Lj THE FINITE \! ELEMENT METHOD FOR ENGINEERS \ Fourth Edition KENNETH H. HUEBNER ' Ford Motor Company, Retired DONALD L. DEWHIRST | j Ford Motor Company, Retited DOUGLAS E. SMITH | Division of Engineering Colorado School of Mines Golden, Colorado ‘TED G. BYROM Consulting Engineer A Wiley-Interscience Publication JOHN WILEY & SONS, INC. New York * Chichester + Weinheim *, Brisbane + Singapore * TorontoTHE FINITE ELEMENT METHOD FOR ENGINEERS‘This book is printed on acid-free paper. © Copyright © 2001 by John Wiley & Sons Inc. All righls reserved, Published shmutaneously in Canada, No part ofthis publication may be reproduced, sored ina retrieval sytem or transmitted in any form of by any means, electronic, mechanieal, photocopying. recording, seanning oF ctherwise, except as germited under Sections 107 oF 108 ofthe 1976 United Slates Copyeigh ‘Act, without elther te prot weten permision of the Publisher, or authorization trough peyient ofthe appropsate per-copy fee tothe Copyright Clearance Center, 222 Rosewood Drive, Danvers, MA 01923, (978) 250-8400, fax (978) 750-4744, Requests tothe Publisher for peminsion should be aiested tothe Permissions Deparment, Joha Wiley & Sons, Inc. (603 Third Avenue, New York, NY 10158-0012, (212) 850.6011, (ox (212) 850-6008, E-Mail: [email protected]. ‘This publication is designed to provide accurate and authoritative information in regad to the subject mile covered. I it sold with the understanding thatthe publisher fs aot engoged in fenderig profesional services. If professional advice or ober exper. asistance Is required, the services of a competent profesional perén should be sought. ‘Lbrary af Congress Cataloging-ia-Pablcaton Date ‘The fine element method for englners/Kesineth H, Huebnet [et alJooth ed. Bem Earlier ede, entered under Hushaes, Incdes index. ISBN 0-471-370789 (cloth : alk. paper) 1. Finite element method, I, Huebner, Kenneth H., 1942 It, Huebner, Kenneth H., 1982-, inte element method for enginers TAMT.FS FES 2001 6207,001'5153~de21 2001026513 Printed in the United Stes of Amedca woR76S 4321 To Our Wives, Louise M. Huebner ‘and Nancy A. Dewhirst ‘and Lori A, Smith and Anne K. ByromCONTENT: PREFACE, xvii PARTI 1 Meet the Finite Element Method 3 1.1 What Is the Finite Element Method? 3 1.2 How the Firlte Element Method Works, 5 1.3 A Brief History of the Method, 8 1.4 Range of Applications, 11 15 Commercial Finite Element Software, 13 16 The Future of the Finite Element Method, 14 References, 15 2 The Direct Approach: A Physical Interpretation 7 2.4 Introduction, 17 2.2 Defining Elements and Their Properties, 18 2.241 Linear Spring Systems, 18 2.22 Flow Systems, 21 2.23 Simple Elements from Structural Mechanics, 25 2.2.4 Coordinate Transformations, 37 2.3 Assembling the Parts, 40 2.3.1 Assembly Rules Derived from an Example, 40 2.3.2 General Assembly Procedure, 46vill ‘CONTENTS, 2.3.3. Features of the Assembled Matrix, 47 2.3.4 Inrodueing Boundary Conditions, 48 24 Solver Technology, 56 ‘2.4.1 Linear Ditect Solvers, 57 2:42 erative Solvers, 58 243 Eigensolvers, 60 2.44 Nonlinear Equation Solvers, 60 25 Closure, 63 References, 63 Problems, 64 3. The Mathematical Approach: A Variational Interpretation’ 74 3.1 Introduction, 74 ve 3.2 Continuum Problems, 75 3.2.1 Introduction, 75 3.2.2 Problem Statement, 76 32.3 Classification of Differential Equations, 78 3.3 Some Methods for Solving Continuum Problems, 79 33.1 An Overview, 79 313.2 The Variational Approach, 80 33,3 The Ritz Method, 81 34 The Finite Elerient Method, 85 3.4.1 Relation to the Ritz Method, 85 3.4.2 Generalizing the Definition of an Element, 86 3.43 Example of a Piecewise Approximation, 87 3.4.4 Element Equations from a Variational Principle, 91 34.5. Requirements for Interpolation Functions, 93 3.4.6 Domain Diseretization, 99 3.4.7 Example of a Complete Finite Element Solution, 102 3.5 Closure, 108 - References, 108 Problems, 109 4. The Mathematical Approach: A Generalized Interpretation 113 4.1 Introduction, 113 4.2 Deriving Finite Element Equations from the Method of Weighted Residuals, 114 4.2.1 Example: One-Di 81 Poisson Equation, 119 4.22 Example: Two-Dimensional Heat Conduction, 125 42.3 Example: Time-Dependent Heat Conduction, 129 423 Closure, 131 References, 131 Problems, 132 conTENTS ie 5 Elements and Interpotation Functions 437 5.1 Intioduetion, 138 5.2 Basic Element Shapes, 139 $3 Terminology and Preliminary Considerations, 144 ‘53.1 Types of Notes, 144 5.3.2 Degrees of Freedom, 144 5.3.3 Interpolation Functions—Polynomials, 144 54 Generalized! Coordinates and the Ortar of the Poly $4.1 Generalized Coordinates, 146 $4.2 Geometric tsotropy. 