy

Finite element equation:

REVIEW OF 1-D PROBLEMS M.N. Tamin, CSMLab, UTM 22

[k ](e) = [B]T E[B]A∫ dx Recall that:

REVIEW OF 1-D PROBLEMS M.N. Tamin, CSMLab, UTM 23

REVIEW OF 1-D PROBLEMS M.N. Tamin, CSMLab, UTM 24

Finite Element Equations

EA  1 − 1  q1  Af ble 1 Tle 1  P1 

REVIEW OF 1-D PROBLEMS M.N. Tamin, CSMLab, UTM 25

Assembled global FE equations

 K11 K12 K13 K14 K15   Q1   F1 

Subjected to boundary condition: Q1 = 0

Solve for unknown nodal displacements

REVIEW OF 1-D PROBLEMS M.N. Tamin, CSMLab, UTM

REVIEW OF 1-D PROBLEMS M.N. Tamin, CSMLab, UTM 27

2. Model each section using 1-D

REVIEW OF 1-D PROBLEMS M.N. Tamin, CSMLab, UTM 28