147 $4.3 Deriving Interpolation Punetions, 149 5.5 Natueal Coordinates, 151 ‘5.5.1 Natural Coordinates in One Dimension, 152 5,5.2 Natural Coordinates in Two Dimensions, 153 5.5.3 Natural Coordinates in Three Dimensions, 157 56 Interpolation Concepts in One Dimension, 161 5.6.1 Lagrange Polynomials, 161 5.62 Hermite Polynominis, 163 ; 5.7 tntemal Nodes—Condensation/Substructuring, 166 $8 Two-Dimensional Elements, 170 58.1 Elements for C®° Problems, 170 5.8.2 Elements for C! Problems, 178 5.9 Theee-Dimensional Elements, 184 5.9.1 Elements for C° Problems, 184 5.9.2 Elements for C' Problems, 189 5.10 Isoparametric Elements for Problems, 189 $10.1 Coordinate Transformation, 190 $110.2 Evaluation of Element Matrices, 193 3.10.3 Example of Isoparametrie Element Matrix Evaluation, 196 5.11 Numerical Integration, 197 ‘StL Newion-Cotes, 199 5.11.2 Gauss-Legendre, 202 5.11.3 Numerical Example for Element Matrix Evaluation, 205 5.12 Closure, 210 Refecences, 211 Problems, 213 I 146 PART II 6 Elasticity Problems 23 6.1 Introduction, 224 62 General Formulation for Three-Dimensional Problems, 224CONTENTS i 6.2.1 Problem Statement, 224 6.2.2 The Variational Method, 226 62.3 The Galerkin Method, 232 6.24 The System Equations, 236 63 Application to Plane Stress and Plane Strain, 238 6.3.1 Displacement Mode! for a Triangular Element, 238 63.2 Element Stiffness Matrix for a Triangle, 240 3 Element Force Vectors for a Trisngle, 343 64 Application to Axisymmetric Strees Analysis; 246 6.4.1 Displacement Model for Triangular Toroid, 247 6.4.2 Element Stifess Matrix for Triangular Toroid, 247 64.3. Element Force Vectors for Triangular Torold, 250 6.5 Application to Plate-Bending Problems, 254 65.1 Requirements for the Displacement Interpolation Functions, 257 6.5.2 Rectangular Plate-Bending Elements, 258 6.6 Three-Dimensional Problems, 262 66.1" Introduction, 262 64.2 Formulation for the Linear Tetrahedral Element, 262 6.6.3 Higher-Order Elements, 263 6.7 Introduction to Structural Dynamics, 264 6.7.1 Formulation of Equations, 264 * 6.7.2 Free Undamped Vibrations, 267 6.7.3 Finding Transient Motion via Mode Superposition, 269 6.7.4 Finding Transient Motion via Recurrence Relations, 272 68 Closure, 278 - References, 279 Problems, 281 3. 7 General Field Problems 288 7.4 Introduction, 289 7.2 Equilibrium Problems, 289 7.2.1 Quasi-Harmonic Equations, 289 7.2.2 Boundary Condit 7 7.2.4 Element Equations, 294 7.2.5 Element Equations in Two Dimensions, 297 7.3 Eigenvalue Problems, 303 2.3.1 Helmholtz Equations, 304 7.3.2 Variational Principle, 305 7.3.3 Element Equations, 306 7.3.4 Examples, 307 7.3.5 Sample Problem, 309 ‘CONTENTS _ a 31 7 Pra Sane Time-Dependent Fel Problems, 311 74.2 Finite Element Equations. 316 7.4.3 Element Equations in One Space Dimension, 318 7.5 Solving the Discretized Time-Dependent Equations, 320 7.5.1 Solution Methods for First-Order Equations, 321 2 Finding Transient Response via Mode Superposition, 321, 7.8.3 Finding Transient Response via Recurrence Relations, 324 7.54 Oscillation and Stability of Transient Response, 327 753 Algorithm Order, 330 7.5.6 Sample Problem, 332 7.6 Closure, 335, References, 335, Problems, 337 8 Heat Transfer Problems 348 8.1 Introduction, 349 8.2 Conduction, 349, 8.2.1 Problem Statement, 349 8.2.2 Finite Element Formulation, 351 8.2.3 Element Equations, 356 i 8.2.4 Linear Steady-State and Transient Solutions, 36: 8.2.5 Nonlinear Steady-State Solutions, 371 8.2.6 Nonlinear Transient Solutions, 375 8.3 Conduction with Surface Radiation, 379 83.1 Problem Statement, 379 8.32 Eleiient Equations with Radiation, 381 83.3 Steady-State Solutions, 384 8.34 Transient Solutions, 386 8.4 Convective-Diffusion Equation, 390 "84.1 Problem Statement, 391 8.4.2 Finite Element Formulation, 391 8.4.3 One-Dimensional Problem, 393 8.4.4 Two-Dimensional Solutions, 397 85 Free and Forced Convection, 398 8.5.1 Problem Statement, 398 8.522 Finite Element Formulation, 399 8.5.3 Solution Techniques, 401 8.5.4 Free-Convection Example, 402 8.5.5 Foreed Convection, 403 86 Closure, 403 References, 406 Problems, 410